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CAN Update

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This commit is contained in:
Dmitriy Semenov
2023-04-03 21:51:33 +03:00
parent 68f478625e
commit 9c2667bbe5
16 changed files with 854 additions and 288 deletions
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330
firmware/Core/Src/can.c
View File

@@ -1,330 +0,0 @@
//
// Created by enik on 02.06.22.
//
#include "can.h"
//#include "Settings.h"
#if CAN_TESTING_LOOPBACK
#define CAN_BASIC_MODE CAN_MODE_SILENT_LOOPBACK
#else
#define CAN_BASIC_MODE CAN_MODE_NORMAL
#endif
//#include "can_messenger.h"
extern CAN_HandleTypeDef hcan1;
extern CAN_HandleTypeDef hcan2;
CAN_FilterTypeDef can1Filter;
CAN_FilterTypeDef can2Filter;
CAN_RxHeaderTypeDef can1RX, can2RX;
u8_t can1Data[8] = {0,}, can2Data[8] = {0,};
typedef struct CAN_SPD_VAL {
u32_t Prescaler;
u32_t TimeSeg1;
u32_t TimeSeg2;
} CAN_SPD_VAL;
// PSC - 2 | Time1 - 15 | Time2 - 2
const CAN_SPD_VAL spd1000 = {.Prescaler = 2, .TimeSeg1 = CAN_BS1_15TQ, .TimeSeg2 = CAN_BS2_2TQ};
// PSC - 3 | Time1 - 12 | Time2 - 2
const CAN_SPD_VAL spd800 = {.Prescaler = 3, .TimeSeg1 = CAN_BS1_12TQ, .TimeSeg2 = CAN_BS2_2TQ};
// PSC - 4 | Time1 - 15 | Time2 - 2
const CAN_SPD_VAL spd500 = {.Prescaler = 4, .TimeSeg1 = CAN_BS1_15TQ, .TimeSeg2 = CAN_BS2_2TQ};
// PSC - 8 | Time1 - 15 | Time2 - 2
const CAN_SPD_VAL spd250 = {.Prescaler = 8, .TimeSeg1 = CAN_BS1_15TQ, .TimeSeg2 = CAN_BS2_2TQ};
// PSC - 16 | Time1 - 15 | Time2 - 2
const CAN_SPD_VAL spd125 = {.Prescaler = 16, .TimeSeg1 = CAN_BS1_15TQ, .TimeSeg2 = CAN_BS2_2TQ};
// PSC - 20 | Time1 - 15 | Time2 - 2
const CAN_SPD_VAL spd100 = {.Prescaler = 20, .TimeSeg1 = CAN_BS1_15TQ, .TimeSeg2 = CAN_BS2_2TQ};
// PSC - 40 | Time1 - 15 | Time2 - 2
const CAN_SPD_VAL spd50 = {.Prescaler = 40, .TimeSeg1 = CAN_BS1_15TQ, .TimeSeg2 = CAN_BS2_2TQ};
// PSC - 100 | Time1 - 15 | Time2 - 2
const CAN_SPD_VAL spd20 = {.Prescaler = 100, .TimeSeg1 = CAN_BS1_15TQ, .TimeSeg2 = CAN_BS2_2TQ};
// PSC - 200 | Time1 - 15 | Time2 - 2
const CAN_SPD_VAL spd10 = {.Prescaler = 200, .TimeSeg1 = CAN_BS1_15TQ, .TimeSeg2 = CAN_BS2_2TQ};
/**
* @brief Set Speed for CAN Bus
* @param[in] spd #CAN_SPEED enum
* @param[in] can Pointer to HAL CAN_HandleTypeDef
*/
void CAN_SetSpeed(CAN_SPEED spd, CAN_HandleTypeDef *can) {
//if (HAL_CAN_GetState(can) == HAL_CAN_STATE_LISTENING)
HAL_CAN_Stop(can);
can->Instance = (can == &hcan1) ? CAN1 : CAN2; // Can Instance
can->Init.SyncJumpWidth = CAN_SJW_1TQ; // Default
can->Init.TimeTriggeredMode = DISABLE; // Default
can->Init.AutoBusOff = ENABLE; // Default
can->Init.AutoWakeUp = ENABLE; // Default
can->Init.AutoRetransmission = DISABLE; // Default
can->Init.ReceiveFifoLocked = DISABLE; // Default
can->Init.TransmitFifoPriority = ENABLE; // Default
can->Init.Mode = CAN_BASIC_MODE; // Set Mode
switch (spd) {
case CAN_SPD_1000:
can->Init.Prescaler = spd1000.Prescaler;
can->Init.TimeSeg1 = spd1000.TimeSeg1;
can->Init.TimeSeg2 = spd1000.TimeSeg2;
break;
case CAN_SPD_800:
can->Init.Prescaler = spd800.Prescaler;
can->Init.TimeSeg1 = spd800.TimeSeg1;
can->Init.TimeSeg2 = spd800.TimeSeg2;
