Aux BMS Rearchitecture

.gitignore

@@ -39,7 +39,7 @@ STM32L152-Discovery.elf.launch
 *.tmp
 
 # Other
-.tags
+.tags*
 *swap
 .fuse*
 .vscode/

.travis.yml

@@ -20,9 +20,11 @@ script:
     - (cd EpsilonDriverControls && make)
     - (cd EpsilonCCS && make)
     - (cd EpsilonAuxBMS && ./make.sh)
+    - (cd EpsilonAuxBmsV2 && ./make.sh)
     - "! (./format.sh EpsilonCCS | grep Formatted)"
     - "! (./format.sh EpsilonLights | grep Formatted)"
     - "! (./format.sh EpsilonDriverControls | grep Formatted)"
     - "! (./format.sh EpsilonAuxBMS | grep Formatted)"
+    - "! (./format.sh EpsilonAuxBmsV2 | grep Formatted)"
 
 language: c

EpsilonAuxBmsV2/Core/Inc/AuxBmsConstants.h

@@ -0,0 +1,7 @@
+#pragma once
+
+static const unsigned int MUTEX_TIMEOUT = 100; // 100ms
+static const unsigned int TASK_QUEUE_PUT_TIMEOUT = 0; // 0ms
+static const unsigned int IRQ_QUEUE_PUT_TIMEOUT = 0; // 0ms
+
+#define AUX_BMS_SPI_BUFFER_SIZE 2U // Done so that the arrays don't complain about variable array size

EpsilonAuxBmsV2/Core/Inc/ContactorEventFlags.h

@@ -0,0 +1,8 @@
+#pragma once
+
+#define COMMON_CLOSED (0x1 << 0)     // 000001
+#define COMMON_OPENED (0x1 << 1)    // 000010
+#define CHARGE_CLOSED (0x1 << 2)     // 000100
+#define CHARGE_OPENED (0x1 << 3)    // 001000
+#define DISCHARGE_CLOSED (0x1 << 4)  // 010000
+#define DISCHARGE_OPENED (0x1 << 5) // 100000

