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AMI/firmware/Core/Src/ami_app.c
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#include "ami_app.h"
#include "ami_protocol.h"
#include "fdcan.h"
#include "usart.h"
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
#include <string.h>
#define SCREEN_RX_DMA_SIZE 64U
#define SCREEN_TX_SIZE 32U
#define TASK_QUEUE_SIZE 4U
#define DIRTY_SPEED (1UL << 0)
#define DIRTY_TS_VOLTAGE (1UL << 1)
#define DIRTY_TORQUE (1UL << 2)
#define DIRTY_TS_CURRENT (1UL << 3)
#define DIRTY_MOTOR_TEMP (1UL << 4)
#define DIRTY_MCU_TEMP (1UL << 5)
#define DIRTY_CELL_TEMP (1UL << 6)
#define DIRTY_DEBUG(n) (1UL << (8U + (n)))
#define DIRTY_DASH_ALL 0x000000FFUL
#define DIRTY_COLOR(n) (1UL << (24U + (n)))
#define DIRTY_COLOR_ALL 0xFF000000UL
#define DIRTY_DEBUG_ALL 0x00FFFF00UL
typedef struct
{
/* speed, HV V, torque, HV A, motor C, MCU C, max cell C, LV 0.01V. */
int32_t dash_value[8];
uint8_t dash_valid;
uint8_t debug_state[16];
} AmiDisplayState;
static volatile AmiDisplayState display_state;
static volatile uint32_t display_dirty;
static volatile uint32_t dash_last_rx_ms;
static volatile uint32_t debug_last_rx_ms;
static volatile uint32_t wheel_speed_last_rx_ms;
static volatile bool wheel_speed_received;
static volatile uint32_t adc_last_rx_ms;
static volatile uint32_t bms_status_last_rx_ms;
static volatile uint32_t bms_temperature_last_rx_ms;
static volatile uint32_t drivetrain_last_rx_ms;
static volatile uint32_t vcu_status_last_rx_ms;
/* Task 7 = unknown; lock/EBS 0 = unknown, 1 = green, 2 = red. */
/* AS 0..5 = OFF/Ready/Driving/Finished/Emergency/Manual; 6 = unknown. */
static volatile uint8_t vcu_display_state[4] = {7U, 0U, 0U, 6U};
static volatile uint8_t vcu_display_dirty;
static volatile bool vcu_status_received;
/* Preserve the exact source units even where the HMI has integer controls. */
static volatile uint16_t sdc_adc_mv;
/* SDC 7bc2d9f: left-front PA0 and right-front PA6, already calibrated mm/s. */
static volatile uint16_t sdc_wheel_speed_mm_s[2];
static volatile uint16_t sdc_gpio_state;
static volatile uint16_t sdc_gpio_changed;
static volatile uint32_t sdc_gpio_timestamp_ms;
static volatile bool sdc_gpio_received;
static volatile uint16_t bms_voltage_tenths;
static volatile int32_t bms_current_tenths;
static volatile uint32_t can_port_last_rx_ms[2];
static volatile uint32_t can_rx_error_count;
static volatile uint32_t uart_rx_error_count;
static uint8_t screen_rx_dma[SCREEN_RX_DMA_SIZE];
static uint8_t screen_tx_dma[SCREEN_TX_SIZE];
static volatile bool screen_tx_busy;
static uint8_t parser_pos;
static uint8_t parser_task_id;
static volatile uint8_t task_queue[TASK_QUEUE_SIZE];
static volatile uint8_t task_head;
static volatile uint8_t task_tail;
static uint8_t task_sequence;
static uint8_t task_tx_mask;
static uint8_t task_target_mask;
static volatile uint32_t task_drop_count;
static GPIO_PinState LedInactiveLevel(void)
{
return (AMI_LED_ACTIVE_LEVEL == GPIO_PIN_SET) ? GPIO_PIN_RESET : GPIO_PIN_SET;
}
static uint32_t ReadBeU16(const uint8_t *data)
{
return ((uint32_t)data[0] << 8) | (uint32_t)data[1];
