ADBMS Integration

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "Drivers/Embedded-Base"]
 	path = Drivers/Embedded-Base
 	url = https://github.com/Northeastern-Electric-Racing/Embedded-Base.git
+[submodule "Drivers/adbms"]
+	path = Drivers/adbms
+	url = [email protected]:Northeastern-Electric-Racing/adbms.git

Core/Inc/bmsConfig.h

@@ -2,9 +2,9 @@
 #define BMS_CONFIG_H
 
 // Hardware definition
-#define NUM_SEGMENTS	    6
-#define NUM_CHIPS	    NUM_SEGMENTS * 2
-#define NUM_CELLS_PER_CHIP  10
+#define NUM_SEGMENTS	    1
+#define NUM_CHIPS	    1 //NUM_SEGMENTS * 2
+#define NUM_CELLS_PER_CHIP  16
 #define NUM_THERMS_PER_CHIP 32
 #define NUM_RELEVANT_THERMS 3
 

Core/Src/analyzer.c

@@ -5,6 +5,8 @@
 
 #include "compute.h"
 
+#include "serialPrintResult.h"
+
 // clang-format off
 /**
  * @brief Mapping Cell temperature to the cell resistance based on the
@@ -310,10 +312,13 @@ void calc_pack_voltage_stats(acc_data_t *bmsdata)
 	for (uint8_t c = 0; c < NUM_CHIPS; c++) {
 		for (uint8_t cell = 0; cell < NUM_CELLS_PER_CHIP; cell++) {
 			/* fings out the maximum cell voltage and location */
-			if (bmsdata->chip_data[c].voltage[cell] >
+			if (getVoltage(bmsdata->chip_data[c].voltage[cell]) *
+				    10000 >
 			    bmsdata->max_voltage.val) {
 				bmsdata->max_voltage.val =
-					bmsdata->chip_data[c].voltage[cell];
+					getVoltage(bmsdata->chip_data[c]
+							   .voltage[cell]) *
+					10000;
 				bmsdata->max_voltage.chipIndex = c;
 				bmsdata->max_voltage.cellNum = cell;
 			}
@@ -328,10 +333,13 @@ void calc_pack_voltage_stats(acc_data_t *bmsdata)
 			}
 
 			/* finds out the minimum cell voltage and location */
-			if (bmsdata->chip_data[c].voltage[cell] <
+			if (getVoltage(bmsdata->chip_data[c].voltage[cell]) *
+				    10000 <
 			    bmsdata->min_voltage.val) {
 				bmsdata->min_voltage.val =
-					bmsdata->chip_data[c].voltage[cell];
+					getVoltage(bmsdata->chip_data[c]
+							   .voltage[cell]) *
+					10000;
 				bmsdata->min_voltage.chipIndex = c;
 				bmsdata->min_voltage.cellNum = cell;
 			}
@@ -351,9 +359,21 @@ void calc_pack_voltage_stats(acc_data_t *bmsdata)
 		}
 	}
 
+	float real_total_volt = 0;
+	for (int chip = 0; chip < NUM_CHIPS; chip++) {
+		for (int i = 0; i < NUM_CELLS_PER_CHIP; i++) {
+			real_total_volt +=
+				getVoltage(bmsdata->chip_data[chip].voltage[i]);
+		}
+	}
+
 	/* calculate some voltage stats */
-	bmsdata->avg_voltage = total_volt / (NUM_CELLS_PER_CHIP * NUM_CHIPS);
-	bmsdata->pack_voltage = total_volt / 1000; /* convert to voltage * 10 */
+	bmsdata->avg_voltage =
+		10000 * (real_total_volt / (NUM_CELLS_PER_CHIP * NUM_CHIPS));
+
+	bmsdata->pack_voltage =
+		real_total_volt * 10; /* convert to voltage * 10 */
+
 	bmsdata->delt_voltage =
 		bmsdata->max_voltage.val - bmsdata->min_voltage.val;
 

Core/Src/main.c

@@ -26,6 +26,8 @@
 
 #include "assert.h"
 
+#include "serialPrintResult.h"
+
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -38,7 +40,12 @@
 
 //#ifdef DEBUG_EVERYTHING
 //#define DEBUG_CHARGING
-// #define DEBUG_STATS
+#define DEBUG_STATS
+#define DEBUG_VOLTAGES
+// #define DEBUG_RAW_VOLTAGES
+#define DEBUG_RAW_VOLTAGES_FORMATTED
+// #define DEBUG_OCV
+// #define DEBUG_OTHER
 // etc etc
 //#endif
 /* USER CODE END PD */
@@ -77,7 +84,7 @@ PCD_HandleTypeDef hpcd_USB_OTG_FS;
 osThreadId_t defaultTaskHandle;
 const osThreadAttr_t defaultTask_attributes = {
   .name = "defaultTask",
-  .stack_size = 128 * 4,
+  .stack_size = 128 * 8,
   .priority = (osPriority_t) osPriorityNormal,
 };
 /* USER CODE BEGIN PV */
@@ -115,9 +122,25 @@ void StartDefaultTask(void *argument);
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
 
