telemetry Firmware More...

Classes
struct	CanMessageCache
	Per-message cache entry. More...

struct	Datagram
	Datagram storage class. More...

struct	SdSpiSettings
	Configuration settings for initializing an SD SPI port. More...

struct	TelemetryConfig
	Telemetry configuration data. More...

struct	TelemetryStorage
	Telemetry storage. More...

Macros
#define	TELEMETRY_STATS_CAN_ID 2020U
	Synthetic XBee-only ID for the telemetry bus-load stats datagram.

#define	TELEMETRY_STATS_DLC 6U
	DLC of the telemetry stats datagram (3 × uint16_t).

#define	WS22_TELEMETRY_STATUS_ID 2039U
	Synthetic XBee-only IDs for WS22 re-encoded telemetry (floats → scaled integers). 2039–2043 sit above the highest system CAN ID (AFE_temperature, 2035). More...

#define	WS22_TELEMETRY_BUS_ID 2040U

#define	WS22_TELEMETRY_VELOCITY_ID 2041U

#define	WS22_TELEMETRY_TEMP_ID 2042U

#define	WS22_TELEMETRY_DRIVE_CMD_ID 2043U

#define	WS22_TELEMETRY_DLC 4U

#define	DATAGRAM_BUFFER_SIZE 64U
	Datagram buffer size.

#define	DATAGRAM_START_FRAME 0xAAU
	Start of frame indicator.

#define	DATAGRAM_END_FRAME 0xBBU
	End of frame indicator.

#define	DATAGRAM_METADATA_SIZE 5U
	Datagram metadata size. More...

Enumerations
enum	CanMsgPriority { CAN_MSG_PRIORITY_HIGH = 0 , CAN_MSG_PRIORITY_MEDIUM , CAN_MSG_PRIORITY_LOW , NUM_CAN_MSG_PRIORITIES }
	Transmission priority tier for a cached CAN message. More...

enum	SdSpiBaudrate { SD_SPI_BAUDRATE_312_5KHZ = 0 , SD_SPI_BAUDRATE_625KHZ , SD_SPI_BAUDRATE_1_25MHZ , SD_SPI_BAUDRATE_2_5MHZ , SD_SPI_BAUDRATE_5MHZ , SD_SPI_BAUDRATE_10MHZ , SD_SPI_BAUDRATE_20MHZ , SD_SPI_BAUDRATE_40MHZ , NUM_SD_SPI_BAUDRATES }
	SD Card SPI baudrate options. More...

enum	SdSpiMode { SD_SPI_MODE_0 = 0 , SD_SPI_MODE_1 , SD_SPI_MODE_2 , SD_SPI_MODE_3 , NUM_SD_SPI_MODES }
	SPI modes (CPOL and CPHA settings) More...

enum	SdSpiPort { SD_SPI_PORT_1 = 0 , SD_SPI_PORT_2 , SD_SPI_PORT_3 , NUM_SD_SPI_PORTS }
	SD SPI port options.

Functions
StatusCode	decode_can_message (Datagram datagram, CanMessage msg)
	Decode CAN message and update a datagram. More...

StatusCode	encode_datagram (Datagram datagram, uint32_t id, uint8_t dlc, const uint8_t data)
	Encode id/dlc/data directly into a datagram (no CanMessage wrapper). More...

void	log_decoded_message (Datagram *datagram)
	Log the decoded datagram for debug purposes. More...

StatusCode	sd_card_link_driver (SdSpiPort spi, SdSpiSettings *settings)
	Link the SD card driver with the FATFs API and initialize it. More...

StatusCode	sd_spi_init (SdSpiPort spi, const SdSpiSettings *settings)
	Initialize SD SPI port with given settings. More...

StatusCode	sd_spi_tx (SdSpiPort spi, uint8_t *tx_data, size_t tx_len)
	Transmit data to SD card via SPI. More...

StatusCode	sd_spi_rx (SdSpiPort spi, uint8_t *rx_data, size_t rx_len, uint8_t placeholder)
	Receive data from SD card via SPI. More...

StatusCode	sd_spi_exchange (SdSpiPort spi, uint8_t tx_data, size_t tx_len, uint8_t rx_data, size_t rx_len)
	Exchange data over SPI. More...

