Gerardo Antonio / Mbed 2 deprecated BMS_4

all bms comunicating with nucleo board and balancing

Dependencies:   CANnucleo LTC68041 mbed

Fork of BMS_2 by Joao Vieira

main.cpp@30:9c9f2d789153, 2016-10-28 (annotated)

Committer:
Crazyaboutmachines
Date:
Fri Oct 28 14:43:46 2016 +0000
Revision:
30:9c9f2d789153
Parent:
29:86e963cc5ce7
Child:
31:1fab4bb4e9ee
all cells balancing

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Crazyaboutmachines 27:db96e99e37c9 1 /*notes:---------------------
Crazyaboutmachines 27:db96e99e37c9 2 *-organizar codigo
Crazyaboutmachines 29:86e963cc5ce7 3 *-diminuir tempos das interrupções etc
Crazyaboutmachines 29:86e963cc5ce7 4 *-diminuir tempos mortos durante balanceamento
Crazyaboutmachines 27:db96e99e37c9 5 *
Crazyaboutmachines 27:db96e99e37c9 6 *
Crazyaboutmachines 27:db96e99e37c9 7 *
Crazyaboutmachines 27:db96e99e37c9 8 *
Crazyaboutmachines 27:db96e99e37c9 9 -----------------------------*/
Crazyaboutmachines 27:db96e99e37c9 10
Crazyaboutmachines 27:db96e99e37c9 11
Crazyaboutmachines 27:db96e99e37c9 12
Crazyaboutmachines 27:db96e99e37c9 13
hudakz 19:872e304d7e17 14 #include "CANnucleo.h"
hudakz 16:a86f339d1c25 15 #include "mbed.h"
ser1516 21:988413f53fbe 16 #include "LTC68041.h"
hudakz 16:a86f339d1c25 17
ser1516 21:988413f53fbe 18
ser1516 21:988413f53fbe 19
ser1516 21:988413f53fbe 20 uint8_t const TOTAL_IC = 1;//!<number of ICs in the daisy chain
ser1516 21:988413f53fbe 21
ser1516 21:988413f53fbe 22 uint8_t rx_cfg[TOTAL_IC][8];
ser1516 21:988413f53fbe 23 uint8_t tx_cfg[TOTAL_IC][6];
ser1516 21:988413f53fbe 24 uint16_t aux_codes[TOTAL_IC][6];
ser1516 21:988413f53fbe 25 uint16_t cell_codes[TOTAL_IC][12];
ser1516 21:988413f53fbe 26 volatile bool msgAvailable = false;
ser1516 21:988413f53fbe 27 volatile bool to_send = false;
hudakz 17:18d4d0ff26a6 28 CANnucleo::CAN can(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name
hudakz 17:18d4d0ff26a6 29 CANnucleo::CANMessage rxMsg;
hudakz 17:18d4d0ff26a6 30 CANnucleo::CANMessage txMsg;
ser1516 21:988413f53fbe 31 DigitalOut led(PA_5);
ser1516 21:988413f53fbe 32 /*!***********************************
ser1516 21:988413f53fbe 33 \brief Initializes the configuration array
ser1516 21:988413f53fbe 34 **************************************/
ser1516 21:988413f53fbe 35 void init_cfg()
ser1516 21:988413f53fbe 36 {
ser1516 21:988413f53fbe 37 for (int i = 0; i<TOTAL_IC; i++) {
ser1516 21:988413f53fbe 38 tx_cfg[i][0] = 0xFE;
ser1516 21:988413f53fbe 39 tx_cfg[i][1] = 0x00 ;
ser1516 21:988413f53fbe 40 tx_cfg[i][2] = 0x00 ;
ser1516 21:988413f53fbe 41 tx_cfg[i][3] = 0x00 ;
ser1516 21:988413f53fbe 42 tx_cfg[i][4] = 0x00 ;
ser1516 21:988413f53fbe 43 tx_cfg[i][5] = 0x00 ;
ser1516 21:988413f53fbe 44 }
ser1516 21:988413f53fbe 45 }
