Feature/updating ccu acu handshake

include/CCUTasks.h

@@ -3,7 +3,7 @@
 
 #include <ht_sched.hpp>
 #include "CANInterface.h"
-#include "CCUCANInterfaceImpl.h"
+#include "CCUCANInterface.h"
 #include "ACUInterface.h"
 #include "CCUEthernetInterface.h"
 #include "ChargerInterface.h"
@@ -17,7 +17,6 @@
 #include "MainChargeSystem.h"
 #include "DisplayInterface.h"
 
-
 HT_TASK::TaskResponse intitialize_all_interfaces();
 
 HT_TASK::TaskResponse init_update_display_task(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);

include/CCU_Constants.h

@@ -6,4 +6,5 @@ constexpr int WATCHDOG_PIN = 26;
 constexpr int SOFTWARE_OK_PIN = 27; // Watchdog's !RESET pin
 constexpr unsigned long WATCHDOG_KICK_INTERVAL_MS = 10UL;
 
+
 #endif

lib/interfaces/include/ACUInterface.h

@@ -7,44 +7,41 @@
 #include "etl/singleton.h"
 #include <etl/delegate.h>
 #include "CANInterface.h"
+#include "ACUData.h"
 #include "CCUData.h"
 
+
 struct ACUInterfaceData_s 
 {
     /* ACU Status Message */
     unsigned long last_recv_status_millis;
-    uint16_t acu_state;
+    bool acu_shdn_out_voltage_high;
     bool heartbeat_ok;
 
     /* BMS Voltages */
     volt average_voltage;
-    volt low_voltage;
-    volt high_voltage;
+    volt min_cell_voltage;
+    volt max_cell_voltage;
     volt total_voltage;
 
-
-    /* BMS Onboard Temps Data */
+    /* BMS Onboard Current Temps Message */
     celsius max_board_temp;
+    celsius max_cell_temp;
+    celsius min_cell_temp;
 
+    /* BMS Detailed Data for Comp */
 
-    /* BMS Onboard Detailed Temps Data */
-    size_t ic_id;
-    float temp_0;
-    float temp_1;
-
-
-    /* BMS Detailed Temps Data */
-    int group_id;
-    int ic_detailed_id;
-    float therm_id_0;
-    float therm_id_1;
-    float therm_id_2;
+    size_t cell_voltage_current_chip;
+    volt cell_voltage_1;
+    volt cell_voltage_2;
+    volt cell_voltage_3;
 
-    float max_cell_temp;
-    float min_cell_temp;
-    float avg_cell_temp;
-    float cell_temps[12][3];
+    size_t cell_group_temp_current_chip;
+    celsius cell_group_temp_1;
+    celsius cell_group_temp_2;
 
+    size_t board_temp_current_chip;
+    celsius board_temp;
 
 };
 
@@ -56,46 +53,36 @@ class ACUInterface
     {
         _curr_data.last_recv_status_millis = 0;
         _curr_data.heartbeat_ok = false; // start out false
-        _curr_data.acu_state = 0;
+        _curr_data.acu_shdn_out_voltage_high = false;
+
         _curr_data.average_voltage = 0;
-        _curr_data.low_voltage = 0;
-        _curr_data.high_voltage = 0;
+        _curr_data.min_cell_voltage = 0;
+        _curr_data.max_cell_voltage = 0;    
         _curr_data.total_voltage = 0;
-
-        _curr_data.max_board_temp = 0;
-
-        _curr_data.ic_id = 0;
-        _curr_data.temp_0 = 0;
-        _curr_data.temp_1 = 0;
-
-        _curr_data.group_id = 0;
-        _curr_data.ic_detailed_id = 0;
-        _curr_data.therm_id_0 = 0;
-        _curr_data.therm_id_1 = 0;
-        _curr_data.therm_id_2 = 0;
 
+        _curr_data.max_board_temp = 0;
         _curr_data.max_cell_temp = 0;
-        _curr_data.min_cell_temp = 100;
-        _curr_data.avg_cell_temp = 0;
+        _curr_data.min_cell_temp = 0;
+
     };
 
 
     bool is_acu_heartbeat_not_ok() {return !_curr_data.heartbeat_ok; }
     void reset_acu_heartbeat();
 
