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Bugfix/locking #47

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merged 2 commits into from
Nov 28, 2024
Merged

Bugfix/locking #47

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36a5473
Feed CanWatchdog only if we receive BOTH enable AND CurrentLimit
jsphuebner Nov 21, 2024
0b2a8f3
Fixed locking issues
jsphuebner Nov 27, 2024
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10 changes: 2 additions & 8 deletions ccs/acOBC.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -308,19 +308,13 @@ static void triggerActions()
//Unlock connector when coming here from any other state
if (Param::GetInt(Param::LockState) == LOCK_CLOSED && Param::GetBool(Param::AllowUnlock))//only unlock if allowed and lock is locked
{
if(Param::GetInt(Param::ActuatorTest) == 0)
{
hardwareInterface_triggerConnectorUnlocking();
}
hardwareInterface_triggerConnectorUnlocking();
}
break;
case OBC_LOCK:
if (Param::GetInt(Param::LockState) == LOCK_OPEN)//only trigger is lock is open
{
if(Param::GetInt(Param::ActuatorTest) == 0)
{
hardwareInterface_triggerConnectorLocking();
}
hardwareInterface_triggerConnectorLocking();
}
break;
case OBC_PAUSE:
Expand Down
48 changes: 14 additions & 34 deletions ccs/hardwareInterface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@
#define CP_DUTY_VALID_TIMER_MAX 3 /* after 3 cycles with 30ms, we consider the CP connection lost, if
we do not see PWM interrupts anymore */
#define CONTACTOR_CYCLES_FOR_FULL_PWM (33/5) /* 33 cycles per second. ~200ms should be more than enough, see https://github.com/uhi22/ccs32clara/issues/22 */
#define CONTACTOR_CYCLES_SEQUENTIAL (33/3) /* ~300ms delay from one contactor to the other, to avoid high peak current consumption. https://github.com/uhi22/ccs32clara/issues/22 */
#define CONTACTOR_CYCLES_SEQUENTIAL (33/3) /* ~300ms delay from one contactor to the other, to avoid high peak current consumption. https://github.com/uhi22/ccs32clara/issues/22 */

static float cpDuty_Percent;
static uint8_t cpDutyValidTimer;
Expand All @@ -14,12 +14,10 @@ static int8_t ContactorOnTimer1, ContactorOnTimer2;
static uint16_t dutyContactor1, dutyContactor2;
static uint8_t LedBlinkDivider;
static LockStt lockRequest;
static LockStt lockState;
static LockStt lockTarget = LOCK_UNKNOWN;
static LockStt lockState = LOCK_OPEN; //In case we have no feedback we assume the lock is open
static uint16_t lockTimer;
static bool actuatorTestRunning = false;

