CUER / Mbed 2 deprecated charger_code

Code to run on the charger board (used to charge the car from the mains).

Dependencies:   mbed CUER_CAN

charger.cpp@2:da91931184de, 2017-07-23 (annotated)

Committer:
DasSidG
Date:
Sun Jul 23 21:57:34 2017 +0000
Revision:
2:da91931184de
Parent:
1:0c77e20b4d4c
Child:
3:a7626dffb64a
test to see if i can publish anything

Who changed what in which revision?

UserRevisionLine numberNew contents of line
drajan 0:6d930d0d13a1 1 #include "charger.h"
DasSidG 1:0c77e20b4d4c 2 #include "mbed.h"
DasSidG 1:0c77e20b4d4c 3 #include "CAN_Data.h"
DasSidG 1:0c77e20b4d4c 4 #include "CAN_IDs.h"
DasSidG 1:0c77e20b4d4c 5 #include "Data_types.h"
DasSidG 1:0c77e20b4d4c 6 #include "CANParserCharger.h"
DasSidG 1:0c77e20b4d4c 7
DasSidG 2:da91931184de 8 //TEST PUBLISH
DasSidG 1:0c77e20b4d4c 9 using namespace CAN_IDs;
DasSidG 1:0c77e20b4d4c 10
DasSidG 1:0c77e20b4d4c 11 void car_interruptHandler();
DasSidG 1:0c77e20b4d4c 12 void car_CANDataSentCallback();
DasSidG 1:0c77e20b4d4c 13
DasSidG 1:0c77e20b4d4c 14 void charger_interruptHandler();
DasSidG 1:0c77e20b4d4c 15 void charger_CANDataSentCallback();
DasSidG 1:0c77e20b4d4c 16
DasSidG 1:0c77e20b4d4c 17 void init();
DasSidG 1:0c77e20b4d4c 18 void get_CAN_data();
DasSidG 1:0c77e20b4d4c 19
DasSidG 1:0c77e20b4d4c 20 void calculate_current(float voltage_error, float temp_margin, float *current, float *voltage);
DasSidG 1:0c77e20b4d4c 21 void check_timeouts();
DasSidG 1:0c77e20b4d4c 22 void update_LEDS();
DasSidG 1:0c77e20b4d4c 23 bool idAccepted(int id);
DasSidG 1:0c77e20b4d4c 24
drajan 0:6d930d0d13a1 25
drajan 0:6d930d0d13a1 26
DasSidG 1:0c77e20b4d4c 27 timeouts_t timeouts;
DasSidG 1:0c77e20b4d4c 28
DasSidG 1:0c77e20b4d4c 29 //CAN stuff. Not that there are two sets because there are two separate CAN buses here; one to communicate with the charger, and one to communicate with the rest of the car (importantly the BMS).
DasSidG 1:0c77e20b4d4c 30 //The reason that there are two separate CAN buses is because the charger uses the extended CAN frame format, with a 29 bit ID, whereas the car uses the default 11 bit ID.
