all bms comunicating with nucleo board and balancing
Fork of Can_sniffer_BMS_GER by
main.cpp
- Committer:
- Crazyaboutmachines
- Date:
- 2016-10-24
- Revision:
- 27:21239801cfd3
- Parent:
- 26:3ac15dfbb66b
- Child:
- 28:2329d581e394
File content as of revision 27:21239801cfd3:
/* * An example showing how to use the CANnucleo library: * * Two affordable (less than $3 on ebay) STM32F103C8T6 boards (20kB SRAM, 64kB Flash), * (see [https://developer.mbed.org/users/hudakz/code/STM32F103C8T6_Hello/] for more details) * are connected to the same CAN bus via transceivers (MCP2551 or TJA1040, or etc.). * CAN transceivers are not part of NUCLEO boards, therefore must be added by you. * Remember also that CAN bus (even a short one) must be terminated with 120 Ohm resitors at both ends. * * For more details see the wiki page <https://developer.mbed.org/users/hudakz/code/CANnucleo_Hello/> * * NOTE: If you'd like to use the official NUCLEO boards comment out line 22 * * The same code is used for both NUCLEO boards, but: * For board #1 compile the example without any change. * For board #2 comment out line 23 before compiling * * Once the binaries have been downloaded to the boards reset board #1. * */ //#define TARGET_STM32F103C8T6 1 // uncomment this line when using STM32F103C8T6 boards! //#define BOARD1 1 // comment out this line when compiling for board #2 //CAN devices IDs and reserved ID's----------------------------------- //ID|Device //9|ECU|Key switch //10|ECU|Charge/discharge //11|BMS1|Cell voltages //12|BMS2|Cell voltages //13|BMS3|Cell voltages //?|Charger| // //-------------------------------------------------------------------- const unsigned int RX_ID = 0x100; const unsigned int TX_ID = 0x101; #include "CANnucleo.h" #include "mbed.h" /* * To avaoid name collision with the CAN and CANMessage classes built into the mbed library * the CANnucleo's CAN and CANMessage classes have been moved into the CANnucleo namespace. * Remember to qualify them with the CANnucleo namespace. */ CANnucleo::CAN can(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name CANnucleo::CANMessage rxMsg; CANnucleo::CANMessage txMsg; CANnucleo::CANMessage throttle_txMsg; DigitalOut led(PA_5); Timer timer; volatile bool msgAvailable = false; volatile bool to_send = false; float cellsv[36]; /** * @brief 'CAN receive-complete' interrup handler. * @note Called on arrival of new CAN message. * Keep it as short as possible. * @param * @retval */ void onMsgReceived() { msgAvailable = true; } /** * @brief Main * @note * @param * @retval */ bool key_switch = 0; void flip() { key_switch = !key_switch; led = key_switch; to_send=1; //printf("controller switch\r\n"); // to_send = 1; } void cvprint(){ int n; for(n=35; n>=0; n--){ //printf("cellsv0: %f cvprint\r\n", cellsv[0]); printf("cell: %d voltage: %f \r\n", n+1,cellsv[n]); } printf("\r\n""""""""""""""""""""""""""""""""""""""""""""""""\r\n"); } Ticker flipper; Ticker printer; typedef union can_union { int i[2]; char bytes[8]; float f[2]; } data; bool to_charge_or_not_to_charge=true; // false = discharge int main() { can.frequency(1000000); // set bit rate to 1Mbps can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler flipper.attach(&flip, 30); // turn on or off printer.attach(&cvprint, 20); // turn on o led=key_switch; timer.start(); // start timer printf("started\r\n"); while(true) { if(msgAvailable) { data data; int len = can.read(rxMsg); data.bytes[0] = rxMsg.data[0]; data.bytes[1] = rxMsg.data[1]; data.bytes[2] = rxMsg.data[2]; data.bytes[3] = rxMsg.data[3]; msgAvailable = false; // reset flag for next use // printf(" Id: %d, data: %f, counter : %d\n", rxMsg.id, data.f[0],rxMsg.data[4]); cellsv[(rxMsg.id-11)*12+rxMsg.data[4]-1]=data.f[0]; //printf("cell: %d\r\n", rxMsg.data[4]); /* printf("\r\nreceived message ID: \t%d\n\r", rxMsg.id); for(int i=0; i<len; i++) { printf("\t%x",rxMsg.data[i]); }*/ // printf("\r\n"); /* if(rxMsg.data[4] == 1) { //counter == 12 printf("\r\n""""""""""""""""""""""""""""""""""""""""""""""""\r\n"); } */ // Filtering performed by software: } if(to_send) { to_send = 0; //------------------------------------------------ //ECU to BMS State //motostate: (0|0|0|0|0|0|to_charge_or_not_to_charge|key_switch) txMsg.clear(); txMsg.id = 9; //BMS1=>ID:11; BMS2=>ID:12; BMS3=>ID:13. txMsg.len = 1; // txMsg.data[0] = (0b00000001 & key_switch)|((0b00000001 & to_charge_or_not_to_charge)<<1); txMsg.data[0] = 0b00000000; //------------------------------------------------ if(can.write(txMsg)) { printf("sent message\r\n"); } else { static char count = 0; //desta maneira o count é sempre zero e assim nunca chega a 3?? count++; printf("transmission error\n\r overflow: %x\n\r", count); if(count == 3) { count = 0; NVIC_SystemReset(); //faz reset se estiver a falhar o envio de mensagens // attach 'CAN receive-complete' interrupt handler } } } } }