break;
case CAN_SPD_500:
can->Init.Prescaler = spd500.Prescaler;
can->Init.TimeSeg1 = spd500.TimeSeg1;
can->Init.TimeSeg2 = spd500.TimeSeg2;
break;
case CAN_SPD_250:
can->Init.Prescaler = spd250.Prescaler;
can->Init.TimeSeg1 = spd250.TimeSeg1;
can->Init.TimeSeg2 = spd250.TimeSeg2;
break;
case CAN_SPD_125:
can->Init.Prescaler = spd125.Prescaler;
can->Init.TimeSeg1 = spd125.TimeSeg1;
can->Init.TimeSeg2 = spd125.TimeSeg2;
break;
case CAN_SPD_100:
can->Init.Prescaler = spd100.Prescaler;
can->Init.TimeSeg1 = spd100.TimeSeg1;
can->Init.TimeSeg2 = spd100.TimeSeg2;
break;
case CAN_SPD_50:
can->Init.Prescaler = spd50.Prescaler;
can->Init.TimeSeg1 = spd50.TimeSeg1;
can->Init.TimeSeg2 = spd50.TimeSeg2;
break;
case CAN_SPD_20:
can->Init.Prescaler = spd20.Prescaler;
can->Init.TimeSeg1 = spd20.TimeSeg1;
can->Init.TimeSeg2 = spd20.TimeSeg2;
break;
case CAN_SPD_10:
can->Init.Prescaler = spd10.Prescaler;
can->Init.TimeSeg1 = spd10.TimeSeg1;
can->Init.TimeSeg2 = spd10.TimeSeg2;
break;
default:
break;
}
if (HAL_CAN_Init(can) != HAL_OK) {
Error_Handler();
}
CAN_FilterTypeDef *filt;
if (can == &hcan1) {
filt = &can1Filter;
filt->FilterBank = 0;
filt->FilterFIFOAssignment = CAN_RX_FIFO0;
} else if (can == &hcan2) {
filt = &can2Filter;
filt->FilterBank = 14;
filt->FilterFIFOAssignment = CAN_RX_FIFO1;
filt->SlaveStartFilterBank = 14;
} else {
return;
}
filt->FilterMode = CAN_FILTERMODE_IDMASK;
filt->FilterScale = CAN_FILTERSCALE_32BIT;
filt->FilterIdHigh = 0x0000;
filt->FilterIdLow = 0x0000;
filt->FilterMaskIdHigh = 0x0000;
filt->FilterMaskIdLow = 0x0000;
filt->FilterActivation = ENABLE;
if (HAL_CAN_ConfigFilter(can, filt) != HAL_OK) {
Error_Handler();
}
// HAL_CAN_Start(can);
volatile HAL_StatusTypeDef status = HAL_CAN_Start(can);
__NOP();
volatile HAL_CAN_StateTypeDef st = HAL_CAN_GetState(can);
if (st != HAL_CAN_STATE_LISTENING){
__USR_BKPT();
HAL_GPIO_WritePin(GPIOE, GPIO_PIN_12, GPIO_PIN_SET);
} else {
HAL_GPIO_WritePin(GPIOE, GPIO_PIN_14, GPIO_PIN_SET);
}
HAL_CAN_ActivateNotification(can,
((can == &hcan1) ? CAN_IT_RX_FIFO0_MSG_PENDING : CAN_IT_RX_FIFO1_MSG_PENDING)
| CAN_IT_ERROR | CAN_IT_BUSOFF | CAN_IT_LAST_ERROR_CODE);
}
/**
* @brief Set Silent mode
* @param[in] is_silent 1 if silent mode needed
* @param[in] can Pointer to HAL CAN_HandleTypeDef
*/
void CAN_SetMode(bool is_silent, CAN_HandleTypeDef *can) {
can->Init.Mode = !is_silent ? CAN_MODE_NORMAL : CAN_MODE_SILENT;
}
/**
* @brief Set Silent Loopback mode
* @param[in] is_loopback 1 if loopback mode needed
* @param[in] can Pointer to HAL CAN_HandleTypeDef
*/
void CAN_SetLoopback(bool is_loopback, CAN_HandleTypeDef *can) {
can->Init.Mode = !is_loopback ? CAN_MODE_NORMAL : CAN_MODE_SILENT_LOOPBACK;
}
/**
* @brief Check if CAN is opened
* @param[in] can Pointer to HAL CAN_HandleTypeDef
* @return 1 if Opened / 0 if Closed
*/
bool CAN_IsOpened(CAN_HandleTypeDef *can) {
return HAL_CAN_GetState(can) == HAL_CAN_STATE_LISTENING ? 1 : 0;
}
/**
* @brief Check if CAN is in silent mode
* @param[in] can Pointer to HAL CAN_HandleTypeDef
* @return 1 if Silent / 0 if not
*/
bool CAN_IsSilent(CAN_HandleTypeDef *can) {
