Clarify contactor control variables and usage

Software/Software.ino

@@ -334,9 +334,9 @@ void check_interconnect_available() {
     clear_event(EVENT_VOLTAGE_DIFFERENCE);
     if (datalayer.battery.status.bms_status == FAULT) {
       // If main battery is in fault state, disengage the second battery
-      datalayer.system.status.battery2_allows_contactor_closing = false;
+      datalayer.system.status.battery2_allowed_contactor_closing = false;
     } else {  // If main battery is OK, allow second battery to join
-      datalayer.system.status.battery2_allows_contactor_closing = true;
+      datalayer.system.status.battery2_allowed_contactor_closing = true;
     }
   } else {  //Voltage between the two packs is too large
     set_event(EVENT_VOLTAGE_DIFFERENCE, (uint8_t)(voltage_diff / 10));

Software/src/battery/BATTERIES.cpp

@@ -30,9 +30,7 @@ void setup_battery() {
         new SELECTED_BATTERY_CLASS(&datalayer.battery2, &datalayer.system.status.battery2_allows_contactor_closing,
                                    can_config.battery_double, WUP_PIN2);
 #else
-    battery2 =
+    battery2 = new SELECTED_BATTERY_CLASS(&datalayer.battery2, nullptr, can_config.battery_double);
-        new SELECTED_BATTERY_CLASS(&datalayer.battery2, &datalayer.system.status.battery2_allows_contactor_closing,
-                                   nullptr, can_config.battery_double);
 #endif
   }
   battery2->setup();

Software/src/battery/BMW-I3-BATTERY.cpp

@@ -1,10 +1,10 @@
-#include "../include.h"
 #ifdef BMW_I3_BATTERY
+#include "BMW-I3-BATTERY.h"
 #include "../communication/can/comm_can.h"
 #include "../datalayer/datalayer.h"
 #include "../datalayer/datalayer_extended.h"
 #include "../devboard/utils/events.h"
-#include "BMW-I3-BATTERY.h"
+#include "../include.h"
 
 /* Do not change code below unless you are sure what you are doing */
 
@@ -329,11 +329,15 @@ void BmwI3Battery::transmit_can(unsigned long currentMillis) {
       BMW_13E.data.u8[4] = BMW_13E_counter;
 
       if (datalayer_battery->status.bms_status == FAULT) {
-      }  //If battery is not in Fault mode, allow contactor to close by sending 10B
+      } else if (allows_contactor_closing) {
-      else if (*allows_contactor_closing == true) {
+        //If battery is not in Fault mode, and we are allowed to control contactors, we allow contactor to close by sending 10B
+        *allows_contactor_closing = true;
+        transmit_can_frame(&BMW_10B, can_interface);
+      } else if (contactor_closing_allowed && *contactor_closing_allowed) {
         transmit_can_frame(&BMW_10B, can_interface);
       }
     }
+
     // Send 100ms CAN Message
     if (currentMillis - previousMillis100 >= INTERVAL_100_MS) {
       previousMillis100 = currentMillis;
@@ -512,7 +516,10 @@ void BmwI3Battery::setup(void) {  // Performs one time setup at startup
   datalayer_battery->info.max_design_voltage_dV = MAX_PACK_VOLTAGE_60AH;
   datalayer_battery->info.min_design_voltage_dV = MIN_PACK_VOLTAGE_60AH;
   datalayer_battery->info.max_cell_voltage_deviation_mV = MAX_CELL_DEVIATION_MV;
-  datalayer.system.status.battery_allows_contactor_closing = true;
+
+  if (allows_contactor_closing) {
+    *allows_contactor_closing = true;
+  }
   datalayer_battery->info.number_of_cells = NUMBER_OF_CELLS;
 
   pinMode(wakeup_pin, OUTPUT);

Software/src/battery/BMW-I3-BATTERY.h

@@ -12,9 +12,10 @@
 class BmwI3Battery : public CanBattery {
  public:
   // Use this constructor for the second battery.
-  BmwI3Battery(DATALAYER_BATTERY_TYPE* datalayer_ptr, bool* allows_contactor_closing_ptr, int targetCan, int wakeup) {
+  BmwI3Battery(DATALAYER_BATTERY_TYPE* datalayer_ptr, bool* contactor_closing_allowed_ptr, int targetCan, int wakeup) {
     datalayer_battery = datalayer_ptr;
-    allows_contactor_closing = allows_contactor_closing_ptr;
+    contactor_closing_allowed = contactor_closing_allowed_ptr;
+    allows_contactor_closing = nullptr;
     can_interface = targetCan;
     wakeup_pin = wakeup;
     *allows_contactor_closing = true;
@@ -27,6 +28,7 @@ class BmwI3Battery : public CanBattery {
   BmwI3Battery() {
     datalayer_battery = &datalayer.battery;
     allows_contactor_closing = &datalayer.system.status.battery_allows_contactor_closing;
+    contactor_closing_allowed = nullptr;
     can_interface = can_config.battery;
     wakeup_pin = WUP_PIN1;
   }
@@ -53,9 +55,14 @@ class BmwI3Battery : public CanBattery {
   const int NUMBER_OF_CELLS = 96;
 
   DATALAYER_BATTERY_TYPE* datalayer_battery;
-  bool* allows_contactor_closing;
-  int wakeup_pin;
 
+  // If not null, this battery decides when the contactor can be closed and writes the value here.
+  bool* allows_contactor_closing;
+
+  // If not null, this battery listens to this boolean to determine whether contactor closing is allowed
+  bool* contactor_closing_allowed;
+
+  int wakeup_pin;
   int can_interface;
 
   unsigned long previousMillis20 = 0;     // will store last time a 20ms CAN Message was send

