formulaslug · colescott · Oct 17, 2021 · Oct 17, 2021
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -20,6 +20,15 @@ jobs:
         # The mbed target to build for
         target: [LPC1768]
 
+        # Add STM32F303 target for bms
+        include:
+          - project: bms
+            profile: debug
+            target: NUCLEO_F303K8
+          - project: bms
+            profile: release
+            target: NUCLEO_F303K8
+
 
     steps:
     # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it

diff --git a/bms/Makefile b/bms/Makefile
@@ -55,7 +55,7 @@ flash: deps $(BUILD_DIR)
 #
 
 .PHONY: debug
-debug: build-debug
+debug:
 	arm-none-eabi-gdb -x .gdbinit ./$(BUILD_DIR)/$(MBED_TARGET)/$(MBED_BUILD_PROFILE)/$(MBED_TOOLCHAIN)/bms.elf
 
 #

diff --git a/bms/mbed_app.json b/bms/mbed_app.json
@@ -1,4 +1,12 @@
 {
+    "config": {
+        "main-stack-size": {
+            "value": 2048
+        },
+        "stack-size": {
+            "value": 1024
+        }
+    },
     "target_overrides": {
         "LPC1768": {
             "platform.stdio-baud-rate": 115200,

diff --git a/bms/src/BmsConfig.h b/bms/src/BmsConfig.h
@@ -5,13 +5,13 @@
 // Global pointer to can bus object
 //
 // This allows for all files to access the can bus output
-extern CAN* canBus;
+//extern CAN* canBus;
 
 //Global pointer to DigitalOut objects for BMS_FAULT and CHARGER_CONTROL pins
 //
 //This allows for all files to access BMS_FAULT and CHARGER_CONTROL pins
-extern DigitalOut* bmsFault;
-extern DigitalOut* chargerControl;
+//extern DigitalOut* bmsFault;
+//extern DigitalOut* chargerControl;
 
 //
 // BMS Master Configuration

diff --git a/bms/src/BmsThread.cpp b/bms/src/BmsThread.cpp
@@ -4,11 +4,17 @@
 #include "LTC681xCommand.h"
 #include "ThisThread.h"
 
-BMSThread::BMSThread(LTC681xBus& bus, unsigned int frequency, std::vector<Queue<BmsEvent, mailboxSize>*> mailboxes) : m_bus(bus), mailboxes(mailboxes) {
+BMSThread::BMSThread(LTC681xBus& bus, unsigned int frequency, std::array<BmsEventMailbox*, 2> mailboxes)
+  : m_bus(bus)
+  , m_chips {
+      LTC6811(bus, 0),
+      LTC6811(bus, 1),
+      LTC6811(bus, 2),
+      LTC6811(bus, 3)
+    }
+  , mailboxes(mailboxes)
+{
   m_delay = 1000 / frequency;
-  for (int i = 0; i < BMS_BANK_COUNT; i++) {
-    m_chips.push_back(LTC6811(bus, i));
-  }
   for (int i = 0; i < BMS_BANK_COUNT; i++) {
     //m_chips[i].getConfig().gpio5 = LTC6811::GPIOOutputState::kLow;
     //m_chips[i].getConfig().gpio4 = LTC6811::GPIOOutputState::kPassive;
@@ -19,7 +25,7 @@ BMSThread::BMSThread(LTC681xBus& bus, unsigned int frequency, std::vector<Queue<
 
 void BMSThread::threadWorker() {
   // Perform self tests
-
+  //
   // Cell Voltage self test
   m_bus.WakeupBus();
   m_bus.SendCommand(LTC681xBus::BuildBroadcastBusCommand(StartSelfTestCellVoltage(AdcMode::k7k, SelfTestMode::kSelfTest1)));

diff --git a/bms/src/BmsThread.h b/bms/src/BmsThread.h
@@ -22,7 +22,7 @@
 class BMSThread {
  public:
 
-  BMSThread(LTC681xBus& bus, unsigned int frequency, std::vector<BmsEventMailbox*> mailboxes);
+  BMSThread(LTC681xBus& bus, unsigned int frequency, std::array<BmsEventMailbox*, 2> mailboxes);
 