}
static uint32_t ReadLeU16(const uint8_t *data)
{
return (uint32_t)data[0] | ((uint32_t)data[1] << 8);
}
static int32_t RoundTenths(int32_t value)
{
return (value >= 0) ? ((value + 5) / 10) : ((value - 5) / 10);
}
static int32_t ReadLeS16(const uint8_t *data)
{
uint32_t raw = ReadLeU16(data);
return (raw & 0x8000U) ? ((int32_t)raw - 65536) : (int32_t)raw;
}
static size_t AppendUnsigned(char *dst, uint32_t value)
{
char reversed[10];
size_t count = 0U;
size_t i;
do
{
reversed[count++] = (char)('0' + (value % 10U));
value /= 10U;
} while ((value != 0U) && (count < sizeof(reversed)));
for (i = 0U; i < count; ++i)
{
dst[i] = reversed[count - 1U - i];
}
return count;
}
static size_t AppendSigned(char *dst, int32_t value)
{
uint32_t magnitude;
size_t count = 0U;
if (value < 0)
{
dst[count++] = '-';
magnitude = (uint32_t)(-(value + 1)) + 1U;
}
else
{
magnitude = (uint32_t)value;
}
return count + AppendUnsigned(&dst[count], magnitude);
}
static bool StartScreenAssignment(const char *prefix, int32_t value)
{
size_t length = strlen(prefix);
if (screen_tx_busy || (length + 14U > sizeof(screen_tx_dma)))
{
return false;
}
memcpy(screen_tx_dma, prefix, length);
length += AppendSigned((char *)&screen_tx_dma[length], value);
screen_tx_dma[length++] = 0xFFU;
screen_tx_dma[length++] = 0xFFU;
screen_tx_dma[length++] = 0xFFU;
screen_tx_busy = true;
if (HAL_UART_Transmit_DMA(&huart2, screen_tx_dma, (uint16_t)length) != HAL_OK)
{
screen_tx_busy = false;
return false;
}
return true;
}
static void RestartScreenRx(void)
{
if (HAL_UARTEx_ReceiveToIdle_DMA(&huart2, screen_rx_dma,
sizeof(screen_rx_dma)) == HAL_OK)
{
__HAL_DMA_DISABLE_IT(huart2.hdmarx, DMA_IT_HT);
}
else
{
++uart_rx_error_count;
}
}
static void QueueTaskFromIsr(uint8_t task_id)
{
uint8_t next = (uint8_t)((task_head + 1U) % TASK_QUEUE_SIZE);
if (next == task_tail)
{
++task_drop_count;
return;
}
task_queue[task_head] = task_id;
task_head = next;
}
static void ParseScreenByte(uint8_t byte)
{
static const uint8_t fixed[6] = {0xAAU, 0x55U, 0x01U, 0x00U, 0x0DU, 0x0AU};
switch (parser_pos)
{
case 0U:
parser_pos = (byte == fixed[0]) ? 1U : 0U;
break;
case 1U:
parser_pos = (byte == fixed[1]) ? 2U : ((byte == fixed[0]) ? 1U : 0U);
break;
case 2U:
parser_pos = (byte == fixed[2]) ? 3U : ((byte == fixed[0]) ? 1U : 0U);
break;
case 3U:
if ((byte >= 1U) && (byte <= 6U))
{
parser_task_id = byte;
parser_pos = 4U;
}
else
{
parser_pos = (byte == fixed[0]) ? 1U : 0U;
}
break;
case 4U:
parser_pos = (byte == fixed[4]) ? 5U : ((byte == fixed[0]) ? 1U : 0U);
break;
case 5U:
if (byte == fixed[5])
{
QueueTaskFromIsr(parser_task_id);
}
parser_pos = (byte == fixed[0]) ? 1U : 0U;
break;
default:
parser_pos = 0U;
break;
}
}
static void SetDashValid(uint32_t index, bool valid)
{
uint8_t mask = (uint8_t)(1U << index);
bool previous = (display_state.dash_valid & mask) != 0U;
if (valid != previous)
{
if (valid) { display_state.dash_valid |= mask; }
else { display_state.dash_valid &= (uint8_t)~mask; }
display_dirty |= DIRTY_COLOR(index);
}
}
static void SetDashValue(uint32_t index, int32_t value)
{
if ((display_state.dash_value[index] != value) ||