return (HAL_CAN_GetState(can) == HAL_CAN_STATE_LISTENING &&
(can->Init.Mode == CAN_MODE_SILENT ||
can->Init.Mode == CAN_MODE_SILENT_LOOPBACK)) ? 0 : 1;
}
/**
* @brief Check if CAN is in silent loopbsck mode
* @param[in] can Pointer to HAL CAN_HandleTypeDef
* @return 1 if Silent Loopback / 0 if else
*/
bool CAN_IsLoopback(CAN_HandleTypeDef *can) {
return (can->Init.Mode == CAN_MODE_SILENT_LOOPBACK) ? 1 : 0;
}
/**
* @brief Set filter mode
* @param[in] id_only 1 if ID_LIST mode / 0 if ID_MASK mode
* @param[in] can Pointer to HAL CAN_HandleTypeDef
*/
void CAN_SetFilterMode(bool id_only, CAN_HandleTypeDef *can) {
CAN_FilterTypeDef *filt;
if (can == &hcan1) {
filt = &can1Filter;
} else if (can == &hcan2) {
filt = &can2Filter;
} else {
return;
}
filt->FilterMode = id_only ? CAN_FILTERMODE_IDLIST : CAN_FILTERMODE_IDMASK;
}
/**
* @brief Set ID for filter
* @warning Not realized
* @param[in] filt_id Pointer to filter ID array
* @param[in] can Pointer to HAL CAN_HandleTypeDef
*/
void CAN_SetFilterID(u8_t *filt_id, CAN_HandleTypeDef *can) {
CAN_FilterTypeDef *filt;
if (can == &hcan1) {
filt = &can1Filter;
} else if (can == &hcan2) {
filt = &can2Filter;
} else {
return;
}
}
/**
* @brief Set Mask for filter
* @warning Not realized
* @param[in] filt_mask Pointer to filter mask
* @param[in] can Pointer to HAL CAN_HandleTypeDef
*/
void CAN_SetFilterMask(u8_t *filt_mask, CAN_HandleTypeDef *can) {
CAN_FilterTypeDef *filt;
if (can == &hcan1) {
filt = &can1Filter;
} else if (can == &hcan2) {
filt = &can2Filter;
} else {
return;
}
}
/**
* @brief Common transmit prototype
* @param[in] id CAN Packet ID
* @param[in] ext 0 if 11-bit ID / 1 if 29-bit ID
* @param[in] rtr 0 if standard frame / 1 if remote frame
* @param[in] len Length of payload
* @param[in] data Pointer to payload array
* @param[in] can Pointer to HAL CAN_HandleTypeDef
*/
void CAN_Transmit_Proto(u32_t id, bool ext, bool rtr, u8_t len, u8_t *data, CAN_HandleTypeDef *can) {
CAN_TxHeaderTypeDef tx;
tx.StdId = !ext ? id : 0;
tx.ExtId = ext ? id : 0;
tx.RTR = !rtr ? CAN_RTR_DATA : CAN_RTR_REMOTE;
tx.IDE = !ext ? CAN_ID_STD : CAN_ID_EXT;
tx.DLC = len;
tx.TransmitGlobalTime = 0;
u32_t mb;
HAL_CAN_AddTxMessage(can, &tx, data, &mb);
}
/**
* @brief Transmit standard (11-bit) data frame
* @param[in] id 11-bit frame ID
* @param[in] data Pointer to payload to be sent
* @param[in] len Length of the payload to be sent
* @param[in] can Pointer to HAL CAN_HandleTypeDef
*/
void CAN_Transmit(u32_t id, u8_t *data, u8_t len, CAN_HandleTypeDef *can) {
CAN_Transmit_Proto((u32_t) id, 0, 0, len, data, can);
}
/**
* @brief Transmit extended (29-bit) data frame
* @param[in] id 29-bit frame ID
* @param[in] data Pointer to payload to be sent
* @param[in] len Length of the payload to be sent
* @param[in] can Pointer to HAL CAN_HandleTypeDef
*/
void CAN_TransmitExt(u32_t id, u8_t *data, u8_t len, CAN_HandleTypeDef *can) {
CAN_Transmit_Proto(id, 1, 0, len, data, can);
}
/**
* @brief Transmit standard (11-bit) remote frame
* @param[in] id 11-bit frame ID
* @param[in] len Length of remote frame
* @param[in] can Pointer to HAL CAN_HandleTypeDef
