Working version for turning array ON with precharge. Changed names an…

…d started writing test cases for motor precharge
lhr-solar · Sep 23, 2023 · b7f74c8 · b7f74c8
1 parent 9a33d88
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Showing 9 changed files with 179 additions and 59 deletions.
diff --git a/Apps/Inc/ReadCarCAN.h b/Apps/Inc/ReadCarCAN.h
@@ -11,8 +11,8 @@
 #define SAT_BUF_LENGTH 5 
 
 // Precharge Delay times in seconds
-#define PRECHARGE_MOTOR_DELAY 7     // 7 Seconds, need to change
-#define PRECHARGE_ARRAY_DELAY 2     // 2 Seconds, need to change
+#define PRECHARGE_MOTOR_DELAY 1     // 7 Seconds, need to change
+#define PRECHARGE_ARRAY_DELAY 1     // 2 Seconds, need to change
 
 /**
  * Error types
@@ -54,4 +54,7 @@ uint8_t SOC_Get(void);
 */
 uint32_t SBPV_Get(void);
 
+// Getter function for array ignition status
+bool PreChargeComplete_Get(void);
+
 #endif
diff --git a/Apps/Src/ReadCarCAN.c b/Apps/Src/ReadCarCAN.c
@@ -6,6 +6,7 @@
 #include "Minions.h"
 #include "os.h"
 #include "os_cfg_app.h"
+#include "config.h"
 
 // Array saturation threshold is halfway between 0 and max saturation value (half of summation from one to the number of positions)
 #define ARRAY_SATURATION_THRESHOLD (((SAT_BUF_LENGTH + 1) * SAT_BUF_LENGTH) / 4) 
@@ -44,8 +45,8 @@ static int8_t HVPlusMinusChargeMsgSaturation = 0;
 static uint8_t HVPlusMinusMotorOldestMsgIdx = 0;
 
 // Array ignition (IGN_1) pin status
-static bool arrayContactorIgnitionStatus = false;
-// Array ignition (IGN_1) pin status
+static bool arrayIgnitionStatus = false;
+// Array ignition (IGN_2) pin status
 static bool motorControllerIgnitionStatus = false;
 
 // Boolean to indicate precharge status
@@ -73,7 +74,12 @@ int8_t ChargeMsgSaturation_Get(){
 
 // Getter function for array ignition status
 bool ArrayIgnitionStatus_Get(void){
-    return arrayContactorIgnitionStatus;
+    return arrayIgnitionStatus;
+}
+
+// Getter function for array ignition status
+bool PreChargeComplete_Get(void){
+    return arrayBypassPrechargeComplete;
 }
 
 // Getter function for SOC
@@ -103,12 +109,6 @@ static void updateHVPlusMinusSaturation(int8_t chargeMessage){
         newSaturation += HVPlusMinusChargeMsgBuffer[(HVPlusMinusMotorOldestMsgIdx + i) % SAT_BUF_LENGTH] * (i + 1);
     }
     HVPlusMinusChargeMsgSaturation = newSaturation;
-
-    if(chargeMessage == -1){
-        chargeEnable = false;
-    }else if(HVPlusMinusChargeMsgSaturation >= MOTOR_SATURATION_THRESHOLD){
-        chargeEnable = true;
-    }
 }
 
 /**
@@ -128,6 +128,12 @@ static void updateHVArraySaturation(int8_t chargeMessage){
         newSaturation += HVArrayChargeMsgBuffer[(HVArrayOldestMsgIdx + i) % SAT_BUF_LENGTH] * (i + 1);
     }
     HVArrayChargeMsgSaturation = newSaturation;
+
+    if(chargeMessage == -1){
+        chargeEnable = false;
+    }else if(HVArrayChargeMsgSaturation >= ARRAY_SATURATION_THRESHOLD){
+        chargeEnable = true;
+    }
 }
 
