166 lines
5.6 KiB
C
166 lines
5.6 KiB
C
/*
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* can.h
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*
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* Created on: 07.07.2024
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* Author: Hamza
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*/
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#include "can.h"
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#include "PWM_control.h"
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#include "can-halal.h"
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#include "eeprom.h"
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#include <stdint.h>
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#define CAN_ID_IN 0x501
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#define CAN_ID_OUT 0x502
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#define CAN_STATUS_FREQ 100
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#define CAN_DUMP_FREQ 10;
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uint8_t last_message[8];
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static uint32_t can_delay_manager = 0;
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void can_init(CAN_HandleTypeDef* hcan) {
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ftcan_init(hcan);
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ftcan_add_filter(CAN_ID_IN, 0xFFF);
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last_message[0] = -1;
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last_message[1] = -1;
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}
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/*
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This function sends the status of the mvbms, the battery and of powerground.
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once every 1s in states: INACTIVE, PRECHARGE, DISCHARGE, CHARGING, ERROR.
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once every 0.5s in states: READY, ACTIVE.
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with format of:
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CAN Messages:
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Error bit
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MVBMS state
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Powerground Status 0-100%
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Errors
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Battery state of charge
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Pack Voltage
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Current
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Battery temperature (12 bit)
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Min/Max. Cell Temp (ID, Min Temp, ID, Max Temp)(3B),
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Min/Max Cell Voltage (ID, Min Voltage, ID, Max Voltage)(3B)
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bit 0 (1b): empty
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bit 1-3 (3b): state
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bit 4-11 (8b): powerground status
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bit 12-19 (8b): error
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bit 20-27 (8b): state of charge from 0-100%
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bit 28-39 (12b): battery voltage
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bit 40-51 (12b): current measurement
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bit 52-63 (12b): temperature of the cell with highest temperature
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bit 0-3 (4b): ID of the sensor with highest temperature
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bit 4-7 (4b): ID of the sensor with lowest temperataure
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bit 8-19 (12b): temperature of the coldest cell
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bit 20-23 (4b): ID of the cell with the lowest voltage
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bit 24-35 (12b): lowest cell voltage
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bit 36-39 (4b): ID of the cell the the highest voltage
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bit 40-51 (12b): highest cell voltage
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bit 52-63 (12b): empty
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*/
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void can_handle_send_status() {
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if (can_delay_manager > HAL_GetTick())
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return;
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else
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can_delay_manager = HAL_GetTick() + CAN_STATUS_FREQ;
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uint8_t data[8] = {};
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int8_t id_highest_temp = -1;
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int16_t highest_temp = INT16_MIN;
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int8_t id_lowest_volt = -1;
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int16_t lowest_volt = INT16_MIN;
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sm_check_battery_temperature(&id_highest_temp, &highest_temp);
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data[0] = ((state.current_state << 4) | (current_powerground_status >> 4)); // 1 bit emptyy | 3 bit state | 4 bit powerground
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data[1] = ((current_powerground_status << 4) | (state.error_source >> 4)); // 4 bit powerground | 4 bit error
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data[2] = ((state.error_source << 4) | (0)); // 4 bit error | 4 bit state of charge
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data[3] = (0); // 8 bit state of charge
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data[4] = ((RELAY_BAT_SIDE_VOLTAGE / 1000)); // 8 bit battery voltage
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data[5] = ((RELAY_ESC_SIDE_VOLTAGE / 1000)); // 8 bit Inverter voltage
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data[6] = ((CURRENT_MEASUREMENT / 1000)); // 8 bit Current
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data[7] = ((highest_temp) >> 8); // 8 bit highest cell temperature
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//data[6] = (module.cellVoltages[7] >> 8);
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//data[7] = (module.cellVoltages[7]);
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//data[7] = state.error_source;
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ftcan_transmit(CAN_ID_OUT, data, sizeof(data));
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/*
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021E 30
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0232 50
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0238 60
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0246 70
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0250 80
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025A 90
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0264 100
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*/
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}
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/*
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can_handle_recieve_command() should only check if the message is valid and then hand it
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to the sm_handle_ams_in() which handles the state machine transition.
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This function recieves a command from the Autobox with the CAN ID of 0x501.
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with format of:
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data[0] = target state
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0x00 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.
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0x01 STATE_READY | conneect power to the ESC of powerground and but with no PWM signal. If data[1] != 0 -> assume bad CAN message.
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0x02 STATE_ACTIVE | activate powerground at (data[1]) percent. If data[1] > 100 -> assume bad CAN message.
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allowed transitions:
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STATE_INACTIVE -> STATE_READY
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STATE_READY -> STATE_INACTIVE, STATE_ACTIVE
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STATE_ACTIVE -> STATE_INACTIVE, STATE_READY
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*/
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void can_handle_recieve_command(const uint8_t *data){
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if (data[0] == 0x00 && data[1] == 0x00){
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sm_handle_ams_in(data);
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} else if (data[0] == 0x01 && data[1] == 0x00){
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sm_handle_ams_in(data);
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} else if (data[0] == 0x02 && data[1] <= 100) {
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sm_handle_ams_in(data);
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} else if (data[0] == 0xF0 && data[1] == 0x00) {
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sm_handle_ams_in(data);
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} else if (data[0] == 0xF1 && data[1] == 0) {
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sm_handle_ams_in(data);
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} else if (data[0] == 0xFF && data[1] == 0) {
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sm_handle_ams_in(data);
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}
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}
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void can_handle_dump() {
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while (1){
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uint8_t* data;
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if (can_delay_manager > HAL_GetTick())
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continue;
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else
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can_delay_manager = HAL_GetTick() + CAN_STATUS_FREQ;
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eeprom_read(data, 64);
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for (int i = 0; i < 63; i += 8) {
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ftcan_transmit(CAN_ID_OUT, data[i], 8);
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}
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ftcan_transmit(CAN_ID_OUT, 0, 1);
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}
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}
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/*
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implements the _weak method ftcan_msg_recieved_cb() which throws an interrupt when a CAN message is recieved.
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it only checks if the id is and datalen is correct thans hands data over to can_handle_recieve_command().
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in MXCUBE under CAN NVIC settings "USB low priority or CAN_RX0 interrupts" has to be on
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*/
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void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data){
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if (id == 0x501 && datalen == 2){
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if (last_message[0] != data[0] || last_message[1] != data[1]){
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last_message[0] = data[0];
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last_message[1] = data[1];
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can_handle_recieve_command(data);
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}
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}
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}
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