BMS Class Reference

BMS class for managing the Accumulator (Kclear BMS) via CAN bus. More...

#include <BMS.hpp>

Collaboration diagram for BMS:

Public Member Functions
	BMS (MCP2515 &bms_can_, CarState &car_)
	Construct a new BMS object, initing car.pedal.status.bits.hv_ready to false.
bool	hvReady () const
	Returns true if HV has been started.
void	initFilter ()
	Initializes the CAN filters for reading BMS data. Call after constructing the BMS object and the MCP2515 object it references to ensure BMS data is being read correctly. This function will block until the filter is set correctly on the MCP2515. If it never succeed, the program will be stuck here. Consider that in the case that we can't even set the filter on the MCP2515, we probably can't communicate with the BMS at all, so being stuck here is acceptable since the car won't start without BMS communication anyway.
void	checkHv ()
	Attempts to start HV. First check BMS is in standby(3) state, then send the HV start command. Keep sending the command until the BMS state changes to precharge(4). Sets car.pedal.status.bits.hv_ready to true when BMS state changes to run(5).

Private Attributes
MCP2515 &	bms_can
can_frame	rx_bms_msg
CarState &	car

Detailed Description

BMS class for managing the Accumulator (Kclear BMS) via CAN bus.

Definition at line 46 of file BMS.hpp.

Constructor & Destructor Documentation

BMS()

BMS::BMS	(	MCP2515 &	bms_can_,
		CarState &	car_
	)

Construct a new BMS object, initing car.pedal.status.bits.hv_ready to false.

Parameters

bms_can_	Reference to MCP2515 for BMS CAN bus
car_	Reference to CarState, for the status flags and setting BMS data

Definition at line 32 of file BMS.cpp.

References TelemetryFramePedal::StateByteStatus::bits, car, TelemetryFramePedal::StateByteStatus::Bits::hv_ready, CarState::pedal, and TelemetryFramePedal::status.

Member Function Documentation

checkHv()

void BMS::checkHv

(

)

Attempts to start HV. First check BMS is in standby(3) state, then send the HV start command. Keep sending the command until the BMS state changes to precharge(4). Sets car.pedal.status.bits.hv_ready to true when BMS state changes to run(5).

Definition at line 62 of file BMS.cpp.

References TelemetryFramePedal::StateByteStatus::bits, bms_can, TelemetryFramePedal::StateByteStatus::Bits::bms_no_msg, car, DBGLN_GENERAL(), TelemetryFramePedal::StateByteStatus::Bits::hv_ready, CarState::pedal, rx_bms_msg, start_hv_msg, and TelemetryFramePedal::status.

Referenced by scheduler_bms().

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hvReady()

bool BMS::hvReady ( ) const

inline

Returns true if HV has been started.

Returns

true if HV started, false otherwise

Definition at line 54 of file BMS.hpp.

References TelemetryFramePedal::StateByteStatus::bits, car, TelemetryFramePedal::StateByteStatus::Bits::hv_ready, CarState::pedal, and TelemetryFramePedal::status.

initFilter()

void BMS::initFilter

(

)

Initializes the CAN filters for reading BMS data. Call after constructing the BMS object and the MCP2515 object it references to ensure BMS data is being read correctly. This function will block until the filter is set correctly on the MCP2515. If it never succeed, the program will be stuck here. Consider that in the case that we can't even set the filter on the MCP2515, we probably can't communicate with the BMS at all, so being stuck here is acceptable since the car won't start without BMS communication anyway.

Definition at line 45 of file BMS.cpp.

References bms_can, and BMS_INFO_EXT.

Referenced by setup().

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Member Data Documentation

bms_can

MCP2515& BMS::bms_can

private

Reference to MCP2515 for BMS CAN bus

Definition at line 59 of file BMS.hpp.

Referenced by checkHv(), and initFilter().

car

CarState& BMS::car

private

Reference to CarState, for the status flags and setting BMS data

Definition at line 66 of file BMS.hpp.

Referenced by BMS(), checkHv(), and hvReady().

rx_bms_msg

can_frame BMS::rx_bms_msg

private

Initial value:

= {
        0,   
        0,   
        {0}, 
    }

Local storage for received BMS CAN frame

Definition at line 61 of file BMS.hpp.

Referenced by checkHv().

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The documentation for this class was generated from the following files:

• vehicle_control_unit/lib/BMS/BMS.hpp
• vehicle_control_unit/lib/BMS/BMS.cpp