Diff: main.cpp

Revision:

0:bc9f2c007928

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Feb 28 20:42:21 2017 +0000
@@ -0,0 +1,301 @@
+#include "mbed.h"
+
+#include "SDFileSystem.h"
+
+//Create an SDFileSystem object
+SDFileSystem sd(PE_6, PE_5, PE_2, PE_4, "sd");
+void pm100dx_init();
+
+void pm100dx_can_tx(uint32_t id, char data[]);
+void pm100dx_can_read(uint32_t id, char data[]);
+float pm100dx_getMaxControllerT();
+void pm100dx_set_torque(float torque, int dir, int enable, int discharge);
+uint8_t pm100dx_set_voltage_limits(float dc_overvoltage, float dc_undervoltage);
+uint8_t pm100dx_set_temperature_limits(float inverter_over_temp,
+        float motor_over_temp);
+uint8_t pm100dx_set_current_limits(float iq_limit, float id_limit);
+uint8_t pm100dx_set_torque_config(float motor_limit, float regen_limit,
+        float brake_limit, float zero_torque_temp, float full_torque_temp);
+uint8_t pm100dx_set_torque_pid(float kp_torque, float ki_torque,
+        float kd_torque, float kip_torque, float torque_rate_limit);
+
+void pm100dx_command(int address, int p_data[], int rw);
+void pm100dx_clear_fault();
+
+float pm100dx_read_temperature(char data[]);
+float pm100dx_read_LV(char data[]);
+float pm100dx_read_Torque(char data[]);
+float pm100dx_read_HV(char data[]);
+float pm100dx_read_Current(char data[]);
+float pm100dx_read_AngVel(char data[]);
+float pm100dx_read_Power(char data[]);
+
+
+#include "stdint.h"
+Ticker ticker;
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+CAN can1(PD_0 ,    PD_1  );
+
+volatile float pm100dx_temp_modA;
+volatile float pm100dx_temp_modB;
+volatile float pm100dx_temp_modC;
+volatile float pm100dx_temp_gate;
+volatile float pm100dx_temp_motor;
+volatile float pm100dx_mot_speed;
+volatile float pm100dx_current_phaseA;
+volatile float pm100dx_current_phaseB;
+volatile float pm100dx_current_phaseC;
+volatile float pm100dx_current_phaseDC;
+volatile float pm100dx_voltage_DCbus;
+volatile float pm100dx_voltage_Output;
+volatile float pm100dx_voltage_phaseAB;
+volatile float pm100dx_voltage_phaseBC;
+volatile float pm100dx_voltage_1_5V;
+volatile float pm100dx_voltage_2_5V;
+volatile float pm100dx_voltage_5V;
+volatile float pm100dx_voltage_12V;
+volatile int pm100dx_inv_state;
+volatile int pm100dx_inv_run_state = 0;
+volatile int pm100dx_inv_command_mode = 0;
+volatile int pm100dx_inv_enable_state = 0;
+volatile int pm100dx_inv_enable_lockout = 0;
+volatile int pm100dx_inv_dir_command = 0;
+volatile uint32_t pm100dx_fault[2] = { 0, 0 };
+
+volatile float pm100dx_commanded_torque;
+volatile float pm100dx_feedback_torque;
+volatile int pm100dx_date; //stored as ddmmyyyy ( first bit is day, second is month, third and fourth is year)
+
+
+#define BMS_ID 0x99
+#define  PM100DX_CAN_BASE_ID 0x100
+char counter = 0;
+void com_loop_vc();
+
+void bmsRead(uint32_t id, char data[]);
+void pm100dx_can_read(uint32_t id, char data[]);
+
+void com_loop_pwtr(uint32_t id, char data[]);
+void send() {
+    if(can1.write(CANMessage(1337, &counter, 1))) {
+        printf("Message sent: %d\n", counter);
+        counter++;
+    }
+    led1 = !led1;
+}
+
+int main() {
+    ticker.attach(&send, 1);
+   CANMessage msg;
+    while(1) {
+        if(can1.read(msg)) {
+            char data[8];
+            for (int i=0;i<8;i++)
+                data[i]=msg.data[i];
+            com_loop_pwtr(msg.id,data);
+            printf("Message received: %d\n\n", msg.data[0]);
