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Merge pull request #1568 from dalathegreat/bugfix/tesla-task-overrun-logging

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Performance: Reduce likelyhood of TASK_OVERRUN when using Tesla
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Daniel Öster 2025-09-25 16:04:01 +03:00 • committed by GitHub
commit 8cc10a1b71
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GPG key ID: B5690EEEBB952194
4 changed files with 53 additions and 294 deletions
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311
Software/src/battery/TESLA-BATTERY.cpp
View file

@ -113,33 +113,6 @@ inline const char* getHvilStatusState(int index) {
}
}
inline const char* getBMSState(int index) {
switch (index) {
case 0:
return "STANDBY";
case 1:
return "DRIVE";
case 2:
return "SUPPORT";
case 3:
return "CHARGE";
case 4:
return "FEIM";
case 5:
return "CLEAR_FAULT";
case 6:
return "FAULT";
case 7:
return "WELD";
case 8:
return "TEST";
case 9:
return "SNA";
default:
return "UNKNOWN";
}
}
inline const char* getBMSContactorState(int index) {
switch (index) {
case 0:
@ -161,174 +134,10 @@ inline const char* getBMSContactorState(int index) {
}
}
inline const char* getBMSHvState(int index) {
switch (index) {
case 0:
return "DOWN";
case 1:
return "COMING_UP";
case 2:
return "GOING_DOWN";
case 3:
return "UP_FOR_DRIVE";
case 4:
return "UP_FOR_CHARGE";
case 5:
return "UP_FOR_DC_CHARGE";
case 6:
return "UP";
default:
return "UNKNOWN";
}
}
inline const char* getBMSUiChargeStatus(int index) {
switch (index) {
case 0:
return "DISCONNECTED";
case 1:
return "NO_POWER";
case 2:
return "ABOUT_TO_CHARGE";
case 3:
return "CHARGING";
case 4:
return "CHARGE_COMPLETE";
case 5:
return "CHARGE_STOPPED";
default:
return "UNKNOWN";
}
}
inline const char* getPCS_DcdcStatus(int index) {
switch (index) {
case 0:
return "IDLE";
case 1:
return "ACTIVE";
case 2:
return "FAULTED";
default:
return "UNKNOWN";
}
}
inline const char* getPCS_DcdcMainState(int index) {
switch (index) {
case 0:
return "STANDBY";
case 1:
return "12V_SUPPORT_ACTIVE";
case 2:
return "PRECHARGE_STARTUP";
case 3:
return "PRECHARGE_ACTIVE";
case 4:
return "DIS_HVBUS_ACTIVE";
case 5:
return "SHUTDOWN";
case 6:
return "FAULTED";
default:
return "UNKNOWN";
}
}
inline const char* getPCS_DcdcSubState(int index) {
switch (index) {
case 0:
return "PWR_UP_INIT";
case 1:
return "STANDBY";
case 2:
return "12V_SUPPORT_ACTIVE";
case 3:
return "DIS_HVBUS";
case 4:
return "PCHG_FAST_DIS_HVBUS";
case 5:
return "PCHG_SLOW_DIS_HVBUS";
case 6:
return "PCHG_DWELL_CHARGE";
case 7:
return "PCHG_DWELL_WAIT";
case 8:
return "PCHG_DI_RECOVERY_WAIT";
case 9:
return "PCHG_ACTIVE";
case 10:
return "PCHG_FLT_FAST_DIS_HVBUS";
case 11:
return "SHUTDOWN";
case 12:
return "12V_SUPPORT_FAULTED";
case 13:
return "DIS_HVBUS_FAULTED";
case 14:
return "PCHG_FAULTED";
case 15:
return "CLEAR_FAULTS";
case 16:
return "FAULTED";
case 17:
return "NUM";
default:
return "UNKNOWN";
}
}
inline const char* getBMSPowerLimitState(int index) {
switch (index) {
case 0:
return "NOT_CALCULATED_FOR_DRIVE";
case 1:
return "CALCULATED_FOR_DRIVE";
default:
return "UNKNOWN";
}
}
inline const char* getHVPStatus(int index) {
switch (index) {
case 0:
return "INVALID";
case 1:
return "NOT_AVAILABLE";
case 2:
return "STALE";
case 3:
return "VALID";
default:
return "UNKNOWN";
}
}
inline const char* getHVPContactor(int index) {
switch (index) {
case 0:
return "NOT_ACTIVE";
case 1:
return "ACTIVE";
case 2:
return "COMPLETED";
default:
return "UNKNOWN";
}
}
inline const char* getFalseTrue(bool value) {
return value ? "True" : "False";
}
inline const char* getNoYes(bool value) {
return value ? "Yes" : "No";
}
inline const char* getFault(bool value) {
return value ? "ACTIVE" : "NOT_ACTIVE";
