Joao Vieira
TLMoto
Dependencies: CANnucleo CANnucleo_Hello LTC68041 mbed
Fork of
CANnucleo_Hello
by 
Zoltan Hudak
Diff: main.cpp
- Revision:
- 21:988413f53fbe
- Parent:
- 20:eb1a8042605e
--- a/main.cpp Tue Aug 16 21:13:47 2016 +0000
+++ b/main.cpp Sat Oct 22 16:34:06 2016 +0000
@@ -1,131 +1,324 @@
-/*
- * 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
-
-#if defined(TARGET_STM32F103C8T6)
- #define LED_PIN PC_13
- const int OFF = 1;
- const int ON = 0;
-#else
- #define LED_PIN LED1
- const int OFF = 0;
- const int ON = 1;
-#endif
-
-#if defined(BOARD1)
- const unsigned int RX_ID = 0x100;
- const unsigned int TX_ID = 0x101;
-#else
- const unsigned int RX_ID = 0x101;
- const unsigned int TX_ID = 0x100;
-#endif
-
#include "CANnucleo.h"
#include "mbed.h"
+#include "LTC68041.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.
- */
+
+
+uint8_t const TOTAL_IC = 1;//!<number of ICs in the daisy chain
+
+uint8_t rx_cfg[TOTAL_IC][8];
+uint8_t tx_cfg[TOTAL_IC][6];
+uint16_t aux_codes[TOTAL_IC][6];
+uint16_t cell_codes[TOTAL_IC][12];
+volatile bool msgAvailable = false;
+volatile bool to_send = false;
CANnucleo::CAN can(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name
CANnucleo::CANMessage rxMsg;
CANnucleo::CANMessage txMsg;
-DigitalOut led(LED_PIN);
-int ledState;
-Timer timer;
-int counter = 0;
-volatile bool msgAvailable = false;
+DigitalOut led(PA_5);
+/*!***********************************
+\brief Initializes the configuration array
+**************************************/
+void init_cfg()
+{
+ for (int i = 0; i<TOTAL_IC; i++) {
+ tx_cfg[i][0] = 0xFE;
+ tx_cfg[i][1] = 0x00 ;
+ tx_cfg[i][2] = 0x00 ;
+ tx_cfg[i][3] = 0x00 ;
+ tx_cfg[i][4] = 0x00 ;
+ tx_cfg[i][5] = 0x00 ;
+ }
+}
+void serial_print_hex(uint8_t data)
+{
+ if (data< 16) {
+ printf("0");
+ printf("%x",(uint8_t)data);
+ } else
+ printf("%x",(uint8_t)data);
+}
+void print_config()
+{
+ int cfg_pec;
+ printf("Written Configuration:\n\r ");
+ for (int current_ic = 0; current_ic<TOTAL_IC; current_ic++) {
+ printf(" IC ");
+ printf("%d", current_ic+1);
+ printf(": ");
+ printf("0x");
+ serial_print_hex(tx_cfg[current_ic][0]);
+ printf(", 0x");
+ serial_print_hex(tx_cfg[current_ic][1]);
+ printf(", 0x");
+ serial_print_hex(tx_cfg[current_ic][2]);
+ printf(", 0x");
+ serial_print_hex(tx_cfg[current_ic][3]);
+ printf(", 0x");
+ serial_print_hex(tx_cfg[current_ic][4]);
+ printf(", 0x");
+ serial_print_hex(tx_cfg[current_ic][5]);
+ printf(", Calculated PEC: 0x");
+ cfg_pec = pec15_calc(6,&tx_cfg[current_ic][0]);
+ serial_print_hex((uint8_t)(cfg_pec>>8));
+ printf(", 0x");
+ serial_print_hex((uint8_t)(cfg_pec));
+ }
+ printf("\n\r");
+}
+
+void print_rxconfig()
+{
+ printf("Received Configuration ");
+ for (int current_ic=0; current_ic<TOTAL_IC; current_ic++) {
+ printf(" IC ");
+ printf("%d " ,current_ic+1);
+ printf(": 0x");
+ serial_print_hex(rx_cfg[current_ic][0]);
+ printf(", 0x");
+ serial_print_hex(rx_cfg[current_ic][1]);
+ printf(", 0x");
+ serial_print_hex(rx_cfg[current_ic][2]);
+ printf(", 0x");
+ serial_print_hex(rx_cfg[current_ic][3]);
+ printf(", 0x");
+ serial_print_hex(rx_cfg[current_ic][4]);
+ printf(", 0x");
+ serial_print_hex(rx_cfg[current_ic][5]);
+ printf(", Received PEC: 0x");
+ serial_print_hex(rx_cfg[current_ic][6]);
+ printf(", 0x");
+ serial_print_hex(rx_cfg[current_ic][7]);
+ }
+}
+int err;
+void print_cells2()
+{
+
+ for (int current_ic = 0 ; current_ic < TOTAL_IC; current_ic++) {
+
+ for (int i=0; i<12; i++) {
+ printf(" C");
+ printf("%d",i+1);
+ printf(":");
+ printf("%f", cell_codes[current_ic][i]*0.0001);
+ printf(",");
+ }
-/**
- * @brief 'CAN receive-complete' interrup handler.