DasSidG 1:0c77e20b4d4c 31 CAN car_can(CAR_CAN_READ_PIN, CAR_CAN_WRITE_PIN); //Create a CAN object to handle CAN comms
DasSidG 1:0c77e20b4d4c 32 CANMessage car_buffer[CAN_BUFFER_SIZE]; //CAN receive buffer
DasSidG 1:0c77e20b4d4c 33 bool car_safe_to_write[CAN_BUFFER_SIZE]; //Semaphore bit indicating that it's safe to write to the software buffer
DasSidG 1:0c77e20b4d4c 34 bool car_CAN_data_sent = false;
DasSidG 1:0c77e20b4d4c 35
DasSidG 1:0c77e20b4d4c 36 CAN charger_can(CHARGER_CAN_READ_PIN, CHARGER_CAN_WRITE_PIN); //Create a CAN object to handle CAN comms
DasSidG 1:0c77e20b4d4c 37 CANMessage charger_buffer[CAN_BUFFER_SIZE]; //CAN receive buffer
DasSidG 1:0c77e20b4d4c 38 bool charger_safe_to_write[CAN_BUFFER_SIZE]; //Semaphore bit indicating that it's safe to write to the software buffer
DasSidG 1:0c77e20b4d4c 39 bool charger_CAN_data_sent = false;
DasSidG 1:0c77e20b4d4c 40
DasSidG 1:0c77e20b4d4c 41 int main() {
drajan 0:6d930d0d13a1 42
DasSidG 1:0c77e20b4d4c 43 init();
drajan 0:6d930d0d13a1 44
DasSidG 1:0c77e20b4d4c 45 while(1) {
DasSidG 1:0c77e20b4d4c 46
DasSidG 1:0c77e20b4d4c 47 //Reset error indicators
DasSidG 1:0c77e20b4d4c 48 comms_timeout = false;
DasSidG 1:0c77e20b4d4c 49 charger_failure = false;
DasSidG 1:0c77e20b4d4c 50 bms_error = false;
DasSidG 1:0c77e20b4d4c 51
DasSidG 1:0c77e20b4d4c 52 //get the various data from the CAN packets
DasSidG 1:0c77e20b4d4c 53 get_CAN_data();
DasSidG 1:0c77e20b4d4c 54
DasSidG 1:0c77e20b4d4c 55 check_timeouts();
DasSidG 1:0c77e20b4d4c 56
DasSidG 1:0c77e20b4d4c 57 update_LEDS();
DasSidG 1:0c77e20b4d4c 58
DasSidG 1:0c77e20b4d4c 59 //TODO: add logic here to calculate current and then decide if charging should go ahead
DasSidG 1:0c77e20b4d4c 60
DasSidG 1:0c77e20b4d4c 61
DasSidG 1:0c77e20b4d4c 62 //send CAN data
DasSidG 1:0c77e20b4d4c 63 charger_can.write(generate_charger_control_msg(desired_voltage, desired_current, charger_control)); //control message to charger
DasSidG 1:0c77e20b4d4c 64 car_can.write(generate_charger_info_msg(charger_voltage, charger_current, charger_status)); //charger info message for rest of car
DasSidG 1:0c77e20b4d4c 65
DasSidG 1:0c77e20b4d4c 66 //send charge_finished value to control bit.
DasSidG 1:0c77e20b4d4c 67
DasSidG 1:0c77e20b4d4c 68 printf("Voltage Error = %f\n", voltage_error);
DasSidG 1:0c77e20b4d4c 69 printf("Temperature Margin = %f\n", temp_margin);
DasSidG 1:0c77e20b4d4c 70 printf("Desired Voltage = %f\n", desired_voltage);
DasSidG 1:0c77e20b4d4c 71 printf("Desired Current = %f\n", desired_current);
DasSidG 1:0c77e20b4d4c 72 printf("Voltage = %f\n", charger_voltage);
DasSidG 1:0c77e20b4d4c 73 printf("Current = %f\n", charger_current);
DasSidG 1:0c77e20b4d4c 74 printf("Min cell voltage = %f\n", min_cell_voltage);
DasSidG 1:0c77e20b4d4c 75 printf("Max cell voltage = %f\n", max_cell_voltage);
