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V1.7

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This commit is contained in:
hamza
2024-07-08 23:43:41 +03:00
parent 73194c86ae
commit 4375bfce48
5 changed files with 160 additions and 162 deletions
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2
CHANGELOG.txt
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@ -44,3 +44,5 @@ V1.7
- changed the CAN message a bit
- added soc_estimation.c soc_estimation.h
- added MIN/MAX_CELL_VOLTAGE for AMS_HighLevel
- cleaned up state_machine code
- changed the format of the CAN message.

19
Core/Inc/state_machine.h
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@ -61,15 +61,23 @@ typedef struct {
ErrorKind error_type; // TSErrorKind
} StateHandle;
typedef enum { RELAY_MAIN, RELAY_PRECHARGE } Relay;
extern StateHandle state;
extern int32_t RELAY_BAT_SIDE_VOLTAGE;
extern int32_t RELAY_ESC_SIDE_VOLTAGE;
extern int32_t CURRENT_MEASUREMENT;
extern uint8_t powerground_status;
void sm_init();
void sm_update();
void sm_handle_ams_in(const uint8 *data);
void sm_precharge_discharge_manager();
void sm_calibrate_powerground();
void sm_balancing();
void sm_check_errors();
void sm_set_error_source();
State sm_update_inactive();
State sm_update_precharge();
@ -80,21 +88,12 @@ State sm_update_charging_precharge();
State sm_update_charging();
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_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_handle_ams_in(const uint8 *data);
void sm_check_errors();
void sm_set_error(ErrorKind error_kind, bool is_errored);
void sm_test_cycle_states();
void sm_error_source();
#endif /* "INC_STATE_MACHINE_H" */

20
Core/Src/can.c
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@ -62,16 +62,20 @@ void can_handle_send_status() {
uint8_t data[8] = {};
int8_t id_highest_temp = -1;
int16_t highest_temp = INT16_MIN;
int8_t id_lowest_volt = -1;
int16_t lowest_volt = INT16_MIN;
sm_check_battery_temperature(&id_highest_temp, &highest_temp);
data[0] = ((state.current_state << 4) | (powerground_status >> 4)); // 1 bit emptyy | 3 bit state | 4 bit powerground
data[1] = ((powerground_status << 4) | (state.error_source >> 4)); // 4 bit powerground | 4 bit error
data[2] = ((state.error_source << 4) | (0)); // 4 bit error | 4 bit state of charge
data[3] = ((RELAY_BAT_SIDE_VOLTAGE >> 8)); // 8 bit battery voltage
data[4] = ((RELAY_BAT_SIDE_VOLTAGE >> 0));
data[5] = ((CURRENT_MEASUREMENT) / 1000);
data[6] = (/*(CURRENT_MEASUREMENT & 0x000F) |*/ (highest_temp >> 12));
data[7] = ((highest_temp) >> 4);
data[3] = ((RELAY_BAT_SIDE_VOLTAGE / 1000)); // 8 bit battery voltage
data[4] = ((RELAY_ESC_SIDE_VOLTAGE / 1000));
//data[5] = (() / 1000);
data[6] = ((CURRENT_MEASUREMENT / 1000));
data[7] = ((highest_temp) >> 8);
//data[6] = (module.cellVoltages[7] >> 8);
//data[7] = (module.cellVoltages[7]);
//data[7] = state.error_source;
ftcan_transmit(CAN_ID_OUT, data, sizeof(data));
/*
@ -128,9 +132,9 @@ to the sm_handle_ams_in() which handles the state machine transition.
This function recieves a command from the Autobox with the CAN ID of 0x501.
with format of:
data[0] = target state
0x0 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.
0x1 STATE_READY | conneect power to the ESC of powerground and but with no PWM signal. If data[1] != 0 -> assume bad CAN message.
0x2 STATE_ACTIVE | activate powerground at (data[1]) percent. If data[1] > 100 -> assume bad CAN message.
