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Implemented switch to deactivate software watchdog for debugging Impl…
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…emented example code to read from debug UART Implemented experimental switch to determine slot based on current and coding resistor. With this set, slot CHARGER is detected if current is <0. Otherwise SYSTEM1/2 and NONE are detected normally (see DETECT_SLOT_BASED_ON_CURRENT) Fixed error where hardware watchdog could not be deactivated with the switch
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@ReneSanIFX
ReneSanIFX committed Sep 18, 2024
1 parent b4ad727 commit 89fc764
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Showing 2 changed files with 91 additions and 28 deletions.
2 changes: 2 additions & 0 deletions proj_cm4/global_management.h
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,7 @@
#define CODING_RES_MAINBOARD_1_BELOW_mV 1800 // The voltage threshold when the system is inside the IMR mainboard 1 with the 7.5KOhm resistor installed (part of a voltage divider measured by internal ADC)
#define CODING_RES_CHARGER_BELOW_mV 705 // The voltage threshold when the system is in the charger with 0Ohm installed as coding resistor
#define SLOT_PLUG_DEBOUNCE_TIME 1000 // Time in ms that must pass before slot state changes to a state where switch on is possible are accepted. Prevents switch on during plug in etc
#define DETECT_SLOT_BASED_ON_CURRENT 0 // EXPERIMENTAL: Determine slot based on current and coding resistor (1, experimental/untested) or only based on coding resistor (0, default). Can be used for lab cycling

// Main loop task intervals
#define CAN_MINIMAL_MESSAGE_TIME 5 // Minimal time between CAN messages to limit bus usage. Also defines how fast recorded real time (RT) data can be transfered via CAN command BMS_RT_Data_GetLines (e.g. 3275 lines with 2 messages per line and 5ms between messages -> 32.75s)
Expand Down Expand Up @@ -82,6 +83,7 @@

// Hotswap, shutdown and watchdog
#define ENABLE_HARDWARE_WATCHDOG 1 // Disable or enable hardware watchdog with cyhal_wdt_init(). Note that this feature is deactivated in Hardware when a debug probe is attached to the board (see PSoC documentation)
#define ENABLE_SOFTWARE_WATCHDOG 1 // Disable or enable software watchdog. Use this for easier debugging.
#define HARDWARE_WATCHDOG_TIMEOUT 6000 // Time in ms between watchdog checks if controller hanged up. If a main loop cycle takes longer than this or controller enters fault state, the system will be reset hard (no soft reset). Note this must be lower than result of cyhal_wdt_get_max_timeout_ms()
#define SOFTWARE_WATCHDOG_TIMEOUT 500 // Time in ms between watchdog checks if main loop hanged up. If a main loop cycle takes longer than this, the system will be shut down controlled.
#define MAXIMUM_SHUTDOWN_TIME 6000 // Maximum time that can pass between shutdown button press and hard shutdown. Also determines how long the button must be pressed continuously to trigger hard shutdown. Note that this code also runs on CM0 to make sure a shutdown is possible even if one core stops working. The value for the CM0 core must be set in proc_cm0p/main.c
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117 changes: 89 additions & 28 deletions proj_cm4/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -159,7 +159,7 @@ int main(void)
init_Timer_RTC();

// Initialize Hardware Watchdog
#if defined(ENABLE_HARDWARE_WATCHDOG)
#if ENABLE_HARDWARE_WATCHDOG == 1
result = cyhal_wdt_init(&wdt_obj, HARDWARE_WATCHDOG_TIMEOUT);
if (result != CY_RSLT_SUCCESS){
cyhal_gpio_write(BMS_LED4_BL, 1); cyhal_gpio_write(BMS_LED3_RD, 1);
Expand All @@ -173,12 +173,12 @@ int main(void)
// Init debug message sending via printf
init_UART_debug();

#if (ACTIVATE_CELL_ERROR_IGNORE == 1)
PRINTF_MAIN_DEBUG("\r\n\r\n!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! ALL CELL ERRORS ARE BYPASSED FOR DEBBUGING, THERE ARE ALMOST NO SAFETY FEATURES IN THIS SYSTEM. DO NOT DISTRIBUTE !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\r\n");
#if (ACTIVATE_CELL_ERROR_IGNORE == 1 || ENABLE_HARDWARE_WATCHDOG == 0 || ENABLE_SOFTWARE_WATCHDOG == 0)
PRINTF_MAIN_DEBUG("\r\n\r\n!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! WATCHDOGS OR CELL ERRORS ARE BYPASSED FOR DEBUGGING, SAFETY FEATURES ARE COMPROMISED IN THIS SYSTEM. DO NOT DISTRIBUTE, DO NOT USE OUTSIDE OF LAB !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\r\n");
cyhal_gpio_write(LED_Red, 0);
#endif
PRINTF_MAIN_DEBUG("\r\n\r\n--------------------------------------------------------------------\r\n");
PRINTF_MAIN_DEBUG("START CM4 - Version 05.09.2024 Release 1.1\r\n");
PRINTF_MAIN_DEBUG("START CM4 - Version 18.09.2024 Prerelease 1.2\r\n");
PRINTF_MAIN_DEBUG("\t Last shutdown reason %u (on hard resets, system might restart multiple times!)\r\n", (uint16_t)cyhal_system_get_reset_reason());
//CYHAL_SYSTEM_RESET_NONE = 0, /**< No cause */
//CYHAL_SYSTEM_RESET_WDT = 1, /**< A watchdog timer (WDT) reset has occurred */
Expand Down Expand Up @@ -274,7 +274,7 @@ int main(void)

