Added selftest terminal command

Makefile

@@ -139,7 +139,8 @@ CSRC = $(ALLCSRC) \
        conf_general.c \
        timeout.c \
        sleep.c \
-       comm_uart.c
+       comm_uart.c \
+       selftest.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.

bms_if.c

@@ -201,19 +201,16 @@ static THD_FUNCTION(balance_thd, p) {
 
 		bool is_balance_override = false;
 		int bal_ch = 0;
-		for (int i = backup.config.cell_first_index;i <
-		(backup.config.cell_num + backup.config.cell_first_index);i++) {
-			for (int i = backup.config.cell_first_index;i <
-			(backup.config.cell_num + backup.config.cell_first_index);i++) {
-				if (m_balance_override[i] == 1) {
-					is_balance_override = true;
-					ltc_set_dsc(i, false);
-				} else if (m_balance_override[i] == 2) {
-					is_balance_override = true;
-					ltc_set_dsc(i, true);
-					bal_ch++;
-					m_is_balancing = true;
-				}
+		for (int i = backup.config.cell_first_index;
+				i < (backup.config.cell_num + backup.config.cell_first_index);i++) {
+			if (m_balance_override[i] == 1) {
+				is_balance_override = true;
+				ltc_set_dsc(i, false);
+			} else if (m_balance_override[i] == 2) {
+				is_balance_override = true;
+				ltc_set_dsc(i, true);
+				bal_ch++;
+				m_is_balancing = true;
 			}
 		}
 
@@ -468,6 +465,18 @@ bool bms_if_is_balancing(void) {
 	return m_is_balancing;
 }
 
+/**
+ * Override balancing.
+ *
+ * cell
+ * Cell number
+ *
+ * override
+ * Override setting.
+ * 0: Do not override balancing
+ * 1: Override and disable balancing on cell
+ * 2: Override and enable balancing on cell
+ */
 void bms_if_set_balance_override(int cell, int override) {
 	if (cell >= 0 && cell < HW_CELLS_SERIES) {
 		m_balance_override[cell] = override;

drivers/ltc6813.c

@@ -33,10 +33,12 @@
 static THD_WORKING_AREA(ltc_thd_wa, 2048);
 static volatile float m_v_pack = 0.0;
 static volatile float m_v_cell[18] = {0.0};
+static volatile float m_v_cell_no_mute[18] = {0.0};
 static volatile float m_v_cell_pu_diff[18] = {0.0};
 static volatile float m_v_gpio[9] = {-1.0};
 static volatile float m_last_temp = 0.0;
 static volatile bool m_discharge_state[18] = {false};
+static mutex_t ltc_mtx;
 
 // Private functions
 static THD_FUNCTION(ltc_thd, arg);
@@ -60,6 +62,8 @@ void ltc_init(void) {
 	palSetLineMode(LINE_LTC_MOSI, PAL_MODE_OUTPUT_PUSHPULL);
 	palSetLine(LINE_LTC_MOSI);
 
+	chMtxObjectInit(&ltc_mtx);
+
 	chThdCreateStatic(ltc_thd_wa, sizeof(ltc_thd_wa), NORMALPRIO - 1, ltc_thd, 0);
 
 	(void)ltc_wakeup();
@@ -81,6 +85,14 @@ float ltc_last_cell_voltage(int cell) {
 	return m_v_cell[cell];
 }
 
+float ltc_last_cell_voltage_no_mute(int cell) {
+	if (cell < 0 || cell > 17) {
+		return -1.0;
+	}
+
+	return m_v_cell_no_mute[cell];
+}
+
 float ltc_last_pu_diff_voltage(int cell) {
 	if (cell < 0 || cell > 17) {
 		return -1.0;
@@ -120,11 +132,35 @@ void ltc_sleep(void) {
 	write_reg_group(LTC_WRCFGA, buffer);
 }
 
+bool ltc_self_test(void) {
+	bool res = true;
+
+	chMtxLock(&ltc_mtx);
+
+	float cells_st[18];
+	write_cmd(LTC_CVST | LTC_MD10 | LTC_ST01);
+	poll_adc();
+	read_cell_voltages((float*)cells_st);
+
+	for (int i = 0;i < 18;i++) {
+		if ((uint16_t)(cells_st[i] * 1e4) != 0x9555) {
+			res = false;
+			break;
+		}
+	}
+
+	chMtxUnlock(&ltc_mtx);
+
+	return res;
+}
+
 static THD_FUNCTION(ltc_thd, p) {
 	(void)p;
 	chRegSetThreadName("LTC");
 
 	while (!chThdShouldTerminateX()) {
+		chMtxLock(&ltc_mtx);
+
 		uint8_t buffer[100];
 