   // Function to allow for starting threads from static context
   static void startThread(BMSThread *p) {
@@ -92,169 +92,12 @@ class BMSThread {
  private:
   unsigned int m_delay;
   LTC681xBus& m_bus;
-  std::vector<LTC6811> m_chips;
-  std::vector<BmsEventMailbox*> mailboxes;
+  std::array<LTC6811, BMS_BANK_COUNT> m_chips;
+  std::array<BmsEventMailbox*, 2> mailboxes;
 
   // Things that need to go away
   bool m_discharging = false;
 
   void throwBmsFault();
   void threadWorker();
-  /*
-  void threadWorker() {
-    std::array<uint16_t, BMS_BANK_COUNT * BMS_BANK_CELL_COUNT> allVoltages;
-    std::array<std::optional<int8_t>, BMS_BANK_COUNT * BMS_BANK_TEMP_COUNT>
-allTemps;
-
-    while (true) {
-      for (int i = 0; i < BMS_BANK_COUNT; i++) {
-        // Get a reference to the config for toggling gpio
-        LTC6811::Configuration& conf = m_chips[i].getConfig();
-
-        // Turn on status LED
-        conf.gpio5 = LTC6811::GPIOOutputState::kLow;
-        m_chips[i].updateConfig();
-
-        uint16_t* voltages = m_chips[i].getVoltages();
-
-        int temperatures[BMS_BANK_TEMP_COUNT];
-
-        // Measure all temp sensors
-        for (unsigned int j = 0; j < BMS_BANK_TEMP_COUNT; j++) {
-          conf.gpio1 = (j & 0x01) ? LTC6811::GPIOOutputState::kHigh
-                                  : LTC6811::GPIOOutputState::kLow;
-          conf.gpio2 = (j & 0x02) ? LTC6811::GPIOOutputState::kHigh
-                                  : LTC6811::GPIOOutputState::kLow;
-          conf.gpio3 = (j & 0x04) ? LTC6811::GPIOOutputState::kHigh
-                                  : LTC6811::GPIOOutputState::kLow;
-          conf.gpio4 = LTC6811::GPIOOutputState::kPassive;
-          m_chips[i].updateConfig();
-
-          // Wait for config changes to take effect
-          ThisThread::sleep_for(3);
-
-          uint16_t* temps = m_chips[i].getGpioPin(GpioSelection::k4);
-          temperatures[j] = temps[3];
-
-          delete temps;
-        }
-
-        // Turn off status LED
-        conf.gpio5 = LTC6811::GPIOOutputState::kHigh;
-        m_chips[i].updateConfig();
-
-        // Done with communication at this point
-        // Now time to crunch numbers
-
-        // Process voltages
-        for (int j = 0; j < 12; j++) {
-          uint16_t voltage = voltages[j] / 10;
-
-          int index = BMS_CELL_MAP[j];
-          if (index != -1) {
-            allVoltages[(BMS_BANK_CELL_COUNT * i) + index] = voltage;
-
-            if (voltage >= BMS_FAULT_VOLTAGE_THRESHOLD_HIGH) {
-              // Set fault line
-              printf("***** BMS LOW VOLTAGE FAULT *****\nVoltage at
-%d\n\n", voltage); throwBmsFault();
-            }
-            if (voltage <= BMS_FAULT_VOLTAGE_THRESHOLD_LOW) {
-              // Set fault line
-              printf("***** BMS HIGH VOLTAGE FAULT *****\nVoltage at
-%d\n\n", voltage); throwBmsFault();
-            }
-
-            // Discharge cells if enabled
-            if(m_discharging) {
-              if((voltage > prevMinVoltage) && (voltage - prevMinVoltage >
-BMS_DISCHARGE_THRESHOLD)) {
-                // Discharge
-
-                printf("DISCHARGE CELL %d: %dmV (%dmV)\n", index,
-voltage, (voltage - prevMinVoltage));
-
-                // Enable discharging
-                conf.dischargeState.value |= (1 << j);
-              } else {
-                // Disable discharging
-                conf.dischargeState.value &= ~(1 << j);
-              }
-            } else {
-              // Disable discharging
-              conf.dischargeState.value &= ~(1 << j);
-            }
-          }
-        }
-
-        delete voltages;
-
-
-        for (unsigned int j = 0; j < BMS_BANK_TEMP_COUNT; j++) {
-          auto temp = convertTemp(temperatures[j] / 10);
-          allTemps[(BMS_BANK_TEMP_COUNT * i) + j] = temp;
-
-          temp.map([&](auto t){
-              if (t < minTemp) minTemp = t;
-              if (t > maxTemp) maxTemp = t;
-            });
-        }
-        allBanksVoltage += totalVoltage;
-      }
-
-      averageVoltage = allBanksVoltage / (BMS_BANK_COUNT * BMS_BANK_CELL_COUNT);
-      prevMinVoltage = minVoltage;
-
-      printf("Temperatures: \n");
-      for(int i = 0; i < BMS_BANK_COUNT * BMS_BANK_CELL_COUNT; i++){
-        allTemps[i].map_or_else([&](auto temp) {
-            if (temp >= BMS_FAULT_TEMP_THRESHOLD_HIGH) {
-              printf("***** BMS HIGH TEMP FAULT *****\nTemp at %d\n\n",
-temp); throwBmsFault(); } else if (temp <= BMS_FAULT_TEMP_THRESHOLD_LOW) {
-              printf("***** BMS LOW TEMP FAULT *****\nTemp at %d\n\n",
-temp); throwBmsFault();
-            }
-
-            printf("%3d ", temp);
-          },
-          [&]() {
-            printf("ERR ");
-            //printf("***** BMS INVALID TEMP FAULT *****\n");
-            //throwBmsFault();
-          });
-        if((i + 1) % BMS_BANK_CELL_COUNT == 0)
-          printf("\n");
-      }
-
-      canBus->write(BMSStatMessage(allBanksVoltage / 10, maxVoltage, minVoltage,
-maxTemp, minTemp));
-
-      // Send CAN
-      for (size_t i = 0; i < BMS_BANK_COUNT; i++) {
-        // Convert from optional temp values to values with default of -127 (to
-indicate error) auto temps = std::array<int8_t, BMS_BANK_TEMP_COUNT>();
-        std::transform(allTemps.begin() + (BMS_BANK_TEMP_COUNT * i),
-                       allTemps.begin() + (BMS_BANK_TEMP_COUNT * (i + 1)),
-                       temps.begin(),
-                       [](std::optional<int8_t> t) { return t.value_or(-127); });
-
-        canBus->write(BMSTempMessage(i, (uint8_t*)temps.data()));
-      }
-
-      for (size_t i = 0; i < 7; i++) {
-        canBus->write(BMSVoltageMessage(i, allVoltages + (4 * i)));
-      }
-
-      // Compute time elapsed since beginning of measurements and sleep for
-      // m_delay accounting for elapsed time
-      // TODO: use a hardware timer or a virtual timer or literally anything
-      // else. kek.
-      //unsigned int timeElapsed = TIME_I2MS(chVTTimeElapsedSinceX(timeStart));
-#ifdef DEBUG
-      //printf("BMS Thread time elapsed: %dms\n", timeElapsed);
-#endif
-      ThisThread::sleep_for(m_delay);
-    }
-  }
-  */
 };
diff --git a/bms/src/Event.h b/bms/src/Event.h
@@ -25,7 +25,7 @@ class BmsEvent {
   virtual ~BmsEvent() {};
 };
 
