File content as of revision 20:a1a1bfc938da:

#include "mbed.h"
#include "CANParserBMU.h"
#include "Data_Types_BMU.h"
#include "CAN_Data.h"
#include "CAN_IDs.h"
#include "EEPROM_I2C.h"
#include "Temperature.h"
#include "LTC2943_Read.h"
#include "Cell_Voltage.h"
#include "SPI_I2C_Parser.h"


using namespace CAN_IDs;

// Function definitions
void transmit_data(BMU_data measurements,uint32_t status);
void read_temperature_sensors(BMU_data &measurements);
void update_SOC();
void init();
void interruptHandler();
void CANDataSentCallback();
void write_SOC_EEPROM(BMU_data &measurements,uint16_t start_address);
uint16_t read_EEPROM_startup(BMU_data &measurements);
uint32_t check_measurements(BMU_data &measurements);
void take_measurements(BMU_data &measurements);
void test_read_CAN_buffer();
bool test_read_voltage_CAN(uint16_t readings[], int can_ids[]);
void test_CAN_send();
void test_CAN_read();

CAN can(CAN_READ_PIN, CAN_WRITE_PIN); //Create a CAN object to handle CAN comms
CANMessage buffer[CAN_BUFFER_SIZE]; //CAN receive buffer
bool safe_to_write[CAN_BUFFER_SIZE]; //Semaphore bit indicating that it's safe to write to the software buffer
bool CAN_data_sent = false;

//Global array to store most recently obtained voltage and temp measurement:
CMU_voltage voltage_readings[NO_CMUS];
individual_temperature templist[NO_TEMPERATURE_SENSORS];

uint16_t eeprom_start_address; //the initial address where we store/read SoC values

Timeout loop_delay;
bool delay_finished = false;


void loop_delay_callback(void)
{
    delay_finished = true;
}

int main()
{ 
    BMU_data measurements;
    uint16_t current_EEPROM_address;
    uint32_t status;
    uint16_t volt_readings[36];
    int can_ids[9];
    
    DigitalOut isotherm_12V_pin(ISOTHERM_12V_PIN); //Sets Temperature Pin
    isotherm_12V_pin = 1;
    init();
    
    //current_EEPROM_address = read_EEPROM_startup(measurements); // Read from the eeprom at startup to fill in the values of SoC
    //ltc2943.accumulatedCharge(measurements.percentage_SOC); // Initialise the LTC2943 with the current state of charge
    
    while (true) {
        
        take_measurements(measurements);
        /*// Dont want to read the temperature sensors during each iteration of the loop
        if (c == 0) {
            read_temperature_sensors(measurements);
        } else if(c >= 4) {
            c = -1;
        }
        c++;

        // Check data for errors
        status = check_measurements(measurements);

        // Update the SOC
        update_SOC();

        //Store data in the eeprom
        write_SOC_EEPROM(measurements, current_EEPROM_address);
        */

        // CAN bus
        CAN_data_sent = false;//Currently does nothing, adding this line in more places then using
        //while(!CAN_data_sent); in order to ensure sending completes
        transmit_data(measurements,status);
        //test_read_CAN_buffer();
        
        /*
        // Conserve power - enter a low powered mode
        delay_finished = false;
        loop_delay.attach(loop_delay_callback, LOOP_DELAY_S);
        while (!delay_finished) sleep();
        */
        
        wait(1);
    } 
}

void transmit_data(BMU_data measurements, uint32_t status)
{
    CANMessage msg;
    /*
    Place all of the collected data onto the CAN bus
    */
    // Send cell voltages
    //voltages sent in sets of 4 + one cmu data set
    int repeating_unit_length = NO_READINGS_PER_CMU /4 + 1;
    for(uint16_t i= 0; i < NO_CMUS; i++) {
        //input id is offset, data structure is info, voltage, voltage, ......
        //This is a slightly modified version of the Tritium BMS datasheet, to add an extra voltage reading set.
        msg = createVoltageTelemetry(repeating_unit_length*i+2, measurements.cell_voltages[i].voltages); 
        can.write(msg);
        printf("Voltage Message id: %d \r\n", msg.id);
        wait(0.1);
        //+4 - 4 cell voltages sent per measurement, simple pointer arithmetic
        msg = createVoltageTelemetry(repeating_unit_length*i+3, measurements.cell_voltages[i].voltages + 4); 
        can.write(msg);
        printf("Voltage Message id: %d \r\n", msg.id);
        wait(0.1);
        msg = createVoltageTelemetry(repeating_unit_length*i+4, measurements.cell_voltages[i].voltages + 8); 
        can.write(msg);
        printf("Voltage Message id: %d \r\n", msg.id);
        wait(0.1);
    }
    