StatusCode	sd_spi_cs_set_state (SdSpiPort spi, GpioState state)
	Set the CS (chip select) GPIO state. More...

GpioState	sd_spi_cs_get_state (SdSpiPort spi)
	Get the current state of the CS (chip select) pin. More...

StatusCode	sd_spi_set_frequency (SdSpiPort spi, SdSpiBaudrate baudrate)
	Change the baudrate of an initialized SPI port. More...

StatusCode	telemetry_init (TelemetryStorage telemetry_storage, TelemetryConfig config, Bmi323Storage bmi323_storage, CanStorage can_storage)
	Initialize the telemetry interface. More...

StatusCode	xb_transmit_init (TelemetryStorage storage, TelemetryConfig config)
	Initializes the xb_transmit component. More...

Variables
CanMessageCache	g_can_cache_high []
	High-priority (fast-cycle) message cache. More...

const size_t	g_can_cache_high_size

CanMessageCache	g_can_cache_medium []
	Medium-priority (medium-cycle) message cache. More...

const size_t	g_can_cache_medium_size

CanMessageCache	g_can_cache_low []
	Low-priority (slow-cycle) message cache. More...

const size_t	g_can_cache_low_size

Detailed Description

telemetry Firmware

Macro Definition Documentation

◆ DATAGRAM_METADATA_SIZE

#define DATAGRAM_METADATA_SIZE 5U

Datagram metadata size.

1 byte for start frame 2 bytes for ID 1 byte for DLC 1 byte for end frame

◆ WS22_TELEMETRY_BUS_ID

#define WS22_TELEMETRY_BUS_ID 2040U

bus_voltage_cV (u16) + bus_current_cA (i16)

◆ WS22_TELEMETRY_DLC

#define WS22_TELEMETRY_DLC 4U

DLC for all WS22 synthetic entries (2 × uint16_t)

◆ WS22_TELEMETRY_DRIVE_CMD_ID

#define WS22_TELEMETRY_DRIVE_CMD_ID 2043U

drive_current×10000 (u16) + drive_velocity_rpm (i16)

◆ WS22_TELEMETRY_STATUS_ID

#define WS22_TELEMETRY_STATUS_ID 2039U

Synthetic XBee-only IDs for WS22 re-encoded telemetry (floats → scaled integers). 2039–2043 sit above the highest system CAN ID (AFE_temperature, 2035).

error_flags (u16) + limit_flags (u16)

◆ WS22_TELEMETRY_TEMP_ID

#define WS22_TELEMETRY_TEMP_ID 2042U

motor_temp_°C×10 (i16) + heatsink_temp_°C×10 (i16)

◆ WS22_TELEMETRY_VELOCITY_ID

#define WS22_TELEMETRY_VELOCITY_ID 2041U

motor_velocity_rpm×10 (i16) + vehicle_kph×100 (u16)

Enumeration Type Documentation

◆ CanMsgPriority

enum CanMsgPriority

Transmission priority tier for a cached CAN message.

Derived from the message's cycle rate in the board YAML: fast-cycle → HIGH, medium-cycle → MEDIUM, slow-cycle → LOW

◆ SdSpiBaudrate

enum SdSpiBaudrate

SD Card SPI baudrate options.

These prescaler values map to SPI peripheral baudrate divisors. The actual baudrate is calculated as APB_Frequency / Prescaler. On STM32, prescalers must be powers of 2.

Enumerator
SD_SPI_BAUDRATE_312_5KHZ	312.5 kHz
SD_SPI_BAUDRATE_625KHZ	625 kHz
SD_SPI_BAUDRATE_1_25MHZ	1.25 MHz
SD_SPI_BAUDRATE_2_5MHZ	2.5 MHz
SD_SPI_BAUDRATE_5MHZ	5 MHz
SD_SPI_BAUDRATE_10MHZ	10 MHz
SD_SPI_BAUDRATE_20MHZ	20 MHz
SD_SPI_BAUDRATE_40MHZ	40 MHz
NUM_SD_SPI_BAUDRATES	Number of baudrate options

◆ SdSpiMode

enum SdSpiMode

SPI modes (CPOL and CPHA settings)

Enumerator
SD_SPI_MODE_0	CPOL: 0, CPHA: 0 — idle low, sample rising edge
SD_SPI_MODE_1	CPOL: 0, CPHA: 1 — idle low, sample falling edge
SD_SPI_MODE_2	CPOL: 1, CPHA: 0 — idle high, sample falling edge
SD_SPI_MODE_3	CPOL: 1, CPHA: 1 — idle high, sample rising edge
NUM_SD_SPI_MODES	Number of SPI modes

Function Documentation

◆ decode_can_message()

StatusCode decode_can_message	(	Datagram *	datagram,
		CanMessage *	msg
	)

Decode CAN message and update a datagram.

