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- //##############################################################################
- //
- // FILE: BMS_Master.c
- //
- // TITLE: Functions of BMS_Master
- // void BMS_Init_BSD ( void );
- // void BMS_Init_BSE ( void );
- // void SwitchRelais ( uint8_t, uint8_t );
- // void SetBalancer ( void );
- // uint16_t BMS_Do ( void );
- //
- //
- //##############################################################################
- //==============================================================================
- // Historie:
- //==============================================================================
- // Datum: | Name | Version:| Aenderungsgrund: | rev.:
- //------------------------------------------------------------------------------
- // | SB | 2.1 | Implementaion of Balancing and SoC Estimator | 003
- //------------------------------------------------------------------------------
- // | SB | 2.0 | Adaptation for RCT | 002
- //------------------------------------------------------------------------------
- // 01.07.13 | VR | 1.1 | Rearrange Code for IAA Bus | 001
- //------------------------------------------------------------------------------
- // 20.04.10 | TM | 1.0 | Start Code for Master Test | 000
- //==============================================================================
- #include "BMS_Master.h"
- // ***** Global Data ***********************************************************
- extern uint64_t Global_1msCounter;
- extern BSE_t gBSE;
- extern BSD_t gBSD;
- // ***** SwitchRelais **********************************************************
- void SwitchRelais( uint8_t Relais, uint8_t OnOff )
- {
- if( Relais == LS_RELAIS )
- {
- if(OnOff)
- SET_OUTPIN( PIN_REGNR_RELAIS_SLAVE );
- else
- CLEAR_OUTPIN( PIN_REGNR_RELAIS_SLAVE);
- }
-
- if( Relais == HS_RELAIS)
- {
- if(OnOff) {
- SET_OUTPIN( PIN_REGNR_RELAIS_PLUS );
- SET_OUTPIN(PIN_REGNR_LED3);
- }
- else{
- CLEAR_OUTPIN( PIN_REGNR_RELAIS_PLUS );
- CLEAR_OUTPIN(PIN_REGNR_LED3);
- }
- }
-
- if( Relais == PRE_CHARGE_RELAIS )
- {
- if(OnOff)
- SET_OUTPIN( PIN_REGNR_RELAIS_PRECHA );
- else
- CLEAR_OUTPIN( PIN_REGNR_RELAIS_PRECHA );
- }
- if( Relais ==PWR_SUPPLY ) {
- if(OnOff)
- SET_OUTPIN( PIN_REGNR_PWR_SUPPLY );
- else
- CLEAR_OUTPIN( PIN_REGNR_PWR_SUPPLY );
- }
- }
- uint16_t init_master_CAN0_fsm(MASTER_CAN0_STRUCT_t* s,BMS_SLAVE_CONFIGURATION_t* cellConfig,BMS_UI_CONFIGURATION_t* uiConfig) {
- uint8_t slaveNr;
- uint8_t i;
- uint16_t stateActive;
- //go thought all connected Slaves
- for(slaveNr=0;slaveNr<CAN0_MAX_NR_OF_SLAVES-1;slaveNr++) {
-
- // set slave Type
- s->Slave[slaveNr].SlaveType=cellConfig[slaveNr].type;
- s->Slave[slaveNr].TxMailbox_ptr=MB_Container[slaveNr];
- s->Slave[slaveNr].TxTelegram_ptr=&TelegramTxContainer[slaveNr];
- s->Slave[slaveNr].SlaveConnectionState=cellConfig[slaveNr].connectionSate;
-
- // set initial Voltage and Temp value to 0xffff = not initialzied
-
- for(i=0;i<MAX_SLAVE_CELLS;i++) {
- s->Slave[slaveNr].CellVoltage[i]=0xffff;
- s->Slave[slaveNr].CellTemp[i]=-51;
- s->Slave[slaveNr].CellConnectionState[i]=cellConfig[slaveNr].cellConnectionState[i];
- s->Slave[slaveNr].TempSensConnectionState[i]=cellConfig[slaveNr].tempSensConnectionState[i];
- }
- s->Slave[slaveNr].HeatSinkTemp=-51;
-
- // set slave alive cnt to 0xff fot not initialized
- for(i=0;i<CAN0_NR_OF_TELEGRAMS;i++) {
- s->Slave[slaveNr].SlaveAliveCnt[i]=0xff;
- }
-
- // set slave Status to 0xff for Not initialized
- s->Slave[slaveNr].SlaveMode=0xff;
- // no Errors
- s->Slave[slaveNr].SlaveError =0 ;
-
- // first State Running mode
- s->Slave[slaveNr].Set_Mode = BMS_SLAVE_RUN ;
- // No Balancing
- s->Slave[slaveNr].Balance_Cell_0_7=0;
- s->Slave[slaveNr].Balance_Cell_8_15=0;
- s->Slave[slaveNr].Balance_Cell_16_23=0;
-
- // set Slave Error to 0
- s->Slave[slaveNr].SlaveCanCommuniationError.FailedComCnt=0;
- s->Slave[slaveNr].SlaveCanCommuniationError.SlaveErrorCounterRegister=0;
- s->Slave[slaveNr].SlaveCanCommuniationError.SlaveErrorStateRegister=0;
- s->Slave[slaveNr].SlaveCanCommuniationError.WrongAliveCnt=0;
-
- s->Slave[slaveNr].MasterAliveCnt=0;
- s->Slave[slaveNr].maxCellTemp=0;
- s->Slave[slaveNr].minCellTemp=0;
- }
-
- // init UI
-
- s->Slave[15].SlaveType=uiConfig->type;
- s->Slave[15].TxMailbox_ptr=MB_Container[15];
- s->Slave[15].TxTelegram_ptr=&TelegramTxContainer[15];
- s->Slave[15].SlaveConnectionState=uiConfig->connectionSate;
-
- s->Slave[15].SlaveMode=0xff;
- // no Errors
- s->Slave[15].SlaveError =0 ;
-
- // first State Running mode
- s->Slave[15].Set_Mode = BMS_SLAVE_RUN ;
-
- // set Slave Error to 0
- s->Slave[15].SlaveCanCommuniationError.FailedComCnt=0;
- s->Slave[15].SlaveCanCommuniationError.SlaveErrorCounterRegister=0;
- s->Slave[15].SlaveCanCommuniationError.SlaveErrorStateRegister=0;
- s->Slave[15].SlaveCanCommuniationError.WrongAliveCnt=0;
-
-
- // set State to INIT
- s->FsmState=INIT;
- s->slaveSelect=0;
- s->transmission_pending=FALSE;
- s->cycleCounter=0;
- s->cycleTimestamp=0;
- s->StateOfCharge=40*60*60*1000; // 40Ah in mAs
- s->allValuesInitialized = FALSE;
- s->startCan1Comm=FALSE;
- s->balancerState=BMS_BALANCE_INIT;
-
- s->SoC_initialized=FALSE;
- s->SoC_outside=0;
- s->maxHeatSinkTemp=0;
- s->NrOfSlaves= get_nr_of_connected_slaves(s);
-
- s->CAN1_fsmStruct.fsmState=CAN1_FSM_INIT;
- s->CAN1_fsmStruct.highPrioMsgNr=0;
- s->CAN1_fsmStruct.lowPrioMsgNr=0;
- s->CAN1_fsmStruct.requestTelegramNr=0;
- s->CAN1_fsmStruct.timeoutCyclesCnt=0;
- s->CAN1_fsmStruct.receivedTelegrams=0;
- s->CAN1_fsmStruct.fastRequestFsmRunning=FALSE;
- s->CAN1_fsmStruct.slowRequestFsmRunning=FALSE;
- s->CAN1_fsmStruct.fastRxState=CAN1_FAST_RX_FSM_REQUEST_BATTERY_CURRENT;
- s->CAN1_fsmStruct.nrOfRecCurrentSamples=0;
-
- s->FsmErrorState=ERROR_INIT;
- //s->ErrorStack.ErrorNr=0;
- //s->RunMode=RUN_MODE_INIT;
- s->ErrorFlags=0;
- // celar Error Buffers
- ErrorStackClearBuffer(s);
-
- // set Operation fsms to idle
- s->RunMode.OperationMode=OP_MODE_INIT;
- s->RunMode.ErrorState1fsm=ES1_FSM_INIT;
- s->RunMode.ErrorState2fsm=ES2_FSM_INIT;
- s->RunMode.ErrorState3fsm=ES3_FSM_INIT;
- // init master temp sensor
- s->masterTemp=18;
- s->MasterTempSensState=BMS_MASTER_TEMP_SENSOR_INITIATE_MEASUREMENT;
- s->inverterState.state=RCT_INV_INACTIVE;
- s->inverterState.inverterCanOnline=FALSE;
- s->inverterState.inverterIsCharging=FALSE;
- s->inverterState.startupPwr=0;
-
- // assign impossible values to be able to check if values have been initialized
- s->inverter.rxStruct.expectedInputPower=-1;
- s->inverter.rxStruct.DCinputA_power=-1;
- s->inverter.rxStruct.DCinputB_power=-1;
-
- BMS_Clear_Error_init_recovery_struct(s);//clear recovery struct
- s->ErrorBuffer.ES2_New_Error=0;
- s->relayState.HS_closed=0;
- s->relayState.LS_closed=0;
- s->relayState.PRECHARGE_closed=0;
- s->relayState.reseved=0;
-
- s->reset_test_timestamp=0;
- BMS_RCT_init_fsm(s);
- initUIFifo(s);
- }
-
- void set_slave_cell_connection_state(MASTER_CAN0_STRUCT_t* s,uint8_t slaveNr,CELL_STATE_t* cell_state){
- uint8_t i;
- for(i=0;i<MAX_SLAVE_CELLS;i++) {
- s->Slave[slaveNr].CellConnectionState[i]=cell_state[i];
- }
- }
- void set_slave_temp_connection_state(MASTER_CAN0_STRUCT_t* s,uint8_t slaveNr,TEMP_SENSOR_STATE_t* temp_state){
- uint8_t i;
- for(i=0;i<MAX_SLAVE_CELLS;i++) {