ser1516 21:988413f53fbe 46 void serial_print_hex(uint8_t data)
ser1516 21:988413f53fbe 47 {
ser1516 21:988413f53fbe 48 if (data< 16) {
ser1516 21:988413f53fbe 49 printf("0");
ser1516 21:988413f53fbe 50 printf("%x",(uint8_t)data);
ser1516 21:988413f53fbe 51 } else
ser1516 21:988413f53fbe 52 printf("%x",(uint8_t)data);
ser1516 21:988413f53fbe 53 }
ser1516 21:988413f53fbe 54 void print_config()
ser1516 21:988413f53fbe 55 {
ser1516 21:988413f53fbe 56 int cfg_pec;
ser1516 21:988413f53fbe 57 printf("Written Configuration:\n\r ");
ser1516 21:988413f53fbe 58 for (int current_ic = 0; current_ic<TOTAL_IC; current_ic++) {
ser1516 21:988413f53fbe 59 printf(" IC ");
ser1516 21:988413f53fbe 60 printf("%d", current_ic+1);
ser1516 21:988413f53fbe 61 printf(": ");
ser1516 21:988413f53fbe 62 printf("0x");
ser1516 21:988413f53fbe 63 serial_print_hex(tx_cfg[current_ic][0]);
ser1516 21:988413f53fbe 64 printf(", 0x");
ser1516 21:988413f53fbe 65 serial_print_hex(tx_cfg[current_ic][1]);
ser1516 21:988413f53fbe 66 printf(", 0x");
ser1516 21:988413f53fbe 67 serial_print_hex(tx_cfg[current_ic][2]);
ser1516 21:988413f53fbe 68 printf(", 0x");
ser1516 21:988413f53fbe 69 serial_print_hex(tx_cfg[current_ic][3]);
ser1516 21:988413f53fbe 70 printf(", 0x");
ser1516 21:988413f53fbe 71 serial_print_hex(tx_cfg[current_ic][4]);
ser1516 21:988413f53fbe 72 printf(", 0x");
ser1516 21:988413f53fbe 73 serial_print_hex(tx_cfg[current_ic][5]);
ser1516 21:988413f53fbe 74 printf(", Calculated PEC: 0x");
ser1516 21:988413f53fbe 75 cfg_pec = pec15_calc(6,&tx_cfg[current_ic][0]);
ser1516 21:988413f53fbe 76 serial_print_hex((uint8_t)(cfg_pec>>8));
ser1516 21:988413f53fbe 77 printf(", 0x");
ser1516 21:988413f53fbe 78 serial_print_hex((uint8_t)(cfg_pec));
ser1516 21:988413f53fbe 79 }
ser1516 21:988413f53fbe 80 printf("\n\r");
ser1516 21:988413f53fbe 81 }
ser1516 21:988413f53fbe 82
ser1516 21:988413f53fbe 83 void print_rxconfig()
ser1516 21:988413f53fbe 84 {
ser1516 21:988413f53fbe 85 printf("Received Configuration ");
ser1516 21:988413f53fbe 86 for (int current_ic=0; current_ic<TOTAL_IC; current_ic++) {
ser1516 21:988413f53fbe 87 printf(" IC ");
ser1516 21:988413f53fbe 88 printf("%d " ,current_ic+1);
ser1516 21:988413f53fbe 89 printf(": 0x");
ser1516 21:988413f53fbe 90 serial_print_hex(rx_cfg[current_ic][0]);
ser1516 21:988413f53fbe 91 printf(", 0x");
ser1516 21:988413f53fbe 92 serial_print_hex(rx_cfg[current_ic][1]);
ser1516 21:988413f53fbe 93 printf(", 0x");
ser1516 21:988413f53fbe 94 serial_print_hex(rx_cfg[current_ic][2]);
ser1516 21:988413f53fbe 95 printf(", 0x");
ser1516 21:988413f53fbe 96 serial_print_hex(rx_cfg[current_ic][3]);
ser1516 21:988413f53fbe 97 printf(", 0x");
ser1516 21:988413f53fbe 98 serial_print_hex(rx_cfg[current_ic][4]);
