Public Archive. Code in use from 2022 - 2023

NERduino

Contains the base code for all NERduino applications

Handles board peripherals and onboard sensor processing, in addition to starting local I2C and serial comms

Also contains a centralized CAN Message handler

TODOs

1. Finish testing of AMC6821
2. Finish Implementation of AMC6821
3. Update Naming of CAN Messages

NERduino Library Overview of Usable Function

NERduino object
|
|───private:
|   |───ADXL312 object
|   |───AMC6821 object
|   └───SHT30 object
|
└───public:
    |───nerduino()      # calls Wire.begin() and Serial.begin(9600)
    |───~nerduino()
    |───begin()         #calls the constructors of each chip (returns false if a chip is not found)
    |───getADXLdata(XYZData_t *xyzbuf)  # fills an XYZDATA_t buffer
    └───...more to be added

CAN Functions (currently not bound to an object)
|
|───sendMessage(uint32_t id, uint8_t len, const uint8_t *buf)   # sends a CAN Message w/ params
|───initializeCAN(uint8_t canLine)      # initializes the CAN functionality of node
|
|───canHandler_CANMSG_BMSSHUTDOWN(const CAN_message_t &msg)         # specific CAN handle commands
|───...
└───canHandler_CANMSG_MC_BMS_INTEGRATION   (const CAN_message_t &msg)

Code Overview

Note : the NERduino.begin() function must be called to read chip data

CAN Message Handler

The master CAN handler files allow for all CAN messages on all nodes to be processed using the same function and a large switch statement. It also allows for configurable CAN ID's that are saved in each node's EEPROM.

To send a message on the CAN network, use the sendMessage(uint32_t id, uint8_t len, const uint8_t *buf) function.

To add fuctionality to a certain received CAN ID, simply implement one of the following functions that correspond to each CAN ID, the compiler will know to use the function you created:

void canHandler_CANMSG_BMSACCSTATUS         (const CAN_message_t &msg);
void canHandler_CANMSG_BMSCELLDATA          (const CAN_message_t &msg);
void canHandler_CANMSG_BMSCURRENTLIMITS     (const CAN_message_t &msg);
void canHandler_CANMSG_BMSSHUTDOWN          (const CAN_message_t &msg);
void canHandler_CANMSG_BMSDTCSTATUS         (const CAN_message_t &msg);
void canHandler_CANMSG_ACCELERATIONCTRLINFO (const CAN_message_t &msg);
void canHandler_CANMSG_MOTORTEMP1           (const CAN_message_t &msg);
void canHandler_CANMSG_MOTORTEMP2           (const CAN_message_t &msg);
void canHandler_CANMSG_MOTORETEMP3          (const CAN_message_t &msg);
void canHandler_CANMSG_MOTORMOTION          (const CAN_message_t &msg);
void canHandler_CANMSG_MOTORCURRENT         (const CAN_message_t &msg);
void canHandler_CANMSG_MOTORVOLTAGE         (const CAN_message_t &msg);
void canHandler_CANMSG_MCVEHICLESTATE       (const CAN_message_t &msg);
void canHandler_CANMSG_ERR_MCFAULT          (const CAN_message_t &msg);
void canHandler_CANMSG_MOTORTORQUETIMER     (const CAN_message_t &msg);
void canHandler_CANMSG_BMSSTATUS2           (const CAN_message_t &msg);
void canHandler_CANMSG_BMSCHARGEDISCHARGE   (const CAN_message_t &msg);
void canHandler_CANMSG_MC_BMS_INTEGRATION   (const CAN_message_t &msg);
void canHandler_CANMSG_MC_SETPARAMETER      (const CAN_message_t &msg);
void canHandler_CANMSG_BMSCHARGINGSTATE     (const CAN_message_t &msg);
void canHandler_CANMSG_BMSCURRENTS          (const CAN_message_t &msg);

ADXL312 Accelerometer

ADXL312 Datasheet

A small, 3 axis accelerometer that we are using to get acceleration data. Currently, the acceleration data is being retrieved through getADXLdata(XYZData_t *xyzbuf) which retrieves the XYZ register data through the ADXL specific reading and writing code.

XYZData_t Data type for ADXL312

XYZData_t
|───.XData.data  # Each of these are signed 16 bit integers with axis data
|───.YData.data
└───.ZData.data

SHT30 Humidity Sensor

SHT30 Datasheet

A small temperature and humidity sensor we are using to get the humidity and temperature of each node. The data can be accessed through getSHTdata(HumidData_t *humidbuf)(WIP) which retrieves a buffer of humidity and temperature data through SHT specific read and write commands.

HumidData_t Data type for SHT30

HumidData_t
|───.tempC       # Ambient Temp in Celsius float
|───.tempF       # Ambient Temp in Fahrenheit float
└───.relHumid    # Relative Humidity float

AMC6821 PWM Generator (WIP)

AMC6821 Datasheet

A pulse width modulation chip specifically designed for intelligently controlling fan behavior. In the NERduino, howeveer, all fan-related functions of the chip are ignored, and the chip is solely used for generating a PWM signal. The duty cycle can be set via setDutyCycle(uint8_t dutycycle) (WIP) which sets the PWM Duty Cycle to a value between 0-255. The functionality of this chip may differ per device due to debug flags.