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Motors turning

This commit is contained in:
Jasper Blanckenburg 2023-04-24 19:20:21 +02:00
parent f5e26aad24
commit 6c27b83377
4 changed files with 19 additions and 14 deletions
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4
Core/Inc/shunt_monitoring.h
View File

@ -9,8 +9,8 @@
typedef struct {
int32_t current;
int32_t voltage1;
int32_t voltage2;
int32_t voltage_bat;
int32_t voltage_veh;
int32_t voltage3;
int32_t busbartemp;
int32_t power;

2
Core/Inc/slave_monitoring.h
View File

@ -3,7 +3,7 @@
#include <stdint.h>
#define N_SLAVES 6
#define N_SLAVES 5
#define N_CELLS_SERIES 17
#define N_CELLS_PARALLEL 5
#define N_TEMP_SENSORS 32

8
Core/Src/shunt_monitoring.c
View File

@ -12,8 +12,8 @@ ShuntData shunt_data;
void shunt_init() {
shunt_data.current = 0;
shunt_data.voltage1 = 0;
shunt_data.voltage2 = 0;
shunt_data.voltage_veh = 0;
shunt_data.voltage_bat = 0;
shunt_data.voltage3 = 0;
shunt_data.busbartemp = 0;
shunt_data.power = 0;
@ -36,10 +36,10 @@ void shunt_handle_can_msg(uint16_t id, const uint8_t *data) {
shunt_data.current = result;
break;
case CAN_ID_SHUNT_VOLTAGE1:
shunt_data.voltage1 = result;
shunt_data.voltage_bat = result;
break;
case CAN_ID_SHUNT_VOLTAGE2:
shunt_data.voltage2 = result;
shunt_data.voltage_veh = result;
break;
case CAN_ID_SHUNT_VOLTAGE3:
shunt_data.voltage3 = result;

19
Core/Src/ts_state_machine.c
View File

@ -12,6 +12,11 @@ static uint32_t precharge_95_reached_timestamp = 0;
static uint32_t charging_check_timestamp = 0;
static uint32_t discharge_begin_timestamp = 0;
static int sdc_is_closed() {
return HAL_GPIO_ReadPin(SDC_VOLTAGE_GPIO_Port, SDC_VOLTAGE_Pin) ==
GPIO_PIN_SET;
}
void ts_sm_init() {
ts_state.current_state = TS_INACTIVE;
ts_state.target_state = TS_INACTIVE;
@ -63,7 +68,7 @@ TSState ts_sm_update_inactive() {
}
TSState ts_sm_update_active() {
if (ts_state.target_state == TS_INACTIVE) {
if (ts_state.target_state == TS_INACTIVE || !sdc_is_closed()) {
discharge_begin_timestamp = HAL_GetTick();
return TS_DISCHARGE;
}
@ -72,12 +77,12 @@ TSState ts_sm_update_active() {
}
TSState ts_sm_update_precharge() {
if (ts_state.target_state == TS_INACTIVE) {
if (ts_state.target_state == TS_INACTIVE || !sdc_is_closed()) {
discharge_begin_timestamp = HAL_GetTick();
return TS_DISCHARGE;
}
if (shunt_data.voltage2 > MIN_VEHICLE_SIDE_VOLTAGE &&
shunt_data.voltage2 > 0.95 * shunt_data.voltage3) {
if (shunt_data.voltage_veh > MIN_VEHICLE_SIDE_VOLTAGE &&
shunt_data.voltage_veh > 0.95 * shunt_data.voltage_bat) {
uint32_t now = HAL_GetTick();
if (precharge_95_reached_timestamp == 0) {
precharge_95_reached_timestamp = now;
@ -114,12 +119,12 @@ TSState ts_sm_update_error() {
}
TSState ts_sm_update_charging_check() {
if (ts_state.target_state == TS_INACTIVE) {
if (ts_state.target_state == TS_INACTIVE || !sdc_is_closed()) {
discharge_begin_timestamp = HAL_GetTick();
return TS_DISCHARGE;
}
if (shunt_data.voltage2 > shunt_data.voltage3) {
if (shunt_data.voltage_veh > shunt_data.voltage_bat) {
return TS_CHARGING;
} else if (HAL_GetTick() - charging_check_timestamp >
MAX_CHARGING_CHECK_DURATION) {
@ -130,7 +135,7 @@ TSState ts_sm_update_charging_check() {
}
TSState ts_sm_update_charging() {
if (ts_state.target_state == TS_INACTIVE) {
if (ts_state.target_state == TS_INACTIVE || !sdc_is_closed()) {
discharge_begin_timestamp = HAL_GetTick();
return TS_DISCHARGE;
}