Rear Controller Board Firmware. More...

Classes
struct	CurrentSenseConfigs

struct	RearControllerConfig

struct	RearControllerStorage

Macros
#define	CONV_DELAY_MS 10

#define	AUX_CONV_DELAY_MS 3

#define	RETRY_DELAY_MS 10U

#define	CELL_SENSE_CONVERSIONS 0

#define	SOLAR_VOLTAGE_THRESHOLD 42000

#define	AFE_BALANCING_UPPER_THRESHOLD 41500

#define	AFE_BALANCING_LOWER_THRESHOLD 40000

#define	IS_USING_CURRENT_SENSE_REV_3 1U

#define	REAR_CONTROLLER_FAN_IDLE_DUTY_PCT 10U

#define	REAR_CONTROLLER_FAN_MAX_DUTY_PCT 100U

#define	REAR_CONTROLLER_FAN_RAMP_MIN_C 45

#define	REAR_CONTROLLER_FAN_RAMP_MAX_C 55

#define	REAR_CONTROLLER_PRECHARGE_EVENT 0U

#define	REAR_CONTROLLER_PRECHARGE_CYCLE_DELAY_MS MASTER_50HZ_TO_MS

#define	REAR_CONTROLLER_PRECHARGE_TIMEOUT_COUNTER 5000 / REAR_CONTROLLER_PRECHARGE_CYCLE_DELAY_MS

#define	REAR_CONTROLLER_CURRENT_SENSE_FILTER_ALPHA 0.5

#define	REAR_CONTROLLER_CURRENT_SENSE_MAX_RETRIES 3

#define	REAR_CONTROLLER_RELAY_INRUSH_MIN_DELAY_MS 130U

#define	REAR_CONTROLLER_SERIES_COUNT 36U

#define	REAR_CONTROLLER_PARALLEL_COUNT 9U

#define	REAR_CONTROLLER_CELL_CAPACITY_AH 4.5

#define	REAR_CONTROLLER_GPIO_DEF(PORT, PIN) { .port = GPIO_PORT_##PORT, .pin = PIN }

#define	GPIO_REAR_CONTROLLER_CAN_RX REAR_CONTROLLER_GPIO_DEF(B, 8)
	Rear Controller CAN RX Port.

#define	GPIO_REAR_CONTROLLER_CAN_TX REAR_CONTROLLER_GPIO_DEF(B, 9)
	Rear Controller CAN TX Port.

#define	GPIO_REAR_CONTROLLER_POS_RELAY_ENABLE REAR_CONTROLLER_GPIO_DEF(A, 6)
	Rear Controller positive relay enable pin.

#define	GPIO_REAR_CONTROLLER_POS_RELAY_SENSE REAR_CONTROLLER_GPIO_DEF(A, 5)
	Rear Controller positive relay sense pin.

#define	GPIO_REAR_CONTROLLER_NEG_RELAY_ENABLE REAR_CONTROLLER_GPIO_DEF(A, 4)
	Rear Controller negative relay enable pin.

#define	GPIO_REAR_CONTROLLER_NEG_RELAY_SENSE REAR_CONTROLLER_GPIO_DEF(A, 3)
	Rear Controller negative relay sense pin.

#define	GPIO_REAR_CONTROLLER_SOLAR_RELAY_ENABLE REAR_CONTROLLER_GPIO_DEF(A, 8)
	Rear Controller solar relay enable pin.

#define	GPIO_REAR_CONTROLLER_SOLAR_RELAY_SENSE REAR_CONTROLLER_GPIO_DEF(A, 9)
	Rear Controller solar relay sense pin.

#define	GPIO_REAR_CONTROLLER_MOTOR_RELAY_ENABLE REAR_CONTROLLER_GPIO_DEF(C, 4)
	Rear Controller motor relay enable pin.

#define	GPIO_REAR_CONTROLLER_MOTOR_RELAY_SENSE REAR_CONTROLLER_GPIO_DEF(A, 7)
	Rear Controller motor relay sense pin.

#define	GPIO_REAR_CONTROLLER_MOTOR_LV_ENABLE REAR_CONTROLLER_GPIO_DEF(C, 12)
	Rear Controller motor low-voltage enable pin.

#define	GPIO_REAR_CONTROLLER_MOTOR_FAN_PWM_1 REAR_CONTROLLER_GPIO_DEF(B, 2)
	Rear Controller fan pwm 1.