}
// Clamp DLC to 0–8 bytes for classic CAN
inline int getDataLen(uint8_t dlc) {
return std::min<int>(dlc, 8);
@ -660,8 +469,6 @@ void TeslaBattery::
datalayer.battery.status.cell_min_voltage_mV = battery_cell_min_v;
battery_cell_deviation_mV = (battery_cell_max_v - battery_cell_min_v);
/* Value mapping is completed. Start to check all safeties */
//INTERNAL_OPEN_FAULT - Someone disconnected a high voltage cable while battery was in use
@ -996,18 +803,18 @@ void TeslaBattery::
}
printFaultCodesIfActive();
logging.printf("BMS Contactors State: ");
logging.printf("Contactor State: ");
logging.printf(getBMSContactorState(battery_contactor)); // Display what state the BMS thinks the contactors are in
logging.printf(", HVIL: ");
logging.printf(" HVIL: ");
logging.printf(getHvilStatusState(battery_hvil_status));
logging.printf(", NegativeState: ");
logging.printf(" NegState: ");
logging.printf(getContactorState(battery_packContNegativeState));
logging.printf(", PositiveState: ");
logging.printf(" PosState: ");
logging.println(getContactorState(battery_packContPositiveState));
logging.printf("HVP Contactors setState: ");
logging.printf("Cont. setState: ");
logging.printf(
getContactorText(battery_packContactorSetState)); // Display what state the HVP has set the contactors to be in
logging.printf(", Closing blocked: ");
logging.printf(" Closing blocked: ");
logging.printf(getNoYes(battery_packCtrsClosingBlocked));
if (battery_packContactorSetState == 5) {
logging.printf(" (already CLOSED)");
@ -1015,43 +822,8 @@ void TeslaBattery::
logging.printf(", Pyrotest: ");
logging.println(getNoYes(battery_pyroTestInProgress));
logging.printf("Battery values: ");
logging.printf("Real SOC: ");
logging.print(battery_soc_ui / 10.0, 1);
logging.printf(", Battery voltage: ");
logging.print(battery_volts / 10.0, 1);
logging.printf("V");
logging.printf(", Battery HV current: ");
logging.print(battery_amps / 10.0, 1);
logging.printf("A");
logging.printf(", Fully charged?: ");
if (battery_full_charge_complete)
logging.printf("YES, ");
else
logging.printf("NO, ");
if (datalayer.battery.info.chemistry == battery_chemistry_enum::LFP) {
logging.printf("LFP chemistry detected!");
}
logging.println("");
logging.printf("Cellstats, Max: ");
logging.print(battery_cell_max_v);
logging.printf("mV (cell ");
logging.print(battery_BrickVoltageMaxNum);
logging.printf("), Min: ");
logging.print(battery_cell_min_v);
logging.printf("mV (cell ");
logging.print(battery_BrickVoltageMinNum);
logging.printf("), Imbalance: ");
logging.print(battery_cell_deviation_mV);
logging.println("mV.");
logging.printf("High Voltage Output Pins: %.2f V, Low Voltage: %.2f V, DC/DC 12V current: %.2f A.\n",
(battery_dcdcHvBusVolt * 0.146484), (battery_dcdcLvBusVolt * 0.0390625),
(battery_dcdcLvOutputCurrent * 0.1));
logging.printf("PCS_ambientTemp: %.2f°C, DCDC_Temp: %.2f°C, ChgPhA: %.2f°C, ChgPhB: %.2f°C, ChgPhC: %.2f°C.\n",
PCS_ambientTemp * 0.1 + 40, PCS_dcdcTemp * 0.1 + 40, PCS_chgPhATemp * 0.1 + 40,
PCS_chgPhBTemp * 0.1 + 40, PCS_chgPhCTemp * 0.1 + 40);
logging.printf("HV: %.2f V, 12V: %.2f V, 12V current: %.2f A.\n", (battery_dcdcHvBusVolt * 0.146484),
(battery_dcdcLvBusVolt * 0.0390625), (battery_dcdcLvOutputCurrent * 0.1));
}
void TeslaBattery::handle_incoming_can_frame(CAN_frame rx_frame) {
@ -1905,7 +1677,7 @@ void TeslaBattery::handle_incoming_can_frame(CAN_frame rx_frame) {
stateMachineBMSQuery = 1;
break;
}
if (memcmp(&rx_frame.data.u8[0], "\x10", 1) == 0) {
if (rx_frame.data.u8[0] == 0x10) {
//Received first data frame
battery_partNumber[0] = rx_frame.data.u8[5];
battery_partNumber[1] = rx_frame.data.u8[6];
@ -1914,7 +1686,7 @@ void TeslaBattery::handle_incoming_can_frame(CAN_frame rx_frame) {
stateMachineBMSQuery = 2;
break;