*/
void CAN_TransmitRTR(u32_t id, u8_t len, CAN_HandleTypeDef *can) {
CAN_Transmit_Proto((u32_t) id, 0, 1, len, NULL, can);
}
/**
* @brief Transmit extended (29-bit) remote frame
* @param[in] id 29-bit frame ID
* @param[in] len Length of remote frame
* @param[in] can Pointer to HAL CAN_HandleTypeDef
*/
void CAN_TransmitExtRTR(u32_t id, u8_t len, CAN_HandleTypeDef *can) {
CAN_Transmit_Proto((u32_t) id, 1, 1, len, NULL, can);
}
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &can1RX, can1Data) == HAL_OK) {
//can_irq_receive(&can1RX, can1Data, 1);
}
}
void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan) {
if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO1, &can2RX, can2Data) == HAL_OK) {
//can_irq_receive(&can2RX, can2Data, 2);
}
}

4
firmware/Core/Src/driverSWUART2.c
View File

@@ -25,9 +25,9 @@ char driverSWUART2PutCharInOutputBuffer(char character, FILE *stream) {
bool driverSWUART2Task(void) {
char outputChar;
if(!driverSWUART2OutputBuffer->isEmpty(driverSWUART2OutputBuffer)){ // Check if there is data in the ouput buffer
if(!driverSWUART2OutputBuffer->isEmpty(driverSWUART2OutputBuffer)){ // Check if there is data in the ouput buffer
driverSWUART2OutputBuffer->pull(driverSWUART2OutputBuffer,&outputChar); // Pull the data from ouput buffer
driverHWUART2SendChar(outputChar); // And send it to the uart
driverHWUART2SendChar(outputChar); // And send it to the uart
}
return !driverSWUART2OutputBuffer->isEmpty(driverSWUART2OutputBuffer);

300
firmware/Core/Src/main.c
View File

@@ -38,7 +38,9 @@
#include "DPC_Timeout.h"
#include "GSM.h"
#include "time.h"
#include "can.h"
#include "../../Libs/CAN/can.h"
#include "../../Libs/CAN/can_messenger.h"
#include "SD_Card.h"
@@ -279,14 +281,6 @@ uint64_t output_control_clock = 0;
bool need_shunt_charging_contractor = false;
uint64_t shunt_charging_contractor_clock = 0;
uint64_t can1_transmit_clock = 0;
uint64_t can2_transmit_clock = 0;
uint8_t can1_transmit_queue[500];
uint8_t can2_transmit_queue[100];
uint16_t can1_transmit_queue_size = 0;
uint16_t can2_transmit_queue_size = 0;
#define __MA_WIN_SIZE (500)
@@ -315,8 +309,6 @@ void Save_data_to_Backup();
void Restore_shutdown_data();
void updateLimitsFromMem();
void addCanPacketToQueue(uint16_t id, uint8_t* data, uint8_t* queue, uint16_t* queueSize);
void transmitCanPacketFromQueue(uint8_t* queue, uint16_t* queueSize, CAN_HandleTypeDef* hcan);
void modem_init();
@@ -372,7 +364,6 @@ void usbTIM(uint8_t OnOff) {
}
}
u8_t TestData[8] = {1,2,3,4,5,6,7,8};
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
@@ -385,15 +376,23 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
if (TIM3_Clock % 10 == 0)
{
CAN_TransmitRTR(0x500, 8, &hcan2);
CAN_TransmitRTR(CAN_BMS_HEARTBEAT, 8, &hcan2);
}
else if (TIM3_Clock % 3 == 0)
if (TIM3_Clock % 4 == 0)
{
transmitCanPacketFromQueue(can1_transmit_queue, &can1_transmit_queue_size, &hcan1);
// transmitCanPacketFromQueue(can1_transmit_queue, &can1_transmit_queue_size, &hcan1);
transmitCanPacketFromQueueCan1();
}
else if (TIM3_Clock % 3 == 1)
#include "../../Libs/Utils/micros.h"
if (TIM3_Clock % 3 == 0)
{
