Skip to content

Commit

Permalink
Add handling of status messages for BAT and BMS in EMS baord (#403)
Browse files Browse the repository at this point in the history
  • Loading branch information
@Nicogene
Nicogene authored Sep 8, 2023
2 parents 9240bb9 + 6e01f58 commit 9e35054
Show file tree
Hide file tree
Showing 20 changed files with 455 additions and 315 deletions.
18 changes: 10 additions & 8 deletions emBODY/eBcode/arch-arm/board/amc/examples/appl-01/cfg/protocol/can/EoCANprotBSperiodic_amc.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -72,18 +72,20 @@
// --------------------------------------------------------------------------------------------------------------------

//#include "embot_core.h"
extern eOresult_t eocanprotINperiodic_parser_PER_BS_MSG__STATUS(eOcanframe_t *frame, eOcanport_t port)
extern eOresult_t eocanprotINperiodic_parser_PER_BS_MSG__INFO(eOcanframe_t *frame, eOcanport_t port)
{
// embot::app::eth::theBATservice::canFrameDescriptor cfd
// {
// port,
// frame,
// embot::app::eth::theBATservice::canFrameDescriptor::Type::unspecified
// };
// embot::app::eth::theBATservice::getInstance().AcceptCANframe(cfd);
return(eores_OK);
}

extern eOresult_t eocanprotINperiodic_parser_PER_BS_MSG__STATUS_BMS(eOcanframe_t *frame, eOcanport_t port)
{
return(eores_OK);
}

extern eOresult_t eocanprotINperiodic_parser_PER_BS_MSG__STATUS_BAT(eOcanframe_t *frame, eOcanport_t port)
{
return(eores_OK);
}

extern eOresult_t eocanprotINperiodic_parser_PER_BS_MSG__ALLTHEOTHERS(eOcanframe_t *frame, eOcanport_t port)
{
Expand Down
8 changes: 4 additions & 4 deletions emBODY/eBcode/arch-arm/board/amc/examples/appl-01/cfg/theApplication_config.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -40,14 +40,14 @@ namespace embot { namespace app { namespace eth {
Process::eApplication,
#if defined(WRIST_MK2)
#if defined(WRIST_MK2_RIGHT)
{101, 8},
{101, 9},
#else
{102, 8},
{102, 9},
#endif
#else
{103, 8},
{103, 9},
#endif
{2023, Month::Jul, Day::thirthyone, 11, 30}
{2023, Month::Sep, Day::seven, 14, 00}
},
.OStick = 1000*embot::core::time1microsec,
.OSstacksizeinit = 10*1024,
Expand Down
3 changes: 1 addition & 2 deletions emBODY/eBcode/arch-arm/board/bat/BAT_Rev_B/Inc/BAT_B.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -13,8 +13,6 @@
#ifndef BAT_B_H
#define BAT_B_H

void dcdc_management(void);

extern char Firmware_vers;
extern char Revision_vers;
extern char Build_number;
Expand Down Expand Up @@ -84,6 +82,7 @@ extern uint8_t timerFSM_motors;
extern uint8_t DCDC_status_A;
extern uint8_t DCDC_status_B;
extern uint8_t DCDC_ctrl;
extern uint8_t DCDC_status;
extern uint8_t HSM_PG;
extern uint8_t HSM_F;

Expand Down
6 changes: 6 additions & 0 deletions emBODY/eBcode/arch-arm/board/bat/BAT_Rev_B/Inc/can_utility.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -29,4 +29,10 @@ extern uint8_t TxData_620[8];
extern uint8_t RxData_620[8];
extern uint32_t TxMailbox_620;

extern CAN_TxHeaderTypeDef TxHeader_629;
extern CAN_RxHeaderTypeDef RxHeader_629;
extern uint8_t TxData_629[8];
extern uint8_t RxData_629[8];
extern uint32_t TxMailbox_629;

