Bms relay fsm working (#271)

* Created basic structure for relays_fsm and validated * fixed after merging new current_sense * Added open/close relay functions * added current sense fault handler with relays_fsm * reorganized bms_fault checks * formatting + lint * rebase + formatting * added afe reading + fault check * formatting and error fix * reorganized cycle running and added all checks * moved all of afe into relays fsm * Made revisions * making regen braking rely on BMS * started bms smoke * changd regen braking to be dependent on batt voltage * Formatting * added delay reminder for relays switching on/off * altered calculation to work with motor controller easily * fan smoke test * validation changes (not done validating) * afe daisy chaining fix * updated afe daisy chaining. MAIN ERROR: Timing delays of cell_conv cause master task to fall out of sync + return spi status timeout * Add retry mechanism to ltc cell conversion * added bms fan module * fan module * added+validated fan module and new current_sense module. Next step: add in fault handling * small changes: add fault check and verify fan sense * fan testing + added fault msgs * bruh * fault messages * added most fault checks following electrical standards * small changes in syntax * cell sense module * fault_bps file complete * afe/currentsense comms loss fault added * Removed fault_check function frmo ltc_afe_impl since not used anymore * aux_sense added * validation changes * major validation changes * AFEs and I think Current Sense Working * Commented out Current Sense Faults * centre_console chnages + formatting * validation changes * relay delay validated * build fix workflows annoying * soft timer for relays works * current sense added + working with kill switch * fan.c smoke updated * pd validation with mci precharge * jarvis fixes * jarvis fixes 2 --------- Co-authored-by: vagrant <vagrant@midsunbox> Co-authored-by: Bafran <[email protected]> Co-authored-by: Akashem <akashem06>
uw-midsun · Apr 6, 2024 · 2704dab · 2704dab
1 parent 0346df0
commit 2704dab
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diff --git a/libraries/codegen/boards/bms_carrier.yaml b/libraries/codegen/boards/bms_carrier.yaml
@@ -19,20 +19,29 @@
           watchdog: 3
       critical: true
       signals:
-        batt_perc:
+        fault:
           length: 16
-        status:
+        aux_batt_v:
+          length: 32
+
+    battery_info:
+      id: 33
+      target:
+        centre_console:
+          watchdog: 0
+      signals:
+        fan1:
           length: 8
-        fault:
+        fan2:
           length: 8
-
+        max_cell_v:
+          length: 32
+
     battery_vt:
       id: 30
       target:
         centre_console:
           watchdog: 0
-        telemetry:
-          watchdog: 0
       critical: false
       signals:
         voltage:
@@ -43,41 +52,7 @@
           length: 16
         batt_perc:
           length: 16
-
-    battery_aggregate_vc:
-      id: 33
-      target:
-        telemetry:
-          watchdog: 0
-      signals:
-        voltage:
-          length: 32
-        current:
-          length: 32
-
-    battery_fan_state:
-      id: 57
-      target:
-        bms_carrier:
-          watchdog: 0
-      signals:
-        fan_1:
-          length: 8
-        fan_2:
-          length: 8
-        fan_3:
-          length: 8
-        fan_4:
-          length: 8
-        fan_5:
-          length: 8
-        fan_6:
-          length: 8
-        fan_7:
-          length: 8
-        fan_8:
-          length: 8
-
+
     battery_relay_info:
       id: 58
       target:

diff --git a/libraries/ms-common/inc/arm/pwm_mcu.h b/libraries/ms-common/inc/arm/pwm_mcu.h
@@ -6,6 +6,7 @@ typedef enum {
   PWM_TIMER_1 = 0,
   // PWM_TIMER_2,  // Requisitioned to back the soft_timer module.
   PWM_TIMER_3,
+  PWM_TIMER_4,  // Usually used by i2c
   PWM_TIMER_14,
   PWM_TIMER_15,
   PWM_TIMER_16,

diff --git a/libraries/ms-common/inc/exported_enums.h b/libraries/ms-common/inc/exported_enums.h
@@ -19,15 +19,16 @@
 typedef enum {
   EE_RELAY_STATE_OPEN = 0,
   EE_RELAY_STATE_CLOSE,
+  EE_RELAY_STATE_FAULT,
   NUM_EE_RELAY_STATES,
 } EERelayState;
 
