452 lines
14 KiB
C
452 lines
14 KiB
C
/*
|
|
* state_machine.h
|
|
*
|
|
* Created on: 07.07.2024
|
|
* 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
|
|
#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
|
|
|
|
StateHandle state;
|
|
int32_t RELAY_BAT_SIDE_VOLTAGE;
|
|
int32_t RELAY_ESC_SIDE_VOLTAGE;
|
|
int32_t CURRENT_MEASUREMENT;
|
|
bool CURRENT_MEASUREMENT_ON;
|
|
float base_offset = 0;
|
|
|
|
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(){
|
|
state.current_state = STATE_INACTIVE;
|
|
state.target_state = STATE_INACTIVE;
|
|
state.error_source = 0;
|
|
precharge_timer = discharge_timer = powerground_calibration_timer;
|
|
CAN_timer = HAL_GetTick() + 5000;
|
|
}
|
|
|
|
#warning change amsState here
|
|
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;
|
|
|
|
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_BAT_SIDE_VOLTAGE = module.auxVoltages[3] * 15.98; // the calculation says the factor is 11. 11.711 yields the better result
|
|
|
|
|
|
switch (state.current_state) {
|
|
case STATE_INACTIVE:
|
|
state.current_state = sm_update_inactive(); // monitor only
|
|
break;
|
|
case STATE_PRECHARGE:
|
|
state.current_state = sm_update_precharge(); // set PRECHARGE and turn on cooling at 50% or such
|
|
break;
|
|
case STATE_READY:
|
|
state.current_state = sm_update_ready(); // keep cooling at 50%, get ready to turn on powerground
|
|
break;
|
|
case STATE_ACTIVE:
|
|
state.current_state = sm_update_active(); // set PRECHARGE and turn on cooling at 50% or such
|
|
break;
|
|
case STATE_DISCHARGE:
|
|
state.current_state = sm_update_discharge(); // open the main relay, keep PRECHARGE closed
|
|
break;
|
|
case STATE_CHARGING_PRECHARGE:
|
|
state.current_state = sm_update_charging_precharge();
|
|
break;
|
|
case STATE_CHARGING:
|
|
state.current_state = sm_update_charging(); // monitor and turn on cooling if needed.
|
|
break;
|
|
case STATE_ERROR:
|
|
state.current_state = sm_update_error(); // enter the correct ERROR state
|
|
break;
|
|
}
|
|
|
|
sm_set_relay_positions(state.current_state);
|
|
state.target_state = state.current_state;
|
|
}
|
|
|
|
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){
|
|
state.target_state = STATE_DISCHARGE;
|
|
PWM_powerground_control(255);
|
|
}
|
|
break;
|
|
case 0x01:
|
|
if (state.target_state == STATE_INACTIVE || state.target_state == STATE_DISCHARGE){
|
|
state.target_state = STATE_PRECHARGE;
|
|
PWM_powerground_control(0);
|
|
} else if (state.target_state == STATE_ACTIVE){
|
|
state.target_state = STATE_READY;
|
|
PWM_powerground_control(0);
|
|
}
|
|
break;
|
|
case 0x02:
|
|
if (state.current_state == STATE_READY || state.current_state == STATE_ACTIVE){
|
|
target_powerground_status = data[1];
|
|
state.target_state = STATE_ACTIVE; // READY -> ACTIVE
|
|
}
|
|
break;
|
|
case 0xF0:
|
|
if (state.current_state == STATE_INACTIVE){
|
|
state.target_state = STATE_CHARGING_PRECHARGE;
|
|
}
|
|
break;
|
|
#warning implement this
|
|
case 0xF1: // EEPROM
|
|
break;
|
|
case 0xFF: // EMERGENCY SHUTDOWN
|
|
