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@32:a52605800210, 2016-10-29 (annotated)

Committer:
Crazyaboutmachines
Date:
Sat Oct 29 00:38:17 2016 +0000
Revision:
32:a52605800210
Parent:
31:1fab4bb4e9ee
Child:
33:54861cd567cd
falta s? programar o carregamento total

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hudakz 19:872e304d7e17 1 #include "CANnucleo.h"
hudakz 16:a86f339d1c25 2 #include "mbed.h"
ser1516 21:988413f53fbe 3 #include "LTC68041.h"
hudakz 16:a86f339d1c25 4
ser1516 21:988413f53fbe 5 uint8_t const TOTAL_IC = 1;//!<number of ICs in the daisy chain
ser1516 21:988413f53fbe 6 uint8_t rx_cfg[TOTAL_IC][8];
ser1516 21:988413f53fbe 7 uint8_t tx_cfg[TOTAL_IC][6];
ser1516 21:988413f53fbe 8 uint16_t aux_codes[TOTAL_IC][6];
ser1516 21:988413f53fbe 9 uint16_t cell_codes[TOTAL_IC][12];
ser1516 21:988413f53fbe 10 volatile bool msgAvailable = false;
ser1516 21:988413f53fbe 11 volatile bool to_send = false;
hudakz 17:18d4d0ff26a6 12 CANnucleo::CAN can(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name
hudakz 17:18d4d0ff26a6 13 CANnucleo::CANMessage rxMsg;
hudakz 17:18d4d0ff26a6 14 CANnucleo::CANMessage txMsg;
ser1516 21:988413f53fbe 15 DigitalOut led(PA_5);
Crazyaboutmachines 32:a52605800210 16
ser1516 21:988413f53fbe 17 /*!***********************************
ser1516 21:988413f53fbe 18 \brief Initializes the configuration array
ser1516 21:988413f53fbe 19 **************************************/
ser1516 21:988413f53fbe 20 void init_cfg()
ser1516 21:988413f53fbe 21 {
ser1516 21:988413f53fbe 22 for (int i = 0; i<TOTAL_IC; i++) {
ser1516 21:988413f53fbe 23 tx_cfg[i][0] = 0xFE;
ser1516 21:988413f53fbe 24 tx_cfg[i][1] = 0x00 ;
ser1516 21:988413f53fbe 25 tx_cfg[i][2] = 0x00 ;
ser1516 21:988413f53fbe 26 tx_cfg[i][3] = 0x00 ;
ser1516 21:988413f53fbe 27 tx_cfg[i][4] = 0x00 ;
ser1516 21:988413f53fbe 28 tx_cfg[i][5] = 0x00 ;
ser1516 21:988413f53fbe 29 }
ser1516 21:988413f53fbe 30 }
ser1516 21:988413f53fbe 31 void serial_print_hex(uint8_t data)
ser1516 21:988413f53fbe 32 {
ser1516 21:988413f53fbe 33 if (data< 16) {
ser1516 21:988413f53fbe 34 printf("0");
ser1516 21:988413f53fbe 35 printf("%x",(uint8_t)data);
ser1516 21:988413f53fbe 36 } else
ser1516 21:988413f53fbe 37 printf("%x",(uint8_t)data);
ser1516 21:988413f53fbe 38 }
ser1516 21:988413f53fbe 39 void print_config()
ser1516 21:988413f53fbe 40 {
ser1516 21:988413f53fbe 41 int cfg_pec;
ser1516 21:988413f53fbe 42 printf("Written Configuration:\n\r ");
ser1516 21:988413f53fbe 43 for (int current_ic = 0; current_ic<TOTAL_IC; current_ic++) {
ser1516 21:988413f53fbe 44 printf(" IC ");
ser1516 21:988413f53fbe 45 printf("%d", current_ic+1);
ser1516 21:988413f53fbe 46 printf(": ");
ser1516 21:988413f53fbe 47 printf("0x");
ser1516 21:988413f53fbe 48 serial_print_hex(tx_cfg[current_ic][0]);
ser1516 21:988413f53fbe 49 printf(", 0x");
ser1516 21:988413f53fbe 50 serial_print_hex(tx_cfg[current_ic][1]);
ser1516 21:988413f53fbe 51 printf(", 0x");