Parameters

datagram	Pointer to the datagram to be updated
msg	Pointer to the new CAN data

◆ encode_datagram()

StatusCode encode_datagram	(	Datagram *	datagram,
		uint32_t	id,
		uint8_t	dlc,
		const uint8_t *	data
	)

Encode id/dlc/data directly into a datagram (no CanMessage wrapper).

Parameters

datagram	Pointer to the datagram to populate
id	Raw CAN ID
dlc	Payload length in bytes
data	Pointer to payload

◆ log_decoded_message()

void log_decoded_message ( Datagram * datagram )

Log the decoded datagram for debug purposes.

Parameters

datagram Pointer to the datagram to be debugged

◆ sd_card_link_driver()

StatusCode sd_card_link_driver	(	SdSpiPort	spi,
		SdSpiSettings *	settings
	)

Link the SD card driver with the FATFs API and initialize it.

Parameters

spi	which SPI port to use for the SD card
settings	pointer to your pre-configured SdSpiSettings

Returns: STATUS_CODE_OK on success, or an error code.

◆ sd_spi_cs_get_state()

GpioState sd_spi_cs_get_state ( SdSpiPort spi )

Get the current state of the CS (chip select) pin.

Parameters

spi SPI port

Returns: GPIO_STATE_HIGH if pin is high GPIO_STATE_LOW if pin is low

◆ sd_spi_cs_set_state()

StatusCode sd_spi_cs_set_state	(	SdSpiPort	spi,
		GpioState	state
	)

Set the CS (chip select) GPIO state.

Parameters

spi	SPI port
state	Desired CS state (GPIO_STATE_LOW to select)

Returns: STATUS_CODE_OK on success STATUS_CODE_INVALID_ARGS if port is invalid STATUS_CODE_UNINITIALIZED if SPI not initialized

◆ sd_spi_exchange()

StatusCode sd_spi_exchange	(	SdSpiPort	spi,
		uint8_t *	tx_data,
		size_t	tx_len,
		uint8_t *	rx_data,
		size_t	rx_len
	)

Exchange data over SPI.

Simultaneously transmit and receive data. Lengths may differ. Transmits 0xFF if no TX data

Parameters

spi	SPI port to use
tx_data	Pointer to data to transmit (can be NULL)
tx_len	Number of bytes to transmit
rx_data	Pointer to buffer for received data (can be NULL)
rx_len	Number of bytes to receive

Returns: STATUS_CODE_OK on success STATUS_CODE_INVALID_ARGS if parameters are invalid STATUS_CODE_UNINITIALIZED if SPI not initialized STATUS_CODE_INTERNAL_ERROR if SPI transfer fails

◆ sd_spi_init()

StatusCode sd_spi_init	(	SdSpiPort	spi,
		const SdSpiSettings *	settings
	)

Initialize SD SPI port with given settings.

Note that STM32 SPI baudrate prescalers are powers of 2, so the resulting baudrate may not match the requested value exactly. Check resulting timing if critical

Parameters

spi	SPI port to initialize
settings	Pointer to configuration settings

Returns: STATUS_CODE_OK on success STATUS_CODE_INVALID_ARGS if parameters are invalid STATUS_CODE_RESOURCE_EXHAUSTED if already initialized STATUS_CODE_INTERNAL_ERROR if HAL initialization fails

◆ sd_spi_rx()

StatusCode sd_spi_rx	(	SdSpiPort	spi,
		uint8_t *	rx_data,
		size_t	rx_len,
		uint8_t	placeholder
	)

Receive data from SD card via SPI.

