Added acc board pin IO and started CAN logic

bms/.mbed

@@ -1,3 +1,4 @@
 ROOT=.
 TARGET=NUCLEO_L432KC
 TARGET_CODE=0770
+TARGET_SERIAL=0671FF555185754867150637

bms/src/BmsConfig.h

@@ -107,95 +107,141 @@ const int BMS_CELL_MAP[12] = {0, 1, 2, 3, -1, -1, 4, 5, 6, -1, -1, -1};
 #endif
 
 
+// Acc board shutdown measurement
+//
+// To measure the state of the shutdown circuit
+#ifndef ACC_SHUTDOWN_MEASURE
+
+#ifdef TARGET_NUCLEO_L432KC
+  #define ACC_SHUTDOWN_MEASURE PA_2
+#else
+  #error "Unknown board for ACC_SHUTDOWN_MEASURE"
+#endif
+
+#endif
 
 
-/*
-// BMS fault latch
+// Acc board fan control
 //
-// Readback from BMS fault relay to be broadcasted on CAN bus
-#ifndef BMS_PIN_BMS_FLT_LAT
+// To be set high or low to enable/disable fans
+#ifndef ACC_FAN_CONTROL
 
-#ifdef TARGET_LPC1768
-  #define BMS_PIN_BMS_FLT_LAT p12
-#elif TARGET_NUCLEO_F303K8
-  #define BMS_PIN_BMS_FLT_LAT PF_1
+#ifdef TARGET_NUCLEO_L432KC
+  #define ACC_FAN_CONTROL PA_7
 #else
-  #error "Unknown board for BMS_PIN_BMS_FLT_LAT"
+  #error "Unknown board for ACC_FAN_CONTROL"
+#endif
+
 #endif
 
+
+// Acc board current sensor vref read
+//
+// To measure the vref on the current sensor
+#ifndef ACC_BUFFERED_C_VREF
+
+#ifdef TARGET_NUCLEO_L432KC
+  #define ACC_BUFFERED_C_VREF PA_3
+#else
+  #error "Unknown board for ACC_BUFFERED_C_VREF"
 #endif
-*/
 
+#endif
 
 
-/*
-// IMD status input
+// Acc board current sensor output read
 //
-// Reads PWM output from IMD board
-#ifndef BMS_PIN_IMD_STATUS
+// To measure the output on the current sensor
+#ifndef ACC_BUFFERED_C_OUT
 
-#ifdef TARGET_LPC1768
-  #define BMS_PIN_IMD_STATUS p14
-#elif TARGET_NUCLEO_F303K8
-  #define BMS_PIN_IMD_STATUS PF_0
+#ifdef TARGET_NUCLEO_L432KC
+  #define ACC_BUFFERED_C_OUT PA_1
+#else
+  #error "Unknown board for ACC_BUFFERED_C_OUT"
+#endif
+
+#endif
+
+
+// Acc board GLV voltage read
+//
+// To measure the voltage of the GLV system
+#ifndef ACC_GLV_VOLTAGE
+
+#ifdef TARGET_NUCLEO_L432KC
+  #define ACC_GLV_VOLTAGE PA_0
 #else
-  #error "Unknown board for BMS_PIN_IMD_STATUS"
+  #error "Unknown board for ACC_GLV_VOLTAGE"
+#endif
+
 #endif
 
+
+// Acc charge enable output
+//
+// To be set high when charging is allowed
+#ifndef ACC_CHARGE_ENABLE
+
+#ifdef TARGET_NUCLEO_L432KC
+  #define ACC_CHARGE_ENABLE PA_9
+#else
+  #error "Unknown board for ACC_CHARGE_ENABLE"
 #endif
-*/
 
+#endif
 
 
-/*
-// IMD fault latch
+// Acc charge state input
 //
-// Readback from IMD fault relay to be broadcasted on CAN bus
-#ifndef BMS_PIN_IMD_FLT_LAT
+// To measure if the acc is connected to the charger
+#ifndef ACC_CHARGE_STATE
 
-#ifdef TARGET_LPC1768
-  #define BMS_PIN_IMD_FLT_LAT p13
-#elif TARGET_NUCLEO_F303K8
-  #define BMS_PIN_IMD_FLT_LAT PA_8
+#ifdef TARGET_NUCLEO_L432KC
+  #define ACC_CHARGE_STATE PA_10
 #else
-  #error "Unknown board for BMS_PIN_IMD_FLT_LAT"
+  #error "Unknown board for ACC_CHARGE_STATE"
+#endif
+
 #endif
 
+
+// Acc IMD status input
+//
+// To measure the state of the IMD status pin
+#ifndef ACC_IMD_STATUS
+
+#ifdef TARGET_NUCLEO_L432KC
+  #define ACC_IMD_STATUS PB_0
+#else
+  #error "Unknown board for ACC_IMD_STATUS"
 #endif
-*/
 
+#endif
 
 
-// Charger output
+// Acc BMS Fault Output
 //
-// To be pulled high to enable charger
-#ifndef BMS_PIN_CHARGER_CONTROL
+// To be set low when there is a BMS fault
+#ifndef ACC_BMS_FAULT
 