state.current_state = STATE_DISCHARGE;
|
|
state.target_state = STATE_ERROR;
|
|
break;
|
|
}
|
|
}
|
|
|
|
void sm_precharge_discharge_manager(){
|
|
|
|
if (state.current_state != STATE_PRECHARGE && state.target_state == STATE_PRECHARGE){
|
|
precharge_timer = HAL_GetTick() + PRECHARGE_DURATION;
|
|
} else if (state.current_state == STATE_PRECHARGE && precharge_timer < HAL_GetTick()) {
|
|
state.target_state = STATE_READY;
|
|
precharge_timer = 0;
|
|
}
|
|
|
|
if (state.current_state != STATE_CHARGING_PRECHARGE && state.target_state == STATE_CHARGING_PRECHARGE){
|
|
precharge_timer = HAL_GetTick() + PRECHARGE_DURATION;
|
|
} else if (state.current_state == STATE_CHARGING_PRECHARGE && precharge_timer < HAL_GetTick()) {
|
|
state.target_state = STATE_CHARGING;
|
|
precharge_timer = 0;
|
|
}
|
|
|
|
if (state.current_state != STATE_DISCHARGE && state.target_state == STATE_DISCHARGE){
|
|
discharge_timer = HAL_GetTick() + DISCHARGE_DURATION;
|
|
} else if (state.current_state == STATE_DISCHARGE && discharge_timer < HAL_GetTick()) {
|
|
state.target_state = STATE_INACTIVE;
|
|
discharge_timer = 0;
|
|
}
|
|
|
|
}
|
|
|
|
void sm_powerground_manager(){
|
|
if (current_powerground_status == target_powerground_status)
|
|
return;
|
|
if ( current_powerground_status > 100 || 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 ){
|
|
current_powerground_status++;
|
|
PWM_powerground_softcontrol();
|
|
powerground_softstart_timer = HAL_GetTick() + 10;
|
|
} else if (current_powerground_status > target_powerground_status) {
|
|
current_powerground_status--;
|
|
PWM_powerground_softcontrol();
|
|
powerground_softstart_timer = HAL_GetTick() + 10;
|
|
}
|
|
}
|
|
}
|
|
|
|
void sm_calibrate_powerground(){
|
|
if (powerground_calibration_stage != 4 && state.current_state == STATE_PRECHARGE){
|
|
switch (powerground_calibration_stage) {
|
|
case 0:
|
|
powerground_calibration_timer = HAL_GetTick() + 0;
|
|
powerground_calibration_stage = 1;
|
|
return;
|
|
case 1:
|
|
if (powerground_calibration_timer < HAL_GetTick()){
|
|
powerground_calibration_timer = HAL_GetTick() + 2000;
|
|
powerground_calibration_stage = 2;
|
|
PWM_powerground_control(100);
|
|
}
|
|
return;
|
|
case 2:
|
|
if (powerground_calibration_timer < HAL_GetTick()){
|
|
powerground_calibration_timer = HAL_GetTick() + 1000;
|
|
powerground_calibration_stage = 3;
|
|
PWM_powerground_control(0);
|
|
}
|
|
return;
|
|
case 3:
|
|
if (powerground_calibration_timer < HAL_GetTick()){
|
|
powerground_calibration_stage = 4;
|
|
}
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
|
|
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;
|
|
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 < 500) ? 1 : 0;
|
|
state.error_type.current_sensor_missing = (!CURRENT_MEASUREMENT_ON) ? 1 : 0;
|
|
state.error_type.voltage_missing = (RELAY_BAT_SIDE_VOLTAGE < 1000) ? 1 : 0;
|
|
|
|
|
|
if ( state.error_type.current_error == 1 || state.error_type.current_sensor_missing == 1 || //state.error_type.eeprom_error == 1 ||
|
|
