From 26f7ca30d259076593f23a9a77854224979d2ce9 Mon Sep 17 00:00:00 2001
From: Ben Hall <rcmast3r1@gmail.com>
Date: Thu, 8 Feb 2024 11:57:21 -0500
Subject: [PATCH] adding in the AMS to the CAN receiving interface

---
 lib/interfaces/include/AMSInterface.h       | 10 +++++-----
 lib/interfaces/include/HytechCANInterface.h | 19 +++++++++++++++----
 lib/interfaces/src/AMSInterface.cpp         | 10 +++++-----
 3 files changed, 25 insertions(+), 14 deletions(-)

diff --git a/lib/interfaces/include/AMSInterface.h b/lib/interfaces/include/AMSInterface.h
index 7c3a50661..5765e0a71 100644
--- a/lib/interfaces/include/AMSInterface.h
+++ b/lib/interfaces/include/AMSInterface.h
@@ -1,5 +1,5 @@
-#ifndef __AMS_INTERFACE_H__
-#define __AMS_INTERFACE_H__
+#ifndef AMSINTERFACE
+#define AMSINTERFACE
 
 #include "FlexCAN_T4.h"
 #include "HyTech_CAN.h"
@@ -40,7 +40,7 @@ class AMSInterface
     void set_state_ok_high(bool ok_high);
     
     /* Monitor AMS state */
-    void set_heartbeat(const SysTick_s &tick);
+    void set_heartbeat(unsigned long millis);
     bool heartbeat_received(const SysTick_s &tick);
     bool is_below_pack_charge_critical_low_thresh();
     bool is_below_pack_charge_critical_total_thresh();
@@ -51,7 +51,7 @@ class AMSInterface
     float get_filtered_min_cell_voltage();
 
     /* Retrieve CAN */
-    void retrieve_status_CAN(CAN_message_t &recvd_msg, const SysTick_s &tick);
+    void retrieve_status_CAN(CAN_message_t &recvd_msg, unsigned long cur_millis);
     void retrieve_temp_CAN(CAN_message_t &recvd_msg);
     void retrieve_voltage_CAN(CAN_message_t &recvd_msg);
 
@@ -77,4 +77,4 @@ class AMSInterface
     int pin_software_ok_;
 };
 
-#endif /* __AMS_INTERFACE_H__ */
+#endif /* AMSINTERFACE */
diff --git a/lib/interfaces/include/HytechCANInterface.h b/lib/interfaces/include/HytechCANInterface.h
index b689d00e0..7a4a9aeab 100644
--- a/lib/interfaces/include/HytechCANInterface.h
+++ b/lib/interfaces/include/HytechCANInterface.h
@@ -9,6 +9,7 @@
 
 #include "InverterInterface.h"
 #include "DashboardInterface.h"
+#include "AMSInterface.h"
 
 template <typename circular_buffer>
 struct CANInterfaces
@@ -18,6 +19,7 @@ struct CANInterfaces
     InverterInterface<circular_buffer> *rear_left_inv;
     InverterInterface<circular_buffer> *rear_right_inv;
     DashboardInterface *dash_interface;
+    AMSInterface *ams_interface;
 };
 
 // the goal with the can interface is that there exists a receive call that appends to a circular buffer
@@ -51,7 +53,7 @@ void on_can3_receive(const CAN_message_t &msg);
 // RL = MC3
 // RR = MC4
 template <typename BufferType, typename InterfaceType>
-void process_ring_buffer(BufferType &rx_buffer, const InterfaceType &interfaces)
+void process_ring_buffer(BufferType &rx_buffer, const InterfaceType &interfaces, unsigned long curr_millis)
 {
     // TODO switch to using the global CAN receive function from the generated CAN library
 
@@ -67,9 +69,18 @@ void process_ring_buffer(BufferType &rx_buffer, const InterfaceType &interfaces)
         case DASHBOARD_STATE_CANID:
             interfaces.dash_interface->read(recvd_msg);
             break;
-            
-            
-            
+        
+        // AMS msg receives
+        case ID_BMS_STATUS:
+            interfaces.ams_interface->retrieve_status_CAN(recvd_msg, curr_millis);
+            break;
+        case ID_BMS_TEMPERATURES:
+            interfaces.ams_interface->retrieve_temp_CAN(recvd_msg);
+            break;
+        case ID_BMS_VOLTAGES:
+            interfaces.ams_interface->retrieve_voltage_CAN(recvd_msg);
+            break;
+        
             // MC status msgs
         case ID_MC1_STATUS:
             interfaces.front_left_inv->receive_status_msg(recvd_msg);
diff --git a/lib/interfaces/src/AMSInterface.cpp b/lib/interfaces/src/AMSInterface.cpp
index 456d4d784..36c42e690 100644
--- a/lib/interfaces/src/AMSInterface.cpp
+++ b/lib/interfaces/src/AMSInterface.cpp
@@ -3,7 +3,7 @@
 /* Pin mode output to watchdog reset */
 void AMSInterface::init(const SysTick_s &tick) {
 
-    set_heartbeat(tick);
+    set_heartbeat(tick.millis);
 
 }
 
@@ -23,8 +23,8 @@ void AMSInterface::set_state_ok_high(bool ok_high) {
 }
 
 /* Set AMS last heartbeat receive time */
-void AMSInterface::set_heartbeat(const SysTick_s &tick) {
-    last_heartbeat_time = tick.millis;
+void AMSInterface::set_heartbeat(unsigned long millis) {
+    last_heartbeat_time = millis;
 }
 
 /* Check if AMS heartbeat is received */
@@ -68,9 +68,9 @@ float AMSInterface::get_filtered_min_cell_voltage() {
 }
 
 /* Retrieve CAN messages */
-void AMSInterface::retrieve_status_CAN(CAN_message_t &recvd_msg, const SysTick_s &tick) {
+void AMSInterface::retrieve_status_CAN(CAN_message_t &recvd_msg, unsigned long cur_millis) {
     bms_status_.load(recvd_msg.buf);
-    set_heartbeat(tick);
+    set_heartbeat(cur_millis);
 }
 
 void AMSInterface::retrieve_temp_CAN(CAN_message_t &recvd_msg) {