From 662faed1fec523be5d4c77400e2c1f1fbf7912b5 Mon Sep 17 00:00:00 2001
From: hamza <hamza.tmm@tuta.com>
Date: Wed, 10 Jul 2024 09:59:34 +0300
Subject: [PATCH] V1.10
---
CHANGELOG.txt | 6 +++++-
Core/Inc/PWM_control.h | 13 +++++++++----
Core/Src/AMS_HighLevel.c | 3 ++-
Core/Src/PWM_control.c | 27 +++++++--------------------
Core/Src/state_machine.c | 40 ++++++++++++++++++++++++++++++++++------
5 files changed, 57 insertions(+), 32 deletions(-)
diff --git a/CHANGELOG.txt b/CHANGELOG.txt
index 2c3f8ad..6ad2f30 100644
--- a/CHANGELOG.txt
+++ b/CHANGELOG.txt
@@ -58,4 +58,8 @@ V1.8
V1.9
- switched ~CSB and ~WC to high speed GPIO
- cleaned up the includes in most files
-- wrote some code for the eeprom
\ No newline at end of file
+- wrote some code for the eeprom
+
+V1.10
+- PWM_control now has some macros and the method PWM_powerground_softcontrol()
+- added void sm_powerground_manager() to state_machine.c
diff --git a/Core/Inc/PWM_control.h b/Core/Inc/PWM_control.h
index 2856930..e4fdd0e 100644
--- a/Core/Inc/PWM_control.h
+++ b/Core/Inc/PWM_control.h
@@ -9,10 +9,7 @@
#define INC_PWM_CONTROL_H
#include "stm32f3xx_hal.h"
-#include "ADBMS_LL_Driver.h"
#include "state_machine.h"
-#include <stdint.h>
-#include "main.h"
/* The PWM period (1/FPWM) is defined by the following parameters:
ARR value, the Prescaler value, and the internal clock itself which drives the timer module FCLK.
@@ -28,13 +25,21 @@ DUTY CYCLE = 1/20 -> 0%, DUTY CYCLE = 2/20 -> 100%
CCR * DUTY_CYCLE
CCR: 1/20 -> 500, 2/20 -> 1000
*/
+// UNUSED
#define POWERGROUND_FREQ 50
+#define POWERGROUND_PRESCALER 7
+#define POWERGROUND_ARR 39999
+#define POWERGROUND_MIN_DUTY_CYCLE 0.05
+#define POWERGROUND_MAX_DUTY_CYCLE 0.1
//#define BATTERY_COOLING_FREQ 20000
+extern uint8_t current_powerground_status;
+extern uint8_t target_powerground_status;
+
void PWM_control_init(TIM_HandleTypeDef* pg, TIM_HandleTypeDef* bat_cool, TIM_HandleTypeDef* esc_cool);
+void PWM_powerground_softcontrol();
void PWM_powerground_control(uint8_t percent);
void PWM_battery_cooling_control(uint8_t percent);
-void PWM_set_throttle();
#endif /* INC_CHANNEL_CONTROL_H */
diff --git a/Core/Src/AMS_HighLevel.c b/Core/Src/AMS_HighLevel.c
index 039a346..75ce0a0 100755
--- a/Core/Src/AMS_HighLevel.c
+++ b/Core/Src/AMS_HighLevel.c
@@ -23,7 +23,8 @@ uint8_t packetChecksumFails = 0;
uint8_t deviceSleeps = 0;
#define MAX_DEVICE_SLEEP 3 //TODO: change to correct value
#define MAX_CELL_VOLTAGE 4100 //change to 4200
-#define MIN_CELL_VOLTAGE 3100 //change to 3100
+#define MIN_CELL_VOLTAGE 3100 //change to 3000
+
amsState currentAMSState = AMSDEACTIVE;
amsState lastAMSState = AMSDEACTIVE;
diff --git a/Core/Src/PWM_control.c b/Core/Src/PWM_control.c
index 2165c7e..d0be4df 100644
--- a/Core/Src/PWM_control.c
+++ b/Core/Src/PWM_control.c
@@ -6,9 +6,6 @@
*/
#include "PWM_control.h"
-#include "state_machine.h"
-#include "stm32f3xx_hal.h"
-#include <stdint.h>
//uint32_t powerground1_CCR, powerground2_CCR, battery_cooling_CCR;
@@ -20,7 +17,9 @@ TIM_HandleTypeDef *powerground, *battery_cooling, *esc_cooling;
*/
void PWM_control_init(TIM_HandleTypeDef* pg, TIM_HandleTypeDef* bat_cool, TIM_HandleTypeDef* esc_cool){
- powerground_status = 0;
+ current_powerground_status = 0;
+ target_powerground_status = 0;
+
//battery_cooling_status = 0;
powerground = pg;
@@ -44,35 +43,23 @@ void PWM_control_init(TIM_HandleTypeDef* pg, TIM_HandleTypeDef* bat_cool, TIM_Ha
}
/*
- controls the duty cycle of the fans by setting the CCR of the channel percent/100 = x/ARR
+ controls the duty cycle of the fans by setting the CCR of the channel
+ 6+percent/100 = x/ARR
DUTYCYCLE = 40000 * X/100
*/
void PWM_powerground_control(uint8_t percent){
if (percent > 100){ //something went wrong