-#ifdef TARGET_LPC1768
-  #define BMS_PIN_CHARGER_CONTROL p11
-#elif TARGET_NUCLEO_F303K8
-  #define BMS_PIN_CHARGER_CONTROL PB_1
-#elif TARGET_NUCLEO_L432KC
-  #define BMS_PIN_CHARGER_CONTROL PA_9
+#ifdef TARGET_NUCLEO_L432KC
+  #define ACC_BMS_FAULT PB_7
 #else
-  #error "Unknown board for BMS_PIN_CHARGER_CONTROL"
+  #error "Unknown board for ACC_BMS_FAULT"
 #endif
 
 #endif
 
-// Current input
+
+// Acc Precharge Control
 //
-// Input from analog current sensor
-#ifndef BMS_PIN_SIG_CURRENT
+// To be set high when precharging is done to allow the positive AIR to close
+#ifndef ACC_PRECHARGE_CONTROL
 
-#ifdef TARGET_LPC1768
-  #define BMS_PIN_SIG_CURRENT p15
-#elif TARGET_NUCLEO_F303K8
-  #define BMS_PIN_SIG_CURRENT PA_0
-#elif TARGET_NUCLEO_L432KC
-  #define BMS_PIN_SIG_CURRENT PA_1
+#ifdef TARGET_NUCLEO_L432KC
+  #define ACC_PRECHARGE_CONTROL PB_1
 #else
-  #error "Unknown board for BMS_PIN_SIG_CURRENT"
+  #error "Unknown board for ACC_PRECHARGE_CONTROL"
 #endif
 
 #endif

bms/src/BmsThread.cpp

@@ -238,8 +238,7 @@ void BMSThread::threadWorker() {
       throwBmsFault();
     }
 
-    // TODO: DON'T FORGET TO REMOVE THE '!'
-    if (!m_discharging) {
+    if (m_discharging) {
       for (int i = 0; i < BMS_BANK_COUNT; i++) {
 
         LTC6811::Configuration &config = m_chips[i].getConfig();
@@ -264,28 +263,6 @@ void BMSThread::threadWorker() {
         config.dischargeState.value = dischargeValue;
 
         m_chips[i].updateConfig();
-
-        // uint8_t buf[8];
-
-        // uint8_t sendBuf[6] = {0x78, 0x00, 0x00, 0x00, 0xff, 0x0f};
-
-        // ThisThread::sleep_for(5ms);
-
-        // m_bus.SendDataCommand(LTC681xBus::BuildAddressedBusCommand(WriteConfigurationGroupA(),
-        // i), sendBuf);
-
-        // ThisThread::sleep_for(15ms);
-
-        // m_bus.SendReadCommand(
-        //     LTC681xBus::BuildAddressedBusCommand(ReadConfigurationGroupA(), i),
-        //     buf);
-
-        // ThisThread::sleep_for(5ms);
-
-        // printf("conf group a: %x %x %x %x %x %x\n", buf[0], buf[1],
-        //        buf[2], buf[3], buf[4], buf[5]);
-
-        // ThisThread::sleep_for(5ms);
       }
     } else {
       for (int i = 0; i < BMS_BANK_COUNT; i++) {

bms/src/BmsThread.h

@@ -96,7 +96,7 @@ class BMSThread {
   std::vector<BmsEventMailbox*> mailboxes;
 
   // Things that need to go away
-  bool m_discharging = false;
+  bool m_discharging = true;
 
   void throwBmsFault();
   void threadWorker();

bms/src/Main.cpp

@@ -12,12 +12,33 @@
 CAN* canBus;
 
 void initIO();
+void canRX();
 
 CircularBuffer<CANMessage, 32> canqueue;
 
 uint8_t canCount;
 
+
+DigitalIn shutdown_measure_pin(ACC_SHUTDOWN_MEASURE);
+DigitalIn imd_status_pin(ACC_IMD_STATUS);
+DigitalIn charge_state_pin(ACC_CHARGE_STATE);
+
+
+DigitalOut fan_control_pin(ACC_FAN_CONTROL);
+DigitalOut charge_enable_pin(ACC_CHARGE_ENABLE);
+DigitalOut bms_fault_pin(ACC_BMS_FAULT);
+DigitalOut precharge_control_pin(ACC_PRECHARGE_CONTROL);
+
+
+AnalogIn current_vref_pin(ACC_BUFFERED_C_VREF);
+AnalogIn current_sense_pin(ACC_BUFFERED_C_OUT);
+AnalogIn glv_voltage_pin(ACC_GLV_VOLTAGE);
+
+bool prechargeDone = false;
+
+
 int main() {
+
   printf("main\n");
   initIO();
   printf("initIO\n");
@@ -43,6 +64,8 @@ int main() {
   Timer t;
   t.start();
   while (1) {
+    int glv_voltage = glv_voltage_pin * 18530; // in mV
+    //printf("GLV voltage: %d mV\n", glv);
 
     while (!canqueue.empty()) {
         CANMessage msg;
@@ -58,4 +81,20 @@ int main() {
 
 void initIO() {
     canBus = new CAN(BMS_PIN_CAN_RX, BMS_PIN_CAN_TX, BMS_CAN_FREQUENCY);
+    canBus->attach(canRX);
+
+
+    fan_control_pin = 0; // turn fans off at start
+    charge_enable_pin = 0; // charge not allowed at start
+    bms_fault_pin = 0; // assume fault at start
+    precharge_control_pin = 0; // positive AIR open at start
+
+}
+
+void canRX() {
+    CANMessage msg;
+
+    if (canBus->read(msg)) {
+        canqueue.push(msg);
+    }
 }