V1.8

CHANGELOG.txt

@@ -45,4 +45,12 @@ V1.7
 - 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.
+- changed the format of the CAN message.
+
+V1.8
+- removed macros from can.h
+- added documentation to PWM_control.h
+- the MVBMS only reacts to messages if they are different from the previous message
+- powerground calibration now starts at STATE_PRECHARGE
+- moved header files from state_machine.c to h
+- added status_LED.c, changed the ioc file accordingly

Core/Inc/PWM_control.h

@@ -17,6 +17,8 @@
 /*  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.
 F_PWM = (F_CLK)/((ARR + 1) * (PSC + 1))
+(ARR + 1) * (PSC + 1) = (F_CLK)/(F_PWM)
+(PSC + 1) = (F_CLK)/(F_PWM * (ARR + 1))
 
 F_CLK = 16 MHz
 

Core/Inc/can.h

@@ -16,9 +16,6 @@
 #include "state_machine.h"
 #include <stdint.h>
 
-#define CAN_ID_IN   0x501
-#define CAN_ID_OUT  0x502
-#define CAN_STATUS_FREQ 1000
 void can_init(CAN_HandleTypeDef* hcan);
 
 void can_handle_send_status();

Core/Inc/state_machine.h

@@ -11,22 +11,11 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include "ADBMS_LL_Driver.h"
-#include "AMS_HighLevel.h"
+#include <AMS_HighLevel.h>
-#include "errors.h"
+#include <errors.h>
-#include "PWM_control.h"
+#include <PWM_control.h>
-#include "TMP1075.h"
+#include <status_LED.h>
-
+#include <TMP1075.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
-#define PRECHARGE_DURATION 5000 // ms
-// Time to wait for discharge
-#define DISCHARGE_DURATION 5000 // ms
-// Time to wait for charger voltage before going to TS_ERROR
-#define MAX_CHARGING_CHECK_DURATION 2000 // ms
-// Time to wait between closing relays
-#define RELAY_CLOSE_WAIT 10 // ms
-// Max time to wait for CAN messages. If we reach it then we emergency shutdown.
-#define CAN_TIMEOUT 100000
 
 typedef enum {              //  states -> 3 bit. valid transitions: (all could transition to error)
   STATE_INACTIVE,           // INACTIVE   ->  PRECHARGE, CHARGING, ERROR  

Core/Inc/status_LED.h

@@ -0,0 +1,33 @@
+/*
+ *  status_LED.h
+ *
+ *  Created on: 07.07.2024
+ *      Author: Hamza
+ */
+ 
+#ifndef INC_STATUS_LED_H
+#define INC_STATUS_LED_H
+
+#include "stm32f3xx_hal.h"
+#include <main.h>
+#include <stdint.h>
+
+typedef enum {
+  OFF,
+  RED,
+  GREEN,
+  BLUE,
+  YELLOW,
+  PINK,
+  CYAN,
+  WHITE
+} color;
+
+void status_led_init(TIM_HandleTypeDef* r, TIM_HandleTypeDef* g, TIM_HandleTypeDef* b);
+void status_led_update();
+
+void status_led_blink_sequence(uint8_t blinks, color color);
+void status_led_set_color(color color);
+void status_led_set(uint8_t r, uint8_t g, uint8_t b);
+
+#endif /* "INC_STATUS_LED_H" */

Core/Src/can.c

@@ -6,13 +6,19 @@
  */
 
 #include "can.h"
+#include <stdint.h>
 
-//#define CAN_ID_IN   0x501
+#define CAN_ID_IN   0x501
-//#define CAN_ID_OUT  0x502
+#define CAN_ID_OUT  0x502
+#define CAN_STATUS_FREQ 100
+
+uint8_t last_message[8];
 static uint32_t can_delay_manager = 0;
 void can_init(CAN_HandleTypeDef* hcan) { 
   ftcan_init(hcan); 
   ftcan_add_filter(CAN_ID_IN, 0xFFF);
+  last_message[0] = -1;
+  last_message[1] = -1;
 }
 
