78 lines
2.6 KiB
C
78 lines
2.6 KiB
C
/*
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* can.c
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* Created on: Mai 23, 2024
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* Author: Hamza
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*/
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#include "can.h"
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#include "ADBMS_Abstraction.h"
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#include "state_machine.h"
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#include "stm32f3xx_hal.h"
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//#define CAN_ID_IN 0x501
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//#define CAN_ID_OUT 0x502
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int can_delay_manager = 0;
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void can_init(CAN_HandleTypeDef* hcan) { ftcan_init(hcan); }
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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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- MVBMS Status (1B), Powerground Status 0-100% (1 bit)
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- Battery: SoC (1B), Pack Voltage (2B), Current (1B),
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Min/Max. Cell Temp (ID, Min Temp, ID, Max Temp)(4B),
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Min/Max Cell Voltage (ID, Min Voltage, ID, Max Voltage)(4B)
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bit 0-2: status
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bit 0-7:
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bit 8-15: State of Charge from 0-100%
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bit 16-31: Battery voltage
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bit 32-47: Current measurement
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bit 48-50: id of cell with highest temperature
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bit 51-62: temperature of the cell with highest temperature (12 bits moved 4 bit to the left)
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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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data[0] = (state.current_state << 5); // save 5 bit since codes are from 0-7 61 bits left
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//data[1] = // in 8 bits from 0-100%
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data[2] = mV_from_ADBMS6830(RELAY_BAT_SIDE_VOLTAGE); // Battery voltage 16 bit 45 bit
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data[4] = CURRENT_MEASUREMENT; // 16 bit measurement
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int8_t id = -1;
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int16_t temp = INT16_MIN;
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sm_check_cell_temps(&id, &temp);
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data[6] = (id << 5) | (temp >> 4); // there are only 7 TMP1075
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ftcan_transmit(CAN_ID_OUT, data, sizeof(data));
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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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*/
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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] == 0b1000000 && data[1] == 0x00){
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sm_handle_ams_in(data);
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} else if (data[0] == 0b1100000 && data[1] <= 100) {
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sm_handle_ams_in(data);
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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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*/
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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 == 16){
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can_handle_recieve_command(data);
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}
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}
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