 /**
@@ -164,27 +170,81 @@ static void setMotorControllerBypassPrechargeComplete(void *p_tmr, void *p_arg){
 static void updatePrechargeContactors(void){
     Minion_Error_t Merr;
 
-    arrayContactorIgnitionStatus = Minion_Read_Pin(IGN_1, &Merr);
+    arrayIgnitionStatus = Minion_Read_Pin(IGN_1, &Merr);
     motorControllerIgnitionStatus = Minion_Read_Pin(IGN_2, &Merr);
 
-    // Array Contactor is turned off if Ignition 1 is off else
-    if(motorControllerIgnitionStatus == false){
-        Contactors_Set(MOTOR_BYPASS_PRECHARGE_CONTACTOR, OFF, true); // need to confirm the GPIO pins.
+    if(arrayIgnitionStatus == true && motorControllerIgnitionStatus == false){
+        if(arrayBypassPrechargeComplete == true && chargeEnable == true){
+            Contactors_Set(ARRAY_BYPASS_PRECHARGE_CONTACTOR, ON, true); // Turn on
+            UpdateDisplay_SetArray(true);
+            arrayBypassPrechargeComplete = false; 
+            printf("\r\nreached ARR END\r\n");
+        }
+        Contactors_Set(MOTOR_CONTROLLER_BYPASS_PRECHARGE_CONTACTOR, OFF, true); 
         UpdateDisplay_SetMotor(false);
-    }else if(arrayContactorIgnitionStatus == false){
-        Contactors_Set(ARRAY_BYPASS_PRECHARGE_CONTACTOR, OFF, true);
+
+    }else if(arrayIgnitionStatus == false && motorControllerIgnitionStatus == true){
+        if(arrayBypassPrechargeComplete == true && chargeEnable == true){
+            Contactors_Set(ARRAY_BYPASS_PRECHARGE_CONTACTOR, ON, true); // Turn off
+            UpdateDisplay_SetArray(true);
+            arrayBypassPrechargeComplete = false; 
+        }
+
+        if(motorControllerBypassPrechargeComplete == true && HVPlusMinusChargeMsgSaturation >= MOTOR_SATURATION_THRESHOLD){
+            Contactors_Set(MOTOR_CONTROLLER_BYPASS_PRECHARGE_CONTACTOR, ON, true);
+            UpdateDisplay_SetMotor(true);
+        }
+    }else if(arrayIgnitionStatus == false && motorControllerIgnitionStatus == false){
+        Contactors_Set(ARRAY_BYPASS_PRECHARGE_CONTACTOR, OFF, true); // Turn off
         UpdateDisplay_SetArray(false);
+
+        Contactors_Set(MOTOR_CONTROLLER_BYPASS_PRECHARGE_CONTACTOR, OFF, true); // Turn off
+        UpdateDisplay_SetMotor(false);
+    }else{
+        assertReadCarCANError(READCARCAN_ERR_MISSED_MSG);
     }
-    else if(arrayBypassPrechargeComplete == true && chargeEnable == true){
-        Contactors_Set(ARRAY_BYPASS_PRECHARGE_CONTACTOR, ON, false); // Turn on array contactor 
+
+    // Set precharge complete variable to false if precharge happens again
+
+    motorControllerBypassPrechargeComplete = false; 
+
+}
+
+/*
+    // IGNITION is set to Array AND Motor Controller -- not possible, so assert error
+    if(arrayIgnitionStatus == true && motorControllerIgnitionStatus == true){
+        assertReadCarCANError(READCARCAN_ERR_MISSED_MSG);
+        return; // Return because both PBCs have been addressed
+
+    // IGNITION SET is not set to MC, so turn off MC BPC and update display.
+    }else if(motorControllerIgnitionStatus == false){
+        Contactors_Set(MOTOR_CONTROLLER_BYPASS_PRECHARGE_CONTACTOR, OFF, true); 
+        UpdateDisplay_SetMotor(false);
+
+        // If Ignition is not set to MC and is not set to array, then turn off array BPC
+        if(arrayIgnitionStatus == false){
+            Contactors_Set(ARRAY_BYPASS_PRECHARGE_CONTACTOR, OFF, true);
+            UpdateDisplay_SetMotor(false);
+            return; // Return because both PBCs have been addressed
+        }
+
+    // IGNITION SET is set to Motor Controller
+    }else{
+        Contactors_Set(MOTOR_CONTROLLER_BYPASS_PRECHARGE_CONTACTOR, OFF, true); 
+        UpdateDisplay_SetMotor(false);
+    }
+
+    // If array BPC has completed precharge and charging is enabled, then turn on contactor. 
+    if(arrayBypassPrechargeComplete == true && chargeEnable == true){
+        Contactors_Set(ARRAY_BYPASS_PRECHARGE_CONTACTOR, ON, true); // Turn off
         UpdateDisplay_SetArray(true);
-    }else if(motorControllerBypassPrechargeComplete == true && HVPlusMinusChargeMsgSaturation > MOTOR_SATURATION_THRESHOLD){
-        Contactors_Set(MOTOR_BYPASS_PRECHARGE_CONTACTOR, ON, false); // Turn on array contactor 
-        UpdateDisplay_SetMotor(true);
     }
-
-    arrayBypassPrechargeComplete = false; // Set precharge complete variable to false if precharge happens again
-};
+
+    // Set precharge complete variable to false if precharge happens again
+    arrayBypassPrechargeComplete = false; 
+    motorControllerBypassPrechargeComplete = false; 
+}
+*/
 