ser1516 21:988413f53fbe 52 serial_print_hex(tx_cfg[current_ic][2]);
ser1516 21:988413f53fbe 53 printf(", 0x");
ser1516 21:988413f53fbe 54 serial_print_hex(tx_cfg[current_ic][3]);
ser1516 21:988413f53fbe 55 printf(", 0x");
ser1516 21:988413f53fbe 56 serial_print_hex(tx_cfg[current_ic][4]);
ser1516 21:988413f53fbe 57 printf(", 0x");
ser1516 21:988413f53fbe 58 serial_print_hex(tx_cfg[current_ic][5]);
ser1516 21:988413f53fbe 59 printf(", Calculated PEC: 0x");
ser1516 21:988413f53fbe 60 cfg_pec = pec15_calc(6,&tx_cfg[current_ic][0]);
ser1516 21:988413f53fbe 61 serial_print_hex((uint8_t)(cfg_pec>>8));
ser1516 21:988413f53fbe 62 printf(", 0x");
ser1516 21:988413f53fbe 63 serial_print_hex((uint8_t)(cfg_pec));
ser1516 21:988413f53fbe 64 }
ser1516 21:988413f53fbe 65 printf("\n\r");
ser1516 21:988413f53fbe 66 }
ser1516 21:988413f53fbe 67
ser1516 21:988413f53fbe 68 void print_rxconfig()
ser1516 21:988413f53fbe 69 {
ser1516 21:988413f53fbe 70 printf("Received Configuration ");
ser1516 21:988413f53fbe 71 for (int current_ic=0; current_ic<TOTAL_IC; current_ic++) {
ser1516 21:988413f53fbe 72 printf(" IC ");
ser1516 21:988413f53fbe 73 printf("%d " ,current_ic+1);
ser1516 21:988413f53fbe 74 printf(": 0x");
ser1516 21:988413f53fbe 75 serial_print_hex(rx_cfg[current_ic][0]);
ser1516 21:988413f53fbe 76 printf(", 0x");
ser1516 21:988413f53fbe 77 serial_print_hex(rx_cfg[current_ic][1]);
ser1516 21:988413f53fbe 78 printf(", 0x");
ser1516 21:988413f53fbe 79 serial_print_hex(rx_cfg[current_ic][2]);
ser1516 21:988413f53fbe 80 printf(", 0x");
ser1516 21:988413f53fbe 81 serial_print_hex(rx_cfg[current_ic][3]);
ser1516 21:988413f53fbe 82 printf(", 0x");
ser1516 21:988413f53fbe 83 serial_print_hex(rx_cfg[current_ic][4]);
ser1516 21:988413f53fbe 84 printf(", 0x");
ser1516 21:988413f53fbe 85 serial_print_hex(rx_cfg[current_ic][5]);
ser1516 21:988413f53fbe 86 printf(", Received PEC: 0x");
ser1516 21:988413f53fbe 87 serial_print_hex(rx_cfg[current_ic][6]);
ser1516 21:988413f53fbe 88 printf(", 0x");
ser1516 21:988413f53fbe 89 serial_print_hex(rx_cfg[current_ic][7]);
ser1516 21:988413f53fbe 90 }
ser1516 21:988413f53fbe 91 }
Crazyaboutmachines 25:6f4f7510db24 92
ser1516 21:988413f53fbe 93 int err;
ser1516 21:988413f53fbe 94 void print_cells2()
ser1516 21:988413f53fbe 95 {
ser1516 21:988413f53fbe 96
ser1516 21:988413f53fbe 97 for (int current_ic = 0 ; current_ic < TOTAL_IC; current_ic++) {
ser1516 21:988413f53fbe 98
ser1516 21:988413f53fbe 99 for (int i=0; i<12; i++) {
ser1516 21:988413f53fbe 100 printf(" C");
ser1516 21:988413f53fbe 101 printf("%d",i+1);
ser1516 21:988413f53fbe 102 printf(":");
ser1516 21:988413f53fbe 103 printf("%f", cell_codes[current_ic][i]*0.0001);
ser1516 21:988413f53fbe 104 printf(",");
ser1516 21:988413f53fbe 105 }
hudakz 0:c5e5d0df6f2a 106
ser1516 21:988413f53fbe 107 }
ser1516 21:988413f53fbe 108 }
Crazyaboutmachines 25:6f4f7510db24 109
ser1516 21:988413f53fbe 110 void pec_error()
ser1516 21:988413f53fbe 111 {
