FaSTTUBe/mv-bms
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- modified the CAN class with a specific messages

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- add documentation
This commit is contained in:
hamza 2024-06-06 23:12:15 +03:00
parent 5ed35b605b
commit d3ec4a7f2f
2 changed files with 98 additions and 23 deletions
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8
Core/Inc/can.h
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@ -1,15 +1,13 @@
#ifndef INC_CAN_H #ifndef INC_CAN_H
#define INC_CAN_H #define INC_CAN_H
#include <string.h>
#include <stdint.h>
#include "stm32f3xx_hal.h" #include "stm32f3xx_hal.h"
#include "stm32f3xx_hal_can.h"
#include "stm32f3xx_hal_def.h"
#include "ADBMS_Abstraction.h" #include "ADBMS_Abstraction.h"
#include "main.h" #include "main.h"
#include "state_machine.h"
#include "can-halal.h" #include "can-halal.h"
#include "AMS_HighLevel.h"
#include "state_machine.h"
#include <stdint.h>
#define CAN_ID_IN 0x501 #define CAN_ID_IN 0x501
#define CAN_ID_OUT 0x502 #define CAN_ID_OUT 0x502

113
Core/Src/can.c
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@ -13,25 +13,43 @@ void can_init(CAN_HandleTypeDef* hcan) {
ftcan_init(hcan); ftcan_init(hcan);
ftcan_add_filter(CAN_ID_IN, 0xFFF); ftcan_add_filter(CAN_ID_IN, 0xFFF);
} }
/* /*
This function sends the status of the mvbms, the battery and of powerground. 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 1s in states: INACTIVE, PRECHARGE, DISCHARGE, CHARGING, ERROR.
once every 0.5s in states: READY, ACTIVE. once every 0.5s in states: READY, ACTIVE.
with format of: with format of:
CAN Messages: CAN Messages:
MVBMS Status (1B), Powerground Status 0-100% (1B) Error bit
Battery: SoC (1B), Pack Voltage (2B), Current (1B), 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 Temp (ID, Min Temp, ID, Max Temp)(3B),
Min/Max Cell Voltage (ID, Min Voltage, ID, Max Voltage)(3B) Min/Max Cell Voltage (ID, Min Voltage, ID, Max Voltage)(3B)
bit 0-2: status bit 0 (1b): empty
bit 3-7: bit 1-3 (3b): state
bit 8-15: State of Charge from 0-100% bit 4-11 (8b): powerground status
bit 16-31: Battery voltage bit 12-19 (8b): error
bit 32-47: Current measurement bit 20-27 (8b): state of charge from 0-100%
bit 48-50: id of cell with highest temperature bit 28-39 (12b): battery voltage
bit 51-62: temperature of the cell with highest temperature (12 bits moved 4 bit to the left) 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() { void can_handle_send_status() {
@ -41,24 +59,83 @@ void can_handle_send_status() {
can_delay_manager = HAL_GetTick() + CAN_STATUS_FREQ; can_delay_manager = HAL_GetTick() + CAN_STATUS_FREQ;
uint8_t data[8] = {}; uint8_t data[8] = {};
data[0] = (state.current_state << 5); // save 5 bit since codes are from 0-7 61 bits left int8_t id_highest_temp = -1;
//data[1] = // in 8 bits from 0-100% int16_t highest_temp = INT16_MIN;
ftcan_marshal_unsigned(&data[2], RELAY_BAT_SIDE_VOLTAGE, 2); // Battery voltage 16 bit 45 bit sm_check_battery_temperature(&id_highest_temp, &highest_temp);
ftcan_marshal_unsigned(&data[4], CURRENT_MEASUREMENT, 2); // 16 bit measurement
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)); 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 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. 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){ void can_handle_recieve_command(const uint8_t *data){
if (data[0] == 0x00 && data[1] == 0x00){ if (data[0] == 0x00 && data[1] == 0x00){