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Merging in everyone's changes #11

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06cfca3
for testbench, 1 segment
teahibiscus Feb 10, 2025
0c96829
Merge branch 'main' of https://github.com/teahibiscus/fs-3
teahibiscus Feb 10, 2025
08fffd7
BMS logic changes, reversing testbench changes
teahibiscus Feb 26, 2025
f85aac5
InterThread Changes
teahibiscus Feb 26, 2025
bf7c0da
non-testbench code
teahibiscus Mar 6, 2025
9a3068d
Merge branch 'main' into Lillian_InterthreadComms
teahibiscus Mar 6, 2025
9592a04
Merge pull request #3 from teahibiscus/Lillian_InterthreadComms
teahibiscus Mar 6, 2025
78d3d6d
i think everything is merged now homies
teahibiscus Mar 6, 2025
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168 changes: 94 additions & 74 deletions BMS/src/BmsThread.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,20 +96,24 @@ void BMSThread::threadWorker() {

bool isBalancing = false;

while(!mainToBMSMailbox->empty()) {
while(!mainToBMSMailbox->empty()) { // checks if maintoBMSMailbox pointer is NOT empty (assuming in order to read
// inforation from that mailbox that has data in it? )
MainToBMSEvent *mainToBMSEvent;

osEvent evt = mainToBMSMailbox->get();
if (evt.status == osEventMessage) {
mainToBMSEvent = (MainToBMSEvent*)evt.value.p;
} else {
osEvent evt = mainToBMSMailbox->get(); //osEvent type of variable(?) evt is being assigned to information
// that is being being sent to BMS using the mainToBMSMailbox
if (evt.status == osEventMessage) { // if the message went through (?) then status will equal osEventMessage
mainToBMSEvent = (MainToBMSEvent*)evt.value.p; //set mainToBMSEvent to evt.value(casted to MainToBMSEvent* pointer!)
} else { //otherwise keep going
continue;
}

balanceAllowed = mainToBMSEvent->balanceAllowed;
charging = mainToBMSEvent->charging;
balanceAllowed = mainToBMSEvent->balanceAllowed; // assign balanceAllowed to mainToBMSEvent
// that is assigned the value held by balanceAllowed
charging = mainToBMSEvent->charging;// assign charging to mainToBMSEvent
// that is assigned the value held by charging
// printf("Balance Allowed: %x\nCharging: %x\n", balanceAllowed, charging);
delete mainToBMSEvent;
delete mainToBMSEvent; // deallocate memory that was previously allocated dynamically to mainToBMSEvent
}


Expand Down Expand Up @@ -180,63 +184,69 @@ void BMSThread::threadWorker() {
printf("Things are not okay. VoltageD\n");
}

// MUX get temp from each cell
for (uint8_t j = 0; j < BMS_BANK_CELL_COUNT; j++) {

LTC6811::Configuration &config = m_chips[i].getConfig();
config.gpio1 = (j & 0b001) ? LTC6811::GPIOOutputState::kHigh
: LTC6811::GPIOOutputState::kLow;
config.gpio2 = ((j & 0b010) >> 1) ? LTC6811::GPIOOutputState::kHigh
: LTC6811::GPIOOutputState::kLow;
config.gpio3 = ((j & 0b100) >> 2) ? LTC6811::GPIOOutputState::kHigh
: LTC6811::GPIOOutputState::kLow;
config.gpio4 = LTC6811::GPIOOutputState::kPassive;
for (int j = 0; j < 12; j++) {
// Endianness of the protocol allows a simple cast :-)
uint16_t voltage = rawVoltages[j] / 10;

m_chips[i].updateConfig();
int index = BMS_CELL_MAP[j];
if (index != -1) {
allVoltages[(BMS_BANK_CELL_COUNT * i) + index] = voltage;

auto gpioADCcmd = StartGpioADC(AdcMode::k7k, GpioSelection::k4);
if (m_bus.SendCommand(LTC681xBus::BuildAddressedBusCommand(
gpioADCcmd, i)) != LTC681xBus::LTC681xBusStatus::Ok) {
printf("Things are not okay. StartGPIO ADC\n");
// printf("%d: V: %d\n", index, voltage);
}
}
}
// MUX get temp from each cell

