Soft 421: Transmit Motor temperature data

projects/mci/inc/motor_temperature.h

@@ -0,0 +1,32 @@
+#pragma once
+
+#include "generic_can.h"
+
+#include "motor_can.h"
+#include "wavesculptor.h"
+
+#define MOTOR_TEMPERATURE_TX_PERIOD_MS 500
+
+typedef enum {
+  LEFT_MOTOR_CONTROLLER = 0,
+  RIGHT_MOTOR_CONTROLLER,
+  NUM_MOTOR_CONTROLLERS,
+} MotorController;
+
+typedef struct MotorTemperatureStorage {
+  MotorTemperatureMeasurements measurements;
+  MotorCanDeviceId ids[NUM_MOTOR_CONTROLLERS];
+} MotorTemperatureStorage;
+
+typedef struct MotorTemperatureSettings {
+  GenericCan *motor_can;
+  MotorCanDeviceId device_ids[NUM_MOTOR_CONTROLLERS];
+} MotorTemperatureSettings;
+
+typedef struct MotorTemperatureMeasurements {
+  WaveSculptorAirInCpuTempMeasurement cpu_measurements[NUM_MOTOR_CONTROLLERS];
+  WaveSculptorSinkMotorTempMeasurement sink_motor_measurements[NUM_MOTOR_CONTROLLERS];
+}
+
+StatusCode
+motor_temperature_init(MotorTemperatureStorage *storage, GenericCan *motor_can);

projects/mci/src/motor_temperature.c

@@ -0,0 +1,76 @@
+#include "motor_temperature.h"
+
+#include "can_transmit.h"
+#include "can_unpack.h"
+#include "generic_can.h"
+#include "motor_can.h"
+#include "soft_timer.h"
+#include "status.h"
+
+// Retreiving temperature from left and right motor should be implemented,
+// transmitting the data still needs to be done.
+
+static void prv_handle_sink_temperature_rx(const GenericCanMsg *msg, void *context) {
+  // add data to storage
+  MotorTemperatureStorage *storage = context;
+  WaveSculptorSinkMotorTempMeasurement *measurements =
+      storage->measurements.sink_motor_measurements;
+
+  WaveSculptorCanId can_id = { .raw = msg->id };
+  WaveSculptorCanData can_data = { .raw = msg->data };
+
+  for (size_t motor_id = 0; motor_id < NUM_MOTOR_CONTROLLERS; motor_id++) {
+    if (can_id.device_id == storage->ids[motor_id]) {
+      measurements[motor_id] = can_data.sink_motor_temp_measurement;
+    }
+  }
+}
+
+static void prv_handle_cpu_temperature_rx(const GenericCanMsg *msg, void *context) {
+  MotorTemperatureStorage *storage = context;
+  WaveSculptorAirInCpuTempMeasurement *measurements = storage->measurements.cpu_measurements;
+
+  WaveSculptorCanId can_id = { .raw = msg->id };
+  WaveSculptorCanData can_data = { .raw = msg->data };
+
+  for (size_t motor_id = 0; motor_id < NUM_MOTOR_CONTROLLERS; motor_id++) {
+    if (can_id.device_id == storage->ids[motor_id]) {
+      measurements[motor_id] = can_data.air_in_cpu_temp_measurement;
+    }
+  }
+}
+
+static void prv_handle_temperature_tx(SoftTimerId timer_id, void *context) {
+  // transmit data through CAN periodically
+  MotorTemperatureStorage *storage = context;
+  prv_temperature_tx(storage);
+  soft_timer_start_millis(MOTOR_TEMPERATURE_TX_PERIOD_MS, prv_handle_temperature_tx, storage, NULL);
+}
+
+static void prv_temperature_tx(MotorTemperatureStorage *storage) {
+  MotorTemperatureMeasurements measurements = storage->measurements;
+  // Not finished: transmit CAN message
+}
+
+// Not finished: Function needs to be called in main.c
+StatusCode motor_temperature_init(MotorTemperatureStorage *storage,
+                                  MotorTemperatureSettings *setting) {
+  status_ok_or_return(generic_can_register_rx(
+      setting->motor_can, prv_handle_sink_temperature_rx, GENERIC_CAN_EMPTY_MASK,
+      MOTOR_CAN_RIGHT_SINK_MOTOR_TEMPERATURE_FRAME_ID, false, storage));
+
+  status_ok_or_return(generic_can_register_rx(
+      setting->motor_can, prv_handle_sink_temperature_rx, GENERIC_CAN_EMPTY_MASK,
+      MOTOR_CAN_LEFT_SINK_MOTOR_TEMPERATURE_FRAME_ID, false, storage));
+
+  status_ok_or_return(generic_can_register_rx(
+      setting->motor_can, prv_handle_sink_temperature_rx, GENERIC_CAN_EMPTY_MASK,
+      MOTOR_CAN_RIGHT_CPU_TEMPERATURE_FRAME_ID, false, storage));
+
+  status_ok_or_return(generic_can_register_rx(
+      setting->motor_can, prv_handle_sink_temperature_rx, GENERIC_CAN_EMPTY_MASK,
+      MOTOR_CAN_LEFT_CPU_TEMPERATURE_FRAME_ID, false, storage));
+
+  return soft_timer_start_millis(MOTOR_TEMPERATURE_TX_PERIOD_MS, prv_handle_temperature_tx, storage,
+                                 NULL);
+}