    printf("Devices found %d \r\n", devices_found);
    //Transmitting all of the individual probes:
    for(uint8_t i = 0; i < devices_found; i++)
    {
        individual_temperature tempreading = measurements.temperature_measurements[i];
        msg = createTemperatureTelemetry(i, &tempreading.ROMID[0], tempreading.measurement);
        individual_temperature testOut = decodeTemperatureTelemetry(msg);
        printf("Temperature reading sent (CAN ID = %d): (%f,%d) \r\n", msg.id, testOut.measurement, testOut.ID); 
        if(can.write(msg));
        else
            printf("Sending Temperature Failed for some reason");
        wait(0.1);
    }

    // Create SOC CAN message
    createPackSOC(measurements.SOC, measurements.percentage_SOC);

    // Min/max cell voltages
    createCellVoltageMAXMIN(measurements.max_cell_voltage, measurements.min_cell_voltage);

    // Min/Max cell temperature, Currently the meaning of temp max/min is a ambiguous 
    // due to changes to Temperature reading (namely the CMU ID portion of it), @TODO change MAXMIN
    createCellTemperatureMAXMIN(measurements.min_cell_temp,measurements.max_cell_temp);

    // Battery voltage and current
    // @TODO add the voltage
    createBatteryVI(measurements.battery_voltage,measurements.battery_current);

    //Extended battery pack status
    createExtendedBatteryPackStatus(status);

}


uint16_t read_EEPROM_startup(BMU_data &measurements)
{
    /* The first page of the EEPROM, specifically the first 2 addresses store a
    pointer of the first memory location of measurement data. The EEPROM only has a finite number of
    read/write cycles which is why we aren't writing to the same location throughout
    */
    
    uint16_t start_address;
    char start_address_array[2];
    char SOC_out[8]; // 4 bytes for the 2 floats one is SOC and the other % charge
    float *fp1,*fp2; // temporary storage for float conversion

    // Get a pointer to the start address for the data stored in the eeprom
    i2c_page_read(0x0000,2,start_address_array);

    // Read the data from this address
    start_address = (start_address_array[1]<< 8) | start_address_array[0]; // mbed little endian follow this convention
    i2c_page_read(start_address, 8,SOC_out);

    // Convert the SOC_out values back into floats
    fp1 = (float*)(&SOC_out[0]);
    fp2 = (float*)(&SOC_out[4]);
    measurements.SOC = *fp1;
    measurements.percentage_SOC = *fp2;

    // Select the next address to write to
    start_address += 0x0040;
    if(start_address > MAX_WRITE_ADDRESS) {
        start_address = START_WRITE_ADDRESS; // Loop to the start of the eeprom
    }

    /*@TODO need to include a CRC check for the address pointer for the scenario 
    when power is removed and we are writing to the eeprom*/
    // write the new address to location 0x0000
    start_address_array[0] = start_address | 0x00FF;
    start_address_array[1] = start_address >> 8;
    i2c_page_write(0x0000, 2, start_address_array);

    return start_address;
}

void write_SOC_EEPROM(BMU_data &measurements,uint16_t start_address)
{
    char data_out[8];
    float *fp1,*fp2;

    fp1 = (float*)(&measurements.SOC);
    fp2 = (float*)(&measurements.percentage_SOC);

    for(int i = 0; i < 4; i++ ) {
        data_out[i] = *fp1;
        fp1++;
    }
    for(int j = 4; j < 7; j++ ) {
        data_out[j] = *fp2;
        fp2++;
    }
    i2c_page_write(start_address, 8,data_out);
}

void read_temperature_sensors(BMU_data &measurements)
{
    float min_temperature;
    float max_temperature;
    probe[0]->convert_temperature(DS1820::all_devices);
    //isotherm_12V_pin = 0;
    min_temperature = probe[0]->temperature('C');
    max_temperature = min_temperature; // Initially set the max and min temperature equal
    printf("Devices found in temp readings: %d", devices_found);
    for (int i=0; i<devices_found; i++) {
        for(int j = 0; j < 7; j++)
            measurements.temperature_measurements[i].ROMID[j] = probe[i]->ROM[j];
        measurements.temperature_measurements[i].measurement = probe[i] ->temperature('C');
        