-static constexpr auto mailboxSize = 4;
+static constexpr auto mailboxSize = 1;
 using BmsEventMailbox = Queue<BmsEvent, mailboxSize>;
 
 // Measurement

diff --git a/bms/src/Main.cpp b/bms/src/Main.cpp
@@ -11,54 +11,46 @@
 #include "LTC681xBus.h"
 #include "Event.h"
 
-// When car is off maybe one reading every 10 sec
-// when car is on 10 readings per second
-
-// TODO: map 12 cells to number of cells
-// TODO: change m_chips to array rather than vector
-// TODO: publish fault states
-// TODO: SoC tracking using Ah counting and voltage measuring
-
-// Fault states:
-// - AMS
-// - IMD
-//
-// * Over temp
-// - Under temp
-// * Over voltage
-// * Under voltage
-//
-// * Failed init
-// * Comm fail
-
-
-CAN* canBus;
-DigitalOut* bmsFault;
-DigitalOut* chargerControl;
+#ifdef TARGET_NUCLEO_F303K8
+  // Required for setting MISO to pull up on STM32
+  #include <targets/TARGET_STM/TARGET_STM32F3/STM32Cube_FW/STM32F3xx_HAL_Driver/stm32f3xx_ll_gpio.h>
+#endif
+
+CAN canBus = CAN(BMS_PIN_CAN_RX, BMS_PIN_CAN_TX, BMS_CAN_FREQUENCY);
+DigitalOut bmsFault = DigitalOut(BMS_PIN_BMS_FLT);
+DigitalOut chargerControl = DigitalOut(BMS_PIN_CHARGER_CONTROL);
 
 void initIO();
 
