CUER
/
charger_code
Code to run on the charger board (used to charge the car from the mains).
CANParserCharger.cpp@12:77d493b3320b, 2017-09-12 (annotated)
- Committer:
- DasSidG
- Date:
- Tue Sep 12 05:42:43 2017 +0000
- Revision:
- 12:77d493b3320b
- Parent:
- 7:70cf5bff23f9
Added charger and bms timeouts to the charger board CAN packet
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
DasSidG | 1:0c77e20b4d4c | 1 | // Here are the functions to generate the CAN messages |
DasSidG | 1:0c77e20b4d4c | 2 | #include "CANParserCharger.h" |
DasSidG | 1:0c77e20b4d4c | 3 | #include "mbed.h" |
DasSidG | 1:0c77e20b4d4c | 4 | #include "CAN_IDs.h" |
DasSidG | 1:0c77e20b4d4c | 5 | |
DasSidG | 1:0c77e20b4d4c | 6 | |
DasSidG | 1:0c77e20b4d4c | 7 | using namespace CAN_IDs; |
DasSidG | 1:0c77e20b4d4c | 8 | |
DasSidG | 7:70cf5bff23f9 | 9 | //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 | 7:70cf5bff23f9 | 10 | //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 | 7:70cf5bff23f9 | 11 | CAN car_can(CAR_CAN_READ_PIN, CAR_CAN_WRITE_PIN); //Create a CAN object to handle CAN comms |
DasSidG | 7:70cf5bff23f9 | 12 | CANMessage car_buffer[CAN_BUFFER_SIZE]; //CAN receive buffer |
DasSidG | 7:70cf5bff23f9 | 13 | bool car_safe_to_write[CAN_BUFFER_SIZE]; //Semaphore bit indicating that it's safe to write to the software buffer |
DasSidG | 7:70cf5bff23f9 | 14 | bool car_CAN_data_sent = false; |
DasSidG | 7:70cf5bff23f9 | 15 | |
DasSidG | 7:70cf5bff23f9 | 16 | CAN charger_can(CHARGER_CAN_READ_PIN, CHARGER_CAN_WRITE_PIN); //Create a CAN object to handle CAN comms |
DasSidG | 7:70cf5bff23f9 | 17 | CANMessage charger_buffer[CAN_BUFFER_SIZE]; //CAN receive buffer |
DasSidG | 7:70cf5bff23f9 | 18 | bool charger_safe_to_write[CAN_BUFFER_SIZE]; //Semaphore bit indicating that it's safe to write to the software buffer |
DasSidG | 7:70cf5bff23f9 | 19 | bool charger_CAN_data_sent = false; |
DasSidG | 7:70cf5bff23f9 | 20 | |
DasSidG | 1:0c77e20b4d4c | 21 | void get_max_min_voltage(CANMessage msg, float &_min_cell_voltage, float &_max_cell_voltage) { |
DasSidG | 1:0c77e20b4d4c | 22 | CAN_Data data; |
DasSidG | 1:0c77e20b4d4c | 23 | data.importCANData(msg); |
DasSidG | 1:0c77e20b4d4c | 24 | |
DasSidG | 3:a7626dffb64a | 25 | _min_cell_voltage = (float) data.get_u16(0); |
DasSidG | 3:a7626dffb64a | 26 | _max_cell_voltage = (float) data.get_u16(1); |
DasSidG | 1:0c77e20b4d4c | 27 | } |
DasSidG | 1:0c77e20b4d4c | 28 | |
DasSidG | 1:0c77e20b4d4c | 29 | void get_battery_status(CANMessage msg, bool &error) { //note using extended battery pack status |
