bms_manager

Installation

first clone the package into the raspberry pi's workspace.

make sure that the parameters LED_PIN and the BATTERY_NODE_ID in bms_manager_node.py are set correctly.

config.txt has to be set up like it has been explained in the CAN HAT documentation (see sources of this document). The config.txt can be found on the boot partition. The boot partition should be mounted under /boot/firmware. If not, the partition has to be mounted to change the config.txt. To find the boot partition run sudo fdisk -l. The boot partition is something like /dev/mmcblk0p1. For the isolated CAN-HAT, this lines are added:

dtparam=spi=on
dtoverlay=mcp2515-can0,oscillator=16000000,interrupt=25,spimaxfrequency=1000000

For the small CAN-HAT this lines have to be changed to:

dtparam=spi=on
dtoverlay=mcp2515-can0,oscillator=12000000,interrupt=25,spimaxfrequency=2000000

to bring up the CAN interface at startup create a text file at /etc/systemd/network/80-can.network that has the following content inside it.

[Match]
Name=can0
[CAN]
BitRate=250K
RestartSec=100ms

Testing:

To test the node: for testing the functionality of the node the script can be executed independantly:

~> cd bms_manager
~> sudo bms_manager/scripts/bms_manager.sh

start bms_manager on start up:

we create a systemd service to start the node on start up.

make the bms_manager.sh file exacutable:

~> sudo chmod 744 scripts/bms_manager.sh

to bring up the bms_manager at startup:

create a text file at /etc/systemd/system/bms_manager.service with the following content:

[Unit]
Description=BMS-manager-node manages the led strip and published bms data in ROS  
Wants=network.target
After=syslog.target network-online.target

[Service]
Type=simple
ExecStart=/home/rosmatch/catkin_ws/src/bms_manager/scripts/bms_manager.sh

[Install]
WantedBy=multi-user.target

please be aware that the ExecStart parameter has to be set correctly to point to the bms_manager.sh script.
Also make sure that the ROS_MASTER_URI is set correctly inside the bms_manager.sh and the roscore is running.

and to start the node:

~> sudo systemctl daemon-reload 
~> sudo systemctl enable bms_manager.service
~> sudo systemctl start bms_manager.service

now the state of charge should get published on SOC ROS-topic and the led strip should light up.

sources

For reference see: the CAN HAT:

[RS485_CAN_HAT](https://www.waveshare.com/wiki/RS485_CAN_HAT)
[RS485_CAN_HAT_(B)](https://www.waveshare.com/wiki/RS485_CAN_HAT_(B))