482 lines
15 KiB
C
482 lines
15 KiB
C
/*
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* state_machine.h
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*
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* Created on: 07.07.2024
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* Author: Hamza
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*/
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#include "state_machine.h"
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#include "PWM_control.h"
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#include "eeprom.h"
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#include "main.h"
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#include <stdint.h>
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// Time to wait after reaching 95% of battery voltage before exiting precharge
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// Set this to 1000 in scruti to demonstrate the voltage on the multimeter
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#define PRECHARGE_DURATION 5000 // ms
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// Time to wait for discharge
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#define DISCHARGE_DURATION 5000 // ms
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// Time to wait for charger voltage before going to TS_ERROR
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#define MAX_CHARGING_CHECK_DURATION 2000 // ms
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// Time to wait between closing relays
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#define RELAY_CLOSE_WAIT 10 // ms
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// Max time to wait for CAN messages. If we reach it then we emergency shutdown.
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#define CAN_TIMEOUT 1000
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// waiting time between to eeprom writes
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#define EEPROM_WRITE_FREQ_INACTIVE 10000
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#define EEPROM_WRITE_FREQ_ACTIVE 1000
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StateHandle state;
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int32_t RELAY_BAT_SIDE_VOLTAGE;
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int32_t RELAY_ESC_SIDE_VOLTAGE;
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int32_t CURRENT_MEASUREMENT;
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bool CURRENT_MEASUREMENT_ON;
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float base_offset = 0;
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uint32_t precharge_timer;
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uint32_t discharge_timer;
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uint32_t CAN_timer;
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uint32_t EEPROM_timer;
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uint32_t powerground_softstart_timer;
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uint32_t powerground_calibration_timer;
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uint8_t powerground_calibration_stage;
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uint8_t current_powerground_status;
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uint8_t target_powerground_status;
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static uint32_t timestamp;
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void sm_init(){
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state.current_state = STATE_INACTIVE;
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state.target_state = STATE_INACTIVE;
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state.error_source = 0;
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precharge_timer = discharge_timer = powerground_calibration_timer;
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CAN_timer = HAL_GetTick() + 5000;
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}
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#warning change amsState here
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void sm_update(){
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sm_check_errors();
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sm_precharge_discharge_manager();
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sm_calibrate_powerground();
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sm_powerground_manager();
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if (CAN_timer < HAL_GetTick())
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state.current_state = state.target_state = STATE_ERROR;
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if (state.current_state == STATE_INACTIVE || state.current_state == STATE_ERROR){
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CURRENT_MEASUREMENT = (module.auxVoltages[0] > 2494) ? (module.auxVoltages[0] - (2494.0)) * (300.0) : 0;
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} else {
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CURRENT_MEASUREMENT = (module.auxVoltages[0] > 2477) ? (module.auxVoltages[0] - (2477.0)) * (4600.0) : 0;
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}
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CURRENT_MEASUREMENT_ON = (module.auxVoltages[1] > 2400);
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RELAY_ESC_SIDE_VOLTAGE = module.auxVoltages[2] * 15.98;
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RELAY_BAT_SIDE_VOLTAGE = module.auxVoltages[3] * 15.98; // the calculation says the factor is 11. 11.711 yields the better result
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switch (state.current_state) {
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case STATE_INACTIVE:
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state.current_state = sm_update_inactive(); // monitor only
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break;
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case STATE_PRECHARGE:
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state.current_state = sm_update_precharge(); // set PRECHARGE and turn on cooling at 50% or such
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break;
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case STATE_READY:
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state.current_state = sm_update_ready(); // keep cooling at 50%, get ready to turn on powerground
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break;
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case STATE_ACTIVE:
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state.current_state = sm_update_active(); // set PRECHARGE and turn on cooling at 50% or such
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break;
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case STATE_DISCHARGE:
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state.current_state = sm_update_discharge(); // open the main relay, keep PRECHARGE closed
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break;
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case STATE_CHARGING_PRECHARGE:
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state.current_state = sm_update_charging_precharge();
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break;
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case STATE_CHARGING:
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state.current_state = sm_update_charging(); // monitor and turn on cooling if needed.