Parameters

spi	SPI port to use
rx_data	Pointer to buffer to receive data
rx_len	Number of bytes to receive
placeholder	Byte to transmit during receive

Returns: STATUS_CODE_OK on success STATUS_CODE_INVALID_ARGS if inputs are invalid STATUS_CODE_UNINITIALIZED if SPI is not initialized STATUS_CODE_INTERNAL_ERROR if HAL receive fails

◆ sd_spi_set_frequency()

StatusCode sd_spi_set_frequency	(	SdSpiPort	spi,
		SdSpiBaudrate	baudrate
	)

Change the baudrate of an initialized SPI port.

Reconfigures the SPI peripheral to operate at a different baudrate

Parameters

spi	SPI port
baudrate	Desired new baudrate

Returns: STATUS_CODE_OK on success STATUS_CODE_INVALID_ARGS if arguments are invalid STATUS_CODE_UNINITIALIZED if SPI not initialized

◆ sd_spi_tx()

StatusCode sd_spi_tx	(	SdSpiPort	spi,
		uint8_t *	tx_data,
		size_t	tx_len
	)

Transmit data to SD card via SPI.

Sends |tx_len| bytes from |tx_data| over SPI without changing the CS line. Received bytes are discarded

Parameters

spi	SPI port to use
tx_data	Pointer to data to transmit
tx_len	Number of bytes to transmit

Returns: STATUS_CODE_OK on success STATUS_CODE_INVALID_ARGS if inputs are invalid STATUS_CODE_UNINITIALIZED if SPI is not initialized STATUS_CODE_INTERNAL_ERROR if HAL transmit fails

◆ telemetry_init()

StatusCode telemetry_init	(	TelemetryStorage *	telemetry_storage,
		TelemetryConfig *	config,
		Bmi323Storage *	bmi323_storage,
		CanStorage *	can_storage
	)

Initialize the telemetry interface.

Parameters

telemetry_storage	Pointer to the telemetry storage struct
config	Pointer to the telemetry config
bmi323_storage	pointer to bmi323_storage struct
can_storage	pointer to can_storage struct

Returns: STATUS_CODE_OK if telemetry initialization succeeded STATUS_CODE_INVALID_ARGS if one of the parameters are NULL/incorrect

◆ xb_transmit_init()

StatusCode xb_transmit_init	(	TelemetryStorage *	storage,
		TelemetryConfig *	config
	)

Initializes the xb_transmit component.

Returns: STATUS_CODE_OK if initialization is successful STATUS_CODE_INVALID_ARGS if storage is null

Variable Documentation

◆ g_can_cache_high

CanMessageCache g_can_cache_high[]

extern

High-priority (fast-cycle) message cache.

Currently empty — no fast-cycle messages target telemetry.

◆ g_can_cache_low

CanMessageCache g_can_cache_low[]

extern

Low-priority (slow-cycle) message cache.

Contains 3 front_controller power group entries plus the telemetry-internal stats datagram and 5 WS22 synthetic entries.

◆ g_can_cache_medium

CanMessageCache g_can_cache_medium[]

extern

Medium-priority (medium-cycle) message cache.

Contains 23 entries from rear_controller, steering, front_controller, and IMU.

Classes

Macros

Enumerations

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ DATAGRAM_METADATA_SIZE

◆ WS22_TELEMETRY_BUS_ID

◆ WS22_TELEMETRY_DLC

◆ WS22_TELEMETRY_DRIVE_CMD_ID

◆ WS22_TELEMETRY_STATUS_ID

◆ WS22_TELEMETRY_TEMP_ID

◆ WS22_TELEMETRY_VELOCITY_ID

Enumeration Type Documentation

◆ CanMsgPriority

◆ SdSpiBaudrate

◆ SdSpiMode

Function Documentation

◆ decode_can_message()

◆ encode_datagram()

◆ log_decoded_message()

◆ sd_card_link_driver()

◆ sd_spi_cs_get_state()

◆ sd_spi_cs_set_state()

◆ sd_spi_exchange()

◆ sd_spi_init()

◆ sd_spi_rx()

◆ sd_spi_set_frequency()

◆ sd_spi_tx()

◆ telemetry_init()

◆ xb_transmit_init()

Variable Documentation

◆ g_can_cache_high

◆ g_can_cache_low

◆ g_can_cache_medium