DasSidG | 1:0c77e20b4d4c | 30 | CAN_Data data; |
DasSidG | 1:0c77e20b4d4c | 31 | data.importCANData(msg); |
DasSidG | 1:0c77e20b4d4c | 32 | |
DasSidG | 1:0c77e20b4d4c | 33 | error = data.getLower_uLong() > 0; |
DasSidG | 1:0c77e20b4d4c | 34 | //ignore the rest of the status as we don't care |
DasSidG | 1:0c77e20b4d4c | 35 | } |
DasSidG | 1:0c77e20b4d4c | 36 | |
DasSidG | 1:0c77e20b4d4c | 37 | void get_charger_VI_info(CANMessage msg, float &_charger_voltage, float &_charger_current, uint8_t &_charger_status) { |
DasSidG | 1:0c77e20b4d4c | 38 | CAN_Data data; |
DasSidG | 1:0c77e20b4d4c | 39 | data.importCANData(msg); |
DasSidG | 1:0c77e20b4d4c | 40 | |
DasSidG | 1:0c77e20b4d4c | 41 | _charger_voltage = data.get_u16(0)*100.0; |
DasSidG | 1:0c77e20b4d4c | 42 | _charger_current = data.get_u16(1)*100.0; |
DasSidG | 1:0c77e20b4d4c | 43 | _charger_status = data.get_u8(4); |
DasSidG | 1:0c77e20b4d4c | 44 | } |
DasSidG | 1:0c77e20b4d4c | 45 | |
DasSidG | 5:756fae795d37 | 46 | void check_precharge_status (CANMessage msg, bool &_precharge_ready) { |
DasSidG | 5:756fae795d37 | 47 | CAN_Data data; |
DasSidG | 5:756fae795d37 | 48 | data.importCANData(msg); |
DasSidG | 5:756fae795d37 | 49 | |
DasSidG | 5:756fae795d37 | 50 | if(data.get_u8(1) == 4) _precharge_ready = true; |
DasSidG | 5:756fae795d37 | 51 | else _precharge_ready = false; |
DasSidG | 5:756fae795d37 | 52 | } |
DasSidG | 5:756fae795d37 | 53 | |
DasSidG | 1:0c77e20b4d4c | 54 | CANMessage generate_charger_control_msg(float _desired_voltage, float _desired_current, uint8_t _charger_control) { |
DasSidG | 1:0c77e20b4d4c | 55 | CANMessage msg; |
DasSidG | 1:0c77e20b4d4c | 56 | msg.format = CANExtended; //the charger uses the extended CAN frame format |
DasSidG | 1:0c77e20b4d4c | 57 | msg.len = 8; |
DasSidG | 1:0c77e20b4d4c | 58 | msg.id = CHARGER_VI_CONTROL_ID; |
DasSidG | 1:0c77e20b4d4c | 59 | CAN_Data data; |
DasSidG | 1:0c77e20b4d4c | 60 | data.set_u16(0, (uint16_t) (_desired_voltage/100)); |
DasSidG | 1:0c77e20b4d4c | 61 | data.set_u16(1, (uint16_t) (_desired_current/100)); |
DasSidG | 1:0c77e20b4d4c | 62 | data.set_u8(4, _charger_control); |
DasSidG | 1:0c77e20b4d4c | 63 | data.set_u8(5,0); |
DasSidG | 1:0c77e20b4d4c | 64 | data.set_u8(6,0); |
DasSidG | 1:0c77e20b4d4c | 65 | data.set_u8(7,0); |
DasSidG | 1:0c77e20b4d4c | 66 | |
DasSidG | 1:0c77e20b4d4c | 67 | for(int i=0; i<8; i++) { |
DasSidG | 1:0c77e20b4d4c | 68 | msg.data[i] = data.get_u8(i); |
DasSidG | 1:0c77e20b4d4c | 69 | } |
DasSidG | 1:0c77e20b4d4c | 70 | |
DasSidG | 1:0c77e20b4d4c | 71 | return msg; |
DasSidG | 1:0c77e20b4d4c | 72 | } |
