Added basic implementation for precharge. One function for initializi…

Core/Inc/adi2950_interaction.h

@@ -22,18 +22,16 @@ void read_vbat_regsisters(cell_asic_2950 ic, SPI_HandleTypeDef *hspi);
 /**
  * @brief Sets the state of a gpo pin.
  * @param ic Pointer to the adbms2950 data structure.
- * @param hspi Pointer to the SPI interface handle.
  * @param gpo GPO to set
  */
-void set_gpo(cell_asic_2950 ic, SPI_HandleTypeDef *hspi, GPO_2950 gpo);
+void set_gpo(cell_asic_2950 ic, GPO_2950 gpo);
 
 /**
  * @brief Resets a gpo pin.
  * @param ic Pointer to the adbms2950 data structure.
- * @param hspi Pointer to the SPI interface handle.
  * @param gpo GPO to reset
  */
-void reset_gpo(cell_asic_2950 ic, SPI_HandleTypeDef *hspi, GPO_2950 gpo);
+void reset_gpo(cell_asic_2950 ic, GPO_2950 gpo);
 
 /**
  * @brief Reads the voltage registers from the ADBMS2950.

Core/Inc/hv_plate.h

@@ -6,7 +6,7 @@
 #include "stm32xx_hal.h"
 #include "adi_bms_2950data.h"
 
-#define SHUNT_RESISTANCE 0.05 / 1000 // 0.05 mOhms
+#define HV_CTRL_GPO GPIO4_2950
 
 /**
  * @brief initializes the adbms2950
@@ -46,14 +46,4 @@ float get_ts_voltage(cell_asic_2950 *ic, SPI_HandleTypeDef *hspi);
  */
 float get_shunt_temp(cell_asic_2950 *ic, SPI_HandleTypeDef *hspi);
 
-/**
- * @brief Sets the HV_CTRL GPO to the desired state to toggle precharge
- * 
- * @param ic pointer to adbms data struct
- * @param hspi pointer to spi handler 
- * @param state if true, pulls the GPO up, if false pulls it down
- */
-void set_precharge_relay(cell_asic_2950 *ic, SPI_HandleTypeDef *hspi,
-			 bool state);
-
 #endif

Core/Inc/precharge_routine.h

@@ -0,0 +1,32 @@
+#include "adi2950_interaction.h"
+#include "timer.h"
+#include "hv_plate.h"
+
+typedef struct {
+	hv_plate_t *hv_plate;
+	GPO_2950 gpo;
+	float transition_ratio;
+	nertimer_t open_debounce_timer;
+	nertimer_t close_debounce_timer;
+	uint32_t debounce_time;
+	bool air_switch_closed;
+} prechargeconfig_t;
+
+/**
+ * @brief Given the cell, SPI, AIR switch, initializes the pre-charge structure for the given BATT/TS voltage capacitor threshold ratio, 
+ * and with the given debounce time to wait when the AIR opens before closing again.ADI1_delay_ms
+ * @param precharge_config is the empty configuration to configure.
+ * @param ic pointer to ADBMS2950 data struct
+ * @param threshold_ratio if batt volts > ts volts * threshold_ratio, close the AIR switch
+ * @param debounce_time is the time to wait after the AIR switch opens before closing again (to prevent immediate closes) in milliseconds.
+ * @return a precharge configuration for running the precharge thread.
+ */
+prechargeconfig_t *precharge_init(prechargeconfig_t *precharge_config,
+				  hv_plate_t *hv_plate, float transition_ratio,
+				  uint32_t debounce_time);
+/**
+ * @brief Handles the precharge routine given the current BATT and TS voltages.
+ * @param precharge_config the prechsarge configuration struct.
+ * NOTE: Ment to be run in a Thread on a loop due to debounces
+ */
+void handle_precharge(prechargeconfig_t *precharge_config);

Core/Src/adi2950_interaction.c

@@ -48,7 +48,7 @@ void read_vr_registers(cell_asic_2950 ic, SPI_HandleTypeDef *hspi)
 	adBmsReadData2950(TOTAL_IC_2950, &ic, RDV2C, GPV2, E_2950);
 }
 
-void set_gpo(cell_asic_2950 ic, SPI_HandleTypeDef *hspi, GPO_2950 gpo)
+void set_gpo(cell_asic_2950 ic, GPO_2950 gpo)
 {
 	switch (gpo) {
 	case GPO1_2950:
@@ -84,7 +84,7 @@ void set_gpo(cell_asic_2950 ic, SPI_HandleTypeDef *hspi, GPO_2950 gpo)
 	adBmsReadData2950(TOTAL_IC_2950, &ic, RDCFGA2950, Config2950, A_2950);
 }
 