// Enable software watchdog
mainLoopCounter_lastWatchdog = UINT32_MAX;
isWatchdogActive = 1;
isWatchdogActive = ENABLE_SOFTWARE_WATCHDOG;
// Keep hardware watchdog alive
keepHardwareWatchdogAlive();

Expand Down Expand Up @@ -377,7 +377,7 @@ void timer_watchdog_interrupt_handler(){
shutdownSystem();
}

// Kill system if shutdown took to long
// Kill system if refresh of display with resulting shutdown took to long
if((isShutdownTriggered == 1) && (TIMER_COUNTER_1MS > (shutdownTriggeredTimestamp + MAXIMUM_SHUTDOWN_TIME))){
PRINTF_MAIN_DEBUG("HARD SHUTDOWN TRIGGERED - SHUTDOWN TOOK LONGER THAN MAXIMUM_SHUTDOWN_TIME\r\n");
shutdownSystem();
Expand Down Expand Up @@ -1668,6 +1668,7 @@ void manage_externalCommunicationBMS(){
static canDataSendStates canDataSendState;
uint8_t targetData[CAN_MAX_DATA_LENGTH];

/// DEBUG UART: CYCLIC STATUS SENDING
// Debug status messages
if(TIMER_COUNTER_1MS > (lastExternalCommunicationTimestamp + EXTERNAL_COMMUNICATION_TIME)){
// Store current time as last execution time
Expand Down Expand Up @@ -1806,6 +1807,31 @@ void manage_externalCommunicationBMS(){
}
}

/// DEBUG UART: RECEIVED MESSAGE CHECK
// Prepare buffer
#define RX_BUFFER_UART_SIZE 100
uint8_t rxBufferUART[RX_BUFFER_UART_SIZE];
//uint16_t cmdLen = 0;
static uint16_t full_rx_size = 0;
size_t rx_size = RX_BUFFER_UART_SIZE;

// Read buffer and store received data
cyhal_uart_read(&cy_retarget_io_uart_obj, &rxBufferUART[full_rx_size], &rx_size);
full_rx_size += rx_size;

// If \r was received store command and print result
if (rxBufferUART[full_rx_size - 1] == 0x0d) {
printf("Received %d bytes from UART: ", full_rx_size);
for(uint8_t i=0; i<full_rx_size-1; i++){
printf(" %d (%c)", rxBufferUART[i], rxBufferUART[i]);
}
printf(" %d", rxBufferUART[full_rx_size-1]);
printf("\r\n");
full_rx_size = 0;
//cyhal_uart_clear(&cy_retarget_io_uart_obj);
}

/// CAN COMMUNICATION
// Send information about BMS state via CAN. Only from active BMS
if(statusBMS.hotSwapRole == HOTSWAP_MAIN && (TIMER_COUNTER_1MS > (canLastMessageTimestamp + CAN_MINIMAL_MESSAGE_TIME + (rand() % 4)))){
// Store current time as last message send time
Expand Down Expand Up @@ -2029,33 +2055,68 @@ void manage_slotState(uint8_t ignoreDebounce){
}
// If time since last SLOT_NONE detection is greater than SLOT_PLUG_DEBOUNCE_TIME check in which slot the system is now
else if((ignoreDebounce == 1) || (TIMER_COUNTER_1MS > (slotPlugDebounceTimestamp + SLOT_PLUG_DEBOUNCE_TIME))){
if(adc_coding_res_mV > CODING_RES_CHARGER_BELOW_mV && adc_coding_res_mV < CODING_RES_MAINBOARD_1_BELOW_mV && statusBMS.slotState != SLOT_IN_SYSTEM_1){
PRINTF_MAIN_DEBUG("BMS is in IMR mainboard 1: %ldmV\r\n", adc_coding_res_mV);
// Determine slot based on current and coding resistor or only based on coding resistor (see DETECT_SLOT_BASED_ON_CURRENT)
// EXPERIMENTAL: Detect CHARGER if current is below zero
#if DETECT_SLOT_BASED_ON_CURRENT == 1
if(statusBMS.current < 0){
if(statusBMS.slotState != SLOT_IN_CHARGER){
PRINTF_MAIN_DEBUG("BMS is in charger: %ldmV\r\n", adc_coding_res_mV);

