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@@ -0,0 +1,458 @@
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+/*
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+ * BMS_Connect_Inverter.c
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+ *
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+ * Created on: Mar 14, 2017
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+ * Author: le8041
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+ */
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+
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+#include "BMS_Master.h"
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+#include "BMS_Connect_Inverter.h"
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+
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+float get_Norm(float value) {
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+ if(value >=0) {
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+ return value;
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+ }
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+ else {
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+ return (-1)*value;
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+ }
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+}
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+
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+uint32_t check_if_voltage_equal(MASTER_CAN0_STRUCT_t* s) {
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+ float U_ui=(float)s->UI_Board.Ubatt *100 ;
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+ float U_cells=(float)s->systemVoltage ;
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+
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+ if(get_Norm(U_ui - U_cells) < U_cells *BMS_CONNECT_VOLTAGE_EQUAL_MARGIN) {
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+ return TRUE;
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+ }
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+ else {
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+ return FALSE;
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+ }
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+}
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+
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+uint32_t check_if_Ui_voltage_is_stable(MASTER_CAN0_STRUCT_t* s) {
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+ // find highest and lowest UI-Voltage
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+ uint8_t i=0;
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+ uint32_t Umin=s->UI_Board.UbattFiFo[0];
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+ uint32_t Umax=s->UI_Board.UbattFiFo[0];
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+
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+ for(i=0;i<UI_VOLTAGE_STABILITY_CHECK;i++) {
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+ if(Umin > s->UI_Board.UbattFiFo[i] ) {
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+ Umin = s->UI_Board.UbattFiFo[i];
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+ }
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+ if(Umax < s->UI_Board.UbattFiFo[i]) {
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+ Umax = s->UI_Board.UbattFiFo[i];
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+ }
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+ }
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+ if ((Umax - Umin) *100 > UI_VOLTAGE_STABILITY_MAX_DEVIATION*1000) {
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+ // max deviation reached
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+ return FALSE;
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+ }
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+ else {
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+ return TRUE;
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+ }
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+}
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+
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+/*
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+ * @brief check if expected voltage is at clamps
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+ * if return = FALSE shortcircuit at clamps
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+ */
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+
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+uint32_t check_if_expected_clamp_voltage_occures(MASTER_CAN0_STRUCT_t* s) {
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+ float U_ui=(float)s->UI_Board.Ubatt *100 ;
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+ if(get_Norm(U_ui - CONNECT_INVERTER_SHORT_CIRCUIT_TEST_VOLTAGE) < CONNECT_INVERTER_SHORT_CIRCUIT_TEST_VOLTAGE *BMS_CONNECT_VOLTAGE_TEST_MARGIN_MV) {
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+ return TRUE;
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+ }
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+ else {
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+ return FALSE;
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+ }
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+}
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+
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+
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+uint32_t OPModeFSM(MASTER_CAN0_STRUCT_t* s){
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+ float SoC=s->SoC_estimator.SoC_percentage_smooth;
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+ // check if Inverster still allows startup
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+ if(s->inverter.rxStruct.BatteryControlStatus.batteryDisconnected == 1 && \