static uint8_t actuatorTest_lockUnlockState; /* status of the actuator test for connector locking/unlocking */
#define ACTUTEST_STATUS_IDLE 0
#define ACTUTEST_STATUS_LOCKING_TRIGGERED 1
#define ACTUTEST_STATUS_UNLOCKING_TRIGGERED 2
Expand Down Expand Up @@ -362,26 +360,20 @@ static void hwIf_handleLockRequests()
}
else //lock drive without feedback
{
pwmNeg = 0;
pwmPos = CONTACT_LOCK_PERIOD;
/* connector lock just time-based, without evaluating the feedback */
if (lockRequest == LOCK_OPEN && lockTarget == LOCK_UNKNOWN)
if (lockRequest == LOCK_OPEN && lockState != LOCK_OPEN)
{
addToTrace(MOD_HWIF, "unlocking the connector");
//addToTrace(MOD_HWIF, "unlocking the connector");
Param::SetInt(Param::LockState, LOCK_OPENING);
hardwareInteface_setHBridge(pwmNeg, pwmPos);
lockTimer = Param::GetInt(Param::LockRunTime) / 30; /* in 30ms steps */
lockTarget = LOCK_OPEN;
lockRequest = LOCK_UNKNOWN;
lockTimer = lockTimer == 0 ? Param::GetInt(Param::LockRunTime) / 30 : lockTimer; /* in 30ms steps */
}
if (lockRequest == LOCK_CLOSED && lockTarget == LOCK_UNKNOWN)
if (lockRequest == LOCK_CLOSED && lockState != LOCK_CLOSED)
{
addToTrace(MOD_HWIF, "locking the connector");
//addToTrace(MOD_HWIF, "locking the connector");
Param::SetInt(Param::LockState, LOCK_CLOSING);
hardwareInteface_setHBridge(pwmPos, pwmNeg);
lockTimer = Param::GetInt(Param::LockRunTime) / 30; /* in 30ms steps */
lockTarget = LOCK_CLOSED;
lockRequest = LOCK_UNKNOWN;
lockTimer = lockTimer == 0 ? Param::GetInt(Param::LockRunTime) / 30 : lockTimer; /* in 30ms steps */
}
if (lockTimer>0)
{
Expand All @@ -391,9 +383,8 @@ static void hwIf_handleLockRequests()
{
/* if the time is expired, we turn off the lock motor and report the new state */
hardwareInteface_setHBridge(0, 0);
Param::SetInt(Param::LockState, lockTarget);
lockState = lockTarget;
lockTarget = LOCK_UNKNOWN;
lockState = lockRequest;
Param::SetInt(Param::LockState, lockState);
addToTrace(MOD_HWIF, "finished connector (un)locking");
}
}
Expand Down Expand Up @@ -495,46 +486,35 @@ static void ActuatorTest()
switch (Param::GetInt(Param::ActuatorTest))
{
case TEST_CLOSELOCK:
if (actuatorTest_lockUnlockState!=ACTUTEST_STATUS_LOCKING_TRIGGERED) {
hardwareInterface_triggerConnectorLocking();
actuatorTest_lockUnlockState = ACTUTEST_STATUS_LOCKING_TRIGGERED;
} /* else: locking was already triggered, do not trigger the same again, to avoid permanent actuation. */
hardwareInterface_triggerConnectorLocking();
Param::SetInt(Param::ActuatorTest, TEST_NONE); //Make sure we only trigger the test once
break;
case TEST_OPENLOCK:
if (actuatorTest_lockUnlockState!=ACTUTEST_STATUS_UNLOCKING_TRIGGERED) {
hardwareInterface_triggerConnectorUnlocking();
actuatorTest_lockUnlockState = ACTUTEST_STATUS_UNLOCKING_TRIGGERED;
} /* else: unlocking was already triggered, do not trigger the same again, to avoid permanent actuation. */
hardwareInterface_triggerConnectorUnlocking();
Param::SetInt(Param::ActuatorTest, TEST_NONE); //Make sure we only trigger the test once
break;
case TEST_CONTACTOR:
hardwareInterface_setPowerRelayOn();
actuatorTest_lockUnlockState = ACTUTEST_STATUS_IDLE;
break;
case TEST_STATEC:
hardwareInterface_setStateC();
actuatorTest_lockUnlockState = ACTUTEST_STATUS_IDLE;
break;
case TEST_LEDGREEN:
hardwareInterface_setRGB(2);
actuatorTest_lockUnlockState = ACTUTEST_STATUS_IDLE;
break;
case TEST_LEDRED:
hardwareInterface_setRGB(1);
actuatorTest_lockUnlockState = ACTUTEST_STATUS_IDLE;
break;
case TEST_LEDBLUE:
hardwareInterface_setRGB(4);
actuatorTest_lockUnlockState = ACTUTEST_STATUS_IDLE;
break;
default: /* all cases including TEST_NONE are stopping the actuator test */
blTestOngoing = false;
actuatorTest_lockUnlockState = ACTUTEST_STATUS_IDLE;
if (actuatorTestRunning) {
/* If the actuator test is just ending, then perform a clean up:
Return everything to default state. LEDs are reset anyway as soon as we leave test mode. */
hardwareInterface_setPowerRelayOff();
hardwareInterface_setStateB();
hardwareInterface_triggerConnectorUnlocking();
actuatorTestRunning = false;
} else {
/* actuator test was not ongoing and is not requested -> nothing to do */
Expand Down
17 changes: 7 additions & 10 deletions ccs/wakecontrol.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,8 @@

#include "ccs32_globals.h"

uint8_t wakecontrol_timer;
uint8_t allowSleep;
static uint8_t wakecontrol_timer;
static uint8_t allowSleep;

#define WAKECONTROL_TIMER_MAX 20 /* 20*100ms = 2s cycle time */
#define WAKECONTROL_TIMER_NEARLY_EXPIRED 5 /* 5*100ms = 500ms keep_power_on activation time */
Expand All @@ -15,7 +15,7 @@ uint8_t wakecontrol_isPpMeasurementInvalid(void) {
Discussion was here: https://openinverter.org/forum/viewtopic.php?p=75629#p75629 */
if (allowSleep==0) return 0; /* as long as we are not ready to sleep, the PP is valid. */
if (wakecontrol_timer<=WAKECONTROL_TIMER_END_OF_CYCLE__MEASUREMENT_ALLOWED) return 0; /* valid because cyclic pulsing and sufficient propagation delay */
return 1; /* no PP measurement possible, because corrupted by KEEP_POWER_ON. */
return 1; /* no PP measurement possible, because corrupted by KEEP_POWER_ON. */
}

void wakecontrol_mainfunction(void) /* runs in 100ms cycle */
Expand All @@ -33,15 +33,12 @@ void wakecontrol_mainfunction(void) /* runs in 100ms cycle */

