diff --git a/AMSInterface_8cpp_source.html b/AMSInterface_8cpp_source.html index 861fba701..f27fab378 100644 --- a/AMSInterface_8cpp_source.html +++ b/AMSInterface_8cpp_source.html @@ -98,7 +98,7 @@
20
21 last_tick_ = initial_tick;
22
-
23 timestamp_start_ = last_tick_.millis;
+
23 timestamp_start_ = -1; //starts at -1
24
25 // Initializes the bms_voltages_ member variable to an invalid state. This will
26 // get overridden once retrieve_voltage_CAN() has been called at least once.
@@ -156,93 +156,93 @@
78
79float AMSInterface::initialize_charge() {
80 int i = 0;
-
81 while (HYTECH_low_voltage_ro_fromS(bms_voltages_.low_voltage_ro) - VOLTAGE_LOOKUP_TABLE[i] < 0) {
-
82 i++;
-
83 }
-
84 charge_ = ( (100 - i) / 100.0) * MAX_PACK_CHARGE;
-
85 SoC_ = (charge_ / MAX_PACK_CHARGE) * 100;
-
86
-
87 return charge_;
-
88}
-
89
-
90void AMSInterface::calculate_SoC_em(const SysTick_s &tick) {
-
91 unsigned long delta_time_micros = tick.micros - last_tick_.micros;
-
92
-
93 float current = HYTECH_em_current_ro_fromS(em_measurements_.em_current_ro); // Current in amps
+
81 float lowest_voltage = HYTECH_low_voltage_ro_fromS(bms_voltages_.low_voltage_ro);
+
82
+
83 while (lowest_voltage - VOLTAGE_LOOKUP_TABLE[i] < 0) {
+
84 i++;
+
85 }
+
86 charge_ = ( (100 - i) / 100.0) * MAX_PACK_CHARGE;
+
87 SoC_ = (charge_ / MAX_PACK_CHARGE) * 100;
+
88
+
89 return charge_;
+
90}
+
91
+
92void AMSInterface::calculate_SoC_em(const SysTick_s &tick) {
+
93 unsigned long delta_time_micros = tick.micros - last_tick_.micros;
94
-
95 // coulombs = amps * microseconds * (1sec / 1000000 microsec)
-
96 charge_ -= (current * delta_time_micros) / 1000000;
-
97
-
98 SoC_ = (charge_ / MAX_PACK_CHARGE) * 100;
-
99}
-
100
-
101void AMSInterface::calculate_SoC_acu(const SysTick_s &tick) {
-
102 unsigned long delta_time_micros = tick.micros - last_tick_.micros;
-
103
-
104 // Converts analog read (from 0 to 4095) into some value (0.0 to 3.3)
-
105 // float current = HYTECH_current_shunt_read_ro_fromS(acu_shunt_measurements_.current_shunt_read_ro);
-
106
-
107 // shunt_voltage ranges from -3.33 to 2.635
-
108 // float shunt_voltage = (current * (9.22 / 5.1)) - 3.3 - 0.03;
-
109
-
110 // calc_current ranges from -666 to 527.176
-
111 // float calc_current = (shunt_voltage / 0.005);
-
112 charge_ -= (HYTECH_current_shunt_read_ro_fromS(acu_shunt_measurements_.current_shunt_read_ro) * delta_time_micros) / 1000000;
-
113
-
114 SoC_ = (charge_ / MAX_PACK_CHARGE) * 100;
-
115}
-
116
-
117void AMSInterface::tick(const SysTick_s &tick) {
+
95 float current = HYTECH_em_current_ro_fromS(em_measurements_.em_current_ro); // Current in amps
+
96
+
97 // coulombs = amps * microseconds * (1sec / 1000000 microsec)
+
98 charge_ -= (current * delta_time_micros) / 1000000;
+
99
+
100 SoC_ = (charge_ / MAX_PACK_CHARGE) * 100;
+
101}
+
102
+
103void AMSInterface::calculate_SoC_acu(const SysTick_s &tick) {
+
104 unsigned long delta_time_micros = tick.micros - last_tick_.micros;
+
105
+
106 // Converts analog read (from 0 to 4095) into some value (0.0 to 3.3)
+
107 // float current = HYTECH_current_shunt_read_ro_fromS(acu_shunt_measurements_.current_shunt_read_ro);
+
108
+
109 // shunt_voltage ranges from -3.33 to 2.635
+
110 // float shunt_voltage = (current * (9.22 / 5.1)) - 3.3 - 0.03;
+
111
+
112 // calc_current ranges from -666 to 527.176
+
113 // float calc_current = (shunt_voltage / 0.005);
+
114 charge_ -= (HYTECH_current_shunt_read_ro_fromS(acu_shunt_measurements_.current_shunt_read_ro) * delta_time_micros) / 1000000;
+
115
+
116 SoC_ = (charge_ / MAX_PACK_CHARGE) * 100;
+
117}
118
-
119 // If AMSInterface has a valid reading in bms_voltages_ and the charge is not
-
120 // yet initialized, then call initialize_charge.
-
121 if ((!has_initialized_charge_) && (has_received_bms_voltage_) && ((tick.millis - timestamp_start_) > initialization_startup_interval_)) {
-
122
-
123 bool bms_voltages_is_invalid = bms_voltages_.low_voltage_ro == 0xFFFFU && bms_voltages_.high_voltage_ro == 0x1111U;
-
124
-
125 if (!bms_voltages_is_invalid) {
-
126 initialize_charge();
-
127 has_initialized_charge_ = true;
-
128 }
-
129
+
119void AMSInterface::tick(const SysTick_s &tick) {
+
120
+
121 // Only calculate the updated SoC if charge has been properly initialized.
+
122 if (has_initialized_charge_) {
+
123 // Do not edit this block! If both calculate_SoC_em AND calculate_SoC_acu are run,
+
124 // then the charge will be subtracted from the SoC member variable twice.
+
125 if (use_em_for_soc_) {
+
126 calculate_SoC_em(tick);
+
127 } else {
+
128 calculate_SoC_acu(tick);
+
129 }
130 }
131
-
132 // Only calculate the updated SoC if charge has been properly initialized.
-
133 if (has_initialized_charge_) {
-
134 // Do not edit this block! If both calculate_SoC_em AND calculate_SoC_acu are run,
-
135 // then the charge will be subtracted from the SoC member variable twice.
-
136 if (use_em_for_soc_) {
-
137 calculate_SoC_em(tick);
-
138 } else {
-
139 calculate_SoC_acu(tick);
-
140 }
-
141 }
-
142
-
143 // Send CAN message
-
144 // enqueue_state_of_charge_CAN();
-
145 STATE_OF_CHARGE_t soc_struct;
-
146 soc_struct.charge_percentage_ro = HYTECH_charge_percentage_ro_toS(SoC_);
-
147 soc_struct.charge_coulombs_ro = HYTECH_charge_coulombs_ro_toS(charge_);
-
148 enqueue_new_CAN<STATE_OF_CHARGE_t>(&soc_struct, Pack_STATE_OF_CHARGE_hytech);
-
149
-
150 last_tick_ = tick;
-
151}
-
152
-
153//RETRIEVE CAN MESSAGES//
-
154void AMSInterface::retrieve_status_CAN(unsigned long curr_millis, CAN_message_t &recvd_msg) {
-
155 bms_status_.load(recvd_msg.buf);
-
156 set_heartbeat(curr_millis);
-
157}
-
158
-
159void AMSInterface::retrieve_temp_CAN(CAN_message_t &recvd_msg) {
-
160 bms_temperatures_.load(recvd_msg.buf);
-
161}
-
162
-
163void AMSInterface::retrieve_voltage_CAN(CAN_message_t &can_msg) {
-
164 Unpack_BMS_VOLTAGES_hytech(&bms_voltages_, can_msg.buf, can_msg.len);
-
165 if (!has_received_bms_voltage_)
-
166 {
-
167 has_received_bms_voltage_ = true;
+
132 // If AMSInterface has a valid reading in bms_voltages_ and enough time has passed since init(), then initialize charge
+
133 if (!has_initialized_charge_ && ((tick.millis - timestamp_start_) >= DEFAULT_INITIALIZATION_WAIT_INTERVAL)) {
+
134
+
135 initialize_charge();
+
136 has_initialized_charge_ = true;
+
137
+
138 }
+
139
+
140 // Send CAN message
+
141 // enqueue_state_of_charge_CAN();
+
142 STATE_OF_CHARGE_t soc_struct;
+
143 soc_struct.charge_percentage_ro = HYTECH_charge_percentage_ro_toS(SoC_);
+
144 soc_struct.charge_coulombs_ro = HYTECH_charge_coulombs_ro_toS(charge_);
+
145 soc_struct.min_cell_voltage_est_ro = HYTECH_min_cell_voltage_est_ro_toS(VOLTAGE_LOOKUP_TABLE[100 - (int) SoC_]);
+
146 enqueue_new_CAN<STATE_OF_CHARGE_t>(&soc_struct, Pack_STATE_OF_CHARGE_hytech);
+
147
+
148 last_tick_ = tick;
+
149}
+
150
+
151//RETRIEVE CAN MESSAGES//
+
152void AMSInterface::retrieve_status_CAN(unsigned long curr_millis, CAN_message_t &recvd_msg) {
+
153 bms_status_.load(recvd_msg.buf);
+
154 set_heartbeat(curr_millis);
+
155}
+
156
+
157void AMSInterface::retrieve_temp_CAN(CAN_message_t &recvd_msg) {
+
158 bms_temperatures_.load(recvd_msg.buf);
+
159}
+
160
+
161void AMSInterface::retrieve_voltage_CAN(CAN_message_t &can_msg) {
+
162 Unpack_BMS_VOLTAGES_hytech(&bms_voltages_, can_msg.buf, can_msg.len);
+
163
+
164 if (!has_received_bms_voltage_)
+
165 {
+
166 has_received_bms_voltage_ = true;
+
167 timestamp_start_ = last_tick_.millis;
168 }
169
170}
@@ -254,87 +254,87 @@
176void AMSInterface::retrieve_current_shunt_CAN(const CAN_message_t &can_msg) {
177 Unpack_ACU_SHUNT_MEASUREMENTS_hytech(&acu_shunt_measurements_, can_msg.buf, can_msg.len);
178}
-
179void AMSInterface::calculate_acc_derate_factor() {
-
180 float voltage_lim_factor = 1.0;
-
181 float startDerateVoltage = 3.5;
-
182 float endDerateVoltage = 3.2;
-
183 float voltage_lim_max = 1;
-
184 float voltage_lim_min = 0.2;
-
185
-
186 float temp_lim_factor = 1.0;
-
187 float startDerateTemp = 50;
-
188 float stopDerateTemp = 58;
-
189 float temp_lim_max = 1;
-
190 float temp_lim_min = 0.2;
-
191
-
192 float filtered_min_cell_voltage = get_filtered_min_cell_voltage();
-
193 //float_map equivalient because new code is bad
-
194 voltage_lim_factor = (filtered_min_cell_voltage - startDerateVoltage) * (voltage_lim_min - voltage_lim_max) / (endDerateVoltage - startDerateVoltage) + voltage_lim_max;
-
195 voltage_lim_factor = max(min(voltage_lim_max, voltage_lim_factor), voltage_lim_min);
-
196
-
197 temp_lim_factor = (filtered_max_cell_temp - startDerateTemp) * (temp_lim_min - temp_lim_max) / (stopDerateTemp - startDerateTemp) + temp_lim_max;
-
198 temp_lim_factor = max(min(temp_lim_factor, temp_lim_max), temp_lim_min);
-
199
-
200 acc_derate_factor = min(temp_lim_factor,voltage_lim_factor);
-
201}
-
202
-
203float AMSInterface::get_acc_derate_factor() {
-
204 calculate_acc_derate_factor();
-
205 return acc_derate_factor;
-
206
+
179
+
180void AMSInterface::calculate_acc_derate_factor() {
+
181 float voltage_lim_factor = 1.0;
+
182 float startDerateVoltage = 3.5;
+
183 float endDerateVoltage = 3.2;
+
184 float voltage_lim_max = 1;
+
185 float voltage_lim_min = 0.2;
+
186
+
187 float temp_lim_factor = 1.0;
+
188 float startDerateTemp = 50;
+
189 float stopDerateTemp = 58;
+
190 float temp_lim_max = 1;
+
191 float temp_lim_min = 0.2;
+
192
+
193 float filtered_min_cell_voltage = get_filtered_min_cell_voltage();
+
194 //float_map equivalient because new code is bad
+
195 voltage_lim_factor = (filtered_min_cell_voltage - startDerateVoltage) * (voltage_lim_min - voltage_lim_max) / (endDerateVoltage - startDerateVoltage) + voltage_lim_max;
+
196 voltage_lim_factor = max(min(voltage_lim_max, voltage_lim_factor), voltage_lim_min);
+
197
+
198 temp_lim_factor = (filtered_max_cell_temp - startDerateTemp) * (temp_lim_min - temp_lim_max) / (stopDerateTemp - startDerateTemp) + temp_lim_max;
+
199 temp_lim_factor = max(min(temp_lim_factor, temp_lim_max), temp_lim_min);
+
200
+
201 acc_derate_factor = min(temp_lim_factor,voltage_lim_factor);
+
202}
+
203
+
204float AMSInterface::get_acc_derate_factor() {
+
205 calculate_acc_derate_factor();
+
206 return acc_derate_factor;
207}
208
209
-
AMSInterface::get_acc_derate_factor
float get_acc_derate_factor()
Definition: AMSInterface.cpp:203
-
AMSInterface::has_initialized_charge_
bool has_initialized_charge_
Definition: AMSInterface.h:251
-
AMSInterface::cell_voltage_alpha
float cell_voltage_alpha
Definition: AMSInterface.h:219
-
AMSInterface::tick
void tick(const SysTick_s &tick)
Definition: AMSInterface.cpp:117
-
AMSInterface::charge_
float charge_
Definition: AMSInterface.h:234
-
AMSInterface::bms_voltages_
BMS_VOLTAGES_t bms_voltages_
Definition: AMSInterface.h:208
-
AMSInterface::acc_derate_factor
float acc_derate_factor
Definition: AMSInterface.h:221
-
AMSInterface::filtered_min_cell_voltage
float filtered_min_cell_voltage
Definition: AMSInterface.h:217
+
AMSInterface::get_acc_derate_factor
float get_acc_derate_factor()
Definition: AMSInterface.cpp:204
+
AMSInterface::has_initialized_charge_
bool has_initialized_charge_
Definition: AMSInterface.h:250
+
AMSInterface::cell_voltage_alpha
float cell_voltage_alpha
Definition: AMSInterface.h:218
+
AMSInterface::tick
void tick(const SysTick_s &tick)
Definition: AMSInterface.cpp:119
+
AMSInterface::charge_
float charge_
Definition: AMSInterface.h:233
+
AMSInterface::bms_voltages_
BMS_VOLTAGES_t bms_voltages_
Definition: AMSInterface.h:207
+
AMSInterface::acc_derate_factor
float acc_derate_factor
Definition: AMSInterface.h:220
+
AMSInterface::filtered_min_cell_voltage
float filtered_min_cell_voltage
Definition: AMSInterface.h:216
AMSInterface::retrieve_current_shunt_CAN
void retrieve_current_shunt_CAN(const CAN_message_t &can_msg)
Definition: AMSInterface.cpp:176
AMSInterface::set_heartbeat
void set_heartbeat(unsigned long curr_millis)
Definition: AMSInterface.cpp:46
-
AMSInterface::last_tick_
SysTick_s last_tick_
Definition: AMSInterface.h:246
-
AMSInterface::bms_temperatures_
BMS_temperatures bms_temperatures_
Definition: AMSInterface.h:205
+
AMSInterface::last_tick_
SysTick_s last_tick_
Definition: AMSInterface.h:245
+
AMSInterface::bms_temperatures_
BMS_temperatures bms_temperatures_
Definition: AMSInterface.h:204
AMSInterface::get_filtered_min_cell_voltage
float get_filtered_min_cell_voltage()
Definition: AMSInterface.cpp:73
-
AMSInterface::bms_low_voltage
float bms_low_voltage
Definition: AMSInterface.h:215
-
AMSInterface::acu_shunt_measurements_
ACU_SHUNT_MEASUREMENTS_t acu_shunt_measurements_
Definition: AMSInterface.h:206
+
AMSInterface::bms_low_voltage
float bms_low_voltage
Definition: AMSInterface.h:214
+
AMSInterface::acu_shunt_measurements_
ACU_SHUNT_MEASUREMENTS_t acu_shunt_measurements_
Definition: AMSInterface.h:205
AMSInterface::is_below_pack_charge_critical_total_thresh
bool is_below_pack_charge_critical_total_thresh()
Definition: AMSInterface.cpp:58
AMSInterface::init
void init(SysTick_s &initial_tick)
Definition: AMSInterface.cpp:14
-
AMSInterface::retrieve_status_CAN
void retrieve_status_CAN(unsigned long curr_millis, CAN_message_t &recvd_msg)
Definition: AMSInterface.cpp:154
-
AMSInterface::retrieve_temp_CAN
void retrieve_temp_CAN(CAN_message_t &recvd_msg)
Definition: AMSInterface.cpp:159
-
AMSInterface::bms_high_temp
float bms_high_temp
Definition: AMSInterface.h:214
+
AMSInterface::retrieve_status_CAN
void retrieve_status_CAN(unsigned long curr_millis, CAN_message_t &recvd_msg)
Definition: AMSInterface.cpp:152
+
AMSInterface::retrieve_temp_CAN
void retrieve_temp_CAN(CAN_message_t &recvd_msg)
Definition: AMSInterface.cpp:157
+
AMSInterface::bms_high_temp
float bms_high_temp
Definition: AMSInterface.h:213
AMSInterface::enqueue_new_CAN
void enqueue_new_CAN(U *structure, uint32_t(*pack_function)(U *, uint8_t *, uint8_t *, uint8_t *))
Definition: AMSInterface.cpp:6
-
AMSInterface::last_heartbeat_time_
unsigned long last_heartbeat_time_
Definition: AMSInterface.h:211
+
AMSInterface::last_heartbeat_time_
unsigned long last_heartbeat_time_
Definition: AMSInterface.h:210
AMSInterface::heartbeat_received
bool heartbeat_received(unsigned long curr_millis)
Definition: AMSInterface.cpp:50
-
AMSInterface::calculate_SoC_acu
void calculate_SoC_acu(const SysTick_s &tick)
Definition: AMSInterface.cpp:101
-
AMSInterface::use_em_for_soc_
bool use_em_for_soc_
Definition: AMSInterface.h:228
-
AMSInterface::cell_temp_alpha
float cell_temp_alpha
Definition: AMSInterface.h:218
+
AMSInterface::calculate_SoC_acu
void calculate_SoC_acu(const SysTick_s &tick)
Definition: AMSInterface.cpp:103
+
AMSInterface::use_em_for_soc_
bool use_em_for_soc_
Definition: AMSInterface.h:227
+
AMSInterface::cell_temp_alpha
float cell_temp_alpha
Definition: AMSInterface.h:217
AMSInterface::get_filtered_max_cell_temp
float get_filtered_max_cell_temp()
Definition: AMSInterface.cpp:67
-
AMSInterface::timestamp_start_
unsigned long timestamp_start_
Definition: AMSInterface.h:257
-
AMSInterface::pin_software_ok_
int pin_software_ok_
Definition: AMSInterface.h:201
+
AMSInterface::timestamp_start_
unsigned long timestamp_start_
Definition: AMSInterface.h:261
+
AMSInterface::pin_software_ok_
int pin_software_ok_
Definition: AMSInterface.h:200
AMSInterface::set_state_ok_high
void set_state_ok_high(bool ok_high)
Definition: AMSInterface.cpp:39
-
AMSInterface::VOLTAGE_LOOKUP_TABLE
const float VOLTAGE_LOOKUP_TABLE[101]
Definition: AMSInterface.h:188
-
AMSInterface::has_received_bms_voltage_
bool has_received_bms_voltage_
Definition: AMSInterface.h:253
-
AMSInterface::bms_status_
BMS_status bms_status_
Definition: AMSInterface.h:204
+
AMSInterface::has_received_bms_voltage_
bool has_received_bms_voltage_
Definition: AMSInterface.h:256
+
AMSInterface::bms_status_
BMS_status bms_status_
Definition: AMSInterface.h:203
AMSInterface::is_below_pack_charge_critical_low_thresh
bool is_below_pack_charge_critical_low_thresh()
Definition: AMSInterface.cpp:54
-
AMSInterface::retrieve_voltage_CAN
void retrieve_voltage_CAN(CAN_message_t &recvd_msg)
Definition: AMSInterface.cpp:163
-
AMSInterface::em_measurements_
EM_MEASUREMENT_t em_measurements_
Definition: AMSInterface.h:207
-
AMSInterface::initialization_startup_interval_
unsigned long initialization_startup_interval_
Definition: AMSInterface.h:255
-
AMSInterface::msg_queue_
CANBufferType * msg_queue_
Definition: AMSInterface.h:198
+
AMSInterface::retrieve_voltage_CAN
void retrieve_voltage_CAN(CAN_message_t &recvd_msg)
Definition: AMSInterface.cpp:161
+
AMSInterface::em_measurements_
EM_MEASUREMENT_t em_measurements_
Definition: AMSInterface.h:206
+
AMSInterface::msg_queue_
CANBufferType * msg_queue_
Definition: AMSInterface.h:197
AMSInterface::initialize_charge
float initialize_charge()
Definition: AMSInterface.cpp:79
AMSInterface::set_start_state
void set_start_state()
Definition: AMSInterface.cpp:32
-
AMSInterface::SoC_
float SoC_
Definition: AMSInterface.h:241
-
AMSInterface::filtered_max_cell_temp
float filtered_max_cell_temp
Definition: AMSInterface.h:216
+
AMSInterface::SoC_
float SoC_
Definition: AMSInterface.h:240
+
AMSInterface::filtered_max_cell_temp
float filtered_max_cell_temp
Definition: AMSInterface.h:215
AMSInterface::retrieve_em_measurement_CAN
void retrieve_em_measurement_CAN(CAN_message_t &can_msg)
Definition: AMSInterface.cpp:172
+
AMSInterface::VOLTAGE_LOOKUP_TABLE
const float VOLTAGE_LOOKUP_TABLE[101]
Definition: AMSInterface.h:187
AMSInterface::pack_charge_is_critical
bool pack_charge_is_critical()
Definition: AMSInterface.cpp:62
-
AMSInterface::calculate_acc_derate_factor
void calculate_acc_derate_factor()
Definition: AMSInterface.cpp:179
-
AMSInterface::calculate_SoC_em
void calculate_SoC_em(const SysTick_s &tick)
Definition: AMSInterface.cpp:90
-
MAX_PACK_CHARGE
const uint16_t MAX_PACK_CHARGE
Definition: AMSInterface.h:21
-
PACK_CHARGE_CRIT_LOWEST_CELL_THRESHOLD
const unsigned long PACK_CHARGE_CRIT_LOWEST_CELL_THRESHOLD
Definition: AMSInterface.h:8
-
PACK_CHARGE_CRIT_TOTAL_THRESHOLD
const unsigned long PACK_CHARGE_CRIT_TOTAL_THRESHOLD
Definition: AMSInterface.h:7
-
HEARTBEAT_INTERVAL
const unsigned long HEARTBEAT_INTERVAL
Definition: AMSInterface.h:6
+
AMSInterface::calculate_acc_derate_factor
void calculate_acc_derate_factor()
Definition: AMSInterface.cpp:180
+
AMSInterface::calculate_SoC_em
void calculate_SoC_em(const SysTick_s &tick)
Definition: AMSInterface.cpp:92
+
MAX_PACK_CHARGE
const unsigned short MAX_PACK_CHARGE
Definition: AMSInterface.h:21
+
PACK_CHARGE_CRIT_LOWEST_CELL_THRESHOLD
const unsigned long PACK_CHARGE_CRIT_LOWEST_CELL_THRESHOLD
Definition: AMSInterface.h:15
+
PACK_CHARGE_CRIT_TOTAL_THRESHOLD
const unsigned long PACK_CHARGE_CRIT_TOTAL_THRESHOLD
Definition: AMSInterface.h:14
+
DEFAULT_INITIALIZATION_WAIT_INTERVAL
const unsigned long DEFAULT_INITIALIZATION_WAIT_INTERVAL
Definition: AMSInterface.h:22
+
HEARTBEAT_INTERVAL
const unsigned long HEARTBEAT_INTERVAL
Definition: AMSInterface.h:13
diff --git a/AMS__interface__test_8h.html b/AMS__interface__test_8h.html index bc3984ed3..2b1be4b25 100644 --- a/AMS__interface__test_8h.html +++ b/AMS__interface__test_8h.html @@ -74,13 +74,16 @@
-Functions
+Functions | +Variables
AMS_interface_test.h File Reference
#include <Arduino.h>
#include <unity.h>
#include "AMSInterface.h"
+#include "SysClock.h"
+#include "CAN_testing_utilities.h"