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+ s->inverter.rxStruct.BatteryControlStatus.relayTestPermitted==0 && \
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+ s->inverter.rxStruct.BatteryControlStatus.readyToStart ==0) {
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+ if(s->RunMode.OperationMode == OP_MODE_INIT ||\
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+ s->RunMode.OperationMode == OP_MODE_CHECK_STARTUP_CONDITIONS || \
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+ s->RunMode.OperationMode == BAT_CONNECT_CHECK_SHORTCIRCUIT_REQUEST_RELAY_TEST) {
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+ }
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+ else {
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+ // FSM not in first 3 states => go back to initial state
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+ s->RunMode.OperationMode = OP_MODE_INIT;
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+ // open all relays
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+ SwitchRelais( HS_RELAIS, 0);
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+ s->relayState.HS_closed=FALSE;
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+ SwitchRelais( LS_RELAIS, 0);
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+ s->relayState.LS_closed=FALSE;
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+ SwitchRelais( PRE_CHARGE_RELAIS, 0);
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+ s->relayState.PRECHARGE_closed=FALSE;
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+ }
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+ }
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+
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+
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+ switch(s->RunMode.OperationMode) {
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+ case OP_MODE_INIT:
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+ // just jump to checkup startup conditions
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+ s->RunMode.OperationMode=OP_MODE_CHECK_STARTUP_CONDITIONS;
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+ s->RunMode.BatteryExtraStatus.value=1;
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+ CLEAR_OUTPIN(PIN_REGNR_LED4);
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+ return TRUE;
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+ break;
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+ case OP_MODE_CHECK_STARTUP_CONDITIONS:
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+ if(s->allValuesInitialized==TRUE) {
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+ // all values initalized and no error occured
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+ // => Startup conditions apply => start startup
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+
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+ // check if all relays are open
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+ if(s->relayState.HS_closed==FALSE && s->relayState.LS_closed == FALSE && s->relayState.PRECHARGE_closed ==FALSE) {
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+ // everything ok oll relay open
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+ }
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+ else{
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+ // relays somehow closed open relays
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+ SwitchRelais( HS_RELAIS, 0);
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+ s->relayState.HS_closed=FALSE;
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+ SwitchRelais( LS_RELAIS, 0);
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+ s->relayState.LS_closed=FALSE;
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+ SwitchRelais( PRE_CHARGE_RELAIS, 0);
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+ s->relayState.PRECHARGE_closed=FALSE;
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+ }
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+
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+ // set battery status
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+ s->RunMode.BatteryExtraStatus.batteryDisconnected = 1;
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+ s->RunMode.BatteryExtraStatus.readyToStart=0;
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+ s->RunMode.BatteryExtraStatus.requestRelayTest=0;
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+
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+ s->RunMode.OperationModeTimestamp=Global_1msCounter;
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+ s->RunMode.OperationMode=BAT_CONNECT_CHECK_SHORTCIRCUIT_REQUEST_RELAY_TEST;
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+ s->RunMode.onCounter=0;
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+ return TRUE;
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+ }
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+ else {
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+ // wait till all values are initialiezd
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+ s->RunMode.OperationMode=OP_MODE_CHECK_STARTUP_CONDITIONS;
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+ return TRUE;
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+ }
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+ break;
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+ case BAT_CONNECT_CHECK_SHORTCIRCUIT_REQUEST_RELAY_TEST:
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+ // set battery status - request relay test by inverter