#define	GPIO_REAR_CONTROLLER_MOTOR_FAN_PWM_2 REAR_CONTROLLER_GPIO_DEF(B, 3)
	Rear Controller fan pwm 2.

#define	GPIO_REAR_CONTROLLER_MOTOR_FAN_PWR_1 REAR_CONTROLLER_GPIO_DEF(B, 4)
	Rear Controller fan pwr 1.

#define	GPIO_REAR_CONTROLLER_MOTOR_FAN_SENSE_1 REAR_CONTROLLER_GPIO_DEF(B, 0)
	Rear Controller fan sense 2.

#define	GPIO_REAR_CONTROLLER_MOTOR_FAN_SENSE_2 REAR_CONTROLLER_GPIO_DEF(B, 1)
	Rear Controller fan sense 1.

#define	REAR_CONTROLLER_CURRENT_SENSE_I2C_PORT I2C_PORT_3
	Current sense I2C port.

#define	GPIO_REAR_CONTROLLER_CURRENT_SENSE_I2C_SDA_GPIO REAR_CONTROLLER_GPIO_DEF(C, 1)
	Current sense I2C serial data pin.

#define	GPIO_REAR_CONTROLLER_CURRENT_SENSE_I2C_SCL_GPIO REAR_CONTROLLER_GPIO_DEF(C, 0)
	Current sense I2C clock pin.

#define	REAR_CONTROLLER_CURRENT_SENSE_ACS37800_I2C_ADDR (96)
	Current sense slave address.

#define	REAR_CONTOLLER_CURRENT_SENSE_ADC122_I2C_ADDR (64)
	Current sense slave address.

#define	REAR_CONTROLLER_HYDROGEN_SENSOR_I2C_PORT I2C_PORT_2
	Hydrogen sensor I2C port.

#define	GPIO_REAR_CONTROLLER_HYDROGEN_SENSOR_I2C_SDA_GPIO REAR_CONTROLLER_GPIO_DEF(B, 11)
	Hydrogen sensor I2C serial data pin.

#define	GPIO_REAR_CONTROLLER_HYDROGEN_SENSOR_I2C_SCL_GPIO REAR_CONTROLLER_GPIO_DEF(B, 10)
	Hydrogen sensor I2C clock pin.

#define	REAR_CONTROLLER_HYDROGEN_SENSOR_I2C_ADDR (0x36)
	Hydrogen sensor slave address.

#define	GPIO_REAR_CONTROLLER_HYDROGEN_SENSOR_STANDBY REAR_CONTROLLER_GPIO_DEF(D, 2)
	Hydrogen sensor standby.

#define	REAR_CONTROLLER_ADBMS_AFE_SPI_PORT SPI_PORT_2
	AFE SPI port.

#define	REAR_CONTROLLER_ADBMS_AFE_SPI_BAUDRATE SPI_BAUDRATE_312_5KHZ
	AFE SPI Baudrate.

#define	GPIO_REAR_CONTROLLER_ADBMS_AFE_SPI_SDO_GPIO REAR_CONTROLLER_GPIO_DEF(B, 15)
	AFE SPI Serial data out.

#define	GPIO_REAR_CONTROLLER_ADBMS_AFE_SPI_SDI_GPIO REAR_CONTROLLER_GPIO_DEF(B, 14)
	AFE SPI Serial data in.

#define	GPIO_REAR_CONTROLLER_ADBMS_AFE_SPI_SCK_GPIO REAR_CONTROLLER_GPIO_DEF(B, 13)
	AFE SPI Serial clock line.

#define	GPIO_REAR_CONTROLLER_ADBMS_AFE_SPI_CS_GPIO REAR_CONTROLLER_GPIO_DEF(B, 12)
	AFE SPI Chip select line.

#define	GPIO_REAR_CONTROLLER_PCS_VALID1 REAR_CONTROLLER_GPIO_DEF(C, 6)
	Rear Controller PCS input valid pin 1.

#define	GPIO_REAR_CONTROLLER_PCS_VALID2 REAR_CONTROLLER_GPIO_DEF(C, 7)
	Rear Controller PCS input valid pin 2.

#define	GPIO_REAR_CONTROLLER_AUX_VALID1 REAR_CONTROLLER_GPIO_DEF(C, 8)
	Rear Controller AUX input valid pin 1.