ser1516 21:988413f53fbe 112 for(int i = 0; i<5; i++) {
ser1516 21:988413f53fbe 113 led = 1;
ser1516 21:988413f53fbe 114 wait(0.2);
ser1516 21:988413f53fbe 115 led=0;
ser1516 21:988413f53fbe 116 wait(0.2);
ser1516 21:988413f53fbe 117 }
ser1516 21:988413f53fbe 118 }
ser1516 21:988413f53fbe 119 char cells_left=0;
ser1516 21:988413f53fbe 120 Ticker ticker;
ser1516 21:988413f53fbe 121 Ticker sender;
ser1516 21:988413f53fbe 122
ser1516 21:988413f53fbe 123 typedef union can_union {
ser1516 21:988413f53fbe 124 int i[2];
ser1516 21:988413f53fbe 125 char bytes[8];
ser1516 21:988413f53fbe 126 float f[2];
ser1516 21:988413f53fbe 127 } data;
ser1516 21:988413f53fbe 128
ser1516 21:988413f53fbe 129 void message_trigger()
ser1516 21:988413f53fbe 130 {
ser1516 21:988413f53fbe 131 if(cells_left < 1) {
ser1516 21:988413f53fbe 132 sender.detach();
ser1516 21:988413f53fbe 133 } else {
ser1516 21:988413f53fbe 134 to_send = 1;
ser1516 21:988413f53fbe 135 }
ser1516 21:988413f53fbe 136 }
ser1516 21:988413f53fbe 137
ser1516 21:988413f53fbe 138 void check_charging_voltage()
ser1516 21:988413f53fbe 139 {
ser1516 21:988413f53fbe 140 wakeup_idle();
ser1516 21:988413f53fbe 141 LTC6804_adcv();
ser1516 21:988413f53fbe 142 wait_ms(10);
ser1516 21:988413f53fbe 143 wakeup_idle();
ser1516 21:988413f53fbe 144 err = LTC6804_rdcv(0, TOTAL_IC,cell_codes);
ser1516 21:988413f53fbe 145 if (err == -1) {
ser1516 21:988413f53fbe 146 pec_error();
ser1516 21:988413f53fbe 147 }
Crazyaboutmachines 31:1fab4bb4e9ee 148 cells_left = 12;
ser1516 21:988413f53fbe 149 for (int current_ic = 0 ; current_ic < TOTAL_IC; current_ic++) {
ser1516 21:988413f53fbe 150 for (int i=0; i<12; i++) {
Crazyaboutmachines 25:6f4f7510db24 151 if(cell_codes[current_ic][i]*0.0001 > 3.6) {
ser1516 21:988413f53fbe 152 switch (i) {
Crazyaboutmachines 30:9c9f2d789153 153 case 0: //cell 1
Crazyaboutmachines 25:6f4f7510db24 154 tx_cfg[0][4] = tx_cfg[0][4] | 0x01 ; // 00000001
Crazyaboutmachines 30:9c9f2d789153 155 case 1: //cell 2
Crazyaboutmachines 25:6f4f7510db24 156 tx_cfg[0][4] = tx_cfg[0][4] | 0x02 ; // 00000010
Crazyaboutmachines 30:9c9f2d789153 157 case 2: //cell 3
Crazyaboutmachines 25:6f4f7510db24 158 tx_cfg[0][4] = tx_cfg[0][4] | 0x04 ; // 00000100
Crazyaboutmachines 30:9c9f2d789153 159 case 3: //cell 4
Crazyaboutmachines 25:6f4f7510db24 160 tx_cfg[0][4] = tx_cfg[0][4] | 0x08 ; // 00001000
Crazyaboutmachines 30:9c9f2d789153 161 case 4: //cell 5
Crazyaboutmachines 25:6f4f7510db24 162 tx_cfg[0][4] = tx_cfg[0][4] | 0x10 ; // 00010000
Crazyaboutmachines 30:9c9f2d789153 163 case 6: //cell 7
Crazyaboutmachines 30:9c9f2d789153 164 tx_cfg[0][4] = tx_cfg[0][4] | 0x40 ; // 01000000
Crazyaboutmachines 30:9c9f2d789153 165 case 7: //cell 8
Crazyaboutmachines 30:9c9f2d789153 166 tx_cfg[0][4] = tx_cfg[0][4] | 0x80 ; // 10000000
Crazyaboutmachines 30:9c9f2d789153 167 case 8: //cell 9
Crazyaboutmachines 25:6f4f7510db24 168 tx_cfg[0][5] = tx_cfg[0][5] | 0x01; // 00000001
Crazyaboutmachines 30:9c9f2d789153 169 case 9: //cell 10
