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Feature: Add Support for BMS Tiltback
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,25 @@ | ||
| // Copyright 2024 Syler Clayton | ||
| // | ||
| // This file is part of the Refloat VESC package. | ||
| // | ||
| // Refloat VESC package is free software: you can redistribute it and/or modify | ||
| // it under the terms of the GNU General Public License as published by the | ||
| // Free Software Foundation, either version 3 of the License, or (at your | ||
| // option) any later version. | ||
| // | ||
| // Refloat VESC package is distributed in the hope that it will be useful, but | ||
| // WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY | ||
| // or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for | ||
| // more details. | ||
| // | ||
| // You should have received a copy of the GNU General Public License along with | ||
| // this program. If not, see <http://www.gnu.org/licenses/>. | ||
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| #include "bms.h" | ||
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| bool bms_is_fault_set(uint32_t fault_mask, BMSFaultCode fault_code) { | ||
| if (fault_code < 1 || fault_code > 32) { | ||
| return false; | ||
| } | ||
| return (fault_mask & (1U << (fault_code - 1))) != 0; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,34 @@ | ||
| // Copyright 2024 Syler Clayton | ||
| // | ||
| // This file is part of the Refloat VESC package. | ||
| // | ||
| // Refloat VESC package is free software: you can redistribute it and/or modify | ||
| // it under the terms of the GNU General Public License as published by the | ||
| // Free Software Foundation, either version 3 of the License, or (at your | ||
| // option) any later version. | ||
| // | ||
| // Refloat VESC package is distributed in the hope that it will be useful, but | ||
| // WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY | ||
| // or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for | ||
| // more details. | ||
| // | ||
| // You should have received a copy of the GNU General Public License along with | ||
| // this program. If not, see <http://www.gnu.org/licenses/>. | ||
|
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| #pragma once | ||
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| #include <stdbool.h> | ||
| #include <stdint.h> | ||
|
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| typedef enum { | ||
| BMSF_NONE = 0, | ||
| BMSF_CONNECTION = 1, | ||
| BMSF_OVER_TEMP = 2, | ||
| BMSF_CELL_OVER_VOLTAGE = 3, | ||
| BMSF_CELL_UNDER_VOLTAGE = 4, | ||
| BMSF_CELL_OVER_TEMP = 5, | ||
| BMSF_CELL_UNDER_TEMP = 6, | ||
| BMSF_CELL_BALANCE = 7 | ||
| } BMSFaultCode; | ||
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| bool bms_is_fault_set(uint32_t fault_mask, BMSFaultCode fault_code); |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,75 @@ | ||
| (defun bms-loop () { | ||
| (var vmin-limit) | ||
| (var vmax-limit) | ||
| (var tmax-limit) | ||
| (var tmin-limit 0) | ||
| (var cell-balance 0.5) | ||
| (var ic-tmax-limit) | ||
| (var config-update-time) | ||
| (var fault 0u32) | ||
| (var v-cell-support (eq (first (trap (get-bms-val 'bms-v-cell-min))) 'exit-ok)) | ||
| (defun update-config { | ||
| (setq vmin-limit (conf-get 'bms-vmin-limit-start)) | ||
| (setq vmax-limit (conf-get 'bms-vmax-limit-start)) | ||
| (setq tmax-limit (- (conf-get 'bms-t-limit-start) 3)) ; Start 3 degrees before Motor CFG -> BMS limiting functionality would happen. | ||
| (setq ic-tmax-limit (+ tmax-limit-start 15)) ; Set bms temp limit to +15C past cell limit | ||
| (setq config-update-time (systime)) | ||
| }) | ||
| (var fault-codes '( | ||
| (BMSF_NONE . 0) | ||
| (BMSF_CONNECTION . 1) | ||
| (BMSF_OVER_TEMP . 2) | ||
| (BMSF_CELL_OVER_VOLTAGE . 3) | ||
| (BMSF_CELL_UNDER_VOLTAGE . 4) | ||
| (BMSF_CELL_OVER_TEMP . 5) | ||
| (BMSF_CELL_UNDER_TEMP . 6) | ||
| (BMSF_CELL_BALANCE . 7) | ||
| )) | ||
| (defun set-fault (fault-code) { | ||
| (if (eq fault-code 'BMSF_NONE) { | ||
| (setq fault 0u32) | ||
| }{ | ||
| (setq fault (bitwise-or fault (shl 1 (- (assoc fault-codes fault-code) 1)))) | ||
| }) | ||
| }) | ||
| (update-config) | ||
| (loopwhile t { | ||
| (if (> (secs-since config-update-time) 1.0) { | ||
| (update-config) | ||
| }) | ||
| (if (>= (get-bms-val 'bms-msg-age) 2.0) { | ||
| (set-fault 'BMSF_CONNECTION) | ||
| } { | ||
| (set-fault 'BMSF_NONE) | ||
|
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| (var v-cell-min) | ||
| (var v-cell-max) | ||
| (if v-cell-support { | ||
| (setq v-cell-min (get-bms-val 'bms-v-cell-min)) | ||
| (setq v-cell-max (get-bms-val 'bms-v-cell-max)) | ||
| } { | ||
| (var num-cells (get-bms-val 'bms-cell-num)) | ||
| (if (> num-cells 1) { | ||
| (setq v-cell-max (get-bms-val 'bms-v-cell 0)) | ||
| (setq v-cell-min (get-bms-val 'bms-v-cell 0)) | ||
| (looprange i 1 num-cells { | ||
| (var cell-volt (get-bms-val 'bms-v-cell i)) | ||
| (if (> cell-volt v-cell-max) | ||
| (setq v-cell-max cell-volt)) | ||
| (if (< cell-volt v-cell-min) | ||
| (setq v-cell-min cell-volt)) | ||
| }) | ||
| }) | ||
| }) | ||
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| (if (>= v-cell-max vmax-limit) (set-fault 'BMSF_CELL_OVER_VOLTAGE)) | ||
| (if (<= v-cell-min vmin-limit) (set-fault 'BMSF_CELL_UNDER_VOLTAGE)) | ||
| (if (>= (get-bms-val 'bms-temp-cell-max) tmax-limit) (set-fault 'BMSF_CELL_OVER_TEMP)) | ||
| (if (<= (get-bms-val 'bms-temp-cell-max) tmin-limit) (set-fault 'BMSF_CELL_UNDER_TEMP)) | ||
| (if (>= (abs (- v-cell-max v-cell-min)) cell-balance) (set-fault 'BMSF_CELL_BALANCE)) | ||
| (if (>= (get-bms-val 'bms-temp-ic) ic-tmax-limit) (set-fault 'BMSF_OVER_TEMP)) | ||
| }) | ||
| (apply ext-bms-set-fault fault) | ||
| (yield 200000) | ||
| }) | ||
| }) |
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