 /**
  * @brief Disables Array Precharge Bypass Contactor (APBC) by asserting an error. Also updates display for APBC to be open.
@@ -204,18 +264,19 @@ static void disableArrayPrechargeBypassContactor(void){
 static void updateArrayPrechargeBypassContactor(void){
 
     OS_ERR err;
-    if(arrayContactorIgnitionStatus == true                                                 // Ignition is ON
+    if(arrayIgnitionStatus == true                                                 // Ignition is ON
         && HVArrayChargeMsgSaturation >= ARRAY_SATURATION_THRESHOLD                         // Saturation Threshold has be met
-        && (Contactors_Get(ARRAY_CONTACTOR)== OFF)                                          // Array Contactor is OFF
+        && (Contactors_Get(ARRAY_BYPASS_PRECHARGE_CONTACTOR)== OFF)                                          // Array Contactor is OFF
         && (OSTmrStateGet(&arrayBypassPrechargeDlyTimer, &err) != OS_TMR_STATE_RUNNING)){   // and precharge is currenetly not happening  
             // Asserts error for OS timer start above if conditional was met
             assertOSError(OS_READ_CAN_LOC, err);
             // Wait to make sure precharge is finished and then restart array
+            printf("\r\nreached 273\r\n");
             OSTmrStart(&arrayBypassPrechargeDlyTimer, &err);
     }
     // Asserts error for OS timer state if conditional wasn't met
     assertOSError(OS_READ_CAN_LOC, err);
-    }
+}
 
 void Task_ReadCarCAN(void *p_arg){
     OS_ERR err;
@@ -240,7 +301,7 @@ void Task_ReadCarCAN(void *p_arg){
     OSTmrCreate(
         &arrayBypassPrechargeDlyTimer,
         "Array Bypass Precharge Delay Timer",
-        0,
+        0, 
         ARRAY_PRECHARGE_BYPASS_DLY_TMR_TS,
         OS_OPT_TMR_ONE_SHOT,
         setArrayBypassPrechargeComplete,
@@ -277,43 +338,49 @@ void Task_ReadCarCAN(void *p_arg){
 
         switch(dataBuf.ID){
             case BPS_TRIP: { // BPS has a fault and we need to enter fault state
-
                 // Assert the error to kill contactors, display evacuation message, and enter a nonrecoverable fault
                 assertReadCarCANError(READCARCAN_ERR_BPS_TRIP);
-
-            }
-            case BPS_CONTACTOR:{
+                }
 