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.
0x02 STATE_ACTIVE | activate powerground at (data[1]) percent. If data[1] > 100 -> assume bad CAN message.
allowed transitions:
STATE_INACTIVE -> STATE_READY

4
Core/Src/soc_estimation.c
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@ -49,10 +49,10 @@ void soc_update() {
last_current_time == 0) {
// Assume we're measuring OCV if there's been no current for a while (or
// we've just turned on the battery).
current_soc = soc_for_ocv(min_voltage);
//current_soc = soc_for_ocv(min_voltage);
} else {
// Otherwise, use the current counter to update SoC
float as_delta = shunt_data.current_counter - mAs_before_current;
float as_delta = CURRENT_MEASUREMENT - mAs_before_current;
float soc_delta = as_delta / SOC_ESTIMATION_BATTERY_CAPACITY * 100;
current_soc = soc_before_current + soc_delta;
}

277
Core/Src/state_machine.c
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@ -6,6 +6,7 @@
*/
#include "state_machine.h"
#include "ADBMS_Abstraction.h"
#include "AMS_HighLevel.h"
#include "PWM_control.h"
#include "TMP1075.h"
@ -89,6 +90,138 @@ void sm_update(){
state.target_state = state.current_state;
}
void sm_handle_ams_in(const uint8_t *data){
CAN_timer = HAL_GetTick() + CAN_TIMEOUT;
switch (data[0]) {
case 0x00:
if (state.current_state != STATE_INACTIVE){
state.target_state = STATE_DISCHARGE;
PWM_powerground_control(255);
}
break;
case 0x01:
if (state.target_state == STATE_INACTIVE || state.target_state == STATE_DISCHARGE){
state.target_state = STATE_PRECHARGE;
PWM_powerground_control(0);
} else if (state.target_state == STATE_ACTIVE){
state.target_state = STATE_READY;
PWM_powerground_control(0);
}
break;
case 0x02:
if (state.current_state == STATE_READY || state.current_state == STATE_ACTIVE){
PWM_powerground_control(data[1]);
state.target_state = STATE_ACTIVE; // READY -> ACTIVE
}
break;
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
state.current_state = STATE_DISCHARGE;
state.target_state = STATE_ERROR;
break;
}
}
void sm_precharge_discharge_manager(){
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()) {
state.target_state = STATE_READY;
precharge_timer = 0;
}
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_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;
}
}
void sm_calibrate_powerground(){
if (powerground_calibration_stage != 4 && state.current_state == STATE_READY){
switch (powerground_calibration_stage) {
case 0:
powerground_calibration_timer = HAL_GetTick() + 0;
powerground_calibration_stage = 1;
return;
case 1:
if (powerground_calibration_timer < HAL_GetTick()){
powerground_calibration_timer = HAL_GetTick() + 2000;
powerground_calibration_stage = 2;
PWM_powerground_control(100);
}
return;
case 2:
if (powerground_calibration_timer < HAL_GetTick()){
powerground_calibration_timer = HAL_GetTick() + 1000;
powerground_calibration_stage = 3;
PWM_powerground_control(0);
}
return;
case 3:
if (powerground_calibration_timer < HAL_GetTick()){
powerground_calibration_stage = 4;
}
return;
}
}
}
#warning TODO: add error checking for everything here
void sm_check_errors(){
state.error_type.temperature_error = (error_data.error_sources & (1 << 0) || error_data.error_sources & (1 << 1) || error_data.error_sources & (1 << 4)) ? 1 : 0;
state.error_type.voltage_error = (error_data.error_sources & (1 << 2)|| error_data.error_sources & (1 << 3)|| error_data.error_sources & (1 << 5) || RELAY_BAT_SIDE_VOLTAGE < 30000) ? 1 : 0;