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break;
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case STATE_ERROR:
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state.current_state = sm_update_error(); // enter the correct ERROR state
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break;
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}
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sm_set_relay_positions(state.current_state);
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state.target_state = state.current_state;
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}
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void sm_handle_ams_in(const uint8_t *data){
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CAN_timer = HAL_GetTick() + CAN_TIMEOUT;
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switch (data[0]) {
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case 0x00:
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if (state.current_state != STATE_INACTIVE){
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state.target_state = STATE_DISCHARGE;
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PWM_powerground_control(255);
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}
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break;
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case 0x01:
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if (state.target_state == STATE_INACTIVE || state.target_state == STATE_DISCHARGE){
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state.target_state = STATE_PRECHARGE;
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PWM_powerground_control(0);
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} else if (state.target_state == STATE_ACTIVE){
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state.target_state = STATE_READY;
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PWM_powerground_control(0);
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}
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break;
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case 0x02:
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if (state.current_state == STATE_READY || state.current_state == STATE_ACTIVE){
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target_powerground_status = data[1];
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state.target_state = STATE_ACTIVE; // READY -> ACTIVE
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}
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break;
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case 0xF0:
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if (state.current_state == STATE_INACTIVE){
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state.target_state = STATE_CHARGING_PRECHARGE;
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}
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break;
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#warning implement this
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case 0xF1: // EEPROM
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break;
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case 0xFF: // EMERGENCY SHUTDOWN
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state.current_state = STATE_DISCHARGE;
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state.target_state = STATE_ERROR;
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break;
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}
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}
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void sm_precharge_discharge_manager(){
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if (state.current_state != STATE_PRECHARGE && state.target_state == STATE_PRECHARGE){
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precharge_timer = HAL_GetTick() + PRECHARGE_DURATION;
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} else if (state.current_state == STATE_PRECHARGE && precharge_timer < HAL_GetTick()) {
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state.target_state = STATE_READY;
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precharge_timer = 0;
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}
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if (state.current_state != STATE_CHARGING_PRECHARGE && state.target_state == STATE_CHARGING_PRECHARGE){
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precharge_timer = HAL_GetTick() + PRECHARGE_DURATION;
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} else if (state.current_state == STATE_CHARGING_PRECHARGE && precharge_timer < HAL_GetTick()) {
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state.target_state = STATE_CHARGING;
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precharge_timer = 0;
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}
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if (state.current_state != STATE_DISCHARGE && state.target_state == STATE_DISCHARGE){
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discharge_timer = HAL_GetTick() + DISCHARGE_DURATION;
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} else if (state.current_state == STATE_DISCHARGE && discharge_timer < HAL_GetTick()) {
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state.target_state = STATE_INACTIVE;
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discharge_timer = 0;
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}
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}
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void sm_powerground_manager(){
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if (current_powerground_status == target_powerground_status)
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return;
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if ( current_powerground_status > 100 || target_powerground_status > 100){ //something went wrong
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PWM_powerground_control(255);
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current_powerground_status = target_powerground_status= 0;
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return;
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}
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if (powerground_softstart_timer < HAL_GetTick()){
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if (current_powerground_status < target_powerground_status ){
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current_powerground_status++;
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PWM_powerground_softcontrol();
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powerground_softstart_timer = HAL_GetTick() + 10;
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} else if (current_powerground_status > target_powerground_status) {
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current_powerground_status--;
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PWM_powerground_softcontrol();
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powerground_softstart_timer = HAL_GetTick() + 10;
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}
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}
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}
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void sm_calibrate_powerground(){
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if (powerground_calibration_stage != 4 && state.current_state == STATE_PRECHARGE){
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switch (powerground_calibration_stage) {
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case 0:
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powerground_calibration_timer = HAL_GetTick() + 0;
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powerground_calibration_stage = 1;
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return;
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case 1:
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if (powerground_calibration_timer < HAL_GetTick()){
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powerground_calibration_timer = HAL_GetTick() + 2000;
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powerground_calibration_stage = 2;
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PWM_powerground_control(100);
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}
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return;
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case 2:
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if (powerground_calibration_timer < HAL_GetTick()){
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powerground_calibration_timer = HAL_GetTick() + 1000;
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powerground_calibration_stage = 3;
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PWM_powerground_control(0);
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}
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return;
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case 3:
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if (powerground_calibration_timer < HAL_GetTick()){
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powerground_calibration_stage = 4;
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}
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return;
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}