 //		ltc_wakeup();
@@ -155,24 +191,28 @@ static THD_FUNCTION(ltc_thd, p) {
 		SET_BIT(buffer[1], 0, m_discharge_state[16]);
 		write_reg_group(LTC_WRCFGB, buffer);
 
+		write_cmd(LTC_ADCV | LTC_MD10 | LTC_DCP);
+		poll_adc();
+		read_cell_voltages((float*)m_v_cell_no_mute);
+
 		write_cmd(LTC_MUTE);
-		chThdSleepMilliseconds(1);
+		chThdSleepMilliseconds(10);
 
 		write_cmd(LTC_ADCV | LTC_MD10);
 		poll_adc();
 		read_cell_voltages((float*)m_v_cell);
 
 		// Open wire check
-		float cells_pu[18], cells_pd[18];
-		write_cmd(LTC_ADOW | LTC_MD10);
-		poll_adc();
-		read_cell_voltages(cells_pu);
-		write_cmd(LTC_ADOW | LTC_MD10 | LTC_PUP);
-		poll_adc();
-		read_cell_voltages(cells_pd);
-		for (int i = 0;i < 18;i++) {
-			m_v_cell_pu_diff[i] = cells_pu[i] - cells_pd[i];
-		}
+//		float cells_pu[18], cells_pd[18];
+//		write_cmd(LTC_ADOW | LTC_MD10 | LTC_PUP);
+//		poll_adc();
+//		read_cell_voltages(cells_pd);
+//		write_cmd(LTC_ADOW | LTC_MD10);
+//		poll_adc();
+//		read_cell_voltages(cells_pu);
+//		for (int i = 0;i < 18;i++) {
+//			m_v_cell_pu_diff[i] = cells_pu[i] - cells_pd[i];
+//		}
 
 		write_cmd(LTC_ADSTAT | LTC_MD10);
 		poll_adc();
@@ -198,7 +238,9 @@ static THD_FUNCTION(ltc_thd, p) {
 			m_v_gpio[4] = (float)((uint16_t)buffer[2] | (uint16_t)buffer[3] << 8) / 1e4;
 		}
 
-		chThdSleepMilliseconds(100);
+		chMtxUnlock(&ltc_mtx);
+
+		chThdSleepMilliseconds(90);
 	}
 }
 

drivers/ltc6813.h

@@ -27,15 +27,18 @@ void ltc_init(void);
 float ltc_last_pack_voltage(void);
 float ltc_last_temp(void);
 float ltc_last_cell_voltage(int cell);
+float ltc_last_cell_voltage_no_mute(int cell);
 float ltc_last_pu_diff_voltage(int cell);
 float ltc_last_gpio_voltage(int gpio);
 void ltc_set_dsc(int cell, bool set);
 bool ltc_get_dsc(int cell);
 void ltc_sleep(void);
+bool ltc_self_test(void);
 
 // Commands
 #define LTC_ADCV					0x0260
 #define LTC_ADOW					0x0228
+#define LTC_CVST					0x0207
 #define LTC_ADSTAT					0x0468
 #define LTC_ADCVSC					0x0467
 #define LTC_ADAX					0x0460
@@ -70,6 +73,11 @@ void ltc_sleep(void);
 #define LTC_CHG000					0x0000 // GPIO 1-5, 2nd ref, GPIO 6-9
 #define LTC_CHG101					0x0005 // GPIO 5
 #define LTC_PUP						0x0040
+#define LTC_ST00					0x0000
+#define LTC_ST01					0x0020
+#define LTC_ST10					0x0040
+#define LTC_ST11					0x0060
+
 
 // Configuration bits
 #define LTC_REFON					0x04

hwconf/hw_12s7p_v1.h

@@ -22,6 +22,8 @@
 
 #define HW_NAME					"12s7p"
 
