SHENG-HEN HSIEH
Just a regular publish
Diff: main.cpp
- Revision:
- 2:c7a3a8c1aeed
- Parent:
- 1:8a9ac822aab7
- Child:
- 4:f05bef255292
--- a/main.cpp Mon Jun 18 06:50:24 2018 +0000
+++ b/main.cpp Sat Jul 14 20:02:18 2018 +0000
@@ -1,20 +1,73 @@
#include "mbed.h"
+#include "SDFileSystem.h"
+#define dt 0.01f
+#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
+
+DigitalOut Cool(PA_15,0);
+DigitalOut LED(D13, 0); //Internal LED output, general purpose
+CAN can1(PA_11, PA_12, 1000000); //(Inverter, PadalBox, DashBoard) 1Mbps, contain critical torque command message
+CAN can2(PB_5, PB_13, 500000); //(BMS1, BMS2) 500kbps, contain battery status
+Serial pc(USBTX, USBRX, 115200);
+Ticker ticker1; //General
+
+Ticker ticker2; //Logger
+SDFileSystem sd(PC_12, PC_11, PC_10, PD_2, "sd"); // mosi, miso, sck, cs
-DigitalOut Cool(PA_15,0);
-//DigitalOut Led(D13,0);
-CAN can1(PA_11, PA_12, 1000000); //(Inverter, PadalBox, DashBoard) 1Mbps, contain critical torque command message
-CAN can2(PB_5, PB_13, 500000); //(BMS1, BMS2) 500kbps, contain battery status
-Serial pc(USBTX, USBRX, 115200);
+CANMessage can_msg_1;
+CANMessage can_msg_2;
+CANMessage can_msg_send;
+char data_msg[8] = {0,0,0,0,0,0,0,0};
-CANMessage can_msg_1;
-CANMessage can_msg_2;
+int16_t IGBT_Temp_A = 0; // *0.1 to get float value
+int16_t IGBT_Temp_B = 0; // *0.1 to get float value
+int16_t IGBT_Temp_C = 0; // *0.1 to get float value
+int16_t IGBT_Temp = 0; // *0.1 to get float value
+int16_t Motor_Temp = 0; // *0.1 to get float value
+int16_t DC_Current = 0; // *0.1 to get float value
+int16_t DC_Voltage = 0; // *0.1 to get float value
+int16_t Motor_Speed = 0;
+
uint8_t CAN_flag_1 = 0;
uint8_t CAN_flag_2 = 0;
-uint8_t RTD_State = 0; // use as bool
+uint8_t timer_flag = 0;
+uint8_t RTD_State = 0; //use as bool
+uint8_t SD_OK = 0; //SD OK flag
+uint8_t Logging = 0; //Logging flag
+
+int16_t Max_temp_within_BMS1 = 0; //*0.01 to degC
+int16_t Max_temp_within_BMS2 = 0; //*0.01 to degC
+int16_t Max_temp = 0; //*0.01 to degC
+uint16_t Module_Total_BMS1 = 0; //*0.01 to Voltage ~ 120 V
+uint16_t Module_Total_BMS2 = 0; //*0.01 to Voltage ~ 120 V
+uint16_t Module_Total = 0; //*0.01 to Voltage ~ 240 V
+
+uint16_t Module_Min_BMS1 = 0; //*0.0001 to Voltage ~ 3.0 V
+uint16_t Module_Min_BMS2 = 0; //*0.0001 to Voltage ~ 3.0 V
+uint16_t Module_Min = 0; //*0.0001 to Voltage ~ 3.0 V
+
+uint16_t Module_Max_BMS1 = 0; //*0.0001 to Voltage ~ 3.0 V
+uint16_t Module_Max_BMS2 = 0; //*0.0001 to Voltage ~ 3.0 V
+uint16_t Module_Max = 0; //*0.0001 to Voltage ~ 3.0 V
+
+void send(char ID);
void CAN_RX1(void);
void CAN_RX2(void);
+void Send2CAN1(void);
+
+FILE *fp; //General file pointer
+void start_log(void);
+void stop_log(void);
+void autoname(void);
+char fileName[] = "/sd/NTHU_RACING/00.CSV";
+int16_t max_val(int16_t i1, int16_t i2, int16_t i3);
+
+void timer1_interrupt(void)
+{
+ timer_flag = 1;