// Change State
statusBMS.slotState = SLOT_IN_CHARGER;

// Refresh own CAN ID
set_canfd_ID_based_on_slot();
}
}
else if(adc_coding_res_mV > CODING_RES_CHARGER_BELOW_mV && adc_coding_res_mV < CODING_RES_MAINBOARD_1_BELOW_mV && statusBMS.slotState != SLOT_IN_SYSTEM_1){
PRINTF_MAIN_DEBUG("BMS is in IMR mainboard 1: %ldmV\r\n", adc_coding_res_mV);

// Change State
statusBMS.slotState = SLOT_IN_SYSTEM_1;
// Change State
statusBMS.slotState = SLOT_IN_SYSTEM_1;

// Refresh own CAN ID
set_canfd_ID_based_on_slot();
}
else if(adc_coding_res_mV > CODING_RES_MAINBOARD_1_BELOW_mV && adc_coding_res_mV < CODING_RES_MAINBOARD_2_BELOW_mV && statusBMS.slotState != SLOT_IN_SYSTEM_2){
PRINTF_MAIN_DEBUG("BMS is in IMR mainboard 2: %ldmV\r\n", adc_coding_res_mV);
// Refresh own CAN ID
set_canfd_ID_based_on_slot();
}
else if(adc_coding_res_mV > CODING_RES_MAINBOARD_1_BELOW_mV && adc_coding_res_mV < CODING_RES_MAINBOARD_2_BELOW_mV && statusBMS.slotState != SLOT_IN_SYSTEM_2){
PRINTF_MAIN_DEBUG("BMS is in IMR mainboard 2: %ldmV\r\n", adc_coding_res_mV);

// Change State
statusBMS.slotState = SLOT_IN_SYSTEM_2;
// Change State
statusBMS.slotState = SLOT_IN_SYSTEM_2;

// Refresh own CAN ID
set_canfd_ID_based_on_slot();
}
else if(adc_coding_res_mV < CODING_RES_CHARGER_BELOW_mV && statusBMS.slotState != SLOT_IN_CHARGER){
PRINTF_MAIN_DEBUG("BMS is in charger: %ldmV\r\n", adc_coding_res_mV);
// Refresh own CAN ID
set_canfd_ID_based_on_slot();
}
// DEFAULT: Detect all slot state only based on coding resistor
#else
if(adc_coding_res_mV > CODING_RES_CHARGER_BELOW_mV && adc_coding_res_mV < CODING_RES_MAINBOARD_1_BELOW_mV && statusBMS.slotState != SLOT_IN_SYSTEM_1){
PRINTF_MAIN_DEBUG("BMS is in IMR mainboard 1: %ldmV\r\n", adc_coding_res_mV);

// Change State
statusBMS.slotState = SLOT_IN_CHARGER;
// Change State
statusBMS.slotState = SLOT_IN_SYSTEM_1;

// Refresh own CAN ID
set_canfd_ID_based_on_slot();
}
// Refresh own CAN ID
set_canfd_ID_based_on_slot();
}
else if(adc_coding_res_mV > CODING_RES_MAINBOARD_1_BELOW_mV && adc_coding_res_mV < CODING_RES_MAINBOARD_2_BELOW_mV && statusBMS.slotState != SLOT_IN_SYSTEM_2){
PRINTF_MAIN_DEBUG("BMS is in IMR mainboard 2: %ldmV\r\n", adc_coding_res_mV);

// Change State
statusBMS.slotState = SLOT_IN_SYSTEM_2;

// Refresh own CAN ID
set_canfd_ID_based_on_slot();
}
else if(adc_coding_res_mV < CODING_RES_CHARGER_BELOW_mV && statusBMS.slotState != SLOT_IN_CHARGER){
PRINTF_MAIN_DEBUG("BMS is in charger: %ldmV\r\n", adc_coding_res_mV);

// Change State
statusBMS.slotState = SLOT_IN_CHARGER;

// Refresh own CAN ID
set_canfd_ID_based_on_slot();
}
#endif
}
}

Expand Down Expand Up @@ -2098,7 +2159,7 @@ void manage_shutdown(){
//****************************************************************************
void keepHardwareWatchdogAlive(){
// Keep hardware watchdog alive
#if defined(ENABLE_HARDWARE_WATCHDOG)
#if ENABLE_HARDWARE_WATCHDOG == 1
cyhal_wdt_kick(&wdt_obj);
#endif /* #if defined (ENABLE_HARDWARE_WATCHDOG) */

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