ThisThread::sleep_for(5ms);

uint8_t rxbuf[8 * 2];

m_bus.SendReadCommand(
LTC681xBus::BuildAddressedBusCommand(ReadAuxiliaryGroupA(), i),
rxbuf);
m_bus.SendReadCommand(
LTC681xBus::BuildAddressedBusCommand(ReadAuxiliaryGroupB(), i),
rxbuf + 8);

uint16_t tempVoltage = ((uint16_t)rxbuf[8]) | ((uint16_t)rxbuf[9] << 8);

int8_t temp = convertTemp(tempVoltage / 10);
// printf("%d: T: %d\n", j, temp);
allTemps[(BMS_BANK_CELL_COUNT * i) + j] = temp;
// for every cell in a segment, go through each segment
for (uint8_t j = 0; j < BMS_BANK_CELL_COUNT; j++) {
for (int i = 0; i < BMS_BANK_COUNT; i++) {
// set the GPIOs for the segment we are looking at to the cell # we are getting temperature for
LTC6811::Configuration &config = m_chips[i].getConfig();
config.gpio1 = (j & 0b001) ? LTC6811::GPIOOutputState::kHigh
: LTC6811::GPIOOutputState::kLow;
config.gpio2 = ((j & 0b010) >> 1) ? LTC6811::GPIOOutputState::kHigh
: LTC6811::GPIOOutputState::kLow;
config.gpio3 = ((j & 0b100) >> 2) ? LTC6811::GPIOOutputState::kHigh
: LTC6811::GPIOOutputState::kLow;
config.gpio4 = LTC6811::GPIOOutputState::kPassive;

m_chips[i].updateConfig();

// queue the read command
auto gpioADCcmd = StartGpioADC(AdcMode::k7k, GpioSelection::k4);
if (m_bus.SendCommand(LTC681xBus::BuildAddressedBusCommand(
gpioADCcmd, i)) != LTC681xBus::LTC681xBusStatus::Ok) {
printf("Things are not okay. StartGPIO ADC\n");
}
}
ThisThread::sleep_for(5ms);

uint8_t rxbuf[8 * 2];
// now read back all the temperatures for the 6 segments for cell j
for (int i = 0; i < BMS_BANK_COUNT; i++) {
m_bus.SendReadCommand(
LTC681xBus::BuildAddressedBusCommand(ReadAuxiliaryGroupA(), i),
rxbuf);
m_bus.SendReadCommand(
LTC681xBus::BuildAddressedBusCommand(ReadAuxiliaryGroupB(), i),
rxbuf + 8);

uint16_t tempVoltage = ((uint16_t)rxbuf[8]) | ((uint16_t)rxbuf[9] << 8);

int8_t temp = convertTemp(tempVoltage / 10);
// printf("%d: T: %d\n", j, temp);
allTemps[(BMS_BANK_CELL_COUNT * i) + j] = temp;
}
}

for (int j = 0; j < 12; j++) {
// Endianness of the protocol allows a simple cast :-)
uint16_t voltage = rawVoltages[j] / 10;

int index = BMS_CELL_MAP[j];
if (index != -1) {
allVoltages[(BMS_BANK_CELL_COUNT * i) + index] = voltage;

// printf("%d: V: %d\n", index, voltage);
}
}
}
// printf("Fuck: ");
uint16_t minVoltage = allVoltages[0];
uint16_t maxVoltage = 0;
for (int i = 0; i < BMS_BANK_COUNT * BMS_BANK_CELL_COUNT; i++) {
// if (allVoltages[i] > BMS_FAULT_VOLTAGE_THRESHOLD_HIGH) {
// printf("%d, ", i);
// }
if (allVoltages[i] > BMS_FAULT_VOLTAGE_THRESHOLD_HIGH) {
printf("%d, ", i);
}
if (allVoltages[i] < minVoltage) {
minVoltage = allVoltages[i];
} else if (allVoltages[i] > maxVoltage) {
Expand All @@ -258,8 +268,8 @@ void BMSThread::threadWorker() {
}
}
avgTemp = tempSum / (BMS_BANK_COUNT * BMS_BANK_TEMP_COUNT);
// printf("0 Temps: %d, %d, %d, %d, %d, %d, %d\n", allTemps[0], allTemps[1], allTemps[2], allTemps[3], allTemps[4], allTemps[5], allTemps[6]);
// printf("1 Temps: %d, %d, %d, %d, %d, %d, %d\n", allTemps[7], allTemps[8], allTemps[9], allTemps[10], allTemps[11], allTemps[12], allTemps[13]);
// printf("0 Temps: %d, %d, %d, %d, %d, %d\n", allTemps[0], allTemps[1], allTemps[2], allTemps[3], allTemps[4], allTemps[5]);
// printf("0 Volts: %d, %d, %d, %d, %d, %d\n", allVoltages[0], allVoltages[1], allVoltages[2], allVoltages[3], all[4], allVoltages[5]);
// printf("2 Temps: %d, %d, %d, %d, %d, %d, %d\n", allTemps[14], allTemps[15], allTemps[16], allTemps[17], allTemps[18], allTemps[19], allTemps[20]);
// printf("3 Temps: %d, %d, %d, %d, %d, %d, %d\n\n", allTemps[21], allTemps[22], allTemps[23], allTemps[24], allTemps[25], allTemps[26], allTemps[27]);
// printf("min temp: %d, max temp: %d\nmin volt: %d, max volt %d\n", minTemp, maxTemp, minVoltage, maxVoltage);
Expand Down Expand Up @@ -315,7 +325,7 @@ void BMSThread::threadWorker() {
uint16_t cellVoltage = allVoltages[i * BMS_BANK_CELL_COUNT + cellNum];
if (cellVoltage >= BMS_BALANCE_THRESHOLD &&
cellVoltage >= minVoltage + BMS_DISCHARGE_THRESHOLD) {
// printf("Balancing cell %d\?n", cellNum);
printf("Balancing cell %d\?n", cellNum);
dischargeValue |= (0x1 << j);
isBalancing = true;
}
Expand All @@ -342,22 +352,32 @@ void BMSThread::threadWorker() {
m_chips[i].updateConfig();
}