- s->Slave[slaveNr].TempSensConnectionState[i]=temp_state[i];
- }
- }
- uint8_t check_slave_data(MASTER_CAN0_STRUCT_t* s,
- BMS_CAN0_SLAVE_t* Slave,
- BMS_CAN0_SLAVE_t* tempSlave,
- int8_t overTemp_charge,
- int8_t overTemp_discharge,
- int8_t underTemp_charge,
- int8_t underTemp_discharge,
- uint16_t overVoltage,uint16_t underVoltage) {
- uint8_t i;
- uint8_t error_status=BMS_SLAVE_DATA_OK;
- uint16_t current=s->UI_Board.Ibatt*10;
-
- // Check Slave Mode
- if(tempSlave->SlaveMode==BMS_SLAVE_RUN) {
- // everything OK
-
-
- //check Slave Alive Counter
-
- //if Failed communication counter is grater than 0 the communication
- //attempt last Cycle failed and the alive counters are out of sync
- if(tempSlave->SlaveCanCommuniationError.FailedComCnt>0) {
- //
- for(i=0;i<CAN0_NR_OF_TELEGRAMS;i++) {
- Slave->SlaveAliveCnt[i]=tempSlave->SlaveAliveCnt[i];
- }
- tempSlave->SlaveCanCommuniationError.FailedComCnt=0;
- }
- //compare all Slave Alive Counter
- else{
- for(i=0;i<CAN0_NR_OF_TELEGRAMS;i++) {
- if( (tempSlave->SlaveAliveCnt[i] == Slave->SlaveAliveCnt[i] + 1) ||
- (Slave->SlaveAliveCnt[i] ==0x7 && tempSlave->SlaveAliveCnt[i] ==0) ) {
- // Slave Alive Counter == OK
- Slave->SlaveAliveCnt[i]=tempSlave->SlaveAliveCnt[i];
- Slave->SlaveCanCommuniationError.WrongAliveCnt=0;
- }
- else {
- // slave Alive Counter didn't change or made bigger steps
-
- Slave->SlaveCanCommuniationError.WrongAliveCnt++;
- if(Slave->SlaveCanCommuniationError.WrongAliveCnt>=CAN0_MAX_NR_OF_FAILED_COM) {
- error_status|=BMS_SLAVE_DATA_ERROR_ALIVE_TIMEOUT;
- // set CAN ERROR
- ErrorStackPushMasterError(s,BMS_ERROR_STACK_SLAVE_CAN_ERROR,BMS_ERROR_CLASS_1);
- return error_status;
- }
- for(i=0;i<CAN0_NR_OF_TELEGRAMS;i++) {
- Slave->SlaveAliveCnt[i]=tempSlave->SlaveAliveCnt[i];
- }
- error_status |=BMS_SALVE_DATA_ERROR_ALIVE_CNT;
- return error_status;
- }
- }
- }
-
- // check voltages
- // discard uninitialized values 0xff and Bypassed cells
- for(i=0;i<MAX_SLAVE_CELLS;i++){
- if(tempSlave->CellConnectionState[i]==CELL_BYPASSED) {
- // no cell == no voltage
- tempSlave->CellVoltage[i]=0;
- }
- else if(tempSlave->CellConnectionState[i]==CELL_CONNECTED && tempSlave->CellVoltage[i]>= 0xfff8 ) {
- // not initialized cells
- //TODO decide upon signed unsigned representation
- // use old value
- tempSlave->CellVoltage[i]= Slave->CellVoltage[i];
-
- }
- if( (tempSlave->CellVoltage[i] >= overVoltage || tempSlave->CellVoltage[i] <= underVoltage)
- && tempSlave->CellConnectionState[i]==CELL_CONNECTED) {
- //copy Slave to record current Errors
- *Slave=*tempSlave;
- error_status |=BMS_SLAVE_DATA_ERROR_VOLTAGE_LIMIT;
-
- // Write Error Stack
- if(tempSlave->CellVoltage[i] >= overVoltage ) {
-
- ErrorStackPushSlaveError(s,s->slaveSelect,BMS_ERROR_STACK_SLAVE_OVER_VOLTAGE,i,BMS_ERROR_CLASS_3);
- error_status |=BMS_SLAVE_DATA_ERROR_OVER_VOLTAGE;
- }
- else {
-
- ErrorStackPushSlaveError(s,s->slaveSelect,BMS_ERROR_STACK_SLAVE_UNDER_VOLTAGE,i,BMS_ERROR_CLASS_3);
- error_status |=BMS_SLAVE_DATA_ERROR_UNDER_VOLTAGE;
- }
-
- return error_status;
- }
-
- }
-
- if(tempSlave->HeatSinkTemp >= BMS_ERROR_THRESHOLD_T_HEATSINK_MAX || tempSlave->HeatSinkTemp <= BMS_ERROR_THRESHOLD_T_HEATSINK_MIN){
- //copy Slave to record current Errors
- *Slave=*tempSlave;
- error_status |=BMS_SLAVE_DATA_ERROR_HEAT_SINK_LIMIT;
- // Write Error Stack
- if(tempSlave->HeatSinkTemp >= BMS_ERROR_THRESHOLD_T_HEATSINK_MAX ) {
- // Has to be defined
-
- }
- else {
- // has to be defined
- }
- return error_status;
- }
-
- //check cell temperatures
- for(i=0;i<MAX_SLAVE_CELLS;i++){
-
- if (tempSlave->CellTemp[i] > -40) {
- //toDo: QUICKFIX FOR INITIALIZED SENSORS
-
- if(current < -100 ) {
- // battery is charged
- if( (tempSlave->CellTemp[i] >= overTemp_charge || tempSlave->CellTemp[i] <= underTemp_charge)
- && tempSlave->TempSensConnectionState[i] ==TEMP_SENSOR_CONNECTED) {
- //copy Slave to record current Errors
- *Slave=*tempSlave;
- error_status |=BMS_SLAVE_DATA_ERROR_TEMP_LIMIT;
-
- // Write Error Stack
- if(tempSlave->CellTemp[i] >= overTemp_charge ) {
- ErrorStackPushSlaveError(s,s->slaveSelect,BMS_ERROR_STACK_SLAVE_OVER_TEMP_CHARGE,i,BMS_ERROR_CLASS_3);
-
- }
- else {
- ErrorStackPushSlaveError(s,s->slaveSelect,BMS_ERROR_STACK_SLAVE_UNDER_TEMP_CHARGE,i,BMS_ERROR_CLASS_3);
- }
- return error_status;
- }
- }
- else {
- // battery is discharged
- if( (tempSlave->CellTemp[i] >= overTemp_discharge || tempSlave->CellTemp[i] <= underTemp_discharge)
- && tempSlave->TempSensConnectionState[i] ==TEMP_SENSOR_CONNECTED) {
- //copy Slave to record current Errors
- *Slave=*tempSlave;
- error_status |=BMS_SLAVE_DATA_ERROR_TEMP_LIMIT;
-
- // Write Error Stack
- if(tempSlave->CellTemp[i] >= overTemp_discharge ) {
- ErrorStackPushSlaveError(s,s->slaveSelect,BMS_ERROR_STACK_SLAVE_OVER_TEMP_DISCHARGE,i,BMS_ERROR_CLASS_3);
-
- }
- else {
- ErrorStackPushSlaveError(s,s->slaveSelect,BMS_ERROR_STACK_SLAVE_UNDER_TEMP_DISCHARGE,i,BMS_ERROR_CLASS_3);
- }
- return error_status;
- }
- }
- }
- }
-
-
- *Slave=*tempSlave;
- return error_status; //everything should be ok
- }
- }
- uint8_t check_UI_data(BMS_CAN0_SLAVE_t* Slave, BMS_CAN0_SLAVE_t* tempSlave,BMS_CAN0_UI_t* ui,BMS_CAN0_UI_t* tempUI) {
- // todo Check Alive Cnt
- // Check Over current etc
- uint8_t i=0;
-
- if(tempUI->Ibatt > 50) {
- i++;
- }
-
- ui->Ubatt=tempUI->Ubatt;
- ui->Ibatt=tempUI->Ibatt;
- ui->Checksum=tempUI->Checksum;
- return BMS_SLAVE_DATA_OK;
- }
- /**
- * @brief calculate Voltage of Slave Board By adding cell voltages
- */
- uint32_t calc_block_voltage(BMS_CAN0_SLAVE_t* Slave) {
- uint32_t blockVoltage=0;
- uint8_t i=0;
- for(i=0;i<MAX_SLAVE_CELLS;i++) {
- if(Slave->CellConnectionState[i]==CELL_CONNECTED) {
- blockVoltage += Slave->CellVoltage[i];
- }
- }
- return blockVoltage;
- }
- /**
- * @brief calculate min and Max Voltage of Block
- */
- uint32_t calc_min_max_voltage_slave(BMS_CAN0_SLAVE_t* Slave) {
- uint16_t minV=Slave->CellVoltage[0];
- uint16_t maxV=Slave->CellVoltage[0];
- uint8_t i=0;
- for(i=0;i<MAX_SLAVE_CELLS;i++) {
- if(Slave->CellConnectionState[i]==CELL_CONNECTED) {
- if(minV >= Slave->CellVoltage[i]) {
- minV = Slave->CellVoltage[i];
- }
- if(maxV <= Slave->CellVoltage[i]) {
- maxV = Slave->CellVoltage[i];
- }
- }
- }
- Slave->minCellVoltage=minV;
- Slave->maxCellVoltage=maxV;
- return TRUE;
- }
- /**
- * @brief calculate min and Max Voltage of System
- */
- uint32_t calc_min_max_voltage_system(MASTER_CAN0_STRUCT_t* s) {
- uint8_t slave_nr=0;
- uint16_t minV=BMS_SLAVE_MAX_CELL_VOLTAGE;
- uint16_t maxV=BMS_SLAVE_MIN_CELL_VOLTAGE;
- BMS_CAN0_SLAVE_t* Slave;
- for(slave_nr=0;slave_nr<CAN0_MAX_NR_OF_SLAVES -1 ;slave_nr++) {
- if(s->Slave[slave_nr].SlaveConnectionState != NOT_CONNECTED ) {
- //slave is connected
- Slave=&(s->Slave[slave_nr]);
- if(Slave->maxCellVoltage >=maxV ) {
- maxV = Slave->maxCellVoltage;
- }
- if(Slave->minCellVoltage <= minV) {
- minV = Slave->minCellVoltage;
- }
- }
- }
- s->minCellVoltage=minV;
- s->maxCellVoltage=maxV;
- return TRUE;
- }
- /*
- * set balancing register for cell_nr
- */
- uint32_t balance_cell(BMS_CAN0_SLAVE_t* Slave,uint8_t cell_nr) {
- if( cell_nr <8) {
- Slave->Balance_Cell_0_7|= (1<<cell_nr);
- return TRUE;
- }
- else if(cell_nr <16) {
- Slave->Balance_Cell_8_15|=(1<<(cell_nr-8));
- return TRUE;
- }
- else {
- Slave->Balance_Cell_16_23|=(1<<(cell_nr-16));
- return TRUE;
- }
