can fault on a latching fault

Author: joe-1-smith

.mxproject

@@ -101,7 +101,7 @@ FDCAN2.Mode=FDCAN_MODE_NORMAL
 FDCAN2.NominalPrescaler=8
 FDCAN2.NominalTimeSeg1=11
 FDCAN2.NominalTimeSeg2=4
-FDCAN2.StdFiltersNbr=12
+FDCAN2.StdFiltersNbr=14
 File.Version=6
 GPDMA1.CIRCULARMODE_GPDMACH4=ENABLE
 GPDMA1.CIRCULARMODE_GPDMACH5=ENABLE
@@ -486,7 +486,6 @@ PC9.GPIO_Label=MUX_SEL4
 PC9.Locked=true
 PC9.Signal=GPIO_Output
 PCC.Checker=false
-PCC.Display=Plot\: All Steps
 PCC.Line=STM32H563/H573
 PCC.MCU=STM32H563ZITx
 PCC.PartNumber=STM32H563ZITx

Cerberus-2.0.ioc

@@ -2,6 +2,7 @@
 #define __U_BMS_H
 
 #include <stdint.h>
+#include "can_messages_rx.h"    
 
 /* API */
 
@@ -19,4 +20,9 @@ void bms_setBattboxTemp(float temp); // Sets the battbox temperature. The "temp"
 
 void bms_receivePrechargeState(precharge_state_t precharge); 
 bool bms_getPrecharge(void); 
+
+int bms_handleBmsFaultMessage(can_msg_t *message); // CAN faults upon receiving a latching fault message from BMS
+int imd_handleImdFaultMessage(can_msg_t *message); // CAN faults upon receiving a latctching fault message from IMD
+
+
 #endif /* u_bms.h */

Core/Inc/u_bms.h

@@ -69,4 +69,8 @@ extern can_t can1;
 #define CANID_F_RPM       0xDB0
 #define CANID_R_RPM       0xDB1
 
+/* Latching Fault CAN IDs */
+#define IMD_GENERAL_MSG_ID        0x37
+#define BMS_LIGHTNING_OKAY_MSG_ID 0x01E
+
 #endif /* u_can.h */

Core/Inc/u_can.h

@@ -11,6 +11,7 @@ typedef enum {
     BMS_CAN_MONITOR_FAULT,
     LIGHTNING_CAN_MONITOR_FAULT,
     PRECHARGE_FLOATING_FAULT,
+    LATCHING_ACTIVE_FAULT,
 
     /* Non-critical Faults */
     ONBOARD_TEMP_FAULT,

Core/Inc/u_faults.h

@@ -668,7 +668,7 @@ static void MX_FDCAN2_Init(void)
   hfdcan2.Init.DataSyncJumpWidth = 1;
   hfdcan2.Init.DataTimeSeg1 = 1;
   hfdcan2.Init.DataTimeSeg2 = 1;
-  hfdcan2.Init.StdFiltersNbr = 12;
+  hfdcan2.Init.StdFiltersNbr = 14;
   hfdcan2.Init.ExtFiltersNbr = 8;
   hfdcan2.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
   if (HAL_FDCAN_Init(&hfdcan2) != HAL_OK)