+            led2 = !led2;
+        }
+        pm100dx_set_torque(10, 1, 1, 0);
+        wait(0.2);
+    }
+}
+
+
+void com_loop_pwtr(uint32_t id, char data[])
+ {
+        switch (id) {
+        case BMS_ID ... BMS_ID + 0x1F:
+            bmsRead(id, data);
+            break;
+        case PM100DX_CAN_BASE_ID ... PM100DX_CAN_BASE_ID + 22:
+            pm100dx_can_read(id, data);
+            break;
+        }
+}
+
+void bmsRead(uint32_t id, char data[]){
+    
+}
+    
+    
+void pm100dx_can_read(uint32_t id, char data[]){
+    int temp = (int) (id - PM100DX_CAN_BASE_ID);
+    int year;
+    int month;
+    switch (temp) { //see page 13
+    case 0: //Temp 1, 10hz
+        pm100dx_temp_modA = pm100dx_read_temperature(&data[0]); //Module A temp
+        pm100dx_temp_modB = pm100dx_read_temperature(&data[2]); //Module B temp
+        pm100dx_temp_modC = pm100dx_read_temperature(&data[4]); //Module C temp
+        pm100dx_temp_gate = pm100dx_read_temperature(&data[6]); //Gate Driver Temp
+        break;
+    case 1: // temp 2, 10hz ,disabled
+        break;
+    case 2: //temp 3, 10hz
+        pm100dx_temp_motor = pm100dx_read_temperature(&data[4]); //Motor Temp
+        break;
+    case 3: //Analog Input Voltage, 100hz, disabled
+        break;
+    case 4: //digital input status ,100hz, disabled
+        break;
+    case 5: //motor position info, 100hz
+        pm100dx_mot_speed = pm100dx_read_AngVel(&data[2]);
+        break;
+    case 6: //current info, 100hz
+        pm100dx_current_phaseA = pm100dx_read_Current(&data[0]); //PHASE A
+        pm100dx_current_phaseB = pm100dx_read_Current(&data[2]);
+        pm100dx_current_phaseC = pm100dx_read_Current(&data[4]);
+        pm100dx_current_phaseDC = pm100dx_read_Current(&data[6]);
+        break;
+    case 7: //voltage info, 100hz
+        pm100dx_voltage_DCbus = pm100dx_read_HV(&data[0]);
+        pm100dx_voltage_Output = pm100dx_read_HV(&data[2]);
+        pm100dx_voltage_phaseAB = pm100dx_read_HV(&data[4]);
+        pm100dx_voltage_phaseBC = pm100dx_read_HV(&data[6]);
+        break;
+    case 8: //flux info, 100hz , disabled
+        break;
+    case 9: // internal voltage, 10hz
+        pm100dx_voltage_1_5V = pm100dx_read_LV(&data[0]);
+        pm100dx_voltage_2_5V = pm100dx_read_LV(&data[2]);
+        pm100dx_voltage_5V = pm100dx_read_LV(&data[4]);
+        pm100dx_voltage_12V = pm100dx_read_LV(&data[6]);
+        break;
+    case 10: //internal states, 10 hz
+        pm100dx_inv_state = (int) data[2]; //Inverter state
+        pm100dx_inv_run_state = (int) data[4] & (1 << 0); //Inverter Run Mode
+        pm100dx_inv_command_mode = data[5]; //Inverter Command Mode
+        pm100dx_inv_enable_state = data[6] & (1 << 0); //Inverter Enabled
+        pm100dx_inv_enable_lockout = (int) ((data[6] & (1 << 7)) >> 7); //Inverter Enable Lockout
+        pm100dx_inv_dir_command = data[7]; //Direction Command
+        break;
+    case 11: //fault codes, 10 hz
+        pm100dx_fault[0] = (uint32_t) data[0] | (uint32_t) (data[1] << 8)
+                | (uint32_t) (data[2] << 16) | (uint32_t) (data[3] << 24);
+        pm100dx_fault[1] = (uint32_t) (data[4]) | (uint32_t) (data[5] << 8)
+                | (uint32_t) (data[6] << 16) | (uint32_t) (data[7] << 24);
+        break;
+    case 12: // torque & timer info, 100hz
+        pm100dx_commanded_torque = pm100dx_read_Torque(&data[0]); // commanded torque