#define	GPIO_REAR_CONTROLLER_AUX_VALID2 REAR_CONTROLLER_GPIO_DEF(C, 9)
	Rear Controller AUX input valid pin 2.

#define	GPIO_REAR_CONTROLLER_PCS_VSENSE REAR_CONTROLLER_GPIO_DEF(A, 2)
	Rear Controller PCS voltage sense.

#define	GPIO_REAR_CONTROLLER_AUX_VSENSE REAR_CONTROLLER_GPIO_DEF(A, 1)
	Rear Controller AUX voltage sense.

#define	GPIO_REAR_CONTROLLER_PCS_ISENSE REAR_CONTROLLER_GPIO_DEF(C, 3)
	Rear Controller PCS current sense.

#define	GPIO_REAR_CONTROLLER_AUX_ISENSE REAR_CONTROLLER_GPIO_DEF(C, 2)
	Rear Controller AUX current sense.

#define	GPIO_REAR_CONTROLLER_PRECHARGE_MONITOR_GPIO REAR_CONTROLLER_GPIO_DEF(A, 0)
	Precharge monitoring pin.

#define	GPIO_REAR_CONTROLLER_KILLSWITCH_MONITOR REAR_CONTROLLER_GPIO_DEF(C, 5)
	Killswitch monitoring pin.

#define	GPIO_REAR_CONTROLLER_BOARD_LED REAR_CONTROLLER_GPIO_DEF(A, 10)
	Rear Controller board LED.

#define	PACK_MAX_DISCHARGE_CURRENT_A -80.0

#define	PACK_MAX_CHARGE_CURRENT_A 80.0

#define	PACK_SHORT_CIRCUIT_CURRENT_A 60000

#define	CELL_OVERVOLTAGE_LIMIT_mV 4200

#define	CELL_UNDERVOLTAGE_LIMIT_mV 2500

#define	CELL_UNBALANCED_LIMIT_mV 500

#define	PACK_OVERVOLTAGE_LIMIT_mV 151200

#define	PACK_UNDERVOLTAGE_LIMIT_mV 90000

#define	CELL_OVERTEMP_DISCHARGE_LIMIT_C 60

#define	CELL_OVERTEMP_CHARGE_LIMIT_C 60

#define	CELL_UNDERTEMP_CHARGE_LIMIT_C 0

#define	SHORT_CIRCUIT_RESPONSE_MS 1U

#define	OVERCURRENT_RESPONSE_LOOPS 2

#define	OVERTEMP_RESPONSE_MS 500U

#define	UNDERVOLTAGE_RESPONSE_MS 1000U

#define	OVERVOLTAGE_RESPONSE_MS 1000U

#define	NUM_REAR_RELAYS 4U

#define	REAR_CLOSE_RELAYS_DELAY_MS 250U

#define	REAR_CLOSE_RELAYS_DELAY_MS 250U

#define	SOC_OCV_TABLE_SIZE (100)

#define	SOC_TABLE_VALUES
	SOC table initializer list. More...

#define	OCV_TABLE_VALUES
	OCV table initializer list. More...

Enumerations
enum	RearControllerState { REAR_CONTROLLER_STATE_IDLE , REAR_CONTROLLER_STATE_DRIVE , REAR_CONTROLLER_STATE_FAULT , REAR_CONTROLLER_STATE_START }

enum	RearControllerEvent { REAR_CONTROLLER_EVENT_NONE = 0 , REAR_CONTROLLER_EVENT_INIT_COMPLETE , REAR_CONTROLLER_EVENT_DRIVE_REQUEST , REAR_CONTROLLER_EVENT_NEUTRAL_REQUEST , REAR_CONTROLLER_EVENT_FAULT , REAR_CONTROLLER_EVENT_RESET }

Functions
StatusCode	bps_fault_init (RearControllerStorage *storage)
	Initialize the BPS fault memory. More...

StatusCode	bps_fault_commit (void)
	Commit a new BPS fault to persist memory and CAN data. More...

StatusCode	trigger_bps_fault (BpsFault fault)
	Trigger a BPS fault. This opens the relays and updates rear controller storage. More...

StatusCode	trigger_bps_fault_with_cell (BpsFault fault, uint8_t cell_at_fault)
	Trigger a BPS fault with an associated cell index. More...

StatusCode	trigger_bps_fault_with_data (BpsFault fault, uint8_t cell_at_fault, BpsFaultData data)
	Trigger a BPS fault with a detail snapshot for the fault data payload. More...