((display_state.dash_valid & (1U << index)) == 0U))
{
display_state.dash_value[index] = value;
display_dirty |= (1UL << index);
}
SetDashValid(index, true);
}
static void UpdateDebugFromSdcGpio(uint16_t levels)
{
/* PD order supplied by the wiring table; HMI dN order is different. */
static const uint8_t debug_index[15] = {
0U, 5U, 2U, 6U, 7U, 1U, 3U, 4U,
8U, 9U, 10U, 11U, 12U, 13U, 14U
};
for (uint32_t bit = 0U; bit < 15U; ++bit)
{
uint32_t index = debug_index[bit];
/* All fifteen inputs: low = normal, high = fault. */
uint8_t state = (levels & (1U << bit)) ? 2U : 1U;
if (display_state.debug_state[index] != state)
{
display_state.debug_state[index] = state;
display_dirty |= DIRTY_DEBUG(index);
}
}
/* d15 (12V_Control) has no source in the fifteen-input table. */
}
static bool DecodeCan(uint32_t identifier, uint32_t id_type,
uint32_t length, const uint8_t *data)
{
uint32_t now = HAL_GetTick();
if (id_type == FDCAN_STANDARD_ID)
{
if (identifier == AMI_CAN_ID_VCU_STATUS)
{
/* Custom VCU feedback; requests never update these actual states. */
if ((length != 8U) || (data[0] > 6U) ||
(data[1] > 1U) || (data[2] > 1U) || (data[6] != 0U) ||
!(((data[7] == 1U) && ((data[3] & 0xF8U) == 0U) && (data[5] == 0U)) ||
((data[7] == 2U) && ((data[3] & 0xF0U) == 0U) && (data[5] <= 5U))))
{
return false;
}
uint8_t states[4] = {
(data[3] & 1U) ? data[0] : 7U,
(data[3] & 2U) ? (data[1] ? 1U : 2U) : 0U,
(data[3] & 4U) ? (data[2] ? 1U : 2U) : 0U,
((data[7] == 2U) && (data[3] & 8U)) ? data[5] : 6U
};
for (uint32_t i = 0U; i < 4U; ++i)
{
if (vcu_display_state[i] != states[i])
{
vcu_display_state[i] = states[i];
vcu_display_dirty |= (uint8_t)(1U << i);
}
}
vcu_status_last_rx_ms = now;
vcu_status_received = true;
return true;
}
if (identifier == AMI_CAN_ID_DRIVETRAIN_DISPLAY)
{
/* Version 1 display input only; no motor actuation is performed. */
if ((length != 8U) || (data[7] != 1U) || ((data[6] & 0xF8U) != 0U))
{
return false;
}
int32_t torque = ReadLeS16(data);
if ((data[6] & 1U) && (torque >= -1000) && (torque <= 1000))
{
SetDashValue(2U, torque);
}
else { SetDashValid(2U, false); }
if (data[6] & 2U) { SetDashValue(4U, RoundTenths(ReadLeS16(&data[2]))); }
else { SetDashValid(4U, false); }
if (data[6] & 4U) { SetDashValue(5U, RoundTenths(ReadLeS16(&data[4]))); }
else { SetDashValid(5U, false); }
drivetrain_last_rx_ms = now;
dash_last_rx_ms = now;
return true;
}
if ((identifier == AMI_CAN_ID_SDC_ADC) && (length == 2U))
{
sdc_adc_mv = (uint16_t)ReadLeU16(data);
/* Xfloat lvbat has two decimals: mV -> hundredths of a volt. */
SetDashValue(7U, (int32_t)((sdc_adc_mv + 5U) / 10U));
adc_last_rx_ms = now;
dash_last_rx_ms = now;
return true;
}
if ((identifier == AMI_CAN_ID_SDC_HEARTBEAT) && (length == 8U) &&
(data[0] == 0xA1U) && (data[1] == 1U))
{
debug_last_rx_ms = now;
return true;
}
if ((identifier == AMI_CAN_ID_SDC_WHEEL_SPEED) && (length == 4U))
{
uint32_t left = ReadLeU16(data);
uint32_t right = ReadLeU16(&data[2]);
sdc_wheel_speed_mm_s[0] = (uint16_t)left;
sdc_wheel_speed_mm_s[1] = (uint16_t)right;
/* Mean front-wheel mm/s * 0.0036 -> whole km/h, rounded once.