 // STEERING SIGNALS
 // Signals for analog inputs received at the steering board
 typedef enum SteeringInfoAnalog {
   EE_STEERING_LIGHTS_OFF_STATE = 0,  // Turn lights off
-  EE_STEERING_LIGHTS_RIGHT_STATE,    // Right Turn Signal
   EE_STEERING_LIGHTS_LEFT_STATE,     // Left Turn Signal
+  EE_STEERING_LIGHTS_RIGHT_STATE,    // Right Turn Signal
   NUM_EE_STEERING_LIGHTS,
 } SteeringInfoAnalog;
 

diff --git a/libraries/ms-common/inc/x86/pwm_mcu.h b/libraries/ms-common/inc/x86/pwm_mcu.h
@@ -8,6 +8,7 @@ typedef enum {
   PWM_TIMER_1 = 0,
   // PWM_TIMER_2,  // Requisitioned to back the soft_timer module.
   PWM_TIMER_3,
+  PWM_TIMER_4,  // Usually used by i2c
   PWM_TIMER_14,
   PWM_TIMER_15,
   PWM_TIMER_16,

diff --git a/libraries/ms-common/src/arm/pwm.c b/libraries/ms-common/src/arm/pwm.c
@@ -16,6 +16,7 @@ typedef enum APBClk {
 static uint16_t s_period_us[NUM_PWM_TIMERS] = {
   [PWM_TIMER_1] = 0,   //
   [PWM_TIMER_3] = 0,   //
+  [PWM_TIMER_4] = 0,   // This timer is typically used by I2C
   [PWM_TIMER_14] = 0,  //
   [PWM_TIMER_15] = 0,  //
   [PWM_TIMER_16] = 0,  //
@@ -25,6 +26,7 @@ static uint16_t s_period_us[NUM_PWM_TIMERS] = {
 static TIM_TypeDef *s_timer_def[NUM_PWM_TIMERS] = {
   [PWM_TIMER_1] = TIM1,    //
   [PWM_TIMER_3] = TIM3,    //
+  [PWM_TIMER_4] = TIM4,    // Typically used for I2C
   [PWM_TIMER_14] = TIM14,  //
   [PWM_TIMER_15] = TIM15,  //
   [PWM_TIMER_16] = TIM16,  //
@@ -39,6 +41,9 @@ static APBClk prv_enable_periph_clock(PwmTimer timer) {
     case PWM_TIMER_3:
       RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
       return APB1;
+    case PWM_TIMER_4:
+      RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
+      return APB1;
     case PWM_TIMER_14:
       RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM14, ENABLE);
       return APB1;

diff --git a/libraries/ms-drivers/inc/ltc_afe.h b/libraries/ms-drivers/inc/ltc_afe.h
@@ -72,13 +72,11 @@ typedef struct LtcAfeSettings {
 } LtcAfeSettings;
 
 typedef struct LtcAfeStorage {
-  Fsm fsm;
-
   // Only used for storage in the FSM so we store data for the correct cells
   uint16_t aux_index;
   uint16_t retry_count;
   uint16_t device_cell;
-  uint16_t time_elapsed;
+  uint32_t timer_start;
 
   uint16_t cell_voltages[LTC_AFE_MAX_CELLS];
   uint16_t aux_voltages[LTC_AFE_MAX_THERMISTORS];

diff --git a/libraries/ms-drivers/inc/max17261_fuel_gauge.h b/libraries/ms-drivers/inc/max17261_fuel_gauge.h
@@ -27,7 +27,7 @@ typedef struct {
   uint16_t charge_term_current;  // LSB = 1.5625 (micro Volts / R Sense)
 
   uint16_t i_thresh_max;
-  uint16_t i_thresh_min;
+  int16_t i_thresh_min;
   uint16_t temp_thresh_max;
 
   float r_sense_mohms;  // Rsense in micro ohms
@@ -77,7 +77,7 @@ StatusCode max17261_time_to_full(Max17261Storage *storage, uint16_t *ttf_ms);
  * @param soc_pct - current in amps returned in this var
  * @return STATUS_CODE_OK on success
  */
-StatusCode max17261_current(Max17261Storage *storage, uint16_t *current_a);
+StatusCode max17261_current(Max17261Storage *storage, int16_t *current_a);
 