-
- return FALSE;
- }
- /**
- * go though all slaves, destinguish slaves to balance and set Balancearray
- */
- uint32_t set_balancer(MASTER_CAN0_STRUCT_t* s) {
- uint8_t slave_nr=0;
- uint8_t cell_nr=0;
- BMS_CAN0_SLAVE_t* Slave;
-
- for(slave_nr=0;slave_nr < CAN0_MAX_NR_OF_SLAVES -1 ;slave_nr++) { // -1 because slave 15 is UI
- if(s->Slave[slave_nr].SlaveConnectionState != NOT_CONNECTED) {
- // slave is connected
- Slave=&(s->Slave[slave_nr]);
-
-
- if(Slave->maxCellVoltage - s->minCellVoltage > SLAVE_BALANCE_MIN_DELTA_U_MV) {
- // blancing neccessay
- for(cell_nr=0;cell_nr <MAX_SLAVE_CELLS;cell_nr++) {
- if(Slave->CellConnectionState[cell_nr]==CELL_CONNECTED) {
- // cell is connected
- if(Slave->CellVoltage[cell_nr] - s->minCellVoltage > SLAVE_BALANCE_MIN_DELTA_U_MV) {
- // cell has to be balanced
- balance_cell(Slave,cell_nr);
- }
- }
- }
- }
- else {
- // no need to balance
- }
- }
-
- }
-
- }
- /**
- * set all balance registers to off
- */
- uint32_t set_balancer_off(MASTER_CAN0_STRUCT_t* s) {
- uint8_t slave_nr=0;
- BMS_CAN0_SLAVE_t* Slave;
- for(slave_nr=0;slave_nr < CAN0_MAX_NR_OF_SLAVES -1 ;slave_nr++) {
- Slave=&(s->Slave[slave_nr]);
- Slave->Balance_Cell_0_7=0;
- Slave->Balance_Cell_16_23=0;
- Slave->Balance_Cell_8_15=0;
- }
- return TRUE;
- }
- /**
- * @brief set min and Max Cell Temperature
- * */
- uint32_t set_block_min_max_temp(BMS_CAN0_SLAVE_t* Slave){
- uint8_t i;
- int8_t maxTemp=25;
- int8_t minTemp=25;
- for(i=0;i<MAX_SLAVE_CELLS;i++) {
- if(Slave->TempSensConnectionState[i]==TEMP_SENSOR_CONNECTED){
- if(Slave->CellTemp[i] > maxTemp) {
- maxTemp=Slave->CellTemp[i];
- }
- if(Slave->CellTemp[i] < minTemp) {
- minTemp=Slave->CellTemp[i];
- }
- }
- }
- Slave->maxCellTemp=maxTemp;
- Slave->minCellTemp=minTemp;
- }
- /**
- * @brief set min and Max Cell Temperature of System
- * */
- uint32_t set_system_min_max_temp(MASTER_CAN0_STRUCT_t* s){
- uint8_t i;
- int8_t maxTemp=25;
- int8_t minTemp=25;
- BMS_CAN0_SLAVE_t* Slave;
-
- for(i=0;i<CAN0_MAX_NR_OF_SLAVES;i++) {
- if(s->Slave[i].SlaveConnectionState!=NOT_CONNECTED && s->Slave[i].SlaveType == SLAVE) {
- Slave=&(s->Slave[i]);
- if(Slave->maxCellTemp > maxTemp) {
- maxTemp=Slave->maxCellTemp;
- }
- if(Slave->minCellTemp < minTemp) {
- minTemp=Slave->minCellTemp;
- }
- }
- }
- s->maxCellTemp=maxTemp;
- s->minCellTemp=minTemp;
- }
- uint32_t set_system_min_max_heatsink_temp(MASTER_CAN0_STRUCT_t* s) {
- uint8_t i;
- int8_t maxTemp=25;
- int8_t minTemp=25;
- BMS_CAN0_SLAVE_t* Slave;
-
- for(i=0;i<CAN0_MAX_NR_OF_SLAVES;i++) {
- if(s->Slave[i].SlaveConnectionState!=NOT_CONNECTED &&s->Slave[i].SlaveType == SLAVE) {
- Slave=&(s->Slave[i]);
- if(Slave->HeatSinkTemp > maxTemp) {
- maxTemp=Slave->HeatSinkTemp;
- }
- if(Slave->HeatSinkTemp < minTemp) {
- minTemp=Slave->HeatSinkTemp;
- }
- }
- }
- s->maxHeatSinkTemp=maxTemp;
- s->minHeatSinkTemp=minTemp;
-
- return 0;
- }
- /**
- * @brief calculate Voltage of System by adding block voltages
- */
- uint32_t calc_system_voltage(MASTER_CAN0_STRUCT_t* s) {
- uint32_t systemVoltage=0;
- uint8_t i=0;
- for(i=0;i<CAN0_MAX_NR_OF_SLAVES;i++) {
- if(s->Slave[i].SlaveConnectionState!=NOT_CONNECTED && s->Slave[i].SlaveType == SLAVE ) {
- systemVoltage += s->Slave[i].BlockVoltage;
- }
- }
- return systemVoltage;
- }
- /**
- * @bief calculate SOC by simple coulomb counting
- */
- void calc_system_SoC(MASTER_CAN0_STRUCT_t* s) {
- s->StateOfCharge = s->StateOfCharge - s->UI_Board.Ibatt*10 *200; // t=200ms ibatt in 10mA steps
- }
- /**
- * @brief convert inverter data into correct data types
- */
- void refresh_inverter_tx_data(MASTER_CAN0_STRUCT_t* s) {
- BMS_CAN1_INVERTER_TX* inv=&(s->inverter.txStruct);
- inv->Values.batteryCapacity.value=36.0;
- shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.batteryCapacity.value));
- inv->Values.batteryCurrent.value=( (float)(s->UI_Board.Ibatt) )/100 ;
- shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.batteryCurrent.value));
- inv->Values.batterySOC.value=s->SoC_estimator.SoC_percentage_smooth;
- shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.batterySOC.value));
- inv->Values.batterySOCtarget.value=(float)-1.0;
- shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.batterySOCtarget.value));
- inv->Values.batterySOH.value=(float)1.0;
- shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.batterySOH.value));
- inv->Values.batteryStatus.byte6=0;
- shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.batteryStatus.byte6));
- inv->Values.batteryTemperature.value=(float)s->maxCellTemp;
- shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.batteryTemperature.value));
- inv->Values.batteryVoltage.value=( (float)(s->systemVoltage)) /1000.0;
- shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.batteryVoltage.value));
- inv->Values.maxBatteryChargeCurrent.value=s->SoC_estimator.MaxBatteryChargeCurrent;
- shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.maxBatteryChargeCurrent.value));
- inv->Values.maxBatteryChargeVoltage.value=s->startupConfig.maxBatteryVoltage;
- shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.maxBatteryChargeVoltage.value));
- inv->Values.maxBatteryDischargeCurrent.value=s->SoC_estimator.MaxBatteryDischargeCurrent;
- shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.maxBatteryDischargeCurrent.value));
- inv->Values.minBatteryDischargeVoltage.value=s->startupConfig.minBatteryVoltage;
- shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.minBatteryDischargeVoltage.value));
-
- if(s->relayState.HS_closed == TRUE && s->relayState.LS_closed == TRUE && s->relayState.PRECHARGE_closed == TRUE) {
- inv->Values.batteryModeExtra.value = 0;
-
- }
- else {
- inv->Values.batteryModeExtra.value = 1;
- shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.batteryModeExtra.value));
- }
- //inv->Values.batteryMode.value=(uint32_t)(s->RunMode);
- //shuffle_lsb_msb_can1((uint8_t*)&(inv->Values.batteryMode.value));
- }
- void shuffle_lsb_msb_can1(uint8_t* value) {
- uint8_t tempValue[4];
- tempValue[3]=value[0];
- tempValue[2]=value[1];
- tempValue[1]=value[2];
- tempValue[0]=value[3];
-
- value[0]=tempValue[0];
- value[1]=tempValue[1];
- value[2]=tempValue[2];
- value[3]=tempValue[3];
- }
- uint8_t check_if_all_values_are_initialized(MASTER_CAN0_STRUCT_t* s) {
- uint8_t slaveNr;
- uint8_t cellNr;
- for(slaveNr=0;slaveNr<CAN0_MAX_NR_OF_SLAVES-1;slaveNr++){
- if(s->Slave[slaveNr].SlaveConnectionState != NOT_CONNECTED) {
- for(cellNr=0;cellNr<MAX_SLAVE_CELLS;cellNr++) {
- if(s->Slave[slaveNr].CellConnectionState[cellNr]==CELL_CONNECTED) {
- if(s->Slave[slaveNr].CellVoltage[cellNr] == 0xffff) {
- return FALSE;
- }
- }
- if(s->Slave[slaveNr].TempSensConnectionState[cellNr] == TEMP_SENSOR_CONNECTED) {
- if(s->Slave[slaveNr].CellTemp[cellNr] == -1) {
- return FALSE;
- }
- }
- }
- }
-
- }
- return TRUE;
- }
- /**
- * @brief Handles communication with Slave-Boards over CAN0 interface
- * @param s pointer to state variable
- * @param time current timestamp in ms
- *
- * Master_CAN0_fsm is a finite state machine which handles the commuinication between Master and Slave boards.
- * It requests Data from the Slaves by sending an Request telegram, and saves the received data in the
- * provided MASTER_CAN0_STRUCT. It records CAN BUS Errors and hands these information to the Master_CAN0_ERROR_fsm.