ser1516 21:988413f53fbe 99 printf(", 0x");
ser1516 21:988413f53fbe 100 serial_print_hex(rx_cfg[current_ic][5]);
ser1516 21:988413f53fbe 101 printf(", Received PEC: 0x");
ser1516 21:988413f53fbe 102 serial_print_hex(rx_cfg[current_ic][6]);
ser1516 21:988413f53fbe 103 printf(", 0x");
ser1516 21:988413f53fbe 104 serial_print_hex(rx_cfg[current_ic][7]);
ser1516 21:988413f53fbe 105 }
ser1516 21:988413f53fbe 106 }
Crazyaboutmachines 25:6f4f7510db24 107
ser1516 21:988413f53fbe 108 int err;
ser1516 21:988413f53fbe 109 void print_cells2()
ser1516 21:988413f53fbe 110 {
ser1516 21:988413f53fbe 111
ser1516 21:988413f53fbe 112 for (int current_ic = 0 ; current_ic < TOTAL_IC; current_ic++) {
ser1516 21:988413f53fbe 113
ser1516 21:988413f53fbe 114 for (int i=0; i<12; i++) {
ser1516 21:988413f53fbe 115 printf(" C");
ser1516 21:988413f53fbe 116 printf("%d",i+1);
ser1516 21:988413f53fbe 117 printf(":");
ser1516 21:988413f53fbe 118 printf("%f", cell_codes[current_ic][i]*0.0001);
ser1516 21:988413f53fbe 119 printf(",");
ser1516 21:988413f53fbe 120 }
hudakz 0:c5e5d0df6f2a 121
ser1516 21:988413f53fbe 122 }
ser1516 21:988413f53fbe 123 }
Crazyaboutmachines 25:6f4f7510db24 124
ser1516 21:988413f53fbe 125 void pec_error()
ser1516 21:988413f53fbe 126 {
ser1516 21:988413f53fbe 127 for(int i = 0; i<5; i++) {
ser1516 21:988413f53fbe 128 led = 1;
ser1516 21:988413f53fbe 129 wait(0.2);
ser1516 21:988413f53fbe 130 led=0;
ser1516 21:988413f53fbe 131 wait(0.2);
ser1516 21:988413f53fbe 132 }
ser1516 21:988413f53fbe 133 }
Crazyaboutmachines 25:6f4f7510db24 134
ser1516 21:988413f53fbe 135 char cells_left=0;
ser1516 21:988413f53fbe 136 Ticker ticker;
ser1516 21:988413f53fbe 137 Ticker sender;
ser1516 21:988413f53fbe 138
ser1516 21:988413f53fbe 139 typedef union can_union {
ser1516 21:988413f53fbe 140 int i[2];
ser1516 21:988413f53fbe 141 char bytes[8];
ser1516 21:988413f53fbe 142 float f[2];
ser1516 21:988413f53fbe 143 } data;
ser1516 21:988413f53fbe 144
ser1516 21:988413f53fbe 145 void message_trigger()
ser1516 21:988413f53fbe 146 {
ser1516 21:988413f53fbe 147 if(cells_left < 1) {
ser1516 21:988413f53fbe 148 sender.detach();
ser1516 21:988413f53fbe 149 } else {
ser1516 21:988413f53fbe 150 to_send = 1;
ser1516 21:988413f53fbe 151 }
ser1516 21:988413f53fbe 152 }
ser1516 21:988413f53fbe 153
ser1516 21:988413f53fbe 154 void check_charging_voltage()
ser1516 21:988413f53fbe 155 {
ser1516 21:988413f53fbe 156 wakeup_idle();
ser1516 21:988413f53fbe 157 __disable_irq();
ser1516 21:988413f53fbe 158 LTC6804_adcv();
ser1516 21:988413f53fbe 159 __enable_irq();
ser1516 21:988413f53fbe 160 wait_ms(10);
ser1516 21:988413f53fbe 161 wakeup_idle();
ser1516 21:988413f53fbe 162 __enable_irq();
ser1516 21:988413f53fbe 163 err = LTC6804_rdcv(0, TOTAL_IC,cell_codes);