+            case BPS_CONTACTOR:{
                 // Acknowledge CAN Watchdog timer
                 OSTmrStart(&canWatchTimer, &err);
                 assertOSError(OS_READ_CAN_LOC, err);
 
                 switch (dataBuf.data[0] & 0b11){ // Masking to get last two bits
-                    case 0b00:{
+
+                    case 0b00:{ // HV+/- and HV Arr did not recieve enable message
                         disableArrayPrechargeBypassContactor();
+                        updateHVPlusMinusSaturation(-1);
                         break;
                     }
-                    case 0b01:{
+                    case 0b01:{ // Only HV Arr recieved enable message
+                        updateHVArraySaturation(1);
                         updateArrayPrechargeBypassContactor();
+                        updateHVPlusMinusSaturation(-1);
+                        printf("\r\nreached ARR\r\n");
                         break;
                     }      
-                    case 0b10:{
+                    case 0b10:{ // Only HV +/1 recieved enable message
                         disableArrayPrechargeBypassContactor();
                         updateHVPlusMinusSaturation(1);
                         break;
                     }
-                    case 0b11: {
+                    case 0b11: { // Both recieved enable message
+                        updateHVArraySaturation(1);
                         updateArrayPrechargeBypassContactor();
                         updateHVPlusMinusSaturation(1);
                         break;
                     }
-                    default: {  // does it break for good?
+                    default: {  
+                        // Should not be able to reach here.
                         break;
                     }
                 }
-
+                break;
             // End of BPS Contactor Status Updates
             }
+
             case SUPPLEMENTAL_VOLTAGE: {
                 SBPV = (*(uint16_t *) &dataBuf.data);
                 UpdateDisplay_SetSBPV(SBPV); // Receive value in mV
@@ -324,9 +391,10 @@ void Task_ReadCarCAN(void *p_arg){
                 UpdateDisplay_SetSOC(SOC);
                 break;
             }
-            default: 
-                break;
-        }   
+        default: {   // Unhandled CAN message IDs
+                break; 
+            }   
+        }
     }
 }
 

diff --git a/Drivers/Inc/Contactors.h b/Drivers/Inc/Contactors.h
@@ -17,7 +17,7 @@
 typedef enum {
     ARRAY_CONTACTOR = 0,                // BPS
     ARRAY_BYPASS_PRECHARGE_CONTACTOR,   // Controls
-    MOTOR_BYPASS_PRECHARGE_CONTACTOR,   // Controls
+    MOTOR_CONTROLLER_BYPASS_PRECHARGE_CONTACTOR,   // Controls
     NUM_CONTACTORS
 } contactor_t;
 

diff --git a/Drivers/Src/Contactors.c b/Drivers/Src/Contactors.c
@@ -23,7 +23,7 @@ static void setContactor(contactor_t contactor, bool state) {
         case ARRAY_BYPASS_PRECHARGE_CONTACTOR :
             BSP_GPIO_Write_Pin(CONTACTORS_PORT, ARRAY_PRECHARGE_BYPASS_PIN, state);
             break;
-        case MOTOR_BYPASS_PRECHARGE_CONTACTOR :
+        case MOTOR_CONTROLLER_BYPASS_PRECHARGE_CONTACTOR :
             BSP_GPIO_Write_Pin(CONTACTORS_PORT, MOTOR_CONTROLLER_PRECHARGE_BYPASS_PIN, state);
             break;
         default:
@@ -70,7 +70,7 @@ bool Contactors_Get(contactor_t contactor) {
         case ARRAY_BYPASS_PRECHARGE_CONTACTOR :
             state = BSP_GPIO_Get_State(CONTACTORS_PORT, ARRAY_PRECHARGE_BYPASS_PIN);
             break;
-        case MOTOR_BYPASS_PRECHARGE_CONTACTOR :
+        case MOTOR_CONTROLLER_BYPASS_PRECHARGE_CONTACTOR :
             state = BSP_GPIO_Get_State(CONTACTORS_PORT, MOTOR_CONTROLLER_PRECHARGE_BYPASS_PIN);
             break;
         default:

diff --git a/Drivers/Src/Minions.c b/Drivers/Src/Minions.c
@@ -44,12 +44,12 @@ bool Minion_Write_Output(MinionPin_t pin, bool status, Minion_Error_t* mErr){
 
     //if(PINS_LOOKARR[pin].direction == OUTPUT){
         OSMutexPend(&OutputMutex, 0, OS_OPT_PEND_BLOCKING, &timestamp, &err);
-        //assertOSError(OS_MINIONS_LOC, err); 
+        assertOSError(OS_MINIONS_LOC, err); 
         BSP_GPIO_Write_Pin(PINS_LOOKARR[pin].port, PINS_LOOKARR[pin].pinMask, status);
         OSMutexPost(&OutputMutex, OS_OPT_POST_NONE, &err);
-        //assertOSError(OS_MINIONS_LOC, err);
+        assertOSError(OS_MINIONS_LOC, err);
         return true;
    // }
-   // *mErr = MINION_ERR_WROTE_INPUT;
-   // return false;
+    *mErr = MINION_ERR_WROTE_INPUT;
+    return false;
 }
diff --git a/Tests/Test_FaultThread_Exceptions.c b/Tests/Test_FaultThread_Exceptions.c
@@ -132,7 +132,7 @@ void OSErrorTask(void* arg) {
 
 // Helper function to see the state of the contactors
 static void print_Contactors() {
-    printf("\n\rMotor contactor: %d", Contactors_Get(MOTOR_BYPASS_PRECHARGE_CONTACTOR));
+    printf("\n\rMotor contactor: %d", Contactors_Get(MOTOR_CONTROLLER_BYPASS_PRECHARGE_CONTACTOR));
     printf("\n\rArray_precharge contactor: %d", Contactors_Get(ARRAY_BYPASS_PRECHARGE_CONTACTOR));
     printf("\n\rArray contactor %d", Contactors_Get(ARRAY_CONTACTOR));
 }
@@ -281,7 +281,7 @@ void Task_ManagerTask(void* arg) {
 
             // Turn on contactors so we can see if they get turned off by the error assertion
             Contactors_Set(ARRAY_CONTACTOR, ON, true);
-            Contactors_Set(MOTOR_BYPASS_PRECHARGE_CONTACTOR, ON, true);
+            Contactors_Set(MOTOR_CONTROLLER_BYPASS_PRECHARGE_CONTACTOR, ON, true);
             Contactors_Set(ARRAY_BYPASS_PRECHARGE_CONTACTOR, ON, true); // Although BPS has control of the precharge contactor
 
             print_Contactors(); // See the state of the contactors before we send the trip message

diff --git a/Tests/Test_Ign_Cont.c b/Tests/Test_Ign_Cont.c
@@ -40,7 +40,7 @@ void Task1(void *arg)
     assertOSError(OS_MAIN_LOC, err);
 
     while (1){
-        printf("Array Contactor: %d, Motor Contactor: %d\n\r", Contactors_Get(ARRAY_CONTACTOR), Contactors_Get(MOTOR_BYPASS_PRECHARGE_CONTACTOR));
+        printf("Array Contactor: %d, Motor Contactor: %d\n\r", Contactors_Get(ARRAY_CONTACTOR), Contactors_Get(MOTOR_CONTROLLER_BYPASS_PRECHARGE_CONTACTOR));
 
         OSTimeDlyHMSM(0, 0, 0, 500, OS_OPT_TIME_HMSM_STRICT, &err);
     }