-void reset_gpo(cell_asic_2950 ic, SPI_HandleTypeDef *hspi, GPO_2950 gpo)
+void reset_gpo(cell_asic_2950 ic, GPO_2950 gpo)
 {
 	switch (gpo) {
 	case GPO1_2950:

Core/Src/hv_plate.c

@@ -1,7 +1,7 @@
 #include "adi2950_interaction.h"
 #include "hv_plate.h"
 
-#define HV_CTRL_GPO GPIO4_2950
+#define SHUNT_RESISTANCE 0.05 / 1000 // 0.05 mOhms
 
 static float get_current_conversion(uint32_t data)
 {
@@ -126,13 +126,3 @@ float get_shunt_temp(cell_asic_2950 *ic, SPI_HandleTypeDef *hspi)
 			  2;
 	return avg_volts;
 }
-
-void set_precharge_relay(cell_asic_2950 *ic, SPI_HandleTypeDef *hspi,
-			 bool state)
-{
-	if (state) {
-		set_gpo(*ic, hspi, HV_CTRL_GPO);
-	} else {
-		reset_gpo(*ic, hspi, HV_CTRL_GPO);
-	}
-}

Core/Src/precharge_routine.c

@@ -0,0 +1,58 @@
+#include "precharge_routine.h"
+#include <assert.h>
+#include "debounce.h"
+
+static void close_relay(void *args)
+{
+	prechargeconfig_t *precharge_config = (prechargeconfig_t *)args;
+	set_precharge_relay(precharge_config->hv_plate->ic, true);
+	precharge_config->air_switch_closed = true;
+}
+
+static void open_relay(void *args)
+{
+	prechargeconfig_t *precharge_config = (prechargeconfig_t *)args;
+	set_precharge_relay(precharge_config->hv_plate->ic, false);
+	precharge_config->air_switch_closed = false;
+}
+
+static void set_precharge_relay(cell_asic_2950 *ic, bool state)
+{
+	if (state) {
+		set_gpo(*ic, HV_CTRL_GPO);
+	} else {
+		reset_gpo(*ic, HV_CTRL_GPO);
+	}
+}
+
+prechargeconfig_t *precharge_init(prechargeconfig_t *precharge_config,
+				  hv_plate_t *hv_plate, float transition_ratio,
+				  uint32_t debounce_time)
+{
+	assert(precharge_config != NULL);
+	assert(hv_plate != NULL);
+	assert(transition_ratio > 0 && transition_ratio < 1);
+
+	precharge_config->transition_ratio = transition_ratio;
+	precharge_config->open_debounce_timer =
+		(nertimer_t){ 0, 0, false, false };
+	precharge_config->close_debounce_timer =
+		(nertimer_t){ 0, 0, false, false };
+	precharge_config->debounce_time = debounce_time;
+	precharge_config->air_switch_closed = false;
+}
+
+void handle_precharge(prechargeconfig_t *precharge_config)
+{
+	hv_plate_t *hv_plate = precharge_config->hv_plate;
+	bool should_precharge = // TODO: mutex hv plate data
+		hv_plate->ts_volts * precharge_config->transition_ratio >=
+		hv_plate->batt_volts;
+
+	debounce(should_precharge, &precharge_config->open_debounce_timer,
+		 precharge_config->debounce_time, close_relay,
+		 precharge_config);
+
+	debounce(!should_precharge, &precharge_config->close_debounce_timer,
+		 precharge_config->debounce_time, open_relay, precharge_config);
+}

Core/Src/shep_tasks.c

@@ -15,6 +15,7 @@
 #include "hv_plate.h"
 #include "compute.h"
 #include "cell_temp_sanitizer.h"
+#include "precharge_routine.h"
 
 void vDefaultTask(ULONG thread_input)
 {
@@ -242,6 +243,20 @@ void vSanitizer(ULONG thread_input)
 	}
 }
 
+void vPrecharge(ULONG args)
+{
+	hv_plate_t *hv_plate = (hv_plate_t *)args;
+
+	prechargeconfig_t precharge_config;
+	precharge_init(&precharge_config, hv_plate, 0.9f,
+		       50 /* ms debounce time */);
+
+	for (;;) {
+		handle_precharge(&precharge_config);
+		tx_thread_sleep(MS_TO_TICKS(50)); // TODO; fix thread timing
+	}
+}
+
 void vBMSAlgorithms(ULONG thread_input)
 {
 	for (;;) {