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mhei merged 4 commits into from
Nov 4, 2025
Merged

Charge SOM: update DBC and add Safety Controller Parameterization #76

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2439852
Update DBC and generated UART frame documentation
mhei Oct 30, 2025
aa72c93
Adapt parameter block documentation to safety fw v0.2.6
mhei Oct 30, 2025
9b7d3a0
Add reference/example circuit for contactor feedback signal
mhei Nov 3, 2025
c00a511
Reword the feedback open/close time description
mhei Nov 4, 2025
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67 changes: 53 additions & 14 deletions docs/source/safety_controller_parameterization.rst
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
.. _safety_controller_parameterization.rst:

Safety Controller Parameterization
----------------------------------

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duplicate label safety_controller_parameterization.rst, other instance in /github/workspace/docs/source/safety_controller.rst


Overview
Expand Down Expand Up @@ -32,15 +32,21 @@

.. code-block:: yaml

version: 1
pt1000s:
- 75.0 °C
- 85.0 °C
- disabled
- abort-temperature: 75.0 °C
resistance-offset: 0.85 Ω
- abort-temperature: 85.0 °C
resistance-offset: 1.042 Ω
- 80.0 °C
- disabled

contactors:
- type: without-feedback
close-time: 100 ms
open-time: 100 ms
- without-feedback
- without-feedback
- disabled

estops:
- active-low
Expand All @@ -52,35 +58,64 @@
The YAML file is required to be encoded in UTF-8. While most parameters are ASCII only, temperature thresholds require
trailing `°C` suffix which has a special UTF-8 encoding sequence. This might be displayed incorrectly in the editor
when editing on the device itself and/or finally stored wrong in the YAML file.
The same applies to the resistance offsets in Ohm.
When unsure, adapt/create the YAML file on your Linux host system with your preferred editor and transfer it
to the board via Ethernet network (e.g. SCP/SFTP).

Such a YAML file must be converted to a binary parameter block file afterwards. And this binary parameter block file
must finally be flashed to the safety controller's flash memory, see below.

.. important::

The YAML file allows to specify a numeric parameter block version. This version is used internally by the
safety controller firmware to detect the binary structure of the parameter block. It must thus match the
safety firmware's expectation, otherwise the safety controller will refuse to work and enters safe state directly.


Temperature Channel (PT1000) Configuration
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

The safety controller supports up to 4 PT1000 temperature channels. Thus the YAML file expects for each channel
either a temperature threshold in °C at which the safety controller stops and/or prevents charging.
In a PT1000 channel is not wired/used, it is required to disable this channel using the special word `disabled`
a temperature threshold in °C at which the safety controller stops and/or prevents charging. Also for each channel,
an offset value in Ohm can be specified. This offset depends on the actual physical wiring and must be determined
in the specific customer setup.
If a PT1000 channel is not wired/used, it is required to disable this channel using the special word `disabled`
instead of a temperature value.
The example YAML file above shows that the PT1000 configuration is an array with up to 4 items. Each item can either
be a single temperature threshold, the special token `disabled` or it is a key-value list. Valid keys are
`abort-temperature` and `resistance-offset`. If no `resistance-offset` is given, then it is assumed to be zero.

The accepted value range for `abort-temperature` is -80.0 °C to 200.0 °C and it is stored with one decimal digit.

The range for `resistance-offset` is -32.0 Ω ... 32.0 Ω and these values are stored with three decimal digits internally.


Contactor and Contactor Feedback Configuration
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

The safety controller allows to control up to 2 high-voltage contactors and can monitor corresponding mirror contacts.
The mirror contacts need to have `Normally Closed` semantic. In the YAML parameterization, it is possible to
specify whether the safety controller should actually switch the corresponding output pin and whether to monitor
the feedback input pins.
The safety controller allows to control up to 3 high-voltage contactors and can monitor corresponding mirror contacts.
The mirror contacts support `Normally Closed` and `Normally Open` semantic, but customer must follow chargebyte's
Charge SOM's EVB reference design otherwise the logic might be inverted.
In the YAML parameterization, it is possible to specify whether the safety controller should actually switch the
corresponding output pin and whether to monitor the feedback input pins. When using the feedback, it is usually also
required to specify the open and closing times of the used contactor. These times are expected in milliseconds and
used by the Safety Firmware to check after the given time whether the feedback pin has expected level. If the level
differs from the expectation, then Safety Firmware assumes a malfunction and thus enters safe state.

