Can changes

bms/.mbed

@@ -1,4 +1,3 @@
 ROOT=.
 TARGET=NUCLEO_L432KC
 TARGET_CODE=0770
-TARGET_SERIAL=0671FF555185754867150637

bms/CMakeLists.txt

@@ -29,11 +29,13 @@ target_sources(${APP_TARGET}
         src/BmsThread.cpp
         src/EnergusTempSensor.cpp
         src/LTC6811.cpp
+        src/Can.cpp
 )
 
 target_link_libraries(${APP_TARGET}
     PRIVATE
         mbed-os
+        mbed-events
         lib-mbed-ltc681x
 )
 

bms/src/Can.cpp

@@ -1,8 +1,8 @@
 #include "Can.h"
 #include <cstdint>
 
-CANMessage accBoardBootup () {
-  const char * startupMessage = 0x00;
+CANMessage accBoardBootup() {
+  uint8_t startupMessage[8];
   return CANMessage(kNMT_ACC_HEARTBEAT, startupMessage);  
 }
 

bms/src/Can.h

@@ -16,7 +16,7 @@ constexpr uint32_t kNMT_ACC_HEARTBEAT = 0x702;
 constexpr uint32_t kRPDO_MAX_CURRENTS = 0x286;
 
 /* Bootup message */
-CANMessage accBoardBootup ();
+CANMessage accBoardBootup();
 
 /* TPDO that sends various states and information about the accumulator */
 CANMessage accBoardState(uint8_t glvVoltage, uint16_t tsVoltage, bool bmsFault, bool bmsBalancing, bool prechargeDone, bool charging, bool fansOn, bool shutdownClosed, bool unused_A, bool unused_B, uint8_t minCellVoltage, uint8_t maxCellVoltage, int16_t tsCurrent);

bms/src/Main.cpp

@@ -1,6 +1,7 @@
 #include <array>
 #include <cstdint>
 #include <cstdio>
+#include <string>
 #include <memory>
 #include <vector>
 #include <iostream>
@@ -17,7 +18,26 @@ CAN* canBus;
 
 void initIO();
 void canRX();
-void canTX();
+
+void canBootupTX();
+void canBoardStateTX();
+void canTempTX(uint8_t seg);
+void canTempTX0();
+void canTempTX1();
+void canTempTX2();
+void canTempTX3();
+void canVoltTX(uint8_t seg);
+void canVoltTX0();
+void canVoltTX1();
+void canVoltTX2();
+void canVoltTX3();
+void canCurrentLimTX();
+
+
+
+EventQueue queue(4*EVENTS_EVENT_SIZE); // creates an eventqueue which is thread and ISR safe. EVENTS_EVENT_SIZE is the size of the buffer allocated
+
+
 
 CircularBuffer<CANMessage, 32> canqueue;
 
@@ -174,9 +194,9 @@ int main() {
     // divided by 0.625 for how the current sensor works :/
     // divided by 300 because that's the nominal current reading of the sensor (ie baseline)
     // multiplied by 10 and cast to a uint16 for 1 decimal place
-    tsCurrent = (uint16_t)(((current_sense_pin-current_vref_pin)/125.0)*10);
-
+    tsCurrent = ((uint16_t)((current_sense_pin-current_vref_pin)/125.0))*10;
 
+    queue.dispatch_once();
     ThisThread::sleep_for(50 - (t.read_ms()%50));
   }
 }
@@ -185,6 +205,22 @@ void initIO() {
     canBus = new CAN(BMS_PIN_CAN_RX, BMS_PIN_CAN_TX, BMS_CAN_FREQUENCY);
     canBus->attach(canRX);
 
+    // canBus->write(accBoardBootup());
+
+    int canBootupUD = queue.call(&canBootupTX);
+    queue.dispatch_once();
+
+    int canBoardStateID = queue.call_every(100ms, &canBoardStateTX);
+    int canCurrentLimID = queue.call_every(40ms, &canCurrentLimTX);
+    int canVoltID0 = queue.call_every(200ms, &canVoltTX0);
+    int canVoltID1 = queue.call_every(200ms, &canVoltTX1);
+    int canVoltID2 = queue.call_every(200ms, &canVoltTX2);
+    int canVoltID3 = queue.call_every(200ms, &canVoltTX3);
+    int canTempID0 = queue.call_every(200ms, &canTempTX0);
+    int canTempID1 = queue.call_every(200ms, &canTempTX1);
+    int canTempID2 = queue.call_every(200ms, &canTempTX2);
+    int canTempID3 = queue.call_every(200ms, &canTempTX3);
+
 
     fan_control_pin = 0; // turn fans off at start
     charge_enable_pin = 0; // charge not allowed at start
@@ -223,7 +259,7 @@ void canBoardStateTX() {
     ));
 }
 