Crazyaboutmachines 30:9c9f2d789153 170 tx_cfg[0][5] = tx_cfg[0][5] | 0x02; // 00000010
Crazyaboutmachines 26:c55656391a29 171 }
Crazyaboutmachines 26:c55656391a29 172 } else {
Crazyaboutmachines 26:c55656391a29 173 switch (i) {
Crazyaboutmachines 30:9c9f2d789153 174 case 0: //cell 1
Crazyaboutmachines 25:6f4f7510db24 175 tx_cfg[0][4] = tx_cfg[0][4] & 0xFE ; // 11111110
Crazyaboutmachines 30:9c9f2d789153 176 case 1: //cell 2
Crazyaboutmachines 25:6f4f7510db24 177 tx_cfg[0][4] = tx_cfg[0][4] & 0xFD ; // 11111101
Crazyaboutmachines 30:9c9f2d789153 178 case 2: //cell 3
Crazyaboutmachines 25:6f4f7510db24 179 tx_cfg[0][4] = tx_cfg[0][4] & 0xFB ; // 11111011
Crazyaboutmachines 30:9c9f2d789153 180 case 3: //cell 4
Crazyaboutmachines 25:6f4f7510db24 181 tx_cfg[0][4] = tx_cfg[0][4] & 0xF7 ; // 11110111
Crazyaboutmachines 30:9c9f2d789153 182 case 4: //cell 5
Crazyaboutmachines 25:6f4f7510db24 183 tx_cfg[0][4] = tx_cfg[0][4] & 0xEF ; // 11101111
Crazyaboutmachines 30:9c9f2d789153 184 case 6: //cell 7
Crazyaboutmachines 25:6f4f7510db24 185 tx_cfg[0][4] = tx_cfg[0][4] & 0xBF ; // 10111111
Crazyaboutmachines 30:9c9f2d789153 186 case 7: //cell 8
Crazyaboutmachines 30:9c9f2d789153 187 tx_cfg[0][4] = tx_cfg[0][4] & 0x7F ; // 01111111
Crazyaboutmachines 30:9c9f2d789153 188 case 8: //cell 9
Crazyaboutmachines 25:6f4f7510db24 189 tx_cfg[0][5] = tx_cfg[0][5] & 0xFE; // 11111110
Crazyaboutmachines 30:9c9f2d789153 190 case 9: //cell 10
Crazyaboutmachines 26:c55656391a29 191 tx_cfg[0][5] = tx_cfg[0][5] & 0xFD; // 11111101
Crazyaboutmachines 26:c55656391a29 192 }
ser1516 21:988413f53fbe 193 }
ser1516 21:988413f53fbe 194 }
ser1516 21:988413f53fbe 195 }
ser1516 21:988413f53fbe 196 //print_cells2();
ser1516 21:988413f53fbe 197 LTC6804_wrcfg(TOTAL_IC,tx_cfg);
ser1516 21:988413f53fbe 198 }
ser1516 21:988413f53fbe 199
ser1516 21:988413f53fbe 200 void check_discharging_voltage()
ser1516 21:988413f53fbe 201 {
ser1516 21:988413f53fbe 202 wakeup_idle();
ser1516 21:988413f53fbe 203 LTC6804_adcv();
ser1516 21:988413f53fbe 204 wait_ms(10);
ser1516 21:988413f53fbe 205 wakeup_idle();
ser1516 21:988413f53fbe 206 err = LTC6804_rdcv(0, TOTAL_IC,cell_codes);
ser1516 21:988413f53fbe 207 if (err == -1) {
ser1516 21:988413f53fbe 208 pec_error();
ser1516 21:988413f53fbe 209 }/*
ser1516 21:988413f53fbe 210 for (int current_ic = 0 ; current_ic < TOTAL_IC; current_ic++) {
ser1516 21:988413f53fbe 211 for (int i=0; i<11; i++) {
ser1516 21:988413f53fbe 212 //printf("%f\t", cell_codes[current_ic][i]*0.0001);
ser1516 21:988413f53fbe 213 if(cell_codes[current_ic][i]*0.0001 < 2.7) {
ser1516 21:988413f53fbe 214 txMsg.clear();
ser1516 21:988413f53fbe 215 txMsg.id = 1;
ser1516 21:988413f53fbe 216 printf("%f\t", cell_codes[current_ic][i]*0.0001);
ser1516 21:988413f53fbe 217
ser1516 21:988413f53fbe 218 txMsg << cell_codes[current_ic][i]*0.0001;
ser1516 21:988413f53fbe 219 can.write(txMsg);
ser1516 21:988413f53fbe 220 wait(0.1);
ser1516 21:988413f53fbe 221 }
