Merge pull request #16 from hytech-racing/inverter_error_checking

Inverter error checking. Fixed Include paths (TM).
hytech-racing · Feb 5, 2024 · eb7a23b · eb7a23b
2 parents d7231a4 + 22039e0
commit eb7a23b
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Showing 13 changed files with 1,652 additions and 25 deletions.
diff --git a/lib/interfaces/include/InverterInterface.h b/lib/interfaces/include/InverterInterface.h
@@ -37,13 +37,17 @@ class InverterInterface
     void request_enable_inverter();
     void command_no_torque();
     void handle_command(const InverterCommand &command);
+    void command_reset();
 
 
     bool inverter_system_ready()
     {
         return system_ready_;
     }
-
+    bool error()
+    {
+        return error_;
+    }
     bool dc_quit_on()
     {
         return quit_dc_on_;
@@ -63,6 +67,7 @@ class InverterInterface
     void write_cmd_msg_to_queue_(const MC_setpoints_command &msg);
     int16_t speed_;
     uint16_t dc_bus_voltage_;
+    bool error_;
     bool quit_dc_on_;
     bool quit_inverter_on_;
     bool system_ready_;

diff --git a/lib/interfaces/include/InverterInterface.tpp b/lib/interfaces/include/InverterInterface.tpp
@@ -16,28 +16,27 @@ template <typename message_queue>
 void InverterInterface<message_queue>::request_enable_hv()
 {
 
-    MC_setpoints_command mc_setpoints_command;
+    MC_setpoints_command mc_setpoints_command{};
     mc_setpoints_command.set_hv_enable(true);
     write_cmd_msg_to_queue_(mc_setpoints_command);
 }
 
 template <typename message_queue>
 void InverterInterface<message_queue>::request_enable_inverter()
 {
-    MC_setpoints_command mc_setpoints_command;
+    MC_setpoints_command mc_setpoints_command{};
     mc_setpoints_command.set_speed_setpoint(0);
     mc_setpoints_command.set_pos_torque_limit(0);
     mc_setpoints_command.set_neg_torque_limit(0);
     mc_setpoints_command.set_driver_enable(true);
     mc_setpoints_command.set_inverter_enable(true);
-
     write_cmd_msg_to_queue_(mc_setpoints_command);
 }
 
 template <typename message_queue>
 void InverterInterface<message_queue>::command_no_torque()
 {
-    MC_setpoints_command mc_setpoints_command;
+    MC_setpoints_command mc_setpoints_command{};
     mc_setpoints_command.set_speed_setpoint(0);
     mc_setpoints_command.set_pos_torque_limit(0);
     mc_setpoints_command.set_neg_torque_limit(0);
@@ -48,7 +47,7 @@ void InverterInterface<message_queue>::command_no_torque()
 template <typename message_queue>
 void InverterInterface<message_queue>::handle_command(const InverterCommand &command)
 {
-    MC_setpoints_command mc_setpoints_command;
+    MC_setpoints_command mc_setpoints_command{};
     // TODO handle the correct conversion to the over the wire data from real-world data type
     mc_setpoints_command.set_speed_setpoint(command.speed_setpoint_rpm);
 
@@ -65,15 +64,24 @@ void InverterInterface<message_queue>::handle_command(const InverterCommand &com
     write_cmd_msg_to_queue_(mc_setpoints_command);
 }
 
+
+template <typename message_queue>
+void InverterInterface<message_queue>::command_reset()
+{
+    MC_setpoints_command mc_setpoints_command{};
+    mc_setpoints_command.set_remove_error(true);
+    write_cmd_msg_to_queue_(mc_setpoints_command);
+}
+
 template <typename message_queue>
 void InverterInterface<message_queue>::receive_status_msg(CAN_message_t &msg)
 {
     MC_status mc_status(&msg.buf[0]);
-
     system_ready_ = mc_status.get_system_ready();
     quit_dc_on_ = mc_status.get_quit_dc_on();
     quit_inverter_on_ = mc_status.get_quit_inverter_on();
     speed_ = mc_status.get_speed();
+    error_ = mc_status.get_error();
 }
 
 // TODO fill this in with the correct receiving

diff --git a/lib/interfaces/include/SteeringEncoderInterface.h b/lib/interfaces/include/SteeringEncoderInterface.h
@@ -1,7 +1,6 @@
 #ifndef __UPPERSTEERINGSENSOR_H__
 #define __UPPERSTEERINGSENSOR_H__
 
-#include "AnalogSensorsInterface.h"
 #include <tuple>
 
 enum SteeringEncoderStatus_e

diff --git a/lib/interfaces/include/WatchdogInterface.h b/lib/interfaces/include/WatchdogInterface.h
@@ -5,7 +5,7 @@
 #include "HyTech_CAN.h"
 #include "SysClock.h"
 