StatusCode	bps_fault_clear ()
	Clear the BPS fault. More...

StatusCode	cell_sense_init (RearControllerStorage *storage)
	Initializes the cell sense sub-system. More...

StatusCode	log_cell_sense ()
	Logs the newest cell sense readings. More...

StatusCode	current_sense_init (RearControllerStorage *rear_controller_storage)
	Initializes the current sense sub-system. More...

StatusCode	current_sense_run ()
	Run a current sensing cycle to update pack voltage and pack current readings. More...

StatusCode	fans_init (RearControllerStorage *storage)
	Initializes the fan sub-system. More...

StatusCode	fans_run (void)
	Ramps both PWM fans from idle to full over the temp band, and drives fan_pwr_1 on BPS fault. More...

StatusCode	killswitch_init (Event event, const Task *task)
	Initializes the killswitch with interrupt handling. More...

StatusCode	killswitch_run ()
	Run the program that checks killswitch.

StatusCode	power_path_manager_init (RearControllerStorage *storage)
	Initialize the power path manager. More...

StatusCode	power_path_manager_run (void)
	Run power path manager calculations. More...

StatusCode	precharge_init (Event event, const Task task, RearControllerStorage storage)
	Initializes the precharge pin with interrupt handling. More...

StatusCode	precharge_run ()
	Run the program that checks precharge completion. More...

StatusCode	rear_controller_init (RearControllerStorage storage, RearControllerConfig config, Ws22MotorCanConfig *motor_can_config)

StatusCode	rear_controller_state_manager_init (RearControllerStorage *storage)
	Initialize the state machine. More...

StatusCode	rear_controller_state_manager_step (RearControllerEvent event)
	Advance the state machine based on inputs/events. More...

RearControllerState	rear_controller_state_manager_get_state (void)
	Get current state. More...

StatusCode	rear_controller_update_state_manager_medium_cycle ()
	Update the state/set relays based on information recieved from CAN (medium cycle). More...

StatusCode	relays_init (RearControllerStorage *storage)
	Initialize the relay control module. More...

StatusCode	relays_reset ()
	Reset relays by disengaging all relays. More...

StatusCode	relays_enable_ws22_lv (void)
	Enable the low voltage for the Wavesculptor 22. More...

StatusCode	relays_disable_ws22_lv (void)
	Disable the low voltage for the Wavesculptor 22. More...

StatusCode	relays_close_pos (void)
	Close the high-side (POS) relay. More...

StatusCode	relays_open_pos (void)
	Open the high-side (POS) relay. More...

StatusCode	relays_close_neg (void)
	Close the low-side (NEG) relay. More...

StatusCode	relays_open_neg (void)
	Open the low-side (NEG) relay. More...

StatusCode	relays_close_motor (void)
	Close the motor HV relay. More...

StatusCode	relays_open_motor (void)
	Open the motor HV relay. More...

StatusCode	relays_close_solar (void)
	Close the solar array relay. More...

StatusCode	relays_open_solar (void)
	Open the solar array relay. More...

StatusCode	state_of_charge_init (RearControllerStorage *storage)
	Initialize the state of charge EKF. More...

StatusCode	state_of_charge_run ()
	Run state of charge calculation. More...

uint16_t	calculate_board_thermistor_temperature (uint16_t thermistor_voltage_mv)

fid, '#pragma once\n\n'	fprintf ()

	fprintf (fid, '#define SOC_TABLE_VALUES { \\\n')

Variables
for	i

normalize to cell capacity Downsample to points for embedded target params	SOC_OCV_table_size = 100

Detailed Description

Rear Controller Board Firmware.

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Macro Definition Documentation

◆ CELL_OVERTEMP_CHARGE_LIMIT_C

#define CELL_OVERTEMP_CHARGE_LIMIT_C 60

Max temperature for charge

◆ CELL_OVERTEMP_DISCHARGE_LIMIT_C

#define CELL_OVERTEMP_DISCHARGE_LIMIT_C 60

Max temperature for discharge

◆ CELL_OVERVOLTAGE_LIMIT_mV

#define CELL_OVERVOLTAGE_LIMIT_mV 4200

Over-voltage cutoff

◆ CELL_UNBALANCED_LIMIT_mV

#define CELL_UNBALANCED_LIMIT_mV 500

Cell imbalance cutoff

◆ CELL_UNDERTEMP_CHARGE_LIMIT_C

#define CELL_UNDERTEMP_CHARGE_LIMIT_C 0

Min temperature for charge

◆ CELL_UNDERVOLTAGE_LIMIT_mV

#define CELL_UNDERVOLTAGE_LIMIT_mV 2500

Under-voltage cutoff

◆ OCV_TABLE_VALUES

#define OCV_TABLE_VALUES

Value:

  {                                                                                                                                                                                                \
    4.190309f, 4.142459f, 4.125309f, 4.109280f, 4.096676f, 4.089667f, 4.081620f, 4.074673f, 4.071015f, 4.067829f, 4.064239f, 4.060644f, 4.057323f, 4.053907f, 4.050377f, 4.045739f, 4.040416f,     \
        4.029665f, 4.019790f, 4.009186f, 3.995196f, 3.989016f, 3.973552f, 3.959041f, 3.945586f, 3.932916f, 3.919387f, 3.906022f, 3.897782f, 3.884600f, 3.874346f, 3.865464f, 3.857186f, 3.846547f, \
        3.839709f, 3.831643f, 3.822724f, 3.815790f, 3.807380f, 3.799490f, 3.789692f, 3.781002f, 3.771773f, 3.762184f, 3.753478f, 3.744195f, 3.732853f, 3.724786f, 3.715202f, 3.701670f, 3.692630f, \
        3.680708f, 3.670696f, 3.662949f, 3.649588f, 3.640017f, 3.631904f, 3.621902f, 3.612311f, 3.597636f, 3.587588f, 3.577288f, 3.564566f, 3.553095f, 3.541913f, 3.528201f, 3.515210f, 3.503648f, \
        3.494589f, 3.490979f, 3.481063f, 3.469875f, 3.461891f, 3.449600f, 3.431904f, 3.413725f, 3.398655f, 3.383520f, 3.363502f, 3.348831f, 3.326888f, 3.306968f, 3.287810f, 3.262994f, 3.236372f, \
        3.211370f, 3.185426f, 3.155850f, 3.133044f, 3.104363f, 3.076283f, 3.039610f, 3.011365f, 2.967701f, 2.916989f, 2.873446f, 2.801993f, 2.708813f, 2.625193f, 2.501839f                        \
  }

OCV table initializer list.

◆ OVERCURRENT_RESPONSE_LOOPS

#define OVERCURRENT_RESPONSE_LOOPS 2

Delay before over-current trips

◆ OVERTEMP_RESPONSE_MS

#define OVERTEMP_RESPONSE_MS 500U

Delay before over-temp trips

◆ OVERVOLTAGE_RESPONSE_MS

#define OVERVOLTAGE_RESPONSE_MS 1000U

Delay before over-voltage trips

◆ PACK_MAX_CHARGE_CURRENT_A

#define PACK_MAX_CHARGE_CURRENT_A 80.0

Maximum allowed charge current

◆ PACK_MAX_DISCHARGE_CURRENT_A

#define PACK_MAX_DISCHARGE_CURRENT_A -80.0

Maximum allowed discharge current

◆ PACK_SHORT_CIRCUIT_CURRENT_A

#define PACK_SHORT_CIRCUIT_CURRENT_A 60000

Instantaneous short-circuit threshold

◆ SHORT_CIRCUIT_RESPONSE_MS

#define SHORT_CIRCUIT_RESPONSE_MS 1U

HW trip reaction time

◆ SOC_TABLE_VALUES

#define SOC_TABLE_VALUES

Value:

  {                                                                                                                                                                                                \
    0.000000f, 0.011111f, 0.020000f, 0.031111f, 0.042222f, 0.051111f, 0.062222f, 0.073333f, 0.082222f, 0.093333f, 0.104444f, 0.115556f, 0.124444f, 0.135556f, 0.146667f, 0.155556f, 0.166667f,     \
        0.177778f, 0.186667f, 0.197778f, 0.208889f, 0.217778f, 0.228889f, 0.240000f, 0.248889f, 0.260000f, 0.271111f, 0.282222f, 0.291111f, 0.302222f, 0.313333f, 0.322222f, 0.333333f, 0.344444f, \
        0.353333f, 0.364444f, 0.375556f, 0.384444f, 0.395556f, 0.406667f, 0.415556f, 0.426667f, 0.437778f, 0.448889f, 0.457778f, 0.468889f, 0.480000f, 0.488889f, 0.500000f, 0.511111f, 0.520000f, \
        0.531111f, 0.542222f, 0.551111f, 0.562222f, 0.573333f, 0.582222f, 0.593333f, 0.604444f, 0.615556f, 0.624444f, 0.635556f, 0.646667f, 0.655556f, 0.666667f, 0.677778f, 0.686667f, 0.697778f, \
        0.708889f, 0.717778f, 0.728889f, 0.740000f, 0.748889f, 0.760000f, 0.771111f, 0.782222f, 0.791111f, 0.802222f, 0.813333f, 0.822222f, 0.833333f, 0.844444f, 0.853333f, 0.864444f, 0.875556f, \
        0.884444f, 0.895556f, 0.906667f, 0.915556f, 0.926667f, 0.937778f, 0.948889f, 0.957778f, 0.968889f, 0.980000f, 0.988889f, 1.000000f, 1.011111f, 1.020000f, 1.031111f                        \
  }

SOC table initializer list.

◆ UNDERVOLTAGE_RESPONSE_MS

#define UNDERVOLTAGE_RESPONSE_MS 1000U

Delay before under-voltage trips

Enumeration Type Documentation

◆ RearControllerState

enum RearControllerState

Enumerator
REAR_CONTROLLER_STATE_IDLE	Ready but not driving or charging, cars in neutral
REAR_CONTROLLER_STATE_DRIVE	Driving: motor relays closed, LV enabled
REAR_CONTROLLER_STATE_FAULT	Faulted: relays open, latched until reset
REAR_CONTROLLER_STATE_START	Start: relays open, latched until begin

Function Documentation

◆ bps_fault_clear()

StatusCode bps_fault_clear ( )

Clear the BPS fault.

Parameters

fault BPS Fault event

Returns: STATUS_CODE_OK if triggered successfully STATUS_CODE_UNINITIALIZED if the system is not initialized

◆ bps_fault_commit()

StatusCode bps_fault_commit ( void )

Commit a new BPS fault to persist memory and CAN data.

Returns: STATUS_CODE_OK if committed successfully STATUS_CODE_UNINITIALIZED if the system is not initialized

◆ bps_fault_init()

StatusCode bps_fault_init ( RearControllerStorage * storage )

Initialize the BPS fault memory.

Parameters

storage Pointer to the rear controller storage

Returns: STATUS_CODE_OK if initialized successfully STATUS_CODE_INVALID_ARGS if invalid parameter is passed in

◆ cell_sense_init()

StatusCode cell_sense_init ( RearControllerStorage * storage )

Initializes the cell sense sub-system.

Parameters

storage Pointer to the rear controller storage

Returns: STATUS_CODE_OK if initialized succesfully STATUS_CODE_INVALID_ARGS if invalid parameter is passed in

◆ current_sense_init()

StatusCode current_sense_init ( RearControllerStorage * rear_controller_storage )

Initializes the current sense sub-system.

Parameters

storage Pointer to the rear controller storage

Returns: STATUS_CODE_OK if initialized succesfully STATUS_CODE_INVALID_ARGS if invalid parameter is passed in

◆ current_sense_run()

StatusCode current_sense_run ( )

Run a current sensing cycle to update pack voltage and pack current readings.

Returns: STATUS_CODE_OK if current sensed successfully STATUS_CODE_UNINITIALIZED if not initialized

◆ fans_init()

StatusCode fans_init ( RearControllerStorage * storage )

Initializes the fan sub-system.

Parameters

storage Pointer to the rear controller storage

Returns: STATUS_CODE_OK if initialized succesfully STATUS_CODE_INVALID_ARGS if invalid parameter is passed in

◆ fans_run()

StatusCode fans_run ( void )

Ramps both PWM fans from idle to full over the temp band, and drives fan_pwr_1 on BPS fault.

Returns: STATUS_CODE_OK if executed succesfully

◆ killswitch_init()

StatusCode killswitch_init	(	Event	event,
		const Task *	task
	)

Initializes the killswitch with interrupt handling.

Parameters

event	Event to raise when killswitch is triggered
task	Task to notify when event is raised

Returns: StatusCode indicating success or failure of initialization

◆ log_cell_sense()

StatusCode log_cell_sense ( )

Logs the newest cell sense readings.