DasSidG 1:0c77e20b4d4c 76
drajan 0:6d930d0d13a1 77 }
DasSidG 1:0c77e20b4d4c 78 }
drajan 0:6d930d0d13a1 79
drajan 0:6d930d0d13a1 80 void calculate_current(float voltage_error, float temp_margin, float *current, float *voltage){
drajan 0:6d930d0d13a1 81
drajan 0:6d930d0d13a1 82 float Idot, I;
drajan 0:6d930d0d13a1 83 static bool balancing = false;
drajan 0:6d930d0d13a1 84 I = *current;
drajan 0:6d930d0d13a1 85 if (I < 0.8 && voltage_error < 0.1 || balancing) {
drajan 0:6d930d0d13a1 86 balancing = true;
drajan 0:6d930d0d13a1 87 printf("balancing\r\n");
drajan 0:6d930d0d13a1 88 Idot = voltage_error*KI_BALANCE;
drajan 0:6d930d0d13a1 89 } else {
drajan 0:6d930d0d13a1 90 Idot = voltage_error*KI_CHARGE;
drajan 0:6d930d0d13a1 91 }
drajan 0:6d930d0d13a1 92 I += Idot*TIME_STEP/1000.0;
drajan 0:6d930d0d13a1 93
drajan 0:6d930d0d13a1 94 if(I > MAX_CURRENT) {
drajan 0:6d930d0d13a1 95 I = MAX_CURRENT;
drajan 0:6d930d0d13a1 96 }
drajan 0:6d930d0d13a1 97 if(I < 0) {
drajan 0:6d930d0d13a1 98 I = 0;
drajan 0:6d930d0d13a1 99 }
drajan 0:6d930d0d13a1 100
drajan 0:6d930d0d13a1 101 //Reduce current if temperature is too high
drajan 0:6d930d0d13a1 102 if (temp_margin > TEMP_RAMP_START) {
drajan 0:6d930d0d13a1 103 I = 1 - ((temp_margin - TEMP_RAMP_START) / (TEMP_RAMP_FINISH - TEMP_RAMP_START));
drajan 0:6d930d0d13a1 104 }
drajan 0:6d930d0d13a1 105 if (temp_margin > TEMP_RAMP_FINISH) {
drajan 0:6d930d0d13a1 106 I *= 0;
drajan 0:6d930d0d13a1 107 }
drajan 0:6d930d0d13a1 108
drajan 0:6d930d0d13a1 109 *current = I;
drajan 0:6d930d0d13a1 110 *voltage = MAX_VOLTAGE;
drajan 0:6d930d0d13a1 111 }
drajan 0:6d930d0d13a1 112
DasSidG 1:0c77e20b4d4c 113 void init()
DasSidG 1:0c77e20b4d4c 114 {
DasSidG 1:0c77e20b4d4c 115 for(int i=0; i<CAN_BUFFER_SIZE; i++)
DasSidG 1:0c77e20b4d4c 116 {
DasSidG 1:0c77e20b4d4c 117 car_buffer[i].id = BLANK_ID;
DasSidG 1:0c77e20b4d4c 118 //("%d",buffer[i].id);
DasSidG 1:0c77e20b4d4c 119 car_safe_to_write[i]= true;
drajan 0:6d930d0d13a1 120
DasSidG 1:0c77e20b4d4c 121 charger_buffer[i].id = BLANK_ID;
DasSidG 1:0c77e20b4d4c 122 //("%d",buffer[i].id);
DasSidG 1:0c77e20b4d4c 123 charger_safe_to_write[i]= true;
DasSidG 1:0c77e20b4d4c 124 }
DasSidG 1:0c77e20b4d4c 125
DasSidG 1:0c77e20b4d4c 126 //Initialise CAN stuff, attach CAN interrupt handlers
DasSidG 1:0c77e20b4d4c 127 car_can.frequency(CAN_BIT_RATE); //set transmission rate to agreed bit rate
DasSidG 1:0c77e20b4d4c 128 car_can.reset();
DasSidG 1:0c77e20b4d4c 129 car_can.attach(&car_interruptHandler, CAN::RxIrq); //receive interrupt handler
DasSidG 1:0c77e20b4d4c 130 car_can.attach(&car_CANDataSentCallback, CAN::TxIrq); //send interrupt handler
DasSidG 1:0c77e20b4d4c 131
DasSidG 1:0c77e20b4d4c 132 charger_can.frequency(CHARGER_CAN_BIT_RATE); //set transmission rate to agreed bit rate
DasSidG 1:0c77e20b4d4c 133 charger_can.reset();