Go to the source code of this file.

@@ -90,14 +93,23 @@ - - + + + + + + +
 
void test_AMS_unpacking_BMS_temperatures_message ()
 
void test_AMS_unpacking_BMS_voltages_message ()
 
void test_current_shunt_CAN_message ()
 
void test_bms_voltages_CAN_message ()
 
void test_em_measurements_CAN_message ()
 
void test_AMS_charge_critical_threshold ()
 
void test_AMS_filtered_readings ()
 
void test_AMS_heartbeat ()
 
+ + +

+Variables

CANBufferType CAN_BUFFER
 

Function Documentation

@@ -115,10 +127,10 @@

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Definition at line 27 of file AMS_interface_test.h.

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28{
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29
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30}
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Definition at line 107 of file AMS_interface_test.h.

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108{
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109
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110}

@@ -137,10 +149,10 @@

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Definition at line 32 of file AMS_interface_test.h.

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33{
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34
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35}
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Definition at line 112 of file AMS_interface_test.h.

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113{
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114
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115}
@@ -159,23 +171,30 @@

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Definition at line 37 of file AMS_interface_test.h.

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38{
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39 //setting arbitrary pin 20
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40 AMSInterface ams_interface(20);
-
41 ams_interface.init(millis());
-
42 ams_interface.set_start_state();
-
43 TEST_ASSERT_EQUAL(true, ams_interface.heartbeat_received(millis()));
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44 delay(20);
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45 TEST_ASSERT_EQUAL(false, ams_interface.heartbeat_received(millis()));
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46
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47 ams_interface.set_heartbeat(millis());
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48 TEST_ASSERT_EQUAL(true, ams_interface.heartbeat_received(millis()));
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49 delay(19);
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50 TEST_ASSERT_EQUAL(true, ams_interface.heartbeat_received(millis()));
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51 delay(1);
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52 TEST_ASSERT_EQUAL(false, ams_interface.heartbeat_received(millis()));
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53}
+

Definition at line 117 of file AMS_interface_test.h.

+
118{
+
119 //setting arbitrary pin 20
+
120 AMSInterface ams_interface(&CAN_BUFFER, 20);
+
121
+
122 unsigned long starting_millis = millis();
+
123 SysTick_s starting_tick;
+
124 starting_tick.millis = starting_millis;
+
125
+
126 ams_interface.init(starting_tick);
+
127 ams_interface.set_start_state();
+
128 TEST_ASSERT_EQUAL(true, ams_interface.heartbeat_received(starting_millis + 1000));
+
129 TEST_ASSERT_EQUAL(false, ams_interface.heartbeat_received(starting_millis + 2000));
+
130
+
131 starting_millis = millis();
+
132 ams_interface.set_heartbeat(starting_millis);
+
133 TEST_ASSERT_EQUAL(true, ams_interface.heartbeat_received(starting_millis + 100));
+
134 TEST_ASSERT_EQUAL(true, ams_interface.heartbeat_received(starting_millis + 1000));
+
135 TEST_ASSERT_EQUAL(true, ams_interface.heartbeat_received(starting_millis + 1999));
+
136 TEST_ASSERT_EQUAL(false, ams_interface.heartbeat_received(starting_millis + 2000));
+
137 TEST_ASSERT_EQUAL(false, ams_interface.heartbeat_received(starting_millis + 2010));
+
138
+
139}
+
CAN_BUFFER
CANBufferType CAN_BUFFER
Definition: AMS_interface_test.h:8
AMSInterface
this class is for interfacing with the AMS (accumulator management system)
Definition: AMSInterface.h:27
ams_interface
SafetySystem safety_system & ams_interface
Definition: main.cpp:210
@@ -197,16 +216,16 @@

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Definition at line 6 of file AMS_interface_test.h.

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7{
-
8 /*
-
9 Need clarification on what these states are.
-
10 Why is nothing else in the message read by AMSInterface
-
11 */
-
12 BMS_status bms_status{};
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13 bms_status.set_state(5);
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14
-
15}
+

Definition at line 10 of file AMS_interface_test.h.

+
11{
+
12 /*
+
13 Need clarification on what these states are.
+
14 Why is nothing else in the message read by AMSInterface
+
15 */
+
16 BMS_status bms_status{};
+
17 bms_status.set_state(5);
+
18
+
19}

@@ -225,21 +244,118 @@

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Definition at line 17 of file AMS_interface_test.h.

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18{
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19
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20}
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Definition at line 21 of file AMS_interface_test.h.

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22{
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23
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24}
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+
+

+ +

◆ test_bms_voltages_CAN_message()

+ +
+
+ + + + + + + +
void test_bms_voltages_CAN_message ()
+
+ +

Definition at line 52 of file AMS_interface_test.h.

+
53{
+
54
+
55 // Declaring & instantiating new AMSInterface (to read from CAN message)
+
56 AMSInterface interface(&CAN_BUFFER, 8);
+
57
+
58
+
59 // ----------- CONSTANTS (FOR TESTING PURPOSES) ----------- //
+
60 // 4.0 volts with a 0.0001 scale factor is 40000. 40000 in hex is 9C40 // Cell should never go above 3.972
+
61 // 3.9 volts with a 0.0001 scale factor is 39000. 39000 in hex is 9858
+
62 // 3.8 volts with a 0.0001 scale factor is 38000. 38000 in hex is 9470
+
63 // 3.7 volts with a 0.0001 scale factor is 37000. 37000 in hex is 9088
+
64 // 3.6 volts with a 0.0001 scale factor is 36000. 36000 in hex is 8CA0
+
65 // 3.5 volts with a 0.0001 scale factor is 35000. 35000 in hex is 88B8
+
66 // 3.4 volts with a 0.0001 scale factor is 34000. 34000 in hex is 84D0
+
67 // 3.3 volts with a 0.0001 scale factor is 33000. 33000 in hex is 80E8
+
68 // 3.2 volts with a 0.0001 scale factor is 32000. 32000 in hex is 7D00
+
69 // 3.1 volts with a 0.0001 scale factor is 31000. 31000 in hex is 7918
+
70 // 3.0 volts with a 0.0001 scale factor is 30000. 30000 in hex is 7530
+
71 // 2.9 volts with a 0.0001 scale factor is 29000. 29000 in hex is 7148 // Cell should never go below 3.0
+
72
+
73 // BMS_VOLTAGES_t has avg, low, high, and total voltage for each cell. BMS_VOLTAGES_t reads off the CAN line as big-endian.
+
74 // 3.7 avg 3.5 low 3.9 high
+
75 CAN_message_t bms_voltages_can_msg = generate_can_msg_from_uint_16s(0x9088U, 0x88B8U, 0x9858U, 0xFFFFU, false);
+
76
+
77 interface.retrieve_voltage_CAN(bms_voltages_can_msg); // Reads CAN message into the acu_shunt_measurements_ member variable
+
78 BMS_VOLTAGES_t received_voltages = interface.get_bms_voltages();
+
79
+
80
+
81
+
82 // Tests to ensure that the values read off of the CAN line are as expected (ideally should never fail)
+
83 TEST_ASSERT_EQUAL(0x9088U, received_voltages.average_voltage_ro);
+
84 TEST_ASSERT_EQUAL(0x88B8U, received_voltages.low_voltage_ro);
+
85 TEST_ASSERT_EQUAL(0x9858U, received_voltages.high_voltage_ro);
+
86 TEST_ASSERT_EQUAL(0xFFFFU, received_voltages.total_voltage_ro);
+
87
+
88}
+
generate_can_msg_from_uint_16s
CAN_message_t generate_can_msg_from_uint_16s(uint16_t first, uint16_t second, uint16_t third, uint16_t fourth, bool use_little_endian)
Definition: CAN_testing_utilities.h:16
+
+
+
+ +

◆ test_current_shunt_CAN_message()

+ +
+
+ + + + + + + +
void test_current_shunt_CAN_message ()
+
+

Tests the AMSInterface's "retrieve_current_shunt_CAN()" function.

+ +

Definition at line 29 of file AMS_interface_test.h.

+
30{
+
31
+
32 // Declaring & instantiating new AMSInterface (to read from CAN message)
+
33 AMSInterface interface(&CAN_BUFFER, 8);
+
34
+
35
+
36
+
37 // Creating a new CAN message, feeding it into the interface, and then retrieving it
+
38 CAN_message_t acu_can_msg = generate_can_msg_from_uint_16s(0x0001U, 0x0002U, 0x0003U, 0x0000U, false);
+
39
+
40 interface.retrieve_current_shunt_CAN(acu_can_msg); // Reads CAN message into the acu_shunt_measurements_ member variable
+
41 ACU_SHUNT_MEASUREMENTS_t received_shunt_measurements = interface.get_acu_shunt_measurements();
+
42
+
43
+
44
+
45 // Tests to ensure that the values read off of the CAN line are as expected (ideally should never fail)
+
46 TEST_ASSERT_EQUAL(0x0001U, received_shunt_measurements.current_shunt_read_ro);
+
47 TEST_ASSERT_EQUAL(0x0002U, received_shunt_measurements.pack_filtered_read_ro);
+
48 TEST_ASSERT_EQUAL(0x0003U, received_shunt_measurements.ts_out_filtered_read_ro);
+
49
+
50}
- -

◆ test_AMS_unpacking_BMS_voltages_message()

+ +

◆ test_em_measurements_CAN_message()

- + @@ -247,11 +363,41 @@

-

Definition at line 22 of file AMS_interface_test.h.

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23{
-
24
-
25}
+

Definition at line 90 of file AMS_interface_test.h.

+
91{
+
92
+
93 // Declaring & instantiating new AMSInterface (to read from CAN message)
+
94 AMSInterface interface(&CAN_BUFFER, 8);
+
95
+
96 CAN_message_t em_measurements_can = generate_can_msg_from_uint_32s(HYTECH_em_current_ro_toS(23.9f), HYTECH_em_voltage_ro_toS(530.5f), true);
+
97
+
98 interface.retrieve_em_measurement_CAN(em_measurements_can); // Reads CAN message into the acu_shunt_measurements_ member variable
+
99 EM_MEASUREMENT_t received_em_measurement = interface.get_em_measurements();
+
100
+
101 // Tests to ensure that the values read off of the CAN line are as expected (ideally should never fail)
+
102 TEST_ASSERT_EQUAL(23.9f, HYTECH_em_current_ro_fromS(received_em_measurement.em_current_ro));
+
103 TEST_ASSERT_EQUAL(530.5f, HYTECH_em_voltage_ro_fromS(received_em_measurement.em_voltage_ro));
+
104
+
105}
+
generate_can_msg_from_uint_32s
CAN_message_t generate_can_msg_from_uint_32s(uint32_t first, uint32_t second, bool use_little_endian)
Definition: CAN_testing_utilities.h:54
+
+ +

Variable Documentation

+ +

◆ CAN_BUFFER

+ +
+
+

void test_AMS_unpacking_BMS_voltages_message void test_em_measurements_CAN_message ( )
+ + + +
CANBufferType CAN_BUFFER
+
+ +

Definition at line 8 of file AMS_interface_test.h.

