V1.14

CHANGELOG.txt

@@ -81,4 +81,11 @@ V1.13
 - moved macros and libraries from eeprom.c to h
 - added can.h to state_machine.h
 - added balancing to AMS_HighLevel.c (hopefully)
-- fixed can_handle_dump() 
+- fixed can_handle_dump() 
+
+V1.14
+- added programming mode to program the ESCs
+- removed void status_led_blink_sequence(uint8_t blinks, color color) and added proper blinking
+- fixed the bit shift of temperature in the can message
+- moved tmp1075_measure() and can_handle_send_status() to the state_machine
+-

Core/Inc/state_machine.h

@@ -55,6 +55,8 @@ typedef struct {
 typedef enum { RELAY_MAIN, RELAY_PRECHARGE } Relay;
 
 extern StateHandle state;
+extern bool programming_mode;
+
 extern int32_t RELAY_BAT_SIDE_VOLTAGE;
 extern int32_t RELAY_ESC_SIDE_VOLTAGE;
 extern int32_t CURRENT_MEASUREMENT;
@@ -67,6 +69,7 @@ void sm_powerground_manager();
 void sm_calibrate_powerground();
 void sm_balancing();
 void sm_eeprom_write_status();
+void sm_program_powerground();
 
 void sm_check_errors();
 void sm_set_error_source();

Core/Inc/status_LED.h

@@ -25,7 +25,6 @@ typedef enum {
 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);
 

Core/Src/PWM_control.c

@@ -66,5 +66,6 @@ void PWM_powerground_softcontrol(){
   __HAL_TIM_SET_COMPARE(powerground, TIM_CHANNEL_3, ccr);
   __HAL_TIM_SET_COMPARE(powerground, TIM_CHANNEL_4, ccr);
 }
+
 void PWM_battery_cooling_control(uint8_t percent){}
 void PWM_esc_cooling(uint8_t percent){}

Core/Src/can.c

@@ -16,7 +16,7 @@
 
 #define CAN_ID_IN   0x501
 #define CAN_ID_OUT  0x502
-#define CAN_STATUS_FREQ 100
+#define CAN_STATUS_FREQ 1000
 #define CAN_DUMP_FREQ 10;
 
 uint8_t last_message[8];
@@ -85,7 +85,7 @@ void can_handle_send_status() {
   data[4] = ((RELAY_BAT_SIDE_VOLTAGE / 1000));                                      // 8 bit battery voltage
   data[5] = ((RELAY_ESC_SIDE_VOLTAGE / 1000));                                      // 8 bit Inverter voltage
   data[6] = ((CURRENT_MEASUREMENT / 1000));                                         // 8 bit Current
-  data[7] = ((highest_temp) >> 8);                                                  // 8 bit highest cell temperature  
+  data[7] = ((highest_temp) >> 4);                                                  // 8 bit highest cell temperature  
   //data[6] = (module.cellVoltages[7] >> 8);
   //data[7] = (module.cellVoltages[7]);
   //data[7] = state.error_source;
@@ -158,6 +158,11 @@ it only checks if the id is and datalen is correct thans hands data over to can_
 in MXCUBE under CAN NVIC settings "USB low priority or CAN_RX0 interrupts" has to be on 
 */
 void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data){
+  if (programming_mode == 1){
+    can_handle_recieve_command(data); 
+    return;
+  }
+  
   if (id == 0x501 && datalen == 2){
     if (last_message[0] != data[0] || last_message[1] != data[1]){
       last_message[0] = data[0];

Core/Src/main.c

@@ -138,7 +138,7 @@ int main(void)
   PWM_control_init(&htim3, &htim2, &htim15);
   soc_init();
   status_led_init(&htim4, &htim4, &htim4);
-  
+  sm_program_powerground();
   //AMS_Loop();
   //int ttrgrtd = 2000 + HAL_GetTick();
   //while (ttrgrtd > HAL_GetTick());
@@ -153,9 +153,7 @@ int main(void)
     /* USER CODE BEGIN 3 */
     AMS_Loop();
     sm_update();
-    tmp1075_measure();
     //sm_test_cycle_states();
-    can_handle_send_status();
   }
   /* USER CODE END 3 */
 }

Core/Src/state_machine.c

@@ -7,6 +7,7 @@
  
 #include <state_machine.h>
 #include "AMS_HighLevel.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
@@ -22,6 +23,10 @@
 // waiting time between to eeprom writes
 #define EEPROM_WRITE_FREQ  1000   
 
+#define POWERGROUND_SOFTSTART_INCREMENT_DELAY 3
+
+bool programming_mode;
+
 StateHandle state;
 int32_t RELAY_BAT_SIDE_VOLTAGE;
 int32_t RELAY_ESC_SIDE_VOLTAGE;
@@ -49,27 +54,27 @@ void sm_init(){
   state.error_source = 0;
   precharge_timer = discharge_timer = powerground_calibration_timer;
   CAN_timer = HAL_GetTick() + 5000;
+  programming_mode = 0;
 }
 
 #warning change amsState here
 void sm_update(){
+  can_handle_send_status();
   sm_check_errors();
   sm_precharge_discharge_manager();
   sm_calibrate_powerground();
   sm_powerground_manager();
+  tmp1075_measure();
+  status_led_update();
   soc_update();
   
-  if (CAN_timer < HAL_GetTick())
+  //if (CAN_timer < HAL_GetTick())
-    state.current_state = state.target_state = STATE_ERROR;
+  //  state.current_state = state.target_state = STATE_ERROR;
+  CURRENT_MEASUREMENT = (module.auxVoltages[0] > 2494) ? (module.auxVoltages[0] - (2494.0)) * (300.0) : 0;
 