transmitCanPacketFromQueue(can2_transmit_queue, &can2_transmit_queue_size, &hcan2);
volatile u32_t measure = 0;
// StartCodeMeasure();
// transmitCanPacketFromQueue(can2_transmit_queue, &can2_transmit_queue_size, &hcan2);
transmitCanPacketFromQueueCan2();
// StopCodeMeasure(&measure);
// __NOP();
}
TIM3_Clock++;
@@ -426,8 +425,6 @@ void load_switch(uint8_t state) {
/* USER CODE END 0 */
uint16_t MA_Filter(uint16_t input, uint8_t array)
{
uint16_t Result = 0;
@@ -1103,269 +1100,6 @@ void outputControl()
output_control_clock = TIM_Clock;
}
void transmitCan1Packet()
{
if ((TIM_Clock - can1_transmit_clock) < 1000)
{
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;
uint8_t data[32] = {};
uint32_t mailbox = 0;
// 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);
// 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);
// 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);
// sending cell voltages
id = 0x200;
for (int cellPointer = 0; cellPointer < generalConfig->noOfCellsSeries * generalConfig->noOfParallelModules; ++cellPointer)
{
++id;
memcpy(data, &id, sizeof(id));
float voltage = 0;
if (packState.cellVoltagesIndividual[cellPointer].cellBleedActive)
voltage = packState.cellVoltagesIndividual[cellPointer].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);
}
// 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);
}
can1_transmit_clock = TIM_Clock;
}
int getIndexBySoc()
{
const float soc = packState.SoC;
if (soc <= 0)
{
return 0;
}
else if (soc <= 10 && soc > 0)
{
return 1;
}
else if (soc <= 20 && soc > 10)
{
return 2;
}
else if (soc <= 30 && soc > 20)
{
return 3;
}
else if (soc <= 40 && soc > 30)
{
return 4;
}
else if (soc <= 50 && soc > 40)
{
return 5;
}
else if (soc <= 60 && soc > 50)
{
return 6;
}
else if (soc <= 70 && soc > 60)
{
return 7;
}
else if (soc <= 80 && soc > 70)
{
return 8;
}
else if (soc <= 95 && soc > 80)
{
return 9;
}
else if (soc > 95)
{
return 10;
}
return -1;
}
int getIndexByTemperature()
{
const float temp = packState.tempBatteryAverage;
if (temp < 0)
{
return 0;
}
else if (temp < 2 && temp >= 0)
{
return 1;
}
else if (temp < 7 && temp >= 2)
{
return 2;
}
else if (temp < 15 && temp >= 7)
{
return 3;
}
else if (temp < 20 && temp >= 15)
{
return 4;
}
else if (temp < 45 && temp >= 20)
{
return 5;
}
else if (temp < 50 && temp >= 45)
{
return 6;
}
else if (temp < 55 && temp >= 50)
{
return 7;
}
else if (temp >= 55)
{
return 8;
}
return -1;
}
void transmitCan2Packet()
{
if ((TIM_Clock - can2_transmit_clock) < 500)
{
return;
}
can2_transmit_clock = TIM_Clock;
uint8_t buffer[8] = {0};
// sending common current and voltage command
memcpy(buffer, &packState.packCurrent, sizeof(packState.packCurrent));
memcpy(buffer + 4, &packState.packVoltage, sizeof(packState.packVoltage));
addCanPacketToQueue(0x501, buffer, can2_transmit_queue, &can2_transmit_queue_size);
// sending charge voltages (start, end) command
const float startVoltage = generalConfig->cellHardUnderVoltage * generalConfig->noOfCellsSeries;
const float endVoltage = generalConfig->cellHardOverVoltage * generalConfig->noOfCellsSeries;
memcpy(buffer, &startVoltage, sizeof(startVoltage));