DasSidG | 1:0c77e20b4d4c | 73 | |
DasSidG | 12:77d493b3320b | 74 | CANMessage generate_charger_info_msg(float _charger_voltage, float _charger_current, uint8_t _charger_status, bool _charger_timeout, bool _bms_timeout) { |
DasSidG | 1:0c77e20b4d4c | 75 | CANMessage msg; |
DasSidG | 1:0c77e20b4d4c | 76 | msg.len = 8; |
DasSidG | 1:0c77e20b4d4c | 77 | msg.id = CHARGER_ID; |
DasSidG | 1:0c77e20b4d4c | 78 | CAN_Data data; |
DasSidG | 1:0c77e20b4d4c | 79 | data.set_u16(0, (uint16_t) (_charger_voltage/100)); |
DasSidG | 1:0c77e20b4d4c | 80 | data.set_u16(1, (uint16_t) (_charger_current/100)); |
DasSidG | 1:0c77e20b4d4c | 81 | data.set_u8(4, _charger_status); |
DasSidG | 12:77d493b3320b | 82 | data.set_u8(5, _charger_timeout); |
DasSidG | 12:77d493b3320b | 83 | data.set_u8(6, _bms_timeout); |
DasSidG | 1:0c77e20b4d4c | 84 | data.set_u8(7,0); |
DasSidG | 1:0c77e20b4d4c | 85 | |
DasSidG | 1:0c77e20b4d4c | 86 | for(int i=0; i<8; i++) { |
DasSidG | 1:0c77e20b4d4c | 87 | msg.data[i] = data.get_u8(i); |
DasSidG | 1:0c77e20b4d4c | 88 | } |
DasSidG | 1:0c77e20b4d4c | 89 | |
DasSidG | 1:0c77e20b4d4c | 90 | return msg; |
DasSidG | 3:a7626dffb64a | 91 | } |
DasSidG | 3:a7626dffb64a | 92 | |
DasSidG | 3:a7626dffb64a | 93 | CANMessage generate_charging_finished_msg() { |
DasSidG | 3:a7626dffb64a | 94 | CANMessage msg; |
DasSidG | 3:a7626dffb64a | 95 | msg.len = 8; |
DasSidG | 3:a7626dffb64a | 96 | msg.id = BMS_BASE_ID + EEPROM_RESET_ID; |
DasSidG | 3:a7626dffb64a | 97 | |
DasSidG | 3:a7626dffb64a | 98 | CAN_Data data; |
DasSidG | 5:756fae795d37 | 99 | data.setLowerFloat(PACK_CAPACITY); //42 is the pack capacity in Ah |
DasSidG | 3:a7626dffb64a | 100 | data.setUpperFloat(100); //100% as fully charged |
DasSidG | 3:a7626dffb64a | 101 | |
DasSidG | 3:a7626dffb64a | 102 | for(int i=0; i<8; i++) { |
DasSidG | 3:a7626dffb64a | 103 | msg.data[i] = data.get_u8(i); |
DasSidG | 3:a7626dffb64a | 104 | } |
DasSidG | 3:a7626dffb64a | 105 | return msg; |
DasSidG | 7:70cf5bff23f9 | 106 | } |
DasSidG | 7:70cf5bff23f9 | 107 | |
DasSidG | 7:70cf5bff23f9 | 108 | void get_CAN_data() { |
DasSidG | 7:70cf5bff23f9 | 109 | |
DasSidG | 7:70cf5bff23f9 | 110 | //Import the data from the buffer into a non-volatile, more usable format |
DasSidG | 7:70cf5bff23f9 | 111 | CANMessage car_msgArray[CAN_BUFFER_SIZE]; //Same as above but some functions take message as their parameter |
DasSidG | 7:70cf5bff23f9 | 112 | int car_received_CAN_IDs[CAN_BUFFER_SIZE]; //needed to keep track of which IDs we've received so far |
DasSidG | 7:70cf5bff23f9 | 113 | for (int i = 0; i<CAN_BUFFER_SIZE; ++i) |