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}
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}
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void sm_program_powerground(){
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powerground_calibration_timer = HAL_GetTick() + 5000;
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while (powerground_calibration_timer > HAL_GetTick()){}
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state.current_state = STATE_PRECHARGE;
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sm_update();
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powerground_calibration_timer = HAL_GetTick() + PRECHARGE_DURATION + 1000;
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PWM_powerground_control(100);
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while (powerground_calibration_timer > HAL_GetTick()){}
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sm_update();
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while (1) {
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}
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}
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void sm_balancing(){
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for (int i = 0; i < 13; i++) {
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amsConfigBalancing((1 << i), 0xF);
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}
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amsStartBalancing(0);
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}
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void sm_eeprom_write_status(){
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if (EEPROM_timer < HAL_GetTick()){
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eeprom_write_status();
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EEPROM_timer = HAL_GetTick() + EEPROM_WRITE_FREQ_INACTIVE;
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}
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}
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#warning TODO: add error checking for everything here
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void sm_check_errors(){
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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;
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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;
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state.error_type.bms_timeout = (error_data.error_sources & (1 << 7)) ? 1 : 0;
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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;
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//SEK_EEPROM_ERR: state.error_type.eeprom_error = 1;
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//state.error_type.current_error = (powerground_status > 10 && CURRENT_MEASUREMENT < 500) ? 1 : 0;
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state.error_type.current_sensor_missing = (!CURRENT_MEASUREMENT_ON) ? 1 : 0;
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state.error_type.voltage_missing = (RELAY_BAT_SIDE_VOLTAGE < 1000) ? 1 : 0;
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if ( state.error_type.current_error == 1 || state.error_type.current_sensor_missing == 1 || //state.error_type.eeprom_error == 1 ||
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state.error_type.state_transition_fail == 1 || state.error_type.temperature_error == 1 || state.error_type.voltage_error == 1 ||
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state.error_type.voltage_missing == 1 || state.error_type.bms_fault == 1 || state.error_type.bms_timeout == 1){
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if (state.current_state != STATE_INACTIVE && state.current_state != STATE_ERROR)
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state.current_state = STATE_DISCHARGE;
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state.target_state = STATE_ERROR;
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PWM_powerground_control(255);
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} else if (state.current_state == STATE_ERROR){
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state.target_state = STATE_INACTIVE;
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}
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sm_set_error_source();
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}
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void sm_set_error_source(){
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state.error_source = 0;
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state.error_source |= (state.error_type.bms_timeout << 0);
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state.error_source |= (state.error_type.bms_fault << 1);
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state.error_source |= (state.error_type.temperature_error << 2);
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state.error_source |= (state.error_type.current_error << 3);
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state.error_source |= (state.error_type.current_sensor_missing << 4);
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state.error_source |= (state.error_type.voltage_error << 5);
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state.error_source |= (state.error_type.voltage_missing << 6);
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state.error_source |= (state.error_type.state_transition_fail << 7);
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}
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State sm_update_inactive(){
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switch (state.target_state) {
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case STATE_PRECHARGE:
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return STATE_PRECHARGE;
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case STATE_CHARGING_PRECHARGE:
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return STATE_CHARGING_PRECHARGE;
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case STATE_ERROR:
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return STATE_ERROR;
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default:
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return STATE_INACTIVE;
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}
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}
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State sm_update_precharge(){
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switch (state.target_state) {
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case STATE_INACTIVE: // if CAN Signal 0000 0000 then immidiete shutdown
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return STATE_DISCHARGE;
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case STATE_READY:
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return STATE_READY;
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default:
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return STATE_PRECHARGE;
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}
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}
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State sm_update_ready(){
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switch (state.target_state) {
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case STATE_ACTIVE: // if CAN Signal 1100 0000 then turn on powerground
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return STATE_ACTIVE;
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case STATE_DISCHARGE: // if CAN Signal 0000 0000 then shutdown
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return STATE_DISCHARGE;
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default:
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return STATE_READY;
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}
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}
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State sm_update_active(){
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switch (state.target_state) {
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case STATE_READY: // if CAN Signal 1000 0000 then turn oof powerground but stay ready
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return STATE_READY;
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case STATE_DISCHARGE: // if CAN Signal 0000 0000 then shutdown
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return STATE_DISCHARGE;
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default:
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return STATE_ACTIVE;
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}
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}
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State sm_update_discharge(){
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switch (state.target_state) {
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case STATE_INACTIVE:
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return STATE_INACTIVE;
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case STATE_ERROR:
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return STATE_ERROR;
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default:
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return STATE_DISCHARGE;
