CAN Nodes and API 2015-2016

This repository contains all the CAN programming for the 2015-2016 school year.

Usage

To make and flash an ATmega with a certain Node's code (the most common operation), use the following:

$ sudo make build={folder name} flash

Note that {name} should be the folder of the *.c code you wish to flash. This allows you to split up your code into multiple files if you need it. For example:

$ sudo make build=demos/Blinky flash

TODO

Make more nodes

Nodes

note: These nodes are not necessarily in order of importance

#####All

• Detect heartbeat and have auto-resetable CAN line in case it detects that its own CAN line has failed.
• Sends out some sort of heartbeat message
• Internal watchdog circuit activation
• Completely asynchronous code architecture
• CPU shutoff when not interrupted. There are no nodes which require there to be ANY code in the infinite for(;;) loop (or while loop if thats how you roll).

#####Dashboard

• Display all necessary information to the driver via LCD
• Detect startup button
• Detect the switches that are attached to it

#####Panel Board

• Keep track of all nodes and error messages on the CAN line. Will initiate shutdown sequence if necessary, or light up the correct error lights.
• Sends out heartbeat so that every node knows its CAN line is working

Bulkhead

• Senses Throttle position every 100ms and sends a CAN message with information
• Senses Break every 100ms and sends a CAN message with information. Will also set throttle to 0 if break is pressed.
• Detects throttle implausibility with 10% difference on Pots as well as over-reading or under-reading
• Wheel speed measurement

Air-control Board

• Detects when the motor controller has finished precharging.

#####BMS x 4

• Monitors cell voltage to ensure that they do not overvolt (>4.15V) or undervolt (<3V).

• Shunts cells if over-volted for 9/10 of a second then rests for a tenth of a second

• Monitors temperature of cells

• Monitors temperature of self

• On undervolt or overtemperature it will shutdown the power draw of the car and send a CAN notification

• Heartbeat includes cell shunting status

#####MCC

• Supplies PWM on isolated line to motor controller throttle inputs.
• CAN message updates throttle with timeout system to disable throttle if CAN message is not timely.
• Recieves wheel speed updates for traction control
• Manages FS switch for Motor controller functionality