+#define HW_NO_CH0_TEST
+
 // HW-specific
 #define HW_INIT_HOOK()			palSetLineMode(LINE_CURR_MEASURE_EN, PAL_MODE_OUTPUT_PUSHPULL)
 

hwconf/hw_18s_light.h

@@ -36,6 +36,8 @@
 
 #define HW_NAME					"18s_light"
 
+#define HW_NO_CH0_TEST
+
 // HW-specific
 #define HW_INIT_HOOK()			palSetLineMode(LINE_CAN_EN, PAL_MODE_OUTPUT_PUSHPULL); \
 								palSetLineMode(LINE_CURR_MEASURE_EN, PAL_MODE_OUTPUT_PUSHPULL)

hwconf/hw_stormcore_bms.h

@@ -22,6 +22,8 @@
 
 #define HW_NAME					"stormcore_bms"
 
+#define HW_NO_CH0_TEST
+
 // HW-specific
 #define HW_INIT_HOOK()			palSetLineMode(LINE_CURR_MEASURE_EN, PAL_MODE_OUTPUT_PUSHPULL)
 

main.c

@@ -34,6 +34,7 @@
 #include "flash_helper.h"
 #include "comm_uart.h"
 #include "hw.h"
+#include "selftest.h"
 
 #include <math.h>
 #include <string.h>
@@ -191,6 +192,7 @@ int main(void) {
 
 	sleep_init();
 	timeout_init();
+	selftest_init();
 
 	for(;;) {
 		backup.controller_id = backup.config.controller_id;

selftest.c

@@ -0,0 +1,90 @@
+/*
+	Copyright 2021 Benjamin Vedder	[email protected]
+
+	This file is part of the VESC BMS firmware.
+
+	The VESC BMS firmware is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    The VESC BMS firmware is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#include "selftest.h"
+#include "terminal.h"
+#include "commands.h"
+#include "ltc6813.h"
+#include "bms_if.h"
+#include "main.h"
+#include "ch.h"
+#include "hal.h"
+
+// Private functions
+static void terminal_st(int argc, const char **argv);
+
+void selftest_init(void) {
+	terminal_register_command_callback(
+			"hw_st",
+			"Run hardware self test",
+			0,
+			terminal_st);
+}
+
+static void terminal_st(int argc, const char **argv) {
+	(void)argc; (void)argv;
+
+	bool res_ok = ltc_self_test();
+
+	commands_printf("Testing LTC6813... %s\n", res_ok ? "Ok" : "Failed");
+
+	for (int i = 0;i < backup.config.cell_num;i++) {
+		bms_if_set_balance_override(i, 1);
+	}
+
+	chThdSleepMilliseconds(500);
+
+	commands_printf("Testing balancing and open connections...\n");
+	commands_printf("Cell NoBal   Bal     Diff    Result");
+	commands_printf("===================================");
+
+	for (int i = backup.config.cell_first_index;
+			i < (backup.config.cell_first_index + backup.config.cell_num);i++) {
+		bms_if_set_balance_override(i, 2);
+		ltc_set_dsc(i, 1);
+		chThdSleepMilliseconds(200);
+
+		float no_bal = ltc_last_cell_voltage(i);
+		float bal = ltc_last_cell_voltage_no_mute(i);
+		float diff = fabsf(bal - no_bal);
+		bool ok = (diff / no_bal > 0.03 && bal > 2.0);
+
+#ifdef HW_NO_CH0_TEST
+		if (i == 0) {
+			ok = bal > 2.0;
+		}
+#endif
+
+		commands_printf("%02d   %.4f  %.4f  %.4f  %s",
+				i + 1,
+				no_bal,
+				bal,
+				diff,
+				ok ? "Ok" : "Failed");
+
+		if (!ok) {
+			res_ok = false;
+		}
+
+		bms_if_set_balance_override(i, 0);
+		ltc_set_dsc(i, 0);
+	}
+
+	commands_printf(res_ok ? "\nAll tests passed!\n" : "\nOne or more tests failed...\n");
+}

selftest.h

@@ -0,0 +1,26 @@
+/*
+	Copyright 2021 Benjamin Vedder	[email protected]
+
+	This file is part of the VESC BMS firmware.
+
+	The VESC BMS firmware is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    The VESC BMS firmware is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#ifndef SELFTEST_H_
+#define SELFTEST_H_
+
+// Functions
+void selftest_init(void);
+
+#endif /* SELFTEST_H_ */