+        pm100dx_feedback_torque = pm100dx_read_Torque(&data[2]); // torque feedback
+        break;
+    case 13: //modulation index, 100hz ,  not used
+        break;
+    case 14: // firmware info, 10hz
+        month = (int) data[4] | (int) (data[5] << 8);
+        year = ((int) (data[6]) | (int) (data[7] << 8));
+        pm100dx_date = month + year;
+        break;
+    case 15: // diagnostic data, 100hz , not used
+        break;
+    case 22: //parameter answer
+        break;
+    }
+}
+    
+//return V in degC
+float pm100dx_read_temperature(char data[]) {
+    return (float) ((int16_t) ((uint16_t) data[0] | (uint16_t) data[1] << 8))
+            / 10.0f;
+}
+
+//return V in volts
+float pm100dx_read_LV(char data[]) {
+    return (float) ((int16_t) ((uint16_t) data[0] | (uint16_t) data[1] << 8))
+            / 100.0f;
+}
+
+//return torque in Nm
+float pm100dx_read_Torque(char data[]) {
+    return (float) ((int16_t) ((uint16_t) data[0] | (uint16_t) data[1] << 8))
+            / 10.0f;
+}
+
+//return V in volts
+float pm100dx_read_HV(char data[]) {
+    return (float) ((int16_t) ((uint16_t) data[0] | (uint16_t) data[1] << 8))
+            / 10.0f;
+}
+
+//in A
+float pm100dx_read_Current(char data[]) {
+    return (float) ((int16_t) ((uint16_t) data[0] | (uint16_t) data[1] << 8))
+            / 10.0f;
+}
+
+//in RPM
+float pm100dx_read_AngVel(char data[]) {
+    return (float) ((int16_t) ((uint16_t) data[0] | (uint16_t) data[1] << 8));
+}
+
+//in kW
+float pm100dx_read_Power(char data[]) {
+    return (float) ((int16_t) ((uint16_t) data[0] | (uint16_t) data[1] << 8))
+            / 10.0f;
+}
+
+void pm100dx_init() {
+    int data[2];
+    //first disable some broadcast message we wont use
+    //disable temp2 , analog input, digital input, flux
+    data[0] = 0b11100101;
+    data[1] = 0b11111110;
+    pm100dx_command(148, data, 1);
+}
+
+float pm100dx_getMaxControllerT() {
+
+    float temp = 0;
+    if (pm100dx_temp_modA > temp)
+        temp = pm100dx_temp_modA;
+    if (pm100dx_temp_modB > temp)
+        temp = pm100dx_temp_modB;
+    if (pm100dx_temp_modC > temp)
+        temp = pm100dx_temp_modC;
+    if (pm100dx_temp_gate > temp)
+        temp = pm100dx_temp_gate;
+    return temp;
+}
+
+void pm100dx_command(int address, int p_data[], int rw) {
+    char data[8];
+    data[0] = (char) address; //paramater address
+    data[1] = (char) address >> 8; //paramater address
+    data[2] = (char) rw; //read or write
+    data[3] = 0; //reserved
+    data[4] = (char) p_data[0]; //data
+    data[5] = (char) p_data[1]; //data
+    data[6] = 0; //reserved
+    data[7] = 0; //reserved
+    pm100dx_can_tx(0X0C1 - 0x0A0 + PM100DX_CAN_BASE_ID, data);
+}
+
+void pm100dx_can_tx(uint32_t id, char data[]) {
+    can1.write(CANMessage(PM100DX_CAN_BASE_ID, data, 8));
+}
+
+void pm100dx_clear_fault() {
+    int data[2];
+    data[0] = 0;
+    data[1] = 0;
+    pm100dx_command(20, data, 1);
+}
+
+void pm100dx_set_torque(float torque, int dir, int enable, int discharge) {
+    char data[8];
+    int16_t itorque = (int16_t) (torque * 10.0f);
+    data[0] = (char) itorque;
+    data[1] = (char) (itorque >> 8);
+    data[2] = 0;
+    data[3] = 0;
+    data[4] = (char) dir;
+    data[5] = (char) (enable | (discharge << 1));
+    data[6] = 0;
+    data[7] = 0;
+    pm100dx_can_tx(0X0C0 - 0x0A0 + PM100DX_CAN_BASE_ID, data);
+}
+    
+    
+    
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