Possible parameter values are:
The example YAML file above shows all allowed variants how to parameterize a contactor.
Possible values for the `type` are:

- `disabled`
- `without-feedback`
- `with-feedback`
- `with-feedback-normally-open`
- `with-feedback-normally-closed`

Since the open/close timings make no sense in case of `disabled` or `without-feedback`, it is possible to use these
tokens directly as array item (actually, it is also possible to use the `with-feedback...` ones, but then the timings
are considered zero).
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@lategoodbye lategoodbye Nov 3, 2025

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Sorry, I'm not sure about the intention of this paragraph. Do you just want to say that close-time & open-time are optional and preinitialized with 0? In case of "with-feedback" it wont work because of the physics of a contactor, right?

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@stefannagelchargebyte stefannagelchargebyte Nov 3, 2025

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If you dont use feedback, the open/close times can be any value.
If you use feedback and leave the open/close time empty ... they will be 0 which will not work.

Maybe you can write:
Since the open/close timings make no sense in case of disabled or without-feedback, it is possible to use these
tokens directly as array item (actually, it is also possible to use the with-feedback... ones, but then the timings
are considered zero which will result in an error due to the latency in the contactor).


Both `close-time` and `open-time` accept integer values in the range 0 to 2550 ms, however the given value is
divided by 10 before it is actually stored internally.


Emergency Input Configuration
Expand All @@ -105,15 +140,19 @@

# create a YAML file on-the-fly
$ cat <<EOL > /tmp/my-parameters.yaml
version: 1
pt1000s:
- 75.0 °C
- 85.0 °C
- abort-temperature: 85.0 °C
resistance-offset: 0.85 Ω
- abort-temperature: 75.0 °C
resistance-offset: 1.1 Ω
- disabled
- disabled

contactors:
- without-feedback
- without-feedback
- disabled

estops:
- active-low
Expand Down
126 changes: 95 additions & 31 deletions docs/source/safety_protocol.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@ ChargeControl1

**Description**: This message shall be sent from the host processor to the safety controller to control the peripherals connected to the safety controller.

**Senders**: Default_HostController
**Senders**: chargeSOM_HostController

.. list-table:: Signals in ChargeControl1
:widths: 30 6 6 10 7 7 7 6 30
Expand Down Expand Up @@ -58,6 +58,15 @@ ChargeControl1
- 0
-
- Request to close the contactor state. A value of 0 means open contactor, a value of 1 means closed contactor. The contactors are only closed if the system has no errors and is in state C.
* - CC_Contactor3State
- 18
- 1
-
- No
- 1
- 0
-
- Request to close the contactor state. A value of 0 means open contactor, a value of 1 means closed contactor. The contactors are only closed if the system has no errors and is in state C.

**Bitfield Layout**

Expand All @@ -70,7 +79,7 @@ ChargeControl1
+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+
1| | | | | | | | |
+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+
2| | | | | | | CC_Contactor2State | CC_Contactor1State |
2| | | | | | CC_Contactor3State | CC_Contactor2State | CC_Contactor1State |
+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+
3| | | | | | | | |
+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+
Expand All @@ -92,7 +101,7 @@ ChargeState1

**Description**: This message shall be sent from safety controller to host processor for indicating the state of the charging session as well as the state of connected peripherals.

**Senders**: Safety Controller
**Senders**: chargeSOM_SafetyController

.. list-table:: Signals in ChargeState1
:widths: 30 6 6 10 7 7 7 6 30
Expand All @@ -116,6 +125,15 @@ ChargeState1
- 0
- %
- The current duty cycle between 0.0% and 100.0%. If the PWM is not aczive this signal is 0
* - CS_SafeStateActive
- 3
- 2
-
- No
- 1
- 0
-
- This signal reports, if the controller is in safeState or not.
* - CS_PWM_Active
- 7
- 1
Expand Down Expand Up @@ -169,34 +187,25 @@ ChargeState1
- 1
- 0
-
- Is set when the contactor is closed
* - CS_Contactor1Error
- 34
- 1
-
- No
- 1
- 0
-
- Is set when an error in the contactor is detected
- State of contactor 1
* - CS_Contactor2State
- 36
- 35
- 2
-
- No
- 1
- 0
-
- Is set when the contactor is closed
* - CS_Contactor2Error
- State of contactor 2
* - CS_Contactor3State
- 37
- 1
- 2
-
- No
- 1
- 0
-
- Is set when an error in the contactor is detected
- State of contactor 3
* - CS_HV_Ready
- 38
- 1
Expand Down Expand Up @@ -233,9 +242,24 @@ ChargeState1
- 0
-
- *No description available*
* - CS_SafeStateReason
- 55
- 8
-
- No
- 1
- 0
-
- This signal describes in which module a fault was detected, why the controller went into safeState

**Value Descriptions**

- **CS_SafeStateActive**

- 0x0 = NormalState
- 0x1 = SafeState
- 0x3 = SNA
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@lategoodbye lategoodbye Nov 3, 2025

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What does it mean?

