V1.0

Core/Src/AMS_HighLevel.c

@@ -6,6 +6,7 @@
  */
 
 #include "AMS_HighLevel.h"
+#include "ADBMS_Abstraction.h"
 #include "ADBMS_LL_Driver.h"
 #include <stdint.h>
 
@@ -169,10 +170,7 @@ uint8_t AMS_Idle_Loop() {
 
   mcuDelay(10);
 
-  if ((module.overVoltage | module.underVoltage)) {
+  AMS_Balancing_Loop();
-    
-  }
-
   return 0;
 }
 
@@ -185,9 +183,9 @@ uint8_t AMS_Charging_Loop() { return 0; }
 uint8_t AMS_Discharging_Loop() { return 0; }
 
 uint8_t AMS_Balancing_Loop() {
-  AMS_Idle_Loop();
   uint8_t id_cell_lowest_voltage = 0;
   uint8_t num_of_cells_to_balance = 0;
+  uint32_t channels = 0;
   for (int i = 0; i < 13; i++) {
     if (module.cellVoltages[i] < module.cellVoltages[id_cell_lowest_voltage]) 
       id_cell_lowest_voltage = i;
@@ -195,18 +193,17 @@ uint8_t AMS_Balancing_Loop() {
 
   for (int i = 0; i < 13; i++) {
     if (module.cellVoltages[i] - CELL_VOLTAGE_DIFF_BALANCING < module.cellVoltages[id_cell_lowest_voltage]){
-      amsConfigBalancing((1 << i), 0xF);
+      channels |= 1 << i;
       num_of_cells_to_balance++;
-    } else {
-      amsConfigBalancing((1 << i), 0x0);
     }
   }
+
   if (num_of_cells_to_balance == 0){
     balancingActive = 0;
     return 0;
   }
   
+  amsConfigBalancing(channels, 0xF);
   balancingActive = 1;
-  amsStartBalancing(0);
   return 0;
 }

Core/Src/can.c

@@ -93,9 +93,9 @@ void can_handle_send_status() {
     uint16_t highest_temp = 0;
     sm_check_battery_temperature(&id_highest_temp, &highest_temp);
 
-    data[0] = ((state.current_state << 4) | (current_powerground_status >> 4));       // 1 bit emptyy | 3 bit state | 4 bit powerground 
+    data[0] = (state.current_state);                              // 8 bit state (only 3 are use) 
-    data[1] = ((current_powerground_status << 4) | (state.error_source >> 4));        // 4 bit powerground | 4 bit error 
+    data[1] = (current_powerground_status);                       // 8 bit powerground 
-    data[2] = ((state.error_source << 4));                                            // 4 bit error | 4 bit state of charge
+    data[2] = (state.error_source);                               // 8 bit error
     data[3] = ((int) current_soc);                                // 8 bit state of charge
     data[4] = (roundf(RELAY_BAT_SIDE_VOLTAGE / 1000.0));        // 8 bit battery voltage
     data[5] = (roundf(RELAY_ESC_SIDE_VOLTAGE / 1000.0));        // 8 bit Inverter voltage
@@ -110,7 +110,7 @@ void can_handle_send_log(){
   if (can_log_timer > HAL_GetTick())
     return;
   else {
-    uint8_t data[8] = {};
+    uint8_t data[4] = {};
     can_log_timer = HAL_GetTick() + CAN_LOGGING_FREQ;
     data[0] = id_to_log;
     data[1] = module.cellVoltages[id_to_log] >> 8;
@@ -140,7 +140,7 @@ This function recieves a command from the Autobox with the CAN ID of 0x501.
 with format of:
 data[0] = target state 
   0x00 STATE_INACTIVE  | disconnect power to the ESC of powerground. Send it to return the mvbms to idle/monitoring mode.  If data[1] != 0 -> assume bad CAN message.
-  0x01 STATE_READY     | conneect power to the ESC of powerground and but with no PWM signal.                              If data[1] != 0 -> assume bad CAN message.
+  0x01 STATE_READY     | connect power to the ESC of powerground and but with no PWM signal.                              If data[1] != 0 -> assume bad CAN message.
   0x02 STATE_ACTIVE    | activate powerground at (data[1]) percent.                                                        If data[1] > 100 -> assume bad CAN message.            
 
