made second ringbuf, formatting

Northeastern-Electric-Racing · Jan 2, 2024 · d4e0bba · d4e0bba
1 parent caaad96
commit d4e0bba
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Showing 4 changed files with 77 additions and 47 deletions.
diff --git a/Core/Inc/can_handler.h b/Core/Inc/can_handler.h
@@ -9,6 +9,9 @@
 #define NUM_INBOUND_CAN1_IDS 1
 #define NUM_INBOUND_CAN2_IDS 1
 
+ringbuffer_t* can1_rx_queue;
+ringbuffer_t* can2_rx_queue;
+
 static const uint16_t can1_id_list[NUM_INBOUND_CAN1_IDS] = {
 	//CANID_X,
 	0x0000
@@ -19,9 +22,13 @@ static const uint16_t can2_id_list[NUM_INBOUND_CAN2_IDS] = {
 	0x0000
 };
 
-/* Shepherd hanbdles both can busses the same way */
+
 void can_receive_callback(CAN_HandleTypeDef *hcan);
 
-uint8_t get_can_msg(can_msg_t* msg);
+/* for 1st CAN bus */
+int8_t get_can1_msg(can_msg_t* msg);
+
+/* for 2nd CAN bus */
+int8_t get_can2_msg(can_msg_t* msg);
 
 #endif // CAN_HANDLER_H
diff --git a/Core/Inc/compute.h b/Core/Inc/compute.h
@@ -3,6 +3,7 @@
 
 #include "datastructs.h"
 #include "stateMachine.h"
+#include "ringbuffer.h"
 
 #define CURRENT_SENSOR_PIN_L A1
 #define CURRENT_SENSOR_PIN_H A0
@@ -14,8 +15,6 @@
 #define MC_BAUD				 1000000U
 #define MAX_ADC_RESOLUTION	 1023 // 13 bit ADC
 
-
-
 /**
  * @brief inits the compute interface
  */

diff --git a/Core/Src/can_handler.c b/Core/Src/can_handler.c
@@ -1,43 +1,62 @@
 #include "can_handler.h"
-#include "ringbuffer.h"
 #include "analyzer.h"
+#include "ringbuffer.h"
 
-ringbuffer_t can_receive_queue;
-
-void can_receive_callback(CAN_HandleTypeDef *hcan)
+void can_receive_callback(CAN_HandleTypeDef* hcan)
 {
-    CAN_RxHeaderTypeDef rx_header;
-    can_msg_t new_msg;
-    /* Read in CAN message */
+	CAN_RxHeaderTypeDef rx_header;
+	can_msg_t new_msg;
+	/* Read in CAN message */
 	if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, new_msg.data) != HAL_OK) {
 
-        // TODO add non crtical fault capability - could create one for failed can receieve
-        return;
-    }
-
-    new_msg.len = rx_header.DLC;
-	new_msg.id = rx_header.StdId;
+		// TODO add non crtical fault capability - could create one for failed can receieve
+		return;
+	}
+
+	new_msg.len = rx_header.DLC;
+	new_msg.id	= rx_header.StdId;
+	if (hcan == &hcan1) {
+		ringbuffer_enqueue(can1_rx_queue, new_msg);
+	} else {
+		ringbuffer_enqueue(can2_rx_queue, new_msg);
+	}
+}
 
-    ringbuffer_enqueue(can_receive_queue, new_msg);
+int8_t get_can1_msg(can_msg_t* msg)
+{
+	/* no messages to read */
+	if (ringbuffer_is_empty(&can1_rx_queue))
+		return -1;
+
+	ringbuffer_dequeue(&can1_rx_queue, msg);
+
+	// TODO list :
+	// 1.
+	switch (msg->id) {
+	case NULL:
+		break;
+	}
+	return 0;
 }
 