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+ s->RunMode.BatteryExtraStatus.batteryDisconnected = 1;
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+ s->RunMode.BatteryExtraStatus.readyToStart=0;
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+ s->RunMode.BatteryExtraStatus.requestRelayTest=1;
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+ if(s->inverter.rxStruct.BatteryControlStatus.relayTestPermitted == TRUE) {
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+ // relay tests are enabled for inverter side
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+ // inverter does its own relais tests
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+ // inverter sets Voltage at clamps to 100V
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+ // inverter disconnects from grid - Power from PV
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+ s->RunMode.OperationMode=BAT_CONNECT_CHECK_SHORTCIRCUIT_NET_DISCONNECTED;
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+ return TRUE;
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+ }
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+ else {
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+ // wait for relay test permmited flag from inverter
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+ s->RunMode.OperationMode=BAT_CONNECT_CHECK_SHORTCIRCUIT_REQUEST_RELAY_TEST;
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+ return TRUE;
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+ }
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+
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+ return TRUE;
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+ break;
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+ case BAT_CONNECT_CHECK_SHORTCIRCUIT_NET_DISCONNECTED:
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+ // grid is now disconnected
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+ s->RunMode.OperationMode=BAT_CONNECT_CHECK_SHORTCIRCUIT_CHECK_CLAMPS;
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+ return TRUE;
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+ break;
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+ case BAT_CONNECT_CHECK_SHORTCIRCUIT_CHECK_CLAMPS:
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+ if(check_if_expected_clamp_voltage_occures(s) == FALSE) {
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+ // voltage is not as expected, therefore shorcircuit exitsts
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+ // DONT TURN ON BATTERY
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+ s->RunMode.OperationMode=BAT_CONNECT_ERROR_SHORTCIRCUIT_DETECTED;
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+ return TRUE;
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+ }
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+ else {
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+ // everything ok,proceed
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+ s->RunMode.OperationMode=BAT_CONNECT_CHECK_IF_LS_STUCK;
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+ s->RunMode.OperationModeTimestamp=Global_1msCounter;
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+ return TRUE;
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+ }
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+ return TRUE;
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+ break;
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+ case BAT_CONNECT_CHECK_IF_LS_STUCK:
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+ // close PC RELAIS
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+ // IF PC Relays is closed and LS relay is stuck closed Battery voltage should be detectet
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+ SwitchRelais( PRE_CHARGE_RELAIS, 1);
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+ s->relayState.PRECHARGE_closed=TRUE;
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+ if(s->RunMode.OperationModeTimestamp + CONNECT_INVERTER_MIN_WAIT_TIME_MS <= Global_1msCounter) {
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+ // everything ok, proceed
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+ s->RunMode.OperationMode=BAT_CONNECT_CHECK_IF_LS_OR_PC_BROKEN;
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+ return TRUE;
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+ }
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+ else if(check_if_voltage_equal(s)) {
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+ // Battery voltage == clamp voltage => LS is stuck close: ERROR
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+ s->RunMode.OperationMode=BAT_CONNECT_ERROR_LS_STUCK;
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+ return TRUE;
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+ }
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+ else {
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+ //wait
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+ s->RunMode.OperationMode=BAT_CONNECT_CHECK_IF_LS_STUCK;
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+ return TRUE;
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+ }
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+
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+ return TRUE;
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+ break;
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+ case BAT_CONNECT_CHECK_IF_LS_OR_PC_BROKEN:
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+ // close LS and PRECHARGE
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+ // expected current dependend on Battery voltage, therefore not clear yet
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+ // skip
