path: root/mycan.c

// references:
// https://www.waveshare.com/wiki/RS485_CAN_HAT
// https://github.com/howerj/dbcc MIT

/* build:
cc -Wall -c all_SRETest.c
cc -Wall -c mycan.c
cc -Wall mycan.o all_SRETest.o -o mycan
*/

/* test:
sudo ip link add type vcan
sudo ip link set dev vcan0 type vcan
sudo ip link set dev vcan0 up
cansend vcan0 630#02.00.02.00.02.00.02.00
cansend vcan0 680#02.00.02.00.02.00.02.00
# if cell temperature is signed (can be negative), 00.FF sends -256
cansend vcan0 680#00.FF.02.00.02.00.02.00
*/

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>

// (GPL-2.0-only WITH Linux-syscall-note) OR BSD-3-Clause
#include <linux/can.h>
#include <linux/can/raw.h>

// time()
#include <time.h>

#include "all_SRE_edited.h"

#define CAN_VOLT_LEN 24
#define CAN_TEMP_LEN 16
// max wire unsigned number is 65535
// max wire signed number maybe is -32768 to 32767
// voltage max format 7 bytes ,6.5535
// temp max format 4 bytes ,255
// timestamp max 10 bytes 1745742182
// 1 timestamp, 96 voltage, 48 temp, 1 \n
// 10+96*7+96*4+1=1067 bytes
#define ENTRY_SIZE 1067

// Convert can message to uint64_t
// https://github.com/howerj/dbcc MIT
static uint64_t u64_from_can_msg(const uint8_t m[8]) {
	return ((uint64_t)m[7] << 56) | ((uint64_t)m[6] << 48) | ((uint64_t)m[5] << 40) | ((uint64_t)m[4] << 32) 
		| ((uint64_t)m[3] << 24) | ((uint64_t)m[2] << 16) | ((uint64_t)m[1] << 8) | ((uint64_t)m[0] << 0);
}

int main(int argc, char **argv)
{
	int ret;
	int s, nbytes;
	struct sockaddr_can addr;
	struct ifreq ifr;
	struct can_frame frame;
	char *filename;
	// Initialize filename to $XDG_DATA_HOME/mycan.csv. If no XDG_DATA_HOME
	// environment variable, then initialize to $HOME/.local/share/mycan.csv
	{
		// usually ~/.local/share
		const char *dir=getenv("XDG_DATA_HOME");
		const char *str;
		if(dir != NULL)
			str="/mycan.csv";
		else
		{
			str="/.local/share/mycan.csv";
			dir=getenv("HOME");
		}
		filename=malloc((strlen(dir)+strlen(str)+1)*sizeof(char));
		sprintf(filename,"%s%s",dir,str);
	}

	can_obj_all_sre_edited_h_t obj;
	dbcc_time_stamp_t t, t_before;
	uint64_t can_message_u64;
	//memset(&obj, 0, sizeof(can_obj_all_sretest_h_t));

	memset(&frame, 0, sizeof(struct can_frame));

	// No need any more because I use systemd unit to autostart configure CAN network interface
	//system("sudo ip link set can0 type can bitrate 500000");
	//system("sudo ifconfig can0 up");

	// Check and fix corrupted .csv file due to power failure.
	for(FILE *fp;(fp=fopen(filename,"r"))!=NULL;)
	{
		char ch;
		uint32_t offset;
		int remain;
		fseek(fp,-1L,SEEK_END);
		fscanf(fp,"%c",&ch);
		fseek(fp,0L,SEEK_END);
		offset=ftell(fp);
		//printf("csv file end offset: %d\n",offset);
		fclose(fp);
		remain=offset%ENTRY_SIZE;
		if(remain)
		{
			printf("Corrupted .csv file not a multiple of %d, removing last line\n",ENTRY_SIZE);
			truncate(filename,offset-remain);
		}
		else if(ch != '\n')
		{
			printf("Corrupted .csv file last character not \\n, removing last %d bytes of data\n",ENTRY_SIZE);
			truncate(filename,offset-ENTRY_SIZE);
		}
		else
			break;
	}
	// need fflush for systemd to log my stdout
	// without fflush, fprintf stderr works, printf not work, fprintf stdout not work
	// maybe other ways to flush buffers or disable buffering (with setbuf and setvbuf) also works
	// https://unix.stackexchange.com/questions/725331#comment1376185_725331
	// https://stackoverflow.com/a/7876743
	// https://unix.stackexchange.com/questions/785686#comment1505589_785686
	fflush(stdout);