-  if (state.current_state == STATE_INACTIVE || state.current_state == STATE_ERROR){
-    CURRENT_MEASUREMENT = (module.auxVoltages[0] > 2494) ? (module.auxVoltages[0] - (2494.0)) * (300.0) : 0;
-  } else {
-    CURRENT_MEASUREMENT = (module.auxVoltages[0] > 2477) ? (module.auxVoltages[0] - (2477.0)) * (4600.0) : 0;
-  }
   CURRENT_MEASUREMENT_ON = (module.auxVoltages[1] > 2400);
-  RELAY_ESC_SIDE_VOLTAGE = module.auxVoltages[2] * 15.98;
+  RELAY_ESC_SIDE_VOLTAGE = module.auxVoltages[2] * 15.25;
-  RELAY_BAT_SIDE_VOLTAGE = module.auxVoltages[3] * 15.98;     // the calculation says the factor is 11. 11.711 yields the better result
+  RELAY_BAT_SIDE_VOLTAGE = module.auxVoltages[3] * 15.25;     // the calculation says the factor is 11. 11.711 yields the better result
  
 
   switch (state.current_state) {
@@ -104,6 +109,8 @@ void sm_update(){
 }
 
 void sm_handle_ams_in(const uint8_t *data){  
+  if (programming_mode == 1 && (state.current_state == STATE_READY || state.current_state == STATE_ACTIVE)){ PWM_powerground_control(data[1]); }
+  
   CAN_timer = HAL_GetTick() + CAN_TIMEOUT;
   switch (data[0]) {
     case 0x00:
@@ -181,11 +188,11 @@ void sm_powerground_manager(){
     if (current_powerground_status < target_powerground_status ){
       current_powerground_status++;
       PWM_powerground_softcontrol();
-      powerground_softstart_timer = HAL_GetTick() + 10;
+      powerground_softstart_timer = HAL_GetTick() + POWERGROUND_SOFTSTART_INCREMENT_DELAY;
     } else if (current_powerground_status > target_powerground_status) {
       current_powerground_status--;
       PWM_powerground_softcontrol();
-      powerground_softstart_timer = HAL_GetTick() + 10;
+      powerground_softstart_timer = HAL_GetTick() + POWERGROUND_SOFTSTART_INCREMENT_DELAY;
     }
   }
 }
@@ -221,17 +228,12 @@ void sm_calibrate_powerground(){
 }
 
 void sm_program_powerground(){
-  powerground_calibration_timer = HAL_GetTick() + 5000;
+  if (programming_mode == 0)
-  while (powerground_calibration_timer > HAL_GetTick()){}
+    return; 
-  state.current_state = STATE_PRECHARGE;
-  sm_update();  
-
-  powerground_calibration_timer = HAL_GetTick() + PRECHARGE_DURATION + 1000;
   PWM_powerground_control(100);
-  while (powerground_calibration_timer > HAL_GetTick()){}
+  state.current_state = state.target_state = STATE_ACTIVE;
-  sm_update();
   while (1) {
-    
+    can_handle_send_status();
   }
 }
 
@@ -243,6 +245,7 @@ void sm_eeprom_write_status(){
 }
 
 void sm_check_errors(){  
+  if (programming_mode == 1) {return;} // to disable error checking
   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;

Core/Src/status_LED.c

@@ -25,15 +25,14 @@ Prescaler:
 F_CLK = 16 MHz
 */
 
-#define STATUS_LED_ARR            255
+#define STATUS_LED_ARR    255
-#define BLINK_LENGTH              300
+#define TIME_BLINK_OFF    100
-#define TIME_BETWEEN_BLINKS       200
+#define TIME_BLINK_ON     1000
-#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;
 
@@ -44,7 +43,6 @@ void status_led_init(TIM_HandleTypeDef* r, TIM_HandleTypeDef* g, TIM_HandleTypeD
 
   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
@@ -54,6 +52,24 @@ void status_led_init(TIM_HandleTypeDef* r, TIM_HandleTypeDef* g, TIM_HandleTypeD
 }
 
 void status_led_update(){
+  if (state.current_state == STATE_ERROR){
+    status_led_set_color(RED);
+    return;
+  }
+  if(blink_timer > HAL_GetTick()){
+    return;
+  }
+
+  if (blink_state == 1){
+    blink_timer = HAL_GetTick() + TIME_BLINK_OFF;
+    blink_state = 0;
+    status_led_set_color(OFF);
+    return;
+  } else {
+    blink_timer = HAL_GetTick() + TIME_BLINK_ON;
+    blink_state = 1;
+  }
+  
   switch (state.current_state) {
   case STATE_INACTIVE:
     status_led_set_color(GREEN);
@@ -74,52 +90,31 @@ void status_led_update(){
   }
 }
 
-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 GREEN:
+    status_led_set(255, 0, 255);
+    break;
+  case BLUE:
+    status_led_set(255, 255, 0);
+    break;
+  case YELLOW:
+    status_led_set(0, 0, 255);
+    break;
+  case PINK:
+    status_led_set(0, 255, 0);
+    break;
+  case CYAN:
+    status_led_set(255, 0, 0);
+    break;
   case WHITE:
-    status_led_set(255, 255, 255);
+    status_led_set(0, 0, 0);
     break;
   case OFF:
-    status_led_set(0,0,0);
+    status_led_set(255,255,255);
     break;
   }
 }