memcpy(buffer + 4, &endVoltage, sizeof(endVoltage));
addCanPacketToQueue(0x502, buffer, can2_transmit_queue, &can2_transmit_queue_size);
// sending fault voltages (under, over) command
const float startFaultVoltage = generalConfig->cellLCSoftUnderVoltage * generalConfig->noOfCellsSeries;
const float endFaultVoltage = generalConfig->cellSoftOverVoltage * generalConfig->noOfCellsSeries;
memcpy(buffer, &startFaultVoltage, sizeof(startFaultVoltage));
memcpy(buffer + 4, &endFaultVoltage, sizeof(endFaultVoltage));
addCanPacketToQueue(0x503, buffer, can2_transmit_queue, &can2_transmit_queue_size);
// sending charge start current
float chargeStartingCurrent = 15; // TODO move to generalConfig
uint32_t chargeStartingCurrentInterval = 20; // in seconds TODO move to generalConfig
memcpy(buffer, &chargeStartingCurrent, sizeof(chargeStartingCurrent));
memcpy(buffer + 4, &chargeStartingCurrentInterval, sizeof(chargeStartingCurrentInterval));
addCanPacketToQueue(0x504, buffer, can2_transmit_queue, &can2_transmit_queue_size);
// sending table current and end-of-charge current command
const int socIndex = getIndexBySoc();
const int temperatureIndex = getIndexByTemperature();
float tableCurrent = 0;
if (socIndex != -1 && temperatureIndex != -1)
{
float tableValue = generalConfig->externalChargeCurrentTable[temperatureIndex][socIndex];
float pureCurrent = generalConfig->externalChargeUnitTable[temperatureIndex][socIndex];
tableCurrent = pureCurrent ? tableValue : generalConfig->batteryCapacity * tableValue;
}
float chargeEndingCurrent = 5; // TODO move to generalConfig
memcpy(buffer + 0, &tableCurrent, sizeof(tableCurrent));
memcpy(buffer + 4, &chargeEndingCurrent, sizeof(chargeEndingCurrent));
addCanPacketToQueue(0x505, buffer, can2_transmit_queue, &can2_transmit_queue_size);
// sending charge permission, charge ending, charge/discharge state command
const uint8_t chargeAllowed = packState.chargeAllowed ? 0xFF : 0x00;
const uint8_t chargeEnding = packState.SoC > 95 ? 0xFF : 0x00;
const uint8_t chargeSwitchState = charge_switch_state ? 0xFF : 0x00;
memset(buffer, '\0', sizeof(buffer));
memcpy(buffer + 0, &chargeAllowed, sizeof(chargeAllowed));
memcpy(buffer + 1, &chargeEnding, sizeof(chargeEnding));
memcpy(buffer + 2, &chargeSwitchState, sizeof(chargeSwitchState));
addCanPacketToQueue(0x506, buffer, can2_transmit_queue, &can2_transmit_queue_size);
}
void addCanPacketToQueue(uint16_t id, uint8_t* data, uint8_t* queue, uint16_t* queueSize)
{
memcpy(queue + *queueSize, &id, 2);
memcpy(queue + *queueSize + 2, data, 8);
*queueSize += 10;
}
void transmitCanPacketFromQueue(uint8_t* queue, uint16_t* queueSize, CAN_HandleTypeDef* hcan)
{
if (*queueSize < 10)
return;
uint16_t id = 0;
uint8_t data[8] = {};
memcpy(&id, queue, 2);
memcpy(data, queue + 2, 8);
*queueSize -= 10;
memmove(queue, queue + 10, *queueSize);
CAN_Transmit(id, data, 8, hcan);
}
void modem_init(){
SIM800_Var_Init(&SIM800_Struct);
@@ -2236,7 +1970,7 @@ int main(void)
//MX_CAN1_Init();
//MX_CAN2_Init();
can_msgr_init();
CAN_SetSpeed(CAN_SPD_100, &hcan1);
CAN_SetSpeed(CAN_SPD_100, &hcan2);