- * @note Called on arrival of new CAN message.
- * Keep it as short as possible.
- * @param
- * @retval
- */
-void onMsgReceived() {
+ }
+}
+void pec_error()
+{
+ for(int i = 0; i<5; i++) {
+ led = 1;
+ wait(0.2);
+ led=0;
+ wait(0.2);
+ }
+}
+char cells_left=0;
+Ticker ticker;
+Ticker sender;
+
+typedef union can_union {
+ int i[2];
+ char bytes[8];
+ float f[2];
+} data;
+
+void message_trigger()
+{
+ if(cells_left < 1) {
+ sender.detach();
+ } else {
+
+
+ to_send = 1;
+ }
+
+}
+
+void check_charging_voltage()
+{
+ wakeup_idle();
+ __disable_irq();
+ LTC6804_adcv();
+ __enable_irq();
+ wait_ms(10);
+ wakeup_idle();
+ __enable_irq();
+ err = LTC6804_rdcv(0, TOTAL_IC,cell_codes);
+ __disable_irq();
+ if (err == -1) {
+ pec_error();
+ }
+ for (int current_ic = 0 ; current_ic < TOTAL_IC; current_ic++) {
+ for (int i=0; i<12; i++) {
+ if(cell_codes[current_ic][i]*0.0001 > 3.85) {
+ switch (i) {
+ case 0:
+ tx_cfg[0][4] = tx_cfg[0][4] | 0x01 ;
+ case 1:
+ tx_cfg[0][4] = tx_cfg[0][4] | 0x02 ;
+ case 2:
+ tx_cfg[0][4] = tx_cfg[0][4] | 0x04 ;
+ case 3:
+ tx_cfg[0][4] = tx_cfg[0][4] | 0x08 ;
+ case 4:
+ tx_cfg[0][4] = tx_cfg[0][4] | 0x10 ;
+ case 5:
+ tx_cfg[0][4] = tx_cfg[0][4] | 0x20 ;
+ case 6:
+ tx_cfg[0][4] = tx_cfg[0][4] | 0x40 ;
+ case 7:
+ tx_cfg[0][4] = tx_cfg[0][4] | 0x80;
+ case 8:
+ tx_cfg[0][5] = tx_cfg[0][5] | 0x01;
+ case 9:
+ tx_cfg[0][5] = tx_cfg[0][5] | 0x10;
+ }
+ }
+ }
+ }
+ //print_cells2();
+ __disable_irq();
+ LTC6804_wrcfg(TOTAL_IC,tx_cfg);
+ __enable_irq();
+}
+
+
+
+void check_discharging_voltage()
+{
+ wakeup_idle();
+ LTC6804_adcv();
+
+ wait_ms(10);
+ wakeup_idle();
+ err = LTC6804_rdcv(0, TOTAL_IC,cell_codes);
+ if (err == -1) {
+ pec_error();
+ }/*
+ for (int current_ic = 0 ; current_ic < TOTAL_IC; current_ic++) {
+ for (int i=0; i<11; i++) {
+ //printf("%f\t", cell_codes[current_ic][i]*0.0001);
+ if(cell_codes[current_ic][i]*0.0001 < 2.7) {
+ txMsg.clear();
+ txMsg.id = 1;
+ printf("%f\t", cell_codes[current_ic][i]*0.0001);
+
+ txMsg << cell_codes[current_ic][i]*0.0001;
+ can.write(txMsg);
+ wait(0.1);
+ }
+ }
+ }*/
+ //print_cells2();
+ cells_left = 12;
+
+//print_cells2();
+ LTC6804_wrcfg(TOTAL_IC,tx_cfg);
+}
+
+void onMsgReceived()
+{
msgAvailable = true;
}
-/**
- * @brief Main
- * @note
- * @param
- * @retval
- */
-int main() {
- can.frequency(1000000); // set bit rate to 1Mbps
- can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
-
-#if defined(BOARD1)
- led = ON; // turn LED on
- timer.start(); // start timer
- printf("CANnucleo_Hello board #1\r\n");
-#else
- led = OFF; // turn LED off
- printf("CANnucleo_Hello board #2\r\n");
-#endif
+
- while(1) {
- if(timer.read() >= 1.0) { // check for timeout
- timer.stop(); // stop timer
- timer.reset(); // reset timer
- counter++; // increment counter
- ledState = led.read(); // get led state
- txMsg.clear(); // clear Tx message storage
- txMsg.id = TX_ID; // set ID
- txMsg << counter; // append first data item
- txMsg << ledState; // append second data item (total data lenght must be <= 8 bytes!)