- */
- uint16_t Master_CAN0_fsm(MASTER_CAN0_STRUCT_t* s,uint64_t time) {
- CAN_CONFIG *config;
- int8_t can_state=CAN_OK;
- uint8_t data_state=0;
- uint8_t ui_state=FALSE;
- switch(s->FsmState) {
- case INIT:
- s->slaveSelect=0;
- s->cycleTimestamp=time;
- s->FsmState=CHECK_IF_SLAVE_ACTIVE;
- s->cycleCounter++;
- return TRUE;
- break;
- case CHECK_IF_SLAVE_ACTIVE:
- // transmitt data to Inverter
- if(s->SoC_initialized==TRUE && s->allValuesInitialized ==TRUE) {
- //Master_CAN1_Inverter_fsm( s,&(s->CAN1_fsmStruct)) ;
- Master_CAN1_select_comm_mode ( s,&(s->CAN1_fsmStruct)) ;
- }
- // Update Master temp sensor
- readMasterTempSensorFsm(s);
- s->timestamp=Global_1msCounter;
- if(s->Slave[s->slaveSelect].SlaveConnectionState == NOT_CONNECTED) {
- s->FsmState=WAIT_FOR_NEXT_SLAVE_TIMESLOT;
- s->slaveSelect++; // ignore and go to next slave
- if(s->slaveSelect>=CAN0_MAX_NR_OF_SLAVES) {
- s->slaveSelect=0;
- s->FsmState=WAIT_FOR_NEXT_COMMUNICATION_CYCLE;
- }
- return TRUE;
- }
- else{
- s->Slave[s->slaveSelect].SlaveTelegramsRecFlag=0; // no Telegrams recoredet yet
- s->FsmState=SEND_REQUEST_TELEGRAM;
-
- return TRUE;
- }
- break;
- case SEND_REQUEST_TELEGRAM:
- s->transmission_pending=TRUE;
- CAN0_tx_send_request_telegram(&(s->Slave[s->slaveSelect]),s->Slave[s->slaveSelect].MasterAliveCnt);
- s->Slave[s->slaveSelect].MasterAliveCnt++;
- if(s->Slave[s->slaveSelect].MasterAliveCnt >=CAN0_NR_OF_TELEGRAMS) {
- s->Slave[s->slaveSelect].MasterAliveCnt=0;
- }
-
- if(s->Slave[s->slaveSelect].SlaveType==SLAVE) {
- s->tempSlave=s->Slave[s->slaveSelect];
- }
- else {
- s->tempSlave=s->Slave[s->slaveSelect];
- s->temp_UI_Board=s->UI_Board;
- }
- s->FsmState=WAIT_FOR_SLAVE_RESPONSE;
- return TRUE;
- break;
- case WAIT_FOR_SLAVE_RESPONSE:
- config= s->tempSlave.TxMailbox_ptr->p_CAN_Config;
- //can_state=CAN_Check_error_Register(config);
- if(s->tempSlave.SlaveType==SLAVE) {
- if(s->tempSlave.SlaveConnectionState == CONNECTED) {
- // real slave with real Sensors
- CAN0_check_if_slave_rec(&(s->tempSlave));
- }
- else if(s->tempSlave.SlaveConnectionState == DEBUG_DATA_SIMULATED) {
- // real slave with simulated Sensors
- CAN0_DEBUG_data_check_if_slave_rec((&s->tempSlave),&(gDUMMY_data_struct.Slave[s->slaveSelect]) );
- }
- else{
- // simulated Slave
- CAN0_DEBUG_slave_check_if_slave_rec((&s->tempSlave),&(gDUMMY_data_struct.Slave[s->slaveSelect]) );
- }
-
- //all Telegrams received
- if(s->tempSlave.SlaveTelegramsRecFlag==CAN0_ALL_TELEGRAMS_REC ) {
- //s->slaveSelect++;
- if(can_state == CAN_OK) {
- // all telegrams received => reset error counter
- if(s->slaveSelect == 3) {
- s->FsmState= CHECK_CAN_DATA;
- }
- s->Slave[s->slaveSelect].SlaveCanCommuniationError.FailedComCnt=0;
- s->FsmState= CHECK_CAN_DATA;
- return TRUE;
- }
- else {
- s->FsmState =HANDLE_CAN_ERROR;
- return TRUE;
- }
- }
- //timeout
- else if(s->timestamp + CAN0_TIMEOUT_MS <=Global_1msCounter) {
- s->FsmState =HANDLE_CAN_ERROR;
- return TRUE;
- }
- // wait
- else {
- s->FsmState =WAIT_FOR_SLAVE_RESPONSE;
- return TRUE;
- }
- }
- else {
-
-
- if(s->tempSlave.SlaveConnectionState == CONNECTED) {
- // real UI with real Sensors
- ui_state=CAN0_check_if_UI_Board_rec( &(s->tempSlave) ,&(s->temp_UI_Board));
- }
- else if(s->tempSlave.SlaveConnectionState == DEBUG_DATA_SIMULATED) {
- // real UI with simulated Sensors
- ui_state=CAN0_DEBUG_data_check_if_UI_Board_rec(&(s->tempSlave),
- &(gDUMMY_data_struct.Slave[s->slaveSelect]),
- &(s->temp_UI_Board),
- &(gDUMMY_data_struct.UI_Board));
- }
- else{
- // simulated UI
- ui_state=CAN0_DEBUG_slave_check_if_UI_Board_rec(&(s->tempSlave),
- &(gDUMMY_data_struct.Slave[s->slaveSelect]),
- &(s->temp_UI_Board),
- &(gDUMMY_data_struct.UI_Board));
- }
-
- if(ui_state==TRUE) {
- //s->slaveSelect++;
- if(can_state==CAN_OK) {
- s->FsmState= CHECK_CAN_DATA;
- return TRUE;
- }
- else {
- s->FsmState =HANDLE_CAN_ERROR;
- return TRUE;
- }
- //return TRUE;
- }
- //timeout
- else if(s->timestamp + CAN0_TIMEOUT_MS <=time) {
- s->FsmState =HANDLE_CAN_ERROR;
- return TRUE;
- }
- // wait
- else {
- s->FsmState =WAIT_FOR_SLAVE_RESPONSE;
- return TRUE;
- }
- }
- break;
- case CHECK_CAN_DATA:
- // check if rx data is correct
-
- if(s->tempSlave.SlaveType ==SLAVE ) {
-
- s->ErrorFlags=check_slave_data(s,&(s->Slave[s->slaveSelect]),
- &(s->tempSlave),
- BMS_SLAVE_MAX_TEMP,
- BMS_ERROR_THRESHOLD_T_DISCHARGE_MAX,
- BMS_SLAVE_MIN_TEMP,
- BMS_ERROR_THRESHOLD_T_DISCHARGE_MIN,
- BMS_SLAVE_MAX_CELL_VOLTAGE,
- BMS_SLAVE_MIN_CELL_VOLTAGE);
- if(s->ErrorFlags & BMS_SLAVE_DATA_ERROR_ALIVE_TIMEOUT) {
- s->FsmState =SHUT_DOWN_BMS;
- return TRUE;
- }
-
- if(s->ErrorFlags & BMS_SLAVE_DATA_ERROR_OVER_VOLTAGE) {
- s->FsmState =SHUT_DOWN_BMS;
- return TRUE;
- }
- if(s->ErrorFlags & BMS_SLAVE_DATA_ERROR_UNDER_VOLTAGE) {
- s->FsmState =SHUT_DOWN_BMS;
- return TRUE;
- }
- if((s->ErrorFlags & BMS_SLAVE_DATA_ERROR_TEMP_LIMIT) && (s->allValuesInitialized == TRUE)) {
- s->FsmState =SHUT_DOWN_BMS;
- return TRUE;
- }
- if(s->ErrorFlags & BMS_SLAVE_DATA_ERROR_HEAT_SINK_LIMIT) {
- s->FsmState =SHUT_DOWN_BMS;
- return TRUE;
- }
- if(s->ErrorFlags & BMS_SLAVE_DATA_ERROR_BOARD_ELECTRONIC) {
- s->FsmState =SHUT_DOWN_BMS;
- return TRUE;
- }
- else {
- // everything ok
-
- }
-
-
-
-
-
- }
- else {
- data_state=check_UI_data(&(s->Slave[s->slaveSelect]),
- &(s->tempSlave),
- &(s->UI_Board),
- &(s->temp_UI_Board));
-
- if(s->allValuesInitialized==FALSE) {
- s->allValuesInitialized=check_if_all_values_are_initialized(s);
- }
-
-
- // Check for "Soft" Errors and set Error states
-
-
-
- }
- s->transmission_pending=FALSE;
-
- s->FsmState= DO_CALCULATIONS;
- return TRUE;
- break;
- case DO_CALCULATIONS:
- // calculate SoC SoH ?