ser1516 21:988413f53fbe 222 }
ser1516 21:988413f53fbe 223 }*/
ser1516 21:988413f53fbe 224 //print_cells2();
ser1516 21:988413f53fbe 225 cells_left = 12;
Crazyaboutmachines 32:a52605800210 226 tx_cfg[0][4] = tx_cfg[0][4] & 0b00000000; //para desactivar balanceamento durante a descarga
Crazyaboutmachines 32:a52605800210 227 tx_cfg[0][5] = tx_cfg[0][5] & 0b11110000;
Crazyaboutmachines 32:a52605800210 228 //print_cells2();
ser1516 21:988413f53fbe 229 LTC6804_wrcfg(TOTAL_IC,tx_cfg);
ser1516 21:988413f53fbe 230 }
ser1516 21:988413f53fbe 231
ser1516 21:988413f53fbe 232 void onMsgReceived()
ser1516 21:988413f53fbe 233 {
hudakz 16:a86f339d1c25 234 msgAvailable = true;
hudakz 16:a86f339d1c25 235 }
hudakz 16:a86f339d1c25 236
ser1516 21:988413f53fbe 237
Crazyaboutmachines 29:86e963cc5ce7 238 bool to_charge_or_not_to_charge=false; // false = discharge
ser1516 21:988413f53fbe 239 bool charging = false;
Crazyaboutmachines 29:86e963cc5ce7 240 bool discharging = false;
Crazyaboutmachines 25:6f4f7510db24 241
ser1516 21:988413f53fbe 242 void monitor()
ser1516 21:988413f53fbe 243 {
ser1516 21:988413f53fbe 244 led = !led;
ser1516 21:988413f53fbe 245 if(to_charge_or_not_to_charge) {
ser1516 21:988413f53fbe 246 charging = 1;
ser1516 21:988413f53fbe 247 discharging = 0;
ser1516 21:988413f53fbe 248 } else {
ser1516 21:988413f53fbe 249 discharging = 1;
ser1516 21:988413f53fbe 250 charging = 0;
hudakz 0:c5e5d0df6f2a 251 }
hudakz 0:c5e5d0df6f2a 252 }
hudakz 7:2dce8ed51091 253
hudakz 12:e91e44924194 254
Crazyaboutmachines 26:c55656391a29 255 uint8_t motostate=0;
Crazyaboutmachines 26:c55656391a29 256
ser1516 21:988413f53fbe 257 int main()
ser1516 21:988413f53fbe 258 {
Crazyaboutmachines 26:c55656391a29 259 data data;
ser1516 21:988413f53fbe 260 //printf("starting\n\r");
ser1516 21:988413f53fbe 261 led =1;
ser1516 21:988413f53fbe 262 wait(1);
ser1516 21:988413f53fbe 263 pec_error();
Crazyaboutmachines 31:1fab4bb4e9ee 264 to_charge_or_not_to_charge=0;
Crazyaboutmachines 31:1fab4bb4e9ee 265 charging = 0;
Crazyaboutmachines 29:86e963cc5ce7 266 discharging = 1;
Crazyaboutmachines 32:a52605800210 267 ticker.attach(&monitor, 2);
ser1516 21:988413f53fbe 268 LTC6804_initialize();
ser1516 21:988413f53fbe 269 init_cfg();
Crazyaboutmachines 29:86e963cc5ce7 270 //write configuration
ser1516 21:988413f53fbe 271 wakeup_sleep();
ser1516 21:988413f53fbe 272 __disable_irq(); // Disable Interrupts
ser1516 21:988413f53fbe 273 LTC6804_wrcfg(TOTAL_IC,tx_cfg);
ser1516 21:988413f53fbe 274 __enable_irq();
ser1516 21:988413f53fbe 275 wait(1);
ser1516 21:988413f53fbe 276 //read configuration: may differ from written config
ser1516 21:988413f53fbe 277 wakeup_sleep();
ser1516 21:988413f53fbe 278 __disable_irq();
ser1516 21:988413f53fbe 279 err = LTC6804_rdcfg(TOTAL_IC,rx_cfg);
ser1516 21:988413f53fbe 280 __enable_irq();
ser1516 21:988413f53fbe 281 if (err == -1) {
ser1516 21:988413f53fbe 282 pec_error();
ser1516 21:988413f53fbe 283 }
ser1516 21:988413f53fbe 284 wait(0.5);
