Merge pull request #3 from fedebone00/cellboard

Cellboard integration with working can

.gitignore

@@ -9,3 +9,4 @@ Backup/
 
 **/.vscode/*
 !**/.vscode/extensions.json
+Backup/

.gitmodules

@@ -8,4 +8,10 @@
 [submodule "mainboard/lib/micro-libs"]
 	path = mainboard/lib/micro-libs
 	url = [email protected]:eagletrt/micro-libs.git
-	branch = master
+[submodule "cellboard/Core/Lib/can-cicd"]
+	path = cellboard/Core/Lib/can-cicd
+	url = [email protected]:eagletrt/can-cicd
+	branch = build
+[submodule "cellboard/Core/Lib/micro-libs"]
+	path = cellboard/Core/Lib/micro-libs
+	url = [email protected]:eagletrt/micro-libs

cellboard/.clang-format

@@ -0,0 +1,154 @@
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cellboard/Core/Inc/bal.h

@@ -0,0 +1,58 @@
+/**
+ * @file		bal.h
+ * @brief		This file contains the balancing functions
+ *
+ * @date		Oct 28, 2019
+ *
+ * @author		Matteo Bonora [[email protected]]
+ * @author		Simone Ruffini [[email protected]]
+ */
+
+#ifndef BAL_H
+#define BAL_H
+
+#include "cellboard_config.h"
+
+#include <inttypes.h>
+#include <stdbool.h>
+
+#define BAL_NULL_INDEX UINT8_MAX
+#define HYSTERESIS     10
+
+/**
+ * @brief   Wrapper function around bal_compute_imbalance and bal_exclude_neighbors
+ * 
+ * @param	volts		Array of cell voltages
+ * @param	count		Size of `volts`
+ * @param	threshold	Balancing tolerance (voltage + threshold)
+ * @param	indexes		Output array of indexes to be balanced
+ * @param	cells		array of cell's indexes that need to be discharged
+ * 
+ * @returns amount of cells to be discharged
+ */
+uint16_t bal_get_cells_to_discharge(voltage_t volts[], uint16_t count, voltage_t threshold, uint16_t cells[]);
+
+/**
+ * @brief	Computes the cells with voltage exceeding the given threshold + lowest cell voltage
+ * 
+ * @param	volts		Array of cell voltages
+ * @param	count		Size of `volts`
+ * @param	threshold	Balancing tolerance (voltage + threshold)
+ * @param	indexes		Output array of indexes to be balanced
+ * @param	cells		array of cell's indexes that need to be discharged
+ * 
+ * @returns amount of cells to be discharged
+ */
+uint16_t bal_compute_imbalance(voltage_t volts[], uint16_t count, voltage_t threshold, uint16_t cells[]);
+
+/**
+ * @brief	Exclude adjacent cells to work around an hardware limitation on Fenice
+ * 
+ * @param	indexes		output array of cell's indexes that need to be discharged
+ * @param	count		amount of voltages
+ * @param	cells		output array of cell's indexes that need to be discharged
+ * 
+ * @returns	amount of cells to be discharged
+ */
+uint16_t bal_exclude_neighbors(uint16_t indexes[], uint16_t count, uint16_t cells[]);
+#endif

cellboard/Core/Inc/bal_fsm.h

@@ -0,0 +1,37 @@
+/**
+ * @file		bal_fsm.h
+ * @brief		This file contains the balancing functions
+ *
+ * @date		Jul 07, 2021
+ *
+ * @author		Matteo Bonora [[email protected]]
+ */
+
+#ifndef BAL_FSM_H
+#define BAL_FSM_H
+
+//#include "bal.h"
+#include "cellboard_config.h"
+#include "fsm.h"
+#include "tim.h"
+
+#include <inttypes.h>
+
+enum { BAL_OFF = 0, BAL_COMPUTE, BAL_DISCHARGE, BAL_NUM_STATES };
+enum { EV_BAL_STOP = 0, EV_BAL_START, EV_BAL_CHECK_TIMER, BAL_EV_NUM };
+
+typedef struct {
+    fsm fsm;
+
+    uint16_t cells[PACK_CELL_COUNT];
+    size_t cells_length;
+    uint32_t discharge_time;
+    uint32_t cycle_length;
+} bal_fsm;
+
+extern bal_fsm bal;
+
+void bal_fsm_init();
+void bal_timers_handler(TIM_HandleTypeDef* htim, fsm handle);
+
+#endif

cellboard/Core/Inc/can.h

@@ -0,0 +1,59 @@
+/**
+  ******************************************************************************
+  * @file    can.h
+  * @brief   This file contains all the function prototypes for
+  *          the can.c file
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __CAN_H__
+#define __CAN_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+extern CAN_HandleTypeDef hcan1;
+
+/* USER CODE BEGIN Private defines */
+#define BMS_CAN hcan1
+
+#define CAN_WAIT(C)                                                         \
+    {                                                                       \
+        uint32_t tick = HAL_GetTick();                                      \
+        while (HAL_GetTick() - tick < 10 &&                                 \
+                HAL_CAN_GetTxMailboxesFreeLevel(C) == 0);                   \
+    }                                                                                                   
+/* USER CODE END Private defines */
+
+void MX_CAN1_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CAN_H__ */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

cellboard/Core/Inc/can_comms.h

@@ -0,0 +1,17 @@
+/**
+ * @file		can_comms.h
+ * @brief		CAN communication stuff
+ *
+ * @date		Jul 16, 2021
+ * @author		Matteo Bonora [[email protected]]
+ */
+
+#ifndef _CAN_COMMS_
+
+#include "../../bms/c/bms.h"
+#include "../bms/ids.h"
+
+void can_send(uint16_t id);
+void can_init_with_filter();
+
+#endif