}
if (memcmp(&rx_frame.data.u8[0], "\x21", 1) == 0) {
if (rx_frame.data.u8[0] == 0x21) {
//Second part of part number after flow control
battery_partNumber[3] = rx_frame.data.u8[1];
battery_partNumber[4] = rx_frame.data.u8[2];
@ -1926,7 +1698,7 @@ void TeslaBattery::handle_incoming_can_frame(CAN_frame rx_frame) {
logging.println("CAN UDS: Received BMS query second data frame");
break;
}
if (memcmp(&rx_frame.data.u8[0], "\x22", 1) == 0) {
if (rx_frame.data.u8[0] == 0x22) {
//Final part of part number
battery_partNumber[10] = rx_frame.data.u8[1];
battery_partNumber[11] = rx_frame.data.u8[2];
@ -1985,41 +1757,26 @@ CAN_frame can_msg_118[] = {
{.FD = false, .ext_ID = false, .DLC = 8, .ID = 0x118, .data = {0x6F, 0x8E, 0x30, 0x10, 0x00, 0x08, 0x00, 0x80}},
{.FD = false, .ext_ID = false, .DLC = 8, .ID = 0x118, .data = {0x70, 0x8F, 0x30, 0x10, 0x00, 0x08, 0x00, 0x80}}};
unsigned long lastSend1CF = 0;
unsigned long lastSend118 = 0;
int index_1CF = 0;
int index_118 = 0;
void TeslaBattery::transmit_can(unsigned long currentMillis) {
if (user_selected_tesla_digital_HVIL) { //Special S/X? mode for 2024+ batteries
if ((datalayer.system.status.inverter_allows_contactor_closing) && (datalayer.battery.status.bms_status != FAULT)) {
if (currentMillis - lastSend1CF >= 10) {
transmit_can_frame(&can_msg_1CF[index_1CF]);
index_1CF = (index_1CF + 1) % 8;
lastSend1CF = currentMillis;
}
if (currentMillis - lastSend118 >= 10) {
transmit_can_frame(&can_msg_118[index_118]);
index_118 = (index_118 + 1) % 16;
lastSend118 = currentMillis;
}
} else {
index_1CF = 0;
index_118 = 0;
}
}
//Send 10ms messages
if (currentMillis - previousMillis10 >= INTERVAL_10_MS) {
previousMillis10 = currentMillis;
if (user_selected_tesla_digital_HVIL) { //Special Digital HVIL mode for S/X 2024+ batteries
if ((datalayer.system.status.inverter_allows_contactor_closing) &&
(datalayer.battery.status.bms_status != FAULT)) {
transmit_can_frame(&can_msg_1CF[index_1CF]);
index_1CF = (index_1CF + 1) % 8;
transmit_can_frame(&can_msg_118[index_118]);
index_118 = (index_118 + 1) % 16;
}
} else { //Normal handling of 118 message (Non digital HVIL version)
//0x118 DI_systemStatus
transmit_can_frame(&TESLA_118);
index_1CF = 0; //Stop broadcasting Digital HVIL 1CF and 118 to keep contactors open
index_118 = 0;
}
//0x2E1 VCFRONT_status
switch (muxNumber_TESLA_2E1) {
@ -2074,8 +1831,6 @@ void TeslaBattery::transmit_can(unsigned long currentMillis) {
default:
break;
}
//Generate next new frame
frameCounter_TESLA_221 = (frameCounter_TESLA_221 + 1) % 16;
}
if (vehicleState == ACCESSORY) {
switch (muxNumber_TESLA_221) {
@ -2092,8 +1847,6 @@ void TeslaBattery::transmit_can(unsigned long currentMillis) {
default:
break;
}
//Generate next new frame
frameCounter_TESLA_221 = (frameCounter_TESLA_221 + 1) % 16;
}
if (vehicleState == GOING_DOWN) {
switch (muxNumber_TESLA_221) {
@ -2110,8 +1863,6 @@ void TeslaBattery::transmit_can(unsigned long currentMillis) {
default:
break;
}
//Generate next new frame
frameCounter_TESLA_221 = (frameCounter_TESLA_221 + 1) % 16;
}
if (vehicleState == CAR_OFF) {
switch (muxNumber_TESLA_221) {
@ -2128,23 +1879,13 @@ void TeslaBattery::transmit_can(unsigned long currentMillis) {
default:
break;
}
}
//Generate next new frame
frameCounter_TESLA_221 = (frameCounter_TESLA_221 + 1) % 16;
}
//0x3C2 VCLEFT_switchStatus
switch (muxNumber_TESLA_3C2) {
case 0:
transmit_can_frame(&TESLA_3C2_Mux0);
muxNumber_TESLA_3C2++;
break;
case 1:
transmit_can_frame(&TESLA_3C2_Mux1);
muxNumber_TESLA_3C2 = 0;
break;
default:
break;
}
transmit_can_frame(muxNumber_TESLA_3C2 == 0 ? &TESLA_3C2_Mux0 : &TESLA_3C2_Mux1);
muxNumber_TESLA_3C2 = !muxNumber_TESLA_3C2; // Flip between sending Mux0 and Mux1 on each pass
//0x39D IBST_status
transmit_can_frame(&TESLA_39D);

