Diff: charger.cpp

Revision:

5:756fae795d37

Parent:

4:f6459580c312

Child:

7:70cf5bff23f9

--- a/charger.cpp	Thu Jul 27 21:21:32 2017 +0000
+++ b/charger.cpp	Sun Jul 30 22:59:37 2017 +0000
@@ -5,7 +5,6 @@
 #include "Data_types.h"
 #include "CANParserCharger.h"
 
-//TEST PUBLISH
 using namespace CAN_IDs;
 
 void car_interruptHandler();
@@ -17,12 +16,39 @@
 void init();
 void get_CAN_data();
 
-void calculate_current(float voltage_error, float temp_margin, float &current);
+void calculate_current(float &current);
 void check_timeouts();
 void update_LEDS();
 bool idAccepted(int id);
 
+DigitalOut green_led(p21); //charging LED
+DigitalOut yellow_led(p22); //timeout LED
+DigitalOut red_led(p23); //error LED
+DigitalIn charge_switch(p8); //switch to enable charging
+void calculate_current(float voltage_error, float temp_margin, float *current, float *voltage);
 
+uint8_t charger_status; //status packet given by charger, see Elcon CAN Specification in google drive
+bool precharge_status;
+bool comms_timeout;
+bool charger_failure;
+bool charge_finished;
+bool bms_error;
+
+
+//float temp_margin = 0; //degrees C, this is the max cell temperature minus max cell temperature limit, need to avoid this hitting 0
+
+float min_cell_voltage = 3600; //mV
+float max_cell_voltage = 3600;//mV
+
+float charger_current; //mA
+float charger_voltage; //mV
+
+float desired_current = 0; //mA
+float desired_voltage = MAX_VOLTAGE; //mV
+
+float voltage_error = 1000; //mV //This = RISING_BALANCE_THRESHOLD - max_cell_voltage
+
+uint8_t charger_control = STOP_CHARGING;
 
 timeouts_t timeouts;
 
@@ -55,17 +81,19 @@
         check_timeouts();
         update_LEDS();
         
+        charger_control = STOP_CHARGING;
+        
         if (min_cell_voltage > RISING_BALANCE_THRESHOLD || charge_finished) { 
             charge_finished = true;
-            printf("Charge Finished\r\n");
+            if (DEBUG) printf("Charge Finished\r\n");
             car_can.write(generate_charging_finished_msg());
-            charger_control = 0; //set charger control bit to stop charging
+            charger_control = STOP_CHARGING; //set charger control bit to stop charging
         } 
-        else {
-            calculate_current(voltage_error, temp_margin, desired_current);
+        else if (precharge_status && charge_switch.read()) {
+            calculate_current(desired_current);
             desired_voltage = MAX_VOLTAGE;
             charge_finished = false;
-            charger_control = 1; //set charger control bit to start charging
+            charger_control = START_CHARGING; //set charger control bit to start charging
         }
         
         //send CAN data
@@ -81,38 +109,42 @@
         car_can.write(generate_charger_info_msg(charger_voltage, charger_current, charger_status)); //charger info message for rest of car
         while(!car_CAN_data_sent && t.read_ms() < CAN_TIMEOUT_MS);
         
-        printf("Voltage Error = %f\n", voltage_error);
-        printf("Temperature Margin = %f\n", temp_margin);
-        printf("Desired Voltage = %f\n", desired_voltage);
-        printf("Desired Current = %f\n", desired_current);
-        printf("Charger voltage = %f\n", charger_voltage);
-        printf("Charger current = %f\n", charger_current);
-        printf("Min cell voltage = %f\n", min_cell_voltage);
-        printf("Max cell voltage = %f\n", max_cell_voltage);
+        if (DEBUG) {
+            printf("Desired Voltage = %f \r\n", desired_voltage);
+            printf("Desired Current = %f \r\n", desired_current);
+            printf("Charger voltage = %f \r\n", charger_voltage);
+            printf("Charger current = %f \r\n", charger_current);
+            printf("Min cell voltage = %f \r\n", min_cell_voltage);
+            printf("Max cell voltage = %f \r\n", max_cell_voltage);
+            printf("Precharge status is %d \r\n", precharge_status);
+        }
+        
+        wait(TIME_STEP);
         
     }
 }
 
-void calculate_current(float voltage_error, float temp_margin, float &current){
+void calculate_current(float &current){
         
-    float Idot, I;
+    float Idot;
+    
     static bool balancing = false;
-    I = current;
-    if (I < 800 && voltage_error < 100 || balancing) {
+    if (current < 800 && voltage_error < 100 || balancing) {
             balancing = true;
-            printf("balancing\r\n");
-            Idot = voltage_error*KI_BALANCE;
-        } 
+            if (DEBUG) printf("balancing\r\n");
+            Idot = voltage_error *KI_BALANCE;
+    } 
     else {
         Idot = voltage_error*KI_CHARGE;
     }
-    I += Idot*TIME_STEP/1000.0;
+    
+    current += Idot*TIME_STEP/1000.0;
 