-uint8_t get_can_msg(can_msg_t* msg)
+int8_t get_can2_msg(can_msg_t* msg)
 {
-    /* no messages to read */
-    if (ringbuffer_is_empty(&can_receive_queue)) return -1;
-
-    ringbuffer_dequeue(&can_receive_queue, msg);
-
-    // TODO list : 
-    // 1. Charger connection flag -  have Charger set up with following logic, add correct CAN ID
-    switch (msg->id) {
-        case NULL:
-            if (msg->data[0] == 0x01) {
-                bmsdata->is_charger_connected = true;
-            } else {
-                bmsdata->is_charger_connected = false;
-            }
-            break;
-    }
-    return 0;
+	/* no messages to read */
+	if (ringbuffer_is_empty(&can2_rx_queue))
+		return -1;
+
+	ringbuffer_dequeue(&can2_rx_queue, msg);
+
+	// TODO list :
+	// 1. Charger connection flag -  have Charger set up with following logic, add correct CAN ID
+	switch (msg->id) {
+	case NULL:
+		if (msg->data[0] == 0x01) {
+			bmsdata->is_charger_connected = true;
+		} else {
+			bmsdata->is_charger_connected = false;
+		}
+		break;
+	}
+	return 0;
 }
diff --git a/Core/Src/compute.c b/Core/Src/compute.c
@@ -4,6 +4,9 @@
 #include "main.h"
 #include <string.h>
 
+#define MAX_CAN1_STORAGE 10
+#define MAX_CAN2_STORAGE 10
+
 uint8_t fan_speed;
 bool is_charging_enabled;
 enum { CHARGE_ENABLED, CHARGE_DISABLED };
@@ -23,12 +26,14 @@ void compute_init()
 	can1.id_list = can1_id_list;
 	can1.id_list_len = sizeof(can1_id_list) / sizeof(can1_id_list[0]);
 	can1.callback = can_receive_callback;
+	can1_rx_queue = ringbuffer_create(MAX_CAN1_STORAGE, sizeof(can_msg_t));
 	can_init(&can1);
 
 	can2.hcan = &hcan2;
 	can2.id_list = can2_id_list;
 	can2.id_list_len = sizeof(can2_id_list) / sizeof(can2_id_list[0]);
 	can2.callback = can_receive_callback;
+	can2_rx_queue = ringbuffer_create(MAX_CAN2_STORAGE, sizeof(can_msg_t));
 	can_init(&can2);
 }
 
@@ -54,7 +59,7 @@ int compute_send_charging_message(uint16_t voltage_to_set, acc_data_t* bms_data)
 		charger_msg_data.charger_control = 0b101;
 
 		can_msg_t charger_msg;
-		charger_msg.id = NULL;
+		charger_msg.id = 0x00; // TODO replace with correct ID;
 		charger_msg.len = sizeof(charger_msg_data);
 		memcpy(charger_msg.data, &charger_msg_data, sizeof(charger_msg_data));
 
@@ -73,7 +78,7 @@ int compute_send_charging_message(uint16_t voltage_to_set, acc_data_t* bms_data)
 	charger_msg_data.reserved2_3		= 0xFFFF;
 
 	can_msg_t charger_msg;
-	charger_msg.id = NULL;
+	charger_msg.id = 0x00; // TODO replace with correct ID;
 	charger_msg.len = 8;
 	memcpy(charger_msg.data, &charger_msg_data, sizeof(charger_msg_data));
 	can_send_msg(&can2, &charger_msg);
@@ -163,7 +168,7 @@ void compute_send_mc_message(uint16_t user_max_charge, uint16_t user_max_dischar
 	mc_msg_data.maxDischarge = user_max_discharge;
 
 	can_msg_t mc_msg;
-	mc_msg.id = NULL;
+	mc_msg.id = 0x00; // TODO replace with correct ID;
 	mc_msg.len = sizeof(mc_msg_data);
 	memcpy(mc_msg.data, &mc_msg_data, sizeof(mc_msg_data));
 
