Bms relay fsm (4/4 fault checks done)

libraries/codegen/boards/bms_carrier.yaml

@@ -19,20 +19,22 @@
           watchdog: 3
       critical: true
       signals:
-        batt_perc:
+        fault:
           length: 16
-        status:
+        fan1:
           length: 8
-        fault:
+        fan2:
           length: 8
+        aux_batt_v:
+          length: 16
+        max_cell_v:
+          length: 16
 
     battery_vt:
       id: 30
       target:
         centre_console:
           watchdog: 0
-        telemetry:
-          watchdog: 0
       critical: false
       signals:
         voltage:
@@ -43,41 +45,7 @@
           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:

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,

libraries/ms-common/inc/exported_enums.h

@@ -19,6 +19,7 @@
 typedef enum {
   EE_RELAY_STATE_OPEN = 0,
   EE_RELAY_STATE_CLOSE,
+  EE_RELAY_STATE_FAULT,
   NUM_EE_RELAY_STATES,
 } EERelayState;
 

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,

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;

libraries/ms-drivers/inc/ltc6811.h

@@ -74,17 +74,17 @@ static_assert(sizeof(LtcAfeConfigRegisterData) == 6, "LtcAfeConfigRegisterData m
 
 // COMM Register, refer to LTC6803 datasheet page 31, Table 15
 typedef struct {
-  uint16_t icom0 : 4;
-  uint16_t d0 : 8;
-  uint16_t fcom0 : 4;
+  uint8_t icom0 : 4;
+  uint8_t d0 : 8;
+  uint8_t fcom0 : 4;
 
-  uint16_t icom1 : 4;
-  uint16_t d1 : 8;
-  uint16_t fcom1 : 4;
+  uint8_t icom1 : 4;
+  uint8_t d1 : 8;
+  uint8_t fcom1 : 4;
 
-  uint16_t icom2 : 4;
-  uint16_t d2 : 8;
-  uint16_t fcom2 : 4;
+  uint8_t icom2 : 4;
+  uint8_t d2 : 8;
+  uint8_t fcom2 : 4;
 } _PACKED LtcAfeCommRegisterData;
 static_assert(sizeof(LtcAfeCommRegisterData) == 6, "LtcAfeCommRegisterData must be 6 bytes");
 
@@ -116,7 +116,7 @@ typedef struct {
   LtcAfeWriteDeviceConfigPacket devices[LTC_AFE_MAX_CELLS_PER_DEVICE];
 } _PACKED LtcAfeWriteConfigPacket;
 #define SIZEOF_LTC_AFE_WRITE_CONFIG_PACKET(devices) \
-  (LTC6811_CMD_SIZE + (devices) * sizeof(LtcAfeWriteConfigPacket))
+  (LTC6811_CMD_SIZE + (devices) * sizeof(LtcAfeWriteDeviceConfigPacket))
 
 typedef union {
   uint16_t voltages[3];
@@ -187,6 +187,10 @@ static_assert(sizeof(LtcAfeAuxRegisterGroupPacket) == 8,
 
 #define LTC6811_STCOMM_RESERVED (1 << 0) | (1 << 1) | (1 << 5) | (1 << 8) | (1 << 9) | (1 << 10)
 
+#define LTC6811_WRPWM_RESERVED (1 << 5)
+
+#define LTC6811_RDPWM_RESERVED (1 << 5) | (1 << 2)
+
 // command bits
 // see Table 40 (p. 62)
 #define LTC6811_GPIO1_PD_ON (0 << 3)
@@ -224,3 +228,6 @@ static_assert(sizeof(LtcAfeAuxRegisterGroupPacket) == 8,
 
 #define LTC6811_FCOM_CSBM_LOW (0 << 0)
 #define LTC6811_FCOM_CSBM_HIGH (1 << 3) | (1 << 0)
+
+// see Table 17 (p. 38)
+#define LTC6811_PWMC_DC_100 (0xF)

libraries/ms-drivers/inc/ltc_afe.h

@@ -78,7 +78,7 @@ typedef struct LtcAfeStorage {
   uint16_t aux_index;
   uint16_t retry_count;
   uint16_t device_cell;
-  uint16_t time_elapsed;
+  uint8_t timer_start;
 
   uint16_t cell_voltages[LTC_AFE_MAX_CELLS];
   uint16_t aux_voltages[LTC_AFE_MAX_THERMISTORS];

libraries/ms-drivers/inc/ltc_afe_impl.h

@@ -17,6 +17,9 @@
 // represent whether we should monitor the cell input for the given device.
 StatusCode ltc_afe_impl_init(LtcAfeStorage *afe, const LtcAfeSettings *settings);
 
+// Write an LTC config based on the given storage settings
+StatusCode ltc_afe_impl_write_config(LtcAfeStorage *afe);
+
 // Triggers a conversion. Note that we need to wait for the conversions to complete before the
 // readback will be valid.
 StatusCode ltc_afe_impl_trigger_cell_conv(LtcAfeStorage *afe);
@@ -29,3 +32,6 @@ StatusCode ltc_afe_impl_read_aux(LtcAfeStorage *afe, uint8_t device_cell);
 // Mark cell for discharging (takes effect after config is re-written)
 // |cell| should be [0, LTC_AFE_MAX_CELLS)
 StatusCode ltc_afe_impl_toggle_cell_discharge(LtcAfeStorage *afe, uint16_t cell, bool discharge);
+
+// Sets the duty cycle to the same value for all cells on all afes
+StatusCode ltc_afe_impl_set_discharge_pwm_cycle(LtcAfeStorage *afe, uint8_t duty_cycle);