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+ SwitchRelais( LS_RELAIS, 1);
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+ s->relayState.LS_closed=TRUE;
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+
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+ s->RunMode.OperationModeTimestamp=Global_1msCounter;
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+ s->RunMode.OperationMode=BAT_CONNECT_CHECK_IF_LS_OR_PC_BROKEN_OK;
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+ return TRUE;
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+ break;
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+ case BAT_CONNECT_CHECK_IF_LS_OR_PC_BROKEN_OK:
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+ // open PC RELAIS AGAIN
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+
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+ SwitchRelais( PRE_CHARGE_RELAIS, 0);
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+ s->relayState.PRECHARGE_closed=FALSE;
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+
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+ if(s->RunMode.OperationModeTimestamp + 1000 <= Global_1msCounter) {
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+ // wait for LS to be open everything ok, proceed
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+ s->RunMode.OperationModeTimestamp=Global_1msCounter;
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+ s->RunMode.OperationMode=BAT_CONNECT_CHECK_IF_HS_STUCK;
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+ return TRUE;
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+ }
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+ else {
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+ //wait
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+ s->RunMode.OperationMode=BAT_CONNECT_CHECK_IF_LS_OR_PC_BROKEN_OK;
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+ }
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+
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+ return TRUE;
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+ break;
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+ case BAT_CONNECT_CHECK_IF_HS_STUCK:
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+ // check if 100V is at clamps again
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+ if(check_if_expected_clamp_voltage_occures(s)) {
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+ // everything ok
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+ s->RunMode.OperationMode=BAT_CONNECT_TEST_COMPLETE;
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+ s->RunMode.OperationModeTimestamp=Global_1msCounter;
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+ return TRUE;
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+ }
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+ else if(s->RunMode.OperationModeTimestamp + CONNECT_INVERTER_MAX_WAIT_TIME_MS <= Global_1msCounter) {
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+ // timeout, error occured, HS relays is stuck
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+ s->RunMode.OperationMode=BAT_CONNECT_ERROR_HS_STUCK;
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+ return TRUE;
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+ }
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+ else {
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+ //wait
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+ s->RunMode.OperationMode=BAT_CONNECT_CHECK_IF_HS_STUCK;
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+ return TRUE;
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+ }
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+ return TRUE;
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+ break;
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+ case BAT_CONNECT_TEST_COMPLETE:
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+ // all tests are complete
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+ // close PC AND LS
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+ SwitchRelais( HS_RELAIS, 0);
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+ s->relayState.HS_closed=FALSE;
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+ SwitchRelais( LS_RELAIS, 1);
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+ s->relayState.LS_closed=TRUE;
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+ SwitchRelais( PRE_CHARGE_RELAIS, 1);
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+ s->relayState.PRECHARGE_closed=TRUE;
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+
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+ //disable relays test mode
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+
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+ s->RunMode.BatteryExtraStatus.batteryDisconnected = 1;
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+ s->RunMode.BatteryExtraStatus.readyToStart=1;
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+ s->RunMode.BatteryExtraStatus.requestRelayTest=0;
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+
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+ // wait for relays to open
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+
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+ if(s->RunMode.OperationModeTimestamp + 1000 <= Global_1msCounter) {
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+ s->RunMode.OperationMode=BAT_CONNECT_WAIT_FOR_READY_TO_START_ACK;
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+ return TRUE;
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+ }
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+ else {
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+ //wait
