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 41500

#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 4210

#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_POWER_WS22_DELAY_MS 750U

#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...

bool	bps_is_disabled (void)
	Whether BPS protection is disabled from steering (manual override) 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 4210

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

◆ bps_is_disabled()

bool bps_is_disabled ( void )

Whether BPS protection is disabled from steering (manual override)

Defaults to enabled until the first steering frame is received, so protection is never spuriously off at boot when the steering bitfield still reads its zero default.

Returns: true if BPS is disabled, false otherwise

◆ 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()

◆ bps_is_disabled()

◆ 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