EpsilonAuxBmsV2/Core/Inc/FreeRTOSConfig.h

@@ -0,0 +1,162 @@
+/* USER CODE BEGIN Header */
+/*
+ * FreeRTOS Kernel V10.2.1
+ * Portion Copyright (C) 2017 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Portion Copyright (C) 2019 StMicroelectronics, Inc.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+/* USER CODE END Header */
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * These parameters and more are described within the 'configuration' section of the
+ * FreeRTOS API documentation available on the FreeRTOS.org web site.
+ *
+ * See http://www.freertos.org/a00110.html
+ *----------------------------------------------------------*/
+
+/* USER CODE BEGIN Includes */
+/* Section where include file can be added */
+/* USER CODE END Includes */
+
+/* Ensure definitions are only used by the compiler, and not by the assembler. */
+#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
+#include <stdint.h>
+extern uint32_t SystemCoreClock;
+#endif
+#define configENABLE_FPU                         0
+#define configENABLE_MPU                         0
+
+#define configUSE_PREEMPTION                     1
+#define configSUPPORT_STATIC_ALLOCATION          1
+#define configSUPPORT_DYNAMIC_ALLOCATION         1
+#define configUSE_IDLE_HOOK                      0
+#define configUSE_TICK_HOOK                      0
+#define configCPU_CLOCK_HZ                       ( SystemCoreClock )
+#define configTICK_RATE_HZ                       ((TickType_t)1000)
+#define configMAX_PRIORITIES                     ( 56 )
+#define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
+#define configTOTAL_HEAP_SIZE                    ((size_t)15360)
+#define configMAX_TASK_NAME_LEN                  ( 16 )
+#define configUSE_TRACE_FACILITY                 1
+#define configUSE_16_BIT_TICKS                   0
+#define configUSE_MUTEXES                        1
+#define configQUEUE_REGISTRY_SIZE                8
+#define configCHECK_FOR_STACK_OVERFLOW           2
+#define configUSE_RECURSIVE_MUTEXES              1
+#define configUSE_MALLOC_FAILED_HOOK             1
+#define configUSE_COUNTING_SEMAPHORES            1
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION  0
+#define configRECORD_STACK_HIGH_ADDRESS          1
+/* USER CODE BEGIN MESSAGE_BUFFER_LENGTH_TYPE */
+/* Defaults to size_t for backward compatibility, but can be changed
+   if lengths will always be less than the number of bytes in a size_t. */
+#define configMESSAGE_BUFFER_LENGTH_TYPE         size_t
+/* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES                    0
+#define configMAX_CO_ROUTINE_PRIORITIES          ( 2 )
+
+/* Software timer definitions. */
+#define configUSE_TIMERS                         1
+#define configTIMER_TASK_PRIORITY                ( 2 )
+#define configTIMER_QUEUE_LENGTH                 10
+#define configTIMER_TASK_STACK_DEPTH             256
+
+/* Set the following definitions to 1 to include the API function, or zero
+to exclude the API function. */
+#define INCLUDE_vTaskPrioritySet             1
+#define INCLUDE_uxTaskPriorityGet            1
+#define INCLUDE_vTaskDelete                  1
+#define INCLUDE_vTaskCleanUpResources        0
+#define INCLUDE_vTaskSuspend                 1
+#define INCLUDE_vTaskDelayUntil              1
+#define INCLUDE_vTaskDelay                   1
+#define INCLUDE_xTaskGetSchedulerState       1
+#define INCLUDE_xTimerPendFunctionCall       1
+#define INCLUDE_xQueueGetMutexHolder         1
+#define INCLUDE_uxTaskGetStackHighWaterMark  1
+#define INCLUDE_uxTaskGetStackHighWaterMark2 1
+#define INCLUDE_eTaskGetState                1
+
+/*
+ * The CMSIS-RTOS V2 FreeRTOS wrapper is dependent on the heap implementation used
+ * by the application thus the correct define need to be enabled below
+ */
+#define USE_FreeRTOS_HEAP_4
+
+/* Cortex-M specific definitions. */
+#ifdef __NVIC_PRIO_BITS
+/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
+#define configPRIO_BITS         __NVIC_PRIO_BITS
+#else
+#define configPRIO_BITS         4
+#endif
+
+/* The lowest interrupt priority that can be used in a call to a "set priority"
+function. */
+#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY   15
+
+/* The highest interrupt priority that can be used by any interrupt service
+routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
+INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
+PRIORITY THAN THIS! (higher priorities are lower numeric values. */
+#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
+
+/* Interrupt priorities used by the kernel port layer itself.  These are generic
+to all Cortex-M ports, and do not rely on any particular library functions. */
+#define configKERNEL_INTERRUPT_PRIORITY 		( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
+See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+
+/* Normal assert() semantics without relying on the provision of an assert.h
+header file. */
+/* USER CODE BEGIN 1 */
+#define configASSERT( x ) if ((x) == 0) {taskDISABLE_INTERRUPTS(); for( ;; );}
+/* USER CODE END 1 */
+
+/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
+standard names. */
+#define vPortSVCHandler    SVC_Handler
+#define xPortPendSVHandler PendSV_Handler
+
+/* IMPORTANT: This define is commented when used with STM32Cube firmware, when the timebase source is SysTick,
+              to prevent overwriting SysTick_Handler defined within STM32Cube HAL */
+
+#define xPortSysTickHandler SysTick_Handler
+
+/* USER CODE BEGIN Defines */
+/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
+/* USER CODE END Defines */
+
+#endif /* FREERTOS_CONFIG_H */

EpsilonAuxBmsV2/Core/Inc/Tasks/CanRxInterruptParserTask.h

@@ -0,0 +1,15 @@
+#pragma once
+#include "cmsis_os.h"
+#include "CanRxQueueData.h"
+#include "OrionCanInfo.h"
+
+extern osMessageQueueId_t orionInterfaceQueue;
+extern osMessageQueueId_t canRxParserQueue;
+
+// CAN Rx STDIDs
+static const uint32_t ORION_HIGH_LOW_VOLTAGES_STDID  = 0x305;
+static const uint32_t ORION_TEMP_INFO_STDID = 0x304;
+static const uint32_t ORION_PACK_INFO_STDID = 0x302;
+
+void canRxInterruptParserTask(void* arg);
+void canRxInterruptParser(OrionCanInfo* queueData, CanRxQueueData* canQueueData);