__HAL_TIM_SET_COMPARE(powerground, TIM_CHANNEL_3, 0);
__HAL_TIM_SET_COMPARE(powerground, TIM_CHANNEL_4, 0);
- powerground_status = 0;
+ current_powerground_status = target_powerground_status = 0;
return;
}
- powerground_status = percent;
+ current_powerground_status = target_powerground_status = percent;
int ccr = 2000 + (20 * percent);
__HAL_TIM_SET_COMPARE(powerground, TIM_CHANNEL_3, ccr);
__HAL_TIM_SET_COMPARE(powerground, TIM_CHANNEL_4, ccr);
}
-void PWM_set_throttle(){
- uint32_t timestamp = HAL_GetTick() + 5000;
- while (timestamp > HAL_GetTick()) {}
-
- PWM_powerground_control(100);
- timestamp = HAL_GetTick() + 2000;
- while (timestamp > HAL_GetTick()) {}
-
- PWM_powerground_control(0);
- timestamp = HAL_GetTick() + 1000;
- while (timestamp > HAL_GetTick()) {}
-}
-
void PWM_battery_cooling_control(uint8_t percent){}
void PWM_esc_cooling(uint8_t percent){}
diff --git a/Core/Src/state_machine.c b/Core/Src/state_machine.c
index f7d3bc0..b36c840 100644
--- a/Core/Src/state_machine.c
+++ b/Core/Src/state_machine.c
@@ -5,7 +5,7 @@
* Author: Hamza
*/
-#include "state_machine.h"
+#include "PWM_control.h"
// Time to wait after reaching 95% of battery voltage before exiting precharge
// Set this to 1000 in scruti to demonstrate the voltage on the multimeter
@@ -26,14 +26,17 @@ int32_t CURRENT_MEASUREMENT;
bool CURRENT_MEASUREMENT_ON;
float base_offset = 0;
-uint8_t powerground_status;
uint32_t precharge_timer;
uint32_t discharge_timer;
uint32_t CAN_timer;
+uint32_t powerground_softstart_timer;
uint32_t powerground_calibration_timer;
uint8_t powerground_calibration_stage;
+uint8_t current_powerground_status;
+uint8_t target_powerground_status;
+
static uint32_t timestamp;
void sm_init(){
@@ -49,6 +52,7 @@ void sm_update(){
sm_check_errors();
sm_precharge_discharge_manager();
sm_calibrate_powerground();
+ sm_powerground_manager();
//if (CAN_timer < HAL_GetTick())
// state.current_state = state.target_state = STATE_ERROR;
@@ -113,12 +117,12 @@ void sm_handle_ams_in(const uint8_t *data){
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){
+ target_powerground_status = data[1];
state.target_state = STATE_CHARGING_PRECHARGE;
}
break;
@@ -157,6 +161,24 @@ void sm_precharge_discharge_manager(){
}
+void sm_powerground_manager(){
+ if (target_powerground_status > 100){ //something went wrong
+ PWM_powerground_control(255);
+ current_powerground_status = target_powerground_status= 0;
+ return;
+ }
+
+ if (powerground_softstart_timer < HAL_GetTick()){
+ if (current_powerground_status < target_powerground_status ){
+ PWM_powerground_control(current_powerground_status + 1);
+ powerground_softstart_timer = HAL_GetTick() + 10;
+ } else if (current_powerground_status > target_powerground_status) {
+ PWM_powerground_control(current_powerground_status - 1);
+ powerground_softstart_timer = HAL_GetTick() + 10;
+ }
+ }
+}
+
void sm_calibrate_powerground(){
if (powerground_calibration_stage != 4 && state.current_state == STATE_PRECHARGE){
switch (powerground_calibration_stage) {
@@ -187,6 +209,13 @@ void sm_calibrate_powerground(){
}
}
+void sm_balancing(){
+ for (int i = 0; i < 13; i++) {
+ amsConfigBalancing((1 << i), 0xF);
+ }
+ amsStartBalancing(0);
+}
+
#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;
@@ -298,8 +327,7 @@ State sm_update_charging(){
case STATE_DISCHARGE:
return STATE_DISCHARGE;
default:
- //amsConfigBalancing((1 << 7), 0xF);
- //amsStartBalancing(0);e
+
return STATE_CHARGING;
}
}
@@ -403,7 +431,7 @@ void sm_test_cycle_states(){
case STATE_ACTIVE:
state.current_state = STATE_DISCHARGE;
timestamp = HAL_GetTick() + 10000;
- PWM_powerground_control(1);
+ PWM_powerground_control(10);
break;
case STATE_DISCHARGE:
state.current_state = STATE_INACTIVE;