+/* the following reroutes printf to uart */
+#ifdef __GNUC__
+#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
+#else
+#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
+#endif
+
+PUTCHAR_PROTOTYPE
+{
+  HAL_UART_Transmit(&huart4, (uint8_t *)&ch, 1, HAL_MAX_DELAY);
+  return ch;
+}
+
 int _write(int file, char* ptr, int len) {
-  HAL_UART_Transmit_DMA(&huart4, (uint8_t *)ptr, len);
-
+  int DataIdx;
+
+  for (DataIdx = 0; DataIdx < len; DataIdx++) {
+    __io_putchar( *ptr++ );
+  }
   return len;
 }
 
@@ -126,56 +149,83 @@ int _write(int file, char* ptr, int len) {
 const void print_bms_stats(acc_data_t *acc_data)
 {
 	static nertimer_t debug_stat_timer;
-	static const uint16_t PRINT_STAT_WAIT = 500; //ms
+	static const uint16_t PRINT_STAT_WAIT = 1000; //ms
 
 	if(!is_timer_expired(&debug_stat_timer) && debug_stat_timer.active) return;
+  #ifdef DEBUG_OTHER
   //TODO get this from eeprom once implemented
   // question - should we read from eeprom here, or do that on loop and store locally?
 	// printf("Prev Fault: %#x", previousFault);
-  printf("CAN Error:\t%ld\r\n", HAL_CAN_GetError(&hcan1));
-  printf("Current * 10: %d\r\n", (acc_data->pack_current));
-  printf("Min, Max, Avg Temps: %ld, %ld, %d\r\n", acc_data->min_temp.val, acc_data->max_temp.val, acc_data->avg_temp);
-  printf("Min, Max, Avg, Delta Voltages: %ld, %ld, %d, %d\r\n", acc_data->min_voltage.val, acc_data->max_voltage.val, acc_data->avg_voltage, acc_data->delt_voltage);
-  printf("DCL: %d\r\n", acc_data->discharge_limit);
-  printf("CCL: %d\r\n", acc_data->charge_limit);
-  printf("Cont CCL %d\r\n", acc_data->cont_CCL);
-  printf("SoC: %d\r\n", acc_data->soc);
-  printf("Is Balancing?: %d\r\n", segment_is_balancing());
+
+  printf("CAN Error:\t%ld\n", HAL_CAN_GetError(&hcan1));
+  printf("Current * 10: %d\n", (acc_data->pack_current));
+  printf("Min, Max, Avg Temps: %ld, %ld, %d\n", acc_data->min_temp.val, acc_data->max_temp.val, acc_data->avg_temp);
+  #endif
+
+  #ifdef DEBUG_VOLTAGES
+  printf("Min, Max, Avg, Delta Voltages: %ld, %ld, %d, %d\n", acc_data->min_voltage.val, acc_data->max_voltage.val, acc_data->avg_voltage, acc_data->delt_voltage);
+  printf("Min, Max, Avg, Delta Voltages: %f, %f, %f, %f\n", acc_data->min_voltage.val / 10000.0, acc_data->max_voltage.val / 10000.0, acc_data->avg_voltage / 10000.0, acc_data->delt_voltage / 10000.0);
+  #endif
+
+  #ifdef DEBUG_OTHER
+  printf("DCL: %d\n", acc_data->discharge_limit);
+  printf("CCL: %d\n", acc_data->charge_limit);
+  printf("Cont CCL %d\n", acc_data->cont_CCL);
+  printf("SoC: %d\n", acc_data->soc);
+  printf("Is Balancing?: %d\n", segment_is_balancing());
   printf("State: ");
-  if (current_state == 0) printf("BOOT\r\n");
-  else if (current_state == 1) printf("READY\r\n");
-  else if (current_state == 2) printf("CHARGING\r\n");
-  else if (current_state == 3) printf("FAULTED: %lX\r\n", acc_data->fault_code);
-
-  printf("Voltage Noise Percent:\r\n");
-  printf("Seg 1: %d\r\n", acc_data->segment_noise_percentage[0]);
-  printf("Seg 2: %d\r\n", acc_data->segment_noise_percentage[1]);
-  printf("Seg 3: %d\r\n", acc_data->segment_noise_percentage[2]);
-  printf("Seg 4: %d\r\n", acc_data->segment_noise_percentage[3]);
-  printf("Seg 5: %d\r\n", acc_data->segment_noise_percentage[4]);
-  printf("Seg 6: %d\r\n", acc_data->segment_noise_percentage[5]);
-
-  printf("Raw Cell Voltage:\r\n");
+  if (current_state == 0) printf("BOOT\n");
+  else if (current_state == 1) printf("READY\n");
+  else if (current_state == 2) printf("CHARGING\n");
+  else if (current_state == 3) printf("FAULTED: %lX\n", acc_data->fault_code);
+
+  printf("Voltage Noise Percent:\n");
+  printf("Seg 1: %d\n", acc_data->segment_noise_percentage[0]);
+  printf("Seg 2: %d\n", acc_data->segment_noise_percentage[1]);
+  printf("Seg 3: %d\n", acc_data->segment_noise_percentage[2]);
+  printf("Seg 4: %d\n", acc_data->segment_noise_percentage[3]);
+  printf("Seg 5: %d\n", acc_data->segment_noise_percentage[4]);
+  printf("Seg 6: %d\n", acc_data->segment_noise_percentage[5]);
+  #endif
+
+  #ifdef DEBUG_RAW_VOLTAGES
+  printf("Raw Cell Voltage:\n");
   for(uint8_t c = 0; c < NUM_CHIPS; c++)
   {
     for(uint8_t cell = 0; cell < NUM_CELLS_PER_CHIP; cell++)
     {
         printf("%d\t", acc_data->chip_data[c].voltage[cell]);
     }
-    printf("\r\n");
+    printf("\n");
   }
+  #endif
 