 allowed transitions:
@@ -149,7 +149,7 @@ allowed transitions:
   STATE_ACTIVE    ->  STATE_INACTIVE, STATE_READY
 */
 void can_handle_recieve_command(const uint8_t *data){
-  if (data[0] == 0x00 && data[1] == 0x00){
+  if (data[0] == 0x00){
     sm_handle_ams_in(data);
   } else if (data[0] == 0x01 && data[1] == 0x00){
     sm_handle_ams_in(data);
@@ -159,10 +159,6 @@ void can_handle_recieve_command(const uint8_t *data){
     sm_handle_ams_in(data);
   } else if (data[0] == 0xF1 && data[1] == 0x00) { 
     sm_handle_ams_in(data);
-  } else if (data[0] == 0xF2 && data[1] == 0x00) { 
-    sm_handle_ams_in(data);
-  } else if (data[0] == 0xFA && data[1] == 0x00) { 
-    sm_handle_ams_in(data);
   } else if (data[0] == 0xFF && data[1] == 0x00) { 
     sm_handle_ams_in(data);
   }

Core/Src/state_machine.c

@@ -7,6 +7,7 @@
  
 #include <state_machine.h>
 #include <stdint.h>
+#include "ADBMS_Abstraction.h"
 #include "AMS_HighLevel.h"
 #include "PWM_control.h"
 #include "can.h"
@@ -48,11 +49,13 @@ int32_t RELAY_BAT_SIDE_VOLTAGE;
 int32_t RELAY_ESC_SIDE_VOLTAGE;
 int32_t CURRENT_MEASUREMENT;
 bool CURRENT_MEASUREMENT_ON;
+bool balancing_state;
 float base_offset = 0;
 
 uint32_t error_timer;
 uint32_t precharge_timer;
 uint32_t discharge_timer;
+uint32_t balancing_timer;
 uint32_t eeprom_timer;
 
 uint32_t powerground_softstart_timer;
@@ -68,9 +71,10 @@ void sm_init(){
   state.current_state = STATE_INACTIVE;
   state.target_state = STATE_INACTIVE;
   state.error_source = 0;
-  precharge_timer = discharge_timer = powerground_calibration_timer = error_timer = eeprom_timer = 0;  
+  precharge_timer = discharge_timer = powerground_calibration_timer = error_timer = eeprom_timer = balancing_timer = 0;  
   programming_mode = 0;
   debugging_mode = 0;
+  balancing_state = 0;
 }
 
 void sm_update(){  
@@ -93,6 +97,7 @@ void sm_update(){
   sm_check_errors();
   sm_precharge_discharge_manager();
   //sm_calibrate_powerground();
+  sm_balancing();
   sm_powerground_manager();
   tmp1075_measure();
   status_led_update();
@@ -248,6 +253,44 @@ void sm_calibrate_powerground(){
   }
 }
 
+void sm_balancing(){
+  if (balancing_timer < HAL_GetTick()){
+    if (balancing_state){
+      balancing_timer = HAL_GetTick() + 10000;
+
+      uint8_t id_cell_lowest_voltage = 0;
+      uint8_t num_of_cells_to_balance = 0;
+      uint32_t channels = 0;
+      
+      for (int i = 0; i < 13; i++) {
+        if (module.cellVoltages[i] < module.cellVoltages[id_cell_lowest_voltage]) 
+          id_cell_lowest_voltage = i;
+      }
+
+      for (int i = 0; i < 13; i++) {
+        if (module.cellVoltages[i] - 20 < module.cellVoltages[id_cell_lowest_voltage]){
+          channels |= 1 << i;
+          num_of_cells_to_balance++;
+        }
+      }
+
+      if (num_of_cells_to_balance == 0){
+        amsStopBalancing();
+        balancing_state = 0;
+        return;
+      }
+      
+      amsConfigBalancing(channels, 0xF);
+      amsStartBalancing(0xF);
+      balancing_state = 1;
+    } else {
+      balancing_timer = HAL_GetTick() + 1000;
+      balancing_state = 0;
+      amsStopBalancing();
+    }
+  }
+}
+
 void sm_program_powerground(){
   if (programming_mode == 0)
     return;