- if(s->Slave[s->slaveSelect].SlaveType==SLAVE) {
- // calculate Slave Voltage
- s->Slave[s->slaveSelect].BlockVoltage=calc_block_voltage(&(s->Slave[s->slaveSelect]));
- // set min max Temp
- set_block_min_max_temp(&(s->Slave[s->slaveSelect]));
- // set min max Voltage
- calc_min_max_voltage_slave(&(s->Slave[s->slaveSelect]));
-
- s->slaveSelect++;
- s->FsmState=WAIT_FOR_NEXT_SLAVE_TIMESLOT;
- return TRUE;
- }
- else {
-
-
-
- // UI-Platine
- // calc SoC
- s->systemVoltage=calc_system_voltage(s);
- calc_min_max_voltage_system(s);
- set_system_min_max_temp(s);
- // update UI FIFO
- popUIFiFo(s);
-
- BMS_Set_Error_Check_voltage_inconsitency(s);
- BMS_set_Error_Check_UI_Flags(s);
-
- // check if System voltage is too high
- if(s->allValuesInitialized ==TRUE) {
- // Check Umin 1 Umin2 Umin3
- BMS_Set_Error_check_Voltage_level_min(s);
- // Check Umax 1 and Umax 2
- BMS_Set_Error_check_Voltage_level_max(s) ;
- BMS_Set_Error_check_System_voltage_level_max(s);
-
- // check if CHECK Imax
- BMS_Set_Error_Check_derating(s);
-
-
- // make balancing decisions
- Master_Balancer_fsm(s);
- }
- // if in Winter MOde get SoC from FRAM
- // if(s->SoC_initialized==TRUE && s->allValuesInitialized ==FALSE && s->RunMode== RUN_MODE_WINTER) {
- // bms_SoC_init_estimator_FRAM(&(s->SoC_estimator), s->maxCellVoltage);
- // }
- // calculate SoC of higest and Lowest Cell
- if(s->SoC_initialized==FALSE && s->allValuesInitialized ==TRUE) {
- set_system_min_max_heatsink_temp(s);
- //set initial SoC
- if(s->startupConfig.state.Bit.SOC_Initialized) {
- // get initial SOC From FRAM
- bms_SoC_init_estimator_FRAM(&(s->SoC_estimator), s->maxCellVoltage);
- }
- else {
- bms_SoC_init_estimator(&(s->SoC_estimator), s->maxCellVoltage) ;
- }
- initSoCFifo(s);
- s->SoC_initialized=TRUE;
- s->FsmState=RUNNING_MODE_FSM;
- }
- else if(s->SoC_initialized==TRUE && s->allValuesInitialized ==TRUE) {
- set_system_min_max_heatsink_temp(s);
-
- // calc SoC
-
- while(s->SoC_estimator.state != BMS_SOC_READY) {
- bms_SoC_running_fsm( &(s->SoC_estimator),s->UI_Board.Ibatt*10 ,s->maxCellVoltage,s->minCellVoltage,s->minCellTemp,s->maxCellTemp);
- }
- s->SoC_estimator.state = BMS_SOC_IDLE ;
-
- // if soc is at 100% set SoC initialized Flag
- if(s->SoC_estimator.SoC_percentage_smooth > 0.9999) {
- s->startupConfig.state.Bit.SOC_Initialized=1;
- write_fram_set_startup_state(s);
- }
- // write SoC to FRAM
- else if(s->startupConfig.state.Bit.SOC_Initialized==1) {
- write_fram_set_SoC(s->SoC_estimator.SoC_percentage_smooth);
- }
- s->slaveSelect=0;
-
- // transmitt data to Inverter
- if(s->SoC_initialized==TRUE && s->allValuesInitialized ==TRUE) {
- refresh_inverter_tx_data(s);
- //Master_CAN1_Inverter_fsm( s,&(s->CAN1_fsmStruct)) ;
- }
- // set running Mode
-
- // update inverter state
- BMS_RCT_Inverter_fsm (s);
- s->FsmState=RUNNING_MODE_FSM;
- return TRUE;
- }
- else {
- // nothing happend yet
- s->FsmState=RUNNING_MODE_FSM;
- return TRUE;
- }
-
- }
- return TRUE;
- break;
- case RUNNING_MODE_FSM:
- // set running Mode
- RunningModeFSM(s) ;
- s->FsmState=WAIT_FOR_NEXT_COMMUNICATION_CYCLE;
- return TRUE;
- break;
- case HANDLE_CAN_ERROR:
- // delete interrupt flags
- CAN0_clear_all_interrupt_flags();
- // handle CAN Errors
- config= s->tempSlave.TxMailbox_ptr->p_CAN_Config;
- //can_state=CAN_Check_error_Register(config);
- // all telegrams received, can telegrams disturbed
- if(s->tempSlave.SlaveTelegramsRecFlag==CAN0_ALL_TELEGRAMS_REC ) {
- // Telegram values could be disturbed => reject all received Data
- // Don't use newly received data => ignore tempSlave
- s->Slave[s->slaveSelect].SlaveCanCommuniationError.FailedComCnt++;
- if(s->Slave[s->slaveSelect].SlaveCanCommuniationError.FailedComCnt >=CAN0_MAX_NR_OF_FAILED_COM) {
- s->FsmState=SHUT_DOWN_BMS;
-
- //write Error Slave
- ErrorStackPushSlaveError(s,s->slaveSelect,BMS_ERROR_STACK_SLAVE_CAN_ERROR,0,BMS_ERROR_CLASS_2);
- return TRUE;
- }
- s->FsmState=DO_CALCULATIONS;
- return TRUE;
-
- }
- // telegrams missing, CAN Channel Ok
- else{
- if(can_state == CAN_OK) {
- // CAN BUS OK, Slave is not reacting
- // Don't use newly received data
- s->Slave[s->slaveSelect].SlaveCanCommuniationError.FailedComCnt++;
- if(s->Slave[s->slaveSelect].SlaveCanCommuniationError.FailedComCnt >=CAN0_MAX_NR_OF_FAILED_COM) {
- //write Error
- ErrorStackPushSlaveError(s,s->slaveSelect,BMS_ERROR_STACK_SLAVE_CAN_ERROR,0,BMS_ERROR_CLASS_2);
- s->FsmState=SHUT_DOWN_BMS;
- s->reset_test_timestamp=Global_1msCounter;
- return TRUE;
- }
- s->FsmState=DO_CALCULATIONS;
- return TRUE;
- }
- else{
- // CAN BUS ERROR, telegrams not coming thought
- // Don't use newly received data
- s->Slave[s->slaveSelect].SlaveCanCommuniationError.FailedComCnt++;
- if(s->Slave[s->slaveSelect].SlaveCanCommuniationError.FailedComCnt >=CAN0_MAX_NR_OF_FAILED_COM) {
- //write Error
- ErrorStackPushSlaveError(s,s->slaveSelect,BMS_ERROR_STACK_SLAVE_CAN_ERROR,0,BMS_ERROR_CLASS_2);
- s->reset_test_timestamp=Global_1msCounter;
- s->FsmState=SHUT_DOWN_BMS;
- return TRUE;
- }
- s->FsmState=DO_CALCULATIONS;
- return TRUE;
- }
- }
- return TRUE;
- break;
- case WAIT_FOR_NEXT_SLAVE_TIMESLOT:
- // next timesolt ready
-
- if(s->timestamp +CAN0_RASTER_MS <= time) {
- s->FsmState= CHECK_IF_SLAVE_ACTIVE;
- return TRUE;
- }
- //wait
- else{
- s->FsmState=WAIT_FOR_NEXT_SLAVE_TIMESLOT;
- return TRUE;
- }
- break;
- case SEND_RECEIVE_INVERTER_DATA:
- // send data to inverter and Wait for response
- //CAN1_tx_Data_to_Inverter(time,&(s->inverter.txStruct));
- //request DC INPUT VOLTAGE
- //CAN1_request_float_value(Global_1msCounter,&(s->inverter.rxStruct.DCinputA_power),CAN1_RX_DC_INPUT_A_VOLTAGE);
- s->startCan1Comm=TRUE;
- s->FsmState=WAIT_FOR_NEXT_COMMUNICATION_CYCLE;
- return TRUE;
- break;
- case WAIT_FOR_NEXT_COMMUNICATION_CYCLE:
- if(s->cycleTimestamp +CAN0_COMM_CYCLE_MS <= time) {
- s->FsmState= INIT;
- return TRUE;
- }
- else {
- s->FsmState=WAIT_FOR_NEXT_COMMUNICATION_CYCLE;
- return TRUE;
- }
- return TRUE;
- break;
- case SHUT_DOWN_BMS:
- // Something went horribly wrong, turn off system
- SwitchRelais( LS_RELAIS, 0);
- SwitchRelais( PRE_CHARGE_RELAIS, 0);
- SwitchRelais( HS_RELAIS, 0);
- s->relayState.HS_closed=FALSE;
- s->relayState.LS_closed=FALSE;
- s->relayState.PRECHARGE_closed=FALSE;
- CLEAR_OUTPIN(PIN_REGNR_LED4); // set LED4 to 0 to indicate that an Error has occured
-
- //write_fram_word(BMS_STARTUP_ERROR_MODE_3,3,BMS_STARTUP_MODE_ADDR);
- // go to Error Mode
-
- // continue communication cycles
- s->FsmState=DO_CALCULATIONS;
-
- return TRUE;
- break;
- default:
- return FALSE;
- break;
- }
- return FALSE;
- }
-
- uint16_t init_master_operation_fsm(BMS_MASTER_OPERATION_t* opFsm) {
- opFsm->FsmState=MASTER_OPERATION_INIT;
- opFsm->timestamp=0;
- return TRUE;
- }
- uint16_t Master_CAN1_fsm_init(MASTER_CAN1_STRUCT_t* can1Fsm) {
- can1Fsm->delay =3;
- can1Fsm->fsmState=CAN1_INIT;
- can1Fsm->txMsgNr=0;
- return TRUE;
- }
- /*
- *
- */
- uint32_t Master_CAN1_select_comm_mode (MASTER_CAN0_STRUCT_t* s,MASTER_CAN1_INVERTER_STRUCT_t* fsmStruct) {
- if(fsmStruct->slowRequestFsmRunning == TRUE) {
- // slow requests are running => wait till requests are complete
- Master_CAN1_Inverter_fsm(s,fsmStruct);
- // set fast request running flag for faast request asap
- fsmStruct->fastRequestFsmRunning=TRUE;
- return TRUE;
- }
- else if(s->Slave[s->slaveSelect].SlaveType== UI || fsmStruct->fastRequestFsmRunning==TRUE) {
- // commuincation with UI is about to begin or fast request flag is set
- // this means 250ms tick is reached => initiate fast request if possible
- Master_CAN1_Fast_request_fsm (s,fsmStruct);
- return TRUE;
- }
- else {
- // nothing special run normal fsm
- Master_CAN1_Inverter_fsm(s,fsmStruct);
- return TRUE;
- }
- }
- /*
- * handles request of battery current and battery voltage from inverter
- * which have to be sampled regulatly