+
diff --git a/AMS__interface__test_8h_source.html b/AMS__interface__test_8h_source.html index 9f8556fe2..21f80ffe0 100644 --- a/AMS__interface__test_8h_source.html +++ b/AMS__interface__test_8h_source.html @@ -78,64 +78,160 @@
Go to the documentation of this file.
1#include <Arduino.h>
2#include <unity.h>
-
3
-
4#include "AMSInterface.h"
-
5
-
6void test_AMS_unpacking_BMS_status_message()
-
7{
-
8 /*
-
9 Need clarification on what these states are.
-
10 Why is nothing else in the message read by AMSInterface
-
11 */
-
12 BMS_status bms_status{};
-
13 bms_status.set_state(5);
-
14
-
15}
-
16
-
17void test_AMS_unpacking_BMS_temperatures_message()
-
18{
-
19
-
20}
-
21
-
22void test_AMS_unpacking_BMS_voltages_message()
-
23{
-
24
-
25}
-
26
-
27void test_AMS_charge_critical_threshold()
-
28{
-
29
-
30}
+
3#include "AMSInterface.h"
+
4#include "SysClock.h"
+
5#include "CAN_testing_utilities.h"
+
6
+
7/* Circular buffer for a CAN line to write to/read from. */
+
8CANBufferType CAN_BUFFER;
+
9
+
10void test_AMS_unpacking_BMS_status_message()
+
11{
+
12 /*
+
13 Need clarification on what these states are.
+
14 Why is nothing else in the message read by AMSInterface
+
15 */
+
16 BMS_status bms_status{};
+
17 bms_status.set_state(5);
+
18
+
19}
+
20
+
21void test_AMS_unpacking_BMS_temperatures_message()
+
22{
+
23
+
24}
+
25
+
29void test_current_shunt_CAN_message()
+
30{
31
-
32void test_AMS_filtered_readings()
-
33{
+
32 // Declaring & instantiating new AMSInterface (to read from CAN message)
+
33 AMSInterface interface(&CAN_BUFFER, 8);
34
-
35}
-
36
-
37void test_AMS_heartbeat()
-
38{
-
39 //setting arbitrary pin 20
-
40 AMSInterface ams_interface(20);
-
41 ams_interface.init(millis());
-
42 ams_interface.set_start_state();
-
43 TEST_ASSERT_EQUAL(true, ams_interface.heartbeat_received(millis()));
-
44 delay(20);
-
45 TEST_ASSERT_EQUAL(false, ams_interface.heartbeat_received(millis()));
-
46
-
47 ams_interface.set_heartbeat(millis());
-
48 TEST_ASSERT_EQUAL(true, ams_interface.heartbeat_received(millis()));
-
49 delay(19);
-
50 TEST_ASSERT_EQUAL(true, ams_interface.heartbeat_received(millis()));
-
51 delay(1);
-
52 TEST_ASSERT_EQUAL(false, ams_interface.heartbeat_received(millis()));
-
53}
-
test_AMS_unpacking_BMS_voltages_message
void test_AMS_unpacking_BMS_voltages_message()
Definition: AMS_interface_test.h:22
-
test_AMS_unpacking_BMS_status_message
void test_AMS_unpacking_BMS_status_message()
Definition: AMS_interface_test.h:6
-
test_AMS_charge_critical_threshold
void test_AMS_charge_critical_threshold()
Definition: AMS_interface_test.h:27
-
test_AMS_filtered_readings
void test_AMS_filtered_readings()
Definition: AMS_interface_test.h:32
-
test_AMS_unpacking_BMS_temperatures_message
void test_AMS_unpacking_BMS_temperatures_message()
Definition: AMS_interface_test.h:17
-
test_AMS_heartbeat
void test_AMS_heartbeat()
Definition: AMS_interface_test.h:37
+
35
+
36
+
37 // Creating a new CAN message, feeding it into the interface, and then retrieving it
+
38 CAN_message_t acu_can_msg = generate_can_msg_from_uint_16s(0x0001U, 0x0002U, 0x0003U, 0x0000U, false);
+
39
+
40 interface.retrieve_current_shunt_CAN(acu_can_msg); // Reads CAN message into the acu_shunt_measurements_ member variable
+
41 ACU_SHUNT_MEASUREMENTS_t received_shunt_measurements = interface.get_acu_shunt_measurements();
+
42
+
43
+
44
+
45 // Tests to ensure that the values read off of the CAN line are as expected (ideally should never fail)
+
46 TEST_ASSERT_EQUAL(0x0001U, received_shunt_measurements.current_shunt_read_ro);
+
47 TEST_ASSERT_EQUAL(0x0002U, received_shunt_measurements.pack_filtered_read_ro);
+
48 TEST_ASSERT_EQUAL(0x0003U, received_shunt_measurements.ts_out_filtered_read_ro);
+
49
+
50}
+
51
+
52void test_bms_voltages_CAN_message()
+
53{
+
54
+
55 // Declaring & instantiating new AMSInterface (to read from CAN message)
+
56 AMSInterface interface(&CAN_BUFFER, 8);
+
57
+
58
+
59 // ----------- CONSTANTS (FOR TESTING PURPOSES) ----------- //
+
60 // 4.0 volts with a 0.0001 scale factor is 40000. 40000 in hex is 9C40 // Cell should never go above 3.972
+
61 // 3.9 volts with a 0.0001 scale factor is 39000. 39000 in hex is 9858
+
62 // 3.8 volts with a 0.0001 scale factor is 38000. 38000 in hex is 9470
+
63 // 3.7 volts with a 0.0001 scale factor is 37000. 37000 in hex is 9088
+
64 // 3.6 volts with a 0.0001 scale factor is 36000. 36000 in hex is 8CA0
+
65 // 3.5 volts with a 0.0001 scale factor is 35000. 35000 in hex is 88B8
+
66 // 3.4 volts with a 0.0001 scale factor is 34000. 34000 in hex is 84D0
+
67 // 3.3 volts with a 0.0001 scale factor is 33000. 33000 in hex is 80E8
+
68 // 3.2 volts with a 0.0001 scale factor is 32000. 32000 in hex is 7D00
+
69 // 3.1 volts with a 0.0001 scale factor is 31000. 31000 in hex is 7918
+
70 // 3.0 volts with a 0.0001 scale factor is 30000. 30000 in hex is 7530
+
71 // 2.9 volts with a 0.0001 scale factor is 29000. 29000 in hex is 7148 // Cell should never go below 3.0
+
72
+
73 // BMS_VOLTAGES_t has avg, low, high, and total voltage for each cell. BMS_VOLTAGES_t reads off the CAN line as big-endian.
+
74 // 3.7 avg 3.5 low 3.9 high
+
75 CAN_message_t bms_voltages_can_msg = generate_can_msg_from_uint_16s(0x9088U, 0x88B8U, 0x9858U, 0xFFFFU, false);
+
76
+
77 interface.retrieve_voltage_CAN(bms_voltages_can_msg); // Reads CAN message into the acu_shunt_measurements_ member variable
+
78 BMS_VOLTAGES_t received_voltages = interface.get_bms_voltages();
+
79
+
80
+
81
+
82 // Tests to ensure that the values read off of the CAN line are as expected (ideally should never fail)
+
83 TEST_ASSERT_EQUAL(0x9088U, received_voltages.average_voltage_ro);
+
84 TEST_ASSERT_EQUAL(0x88B8U, received_voltages.low_voltage_ro);
+
85 TEST_ASSERT_EQUAL(0x9858U, received_voltages.high_voltage_ro);
+
86 TEST_ASSERT_EQUAL(0xFFFFU, received_voltages.total_voltage_ro);
+
87
+
88}
+
89
+
90void test_em_measurements_CAN_message()
+
91{
+
92
+
93 // Declaring & instantiating new AMSInterface (to read from CAN message)
+
94 AMSInterface interface(&CAN_BUFFER, 8);
+
95
+
96 CAN_message_t em_measurements_can = generate_can_msg_from_uint_32s(HYTECH_em_current_ro_toS(23.9f), HYTECH_em_voltage_ro_toS(530.5f), true);
+
97
+
98 interface.retrieve_em_measurement_CAN(em_measurements_can); // Reads CAN message into the acu_shunt_measurements_ member variable
+
99 EM_MEASUREMENT_t received_em_measurement = interface.get_em_measurements();
+
100
+
101 // Tests to ensure that the values read off of the CAN line are as expected (ideally should never fail)
+
102 TEST_ASSERT_EQUAL(23.9f, HYTECH_em_current_ro_fromS(received_em_measurement.em_current_ro));
+
103 TEST_ASSERT_EQUAL(530.5f, HYTECH_em_voltage_ro_fromS(received_em_measurement.em_voltage_ro));
+
104
+
105}
+
106
+
107void test_AMS_charge_critical_threshold()
+
108{
+
109
+
110}
+
111
+
112void test_AMS_filtered_readings()
+
113{
+
114
+
115}
+
116
+
117void test_AMS_heartbeat()
+
118{
+
119 //setting arbitrary pin 20
+
120 AMSInterface ams_interface(&CAN_BUFFER, 20);
+
121
+
122 unsigned long starting_millis = millis();
+
123 SysTick_s starting_tick;
+
124 starting_tick.millis = starting_millis;
+
125
+
126 ams_interface.init(starting_tick);
+
127 ams_interface.set_start_state();
+
128 TEST_ASSERT_EQUAL(true, ams_interface.heartbeat_received(starting_millis + 1000));
+
129 TEST_ASSERT_EQUAL(false, ams_interface.heartbeat_received(starting_millis + 2000));
+
130
+
131 starting_millis = millis();
+
132 ams_interface.set_heartbeat(starting_millis);
+
133 TEST_ASSERT_EQUAL(true, ams_interface.heartbeat_received(starting_millis + 100));
+
134 TEST_ASSERT_EQUAL(true, ams_interface.heartbeat_received(starting_millis + 1000));
+
135 TEST_ASSERT_EQUAL(true, ams_interface.heartbeat_received(starting_millis + 1999));
+
136 TEST_ASSERT_EQUAL(false, ams_interface.heartbeat_received(starting_millis + 2000));
+
137 TEST_ASSERT_EQUAL(false, ams_interface.heartbeat_received(starting_millis + 2010));
+
138
+
139}
+
test_em_measurements_CAN_message
void test_em_measurements_CAN_message()
Definition: AMS_interface_test.h:90
+
CAN_BUFFER
CANBufferType CAN_BUFFER
Definition: AMS_interface_test.h:8
+
test_AMS_unpacking_BMS_status_message
void test_AMS_unpacking_BMS_status_message()
Definition: AMS_interface_test.h:10
+
test_current_shunt_CAN_message
void test_current_shunt_CAN_message()
Definition: AMS_interface_test.h:29
+
test_bms_voltages_CAN_message
void test_bms_voltages_CAN_message()
Definition: AMS_interface_test.h:52
+
test_AMS_charge_critical_threshold
void test_AMS_charge_critical_threshold()
Definition: AMS_interface_test.h:107
+
test_AMS_filtered_readings
void test_AMS_filtered_readings()
Definition: AMS_interface_test.h:112
+
test_AMS_unpacking_BMS_temperatures_message
void test_AMS_unpacking_BMS_temperatures_message()
Definition: AMS_interface_test.h:21
+
test_AMS_heartbeat
void test_AMS_heartbeat()
Definition: AMS_interface_test.h:117
+
CAN_testing_utilities.h
+
generate_can_msg_from_uint_32s
CAN_message_t generate_can_msg_from_uint_32s(uint32_t first, uint32_t second, bool use_little_endian)
Definition: CAN_testing_utilities.h:54
+
generate_can_msg_from_uint_16s
CAN_message_t generate_can_msg_from_uint_16s(uint16_t first, uint16_t second, uint16_t third, uint16_t fourth, bool use_little_endian)
Definition: CAN_testing_utilities.h:16
+
CANBufferType
Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
Definition: MessageQueueDefine.h:6
AMSInterface
this class is for interfacing with the AMS (accumulator management system)
Definition: AMSInterface.h:27
+
AMSInterface::retrieve_current_shunt_CAN
void retrieve_current_shunt_CAN(const CAN_message_t &can_msg)
Definition: AMSInterface.cpp:176
+
AMSInterface::get_em_measurements
EM_MEASUREMENT_t get_em_measurements()
Definition: AMSInterface.h:181
+
AMSInterface::get_bms_voltages
BMS_VOLTAGES_t get_bms_voltages()
Definition: AMSInterface.h:180
+
AMSInterface::retrieve_voltage_CAN
void retrieve_voltage_CAN(CAN_message_t &recvd_msg)
Definition: AMSInterface.cpp:161
+
AMSInterface::get_acu_shunt_measurements
ACU_SHUNT_MEASUREMENTS_t get_acu_shunt_measurements()
Definition: AMSInterface.h:182
+
AMSInterface::retrieve_em_measurement_CAN
void retrieve_em_measurement_CAN(CAN_message_t &can_msg)
Definition: AMSInterface.cpp:172
ams_interface
SafetySystem safety_system & ams_interface
Definition: main.cpp:210
diff --git a/CAN__testing__utilities_8h.html b/CAN__testing__utilities_8h.html new file mode 100644 index 000000000..575742a92 --- /dev/null +++ b/CAN__testing__utilities_8h.html @@ -0,0 +1,266 @@ + + + + + + + +MCU: test/test_interfaces/CAN_testing_utilities.h File Reference + + + + + + + + + +
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#include <Arduino.h>
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Go to the source code of this file.

+ + + + + + +

+Functions

CAN_message_t generate_can_msg_from_uint_16s (uint16_t first, uint16_t second, uint16_t third, uint16_t fourth, bool use_little_endian)
 
CAN_message_t generate_can_msg_from_uint_32s (uint32_t first, uint32_t second, bool use_little_endian)
 
+

Function Documentation

+ +

◆ generate_can_msg_from_uint_16s()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
CAN_message_t generate_can_msg_from_uint_16s (uint16_t first,
uint16_t second,
uint16_t third,
uint16_t fourth,
bool use_little_endian 
)
+ 		+inline
+
+

Generates a CAN message containing the given data. This handles the byte-swapping (because of big-endian) automatically.

+
Parameters
+ + + + + + +
firstThe leftmost 16 bits of this CAN message's 64 bits.
secondThe second-leftmost 16 bits of this CAN message's 64 bits.
thirdThe second-rightmost 16 bits of this CAN message's 64 bits.
fourthThe rightmost 16 bits of this CAN message's 64 bits.
use_little_endianTrue if the bytes will be READ OFF OF THE CAN LINE using little-endian. If the unpack function expects the number 0013 to be on the CAN line as 00 13, then set this to true. If the unpack function expects the number 0013 to be on the CAN line as 13 00, then set this to false.
+
+
+
Returns
A CAN_message_t with ONLY its data set (not the ID or any other bits)
+ +

Definition at line 16 of file CAN_testing_utilities.h.

+
17{
+
18
+
19 CAN_message_t can_msg;
+
20
+
21 uint16_t actual_first = first, actual_second = second, actual_third = third, actual_fourth = fourth;
+
22
+
23 // By default, uint16s are saved in memory using big-endian, by byte. This means that if you say "uint16_t x = 0x0013", this will be saved
+
24 // in memory as 1300. If the bits SHOULD be on the CAN line using big-endian, then this is fine. However, if the bits SHOULD be on the CAN
+
25 // line as little-endian, then we need to invert the bytes before copying the memory into the CAN buffer.
+
26 if (use_little_endian) {
+
27 actual_first = (uint16_t) ( (0x00FFU & first) << 8U | (0xFF00U & first) >> 8U );
+
28 actual_second = (uint16_t) ( (0x00FFU & second) << 8U | (0xFF00U & second) >> 8U );
+
29 actual_third = (uint16_t) ( (0x00FFU & third) << 8U | (0xFF00U & third) >> 8U );
+
30 actual_fourth = (uint16_t) ( (0x00FFU & fourth) << 8U | (0xFF00U & fourth) >> 8U );
+
31 }
+
32
+
33 // Places expected values into buffer
+
34 memcpy(&can_msg.buf, &actual_first, sizeof(uint16_t));
+
35 memcpy(&can_msg.buf[2], &actual_second, sizeof(uint16_t));
+
36 memcpy(&can_msg.buf[4], &actual_third, sizeof(uint16_t));
+
37 memcpy(&can_msg.buf[6], &actual_fourth, sizeof(uint16_t));
+
38
+
39 return can_msg;
+
40
+
41}
+
+
+
+ +

◆ generate_can_msg_from_uint_32s()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
CAN_message_t generate_can_msg_from_uint_32s (uint32_t first,
uint32_t second,
bool use_little_endian 
)
+ 		+inline
+
+

Generates a CAN message containing the given data. This handles the byte-swapping (because of big-endian) automatically.

+
Parameters
+ + + + +
firstThe leftmost 32 bits of this CAN message's 64 bits.
secondThe second-leftmost 32 bits of this CAN message's 64 bits.
use_little_endianTrue if the bytes will be READ OFF OF THE CAN LINE using little-endian. If the unpack function expects the number 00000013 (hex) to be on the CAN line as 00 00 00 13, then set this to true. If the unpack function expects the number 00000013 to be on the CAN line as 13 00 00 00, then set this to false.
+
+
+
Returns
A CAN_message_t with ONLY its data set (not the ID or any other bits)
+ +

Definition at line 54 of file CAN_testing_utilities.h.

+
55{
+
56
+
57 CAN_message_t can_msg;
+
58
+
59 uint32_t actual_first = first, actual_second = second;
+
60
+
61 // Expected values in CAN message. These are BIG-ENDIAN, by BYTE. The number 19 in hex
+
62 // is 0013, but we must declare it as 0x1300U with the least-sig byte and most-sig byte switched.
+
63 if (use_little_endian) {
+
64 actual_first = (uint32_t) ( (0x000000FFU & first) << 24U | (0x0000FF00U & first) << 8U | (0x00FF0000U & first) >> 8U | (0xFF000000U & first) >> 24U);
+
65 actual_second = (uint32_t) ( (0x000000FFU & second) << 24U | (0x0000FF00U & second) << 8U | (0x00FF0000U & second) >> 8U | (0xFF000000U & second) >> 24U);
+
66 }
+
67
+
68 // Places expected values into buffer
+
69 memcpy(&can_msg.buf, &actual_first, sizeof(uint32_t));
+
70 memcpy(&can_msg.buf[4], &actual_second, sizeof(uint32_t));
+
71
+
72 return can_msg;
+
73
+
74}
+
+
+
+
+ +
+Generated by doxygen 1.9.5 +
+ + diff --git a/CAN__testing__utilities_8h_source.html b/CAN__testing__utilities_8h_source.html new file mode 100644 index 000000000..5ac5d6ea2 --- /dev/null +++ b/CAN__testing__utilities_8h_source.html @@ -0,0 +1,137 @@ + + + + + + + +MCU: test/test_interfaces/CAN_testing_utilities.h Source File + + + + + + + + + +
+
+ + + + + + +
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CAN_testing_utilities.h
+
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+Go to the documentation of this file.
1#include <Arduino.h>
+
2
+
16inline CAN_message_t generate_can_msg_from_uint_16s(uint16_t first, uint16_t second, uint16_t third, uint16_t fourth, bool use_little_endian)
+
17{
+
18
+
19 CAN_message_t can_msg;
+
20
+
21 uint16_t actual_first = first, actual_second = second, actual_third = third, actual_fourth = fourth;
+
22
+
23 // By default, uint16s are saved in memory using big-endian, by byte. This means that if you say "uint16_t x = 0x0013", this will be saved
+
24 // in memory as 1300. If the bits SHOULD be on the CAN line using big-endian, then this is fine. However, if the bits SHOULD be on the CAN
+
25 // line as little-endian, then we need to invert the bytes before copying the memory into the CAN buffer.
+
26 if (use_little_endian) {
+
27 actual_first = (uint16_t) ( (0x00FFU & first) << 8U | (0xFF00U & first) >> 8U );
+
28 actual_second = (uint16_t) ( (0x00FFU & second) << 8U | (0xFF00U & second) >> 8U );
+
29 actual_third = (uint16_t) ( (0x00FFU & third) << 8U | (0xFF00U & third) >> 8U );
+
30 actual_fourth = (uint16_t) ( (0x00FFU & fourth) << 8U | (0xFF00U & fourth) >> 8U );
+
31 }
+
32
+
33 // Places expected values into buffer
+
34 memcpy(&can_msg.buf, &actual_first, sizeof(uint16_t));
+
35 memcpy(&can_msg.buf[2], &actual_second, sizeof(uint16_t));
+
36 memcpy(&can_msg.buf[4], &actual_third, sizeof(uint16_t));
+
37 memcpy(&can_msg.buf[6], &actual_fourth, sizeof(uint16_t));
+
38
+
39 return can_msg;
+
40
+
41}
+
42
+
54inline CAN_message_t generate_can_msg_from_uint_32s(uint32_t first, uint32_t second, bool use_little_endian)
+
55{
+
56
+
57 CAN_message_t can_msg;
+
58
+
59 uint32_t actual_first = first, actual_second = second;
+
60
+
61 // Expected values in CAN message. These are BIG-ENDIAN, by BYTE. The number 19 in hex
+
62 // is 0013, but we must declare it as 0x1300U with the least-sig byte and most-sig byte switched.
+
63 if (use_little_endian) {
+
64 actual_first = (uint32_t) ( (0x000000FFU & first) << 24U | (0x0000FF00U & first) << 8U | (0x00FF0000U & first) >> 8U | (0xFF000000U & first) >> 24U);
+
65 actual_second = (uint32_t) ( (0x000000FFU & second) << 24U | (0x0000FF00U & second) << 8U | (0x00FF0000U & second) >> 8U | (0xFF000000U & second) >> 24U);
+
66 }
+
67
+
68 // Places expected values into buffer
+
69 memcpy(&can_msg.buf, &actual_first, sizeof(uint32_t));
+
70 memcpy(&can_msg.buf[4], &actual_second, sizeof(uint32_t));
+
71
+
72 return can_msg;
+
73
+
74}
+
generate_can_msg_from_uint_32s
CAN_message_t generate_can_msg_from_uint_32s(uint32_t first, uint32_t second, bool use_little_endian)
Definition: CAN_testing_utilities.h:54
+
generate_can_msg_from_uint_16s
CAN_message_t generate_can_msg_from_uint_16s(uint16_t first, uint16_t second, uint16_t third, uint16_t fourth, bool use_little_endian)
Definition: CAN_testing_utilities.h:16
+
+ +
+Generated by doxygen 1.9.5 +
+ + diff --git a/Coulomb__Counting__Tests_8h.html b/Coulomb__Counting__Tests_8h.html new file mode 100644 index 000000000..ecd42199b --- /dev/null +++ b/Coulomb__Counting__Tests_8h.html @@ -0,0 +1,407 @@ + + + + + + + +MCU: test/test_interfaces/Coulomb_Counting_Tests.h File Reference + + + + + + + + + +
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+Functions | +Variables
+
Coulomb_Counting_Tests.h File Reference
+
+
+
#include <Arduino.h>
+#include <unity.h>
+#include <iostream>
+#include "AMSInterface.h"
+#include "SysClock.h"
+#include "MessageQueueDefine.h"
+
+

Go to the source code of this file.

+ + + + + + + + +

+Functions

void test_initialize_charge ()
 
void test_calculate_SoC_em ()
 
void test_calculate_SoC_acu ()
 
+ + + +

+Variables

CANBufferType CAN_BUFFER_CC_TESTS
 
+

Function Documentation

+ +

◆ test_calculate_SoC_acu()

+ +
+
+ + + + + + + +
void test_calculate_SoC_acu ()
+
+ +

Definition at line 144 of file Coulomb_Counting_Tests.h.