 /*
@@ -66,14 +72,15 @@ void can_handle_send_status() {
   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 / 1000));                                        // 8 bit battery voltage
+  data[3] = (0);                                                                    // 8 bit state of charge
-  data[4] = ((RELAY_ESC_SIDE_VOLTAGE / 1000));
+  data[4] = ((RELAY_BAT_SIDE_VOLTAGE / 1000));                                      // 8 bit battery voltage
-  //data[5] = (() / 1000);
+  data[5] = ((RELAY_ESC_SIDE_VOLTAGE / 1000));                                      // 8 bit Inverter voltage
-  data[6] = ((CURRENT_MEASUREMENT / 1000));
+  data[6] = ((CURRENT_MEASUREMENT / 1000));                                         // 8 bit Current
-  data[7] = ((highest_temp) >> 8);
+  data[7] = ((highest_temp) >> 8);                                                  // 8 bit highest cell temperature  
   //data[6] = (module.cellVoltages[7] >> 8);
   //data[7] = (module.cellVoltages[7]);
   //data[7] = state.error_source;
@@ -165,6 +172,10 @@ in MXCUBE under CAN NVIC settings "USB low priority or CAN_RX0 interrupts" has t
 */
 void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data){
   if (id == 0x501 && datalen == 2){
-    can_handle_recieve_command(data);
+    if (last_message[0] != data[0] || last_message[1] != data[1]){
+      last_message[0] = data[0];
+      last_message[1] = data[1];
+      can_handle_recieve_command(data);
+    }
   }
 }

Core/Src/main.c

@@ -27,6 +27,7 @@
 #include "can.h"
 #include "AMS_HighLevel.h"
 #include "state_machine.h"
+#include <status_LED.h>
 #include "TMP1075.h"
 #include "errors.h"
 #include "stm32f302xc.h"
@@ -134,6 +135,8 @@ int main(void)
   AMS_Init(&hspi1);
   can_init(&hcan);
   PWM_control_init(&htim3, &htim2, &htim15);
+  status_led_init(&htim4, &htim4, &htim4);
+  
   //AMS_Loop();
   //int ttrgrtd = 2000 + HAL_GetTick();
   //while (ttrgrtd > HAL_GetTick());
@@ -495,7 +498,7 @@ static void MX_TIM4_Init(void)
   htim4.Instance = TIM4;
   htim4.Init.Prescaler = 0;
   htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim4.Init.Period = 65535;
+  htim4.Init.Period = 256;
   htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)

Core/Src/state_machine.c

@@ -6,15 +6,18 @@
  */
  
 #include "state_machine.h"
-#include "ADBMS_Abstraction.h"
+
-#include "AMS_HighLevel.h"
+// Time to wait after reaching 95% of battery voltage before exiting precharge
-#include "PWM_control.h"
+// Set this to 1000 in scruti to demonstrate the voltage on the multimeter
-#include "TMP1075.h"
+#define PRECHARGE_DURATION 5000 // ms
-#include "errors.h"
+// Time to wait for discharge
-#include "main.h"
+#define DISCHARGE_DURATION 5000 // ms
-#include "stm32f302xc.h"
+// Time to wait for charger voltage before going to TS_ERROR
-#include "stm32f3xx_hal.h"
+#define MAX_CHARGING_CHECK_DURATION 2000 // ms
-#include <stdint.h>
+// Time to wait between closing relays
+#define RELAY_CLOSE_WAIT 10 // ms
+// Max time to wait for CAN messages. If we reach it then we emergency shutdown.
+#define CAN_TIMEOUT 100000
 
 StateHandle state;
 int32_t RELAY_BAT_SIDE_VOLTAGE;
@@ -155,7 +158,7 @@ void sm_precharge_discharge_manager(){
 }
 
 void sm_calibrate_powerground(){
-  if (powerground_calibration_stage != 4 && state.current_state == STATE_READY){
+  if (powerground_calibration_stage != 4 && state.current_state == STATE_PRECHARGE){
     switch (powerground_calibration_stage) {
       case 0:
         powerground_calibration_timer = HAL_GetTick() + 0;