ser1516 21:988413f53fbe 164 __disable_irq();
ser1516 21:988413f53fbe 165 if (err == -1) {
ser1516 21:988413f53fbe 166 pec_error();
ser1516 21:988413f53fbe 167 }
ser1516 21:988413f53fbe 168 for (int current_ic = 0 ; current_ic < TOTAL_IC; current_ic++) {
ser1516 21:988413f53fbe 169 for (int i=0; i<12; i++) {
Crazyaboutmachines 25:6f4f7510db24 170 if(cell_codes[current_ic][i]*0.0001 > 3.6) {
ser1516 21:988413f53fbe 171 switch (i) {
Crazyaboutmachines 30:9c9f2d789153 172 case 0: //cell 1
Crazyaboutmachines 25:6f4f7510db24 173 tx_cfg[0][4] = tx_cfg[0][4] | 0x01 ; // 00000001
Crazyaboutmachines 30:9c9f2d789153 174 case 1: //cell 2
Crazyaboutmachines 25:6f4f7510db24 175 tx_cfg[0][4] = tx_cfg[0][4] | 0x02 ; // 00000010
Crazyaboutmachines 30:9c9f2d789153 176 case 2: //cell 3
Crazyaboutmachines 25:6f4f7510db24 177 tx_cfg[0][4] = tx_cfg[0][4] | 0x04 ; // 00000100
Crazyaboutmachines 30:9c9f2d789153 178 case 3: //cell 4
Crazyaboutmachines 25:6f4f7510db24 179 tx_cfg[0][4] = tx_cfg[0][4] | 0x08 ; // 00001000
Crazyaboutmachines 30:9c9f2d789153 180 case 4: //cell 5
Crazyaboutmachines 25:6f4f7510db24 181 tx_cfg[0][4] = tx_cfg[0][4] | 0x10 ; // 00010000
Crazyaboutmachines 30:9c9f2d789153 182 case 6: //cell 7
Crazyaboutmachines 30:9c9f2d789153 183 tx_cfg[0][4] = tx_cfg[0][4] | 0x40 ; // 01000000
Crazyaboutmachines 30:9c9f2d789153 184 case 7: //cell 8
Crazyaboutmachines 30:9c9f2d789153 185 tx_cfg[0][4] = tx_cfg[0][4] | 0x80 ; // 10000000
Crazyaboutmachines 30:9c9f2d789153 186 case 8: //cell 9
Crazyaboutmachines 25:6f4f7510db24 187 tx_cfg[0][5] = tx_cfg[0][5] | 0x01; // 00000001
Crazyaboutmachines 30:9c9f2d789153 188 case 9: //cell 10
Crazyaboutmachines 30:9c9f2d789153 189 tx_cfg[0][5] = tx_cfg[0][5] | 0x02; // 00000010
Crazyaboutmachines 26:c55656391a29 190 }
Crazyaboutmachines 26:c55656391a29 191 } else {
Crazyaboutmachines 26:c55656391a29 192 switch (i) {
Crazyaboutmachines 30:9c9f2d789153 193 case 0: //cell 1
Crazyaboutmachines 25:6f4f7510db24 194 tx_cfg[0][4] = tx_cfg[0][4] & 0xFE ; // 11111110
Crazyaboutmachines 30:9c9f2d789153 195 case 1: //cell 2
Crazyaboutmachines 25:6f4f7510db24 196 tx_cfg[0][4] = tx_cfg[0][4] & 0xFD ; // 11111101
Crazyaboutmachines 30:9c9f2d789153 197 case 2: //cell 3
Crazyaboutmachines 25:6f4f7510db24 198 tx_cfg[0][4] = tx_cfg[0][4] & 0xFB ; // 11111011
Crazyaboutmachines 30:9c9f2d789153 199 case 3: //cell 4
Crazyaboutmachines 25:6f4f7510db24 200 tx_cfg[0][4] = tx_cfg[0][4] & 0xF7 ; // 11110111
Crazyaboutmachines 30:9c9f2d789153 201 case 4: //cell 5
Crazyaboutmachines 25:6f4f7510db24 202 tx_cfg[0][4] = tx_cfg[0][4] & 0xEF ; // 11101111
Crazyaboutmachines 30:9c9f2d789153 203 case 6: //cell 7
Crazyaboutmachines 25:6f4f7510db24 204 tx_cfg[0][4] = tx_cfg[0][4] & 0xBF ; // 10111111