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+ s->RunMode.OperationMode=BAT_CONNECT_TEST_COMPLETE;
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+ return TRUE;
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+ }
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+ return TRUE;
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+ break;
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+ case BAT_CONNECT_CLOSE_LS:
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+ // set Low Side relays unnecessary state because ls already closed
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+ s->relayState.LS_closed=TRUE;
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+ SwitchRelais( LS_RELAIS, 1);
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+
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+ if(s->RunMode.OperationModeTimestamp + 1000 <= Global_1msCounter) {
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+ s->RunMode.OperationMode=BAT_CONNECT_CLOSE_PC;
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+ s->RunMode.OperationModeTimestamp = Global_1msCounter;
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+ return TRUE;
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+ }
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+ else {
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+ s->RunMode.OperationMode= BAT_CONNECT_CLOSE_LS;
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+ return TRUE;
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+ }
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+ break;
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+ case BAT_CONNECT_CLOSE_PC:
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+ // close precharge relays
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+ s->relayState.PRECHARGE_closed=TRUE;
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+ SwitchRelais( PRE_CHARGE_RELAIS, 1);
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+
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+ if(s->RunMode.OperationModeTimestamp + 1000 <= Global_1msCounter) {
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+ s->RunMode.OperationMode=BAT_CONNECT_WAIT_FOR_READY_TO_START_ACK;
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+ s->RunMode.OperationModeTimestamp = Global_1msCounter;
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+ return TRUE;
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+ }
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+ else {
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+ s->RunMode.OperationMode= BAT_CONNECT_CLOSE_PC;
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+ return TRUE;
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+ }
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+ return TRUE;
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+ break;
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+ case BAT_CONNECT_WAIT_FOR_READY_TO_START_ACK:
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+ //set ready to start bit
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+ s->RunMode.BatteryExtraStatus.batteryDisconnected = 1;
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+ s->RunMode.BatteryExtraStatus.readyToStart=1;
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+ s->RunMode.BatteryExtraStatus.requestRelayTest=0;
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+ // wait till inverter has connected
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+ if(s->inverter.rxStruct.BatteryControlStatus.readyToStart ==TRUE) {
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+ s->RunMode.OperationMode=BAT_CONNECT_WAIT_FOR_VOLTAGE_IS_EQUAL;
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+ return TRUE;
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+ }
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+ else {
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+ //wait;
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+ return TRUE;
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+ }
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+ return TRUE;
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+ break;
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+ case BAT_CONNECT_WAIT_FOR_VOLTAGE_IS_EQUAL:
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+ if(check_if_voltage_equal(s)== TRUE) {
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+ // go to voltage stability check
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+ s->RunMode.OperationMode=BAT_CONNECT_CHECK_IF_VOLTAGE_IS_STABLE;
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+ s->RunMode.OperationModeTimestamp = Global_1msCounter;
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+ return TRUE;
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+ }
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+ else {
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+ // wait for voltage to equalize
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+ s->RunMode.OperationMode=BAT_CONNECT_WAIT_FOR_VOLTAGE_IS_EQUAL;
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+ return TRUE;
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+ }
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+ return TRUE;
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+ break;
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+ case BAT_CONNECT_CHECK_IF_VOLTAGE_IS_STABLE:
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+ if(check_if_voltage_equal(s)== FALSE) {
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+ // return to BAT_CONNECT_CLOSE_PC and try again