	// https://www.waveshare.com/wiki/RS485_CAN_HAT
	// Using Linux kernel's SocketCAN
	// https://docs.kernel.org/networking/can.html
	//1.Create socket
	s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
	if (s < 0) {
		perror("socket PF_CAN failed");
		return 1;
	}

	//2.Specify can0 device
	if(argc>1)
		strcpy(ifr.ifr_name, argv[1]);
	else
		strcpy(ifr.ifr_name, "can0");
	ret = ioctl(s, SIOCGIFINDEX, &ifr);
	if (ret < 0) {
		perror("ioctl failed");
		return 1;
	}

	//3.Bind the socket to can0
	addr.can_family = PF_CAN;
	addr.can_ifindex = ifr.ifr_ifindex;
	ret = bind(s, (struct sockaddr *)&addr, sizeof(addr));
	if (ret < 0) {
		perror("bind failed");
		return 1;
	}

	//4.Define receive rules
	// Adding masks to the socket, to only read CAN ids I want.
	// 24 (voltage) + 16 (temp) can ids
	struct can_filter rfilter[CAN_VOLT_LEN+CAN_TEMP_LEN];
	rfilter[0].can_id = 0x630;
	rfilter[0].can_mask = CAN_SFF_MASK;
	rfilter[CAN_VOLT_LEN].can_id = 0x680;
	rfilter[CAN_VOLT_LEN].can_mask = CAN_SFF_MASK;
	for(int i=1;i<CAN_VOLT_LEN;i++)
	{
		rfilter[i].can_id = rfilter[i-1].can_id+1;
		rfilter[i].can_mask = CAN_SFF_MASK;
	}
	for(int i=CAN_VOLT_LEN+1;i<CAN_VOLT_LEN+CAN_TEMP_LEN;i++)
	{
		rfilter[i].can_id = rfilter[i-1].can_id+1;
		rfilter[i].can_mask = CAN_SFF_MASK;
	}
	setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));

	//5.Receive data
	for(t_before=time(NULL);;)
	{
		nbytes = read(s, &frame, sizeof(frame));
		if(nbytes > 0) {
			double out;
			uint8_t iout;
			FILE * fp;

			if((fp=fopen(filename,"a"))==NULL)
			{
				fprintf(stderr,"Can't open file \"%s\".\n",filename);
				exit(1);
			}

			//printf("can_id = 0x%X\r\ncan_dlc = %d \r\n", frame.can_id, frame.can_dlc);
			//for(int i = 0; i < 8; i++)
			//	printf("data[%d] = %d\r\n", i, frame.data[i]);
			can_message_u64 = u64_from_can_msg(frame.data);
			t=time(NULL);
			// Unpack CAN message and save to obj. This function is automatically generated using dbcc.
			unpack_message(&obj,frame.can_id,can_message_u64,frame.can_dlc,t);
			//printf("my prints:\n");
			//print_message(&obj, frame.can_id, stdout);
			//printf("my timestamp: %u\n", t);

