diff --git a/Core/Inc/can.h b/Core/Inc/can.h
index 42a0831..ee48dec 100644
--- a/Core/Inc/can.h
+++ b/Core/Inc/can.h
@@ -1,15 +1,13 @@
#ifndef INC_CAN_H
#define INC_CAN_H
-#include <string.h>
-#include <stdint.h>
#include "stm32f3xx_hal.h"
-#include "stm32f3xx_hal_can.h"
-#include "stm32f3xx_hal_def.h"
#include "ADBMS_Abstraction.h"
#include "main.h"
-#include "state_machine.h"
#include "can-halal.h"
+#include "AMS_HighLevel.h"
+#include "state_machine.h"
+#include <stdint.h>
#define CAN_ID_IN 0x501
#define CAN_ID_OUT 0x502
diff --git a/Core/Src/can.c b/Core/Src/can.c
index 4ebcb4e..7a5f6af 100644
--- a/Core/Src/can.c
+++ b/Core/Src/can.c
@@ -13,25 +13,43 @@ void can_init(CAN_HandleTypeDef* hcan) {
ftcan_init(hcan);
ftcan_add_filter(CAN_ID_IN, 0xFFF);
}
+
/*
This function sends the status of the mvbms, the battery and of powerground.
once every 1s in states: INACTIVE, PRECHARGE, DISCHARGE, CHARGING, ERROR.
once every 0.5s in states: READY, ACTIVE.
with format of:
CAN Messages:
- MVBMS Status (1B), Powerground Status 0-100% (1B)
- Battery: SoC (1B), Pack Voltage (2B), Current (1B),
+ Error bit
+ MVBMS state
+ Powerground Status 0-100%
+ Errors
+ Battery state of charge
+ Pack Voltage
+ Current
+ Battery temperature (12 bit)
Min/Max. Cell Temp (ID, Min Temp, ID, Max Temp)(3B),
Min/Max Cell Voltage (ID, Min Voltage, ID, Max Voltage)(3B)
-bit 0-2: status
-bit 3-7:
-bit 8-15: State of Charge from 0-100%
-bit 16-31: Battery voltage
-bit 32-47: Current measurement
-bit 48-50: id of cell with highest temperature
-bit 51-62: temperature of the cell with highest temperature (12 bits moved 4 bit to the left)
+bit 0 (1b): empty
+bit 1-3 (3b): state
+bit 4-11 (8b): powerground status
+bit 12-19 (8b): error
+bit 20-27 (8b): state of charge from 0-100%
+bit 28-39 (12b): battery voltage
+bit 40-51 (12b): current measurement
+bit 52-63 (12b): temperature of the cell with highest temperature
+
+
+bit 0-3 (4b): ID of the sensor with highest temperature
+bit 4-7 (4b): ID of the sensor with lowest temperataure
+bit 8-19 (12b): temperature of the coldest cell
+bit 20-23 (4b): ID of the cell with the lowest voltage
+bit 24-35 (12b): lowest cell voltage
+bit 36-39 (4b): ID of the cell the the highest voltage
+bit 40-51 (12b): highest cell voltage
+bit 52-63 (12b): empty
*/
void can_handle_send_status() {
@@ -41,24 +59,83 @@ void can_handle_send_status() {
can_delay_manager = HAL_GetTick() + CAN_STATUS_FREQ;
uint8_t data[8] = {};
- data[0] = (state.current_state << 5); // save 5 bit since codes are from 0-7 61 bits left
- //data[1] = // in 8 bits from 0-100%
- ftcan_marshal_unsigned(&data[2], RELAY_BAT_SIDE_VOLTAGE, 2); // Battery voltage 16 bit 45 bit
- ftcan_marshal_unsigned(&data[4], CURRENT_MEASUREMENT, 2); // 16 bit measurement
+ int8_t id_highest_temp = -1;
+ int16_t highest_temp = INT16_MIN;
+ sm_check_battery_temperature(&id_highest_temp, &highest_temp);
+
+ data[0] = ((state.current_state << 4) | (powerground_status >> 4)); // 1 bit emptyy | 3 bit state | 4 bit powerground