#endif
1 change: 1 addition & 0 deletions emBODY/eBcode/arch-arm/board/bat/BAT_Rev_B/Inc/global_var.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -91,6 +91,7 @@ extern uint8_t timerFSM_motors;
extern uint8_t DCDC_status_A;
extern uint8_t DCDC_status_B;
extern uint8_t DCDC_ctrl;
extern uint8_t DCDC_status;
extern uint8_t HSM_PG;
extern uint8_t HSM_F;

Expand Down
14 changes: 7 additions & 7 deletions emBODY/eBcode/arch-arm/board/bat/BAT_Rev_B/MDK-ARM/BAT_Rev_B.uvoptx
View file
Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@
<aExt>*.s*; *.src; *.a*</aExt>
<oExt>*.obj; *.o</oExt>
<lExt>*.lib</lExt>
<tExt>*.txt; *.h; *.inc</tExt>
<tExt>*.txt; *.h; *.inc; *.md</tExt>
<pExt>*.plm</pExt>
<CppX>*.cpp</CppX>
<nMigrate>0</nMigrate>
Expand All @@ -28,7 +28,7 @@
<TargetOption>
<CLKADS>8000000</CLKADS>
<OPTTT>
<gFlags>0</gFlags>
<gFlags>1</gFlags>
<BeepAtEnd>1</BeepAtEnd>
<RunSim>0</RunSim>
<RunTarget>1</RunTarget>
Expand Down Expand Up @@ -75,9 +75,9 @@
<OPTFL>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<IsCurrentTarget>0</IsCurrentTarget>
<IsCurrentTarget>1</IsCurrentTarget>
</OPTFL>
<CpuCode>0</CpuCode>
<CpuCode>18</CpuCode>
<DebugOpt>
<uSim>0</uSim>
<uTrg>1</uTrg>
Expand Down Expand Up @@ -183,7 +183,7 @@
<TargetOption>
<CLKADS>8000000</CLKADS>
<OPTTT>
<gFlags>0</gFlags>
<gFlags>1</gFlags>
<BeepAtEnd>1</BeepAtEnd>
<RunSim>0</RunSim>
<RunTarget>1</RunTarget>
Expand Down Expand Up @@ -230,9 +230,9 @@
<OPTFL>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<IsCurrentTarget>1</IsCurrentTarget>
<IsCurrentTarget>0</IsCurrentTarget>
</OPTFL>
<CpuCode>0</CpuCode>
<CpuCode>18</CpuCode>
<DebugOpt>
<uSim>0</uSim>
<uTrg>1</uTrg>
Expand Down
43 changes: 20 additions & 23 deletions emBODY/eBcode/arch-arm/board/bat/BAT_Rev_B/MDK-ARM/BAT_Rev_B.uvprojx
View file
Original file line number Diff line number Diff line change
Expand Up @@ -10,14 +10,14 @@
<TargetName>BAT_B_iCub3</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<pCCUsed>5060422::V5.06 update 4 (build 422)::ARMCC</pCCUsed>
<uAC6>0</uAC6>
<pCCUsed>6190000::V6.19::ARMCLANG</pCCUsed>
<uAC6>1</uAC6>
<TargetOption>
<TargetCommonOption>
<Device>STM32L476VETx</Device>
<Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32L4xx_DFP.2.3.0</PackID>
<PackURL>https://www.keil.com/pack/</PackURL>
<PackID>Keil.STM32L4xx_DFP.2.6.1</PackID>
<PackURL>http://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000-0x20017FFF) IRAM2(0x10000000-0x10007FFF) IROM(0x8000000-0x807FFFF) CLOCK(8000000) FPU2 CPUTYPE("Cortex-M4")</Cpu>
<FlashUtilSpec></FlashUtilSpec>
<StartupFile></StartupFile>
Expand Down Expand Up @@ -186,6 +186,7 @@
<RvdsVP>2</RvdsVP>
<RvdsMve>0</RvdsMve>
<RvdsCdeCp>0</RvdsCdeCp>
<nBranchProt>0</nBranchProt>
<hadIRAM2>1</hadIRAM2>
<hadIROM2>0</hadIROM2>
<StupSel>8</StupSel>
Expand Down Expand Up @@ -313,7 +314,7 @@
</ArmAdsMisc>
<Cads>
<interw>1</interw>