 /* @brief Gets a single cell's voltage in mV
  * @param storage - a pointer to an already initialized Max17261Storage struct

diff --git a/libraries/ms-drivers/src/ltc_afe_impl.c b/libraries/ms-drivers/src/ltc_afe_impl.c
@@ -75,8 +75,8 @@ static StatusCode prv_read_register(LtcAfeStorage *afe, LtcAfeRegister reg, uint
 }
 
 // read from a voltage register
-static StatusCode prv_read_voltage(LtcAfeStorage *afe, LtcAfeVoltageRegister reg,
-                                   LtcAfeVoltageRegisterGroup *data) {
+static inline StatusCode prv_read_voltage(LtcAfeStorage *afe, LtcAfeVoltageRegister reg,
+                                          LtcAfeVoltageRegisterGroup *data) {
   if (reg > NUM_LTC_AFE_VOLTAGE_REGISTERS) {
     return status_code(STATUS_CODE_INVALID_ARGS);
   }
@@ -86,7 +86,7 @@ static StatusCode prv_read_voltage(LtcAfeStorage *afe, LtcAfeVoltageRegister reg
 }
 
 // start cell voltage conversion
-static StatusCode prv_trigger_adc_conversion(LtcAfeStorage *afe) {
+static inline StatusCode prv_trigger_adc_conversion(LtcAfeStorage *afe) {
   LtcAfeSettings *settings = &afe->settings;
   uint8_t mode = (uint8_t)((settings->adc_mode + 1) % 3);
   // ADCV command
@@ -264,7 +264,7 @@ StatusCode ltc_afe_impl_trigger_aux_conv(LtcAfeStorage *afe, uint8_t device_cell
   return prv_trigger_aux_adc_conversion(afe);
 }
 
-StatusCode ltc_afe_impl_read_cells(LtcAfeStorage *afe) {
+inline StatusCode ltc_afe_impl_read_cells(LtcAfeStorage *afe) {
   // Read all voltage A, then B, ...
   LtcAfeSettings *settings = &afe->settings;
   for (uint8_t cell_reg = 0; cell_reg < NUM_LTC_AFE_VOLTAGE_REGISTERS; ++cell_reg) {

diff --git a/libraries/ms-drivers/src/max17261_fuel_gauge.c b/libraries/ms-drivers/src/max17261_fuel_gauge.c
@@ -1,5 +1,7 @@
 #include "max17261_fuel_gauge.h"
 
+#include "log.h"
+
 // See Table 3 on pg.18 of the datasheet
 #define PCT_LSB (1.0f / 256)                                  // LSBit is 1/256%
 #define CAP_LSB (5.0f / storage->settings->r_sense_mohms)     // LSBit is 5 micro Volt hrs / Rsense
@@ -67,10 +69,10 @@ StatusCode max17261_time_to_full(Max17261Storage *storage, uint16_t *ttf_ms) {
   return STATUS_CODE_OK;
 }
 
-StatusCode max17261_current(Max17261Storage *storage, uint16_t *current_ua) {
+StatusCode max17261_current(Max17261Storage *storage, int16_t *current_ua) {
   uint16_t current_reg_val = 0;
   status_ok_or_return(max17261_get_reg(storage, MAX17261_CURRENT, &current_reg_val));
-  *current_ua = current_reg_val * CUR_LSB;
+  *current_ua = (int16_t)(current_reg_val)*CUR_LSB;
   return STATUS_CODE_OK;
 }
 
@@ -84,7 +86,7 @@ StatusCode max17261_voltage(Max17261Storage *storage, uint16_t *vcell_mv) {
 StatusCode max17261_temp(Max17261Storage *storage, uint16_t *temp_c) {
   uint16_t temp_reg_val = 0;
   status_ok_or_return(max17261_get_reg(storage, MAX17261_TEMP, &temp_reg_val));
-  *temp_c = temp_reg_val * temp_reg_val;
+  *temp_c = temp_reg_val * TEMP_LSB;
   return STATUS_CODE_OK;
 }
 