state.error_type.state_transition_fail == 1 || state.error_type.temperature_error == 1 || state.error_type.voltage_error == 1 ||
|
|
state.error_type.voltage_missing == 1 || state.error_type.bms_fault == 1 || state.error_type.bms_timeout == 1){
|
|
if (state.current_state != STATE_INACTIVE && state.current_state != STATE_ERROR)
|
|
state.current_state = STATE_DISCHARGE;
|
|
state.target_state = STATE_ERROR;
|
|
PWM_powerground_control(255);
|
|
} else if (state.current_state == STATE_ERROR){
|
|
state.target_state = STATE_INACTIVE;
|
|
}
|
|
sm_set_error_source();
|
|
}
|
|
|
|
void sm_set_error_source(){
|
|
state.error_source = 0;
|
|
state.error_source |= (state.error_type.bms_timeout << 0);
|
|
state.error_source |= (state.error_type.bms_fault << 1);
|
|
state.error_source |= (state.error_type.temperature_error << 2);
|
|
state.error_source |= (state.error_type.current_error << 3);
|
|
|
|
state.error_source |= (state.error_type.current_sensor_missing << 4);
|
|
state.error_source |= (state.error_type.voltage_error << 5);
|
|
state.error_source |= (state.error_type.voltage_missing << 6);
|
|
state.error_source |= (state.error_type.state_transition_fail << 7);
|
|
}
|
|
|
|
State sm_update_inactive(){
|
|
switch (state.target_state) {
|
|
case STATE_PRECHARGE:
|
|
return STATE_PRECHARGE;
|
|
case STATE_CHARGING_PRECHARGE:
|
|
return STATE_CHARGING_PRECHARGE;
|
|
case STATE_ERROR:
|
|
return STATE_ERROR;
|
|
default:
|
|
return STATE_INACTIVE;
|
|
}
|
|
}
|
|
|
|
State sm_update_precharge(){
|
|
switch (state.target_state) {
|
|
case STATE_INACTIVE: // if CAN Signal 0000 0000 then immidiete shutdown
|
|
return STATE_DISCHARGE;
|
|
case STATE_READY:
|
|
return STATE_READY;
|
|
default:
|
|
return STATE_PRECHARGE;
|
|
}
|
|
}
|
|
|
|
State sm_update_ready(){
|
|
switch (state.target_state) {
|
|
case STATE_ACTIVE: // if CAN Signal 1100 0000 then turn on powerground
|
|
return STATE_ACTIVE;
|
|
case STATE_DISCHARGE: // if CAN Signal 0000 0000 then shutdown
|
|
return STATE_DISCHARGE;
|
|
default:
|
|
return STATE_READY;
|
|
}
|
|
}
|
|
|
|
State sm_update_active(){
|
|
switch (state.target_state) {
|
|
case STATE_READY: // if CAN Signal 1000 0000 then turn oof powerground but stay ready
|
|
return STATE_READY;
|
|
case STATE_DISCHARGE: // if CAN Signal 0000 0000 then shutdown
|
|
return STATE_DISCHARGE;
|
|
default:
|
|
return STATE_ACTIVE;
|
|
}
|
|
}
|
|
|
|
State sm_update_discharge(){
|
|
switch (state.target_state) {
|
|
case STATE_INACTIVE:
|
|
return STATE_INACTIVE;
|
|
case STATE_ERROR:
|
|
return STATE_ERROR;
|
|
default:
|
|
return STATE_DISCHARGE;
|
|
}
|
|
}
|
|
|
|
State sm_update_charging_precharge(){
|
|
switch (state.target_state) {
|
|
case STATE_CHARGING:
|
|
return STATE_CHARGING;
|
|
case STATE_DISCHARGE:
|
|
return STATE_DISCHARGE;
|
|
default:
|
|
return STATE_CHARGING_PRECHARGE;
|
|
}
|
|
}
|
|
|
|
State sm_update_charging(){
|
|
switch (state.target_state) {
|
|
case STATE_DISCHARGE:
|
|
return STATE_DISCHARGE;
|
|
default:
|
|
|
|
return STATE_CHARGING;
|
|
}
|
|
}
|
|
|
|
State sm_update_error(){
|
|
switch (state.target_state) {