- */
- uint32_t Master_CAN1_Fast_request_fsm (MASTER_CAN0_STRUCT_t* s,MASTER_CAN1_INVERTER_STRUCT_t* fsmStruct) {
- switch(fsmStruct->fastRxState) {
- case CAN1_FAST_RX_FSM_REQUEST_BATTERY_CURRENT:
- // request battery current from inverter
- fsmStruct->nrOfRecCurrentSamples++;
- CAN1_send_request_telegram(CAN1_RX_BATTERY_CURRENT);
- fsmStruct->fastRequestFsmRunning=TRUE;
- fsmStruct->fastRxState=CAN1_FAST_RX_FSM_REQUEST_BATTERY_VOLTAGE;
- return TRUE;
- break;
- case CAN1_FAST_RX_FSM_REQUEST_BATTERY_VOLTAGE:
- // readout battery current and request battery voltage
- if(CAN1_wait_for_response(&(s->inverter.rxStruct.batteryCurrent)) == TRUE ) {
- // battery current received
- pushInverterCurrentFIFO(s);
- // compare UI Current and Inverter Current
- if(fsmStruct->nrOfRecCurrentSamples > UI_CURRENT_FIFO_SIZE) {
- // BMS_Set_Error_Check_current_consitency(s); //compare current of UI with Inverter
- }
- }
- else {
- // no response in 10ms => timeout
- // go to normal communication fsm
- fsmStruct->fastRxState = CAN1_FAST_RX_FSM_REQUEST_BATTERY_CURRENT;
- fsmStruct->fastRequestFsmRunning=FALSE;
- return TRUE;
- }
- // request battery voltage
- CAN1_send_request_telegram(CAN1_RX_BATTERY_VOLTAGE);
- fsmStruct->fastRxState =CAN1_FAST_RX_FSM_REQUEST_COMPLETE;
- return TRUE;
- break;
- case CAN1_FAST_RX_FSM_REQUEST_COMPLETE:
- // readout voltage
- if(CAN1_wait_for_response(&(s->inverter.rxStruct.batteryVoltage)) == TRUE ) {
- // battery voltage received
- }
- else {
- // no response in 10ms => timeout
- // go to normal communication fsm
- fsmStruct->fastRxState = CAN1_FAST_RX_FSM_REQUEST_BATTERY_CURRENT;
- fsmStruct->fastRequestFsmRunning=FALSE;
- return TRUE;
- }
- // fast requests done
- fsmStruct->fastRxState = CAN1_FAST_RX_FSM_REQUEST_BATTERY_CURRENT;
- fsmStruct->fastRequestFsmRunning=FALSE;
- return TRUE;
- break;
- }
- }
- uint32_t Master_CAN1_Inverter_fsm(MASTER_CAN0_STRUCT_t* s,MASTER_CAN1_INVERTER_STRUCT_t* fsmStruct) {
- BMS_CAN1_INVERTER_TX* data = &(s->inverter.txStruct);
- BMS_CAN1_INVERTER_CELL_DATA_t txPkg;
- float* rx_ptr=&(s->inverter.rxStruct.expectedInputPower); // points to rx_address to sotre inverter value
- uint8_t eightBitBuff[8]= {0,0,0,0,0,0,0,0} ;
- switch(fsmStruct->fsmState) {
- case CAN1_FSM_INIT:
- // reset Message counters
- fsmStruct->highPrioMsgNr=0;
- fsmStruct->lowPrioMsgNr=0;
- fsmStruct->requestTelegramNr=0;
- fsmStruct->timeoutCyclesCnt=0;
-
- // check if all Values are initialized
- // if yes start transmitting
- if(s->allValuesInitialized == TRUE) {
- fsmStruct->fsmState=CAN1_FSM_SEND_HIGH_PRIO_DATA;
- return TRUE;
- }
- // not all values are initialized
- //=> stay in INIT state
- return TRUE;
- break;
- case CAN1_FSM_SEND_HIGH_PRIO_DATA:
- // rx process complete
- fsmStruct->slowRequestFsmRunning=FALSE;
-
- // transmit high priority data, which is
- // maximum charge Current
- // maximum Charge Voltage
- // maximum Discharge Current
- // minimum Discharge Voltage
- // battery Current
- // battery Voltage
- // Battery SoC
- // Battery Capacity
- // Battery Temperature
- // Battery SoH
- // Battery Status
- // Battery SoC Target
-
- if(fsmStruct->highPrioMsgNr == 0) {
- CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.maxBatteryChargeCurrent),Global_1msCounter);
- }
- else if(fsmStruct->highPrioMsgNr == 1) {
- CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.maxBatteryChargeVoltage),Global_1msCounter);
- }
- else if(fsmStruct->highPrioMsgNr == 2) {
- CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.maxBatteryDischargeCurrent),Global_1msCounter);
- }
- else if(fsmStruct->highPrioMsgNr == 3) {
- CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.minBatteryDischargeVoltage),Global_1msCounter);
- }
- else if(fsmStruct->highPrioMsgNr == 4) {
- CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.batteryCurrent),Global_1msCounter);
- }
- else if(fsmStruct->highPrioMsgNr == 5) {
- CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.batteryVoltage),Global_1msCounter);
- }
- else if(fsmStruct->highPrioMsgNr == 7) {
- CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.batterySOC),Global_1msCounter);
- }
- else if(fsmStruct->highPrioMsgNr == 8) {
- CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.batteryCapacity),Global_1msCounter);
- }
- else if(fsmStruct->highPrioMsgNr == 9) {
- CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.batteryTemperature),Global_1msCounter);
- }
- else if(fsmStruct->highPrioMsgNr == 10) {
- CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.batterySOH),Global_1msCounter);
- }
- else if(fsmStruct->highPrioMsgNr == 11) {
- CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.batterySOCtarget),Global_1msCounter);
- }
- else if(fsmStruct->highPrioMsgNr == 12) {
- CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.batteryMode),Global_1msCounter);
- }
- else if(fsmStruct->highPrioMsgNr == 13) {
- CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.batteryModeExtra),Global_1msCounter);
- }
-
- // increment high prio msg cnt
- fsmStruct->highPrioMsgNr++ ;
-
- // if all high prio msg are transmitted start transmitting low prio msg
- if(fsmStruct->highPrioMsgNr > 13) {
- fsmStruct->highPrioMsgNr=0;
- // reset error cnt to start with error 1 again
- fsmStruct->transmitErrorNrEs1=0;
- fsmStruct->transmitErrorNrEs2=0;
- fsmStruct->transmitErrorNrEs3=0;
- fsmStruct->fsmState=CAN1_FSM_SEND_ES_1;
- return TRUE;
- }
- else {
- // continue Transmitting high Prio Msg
- fsmStruct->fsmState=CAN1_FSM_SEND_HIGH_PRIO_DATA;
- return TRUE;
- }
- break;
- case CAN1_FSM_SEND_ES_1:
- // send Error Calls 1 Errors
-
- if( !ErrorStackCheckForActiveErrors(s,BMS_ERROR_CLASS_1) && !ErrorStackCheckForActiveErrors(s,BMS_ERROR_CLASS_2) && ErrorStackCheckForActiveErrors(s,BMS_ERROR_CLASS_3) ) {
- // no Error has occured Transmitt everything ok
- CLEAR_OUTPIN(PIN_REGNR_LED4);
- CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(data->Values.batteryStatus),Global_1msCounter);
- fsmStruct->fsmState=CAN1_FSM_SEND_LOW_PRIO_DATA;
- return TRUE;
- }
-
- else if(ErrorStackCheckForActiveErrors(s,BMS_ERROR_CLASS_3) && fsmStruct->transmitErrorNrEs3 < BMS_ERROR_ERROR_STACK_SIZE) {
- // transmitt ES 3 Errors
- // check if Error is active
- SET_OUTPIN(PIN_REGNR_LED4);
- while(s->ErrorBuffer.ES3_Error[fsmStruct->transmitErrorNrEs3].Master.active == 0){
- // Error no ,longer Active go to next entry
- fsmStruct->transmitErrorNrEs3++;
- if(fsmStruct->transmitErrorNrEs3 >=BMS_ERROR_ERROR_STACK_SIZE) {
-
- return TRUE;
- }
- }
- ErrorStackGenerateStatusPkg(eightBitBuff,(uint8_t*)&(s->ErrorBuffer.ES3_Error[fsmStruct->transmitErrorNrEs3]));
- CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, eightBitBuff,Global_1msCounter);
- fsmStruct->transmitErrorNrEs3++;
- return TRUE;
- }
-
- else if(ErrorStackCheckForActiveErrors(s,BMS_ERROR_CLASS_2) && fsmStruct->transmitErrorNrEs2 < BMS_ERROR_ERROR_STACK_SIZE) {
- // transmitt ES 2 Errors
- // check if Error is active
- SET_OUTPIN(PIN_REGNR_LED4);
- while(s->ErrorBuffer.ES2_Error[fsmStruct->transmitErrorNrEs2].Master.active == 0){
- // Error no ,longer Active go to next entry
- fsmStruct->transmitErrorNrEs2++;
- if(fsmStruct->transmitErrorNrEs2 >=BMS_ERROR_ERROR_STACK_SIZE) {
-
- return TRUE;
- }
- }
- ErrorStackGenerateStatusPkg(eightBitBuff,(uint8_t*)&(s->ErrorBuffer.ES2_Error[fsmStruct->transmitErrorNrEs2]));
- CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, eightBitBuff,Global_1msCounter);
- fsmStruct->transmitErrorNrEs2++;
- return TRUE;
- }
- else if(ErrorStackCheckForActiveErrors(s,BMS_ERROR_CLASS_1) && fsmStruct->transmitErrorNrEs1 < BMS_ERROR_ERROR_STACK_SIZE) {
- // transmitt ES 1 Errors
- // check if Error is active
- SET_OUTPIN(PIN_REGNR_LED4);
- while(s->ErrorBuffer.ES1_Error[fsmStruct->transmitErrorNrEs1].Master.active == 0){
