added more CarCan Messages

Application/Tasks/CanDataTask.c

@@ -132,6 +132,9 @@ void CanDataTask_func(void *argument) {
 
 static uint64_t last_unlock_message_time = UINT64_MAX;
 static uint64_t last_car_message_time = 0;
+static uint8_t car_can_brightness = 255;
+static float car_can_speed = 0;
+static int car_can_direction = 0;
 
 // convert byte to 2 hex characters
 void byteToHex(uint8_t byte, char * hex) {
@@ -148,6 +151,8 @@ void CarCanTask_func(void *argument) {
         Error_Handler();
     }
 
+
+
     FDCAN_FilterTypeDef sFilterConfig;
     sFilterConfig.IdType = FDCAN_STANDARD_ID;
     sFilterConfig.FilterIndex = 0;
@@ -157,6 +162,11 @@ void CarCanTask_func(void *argument) {
     sFilterConfig.FilterID2 = 0x395;
     HAL_FDCAN_ConfigFilter(&hfdcan2, &sFilterConfig);
 
+    sFilterConfig.FilterIndex = 1;
+    sFilterConfig.FilterID1 = 0x351;
+    sFilterConfig.FilterID2 = 0x635;
+    HAL_FDCAN_ConfigFilter(&hfdcan2, &sFilterConfig);
+
     /* Start the FDCAN module */
     if (HAL_FDCAN_Start(&hfdcan2) != HAL_OK){
         Error_Handler();
@@ -243,7 +253,7 @@ void CarCanTask_func(void *argument) {
                     break;
                 }
 
-                ULOG_DEBUG("Car MSG: %x, %d %s", RxHeader.Identifier,CLS_BSP_DLC_ToBytes(RxHeader.DataLength) , msg);
+                //ULOG_DEBUG("Car MSG: %x, %d %s", RxHeader.Identifier,CLS_BSP_DLC_ToBytes(RxHeader.DataLength) , msg);
 
             }
         }
@@ -258,55 +268,67 @@ void CarCanTask_func(void *argument) {
 
 
                 if(RxHeader.Identifier == 0x391) {
-                    if (RxData[1]  == 4)
-                    {
-                        // car was unlocked
-                        last_unlock_message_time = osKernelGetTickCount();
                     byteToHex(RxData[0], &msg[0]);
                     byteToHex(RxData[1], &msg[2]);
                     byteToHex(RxData[2], &msg[4]);
+                    if (RxData[1]  == 0x04)
+                    {
+                        // car was unlocked
+                        last_unlock_message_time = osKernelGetTickCount();
                     } 
-
+                    else if (RxData[1]  ==0x80)
-
-                    if (RxData[1]  ==0x80)
                     {
                         // car was locked
                         if (!BSP_GPIO_K15isSet()) {
                          NVIC_SystemReset();
                         }
-
-                        byteToHex(RxData[0], &msg[0]);
-                        byteToHex(RxData[1], &msg[2]);
-                        byteToHex(RxData[2], &msg[4]);
                     }
                 
                 }
 
                 if (RxHeader.Identifier == 0x395) {
+                    byteToHex(RxData[0], &msg[0]);
+
                     // send the unlock message to the car
                     if ((RxData[0] & 0x0F) == 0x01) {
                         // car was unlocked
-                        byteToHex(RxData[0], &msg[0]);
                         last_unlock_message_time = osKernelGetTickCount();
+                        ULOG_DEBUG("Unlock message received");
 
-                    }
+                    } else if ((RxData[0] & 0x0F) == 0x02) {
-
-                    if ((RxData[0] & 0x0F) == 0x02) {
                         // car was locked
                         if (!BSP_GPIO_K15isSet()) {
                             NVIC_SystemReset();
                         }
-
-                        byteToHex(RxData[0], &msg[0]);
                     }
 
                 }
 
+                // speed signal 
+                // AA BB XX YY 00 00 00 00 
+                // Speed (XX*(2^8)+(YY-1))/190
+                // direction AA = 0x00 forward, 0x02 backward
+                if (RxHeader.Identifier == 0x351) {
 
-                ULOG_DEBUG("Car LOCK MSG: %x, %d %s", RxHeader.Identifier, CLS_BSP_DLC_ToBytes(RxHeader.DataLength), msg );
+                    uint16_t speed = (RxData[2] << 8) + RxData[3];
+                    float speed_kmh = (speed - 1) / 190.0;
+                    car_can_speed = speed_kmh;
+                    car_can_direction = RxData[0];
+                    ULOG_DEBUG("Speed: %f, Direction: %d", car_can_speed, car_can_direction);
 
 
                 }
+
+                // brightness knob in 0 - 100
+                if (RxHeader.Identifier == 0x635) {
+                    // scale the brightness to 0 - 255 only using integer math
+                    car_can_brightness = ((uint32_t)RxData[0] * 255) / 100;
+                    ULOG_DEBUG("Brightness: %d", car_can_brightness);
+
+                }
+
+                //ULOG_DEBUG("Used Car MSG: %x, %d %s", RxHeader.Identifier, CLS_BSP_DLC_ToBytes(RxHeader.DataLength), msg );
+            }
         }
     }   
 }
@@ -331,6 +353,18 @@ bool CanDataTask_CarCanActive() {
 
 }
 
+uint8_t CanDataTask_CarCanBrightness() {
+    return car_can_brightness;
+}
+
+float CanDataTask_CarCanSpeed() {
+    return car_can_speed;
+}
+
+int CanDataTask_CarCanDirectionIsForward() {
+    return car_can_direction == 0;
+}
+
 void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs) {
     // Notify the thread
     if(hfdcan == &hfdcan1) {
@@ -339,8 +373,14 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
 
     if(hfdcan == &hfdcan2) {
         last_car_message_time = osKernelGetTickCount();
-        osThreadFlagsSet(CarCanTask_id, FLAG_FDCAN_RX_FIFO0);
 
+        while (HAL_FDCAN_GetRxFifoFillLevel(&hfdcan2, FDCAN_RX_FIFO0) > 0 ) {
+            FDCAN_RxHeaderTypeDef RxHeader;
+            uint8_t RxData[8];
+            HAL_FDCAN_GetRxMessage(&hfdcan2, FDCAN_RX_FIFO0, &RxHeader, RxData);
+            //ignore the message for now
+        }
+        //osThreadFlagsSet(CarCanTask_id, FLAG_FDCAN_RX_FIFO0);
     }
 }
 

Application/Tasks/CanDataTask.h

@@ -8,3 +8,7 @@ void CanDataTask_start();
 bool CanDataTask_gotCarCanMessage();
 
 bool CanDataTask_CarCanActive();
+
+uint8_t CanDataTask_CarCanBrightness();
+float CanDataTask_CarCanSpeed();
+int CanDataTask_CarCanDirectionIsForward(); 

Application/Tasks/LightTask.c

@@ -8,6 +8,7 @@
 #include "BSP_EE24.h"
 #include "LightTask.h"
 #include "CanDataHandler.h"
+
 #include "BSP_ADC.h"
 #define DIMM_DEADZONE_VOLTAGE 0.7