Software/src/battery/BYD-ATTO-3-BATTERY.cpp

@@ -485,10 +485,12 @@ void BydAttoBattery::transmit_can(unsigned long currentMillis) {
     previousMillis50 = currentMillis;
 
     // Set close contactors to allowed (Useful for crashed packs, started via contactor control thru GPIO)
-    if (datalayer_battery->status.bms_status == ACTIVE) {
+    if (allows_contactor_closing) {
-      datalayer.system.status.battery_allows_contactor_closing = true;
+      if (datalayer_battery->status.bms_status == ACTIVE) {
-    } else {  // Fault state, open contactors!
+        *allows_contactor_closing = true;
-      datalayer.system.status.battery_allows_contactor_closing = false;
+      } else {  // Fault state, open contactors!
+        *allows_contactor_closing = false;
+      }
     }
 
     counter_50ms++;

Software/src/battery/BYD-ATTO-3-BATTERY.h

@@ -33,11 +33,10 @@
 class BydAttoBattery : public CanBattery {
  public:
   // Use this constructor for the second battery.
-  BydAttoBattery(DATALAYER_BATTERY_TYPE* datalayer_ptr, bool* allows_contactor_closing_ptr,
+  BydAttoBattery(DATALAYER_BATTERY_TYPE* datalayer_ptr, DATALAYER_INFO_BYDATTO3* extended, int targetCan) {
-                 DATALAYER_INFO_BYDATTO3* extended, int targetCan) {
     datalayer_battery = datalayer_ptr;
     datalayer_bydatto = extended;
-    allows_contactor_closing = allows_contactor_closing_ptr;
+    allows_contactor_closing = nullptr;
     can_interface = targetCan;
   }
 

Software/src/battery/NISSAN-LEAF-BATTERY.cpp

@@ -74,7 +74,7 @@ void NissanLeafBattery::
   datalayer_battery->status.max_charge_power_W = (battery_Charge_Power_Limit * 1000);  //kW to W
 
   //Allow contactors to close
-  if (battery_can_alive) {
+  if (battery_can_alive && allows_contactor_closing) {
     *allows_contactor_closing = true;
   }
 

Software/src/battery/NISSAN-LEAF-BATTERY.h

@@ -19,10 +19,9 @@
 class NissanLeafBattery : public CanBattery {
  public:
   // Use this constructor for the second battery.
-  NissanLeafBattery(DATALAYER_BATTERY_TYPE* datalayer_ptr, bool* allows_contactor_closing_ptr,
+  NissanLeafBattery(DATALAYER_BATTERY_TYPE* datalayer_ptr, DATALAYER_INFO_NISSAN_LEAF* extended, int targetCan) {
-                    DATALAYER_INFO_NISSAN_LEAF* extended, int targetCan) {
     datalayer_battery = datalayer_ptr;
-    allows_contactor_closing = allows_contactor_closing_ptr;
+    allows_contactor_closing = nullptr;
     datalayer_nissan = extended;
     can_interface = targetCan;
 
@@ -48,6 +47,8 @@ class NissanLeafBattery : public CanBattery {
 
   DATALAYER_BATTERY_TYPE* datalayer_battery;
   DATALAYER_INFO_NISSAN_LEAF* datalayer_nissan;
+
+  // If not null, this battery decides when the contactor can be closed and writes the value here.
   bool* allows_contactor_closing;
 
   int can_interface;

Software/src/communication/contactorcontrol/comm_contactorcontrol.cpp

@@ -225,7 +225,7 @@ void handle_contactors() {
 
 #ifdef CONTACTOR_CONTROL_DOUBLE_BATTERY
 void handle_contactors_battery2() {
-  if ((contactorStatus == COMPLETED) && datalayer.system.status.battery2_allows_contactor_closing) {
+  if ((contactorStatus == COMPLETED) && datalayer.system.status.battery2_allowed_contactor_closing) {
     set(SECOND_NEGATIVE_CONTACTOR_PIN, ON);
     set(SECOND_POSITIVE_CONTACTOR_PIN, ON);
     datalayer.system.status.contactors_battery2_engaged = true;

Software/src/datalayer/datalayer.h

@@ -297,10 +297,12 @@ typedef struct {
    * we report the inverter as missing entirely on the CAN bus.
    */
   uint8_t CAN_inverter_still_alive = CAN_STILL_ALIVE;
-  /** True if the battery allows for the contactors to close */
+  /** True if the primary battery allows for the contactors to close */
   bool battery_allows_contactor_closing = false;
-  /** True if the second battery allows for the contactors to close */
+
-  bool battery2_allows_contactor_closing = false;
+  /** True if the second battery is allowed to close the contactors */
+  bool battery2_allowed_contactor_closing = false;
+
   /** True if the inverter allows for the contactors to close */
   bool inverter_allows_contactor_closing = true;
 #ifdef CONTACTOR_CONTROL

Software/src/devboard/webserver/webserver.cpp

@@ -1379,7 +1379,7 @@ String processor(const String& var) {
 
     content += "<h4>Automatic contactor closing allowed:</h4>";
     content += "<h4>Battery: ";
-    if (datalayer.system.status.battery2_allows_contactor_closing == true) {
+    if (datalayer.system.status.battery2_allowed_contactor_closing == true) {
       content += "<span>&#10003;</span>";
     } else {
       content += "<span style='color: red;'>&#10005;</span>";