DasSidG 1:0c77e20b4d4c 134 charger_can.attach(&charger_interruptHandler, CAN::RxIrq); //receive interrupt handler
DasSidG 1:0c77e20b4d4c 135 charger_can.attach(&charger_CANDataSentCallback, CAN::TxIrq); //send interrupt handler
DasSidG 1:0c77e20b4d4c 136
DasSidG 1:0c77e20b4d4c 137 //Start comms timeout timers
DasSidG 1:0c77e20b4d4c 138
DasSidG 1:0c77e20b4d4c 139 timeouts.BMS_timeout.start();
DasSidG 1:0c77e20b4d4c 140 timeouts.charger_timeout.start();
DasSidG 1:0c77e20b4d4c 141
DasSidG 1:0c77e20b4d4c 142 }
DasSidG 1:0c77e20b4d4c 143
DasSidG 1:0c77e20b4d4c 144 void car_CANDataSentCallback(void) {
DasSidG 1:0c77e20b4d4c 145 car_CAN_data_sent = true;
DasSidG 1:0c77e20b4d4c 146 }
DasSidG 1:0c77e20b4d4c 147
DasSidG 1:0c77e20b4d4c 148 void charger_CANDataSentCallback(void) {
DasSidG 1:0c77e20b4d4c 149 charger_CAN_data_sent = true;
DasSidG 1:0c77e20b4d4c 150 }
DasSidG 1:0c77e20b4d4c 151
DasSidG 1:0c77e20b4d4c 152 void car_interruptHandler()
DasSidG 1:0c77e20b4d4c 153 {
DasSidG 1:0c77e20b4d4c 154 CANMessage msg;
DasSidG 1:0c77e20b4d4c 155 car_can.read(msg);
DasSidG 1:0c77e20b4d4c 156 //if(DEBUG) printf("id %d incoming \r\n", msg.id);
DasSidG 1:0c77e20b4d4c 157 if(idAccepted(msg.id)) {
DasSidG 1:0c77e20b4d4c 158 for(int i=0; i<CAN_BUFFER_SIZE; i++) {
DasSidG 1:0c77e20b4d4c 159 if((car_buffer[i].id == msg.id || car_buffer[i].id==BLANK_ID) && car_safe_to_write[i]) {
DasSidG 1:0c77e20b4d4c 160 //("id %d added to buffer \r\n", msg.id);
DasSidG 1:0c77e20b4d4c 161 car_buffer[i] = msg;
DasSidG 1:0c77e20b4d4c 162 //return required so that only first blank buffer entry is converted to incoming message ID each time new message ID is encountered
DasSidG 1:0c77e20b4d4c 163 return;
DasSidG 1:0c77e20b4d4c 164 }
DasSidG 1:0c77e20b4d4c 165 }
DasSidG 1:0c77e20b4d4c 166 }
DasSidG 1:0c77e20b4d4c 167 }
DasSidG 1:0c77e20b4d4c 168
DasSidG 1:0c77e20b4d4c 169 void charger_interruptHandler()
DasSidG 1:0c77e20b4d4c 170 {
DasSidG 1:0c77e20b4d4c 171 CANMessage msg;
DasSidG 1:0c77e20b4d4c 172 charger_can.read(msg);
DasSidG 1:0c77e20b4d4c 173 //if(DEBUG) printf("id %d incoming \r\n", msg.id);
DasSidG 1:0c77e20b4d4c 174 if(idAccepted(msg.id)) {
DasSidG 1:0c77e20b4d4c 175 for(int i=0; i<CAN_BUFFER_SIZE; i++) {
DasSidG 1:0c77e20b4d4c 176 if((charger_buffer[i].id == msg.id || charger_buffer[i].id==BLANK_ID) && charger_safe_to_write[i]) {
DasSidG 1:0c77e20b4d4c 177 //("id %d added to buffer \r\n", msg.id);
DasSidG 1:0c77e20b4d4c 178 charger_buffer[i] = msg;
DasSidG 1:0c77e20b4d4c 179 //return required so that only first blank buffer entry is converted to incoming message ID each time new message ID is encountered
DasSidG 1:0c77e20b4d4c 180 return;
DasSidG 1:0c77e20b4d4c 181 }
DasSidG 1:0c77e20b4d4c 182 }
DasSidG 1:0c77e20b4d4c 183 }
DasSidG 1:0c77e20b4d4c 184 }
DasSidG 1:0c77e20b4d4c 185
