V1.5

CHANGELOG.txt

@@ -23,4 +23,10 @@ V1.3
 V1.4
 - replaced ADBMS code with the newest version from the Slaves
 - added the Author to things i made
-- error_source is now set in the state_machine.c
+- error_source is now set in the state_machine.c
+
+V1.5
+- int16_t auxVoltages[MAXIMUM_AUX_VOLTAGES] to float
+- errors out when no messages are recieved for CAN_TIMEOUT messages
+- void set_error_source(int source); -> void set_error_source(SlaveErrorKind source);
+-

Core/Inc/ADBMS_Abstraction.h

@@ -47,7 +47,7 @@ struct ADBMS6830_Internal_Status {
 
 typedef struct {
   int16_t cellVoltages[MAXIMUM_CELL_VOLTAGES];
-  int16_t auxVoltages[MAXIMUM_AUX_VOLTAGES];
+  float auxVoltages[MAXIMUM_AUX_VOLTAGES];
 
   struct ADBMS6830_Internal_Status status;
   uint16 internalDieTemp;

Core/Inc/errors.h

@@ -12,7 +12,7 @@
 
 #define ERROR_TIME_THRESH 150 // ms
 
-typedef enum {
+typedef enum : uint16_t {
   SEK_OVERTEMP = 0x0,
   SEK_UNDERTEMP = 0x1,
   SEK_OVERVOLT = 0x2,
@@ -27,7 +27,7 @@ typedef enum {
 } SlaveErrorKind;
 
 typedef struct {
-  int error_sources;
+  uint16_t error_sources;
   SlaveErrorKind data_kind;
   uint8_t data[4];
   uint32_t errors_since;
@@ -35,7 +35,7 @@ typedef struct {
 
 extern SlaveErrorData error_data;
 
-void set_error_source(int source);
-void clear_error_source(int source);
+void set_error_source(SlaveErrorKind source);
+void clear_error_source(SlaveErrorKind source);
 
 #endif // INC_ERRORS_H

Core/Inc/state_machine.h

@@ -25,6 +25,8 @@
 #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/Src/PWM_control.c

@@ -64,13 +64,11 @@ void PWM_set_throttle(){
   uint32_t timestamp = HAL_GetTick() + 5000;
   while (timestamp > HAL_GetTick()) {}
 
-  __HAL_TIM_SET_COMPARE(powerground, TIM_CHANNEL_3, 4000);
-  __HAL_TIM_SET_COMPARE(powerground, TIM_CHANNEL_4, 4000);
+  PWM_powerground_control(100);
   timestamp = HAL_GetTick() + 2000;
   while (timestamp > HAL_GetTick()) {}
 
-  __HAL_TIM_SET_COMPARE(powerground, TIM_CHANNEL_3, 2000);
-  __HAL_TIM_SET_COMPARE(powerground, TIM_CHANNEL_4, 2000);
+  PWM_powerground_control(0);
   timestamp = HAL_GetTick() + 1000;
   while (timestamp > HAL_GetTick()) {}
 }

Core/Src/TMP1075.c

@@ -1,6 +1,6 @@
 #include "TMP1075.h"
 
-#define MAX_TEMP        ((int16_t)(59 / 0.0625f))
+#define MAX_TEMP        ((int16_t)(30 / 0.0625f))
 #define MAX_FAILED_TEMP 2 //TODO: change value for compliance with the actual number of sensors
 #warning "change value for compliance with the actual number of sensors"
 

Core/Src/errors.c

@@ -3,11 +3,11 @@
 
 SlaveErrorData error_data;
 
-void set_error_source(int source) {
+void set_error_source(SlaveErrorKind source) {
   if (!error_data.error_sources) {
     error_data.errors_since = HAL_GetTick();
   }
-  error_data.error_sources |= source;
+  error_data.error_sources |= (1 << source);
 }
 
-void clear_error_source(int source) { error_data.error_sources &= ~source; }
+void clear_error_source(SlaveErrorKind source) { error_data.error_sources &= ~(1 << source); }

Core/Src/main.c

@@ -148,6 +148,7 @@ int main(void)
     /* USER CODE BEGIN 3 */
     AMS_Loop();
     sm_update();
+    tmp1075_measure();
     //sm_test_cycle_states();
     can_handle_send_status();
   }

Core/Src/state_machine.c

@@ -11,6 +11,7 @@
 #include "TMP1075.h"
 #include "errors.h"
 #include "main.h"
+#include "stm32f302xc.h"
 #include "stm32f3xx_hal.h"
 #include <stdint.h>
 
@@ -23,6 +24,7 @@ bool CURRENT_MEASUREMENT_ON;
 uint8_t powerground_status;
 uint32_t precharge_timer;
 uint32_t discharge_timer;
+uint32_t CAN_timer;
 
 uint32_t powerground_calibration_timer;
 uint8_t powerground_calibration_stage;
@@ -33,7 +35,8 @@ void sm_init(){
   state.current_state = STATE_INACTIVE;
   state.target_state = STATE_INACTIVE;
   state.error_source = 0;
-  precharge_timer = discharge_timer = powerground_calibration_timer = 0;
+  precharge_timer = discharge_timer = powerground_calibration_timer;
+  CAN_timer = HAL_GetTick() + 5000;
 }
 
 #warning change amsState here
@@ -41,7 +44,9 @@ void sm_update(){
   sm_check_errors();
   sm_precharge_discharge_manager();
   sm_calibrate_powerground();
-  
+  if (CAN_timer < HAL_GetTick())
+    state.current_state = state.target_state = STATE_ERROR;
+
   int16_t base_offset = 0;
   if (state.current_state == STATE_INACTIVE){
     base_offset = module.auxVoltages[0];
@@ -288,6 +293,7 @@ void sm_calibrate_powerground(){
 }
 
 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){
@@ -337,10 +343,10 @@ bool sm_is_errored(){
 
 #warning TODO: add error checking for everything here
 void sm_check_errors(){  
-  state.error_type.temperature_error = (error_data.data_kind == SEK_OVERTEMP || error_data.data_kind == SEK_UNDERTEMP || error_data.data_kind == SEK_TOO_FEW_TEMPS) ? 1 : 0;
-  state.error_type.voltage_error = (error_data.data_kind == SEK_OVERVOLT || error_data.data_kind == SEK_UNDERVOLT || error_data.data_kind == SEK_OPENWIRE || RELAY_BAT_SIDE_VOLTAGE < 30000) ? 1 : 0;
-  state.error_type.bms_timeout = (error_data.data_kind == SEK_INTERNAL_BMS_TIMEOUT) ? 1 : 0;
-  state.error_type.bms_fault = (error_data.data_kind == SEK_INTERNAL_BMS_CHECKSUM_FAIL || error_data.data_kind == SEK_INTERNAL_BMS_FAULT /*|| error_data.data_kind == SEK_INTERNAL_BMS_OVERTEMP*/) ? 1 : 0;
+  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 < 1000) ? 1 : 0;
   state.error_type.current_sensor_missing = (!CURRENT_MEASUREMENT_ON) ? 1 : 0;
@@ -354,8 +360,7 @@ void sm_check_errors(){
       state.current_state = STATE_DISCHARGE;
     state.target_state = STATE_ERROR;
     PWM_powerground_control(255);
-  } else {
-    if (state.current_state == STATE_ERROR)
+  } else if (state.current_state == STATE_ERROR){
       state.target_state = STATE_INACTIVE;
   }
   sm_error_source();