-const unsigned long WATCHDOG_KICK_INTERVAL = 7    // milliseconds
+const unsigned long WATCHDOG_KICK_INTERVAL = 7;    // milliseconds
 
 class WatchdogInterface
 {

diff --git a/lib/interfaces/library.json b/lib/interfaces/library.json
@@ -0,0 +1,7 @@
+{
+    "name": "interfaces-lib",
+    "version": "1.0.0",
+    "license": "MIT",
+    "frameworks": "*",
+    "platforms": "*"
+  }
diff --git a/lib/interfaces/src/DashboardInterface.cpp b/lib/interfaces/src/DashboardInterface.cpp
@@ -70,4 +70,5 @@ bool DashboardInterface::safetySystemOK() {return _data.ssok;}
 bool DashboardInterface::shutdownHAboveThreshold() {return _data.shutdown;}
 
 void DashboardInterface::soundBuzzer(bool state) {_data.buzzer_cmd = state;}
-bool DashboardInterface::checkBuzzer() {return _data.buzzer_state;}
+bool DashboardInterface::checkBuzzer() {return _data.buzzer_state;}
+
diff --git a/lib/systems/include/DrivetrainSystem.h b/lib/systems/include/DrivetrainSystem.h
@@ -1,11 +1,9 @@
 #ifndef DRIVETRAINSYSTEM
 #define DRIVETRAINSYSTEM
 
-#include "InverterSystem.h"
-#include "InverterInterface.h"
 #include "Utility.h"
 #include <array>
-
+#include "stdint.h"
 struct DrivetrainCommand_s
 { 
     float speeds[NUM_MOTORS];
@@ -58,6 +56,7 @@ class DrivetrainSystem
     bool hv_over_threshold_on_drivetrain();
     void disable();
     bool drivetrain_error_occured();
+    void reset_drivetrain();
 
     void command_drivetrain(const DrivetrainCommand_s& data);
 private:

diff --git a/lib/systems/include/DrivetrainSystem.tpp b/lib/systems/include/DrivetrainSystem.tpp
@@ -37,13 +37,35 @@ void DrivetrainSystem<InverterType>::command_drivetrain_no_torque()
 }
 
 template <typename InverterType>
-void DrivetrainSystem<InverterType>::command_drivetrain(const DrivetrainCommand& data)
+bool DrivetrainSystem<InverterType>::drivetrain_error_occured()
 {
+    for (auto inv_pointer : inverters_)
+    {
+        if(inv_pointer->error())
+        {
+            return true;
+        }
+    }
+    return false;
+}
 
-    inverters_[0]->handle_command(data.left_front_inverter_cmd);
-    inverters_[1]->handle_command(data.right_front_inverter_cmd);
-    inverters_[2]->handle_command(data.left_rear_inverter_cmd);
-    inverters_[3]->handle_command(data.right_rear_inverter_cmd);
+template <typename InverterType>
+void DrivetrainSystem<InverterType>::reset_drivetrain()
+{
+    for (auto inv_pointer : inverters_)
+    {
+        inv_pointer->command_reset();
+    }
+}
+
+template <typename InverterType>
+void DrivetrainSystem<InverterType>::command_drivetrain(const DrivetrainCommand_s& data)
+{
+
+    // inverters_[0]->handle_command(data.left_front_inverter_cmd);
+    // inverters_[1]->handle_command(data.right_front_inverter_cmd);
+    // inverters_[2]->handle_command(data.left_rear_inverter_cmd);
+    // inverters_[3]->handle_command(data.right_rear_inverter_cmd);
 
 }
 
@@ -96,4 +118,4 @@ bool DrivetrainSystem<InverterType>::drivetrain_enabled()
         }
     }
     return true;
-}
+}
diff --git a/lib/systems/include/TorqueControllerMux.h b/lib/systems/include/TorqueControllerMux.h
@@ -2,10 +2,10 @@
 #define __TORQUECTRLMUX_H__
 
 #include <unordered_map>
-#include <TorqueControllers.h>
-#include <DrivetrainSystem.h>
-#include <PedalsSystem.h>
-#include <SteeringSystem.h>
+#include "TorqueControllers.h"
+#include "DrivetrainSystem.h"
+#include "PedalsSystem.h"
+#include "SteeringSystem.h'
 #include "DashboardInterface.h"
 #include "AnalogSensorsInterface.h"
 

diff --git a/lib/systems/library.json b/lib/systems/library.json
@@ -0,0 +1,10 @@
+{
+    "name": "systems-lib",
+    "version": "1.0.0",
+    "license": "MIT",
+    "dependencies": {
+      "interfaces-lib": "*"
+    },
+    "frameworks": "*",
+    "platforms": "*"
+  }
diff --git a/lib/systems/src/SteeringSystem.cpp b/lib/systems/src/SteeringSystem.cpp
@@ -1,4 +1,4 @@
-#include <SteeringSystem.h>
+#include "SteeringSystem.h"
 
 void SteeringSystem::tick(const SysTick_s &tick, const AnalogConversion_s &secondaryConversion)
 {

diff --git a/platformio.ini b/platformio.ini
@@ -10,7 +10,7 @@ build_src_filter =
 ; refactoring
 build_src_filter =
   -<**/*.cpp>
-  +<main.cpp>
+  +<old_main.cpp>
 build_unflags = -std=gnu++11 
 build_flags = -std=c++17
 platform = teensy