CUER / Mbed 2 deprecated charger_code

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Dependencies:   mbed CUER_CAN

charger.cpp@1:0c77e20b4d4c, 2017-07-06 (annotated)

Committer:
DasSidG
Date:
Thu Jul 06 21:27:26 2017 +0000
Revision:
1:0c77e20b4d4c
Parent:
0:6d930d0d13a1
Child:
2:da91931184de
Code majorly changed:; ; Structure changed significantly; All of the CAN-related functions, structures etc. added (but not yet tested); Still need to add some of the main program logic in terms of deciding when/when not to charge etc

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