+
145{
+
146 // Declaring initial conditions
+
147 unsigned long starting_millis = millis();
+
148 unsigned long starting_micros = micros();
+
149 SysTick_s starting_tick;
+
150 starting_tick.millis = starting_millis;
+
151 starting_tick.micros = starting_micros;
+
152
+
153 // Declaring & instantiating a new AMSInterface (to read from CAN messages and perform the SoC calculations)
+
154 AMSInterface interface(&CAN_BUFFER_CC_TESTS, 8);
+
155 interface.init(starting_tick); // Sets heartbeat and puts "uninitialized" value into bms_voltages_
+
156
+
157 interface.set_use_em_for_soc(false);
+
158
+
159 CAN_message_t acu_measurements_can, bms_voltages_can;
+
160
+
161 // Declaring CAN frames and feeding them into the AMSInterface.
+
162 // Initializes BMS_VOLTAGES to have a min (of 3.7 volts, which is 0x9088U).
+
163 bms_voltages_can = generate_can_msg_from_uint_16s(0x9088U, 37000U, 0x9858U, 0xFFFFU, false);
+
164 interface.retrieve_voltage_CAN(bms_voltages_can);
+
165
+
166 // 2372 analog value corresponds to 25A
+
167 acu_measurements_can = generate_can_msg_from_uint_16s(2372, HYTECH_pack_filtered_read_ro_toS(0.0), HYTECH_ts_out_filtered_read_ro_toS(0.0), 0, false);
+
168 interface.retrieve_current_shunt_CAN(acu_measurements_can); // Reads CAN message into the acu_shunt_measurements_ member variable
+
169
+
170
+
171
+
172 // TEST CASE ZERO - 5000ms to allow initialization to happen
+
173 SysTick_s tick_zero;
+
174 tick_zero.millis = starting_millis + 5000;
+
175 tick_zero.micros = starting_micros + 1000000;
+
176
+
177 // Call tick() once (with no delta t) so that initialize_charge() will be called
+
178 interface.tick(tick_zero);
+
179 // assert initial SoC is correct
+
180 TEST_ASSERT_EQUAL_FLOAT(75.0, interface.get_SoC());
+
181
+
182
+
183 // Running actual test cases
+
184
+
185 // TEST CASE ONE - 10ms - 25amps
+
186 SysTick_s tick_one;
+
187 tick_one.millis = tick_zero.millis + 10;
+
188 tick_one.micros = tick_zero.micros + 10000;
+
189
+
190 // 25 amps of current * 0.01sec = 0.25 coulombs of charge.
+
191 // Starting charge = 75%, so 36450 coulombs. After this,
+
192 // charge should be at 36449.75, or 74.9994855%
+
193 interface.tick(tick_one);
+
194 TEST_ASSERT_EQUAL_FLOAT(74.9994855, interface.get_SoC());
+
195
+
196
+
197
+
198 // TEST CASE TWO - 20ms - 50amps
+
199 SysTick_s tick_two;
+
200 tick_two.millis = tick_zero.millis + 10 + 20;
+
201 tick_two.micros = tick_zero.micros + 10000 + 20000;
+
202
+
203 acu_measurements_can = generate_can_msg_from_uint_16s(2458, HYTECH_pack_filtered_read_ro_toS(0.0), HYTECH_ts_out_filtered_read_ro_toS(0.0), 0, false);
+
204 interface.retrieve_current_shunt_CAN(acu_measurements_can); // Reads CAN message into the acu_shunt_measurements_ member variable
+
205
+
206 // 50 amps of current * 0.02sec = 1 coulomb of charge.
+
207 // Starting charge = 36449.75 coulombs. After this,
+
208 // charge should be at 36448.75, or 74.9974279f%
+
209 interface.tick(tick_two);
+
210 TEST_ASSERT_EQUAL_FLOAT(74.9974279f, interface.get_SoC());
+
211
+
212
+
213
+
214 // TEST CASE THREE - 10 full seconds, in 20ms intervals, at 50 amps
+
215
+
216 acu_measurements_can = generate_can_msg_from_uint_16s(2457, HYTECH_pack_filtered_read_ro_toS(0.0), HYTECH_ts_out_filtered_read_ro_toS(0.0), 0, false);
+
217 interface.retrieve_current_shunt_CAN(acu_measurements_can); // Reads CAN message into the acu_shunt_measurements_ member variable
+
218
+
219 for (int i = 0; i <= 10000000; i += 20000) {
+
220 SysTick_s curr_tick;
+
221 curr_tick.millis = tick_zero.millis + 10 + 20 + i/1000;
+
222 curr_tick.micros = tick_zero.micros + 10000 + 20000 + i;
+
223 interface.tick(curr_tick);
+
224 }
+
225
+
226 // 50 amps of current * 10sec = 500 coulombs of charge
+
227 // Starting charge = 36448.75 coulombs. After this, charge
+
228 // should be 35948.75 coulombs, which is 73.9686%
+
229 TEST_ASSERT_EQUAL_FLOAT(73.9686f, interface.get_SoC());
+
230
+
231}
+
generate_can_msg_from_uint_16s
CAN_message_t generate_can_msg_from_uint_16s(uint16_t first, uint16_t second, uint16_t third, uint16_t fourth, bool use_little_endian)
Definition: CAN_testing_utilities.h:16
+
CAN_BUFFER_CC_TESTS
CANBufferType CAN_BUFFER_CC_TESTS
Definition: Coulomb_Counting_Tests.h:8
+
AMSInterface
this class is for interfacing with the AMS (accumulator management system)
Definition: AMSInterface.h:27
+
+
+
+ +

◆ test_calculate_SoC_em()

+ +
+
+ + + + + + + +
void test_calculate_SoC_em ()
+
+ +

Definition at line 55 of file Coulomb_Counting_Tests.h.

+
56{
+
57
+
58 // Declaring initial conditions
+
59 unsigned long starting_millis = millis();
+
60 unsigned long starting_micros = micros();
+
61 SysTick_s starting_tick;
+
62 starting_tick.millis = starting_millis;
+
63 starting_tick.micros = starting_micros;
+
64
+
65 // Declaring & instantiating a new AMSInterface (to read from CAN messages and perform the SoC calculations)
+
66 AMSInterface interface(&CAN_BUFFER_CC_TESTS, 8);
+
67 interface.init(starting_tick); // Sets heartbeat and puts "uninitialized" value into bms_voltages_
+
68
+
69 interface.set_use_em_for_soc(true);
+
70
+
71 CAN_message_t em_measurements_can, bms_voltages_can;
+
72
+
73 // Declaring CAN frames and feeding them into the AMSInterface.
+
74 // Initializes BMS_VOLTAGES to have a min (of 3.7 volts, which is 0x9088U).
+
75 bms_voltages_can = generate_can_msg_from_uint_16s(0x9088U, 37000U, 0x9858U, 0xFFFFU, false);
+
76 interface.retrieve_voltage_CAN(bms_voltages_can);
+
77
+
78 em_measurements_can = generate_can_msg_from_uint_32s(HYTECH_em_current_ro_toS(25.0f), HYTECH_em_voltage_ro_toS(530.5f), true);
+
79 interface.retrieve_em_measurement_CAN(em_measurements_can); // Reads CAN message into the acu_shunt_measurements_ member variable
+
80
+
81
+
82 // TEST CASE ZERO - 5000ms to allow initialization to happen
+
83 SysTick_s tick_zero;
+
84 tick_zero.millis = starting_millis + 5000;
+
85 tick_zero.micros = starting_micros + 1000000;
+
86
+
87 // Call tick() once (with no delta t) so that initialize_charge() will be called
+
88 interface.tick(tick_zero);
+
89
+
90 // assert initial SoC is correct
+
91 TEST_ASSERT_EQUAL_FLOAT(75.0, interface.get_SoC());
+
92
+
93
+
94 // Running actual test cases
+
95
+
96 // TEST CASE ONE - 10ms - 25amps
+
97 SysTick_s tick_one;
+
98 tick_one.millis = tick_zero.millis + 10;
+
99 tick_one.micros = tick_zero.micros + 10000;
+
100
+
101 // 25 amps of current * 0.01sec = 0.25 coulombs of charge.
+
102 // Starting charge = 75%, so 36450 coulombs. After this,
+
103 // charge should be at 36449.75, or 74.9994%
+
104 interface.tick(tick_one);
+
105 TEST_ASSERT_EQUAL_FLOAT(74.9994855, interface.get_SoC());
+
106
+
107
+
108
+
109 // TEST CASE TWO - 20ms - 50amps
+
110 SysTick_s tick_two;
+
111 tick_two.millis = tick_zero.millis + 10 + 20;
+
112 tick_two.micros = tick_zero.micros + 10000 + 20000;
+
113
+
114 em_measurements_can = generate_can_msg_from_uint_32s(HYTECH_em_current_ro_toS(50.0f), HYTECH_em_voltage_ro_toS(530.5f), true);
+
115 interface.retrieve_em_measurement_CAN(em_measurements_can); // Reads CAN message into the acu_shunt_measurements_ member variable
+
116
+
117 // 50 amps of current * 0.02sec = 1 coulomb of charge.
+
118 // Starting charge = 36449.75 coulombs. After this,
+
119 // charge should be at 36448.75, or 74.9974279%
+
120 interface.tick(tick_two);
+
121 TEST_ASSERT_EQUAL_FLOAT(74.9974279f, interface.get_SoC());
+
122
+
123
+
124
+
125 // TEST CASE THREE - 10 full seconds, in 20ms intervals, at 50 amps
+
126
+
127 em_measurements_can = generate_can_msg_from_uint_32s(HYTECH_em_current_ro_toS(50.0f), HYTECH_em_voltage_ro_toS(530.5f), true);
+
128 interface.retrieve_em_measurement_CAN(em_measurements_can); // Reads CAN message into the acu_shunt_measurements_ member variable
+
129
+
130 for (int i = 0; i <= 10000000; i += 20000) {
+
131 SysTick_s curr_tick;
+
132 curr_tick.millis = tick_zero.millis + 10 + 20 + i/1000;
+
133 curr_tick.micros = tick_zero.micros + 10000 + 20000 + i;
+
134 interface.tick(curr_tick);
+
135 }
+
136
+
137 // 50 amps of current * 10sec = 500 coulombs of charge
+
138 // Starting charge = 36448.75 coulombs. After this, charge
+
139 // should be 35948.75 coulombs, which is 73.9686%
+
140 TEST_ASSERT_EQUAL_FLOAT(73.9686f, interface.get_SoC());
+
141
+
142}
+
generate_can_msg_from_uint_32s
CAN_message_t generate_can_msg_from_uint_32s(uint32_t first, uint32_t second, bool use_little_endian)
Definition: CAN_testing_utilities.h:54
+
+
+
+ +

◆ test_initialize_charge()

+ +
+
+ + + + + + + +
void test_initialize_charge ()
+
+ +

Definition at line 10 of file Coulomb_Counting_Tests.h.

+
11{
+
12
+
13 // Declaring & instantiating new AMSInterface (to read from CAN message)
+
14 AMSInterface interface(&CAN_BUFFER_CC_TESTS, 8);
+
15
+
16
+
17
+
18 // -------------------------- Initializes bms_voltages CAN message -------------------------- //
+
19 CAN_message_t bms_voltages_can_msg = generate_can_msg_from_uint_16s(0x9088U, 0x88B8U, 0x9858U, 0xFFFFU, false);
+
20
+
21 interface.retrieve_voltage_CAN(bms_voltages_can_msg); // Reads CAN message into the acu_shunt_measurements_ member variable
+
22 BMS_VOLTAGES_t received_voltages = interface.get_bms_voltages();
+
23
+
24
+
25
+
26 // -------------------------- Tests the initialize_charge function -------------------------- //
+
27
+
28 // 3.7 avg 3.5 low 3.9 high
+
29 bms_voltages_can_msg = generate_can_msg_from_uint_16s(0x9088U, 0x88B8U, 0x9858U, 0xFFFFU, false); // Regular use case
+
30 interface.retrieve_voltage_CAN(bms_voltages_can_msg);
+
31 TEST_ASSERT_EQUAL_FLOAT(13122.0f, interface.initialize_charge());
+
32
+
33 // 3.7 avg 3.3 low 3.9 high
+
34 bms_voltages_can_msg = generate_can_msg_from_uint_16s(0x9088U, 0x80E8U, 0x9858U, 0xFFFFU, false); // Regular use case
+
35 interface.retrieve_voltage_CAN(bms_voltages_can_msg);
+
36 TEST_ASSERT_EQUAL_FLOAT(3402.0f, interface.initialize_charge());
+
37
+
38 // 3.8 avg 3.7 low 3.9 high
+
39 bms_voltages_can_msg = generate_can_msg_from_uint_16s(0x9470U, 0x9088U, 0x9858U, 0xFFFFU, false); // Regular use case
+
40 interface.retrieve_voltage_CAN(bms_voltages_can_msg);
+
41 TEST_ASSERT_EQUAL_FLOAT(36450.0f, interface.initialize_charge());
+
42
+
43 // 4.0 avg 4.0 low 4.0 high
+
44 bms_voltages_can_msg = generate_can_msg_from_uint_16s(0x9C40U, 0x9C40U, 0x9C40U, 0xFFFFU, false); // Maximum voltage (100% charge)
+
45 interface.retrieve_voltage_CAN(bms_voltages_can_msg);
+
46 TEST_ASSERT_EQUAL_FLOAT(48600.0f, interface.initialize_charge());
+
47
+
48 // 3.3 avg 2.9 low 3.7 high
+
49 bms_voltages_can_msg = generate_can_msg_from_uint_16s(0x80E8U, 0x7148U, 0x9088U, 0xFFFFU, false); // Minimum voltage (0% charge)
+
50 interface.retrieve_voltage_CAN(bms_voltages_can_msg);
+
51 TEST_ASSERT_EQUAL_FLOAT(0.0f, interface.initialize_charge());
+
52
+
53}
+
+
+
+

Variable Documentation

+ +

◆ CAN_BUFFER_CC_TESTS

+ +
+
+ + + + +
CANBufferType CAN_BUFFER_CC_TESTS
+
+ +

Definition at line 8 of file Coulomb_Counting_Tests.h.

