Merge pull request #147 from Northeastern-Electric-Racing/81-fault-pr…

…iority

81 fault priority

Core/Inc/can_handler.h

@@ -16,13 +16,14 @@
 #define DISCHARGE_CANID	    0x156
 #define ACC_STATUS_CANID    0x80
 #define BMS_STATUS_CANID    0x81
+#define FAULT_STATUS_CANID  0x89
 #define SHUTDOWN_CTRL_CANID 0x82
 #define CELL_DATA_CANID	    0x83
 #define CELL_VOLTAGE_CANID  0x87
 #define CURRENT_CANID	    0x86
 #define CELL_TEMP_CANID	    0x84
 #define SEGMENT_TEMP_CANID  0x85
-#define FAULT_CANID	    0x703
+#define FAULT_CANID	    0x703 // TODO: cleanup
 #define NOISE_CANID	    0x88
 #define DEBUG_CANID	    0x702
 #define FAULT_TIMER_CANID   0x6FF
@@ -39,11 +40,12 @@ typedef enum {
 	BMS_STATUS,
 	SHUTDOWN_CTRL,
 	CELL_DATA,
+	FAULT_STATUS,
 	CELL_VOLTAGE,
 	CURRENT,
 	CELL_TEMP,
 	SEGMENT_TEMP,
-	FAULT,
+	FAULT, // TODO: cleanup
 	NOISE,
 	DEBUG,
 	FAULT_TIMER,

Core/Inc/compute.h

@@ -109,6 +109,14 @@ void compute_set_fault(int fault_state);
  */
 void compute_send_acc_status_message(acc_data_t *bmsdata);
 
+/**
+ * @brief sends fault status message
+ *
+ * @param bms_state
+ *
+ */
+void compute_send_fault_status_message(acc_data_t *bmsdata);
+
 /**
  * @brief sends BMS status message
  *

Core/Inc/datastructs.h

@@ -37,10 +37,10 @@ typedef struct {
  *          to set or get the error codes
  */
 // clang-format off
-typedef enum {
+enum {
 	FAULTS_CLEAR = 0x0,
 
-	/* Orion BMS faults */
+	/* Shepherd BMS faults */
 	CELLS_NOT_BALANCING		            = 0x1,
 	CELL_VOLTAGE_TOO_HIGH	            = 0x4,
 	CELL_VOLTAGE_TOO_LOW	            = 0x2,
@@ -61,7 +61,8 @@ typedef enum {
 	CHARGE_LIMIT_ENFORCEMENT_FAULT	    = 0x20000,
 
 	MAX_FAULTS = 0x80000000 /* Maximum allowable fault code */
-} bms_fault_t;
+};
+
 // clang-format on
 
 /**
@@ -84,7 +85,7 @@ typedef struct {
 	/* Array of data from all chips in the system */
 	chipdata_t chip_data[NUM_CHIPS];
 
-	int fault_status;
+	int fault_status; // FIXME: this field is unused
 
 	int16_t pack_current; /* this value is multiplied by 10 to account for decimal precision */
 	uint16_t pack_voltage;
@@ -103,7 +104,9 @@ typedef struct {
 	/**
 	 * @brief Note that this is a 32 bit integer, so there are 32 max possible fault codes
 	 */
-	uint32_t fault_code;
+	// uint32_t fault_code;
+	uint32_t fault_code_crit;
+	uint32_t fault_code_noncrit;
 
 	/* Max, min, and avg thermistor readings */
 	crit_cellval_t max_temp;
@@ -178,7 +181,8 @@ typedef struct {
 	int data_2;
 	int lim_2;
 
-	bool is_faulted;
+	bool is_critical;
+	// bool is_faulted; /* note: unused field */
 } fault_eval_t;
 
 #endif

Core/Inc/stateMachine.h

@@ -38,18 +38,18 @@ bool sm_charging_check(acc_data_t *bmsdata);
  * @note Should be bitwise OR'ed with the current fault status
  *
  * @param accData
- * @return uint32_t
+ * @return uint64_t to be cast to a bms_fault_t
  */
-uint32_t sm_fault_return(acc_data_t *accData);
+uint64_t sm_fault_return(acc_data_t *accData);
 
 /**
  * @brief Used in parellel to faultReturn(), calculates each fault to append the
  * fault status
  *
- * @param index
- * @return fault_code
+ * @param fault_item
+ * @return fault_status
  */
-uint32_t sm_fault_eval(fault_eval_t *index);
+bool sm_fault_eval(fault_eval_t *fault_item);
 
 /**
  * @brief handles the state machine, calls the appropriate handler function and

