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https://github.com/dalathegreat/Battery-Emulator.git
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Sbox
This commit is contained in:
rha
parent
6ad5c41b04
commit
bcc69647fe
4 changed files with 137 additions and 93 deletions
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@ -3,24 +3,22 @@
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#include "../datalayer/datalayer.h"
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#include "BMW-SBOX.h"
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#define MAX_ALLOWED_FAULT_TICKS 1000
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/* NOTE: modify the precharge time constant below to account for the resistance and capacitance of the target system.
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* t=3RC at minimum, t=5RC ideally
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*/
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#define PRECHARGE_TIME_MS 160 // Time before negative contactor engages and precharging starts
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#define NEGATIVE_CONTACTOR_TIME_MS 1000 // Precharge time before precharge resistor is bypassed by positive contactor
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#define POSITIVE_CONTACTOR_TIME_MS 2000 // Precharge relay lead time after positive contactor has been engaged
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enum State { DISCONNECTED, PRECHARGE, NEGATIVE, POSITIVE, PRECHARGE_OFF, COMPLETED, SHUTDOWN_REQUESTED };
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State contactorStatus = DISCONNECTED;
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enum SboxState { DISCONNECTED, PRECHARGE, NEGATIVE, POSITIVE, PRECHARGE_OFF, COMPLETED, SHUTDOWN_REQUESTED };
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SboxState contactorStatus = DISCONNECTED;
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unsigned long prechargeStartTime = 0;
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unsigned long negativeStartTime = 0;
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unsigned long positiveStartTime = 0;
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unsigned long timeSpentInFaultedMode = 0;
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unsigned long LastMsgTime = 0; // will store last time a 20ms CAN Message was send
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unsigned long LastAvgTime = 0; // Last current storage time
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uint32_t avg_mA_array[10];
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uint32_t avg_sum;
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uint8_t k; //avg array pointer
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uint8_t CAN100_cnt=0;
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@ -46,6 +44,8 @@ uint8_t reverse_bits(uint8_t byte) {
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return reversed;
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}
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/** CRC8, both inverted, poly 0x31 **/
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uint8_t calculateCRC(CAN_frame CAN) {
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uint8_t crc = 0;
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for (size_t i = 0; i < CAN.DLC; i++) {
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@ -65,100 +65,131 @@ uint8_t calculateCRC(CAN_frame CAN) {
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}
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void receive_can_shunt(CAN_frame rx_frame) {
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unsigned long currentTime = millis();
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if(rx_frame.ID ==0x200)
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{
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datalayer.shunt.measured_amperage_mA=((rx_frame.data.u8[2]<<24)| (rx_frame.data.u8[1]<<16)| (rx_frame.data.u8[0]<<8))/256;
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/** Calculate 1S avg current **/
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if(LastAvgTime+100<currentTime)
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{
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LastAvgTime=currentTime;
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if(k>9) {
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k=0;
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}
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avg_mA_array[k]=datalayer.shunt.measured_amperage_mA;
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k++;
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avg_sum=0;
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for (uint8_t i = 0; i < 10; i++)
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{
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avg_sum=avg_sum+avg_mA_array[i];
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}
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datalayer.shunt.measured_avg1S_amperage_mA=avg_sum/10;
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}
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}
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else if(rx_frame.ID ==0x210) //Battery voltage
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else if(rx_frame.ID ==0x210) //SBOX input (battery side) voltage
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{
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datalayer.shunt.measured_voltage_mV==((rx_frame.data.u8[2]<<24)| (rx_frame.data.u8[1]<<16)| (rx_frame.data.u8[0]<<8))/256;
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datalayer.shunt.measured_voltage_mV=((rx_frame.data.u8[2]<<16)| (rx_frame.data.u8[1]<<8)| (rx_frame.data.u8[0]));
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}
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else if(rx_frame.ID ==0x220) //SBOX output voltage
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{
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datalayer.shunt.measured_outvoltage_mV==((rx_frame.data.u8[2]<<24)| (rx_frame.data.u8[1]<<16)| (rx_frame.data.u8[0]<<8))/256;
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datalayer.shunt.measured_outvoltage_mV=((rx_frame.data.u8[2]<<16)| (rx_frame.data.u8[1]<<8)| (rx_frame.data.u8[0]));
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}
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}
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void send_can_shunt() {
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// First check if we have any active errors, incase we do, turn off the battery
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if (datalayer.battery.status.bms_status == FAULT) {
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timeSpentInFaultedMode++;
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} else {
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timeSpentInFaultedMode = 0;
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}
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//handle contactor control SHUTDOWN_REQUESTED
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if (timeSpentInFaultedMode > MAX_ALLOWED_FAULT_TICKS) {
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contactorStatus = SHUTDOWN_REQUESTED;
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SBOX_100.data.u8[0]=0x55; // All open
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}
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if (contactorStatus == SHUTDOWN_REQUESTED) {
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datalayer.shunt.contactors_engaged = false;
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return; // A fault scenario latches the contactor control. It is not possible to recover without a powercycle (and investigation why fault occured)
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}
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// After that, check if we are OK to start turning on the battery
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if (contactorStatus == DISCONNECTED) {
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datalayer.shunt.contactors_engaged = false;