+ +
+
+
+ +
+Generated by doxygen 1.9.5 +
+ + diff --git a/Coulomb__Counting__Tests_8h_source.html b/Coulomb__Counting__Tests_8h_source.html new file mode 100644 index 000000000..81d534119 --- /dev/null +++ b/Coulomb__Counting__Tests_8h_source.html @@ -0,0 +1,334 @@ + + + + + + + +MCU: test/test_interfaces/Coulomb_Counting_Tests.h Source File + + + + + + + + + +
+
+ + + + + + +
+
MCU +
+
+
+ + + + + + + + +
+
+ + +
+
+
+
+
+
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+
Searching...
+
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+
+
+
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+ + +
+
+
Coulomb_Counting_Tests.h
+
+
+Go to the documentation of this file.
1#include <Arduino.h>
+
2#include <unity.h>
+
3#include <iostream>
+
4#include "AMSInterface.h"
+
5#include "SysClock.h"
+
6#include "MessageQueueDefine.h"
+
7
+
8CANBufferType CAN_BUFFER_CC_TESTS;
+
9
+
10void test_initialize_charge()
+
11{
+
12
+
13 // Declaring & instantiating new AMSInterface (to read from CAN message)
+
14 AMSInterface interface(&CAN_BUFFER_CC_TESTS, 8);
+
15
+
16
+
17
+
18 // -------------------------- Initializes bms_voltages CAN message -------------------------- //
+
19 CAN_message_t bms_voltages_can_msg = generate_can_msg_from_uint_16s(0x9088U, 0x88B8U, 0x9858U, 0xFFFFU, false);
+
20
+
21 interface.retrieve_voltage_CAN(bms_voltages_can_msg); // Reads CAN message into the acu_shunt_measurements_ member variable
+
22 BMS_VOLTAGES_t received_voltages = interface.get_bms_voltages();
+
23
+
24
+
25
+
26 // -------------------------- Tests the initialize_charge function -------------------------- //
+
27
+
28 // 3.7 avg 3.5 low 3.9 high
+
29 bms_voltages_can_msg = generate_can_msg_from_uint_16s(0x9088U, 0x88B8U, 0x9858U, 0xFFFFU, false); // Regular use case
+
30 interface.retrieve_voltage_CAN(bms_voltages_can_msg);
+
31 TEST_ASSERT_EQUAL_FLOAT(13122.0f, interface.initialize_charge());
+
32
+
33 // 3.7 avg 3.3 low 3.9 high
+
34 bms_voltages_can_msg = generate_can_msg_from_uint_16s(0x9088U, 0x80E8U, 0x9858U, 0xFFFFU, false); // Regular use case
+
35 interface.retrieve_voltage_CAN(bms_voltages_can_msg);
+
36 TEST_ASSERT_EQUAL_FLOAT(3402.0f, interface.initialize_charge());
+
37
+
38 // 3.8 avg 3.7 low 3.9 high
+
39 bms_voltages_can_msg = generate_can_msg_from_uint_16s(0x9470U, 0x9088U, 0x9858U, 0xFFFFU, false); // Regular use case
+
40 interface.retrieve_voltage_CAN(bms_voltages_can_msg);
+
41 TEST_ASSERT_EQUAL_FLOAT(36450.0f, interface.initialize_charge());
+
42
+
43 // 4.0 avg 4.0 low 4.0 high
+
44 bms_voltages_can_msg = generate_can_msg_from_uint_16s(0x9C40U, 0x9C40U, 0x9C40U, 0xFFFFU, false); // Maximum voltage (100% charge)
+
45 interface.retrieve_voltage_CAN(bms_voltages_can_msg);
+
46 TEST_ASSERT_EQUAL_FLOAT(48600.0f, interface.initialize_charge());
+
47
+
48 // 3.3 avg 2.9 low 3.7 high
+
49 bms_voltages_can_msg = generate_can_msg_from_uint_16s(0x80E8U, 0x7148U, 0x9088U, 0xFFFFU, false); // Minimum voltage (0% charge)
+
50 interface.retrieve_voltage_CAN(bms_voltages_can_msg);
+
51 TEST_ASSERT_EQUAL_FLOAT(0.0f, interface.initialize_charge());
+
52
+
53}
+
54
+
55void test_calculate_SoC_em()
+
56{
+
57
+
58 // Declaring initial conditions
+
59 unsigned long starting_millis = millis();
+
60 unsigned long starting_micros = micros();
+
61 SysTick_s starting_tick;
+
62 starting_tick.millis = starting_millis;
+
63 starting_tick.micros = starting_micros;
+
64
+
65 // Declaring & instantiating a new AMSInterface (to read from CAN messages and perform the SoC calculations)
+
66 AMSInterface interface(&CAN_BUFFER_CC_TESTS, 8);
+
67 interface.init(starting_tick); // Sets heartbeat and puts "uninitialized" value into bms_voltages_
+
68
+
69 interface.set_use_em_for_soc(true);
+
70
+
71 CAN_message_t em_measurements_can, bms_voltages_can;
+
72
+
73 // Declaring CAN frames and feeding them into the AMSInterface.
+
74 // Initializes BMS_VOLTAGES to have a min (of 3.7 volts, which is 0x9088U).
+
75 bms_voltages_can = generate_can_msg_from_uint_16s(0x9088U, 37000U, 0x9858U, 0xFFFFU, false);
+
76 interface.retrieve_voltage_CAN(bms_voltages_can);
+
77
+
78 em_measurements_can = generate_can_msg_from_uint_32s(HYTECH_em_current_ro_toS(25.0f), HYTECH_em_voltage_ro_toS(530.5f), true);
+
79 interface.retrieve_em_measurement_CAN(em_measurements_can); // Reads CAN message into the acu_shunt_measurements_ member variable
+
80
+
81
+
82 // TEST CASE ZERO - 5000ms to allow initialization to happen
+
83 SysTick_s tick_zero;
+
84 tick_zero.millis = starting_millis + 5000;
+
85 tick_zero.micros = starting_micros + 1000000;
+
86
+
87 // Call tick() once (with no delta t) so that initialize_charge() will be called
+
88 interface.tick(tick_zero);
+
89
+
90 // assert initial SoC is correct
+
91 TEST_ASSERT_EQUAL_FLOAT(75.0, interface.get_SoC());
+
92
+
93
+
94 // Running actual test cases
+
95
+
96 // TEST CASE ONE - 10ms - 25amps
+
97 SysTick_s tick_one;
+
98 tick_one.millis = tick_zero.millis + 10;
+
99 tick_one.micros = tick_zero.micros + 10000;
+
100
+
101 // 25 amps of current * 0.01sec = 0.25 coulombs of charge.
+
102 // Starting charge = 75%, so 36450 coulombs. After this,
+
103 // charge should be at 36449.75, or 74.9994%
+
104 interface.tick(tick_one);
+
105 TEST_ASSERT_EQUAL_FLOAT(74.9994855, interface.get_SoC());
+
106
+
107
+
108
+
109 // TEST CASE TWO - 20ms - 50amps
+
110 SysTick_s tick_two;
+
111 tick_two.millis = tick_zero.millis + 10 + 20;
+
112 tick_two.micros = tick_zero.micros + 10000 + 20000;
+
113
+
114 em_measurements_can = generate_can_msg_from_uint_32s(HYTECH_em_current_ro_toS(50.0f), HYTECH_em_voltage_ro_toS(530.5f), true);
+
115 interface.retrieve_em_measurement_CAN(em_measurements_can); // Reads CAN message into the acu_shunt_measurements_ member variable
+
116
+
117 // 50 amps of current * 0.02sec = 1 coulomb of charge.
+
118 // Starting charge = 36449.75 coulombs. After this,
+
119 // charge should be at 36448.75, or 74.9974279%
+
120 interface.tick(tick_two);
+
121 TEST_ASSERT_EQUAL_FLOAT(74.9974279f, interface.get_SoC());
+
122
+
123
+
124
+
125 // TEST CASE THREE - 10 full seconds, in 20ms intervals, at 50 amps
+
126
+
127 em_measurements_can = generate_can_msg_from_uint_32s(HYTECH_em_current_ro_toS(50.0f), HYTECH_em_voltage_ro_toS(530.5f), true);
+
128 interface.retrieve_em_measurement_CAN(em_measurements_can); // Reads CAN message into the acu_shunt_measurements_ member variable
+
129
+
130 for (int i = 0; i <= 10000000; i += 20000) {
+
131 SysTick_s curr_tick;
+
132 curr_tick.millis = tick_zero.millis + 10 + 20 + i/1000;
+
133 curr_tick.micros = tick_zero.micros + 10000 + 20000 + i;
+
134 interface.tick(curr_tick);
+
135 }
+
136
+
137 // 50 amps of current * 10sec = 500 coulombs of charge
+
138 // Starting charge = 36448.75 coulombs. After this, charge
+
139 // should be 35948.75 coulombs, which is 73.9686%
+
140 TEST_ASSERT_EQUAL_FLOAT(73.9686f, interface.get_SoC());
+
141
+
142}
+
143
+
144void test_calculate_SoC_acu()
+
145{
+
146 // Declaring initial conditions
+
147 unsigned long starting_millis = millis();
+
148 unsigned long starting_micros = micros();
+
149 SysTick_s starting_tick;
+
150 starting_tick.millis = starting_millis;
+
151 starting_tick.micros = starting_micros;
+
152
+
153 // Declaring & instantiating a new AMSInterface (to read from CAN messages and perform the SoC calculations)
+
154 AMSInterface interface(&CAN_BUFFER_CC_TESTS, 8);
+
155 interface.init(starting_tick); // Sets heartbeat and puts "uninitialized" value into bms_voltages_
+
156
+
157 interface.set_use_em_for_soc(false);
+
158
+
159 CAN_message_t acu_measurements_can, bms_voltages_can;
+
160
+
161 // Declaring CAN frames and feeding them into the AMSInterface.
+
162 // Initializes BMS_VOLTAGES to have a min (of 3.7 volts, which is 0x9088U).
+
163 bms_voltages_can = generate_can_msg_from_uint_16s(0x9088U, 37000U, 0x9858U, 0xFFFFU, false);
+
164 interface.retrieve_voltage_CAN(bms_voltages_can);
+
165
+
166 // 2372 analog value corresponds to 25A
+
167 acu_measurements_can = generate_can_msg_from_uint_16s(2372, HYTECH_pack_filtered_read_ro_toS(0.0), HYTECH_ts_out_filtered_read_ro_toS(0.0), 0, false);
+
168 interface.retrieve_current_shunt_CAN(acu_measurements_can); // Reads CAN message into the acu_shunt_measurements_ member variable
+
169
+
170
+
171
+
172 // TEST CASE ZERO - 5000ms to allow initialization to happen
+
173 SysTick_s tick_zero;
+
174 tick_zero.millis = starting_millis + 5000;
+
175 tick_zero.micros = starting_micros + 1000000;
+
176
+
177 // Call tick() once (with no delta t) so that initialize_charge() will be called
+
178 interface.tick(tick_zero);
+
179 // assert initial SoC is correct
+
180 TEST_ASSERT_EQUAL_FLOAT(75.0, interface.get_SoC());
+
181
+
182
+
183 // Running actual test cases
+
184
+
185 // TEST CASE ONE - 10ms - 25amps
+
186 SysTick_s tick_one;
+
187 tick_one.millis = tick_zero.millis + 10;
+
188 tick_one.micros = tick_zero.micros + 10000;
+
189
+
190 // 25 amps of current * 0.01sec = 0.25 coulombs of charge.
+
191 // Starting charge = 75%, so 36450 coulombs. After this,
+
192 // charge should be at 36449.75, or 74.9994855%
+
193 interface.tick(tick_one);
+
194 TEST_ASSERT_EQUAL_FLOAT(74.9994855, interface.get_SoC());
+
195
+
196
+
197
+
198 // TEST CASE TWO - 20ms - 50amps
+
199 SysTick_s tick_two;
+
200 tick_two.millis = tick_zero.millis + 10 + 20;
+
201 tick_two.micros = tick_zero.micros + 10000 + 20000;
+
202
+
203 acu_measurements_can = generate_can_msg_from_uint_16s(2458, HYTECH_pack_filtered_read_ro_toS(0.0), HYTECH_ts_out_filtered_read_ro_toS(0.0), 0, false);
+
204 interface.retrieve_current_shunt_CAN(acu_measurements_can); // Reads CAN message into the acu_shunt_measurements_ member variable
+
205
+
206 // 50 amps of current * 0.02sec = 1 coulomb of charge.
+
207 // Starting charge = 36449.75 coulombs. After this,
+
208 // charge should be at 36448.75, or 74.9974279f%
+
209 interface.tick(tick_two);
+
210 TEST_ASSERT_EQUAL_FLOAT(74.9974279f, interface.get_SoC());
+
211
+
212
+
213
+
214 // TEST CASE THREE - 10 full seconds, in 20ms intervals, at 50 amps
+
215
+
216 acu_measurements_can = generate_can_msg_from_uint_16s(2457, HYTECH_pack_filtered_read_ro_toS(0.0), HYTECH_ts_out_filtered_read_ro_toS(0.0), 0, false);
+
217 interface.retrieve_current_shunt_CAN(acu_measurements_can); // Reads CAN message into the acu_shunt_measurements_ member variable
+
218
+
219 for (int i = 0; i <= 10000000; i += 20000) {
+
220 SysTick_s curr_tick;
+
221 curr_tick.millis = tick_zero.millis + 10 + 20 + i/1000;
+
222 curr_tick.micros = tick_zero.micros + 10000 + 20000 + i;
+
223 interface.tick(curr_tick);
+
224 }
+
225
+
226 // 50 amps of current * 10sec = 500 coulombs of charge
+
227 // Starting charge = 36448.75 coulombs. After this, charge
+
228 // should be 35948.75 coulombs, which is 73.9686%
+
229 TEST_ASSERT_EQUAL_FLOAT(73.9686f, interface.get_SoC());
+
230
+
231}
+
generate_can_msg_from_uint_32s
CAN_message_t generate_can_msg_from_uint_32s(uint32_t first, uint32_t second, bool use_little_endian)
Definition: CAN_testing_utilities.h:54
+
generate_can_msg_from_uint_16s
CAN_message_t generate_can_msg_from_uint_16s(uint16_t first, uint16_t second, uint16_t third, uint16_t fourth, bool use_little_endian)
Definition: CAN_testing_utilities.h:16
+
test_initialize_charge
void test_initialize_charge()
Definition: Coulomb_Counting_Tests.h:10
+
test_calculate_SoC_em
void test_calculate_SoC_em()
Definition: Coulomb_Counting_Tests.h:55
+
CAN_BUFFER_CC_TESTS
CANBufferType CAN_BUFFER_CC_TESTS
Definition: Coulomb_Counting_Tests.h:8
+
test_calculate_SoC_acu
void test_calculate_SoC_acu()
Definition: Coulomb_Counting_Tests.h:144
+ +
CANBufferType
Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
Definition: MessageQueueDefine.h:6
+
AMSInterface
this class is for interfacing with the AMS (accumulator management system)
Definition: AMSInterface.h:27
+
AMSInterface::tick
void tick(const SysTick_s &tick)
Definition: AMSInterface.cpp:119
+
AMSInterface::get_SoC
float get_SoC()
Definition: AMSInterface.h:113
+
AMSInterface::retrieve_current_shunt_CAN
void retrieve_current_shunt_CAN(const CAN_message_t &can_msg)
Definition: AMSInterface.cpp:176
+
AMSInterface::init
void init(SysTick_s &initial_tick)
Definition: AMSInterface.cpp:14
+
AMSInterface::get_bms_voltages
BMS_VOLTAGES_t get_bms_voltages()
Definition: AMSInterface.h:180
+
AMSInterface::retrieve_voltage_CAN
void retrieve_voltage_CAN(CAN_message_t &recvd_msg)
Definition: AMSInterface.cpp:161
+
AMSInterface::initialize_charge
float initialize_charge()
Definition: AMSInterface.cpp:79
+
AMSInterface::retrieve_em_measurement_CAN
void retrieve_em_measurement_CAN(CAN_message_t &can_msg)
Definition: AMSInterface.cpp:172
+
AMSInterface::set_use_em_for_soc
void set_use_em_for_soc(bool new_use_em_for_soc)
Definition: AMSInterface.h:166
+
+ +
+Generated by doxygen 1.9.5 +
+ + diff --git a/DashboardInterface_8cpp_source.html b/DashboardInterface_8cpp_source.html index ca261130a..5c3e31a47 100644 --- a/DashboardInterface_8cpp_source.html +++ b/DashboardInterface_8cpp_source.html @@ -220,7 +220,7 @@
142bool DashboardInterface::safetySystemOK() {return _data.ssok;}
143bool DashboardInterface::shutdownHAboveThreshold() {return _data.shutdown;}
144
-
145void DashboardInterface::soundBuzzer(bool state) {_data.buzzer_cmd = state;}
+
145void DashboardInterface::soundBuzzer(bool state) {_data.buzzer_cmd = state;}
146bool DashboardInterface::checkBuzzer() {return _data.buzzer_state;}
147
@@ -248,7 +248,6 @@
MCUInterface::imd_ok_is_high
bool imd_ok_is_high()
Definition: MCUInterface.cpp:78
MCUInterface::get_bots_ok
bool get_bots_ok()
Definition: MCUInterface.cpp:89
MCUInterface::bms_ok_is_high
bool bms_ok_is_high()
Definition: MCUInterface.cpp:73
-
state
CAR_STATE state
Definition: main_ethernet_test.cpp:9
TorqueLimit_e
TorqueLimit_e
Definition: DashboardInterface.h:10
DialMode_e
DialMode_e
Definition: DashboardInterface.h:19
LEDColors_e
LEDColors_e
Definition: DashboardInterface.h:34
diff --git a/HytechCANInterface_8cpp_source.html b/HytechCANInterface_8cpp_source.html index faf0ed5a5..072691948 100644 --- a/HytechCANInterface_8cpp_source.html +++ b/HytechCANInterface_8cpp_source.html @@ -83,7 +83,7 @@
5Circular_Buffer<uint8_t, (uint32_t)16, sizeof(CAN_message_t)> CAN3_rxBuffer;
6
7CANBufferType CAN1_txBuffer;
-
8CANBufferType CAN2_txBuffer;
+
8CANBufferType CAN2_txBuffer;
9CANBufferType CAN3_txBuffer;
10
11
@@ -116,7 +116,7 @@
on_can1_receive
void on_can1_receive(const CAN_message_t &msg)
Definition: HytechCANInterface.cpp:12
CAN2_rxBuffer
Circular_Buffer< uint8_t,(uint32_t) 16, sizeof(CAN_message_t)> CAN2_rxBuffer
Definition: HytechCANInterface.cpp:4
CAN2_txBuffer
CANBufferType CAN2_txBuffer
Definition: HytechCANInterface.cpp:8
-
CANBufferType
Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
Definition: MessageQueueDefine.h:7
+
CANBufferType
Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
Definition: MessageQueueDefine.h:6
msg
CAN_message_t msg
Definition: test_can_interface.cpp:9
diff --git a/MessageQueueDefine_8h.html b/MessageQueueDefine_8h.html index ad15edcc5..fbcced2b2 100644 --- a/MessageQueueDefine_8h.html +++ b/MessageQueueDefine_8h.html @@ -100,7 +100,7 @@

-

Definition at line 7 of file MessageQueueDefine.h.

+

Definition at line 6 of file MessageQueueDefine.h.