Returns: STATUS_CODE_OK if logged succesfully STATUS_CODE_UNINITIALIZED if system is not initialized

◆ power_path_manager_init()

StatusCode power_path_manager_init ( RearControllerStorage * storage )

Initialize the power path manager.

Parameters

storage Pointer to the rear controller storage

Returns: STATUS_CODE_OK if initialized successfully STATUS_CODE_INVALID_ARGS if an invalid argument is passed

◆ power_path_manager_run()

StatusCode power_path_manager_run ( void )

Run power path manager calculations.

Returns: STATUS_CODE_OK if manager runs successfully

◆ precharge_init()

StatusCode precharge_init	(	Event	event,
		const Task *	task,
		RearControllerStorage *	storage
	)

Initializes the precharge pin with interrupt handling.

Parameters

event	Event to raise when precharge is complete
task	Task to notify when event is raised

Returns: StatusCode indicating success or failure of initialization

◆ precharge_run()

StatusCode precharge_run ( )

Run the program that checks precharge completion.

Returns: StatusCode indicating success or failure

◆ rear_controller_state_manager_get_state()

RearControllerState rear_controller_state_manager_get_state ( void )

Get current state.

Returns: Current rear controller state (see RearControllerState)

◆ rear_controller_state_manager_init()

StatusCode rear_controller_state_manager_init ( RearControllerStorage * storage )

Initialize the state machine.

Parameters

storage Pointer to the rear controller storage

Returns: STATUS_CODE_OK if initialized successfully STATUS_CODE_RESOURCE_EXHAUSTED if initialized already

◆ rear_controller_state_manager_step()

StatusCode rear_controller_state_manager_step ( RearControllerEvent event )

Advance the state machine based on inputs/events.

Parameters

event The triggering event

Returns: STATUS_CODE_OK if initialized successfully STATUS_CODE_UNINITIALIZED if uninitialized

◆ rear_controller_update_state_manager_medium_cycle()

StatusCode rear_controller_update_state_manager_medium_cycle ( )

Update the state/set relays based on information recieved from CAN (medium cycle).

Returns: STATUS_CODE_OK if udpated successfully

◆ relays_close_motor()

StatusCode relays_close_motor ( void )

Close the motor HV relay.

Returns: STATUS_CODE_OK if relay closed successfully

◆ relays_close_neg()

StatusCode relays_close_neg ( void )

Close the low-side (NEG) relay.

Returns: STATUS_CODE_OK if relay closed successfully

◆ relays_close_pos()

StatusCode relays_close_pos ( void )

Close the high-side (POS) relay.

Returns: STATUS_CODE_OK if relay closed successfully

◆ relays_close_solar()

StatusCode relays_close_solar ( void )

Close the solar array relay.

Returns: STATUS_CODE_OK if relay closed successfully

◆ relays_disable_ws22_lv()

StatusCode relays_disable_ws22_lv ( void )

Disable the low voltage for the Wavesculptor 22.

Returns: STATUS_CODE_OK if disabled successfully

◆ relays_enable_ws22_lv()

StatusCode relays_enable_ws22_lv ( void )

Enable the low voltage for the Wavesculptor 22.

Returns: STATUS_CODE_OK if enabled successfully

◆ relays_init()

StatusCode relays_init ( RearControllerStorage * storage )

Initialize the relay control module.

Parameters

storage Pointer to the rear controller storage

Returns: STATUS_CODE_OK

◆ relays_open_motor()

StatusCode relays_open_motor ( void )

Open the motor HV relay.

Returns: STATUS_CODE_OK if relay opened successfully

◆ relays_open_neg()

StatusCode relays_open_neg ( void )

Open the low-side (NEG) relay.

Returns: STATUS_CODE_OK if relay opened successfully

◆ relays_open_pos()

StatusCode relays_open_pos ( void )

Open the high-side (POS) relay.

Returns: STATUS_CODE_OK if relay opened successfully

◆ relays_open_solar()

StatusCode relays_open_solar ( void )

Open the solar array relay.

Returns: STATUS_CODE_OK if relay opened successfully

◆ relays_reset()

StatusCode relays_reset ( )

Reset relays by disengaging all relays.

Returns: STATUS_CODE_OK if relays opened successfully

◆ state_of_charge_init()

StatusCode state_of_charge_init ( RearControllerStorage * storage )

Initialize the state of charge EKF.