EpsilonAuxBmsV2/Core/Inc/Tasks/CanTxGatekeeperTask.h

@@ -0,0 +1,7 @@
+#pragma once
+#include "cmsis_os.h"
+#include "SendCan.h"
+void canTxGatekeeperTask(void* arg);
+void canTxGatekeeper(CanTxGatekeeperQueueData* canTxQueueData);
+
+extern CAN_HandleTypeDef hcan1;

EpsilonAuxBmsV2/Core/Inc/Tasks/ChargeContactorGatekeeperTask.h

@@ -0,0 +1,9 @@
+#pragma once
+#include "ContactorGatekeeper.h"
+
+extern osThreadId_t chargeContactorGatekeeperTaskHandle;
+
+void closeChargeContactor();
+void openChargeContactor();
+void chargeContactorGatekeeperTask(void* arg);
+void chargeContactorGatekeeper();

EpsilonAuxBmsV2/Core/Inc/Tasks/CommonContactorGatekeeperTask.h

@@ -0,0 +1,9 @@
+#pragma once
+#include "ContactorGatekeeper.h"
+
+extern osThreadId_t commonContactorGatekeeperTaskHandle;
+
+void commonContactorGatekeeperTask(void* arg);
+void commonContactorGatekeeper();
+void closeCommonContactor();
+void openCommonContactor();

EpsilonAuxBmsV2/Core/Inc/Tasks/ContactorFunctions/CheckContactorError.h

@@ -0,0 +1,5 @@
+#pragma once
+#include "main.h"
+#include "ContactorState.h"
+
+uint8_t isContactorError( uint8_t contactorSense, ContactorState contactorState);

EpsilonAuxBmsV2/Core/Inc/Tasks/ContactorFunctions/CheckCurrent.h

@@ -0,0 +1,11 @@
+#pragma once
+#include "stm32f4xx_hal.h"
+
+extern ADC_HandleTypeDef hadc1;
+
+static const float CURRENT_SENSE_RESISTOR  = 0.001; // 1 mOhm
+static const int GAIN  = 250;
+static const float CURRENT_LOWER_THRESHOLD  = 0.25; // Lower current threshold (A)
+static const uint32_t ADC_POLL_TIMEOUT  = 10;
+
+uint8_t isCurrentLow(uint8_t numContactorsClosed);

EpsilonAuxBmsV2/Core/Inc/Tasks/ContactorFunctions/DisconnectContactors.h

@@ -0,0 +1,12 @@
+#pragma once
+#include "cmsis_os.h"
+#include "ContactorEventFlags.h"
+#include "ContactorState.h"
+
+extern osEventFlagsId_t contactorControlEventBits;
+extern AuxBmsContactorState auxBmsContactorState;
+extern osThreadId_t commonContactorGatekeeperTaskHandle;
+extern osThreadId_t chargeContactorGatekeeperTaskHandle;
+extern osThreadId_t dischargeContactorGatekeeperTaskHandle;
+
+void disconnectContactors();

EpsilonAuxBmsV2/Core/Inc/Tasks/ContactorGatekeeper.h

@@ -0,0 +1,11 @@
+#pragma once
+#include "cmsis_os.h"
+#include "CheckCurrent.h"
+#include "ContactorState.h"
+#include "ContactorEventFlags.h"
+#include "main.h"
+
+extern osEventFlagsId_t contactorControlEventBits;
+extern AuxBmsContactorState auxBmsContactorState;
+
+static const unsigned int CONTACTOR_DELAY = 1000; // 1s

EpsilonAuxBmsV2/Core/Inc/Tasks/ContactorStatusUpdateTask.h

@@ -0,0 +1,17 @@
+#pragma once
+#include "cmsis_os.h"
+#include "ContactorState.h"
+#include "ContactorEventFlags.h"
+#include "DisconnectContactors.h"
+#include "AuxStatus.h"
+#include "main.h"
+#include "CheckContactorError.h"
+
+static const int CONTACTOR_STATUS_UPDATE_FREQ = 100; //100ms 10HZ
+extern AuxBmsContactorState auxBmsContactorState;
+extern osMutexId_t auxStatusContactorStatusUpdateMutex;
+extern AuxStatus auxStatus;
+
+void contactorStatusUpdateTask(void* arg);
+
+void contactorStatusUpdate(uint32_t* prevWakeTime);