Core/Src/can_handler.c

@@ -58,7 +58,11 @@ void init_can_msg_config()
 
 	can_msg_t bms_status_msg;
 	bms_status_msg.id = BMS_STATUS_CANID;
-	bms_status_msg.len = 8;
+	bms_status_msg.len = 4;
+
+	can_msg_t fault_status_msg;
+	fault_status_msg.id = FAULT_STATUS_CANID;
+	fault_status_msg.len = 8;
 
 	can_msg_t shutdown_ctrl_msg;
 	shutdown_ctrl_msg.id = SHUTDOWN_CTRL_CANID;
@@ -84,9 +88,9 @@ void init_can_msg_config()
 	segment_temp_msg.id = SEGMENT_TEMP_CANID;
 	segment_temp_msg.len = 6;
 
-	can_msg_t fault_msg;
-	fault_msg.id = FAULT_CANID;
-	fault_msg.len = 5;
+	can_msg_t fault_detail_msg;
+	fault_detail_msg.id = FAULT_CANID;
+	fault_detail_msg.len = 5;
 
 	can_msg_t noise_msg;
 	noise_msg.id = NOISE_CANID;
@@ -107,13 +111,14 @@ void init_can_msg_config()
 	bms_can_msgs[CHARGE] = charge_msg;
 	bms_can_msgs[ACC_STATUS] = acc_status_msg;
 	bms_can_msgs[BMS_STATUS] = bms_status_msg;
+	bms_can_msgs[FAULT_STATUS] = fault_status_msg;
 	bms_can_msgs[SHUTDOWN_CTRL] = shutdown_ctrl_msg;
 	bms_can_msgs[CELL_DATA] = cell_data_msg;
 	bms_can_msgs[CELL_VOLTAGE] = cell_voltage_msg;
 	bms_can_msgs[CURRENT] = current_msg;
 	bms_can_msgs[CELL_TEMP] = cell_temp_msg;
 	bms_can_msgs[SEGMENT_TEMP] = segment_temp_msg;
-	bms_can_msgs[FAULT] = fault_msg;
+	bms_can_msgs[FAULT] = fault_detail_msg;
 	bms_can_msgs[NOISE] = noise_msg;
 	bms_can_msgs[DEBUG] = debug_msg;
 	bms_can_msgs[FAULT_TIMER] = fault_timer_msg;

Core/Src/compute.c

@@ -323,28 +323,44 @@ void compute_send_acc_status_message(acc_data_t *bmsdata)
 	queue_can_msg(bms_can_msgs[ACC_STATUS]);
 }
 
+void compute_send_fault_status_message(acc_data_t *bmsdata)
+{
+	struct __attribute__((__packed__)) {
+		uint32_t fault_crit;
+		uint32_t fault_noncrit;
+	} fault_status_msg_data;
+
+	/* convert to big endian */
+	endian_swap(&fault_status_msg_data.fault_crit,
+		    sizeof(fault_status_msg_data.fault_crit));
+	endian_swap(&fault_status_msg_data.fault_noncrit,
+		    sizeof(fault_status_msg_data.fault_noncrit));
+
+	fault_status_msg_data.fault_crit = bmsdata->fault_code_crit;
+	fault_status_msg_data.fault_noncrit = bmsdata->fault_code_noncrit;
+
+	memcpy(bms_can_msgs[FAULT_STATUS].data, &fault_status_msg_data,
+	       sizeof(fault_status_msg_data));
+
+	queue_can_msg(bms_can_msgs[FAULT_STATUS]);
+}
+
 void compute_send_bms_status_message(acc_data_t *bmsdata, int bms_state,
 				     bool balance)
 {
 	struct __attribute__((__packed__)) {
 		uint8_t state;
-		uint32_t fault;
 		int8_t temp_avg;
 		uint8_t temp_internal;
 		uint8_t balance;
 	} bms_status_msg_data;
 
 	bms_status_msg_data.temp_avg = (int8_t)(bmsdata->avg_temp);
 	bms_status_msg_data.state = (uint8_t)(bms_state);
-	bms_status_msg_data.fault = bmsdata->fault_code;
 	bms_status_msg_data.temp_internal = (uint8_t)(0);
 	bms_status_msg_data.balance =
 		(uint8_t)(balance); // segment_is_balancing()
 
-	/* convert to big endian */
-	endian_swap(&bms_status_msg_data.fault,
-		    sizeof(bms_status_msg_data.fault));
-
 	memcpy(bms_can_msgs[BMS_STATUS].data, &bms_status_msg_data,
 	       sizeof(bms_status_msg_data));
 

Core/Src/main.c

@@ -254,7 +254,8 @@ int main(void)
 
   acc_data_t *acc_data = malloc(sizeof(acc_data_t));
   acc_data->is_charger_connected = false;
-  acc_data->fault_code = FAULTS_CLEAR;
+  acc_data->fault_code_crit = FAULTS_CLEAR;
+  acc_data->fault_code_noncrit = FAULTS_CLEAR;
 
   /* USER CODE END Init */
 
@@ -1217,6 +1218,7 @@ void StartDefaultTask(void *argument)
 
     compute_send_bms_status_message(bmsdata, current_state,
 					segment_is_balancing());
+    compute_send_fault_status_message(bmsdata);
 
     HAL_IWDG_Refresh(&hiwdg);