@@ -100,6 +102,10 @@ StatusCode max17261_init(Max17261Storage *storage, Max17261Settings *settings) {
   uint16_t config = 0;
   status_ok_or_return(max17261_get_reg(storage, MAX17261_CONFIG, &config));
   config |= (1 << 2);
+  // Enable external temp readings
+  // config |= (1 << 15);
+  // config |= (1 << 8);
+  // config |= (1 << 4);
   status_ok_or_return(max17261_set_reg(storage, MAX17261_CONFIG, config));
   // Upper byte is IMAX and lower byte is IMIN
   uint16_t current_th = (settings->i_thresh_max << 8) & (settings->i_thresh_min & 0x00FF);

diff --git a/projects/bms_carrier/config.json b/projects/bms_carrier/config.json
@@ -2,7 +2,7 @@
     "libs": [
         "FreeRTOS",
         "ms-common",
-        "master", 
+        "master",
         "ms-drivers"
     ],
     "can": true

diff --git a/projects/bms_carrier/inc/aux_sense.h b/projects/bms_carrier/inc/aux_sense.h
@@ -0,0 +1,17 @@
+#pragma once
+
+#include "adc.h"
+#include "bms_carrier_getters.h"
+#include "bms_carrier_setters.h"
+#include "gpio.h"
+
+#define R2_OHMS 10000
+#define R1_OHMS 47000
+
+typedef struct AuxStorage {
+  uint16_t aux_battery_voltage;
+} AuxStorage;
+
+StatusCode aux_sense_init(AuxStorage *aux_storage);
+
+StatusCode aux_sense_run(void);
diff --git a/projects/bms_carrier/inc/bms.h b/projects/bms_carrier/inc/bms.h
@@ -2,34 +2,44 @@
 
 #include <stdint.h>
 
-#include "cell_sense.h"
-#include "current_sense.h"
+#include "aux_sense.h"
+#include "fault_bps.h"
 #include "i2c.h"
+#include "ltc_afe.h"
+#include "max17261_fuel_gauge.h"
 #include "status.h"
 
 #define BMS_PERIPH_I2C_PORT I2C_PORT_2
 #define BMS_PERIPH_I2C_SDA_PIN \
-  { GPIO_PORT_B, 11 }
+  { .port = GPIO_PORT_B, .pin = 11 }
 #define BMS_PERIPH_I2C_SCL_PIN \
-  { GPIO_PORT_B, 10 }
-#define BMS_FAN_ALERT_PIN \
-  { GPIO_PORT_A, 9 }
+  { .port = GPIO_PORT_B, .pin = 10 }
 
-#define BMS_IO_EXPANDER_I2C_ADDR 0x40
+typedef struct CurrentStorage {
+  uint16_t soc;
+  int16_t current;
+  uint16_t voltage;
+  uint16_t temperature;
+  uint32_t fuel_guage_cycle_ms;  // Time in ms between conversions (soft timer kicks)
+} CurrentStorage;
 
-#define BMS_FAN_CTRL_1_I2C_ADDR 0x5E
-#define BMS_FAN_CTRL_2_I2C_ADDR 0x5F
-#define NUM_BMS_FAN_CTRLS 2
-
-// Not dealing with debouncer here
 typedef struct BmsStorage {
-  // RelayStorage relay_storage;
+  AuxStorage aux_storage;
   CurrentStorage current_storage;
-  AfeReadings afe_readings;
   LtcAfeStorage ltc_afe_storage;
-  CellSenseStorage cell_storage;
-  // FanStorage fan_storage_1;
-  // FanStorage fan_storage_2;
-  // DebouncerStorage killswitch_storage;
-  // BpsStorage bps_storage;
+  BpsStorage bps_storage;
+  Max17261Settings fuel_guage_settings;
+  Max17261Storage fuel_guage_storage;
 } BmsStorage;
+
+typedef enum {
+  BMS_FAULT_OVERVOLTAGE,
+  BMS_FAULT_UNBALANCE,
+  BMS_FAULT_OVERTEMP_AMBIENT,
+  BMS_FAULT_COMMS_LOSS_AFE,
+  BMS_FAULT_COMMS_LOSS_CURR_SENSE,
+  BMS_FAULT_OVERTEMP_CELL,
+  BMS_FAULT_OVERCURRENT,
+  BMS_FAULT_UNDERVOLTAGE,
+  BMS_FAULT_KILLSWITCH
+} BmsFault;