DasSidG | 7:70cf5bff23f9 | 114 | { |
DasSidG | 7:70cf5bff23f9 | 115 | car_safe_to_write[i] = false; |
DasSidG | 7:70cf5bff23f9 | 116 | car_received_CAN_IDs[i] = car_buffer[i].id; |
DasSidG | 7:70cf5bff23f9 | 117 | car_msgArray[i] = car_buffer[i]; |
DasSidG | 7:70cf5bff23f9 | 118 | car_buffer[i].id = BLANK_ID; //this effectively clears the buffer, so that we never reuse old values |
DasSidG | 7:70cf5bff23f9 | 119 | car_safe_to_write[i] = true; |
DasSidG | 7:70cf5bff23f9 | 120 | |
DasSidG | 7:70cf5bff23f9 | 121 | //Now actually import the data from the CAN packets into the global variables |
DasSidG | 7:70cf5bff23f9 | 122 | switch (car_received_CAN_IDs[i]) { |
DasSidG | 7:70cf5bff23f9 | 123 | |
DasSidG | 7:70cf5bff23f9 | 124 | case BMS_BASE_ID: |
DasSidG | 7:70cf5bff23f9 | 125 | break; |
DasSidG | 7:70cf5bff23f9 | 126 | |
DasSidG | 7:70cf5bff23f9 | 127 | case BMS_BASE_ID + MAX_MIN_VOLTAGE: |
DasSidG | 7:70cf5bff23f9 | 128 | get_max_min_voltage(car_msgArray[i], min_cell_voltage, max_cell_voltage); |
DasSidG | 7:70cf5bff23f9 | 129 | break; |
DasSidG | 7:70cf5bff23f9 | 130 | |
DasSidG | 7:70cf5bff23f9 | 131 | case BMS_BASE_ID + BATTERY_STATUS_ID: |
DasSidG | 7:70cf5bff23f9 | 132 | get_battery_status(car_msgArray[i], bms_error); |
DasSidG | 7:70cf5bff23f9 | 133 | break; |
DasSidG | 7:70cf5bff23f9 | 134 | |
DasSidG | 7:70cf5bff23f9 | 135 | case BMS_BASE_ID + BATTERY_PRECHARGE_ID: |
DasSidG | 7:70cf5bff23f9 | 136 | check_precharge_status(car_msgArray[i], precharge_status); |
DasSidG | 7:70cf5bff23f9 | 137 | break; |
DasSidG | 7:70cf5bff23f9 | 138 | |
DasSidG | 7:70cf5bff23f9 | 139 | case BLANK_ID: //This means we haven't received this type of message yet, so do nothing |
DasSidG | 7:70cf5bff23f9 | 140 | break; |
DasSidG | 7:70cf5bff23f9 | 141 | default: |
DasSidG | 7:70cf5bff23f9 | 142 | break; |
DasSidG | 7:70cf5bff23f9 | 143 | } |
DasSidG | 7:70cf5bff23f9 | 144 | } |
DasSidG | 7:70cf5bff23f9 | 145 | |
DasSidG | 7:70cf5bff23f9 | 146 | //Import the data from the buffer into a non-volatile, more usable format |
DasSidG | 7:70cf5bff23f9 | 147 | CANMessage charger_msgArray[CAN_BUFFER_SIZE]; //Same as above but some functions take message as their parameter |
DasSidG | 7:70cf5bff23f9 | 148 | int charger_received_CAN_IDs[CAN_BUFFER_SIZE]; //needed to keep track of which IDs we've received so far |
DasSidG | 7:70cf5bff23f9 | 149 | for (int i = 0; i<CAN_BUFFER_SIZE; ++i) |
DasSidG | 7:70cf5bff23f9 | 150 | { |
DasSidG | 7:70cf5bff23f9 | 151 | charger_safe_to_write[i] = false; |
DasSidG | 7:70cf5bff23f9 | 152 | charger_received_CAN_IDs[i] = charger_buffer[i].id; |