Core/Src/main.c

@@ -57,6 +57,55 @@ int bms_handleDclMessage(void)
     return U_SUCCESS;
 }
 
+int bms_handleBmsFaultMessage(can_msg_t *message) {
+    bms_critically_faulted_t data = { 0 };
+    receive_bms_critically_faulted(message, &data); 
+    PRINTLN_INFO("bms critically faulted=%d", data.critically_faulted);
+    if (data.critically_faulted == true) {
+        queue_send(&faults, &(fault_t){LATCHING_ACTIVE_FAULT}, TX_NO_WAIT);
+    }
+}
+
+#define _GET_BIT(data, bit) (((data) & (1U << (bit))) != 0U)
+int imd_handleImdFaultMessage(can_msg_t *message) {
+    /* Extract the warnings and alarms field (bytes 4 and 5 of the message). */
+    uint16_t warnings_and_alarms = 0;
+    memcpy(&warnings_and_alarms, &message->data[4], 2); // Copy over two bytes of the message, starting at byte 4. This should result in byte 4 and byte 5 being copied over.
+    
+    /* Get all the bit states from the register. */
+    bool device_error_active = _GET_BIT(warnings_and_alarms, 0); // true = device error active
+    bool HV_pos_connection_failure = _GET_BIT(warnings_and_alarms, 1); // true = HV_pos connection failure
+    bool HV_neg_connection_failure = _GET_BIT(warnings_and_alarms, 2); // true = HV_neg connection failure
+    bool Earth_connection_failure = _GET_BIT(warnings_and_alarms, 3); // true = Earth connection failure
+    bool Iso_alarm = _GET_BIT(warnings_and_alarms, 4); // true = Iso value below threshold error
+    bool Iso_warning = _GET_BIT(warnings_and_alarms, 5); // true = Iso value below treshold warning
+    bool Iso_outdated = _GET_BIT(warnings_and_alarms, 6); // true = Iso outdated
+    bool Unbalance_alarm = _GET_BIT(warnings_and_alarms, 7); // true = unbalane value below threshold
+    bool Undervoltage_alarm = _GET_BIT(warnings_and_alarms, 8); // true = undervoltage alarm
+    bool Unsafe_to_start = _GET_BIT(warnings_and_alarms, 9); // true = Unsafe to start
+    bool Earthlift_open = _GET_BIT(warnings_and_alarms, 10); // true = Earthlift open
+
+    /* Do we have an error? */
+    bool imd_error = 
+    device_error_active ||
+    HV_pos_connection_failure ||
+    HV_neg_connection_failure ||
+    Earth_connection_failure ||
+    Iso_alarm ||
+    Iso_warning ||
+    Iso_outdated ||
+    Unbalance_alarm ||
+    Undervoltage_alarm ||
+    Unsafe_to_start ||
+    Earthlift_open;
+    // Right now, if any of these are true, we are considering it an error.
+
+    /* Update `has_imd_made_contact`, since we have made contact if this has been called. */
+    if (imd_error) {
+        queue_send(&faults, &(fault_t){LATCHING_ACTIVE_FAULT}, TX_NO_WAIT);
+    }
+}
+
 /* Returns the battbox temperature. */
 float bms_getBattboxTemp(void) {
     return battbox_temp;

Core/Src/u_bms.c

@@ -60,14 +60,20 @@ uint8_t can1_init(FDCAN_HandleTypeDef *hcan) {
     }
 
     /* Add filters for standard IDs */
-    uint16_t standard5[] = {CANID_SHUTDOWN, 0x00};
+    uint16_t standard5[] = {CANID_SHUTDOWN, IMD_GENERAL_MSG_ID};
     status = can_add_filter_standard(&can1, standard5);
     if (status != HAL_OK) {
         PRINTLN_ERROR("Failed to add standard filter to can1 (Status: %d/%s, ID1: 0x%X, ID2: 0x%X).", status, hal_status_toString(status), standard5[0], standard5[1]);
         return U_ERROR;
     }
 
-
+    /* Add filters for standard IDs */
+    uint16_t standard6[] = {BMS_LIGHTNING_OKAY_MSG_ID, 0x0};
+    status = can_add_filter_standard(&can1, standard6);
+    if (status != HAL_OK) {
+        PRINTLN_ERROR("Failed to add standard filter to can1 (Status: %d/%s, ID1: 0x%X, ID2: 0x%X).", status, hal_status_toString(status), standard6[0], standard6[1]);
+        return U_ERROR;
+    }
 
     /* Add fitlers for extended IDs */
     uint32_t extended1[] = {CANID_CALYPSO_EFCTRL_DASHBOARD, CANID_CALYPSO_EFCTRL_BRAKE};
@@ -255,6 +261,12 @@ void can_inbox(can_msg_t *message) {
             }
         }
         break;
+    case IMD_GENERAL_MSG_ID:
+        imd_handleImdFaultMessage(message);
+        break;
+    case BMS_LIGHTNING_OKAY_MSG_ID:
+        bms_handleBmsFaultMessage(message);
+        break;
     default:
         PRINTLN_WARNING("Unknown CAN Message Recieved (Message ID: 0x%X).", message->id);
         break;

Core/Src/u_can.c

@@ -26,6 +26,7 @@ static const _metadata faults[] = {
     [BMS_CAN_MONITOR_FAULT] = {"BMS_CAN_MONITOR_FAULT", CRITICAL, .timeout = 5000},
     [LIGHTNING_CAN_MONITOR_FAULT] = {"LIGHTNING_CAN_MONITOR_FAULT", CRITICAL, .timeout = 5000},
     [PRECHARGE_FLOATING_FAULT] = {"PRECHARGE_FLOATING_FAULT", CRITICAL, .timeout = 5000},
+    [LATCHING_ACTIVE_FAULT] = {"LATCHING_ACTIVE_FAULT", CRITICAL, .timeout = 10000},
 
     /* Non-critical Faults */
     [ONBOARD_TEMP_FAULT] = {"ONBOARD_TEMP_FAULT", NON_CRITICAL, .timeout = 5000},