if (!bmsEventMailbox->full()) {
BmsEvent* msg = new BmsEvent();
for (int i = 0; i < BMS_BANK_COUNT*BMS_BANK_CELL_COUNT; i++) {
msg->voltageValues[i] = allVoltages[i];
}
for (int i = 0; i < BMS_BANK_COUNT*BMS_BANK_TEMP_COUNT; i++) {
msg->temperatureValues[i] = allTemps[i];
}
msg->bmsState = bmsState;
msg->isBalancing = isBalancing;
msg->minVolt = (uint8_t)(minVoltage*50/1000.0);
msg->maxVolt = (uint8_t)(maxVoltage*50/1000.0);
msg->minTemp = minTemp;
msg->maxTemp = maxTemp;
msg->avgTemp = avgTemp;
if (!bmsEventMailbox->full()) { // if the bmsEventMailbox is not full
BmsEvent* msg = new BmsEvent(); // create new BMSevent obj and assign it to pointer msg
// for (int i = 0; i < BMS_BANK_COUNT*BMS_BANK_CELL_COUNT; i++) { // loop through all bank cells
//
// msg->voltageValues[i] = allVoltages[i]; //Assign each voltage value from allVoltages to the msg's voltageValues array
// }
// for (int i = 0; i < BMS_BANK_COUNT*BMS_BANK_TEMP_COUNT; i++) { // Loop through all bank temperatures
// msg->temperatureValues[i] = allTemps[i];// Assign each temperature value from allTemps to the msg's temperatureValues array
// }

// #### I ADDED THIS #### MAYBE COULD BE USED INSTEAD OF THE FOR LOOPS?
std::copy(allVoltages.begin(), allVoltages.end(), msg->voltageValues); // Copy all voltage values
std::copy(allTemps.begin(), allTemps.end(), msg->temperatureValues); // Copy all temperature values
// #### IDK IF THIS IS BETTER THOUGH.... ####
msg->bmsState = bmsState; // Assign the current bmsState to the msg's bmsState
msg->isBalancing = isBalancing; // Assign the current balancing state to the msg's isBalancing
msg->minVolt = (uint8_t)(minVoltage*50/1000.0); // Calculate and assign the min voltage to msg's minVolt
msg->maxVolt = (uint8_t)(maxVoltage*50/1000.0);// Calculate and assign the max voltage to msg's maxVolt
msg->minTemp = minTemp; // Assign the min temperature to msg's minTemp
msg->maxTemp = maxTemp; // Assign the max temperature to msg's minTemp
msg->avgTemp = avgTemp; // Assign the average temperature to msg's minTemp
bmsEventMailbox->put((BmsEvent *)msg);


//put() enqueues the newly allocated BmsEvent obj msg into the mailbox
// will later be processed
}


Expand All @@ -373,5 +393,5 @@ void BMSThread::threadWorker() {
}

void BMSThread::throwBmsFault() {
//bmsState = BMSThreadState::BMSFault;
bmsState = BMSThreadState::BMSFault;
}
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