DasSidG 1:0c77e20b4d4c 186 bool idAccepted(int id)
DasSidG 1:0c77e20b4d4c 187 {
DasSidG 1:0c77e20b4d4c 188 switch(id) {
DasSidG 1:0c77e20b4d4c 189 case BMS_BASE_ID:
DasSidG 1:0c77e20b4d4c 190 timeouts.BMS_timeout.reset();
DasSidG 1:0c77e20b4d4c 191 return true;
DasSidG 1:0c77e20b4d4c 192
DasSidG 1:0c77e20b4d4c 193 case BMS_BASE_ID + CHARGER_CONTROL_INFO_ID:
DasSidG 1:0c77e20b4d4c 194 return true;
DasSidG 1:0c77e20b4d4c 195
DasSidG 1:0c77e20b4d4c 196 case BMS_BASE_ID + MAX_MIN_VOLTAGE:
DasSidG 1:0c77e20b4d4c 197 return true;
DasSidG 1:0c77e20b4d4c 198
DasSidG 1:0c77e20b4d4c 199 case BMS_BASE_ID + BATTERY_STATUS_ID:
DasSidG 1:0c77e20b4d4c 200 return true;
DasSidG 1:0c77e20b4d4c 201
DasSidG 1:0c77e20b4d4c 202 case CHARGER_VI_INFO_ID:
DasSidG 1:0c77e20b4d4c 203 timeouts.charger_timeout.reset();
DasSidG 1:0c77e20b4d4c 204 return true;
DasSidG 1:0c77e20b4d4c 205 default:
DasSidG 1:0c77e20b4d4c 206 return false;
DasSidG 1:0c77e20b4d4c 207 }
DasSidG 1:0c77e20b4d4c 208 }
drajan 0:6d930d0d13a1 209
drajan 0:6d930d0d13a1 210
drajan 0:6d930d0d13a1 211
drajan 0:6d930d0d13a1 212
drajan 0:6d930d0d13a1 213
DasSidG 1:0c77e20b4d4c 214 void check_timeouts() //Check if it's been too long since any of the other devices in the car have communicated
DasSidG 1:0c77e20b4d4c 215 {
DasSidG 1:0c77e20b4d4c 216
DasSidG 1:0c77e20b4d4c 217 if (timeouts.BMS_timeout.read_ms() > BMS_MSG_TIMEOUT_MS)
DasSidG 1:0c77e20b4d4c 218 {
DasSidG 1:0c77e20b4d4c 219 printf("Error: BMS comms timeout");
DasSidG 1:0c77e20b4d4c 220 comms_timeout = true;
DasSidG 1:0c77e20b4d4c 221 }
DasSidG 1:0c77e20b4d4c 222
DasSidG 1:0c77e20b4d4c 223 if (timeouts.charger_timeout.read_ms() > CHARGER_MSG_TIMEOUT_MS)
DasSidG 1:0c77e20b4d4c 224 {
DasSidG 1:0c77e20b4d4c 225 printf("Error: BMS comms timeout");
DasSidG 1:0c77e20b4d4c 226 comms_timeout = true;
DasSidG 1:0c77e20b4d4c 227 }
DasSidG 1:0c77e20b4d4c 228 }
DasSidG 1:0c77e20b4d4c 229
DasSidG 1:0c77e20b4d4c 230 void update_LEDS() {
DasSidG 1:0c77e20b4d4c 231 if (charger_failure || bms_error) {
DasSidG 1:0c77e20b4d4c 232 desired_current = 0;
DasSidG 1:0c77e20b4d4c 233 red_led = 1;
DasSidG 1:0c77e20b4d4c 234 }
drajan 0:6d930d0d13a1 235
DasSidG 1:0c77e20b4d4c 236 else if (comms_timeout) {
DasSidG 1:0c77e20b4d4c 237 desired_current = 0;
DasSidG 1:0c77e20b4d4c 238 yellow_led = 1;
DasSidG 1:0c77e20b4d4c 239 }
DasSidG 1:0c77e20b4d4c 240
DasSidG 1:0c77e20b4d4c 241 else if (!charge_finished) {
DasSidG 1:0c77e20b4d4c 242 green_led = 1;
DasSidG 1:0c77e20b4d4c 243 }
DasSidG 1:0c77e20b4d4c 244
DasSidG 1:0c77e20b4d4c 245 else {
DasSidG 1:0c77e20b4d4c 246 red_led = 0;
DasSidG 1:0c77e20b4d4c 247 yellow_led = 0;
DasSidG 1:0c77e20b4d4c 248 green_led = 0;
DasSidG 1:0c77e20b4d4c 249 }
DasSidG 1:0c77e20b4d4c 250
DasSidG 1:0c77e20b4d4c 251
DasSidG 1:0c77e20b4d4c 252 if (min_cell_voltage > RISING_BALANCE_THRESHOLD) {