<Optim>1</Optim>
<Optim>2</Optim>
<oTime>0</oTime>
<SplitLS>0</SplitLS>
<OneElfS>1</OneElfS>
Expand All @@ -322,14 +323,14 @@
<PlainCh>0</PlainCh>
<Ropi>0</Ropi>
<Rwpi>0</Rwpi>
<wLevel>2</wLevel>
<wLevel>3</wLevel>
<uThumb>0</uThumb>
<uSurpInc>0</uSurpInc>
<uC99>1</uC99>
<uGnu>0</uGnu>
<useXO>0</useXO>
<v6Lang>1</v6Lang>
<v6LangP>1</v6LangP>
<v6Lang>3</v6Lang>
<v6LangP>5</v6LangP>
<vShortEn>1</vShortEn>
<vShortWch>1</vShortWch>
<v6Lto>0</v6Lto>
Expand Down Expand Up @@ -614,14 +615,14 @@
<TargetName>BAT_B_R1</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<pCCUsed>5060750::V5.06 update 6 (build 750)::ARMCC</pCCUsed>
<uAC6>0</uAC6>
<pCCUsed>6190000::V6.19::ARMCLANG</pCCUsed>
<uAC6>1</uAC6>
<TargetOption>
<TargetCommonOption>
<Device>STM32L476VETx</Device>
<Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32L4xx_DFP.2.3.0</PackID>
<PackURL>https://www.keil.com/pack/</PackURL>
<PackID>Keil.STM32L4xx_DFP.2.6.1</PackID>
<PackURL>http://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000-0x20017FFF) IRAM2(0x10000000-0x10007FFF) IROM(0x8000000-0x807FFFF) CLOCK(8000000) FPU2 CPUTYPE("Cortex-M4")</Cpu>
<FlashUtilSpec></FlashUtilSpec>
<StartupFile></StartupFile>
Expand Down Expand Up @@ -790,6 +791,7 @@
<RvdsVP>2</RvdsVP>
<RvdsMve>0</RvdsMve>
<RvdsCdeCp>0</RvdsCdeCp>
<nBranchProt>0</nBranchProt>
<hadIRAM2>1</hadIRAM2>
<hadIROM2>0</hadIROM2>
<StupSel>8</StupSel>
Expand Down Expand Up @@ -917,7 +919,7 @@
</ArmAdsMisc>
<Cads>
<interw>1</interw>
<Optim>1</Optim>
<Optim>2</Optim>
<oTime>0</oTime>
<SplitLS>0</SplitLS>
<OneElfS>1</OneElfS>
Expand All @@ -926,14 +928,14 @@
<PlainCh>0</PlainCh>
<Ropi>0</Ropi>
<Rwpi>0</Rwpi>
<wLevel>2</wLevel>
<wLevel>3</wLevel>
<uThumb>0</uThumb>
<uSurpInc>0</uSurpInc>
<uC99>1</uC99>
<uGnu>0</uGnu>
<useXO>0</useXO>
<v6Lang>1</v6Lang>
<v6LangP>1</v6LangP>
<v6Lang>3</v6Lang>
<v6LangP>5</v6LangP>
<vShortEn>1</vShortEn>
<vShortWch>1</vShortWch>
<v6Lto>0</v6Lto>
Expand Down Expand Up @@ -1219,8 +1221,8 @@
<RTE>
<apis/>
<components>
<component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="4.3.0" condition="CMSIS Core">
<package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="4.5.0"/>
<component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.6.0" condition="ARMv6_7_8-M Device">
<package name="CMSIS" schemaVersion="1.7.7" url="http://www.keil.com/pack/" vendor="ARM" version="5.9.0"/>
<targetInfos>
<targetInfo name="BAT_B_R1"/>
<targetInfo name="BAT_B_iCub3"/>
Expand All @@ -1234,11 +1236,6 @@
<Layers>
<Layer>
<LayName>&lt;Project Info&gt;</LayName>
<LayDesc></LayDesc>
<LayUrl></LayUrl>
<LayKeys></LayKeys>
<LayCat></LayCat>
<LayLic></LayLic>
<LayTarg>0</LayTarg>
<LayPrjMark>1</LayPrjMark>
</Layer>
Expand Down
8 changes: 4 additions & 4 deletions emBODY/eBcode/arch-arm/board/bat/BAT_Rev_B/Src/BAT_B.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -10,8 +10,8 @@
#include "BAT_B.h"

