In V4 the BMS Doesn't Work Again

.github/workflows/cmake.yml

@@ -7,7 +7,7 @@ name: CMake
 # Define the workflow's triggers
 on:
   pull_request:
-    branches: [ main ]
+    branches: [main]
 
 # Set necessary environment variables
 env:
@@ -30,8 +30,8 @@ jobs:
       - name: Install Compiler and Linter
         run: |
           sudo apt-get install gcc-arm-none-eabi
-          sudo apt-get install clang-format-12
-          sudo update-alternatives --install /usr/bin/clang-format clang-format /usr/bin/clang-format-12 10000
+          sudo apt-get install clang-format-15
+          sudo update-alternatives --install /usr/bin/clang-format clang-format /usr/bin/clang-format-15 10000
 
       # Build the code for all supported chips
       - name: F302 Build
@@ -44,6 +44,10 @@ jobs:
           cmake -DTARGET_DEV=STM32F334x8 -B ${{github.workspace}}/build
           cmake --build ${{github.workspace}}/build
 
+      - name: F446 Build
+        run: |
+          cmake -DTARGET_DEV=STM32F446xx -B ${{github.workspace}}/build
+        # cmake --build ${{github.workspace}}/build
       # Apply clang-format formatting to the branch and create a new commit if any files are changed
       - name: Apply Formatting
         run: |
@@ -57,4 +61,4 @@ jobs:
             git config --global user.name "GitHub Build"
             git commit -a -m "Applied Formatting Changes During GitHub Build"
             git push origin
-          fi
+          fi

include/BMS.hpp

@@ -58,11 +58,13 @@ class BMS : public CANDevice {
     static constexpr IO::Pin CAN_RX_PIN = IO::Pin::PA_11;
     static constexpr IO::Pin I2C_SCL_PIN = IO::Pin::PB_6;
     static constexpr IO::Pin I2C_SDA_PIN = IO::Pin::PB_7;
-    static constexpr IO::Pin INTERLOCK_PIN = IO::Pin::PA_3;
+    static constexpr IO::Pin INTERLOCK_PIN = IO::Pin::PF_0;
     static constexpr IO::Pin TEMP_INPUT_PIN = IO::Pin::PA_0;
     static constexpr IO::Pin MUX_S1_PIN = IO::Pin::PA_15;
     static constexpr IO::Pin MUX_S2_PIN = IO::Pin::PB_4;
     static constexpr IO::Pin MUX_S3_PIN = IO::Pin::PA_8;
+    static constexpr IO::Pin ERROR_LED_PIN = IO::Pin::PA_7;
+    static constexpr IO::Pin BQ_RESET_PIN = IO::Pin::PB_1;
 
     /** Error values */
     static constexpr uint8_t BQ_COMM_ERROR = 0x01;
@@ -72,17 +74,19 @@ class BMS : public CANDevice {
     /**
      * Make a new instance of the BMS with the given devices
      *
-     * @param bqSettingsStorage Object used to manage BQ settings storage
-     * @param bq BQ chip instance
-     * @param interlock GPIO used to check the interlock status
-     * @param alarm GPIO used to check the BQ alarm status
-     * @param systemDetect Object used to detect what system the BMS is connected to
-     * @param bmsOK GPIO used to output the OK signal from the BMS
-     * @param thermMux MUX for pack thermistors
-     * @param resetHandler Handler for reset messages
+     * @param[in] bqSettingsStorage Object used to manage BQ settings storage
+     * @param[in] bq BQ chip instance
+     * @param[in] interlock GPIO used to check the interlock status
+     * @param[in] alarm GPIO used to check the BQ alarm status
+     * @param[in] systemDetect Object used to detect what system the BMS is connected to
+     * @param[in] bmsOK GPIO used to output the OK signal from the BMS
+     * @param[in] errorLed GPIO used to indicate a BMS error with an LED
+     * @param[in] thermMux MUX for pack thermistors
+     * @param[in] resetHandler Handler for reset messages
+     * @param[in] iwdg Internal watchdog to ensure the BMS code is running without getting stuck
      */
     BMS(BQSettingsStorage& bqSettingsStorage, DEV::BQ76952 bq, DEV::Interlock& interlock,
-        IO::GPIO& alarm, SystemDetect& systemDetect, IO::GPIO& bmsOK,
+        IO::GPIO& alarm, SystemDetect& systemDetect, IO::GPIO& bmsOK, IO::GPIO& errorLed,
         DEV::ThermistorMux& thermMux, ResetHandler& resetHandler, EVT::core::DEV::IWDG& iwdg);
 