DasSidG | 7:70cf5bff23f9 | 153 | charger_msgArray[i] = charger_buffer[i]; |
DasSidG | 7:70cf5bff23f9 | 154 | charger_buffer[i].id = BLANK_ID; |
DasSidG | 7:70cf5bff23f9 | 155 | charger_safe_to_write[i] = true; |
DasSidG | 7:70cf5bff23f9 | 156 | |
DasSidG | 7:70cf5bff23f9 | 157 | //Now actually import the data from the CAN packets into the global variables |
DasSidG | 7:70cf5bff23f9 | 158 | switch (charger_received_CAN_IDs[i]) { |
DasSidG | 7:70cf5bff23f9 | 159 | |
DasSidG | 7:70cf5bff23f9 | 160 | case CHARGER_VI_INFO_ID: |
DasSidG | 7:70cf5bff23f9 | 161 | get_charger_VI_info(charger_msgArray[i], charger_voltage, charger_current, charger_status); |
DasSidG | 7:70cf5bff23f9 | 162 | if(charger_status bitand 1 == 1) { |
DasSidG | 7:70cf5bff23f9 | 163 | if (DEBUG) printf("Charger status: Hardware Failure\r\n"); |
DasSidG | 7:70cf5bff23f9 | 164 | charger_failure = true; |
DasSidG | 7:70cf5bff23f9 | 165 | } |
DasSidG | 7:70cf5bff23f9 | 166 | |
DasSidG | 7:70cf5bff23f9 | 167 | if(charger_status bitand 2 == 2) { |
DasSidG | 7:70cf5bff23f9 | 168 | if (DEBUG) printf("Charger status: Over Temperature\r\n"); |
DasSidG | 7:70cf5bff23f9 | 169 | charger_failure = true; |
DasSidG | 7:70cf5bff23f9 | 170 | } |
DasSidG | 7:70cf5bff23f9 | 171 | |
DasSidG | 7:70cf5bff23f9 | 172 | if(charger_status bitand 4 == 4) { |
DasSidG | 7:70cf5bff23f9 | 173 | if (DEBUG) printf("Charger status: Input Voltage Wrong\r\n"); |
DasSidG | 7:70cf5bff23f9 | 174 | charger_failure = true; |
DasSidG | 7:70cf5bff23f9 | 175 | } |
DasSidG | 7:70cf5bff23f9 | 176 | |
DasSidG | 7:70cf5bff23f9 | 177 | if(charger_status bitand 8 == 8) { |
DasSidG | 7:70cf5bff23f9 | 178 | if (DEBUG) printf("Charger status: Reverse Polarity\r\n"); |
DasSidG | 7:70cf5bff23f9 | 179 | charger_failure = true; |
DasSidG | 7:70cf5bff23f9 | 180 | } |
DasSidG | 7:70cf5bff23f9 | 181 | |
DasSidG | 7:70cf5bff23f9 | 182 | if(charger_status bitand 16 == 16) { |
DasSidG | 7:70cf5bff23f9 | 183 | if (DEBUG) printf("Charger status: communication timeout\r\n"); |
DasSidG | 7:70cf5bff23f9 | 184 | charger_failure = true; |
DasSidG | 7:70cf5bff23f9 | 185 | } |
DasSidG | 7:70cf5bff23f9 | 186 | break; |
DasSidG | 7:70cf5bff23f9 | 187 | case BLANK_ID: //This means we haven't received this type of message yet, so do nothing |
DasSidG | 7:70cf5bff23f9 | 188 | break; |
DasSidG | 7:70cf5bff23f9 | 189 | default: |
DasSidG | 7:70cf5bff23f9 | 190 | break; |
DasSidG | 7:70cf5bff23f9 | 191 | } |
DasSidG | 7:70cf5bff23f9 | 192 | } |
DasSidG | 7:70cf5bff23f9 | 193 | } |
DasSidG | 7:70cf5bff23f9 | 194 | |
DasSidG | 7:70cf5bff23f9 | 195 | void car_CANDataSentCallback(void) { |