@@ -188,7 +193,7 @@ void compute_send_acc_status_message(acc_data_t* bmsdata)
 	acc_status_msg_data.pack_health  = 0;
 
 	can_msg_t acc_msg;
-	acc_msg.id = NULL;
+	acc_msg.id = 0x00; // TODO replace with correct ID;
 	acc_msg.len = sizeof(acc_status_msg_data);
 	memcpy(acc_msg.data, &acc_status_msg_data, sizeof(acc_status_msg_data));
 
@@ -212,7 +217,7 @@ void compute_send_bms_status_message(acc_data_t* bmsdata, int bms_state, bool ba
     bms_status_msg_data.balance = (uint8_t)(balance);
 
     can_msg_t acc_msg;
-    acc_msg.id = NULL;
+    acc_msg.id = 0x00; // TODO replace with correct ID;
     acc_msg.len = sizeof(bms_status_msg_data);
     memcpy(acc_msg.data, &bms_status_msg_data, sizeof(bms_status_msg_data));
 
@@ -228,7 +233,7 @@ void compute_send_shutdown_ctrl_message(uint8_t mpe_state)
     shutdown_control_msg_data.mpeState = mpe_state;
 
     can_msg_t acc_msg;
-    acc_msg.id = NULL;
+    acc_msg.id = 0x00; // TODO replace with correct ID;
     acc_msg.len = sizeof(shutdown_control_msg_data);
     memcpy(acc_msg.data, &shutdown_control_msg_data, sizeof(shutdown_control_msg_data));
 
@@ -252,7 +257,7 @@ void compute_send_cell_data_message(acc_data_t* bmsdata)
     cell_data_msg_data.volt_avg = bmsdata->avg_voltage;
 
     can_msg_t acc_msg;
-    acc_msg.id = NULL;
+    acc_msg.id = 0x00; // TODO replace with correct ID;
     acc_msg.len = sizeof(cell_data_msg_data);
     memcpy(acc_msg.data, &cell_data_msg_data, sizeof(cell_data_msg_data));
 
@@ -278,7 +283,7 @@ void compute_send_cell_voltage_message(uint8_t cell_id, uint16_t instant_voltage
     cell_voltage_msg_data.openVoltage = __builtin_bswap16(open_voltage);
 
     can_msg_t acc_msg;
-    acc_msg.id = NULL;
+    acc_msg.id = 0x00; // TODO replace with correct ID;
     acc_msg.len = sizeof(cell_voltage_msg_data);
     memcpy(acc_msg.data, &cell_voltage_msg_data, sizeof(cell_voltage_msg_data));
 
@@ -298,7 +303,7 @@ void compute_send_current_message(acc_data_t* bmsdata)
     current_status_msg_data.pack_curr = bmsdata->pack_current;
 
     can_msg_t acc_msg;
-    acc_msg.id = NULL;
+    acc_msg.id = 0x00; // TODO replace with correct ID;
     acc_msg.len = sizeof(current_status_msg_data);
     memcpy(acc_msg.data, &current_status_msg_data, sizeof(current_status_msg_data));
 
@@ -328,7 +333,7 @@ void compute_send_cell_temp_message(acc_data_t* bmsdata)
     cell_temp_msg_data.average_temp = bmsdata->avg_temp;
 
     can_msg_t acc_msg;
-    acc_msg.id = NULL;
+    acc_msg.id = 0x00; // TODO replace with correct ID;
     acc_msg.len = sizeof(cell_temp_msg_data);
     memcpy(acc_msg.data, &cell_temp_msg_data, sizeof(cell_temp_msg_data));
 
@@ -353,7 +358,7 @@ void compute_send_segment_temp_message(acc_data_t* bmsdata)
     memcpy(buff, &segment_temp_msg_data, sizeof(segment_temp_msg_data));
 
     can_msg_t acc_msg;
-    acc_msg.id = NULL;
+    acc_msg.id = 0x00; // TODO replace with correct ID;
     acc_msg.len = sizeof(segment_temp_msg_data);
     memcpy(acc_msg.data, &segment_temp_msg_data, sizeof(segment_temp_msg_data));