5
Software/src/battery/TESLA-BATTERY.h
View file

@ -461,15 +461,14 @@ class TeslaBattery : public CanBattery {
.DLC = 8,
.ID = 0x610,
.data = {0x02, 0x10, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00}}; // Define initial UDS request
uint8_t index_1CF = 0;
uint8_t index_118 = 0;
uint8_t stateMachineClearIsolationFault = 0xFF;
uint8_t stateMachineBMSReset = 0xFF;
uint8_t stateMachineSOCReset = 0xFF;
uint8_t stateMachineBMSQuery = 0xFF;
uint16_t sendContactorClosingMessagesStill = 300;
uint16_t battery_cell_max_v = 3300;
uint16_t battery_cell_min_v = 3300;
uint16_t battery_cell_deviation_mV = 0; //contains the deviation between highest and lowest cell in mV
bool cellvoltagesRead = false;
//0x3d2: 978 BMS_kwhCounter
uint32_t battery_total_discharge = 0;

23
Software/src/devboard/webserver/settings_html.cpp
View file

@ -1309,11 +1309,30 @@ const char* getCANInterfaceName(CAN_Interface interface) {
<label>Enable CAN message logging via USB serial: </label>
<input type='checkbox' name='CANLOGUSB' value='on' %CANLOGUSB% />
<script> //Make sure user only uses one general logging method, improves performance
function handleCheckboxSelection(clickedCheckbox) {
const usbCheckbox = document.querySelector('input[name="USBENABLED"]');
const webCheckbox = document.querySelector('input[name="WEBENABLED"]');
if (clickedCheckbox.checked) {
// If the clicked checkbox is being checked, uncheck the other one
if (clickedCheckbox.name === 'USBENABLED') {
webCheckbox.checked = false;
} else {
usbCheckbox.checked = false;
}
}
// If unchecking, do nothing (allow both to be unchecked)
}
</script>
<label>Enable general logging via USB serial: </label>
<input type='checkbox' name='USBENABLED' value='on' %USBENABLED% />
<input type='checkbox' name='USBENABLED' value='on' %USBENABLED%
onclick="handleCheckboxSelection(this)" />
<label>Enable general logging via Webserver: </label>
<input type='checkbox' name='WEBENABLED' value='on' %WEBENABLED% />
<input type='checkbox' name='WEBENABLED' value='on' %WEBENABLED%
onclick="handleCheckboxSelection(this)" />
<label>Enable CAN message logging via SD card: </label>
<input type='checkbox' name='CANLOGSD' value='on' %CANLOGSD% />

2
Software/src/devboard/wifi/wifi.cpp
View file

@ -108,7 +108,7 @@ void wifi_monitor() {
if ((hasConnectedBefore && (currentMillis - lastWiFiCheck > current_check_interval)) ||
(!hasConnectedBefore && (currentMillis - lastWiFiCheck > INIT_WIFI_FULL_RECONNECT_INTERVAL))) {
DEBUG_PRINTF("Time to monitor Wi-Fi status: %d, %d, %d, %d, %d\n", hasConnectedBefore, currentMillis, lastWiFiCheck,
DEBUG_PRINTF("Wi-Fi status: %d, %d, %d, %d, %d\n", hasConnectedBefore, currentMillis, lastWiFiCheck,
current_check_interval, INIT_WIFI_FULL_RECONNECT_INTERVAL);
lastWiFiCheck = currentMillis;