     /**
@@ -223,6 +227,11 @@ class BMS : public CANDevice {
      */
     IO::GPIO& bmsOK;
 
+    /**
+     * LED to indicate an error in the BMS
+     */
+    IO::GPIO& errorLed;
+
     /**
      * Multiplexer to handle pack thermistors
      */

include/dev/BQ76952.hpp

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <EVT/io/I2C.hpp>
+#include <EVT/io/GPIO.hpp>
 
 #include <BMSInfo.hpp>
 #include <BQSetting.hpp>
@@ -48,8 +49,9 @@ class BQ76952 {
      *
      * @param[in] i2c I2C interface to use to communicate on the bus
      * @param[in] i2cAddress The address of the BQ76952 to use
+     * @param[in] resetPin GPIO instance to reset the BQ
      */
-    BQ76952(EVT::core::IO::I2C& i2c, uint8_t i2cAddress);
+    BQ76952(EVT::core::IO::I2C& i2c, uint8_t i2cAddress, EVT::core::IO::GPIO& resetPin);
 
     /**
      * Write out the given setting
@@ -225,6 +227,11 @@ class BQ76952 {
      */
     Status getBQStatus(uint8_t bqStatusArr[7]);
 
+    /**
+     * Reset the BQ
+     */
+    void reset();
+
     /** CANopen interface for probing the state of the balancing */
     //CO_OBJ_TYPE balancingCANOpen;
 
@@ -279,8 +286,10 @@ class BQ76952 {
 
     /** I2C bus to communicate over */
     EVT::core::IO::I2C& i2c;
-    /** The address of the BQ76952 on the I2C bus */
+    /** The address of the BQ on the I2C bus */
     uint8_t i2cAddress;
+    /** Reset pin of the BQ */
+    EVT::core::IO::GPIO& resetPin;
 };
 
 }// namespace BMS::DEV

src/BMS.cpp

@@ -11,12 +11,14 @@ namespace BMS {
 
 BMS::BMS(BQSettingsStorage& bqSettingsStorage, DEV::BQ76952 bq,
          DEV::Interlock& interlock, IO::GPIO& alarm, SystemDetect& systemDetect,
-         IO::GPIO& bmsOK, DEV::ThermistorMux& thermMux,
+         IO::GPIO& bmsOK, IO::GPIO& errorLed, DEV::ThermistorMux& thermMux,
          ResetHandler& resetHandler, EVT::core::DEV::IWDG& iwdg) : bqSettingsStorage(bqSettingsStorage),
                                                                    bq(bq), state(State::START), interlock(interlock),
                                                                    alarm(alarm), systemDetect(systemDetect), resetHandler(resetHandler),
-                                                                   bmsOK(bmsOK), thermistorMux(thermMux), iwdg(iwdg), stateChanged(true) {
+                                                                   bmsOK(bmsOK), errorLed(errorLed), thermistorMux(thermMux),
+                                                                   iwdg(iwdg), stateChanged(true) {
     bmsOK.writePin(IO::GPIO::State::LOW);
+    errorLed.writePin(IO::GPIO::State::LOW);
 
     updateBQData();
 }
@@ -194,6 +196,7 @@ void BMS::startState() {
 void BMS::initializationErrorState() {
     if (stateChanged) {
         bmsOK.writePin(BMS_NOT_OK);
+        errorLed.writePin(IO::GPIO::State::HIGH);
         stateChanged = false;
         clearVoltageReadings();
         log::LOGGER.log(log::Logger::LogLevel::INFO, "Entering initialization error state");
@@ -202,6 +205,8 @@ void BMS::initializationErrorState() {
     updateThermistorReading();
 
     if (resetHandler.shouldReset()) {
+        bq.reset();
+        errorLed.writePin(IO::GPIO::State::LOW);
         state = State::START;
         stateChanged = true;
     }
@@ -302,6 +307,7 @@ void BMS::systemReadyState() {
 void BMS::unsafeConditionsError() {
     if (stateChanged) {
         bmsOK.writePin(BMS_NOT_OK);
+        errorLed.writePin(IO::GPIO::State::HIGH);
         stateChanged = false;
         log::LOGGER.log(log::Logger::LogLevel::INFO, "Entering unsafe conditions state");
     }
@@ -310,6 +316,8 @@ void BMS::unsafeConditionsError() {
     updateThermistorReading();
 
