Shepherd Fixes and Improvements

Core/Inc/adi6830_interation.h

@@ -348,26 +348,37 @@ void get_avgd_cell_voltages(cell_asic chips[NUM_CHIPS],
 			    SPI_HandleTypeDef *hspi);
 
 /**
- * @brief Trigger, poll, and fetch voltages from the S-ADCs.
+ * @brief Trigger, poll, and fetch S-ADC voltages using an open-wire mode.
  *
- * @param chip Array of chips to get voltage readings from.
+ * @param chips Array of chips.
+ * @param hspi SPI handle.
+ * @param open_wire_mode Cell inputs on which to enable open-wire excitation.
  */
-void get_s_adc_voltages(cell_asic chips[NUM_CHIPS], SPI_HandleTypeDef *hspi);
+void get_s_adc_open_wire_voltages(cell_asic chips[NUM_CHIPS],
+				  SPI_HandleTypeDef *hspi,
+				  OW_C_S open_wire_mode);
 
 /**
- * @brief Trigger, poll, and fetch the c and s adc voltages, using instaneous redundancy.
+ * @brief Trigger, poll, and fetch normal S-ADC voltages.
  *
- * @param chips Array of chips to get voltage readings of.
+ * @param chips Array of chips to get voltage readings from.
  */
-void get_c_and_s_adc_voltages(cell_asic chips[NUM_CHIPS],
-			      SPI_HandleTypeDef *hspi);
+void get_s_adc_voltages(cell_asic chips[NUM_CHIPS],
+			SPI_HandleTypeDef *hspi);
 
 /**
  * @brief Starts a continous c ADC conversion with S redundancy
  *
  */
 void start_c_adc_conv(cell_asic chips[NUM_CHIPS], SPI_HandleTypeDef *hspi);
 
+/**
+ * @brief Start continuous S-ADC redundancy without restarting the C-ADC.
+ * @param chips ADBMS6830 daisy-chain devices.
+ * @param hspi SPI peripheral used by the daisy chain.
+ */
+void start_s_adc_conv(cell_asic chips[NUM_CHIPS], SPI_HandleTypeDef *hspi);
+
 // --- END ADC POLL ---
 
 #endif

Core/Inc/analyzer.h

@@ -39,15 +39,20 @@ void calc_pack_voltage_stats(analyzer_t *analyzer, acc_data_t *acc_data);
  * cell voltages.
  *
  */
-void calc_open_cell_voltage(analyzer_t *analyzer, acc_data_t *acc_data,
-                            hv_plate_t *hv_plate);
+void calc_open_cell_voltage(analyzer_t *analyzer, hv_plate_t *hv_plate);
 
 /**
  * @brief Calculate cell resistances using Rin = ( Voc - V )/I
  */
 void calc_cell_resistances(analyzer_t *analyzer, acc_data_t *acc_data,
                            hv_plate_t *hv_plate);
 
+/**
+ * @brief Calculate voltage drop percentages and detect open wires.
+ */
+void detect_cell_open_wire(analyzer_t *analyzer, acc_data_t *acc_data,
+			   state_machine_t *state_machine);
+
 /**
  * @brief Updates the cell status of balancing and S_C_faults based on raw cell
  * data

Core/Inc/bms_config.h

@@ -54,7 +54,7 @@
 #define OCV_CURR_THRESH 0.5f /* in A */
 
 // Charging settings
-#define CHARGING_CURRENT    3.5f
+#define CHARGING_CURRENT    5.0f
 #define CHARGE_SETL_TIMEOUT 30000 // 1 minute, may need adjustment
 #define CHARGE_SETL_TIMEUP  120000 // 5 minutes, may need adjustment
 
@@ -68,6 +68,8 @@
 #define LOW_CELL_TIME	   55000
 #define HIGH_TEMP_TIME	   55000
 #define MAX_CHIPTEMP_TIME  55000
+#define COMMS_FAULT_TIME   20000
+#define OW_FAULT_TIME      40000
 
 // system wide base ADBMS sample rate
 #define SAMPLE_RATE 2 /* Hz */

Core/Inc/can_handler.h

@@ -54,6 +54,8 @@
 #define CHARGERBOX_CANID	   0x18FF50E5
 #define DTI_CURRENT_CANID	   0x436
 #define BATTBOX_DUTY_CYCLE_CANID     0xD5
+#define DTI_INPUT_VOLTAGE_CANID 0x416
+#define DTI_DC_CURRENT_CANID 0x436
 
 #define OVERFLOW_CANID	 0x6F1
 #define OVERFLOW_SIZE	 6

Core/Inc/can_messages_rx.h

@@ -358,6 +358,7 @@ typedef struct {
  bool launch_control;
  uint8_t functional_state;
  bool traction_control;
+ uint8_t state_transition_error;
 } car_state_t;
 
 void receive_car_state(const can_msg_t *message, car_state_t *car_state);