Parameters

storage Pointer to the rear controller storage

Returns: STATUS_CODE_OK when initialized successfully STATUS_CODE_INVALID_ARGS when invalid parameters are passed

◆ state_of_charge_run()

StatusCode state_of_charge_run ( )

Run state of charge calculation.

Returns: STATUS_CODE_OK when calculated successfully

◆ trigger_bps_fault()

StatusCode trigger_bps_fault ( BpsFault fault )

Trigger a BPS fault. This opens the relays and updates rear controller storage.

Parameters

fault BPS Fault event

Returns: STATUS_CODE_OK if triggered successfully STATUS_CODE_UNINITIALIZED if the system is not initialized

◆ trigger_bps_fault_with_cell()

StatusCode trigger_bps_fault_with_cell	(	BpsFault	fault,
		uint8_t	cell_at_fault
	)

Trigger a BPS fault with an associated cell index.

Parameters

fault	BPS Fault event
cell_at_fault	One-based cell index for cell-related faults, or 0 if not applicable

Returns: STATUS_CODE_OK if triggered successfully STATUS_CODE_UNINITIALIZED if the system is not initialized

◆ trigger_bps_fault_with_data()

StatusCode trigger_bps_fault_with_data	(	BpsFault	fault,
		uint8_t	cell_at_fault,
		BpsFaultData	data
	)

Trigger a BPS fault with a detail snapshot for the fault data payload.

The detail is latched only for the first (root) fault while a fault is active. The fault code bitmask still accumulates every active fault bit.

Parameters

fault	BPS Fault event
cell_at_fault	One-based cell index for cell-related faults, or 0 if not applicable
data	Fault-specific detail snapshot (see BpsFaultData in global_enums.h)

Returns: STATUS_CODE_OK if triggered successfully STATUS_CODE_UNINITIALIZED if the system is not initialized STATUS_CODE_INVALID_ARGS if the fault is out of range

Variable Documentation

◆ i

for i

Initial value:

= 1:params.SOC_OCV_table_size

fprintf(fid, ' %.6ff', params.SOC_table(i))

Classes

Macros

Enumerations

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ CELL_OVERTEMP_CHARGE_LIMIT_C

◆ CELL_OVERTEMP_DISCHARGE_LIMIT_C

◆ CELL_OVERVOLTAGE_LIMIT_mV

◆ CELL_UNBALANCED_LIMIT_mV

◆ CELL_UNDERTEMP_CHARGE_LIMIT_C

◆ CELL_UNDERVOLTAGE_LIMIT_mV

◆ OCV_TABLE_VALUES

◆ OVERCURRENT_RESPONSE_LOOPS

◆ OVERTEMP_RESPONSE_MS

◆ OVERVOLTAGE_RESPONSE_MS

◆ PACK_MAX_CHARGE_CURRENT_A

◆ PACK_MAX_DISCHARGE_CURRENT_A

◆ PACK_SHORT_CIRCUIT_CURRENT_A

◆ SHORT_CIRCUIT_RESPONSE_MS

◆ SOC_TABLE_VALUES

◆ UNDERVOLTAGE_RESPONSE_MS

Enumeration Type Documentation

◆ RearControllerState

Function Documentation

◆ bps_fault_clear()

◆ bps_fault_commit()

◆ bps_fault_init()

◆ cell_sense_init()

◆ current_sense_init()

◆ current_sense_run()

◆ fans_init()

◆ fans_run()

◆ killswitch_init()

◆ log_cell_sense()

◆ power_path_manager_init()

◆ power_path_manager_run()

◆ precharge_init()

◆ precharge_run()

◆ rear_controller_state_manager_get_state()

◆ rear_controller_state_manager_init()

◆ rear_controller_state_manager_step()

◆ rear_controller_update_state_manager_medium_cycle()

◆ relays_close_motor()

◆ relays_close_neg()

◆ relays_close_pos()

◆ relays_close_solar()

◆ relays_disable_ws22_lv()

◆ relays_enable_ws22_lv()

◆ relays_init()

◆ relays_open_motor()

◆ relays_open_neg()

◆ relays_open_pos()

◆ relays_open_solar()

◆ relays_reset()

◆ state_of_charge_init()

◆ state_of_charge_run()

◆ trigger_bps_fault()

◆ trigger_bps_fault_with_cell()

◆ trigger_bps_fault_with_data()

Variable Documentation

◆ i