        
        
        if(measurements.temperature_measurements[i].measurement > max_temperature) {
            max_temperature = measurements.temperature_measurements[i].measurement;
        } else if (measurements.temperature_measurements[i].measurement < min_temperature) {
            min_temperature = measurements.temperature_measurements[i].measurement;
        }
        
        //printf("Device %d temperature is %3.3f degrees Celcius.\r\n",i+1 ,probe[i]->temperature('C'));
    }
    
    //There is also a CMU # component of this struct, currently unfilled, perhaps not needed at all.
    measurements.max_cell_temp.temperature = max_temperature;
    measurements.min_cell_temp.temperature = min_temperature;
}

void update_SOC()
{
    // Update the SOC value
}


uint32_t check_measurements(BMU_data &measurements)
{
    uint32_t status;

    if(measurements.max_cell_voltage.voltage > MAX_CELL_VOLTAGE) {
        status = status | CELL_OVER_VOLTAGE;
    } else if (measurements.min_cell_voltage.voltage < MIN_CELL_VOLTAGE) {
        status = status | CELL_UNDER_VOLTAGE;
    } else if (measurements.max_cell_temp.temperature > MAX_CELL_TEMPERATURE) {
        status = status | CELL_OVER_TEMPERATURE;
    }

    /*
    @TODO also include errors for:
    *untrusted measurement
    *CMU timeout
    *SOC not valid
    */
    return status;
}

void take_measurements(BMU_data &measurements)
{
    uint16_t cellvoltages[NO_CMUS][12];
    //Use LTC6804_acquireVoltage to fill this array, and then properly format
    //it to be sent over CAN
    
    LTC6804_acquireVoltage(cellvoltages);

    for(int i=0; i<NO_CMUS; i++){
       for(int j=0; j < NO_READINGS_PER_CMU; j++){
             measurements.cell_voltages[i].voltages[j] =  cellvoltages[i][j]/ 10; //To get units of mV
             measurements.cell_voltages[i].CMU_number = i;
             //printf("Cellvoltage[%d][%d] = %d \r\n",i,j,cellvoltages[i][j])/10);   
       }   
    } 
    
    //Add code to take all temperature measurements and add it to measurements struct.
    read_temperature_sensors(measurements);
    
    //Current, SoC
    measurements.battery_current = (uint32_t) ltc2943.current()*1000; //*1000 to convert to mA
    measurements.percentage_SOC = ltc2943.accumulatedCharge();
    measurements.SOC = (measurements.percentage_SOC /100) * BATTERY_CAPACITY;
}

void init()
{
    //Comment out measurement stuff with BCU testing
    temperature_init(); // Initialise the temperature sensors
    LTC2943_initialise(); //Initialises the fixed parameters of the LTC2943
    LTC6804_init(MD_FAST, DCP_DISABLED, CELL_CH_ALL, AUX_CH_VREF2); //Initialises the LTC6804s
    
    for(int i=0; i<CAN_BUFFER_SIZE; i++) 
    {
        buffer[i].id = BLANK_ID;
        //("%d",buffer[i].id);
        safe_to_write[i]= true;
    }
    
    //Initialise CAN stuff, attach CAN interrupt handlers
    can.frequency(CAN_BIT_RATE); //set transmission rate to agreed bit rate (ELEC-006)
    can.reset(); // (FUNC-018)
    can.attach(&interruptHandler, CAN::RxIrq); //receive interrupt handler
    can.attach(&CANDataSentCallback, CAN::TxIrq); //send interrupt handler
    