Core/Inc/can_messages_tx.h

@@ -85,10 +85,11 @@ uint8_t send_segment_isospi_communication_status
 * BMS/Faults/Critical/High_die_temp - Die temp ts too high
 * BMS/Faults/Non-Critical/Segment_Comms_fault - Lost communications with segments
 * BMS/Faults/Non-Critical/HV_Plate_Comms_Fault - Lost communications with HV Plate
+* BMS/Faults/Non-Critical/Cell_open_wire - Open wire detected on one or more cells
 * BMS/Faults/Non-Critical/Extra - Reserved
 */
 uint8_t send_fault_status
-(bool dcl_enforce,bool ccl_enforce,bool low_cell_volt,bool high_cell_volt,bool high_charge_volt,bool pack_hot,bool die_temp_max,bool segment_comms,bool hv_plate_comms);
+(bool dcl_enforce,bool ccl_enforce,bool low_cell_volt,bool high_cell_volt,bool high_charge_volt,bool pack_hot,bool die_temp_max,bool segment_comms,bool hv_plate_comms,bool cell_open_wire);
 
 /**
 * Contents of this message:
@@ -172,9 +173,11 @@ uint8_t send_shepherd_version_hash
 * BMS/PerCell/Alpha/{4}/Burning/{6} - Whether cell is burning
 * BMS/PerCell/Alpha/{4}/CvS/{5} - Whether C and S ADCs read too different
 * BMS/PerCell/Alpha/{4}/CvS/{6} - Whether C and S ADCs read too different
+* BMS/PerCell/Alpha/{4}/OW/{5} - Whether an open wire is detected on the cell
+* BMS/PerCell/Alpha/{4}/OW/{6} - Whether an open wire is detected on the cell
 */
 uint8_t send_alpha_cell_data_debug
-(float therm,float voltage_a,float voltage_b,uint8_t chip_id,uint8_t cell_a,uint8_t cell_b,bool discharging_a,bool discharging_b,bool cvs_a,bool cvs_b);
+(float therm,float voltage_a,float voltage_b,uint8_t chip_id,uint8_t cell_a,uint8_t cell_b,bool discharging_a,bool discharging_b,bool cvs_a,bool cvs_b,bool ow_a,bool ow_b);
 
 /**
 * Contents of this message:
@@ -185,9 +188,27 @@ uint8_t send_alpha_cell_data_debug
 * BMS/PerCell/Beta/{4}/Burning/{6} - Whether cell is burning
 * BMS/PerCell/Beta/{4}/CvS/{5} - Whether C and S ADCs read too different
 * BMS/PerCell/Beta/{4}/CvS/{6} - Whether C and S ADCs read too different
+* BMS/PerCell/Beta/{4}/OW/{5} - Whether an open wire is detected on the cell
+* BMS/PerCell/Beta/{4}/OW/{6} - Whether an open wire is detected on the cell
 */
 uint8_t send_beta_cell_data_debug
-(float therm,float voltage_a,float voltage_b,uint8_t chip_id,uint8_t cell_a,uint8_t cell_b,bool discharging_a,bool discharging_b,bool cvs_a,bool cvs_b);
+(float therm,float voltage_a,float voltage_b,uint8_t chip_id,uint8_t cell_a,uint8_t cell_b,bool discharging_a,bool discharging_b,bool cvs_a,bool cvs_b,bool ow_a,bool ow_b);
+
+/**
+* Contents of this message:
+* BMS/PerCell/Alpha/{3}/S_Volts/{4} - S ADC cell voltage
+* BMS/PerCell/Alpha/{3}/S_Volts/{5} - S ADC cell voltage
+*/
+uint8_t send_alpha_cell_s_adc_data
+(float s_voltage_a,float s_voltage_b,uint8_t chip_id,uint8_t cell_a,uint8_t cell_b);
+
+/**
+* Contents of this message:
+* BMS/PerCell/Beta/{3}/S_Volts/{4} - S ADC cell voltage
+* BMS/PerCell/Beta/{3}/S_Volts/{5} - S ADC cell voltage
+*/
+uint8_t send_beta_cell_s_adc_data
+(float s_voltage_a,float s_voltage_b,uint8_t chip_id,uint8_t cell_a,uint8_t cell_b);
 
 /**
 * Contents of this message:
@@ -311,12 +332,12 @@ uint8_t send_hv_plate_diagnostics
 