diff --git a/MessageQueueDefine_8h_source.html b/MessageQueueDefine_8h_source.html index 7eb59e910..600e3d5c5 100644 --- a/MessageQueueDefine_8h_source.html +++ b/MessageQueueDefine_8h_source.html @@ -81,11 +81,10 @@
3
4#include "FlexCAN_T4.h"
5
-
6// does this need to be 3 params like our original definitions of the buffers?
-
7using CANBufferType = Circular_Buffer<uint8_t, (uint32_t)128, sizeof(CAN_message_t)>;
-
8
-
9#endif
-
CANBufferType
Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
Definition: MessageQueueDefine.h:7
+
6using CANBufferType = Circular_Buffer<uint8_t, (uint32_t)128, sizeof(CAN_message_t)>;
+
7
+
8#endif
+
CANBufferType
Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
Definition: MessageQueueDefine.h:6
diff --git a/PedalsSystem_8cpp_source.html b/PedalsSystem_8cpp_source.html index 00ef01d28..9693c204b 100644 --- a/PedalsSystem_8cpp_source.html +++ b/PedalsSystem_8cpp_source.html @@ -199,18 +199,18 @@
121}
122
123// only checks implaus based on first min / max
-
124bool PedalsSystem::evaluate_pedal_implausibilities_(const AnalogConversion_s &pedalData, const PedalsParams &params)
+
124bool PedalsSystem::evaluate_pedal_implausibilities_(const AnalogConversion_s &pedalData, const PedalsParams &params)
125{
-
126 return evaluate_min_max_pedal_implausibilities_(pedalData, params.min_pedal_1, params.max_pedal_1, params.implausibility_margin);
+
126 return evaluate_min_max_pedal_implausibilities_(pedalData, params.min_pedal_1, params.max_pedal_1, params.implausibility_margin);
127}
128
129bool PedalsSystem::evaluate_pedal_implausibilities_(const AnalogConversion_s &pedalData1,
130 const AnalogConversion_s &pedalData2,
-
131 const PedalsParams &params,
+
131 const PedalsParams &params,
132 float max_percent_diff)
133{
-
134 bool pedal1_min_max_implaus = evaluate_min_max_pedal_implausibilities_(pedalData1, params.min_pedal_1, params.max_pedal_1, params.implausibility_margin);
-
135 bool pedal2_min_max_implaus = evaluate_min_max_pedal_implausibilities_(pedalData2, params.min_pedal_2, params.max_pedal_2, params.implausibility_margin);
+
134 bool pedal1_min_max_implaus = evaluate_min_max_pedal_implausibilities_(pedalData1, params.min_pedal_1, params.max_pedal_1, params.implausibility_margin);
+
135 bool pedal2_min_max_implaus = evaluate_min_max_pedal_implausibilities_(pedalData2, params.min_pedal_2, params.max_pedal_2, params.implausibility_margin);
136 bool sens_not_within_req_percent = (fabs(pedalData1.conversion - pedalData2.conversion) > max_percent_diff);
137 if (pedal1_min_max_implaus || pedal2_min_max_implaus)
138 {
@@ -309,19 +309,19 @@
231 return both_pedals_implausible;
232}
233
-
234bool PedalsSystem::pedal_is_active_(float pedal1ConvertedData, float pedal2ConvertedData, const PedalsParams& params, bool check_mech_activation)
+
234bool PedalsSystem::pedal_is_active_(float pedal1ConvertedData, float pedal2ConvertedData, const PedalsParams& params, bool check_mech_activation)
235{
-
236 float val1_deadzone_removed = remove_deadzone_(pedal1ConvertedData, params.deadzone_margin);
-
237 float val2_deadzone_removed = remove_deadzone_(pedal2ConvertedData, params.deadzone_margin);
+
236 float val1_deadzone_removed = remove_deadzone_(pedal1ConvertedData, params.deadzone_margin);
+
237 float val2_deadzone_removed = remove_deadzone_(pedal2ConvertedData, params.deadzone_margin);
238 bool pedal_1_is_active;
239 bool pedal_2_is_active;
240 if(check_mech_activation)
241 {
-
242 pedal_1_is_active = val1_deadzone_removed >= params.mechanical_activation_percentage;
-
243 pedal_2_is_active = val2_deadzone_removed >= params.mechanical_activation_percentage;
+
242 pedal_1_is_active = val1_deadzone_removed >= params.mechanical_activation_percentage;
+
243 pedal_2_is_active = val2_deadzone_removed >= params.mechanical_activation_percentage;
244 } else {
-
245 pedal_1_is_active = val1_deadzone_removed >= params.activation_percentage;
-
246 pedal_2_is_active = val2_deadzone_removed >= params.activation_percentage;
+
245 pedal_1_is_active = val1_deadzone_removed >= params.activation_percentage;
+
246 pedal_2_is_active = val2_deadzone_removed >= params.activation_percentage;
247 }
248 return (pedal_1_is_active || pedal_2_is_active);
249}
@@ -346,7 +346,7 @@
PedalsSystem::tick
void tick(const SysTick_s &tick, const AnalogConversion_s &accel1, const AnalogConversion_s &accel2, const AnalogConversion_s &brake)
overloaded tick function that runs the evaluation of the pedals system. evaluates brake using only mi...
Definition: PedalsSystem.cpp:12
PedalsSystem::evaluate_brake_and_accel_pressed_
bool evaluate_brake_and_accel_pressed_(const AnalogConversion_s &accelPedalData1, const AnalogConversion_s &accelPedalData2, const AnalogConversion_s &brakePedalData1, const AnalogConversion_s &brakePedalData2)
function to determine if the pedals and the brakes are pressed at the same time. evaluates brake bein...
Definition: PedalsSystem.cpp:219
PedalsSystem::remove_deadzone_
float remove_deadzone_(float conversion_input, float deadzone)
Definition: PedalsSystem.cpp:189
-
params
ParameterInterface params(state)
+
params
ParameterInterface params
Definition: main_ethernet_test.cpp:9
AnalogConversion_s
Definition: AnalogSensorsInterface.h:14
AnalogConversion_s::conversion
float conversion
Definition: AnalogSensorsInterface.h:16
AnalogConversion_s::raw
int raw
Definition: AnalogSensorsInterface.h:15
diff --git a/PedalsSystem_8h_source.html b/PedalsSystem_8h_source.html index 61ea39465..ef12b34bf 100644 --- a/PedalsSystem_8h_source.html +++ b/PedalsSystem_8h_source.html @@ -178,10 +178,10 @@
141
147 bool evaluate_pedal_implausibilities_(const AnalogConversion_s &pedalData1,
148 const AnalogConversion_s &pedalData2,
-
149 const PedalsParams &params,
+
149 const PedalsParams &params,
150 float max_percent_diff);
151
-
156 bool evaluate_pedal_implausibilities_(const AnalogConversion_s &pedalData, const PedalsParams &params);
+
156 bool evaluate_pedal_implausibilities_(const AnalogConversion_s &pedalData, const PedalsParams &params);
157
166 bool evaluate_brake_and_accel_pressed_(const AnalogConversion_s &accelPedalData1,
167 const AnalogConversion_s &accelPedalData2,
@@ -199,7 +199,7 @@
193 int max,
194 float implaus_margin_scale);
195
-
202 bool pedal_is_active_(float pedal1ConvertedData, float pedal2ConvertedData, const PedalsParams &params, bool check_mech_activation);
+
202 bool pedal_is_active_(float pedal1ConvertedData, float pedal2ConvertedData, const PedalsParams &params, bool check_mech_activation);
203
204};
205
@@ -224,7 +224,7 @@
PedalsSystem::getMechBrakeActiveThreshold
float getMechBrakeActiveThreshold()
Definition: PedalsSystem.h:72
PedalsSystem::evaluate_brake_and_accel_pressed_
bool evaluate_brake_and_accel_pressed_(const AnalogConversion_s &accelPedalData1, const AnalogConversion_s &accelPedalData2, const AnalogConversion_s &brakePedalData1, const AnalogConversion_s &brakePedalData2)
function to determine if the pedals and the brakes are pressed at the same time. evaluates brake bein...
Definition: PedalsSystem.cpp:219
PedalsSystem::remove_deadzone_
float remove_deadzone_(float conversion_input, float deadzone)
Definition: PedalsSystem.cpp:189
-
params
ParameterInterface params(state)
+
params
ParameterInterface params
Definition: main_ethernet_test.cpp:9
AnalogConversion_s
Definition: AnalogSensorsInterface.h:14
PedalsParams
Pedals params struct that will hold min / max that will be used for evaluateion.
Definition: PedalsSystem.h:26
PedalsParams::deadzone_margin
float deadzone_margin
Definition: PedalsSystem.h:36
diff --git a/Telemetry__interface__test_8h_source.html b/Telemetry__interface__test_8h_source.html index de66f7f9e..9d8a44407 100644 --- a/Telemetry__interface__test_8h_source.html +++ b/Telemetry__interface__test_8h_source.html @@ -174,7 +174,7 @@
96#endif
-
CANBufferType
Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
Definition: MessageQueueDefine.h:7
+
CANBufferType
Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
Definition: MessageQueueDefine.h:6
test_telemetry_update_CAN
void test_telemetry_update_CAN()
Definition: Telemetry_interface_test.h:16
CAN_tx_test
CANBufferType CAN_tx_test
Definition: Telemetry_interface_test.h:14
diff --git a/ThermistorInterface_8cpp_source.html b/ThermistorInterface_8cpp_source.html index 2d87e2778..3209d3014 100644 --- a/ThermistorInterface_8cpp_source.html +++ b/ThermistorInterface_8cpp_source.html @@ -116,7 +116,7 @@
38 therm_fr = front_thermistors.get(MCU15_THERM_FR_CHANNEL).convert(raw_therm_fr.raw);
39 update_front_thermistor_readings();
40}
-
CANBufferType
Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
Definition: MessageQueueDefine.h:7
+
CANBufferType
Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
Definition: MessageQueueDefine.h:6
MCU15_THERM_FR_CHANNEL
const int MCU15_THERM_FR_CHANNEL
Definition: ThermistorInterface.h:14
MCU15_THERM_FL_CHANNEL
const int MCU15_THERM_FL_CHANNEL
Definition: ThermistorInterface.h:13
diff --git a/ThermistorInterface_8h_source.html b/ThermistorInterface_8h_source.html index c7368b4c7..b888cfc50 100644 --- a/ThermistorInterface_8h_source.html +++ b/ThermistorInterface_8h_source.html @@ -122,7 +122,7 @@
44#endif
-
CANBufferType
Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
Definition: MessageQueueDefine.h:7
+
CANBufferType
Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
Definition: MessageQueueDefine.h:6
MCU15_THERM_FR_CHANNEL
const int MCU15_THERM_FR_CHANNEL
Definition: ThermistorInterface.h:14
MCU15_THERM_FL_CHANNEL
const int MCU15_THERM_FL_CHANNEL
Definition: ThermistorInterface.h:13
MCU15_NUM_THERMISTORS
const int MCU15_NUM_THERMISTORS
Definition: ThermistorInterface.h:12
diff --git a/WatchdogInterface_8cpp_source.html b/WatchdogInterface_8cpp_source.html index 86ff5b0e4..66019e7d6 100644 --- a/WatchdogInterface_8cpp_source.html +++ b/WatchdogInterface_8cpp_source.html @@ -112,8 +112,8 @@
34}
35
36/* Set interface status */
-
37void WatchdogInterface::set_watchdog_state(bool state) {
-
38 watchdog_state = state;
+
37void WatchdogInterface::set_watchdog_state(bool state) {
+
38 watchdog_state = state;
39}
40
WatchdogInterface::init
void init(unsigned long curr_millis)
Definition: WatchdogInterface.cpp:4
@@ -124,7 +124,6 @@
WatchdogInterface::set_watchdog_state
void set_watchdog_state(bool state)
Definition: WatchdogInterface.cpp:37
-
state
CAR_STATE state
Definition: main_ethernet_test.cpp:9
WATCHDOG_KICK_INTERVAL
const unsigned long WATCHDOG_KICK_INTERVAL
Definition: WatchdogInterface.h:5
diff --git a/classAMSInterface-members.html b/classAMSInterface-members.html index 7f130af57..7b9fb7f80 100644 --- a/classAMSInterface-members.html +++ b/classAMSInterface-members.html @@ -79,69 +79,84 @@ acu_shunt_measurements_AMSInterfaceprivate AMSInterface(CANBufferType *msg_output_queue, int sw_ok_pin, float init_temp, float init_volt, float temp_alpha, float volt_alpha)AMSInterfaceinline AMSInterface(CANBufferType *msg_output_queue, int sw_ok_pin)AMSInterfaceinline - AMSInterface(int sw_ok_pin, float init_temp, float init_volt, float temp_alpha, float volt_alpha)AMSInterfaceinline - bms_high_tempAMSInterfaceprivate - bms_low_voltageAMSInterfaceprivate - bms_status_AMSInterfaceprivate - bms_temperatures_AMSInterfaceprivate - bms_voltages_AMSInterfaceprivate - calculate_acc_derate_factor()AMSInterface + AMSInterface(CANBufferType_mock *msg_output_queue, int sw_ok_pin, float init_temp, float init_volt, float temp_alpha, float volt_alpha)AMSInterfaceinline + AMSInterface(CANBufferType_mock *msg_output_queue, int sw_ok_pin)AMSInterfaceinline + bms_high_tempAMSInterfaceprivate + bms_low_voltageAMSInterfaceprivate + bms_status_AMSInterfaceprivate + bms_temperatures_AMSInterfaceprivate + bms_voltages_AMSInterfaceprivate + calculate_acc_derate_factor()AMSInterface + calculate_acc_derate_factor()AMSInterfaceinline calculate_SoC_acu(const SysTick_s &tick)AMSInterface - calculate_SoC_em(const SysTick_s &tick)AMSInterface + calculate_SoC_acu(const SysTick_s &tick)AMSInterfaceinline + calculate_SoC_em(const SysTick_s &tick)AMSInterface + calculate_SoC_em(const SysTick_s &tick)AMSInterfaceinline cell_temp_alphaAMSInterfaceprivate cell_voltage_alphaAMSInterfaceprivate charge_AMSInterfaceprivate em_measurements_AMSInterfaceprivate enqueue_new_CAN(U *structure, uint32_t(*pack_function)(U *, uint8_t *, uint8_t *, uint8_t *))AMSInterface enqueue_state_of_charge_CAN()AMSInterface - filtered_max_cell_tempAMSInterfaceprivate - filtered_min_cell_voltageAMSInterfaceprivate - get_acc_derate_factor()AMSInterface + enqueue_state_of_charge_CAN()AMSInterfaceinline + filtered_max_cell_tempAMSInterfaceprivate + filtered_min_cell_voltageAMSInterfaceprivate + get_acc_derate_factor()AMSInterface + get_acc_derate_factor()AMSInterfaceinline get_acu_shunt_measurements()AMSInterfaceinline get_bms_voltages()AMSInterfaceinline get_em_measurements()AMSInterfaceinline get_filtered_max_cell_temp()AMSInterface - get_filtered_max_cell_temp()AMSInterface + get_filtered_max_cell_temp()AMSInterfaceinline get_filtered_min_cell_voltage()AMSInterface - get_filtered_min_cell_voltage()AMSInterface + get_filtered_min_cell_voltage()AMSInterfaceinline get_SoC()AMSInterfaceinline - has_initialized_charge_AMSInterfaceprivate - has_received_bms_voltage_AMSInterfaceprivate - heartbeat_received(unsigned long curr_millis)AMSInterface - heartbeat_received(unsigned long curr_millis)AMSInterfaceinline - init(SysTick_s &initial_tick)AMSInterface - init(unsigned long curr_millis)AMSInterfaceinline - initialization_startup_interval_AMSInterfaceprivate + get_SoC()AMSInterfaceinline + has_initialized_charge_AMSInterfaceprivate + has_received_bms_voltage_AMSInterfaceprivate + heartbeat_received(unsigned long curr_millis)AMSInterface + heartbeat_received(unsigned long curr_millis)AMSInterfaceinline + init(SysTick_s &initial_tick)AMSInterface + init(SysTick_s &initial_tick)AMSInterfaceinline initialize_charge()AMSInterface + initialize_charge()AMSInterfaceinline + is_below_pack_charge_critical_low_thresh()AMSInterfaceprivate is_below_pack_charge_critical_low_thresh()AMSInterfaceprivate - is_below_pack_charge_critical_low_thresh()AMSInterfaceinline + is_below_pack_charge_critical_total_thresh()AMSInterfaceprivate is_below_pack_charge_critical_total_thresh()AMSInterfaceprivate - is_below_pack_charge_critical_total_thresh()AMSInterface + is_using_em_for_soc()AMSInterfaceinline is_using_em_for_soc()AMSInterfaceinline - last_heartbeat_timeAMSInterfaceprivate - last_heartbeat_time_AMSInterfaceprivate - last_tick_AMSInterfaceprivate - msg_queue_AMSInterfaceprivate + last_heartbeat_time_AMSInterfaceprivate + last_tick_AMSInterfaceprivate + msg_queue_AMSInterfaceprivate + msg_queue_AMSInterfaceprivate pack_charge_is_critical()AMSInterface pack_charge_is_critical()AMSInterfaceinline pin_software_ok_AMSInterfaceprivate retrieve_current_shunt_CAN(const CAN_message_t &can_msg)AMSInterface - retrieve_em_measurement_CAN(CAN_message_t &can_msg)AMSInterface + retrieve_current_shunt_CAN(const CAN_message_t_mock &can_msg)AMSInterfaceinline + retrieve_em_measurement_CAN(CAN_message_t &can_msg)AMSInterface + retrieve_em_measurement_CAN(CAN_message_t_mock &can_msg)AMSInterfaceinline retrieve_status_CAN(unsigned long curr_millis, CAN_message_t &recvd_msg)AMSInterface - retrieve_temp_CAN(CAN_message_t &recvd_msg)AMSInterface + retrieve_status_CAN(unsigned long curr_millis, CAN_message_t_mock &recvd_msg)AMSInterfaceinline + retrieve_temp_CAN(CAN_message_t &recvd_msg)AMSInterface + retrieve_temp_CAN(CAN_message_t_mock &recvd_msg)AMSInterfaceinline retrieve_voltage_CAN(CAN_message_t &recvd_msg)AMSInterface - set_heartbeat(unsigned long curr_millis)AMSInterface - set_heartbeat(unsigned long curr_millis)AMSInterfaceinline - set_start_state()AMSInterface - set_start_state()AMSInterfaceinline - set_state_ok_high(bool ok_high)AMSInterface - set_state_ok_high(bool ok_high)AMSInterfaceinline + retrieve_voltage_CAN(CAN_message_t_mock &recvd_msg)AMSInterfaceinline + set_heartbeat(unsigned long curr_millis)AMSInterface + set_heartbeat(unsigned long curr_millis)AMSInterfaceinline + set_start_state()AMSInterface + set_start_state()AMSInterfaceinline + set_state_ok_high(bool ok_high)AMSInterface + set_state_ok_high(bool ok_high)AMSInterfaceinline + set_use_em_for_soc(bool new_use_em_for_soc)AMSInterfaceinline set_use_em_for_soc(bool new_use_em_for_soc)AMSInterfaceinline SoC_AMSInterfaceprivate tick(const SysTick_s &tick)AMSInterface - timestamp_start_AMSInterfaceprivate - use_em_for_soc_AMSInterfaceprivate - VOLTAGE_LOOKUP_TABLEAMSInterfaceprivate + tick(const SysTick_s &tick)AMSInterfaceinline + timestamp_start_AMSInterfaceprivate + use_em_for_soc_AMSInterfaceprivate + VOLTAGE_LOOKUP_TABLEAMSInterfaceprivate
diff --git a/classAMSInterface.html b/classAMSInterface.html index b6d2f4d98..54020f37a 100644 --- a/classAMSInterface.html +++ b/classAMSInterface.html @@ -144,28 +144,56 @@   ACU_SHUNT_MEASUREMENTS_t get_acu_shunt_measurements ()   - AMSInterface (int sw_ok_pin, float init_temp, float init_volt, float temp_alpha, float volt_alpha) -  -void init (unsigned long curr_millis) -  + AMSInterface (CANBufferType_mock *msg_output_queue, int sw_ok_pin, float init_temp, float init_volt, float temp_alpha, float volt_alpha) +  + AMSInterface (CANBufferType_mock *msg_output_queue, int sw_ok_pin) +  +void init (SysTick_s &initial_tick) +  void set_start_state ()   -void set_state_ok_high (bool ok_high) -  -void set_heartbeat (unsigned long curr_millis) -  bool heartbeat_received (unsigned long curr_millis)   -bool is_below_pack_charge_critical_low_thresh () -  -bool is_below_pack_charge_critical_total_thresh () -  bool pack_charge_is_critical ()   +void set_state_ok_high (bool ok_high) +  +void set_heartbeat (unsigned long curr_millis) +  float get_filtered_max_cell_temp ()   float get_filtered_min_cell_voltage ()   +float get_acc_derate_factor () +  +float initialize_charge () +  +void calculate_SoC_em (const SysTick_s &tick) +  +void calculate_SoC_acu (const SysTick_s &tick) +  +float get_SoC () +  +void tick (const SysTick_s &tick) +  +void retrieve_status_CAN (unsigned long curr_millis, CAN_message_t_mock &recvd_msg) +  +void retrieve_temp_CAN (CAN_message_t_mock &recvd_msg) +  +void retrieve_voltage_CAN (CAN_message_t_mock &recvd_msg) +  +void calculate_acc_derate_factor () +  +void retrieve_em_measurement_CAN (CAN_message_t_mock &can_msg) +  +void retrieve_current_shunt_CAN (const CAN_message_t_mock &can_msg) +  +bool is_using_em_for_soc () +  +void set_use_em_for_soc (bool new_use_em_for_soc) +  +void enqueue_state_of_charge_CAN () +  @@ -173,11 +201,15 @@ + + + +

Private Member Functions

 
bool is_below_pack_charge_critical_total_thresh ()
 
bool is_below_pack_charge_critical_low_thresh ()
 
bool is_below_pack_charge_critical_total_thresh ()
 
- - + + @@ -220,12 +252,10 @@ - - - - + +

Private Attributes

const float VOLTAGE_LOOKUP_TABLE [101]
 
const float VOLTAGE_LOOKUP_TABLE [101]
 
CANBufferType * msg_queue_
 
int pin_software_ok_
 
bool has_received_bms_voltage_
 
unsigned long initialization_startup_interval_
 
unsigned long timestamp_start_
 
unsigned long last_heartbeat_time
 
CANBufferType_mock * msg_queue_
 

Detailed Description

this class is for interfacing with the AMS (accumulator management system)

@@ -233,7 +263,7 @@

Definition at line 26 of file AMSInterface.h.

Constructor & Destructor Documentation

-

◆ AMSInterface() [1/3]

+

◆ AMSInterface() [1/4]

@@ -308,26 +338,23 @@

42 charge_(0.0f),

43 SoC_(0.0f),
44 has_initialized_charge_(false),
-
45 has_received_bms_voltage_(false),
-
46 initialization_startup_interval_(DEFAULT_INITIALIZATION_WAIT_INTERVAL) {};
-
AMSInterface::has_initialized_charge_
bool has_initialized_charge_
Definition: AMSInterface.h:251
-
AMSInterface::cell_voltage_alpha
float cell_voltage_alpha
Definition: AMSInterface.h:219
- -
AMSInterface::filtered_min_cell_voltage
float filtered_min_cell_voltage
Definition: AMSInterface.h:217
-
AMSInterface::use_em_for_soc_
bool use_em_for_soc_
Definition: AMSInterface.h:228
-
AMSInterface::cell_temp_alpha
float cell_temp_alpha
Definition: AMSInterface.h:218
-
AMSInterface::pin_software_ok_
int pin_software_ok_
Definition: AMSInterface.h:201
-
AMSInterface::has_received_bms_voltage_
bool has_received_bms_voltage_
Definition: AMSInterface.h:253
-
AMSInterface::initialization_startup_interval_
unsigned long initialization_startup_interval_
Definition: AMSInterface.h:255
-
AMSInterface::msg_queue_
CANBufferType * msg_queue_
Definition: AMSInterface.h:198
- -
AMSInterface::filtered_max_cell_temp
float filtered_max_cell_temp
Definition: AMSInterface.h:216
-
DEFAULT_INITIALIZATION_WAIT_INTERVAL
const unsigned long DEFAULT_INITIALIZATION_WAIT_INTERVAL
Definition: AMSInterface.h:22
+
45 has_received_bms_voltage_(false) {};
+
AMSInterface::has_initialized_charge_
bool has_initialized_charge_
Definition: AMSInterface.h:250
+
AMSInterface::cell_voltage_alpha
float cell_voltage_alpha
Definition: AMSInterface.h:218
+ +
AMSInterface::filtered_min_cell_voltage
float filtered_min_cell_voltage
Definition: AMSInterface.h:216
+
AMSInterface::use_em_for_soc_
bool use_em_for_soc_
Definition: AMSInterface.h:227
+
AMSInterface::cell_temp_alpha
float cell_temp_alpha
Definition: AMSInterface.h:217
+
AMSInterface::pin_software_ok_
int pin_software_ok_
Definition: AMSInterface.h:200
+
AMSInterface::has_received_bms_voltage_
bool has_received_bms_voltage_
Definition: AMSInterface.h:256
+
AMSInterface::msg_queue_
CANBufferType * msg_queue_
Definition: AMSInterface.h:197
+ +
AMSInterface::filtered_max_cell_temp
float filtered_max_cell_temp
Definition: AMSInterface.h:215
-

◆ AMSInterface() [2/3]

+

◆ AMSInterface() [2/4]

@@ -360,19 +387,19 @@

-

Definition at line 49 of file AMSInterface.h.

-
49 :
-
50 AMSInterface(msg_output_queue, sw_ok_pin, DEFAULT_INIT_TEMP, DEFAULT_INIT_VOLTAGE, DEFAULT_TEMP_ALPHA, DEFAULT_VOLTAGE_ALPHA) {};
+

Definition at line 48 of file AMSInterface.h.

+
48 :
+
49 AMSInterface(msg_output_queue, sw_ok_pin, DEFAULT_INIT_TEMP, DEFAULT_INIT_VOLTAGE, DEFAULT_TEMP_ALPHA, DEFAULT_VOLTAGE_ALPHA) {};
AMSInterface
this class is for interfacing with the AMS (accumulator management system)
Definition: AMSInterface.h:27
-
DEFAULT_VOLTAGE_ALPHA
const float DEFAULT_VOLTAGE_ALPHA
Definition: AMSInterface.h:13
-
DEFAULT_INIT_VOLTAGE
const float DEFAULT_INIT_VOLTAGE
Definition: AMSInterface.h:11
-
DEFAULT_INIT_TEMP
const float DEFAULT_INIT_TEMP
Definition: AMSInterface.h:10
-
DEFAULT_TEMP_ALPHA
const float DEFAULT_TEMP_ALPHA
Definition: AMSInterface.h:12
+
DEFAULT_VOLTAGE_ALPHA
const float DEFAULT_VOLTAGE_ALPHA
Definition: AMSInterface.h:20
+
DEFAULT_INIT_VOLTAGE
const float DEFAULT_INIT_VOLTAGE
Definition: AMSInterface.h:18
+
DEFAULT_INIT_TEMP
const float DEFAULT_INIT_TEMP
Definition: AMSInterface.h:17
+
DEFAULT_TEMP_ALPHA
const float DEFAULT_TEMP_ALPHA
Definition: AMSInterface.h:19

- -

◆ AMSInterface() [3/3]

+ +

◆ AMSInterface() [3/4]

@@ -383,6 +410,12 @@

AMSInterface::AMSInterface ( + CANBufferType_mock *  + msg_output_queue, + + + + int  sw_ok_pin, @@ -423,16 +456,65 @@

-

Definition at line 18 of file AMSInterface.h.

-
18 {
-
19 // Set pin mode
-
20 };
+

Definition at line 28 of file AMSInterface.h.

+
28 :
+
29 msg_queue_(msg_output_queue),
+
30 pin_software_ok_(sw_ok_pin),
+
31 filtered_max_cell_temp(init_temp),
+
32 filtered_min_cell_voltage(init_volt),
+
33 cell_temp_alpha(temp_alpha),
+
34 cell_voltage_alpha(volt_alpha),
+
35 use_em_for_soc_(true),
+
36 charge_(0.0f),
+
37 SoC_(0.0f),
+
38 has_initialized_charge_(false),
+
39 has_received_bms_voltage_(false) {};
+
+
+

+ +

◆ AMSInterface() [4/4]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
AMSInterface::AMSInterface (CANBufferType_mock * msg_output_queue,
int sw_ok_pin 
)
+ 		+inline
+
+ +

Definition at line 41 of file AMSInterface.h.

+
41 :
+
42 AMSInterface(msg_output_queue, sw_ok_pin, DEFAULT_INIT_TEMP, DEFAULT_INIT_VOLTAGE, DEFAULT_TEMP_ALPHA, DEFAULT_VOLTAGE_ALPHA) {};

Member Function Documentation

-

◆ calculate_acc_derate_factor()

+

◆ calculate_acc_derate_factor() [1/2]

@@ -446,37 +528,65 @@

-

Definition at line 179 of file AMSInterface.cpp.

-
179 {
-
180 float voltage_lim_factor = 1.0;
-
181 float startDerateVoltage = 3.5;
-
182 float endDerateVoltage = 3.2;
-
183 float voltage_lim_max = 1;
-
184 float voltage_lim_min = 0.2;
-
185
-
186 float temp_lim_factor = 1.0;
-
187 float startDerateTemp = 50;
-
188 float stopDerateTemp = 58;
-
189 float temp_lim_max = 1;
-
190 float temp_lim_min = 0.2;
-
191
-
192 float filtered_min_cell_voltage = get_filtered_min_cell_voltage();
-
193 //float_map equivalient because new code is bad
-
194 voltage_lim_factor = (filtered_min_cell_voltage - startDerateVoltage) * (voltage_lim_min - voltage_lim_max) / (endDerateVoltage - startDerateVoltage) + voltage_lim_max;
-
195 voltage_lim_factor = max(min(voltage_lim_max, voltage_lim_factor), voltage_lim_min);
-
196
-
197 temp_lim_factor = (filtered_max_cell_temp - startDerateTemp) * (temp_lim_min - temp_lim_max) / (stopDerateTemp - startDerateTemp) + temp_lim_max;
-
198 temp_lim_factor = max(min(temp_lim_factor, temp_lim_max), temp_lim_min);
-
199
-
200 acc_derate_factor = min(temp_lim_factor,voltage_lim_factor);
-
201}
-
AMSInterface::acc_derate_factor
float acc_derate_factor
Definition: AMSInterface.h:221
+

Definition at line 180 of file AMSInterface.cpp.