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

libraries/ms-drivers/src/ltc_afe_impl.c

@@ -23,7 +23,7 @@ static uint16_t s_read_reg_cmd[NUM_LTC_AFE_REGISTERS] = {
   [LTC_AFE_REGISTER_STATUS_A] = LTC6811_RDSTATA_RESERVED,
   [LTC_AFE_REGISTER_STATUS_B] = LTC6811_RDSTATB_RESERVED,
   [LTC_AFE_REGISTER_READ_COMM] = LTC6811_RDCOMM_RESERVED,
-  [LTC_AFE_REGISTER_START_COMM] = LTC6811_STCOMM_RESERVED
+  [LTC_AFE_REGISTER_START_COMM] = LTC6811_STCOMM_RESERVED,
 };
 
 static uint8_t s_voltage_reg[NUM_LTC_AFE_VOLTAGE_REGISTERS] = {
@@ -39,8 +39,8 @@ static void prv_wakeup_idle(LtcAfeStorage *afe) {
   for (size_t i = 0; i < settings->num_devices; i++) {
     gpio_set_state(&settings->cs, GPIO_STATE_LOW);
     gpio_set_state(&settings->cs, GPIO_STATE_HIGH);
-    // Wait for 300us - greater than tWAKE, less than tIDLE
-    delay_ms(0.3);
+    // Wait for 1ms (should be 300us) - greater than tWAKE, less than tIDLE
+    delay_ms(1);
   }
 }
 
@@ -234,6 +234,7 @@ StatusCode ltc_afe_impl_init(LtcAfeStorage *afe, const LtcAfeSettings *settings)
 
   prv_calc_offsets(afe);
   crc15_init_table();
+  afe->timer_start = 0;
 
   SpiSettings spi_config = {
     .baudrate = settings->spi_baudrate,  //
@@ -248,6 +249,9 @@ StatusCode ltc_afe_impl_init(LtcAfeStorage *afe, const LtcAfeSettings *settings)
   // Use GPIO1 as analog input, GPIO 3-5 for SPI
   uint8_t gpio_bits =
       LTC6811_GPIO1_PD_OFF | LTC6811_GPIO3_PD_OFF | LTC6811_GPIO4_PD_OFF | LTC6811_GPIO5_PD_OFF;
+
+  status_ok_or_return(ltc_afe_impl_set_discharge_pwm_cycle(afe, LTC6811_PWMC_DC_100));
+
   return prv_write_config(afe, gpio_bits);
 }
 
@@ -289,6 +293,11 @@ StatusCode ltc_afe_impl_read_cells(LtcAfeStorage *afe) {
       uint16_t data_pec = crc15_calculate((uint8_t *)&voltage_register[device], 6);
       if (received_pec != data_pec) {
         // return early on failure
+        LOG_DEBUG("RECEIVED_PEC: %d\n\r", received_pec);
+        LOG_DEBUG("DATA_PEC: %d\n\r", data_pec);
+        LOG_DEBUG("Voltage: %d %d %d\n\r", voltage_register[device].reg.voltages[0],
+                  voltage_register[device].reg.voltages[1],
+                  voltage_register[device].reg.voltages[2]);
         return status_code(STATUS_CODE_INTERNAL_ERROR);
       }
     }
@@ -342,3 +351,29 @@ StatusCode ltc_afe_impl_toggle_cell_discharge(LtcAfeStorage *afe, uint16_t cell,
 
   return STATUS_CODE_OK;
 }
+
+// Just a wrapper setting the correct gpio bits
+StatusCode ltc_afe_impl_write_config(LtcAfeStorage *afe) {
+  uint8_t gpio_bits =
+      LTC6811_GPIO1_PD_OFF | LTC6811_GPIO3_PD_OFF | LTC6811_GPIO4_PD_OFF | LTC6811_GPIO5_PD_OFF;
+  return prv_write_config(afe, gpio_bits);
+}
+
+// Sets the duty cycle to the same value for all cells on all afes
+StatusCode ltc_afe_impl_set_discharge_pwm_cycle(LtcAfeStorage *afe, uint8_t duty_cycle) {
+  LtcAfeSettings *settings = &afe->settings;
+
+  uint8_t cmd[4 + (6 * 3)] = { 0 };
+  prv_build_cmd(LTC6811_WRPWM_RESERVED, cmd, 4);
+
+  // For every device, set all 6 PWM bytes to the same config
+  for (uint8_t curr_device = 0; curr_device < settings->num_devices; curr_device++) {
+    for (int cell_pwm = 0; cell_pwm < 6; cell_pwm++) {
+      cmd[(curr_device * 6) + cell_pwm] = duty_cycle;
+    }
+  }
+
+  size_t len = 4 + (6 * settings->num_devices);
+  prv_wakeup_idle(afe);
+  return spi_exchange(settings->spi_port, cmd, len, NULL, 0);
+}

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 +69,14 @@ 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;
+  if (~current_reg_val & (1 << 15)) {
+    *current_ua = -(int16_t)((~current_reg_val) + 1);
+  } else {
+    *current_ua = current_reg_val * CUR_LSB;
+  }
   return STATUS_CODE_OK;
 }
 
@@ -84,7 +90,8 @@ 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;
+  LOG_DEBUG("%d register val of temp\n", temp_reg_val);
+  *temp_c = temp_reg_val * TEMP_LSB;
   return STATUS_CODE_OK;
 }
 
@@ -100,6 +107,10 @@ 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);

projects/bms_carrier/config.json

@@ -2,7 +2,7 @@
     "libs": [
         "FreeRTOS",
         "ms-common",
-        "master", 
+        "master",
         "ms-drivers"
     ],
     "can": true

projects/bms_carrier/inc/aux_sense.h

@@ -0,0 +1,18 @@
+#pragma once
+
+#include "adc.h"
+#include "bms_carrier_getters.h"
+#include "bms_carrier_setters.h"
+#include "gpio.h"
+#include "log.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);