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SBOX_100.data.u8[0]=0x55; // All open
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if (datalayer.system.status.battery_allows_contactor_closing &&
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datalayer.system.status.inverter_allows_contactor_closing && !datalayer.system.settings.equipment_stop_active && ( datalayer.shunt.measured_voltage_mV => MINIMUM_INPUT_VOLTAGE*1000)) {
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contactorStatus = PRECHARGE;
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}
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}
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// In case the inverter requests contactors to open, set the state accordingly
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if (contactorStatus == COMPLETED) {
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//Incase inverter (or estop) requests contactors to open, make state machine jump to Disconnected state (recoverable)
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if (!datalayer.system.status.inverter_allows_contactor_closing || datalayer.system.settings.equipment_stop_active) {
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contactorStatus = DISCONNECTED;
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}
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}
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unsigned long currentTime = millis();
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// Handle actual state machine. This first turns on Precharge, then Negative, then Positive, and finally turns OFF precharge
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switch (contactorStatus) {
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case PRECHARGE:
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SBOX_100.data.u8[0]=0x86; // Precharge relay only
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prechargeStartTime = currentTime;
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contactorStatus = NEGATIVE;
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break;
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case NEGATIVE:
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if (currentTime - prechargeStartTime >= PRECHARGE_TIME_MS) {
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SBOX_100.data.u8[0]=0xA6; // Precharge + Negative
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negativeStartTime = currentTime;
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contactorStatus = POSITIVE;
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datalayer.shunt.precharging = true;
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}
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break;
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case POSITIVE:
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if (currentTime - negativeStartTime >= NEGATIVE_CONTACTOR_TIME_MS && (datalayer.shunt.measured_voltage_mV * MAX_PRECHARGE_RESISTOR_VOLTAGE_PERCENT < datalalyer.shunt.measured_outvoltage_mV)) {
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SBOX_100.data.u8[0]=0xAA; // Precharge + Negative + Positive
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positiveStartTime = currentTime;
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contactorStatus = PRECHARGE_OFF;
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datalayer.shunt.precharging = false;
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}
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break;
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case PRECHARGE_OFF:
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if (currentTime - positiveStartTime >= POSITIVE_CONTACTOR_TIME_MS) {
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SBOX_100.data.u8[0]=0x6A; // Negative + Positive
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contactorStatus = COMPLETED;
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datalayer.shunt.contactors_engaged = true;
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}
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break;
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case COMPLETED:
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SBOX_100.data.u8[0]=0x6A; // Negative + Positive
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default:
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break;
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}
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// Send 20ms CAN Message
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if (currentTime - LastMsgTime >= INTERVAL_20_MS) {
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LastMsgTime = currentTime;
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// First check if we have any active errors, incase we do, turn off the battery
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if (datalayer.battery.status.bms_status == FAULT) {
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timeSpentInFaultedMode++;
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} else {
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timeSpentInFaultedMode = 0;
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}
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//handle contactor control SHUTDOWN_REQUESTED
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if (timeSpentInFaultedMode > MAX_ALLOWED_FAULT_TICKS) {
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contactorStatus = SHUTDOWN_REQUESTED;
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SBOX_100.data.u8[0]=0x55; // All open
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}
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if (contactorStatus == SHUTDOWN_REQUESTED) {
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datalayer.shunt.contactors_engaged = false;
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return; // A fault scenario latches the contactor control. It is not possible to recover without a powercycle (and investigation why fault occured)
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}
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// After that, check if we are OK to start turning on the contactors
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if (contactorStatus == DISCONNECTED) {
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datalayer.shunt.contactors_engaged = false;
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SBOX_100.data.u8[0]=0x55; // All open
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if (datalayer.system.status.battery_allows_contactor_closing &&
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datalayer.system.status.inverter_allows_contactor_closing && !datalayer.system.settings.equipment_stop_active && ( datalayer.shunt.measured_voltage_mV > MINIMUM_INPUT_VOLTAGE*1000)) {
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contactorStatus = PRECHARGE;
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}
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}
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// In case the inverter requests contactors to open, set the state accordingly
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if (contactorStatus == COMPLETED) {
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//Incase inverter (or estop) requests contactors to open, make state machine jump to Disconnected state (recoverable)
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if (!datalayer.system.status.inverter_allows_contactor_closing || datalayer.system.settings.equipment_stop_active) {
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contactorStatus = DISCONNECTED;
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}
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}
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// Handle actual state machine. This first turns on Precharge, then Negative, then Positive, and finally turns OFF precharge
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switch (contactorStatus) {
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case PRECHARGE:
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SBOX_100.data.u8[0]=0x86; // Precharge relay only
