V1.3

CHANGELOG.txt

@@ -14,3 +14,8 @@ V1.2
 - fixed the clock in mxcube
 - cleaned up PWM_powerground_control()
 - cleaned up the state machine 
+
+V1.3
+- added eeprom.h and eeprom.c, is still WIP
+- void sm_check_charging(); was removed, you need to call 0xF1XX to enter charging mode, precharge is then 3 seconds then the relay closes. call 0x0000 to exit charging
+- removed some variables and some functions

Core/Inc/eeprom.h

@@ -0,0 +1,17 @@
+#ifndef INC_EEPROM_H_
+#define INC_EEPROM_H_
+
+#include "stm32f3xx_hal.h"
+
+#include <stdint.h>
+
+__attribute__((packed)) typedef struct {
+  uint8_t id;
+} EEPROMConfig;
+
+extern EEPROMConfig eeprom_config;
+
+void eeprom_init(I2C_HandleTypeDef* hi2c);
+void eeprom_config_save();
+
+#endif // INC_EEPROM_H_

Core/Inc/state_machine.h

@@ -24,7 +24,6 @@
 // Time to wait between closing relays
 #define RELAY_CLOSE_WAIT 10 // ms
 
-#warning 
 typedef enum {              //  states -> 3 bit. valid transitions: (all could transition to error)
   STATE_INACTIVE,           // INACTIVE   ->  PRECHARGE, CHARGING, ERROR  
   STATE_PRECHARGE,          // PRECHARGE  ->  INACTIVE, READY, DISCHARGE, ERROR
@@ -59,8 +58,6 @@ typedef struct {
 } StateHandle;
 
 extern StateHandle state;
-static bool relay_closed = 0; //NOTE: unused?
-static bool precharge_closed = 0; //NOTE: unused?
 extern int16_t RELAY_BAT_SIDE_VOLTAGE;
 extern int16_t RELAY_ESC_SIDE_VOLTAGE;
 extern int16_t CURRENT_MEASUREMENT;
@@ -82,15 +79,13 @@ State sm_update_error();
 typedef enum { RELAY_MAIN, RELAY_PRECHARGE } Relay;
 void sm_set_relay_positions(State state);
 void sm_set_relay(Relay relay, bool closed);
-void sm_check_charging();
-void sm_check_battery_temperature(int8_t* id, int16_t* temp);
 
+void sm_check_battery_temperature(int8_t* id, int16_t* temp);
 int16_t sm_return_cell_temperature(int id);
 int16_t sm_return_cell_voltage(int id);
 
 void sm_calibrate_powerground();
 void sm_precharge_discharge_manager();
-void sm_powerground_manager(int8_t percent, bool source);
 
 void sm_handle_ams_in(const uint8 *data);
 void sm_check_errors();