 /**
 * Contents of this message:
-* BMS/Plate/Diagnostics/EPAD - Exposed pad
-* BMS/Plate/Diagnostics/VDIG - Internal digital 3V supply
-* BMS/Plate/Diagnostics/VDD - VDD power supply pin
-* BMS/Plate/Diagnostics/TMP2 - Secondary internal temperature sensor
-* BMS/Plate/Diagnostics/VDIV - 
-* BMS/Plate/Diagnostics/Extra - Reserved
+* BMS/HV_Plate/Diagnostics/EPAD - Exposed pad
+* BMS/HV_Plate/Diagnostics/VDIG - Internal digital 3V supply
+* BMS/HV_Plate/Diagnostics/VDD - VDD power supply pin
+* BMS/HV_Plate/Diagnostics/TMP2 - Secondary internal temperature sensor
+* BMS/HV_Plate/Diagnostics/VDIV - 
+* BMS/HV_Plate/Diagnostics/Extra - Reserved
 */
 uint8_t send_hv_plate_diagnostics_second
 (float epad,float vdig,float vdd,float tmp2,float vdiv);
@@ -402,6 +423,13 @@ uint8_t send_hv_plate_voltages_adbms
 uint8_t send_pack_current_and_shunt_temp_adbms
 (float pack_current,float shunt_temp);
 
+/**
+* Contents of this message:
+* BMS/Control/CellBalancing/PWMDutyCycle - Current cell balancing PWM duty cycle
+*/
+uint8_t send_current_cell_balancing_pwm_duty_cycle
+(float balancing_pwm_duty_cycle);
+
 /**
 * Contents of this message:
 * BMS/Commands/Max_AC_Current_Target - This value determines the maximum allowable drive current on the AC side

Core/Inc/cell_temp_sanitizer.h

@@ -1,25 +1,25 @@
-#include <stdbool.h>
-#include "timer.h"
 #include "datastructs.h"
 
 #ifndef CELL_TEMP_SANITIZER_H
 #define CELL_TEMP_SANITIZER_H
 
-#define TOO_DIFF_THRESHOLD 0.20
-
 /**
- * @brief Creates a grid of therm_t.
- * @param sanitizer Struct containing sanitized therm data
+ * @brief Initializes the temperature sanitizer state.
+ *
+ * @param sanitizer Pointer to the sanitizer data structure.
  */
 void temp_sanitizer_init(sanitizer_t *sanitizer);
 
 /**
- * @brief Given a grid of cell temperatures, updates the given grid of sanitized cell temperatures.
- * Should be run periodically.
- * @param sanitizer Struct containing sanitized therm data
- * @param analyzer Struct containing analyzer data
+ * @brief Processes and sanitizes cell temperature readings.
+ *
+ * Valid samples update the tracked minimum and maximum temperatures while
+ * invalid samples are filtered and tracked using the fault counter.
+ *
+ * @param sanitizer Pointer to the sanitizer data structure.
+ * @param analyzer Pointer to the analyzer containing raw temperature data.
  */
-void temp_sanitizer_run(sanitizer_t *sanitizer, analyzer_t *analyzer);
+void temp_sanitizer_run(sanitizer_t *const sanitizer, const analyzer_t *const analyzer);
 
 void vSanitizer(ULONG thread_input);
 

Core/Inc/charging.h

@@ -12,6 +12,13 @@
  */
 void pwm_duty_cycle_set(uint8_t duty_cycle_req_get);
 
+/**
+ * @brief get the selected ADBMS duty cycle
+ *
+ * @returns the selected duty cycle percentage
+ */
+float pwm_duty_cycle_setting_get(void);
+
 /**
  * @brief get the duty cycle (atomic)
  *

Core/Inc/current_limit_algo_config.h

@@ -16,8 +16,8 @@
 #define DCL_TEMP_RAMP_DOWN_START_C       (50.0f)
 #define DCL_TEMP_MAX_C                   (60.0f)
 #define DCL_OCV_MIN_V                    (3.0f)
-#define DCL_OCV_DERATE_THRESH            (3.7f)
-#define DCL_MAX_CURRENT_A                (135.0f)
+#define DCL_OCV_DERATE_THRESH            (3.2f)
+#define DCL_MAX_CURRENT_A                (180.0f)
 #define DCL_MIN_CURRENT_A                (30.0f)
 #define DCL_PULSE_PERCENT                (1.1f)
 #define DCL_COOLDOWN_PERCENT             (0.9f)
@@ -35,7 +35,7 @@
 #define CCL_TEMP_MAX_C                   (60.0f)
 #define CCL_OCV_MAX_V                    (4.2f)
 #define CCL_OCV_DERATE_THRESH            (4.0f)
-#define CCL_MAX_CURRENT_A                (30.0f)
+#define CCL_MAX_CURRENT_A                (60.0f)
 #define CCL_MIN_CURRENT_A                (0.0f)
 #define CCL_PULSE_PERCENT                (1.1f)
 #define CCL_COOLDOWN_PERCENT             (0.9f)