+ data[1] = ((powerground_status << 4) | (state.error_source >> 4)); // 4 bit powerground | 4 bit error
+ data[2] = ((state.error_source << 4) | (0)); // 4 bit error | 4 bit state of charge
+ data[3] = ((0) + (RELAY_BAT_SIDE_VOLTAGE >> 12)); // 4 bit state of charge | 4 bit battery voltage
+ data[4] = ((RELAY_BAT_SIDE_VOLTAGE >> 4));
+ data[5] = ((CURRENT_MEASUREMENT >> 8));
+ data[6] = ((CURRENT_MEASUREMENT & 0x00F0) | (highest_temp >> 12));
+ data[7] = ((highest_temp) >> 4);
- int8_t id = -1;
- int16_t temp = INT16_MIN;
- sm_check_cell_temps(&id, &temp);
- data[6] = (id << 4) | (temp >> 4); // there are only 7 TMP1075
ftcan_transmit(CAN_ID_OUT, data, sizeof(data));
- ;
+ int8_t id_lowest_temp = -1;
+ int16_t lowest_temp = INT16_MIN;
+ for (int i = 0; i < N_TEMP_SENSORS; i++) {
+ if (tmp1075_temps[i] < lowest_temp){
+ id_lowest_temp = i;
+ lowest_temp = tmp1075_temps[i];
+ }
+ }
+
+ int8_t id_lowest_volt = -1;
+ int16_t lowest_volt = INT16_MIN;
+ int8_t id_highest_volt = -1;
+ int16_t highest_volt = INT16_MIN;
+
+ for (int i = 0; i < module.sumOfCellMeasurements; i++) {
+ if (sm_return_cell_voltage(i) < lowest_temp){
+ id_lowest_volt = i;
+ lowest_volt = sm_return_cell_voltage(i);
+ }
+ if (sm_return_cell_voltage(i) > highest_temp){
+ id_highest_volt = i;
+ highest_volt = sm_return_cell_voltage(i);
+ }
+ }
+
+ data[0] = ((id_highest_temp & 0x0F) << 4 | (id_lowest_temp & 0x0F));
+ data[1] = ((lowest_temp) >> 8);
+ data[2] = ((lowest_temp & 0x00F0) | (id_lowest_volt & 0x0F));
+ data[3] = (lowest_volt >> 8);
+ data[4] = ((lowest_volt & 0x00F0) | (id_highest_volt & 0x0F));
+ data[5] = ((highest_volt >> 8));
+ data[6] = ((highest_volt & 0x00F0));
+ data[7] = 0;
+ ftcan_transmit(CAN_ID_OUT, data, sizeof(data));
}
+/*
+bit 0-3 (4b): ID of the sensor with highest temperature
+bit 4-7 (4b): ID of the sensor with lowest temperataure
+bit 8-19 (12b): temperature of the coldest cell
+bit 20-23 (4b): ID of the cell with the lowest voltage
+bit 24-35 (12b): lowest cell voltage
+bit 36-39 (4b): ID of the cell the the highest voltage
+bit 40-51 (12b): highest cell voltage
+bit 52-63 (12b): empty
+*/
/*
can_handle_recieve_command() should only check if the message is valid and then hand it
to the sm_handle_ams_in() which handles the state machine transition.
+
+This function recieves a command from the Autobox with the CAN ID of 0x501.
+with format of:
+data[0] = target state
+ 0x0 STATE_INACTIVE | disconnect power to the ESC of powerground. Send it to return the mvbms to idle/monitoring mode. If data[1] != 0 -> assume bad CAN message.
+ 0x1 STATE_READY | conneect power to the ESC of powerground and but with no PWM signal. If data[1] != 0 -> assume bad CAN message.
+ 0x2 STATE_ACTIVE | activate powerground at (data[1]) percent. If data[1] > 100 -> assume bad CAN message.
+
+allowed transitions:
+ STATE_INACTIVE -> STATE_READY
+ STATE_READY -> STATE_INACTIVE, STATE_ACTIVE
+ STATE_ACTIVE -> STATE_INACTIVE, STATE_READY
*/
void can_handle_recieve_command(const uint8_t *data){
if (data[0] == 0x00 && data[1] == 0x00){