Core/Src/eeprom.c

@@ -0,0 +1,60 @@
+#include "eeprom.h"
+#include "errors.h"
+#include "stm32f3xx_hal.h"
+
+#include <string.h>
+
+#define EEPROM_I2C_ADDR          0xA0
+// Don't use the beginning of the EEPROM, since the testbench writes there
+#define EEPROM_CONFIG_BASE       0x0100
+#define EEPROM_CONFIG_ECC_OFFSET 0x20
+
+EEPROMConfig eeprom_config;
+
+static I2C_HandleTypeDef* hi2c;
+
+void eeprom_init(I2C_HandleTypeDef* handle) {
+  hi2c = handle;
+  uint8_t buf[sizeof(EEPROMConfig) * 3];
+  // Read 3 EEPROM config buffers at 32 byte offsets
+  for (size_t ecc_i = 0; ecc_i < 3; ecc_i++) {
+    HAL_StatusTypeDef status = HAL_I2C_Mem_Read(
+        hi2c, EEPROM_I2C_ADDR,
+        EEPROM_CONFIG_BASE + EEPROM_CONFIG_ECC_OFFSET * ecc_i, 2,
+        buf + sizeof(EEPROMConfig) * ecc_i, sizeof(EEPROMConfig), 100);
+    if (status != HAL_OK) {
+      set_error_source(ERROR_SOURCE_EEPROM);
+    }
+  }
+  // ECC
+  for (size_t i = 0; i < sizeof(EEPROMConfig); i++) {
+    const uint8_t a = buf[i + sizeof(EEPROMConfig) * 0];
+    const uint8_t b = buf[i + sizeof(EEPROMConfig) * 1];
+    const uint8_t c = buf[i + sizeof(EEPROMConfig) * 2];
+    if (a == b || a == c) {
+      buf[i] = a;
+    } else if (b == c) {
+      buf[i] = b;
+    } else {
+      set_error_source(ERROR_SOURCE_EEPROM);
+    }
+  }
+
+  memcpy(&eeprom_config, buf, sizeof(EEPROMConfig));
+  // Write back config
+  // eeprom_config.id = 3;
+  eeprom_config_save();
+}
+
+void eeprom_config_save() {
+  for (size_t ecc_i = 0; ecc_i < 3; ecc_i++) {
+    HAL_StatusTypeDef status = HAL_I2C_Mem_Write(
+        hi2c, EEPROM_I2C_ADDR,
+        EEPROM_CONFIG_BASE + EEPROM_CONFIG_ECC_OFFSET * ecc_i, 2,
+        (uint8_t*)&eeprom_config, sizeof(eeprom_config), 100);
+    if (status != HAL_OK) {
+      set_error_source(ERROR_SOURCE_EEPROM);
+    }
+    HAL_Delay(100);
+  }
+}

Core/Src/state_machine.c

@@ -16,7 +16,6 @@ bool CURRENT_MEASUREMENT_ON;
 uint8_t powerground_status;
 uint32_t precharge_timer;
 uint32_t discharge_timer;
-uint32_t charging_timer;
 
 uint32_t powerground_calibration_timer;
 uint8_t powerground_calibration_stage;
@@ -27,9 +26,10 @@ void sm_init(){
   state.current_state = STATE_INACTIVE;
   state.target_state = STATE_INACTIVE;
   state.error_source = 0;
-  precharge_timer = discharge_timer = charging_timer = powerground_calibration_timer = 0;
+  precharge_timer = discharge_timer = powerground_calibration_timer = 0;
 }
 
+#warning change amsState here
 void sm_update(){
   sm_check_errors();
   sm_precharge_discharge_manager();
@@ -202,24 +202,13 @@ void sm_set_relay(Relay relay, bool closed){
   switch (relay) {
     case RELAY_MAIN:
       HAL_GPIO_WritePin(RELAY_ENABLE_GPIO_Port, RELAY_ENABLE_Pin, state);
-      relay_closed = closed;
       break;
     case RELAY_PRECHARGE:
       HAL_GPIO_WritePin(PRECHARGE_ENABLE_GPIO_Port, PRECHARGE_ENABLE_Pin, state);
-      precharge_closed = closed;
       break;
   }
 }
 
-void sm_check_charging(){
-  #warning fix this timestamp check
-  if (RELAY_BAT_SIDE_VOLTAGE < RELAY_ESC_SIDE_VOLTAGE && timestamp == 0)  
-    timestamp = HAL_GetTick() + 5000;
-
-  if (timestamp < HAL_GetTick())
-    state.target_state = STATE_CHARGING_PRECHARGE;
-}
-
 /* returns the ID and temperature of the hottest cell */
 void sm_check_battery_temperature(int8_t *id, int16_t *temp){
   for (int i = 0; i < N_TEMP_SENSORS; i++) {
@@ -232,13 +221,6 @@ void sm_check_battery_temperature(int8_t *id, int16_t *temp){
 