     if (resetHandler.shouldReset()) {
+        bq.reset();
+        errorLed.writePin(IO::GPIO::State::LOW);
         state = State::START;
         stateChanged = true;
     }

src/dev/BQ76952.cpp

@@ -145,7 +145,7 @@ static CO_ERR COBalancingCtrl(CO_OBJ* obj, CO_NODE_T* node, uint16_t func,
 */
 namespace BMS::DEV {
 
-BQ76952::BQ76952(EVT::core::IO::I2C& i2c, uint8_t i2cAddress) : /*
+BQ76952::BQ76952(EVT::core::IO::I2C& i2c, uint8_t i2cAddress, EVT::core::IO::GPIO& resetPin) : /*
     balancingCANOpen{
         COBQBalancingSize,
         COBalancingCtrl,
@@ -154,7 +154,10 @@ BQ76952::BQ76952(EVT::core::IO::I2C& i2c, uint8_t i2cAddress) : /*
         this,
     },
      */
-                                                                i2c(i2c), i2cAddress(i2cAddress) {}
+                                                                                               i2c(i2c), i2cAddress(i2cAddress), resetPin(resetPin) {
+    // Ensure the pin is initialized to low, so it doesn't reset or shut down the BQ
+    resetPin.writePin(EVT::core::IO::GPIO::State::LOW);
+}
 
 BQ76952::Status BQ76952::writeSetting(BMS::BQSetting& setting) {
     // Right now, the BQ only accepts settings made into RAM
@@ -495,4 +498,11 @@ BQ76952::Status BQ76952::getBQStatus(uint8_t bqStatusArr[7]) {
     return BQ76952::Status::OK;
 }
 
+void BQ76952::reset() {
+    resetPin.writePin(EVT::core::IO::GPIO::State::HIGH);
+    // Wait an arbitrary amount of time to ensure the BQ actually resets
+    EVT::core::time::wait(10);
+    resetPin.writePin(EVT::core::IO::GPIO::State::LOW);
+}
+
 }// namespace BMS::DEV

targets/DEV1-BMS/main.cpp

@@ -86,7 +86,7 @@ int main() {
     // TODO: Investigate adding CAN filters
     IO::CAN& can = IO::getCAN<BMS::BMS::CAN_TX_PIN, BMS::BMS::CAN_RX_PIN>();
     can.addIRQHandler(canInterruptHandler, reinterpret_cast<void*>(&canParams));
-    IO::UART& uart = IO::getUART<BMS::BMS::UART_TX_PIN, BMS::BMS::UART_RX_PIN>(115200, true);
+    IO::UART& uart = IO::getUART<BMS::BMS::UART_TX_PIN, BMS::BMS::UART_RX_PIN>(115200);
     IO::I2C& i2c = IO::getI2C<BMS::BMS::I2C_SCL_PIN, BMS::BMS::I2C_SDA_PIN>();
 
     // Initialize the timer
@@ -100,7 +100,8 @@ int main() {
     log::LOGGER.setLogLevel(log::Logger::LogLevel::INFO);
 
     // Initialize the BQ interfaces
-    BMS::DEV::BQ76952 bq(i2c, 0x08);
+    IO::GPIO& bqReset = IO::getGPIO<BMS::BMS::BQ_RESET_PIN>();
+    BMS::DEV::BQ76952 bq(i2c, 0x08, bqReset);
     BMS::BQSettingsStorage bqSettingsStorage(eeprom, bq);
 
     // Initialize the Interlock
@@ -113,6 +114,9 @@ int main() {
     // Initialize the system OK pin
     IO::GPIO& bmsOK = IO::getGPIO<BMS::BMS::OK_PIN>(IO::GPIO::Direction::OUTPUT);
 
+    // Initialize the error LED pin
+    IO::GPIO& errorLed = IO::getGPIO<BMS::BMS::ERROR_LED_PIN>(IO::GPIO::Direction::OUTPUT);
+
     // Initialize the thermistor MUX
     IO::GPIO* muxSelectArr[3] = {
         &IO::getGPIO<BMS::BMS::MUX_S1_PIN>(),
@@ -126,7 +130,7 @@ int main() {
     DEV::IWDG& iwdg = DEV::getIWDG(500);
 