char Firmware_vers = 1;
char Revision_vers = 2;
char Build_number = 1;
char Revision_vers = 3;
char Build_number = 0;

uint32_t vtol=100; // voltage tolerance for hysteresis
uint32_t vhyst=0; // voltage hysteresis
Expand Down Expand Up @@ -60,6 +60,8 @@ uint8_t V12motor = 0; // DCDC motor control
uint8_t V12motor_F = 0; // fault
uint8_t HSM_broken = 0; // HSM transistors broken
uint8_t HSM = 0; // HSM control
uint8_t HSM_PG = 0;
uint8_t HSM_F = 0;
uint8_t DCrestart = 0;

uint8_t V12board_bdc = 1; // +++++++++++++++++++++++++++++++++++++++++++++ da cambiare logica ++++++++++++++++++
Expand All @@ -78,8 +80,6 @@ uint8_t timerFSM_motors = 0;
uint8_t DCDC_status_A = 0;
uint8_t DCDC_status_B = 0;
uint8_t DCDC_ctrl = 0;
uint8_t HSM_PG = 0;
uint8_t HSM_F = 0;

uint16_t timeout = 0;
uint16_t time_delay = 500;
Expand Down
17 changes: 16 additions & 1 deletion emBODY/eBcode/arch-arm/board/bat/BAT_Rev_B/Src/can_utility.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -27,13 +27,20 @@ uint32_t TxMailbox;
// then there'll be a getInstance() sort of method for retrieving the struct
// following the signleton usage in OOP
// this will help to make code cleaner and avoid duplications
// Instantiate data for info regarding status of battery pack
// Instantiate data regarding info of battery pack
CAN_TxHeaderTypeDef TxHeader_620;
CAN_RxHeaderTypeDef RxHeader_620;
uint8_t TxData_620[8];
uint8_t RxData_620[8];
uint32_t TxMailbox_620;

// Instantiate data regarding status of battery pack
CAN_TxHeaderTypeDef TxHeader_629;
CAN_RxHeaderTypeDef RxHeader_629;
uint8_t TxData_629[8];
uint8_t RxData_629[8];
uint32_t TxMailbox_629;

// -----------------------------------------------------------------------------------------------------------------------------
// CAN configuration
// -----------------------------------------------------------------------------------------------------------------------------
Expand Down Expand Up @@ -96,6 +103,14 @@ void CAN_Config(void)
TxHeader_620.DLC = 8;
TxHeader_620.TransmitGlobalTime = DISABLE;

/*##-6- Configure Status Battery Pack Transmission process #####################################*/
TxHeader_629.StdId = 0x629;
TxHeader_629.ExtId = 0x01;
TxHeader_629.RTR = CAN_RTR_DATA;
TxHeader_629.IDE = CAN_ID_STD;
TxHeader_629.DLC = 8;
TxHeader_629.TransmitGlobalTime = DISABLE;

}


Expand Down
Loading

0 comments on commit 9e35054

Please sign in to comment.