 void sm_precharge_discharge_manager(){
 
-  if (state.current_state != STATE_DISCHARGE && state.target_state == STATE_DISCHARGE){
-    discharge_timer = HAL_GetTick() + DISCHARGE_DURATION;
-  } else if (state.current_state == STATE_DISCHARGE && discharge_timer < HAL_GetTick()) {
-    state.target_state = STATE_INACTIVE;
-    discharge_timer = 0;
-  }
-
   if (state.current_state != STATE_PRECHARGE && state.target_state == STATE_PRECHARGE){
     precharge_timer = HAL_GetTick() + PRECHARGE_DURATION;
   } else if (state.current_state == STATE_PRECHARGE && precharge_timer < HAL_GetTick()) {
@@ -249,32 +231,17 @@ void sm_precharge_discharge_manager(){
   if (state.current_state != STATE_CHARGING_PRECHARGE && state.target_state == STATE_CHARGING_PRECHARGE){
     precharge_timer = HAL_GetTick() + PRECHARGE_DURATION;
   } else if (state.current_state == STATE_CHARGING_PRECHARGE && precharge_timer < HAL_GetTick()) {
-    state.target_state = STATE_READY;
+    state.target_state = STATE_CHARGING;
     precharge_timer = 0;
   }
 
+  if (state.current_state != STATE_DISCHARGE && state.target_state == STATE_DISCHARGE){
+    discharge_timer = HAL_GetTick() + DISCHARGE_DURATION;
+  } else if (state.current_state == STATE_DISCHARGE && discharge_timer < HAL_GetTick()) {
+    state.target_state = STATE_INACTIVE;
+    discharge_timer = 0;
   }
 
-// source 0 -> sm_update()
-// source 1 -> sm_ams_in()
-void sm_powerground_manager(int8_t percent, bool source){
-  if (powerground_calibration_stage != 4 && state.current_state == STATE_ACTIVE){
-    sm_calibrate_powerground();
-  } else if (powerground_calibration_stage == 4){
-    if (state.current_state == STATE_PRECHARGE){
-      PWM_powerground_control(0);
-    } else if (state.current_state == STATE_READY || state.current_state == STATE_ACTIVE){
-      if (percent < 10){
-        PWM_powerground_control(0);
-      } else if (percent > 100){
-        PWM_powerground_control(255);
-        state.current_state = STATE_ACTIVE;
-      }
-      PWM_powerground_control(percent);
-    } else {
-      PWM_powerground_control(255);
-    }
-  }
 }
 
 void sm_calibrate_powerground(){
@@ -330,7 +297,15 @@ void sm_handle_ams_in(const uint8_t *data){
         state.target_state = STATE_ACTIVE;        // READY -> ACTIVE
       }
       break;
-    case 0xFF:                                    // emergency shutdown or EEPROM
+    case 0xF0:
+      if (state.current_state == STATE_INACTIVE){
+        state.target_state = STATE_CHARGING_PRECHARGE;
+      }
+      break;
+    #warning implement this
+    case 0xF1:                                    // EEPROM
+      break;
+    case 0xFF:                                    // EMERGENCY SHUTDOWN
       break;
   }
 }
@@ -380,13 +355,9 @@ void sm_check_errors(){
   }
 }  
 
-int16_t sm_return_cell_temperature(int id){
+int16_t sm_return_cell_temperature(int id){ return tmp1075_temps[id]; }
-  return tmp1075_temps[id];
-}
 
-int16_t sm_return_cell_voltage(int id){
+int16_t sm_return_cell_voltage(int id){ return module.cellVoltages[id]; }
-  return module.cellVoltages[id];
-}
 
 void sm_test_cycle_states(){
   RELAY_BAT_SIDE_VOLTAGE = module.auxVoltages[0];
@@ -419,6 +390,10 @@ void sm_test_cycle_states(){
       state.current_state = STATE_INACTIVE;
       timestamp = HAL_GetTick() + 10000;
       break;
+    case STATE_CHARGING_PRECHARGE:
+    case STATE_CHARGING:
+    case STATE_ERROR:
+      break;
     }
 
   state.target_state = state.current_state;