SDC already applies 49 pulses/rev and 1414 mm circumference.
Zero and 0xFFFF are valid values; the source defines no sentinel. */
SetDashValue(0U, (int32_t)(((left + right) * 9U + 2500U) / 5000U));
wheel_speed_last_rx_ms = now;
wheel_speed_received = true;
dash_last_rx_ms = now;
return true;
}
if ((identifier == AMI_CAN_ID_SDC_GPIO) && (length == 8U))
{
sdc_gpio_state = (uint16_t)(ReadLeU16(data) & 0x7FFFU);
sdc_gpio_changed = (uint16_t)(ReadLeU16(&data[2]) & 0x7FFFU);
sdc_gpio_timestamp_ms = (uint32_t)data[4] | ((uint32_t)data[5] << 8) |
((uint32_t)data[6] << 16) | ((uint32_t)data[7] << 24);
sdc_gpio_received = true;
debug_last_rx_ms = now;
UpdateDebugFromSdcGpio(sdc_gpio_state);
return true;
}
if ((identifier == AMI_CAN_ID_SDC_DAC_ACK) && (length == 4U))
{
return true;
}
if ((identifier == AMI_CAN_ID_BMS_TEMPERATURE) && (length == 8U))
{
int32_t maximum = -40;
bool valid = false;
for (uint32_t i = 0U; i < 8U; ++i)
{
if (data[i] != 0xFFU)
{
int32_t temperature = (int32_t)data[i] - 40;
if (!valid || (temperature > maximum)) { maximum = temperature; }
valid = true;
}
}
if (valid) { SetDashValue(6U, maximum); }
else { SetDashValid(6U, false); }
bms_temperature_last_rx_ms = now;
dash_last_rx_ms = now;
return true;
}
}
if (((id_type == FDCAN_STANDARD_ID) && (identifier == AMI_CAN_ID_BMS_STATUS)) ||
((id_type == FDCAN_EXTENDED_ID) && (identifier == AMI_CAN_ID_BMS_STATUS_EXT)))
{
if (length != 8U) { return false; }
bms_voltage_tenths = (uint16_t)ReadBeU16(data);
bms_current_tenths = (int32_t)ReadBeU16(&data[2]) - 5000;
SetDashValue(1U, RoundTenths(bms_voltage_tenths));
SetDashValue(3U, RoundTenths(bms_current_tenths));
bms_status_last_rx_ms = now;
dash_last_rx_ms = now;
return true;
}
if ((id_type == FDCAN_EXTENDED_ID) &&
(identifier == AMI_CAN_ID_BMS_EXTREMES_EXT) && (length == 8U))
{
if (data[4] != 0xFFU) { SetDashValue(6U, (int32_t)data[4] - 40); }
else { SetDashValid(6U, false); }
bms_temperature_last_rx_ms = now;
dash_last_rx_ms = now;
/* BMS LV bytes 6..7 do not override the SDC ADC source. */
return true;
}
return false;
}
static void ConfigureCanPort(FDCAN_HandleTypeDef *hfdcan)
{
FDCAN_FilterTypeDef filter = {0};
filter.IdType = FDCAN_STANDARD_ID;
filter.FilterIndex = 0U;
filter.FilterType = FDCAN_FILTER_RANGE;
filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
filter.FilterID1 = AMI_CAN_ID_SDC_HEARTBEAT;
filter.FilterID2 = AMI_CAN_ID_SDC_GPIO;
if (HAL_FDCAN_ConfigFilter(hfdcan, &filter) != HAL_OK) { Error_Handler(); }
filter.FilterIndex = 1U;
filter.FilterType = FDCAN_FILTER_MASK;
filter.FilterID1 = AMI_CAN_ID_BMS_STATUS;
filter.FilterID2 = 0x7FFU;
if (HAL_FDCAN_ConfigFilter(hfdcan, &filter) != HAL_OK) { Error_Handler(); }
filter.FilterIndex = 2U;
filter.FilterID1 = AMI_CAN_ID_BMS_TEMPERATURE;
