From bdddc49dab14a9c3145f124308f7b86f1f76cf70 Mon Sep 17 00:00:00 2001
From: Kilian Bracher <k.bracher@fasttube.de>
Date: Sun, 13 Apr 2025 15:42:53 +0200
Subject: [PATCH] add battery error handling
---
AMS_Master_Code/Core/Src/battery.c | 31 +++++++++++++++++++++++++++++-
1 file changed, 30 insertions(+), 1 deletion(-)
diff --git a/AMS_Master_Code/Core/Src/battery.c b/AMS_Master_Code/Core/Src/battery.c
index 16c16db..7766d44 100644
--- a/AMS_Master_Code/Core/Src/battery.c
+++ b/AMS_Master_Code/Core/Src/battery.c
@@ -1,11 +1,16 @@
#include "battery.h"
#include "ADBMS_Driver.h"
#include "NTC.h"
+#include "can.h"
#include "config_ADBMS6830.h"
+#include "ts_state_machine.h"
#include <string.h>
#define SWO_LOG_PREFIX "[BATTERY] "
#include "swo_log.h"
+
+#define MAX_ERRORS 4 // max number of errors in window before panic
+#define MAX_ERRORS_WINDOW_SIZE 16 // size of the error window for error detection
uint16_t min_voltage = 0xFFFF;
uint16_t max_voltage = 0;
@@ -16,6 +21,26 @@ typeof(module_temps) module_temps = {[0 ... N_BMS - 1] = {INT16_MAX, INT16_MIN}}
int16_t cellTemps[N_BMS][N_CELLS];
+static bool error_window[MAX_ERRORS_WINDOW_SIZE] = {};
+static size_t error_window_index = 0;
+static size_t error_count = 0;
+
+static inline void update_error_window(bool error, int id) {
+ error_count -= error_window[error_window_index] ? 1 : 0;
+ error_count += error ? 1 : 0;
+
+ if (error_count >= MAX_ERRORS) {
+ can_send_error(TS_ERRORKIND_SLAVE_PANIC, id);
+ ts_sm_set_error_source(TS_ERROR_SOURCE_SLAVES, TS_ERRORKIND_SLAVE_PANIC, true);
+ } else {
+ ts_sm_set_error_source(TS_ERROR_SOURCE_SLAVES, TS_ERRORKIND_SLAVE_PANIC, false);
+ }
+
+ error_window[error_window_index] = error;
+ error_window_index += 1;
+ error_window_index %= MAX_ERRORS_WINDOW_SIZE;
+}
+
HAL_StatusTypeDef battery_init(SPI_HandleTypeDef *hspi) {
auto ret = AMS_Init(hspi);
if (ret.status != ADBMS_NO_ERROR) {
@@ -33,14 +58,18 @@ HAL_StatusTypeDef battery_init(SPI_HandleTypeDef *hspi) {
HAL_StatusTypeDef battery_update() {
auto ret = AMS_Idle_Loop();
if (ret.status != ADBMS_NO_ERROR) {
- debug_log(LOG_LEVEL_ERROR, "Failed to update battery data: %s",
+ debug_log(LOG_LEVEL_ERROR, "Error while updating battery data: %s",
ADBMS_Status_ToString(ret.status));
if (ret.bms_id != -1) {
debug_log_cont(LOG_LEVEL_ERROR, " (on BMS ID: %hd)", ret.bms_id);
}
+
+ update_error_window(true, ret.bms_id);
return HAL_ERROR;
}
+ update_error_window(false, ret.bms_id);
+
min_voltage = 0xFFFF;
max_voltage = 0;
min_temp = INT16_MAX;