//WAKEUP_ONVALIDPP implies that we use PP for wakeup. So as long as PP is valid
//Do not clear the supply pin as that will skew the PP measurement and we can't turn off anyway
if(!CanActive)
if ((Param::GetInt(Param::WakeupPinFunc) & WAKEUP_ONVALIDPP) == 0 || !ppValid)
{
if ((Param::GetInt(Param::WakeupPinFunc) & WAKEUP_ONVALIDPP) == 0 || !ppValid)
{
allowSleep = 1;
}
allowSleep = !CanActive;
}
}

if (!allowSleep) {
DigIo::keep_power_on.Set(); /* Keep the power on */
wakecontrol_timer=WAKECONTROL_TIMER_MAX;
Expand All @@ -63,7 +60,7 @@ void wakecontrol_mainfunction(void) /* runs in 100ms cycle */
/* just in the middle of the counting */
wakecontrol_timer--;
}

}
}

Expand Down
2 changes: 1 addition & 1 deletion include/param_prj.h
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Original file line number Diff line number Diff line change
Expand Up @@ -108,7 +108,7 @@
VALUE_ENTRY(StopReason, STOPREASONS, 2017 ) \
VALUE_ENTRY(checkpoint, "dig", 2015 ) \
VALUE_ENTRY(CanWatchdog, "dig", 2016 ) \
VALUE_ENTRY(CanAwake, OFFON, 2032 ) \
VALUE_ENTRY(CanAwake, OFFON, 2032 ) \
VALUE_ENTRY(ButtonPushed, OFFON, 2033 ) \
VALUE_ENTRY(cpuload, "%", 2094 )

Expand Down
20 changes: 9 additions & 11 deletions src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -131,14 +131,7 @@ static void Ms100Task(void)
}

//CAN bus a sleep !!!to decide
if(Param::GetInt(Param::CanWatchdog) < (CAN_TIMEOUT-10))
{
Param::SetInt(Param::CanAwake,1);
}
else
{
Param::SetInt(Param::CanAwake,0);
}
Param::SetInt(Param::CanAwake, (rtc_get_counter_val() - can->GetLastRxTimestamp()) < 200);
wakecontrol_mainfunction();
canMap->SendAll();
}
Expand Down Expand Up @@ -178,6 +171,8 @@ static void SetMacAddress()
/** This function is called when the user changes a parameter */
void Param::Change(Param::PARAM_NUM paramNum)
{
static bool enableReceived = false;

switch (paramNum)
{
case Param::CanSpeed:
Expand All @@ -190,12 +185,14 @@ void Param::Change(Param::PARAM_NUM paramNum)
//Charge current is the single most important item that must be constantly updated
//by the BMS or VCU. Whenever it is updated we feed the dog
//When it is no longer updated the dog will bark and stop the charge session
Param::SetInt(Param::CanWatchdog, 0);
if (enableReceived)
Param::SetInt(Param::CanWatchdog, 0);
enableReceived = false; //this will be set back to true once enable is received again
break;
case Param::enable:
//by the BMS or VCU. Whenever it is updated we feed the dog
//by the BMS or VCU. Whenever this AND ChargeCurrent is updated we feed the dog
//When it is no longer updated the dog will bark and stop the charge session
Param::SetInt(Param::CanWatchdog, 0);
enableReceived = true;
break;
default:
//Handle general parameter changes here. Add paramNum labels for handling specific parameters
Expand Down Expand Up @@ -272,6 +269,7 @@ extern "C" int main(void)

//backward compatibility, version 4 was the first to support the "stream" command
Param::SetInt(Param::version, 4);
Param::SetInt(Param::LockState, LOCK_OPEN); //Assume lock open
Param::Change(Param::PARAM_LAST); //Call callback one for general parameter propagation
//Now all our main() does is running the terminal
//All other processing takes place in the scheduler or other interrupt service routines
Expand Down
2 changes: 2 additions & 0 deletions stm32-ccs.cbp
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Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,8 @@
<Unit filename="ccs/temperatures.h" />
<Unit filename="ccs/udpChecksum.cpp" />
<Unit filename="ccs/udpChecksum.h" />
<Unit filename="ccs/wakecontrol.cpp" />
<Unit filename="ccs/wakecontrol.h" />
<Unit filename="exi/BitInputStream.c">
<Option compilerVar="CC" />
</Unit>
Expand Down