- led = OFF; // turn LED off
- if(can.write(txMsg)) // transmit message
- printf("CAN message sent\r\n");
- else
- printf("Transmission error\r\n");
- }
- if(msgAvailable) {
- msgAvailable = false; // reset flag for next use
- can.read(rxMsg); // read message into Rx message storage
- printf("CAN message received\r\n");
- printf(" ID = 0x%.3x\r\n", rxMsg.id);
- printf(" Type = %d\r\n", rxMsg.type);
- printf(" Format = %d\r\n", rxMsg.format);
- printf(" Length = %d\r\n", rxMsg.len);
- printf(" Data =");
- for(int i = 0; i < rxMsg.len; i++)
- printf(" %.2x", rxMsg.data[i]);
- printf("\r\n");
- // Filtering performed by software:
- if(rxMsg.id == RX_ID) { // See comments in CAN.cpp for filtering performed by hardware
- rxMsg >> counter; // extract first data item
- rxMsg >> ledState; // extract second data item
- printf(" counter = %d\r\n", counter);
- led = ON; // turn LED on
- timer.start(); // transmission lag
- }
- }
+bool to_charge_or_not_to_charge=false; // false = discharge
+bool charging = false;
+bool discharging = false;
+void monitor()
+{
+ led = !led;
+ if(to_charge_or_not_to_charge) {
+ charging = 1;
+ discharging = 0;
+ } else {
+ discharging = 1;
+ charging = 0;
}
}
+int main()
+{
+ data data;
+ //printf("starting\n\r");
+ led =1;
+ wait(1);
+ pec_error();
+ discharging = 1;
+
+ ticker.attach(&monitor, 5);
+ LTC6804_initialize();
+ init_cfg();
+//write configuration
+ wakeup_sleep();
+ __disable_irq(); // Disable Interrupts
+ LTC6804_wrcfg(TOTAL_IC,tx_cfg);
+ __enable_irq();
+ wait(1);
+//read configuration: may differ from written config
+ wakeup_sleep();
+ __disable_irq();
+ err = LTC6804_rdcfg(TOTAL_IC,rx_cfg);
+ __enable_irq();
+ if (err == -1) {
+ pec_error();
+ }
+ wait(0.5);
+
+ wakeup_idle();
+ __disable_irq();
+ LTC6804_adcv();
+ __enable_irq();
+ wait_ms(10);
+ wakeup_idle();
+ __disable_irq();
+ err = LTC6804_rdcv(0, TOTAL_IC,cell_codes);
+ __enable_irq();
+ if (err == -1) {
+ pec_error();
+ }
+ can.frequency(1000000); // set bit rate to 1Mbps
+ can.attach(&onMsgReceived);
+ //print_cells2();
+ while(1) {
+ if(charging) {
+ charging = 0;
+ check_charging_voltage();
+
+ }
+ if(discharging) {
+ discharging = 0;
+ check_discharging_voltage();
+ sender.attach(&message_trigger,0.1);
+ }
+ if(to_send) {
+
+
+ to_send=0;
+ txMsg.clear();
+ txMsg.id = 10;
+ txMsg.len = 5;
+ data.f[0] = cell_codes[0][cells_left-1]*0.0001;
+ txMsg.data[0] = data.bytes[0];
+ txMsg.data[1] = data.bytes[1];
+ txMsg.data[2] = data.bytes[2];
+ txMsg.data[3] = data.bytes[3];
+ txMsg.data[4] = cells_left;
+ cells_left--;
+ if(!(can.write(txMsg))) {
+ pec_error();
+ cells_left++;
+ //to_send=1;
+ }
+
+ }
+ }
+
+}