SFT-327 Trip if you don’t have messages from the orion after 400ms

EpsilonAuxBmsV2/Core/Inc/Tasks/ChargeContactorGatekeeperTask.h

@@ -1,7 +1,10 @@
 #pragma once
 #include "ContactorGatekeeper.h"
+#include "AuxTrip.h"
 
 extern osThreadId_t chargeContactorGatekeeperTaskHandle;
+extern AuxTrip auxTrip;
+extern osMutexId_t auxTripMutex;
 
 void closeChargeContactor();
 void openChargeContactor();

EpsilonAuxBmsV2/Core/Inc/Tasks/DischargeContactorGatekeeperTask.h

@@ -1,8 +1,11 @@
 #pragma once
 #include "ContactorGatekeeper.h"
+#include "AuxTrip.h"
 
 extern osThreadId_t dischargeContactorGatekeeperTaskHandle;
 extern AuxBmsContactorState auxBmsContactorState;
+extern AuxTrip auxTrip;
+extern osMutexId_t auxTripMutex;
 
 void dischargeContactorGatekeeperTask(void* arg);
 void closeDischargeContactor();

EpsilonAuxBmsV2/Core/Inc/Types/AuxTrip.h

@@ -11,4 +11,7 @@ typedef struct
     unsigned dischargeTripDueToHighTemperatureAndCurrent : 1;
     unsigned dischargeTripDueToPackCurrent : 1;
     unsigned protectionTrip : 1;
+    unsigned dischargeNotClosedDueToHighCurrent: 1;
+    unsigned chargeNotClosedDueToHighCurrent: 1;
+    unsigned tripDueToOrionMessageTimeout : 1;
 } AuxTrip;

EpsilonAuxBmsV2/Core/Src/Tasks/ChargeContactorGatekeeperTask.c

@@ -37,6 +37,14 @@ void closeChargeContactor()
         auxBmsContactorState.chargeState = CONTACTOR_ERROR;
         HAL_GPIO_WritePin(CHARGE_ENABLE_GPIO_Port, CHARGE_ENABLE_Pin, GPIO_PIN_RESET);
 
+        if (!currentLow) { //something closed that isn't supposed to be 
+            if (osMutexAcquire(auxTripMutex, MUTEX_TIMEOUT) == osOK)
+            {
+                auxTrip.chargeNotClosedDueToHighCurrent = 1;
+                osMutexRelease(auxTripMutex);
+            }
+        }
+
         if (isDischargeClosed) // Discharge closed so delay and try again
         {
             osDelay(CONTACTOR_DELAY);

EpsilonAuxBmsV2/Core/Src/Tasks/DischargeContactorGatekeeperTask.c

@@ -38,6 +38,14 @@ void closeDischargeContactor()
         auxBmsContactorState.dischargeState = CONTACTOR_ERROR;
         HAL_GPIO_WritePin(DISCHARGE_ENABLE_GPIO_Port, DISCHARGE_ENABLE_Pin, GPIO_PIN_RESET);
 
+        if (!currentLow) { //something closed that isn't supposed to be 
+            if (osMutexAcquire(auxTripMutex, MUTEX_TIMEOUT) == osOK)
+            {
+                auxTrip.dischargeNotClosedDueToHighCurrent = 1;
+                osMutexRelease(auxTripMutex);
+            }
+        }
+
         if (isChargeClosed) // charge contactor closed so delay then try again
         {
             osDelay(CONTACTOR_DELAY);

EpsilonAuxBmsV2/Core/Src/Tasks/OrionFunctions/Trip.c

@@ -60,29 +60,33 @@ void updateAuxTrip(OrionCanInfo* message, AuxTrip* auxTripToUpdate)
 }
 
 /*
-Determines whether Discharge should cause a trip based on Orion CAN messages
+Determines whether Discharge should cause a trip based on Orion CAN messages and current line between contactors
 Discharge will cause a trip due to:
   * the min cell voltage being lower than the Orion limit
   * high temperature while discharging
   * discharge pack current being too high
+  * current line between contactors not low enough to close discharge
 */
 uint8_t checkDischargeTrip(AuxTrip auxTrip)
 {
     return auxTrip.dischargeTripDueToLowCellVoltage ||
            auxTrip.dischargeTripDueToHighTemperatureAndCurrent ||
-           auxTrip.dischargeTripDueToPackCurrent;
+           auxTrip.dischargeTripDueToPackCurrent ||
+           auxTrip.dischargeNotClosedDueToHighCurrent; //set in discharge gatekeeper task
 }
 