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@mhei mhei Nov 3, 2025

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SignalNotAvailable


- **CS_CurrentCpState**

- 0x0 = Unknown
Expand All @@ -260,14 +284,23 @@ ChargeState1

- **CS_Contactor1State**

- 0x0 = OPEN
- 0x1 = CLOSE
- 0x0 = UNDEFINED
- 0x1 = OPEN
- 0x2 = CLOSE
- 0x3 = NotConfigured

- **CS_Contactor2State**

- 0x0 = OPEN
- 0x1 = CLOSE
- 0x0 = UNDEFINED
- 0x1 = OPEN
- 0x2 = CLOSE
- 0x3 = NotConfigured

- **CS_Contactor3State**

- 0x0 = UNDEFINED
- 0x1 = OPEN
- 0x2 = CLOSE
- 0x3 = NotConfigured

- **CS_Estop1ChargingAbort**
Expand All @@ -288,26 +321,48 @@ ChargeState1
- 0x1 = TRUE
- 0x3 = NotConfigured

- **CS_SafeStateReason**

- 0x0 = NoStop
- 0x1 = InternalError
- 0x2 = ComTimeout
- 0x3 = Temp1_Malfunction
- 0x4 = Temp2_Malfunction
- 0x5 = Temp3_Malfunction
- 0x6 = Temp4_Malfunction
- 0x7 = Temp1_Overtemp
- 0x8 = Temp2_Overtemp
- 0x9 = Temp3_Overtemp
- 0xA = Temp4_Overtemp
- 0xB = PP_Malfunction
- 0xC = CP_Malfunction
- 0xD = CP_ShortCircuit
- 0xE = CP_DiodeFault
- 0xF = HVSW_Malfunction
- 0x10 = EmergencyInput1
- 0x11 = EmergencyInput2
- 0x12 = EmergencyInput3

**Bitfield Layout**

::

+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+
| 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+
0| CS_PWM_Active | | | | | |CS_CurrentDutyCycle | |
0| CS_PWM_Active | | | | CS_SafeStateActive | |CS_CurrentDutyCycle | |
+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+
1| | | | | | | | |
+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+
2| | | | CS_DiodeFault | CS_CpShortCircuit | CS_CurrentCpState | | |
+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+
3| | | | | | CS_CurrentPpState | | |
+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+
4| | CS_HV_Ready | CS_Contactor2Error | CS_Contactor2State | | CS_Contactor1Error | CS_Contactor1State | |
4| | CS_HV_Ready | CS_Contactor3State | | CS_Contactor2State | | CS_Contactor1State | |
+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+
5| | |CS_Estop3ChargingAbo| |CS_Estop2ChargingAbo| |CS_Estop1ChargingAbo| |
+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+
6| | | | | | | | |
6| CS_SafeStateReason | | | | | | | |
+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+
7| | | | | | | | |
+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+
Expand All @@ -321,7 +376,7 @@ PT1000State

**Description**: This message shall be sent from safety controller to host processor for indicating the state of the connected temperature sensors

**Senders**: Safety Controller
**Senders**: chargeSOM_SafetyController

.. list-table:: Signals in PT1000State
:widths: 30 6 6 10 7 7 7 6 30
Expand Down Expand Up @@ -496,7 +551,7 @@ FirmwareVersion

**Description**: This message provides information about the type and version of the flashed firmware

**Senders**: Safety Controller
**Senders**: chargeSOM_SafetyController

.. list-table:: Signals in FirmwareVersion
:widths: 30 6 6 10 7 7 7 6 30
Expand Down Expand Up @@ -556,6 +611,15 @@ FirmwareVersion
- 0
-
- The type of firmware. See possible values below
* - ParameterVersion
- 47
- 16
- Big Endian
- No
- 1
- 0
-
- Version of the parameter file

**Value Descriptions**

Expand Down Expand Up @@ -585,9 +649,9 @@ FirmwareVersion
+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+
3| PlatformType | | | | | | | |
+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+
4| ApplicationType | | | | | | | |
4| ParameterVersion | | | | | | | |
+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+
5| | | | | | | | |
5| ParameterVersion | | | | | | | |
+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+
6| | | | | | | | |
+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+--------------------+
Expand All @@ -603,7 +667,7 @@ GitHash

**Description**: This message provides information about the GIT hash, written in the firmware

**Senders**: Safety Controller
**Senders**: chargeSOM_SafetyController

.. list-table:: Signals in GitHash
:widths: 30 6 6 10 7 7 7 6 30
Expand Down Expand Up @@ -661,7 +725,7 @@ InquiryPacket

**Description**: This packet is used to request a special message from the safety controller

**Senders**: Default_HostController, CCY_HostController
**Senders**: chargeSOM_HostController, CCY_HostController

.. list-table:: Signals in InquiryPacket
:widths: 30 6 6 10 7 7 7 6 30
Expand Down
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