Core/Src/status_LED.c

@@ -0,0 +1,128 @@
+/*
+ *  status_LED.h
+ *
+ *  Created on: 07.07.2024
+ *      Author: Hamza
+ */
+
+#include "ADBMS_LL_Driver.h"
+#include "state_machine.h"
+#include "stm32f3xx_hal.h"
+#include <status_LED.h>
+#include <stdint.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.
+F_PWM = (F_CLK)/((ARR + 1) * (PSC + 1))
+
+Prescaler:
+(ARR + 1) * (PSC + 1) = (F_CLK)/(F_PWM)
+(PSC + 1) = (F_CLK)/(F_PWM * (ARR + 1))
+625 = (16MHz)/(100Hz * (255 + 1))
+
+F_CLK = 16 MHz
+*/
+
+#define STATUS_LED_ARR            255
+#define BLINK_LENGTH              300
+#define TIME_BETWEEN_BLINKS       200
+#define TIME_BETWEEN_BLINK_SEQS   500
+
+TIM_HandleTypeDef* red;
+TIM_HandleTypeDef* green;
+TIM_HandleTypeDef* blue;
+uint8_t blinked;
+uint32_t blink_timer;
+bool blink_state;
+
+void status_led_init(TIM_HandleTypeDef* r, TIM_HandleTypeDef* g, TIM_HandleTypeDef* b){
+  red = r;
+  green = g;
+  blue = b; 
+
+  blink_timer = 0;
+  blink_state = 0;
+  blinked = 0;
+
+  HAL_TIM_PWM_Start(red, TIM_CHANNEL_1);          //TIM4CH1
+  HAL_TIM_PWM_Start(green, TIM_CHANNEL_2);        //TIM4CH2
+  HAL_TIM_PWM_Start(blue, TIM_CHANNEL_3);         //TIM4CH3
+
+  status_led_set(255, 255, 255);
+}
+
+void status_led_update(){
+  switch (state.current_state) {
+  case STATE_INACTIVE:
+    status_led_blink_sequence(1, GREEN);
+    break;
+  case STATE_CHARGING_PRECHARGE:
+  case STATE_PRECHARGE:
+  case STATE_DISCHARGE:
+    status_led_blink_sequence(2, YELLOW);
+    break;
+  case STATE_CHARGING:
+  case STATE_READY:
+    status_led_blink_sequence(3, PINK);
+    break;
+  case STATE_ACTIVE:
+    status_led_set_color(PINK);
+    break;
+  case STATE_ERROR:
+    status_led_set_color(RED);
+    break;
+  }
+}
+
+void status_led_blink_sequence(uint8_t blinks, color color){
+  if (blink_timer < HAL_GetTick())
+    return;
+
+  if (blink_state){
+    if (blinked != blinks){
+      blink_timer = HAL_GetTick() + BLINK_LENGTH;
+      blinks++;
+      status_led_set_color(GREEN);
+    } else {
+      blink_timer = HAL_GetTick() + TIME_BETWEEN_BLINK_SEQS;
+      blinks = 0;
+    }
+  } else {
+    if (blinked != blinks){
+      blink_timer = HAL_GetTick() + TIME_BETWEEN_BLINKS;
+      status_led_set_color(OFF);
+    }
+  }
+}
+
+void status_led_set_color(color color){
+  switch (color) {
+  case RED:
+    status_led_set(255, 0, 0);
+    break;
+  case GREEN:
+    status_led_set(0, 255, 0);
+    break;
+  case BLUE:
+    status_led_set(0, 0, 255);
+    break;
+  case YELLOW:
+    status_led_set(255, 255, 0);
+    break;
+  case PINK:
+    status_led_set(255, 0, 255);
+    break;
+  case CYAN:
+    status_led_set(0, 255, 255);
+    break;
+  case WHITE:
+    status_led_set(255, 255, 255);
+    break;
+  }
+}
+
+void status_led_set(uint8_t r, uint8_t g, uint8_t b){
+  __HAL_TIM_SET_COMPARE(red, TIM_CHANNEL_1, r);
+  __HAL_TIM_SET_COMPARE(green, TIM_CHANNEL_2, g);
+  __HAL_TIM_SET_COMPARE(blue, TIM_CHANNEL_3, b);
+}

Makefile

@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [4.3.0-B58] date: [Fri Jul 05 06:59:15 EEST 2024] 
+# File automatically-generated by tool: [projectgenerator] version: [4.3.0-B58] date: [Tue Jul 09 21:45:50 EEST 2024] 
 ##########################################################################################################################
 
 # ------------------------------------------------

mvbms.ioc

@@ -282,7 +282,9 @@ TIM3.Prescaler=7
 TIM4.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
 TIM4.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
 TIM4.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
-TIM4.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3
+TIM4.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Period,Prescaler
+TIM4.Period=256
+TIM4.Prescaler=624
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
 board=custom