+
180 {
+
181 float voltage_lim_factor = 1.0;
+
182 float startDerateVoltage = 3.5;
+
183 float endDerateVoltage = 3.2;
+
184 float voltage_lim_max = 1;
+
185 float voltage_lim_min = 0.2;
+
186
+
187 float temp_lim_factor = 1.0;
+
188 float startDerateTemp = 50;
+
189 float stopDerateTemp = 58;
+
190 float temp_lim_max = 1;
+
191 float temp_lim_min = 0.2;
+
192
+
193 float filtered_min_cell_voltage = get_filtered_min_cell_voltage();
+
194 //float_map equivalient because new code is bad
+
195 voltage_lim_factor = (filtered_min_cell_voltage - startDerateVoltage) * (voltage_lim_min - voltage_lim_max) / (endDerateVoltage - startDerateVoltage) + voltage_lim_max;
+
196 voltage_lim_factor = max(min(voltage_lim_max, voltage_lim_factor), voltage_lim_min);
+
197
+
198 temp_lim_factor = (filtered_max_cell_temp - startDerateTemp) * (temp_lim_min - temp_lim_max) / (stopDerateTemp - startDerateTemp) + temp_lim_max;
+
199 temp_lim_factor = max(min(temp_lim_factor, temp_lim_max), temp_lim_min);
+
200
+
201 acc_derate_factor = min(temp_lim_factor,voltage_lim_factor);
+
202}
+
AMSInterface::acc_derate_factor
float acc_derate_factor
Definition: AMSInterface.h:220
AMSInterface::get_filtered_min_cell_voltage
float get_filtered_min_cell_voltage()
Definition: AMSInterface.cpp:73

+ +

◆ calculate_acc_derate_factor() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
void AMSInterface::calculate_acc_derate_factor ()
+ 		+inline
+
+ +

Definition at line 68 of file AMSInterface.h.

+
68{};
+
+
+
-

◆ calculate_SoC_acu()

+

◆ calculate_SoC_acu() [1/2]

@@ -500,31 +610,60 @@

Precondition
The last_tick_ member variable must be updated correctly.
Postcondition
The charge_ field has the updated charge, and the SoC field contains an updated percentage.
-

Definition at line 101 of file AMSInterface.cpp.

-
101 {
-
102 unsigned long delta_time_micros = tick.micros - last_tick_.micros;
-
103
-
104 // Converts analog read (from 0 to 4095) into some value (0.0 to 3.3)
-
105 // float current = HYTECH_current_shunt_read_ro_fromS(acu_shunt_measurements_.current_shunt_read_ro);
-
106
-
107 // shunt_voltage ranges from -3.33 to 2.635
-
108 // float shunt_voltage = (current * (9.22 / 5.1)) - 3.3 - 0.03;
-
109
-
110 // calc_current ranges from -666 to 527.176
-
111 // float calc_current = (shunt_voltage / 0.005);
-
112 charge_ -= (HYTECH_current_shunt_read_ro_fromS(acu_shunt_measurements_.current_shunt_read_ro) * delta_time_micros) / 1000000;
-
113
-
114 SoC_ = (charge_ / MAX_PACK_CHARGE) * 100;
-
115}
-
AMSInterface::tick
void tick(const SysTick_s &tick)
Definition: AMSInterface.cpp:117
-
AMSInterface::last_tick_
SysTick_s last_tick_
Definition: AMSInterface.h:246
-
AMSInterface::acu_shunt_measurements_
ACU_SHUNT_MEASUREMENTS_t acu_shunt_measurements_
Definition: AMSInterface.h:206
-
MAX_PACK_CHARGE
const uint16_t MAX_PACK_CHARGE
Definition: AMSInterface.h:21
+

Definition at line 103 of file AMSInterface.cpp.

+
103 {
+
104 unsigned long delta_time_micros = tick.micros - last_tick_.micros;
+
105
+
106 // Converts analog read (from 0 to 4095) into some value (0.0 to 3.3)
+
107 // float current = HYTECH_current_shunt_read_ro_fromS(acu_shunt_measurements_.current_shunt_read_ro);
+
108
+
109 // shunt_voltage ranges from -3.33 to 2.635
+
110 // float shunt_voltage = (current * (9.22 / 5.1)) - 3.3 - 0.03;
+
111
+
112 // calc_current ranges from -666 to 527.176
+
113 // float calc_current = (shunt_voltage / 0.005);
+
114 charge_ -= (HYTECH_current_shunt_read_ro_fromS(acu_shunt_measurements_.current_shunt_read_ro) * delta_time_micros) / 1000000;
+
115
+
116 SoC_ = (charge_ / MAX_PACK_CHARGE) * 100;
+
117}
+
AMSInterface::tick
void tick(const SysTick_s &tick)
Definition: AMSInterface.cpp:119
+
AMSInterface::last_tick_
SysTick_s last_tick_
Definition: AMSInterface.h:245
+
AMSInterface::acu_shunt_measurements_
ACU_SHUNT_MEASUREMENTS_t acu_shunt_measurements_
Definition: AMSInterface.h:205
+
MAX_PACK_CHARGE
const unsigned short MAX_PACK_CHARGE
Definition: AMSInterface.h:21
+
+
+

+ +

◆ calculate_SoC_acu() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + +
void AMSInterface::calculate_SoC_acu (const SysTick_s & tick)
+ 		+inline
+
+ +

Definition at line 61 of file AMSInterface.h.

+
61{};
-

◆ calculate_SoC_em()

+

◆ calculate_SoC_em() [1/2]

@@ -548,18 +687,47 @@

Precondition
The last_tick_ member variable must be updated correctly.
Postcondition
The charge_ field has the updated charge, and the SoC field contains an updated percentage.
-

Definition at line 90 of file AMSInterface.cpp.

-
90 {
-
91 unsigned long delta_time_micros = tick.micros - last_tick_.micros;
-
92
-
93 float current = HYTECH_em_current_ro_fromS(em_measurements_.em_current_ro); // Current in amps
+

Definition at line 92 of file AMSInterface.cpp.

+
92 {
+
93 unsigned long delta_time_micros = tick.micros - last_tick_.micros;
94
-
95 // coulombs = amps * microseconds * (1sec / 1000000 microsec)
-
96 charge_ -= (current * delta_time_micros) / 1000000;
-
97
-
98 SoC_ = (charge_ / MAX_PACK_CHARGE) * 100;
-
99}
-
AMSInterface::em_measurements_
EM_MEASUREMENT_t em_measurements_
Definition: AMSInterface.h:207
+
95 float current = HYTECH_em_current_ro_fromS(em_measurements_.em_current_ro); // Current in amps
+
96
+
97 // coulombs = amps * microseconds * (1sec / 1000000 microsec)
+
98 charge_ -= (current * delta_time_micros) / 1000000;
+
99
+
100 SoC_ = (charge_ / MAX_PACK_CHARGE) * 100;
+
101}
+
AMSInterface::em_measurements_
EM_MEASUREMENT_t em_measurements_
Definition: AMSInterface.h:206
+
+
+

+ +

◆ calculate_SoC_em() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + +
void AMSInterface::calculate_SoC_em (const SysTick_s & tick)
+ 		+inline
+
+ +

Definition at line 60 of file AMSInterface.h.

+
60{};
@@ -604,7 +772,7 @@

-

◆ enqueue_state_of_charge_CAN()

+

◆ enqueue_state_of_charge_CAN() [1/2]

@@ -619,10 +787,38 @@

Puts the current value of SoC_ and charge_ onto msg_queue_.

+

+
+ +

◆ enqueue_state_of_charge_CAN() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
void AMSInterface::enqueue_state_of_charge_CAN ()
+ 		+inline
+
+ +

Definition at line 76 of file AMSInterface.h.

+
76{};
+
-

◆ get_acc_derate_factor()

+

◆ get_acc_derate_factor() [1/2]

@@ -636,13 +832,40 @@

-

Definition at line 203 of file AMSInterface.cpp.

-
203 {
-
204 calculate_acc_derate_factor();
-
205 return acc_derate_factor;
-
206
+

Definition at line 204 of file AMSInterface.cpp.

+
204 {
+
205 calculate_acc_derate_factor();
+
206 return acc_derate_factor;
207}
-
AMSInterface::calculate_acc_derate_factor
void calculate_acc_derate_factor()
Definition: AMSInterface.cpp:179
+
AMSInterface::calculate_acc_derate_factor
void calculate_acc_derate_factor()
Definition: AMSInterface.cpp:180
+
+
+

+ +

◆ get_acc_derate_factor() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
float AMSInterface::get_acc_derate_factor ()
+ 		+inline
+
+ +

Definition at line 57 of file AMSInterface.h.

+
57{};
@@ -669,8 +892,8 @@

-

Definition at line 183 of file AMSInterface.h.

-
183{return acu_shunt_measurements_;}
+

Definition at line 182 of file AMSInterface.h.

+
182{return acu_shunt_measurements_;}

@@ -697,9 +920,9 @@

-

Definition at line 181 of file AMSInterface.h.

-
181{return bms_voltages_;}
-
AMSInterface::bms_voltages_
BMS_VOLTAGES_t bms_voltages_
Definition: AMSInterface.h:208
+

Definition at line 180 of file AMSInterface.h.

+
180{return bms_voltages_;}
+
AMSInterface::bms_voltages_
BMS_VOLTAGES_t bms_voltages_
Definition: AMSInterface.h:207

@@ -726,8 +949,8 @@

-

Definition at line 182 of file AMSInterface.h.

-
182{return em_measurements_;}
+

Definition at line 181 of file AMSInterface.h.

+
181{return em_measurements_;}

@@ -752,8 +975,8 @@

69 filtered_max_cell_temp = filtered_max_cell_temp * cell_temp_alpha + (1.0 - cell_temp_alpha) * bms_high_temp;

70 return filtered_max_cell_temp;
71}
-
AMSInterface::bms_temperatures_
BMS_temperatures bms_temperatures_
Definition: AMSInterface.h:205
-
AMSInterface::bms_high_temp
float bms_high_temp
Definition: AMSInterface.h:214
+
AMSInterface::bms_temperatures_
BMS_temperatures bms_temperatures_
Definition: AMSInterface.h:204
+
AMSInterface::bms_high_temp
float bms_high_temp
Definition: AMSInterface.h:213
@@ -762,6 +985,9 @@

+ + + +private
@@ -770,8 +996,16 @@

+inline +

+
float AMSInterface::get_filtered_max_cell_temp
+

Definition at line 55 of file AMSInterface.h.

+
55{};
+
@@ -795,7 +1029,7 @@

75 filtered_min_cell_voltage = filtered_min_cell_voltage * cell_temp_alpha + (1.0 - cell_voltage_alpha) * bms_low_voltage;
76 return filtered_min_cell_voltage;
77}
-
AMSInterface::bms_low_voltage
float bms_low_voltage
Definition: AMSInterface.h:215
+
AMSInterface::bms_low_voltage
float bms_low_voltage
Definition: AMSInterface.h:214
@@ -804,6 +1038,9 @@

+ + + - - + +
@@ -812,12 +1049,20 @@

+inline +

+
float AMSInterface::get_filtered_min_cell_voltage
+

Definition at line 56 of file AMSInterface.h.

+
56{};
+
-

◆ get_SoC()

+

◆ get_SoC() [1/2]

@@ -841,8 +1086,36 @@

Returns
the current value stored in the SoC_ member variable.
-

Definition at line 114 of file AMSInterface.h.

-
114{return SoC_;}
+

Definition at line 113 of file AMSInterface.h.

+
113{return SoC_;}
+
+
+

+ +

◆ get_SoC() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
float AMSInterface::get_SoC ()
+ 		+inline
+
+ +

Definition at line 62 of file AMSInterface.h.

+
62{return SoC_;}
@@ -866,8 +1139,8 @@

50 {
51 return ((curr_millis - last_heartbeat_time_) < HEARTBEAT_INTERVAL);
52}
-
AMSInterface::last_heartbeat_time_
unsigned long last_heartbeat_time_
Definition: AMSInterface.h:211
-
HEARTBEAT_INTERVAL
const unsigned long HEARTBEAT_INTERVAL
Definition: AMSInterface.h:6
+
AMSInterface::last_heartbeat_time_
unsigned long last_heartbeat_time_
Definition: AMSInterface.h:210
+
HEARTBEAT_INTERVAL
const unsigned long HEARTBEAT_INTERVAL
Definition: AMSInterface.h:13

@@ -895,11 +1168,8 @@

-

Definition at line 32 of file AMSInterface.h.

-
33 {
-
34 return ((curr_millis - last_heartbeat_time) < HEARTBEAT_INTERVAL);
-
35 }
-
AMSInterface::last_heartbeat_time
unsigned long last_heartbeat_time
Definition: AMSInterface.h:49
+

Definition at line 47 of file AMSInterface.h.

+
47{return ((curr_millis - last_heartbeat_time_) < HEARTBEAT_INTERVAL);};
@@ -929,7 +1199,7 @@

20
21 last_tick_ = initial_tick;
22
-
23 timestamp_start_ = last_tick_.millis;
+
23 timestamp_start_ = -1; //starts at -1
24
25 // Initializes the bms_voltages_ member variable to an invalid state. This will
26 // get overridden once retrieve_voltage_CAN() has been called at least once.
@@ -938,12 +1208,12 @@

29
30}
AMSInterface::set_heartbeat
void set_heartbeat(unsigned long curr_millis)
Definition: AMSInterface.cpp:46
-
AMSInterface::timestamp_start_
unsigned long timestamp_start_
Definition: AMSInterface.h:257
+
AMSInterface::timestamp_start_
unsigned long timestamp_start_
Definition: AMSInterface.h:261
- -

◆ init() [2/2]

+ +

◆ init() [2/2]

@@ -954,8 +1224,8 @@

void AMSInterface::init

(unsigned long curr_millis)SysTick_s & initial_tick)
@@ -966,13 +1236,13 @@

-

Definition at line 22 of file AMSInterface.h.

-
22{set_heartbeat(curr_millis);}
+

Definition at line 45 of file AMSInterface.h.

+
45{};

-

◆ initialize_charge()

+

◆ initialize_charge() [1/2]

@@ -992,15 +1262,45 @@

Definition at line 79 of file AMSInterface.cpp.

79 {
80 int i = 0;
-
81 while (HYTECH_low_voltage_ro_fromS(bms_voltages_.low_voltage_ro) - VOLTAGE_LOOKUP_TABLE[i] < 0) {
-
82 i++;
-
83 }
-
84 charge_ = ( (100 - i) / 100.0) * MAX_PACK_CHARGE;
-
85 SoC_ = (charge_ / MAX_PACK_CHARGE) * 100;
-
86
-
87 return charge_;
-
88}
-
AMSInterface::VOLTAGE_LOOKUP_TABLE
const float VOLTAGE_LOOKUP_TABLE[101]
Definition: AMSInterface.h:188
+
81 float lowest_voltage = HYTECH_low_voltage_ro_fromS(bms_voltages_.low_voltage_ro);
+
82
+
83 while (lowest_voltage - VOLTAGE_LOOKUP_TABLE[i] < 0) {
+
84 i++;
+
85 }
+
86 charge_ = ( (100 - i) / 100.0) * MAX_PACK_CHARGE;
+
87 SoC_ = (charge_ / MAX_PACK_CHARGE) * 100;
+
88
+
89 return charge_;
+
90}
+
AMSInterface::VOLTAGE_LOOKUP_TABLE
const float VOLTAGE_LOOKUP_TABLE[101]
Definition: AMSInterface.h:187
+
+

+
+ +

◆ initialize_charge() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
float AMSInterface::initialize_charge ()
+ 		+inline
+
+ +

Definition at line 59 of file AMSInterface.h.

+
59{};
@@ -1031,7 +1331,7 @@

54 {
55 return (HYTECH_low_voltage_ro_fromS(bms_voltages_.low_voltage_ro) < PACK_CHARGE_CRIT_LOWEST_CELL_THRESHOLD);
56}
-
PACK_CHARGE_CRIT_LOWEST_CELL_THRESHOLD
const unsigned long PACK_CHARGE_CRIT_LOWEST_CELL_THRESHOLD
Definition: AMSInterface.h:8
+
PACK_CHARGE_CRIT_LOWEST_CELL_THRESHOLD
const unsigned long PACK_CHARGE_CRIT_LOWEST_CELL_THRESHOLD
Definition: AMSInterface.h:15
@@ -1053,14 +1353,11 @@

-inline

-

Definition at line 36 of file AMSInterface.h.

-
36{};
-
@@ -1090,7 +1387,7 @@

58 {
59 return (HYTECH_total_voltage_ro_fromS(bms_voltages_.total_voltage_ro) < PACK_CHARGE_CRIT_TOTAL_THRESHOLD);
60}
-
PACK_CHARGE_CRIT_TOTAL_THRESHOLD
const unsigned long PACK_CHARGE_CRIT_TOTAL_THRESHOLD
Definition: AMSInterface.h:7
+
PACK_CHARGE_CRIT_TOTAL_THRESHOLD
const unsigned long PACK_CHARGE_CRIT_TOTAL_THRESHOLD
Definition: AMSInterface.h:14
@@ -1099,20 +1396,57 @@

+ + + + + +
+ + + + + + + +
bool AMSInterface::is_below_pack_charge_critical_total_thresh ()
+ 		+private
+
+ +
+ + +

◆ is_using_em_for_soc() [1/2]

+ +
+
+ + + + + +
- +
bool AMSInterface::is_below_pack_charge_critical_total_thresh bool AMSInterface::is_using_em_for_soc ( )
+ 		+inline
+

Retrieves the current state of the use_em_for_soc member variable.

Returns
True if using EM, false if using ACU shunt measurements.
+

Definition at line 160 of file AMSInterface.h.

+
160{return use_em_for_soc_;}
+
-

◆ is_using_em_for_soc()

+

◆ is_using_em_for_soc() [2/2]

@@ -1133,10 +1467,9 @@

-

Retrieves the current state of the use_em_for_soc member variable.

Returns
True if using EM, false if using ACU shunt measurements.
-

Definition at line 161 of file AMSInterface.h.

-
161{return use_em_for_soc_;}
+

Definition at line 72 of file AMSInterface.h.

+
72{return use_em_for_soc_;}

@@ -1187,13 +1520,13 @@

-

Definition at line 38 of file AMSInterface.h.

-
38{};
+

Definition at line 48 of file AMSInterface.h.

+
48{};

-

◆ retrieve_current_shunt_CAN()

+

◆ retrieve_current_shunt_CAN() [1/2]

@@ -1216,8 +1549,37 @@

+

◆ retrieve_current_shunt_CAN() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + +
void AMSInterface::retrieve_current_shunt_CAN (const CAN_message_t_mock & can_msg)
+ 		+inline
+
+ +

Definition at line 71 of file AMSInterface.h.

+
71{};
+
+
+
-

◆ retrieve_em_measurement_CAN()

+

◆ retrieve_em_measurement_CAN() [1/2]

@@ -1240,8 +1602,37 @@

+

◆ retrieve_em_measurement_CAN() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + +
void AMSInterface::retrieve_em_measurement_CAN (CAN_message_t_mock & can_msg)
+ 		+inline
+
+ +

Definition at line 70 of file AMSInterface.h.

+
70{};
+
+
+
-

◆ retrieve_status_CAN()

+

◆ retrieve_status_CAN() [1/2]

@@ -1267,17 +1658,56 @@

Reads this CAN message into the bms_status_ member variable. This function uses the OLD CAN library.

-

Definition at line 154 of file AMSInterface.cpp.

-
154 {
-
155 bms_status_.load(recvd_msg.buf);
-
156 set_heartbeat(curr_millis);
-
157}
-
AMSInterface::bms_status_
BMS_status bms_status_
Definition: AMSInterface.h:204
+

Definition at line 152 of file AMSInterface.cpp.

+
152 {
+
153 bms_status_.load(recvd_msg.buf);
+
154 set_heartbeat(curr_millis);
+
155}
+
AMSInterface::bms_status_
BMS_status bms_status_
Definition: AMSInterface.h:203
+
+
+

+ +

◆ retrieve_status_CAN() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void AMSInterface::retrieve_status_CAN (unsigned long curr_millis,
CAN_message_t_mock & recvd_msg 
)
+ 		+inline
+
+ +

Definition at line 65 of file AMSInterface.h.

+
65{};
-

◆ retrieve_temp_CAN()

+

◆ retrieve_temp_CAN() [1/2]

@@ -1293,15 +1723,44 @@

Reads this CAN message into the bms_temperatures_ member variable. This function uses the OLD CAN library.

-

Definition at line 159 of file AMSInterface.cpp.