Crazyaboutmachines 30:9c9f2d789153 205 case 7: //cell 8
Crazyaboutmachines 30:9c9f2d789153 206 tx_cfg[0][4] = tx_cfg[0][4] & 0x7F ; // 01111111
Crazyaboutmachines 30:9c9f2d789153 207 case 8: //cell 9
Crazyaboutmachines 25:6f4f7510db24 208 tx_cfg[0][5] = tx_cfg[0][5] & 0xFE; // 11111110
Crazyaboutmachines 30:9c9f2d789153 209 case 9: //cell 10
Crazyaboutmachines 26:c55656391a29 210 tx_cfg[0][5] = tx_cfg[0][5] & 0xFD; // 11111101
Crazyaboutmachines 26:c55656391a29 211 }
ser1516 21:988413f53fbe 212 }
ser1516 21:988413f53fbe 213 }
ser1516 21:988413f53fbe 214 }
ser1516 21:988413f53fbe 215 //print_cells2();
ser1516 21:988413f53fbe 216 __disable_irq();
ser1516 21:988413f53fbe 217 LTC6804_wrcfg(TOTAL_IC,tx_cfg);
ser1516 21:988413f53fbe 218 __enable_irq();
ser1516 21:988413f53fbe 219 }
ser1516 21:988413f53fbe 220
ser1516 21:988413f53fbe 221
ser1516 21:988413f53fbe 222
ser1516 21:988413f53fbe 223 void check_discharging_voltage()
ser1516 21:988413f53fbe 224 {
ser1516 21:988413f53fbe 225 wakeup_idle();
ser1516 21:988413f53fbe 226 LTC6804_adcv();
Crazyaboutmachines 29:86e963cc5ce7 227
ser1516 21:988413f53fbe 228 wait_ms(10);
ser1516 21:988413f53fbe 229 wakeup_idle();
ser1516 21:988413f53fbe 230 err = LTC6804_rdcv(0, TOTAL_IC,cell_codes);
ser1516 21:988413f53fbe 231 if (err == -1) {
ser1516 21:988413f53fbe 232 pec_error();
ser1516 21:988413f53fbe 233 }/*
ser1516 21:988413f53fbe 234 for (int current_ic = 0 ; current_ic < TOTAL_IC; current_ic++) {
ser1516 21:988413f53fbe 235 for (int i=0; i<11; i++) {
ser1516 21:988413f53fbe 236 //printf("%f\t", cell_codes[current_ic][i]*0.0001);
ser1516 21:988413f53fbe 237 if(cell_codes[current_ic][i]*0.0001 < 2.7) {
ser1516 21:988413f53fbe 238 txMsg.clear();
ser1516 21:988413f53fbe 239 txMsg.id = 1;
ser1516 21:988413f53fbe 240 printf("%f\t", cell_codes[current_ic][i]*0.0001);
ser1516 21:988413f53fbe 241
ser1516 21:988413f53fbe 242 txMsg << cell_codes[current_ic][i]*0.0001;
ser1516 21:988413f53fbe 243 can.write(txMsg);
ser1516 21:988413f53fbe 244 wait(0.1);
ser1516 21:988413f53fbe 245 }
ser1516 21:988413f53fbe 246 }
ser1516 21:988413f53fbe 247 }*/
ser1516 21:988413f53fbe 248 //print_cells2();
ser1516 21:988413f53fbe 249 cells_left = 12;
ser1516 21:988413f53fbe 250
Crazyaboutmachines 26:c55656391a29 251 tx_cfg[0][4] = tx_cfg[0][4] & 0b00000000; //para desactivar balanceamento durante a descarga
Crazyaboutmachines 26:c55656391a29 252 tx_cfg[0][5] = tx_cfg[0][5] & 0b11110000;
Crazyaboutmachines 26:c55656391a29 253
ser1516 21:988413f53fbe 254 //print_cells2();
ser1516 21:988413f53fbe 255 LTC6804_wrcfg(TOTAL_IC,tx_cfg);
ser1516 21:988413f53fbe 256 }
ser1516 21:988413f53fbe 257
ser1516 21:988413f53fbe 258 void onMsgReceived()
ser1516 21:988413f53fbe 259 {
hudakz 16:a86f339d1c25 260 msgAvailable = true;