state.error_type.bms_timeout = (error_data.error_sources & (1 << 7)) ? 1 : 0;
state.error_type.bms_fault = (error_data.error_sources & (1 << 8) || error_data.error_sources & (1 << 10) || error_data.error_sources & (1 << 9)) ? 1 : 0;
//SEK_EEPROM_ERR: state.error_type.eeprom_error = 1;
//state.error_type.current_error = (powerground_status > 10 && CURRENT_MEASUREMENT < 500) ? 1 : 0;
state.error_type.current_sensor_missing = (!CURRENT_MEASUREMENT_ON) ? 1 : 0;
state.error_type.voltage_missing = (RELAY_BAT_SIDE_VOLTAGE < 1000) ? 1 : 0;
if ( state.error_type.current_error == 1 || state.error_type.current_sensor_missing == 1 || //state.error_type.eeprom_error == 1 ||
state.error_type.state_transition_fail == 1 || state.error_type.temperature_error == 1 || state.error_type.voltage_error == 1 ||
state.error_type.voltage_missing == 1 || state.error_type.bms_fault == 1 || state.error_type.bms_timeout == 1){
if (state.current_state != STATE_INACTIVE && state.current_state != STATE_ERROR)
state.current_state = STATE_DISCHARGE;
state.target_state = STATE_ERROR;
PWM_powerground_control(255);
} else if (state.current_state == STATE_ERROR){
state.target_state = STATE_INACTIVE;
}
sm_set_error_source();
}
void sm_set_error_source(){
state.error_source = 0;
state.error_source |= (state.error_type.bms_timeout << 0);
state.error_source |= (state.error_type.bms_fault << 1);
state.error_source |= (state.error_type.temperature_error << 2);
state.error_source |= (state.error_type.current_error << 3);
state.error_source |= (state.error_type.current_sensor_missing << 4);
state.error_source |= (state.error_type.voltage_error << 5);
state.error_source |= (state.error_type.voltage_missing << 6);
state.error_source |= (state.error_type.state_transition_fail << 7);
}
State sm_update_inactive(){
switch (state.target_state) {
case STATE_PRECHARGE:
@ -162,6 +295,8 @@ State sm_update_charging(){
case STATE_DISCHARGE:
return STATE_DISCHARGE;
default:
//amsConfigBalancing((1 << 7), 0xF);
//amsStartBalancing(0);e
return STATE_CHARGING;
}
}
@ -236,135 +371,6 @@ void sm_check_battery_temperature(int8_t *id, int16_t *temp){
}
}
void sm_precharge_discharge_manager(){
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()) {
state.target_state = STATE_READY;
precharge_timer = 0;
}
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_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;
}
}
void sm_calibrate_powerground(){
if (powerground_calibration_stage != 4 && state.current_state == STATE_READY){
switch (powerground_calibration_stage) {
case 0:
powerground_calibration_timer = HAL_GetTick() + 0;
powerground_calibration_stage = 1;
return;
case 1:
if (powerground_calibration_timer < HAL_GetTick()){
powerground_calibration_timer = HAL_GetTick() + 2000;
powerground_calibration_stage = 2;
PWM_powerground_control(100);
}
return;
case 2:
if (powerground_calibration_timer < HAL_GetTick()){
powerground_calibration_timer = HAL_GetTick() + 1000;
powerground_calibration_stage = 3;
PWM_powerground_control(0);
}
return;
case 3:
if (powerground_calibration_timer < HAL_GetTick()){
powerground_calibration_stage = 4;
}
return;
}
}
}
void sm_handle_ams_in(const uint8_t *data){
CAN_timer = HAL_GetTick() + CAN_TIMEOUT;
switch (data[0]) {
case 0x00:
if (state.current_state != STATE_INACTIVE){
state.target_state = STATE_DISCHARGE;
PWM_powerground_control(255);
}
break;
case 0x01:
if (state.target_state == STATE_INACTIVE || state.target_state == STATE_DISCHARGE){