-    if(I > MAX_CURRENT) {
-        I = MAX_CURRENT;
+    if(current > MAX_CURRENT) {
+        current = MAX_CURRENT;
     }
-    if(I < 0) {
-        I = 0;
+    if(current < 0) {
+        current = 0;
     }
     /*
     //Reduce current if temperature is too high
@@ -123,7 +155,6 @@
         I *= 0;
     }
     */
-    current = I;
 }
 
 void init()
@@ -154,7 +185,8 @@
     
     timeouts.BMS_timeout.start();
     timeouts.charger_timeout.start();
-
+    
+    precharge_status = false;
 }
 
 void car_CANDataSentCallback(void) {
@@ -206,15 +238,10 @@
             timeouts.BMS_timeout.reset();
             return true;
             
-        case BMS_BASE_ID + CHARGER_CONTROL_INFO_ID:
-            return true;
-            
         case BMS_BASE_ID + MAX_MIN_VOLTAGE:
+        case BMS_BASE_ID + BATTERY_STATUS_ID:
+        case BMS_BASE_ID + BATTERY_PRECHARGE_ID:
             return true;
-            
-        case BMS_BASE_ID + BATTERY_STATUS_ID:
-            return true;
-            
         case CHARGER_VI_INFO_ID:
             timeouts.charger_timeout.reset();
             return true;   
@@ -229,13 +256,13 @@
     
     if (timeouts.BMS_timeout.read_ms() > BMS_MSG_TIMEOUT_MS) 
     {
-        printf("Error: BMS comms timeout");
+        if (DEBUG) printf("Error: BMS comms timeout");
         comms_timeout = true;
     }
     
     if (timeouts.charger_timeout.read_ms() > CHARGER_MSG_TIMEOUT_MS) 
     {
-        printf("Error: Charger comms timeout");
+        if (DEBUG) printf("Error: Charger comms timeout");
         comms_timeout = true;
     }
 }
@@ -273,6 +300,7 @@
         car_safe_to_write[i] = false;
         car_received_CAN_IDs[i] = car_buffer[i].id;
         car_msgArray[i] = car_buffer[i];
+        car_buffer[i].id = BLANK_ID; //this effectively clears the buffer, so that we never reuse old values
         car_safe_to_write[i] = true;
         
         //Now actually import the data from the CAN packets into the global variables
@@ -281,17 +309,19 @@
             case BMS_BASE_ID:
                 break;
                 
-            case BMS_BASE_ID + CHARGER_CONTROL_INFO_ID:
-                get_charger_control_info(car_msgArray[i], voltage_error, temp_margin, discharge_error, pack_capacity);
-                break;
-                
             case BMS_BASE_ID + MAX_MIN_VOLTAGE:
                 get_max_min_voltage(car_msgArray[i], min_cell_voltage, max_cell_voltage);
+                voltage_error = RISING_BALANCE_THRESHOLD - max_cell_voltage;
                 break;
                 
             case BMS_BASE_ID + BATTERY_STATUS_ID:
                 get_battery_status(car_msgArray[i], bms_error); 
                 break;
+            
+            case BMS_BASE_ID + BATTERY_PRECHARGE_ID:
+                check_precharge_status(car_msgArray[i], precharge_status);
+                break;
+            
             case BLANK_ID: //This means we haven't received this type of message yet, so do nothing
                 break;
             default:
@@ -307,6 +337,7 @@
         charger_safe_to_write[i] = false;
         charger_received_CAN_IDs[i] = charger_buffer[i].id;
         charger_msgArray[i] = charger_buffer[i];
+        charger_buffer[i].id = BLANK_ID;
         charger_safe_to_write[i] = true;
         
         //Now actually import the data from the CAN packets into the global variables
@@ -315,27 +346,27 @@
             case CHARGER_VI_INFO_ID:
                 get_charger_VI_info(charger_msgArray[i], charger_voltage, charger_current, charger_status);
                 if(charger_status bitand 1 == 1) {
-                    printf("Charger status: Hardware Failure\r\n");
+                    if (DEBUG) printf("Charger status: Hardware Failure\r\n");
                     charger_failure = true;
                 }
                 
                 if(charger_status bitand 2 == 2) {
-                    printf("Charger status: Over Temperature\r\n");
+                    if (DEBUG) printf("Charger status: Over Temperature\r\n");
                     charger_failure = true; 
                 }
                 
                 if(charger_status bitand 4 == 4) {
-                    printf("Charger status: Input Voltage Wrong\r\n");
+                    if (DEBUG) printf("Charger status: Input Voltage Wrong\r\n");
                     charger_failure = true; 
                 }
                 
                 if(charger_status bitand 8 == 8) {
-                    printf("Charger status: Reverse Polarity\r\n");
+                    if (DEBUG) printf("Charger status: Reverse Polarity\r\n");
                     charger_failure = true;
                 }
                 
                 if(charger_status bitand 16 == 16) {
-                    printf("Charger status: communication timeout\r\n");
+                    if (DEBUG) printf("Charger status: communication timeout\r\n");
                     charger_failure = true; 
                 }
                 break;