Core/Inc/datastructs.h

@@ -46,6 +46,8 @@ typedef struct {
 	float cell_resistance[NUM_CELLS_PER_CHIP];
 	float open_cell_voltage[NUM_CELLS_PER_CHIP];
 	float cell_voltages[NUM_CELLS_PER_CHIP];
+	/* S-ADC voltages */
+	float s_cell_voltages[NUM_CELLS_PER_CHIP];
 
 	/* Maximum temperature of on-board therms.*/
 	float on_board_temp[NUM_ONBOARD_THERMS_PER_CHIP];
@@ -56,6 +58,7 @@ typedef struct {
 	/* Chip and Cell Diagnostic Data */
 	bool is_balancing[NUM_CELLS_PER_CHIP];
 	bool cs_fault[NUM_CELLS_PER_CHIP];
+	bool ow_fault[NUM_CELLS_PER_CHIP];	
 
 	float vpv;
 	float vmv;
@@ -85,6 +88,8 @@ typedef struct {
 typedef struct {
 	float last_temp;
 	bool valid;
+	bool initialized;
+	uint8_t fault_count;
 } therm_state_t;
 
 /**
@@ -104,6 +109,12 @@ typedef enum {
 	FAULT_TIMER_EXPIRED,
 } fault_timer_status_t;
 
+typedef enum {
+	FAULT_NONE,
+	FAULT_ONGOING,
+	FAULT_TRIGGERED,
+} fault_state_t;
+
 /**
  * @brief Data needed for the therm temp sanitizer
  */
@@ -211,6 +222,7 @@ typedef struct {
  */
 typedef enum {
 	SOC_STATE_INIT_FROM_OCV,
+	SOC_STATE_OCV_ESTIMATION,
 	SOC_STATE_COULOMB_COUNTING
 } soc_state_t;
 
@@ -240,7 +252,7 @@ typedef struct {
 	crit_cellval_t max_voltage;
 	crit_cellval_t min_voltage;
 	float avg_voltage;
-	float delt_voltage;
+	float delta_voltage;
 
 	// OCV timer
 	nertimer_t ocvTimer;
@@ -373,6 +385,7 @@ typedef struct {
 
 	bool segment_comms_fault_flag;
 	bool hv_plate_comms_fault_flag;
+	bool cell_open_wire_fault_flag;
 
 	bool balancing_active;
 	bool is_charger_connected;
@@ -422,6 +435,14 @@ typedef struct {
 	peripherals_t *peripherals;
 } state_machine_args_t;
 
+/**
+ * @brief args for vCanReceive
+ */
+typedef struct {
+	state_machine_args_t *state_machine_args;
+	hv_plate_t *hv_plate;
+} can_receive_args_t;
+
 /**
  * @brief args for vAnalyzer
  */
@@ -438,6 +459,7 @@ typedef struct {
 typedef struct {
 	acc_data_t *acc_data;
 	state_machine_t *state_machine;
+	analyzer_t *analyzer;
 } acc_data_args_t;
 
 /**
@@ -492,6 +514,7 @@ typedef enum {
 
 	HV_PLATE_COMMS_FAULT,
 	SEGMENT_COMMS_FAULT,
+	CELL_OPEN_WIRE_FAULT,
 
 	NUM_FAULTS, /* NUM_REACTIONARY_FAULTS = NUM_FAULTS - NUM_CONDITIONAL_FAULTS - 1 */
 

Core/Inc/segment.h

@@ -72,6 +72,9 @@ void segment_configure_balancing(
 	PWM_DUTY discharge_config[NUM_CHIPS][NUM_CELLS_PER_CHIP],
 	SPI_HandleTypeDef *hspi);
 
+void segment_read_pwm_registers(cell_asic chips[NUM_CHIPS],
+				SPI_HandleTypeDef *hspi);
+
 /**
  * @brief Returns if any cells are balancing. Must read back config register B and PWM registers.
  *

Core/Inc/shep_tasks.h

@@ -5,11 +5,13 @@
 #include "tx_api.h"
 #include "datastructs.h"
 
+#define NO_LOG
+
 // #define DEBUG_HV_PLATE
 // #define DEBUG_RAW_VOLTAGES
 // #define DEBUG_OCV_VOLTAGES
 // #define DEBUG_TEMPS
-// #define DEBUG_AlGOS
+// #define DEBUG_ALGOS
 
 /* Initializes all ThreadX threads.
 *  Calls to create_thread() should go in here