-void canBoardTempTX(uint8_t segment) {
+void canTempTX(uint8_t segment) {
     int8_t temps[7] = {
             allTemps[(segment * BMS_BANK_CELL_COUNT)],
             allTemps[(segment * BMS_BANK_CELL_COUNT) + 1],
@@ -236,7 +272,7 @@ void canBoardTempTX(uint8_t segment) {
     canBus->write(accBoardTemp(segment, temps));
 }
 
-void canBoardVoltTX(uint8_t segment) {
+void canVoltTX(uint8_t segment) {
     uint16_t volts[7] = {
             allVoltages[(segment * BMS_BANK_CELL_COUNT)],
             allVoltages[(segment * BMS_BANK_CELL_COUNT) + 1],
@@ -249,8 +285,40 @@ void canBoardVoltTX(uint8_t segment) {
     canBus->write(accBoardVolt(segment, volts));
 }
 
+void canVoltTX0() {
+    canVoltTX(0);
+}
+
+void canVoltTX1() {
+    canVoltTX(1);
+}
+
+void canVoltTX2() {
+    canVoltTX(2);
+}
+
+void canVoltTX3() {
+    canVoltTX(3);
+}
+
+void canTempTX0() {
+    canTempTX(0);
+}
+
+void canTempTX1() {
+    canTempTX(1);
+}
+
+void canTempTX2() {
+    canTempTX(2);
+}
+
+void canTempTX3() {
+    canTempTX(3);
+}
+
 void canCurrentLimTX() {
     uint16_t chargeCurrentLimit = 0x0000;
-    uint16_t dischargeCurrentLimit = (uint16_t)(CAR_MAX_POWER/tsVoltage)*CAR_POWER_PERCENT;
+    uint16_t dischargeCurrentLimit = (uint16_t)(CAR_MAX_POWER/117.6)*CAR_POWER_PERCENT;
     canBus->write(motorControllerCurrentLim(chargeCurrentLimit, dischargeCurrentLimit));
 }

mainCANbus.dbc

@@ -60,6 +60,8 @@ BO_ 3221225472 VECTOR__INDEPENDENT_SIG_MSG: 0 Vector__XXX
  SG_ TEMP_4 : 32|8@1+ (1,-40) [-40|215] "" Vector__XXX
  SG_ TEMP_5 : 40|8@1+ (1,-40) [-40|215] "" Vector__XXX
  SG_ TEMP_6 : 48|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Volt_Segment : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Temp_Segment : 0|8@1+ (1,0) [0|255] "" Vector__XXX
 
 BO_ 386 TPDO_ACC_BOARD_State: 8 Vector__XXX
  SG_ GLV_Voltage : 0|8@1+ (0.1,0) [0|25.5] "Volts" Vector__XXX
@@ -76,15 +78,41 @@ BO_ 386 TPDO_ACC_BOARD_State: 8 Vector__XXX
  SG_ Max_Cell_Voltage : 40|8@1+ (0.02,0) [0|5.1] "Volts" Vector__XXX
  SG_ TS_Current : 48|16@1- (0.1,0) [-3276.8|3276.7] "Amps" Vector__XXX
 
