msg_handler.cpp File Reference

Handles CAN message reception, decoding, and response for supercap control. More...

Functions
void	initCANComm (FDCAN_HandleTypeDef *fdcan_)
	Initializes and configures the CAN peripheral and message filters.
void	HAL_FDCAN_RxFifo0Callback (FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
	Callback triggered when a new CAN message is received.
void	HAL_FDCAN_ErrorStatusCallback (FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs)
	Called on FDCAN error interrupt (e.g. bus-off state).

Variables
static ref_msg_packet	rxMsg
	Local message object storing the latest received control packet.

Detailed Description

Handles CAN message reception, decoding, and response for supercap control.

This module handles communication over FDCAN between the supercapacitor module and the main robot controller. It allows receiving control signals (enable/disable, power limit updates) and transmits supercap status (power, energy).

Created by: Yassine Bakkali Date: Jan 20, 2025

Function Documentation

HAL_FDCAN_ErrorStatusCallback()

void HAL_FDCAN_ErrorStatusCallback	(	FDCAN_HandleTypeDef *	hfdcan,
		uint32_t	ErrorStatusITs )

Called on FDCAN error interrupt (e.g. bus-off state).

Resets the CAN peripheral and reinitializes the communication settings.

Parameters

hfdcan	Pointer to the affected CAN instance
ErrorStatusITs	Interrupt flags (unused)

HAL_FDCAN_RxFifo0Callback()

void HAL_FDCAN_RxFifo0Callback	(	FDCAN_HandleTypeDef *	hfdcan,
		uint32_t	RxFifo0ITs )

Callback triggered when a new CAN message is received.

If the message matches the expected node ID, it handles:

• Enabling/disabling the supercap loop
• Resetting the system
• Updating the power limit and energy buffer reference

Parameters

hfdcan	FDCAN peripheral instance
RxFifo0ITs	Interrupt source bitmask

initCANComm()

void initCANComm

(

FDCAN_HandleTypeDef *

fdcan_

)

Initializes and configures the CAN peripheral and message filters.

Initializes CAN communication: configures filters and starts the FDCAN peripheral.

This function sets up the CAN ID filters, enables relevant interrupts, configures delay compensation, and starts the FDCAN interface.

Parameters

fdcan_

Pointer to the FDCAN handle to initialize.

Variable Documentation

rxMsg

ref_msg_packet rxMsg

static

Local message object storing the latest received control packet.