+}
+void timer2_interrupt(void);
int main()
{
@@ -23,24 +76,165 @@
can1.attach(&CAN_RX1, CAN::RxIrq); //CAN1 Recieve Irq
can2.attach(&CAN_RX2, CAN::RxIrq); //CAN2 Recieve Irq
+ ticker1.attach(&timer1_interrupt, 1); //1sec
+ //Logger header
+ mkdir("/sd/NTHU_RACING", 0777);
+
+ //General task
while(1) {
- if(CAN_flag_1) {
-// Led = RTD_State;
- Cool = RTD_State;
- pc.printf("%d\r", RTD_State);
- CAN_flag_1 = 0;
+ if(timer_flag == 1) {
+
+ if(CAN_flag_1) {
+ if(RTD_State) {
+ Cool = 1;
+ if(!Logging) {
+ autoname(); //GENERATE NEW FILE EACH call fp ready or stuck
+ if(SD_OK) {
+ Logging = 1;
+ start_log();
+ }
+ }
+ } else {
+ Cool = 0;
+ if(Logging) {
+ Logging = 0;
+ stop_log();
+ }
+ }
+ CAN_flag_1 = 0;
+ }
+
+ if(CAN_flag_2) {
+ //Total
+ Module_Total = Module_Total_BMS1 + Module_Total_BMS2;
+
+ //Min
+ if(Module_Min_BMS1 < Module_Min_BMS2) {
+ Module_Min = Module_Min_BMS1;
+ } else {
+ Module_Min = Module_Min_BMS2;
+ }
+
+ //Max
+ if(Module_Max_BMS1 < Module_Max_BMS2) {
+ Module_Max = Module_Max_BMS2;
+ } else {
+ Module_Max = Module_Max_BMS1;
+ }
+
+ //Temp
+ if(Max_temp_within_BMS1 < Max_temp_within_BMS2) {
+ Max_temp = Max_temp_within_BMS2;
+ } else {
+ Max_temp = Max_temp_within_BMS1;
+ }
+
+ CAN_flag_2 = 0;
+ Send2CAN1();
+ }
+
+// pc.printf("SOC: %.2f\n", Module_Total*0.01f);
+// pc.printf("Min: %.3f\n", Module_Min*0.0001f);
+// pc.printf("Max: %.3f\n", Module_Max*0.0001f);
+// pc.printf("Max1: %.3f\n", Module_Max_BMS1*0.0001f);
+// pc.printf("Max2: %.3f\n", Module_Max_BMS2*0.0001f);
+// pc.printf("Temp: %.1f\n", Max_temp*0.01f);
+ timer_flag = 0;
}
}
}
+void timer2_interrupt(void)
+{
+ fprintf(fp, "%.0f,%.0f,%d\n", DC_Voltage*0.1f, DC_Current*0.1f, Motor_Speed);
+}
+
+void start_log(void)
+{
+ fprintf(fp, "NTHU_RACING DataLogger_V1.00\n");
+ fprintf(fp, "Sample period: %.3f\n", dt);
+ fprintf(fp, "POOPOOphysic\n\n");
+ fprintf(fp, "Volt,Amp,RPM\n");
+ ticker2.attach(&timer2_interrupt, dt);
+}
+
+void stop_log(void)
+{
+ ticker2.detach();
+ fprintf(fp, "End of logging\n");
+ fclose(fp);
+}
+
+void autoname(void)
+{
+ for(uint8_t i=0; i<100; i++) {
+ fileName[16] = i/10 + '0';
+ fileName[17] = i%10 + '0';
+
+ pc.printf("Openning: ");
+ pc.printf(fileName);
+ pc.printf("\n");
+
+ fp = fopen(fileName, "r" );
+
+ if(fp == NULL) {
+ fp = fopen(fileName, "w" );
+ if(fp != NULL) { //indicates a valid file
+ printf("File opened: %s\n", fileName);
+ SD_OK = 1;
+ break; //out of for loop
+
+ } else {
+ printf("Failed to open %s for read or write access. Check card is inserted.\n", fileName);
+ SD_OK = 0;
+ }
+ } else {
+ fclose(fp);
+ SD_OK = 0;
+ }
+ }
+
+}
+
void CAN_RX1(void)
{
if(can1.read(can_msg_1)) {
switch(can_msg_1.id) { //Filtered the input message and do corresponding action
- case 0xAA:
+ case 0xF0:
//Internal state address
- RTD_State = can_msg_1.data[6] & 0x01; //get bit "0", result ( 1 = RTD, 0 = OFF )