 /*
-Determines whether charge should cause a trip based on Orion CAN messages
+Determines whether charge should cause a trip based on Orion CAN messages and current line between contactors
 Charge will cause a trip due to:
   * the max cell voltage being higher than the Orion limit
   * high temperature while charging
   * discharge pack current being too high (absolute value)
+  * current line between contactors not low enough to close charge
 */
 uint8_t checkChargeTrip(AuxTrip auxTrip)
 {
     return auxTrip.chargeTripDueToHighCellVoltage ||
            auxTrip.chargeTripDueToHighTemperatureAndCurrent ||
-           auxTrip.chargeTripDueToPackCurrent;
+           auxTrip.chargeTripDueToPackCurrent ||
+           auxTrip.chargeNotClosedDueToHighCurrent; //set in charge gatekeeper task
 }

EpsilonAuxBmsV2/Core/Src/Tasks/OrionInterfaceTask.c

@@ -20,7 +20,7 @@ Essentially reads inputs from Orion and gets the Aux BMS to respond accordingly.
  * When charge/discharge should be open or closed based on GPIO inputs coming from Orion and based on Max/Min cell voltages
 
 It will get info from the CAN Rx Interrupt parser periodically, and each time it does it will set the orionCanMessageReceivedRecently member of AuxStatus to 1 and keep track of the last time it received a message
-If the waiting on the queue times out, that means that no message from Orion has been received recently, so set the orionCanMessageReceivedRecently member of AuxStatus to 0
+If the waiting on the queue times out, that means that no message from Orion has been received recently, so set the orionCanMessageReceivedRecently member of AuxStatus to 0 and trip the car.
 
 Before it finishes or triggers events to control the contactors, it updates the AuxTrip variable, and the AuxStatus variable.
 To update the AuxStatus variable, it must first acquire the auxStatusOrionInterfaceMutex
@@ -58,6 +58,8 @@ void orionInterface(OrionCanInfo* message)
         if (status == osErrorTimeout) // If waiting on the queue times out
         {
             //Set orion can message recieved recently to 0
+            shouldDisconnectContactors = 1;
+            localAuxTrip.tripDueToOrionMessageTimeout = 1;
             localAuxStatus.orionCanReceivedRecently = 0;
         }
         else

EpsilonAuxBmsV2/Core/Src/Tasks/SendAuxTripTask.c

@@ -28,14 +28,17 @@ void sendAuxTrip(CanTxGatekeeperQueueData* canQueueData, uint32_t* prevWakeTime)
     {
         canQueueData->canTxHeader = BASE_CAN_TX_HDR;
         canQueueData->canTxHeader.StdId = AUX_TRIP_STDID;
-        canQueueData->canTxHeader.DLC = 1;
+        canQueueData->canTxHeader.DLC = 2;
         canQueueData->data[0] = auxTrip.chargeTripDueToHighCellVoltage |
                                 (auxTrip.chargeTripDueToHighTemperatureAndCurrent << 1) |
                                 (auxTrip.chargeTripDueToPackCurrent << 2) |
                                 (auxTrip.dischargeTripDueToLowCellVoltage << 3) |
                                 (auxTrip.dischargeTripDueToHighTemperatureAndCurrent << 4) |
                                 (auxTrip.dischargeTripDueToPackCurrent << 5) |
-                                (auxTrip.protectionTrip << 6);
+                                (auxTrip.protectionTrip << 6) | 
+                                (auxTrip.tripDueToOrionMessageTimeout << 7);
+        canQueueData->data[1] = auxTrip.chargeNotClosedDueToHighCurrent |
+                                (auxTrip.dischargeNotClosedDueToHighCurrent << 1);
         osMessageQueuePut(canTxGatekeeperQueue, canQueueData, 0, TASK_QUEUE_PUT_TIMEOUT);
         osMutexRelease(auxTripMutex);
     }