     void receive_status_message(const CAN_message_t& msg, unsigned long curr_millis);
-    void receive_voltages_message(const CAN_message_t& msg, unsigned long curr_millis); //BMS_VOLTAGES and BMS_DETAILED_VOLTAGES
-    void receive_onboard_temps_message(const CAN_message_t& msg, unsigned long curr_millis);
-    void receive_detailed_temps_message(const CAN_message_t& msg, unsigned long curr_millis);
-    void receive_onboard_detailed_temps(const CAN_message_t& msg, unsigned long curr_millis);
-
-
+    void receive_voltage_statistics_message(const CAN_message_t& msg, unsigned long curr_millis); //BMS_VOLTAGES and BMS_DETAILED_VOLTAGES
+    void receive_temp_statistics_message(const CAN_message_t& msg, unsigned long curr_millis);
+    void receive_cell_group_temps_message(const CAN_message_t& msg, unsigned long curr_millis);
+    void receive_cell_voltages(const CAN_message_t& msg, unsigned long curr_millis);
+    void receive_board_temps(const CAN_message_t& msg, unsigned long curr_millis);
+
+
     ACUInterfaceData_s get_latest_data() {return _curr_data;};
 
     void enqueue_ccu_status_data();
 
 private:
-
     ACUInterfaceData_s _curr_data;
     CCUData &_ccu_data;
 

lib/interfaces/include/CCUCANBuffers.h

@@ -0,0 +1,19 @@
+#ifndef CCUCANBUFFERS_H
+#define CCUCANBUFFERS_H
+
+#include "FlexCAN_T4.h"
+
+// Buffer type aliases for CAN RX/TX queues
+using CANRXBufferType = Circular_Buffer<uint8_t, (uint32_t)16, sizeof(CAN_message_t)>;
+using CANTXBufferType = Circular_Buffer<uint8_t, (uint32_t)128, sizeof(CAN_message_t)>;
+
+// Extern declarations for shared CAN buffers
+namespace CCUCANInterface {
+    extern CANRXBufferType charger_can_rx_buffer;
+    extern CANRXBufferType acu_can_rx_buffer;
+
+    extern CANTXBufferType charger_can_tx_buffer;
+    extern CANTXBufferType acu_can_tx_buffer;
+}
+
+#endif // CCUCANBUFFERS_H

lib/interfaces/include/CCUCANInterfaceImpl.h → lib/interfaces/include/CCUCANInterface.h

@@ -1,27 +1,24 @@
-#ifndef CCUCANINTERFACEIMPL
-#define CCUCANINTERFACEIMPL
+#ifndef CCUCANINTERFACE
+#define CCUCANINTERFACE
 
 #include "CANInterface.h"
-
-#include "ACUInterface.h"
+#include "CCUCANBuffers.h"
 #include "ChargerInterface.h"
-
 #include "EMInterface.h"
+#include "ACUInterface.h"
 #include "etl/singleton.h"
 #include <etl/delegate.h>
 #include "FlexCAN_T4.h"
 
 #include "hytech.h" // generated CAN library
 
-using CANRXBufferType = Circular_Buffer<uint8_t, (uint32_t)16, sizeof(CAN_message_t)>;
-using CANTXBufferType = Circular_Buffer<uint8_t, (uint32_t)128, sizeof(CAN_message_t)>;
-
+// Provide a convenient alias for FlexCAN types used across the project
 template <CAN_DEV_TABLE CAN_DEV> using FlexCAN_Type = FlexCAN_T4<CAN_DEV, RX_SIZE_256, TX_SIZE_16>;
 
 struct CANInterfaces
 {
     explicit CANInterfaces(ACUInterface &acu_int, ChargerInterface &charger_int, EnergyMeterInterface & em_int) :
-        acu_interface(acu_int), 
+        acu_interface(acu_int),
         charger_interface(charger_int),
         em_interface(em_int) {}
 
@@ -33,17 +30,11 @@ struct CANInterfaces
 using CANInterfacesInstance = etl::singleton<CANInterfaces>;
 
 extern FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_16> CHARGER_CAN; // gets defined in main as of right now
-extern FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> ACU_CAN; // gets defined in main as of right now
+extern FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> ACU_CAN;     // gets defined in main as of right now
 
-namespace CCUCANInterfaceImpl
+namespace CCUCANInterface
 {
-    extern CANRXBufferType charger_can_rx_buffer;
-    extern CANRXBufferType acu_can_rx_buffer;
-
-    /* TX buffer for Charger CAN */
-    extern CANTXBufferType charger_can_tx_buffer;
-    /* TX buffer for ACU CAN */
-    extern CANTXBufferType acu_can_tx_buffer;  
+    // Buffer externs are declared in CCUCANBuffers.h
 
     void on_acu_can_receive(const CAN_message_t &msg);
     void on_charger_can_receive(const CAN_message_t &msg);
@@ -52,6 +43,6 @@ namespace CCUCANInterfaceImpl
 
     void send_all_CAN_msgs(CANTXBufferType &buffer, FlexCAN_T4_Base *can_interface);
 