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}
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}
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State sm_update_charging_precharge(){
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switch (state.target_state) {
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case STATE_CHARGING:
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return STATE_CHARGING;
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case STATE_DISCHARGE:
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return STATE_DISCHARGE;
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default:
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return STATE_CHARGING_PRECHARGE;
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}
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}
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State sm_update_charging(){
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switch (state.target_state) {
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case STATE_DISCHARGE:
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return STATE_DISCHARGE;
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default:
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return STATE_CHARGING;
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}
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}
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State sm_update_error(){
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switch (state.target_state) {
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case STATE_DISCHARGE:
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return STATE_DISCHARGE;
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case STATE_INACTIVE:
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return STATE_INACTIVE;
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default:
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return STATE_ERROR;
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}
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}
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void sm_set_relay_positions(State current_state){
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switch (state.current_state) {
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case STATE_INACTIVE:
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sm_set_relay(RELAY_MAIN, 0);
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sm_set_relay(RELAY_PRECHARGE, 0);
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break;
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case STATE_PRECHARGE:
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sm_set_relay(RELAY_MAIN, 0);
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sm_set_relay(RELAY_PRECHARGE, 1);
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break;
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case STATE_READY:
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sm_set_relay(RELAY_MAIN, 1);
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sm_set_relay(RELAY_PRECHARGE, 0);
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break;
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case STATE_ACTIVE:
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sm_set_relay(RELAY_MAIN, 1);
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sm_set_relay(RELAY_PRECHARGE, 0);
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break;
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case STATE_DISCHARGE:
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sm_set_relay(RELAY_MAIN, 0);
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sm_set_relay(RELAY_PRECHARGE, 1);
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break;
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case STATE_CHARGING_PRECHARGE:
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sm_set_relay(RELAY_MAIN, 0);
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sm_set_relay(RELAY_PRECHARGE, 1);
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break;
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case STATE_CHARGING:
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sm_set_relay(RELAY_MAIN, 1);
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sm_set_relay(RELAY_PRECHARGE, 0);
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break;
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case STATE_ERROR:
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sm_set_relay(RELAY_MAIN, 0);
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sm_set_relay(RELAY_PRECHARGE, 0);
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break;
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}
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}
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void sm_set_relay(Relay relay, bool closed){
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GPIO_PinState state = closed ? GPIO_PIN_SET : GPIO_PIN_RESET;
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switch (relay) {
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case RELAY_MAIN:
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HAL_GPIO_WritePin(RELAY_ENABLE_GPIO_Port, RELAY_ENABLE_Pin, state);
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break;
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case RELAY_PRECHARGE:
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HAL_GPIO_WritePin(PRECHARGE_ENABLE_GPIO_Port, PRECHARGE_ENABLE_Pin, state);
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break;
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}
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}
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/* returns the ID and temperature of the hottest cell */
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void sm_check_battery_temperature(int8_t *id, int16_t *temp){
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for (int i = 0; i < N_TEMP_SENSORS; i++) {
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if (tmp1075_temps[i] > *temp){
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*id = i;
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*temp = tmp1075_temps[i];
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}
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}
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}
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int16_t sm_return_cell_temperature(int id){ return tmp1075_temps[id]; }
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int16_t sm_return_cell_voltage(int id){ return module.cellVoltages[id]; }
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void sm_test_cycle_states(){
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RELAY_BAT_SIDE_VOLTAGE = module.auxVoltages[0];
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RELAY_ESC_SIDE_VOLTAGE = module.auxVoltages[1];
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CURRENT_MEASUREMENT = module.auxVoltages[2];
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sm_set_relay_positions(state.current_state);
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if (timestamp > HAL_GetTick())
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return;
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switch (state.current_state) {
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case STATE_INACTIVE:
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state.current_state = STATE_PRECHARGE;
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timestamp = HAL_GetTick() + 30000;
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PWM_powerground_control(0);
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break;
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case STATE_PRECHARGE:
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state.current_state = STATE_READY;
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timestamp = HAL_GetTick() + 10000;
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break;
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case STATE_READY:
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state.current_state = STATE_ACTIVE;
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timestamp = HAL_GetTick() + 10000;
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break;
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case STATE_ACTIVE:
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state.current_state = STATE_DISCHARGE;
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timestamp = HAL_GetTick() + 10000;
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PWM_powerground_control(10);
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break;
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case STATE_DISCHARGE:
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state.current_state = STATE_INACTIVE;
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timestamp = HAL_GetTick() + 10000;
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break;
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case STATE_CHARGING_PRECHARGE:
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case STATE_CHARGING:
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case STATE_ERROR:
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break;
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}
|
|
|
|
state.target_state = state.current_state;
|
|
} |