if (HAL_FDCAN_ConfigFilter(hfdcan, &filter) != HAL_OK) { Error_Handler(); }
filter.FilterIndex = 3U;
filter.FilterType = FDCAN_FILTER_DUAL;
filter.FilterID1 = AMI_CAN_ID_DRIVETRAIN_DISPLAY;
filter.FilterID2 = AMI_CAN_ID_VCU_STATUS;
if (HAL_FDCAN_ConfigFilter(hfdcan, &filter) != HAL_OK) { Error_Handler(); }
filter.IdType = FDCAN_EXTENDED_ID;
filter.FilterIndex = 0U;
filter.FilterType = FDCAN_FILTER_DUAL;
filter.FilterID1 = AMI_CAN_ID_BMS_STATUS_EXT;
filter.FilterID2 = AMI_CAN_ID_BMS_EXTREMES_EXT;
if (HAL_FDCAN_ConfigFilter(hfdcan, &filter) != HAL_OK) { Error_Handler(); }
}
static void ConfigureCan(void)
{
ConfigureCanPort(&hfdcan1);
ConfigureCanPort(&hfdcan2);
if ((HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_REJECT, FDCAN_REJECT,
FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE) != HAL_OK) ||
(HAL_FDCAN_ConfigGlobalFilter(&hfdcan2, FDCAN_REJECT, FDCAN_REJECT,
FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE) != HAL_OK) ||
(HAL_FDCAN_ActivateNotification(&hfdcan1,
FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0U) != HAL_OK) ||
(HAL_FDCAN_ActivateNotification(&hfdcan2,
FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0U) != HAL_OK) ||
(HAL_FDCAN_Start(&hfdcan1) != HAL_OK) ||
(HAL_FDCAN_Start(&hfdcan2) != HAL_OK))
{
Error_Handler();
}
}
static void SendPendingTask(void)
{
FDCAN_TxHeaderTypeDef header = {0};
uint8_t data[8];
uint8_t task_id;
uint32_t now;
if (task_tail == task_head)
{
return;
}
task_id = task_queue[task_tail];
now = HAL_GetTick();
if (task_target_mask == 0U)
{
if ((can_port_last_rx_ms[0] != 0U) &&
((now - can_port_last_rx_ms[0]) <= AMI_CAN_DATA_TIMEOUT_MS))
{
task_target_mask |= 0x01U;
}
if ((can_port_last_rx_ms[1] != 0U) &&
((now - can_port_last_rx_ms[1]) <= AMI_CAN_DATA_TIMEOUT_MS))
{
task_target_mask |= 0x02U;
}
if (task_target_mask == 0U)
{
task_target_mask = 0x03U;
}
}
data[0] = 1U;
data[1] = task_id;
data[2] = task_sequence;
data[3] = 1U;
data[4] = (uint8_t)now;
data[5] = (uint8_t)(now >> 8);
data[6] = (uint8_t)(now >> 16);
data[7] = (uint8_t)(now >> 24);
header.Identifier = AMI_CAN_ID_TASK_REQUEST;
header.IdType = FDCAN_STANDARD_ID;
header.TxFrameType = FDCAN_DATA_FRAME;
header.DataLength = FDCAN_DLC_BYTES_8;
header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
header.BitRateSwitch = FDCAN_BRS_OFF;
header.FDFormat = FDCAN_CLASSIC_CAN;
header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
header.MessageMarker = 0U;
if (((task_target_mask & 0x01U) != 0U) && ((task_tx_mask & 0x01U) == 0U) &&
(HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) > 0U) &&
(HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &header, data) == HAL_OK))
{
task_tx_mask |= 0x01U;
}
if (((task_target_mask & 0x02U) != 0U) && ((task_tx_mask & 0x02U) == 0U) &&
(HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan2) > 0U) &&
(HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan2, &header, data) == HAL_OK))
{
task_tx_mask |= 0x02U;
}
if ((task_tx_mask & task_target_mask) == task_target_mask)
{
task_tail = (uint8_t)((task_tail + 1U) % TASK_QUEUE_SIZE);
++task_sequence;
task_tx_mask = 0U;
task_target_mask = 0U;
}
}
static void SendHeartbeat(void)
{
static uint32_t last_tx_ms;
static uint16_t sequence;
uint32_t now = HAL_GetTick();
FDCAN_TxHeaderTypeDef header = {0};
uint8_t data[8];
if ((uint32_t)(now - last_tx_ms) < AMI_HEARTBEAT_PERIOD_MS)
{
return;
}
/* Skip missed periods instead of generating a catch-up burst. */
last_tx_ms = now;
data[0] = 1U; /* Protocol version. */
data[1] = 0U; /* Reserved. */
data[2] = (uint8_t)sequence;
data[3] = (uint8_t)(sequence >> 8);
data[4] = (uint8_t)now;
data[5] = (uint8_t)(now >> 8);
data[6] = (uint8_t)(now >> 16);
data[7] = (uint8_t)(now >> 24);
++sequence;
header.Identifier = AMI_CAN_ID_HEARTBEAT;
header.IdType = FDCAN_STANDARD_ID;
header.TxFrameType = FDCAN_DATA_FRAME;
header.DataLength = FDCAN_DLC_BYTES_8;
header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
header.BitRateSwitch = FDCAN_BRS_OFF;
header.FDFormat = FDCAN_CLASSIC_CAN;
header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
/* CAN1 (500 kbit/s) only; reserve one FIFO slot for task requests.
A busy port skips this period; no software backlog or blocking retry. */
if (HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) > 1U)
{
(void)HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &header, data);
}
}
static void UpdateTimeoutsAndLeds(void)
{
static uint32_t last_heartbeat_ms;
static bool debug_timeout_applied;
uint32_t now = HAL_GetTick();
bool dash_timeout = (dash_last_rx_ms == 0U) ||
((now - dash_last_rx_ms) > AMI_CAN_DATA_TIMEOUT_MS);
bool debug_timeout = (debug_last_rx_ms == 0U) ||
((now - debug_last_rx_ms) > AMI_CAN_DATA_TIMEOUT_MS);
if ((now - last_heartbeat_ms) >= 500U)
{
HAL_GPIO_TogglePin(STATUS_LED1_GPIO_Port, STATUS_LED1_Pin);
last_heartbeat_ms = now;
}
HAL_GPIO_WritePin(STATUS_LED2_GPIO_Port, STATUS_LED2_Pin,
(dash_timeout || debug_timeout) ? AMI_LED_ACTIVE_LEVEL
: LedInactiveLevel());
/* Each physical source expires separately; other traffic cannot refresh it. */
__disable_irq();
/* Sample time after excluding RX IRQs: a newer timestamp must not underflow. */
now = HAL_GetTick();
if (wheel_speed_received &&
((now - wheel_speed_last_rx_ms) > AMI_WHEEL_SPEED_TIMEOUT_MS))
{
SetDashValid(0U, false);
wheel_speed_received = false;
}
if (vcu_status_received &&
((now - vcu_status_last_rx_ms) > AMI_VCU_STATUS_TIMEOUT_MS))
{
vcu_display_state[0] = 7U;
vcu_display_state[1] = 0U;
vcu_display_state[2] = 0U;
vcu_display_state[3] = 6U;