DasSidG 1:0c77e20b4d4c 253 charge_finished = true;
DasSidG 1:0c77e20b4d4c 254 printf("Charge Finished\r\n");
DasSidG 1:0c77e20b4d4c 255 //set charger control bit to finished charging
DasSidG 1:0c77e20b4d4c 256 }
DasSidG 1:0c77e20b4d4c 257 else {
DasSidG 1:0c77e20b4d4c 258 calculate_current(voltage_error, temp_margin, &desired_current, &desired_voltage);
DasSidG 1:0c77e20b4d4c 259 charge_finished = false;
DasSidG 1:0c77e20b4d4c 260 }
DasSidG 1:0c77e20b4d4c 261 }
DasSidG 1:0c77e20b4d4c 262
DasSidG 1:0c77e20b4d4c 263 void get_CAN_data() {
drajan 0:6d930d0d13a1 264
DasSidG 1:0c77e20b4d4c 265 //Import the data from the buffer into a non-volatile, more usable format
DasSidG 1:0c77e20b4d4c 266 CAN_Data car_can_data[CAN_BUFFER_SIZE]; //container for all of the raw data
DasSidG 1:0c77e20b4d4c 267 CANMessage car_msgArray[CAN_BUFFER_SIZE]; //Same as above but some functions take message as their parameter
DasSidG 1:0c77e20b4d4c 268 int car_received_CAN_IDs[CAN_BUFFER_SIZE]; //needed to keep track of which IDs we've received so far
DasSidG 1:0c77e20b4d4c 269 for (int i = 0; i<CAN_BUFFER_SIZE; ++i)
DasSidG 1:0c77e20b4d4c 270 {
DasSidG 1:0c77e20b4d4c 271 car_safe_to_write[i] = false;
DasSidG 1:0c77e20b4d4c 272 car_can_data[i].importCANData(car_buffer[i]);
DasSidG 1:0c77e20b4d4c 273 car_received_CAN_IDs[i] = car_buffer[i].id;
DasSidG 1:0c77e20b4d4c 274 car_msgArray[i] = car_buffer[i];
DasSidG 1:0c77e20b4d4c 275 car_safe_to_write[i] = true;
DasSidG 1:0c77e20b4d4c 276
DasSidG 1:0c77e20b4d4c 277 //Now actually import the data from the CAN packets into the global variables
DasSidG 1:0c77e20b4d4c 278 switch (car_received_CAN_IDs[i]) {
drajan 0:6d930d0d13a1 279
DasSidG 1:0c77e20b4d4c 280 case BMS_BASE_ID:
DasSidG 1:0c77e20b4d4c 281 break;
DasSidG 1:0c77e20b4d4c 282
DasSidG 1:0c77e20b4d4c 283 case BMS_BASE_ID + CHARGER_CONTROL_INFO_ID:
DasSidG 1:0c77e20b4d4c 284 get_charger_control_info(car_msgArray[i], voltage_error, temp_margin, discharge_error, pack_capacity);
DasSidG 1:0c77e20b4d4c 285 break;
DasSidG 1:0c77e20b4d4c 286
DasSidG 1:0c77e20b4d4c 287 case BMS_BASE_ID + MAX_MIN_VOLTAGE:
DasSidG 1:0c77e20b4d4c 288 get_max_min_voltage(car_msgArray[i], min_cell_voltage, max_cell_voltage);
DasSidG 1:0c77e20b4d4c 289 break;
DasSidG 1:0c77e20b4d4c 290
DasSidG 1:0c77e20b4d4c 291 case BMS_BASE_ID + BATTERY_STATUS_ID:
DasSidG 1:0c77e20b4d4c 292 get_battery_status(car_msgArray[i], bms_error);
DasSidG 1:0c77e20b4d4c 293 break;
DasSidG 1:0c77e20b4d4c 294 case BLANK_ID: //This means we haven't received this type of message yet, so do nothing
DasSidG 1:0c77e20b4d4c 295 break;
DasSidG 1:0c77e20b4d4c 296 default:
DasSidG 1:0c77e20b4d4c 297 break;
DasSidG 1:0c77e20b4d4c 298 }
DasSidG 1:0c77e20b4d4c 299 }
drajan 0:6d930d0d13a1 300
DasSidG 1:0c77e20b4d4c 301 //Import the data from the buffer into a non-volatile, more usable format