state.target_state = STATE_PRECHARGE;
PWM_powerground_control(0);
} else if (state.target_state == STATE_ACTIVE){
state.target_state = STATE_READY;
PWM_powerground_control(0);
}
break;
case 0x02:
if (state.current_state == STATE_READY || state.current_state == STATE_ACTIVE){
PWM_powerground_control(data[1]);
state.target_state = STATE_ACTIVE; // READY -> ACTIVE
}
break;
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
state.current_state = STATE_DISCHARGE;
state.target_state = STATE_ERROR;
break;
}
}
void sm_set_error(ErrorKind error_kind, bool is_errored){}
/*
bool sm_is_errored(){
return state.error_type.current_error == 1 || state.error_type.current_sensor_missing == 1 || //state.error_type.eeprom_error == 1 ||
state.error_type.state_transition_fail == 1 || state.error_type.temperature_error == 1 || state.error_type.voltage_error == 1 ||
state.error_type.voltage_missing == 1 || state.error_type.bms_fault == 1 || state.error_type.bms_timeout == 1;
}
*/
#warning TODO: add error checking for everything here
void sm_check_errors(){
state.error_type.temperature_error = (error_data.error_sources & (1 << 0) || error_data.error_sources & (1 << 1) || error_data.error_sources & (1 << 4)) ? 1 : 0;
state.error_type.voltage_error = (error_data.error_sources & (1 << 2)|| error_data.error_sources & (1 << 3)|| error_data.error_sources & (1 << 5) || RELAY_BAT_SIDE_VOLTAGE < 30000) ? 1 : 0;
state.error_type.bms_timeout = (error_data.error_sources & (1 << 7)) ? 1 : 0;
state.error_type.bms_fault = (error_data.error_sources & (1 << 8) || error_data.error_sources & (1 << 10) || error_data.error_sources & (1 << 9)) ? 1 : 0;
//SEK_EEPROM_ERR: state.error_type.eeprom_error = 1;
//state.error_type.current_error = (powerground_status > 10 && CURRENT_MEASUREMENT < 500) ? 1 : 0;
state.error_type.current_sensor_missing = (!CURRENT_MEASUREMENT_ON) ? 1 : 0;
state.error_type.voltage_missing = (RELAY_BAT_SIDE_VOLTAGE < 1000) ? 1 : 0;
if ( state.error_type.current_error == 1 || state.error_type.current_sensor_missing == 1 || //state.error_type.eeprom_error == 1 ||
state.error_type.state_transition_fail == 1 || state.error_type.temperature_error == 1 || state.error_type.voltage_error == 1 ||
state.error_type.voltage_missing == 1 || state.error_type.bms_fault == 1 || state.error_type.bms_timeout == 1){
if (state.current_state != STATE_INACTIVE && state.current_state != STATE_ERROR)
state.current_state = STATE_DISCHARGE;
state.target_state = STATE_ERROR;
PWM_powerground_control(255);
} else if (state.current_state == STATE_ERROR){
state.target_state = STATE_INACTIVE;
}
sm_error_source();
}
int16_t sm_return_cell_temperature(int id){ return tmp1075_temps[id]; }
int16_t sm_return_cell_voltage(int id){ return module.cellVoltages[id]; }
@ -407,17 +413,4 @@ void sm_test_cycle_states(){
}
state.target_state = state.current_state;
}
void sm_error_source(){
state.error_source = 0;
state.error_source |= (state.error_type.bms_timeout << 0);
state.error_source |= (state.error_type.bms_fault << 1);
state.error_source |= (state.error_type.temperature_error << 2);
state.error_source |= (state.error_type.current_error << 3);
state.error_source |= (state.error_type.current_sensor_missing << 4);
state.error_source |= (state.error_type.voltage_error << 5);
state.error_source |= (state.error_type.voltage_missing << 6);
state.error_source |= (state.error_type.state_transition_fail << 7);
}