vcu_display_dirty |= 15U;
vcu_status_received = false;
}
if ((adc_last_rx_ms == 0U) || ((now - adc_last_rx_ms) > AMI_ADC_TIMEOUT_MS))
{
SetDashValid(7U, false);
}
if ((bms_status_last_rx_ms == 0U) || ((now - bms_status_last_rx_ms) > AMI_BMS_TIMEOUT_MS))
{
SetDashValid(1U, false);
SetDashValid(3U, false);
}
if ((bms_temperature_last_rx_ms == 0U) ||
((now - bms_temperature_last_rx_ms) > AMI_BMS_TIMEOUT_MS))
{
SetDashValid(6U, false);
}
if ((drivetrain_last_rx_ms == 0U) ||
((now - drivetrain_last_rx_ms) > AMI_DRIVETRAIN_TIMEOUT_MS))
{
SetDashValid(2U, false);
SetDashValid(4U, false);
SetDashValid(5U, false);
}
/* Recheck within the RX critical section to avoid erasing a new snapshot. */
debug_timeout = (debug_last_rx_ms == 0U) ||
((now - debug_last_rx_ms) > AMI_CAN_DATA_TIMEOUT_MS);
if (debug_timeout && !debug_timeout_applied)
{
uint32_t i;
for (i = 0U; i < 16U; ++i)
{
display_state.debug_state[i] = 0U;
}
display_dirty |= DIRTY_DEBUG_ALL;
debug_timeout_applied = true;
}
else if (!debug_timeout)
{
debug_timeout_applied = false;
}
__enable_irq();
}
static void SendNextDirtyValue(void)
{
static const char *const vcu_prefix[4] = {
"current_task=", "lock_state=", "ebs_state=", "as_state="
};
static const char *const dash_prefix[8] = {
"dash.speed.val=", "dash.ts.val=", "dash.mct.val=", "dash.dl.val=",
"dash.djwd.val=", "dash.mcuwd.val=", "dash.dtwd.val=", "dash.lvbat.val="
};
static const char *const color_prefix[8] = {
"dash.speed.pco=", "dash.ts.pco=", "dash.mct.pco=", "dash.dl.pco=",
"dash.djwd.pco=", "dash.mcuwd.pco=", "dash.dtwd.pco=", "dash.lvbat.pco="
};
static uint32_t cursor;
uint32_t dirty;
uint8_t vcu_dirty;
uint32_t bit;
uint32_t index;
int32_t value;
const char *prefix;
char debug_prefix[5] = {'d', '0', '=', '\0', '\0'};
if (screen_tx_busy || (HAL_GetTick() < AMI_SCREEN_BOOT_DELAY_MS))
{
return;
}
__disable_irq();
dirty = display_dirty;
vcu_dirty = vcu_display_dirty;
__enable_irq();
if ((dirty == 0U) && (vcu_dirty == 0U))
{
return;
}
/* Fair rotation prevents rapid source updates from starving other fields. */
for (uint32_t offset = 0U; offset < 36U; ++offset)
{
index = (cursor + offset) % 36U;
if ((index < 32U) ? ((dirty & (1UL << index)) != 0U)
: ((vcu_dirty & (1U << (index - 32U))) != 0U)) { break; }
}
bit = 1UL << ((index < 32U) ? index : index - 32U);
cursor = (index + 1U) % 36U;
__disable_irq();
if (index >= 32U)
{
value = vcu_display_state[index - 32U];
prefix = vcu_prefix[index - 32U];
vcu_display_dirty &= (uint8_t)~bit;
}
else if (index < 8U)
{
value = display_state.dash_value[index];
prefix = dash_prefix[index];
}
else if (index >= 24U)
{
uint32_t dash_index = index - 24U;
value = (display_state.dash_valid & (1U << dash_index)) ? 65535 : 16904;
prefix = color_prefix[dash_index];
}
else
{