DasSidG | 7:70cf5bff23f9 | 196 | car_CAN_data_sent = true; |
DasSidG | 7:70cf5bff23f9 | 197 | } |
DasSidG | 7:70cf5bff23f9 | 198 | |
DasSidG | 7:70cf5bff23f9 | 199 | void charger_CANDataSentCallback(void) { |
DasSidG | 7:70cf5bff23f9 | 200 | charger_CAN_data_sent = true; |
DasSidG | 7:70cf5bff23f9 | 201 | } |
DasSidG | 7:70cf5bff23f9 | 202 | |
DasSidG | 7:70cf5bff23f9 | 203 | void car_interruptHandler() |
DasSidG | 7:70cf5bff23f9 | 204 | { |
DasSidG | 7:70cf5bff23f9 | 205 | CANMessage msg; |
DasSidG | 7:70cf5bff23f9 | 206 | car_can.read(msg); |
DasSidG | 7:70cf5bff23f9 | 207 | //if(DEBUG) printf("id %d incoming \r\n", msg.id); |
DasSidG | 7:70cf5bff23f9 | 208 | if(idAccepted(msg.id)) { |
DasSidG | 7:70cf5bff23f9 | 209 | for(int i=0; i<CAN_BUFFER_SIZE; i++) { |
DasSidG | 7:70cf5bff23f9 | 210 | if((car_buffer[i].id == msg.id || car_buffer[i].id==BLANK_ID) && car_safe_to_write[i]) { |
DasSidG | 7:70cf5bff23f9 | 211 | //("id %d added to buffer \r\n", msg.id); |
DasSidG | 7:70cf5bff23f9 | 212 | car_buffer[i] = msg; |
DasSidG | 7:70cf5bff23f9 | 213 | //return required so that only first blank buffer entry is converted to incoming message ID each time new message ID is encountered |
DasSidG | 7:70cf5bff23f9 | 214 | return; |
DasSidG | 7:70cf5bff23f9 | 215 | } |
DasSidG | 7:70cf5bff23f9 | 216 | } |
DasSidG | 7:70cf5bff23f9 | 217 | } |
DasSidG | 7:70cf5bff23f9 | 218 | } |
DasSidG | 7:70cf5bff23f9 | 219 | |
DasSidG | 7:70cf5bff23f9 | 220 | void charger_interruptHandler() |
DasSidG | 7:70cf5bff23f9 | 221 | { |
DasSidG | 7:70cf5bff23f9 | 222 | CANMessage msg; |
DasSidG | 7:70cf5bff23f9 | 223 | charger_can.read(msg); |
DasSidG | 7:70cf5bff23f9 | 224 | //if(DEBUG) printf("id %d incoming \r\n", msg.id); |
DasSidG | 7:70cf5bff23f9 | 225 | if(idAccepted(msg.id)) { |
DasSidG | 7:70cf5bff23f9 | 226 | for(int i=0; i<CAN_BUFFER_SIZE; i++) { |
DasSidG | 7:70cf5bff23f9 | 227 | if((charger_buffer[i].id == msg.id || charger_buffer[i].id==BLANK_ID) && charger_safe_to_write[i]) { |
DasSidG | 7:70cf5bff23f9 | 228 | //("id %d added to buffer \r\n", msg.id); |
DasSidG | 7:70cf5bff23f9 | 229 | charger_buffer[i] = msg; |
DasSidG | 7:70cf5bff23f9 | 230 | //return required so that only first blank buffer entry is converted to incoming message ID each time new message ID is encountered |
DasSidG | 7:70cf5bff23f9 | 231 | return; |
DasSidG | 7:70cf5bff23f9 | 232 | } |
DasSidG | 7:70cf5bff23f9 | 233 | } |
DasSidG | 7:70cf5bff23f9 | 234 | } |
DasSidG | 7:70cf5bff23f9 | 235 | } |
DasSidG | 7:70cf5bff23f9 | 236 | |
DasSidG | 7:70cf5bff23f9 | 237 | bool idAccepted(int id) |