hudakz 16:a86f339d1c25 261 }
hudakz 16:a86f339d1c25 262
ser1516 21:988413f53fbe 263
Crazyaboutmachines 29:86e963cc5ce7 264 bool to_charge_or_not_to_charge=false; // false = discharge
ser1516 21:988413f53fbe 265 bool charging = false;
Crazyaboutmachines 29:86e963cc5ce7 266 bool discharging = false;
Crazyaboutmachines 25:6f4f7510db24 267
ser1516 21:988413f53fbe 268 void monitor()
ser1516 21:988413f53fbe 269 {
ser1516 21:988413f53fbe 270 led = !led;
ser1516 21:988413f53fbe 271 if(to_charge_or_not_to_charge) {
ser1516 21:988413f53fbe 272 charging = 1;
ser1516 21:988413f53fbe 273 discharging = 0;
ser1516 21:988413f53fbe 274 } else {
ser1516 21:988413f53fbe 275 discharging = 1;
ser1516 21:988413f53fbe 276 charging = 0;
hudakz 0:c5e5d0df6f2a 277 }
hudakz 0:c5e5d0df6f2a 278 }
hudakz 7:2dce8ed51091 279
hudakz 12:e91e44924194 280
Crazyaboutmachines 26:c55656391a29 281 uint8_t motostate=0;
Crazyaboutmachines 26:c55656391a29 282
ser1516 21:988413f53fbe 283 int main()
ser1516 21:988413f53fbe 284 {
Crazyaboutmachines 26:c55656391a29 285 data data;
hudakz 17:18d4d0ff26a6 286
ser1516 21:988413f53fbe 287 //printf("starting\n\r");
ser1516 21:988413f53fbe 288 led =1;
ser1516 21:988413f53fbe 289 wait(1);
ser1516 21:988413f53fbe 290 pec_error();
Crazyaboutmachines 29:86e963cc5ce7 291 discharging = 1;
Crazyaboutmachines 29:86e963cc5ce7 292
Crazyaboutmachines 29:86e963cc5ce7 293 ticker.attach(&monitor, 5);
ser1516 21:988413f53fbe 294 LTC6804_initialize();
ser1516 21:988413f53fbe 295 init_cfg();
Crazyaboutmachines 29:86e963cc5ce7 296 //write configuration
ser1516 21:988413f53fbe 297 wakeup_sleep();
ser1516 21:988413f53fbe 298 __disable_irq(); // Disable Interrupts
ser1516 21:988413f53fbe 299 LTC6804_wrcfg(TOTAL_IC,tx_cfg);
ser1516 21:988413f53fbe 300 __enable_irq();
ser1516 21:988413f53fbe 301 wait(1);
ser1516 21:988413f53fbe 302 //read configuration: may differ from written config
ser1516 21:988413f53fbe 303 wakeup_sleep();
ser1516 21:988413f53fbe 304 __disable_irq();
ser1516 21:988413f53fbe 305 err = LTC6804_rdcfg(TOTAL_IC,rx_cfg);
ser1516 21:988413f53fbe 306 __enable_irq();
ser1516 21:988413f53fbe 307 if (err == -1) {
ser1516 21:988413f53fbe 308 pec_error();
ser1516 21:988413f53fbe 309 }
ser1516 21:988413f53fbe 310 wait(0.5);
ser1516 21:988413f53fbe 311
ser1516 21:988413f53fbe 312 wakeup_idle();
ser1516 21:988413f53fbe 313 __disable_irq();
ser1516 21:988413f53fbe 314 LTC6804_adcv();
ser1516 21:988413f53fbe 315 __enable_irq();
ser1516 21:988413f53fbe 316 wait_ms(10);
ser1516 21:988413f53fbe 317 wakeup_idle();
ser1516 21:988413f53fbe 318 __disable_irq();
ser1516 21:988413f53fbe 319 err = LTC6804_rdcv(0, TOTAL_IC,cell_codes);
ser1516 21:988413f53fbe 320 __enable_irq();
ser1516 21:988413f53fbe 321 if (err == -1) {