			// Decode CAN message and write to file, using decode functions generated automatically using dbcc.
			if(t>t_before)
			{
				t_before=t;
				// Maybe better if concat strings and print all at once, but it would be more complicated, I tried, see commit a4dcf5ba5a
				fprintf(fp,"%u",t);
				decode_can_0x630_BMS_M1_Cell_1_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x630_BMS_M1_Cell_2_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x630_BMS_M1_Cell_3_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x630_BMS_M1_Cell_4_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x631_BMS_M1_Cell_5_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x631_BMS_M1_Cell_6_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x631_BMS_M1_Cell_7_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x631_BMS_M1_Cell_8_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x632_BMS_M1_Cell_9_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x632_BMS_M1_Cell_10_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x632_BMS_M1_Cell_11_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x632_BMS_M1_Cell_12_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x633_BMS_M2_Cell_1_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x633_BMS_M2_Cell_2_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x633_BMS_M2_Cell_3_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x633_BMS_M2_Cell_4_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x634_BMS_M2_Cell_5_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x634_BMS_M2_Cell_6_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x634_BMS_M2_Cell_7_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x634_BMS_M2_Cell_8_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x635_BMS_M2_Cell_9_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x635_BMS_M2_Cell_10_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x635_BMS_M2_Cell_11_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x635_BMS_M2_Cell_12_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x636_BMS_M3_Cell_1_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x636_BMS_M3_Cell_2_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x636_BMS_M3_Cell_3_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x636_BMS_M3_Cell_4_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x637_BMS_M3_Cell_5_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x637_BMS_M3_Cell_6_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x637_BMS_M3_Cell_7_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x637_BMS_M3_Cell_8_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x638_BMS_M3_Cell_9_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x638_BMS_M3_Cell_10_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x638_BMS_M3_Cell_11_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x638_BMS_M3_Cell_12_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x639_BMS_M4_Cell_1_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x639_BMS_M4_Cell_2_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x639_BMS_M4_Cell_3_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x639_BMS_M4_Cell_4_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63a_BMS_M4_Cell_5_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63a_BMS_M4_Cell_6_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63a_BMS_M4_Cell_7_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63a_BMS_M4_Cell_8_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63b_BMS_M4_Cell_9_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63b_BMS_M4_Cell_10_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63b_BMS_M4_Cell_11_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63b_BMS_M4_Cell_12_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63c_BMS_M5_Cell_1_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63c_BMS_M5_Cell_2_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63c_BMS_M5_Cell_3_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63c_BMS_M5_Cell_4_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63d_BMS_M5_Cell_5_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63d_BMS_M5_Cell_6_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63d_BMS_M5_Cell_7_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63d_BMS_M5_Cell_8_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63e_BMS_M5_Cell_9_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63e_BMS_M5_Cell_10_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63e_BMS_M5_Cell_11_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63e_BMS_M5_Cell_12_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63f_BMS_M6_Cell_1_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63f_BMS_M6_Cell_2_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63f_BMS_M6_Cell_3_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x63f_BMS_M6_Cell_4_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x640_BMS_M6_Cell_5_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x640_BMS_M6_Cell_6_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x640_BMS_M6_Cell_7_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x640_BMS_M6_Cell_8_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x641_BMS_M6_Cell_9_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x641_BMS_M6_Cell_10_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x641_BMS_M6_Cell_11_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x641_BMS_M6_Cell_12_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x642_BMS_M7_Cell_1_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x642_BMS_M7_Cell_2_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x642_BMS_M7_Cell_3_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x642_BMS_M7_Cell_4_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x643_BMS_M7_Cell_5_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x643_BMS_M7_Cell_6_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x643_BMS_M7_Cell_7_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x643_BMS_M7_Cell_8_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x644_BMS_M7_Cell_9_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x644_BMS_M7_Cell_10_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x644_BMS_M7_Cell_11_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x644_BMS_M7_Cell_12_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x645_BMS_M8_Cell_1_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x645_BMS_M8_Cell_2_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x645_BMS_M8_Cell_3_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x645_BMS_M8_Cell_4_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x646_BMS_M8_Cell_5_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x646_BMS_M8_Cell_6_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x646_BMS_M8_Cell_7_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x646_BMS_M8_Cell_8_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x647_BMS_M8_Cell_9_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x647_BMS_M8_Cell_10_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x647_BMS_M8_Cell_11_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x647_BMS_M8_Cell_12_Voltage(&obj,&out);