-  printf("Open Cell Voltage:\r\n");
+  #ifdef DEBUG_RAW_VOLTAGES_FORMATTED
+    for(uint8_t c = 0; c < NUM_CHIPS; c++)
+  {
+    for(uint8_t cell = 0; cell < NUM_CELLS_PER_CHIP; cell++)
+    {
+        printf("%d\t", acc_data->chip_data[c].voltage[cell]);
+    }
+    printf("\n");
+  }
+  #endif
+
+  #ifdef DEBUG_OCV
+  printf("Open Cell Voltage:\n");
   for(uint8_t c = 0; c < NUM_CHIPS; c++)
   {
     for(uint8_t cell = 0; cell < NUM_CELLS_PER_CHIP; cell++)
     {
         printf("%d\t", acc_data->chip_data[c].open_cell_voltage[cell]);
     }
-    printf("\r\n");
+    printf("\n");
   }
+  #endif
+
+  #ifdef DEBUG_OTHER
 
-  printf("Thermistors with Disabling:\r\n");
+  printf("Thermistors with Disabling:\n");
   for(uint8_t c = 0; c < NUM_CHIPS; c++)
   {
      printf("Chip %d:  ", c);
@@ -186,10 +236,10 @@ const void print_bms_stats(acc_data_t *acc_data)
           printf("%d ", acc_data->chip_data[c].thermistor_value[cell]);
         }
 
-        printf("\r\n");
+        printf("\n");
   }
 
-  printf("UnFiltered Thermistor Temps:\r\n");
+  printf("UnFiltered Thermistor Temps:\n");
   for(uint8_t c = 0; c < NUM_CHIPS; c++)
   {
     printf("Chip %d:  ", c);
@@ -199,10 +249,10 @@ const void print_bms_stats(acc_data_t *acc_data)
           printf("%d ", acc_data->chip_data[c].thermistor_reading[cell]);
         }
 
-        printf("\r\n");
+        printf("\n");
     }
 
-   printf("Cell Temps:\r\n");
+   printf("Cell Temps:\n");
   for(uint8_t c = 0; c < NUM_CHIPS; c++)
   {
     printf("Chip %d:  ", c);
@@ -212,8 +262,9 @@ const void print_bms_stats(acc_data_t *acc_data)
           printf("%d ", acc_data->chip_data[c].cell_temp[cell]);
         }
 
-        printf("\r\n");
+        printf("\n");
     }
+  #endif
 
   start_timer(&debug_stat_timer, PRINT_STAT_WAIT);
 }
@@ -298,7 +349,7 @@ int main(void)
 	init_both_can(&hcan1, &hcan2);
   segment_init();
   compute_init();
-  printf("Init passed\r\n");
+  printf("Init passed\n");
   /* USER CODE END 2 */
 
   /* Init scheduler */
@@ -322,7 +373,7 @@ int main(void)
 
   /* Create the thread(s) */
   /* creation of defaultTask */
-  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
+  defaultTaskHandle = osThreadNew(StartDefaultTask, acc_data, &defaultTask_attributes);
 
   /* USER CODE BEGIN RTOS_THREADS */
 
@@ -754,7 +805,7 @@ static void MX_SPI3_Init(void)
   hspi3.Init.CLKPolarity = SPI_POLARITY_LOW;
   hspi3.Init.CLKPhase = SPI_PHASE_1EDGE;
   hspi3.Init.NSS = SPI_NSS_SOFT;
-  hspi3.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
+  hspi3.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
   hspi3.Init.FirstBit = SPI_FIRSTBIT_MSB;
   hspi3.Init.TIMode = SPI_TIMODE_DISABLE;
   hspi3.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
@@ -1183,7 +1234,9 @@ void watchdog_pet(void)
 void StartDefaultTask(void *argument)
 {
   /* USER CODE BEGIN 5 */
-	acc_data_t *bmsdata = (acc_data_t *)argument;
+  #ifdef DEBUG_STATS
+  acc_data_t* bmsdata = (acc_data_t*) argument;
+  #endif
 
   bool alt = true;
 
@@ -1195,9 +1248,9 @@ void StartDefaultTask(void *argument)
     #endif
 
     if (alt) {
-      printf(".\r\n");
+      printf(".\n");
     } else {
-      printf("..\r\n");
+      printf("..\n");
     }
 
     alt = !alt;