+// TODO: We need a better way of statically allocating thread stack
+constexpr size_t STACK_SIZE = 1024;
+unsigned char bmsThreadStack[STACK_SIZE];
+Thread bmsThreadThread = Thread(osPriorityNormal, STACK_SIZE, bmsThreadStack);
+
 int main() {
   // Init all io pins
   initIO();
 
-  canBus->write(BMSCellStartup());
+  canBus.write(BMSCellStartup());
 
-  ThisThread::sleep_for(1s);
+  SPI spiDriver = SPI(BMS_PIN_SPI_MOSI,
+                      BMS_PIN_SPI_MISO,
+                      BMS_PIN_SPI_SCLK,
+                      BMS_PIN_SPI_SSEL,
+                      use_gpio_ssel);
+
+#ifdef TARGET_NUCLEO_F303K8
+  // This is a hack required to set the MISO pin to use a pull up resistor
+  LL_GPIO_SetPinPull(GPIOA, LL_GPIO_PIN_6, LL_GPIO_PULL_UP);
+#endif
 
-  SPI* spiDriver = new SPI(BMS_PIN_SPI_MOSI,
-                           BMS_PIN_SPI_MISO,
-                           BMS_PIN_SPI_SCLK,
-                           BMS_PIN_SPI_SSEL,
-                           use_gpio_ssel);
-  spiDriver->format(8, 0);
-  auto ltcBus = LTC681xParallelBus(spiDriver);
+  spiDriver.format(8, 0);
+  auto ltcBus = LTC681xParallelBus(&spiDriver);
 
-  auto canMailbox = new BmsEventMailbox();
-  auto uiMailbox = new BmsEventMailbox();
-  std::vector<BmsEventMailbox*> mailboxes = { canMailbox, uiMailbox };
+  auto canMailbox = BmsEventMailbox();
+  auto uiMailbox = BmsEventMailbox();
+  std::array<BmsEventMailbox*, 2> mailboxes = { &canMailbox, &uiMailbox };
 
-  Thread bmsThreadThread;
   BMSThread bmsThread(ltcBus, 1, mailboxes);
   bmsThreadThread.start(callback(&BMSThread::startThread, &bmsThread));
 
@@ -72,7 +64,7 @@ int main() {
   }
 
   while(true) {
-    auto event = canMailbox->get();
+    auto event = canMailbox.get();
     if (event.status == osEventMessage) {
       BmsEvent* msg = (BmsEvent*)event.value.p;
 
@@ -120,12 +112,6 @@ int main() {
 void initIO() {
   printf("INIT\n");
 
-  canBus = new CAN(BMS_PIN_CAN_RX, BMS_PIN_CAN_TX, BMS_CAN_FREQUENCY);
-
-  bmsFault = new DigitalOut(BMS_PIN_BMS_FLT);
-
-  chargerControl = new DigitalOut(BMS_PIN_CHARGER_CONTROL);
-
   // Set modes for IO
   /*
   palSetLineMode(LINE_BMS_FLT_LAT, PAL_MODE_INPUT);
@@ -135,9 +121,9 @@ void initIO() {
   */
 
   // Reset BMS fault line
-  bmsFault->write(1);
-  bmsFault->write(0);
+  bmsFault.write(1);
+  bmsFault.write(0);
 
   // Enable charging
-  chargerControl->write(0);
+  chargerControl.write(0);
 }
-Original file line number
+Diff line change
@@ Expand Up / @@ -55,7 +55,7 @@ flash: deps $(BUILD_DIR) @@
     #
     .PHONY: debug
-    debug: build-debug
+    debug:
     	arm-none-eabi-gdb -x .gdbinit ./$(BUILD_DIR)/$(MBED_TARGET)/$(MBED_BUILD_PROFILE)/$(MBED_TOOLCHAIN)/bms.elf
     #
@@ Expand Down @@