DasSidG 1:0c77e20b4d4c 302 CAN_Data charger_can_data[CAN_BUFFER_SIZE]; //container for all of the raw data
DasSidG 1:0c77e20b4d4c 303 CANMessage charger_msgArray[CAN_BUFFER_SIZE]; //Same as above but some functions take message as their parameter
DasSidG 1:0c77e20b4d4c 304 int charger_received_CAN_IDs[CAN_BUFFER_SIZE]; //needed to keep track of which IDs we've received so far
DasSidG 1:0c77e20b4d4c 305 for (int i = 0; i<CAN_BUFFER_SIZE; ++i)
DasSidG 1:0c77e20b4d4c 306 {
DasSidG 1:0c77e20b4d4c 307 charger_safe_to_write[i] = false;
DasSidG 1:0c77e20b4d4c 308 charger_can_data[i].importCANData(charger_buffer[i]);
DasSidG 1:0c77e20b4d4c 309 charger_received_CAN_IDs[i] = charger_buffer[i].id;
DasSidG 1:0c77e20b4d4c 310 charger_msgArray[i] = charger_buffer[i];
DasSidG 1:0c77e20b4d4c 311 charger_safe_to_write[i] = true;
DasSidG 1:0c77e20b4d4c 312
DasSidG 1:0c77e20b4d4c 313 //Now actually import the data from the CAN packets into the global variables
DasSidG 1:0c77e20b4d4c 314 switch (charger_received_CAN_IDs[i]) {
DasSidG 1:0c77e20b4d4c 315
DasSidG 1:0c77e20b4d4c 316 case CHARGER_VI_INFO_ID:
DasSidG 1:0c77e20b4d4c 317 get_charger_VI_info(charger_msgArray[i], charger_voltage, charger_current, charger_status);
DasSidG 1:0c77e20b4d4c 318 if(charger_status bitand 1 == 1) {
DasSidG 1:0c77e20b4d4c 319 printf("Charger status: Hardware Failure\r\n");
DasSidG 1:0c77e20b4d4c 320 charger_failure = true;
DasSidG 1:0c77e20b4d4c 321 }
DasSidG 1:0c77e20b4d4c 322
DasSidG 1:0c77e20b4d4c 323 if(charger_status bitand 2 == 2) {
DasSidG 1:0c77e20b4d4c 324 printf("Charger status: Over Temperature\r\n");
DasSidG 1:0c77e20b4d4c 325 charger_failure = true;
DasSidG 1:0c77e20b4d4c 326 }
DasSidG 1:0c77e20b4d4c 327
DasSidG 1:0c77e20b4d4c 328 if(charger_status bitand 4 == 4) {
DasSidG 1:0c77e20b4d4c 329 printf("Charger status: Input Voltage Wrong\r\n");
DasSidG 1:0c77e20b4d4c 330 charger_failure = true;
DasSidG 1:0c77e20b4d4c 331 }
DasSidG 1:0c77e20b4d4c 332
DasSidG 1:0c77e20b4d4c 333 if(charger_status bitand 8 == 8) {
DasSidG 1:0c77e20b4d4c 334 printf("Charger status: Reverse Polarity\r\n");
DasSidG 1:0c77e20b4d4c 335 charger_failure = true;
DasSidG 1:0c77e20b4d4c 336 }
DasSidG 1:0c77e20b4d4c 337
DasSidG 1:0c77e20b4d4c 338 if(charger_status bitand 16 == 16) {
DasSidG 1:0c77e20b4d4c 339 printf("Charger status: communication timeout\r\n");
DasSidG 1:0c77e20b4d4c 340 charger_failure = true;
DasSidG 1:0c77e20b4d4c 341 }
DasSidG 1:0c77e20b4d4c 342 break;
DasSidG 1:0c77e20b4d4c 343 case BLANK_ID: //This means we haven't received this type of message yet, so do nothing
DasSidG 1:0c77e20b4d4c 344 break;
DasSidG 1:0c77e20b4d4c 345 default:
DasSidG 1:0c77e20b4d4c 346 break;
DasSidG 1:0c77e20b4d4c 347 }
drajan 0:6d930d0d13a1 348 }
drajan 0:6d930d0d13a1 349 }