     // Initialize the BMS itself
-    BMS::BMS bms(bqSettingsStorage, bq, interlock, alarm, systemDetect, bmsOK, thermMux, resetHandler, iwdg);
+    BMS::BMS bms(bqSettingsStorage, bq, interlock, alarm, systemDetect, bmsOK, errorLed, thermMux, resetHandler, iwdg);
 
     ///////////////////////////////////////////////////////////////////////////
     // Setup CAN configuration, this handles making drivers, applying settings.

targets/bms_canopen/main.cpp

@@ -86,7 +86,7 @@ int main() {
     // Initialize IO
     IO::CAN& can = IO::getCAN<BMS::BMS::CAN_TX_PIN, BMS::BMS::CAN_RX_PIN>();
     can.addIRQHandler(canInterruptHandler, reinterpret_cast<void*>(&canParams));
-    IO::UART& uart = IO::getUART<BMS::BMS::UART_TX_PIN, BMS::BMS::UART_RX_PIN>(115200, true);
+    IO::UART& uart = IO::getUART<BMS::BMS::UART_TX_PIN, BMS::BMS::UART_RX_PIN>(115200);
     IO::I2C& i2c = IO::getI2C<BMS::BMS::I2C_SCL_PIN, BMS::BMS::I2C_SDA_PIN>();
 
     // Initialize the timer
@@ -100,7 +100,8 @@ int main() {
     log::LOGGER.setLogLevel(log::Logger::LogLevel::DEBUG);
 
     // Initialize the BQ interfaces
-    BMS::DEV::BQ76952 bq(i2c, 0x08);
+    IO::GPIO& bqReset = IO::getGPIO<BMS::BMS::BQ_RESET_PIN>();
+    BMS::DEV::BQ76952 bq(i2c, 0x08, bqReset);
     BMS::BQSettingsStorage bqSettingsStorage(eeprom, bq);
 
     // Initialize the Interlock
@@ -113,6 +114,9 @@ int main() {
     // Initialize the system OK pin
     IO::GPIO& bmsOK = IO::getGPIO<BMS::BMS::OK_PIN>(IO::GPIO::Direction::OUTPUT);
 
+    // Initialize the error LED pin
+    IO::GPIO& errorLed = IO::getGPIO<BMS::BMS::ERROR_LED_PIN>(IO::GPIO::Direction::OUTPUT);
+
     // Initialize the thermistor MUX
     IO::GPIO* muxSelectArr[3] = {
         &IO::getGPIO<BMS::BMS::MUX_S1_PIN>(),
@@ -126,7 +130,7 @@ int main() {
     DEV::IWDG& iwdg = DEV::getIWDG(500);
 
     // Initialize the BMS itself
-    BMS::BMS bms(bqSettingsStorage, bq, interlock, alarm, systemDetect, bmsOK, thermMux, resetHandler, iwdg);
+    BMS::BMS bms(bqSettingsStorage, bq, interlock, alarm, systemDetect, bmsOK, errorLed, thermMux, resetHandler, iwdg);
 
     ///////////////////////////////////////////////////////////////////////////
     // Setup CAN configuration, this handles making drivers, applying settings.

targets/bq_interface/main.cpp

@@ -40,6 +40,7 @@ void printHelp(IO::UART& uart) {
     uart.printf(" i - Get interlock state\r\n");
     uart.printf(" a - Get alarm state\r\n");
     uart.printf(" o - Set OK signal output\r\n");
+    uart.printf(" e - Set error LED output\r\n");
     uart.printf(" v - Read voltages\r\n");
     uart.printf(" t - Transfer settings\r\n");
 
@@ -319,7 +320,7 @@ void exitConfigMode(IO::UART& uart, BMS::DEV::BQ76952& bq) {
 void getTemperatures(IO::UART& uart, BMS::DEV::BQ76952& bq, BMS::DEV::ThermistorMux tMux) {
     for (uint8_t i = 0; i < 6; i++) {
         uint16_t temp = tMux.getTemp(i);
-        uart.printf("Thermistor %d: %d.%03d\r\n", i, temp / 1000, temp % 1000);
+        uart.printf("Thermistor %d: %d\r\n", i, temp);
     }
     uint16_t result;
     bq.makeDirectRead(0x68, &result);
@@ -354,6 +355,19 @@ void setOK(IO::UART& uart, IO::GPIO& bmsOK) {
     }
 }
 