|
|
case STATE_DISCHARGE:
|
|
return STATE_DISCHARGE;
|
|
case STATE_INACTIVE:
|
|
return STATE_INACTIVE;
|
|
default:
|
|
return STATE_ERROR;
|
|
}
|
|
}
|
|
|
|
void sm_set_relay_positions(State current_state){
|
|
switch (state.current_state) {
|
|
case STATE_INACTIVE:
|
|
sm_set_relay(RELAY_MAIN, 0);
|
|
sm_set_relay(RELAY_PRECHARGE, 0);
|
|
break;
|
|
case STATE_PRECHARGE:
|
|
sm_set_relay(RELAY_MAIN, 0);
|
|
sm_set_relay(RELAY_PRECHARGE, 1);
|
|
break;
|
|
case STATE_READY:
|
|
sm_set_relay(RELAY_MAIN, 1);
|
|
sm_set_relay(RELAY_PRECHARGE, 0);
|
|
break;
|
|
case STATE_ACTIVE:
|
|
sm_set_relay(RELAY_MAIN, 1);
|
|
sm_set_relay(RELAY_PRECHARGE, 0);
|
|
break;
|
|
case STATE_DISCHARGE:
|
|
sm_set_relay(RELAY_MAIN, 0);
|
|
sm_set_relay(RELAY_PRECHARGE, 1);
|
|
break;
|
|
case STATE_CHARGING_PRECHARGE:
|
|
sm_set_relay(RELAY_MAIN, 0);
|
|
sm_set_relay(RELAY_PRECHARGE, 1);
|
|
break;
|
|
case STATE_CHARGING:
|
|
sm_set_relay(RELAY_MAIN, 1);
|
|
sm_set_relay(RELAY_PRECHARGE, 0);
|
|
break;
|
|
case STATE_ERROR:
|
|
sm_set_relay(RELAY_MAIN, 0);
|
|
sm_set_relay(RELAY_PRECHARGE, 0);
|
|
break;
|
|
}
|
|
}
|
|
|
|
void sm_set_relay(Relay relay, bool closed){
|
|
GPIO_PinState state = closed ? GPIO_PIN_SET : GPIO_PIN_RESET;
|
|
switch (relay) {
|
|
case RELAY_MAIN:
|
|
HAL_GPIO_WritePin(RELAY_ENABLE_GPIO_Port, RELAY_ENABLE_Pin, state);
|
|
break;
|
|
case RELAY_PRECHARGE:
|
|
HAL_GPIO_WritePin(PRECHARGE_ENABLE_GPIO_Port, PRECHARGE_ENABLE_Pin, state);
|
|
break;
|
|
}
|
|
}
|
|
|
|
/* returns the ID and temperature of the hottest cell */
|
|
void sm_check_battery_temperature(int8_t *id, int16_t *temp){
|
|
for (int i = 0; i < N_TEMP_SENSORS; i++) {
|
|
if (tmp1075_temps[i] > *temp){
|
|
*id = i;
|
|
*temp = tmp1075_temps[i];
|
|
}
|
|
}
|
|
}
|
|
|
|
int16_t sm_return_cell_temperature(int id){ return tmp1075_temps[id]; }
|
|
|
|
int16_t sm_return_cell_voltage(int id){ return module.cellVoltages[id]; }
|
|
|
|
void sm_test_cycle_states(){
|
|
RELAY_BAT_SIDE_VOLTAGE = module.auxVoltages[0];
|
|
RELAY_ESC_SIDE_VOLTAGE = module.auxVoltages[1];
|
|
CURRENT_MEASUREMENT = module.auxVoltages[2];
|
|
sm_set_relay_positions(state.current_state);
|
|
|
|
if (timestamp > HAL_GetTick())
|
|
return;
|
|
switch (state.current_state) {
|
|
case STATE_INACTIVE:
|
|
state.current_state = STATE_PRECHARGE;
|
|
timestamp = HAL_GetTick() + 30000;
|
|
PWM_powerground_control(0);
|
|
break;
|
|
case STATE_PRECHARGE:
|
|
state.current_state = STATE_READY;
|
|
timestamp = HAL_GetTick() + 10000;
|
|
break;
|
|
case STATE_READY:
|
|
state.current_state = STATE_ACTIVE;
|
|
timestamp = HAL_GetTick() + 10000;
|
|
break;
|
|
case STATE_ACTIVE:
|
|
state.current_state = STATE_DISCHARGE;
|
|
timestamp = HAL_GetTick() + 10000;
|
|
PWM_powerground_control(10);
|
|
break;
|
|
case STATE_DISCHARGE:
|
|
state.current_state = STATE_INACTIVE;
|
|
timestamp = HAL_GetTick() + 10000;
|
|
break;
|
|
case STATE_CHARGING_PRECHARGE:
|
|
case STATE_CHARGING:
|
|
case STATE_ERROR:
|
|
break;
|
|
}
|
|
|
|
state.target_state = state.current_state;
|
|
} |