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prechargeStartTime = currentTime;
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contactorStatus = NEGATIVE;
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#ifdef DEBUG_VIA_USB
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Serial.println("S-BOX Precharge relay engaged");
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#endif
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break;
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case NEGATIVE:
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if (currentTime - prechargeStartTime >= CONTACTOR_CONTROL_T1) {
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SBOX_100.data.u8[0]=0xA6; // Precharge + Negative
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negativeStartTime = currentTime;
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contactorStatus = POSITIVE;
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datalayer.shunt.precharging = true;
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#ifdef DEBUG_VIA_USB
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Serial.println("S-BOX Negative relay engaged");
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#endif
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}
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break;
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case POSITIVE:
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if (currentTime - negativeStartTime >= CONTACTOR_CONTROL_T2 && (datalayer.shunt.measured_voltage_mV * MAX_PRECHARGE_RESISTOR_VOLTAGE_PERCENT < datalayer.shunt.measured_outvoltage_mV)) {
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SBOX_100.data.u8[0]=0xAA; // Precharge + Negative + Positive
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positiveStartTime = currentTime;
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contactorStatus = PRECHARGE_OFF;
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datalayer.shunt.precharging = false;
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#ifdef DEBUG_VIA_USB
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Serial.println("S-BOX Positive relay engaged");
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#endif
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}
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break;
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case PRECHARGE_OFF:
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if (currentTime - positiveStartTime >= CONTACTOR_CONTROL_T3) {
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SBOX_100.data.u8[0]=0x6A; // Negative + Positive
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contactorStatus = COMPLETED;
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#ifdef DEBUG_VIA_USB
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Serial.println("S-BOX Precharge relay released");
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#endif
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datalayer.shunt.contactors_engaged = true;
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}
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break;
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case COMPLETED:
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SBOX_100.data.u8[0]=0x6A; // Negative + Positive
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default:
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break;
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}
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CAN100_cnt++;
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if (CAN100_cnt>0x0E) {
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CAN100_cnt=0;
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@ -172,6 +203,7 @@ void send_can_shunt() {
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}
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void setup_can_shunt() {
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datalayer.system.info.shunt_protocol[63] = 'BMW SBOX\0';
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strncpy(datalayer.system.info.shunt_protocol, "BMW SBOX", 63);
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datalayer.system.info.shunt_protocol[63] = '\0';
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}
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#endif
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@ -7,8 +7,16 @@ void transmit_can(CAN_frame* tx_frame, int interface);
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/** Minimum input voltage required to enable relay control **/
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#define MINIMUM_INPUT_VOLTAGE 250
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/** Maximum allowable percentage of input voltage across the precharge resistor to close the positive relay **/
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#define MAX_PRECHARGE_RESISTOR_VOLTAGE_PERCENT 96
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/** Maximum allowable percentage of input voltage across the precharge resistor to engage the positive relay. **/
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/** SAFETY FEATURE: If precharge resistor is faulty, positive contactor will not be engaged **/
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#define MAX_PRECHARGE_RESISTOR_VOLTAGE_PERCENT 0.99
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/* NOTE: modify the T2 time constant below to account for the resistance and capacitance of the target system.
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* t=3RC at minimum, t=5RC ideally
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*/
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#define CONTACTOR_CONTROL_T1 5000 // Time before negative contactor engages and precharging starts
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#define CONTACTOR_CONTROL_T2 5000 // Precharge time before precharge resistor is bypassed by positive contactor
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#define CONTACTOR_CONTROL_T3 2000 // Precharge relay lead time after positive contactor has been engaged
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#endif
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@ -129,7 +129,11 @@ typedef struct {
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/** measured output voltage in mV (eg. S-BOX) **/
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uint32_t measured_outvoltage_mV = 0;
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/** measured amperage in mA (eg. S-BOX) **/
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uint32_t measured_amperage_mA = 0;
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int32_t measured_amperage_mA = 0;
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/** Sum of current readings during measuring period **/
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int32_t measured_avg1S_amperage_mA = 0;
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/** Number of samples **/
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uint16_t measured_sum_amperage_count = 0;
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/** True if contactors are precharging state */
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bool precharging = false;
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/** True if the contactor controlled by battery-emulator is closed */
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@ -42,7 +42,7 @@ String settings_processor(const String& var) {
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#endif
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#ifdef CAN_SHUNT_SELECTED
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content += "<h4 style='color: white;'>Shunt Interface: <span id='BMW S-BOX'>" +
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content += "<h4 style='color: white;'>Shunt Interface: <span id='Shunt'>" +
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String(getCANInterfaceName(can_config.shunt)) + "</span></h4>";
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#endif //CAN_SHUNT_SELECTED
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