feat_ updateBMS if config is different from expected. feat: STOP_ON_UVP behaviour

Author: eigen-value

.gitignore

@@ -2,6 +2,7 @@
 .DS_Store
 .AppleDouble
 .LSOverride
+.vscode
 
 # Icon must end with two \r
 Icon

examples/firmware/firmware.ino

@@ -213,6 +213,9 @@ void loop(){
           case 1: 
             alvik.setBehaviour(LIFT_ILLUMINATOR, true);
             break;
+          case STOP_ON_UVP:
+            alvik.setBehaviour(STOP_ON_UVP, true);
+            break;
           default:
             alvik.setBehaviour(ALL_BEHAVIOURS, false);
         }

src/Arduino_AlvikCarrier.cpp

@@ -11,7 +11,7 @@
 
 #include "Arduino_AlvikCarrier.h"
 #include "./utilities/HAL_custom_init.h"
-
+#include "INR18650_config.h"
 
 
 Arduino_AlvikCarrier::Arduino_AlvikCarrier(){
@@ -271,6 +271,11 @@ void Arduino_AlvikCarrier::disconnectExternalI2C(){
 int Arduino_AlvikCarrier::beginBMS(){
     while(digitalRead(NANO_CHK)==HIGH){}
     bms->begin();
+
+    if (!bms->compareWithMem(inr18650_config)){
+        upgradeBMS();
+    }
+
     return 0;
 }
 
@@ -288,6 +293,15 @@ float Arduino_AlvikCarrier::getBatteryChargePercentage(){
     return state_of_charge;
 }
 
+void Arduino_AlvikCarrier::upgradeBMS(){
+
+    bms->writeShadowMem(inr18650_config);
+
+    // MAX17332_Programmer bmsProgrammer(*bms);
+    // bmsProgrammer.writeNVM(inr18650_config);
+
+    return;
+}
 
 
 /******************************************************************************************************/
@@ -1007,6 +1021,19 @@ void Arduino_AlvikCarrier::updateBehaviours(){
         }
        }
     }
+
+    if ((bool) behaviours & STOP_ON_UVP){
+
+        if (bms->readSoc() < BATTERY_CHARGE_MIN && !bms->isCharging()){
+            setLedLeftRed(1);
+            setLedRightRed(0);
+            delay(500);
+            setLedLeftRed(0);
+            setLedRightRed(1);
+            delay(500);
+            // TODO MEMORIZE A STATE VARIABLE TO STOP MOTORS ETC...
+        }
+    }
 }
 
 void Arduino_AlvikCarrier::setBehaviour(const uint8_t behaviour, const bool enable){

src/Arduino_AlvikCarrier.h

@@ -27,6 +27,8 @@
 #include "motion_fx.h"
 #include "./robotics/kinematics.h"
 
+#define BATTERY_CHARGE_MIN 10.0
+
 
 
 class Arduino_AlvikCarrier{
@@ -156,7 +158,7 @@ class Arduino_AlvikCarrier{
         void updateBMS();                                                               // update the BMS
         float getBatteryVoltage();                                                      // get Voltage
         float getBatteryChargePercentage();                                             // get battery percentage
-
+        void upgradeBMS();
 
 
         // Motors

src/INR18650_config.h

@@ -0,0 +1,29 @@
+
+/*
+
+Arduino INR18650 config for MAX17332 BMS
+
+Copyright (c) 2023 Arduino SA
+
+This Source Code Form is subject to the terms of the Mozilla Public
+License, v. 2.0. If a copy of the MPL was not distributed with this
+file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+*/
+
+#ifndef  _INR18650_H_
+#define  _INR18650_H_
+
+
+const uint8_t inr18650_config[] = {
+	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0A, 0x00, 0x00, 0x00, 0x5F, 0xA0, 0x00, 0x00, 
+	0x80, 0x29, 0x00, 0x14, 0x02, 0x09, 0x83, 0x07, 0x00, 0x00, 0xA8, 0x16, 0xCC, 0x08, 0x3E, 0x22, 0x00, 0x00, 0x88, 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	0x00, 0x00, 0x04, 0x02, 0x00, 0x00, 0x83, 0x3E, 0x00, 0x00, 0x85, 0x07, 0x00, 0x00, 0x41, 0x22, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x09, 0x09, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	0x09, 0x42, 0x6D, 0x04, 0x06, 0x14, 0x72, 0xE2, 0xA7, 0x00, 0x00, 0xAA, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x88, 0x51, 0xBE, 0x71, 0x3F, 0x3E, 0x05, 0x50, 0x66, 0x66, 0x28, 0x2E, 0x55, 0x55, 
+	0x4C, 0x3D, 0x38, 0x20, 0x00, 0x70, 0x00, 0x51, 0x28, 0xA0, 0x05, 0x30, 0x28, 0x7A, 0x00, 0x30, 0xE0, 0x00, 0x02, 0x01, 0x81, 0xFA, 0x0A, 0xBE, 0x3D, 0x9B, 0xAF, 0x0E, 0x55, 0x43, 0x5F, 0x00, 
+	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+};
+
+
+#endif

src/definitions/robot_definitions.h

@@ -68,6 +68,7 @@ const float MOTOR_RATIO = MOTOR_CPR*MOTOR_GEAR_RATIO;
 
 #define ALL_BEHAVIOURS 255
 #define LIFT_ILLUMINATOR 1
+#define STOP_ON_UVP      2