DasSidG | 7:70cf5bff23f9 | 238 | { |
DasSidG | 7:70cf5bff23f9 | 239 | switch(id) { |
DasSidG | 7:70cf5bff23f9 | 240 | case BMS_BASE_ID: |
DasSidG | 7:70cf5bff23f9 | 241 | timeouts.BMS_timeout.reset(); |
DasSidG | 7:70cf5bff23f9 | 242 | return true; |
DasSidG | 7:70cf5bff23f9 | 243 | |
DasSidG | 7:70cf5bff23f9 | 244 | case BMS_BASE_ID + MAX_MIN_VOLTAGE: |
DasSidG | 7:70cf5bff23f9 | 245 | case BMS_BASE_ID + BATTERY_STATUS_ID: |
DasSidG | 7:70cf5bff23f9 | 246 | case BMS_BASE_ID + BATTERY_PRECHARGE_ID: |
DasSidG | 7:70cf5bff23f9 | 247 | return true; |
DasSidG | 7:70cf5bff23f9 | 248 | case CHARGER_VI_INFO_ID: |
DasSidG | 7:70cf5bff23f9 | 249 | timeouts.charger_timeout.reset(); |
DasSidG | 7:70cf5bff23f9 | 250 | return true; |
DasSidG | 7:70cf5bff23f9 | 251 | default: |
DasSidG | 7:70cf5bff23f9 | 252 | return false; |
DasSidG | 7:70cf5bff23f9 | 253 | } |
DasSidG | 7:70cf5bff23f9 | 254 | } |
DasSidG | 7:70cf5bff23f9 | 255 | |
DasSidG | 7:70cf5bff23f9 | 256 | void CAN_Init() { |
DasSidG | 7:70cf5bff23f9 | 257 | for(int i=0; i<CAN_BUFFER_SIZE; i++) |
DasSidG | 7:70cf5bff23f9 | 258 | { |
DasSidG | 7:70cf5bff23f9 | 259 | car_buffer[i].id = BLANK_ID; |
DasSidG | 7:70cf5bff23f9 | 260 | //("%d",buffer[i].id); |
DasSidG | 7:70cf5bff23f9 | 261 | car_safe_to_write[i]= true; |
DasSidG | 7:70cf5bff23f9 | 262 | |
DasSidG | 7:70cf5bff23f9 | 263 | charger_buffer[i].id = BLANK_ID; |
DasSidG | 7:70cf5bff23f9 | 264 | //("%d",buffer[i].id); |
DasSidG | 7:70cf5bff23f9 | 265 | charger_safe_to_write[i]= true; |
DasSidG | 7:70cf5bff23f9 | 266 | } |
DasSidG | 7:70cf5bff23f9 | 267 | |
DasSidG | 7:70cf5bff23f9 | 268 | //Initialise CAN stuff, attach CAN interrupt handlers |
DasSidG | 7:70cf5bff23f9 | 269 | car_can.frequency(CAN_BIT_RATE); //set transmission rate to agreed bit rate |
DasSidG | 7:70cf5bff23f9 | 270 | car_can.reset(); |
DasSidG | 7:70cf5bff23f9 | 271 | car_can.attach(&car_interruptHandler, CAN::RxIrq); //receive interrupt handler |
DasSidG | 7:70cf5bff23f9 | 272 | car_can.attach(&car_CANDataSentCallback, CAN::TxIrq); //send interrupt handler |
DasSidG | 7:70cf5bff23f9 | 273 | |
DasSidG | 7:70cf5bff23f9 | 274 | charger_can.frequency(CHARGER_CAN_BIT_RATE); //set transmission rate to agreed bit rate |
DasSidG | 7:70cf5bff23f9 | 275 | charger_can.reset(); |
DasSidG | 7:70cf5bff23f9 | 276 | charger_can.attach(&charger_interruptHandler, CAN::RxIrq); //receive interrupt handler |
DasSidG | 7:70cf5bff23f9 | 277 | charger_can.attach(&charger_CANDataSentCallback, CAN::TxIrq); //send interrupt handler |
DasSidG | 7:70cf5bff23f9 | 278 | } |