+ RTD_State = can_msg_1.data[7] & 0x01; //get bit "0", result ( 1 = RTD, 0 = OFF )
+ CAN_flag_1 = 1;
+ break;
+
+ case 0xA0 :
+ //Temperature infrom address 1
+ IGBT_Temp_A = can_msg_1.data[1] << 8 | can_msg_1.data[0];
+ IGBT_Temp_B = can_msg_1.data[3] << 8 | can_msg_1.data[2];
+ IGBT_Temp_C = can_msg_1.data[5] << 8 | can_msg_1.data[4];
+ IGBT_Temp = max_val(IGBT_Temp_A,IGBT_Temp_B,IGBT_Temp_C);
+ CAN_flag_1 = 1;
+ break;
+
+ case 0xA2 :
+ //Temperature infrom address 3
+ Motor_Temp = can_msg_1.data[5] << 8 | can_msg_1.data[4];
+ CAN_flag_1 = 1;
+ break;
+
+ case 0xA5:
+ Motor_Speed = can_msg_1.data[3] << 8 | can_msg_1.data[2];
+ break;
+
+ case 0xA6 :
+ //Current infrom address
+ DC_Current = can_msg_1.data[7] << 8 | can_msg_1.data[6];
+ CAN_flag_1 = 1;
+ break;
+
+ case 0xA7 :
+ //Voltage infrom address
+ DC_Voltage = can_msg_1.data[1] << 8 | can_msg_1.data[0];
CAN_flag_1 = 1;
break;
}
@@ -50,5 +244,79 @@
void CAN_RX2(void)
{
if(can2.read(can_msg_2)) {
+ switch(can_msg_2.id) {
+ case 0xD1:
+ //BMS1 soc
+ Module_Total_BMS1 = can_msg_2.data[1] << 8 | can_msg_2.data[0];
+ Module_Total_BMS1 += can_msg_2.data[3] << 8 | can_msg_2.data[2];
+ Module_Total_BMS1 += can_msg_2.data[5] << 8 | can_msg_2.data[4];
+ CAN_flag_2 = 1;
+ break;
+ case 0xD2:
+ //BMS1 min Volt
+ Module_Min_BMS1 = can_msg_2.data[7] << 8 | can_msg_2.data[6];
+ CAN_flag_2 = 1;
+ break;
+ case 0xD3:
+ //BMS1 max Volt
+ Module_Max_BMS1 = can_msg_2.data[7] << 8 | can_msg_2.data[6];
+ CAN_flag_2 = 1;
+ break;
+ case 0xD4:
+ //BMS1 max temperature
+ Max_temp_within_BMS1 = can_msg_2.data[7] << 8 | can_msg_2.data[6];
+ CAN_flag_2 = 1;
+ break;
+
+ case 0xE1:
+ //BMS2 soc
+ Module_Total_BMS2 = can_msg_2.data[1] << 8 | can_msg_2.data[0];
+ Module_Total_BMS2 += can_msg_2.data[3] << 8 | can_msg_2.data[2];
+ Module_Total_BMS2 += can_msg_2.data[5] << 8 | can_msg_2.data[4];
+ CAN_flag_2 = 1;
+ break;
+ case 0xE2:
+ //BMS2 min Volt
+ Module_Min_BMS2 = can_msg_2.data[7] << 8 | can_msg_2.data[6];
+ CAN_flag_2 = 1;
+ break;
+ case 0xE3:
+ //BMS2 max Volt
+ Module_Max_BMS2 = can_msg_2.data[7] << 8 | can_msg_2.data[6];
+ CAN_flag_2 = 1;
+ break;
+ case 0xE4:
+ //BMS2 max temperature
+ Max_temp_within_BMS2 = can_msg_2.data[7] << 8 | can_msg_2.data[6];
+ CAN_flag_2 = 1;
+ break;
+ }
}
+}
+
+void Send2CAN1(void)
+{
+ data_msg[0] = Module_Total;
+ data_msg[1] = Module_Total >> 8;
+ data_msg[2] = Module_Min;
+ data_msg[3] = Module_Min >> 8;
+ data_msg[4] = Module_Max;
+ data_msg[5] = Module_Max >> 8;
+ data_msg[6] = Max_temp;
+ data_msg[7] = Max_temp >> 8;
+ send(0xF1);
+}
+
+void send(char ID)
+{
+ can_msg_send = CANMessage(ID,data_msg,8,CANData,CANStandard);
+ can1.write(can_msg_send);
+}
+
+int16_t max_val(int16_t i1, int16_t i2, int16_t i3)
+{
+ int16_t max = i1;
+ if(i2 > max) max = i2;
+ if(i3 > max) max = i3;
+ return max;
}
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