-BO_ 642 TPDO_ACC_BOARD_Temp: 8 Vector__XXX
- SG_ TEMP_0 : 8|8@1+ (1,-40) [-40|215] "" Vector__XXX
- SG_ TEMP_1 : 16|8@1+ (1,-40) [-40|215] "" Vector__XXX
- SG_ TEMP_2 : 24|8@1+ (1,-40) [-40|215] "" Vector__XXX
- SG_ TEMP_3 : 32|8@1+ (1,-40) [-40|215] "" Vector__XXX
- SG_ TEMP_4 : 40|8@1+ (1,-40) [-40|215] "" Vector__XXX
- SG_ TEMP_5 : 48|8@1+ (1,-40) [-40|215] "" Vector__XXX
- SG_ TEMP_6 : 56|8@1+ (1,-40) [-40|215] "" Vector__XXX
- SG_ Temp_Segment : 0|8@1+ (1,0) [0|255] "" Vector__XXX
+BO_ 393 TPDO_ACC_BOARD_Temp_0: 8 Vector__XXX
+ SG_ Seg0_TEMP_0 : 0|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg0_TEMP_1 : 8|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg0_TEMP_2 : 16|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg0_TEMP_3 : 24|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg0_TEMP_4 : 32|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg0_TEMP_5 : 40|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg0_TEMP_6 : 48|8@1+ (1,-40) [-40|215] "" Vector__XXX
+
+BO_ 649 TPDO_ACC_BOARD_Temp_1: 8 Vector__XXX
+ SG_ Seg1_TEMP_0 : 0|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg1_TEMP_1 : 8|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg1_TEMP_2 : 16|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg1_TEMP_3 : 24|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg1_TEMP_4 : 32|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg1_TEMP_5 : 40|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg1_TEMP_6 : 48|8@1+ (1,-40) [-40|215] "" Vector__XXX
+
+BO_ 905 TPDO_ACC_BOARD_Temp_2: 8 Vector__XXX
+ SG_ Seg2_TEMP_0 : 0|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg2_TEMP_1 : 8|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg2_TEMP_2 : 16|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg2_TEMP_3 : 24|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg2_TEMP_4 : 32|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg2_TEMP_5 : 40|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg2_TEMP_6 : 48|8@1+ (1,-40) [-40|215] "" Vector__XXX
+
+BO_ 1161 TPDO_ACC_BOARD_Temp_3: 8 Vector__XXX
+ SG_ Seg3_TEMP_0 : 0|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg3_TEMP_1 : 8|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg3_TEMP_2 : 16|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg3_TEMP_3 : 24|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg3_TEMP_4 : 32|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg3_TEMP_5 : 40|8@1+ (1,-40) [-40|215] "" Vector__XXX
+ SG_ Seg3_TEMP_6 : 48|8@1+ (1,-40) [-40|215] "" Vector__XXX
 
 BO_ 1794 NMT_ACC_HEARTBEAT: 8 Vector__XXX
  SG_ Status : 0|8@1+ (1,0) [0|255] "" Vector__XXX
@@ -97,15 +125,41 @@ BO_ 644 TPDO_BSPD_BOARD_Brake: 8 Vector__XXX
  SG_ IMD_Fault : 25|1@1+ (1,0) [0|1] "" Vector__XXX
  SG_ BSPD_Fault : 26|1@1+ (1,0) [0|1] "" Vector__XXX
 
-BO_ 899 TPDO_ACC_BOARD_Volt: 8 Vector__XXX
- SG_ Volt_Segment : 0|8@1+ (1,0) [0|0] "" Vector__XXX
- SG_ VOLT_0 : 8|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
- SG_ VOLT_1 : 16|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
- SG_ VOLT_2 : 24|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
- SG_ VOLT_3 : 32|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
- SG_ VOLT_4 : 40|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
- SG_ VOLT_5 : 48|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
- SG_ VOLT_6 : 56|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+BO_ 392 TPDO_ACC_BOARD_Volt_0: 8 Vector__XXX
+ SG_ Seg0_VOLT_0 : 0|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg0_VOLT_1 : 8|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg0_VOLT_2 : 16|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg0_VOLT_3 : 24|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg0_VOLT_4 : 32|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg0_VOLT_5 : 40|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg0_VOLT_6 : 48|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+
+BO_ 648 TPDO_ACC_BOARD_Volt_1: 8 Vector__XXX
+ SG_ Seg1_VOLT_0 : 0|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg1_VOLT_1 : 8|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg1_VOLT_2 : 16|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg1_VOLT_3 : 24|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg1_VOLT_4 : 32|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg1_VOLT_5 : 40|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg1_VOLT_6 : 48|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+
+BO_ 904 TPDO_ACC_BOARD_Volt_2: 8 Vector__XXX
+ SG_ Seg2_VOLT_0 : 0|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg2_VOLT_1 : 8|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg2_VOLT_2 : 16|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg2_VOLT_3 : 24|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg2_VOLT_4 : 32|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg2_VOLT_5 : 40|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg2_VOLT_6 : 48|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+
+BO_ 1160 TPDO_ACC_BOARD_Volt_3: 8 Vector__XXX
+ SG_ Seg3_VOLT_0 : 0|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg3_VOLT_1 : 8|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg3_VOLT_2 : 16|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg3_VOLT_3 : 24|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg3_VOLT_4 : 32|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg3_VOLT_5 : 40|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
+ SG_ Seg3_VOLT_6 : 48|8@1+ (0.02,0) [0|5.1] "V" Vector__XXX
 
 
 
@@ -125,6 +179,5 @@ BA_DEF_DEF_  "BusType" "";
 BA_DEF_DEF_  "ECU" "";
 BA_DEF_DEF_  "VFrameFormat" "StandardCAN";
 BA_ "BusType" "CAN FD";
-VAL_ 642 Temp_Segment 1 "Segment 0" 2 "Segment 1" 3 "Segment 2" 4 "Segment 3" ;
 VAL_ 1794 Status 0 "Boot up" 4 "Stopped" 5 "Operational" 127 "Pre-operational" ;