uint32_t debug_index = index - 8U;
value = display_state.debug_state[debug_index];
if (debug_index >= 10U)
{
debug_prefix[1] = '1';
debug_prefix[2] = (char)('0' + (debug_index - 10U));
debug_prefix[3] = '=';
prefix = debug_prefix;
}
else
{
debug_prefix[1] = (char)('0' + debug_index);
prefix = debug_prefix;
}
}
if (index < 32U) { display_dirty &= ~bit; }
__enable_irq();
if (!StartScreenAssignment(prefix, value))
{
__disable_irq();
if (index < 32U) { display_dirty |= bit; }
else { vcu_display_dirty |= (uint8_t)bit; }
__enable_irq();
}
}
void AMI_App_Init(void)
{
HAL_GPIO_WritePin(STATUS_LED1_GPIO_Port, STATUS_LED1_Pin, LedInactiveLevel());
HAL_GPIO_WritePin(STATUS_LED2_GPIO_Port, STATUS_LED2_Pin, AMI_LED_ACTIVE_LEVEL);
display_dirty = DIRTY_DASH_ALL | DIRTY_DEBUG_ALL | DIRTY_COLOR_ALL;
vcu_display_dirty = 15U;
ConfigureCan();
RestartScreenRx();
}
void AMI_App_Service(void)
{
static uint32_t last_screen_sync_ms;
uint32_t now = HAL_GetTick();
SendPendingTask();
SendHeartbeat();
UpdateTimeoutsAndLeds();
/* The HMI may reboot/reconnect after the MCU has already sent its state. */
if ((now - last_screen_sync_ms) >= AMI_SCREEN_RESYNC_MS)
{
__disable_irq();
display_dirty |= DIRTY_DASH_ALL | DIRTY_DEBUG_ALL | DIRTY_COLOR_ALL;
vcu_display_dirty |= 15U;
__enable_irq();
last_screen_sync_ms = now;
}
SendNextDirtyValue();
}
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan,
uint32_t rx_fifo0_its)
{
FDCAN_RxHeaderTypeDef header;
uint8_t data[64]; /* HAL copies payload before validation, including FD DLCs. */
if ((rx_fifo0_its & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) == 0U)
{
return;
}
while (HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO0) > 0U)
{
if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &header, data) != HAL_OK)
{
++can_rx_error_count;
break;
}
if ((header.RxFrameType != FDCAN_DATA_FRAME) ||
(header.FDFormat != FDCAN_CLASSIC_CAN) ||
(header.DataLength > FDCAN_DLC_BYTES_8))
{
continue;
}
if (DecodeCan(header.Identifier, header.IdType, header.DataLength, data))
{
can_port_last_rx_ms[(hfdcan->Instance == FDCAN1) ? 0U : 1U] = HAL_GetTick();
}
}
}
void HAL_FDCAN_ErrorCallback(FDCAN_HandleTypeDef *hfdcan)
{
(void)hfdcan;
++can_rx_error_count;
}
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t size)
{
uint16_t i;
if (huart->Instance != USART2)
{
return;
}
for (i = 0U; i < size; ++i)
{
ParseScreenByte(screen_rx_dma[i]);
}
RestartScreenRx();
}
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
{
if (huart->Instance == USART2)
{
screen_tx_busy = false;
}
}
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{
if (huart->Instance == USART2)
{
++uart_rx_error_count;
(void)HAL_UART_AbortReceive(huart);
RestartScreenRx();
}
}
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