-}; // namespace CCUCANInterfaceImpl
+}; // namespace CCUCANInterface
 
-#endif // CCUCANINTERFACEIMPL
+#endif // CCUCANINTERFACE

lib/interfaces/include/CCUEthernetInterface.h

@@ -16,6 +16,6 @@ struct CCUOutput_s
 
 namespace CCUEthernetInterface
 {
-    void recieve_pb_msg_acu_all_data(const hytech_msgs_ACUAllData_s &msg_in, ACUAllData_s &acu_all_data); 
+    void recieve_pb_msg_acu_all_data(const hytech_msgs_ACUAllData_s &msg_in, ACUAllDataType_s &acu_all_data); 
 };
 #endif

lib/interfaces/src/ACUInterface.cpp

@@ -1,10 +1,8 @@
 #include "ACUInterface.h"
 
-#include "CCUCANInterfaceImpl.h"
+#include "CCUCANBuffers.h"
 #include "hytech.h"
 
-
-
 void ACUInterface::reset_acu_heartbeat()
 {
     _curr_data.heartbeat_ok = true;
@@ -13,7 +11,7 @@ void ACUInterface::reset_acu_heartbeat()
 void ACUInterface::receive_status_message(const CAN_message_t &msg, unsigned long curr_millis) {
     BMS_STATUS_t bms_status_msg;
     Unpack_BMS_STATUS_hytech(&bms_status_msg, &msg.buf[0], msg.len);
-    _curr_data.acu_state = bms_status_msg.state;
+    _curr_data.acu_shdn_out_voltage_high = bms_status_msg.shdn_out_voltage_state;
 
     // As long as we're using millis() function, loop overrun not a concern
 
@@ -26,55 +24,70 @@ void ACUInterface::receive_status_message(const CAN_message_t &msg, unsigned lon
 
 }
 
-void ACUInterface::receive_voltages_message(const CAN_message_t& msg, unsigned long curr_millis)
+
+void ACUInterface::receive_voltage_statistics_message(const CAN_message_t& msg, unsigned long curr_millis)
 {
     BMS_VOLTAGES_t voltages_msg;
     Unpack_BMS_VOLTAGES_hytech(&voltages_msg, &msg.buf[0], msg.len);
     _curr_data.average_voltage = HYTECH_average_voltage_ro_fromS(static_cast<float>(voltages_msg.average_voltage_ro));
-    _curr_data.low_voltage = HYTECH_low_voltage_ro_fromS(static_cast<float>(voltages_msg.low_voltage_ro));
-    _curr_data.high_voltage = HYTECH_high_voltage_ro_fromS(static_cast<float>(voltages_msg.high_voltage_ro));
+    _curr_data.min_cell_voltage = HYTECH_min_cell_voltage_ro_fromS(static_cast<float>(voltages_msg.min_cell_voltage_ro));
+    _curr_data.max_cell_voltage = HYTECH_max_cell_voltage_ro_fromS(static_cast<float>(voltages_msg.max_cell_voltage_ro));
     _curr_data.total_voltage = HYTECH_total_voltage_ro_fromS(static_cast<float>(voltages_msg.total_voltage_ro));
 
 }
 
-void ACUInterface::receive_onboard_temps_message(const CAN_message_t& msg, unsigned long curr_millis) 
+
+void ACUInterface::receive_temp_statistics_message(const CAN_message_t& msg, unsigned long curr_millis) 
 {
     BMS_ONBOARD_TEMPS_t board_temps = {};
     Unpack_BMS_ONBOARD_TEMPS_hytech(&board_temps, &msg.buf[0], msg.len);
     _curr_data.max_board_temp = HYTECH_max_board_temp_ro_fromS(board_temps.max_board_temp_ro);
-    _curr_data.min_cell_temp = HYTECH_low_cell_temp_ro_fromS(board_temps.low_cell_temp_ro);
-    _curr_data.max_cell_temp = HYTECH_high_cell_temp_ro_fromS(board_temps.high_cell_temp_ro);
+    _curr_data.min_cell_temp = HYTECH_min_cell_temp_ro_fromS(board_temps.min_cell_temp_ro);
+    _curr_data.max_cell_temp = HYTECH_max_cell_temp_ro_fromS(board_temps.max_cell_temp_ro);
 
 
     _ccu_data.max_board_temp = _curr_data.max_board_temp;
     _ccu_data.min_cell_temp = _curr_data.min_cell_temp;
     _ccu_data.max_cell_temp = _curr_data.max_cell_temp;
 }
 