ser1516 21:988413f53fbe 285 wakeup_idle();
ser1516 21:988413f53fbe 286 __disable_irq();
ser1516 21:988413f53fbe 287 LTC6804_adcv();
ser1516 21:988413f53fbe 288 __enable_irq();
ser1516 21:988413f53fbe 289 wait_ms(10);
ser1516 21:988413f53fbe 290 wakeup_idle();
ser1516 21:988413f53fbe 291 __disable_irq();
ser1516 21:988413f53fbe 292 err = LTC6804_rdcv(0, TOTAL_IC,cell_codes);
ser1516 21:988413f53fbe 293 __enable_irq();
ser1516 21:988413f53fbe 294 if (err == -1) {
ser1516 21:988413f53fbe 295 pec_error();
ser1516 21:988413f53fbe 296 }
ser1516 21:988413f53fbe 297 can.frequency(1000000); // set bit rate to 1Mbps
ser1516 21:988413f53fbe 298 can.attach(&onMsgReceived);
ser1516 21:988413f53fbe 299 //print_cells2();
ser1516 21:988413f53fbe 300 while(1) {
Crazyaboutmachines 29:86e963cc5ce7 301 if(charging) {
Crazyaboutmachines 29:86e963cc5ce7 302 charging = 0;
ser1516 21:988413f53fbe 303 check_charging_voltage();
Crazyaboutmachines 31:1fab4bb4e9ee 304 sender.attach(&message_trigger,0.1);
ser1516 21:988413f53fbe 305 }
Crazyaboutmachines 29:86e963cc5ce7 306 if(discharging) {
Crazyaboutmachines 29:86e963cc5ce7 307 discharging = 0;
ser1516 21:988413f53fbe 308 check_discharging_voltage();
Crazyaboutmachines 29:86e963cc5ce7 309 sender.attach(&message_trigger,0.1);
ser1516 21:988413f53fbe 310 }
Crazyaboutmachines 29:86e963cc5ce7 311 if(to_send) {
ser1516 21:988413f53fbe 312 to_send=0;
ser1516 21:988413f53fbe 313 txMsg.clear();
Crazyaboutmachines 32:a52605800210 314 txMsg.id = 13; //BMS1=>ID:11; BMS2=>ID:12; BMS3=>ID:13.
ser1516 21:988413f53fbe 315 txMsg.len = 5;
ser1516 21:988413f53fbe 316 data.f[0] = cell_codes[0][cells_left-1]*0.0001;
ser1516 21:988413f53fbe 317 txMsg.data[0] = data.bytes[0];
ser1516 21:988413f53fbe 318 txMsg.data[1] = data.bytes[1];
ser1516 21:988413f53fbe 319 txMsg.data[2] = data.bytes[2];
ser1516 21:988413f53fbe 320 txMsg.data[3] = data.bytes[3];
ser1516 21:988413f53fbe 321 txMsg.data[4] = cells_left;
ser1516 21:988413f53fbe 322 cells_left--;
Crazyaboutmachines 29:86e963cc5ce7 323 if(!(can.write(txMsg))) { //se nao conseguiu transmitir continua a tentar transmitir a tensão dessa celula
ser1516 21:988413f53fbe 324 pec_error();
ser1516 21:988413f53fbe 325 cells_left++;
ser1516 21:988413f53fbe 326 //to_send=1;
ser1516 21:988413f53fbe 327 }
ser1516 21:988413f53fbe 328 }
Crazyaboutmachines 29:86e963cc5ce7 329 if(msgAvailable) {
Crazyaboutmachines 26:c55656391a29 330 int len = can.read(rxMsg);
Crazyaboutmachines 29:86e963cc5ce7 331 if(rxMsg.id==9){
Crazyaboutmachines 29:86e963cc5ce7 332 motostate = rxMsg.data[0];
Crazyaboutmachines 26:c55656391a29 333 //motostate: (0|0|0|0|0|0|to_charge_or_not_to_charge|key_switch)
Crazyaboutmachines 29:86e963cc5ce7 334 to_charge_or_not_to_charge=((motostate & 0b00000010)>>1);
Crazyaboutmachines 26:c55656391a29 335 msgAvailable = false;
Crazyaboutmachines 26:c55656391a29 336 }
Crazyaboutmachines 26:c55656391a29 337 }
ser1516 21:988413f53fbe 338 }
ser1516 21:988413f53fbe 339 }