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Updated structure packages for CAN1

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This commit is contained in:
Yury Shuvakin
2023-04-09 17:29:27 +03:00
parent 8ea5166aa1
commit 3728b45b90
1 changed files with 84 additions and 59 deletions
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137
firmware/Libs/CAN/can_messenger.c
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@@ -62,78 +62,103 @@ bool get_dummy_soc(void){
}
void transmitCan1Packet() {
if ((TIM_Clock - can1_transmit_clock) < 1000) {
if ((TIM_Clock - can1_transmit_clock) < 500)
{
return;
}
uint8_t data1[8] = {0x45};
CAN_Transmit(300, data1, 8, &hcan1);
can1_transmit_clock = TIM_Clock;
return;
CAN_TxHeaderTypeDef header;
header.IDE = CAN_ID_STD;
header.RTR = CAN_RTR_DATA;
header.StdId = 0x444;
header.DLC = 1;
// SOC and SOH (TODO)
can1_buf.id = 0x101;
can1_buf.len = 8;
memcpy(can1_buf.msg, &packState.SoC, sizeof(packState.SoC));
memcpy(can1_buf.msg + 4, &packState.SoCCapacityAh, sizeof(packState.SoCCapacityAh));
RingBuf_CellPut(&can1_buf, &can1_ring);
uint8_t data[32] = {};
uint32_t mailbox = 0;
// pack voltage and current
can1_buf.id = 0x102;
can1_buf.len = 8;
memcpy(can1_buf.msg, &packState.packVoltage, sizeof(packState.packVoltage));
memcpy(can1_buf.msg + 4, &packState.packCurrent, sizeof(packState.packCurrent));
RingBuf_CellPut(&can1_buf, &can1_ring);
// sending SOC, SOH and number of cells
uint16_t id = 0x101;
memcpy(data, &id, sizeof(id));
memcpy(data + 2, &packState.SoC, sizeof(packState.SoC));
memcpy(data + 6, &packState.SoCCapacityAh, sizeof(packState.SoCCapacityAh));
memcpy(data + 10, &generalConfig->noOfCellsSeries, sizeof(generalConfig->noOfCellsSeries));
header.DLC = 11;
HAL_CAN_AddTxMessage(&hcan1, &header, data, &mailbox);
// inputs and outputs state
can1_buf.id = 0x103;
can1_buf.len = 8;
// sending charge current, discharge current // TODO
id = 0x102;
memcpy(data, &id, sizeof(id));
memcpy(data + 2, &packState.packCurrent, sizeof(packState.packCurrent));
memcpy(data + 6, &packState.loCurrentLoadCurrent, sizeof(packState.loCurrentLoadCurrent));
header.DLC = 10;
HAL_CAN_AddTxMessage(&hcan1, &header, data, &mailbox);
const uint8_t input0 = HAL_GPIO_ReadPin(GPIOE, GPIO_PIN_7);
const uint8_t input1 = HAL_GPIO_ReadPin(GPIOE, GPIO_PIN_8);
const uint8_t input2 = HAL_GPIO_ReadPin(GPIOE, GPIO_PIN_9);
// sending BMS state, input state, output state // TODO
id = 0x103;
memcpy(data, &id, sizeof(id));
memcpy(data + 2, &packState.cellVoltageLow, sizeof(packState.cellVoltageLow));
memcpy(data + 6, &packState.cellVoltageAverage, sizeof(packState.cellVoltageAverage));
memcpy(data + 10, &packState.cellVoltageHigh, sizeof(packState.cellVoltageHigh));
header.DLC = 12;
HAL_CAN_AddTxMessage(&hcan1, &header, data, &mailbox);
const uint8_t output0 = HAL_GPIO_ReadPin(GPIOE, GPIO_PIN_0);
const uint8_t output1 = HAL_GPIO_ReadPin(GPIOE, GPIO_PIN_1);
const uint8_t output2 = HAL_GPIO_ReadPin(GPIOE, GPIO_PIN_2);
const uint8_t output3 = HAL_GPIO_ReadPin(GPIOE, GPIO_PIN_3);
// sending cell voltages
id = 0x200;
for (int cellPointer = 0;
cellPointer < generalConfig->noOfCellsSeries * generalConfig->noOfParallelModules; ++cellPointer) {
++id;
memcpy(data, &id, sizeof(id));
memcpy(can1_buf.msg + 0, &input0, sizeof(input0));
memcpy(can1_buf.msg + 1, &input1, sizeof(input1));
memcpy(can1_buf.msg + 2, &input2, sizeof(input2));
memcpy(can1_buf.msg + 4, &output0, sizeof(output0));
memcpy(can1_buf.msg + 5, &output1, sizeof(output1));
memcpy(can1_buf.msg + 6, &output2, sizeof(output2));
memcpy(can1_buf.msg + 7, &output3, sizeof(output3));
RingBuf_CellPut(&can1_buf, &can1_ring);
// number of cells and temperature sensors
can1_buf.id = 0x104;
can1_buf.len = 8;
const uint32_t numberOfCells = generalConfig->noOfCellsSeries * generalConfig->noOfParallelModules;
const uint32_t numberOfTemperatures = generalConfig->cellMonitorICCount * generalConfig->noOfTempSensorPerModule;
memcpy(can1_buf.msg, &numberOfCells, sizeof(numberOfCells));
memcpy(can1_buf.msg + 4, &numberOfTemperatures, sizeof(numberOfTemperatures));
RingBuf_CellPut(&can1_buf, &can1_ring);
// cell voltages
can1_buf.id = 0x201;
can1_buf.len = 8;
for (int i = 0; i < numberOfCells; i += 2)
{
for (int j = 0; j < 2; ++j)
{
const int index = i + j;
float voltage = 0;
if (packState.cellVoltagesIndividual[cellPointer].cellBleedActive)
voltage = packState.cellVoltagesIndividual[cellPointer].cellVoltage * -1000;
if (packState.cellVoltagesIndividual[index].cellBleedActive)
voltage = packState.cellVoltagesIndividual[index].cellVoltage * -1000;
else
voltage = packState.cellVoltagesIndividual[cellPointer].cellVoltage * 1000;
memcpy(data + 2, &voltage, sizeof(voltage));
header.DLC = 6;
HAL_CAN_AddTxMessage(&hcan1, &header, data, &mailbox);
voltage = packState.cellVoltagesIndividual[index].cellVoltage * 1000;
memcpy(can1_buf.msg + j * 4, &voltage, sizeof(voltage));
}
// sending temperatures
id = 0x300;
for (int sensorPointer = 0; sensorPointer < NoOfTempSensors; ++sensorPointer) {
++id;
memcpy(data, &id, sizeof(id));
float temperature = packState.temperatures[sensorPointer];
memcpy(data + 2, &temperature, sizeof(temperature));
header.DLC = 6;
HAL_CAN_AddTxMessage(&hcan1, &header, data, &mailbox);
if (i + 2 > numberOfCells)
can1_buf.len = 4;
RingBuf_CellPut(&can1_buf, &can1_ring);
can1_buf.id++;
}
can1_transmit_clock = TIM_Clock;
// temperatures
can1_buf.id = 0x301;
can1_buf.len = 8;
for (int i = 0; i < numberOfTemperatures; i += 2)
{
for (int j = 0; j < 2; ++j)
{
float temperature = packState.temperatures[i + j];
memcpy(can1_buf.msg + j * 4, &temperature, sizeof(temperature));
}
if (i + 2 > numberOfTemperatures)
can1_buf.len = 4;
RingBuf_CellPut(&can1_buf, &can1_ring);
can1_buf.id++;
}
}
int getIndexBySoc() {