- // Error no ,longer Active go to next entry
- fsmStruct->transmitErrorNrEs1++;
- if(fsmStruct->transmitErrorNrEs1 >=BMS_ERROR_ERROR_STACK_SIZE) {
-
- return TRUE;
- }
- }
- ErrorStackGenerateStatusPkg(eightBitBuff,(uint8_t*)&(s->ErrorBuffer.ES1_Error[fsmStruct->transmitErrorNrEs1]));
- CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, eightBitBuff,Global_1msCounter);
- fsmStruct->transmitErrorNrEs1++;
- return TRUE;
- }
- else {
- fsmStruct->fsmState=CAN1_FSM_SEND_LOW_PRIO_DATA;
- return TRUE;
- }
- break;
- case CAN1_FSM_SEND_LOW_PRIO_DATA:
- // send low Priority data which is
- // Cell temperature and Cell Voltages
- generateCellInfoPkg(s, fsmStruct->lowPrioMsgNr,&txPkg);
- CAN_Write_dataset(&CAN_Tx0_RCT_INVERTER, (uint8_t*)&(txPkg),Global_1msCounter);
- fsmStruct->lowPrioMsgNr++ ;
- if(fsmStruct->lowPrioMsgNr >= (s->NrOfSlaves)*MAX_SLAVE_CELLS) {
- // start with cell nr 0 again
- fsmStruct->lowPrioMsgNr=0;
- fsmStruct->fsmState=CAN1_FSM_SEND_REQUEST_DATA;
- fsmStruct->requestTelegramNr=0;
- return TRUE;
- }
- fsmStruct->fsmState=CAN1_FSM_SEND_LOW_PRIO_DATA;
- return TRUE;
- break;
- case CAN1_FSM_SEND_REQUEST_DATA:
- // request data from RCT Inverter
- // Set flag so request process cant be interrupted
- fsmStruct->slowRequestFsmRunning=TRUE;
- if(fsmStruct->requestTelegramNr==0) {
- CAN1_send_request_telegram(CAN1_RX_TOTAL_DC_PWR);
- fsmStruct->fsmState= CAN1_FSM_WAIT_FOR_RESPONSE;
- return TRUE;
- }
- else if(fsmStruct->requestTelegramNr==1) {
- CAN1_send_request_telegram(CAN1_RX_DC_INPUT_A_POWER);
- fsmStruct->fsmState= CAN1_FSM_WAIT_FOR_RESPONSE;
- return TRUE;
- }
- else if(fsmStruct->requestTelegramNr==2) {
- CAN1_send_request_telegram(CAN1_RX_DC_INPUT_B_POWER);
- fsmStruct->fsmState= CAN1_FSM_WAIT_FOR_RESPONSE;
- return TRUE;
- }
- else if(fsmStruct->requestTelegramNr==3) {
- CAN1_send_request_telegram(CAN1_RX_DC_INPUT_A_POWER);
- fsmStruct->fsmState= CAN1_FSM_WAIT_FOR_RESPONSE;
- return TRUE;
- }
- else if(fsmStruct->requestTelegramNr==4) {
- CAN1_send_request_telegram(CAN1_RX_DC_INPUT_B_POWER);
- fsmStruct->fsmState= CAN1_FSM_WAIT_FOR_RESPONSE;
- return TRUE;
- }
- else {
- // you should not be here
- fsmStruct->fsmState=CAN1_FSM_SEND_HIGH_PRIO_DATA;
- return TRUE;
- }
- break;
- case CAN1_FSM_WAIT_FOR_RESPONSE:
- // to be updateted for more values
- if(fsmStruct->requestTelegramNr==0) {
- rx_ptr=&(s->inverter.rxStruct.expectedInputPower);
- }
- else if(fsmStruct->requestTelegramNr==1) {
- rx_ptr=&(s->inverter.rxStruct.DCinputA_power);
- }
- else if(fsmStruct->requestTelegramNr==2) {
- rx_ptr=&(s->inverter.rxStruct.DCinputB_power);
- }
- else if(fsmStruct->requestTelegramNr==3) {
- // not valid anymore
- rx_ptr=&(s->inverter.rxStruct.DCinputA_power);
- }
- else {
- // not valid anymore
- rx_ptr=&(s->inverter.rxStruct.DCinputB_power);
- }
- if(CAN1_wait_for_response(rx_ptr) == TRUE ) {
- fsmStruct->requestTelegramNr++;
- fsmStruct->receivedTelegrams++;
- if(fsmStruct->requestTelegramNr >=CAN1_NR_OF_REQUEST_TELEGRAMS) {
- fsmStruct->fsmState=CAN1_FSM_SEND_HIGH_PRIO_DATA;
- fsmStruct->timeoutCyclesCnt=0;
- s->inverterState.inverterCanOnline= TRUE;
- return TRUE;
- }
- else {
- fsmStruct->fsmState=CAN1_FSM_SEND_REQUEST_DATA;
- fsmStruct->timeoutCyclesCnt=0;
- s->inverterState.inverterCanOnline= TRUE;
- return TRUE;
- }
- }
- else{
- fsmStruct->timeoutCyclesCnt++;
- }
-
- if(fsmStruct->timeoutCyclesCnt >5) {
- // timeout
- fsmStruct->receivedTelegrams=0;
- //fsmStruct->timeoutCyclesCnt=0;
-
- // set Error
- BMS_Set_Error_CAN1_Timeout(s) ;
- // set inverter fsm to can out
- s->inverterState.inverterCanOnline= FALSE;
- fsmStruct->fsmState=CAN1_FSM_SEND_HIGH_PRIO_DATA;
- return TRUE;
- }
- // wait another 10ms for response
- return TRUE;
- break;
- default :
- // you should not be here
- return FALSE;
- break;
-
- }
- }
- /*
- * @brief generate a pkg with value ID (32bit) Cell Index (8-bit) voltage (16 bit) temperature (8-bit)
- */
- uint32_t generateCellInfoPkg(MASTER_CAN0_STRUCT_t* s, uint8_t cellIndex,BMS_CAN1_INVERTER_CELL_DATA_t* txPkg) {
- // collect information
- int8_t cellTemp;
- uint16_t cellVoltage;
- uint8_t SlaveNr;
- uint8_t cellNr;
- uint8_t payload[4];
-
-
- uint32_t valueId=CAN1_TX_CELL_STATUS;
-
- // shuffle Bits for correct Order
- shuffle_lsb_msb_can1((uint8_t*)&valueId);
-
- SlaveNr = cellIndex/ (MAX_SLAVE_CELLS); // Slave Nr 0...14
- cellNr = cellIndex - SlaveNr * MAX_SLAVE_CELLS ;// cellNr 0... 24
-
- cellVoltage = s->Slave[SlaveNr].CellVoltage[cellNr];
-
- if(s->Slave[SlaveNr].TempSensConnectionState[cellNr] == TEMP_SENSOR_CONNECTED) {
- cellTemp = s->Slave[SlaveNr].CellTemp[cellNr] ;
- }
- else {
- // if temp sensor not connected transmit -51 deg
- cellTemp = -51 ;
- }
- payload[0]=cellIndex;
- payload[1]= cellVoltage >> 8;
- payload[2]= cellVoltage & 0xFF;
- payload[3]= (uint8_t)cellTemp;
-
- shuffle_lsb_msb_can1((uint8_t*)&(payload[0]));
-
- txPkg->valueId=valueId;
- txPkg->payload= (payload[0] << 24) + (payload[1] << 16) + (payload[2] << 8) + payload[3] ;
- }
- uint32_t Master_Balancer_fsm(MASTER_CAN0_STRUCT_t* s) {
- switch(s->balancerState) {
- case BMS_BALANCE_INIT:
- if(s->allValuesInitialized== TRUE && (s->maxCellVoltage >=BMS_SLAVE_MAX_BALANCE_VOLTAGE)) {
- // cellvoltage of system too high => no Balancing
- s->balancerState=BMS_BALANCE_OFF;
- }
- else if(s->SoC_estimator.SoC_percentage_smooth <= BMS_SLAVE_MIN_BALANCE_SOC) {
- // SoC under 80% do not balance
- s->balancerState=BMS_BALANCE_OFF;
- }
- else if(s->maxHeatSinkTemp >= BMS_SLAVE_MAX_BALANCE_HEATSINK_TEMP) {
- // Heatsink too hot => do not balance
- s->balancerState=BMS_BALANCE_OFF;
- }
- else if(s->allValuesInitialized== TRUE && (s->UI_Board.Ibatt > BMS_SLAVE_BATTERY_CHARGE_THERESOLD) ) {
- // battery discharging => no Balancing
- s->balancerState=BMS_BALANCE_OFF;
- }
- else if(s->allValuesInitialized== TRUE && (s->UI_Board.Ibatt < BMS_SLAVE_BATTERY_CHARGE_THERESOLD)) {
- // ready for balancing
- s->balancerState=BMS_BALANCE_GET_VOLTAGE;
- }
- else {
- // do nothing
- }
-
- return TRUE;
- break;
- case BMS_BALANCE_GET_VOLTAGE:
- // decide Which cells to balance
- if(s->UI_Board.Ibatt < BMS_SLAVE_BATTERY_CHARGE_THERESOLD) {
- set_balancer(s);
- s->balancerState=BMS_BALANCE_BALANCE_CELLS;
- }
- else {
- set_balancer_off(s) ;
- s->balancerState=BMS_BALANCE_OFF;
- }
- return TRUE;
- break;
- case BMS_BALANCE_BALANCE_CELLS:
- // turn off balancing to obtain uneffected cell voltages
- if(s->UI_Board.Ibatt < BMS_SLAVE_BATTERY_CHARGE_THERESOLD) {
- set_balancer_off(s) ;
- s->balancerState=BMS_BALANCE_COOL;
- }
- else {
- set_balancer_off(s) ;
- s->balancerState=BMS_BALANCE_OFF;
- }
- return TRUE;
- break;
- case BMS_BALANCE_COOL:
- // uneffected cell voltages are now available
- if(s->UI_Board.Ibatt < BMS_SLAVE_BATTERY_CHARGE_THERESOLD) {
- s->balancerState=BMS_BALANCE_INIT;
- }
- else {
- set_balancer_off(s) ;
- s->balancerState=BMS_BALANCE_OFF;
- }
- return TRUE;
- break;
- case BMS_BALANCE_OFF:
- set_balancer_off(s) ;
- if(s->UI_Board.Ibatt < BMS_SLAVE_BATTERY_CHARGE_THERESOLD) {
- s->balancerState=BMS_BALANCE_INIT;
- }
- s->balancerState=BMS_BALANCE_INIT;
- return TRUE;
- break;
-
-
-
- }
-
- }
- uint8_t get_nr_of_connected_slaves(MASTER_CAN0_STRUCT_t* s){
- uint8_t i=0;
- uint8_t nr=0;
- for(i=0;i<CAN0_MAX_NR_OF_SLAVES-1;i++) {
- if(s->Slave[i].SlaveConnectionState== CONNECTED) {
- nr++;
- }
- }
- return nr;
- }
- uint32_t RunningModeFSM(MASTER_CAN0_STRUCT_t* s){
-
- // check for active Error States
- if(ErrorStackCheckForActiveErrors(s,BMS_ERROR_CLASS_3) || s->RunMode.ErrorState3fsm != ES3_FSM_INIT) {
- // handle Error Class 3
- BMS_Master_ES3_fsm(s);
- return TRUE;
- }
- else if(ErrorStackCheckForActiveErrors(s,BMS_ERROR_CLASS_2) || s->RunMode.ErrorState2fsm != ES2_FSM_INIT) {
- // handle Error Class 2
- BMS_Master_ES2_fsm(s);
- return TRUE;
- }