EpsilonAuxBmsV2/Core/Inc/Tasks/DischargeContactorGatekeeperTask.h

@@ -0,0 +1,9 @@
+#pragma once
+#include "ContactorGatekeeper.h"
+
+extern osThreadId_t dischargeContactorGatekeeperTaskHandle;
+
+void dischargeContactorGatekeeperTask(void* arg);
+void closeDischargeContactor();
+void openDischargeContactor();
+void dischargeContactorGatekeeper();

EpsilonAuxBmsV2/Core/Inc/Tasks/MemoryDebugTask.h

@@ -0,0 +1,20 @@
+#pragma once
+#include "cmsis_os.h"
+#include "main.h"
+
+void memoryDebugTask(void* arg);
+
+static const unsigned int MEMORY_DEBUG_TASK_FREQ = 1000; // 1s
+
+extern osThreadId_t startupTaskHandle;
+extern osThreadId_t canRxInterruptParserTaskHandle;
+extern osThreadId_t orionInterfaceTaskHandle;
+extern osThreadId_t canTxGatekeeperTaskHandle;
+extern osThreadId_t sendAuxStatusTaskHandle;
+extern osThreadId_t sendAuxTripTaskHandle;
+extern osThreadId_t sendHeartbeatTaskHandle;
+extern osThreadId_t commonContactorGatekeeperTaskHandle;
+extern osThreadId_t chargeContactorGatekeeperTaskHandle;
+extern osThreadId_t dischargeContactorGatekeeperTaskHandle;
+extern osThreadId_t contactorStatusUpdateTaskHandle;
+extern osThreadId_t readAuxVoltageTaskHandle;

EpsilonAuxBmsV2/Core/Inc/Tasks/OrionFunctions/OrionConstants.h

@@ -0,0 +1,15 @@
+#pragma once
+// These values are subject to change based on what regulations say
+// Ask electrical if any issues
+static const float ORION_MAX_CELL_VOLTAGE = 4.20; // Much match orion bms value
+static const float ORION_MIN_CELL_VOLTAGE = 2.55;
+static const float AUX_BMS_MAX_CELL_VOLTAGE = 4.15;
+static const float AUX_BMS_MIN_CELL_VOLTAGE = 2.60;
+
+static const float DEFAULT_VOLTAGE_UNITS = 0.0001; // From: https://www.orionbms.com/manuals/utility/
+
+static const int ORION_MAX_CHARGE_TEMP = 44;
+static const short ORION_MAX_CHARGE_CURRENT = -47;
+
+static const int ORION_MAX_DISCHARGE_TEMP = 59;
+static const short ORION_MAX_DISCHARGE_CURRENT = 229;

EpsilonAuxBmsV2/Core/Inc/Tasks/OrionFunctions/Trip.h

@@ -0,0 +1,9 @@
+#pragma once
+#include "main.h"
+#include "OrionCanInfo.h"
+#include "AuxTrip.h"
+#include "OrionConstants.h"
+
+void updateAuxTrip(OrionCanInfo* message, AuxTrip* auxTripToUpdate);
+uint8_t checkDischargeTrip(AuxTrip auxTrip);
+uint8_t checkChargeTrip(AuxTrip auxTrip);

EpsilonAuxBmsV2/Core/Inc/Tasks/OrionInterfaceTask.h

@@ -0,0 +1,25 @@
+#pragma once
+#include "cmsis_os.h"
+#include "ContactorGatekeeper.h"
+#include "OrionCanInfo.h"
+#include "AuxStatus.h"
+#include "AuxTrip.h"
+#include "DisconnectContactors.h"
+#include "Trip.h"
+
+void orionInterfaceTask(void* arg);
+void orionInterface(OrionCanInfo* message);
+void updateAuxStatus(AuxStatus* auxStatusToRead);
+void updateAllowChargeAndAllowDischarge(OrionCanInfo* message, AuxStatus* auxStatusToUpdate);
+
+AuxStatus localAuxStatus;
+AuxTrip localAuxTrip;
+
+extern osMessageQueueId_t orionInterfaceQueue;
+extern AuxStatus auxStatus;
+extern AuxTrip auxTrip;
+extern AuxBmsContactorState auxBmsContactorState;
+extern osMutexId_t auxStatusOrionInterfaceMutex;
+extern osMutexId_t auxTripMutex;
+
+static const uint32_t ORION_QUEUE_TIMEOUT = 400; // 400ms. We expect CAN messages from Orion every 200ms, so if we miss 2 messages, we can timeout the wait