ser1516 21:988413f53fbe 322 pec_error();
ser1516 21:988413f53fbe 323 }
ser1516 21:988413f53fbe 324 can.frequency(1000000); // set bit rate to 1Mbps
ser1516 21:988413f53fbe 325 can.attach(&onMsgReceived);
ser1516 21:988413f53fbe 326 //print_cells2();
ser1516 21:988413f53fbe 327 while(1) {
Crazyaboutmachines 29:86e963cc5ce7 328 if(charging) {
Crazyaboutmachines 29:86e963cc5ce7 329 charging = 0;
ser1516 21:988413f53fbe 330 check_charging_voltage();
Crazyaboutmachines 29:86e963cc5ce7 331
ser1516 21:988413f53fbe 332 }
Crazyaboutmachines 29:86e963cc5ce7 333 if(discharging) {
Crazyaboutmachines 29:86e963cc5ce7 334 discharging = 0;
ser1516 21:988413f53fbe 335 check_discharging_voltage();
Crazyaboutmachines 29:86e963cc5ce7 336 sender.attach(&message_trigger,0.1);
ser1516 21:988413f53fbe 337 }
Crazyaboutmachines 29:86e963cc5ce7 338 if(to_send) {
Crazyaboutmachines 29:86e963cc5ce7 339
Crazyaboutmachines 29:86e963cc5ce7 340
ser1516 21:988413f53fbe 341 to_send=0;
ser1516 21:988413f53fbe 342 txMsg.clear();
Crazyaboutmachines 30:9c9f2d789153 343 txMsg.id = 11; //BMS1=>ID:11; BMS2=>ID:12; BMS3=>ID:13.
ser1516 21:988413f53fbe 344 txMsg.len = 5;
ser1516 21:988413f53fbe 345 data.f[0] = cell_codes[0][cells_left-1]*0.0001;
ser1516 21:988413f53fbe 346 txMsg.data[0] = data.bytes[0];
ser1516 21:988413f53fbe 347 txMsg.data[1] = data.bytes[1];
ser1516 21:988413f53fbe 348 txMsg.data[2] = data.bytes[2];
ser1516 21:988413f53fbe 349 txMsg.data[3] = data.bytes[3];
ser1516 21:988413f53fbe 350 txMsg.data[4] = cells_left;
ser1516 21:988413f53fbe 351 cells_left--;
Crazyaboutmachines 29:86e963cc5ce7 352 if(!(can.write(txMsg))) { //se nao conseguiu transmitir continua a tentar transmitir a tensão dessa celula
ser1516 21:988413f53fbe 353 pec_error();
ser1516 21:988413f53fbe 354 cells_left++;
ser1516 21:988413f53fbe 355 //to_send=1;
ser1516 21:988413f53fbe 356 }
Crazyaboutmachines 29:86e963cc5ce7 357
ser1516 21:988413f53fbe 358 }
Crazyaboutmachines 29:86e963cc5ce7 359
Crazyaboutmachines 29:86e963cc5ce7 360 if(msgAvailable) {
Crazyaboutmachines 26:c55656391a29 361 int len = can.read(rxMsg);
Crazyaboutmachines 29:86e963cc5ce7 362 if(rxMsg.id==9){
Crazyaboutmachines 29:86e963cc5ce7 363
Crazyaboutmachines 29:86e963cc5ce7 364 motostate = rxMsg.data[0];
Crazyaboutmachines 29:86e963cc5ce7 365
Crazyaboutmachines 26:c55656391a29 366 //motostate: (0|0|0|0|0|0|to_charge_or_not_to_charge|key_switch)
Crazyaboutmachines 29:86e963cc5ce7 367 to_charge_or_not_to_charge=((motostate & 0b00000010)>>1);
Crazyaboutmachines 26:c55656391a29 368 msgAvailable = false;
Crazyaboutmachines 26:c55656391a29 369 }
Crazyaboutmachines 26:c55656391a29 370 }
ser1516 21:988413f53fbe 371 }
Crazyaboutmachines 29:86e963cc5ce7 372
ser1516 21:988413f53fbe 373 }