- else if(ErrorStackCheckForActiveErrors(s,BMS_ERROR_CLASS_1) || s->RunMode.ErrorState1fsm != ES1_FSM_INIT) {
- // handle Error Class 1
- BMS_Master_ES1_fsm(s);
- return TRUE;
- }
-
- else {
- // normal operation
- OPModeFSM( s );
- return TRUE;
- }
- }
- uint32_t OPModeFSM(MASTER_CAN0_STRUCT_t* s){
- float SoC=s->SoC_estimator.SoC_percentage_smooth;
- switch(s->RunMode.OperationMode) {
- case OP_MODE_INIT:
- // just jump to checkup startup conditions
- s->RunMode.OperationMode=OP_MODE_CHECK_STARTUP_CONDITIONS;
-
- CLEAR_OUTPIN(PIN_REGNR_LED4);
- return TRUE;
- break;
- case OP_MODE_CHECK_STARTUP_CONDITIONS:
- if(s->allValuesInitialized==TRUE) {
- // all values initalized and no error occured
- // => Startup conditions apply => start startup
- s->RunMode.OperationModeTimestamp=Global_1msCounter;
- s->RunMode.OperationMode=OP_MODE_SET_PRECHARGE_RELAY;
- s->RunMode.onCounter=0;
- return TRUE;
- }
- else {
- // wait till all values are initialiezd
- s->RunMode.OperationMode=OP_MODE_CHECK_STARTUP_CONDITIONS;
- return TRUE;
- }
- break;
- case OP_MODE_SET_PRECHARGE_RELAY:
- // set Low Side and Precharge Relais
- s->relayState.LS_closed=TRUE;
- s->relayState.PRECHARGE_closed=TRUE;
- SwitchRelais( LS_RELAIS, 1);
- SwitchRelais( PRE_CHARGE_RELAIS, 1);
- if(s->RunMode.OperationModeTimestamp + 3000 <= Global_1msCounter) {
- s->RunMode.OperationMode=OP_MODE_SET_MAIN_RELAY;
- return TRUE;
- }
- else {
- s->RunMode.OperationMode= OP_MODE_SET_PRECHARGE_RELAY;
- return TRUE;
- }
- break;
- case OP_MODE_SET_MAIN_RELAY:
- // Switch Highside relais
- SwitchRelais( HS_RELAIS, 1);
- s->relayState.HS_closed=TRUE;
- s->RunMode.OperationMode=OP_MODE_NORMAL;
- return TRUE;
- break;
- case OP_MODE_NORMAL:
- // do nothing until SoC becomes low
- 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;
- default:
- // something went horribly wrong
- return FALSE;
- break;
- }
-
- }
- /*
- * @brief Statemachine which handles Class 1 Errors
- */
- uint32_t BMS_Master_ES1_fsm(MASTER_CAN0_STRUCT_t* s){
- switch (s->RunMode.ErrorState1fsm) {
- case ES1_FSM_INIT:
- s->RunMode.ErrorState1fsm=ES1_FSM_CHECK_IF_ERROR_VALID;
- return TRUE;
- break;
- case ES1_FSM_CHECK_IF_ERROR_VALID:
- // Try to clear Error
- BMS_Clear_Error_Buffer(s,BMS_ERROR_CLASS_1);
-
- if(ErrorStackCheckForActiveErrors(s,BMS_ERROR_CLASS_1)) {
- // Error still active
- // Don't do anything
-
- }
- else {
- // No Error
- s->RunMode.ErrorState1fsm=ES1_FSM_ERROR_REVOKED;
- }
- return TRUE;
- break;
- case ES1_FSM_ERROR_REVOKED:
- // No More Errors apply startup system again
- s->RunMode.OperationMode=OP_MODE_INIT;
- // set Fsm Back to INIT
- s->RunMode.ErrorState1fsm=ES1_FSM_INIT;
- return TRUE;
- break;
- }
- }
- uint32_t BMS_Master_ES2_fsm(MASTER_CAN0_STRUCT_t* s){
- switch(s->RunMode.ErrorState2fsm) {
- case ES2_FSM_INIT:
- // save time for Timeout timer
- s->RunMode.ErrorState2Timestamp=Global_1msCounter;
- if(s->ErrorBuffer.ES2_New_Error==FALSE) {
- // System had power cycle, Try to fix Error
- s->RunMode.ErrorState2fsm=ES2_FSM_CHECK_IF_ERROR_VALID;
- }
- else {
- // no restart => wait timeout then kill system
- s->RunMode.ErrorState2fsm=ES2_FSM_WAIT_FOR_SHUTDOWN;
- }
- return TRUE;
- break;
- case ES2_FSM_CHECK_IF_ERROR_VALID:
- // Try to clear Error
- BMS_Clear_Error_Buffer(s,BMS_ERROR_CLASS_2);
- if(!ErrorStackCheckForActiveErrors(s,BMS_ERROR_CLASS_2)) {
- // all Errors cleared
- s->RunMode.ErrorState2fsm=ES2_FSM_ERROR_REVOKED;
- }
- else if(s->RunMode.ErrorState2Timestamp + BMS_ERROR_FSM_ES2_TIMEOUT < Global_1msCounter ) {
- // Timeout shutdown system
- s->RunMode.ErrorState2fsm=ES2_FSM_SYSTEM_SHUTDOWN;
- }
- else{
- // do nothing an wait for timeout or error to be cleared
- }
- return TRUE;
- break;
- case ES2_FSM_WAIT_FOR_SHUTDOWN:
- // wait timeout
- if(s->RunMode.ErrorState2Timestamp + BMS_ERROR_FSM_ES2_TIMEOUT < Global_1msCounter ) {
- // timeout
- s->RunMode.ErrorState2fsm=ES2_FSM_SYSTEM_SHUTDOWN;
- return TRUE;
- }
- else {
- // wait and do nothing
- return TRUE;
- }
- return TRUE;
- break;
- case ES2_FSM_ERROR_REVOKED:
- // no more Errors in the system => Start normal Operation again
- s->RunMode.ErrorState2fsm=ES2_FSM_INIT;
- s->RunMode.OperationMode=OP_MODE_INIT;
- return TRUE;
- break;
- case ES2_FSM_SYSTEM_SHUTDOWN:
- // Turn off power Supply
- SwitchRelais( PWR_SUPPLY, 1);
- // now System should be dead
- while (1) {
- // loop for ever
- SwitchRelais( PWR_SUPPLY, 1);
- }
-
- break;
- return TRUE;
- }
- }
- /*
- * @brief handle error class 3
- * Todo System repair tool not implemented yet
- */
- uint32_t BMS_Master_ES3_fsm(MASTER_CAN0_STRUCT_t* s) {
- switch(s->RunMode.ErrorState3fsm){
- case ES3_FSM_INIT:
- // save timestamp for timeout
- s->RunMode.ErrorState3Timestamp=Global_1msCounter;
- s->RunMode.ErrorState3fsm=ES3_FSM_CONNECT_TO_SERVICE_TOOL;
- return TRUE;
- break;
- case ES3_FSM_CONNECT_TO_SERVICE_TOOL:
- // not fully implemented yet
- // just shut down system after timeout
- if(s->RunMode.ErrorState3Timestamp + BMS_ERROR_FSM_ES3_TIMEOUT < Global_1msCounter ) {
- // Shut down System
- s->RunMode.ErrorState3fsm=ES3_FSM_SYSTEM_SHUTDOWN;
- }
- else {
- // wait
- }
- return TRUE;
- break;
- case ES3_FSM_SYSTEM_SHUTDOWN:
- // Turn off power Supply
- SwitchRelais( PWR_SUPPLY, 1);
- // now System should be dead
- while (1) {
- // loop for ever
- SwitchRelais( PWR_SUPPLY, 1);
- }
- return TRUE;
- break;
-
-
- }
- }
- /*
- * @brief check if connected Inverter has enough power to charge battery and recover from Wintermode
- */
- int32_t checkIfInverterHasPower(MASTER_CAN0_STRUCT_t* s) {
- if((s->inverter.rxStruct.expectedInputPower) > BMS_WINTER_MODE_RECOVER_PWR) {
- return TRUE;
- }
- else {
- return FALSE;
- }
- }
- /*
- * @brief read Temp sensor on master Board
- */
- uint32_t readMasterTempSensorFsm(MASTER_CAN0_STRUCT_t* s) {
- switch(s->MasterTempSensState) {
- case BMS_MASTER_TEMP_SENSOR_INITIATE_MEASUREMENT:
- // trigger measurement
- if(TempMess_triggerRead() == 0) {
- // measurement triggered got to next state
- s->MasterTempSensState=BMS_MASTER_TEMP_SENSOR_UPDATE_MEASUREMENT;
- }
- return TRUE;
- break;
- case BMS_MASTER_TEMP_SENSOR_UPDATE_MEASUREMENT:
- TempMess_update();
- if(TempMess_poll_Value(&(s->masterTemp)) == 0) {
- // readout succesfull go back to triggering measurement
- s->MasterTempSensState=BMS_MASTER_TEMP_SENSOR_INITIATE_MEASUREMENT;
- }
- return TRUE;
- break;
- }
- }
- /*
- * @brief clear fifos
- */
- uint32_t initUIFifo(MASTER_CAN0_STRUCT_t* s) {
- uint8_t i;
- for(i=0;i<UI_VOLTAGE_FIFO_SIZE;i++) {
- s->UI_Board.UbattFiFo[i]=0;
- s->UI_Board.SystemVoltageFiFo[i]=0;
- }
- for(i=0;i<UI_CURRENT_FIFO_SIZE;i++) {
- s->UI_Board.IbattFiFo[i]=0;
- s->UI_Board.Ibatt_Inverter_FIFO[i]=0;
- }
- return TRUE;
- }
- uint32_t popUIFiFo(MASTER_CAN0_STRUCT_t* s) {
- uint8_t i;
-
- for(i=UI_VOLTAGE_FIFO_SIZE-1;i>0;i--) {
- s->UI_Board.UbattFiFo[i]=s->UI_Board.UbattFiFo[i-1];
- }
- s->UI_Board.UbattFiFo[0]=s->UI_Board.Ubatt;
-
- for(i=UI_VOLTAGE_FIFO_SIZE-1;i>0;i--) {
- s->UI_Board.SystemVoltageFiFo[i]=s->UI_Board.SystemVoltageFiFo[i-1];
- }
- s->UI_Board.SystemVoltageFiFo[0]=(s->systemVoltage);
-
- for(i=UI_CURRENT_FIFO_SIZE-1;i>0;i--) {
- s->UI_Board.IbattFiFo[i]=s->UI_Board.IbattFiFo[i-1];
- }
- s->UI_Board.IbattFiFo[0]=s->UI_Board.Ibatt;
- }
- uint32_t pushInverterCurrentFIFO(MASTER_CAN0_STRUCT_t* s) {
- uint8_t i;
- for(i=UI_CURRENT_FIFO_SIZE-1;i>0;i--) {
- s->UI_Board.Ibatt_Inverter_FIFO[i]=s->UI_Board.Ibatt_Inverter_FIFO[i-1];
- }
- s->UI_Board.Ibatt_Inverter_FIFO[0]=s->inverter.rxStruct.batteryCurrent;
-
- // if(s->inverter.rxStruct.batteryCurrent > 100 || s->inverter.rxStruct.batteryCurrent < -100) {
- // // fake value
- // i++ ; // break here
- // }
- return TRUE;
- }
- // *** End BMS_Master.c ******************************************************
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