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+ s->RunMode.OperationMode= BAT_CONNECT_CLOSE_PC;
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+ return TRUE;
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+ }
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+
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+ else if((s->RunMode.OperationModeTimestamp + CONNECT_INVERTER_MIN_WAIT_TIME_MS > Global_1msCounter) && check_if_Ui_voltage_is_stable(s)) {
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+ // Voltages are equal Highside relays can be closed
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+ s->RunMode.OperationMode= BAT_CONNECT_CLOSE_HS;
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+ s->RunMode.OperationModeTimestamp=Global_1msCounter;
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+ return TRUE;
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+ }
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+ else if(s->RunMode.OperationModeTimestamp + CONNECT_INVERTER_MAX_WAIT_TIME_MS > Global_1msCounter) {
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+ s->RunMode.OperationMode= BAT_CONNECT_WAIT_FOR_VOLTAGE_IS_EQUAL;
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+ return TRUE;
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+ }
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+ else {
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+ // just wait
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+ s->RunMode.OperationMode=BAT_CONNECT_CHECK_IF_VOLTAGE_IS_STABLE;
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+ return TRUE;
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+ }
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+ return TRUE;
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+ break;
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+ case BAT_CONNECT_CLOSE_HS:
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+ // Switch Highside relais
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+ SwitchRelais( HS_RELAIS, 1);
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+ s->relayState.HS_closed=TRUE;
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+ if(s->RunMode.OperationModeTimestamp + CONNECT_INVERTER_WAIT_FOR_HS_TO_CLOSE_MS > Global_1msCounter) {
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+ s->RunMode.OperationMode= BAT_CONNECT_OPEN_PC;
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+ return TRUE;
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+ }
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+ else {
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+ // do nothing
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+ s->RunMode.OperationMode= BAT_CONNECT_CLOSE_HS;
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+ return TRUE;
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+ }
|
|
|
+ return TRUE;
|
|
|
+ break;
|
|
|
+ case BAT_CONNECT_OPEN_PC:
|
|
|
+ s->RunMode.OperationMode=OP_MODE_NORMAL;
|
|
|
+ s->relayState.PRECHARGE_closed=FALSE;
|
|
|
+ SwitchRelais( PRE_CHARGE_RELAIS, 0);
|
|
|
+ return TRUE;
|
|
|
+ break;
|
|
|
+ case OP_MODE_NORMAL:
|
|
|
+ // do nothing until SoC becomes low
|
|
|
+ s->RunMode.BatteryExtraStatus.batteryDisconnected = 0;
|
|
|
+ s->RunMode.BatteryExtraStatus.readyToStart=0;
|
|
|
+ s->RunMode.BatteryExtraStatus.requestRelayTest=0;
|
|
|
+ s->RunMode.onCounter++;
|
|
|
+ if ( SoC < BMS_SOC_LOW_MARK) {
|
|
|
+ s->RunMode.OperationMode=OP_MODE_SOC_LOW;
|
|
|
+ return TRUE;
|
|
|
+ }
|
|
|
+ else {
|
|
|
+ s->RunMode.OperationMode=OP_MODE_NORMAL;
|
|
|
+ return TRUE;
|
|
|
+ }
|
|
|
+ return TRUE;
|
|
|
+ break;
|
|
|
+ case OP_MODE_SOC_LOW:
|
|
|
+ s->RunMode.onCounter++;
|
|
|
+ // do nothing until SoC becomes high again
|
|
|
+ if ( SoC > BMS_SOC_LOW_MARK) {
|
|
|
+ s->RunMode.OperationMode=OP_MODE_NORMAL;
|
|
|
+ return TRUE;
|
|
|
+ }
|
|
|
+ else {
|
|
|
+ s->RunMode.OperationMode=OP_MODE_SOC_LOW;
|
|
|
+ return TRUE;
|
|
|
+ }
|
|
|
+ break;
|
|
|
+
|
|
|
+ case BAT_CONNECT_ERROR_SHORTCIRCUIT_DETECTED:
|
|
|
+ // stay here and don't turn on anything
|
|
|
+ // just to be sure open everything
|
|
|
+ SwitchRelais( HS_RELAIS, 0);
|
|
|
+ s->relayState.HS_closed=FALSE;
|
|
|
+ SwitchRelais( LS_RELAIS, 0);
|
|
|
+ s->relayState.LS_closed=FALSE;
|
|
|
+ SwitchRelais( PRE_CHARGE_RELAIS, 0);
|
|
|
+ s->relayState.PRECHARGE_closed=FALSE;
|
|
|
+ ErrorStackPushMasterError(s,BMS_ERROR_STACK_MASTER_INVERTER_CONNECT_SHORT_CIRCUIT,BMS_ERROR_CLASS_3);
|
|
|
+
|
|
|
+ // set battery status
|
|
|
+ s->RunMode.BatteryExtraStatus.batteryDisconnected = 1;
|
|
|
+ s->RunMode.BatteryExtraStatus.readyToStart=0;
|
|
|
+ s->RunMode.BatteryExtraStatus.requestRelayTest=0;
|
|
|
+ s->RunMode.OperationMode=BAT_CONNECT_ERROR_SHORTCIRCUIT_DETECTED;
|
|
|
+
|
|
|
+ return TRUE;
|
|
|
+ break;
|
|
|
+ case BAT_CONNECT_ERROR_LS_STUCK:
|
|
|
+ // stay here and don't turn on anything
|
|
|
+ // just to be sure open everything
|
|
|
+ SwitchRelais( HS_RELAIS, 0);
|
|
|
+ s->relayState.HS_closed=FALSE;
|
|
|
+ SwitchRelais( LS_RELAIS, 0);
|
|
|
+ s->relayState.LS_closed=FALSE;
|
|
|
+ SwitchRelais( PRE_CHARGE_RELAIS, 0);
|
|
|
+ s->relayState.PRECHARGE_closed=FALSE;
|
|
|
+ ErrorStackPushMasterError(s,BMS_ERROR_STACK_MASTER_INVERTER_CONNECT_LS_STUCK,BMS_ERROR_CLASS_3);
|
|
|
+
|
|
|
+ // set battery status
|
|
|
+ s->RunMode.BatteryExtraStatus.batteryDisconnected = 1;
|
|
|
+ s->RunMode.BatteryExtraStatus.readyToStart=0;
|
|
|
+ s->RunMode.BatteryExtraStatus.requestRelayTest=0;
|
|
|
+ return TRUE;
|
|
|
+ break;
|
|
|
+ default:
|
|
|
+ // something went horribly wrong
|
|
|
+ return FALSE;
|
|
|
+ break;
|
|
|
+ }
|
|
|
+
|
|
|
+}
|
simon bischof