Contactors Driver#

The contactor driver is responsible for communication with the array and motor controller precharge bypass contactors. In essence, it controls whether the solar array and the motor controller are electrically connected to the rest of the car after their respective precharge processes. The public interface of the driver is as follows:

The contactors are refered to by the type contactor_t, defined below:

typedef enum {
    ARRAY_PRECHARGE = 0,
    MOTOR_CONTACTOR,
    NUM_CONTACTORS
} contactor_t

Most of the functions below take a contactor_t parameter in order to determine which contactor to operate on.

void Contactors_Init(void) — Initializes the GPIO pins that control the contactors. It also Initializes an internal data structure to keep track of whether the contactors are enabled or not: they all start off in the disabled state. The function also initializes a mutex that must be held before any contactor state changes are made.

bool Contactors_Get(contactor_t contactor) — Gets the state of a given contactor. This operation simply queries the GPIO pin state, and as such doesn’t require acquiring the mutex lock.

ErrorStatus Contactors_Set(contactor_t contactor, bool state, bool blocking) — Sets the state of a given contactor. To keep this operation thread safe, the function attempts to acquire the mutex before proceeding, releasing it at the end. If blocking is true, the call will block until the mutex is acquired; else, the function will return an error without waiting. This function is currently used to set the motor contactor on if the ignition switch is in position two (main.c), and sets the array contactor on if the ignition is in position one and BPS allows it (ReadCarCAN.c).

group Contactors

Defines

CONTACTORS_PORT PORTC#

ARRAY_PRECHARGE_BYPASS_PIN GPIO_Pin_11#

MOTOR_CONTROLLER_PRECHARGE_BYPASS_PIN GPIO_Pin_10#

FOREACH_contactor(contactor) contactor(ARRAY_PRECHARGE_BYPASS_CONTACTOR), \ contactor(MOTOR_CONTROLLER_PRECHARGE_BYPASS_CONTACTOR), #

Typedefs

typedef enum contactor_ENUM contactor_t#

Enums

enum contactor_ENUM#

Values:

enumerator FOREACH_contactor#

Functions

void Contactors_Init()#

Initializes contactors to be used in connection with the Motor and Array.

Returns:: None

bool Contactors_Get(contactor_t contactor)#

Returns the current state of a specified contactor.

Parameters:: contactor – the contactor (MOTOR_CONTROLLER_PRECHARGE_BYPASS_CONTACTOR/ARRAY_PRECHARGE_BYPASS_CONTACTOR)
Returns:: The contactor’s state (ON/OFF)

ErrorStatus Contactors_Set(contactor_t contactor, bool state, bool blocking)#

Sets the state of a specified contactor.

Parameters:

contactor – the contactor (MOTOR_CONTROLLER_PRECHARGE_BYPASS_CONTACTOR/ARRAY_PRECHARGE_BYPASS_CONTACTOR)
state – the state to set (ON/OFF) (true/false)
blocking – whether or not this should be a blocking call
contactor – the contactor (MOTOR_CONTROLLER_PRECHARGE_BYPASS_CONTACTOR/ARRAY_PRECHARGE_BYPASS_CONTACTOR)
state – the state to set (ON/OFF)
blocking – whether or not this should be a blocking call

Returns:

Whether or not the contactor was successfully set

Returns:

Whether or not the contactor was successfully set

Contactors Driver

Contents

Contactors Driver#