-void ACUInterface::receive_detailed_temps_message(const CAN_message_t& msg, unsigned long curr_millis)
+
+void ACUInterface::receive_cell_group_temps_message(const CAN_message_t& msg, unsigned long curr_millis)
 {
-    BMS_DETAILED_TEMPS_t detailed_temps{};
-    Unpack_BMS_DETAILED_TEMPS_hytech(&detailed_temps, &msg.buf[0], msg.len);
-    _curr_data.group_id = detailed_temps.group_id; //size of uint8_t
-    _curr_data.ic_detailed_id = detailed_temps.ic_id; //size of uint8_t
-    _curr_data.therm_id_0 = HYTECH_thermistor_id_0_ro_fromS(static_cast<float>(detailed_temps.thermistor_id_0_ro));
-    _curr_data.therm_id_1 = HYTECH_thermistor_id_1_ro_fromS(static_cast<float>(detailed_temps.thermistor_id_1_ro));
-    _curr_data.therm_id_2 = HYTECH_thermistor_id_2_ro_fromS(static_cast<float>(detailed_temps.thermistor_id_2_ro));    
+    BMS_CHIP_TEMPS_t chip_temps{};
+    Unpack_BMS_CHIP_TEMPS_hytech(&chip_temps, &msg.buf[0], msg.len);
+    _curr_data.cell_group_temp_current_chip = chip_temps.chip_id;
+
+    _curr_data.cell_group_temp_1 = HYTECH_thermistor_cell_group_temp_0_ro_fromS(static_cast<float>(chip_temps.thermistor_cell_group_temp_0_ro));
+    _curr_data.cell_group_temp_2 = HYTECH_thermistor_cell_group_temp_1_ro_fromS(static_cast<float>(chip_temps.thermistor_cell_group_temp_1_ro));
 
 }
 
-void ACUInterface::receive_onboard_detailed_temps(const CAN_message_t& msg, unsigned long curr_millis)
+
+void ACUInterface::receive_board_temps(const CAN_message_t& msg, unsigned long curr_millis)
 {
-    BMS_ONBOARD_DETAILED_TEMPS_t onboard_detailed_temps{};
-    Unpack_BMS_ONBOARD_DETAILED_TEMPS_hytech(&onboard_detailed_temps, &msg.buf[0], msg.len);
-    _curr_data.ic_id = onboard_detailed_temps.ic_id;
-    _curr_data.temp_0 = HYTECH_temp_0_ro_fromS(static_cast<float>(onboard_detailed_temps.temp_0_ro));
-    _curr_data.temp_1 = HYTECH_temp_1_ro_fromS(static_cast<float>(onboard_detailed_temps.temp_1_ro));
+    BMS_ONBOARD_CURRENT_TEMP_t onboard_current_temps{};
+    Unpack_BMS_ONBOARD_CURRENT_TEMP_hytech(&onboard_current_temps, &msg.buf[0], msg.len);
+
+    _curr_data.board_temp_current_chip = onboard_current_temps.chip_id;
+    _curr_data.board_temp = HYTECH_temp_0_ro_fromS(static_cast<float>(onboard_current_temps.temp_0_ro));
 }
 
+
 void ACUInterface::enqueue_ccu_status_data()
 {
     CCU_STATUS_t ccu_status = {};
     ccu_status.charger_enabled = _ccu_data.balancing_enabled; // Treat this as a balancing_enabled boolean
-    CAN_util::enqueue_msg(&ccu_status, &Pack_CCU_STATUS_hytech, CCUCANInterfaceImpl::acu_can_tx_buffer);
+    CAN_util::enqueue_msg(&ccu_status, &Pack_CCU_STATUS_hytech, CCUCANInterface::acu_can_tx_buffer);
 }
+
+void ACUInterface::receive_cell_voltages(const CAN_message_t& msg, unsigned long curr_millis)
+{
+    BMS_CELL_VOLTAGES_t cell_voltages_msg{};
+    Unpack_BMS_CELL_VOLTAGES_hytech(&cell_voltages_msg, &msg.buf[0], msg.len);
+
+    _curr_data.cell_voltage_current_chip = cell_voltages_msg.chip_id;
+    _curr_data.cell_voltage_1 = HYTECH_cell_group_voltage_0_ro_fromS(static_cast<float>(cell_voltages_msg.cell_group_voltage_0_ro));
+    _curr_data.cell_voltage_2 = HYTECH_cell_group_voltage_1_ro_fromS(static_cast<float>(cell_voltages_msg.cell_group_voltage_1_ro));
+    _curr_data.cell_voltage_3 = HYTECH_cell_group_voltage_2_ro_fromS(static_cast<float>(cell_voltages_msg.cell_group_voltage_2_ro));
+}