				fprintf(fp,",%6.4f",out);
				decode_can_0x680_BMS_M1_Cell_1_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x680_BMS_M1_Cell_2_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x680_BMS_M1_Cell_3_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x680_BMS_M1_Cell_4_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x680_BMS_M1_Cell_5_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x680_BMS_M1_Cell_6_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x680_BMS_M1_Cell_7_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x680_BMS_M1_Cell_8_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x681_BMS_M1_Cell_9_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x681_BMS_M1_Cell_10_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x681_BMS_M1_Cell_11_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x681_BMS_M1_Cell_12_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x682_BMS_M2_Cell_1_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x682_BMS_M2_Cell_2_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x682_BMS_M2_Cell_3_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x682_BMS_M2_Cell_4_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x682_BMS_M2_Cell_5_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x682_BMS_M2_Cell_6_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x682_BMS_M2_Cell_7_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x682_BMS_M2_Cell_8_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x683_BMS_M2_Cell_9_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x683_BMS_M2_Cell_10_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x683_BMS_M2_Cell_11_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x683_BMS_M2_Cell_12_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x684_BMS_M3_Cell_1_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x684_BMS_M3_Cell_2_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x684_BMS_M3_Cell_3_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x684_BMS_M3_Cell_4_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x684_BMS_M3_Cell_5_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x684_BMS_M3_Cell_6_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x684_BMS_M3_Cell_7_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x684_BMS_M3_Cell_8_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x685_BMS_M3_Cell_9_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x685_BMS_M3_Cell_10_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x685_BMS_M3_Cell_11_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x685_BMS_M3_Cell_12_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x686_BMS_M4_Cell_1_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x686_BMS_M4_Cell_2_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x686_BMS_M4_Cell_3_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x686_BMS_M4_Cell_4_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x686_BMS_M4_Cell_5_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x686_BMS_M4_Cell_6_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x686_BMS_M4_Cell_7_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x686_BMS_M4_Cell_8_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x687_BMS_M4_Cell_9_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x687_BMS_M4_Cell_10_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x687_BMS_M4_Cell_11_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x687_BMS_M4_Cell_12_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x688_BMS_M5_Cell_1_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x688_BMS_M5_Cell_2_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x688_BMS_M5_Cell_3_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x688_BMS_M5_Cell_4_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x688_BMS_M5_Cell_5_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x688_BMS_M5_Cell_6_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x688_BMS_M5_Cell_7_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x688_BMS_M5_Cell_8_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x689_BMS_M5_Cell_9_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x689_BMS_M5_Cell_10_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x689_BMS_M5_Cell_11_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x689_BMS_M5_Cell_12_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68a_BMS_M6_Cell_1_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68a_BMS_M6_Cell_2_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68a_BMS_M6_Cell_3_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68a_BMS_M6_Cell_4_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68a_BMS_M6_Cell_5_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68a_BMS_M6_Cell_6_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68a_BMS_M6_Cell_7_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68a_BMS_M6_Cell_8_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68b_BMS_M6_Cell_9_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68b_BMS_M6_Cell_10_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68b_BMS_M6_Cell_11_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68b_BMS_M6_Cell_12_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68c_BMS_M7_Cell_1_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68c_BMS_M7_Cell_2_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68c_BMS_M7_Cell_3_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68c_BMS_M7_Cell_4_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68c_BMS_M7_Cell_5_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68c_BMS_M7_Cell_6_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68c_BMS_M7_Cell_7_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68c_BMS_M7_Cell_8_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68d_BMS_M7_Cell_9_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68d_BMS_M7_Cell_10_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68d_BMS_M7_Cell_11_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68d_BMS_M7_Cell_12_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68e_BMS_M8_Cell_1_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68e_BMS_M8_Cell_2_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68e_BMS_M8_Cell_3_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68e_BMS_M8_Cell_4_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68e_BMS_M8_Cell_5_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68e_BMS_M8_Cell_6_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68e_BMS_M8_Cell_7_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68e_BMS_M8_Cell_8_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68f_BMS_M8_Cell_9_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68f_BMS_M8_Cell_10_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68f_BMS_M8_Cell_11_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu",iout);
				decode_can_0x68f_BMS_M8_Cell_12_Thermistor(&obj,&iout);
				fprintf(fp,",%3hhu\n",iout);
			}

			fclose(fp);
		}
	}

	//6.Close the socket and can0
	close(s);
	//system("sudo ifconfig can0 down");

	free(filename);

	return 0;
}