    //Initialize voltage array
    for(int i = 0; i < NO_CMUS; i++)
    {
        for(int j = 0; j < NO_READINGS_PER_CMU; j++)
        {
            voltage_readings[i].voltages[j] = 0;   
        }
    }
    //Initialize Temperature Array
    for(int i = 0; i < NO_TEMPERATURE_SENSORS; i++)
    {
        templist[i].measurement = -INFINITY;
        templist[i].ID = 0;
    }
}

void CANDataSentCallback(void) {
    CAN_data_sent = true;
}

void interruptHandler()
{
    CANMessage msg;
    can.read(msg);
    for(int i=0; i<CAN_BUFFER_SIZE; i++) {
        if((buffer[i].id == msg.id || buffer[i].id==BLANK_ID) && safe_to_write[i]) {
           //("id %d added to buffer \r\n", msg.id);
           buffer[i] = msg;
           //return required so that only first blank buffer entry is converted to incoming message ID each time new message ID is encountered
           return;
        }
    }
}

void test_read_CAN_buffer()
{
    //Import the data from the buffer into a non-volatile, more usable format
    CAN_Data can_data[CAN_BUFFER_SIZE]; //container for all of the raw data
    CANMessage msgArray[CAN_BUFFER_SIZE]; //Same as above but some functions take message as their parameter
    int received_CAN_IDs[CAN_BUFFER_SIZE]; //needed to keep track of which IDs we've received so far
    for (int i = 0; i<CAN_BUFFER_SIZE; ++i) 
    {
        safe_to_write[i] = false;
        can_data[i].importCANData(buffer[i]);
        received_CAN_IDs[i] = buffer[i].id;
        msgArray[i] = buffer[i];
        safe_to_write[i] = true;
    }
    
    //voltage and Temp readings:
    
    for(int i = 0; i < CAN_BUFFER_SIZE; i++)
    {
        //voltage
        if(decodeVoltageTelemetry(msgArray[i], &voltage_readings[0]))
            continue;
        //temperature
        if(msgArray[i].id >= 0x700)
        {
            individual_temperature dataPoint = decodeTemperatureTelemetry(msgArray[i]);
            for(int j = 0; j < NO_TEMPERATURE_SENSORS; j++)
            {
                if(dataPoint.ID == templist[j].ID)
                {
                    templist[j] = dataPoint;
                    break;
                }
                else if(templist[j].ID == 0)
                {
                    templist[j] = dataPoint;  
                    break;
                }     
            }
            
        }   
    }
    //Print obtained Readings:
    for(int i = 0; i < NO_CMUS; i++)
        for(int j = 0; j < 12; j++)
            printf("Voltage number %d for CMU %d is %d \r\n", j, i, voltage_readings[i].voltages[j]);
    
    for(int i = 0; i < NO_TEMPERATURE_SENSORS; i++)
        printf("Temperature of Sensor with ID %d is %f \r\n", templist[i].ID, templist[i].measurement);           
}
bool test_read_voltage_CAN(uint16_t readings[], int can_ids[])
{
    CANMessage msg;
    int can_id;
    int offset;
    int first_index;
    int second_index;
    
    if(can.read(msg))
    {
        for(int i =0; i < 4; i++)
        {
            readings[i] = (msg.data[2 * i]) + (msg.data[2*i+1] << 8); //Since data is 8 8bit ints not 4 16 bit ones
        }
        can_id = msg.id;
        can_ids[0] = msg.id;
        
        offset = can_id - 1536; //1536 = 0x600
        first_index = (offset - 1)/4; //offset of 2,3,4 is CMU 1; 6,7,8, is CMU 2; etc.
        second_index = ((offset - 1) % 4) - 1; //Makes it so 0,1,2 represent each voltage set //SID: subtracted 1 to make it work
        
        return true;
    }
    else
        return false;     
}

void test_CAN_send()
{
    CANMessage msg;
    char value = 142;
    msg = CANMessage(1, &value,1);
    if(can.write(msg))
        printf("Succesfully sent %d \r\n", value);
    else
        printf("Sending Failed \r\n");   
}

void test_CAN_read()
{
    CANMessage msg;
    if(can.read(msg))
        printf("Successfully recieved %d \r\n", msg.data[0]);  
    else
        printf("Reading Failed \r\n"); 
}