+void setError(IO::UART& uart, IO::GPIO& errorLed) {
+    uart.printf("Set error LED pin (0/1): ");
+    uart.printf("\r\n");
+    uart.gets(inputBuffer, MAX_BUFF);
+    if (inputBuffer[0] == '1') {
+        errorLed.writePin(IO::GPIO::State::HIGH);
+        uart.printf("Set error LED high\r\n");
+    } else {
+        errorLed.writePin(IO::GPIO::State::LOW);
+        uart.printf("Set error LED low\r\n");
+    }
+}
+
 void getVoltages(IO::UART& uart, BMS::DEV::BQ76952& bq) {
     uint16_t tot = 0;
     for (uint8_t i = 0; i < 16; i++) {
@@ -415,10 +429,11 @@ int main() {
     EVT::core::platform::init();
 
     IO::I2C& i2c = IO::getI2C<BMS::BMS::I2C_SCL_PIN, BMS::BMS::I2C_SDA_PIN>();
-    BMS::DEV::BQ76952 bq(i2c, 0x08);
+    IO::GPIO& bqReset = IO::getGPIO<BMS::BMS::BQ_RESET_PIN>();
+    BMS::DEV::BQ76952 bq(i2c, 0x08, bqReset);
     EVT::core::DEV::M24C32 eeprom(0x57, i2c);
 
-    IO::UART& uart = IO::getUART<BMS::BMS::UART_TX_PIN, BMS::BMS::UART_RX_PIN>(115200, true);
+    IO::UART& uart = IO::getUART<BMS::BMS::UART_TX_PIN, BMS::BMS::UART_RX_PIN>(115200);
     log::LOGGER.setUART(&uart);
     log::LOGGER.setLogLevel(log::Logger::LogLevel::DEBUG);
 
@@ -438,6 +453,8 @@ int main() {
 
     IO::GPIO& bmsOK = IO::getGPIO<BMS::BMS::OK_PIN>(IO::GPIO::Direction::OUTPUT);
 
+    IO::GPIO& errorLed = IO::getGPIO<BMS::BMS::ERROR_LED_PIN>(IO::GPIO::Direction::OUTPUT);
+
     time::wait(500);
 
     while (true) {
@@ -519,6 +536,10 @@ int main() {
         case 'o':
             setOK(uart, bmsOK);
             break;
+        // Set OK signal output
+        case 'e':
+            setError(uart, errorLed);
+            break;
         }
     }
 

targets/bq_settings/main.cpp

@@ -140,7 +140,7 @@ void serializeDeserializeTest(IO::UART& uart) {
 int main() {
     EVT::core::platform::init();
 
-    IO::UART& uart = IO::getUART<BMS::BMS::UART_TX_PIN, BMS::BMS::UART_RX_PIN>(115200, true);
+    IO::UART& uart = IO::getUART<BMS::BMS::UART_TX_PIN, BMS::BMS::UART_RX_PIN>(115200);
 
     uart.printf("\r\n\r\nBQ SETTING TEST\r\n");
 

targets/eeprom_dump/main.cpp

@@ -19,7 +19,7 @@ namespace log = EVT::core::log;
 int main() {
     EVT::core::platform::init();
 
-    IO::UART& uart = IO::getUART<BMS::BMS::UART_TX_PIN, BMS::BMS::UART_RX_PIN>(115200, true);
+    IO::UART& uart = IO::getUART<BMS::BMS::UART_TX_PIN, BMS::BMS::UART_RX_PIN>(115200);
 
     uart.printf("\r\n\r\nEEPROM Dump\r\n");
 
@@ -29,7 +29,8 @@ int main() {
     log::LOGGER.setUART(&uart);
     log::LOGGER.setLogLevel(log::Logger::LogLevel::DEBUG);
 
-    BMS::DEV::BQ76952 bq(i2c, 0x08);
+    IO::GPIO& bqReset = IO::getGPIO<BMS::BMS::BQ_RESET_PIN>();
+    BMS::DEV::BQ76952 bq(i2c, 0x08, bqReset);
     BMS::BQSettingsStorage bqSettingsStorage(eeprom, bq);
     bqSettingsStorage.resetEEPROMOffset();