-
159 {
-
160 bms_temperatures_.load(recvd_msg.buf);
-
161}
+

Definition at line 157 of file AMSInterface.cpp.

+
157 {
+
158 bms_temperatures_.load(recvd_msg.buf);
+
159}
+
+
+

+ +

◆ retrieve_temp_CAN() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + +
void AMSInterface::retrieve_temp_CAN (CAN_message_t_mock & recvd_msg)
+ 		+inline
+
+ +

Definition at line 66 of file AMSInterface.h.

+
66{};
-

◆ retrieve_voltage_CAN()

+

◆ retrieve_voltage_CAN() [1/2]

@@ -1317,18 +1776,49 @@

Reads this CAN message into the bms_voltages_ member variable. This function does NOT apply the fromS() functions on the data. This function uses the NEW CAN library.

-

Definition at line 163 of file AMSInterface.cpp.

-
163 {
-
164 Unpack_BMS_VOLTAGES_hytech(&bms_voltages_, can_msg.buf, can_msg.len);
-
165 if (!has_received_bms_voltage_)
-
166 {
-
167 has_received_bms_voltage_ = true;
+

Definition at line 161 of file AMSInterface.cpp.

+
161 {
+
162 Unpack_BMS_VOLTAGES_hytech(&bms_voltages_, can_msg.buf, can_msg.len);
+
163
+
164 if (!has_received_bms_voltage_)
+
165 {
+
166 has_received_bms_voltage_ = true;
+
167 timestamp_start_ = last_tick_.millis;
168 }
169
170}

+ +

◆ retrieve_voltage_CAN() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + +
void AMSInterface::retrieve_voltage_CAN (CAN_message_t_mock & recvd_msg)
+ 		+inline
+
+ +

Definition at line 67 of file AMSInterface.h.

+
67{};
+
+
+

◆ set_heartbeat() [1/2]

@@ -1376,8 +1866,8 @@

-

Definition at line 31 of file AMSInterface.h.

-
31{last_heartbeat_time = curr_millis;}
+

Definition at line 52 of file AMSInterface.h.

+
52{last_heartbeat_time_ = curr_millis;};

@@ -1428,8 +1918,8 @@

-

Definition at line 26 of file AMSInterface.h.

-
26{};
+

Definition at line 46 of file AMSInterface.h.

+
46{};

@@ -1483,13 +1973,13 @@

-

Definition at line 28 of file AMSInterface.h.

-
28{};
+

Definition at line 51 of file AMSInterface.h.

+
51{};

-

◆ set_use_em_for_soc()

+

◆ set_use_em_for_soc() [1/2]

@@ -1518,15 +2008,46 @@

Definition at line 167 of file AMSInterface.h.

-
167 {
-
168 use_em_for_soc_ = new_use_em_for_soc;
-
169 }
+

Definition at line 166 of file AMSInterface.h.

+
166 {
+
167 use_em_for_soc_ = new_use_em_for_soc;
+
168 }
+
+
+

+ +

◆ set_use_em_for_soc() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + +
void AMSInterface::set_use_em_for_soc (bool new_use_em_for_soc)
+ 		+inline
+
+ +

Definition at line 73 of file AMSInterface.h.

+
73 {
+
74 use_em_for_soc_ = new_use_em_for_soc;
+
75 }
-

◆ tick()

+

◆ tick() [1/2]

@@ -1548,45 +2069,71 @@

Definition at line 117 of file AMSInterface.cpp.

-
117 {
-
118
-
119 // If AMSInterface has a valid reading in bms_voltages_ and the charge is not
-
120 // yet initialized, then call initialize_charge.
-
121 if ((!has_initialized_charge_) && (has_received_bms_voltage_) && ((tick.millis - timestamp_start_) > initialization_startup_interval_)) {
-
122
-
123 bool bms_voltages_is_invalid = bms_voltages_.low_voltage_ro == 0xFFFFU && bms_voltages_.high_voltage_ro == 0x1111U;
-
124
-
125 if (!bms_voltages_is_invalid) {
-
126 initialize_charge();
-
127 has_initialized_charge_ = true;
-
128 }
-
129
+

Definition at line 119 of file AMSInterface.cpp.

+
119 {
+
120
+
121 // Only calculate the updated SoC if charge has been properly initialized.
+
122 if (has_initialized_charge_) {
+
123 // Do not edit this block! If both calculate_SoC_em AND calculate_SoC_acu are run,
+
124 // then the charge will be subtracted from the SoC member variable twice.
+
125 if (use_em_for_soc_) {
+
126 calculate_SoC_em(tick);
+
127 } else {
+
128 calculate_SoC_acu(tick);
+
129 }
130 }
131
-
132 // Only calculate the updated SoC if charge has been properly initialized.
-
133 if (has_initialized_charge_) {
-
134 // Do not edit this block! If both calculate_SoC_em AND calculate_SoC_acu are run,
-
135 // then the charge will be subtracted from the SoC member variable twice.
-
136 if (use_em_for_soc_) {
-
137 calculate_SoC_em(tick);
-
138 } else {
-
139 calculate_SoC_acu(tick);
-
140 }
-
141 }
-
142
-
143 // Send CAN message
-
144 // enqueue_state_of_charge_CAN();
-
145 STATE_OF_CHARGE_t soc_struct;
-
146 soc_struct.charge_percentage_ro = HYTECH_charge_percentage_ro_toS(SoC_);
-
147 soc_struct.charge_coulombs_ro = HYTECH_charge_coulombs_ro_toS(charge_);
-
148 enqueue_new_CAN<STATE_OF_CHARGE_t>(&soc_struct, Pack_STATE_OF_CHARGE_hytech);
-
149
-
150 last_tick_ = tick;
-
151}
-
AMSInterface::calculate_SoC_acu
void calculate_SoC_acu(const SysTick_s &tick)
Definition: AMSInterface.cpp:101
+
132 // If AMSInterface has a valid reading in bms_voltages_ and enough time has passed since init(), then initialize charge
+
133 if (!has_initialized_charge_ && ((tick.millis - timestamp_start_) >= DEFAULT_INITIALIZATION_WAIT_INTERVAL)) {
+
134
+
135 initialize_charge();
+
136 has_initialized_charge_ = true;
+
137
+
138 }
+
139
+
140 // Send CAN message
+
141 // enqueue_state_of_charge_CAN();
+
142 STATE_OF_CHARGE_t soc_struct;
+
143 soc_struct.charge_percentage_ro = HYTECH_charge_percentage_ro_toS(SoC_);
+
144 soc_struct.charge_coulombs_ro = HYTECH_charge_coulombs_ro_toS(charge_);
+
145 soc_struct.min_cell_voltage_est_ro = HYTECH_min_cell_voltage_est_ro_toS(VOLTAGE_LOOKUP_TABLE[100 - (int) SoC_]);
+
146 enqueue_new_CAN<STATE_OF_CHARGE_t>(&soc_struct, Pack_STATE_OF_CHARGE_hytech);
+
147
+
148 last_tick_ = tick;
+
149}
+
AMSInterface::calculate_SoC_acu
void calculate_SoC_acu(const SysTick_s &tick)
Definition: AMSInterface.cpp:103
AMSInterface::initialize_charge
float initialize_charge()
Definition: AMSInterface.cpp:79
-
AMSInterface::calculate_SoC_em
void calculate_SoC_em(const SysTick_s &tick)
Definition: AMSInterface.cpp:90
+
AMSInterface::calculate_SoC_em
void calculate_SoC_em(const SysTick_s &tick)
Definition: AMSInterface.cpp:92
+
DEFAULT_INITIALIZATION_WAIT_INTERVAL
const unsigned long DEFAULT_INITIALIZATION_WAIT_INTERVAL
Definition: AMSInterface.h:22
+
+
+

+ +

◆ tick() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + +
void AMSInterface::tick (const SysTick_s & tick)
+ 		+inline
+
+ +

Definition at line 63 of file AMSInterface.h.

+
63{};
@@ -1611,7 +2158,7 @@

-

Definition at line 221 of file AMSInterface.h.

+

Definition at line 220 of file AMSInterface.h.

@@ -1635,7 +2182,7 @@

-

Definition at line 206 of file AMSInterface.h.

+

Definition at line 205 of file AMSInterface.h.

@@ -1659,7 +2206,7 @@

-

Definition at line 214 of file AMSInterface.h.

+

Definition at line 213 of file AMSInterface.h.

@@ -1683,7 +2230,7 @@

-

Definition at line 215 of file AMSInterface.h.

+

Definition at line 214 of file AMSInterface.h.

@@ -1707,7 +2254,7 @@

-

Definition at line 204 of file AMSInterface.h.

+

Definition at line 203 of file AMSInterface.h.

@@ -1731,7 +2278,7 @@

-

Definition at line 205 of file AMSInterface.h.

+

Definition at line 204 of file AMSInterface.h.

@@ -1755,7 +2302,7 @@

-

Definition at line 208 of file AMSInterface.h.

+

Definition at line 207 of file AMSInterface.h.

@@ -1779,7 +2326,7 @@

-

Definition at line 218 of file AMSInterface.h.

+

Definition at line 217 of file AMSInterface.h.

@@ -1803,7 +2350,7 @@

-

Definition at line 219 of file AMSInterface.h.

+

Definition at line 218 of file AMSInterface.h.

@@ -1828,7 +2375,7 @@

The charge stored on the accumulator. Stored in coulombs, ranging from zero to MAX_PACK_CHARGE.

-

Definition at line 234 of file AMSInterface.h.

+

Definition at line 233 of file AMSInterface.h.

@@ -1852,7 +2399,7 @@

-

Definition at line 207 of file AMSInterface.h.

+

Definition at line 206 of file AMSInterface.h.

@@ -1876,7 +2423,7 @@

-

Definition at line 216 of file AMSInterface.h.

+

Definition at line 215 of file AMSInterface.h.

@@ -1900,7 +2447,7 @@

-

Definition at line 217 of file AMSInterface.h.

+

Definition at line 216 of file AMSInterface.h.

@@ -1925,7 +2472,7 @@

Stores whether or not this AMSInterface has initialized SoC_ or not.

-

Definition at line 251 of file AMSInterface.h.

+

Definition at line 250 of file AMSInterface.h.

@@ -1948,37 +2495,14 @@

+

Stores whether or not this AMSInterface has properly received a bms_voltage CAN message.

-

Definition at line 253 of file AMSInterface.h.

- - - - -

◆ initialization_startup_interval_

- -
-
- - - - - -
- - - - -
unsigned long AMSInterface::initialization_startup_interval_
- 		-private
-
- -

Definition at line 255 of file AMSInterface.h.

+

Definition at line 256 of file AMSInterface.h.

- -

◆ last_heartbeat_time

+ +

◆ last_heartbeat_time_

@@ -1987,7 +2511,7 @@

- +
unsigned long AMSInterface::last_heartbeat_timeunsigned long AMSInterface::last_heartbeat_time_
@@ -1997,12 +2521,12 @@

-

Definition at line 49 of file AMSInterface.h.

+

Definition at line 210 of file AMSInterface.h.

- -

◆ last_heartbeat_time_

+ +

◆ last_tick_

@@ -2011,7 +2535,7 @@

- +
unsigned long AMSInterface::last_heartbeat_time_SysTick_s AMSInterface::last_tick_
@@ -2020,13 +2544,14 @@

+

Stores the last Sys_Tick_s struct from the last time the tick() function is called.

-

Definition at line 211 of file AMSInterface.h.

+

Definition at line 245 of file AMSInterface.h.

- -

◆ last_tick_

+ +

◆ msg_queue_ [1/2]

@@ -2035,7 +2560,7 @@

- +
SysTick_s AMSInterface::last_tick_CANBufferType* AMSInterface::msg_queue_
@@ -2044,14 +2569,14 @@

-

Stores the last Sys_Tick_s struct from the last time the tick() function is called.

+

CAN line that this AMSInterface should write to. This should be the Telemetry CAN line.

-

Definition at line 246 of file AMSInterface.h.

+

Definition at line 197 of file AMSInterface.h.

- -

◆ msg_queue_

+ +

◆ msg_queue_ [2/2]

@@ -2060,7 +2585,7 @@

- +
CANBufferType* AMSInterface::msg_queue_CANBufferType_mock* AMSInterface::msg_queue_
@@ -2069,9 +2594,8 @@

-

CAN line that this AMSInterface should write to. This should be the Telemetry CAN line.

-

Definition at line 198 of file AMSInterface.h.

+

Definition at line 97 of file AMSInterface.h.

@@ -2095,7 +2619,7 @@

-

Definition at line 201 of file AMSInterface.h.

+

Definition at line 200 of file AMSInterface.h.

@@ -2120,7 +2644,7 @@

Stores the current state of charge of the accumulator. SoC is stored as a percentage of MAX_PACK_CHARGE. In every location, this is calculated as SoC = (charge / MAX_PACK_CHARGE) * 100;

-

Definition at line 241 of file AMSInterface.h.

+

Definition at line 240 of file AMSInterface.h.

@@ -2143,8 +2667,9 @@

+

Stores the time, in milliseconds, when this AMSInterface first received a bms voltages CAN message.

-

Definition at line 257 of file AMSInterface.h.

+

Definition at line 261 of file AMSInterface.h.

@@ -2169,12 +2694,12 @@

If set to TRUE, then SoC will use EM. If set to FALSE, then SoC will use ACU SHUNT. Set to TRUE in constructor by default.

-

Definition at line 228 of file AMSInterface.h.

+

Definition at line 227 of file AMSInterface.h.

- -

◆ VOLTAGE_LOOKUP_TABLE

+ +

◆ VOLTAGE_LOOKUP_TABLE

@@ -2183,7 +2708,7 @@

- +
const float AMSInterface::VOLTAGE_LOOKUP_TABLE[101]const float AMSInterface::VOLTAGE_LOOKUP_TABLE
@@ -2198,8 +2723,9 @@

3.56, 3.56, 3.549, 3.549, 3.549, 3.549, 3.538, 3.538, 3.551, 3.546, 3.535, 3.535, 3.535, 3.53, 3.524, 3.524, 3.524, 3.513,

3.513, 3.513, 3.503, 3.503, 3.492, 3.492, 3.492, 3.487, 3.481, 3.481, 3.476, 3.471, 3.46, 3.46, 3.449, 3.444, 3.428, 3.428,
3.417, 3.401, 3.39, 3.379, 3.363, 3.331, 3.299, 3.267, 3.213, 3.149, 3.041, 3, 3, 0}
-
-

Definition at line 188 of file AMSInterface.h.

+

Helper function to enqueue CAN messages using the new CAN library

+ +

Definition at line 187 of file AMSInterface.h.

diff --git a/classDashboardInterface.html b/classDashboardInterface.html index 5708c732b..3de1b64c2 100644 --- a/classDashboardInterface.html +++ b/classDashboardInterface.html @@ -517,8 +517,7 @@

Definition at line 145 of file DashboardInterface.cpp.

-
145{_data.buzzer_cmd = state;}
-
state
CAR_STATE state
Definition: main_ethernet_test.cpp:9
+
145{_data.buzzer_cmd = state;}
DashComponentInterface_s::buzzer_cmd
bool buzzer_cmd
Definition: DashboardInterface.h:94
diff --git a/classParameterInterface.html b/classParameterInterface.html index 0853519c8..e6505e0a4 100644 --- a/classParameterInterface.html +++ b/classParameterInterface.html @@ -83,7 +83,7 @@ Public Member Functions

 ParameterInterface ()   -void update_car_state (const CAR_STATE &state) +void update_car_state (const CAR_STATE &state)   void update_config (const config &config)   @@ -97,7 +97,7 @@    ParameterInterface ()   -void update_car_state (const CAR_STATE &state) +void update_car_state (const CAR_STATE &state)   void update_config (const config &config)   @@ -445,9 +445,8 @@

Definition at line 14 of file ParameterInterface.h.

15 {
-
16 current_car_state_ = state;
+
16 current_car_state_ = state;
17 }
-
state
CAR_STATE state
Definition: main_ethernet_test.cpp:9
@@ -477,7 +476,7 @@

Definition at line 14 of file ParameterInterface.h.

15 {
-
16 current_car_state_ = state;
+
16 current_car_state_ = state;
17 }
diff --git a/classPedalsSystem.html b/classPedalsSystem.html index 7fc3fc071..2e9ccfb37 100644 --- a/classPedalsSystem.html +++ b/classPedalsSystem.html @@ -109,10 +109,10 @@   bool max_duration_of_implausibility_exceeded_ (unsigned long curr_time)   -bool evaluate_pedal_implausibilities_ (const AnalogConversion_s &pedalData1, const AnalogConversion_s &pedalData2, const PedalsParams &params, float max_percent_diff) +bool evaluate_pedal_implausibilities_ (const AnalogConversion_s &pedalData1, const AnalogConversion_s &pedalData2, const PedalsParams &params, float max_percent_diff)  Evaluate pedal implausibilities_ determines if there is a software implausibility in the pedals caused by them going out of range. Our max/min sensor ranges are calcuated from the pedal min/max values The pedal min/max values are defined in MCU_defs and are the real world raw values that we determine from the pedal output. The max/min sensor values are then a certain percent higher than these real world values as determined by the implausibility margin. This protects against physical damage to the sensor or pedal, but will not accidentally trip implausibility if pedal values fluctuate. More...
  -bool evaluate_pedal_implausibilities_ (const AnalogConversion_s &pedalData, const PedalsParams &params) +bool evaluate_pedal_implausibilities_ (const AnalogConversion_s &pedalData, const PedalsParams &params)  overloaded pedal implaus check that doesnt need to check for percent diff between sensors since only one sensor More...
  bool evaluate_brake_and_accel_pressed_ (const AnalogConversion_s &accelPedalData1, const AnalogConversion_s &accelPedalData2, const AnalogConversion_s &brakePedalData1, const AnalogConversion_s &brakePedalData2) @@ -126,7 +126,7 @@   bool evaluate_min_max_pedal_implausibilities_ (const AnalogConversion_s &pedalData, int min, int max, float implaus_margin_scale)   -bool pedal_is_active_ (float pedal1ConvertedData, float pedal2ConvertedData, const PedalsParams &params, bool check_mech_activation) +bool pedal_is_active_ (float pedal1ConvertedData, float pedal2ConvertedData, const PedalsParams &params, bool check_mech_activation)  check whether or not pedal is active according to input parameters. returns true if either pedal is over threshold. removes the deadzone before checking. More...
  @@ -483,10 +483,10 @@

Definition at line 124 of file PedalsSystem.cpp.

125{
-
126 return evaluate_min_max_pedal_implausibilities_(pedalData, params.min_pedal_1, params.max_pedal_1, params.implausibility_margin);
+
126 return evaluate_min_max_pedal_implausibilities_(pedalData, params.min_pedal_1, params.max_pedal_1, params.implausibility_margin);
127}
PedalsSystem::evaluate_min_max_pedal_implausibilities_
bool evaluate_min_max_pedal_implausibilities_(const AnalogConversion_s &pedalData, int min, int max, float implaus_margin_scale)
Definition: PedalsSystem.cpp:151
-
params
ParameterInterface params(state)
+
params
ParameterInterface params
Definition: main_ethernet_test.cpp:9
@@ -550,8 +550,8 @@

Definition at line 129 of file PedalsSystem.cpp.

133{
-
134 bool pedal1_min_max_implaus = evaluate_min_max_pedal_implausibilities_(pedalData1, params.min_pedal_1, params.max_pedal_1, params.implausibility_margin);
-
135 bool pedal2_min_max_implaus = evaluate_min_max_pedal_implausibilities_(pedalData2, params.min_pedal_2, params.max_pedal_2, params.implausibility_margin);
+
134 bool pedal1_min_max_implaus = evaluate_min_max_pedal_implausibilities_(pedalData1, params.min_pedal_1, params.max_pedal_1, params.implausibility_margin);
+
135 bool pedal2_min_max_implaus = evaluate_min_max_pedal_implausibilities_(pedalData2, params.min_pedal_2, params.max_pedal_2, params.implausibility_margin);
136 bool sens_not_within_req_percent = (fabs(pedalData1.conversion - pedalData2.conversion) > max_percent_diff);
137 if (pedal1_min_max_implaus || pedal2_min_max_implaus)
138 {
@@ -1024,17 +1024,17 @@

Definition at line 234 of file PedalsSystem.cpp.

235{
-
236 float val1_deadzone_removed = remove_deadzone_(pedal1ConvertedData, params.deadzone_margin);
-
237 float val2_deadzone_removed = remove_deadzone_(pedal2ConvertedData, params.deadzone_margin);
+
236 float val1_deadzone_removed = remove_deadzone_(pedal1ConvertedData, params.deadzone_margin);
+
237 float val2_deadzone_removed = remove_deadzone_(pedal2ConvertedData, params.deadzone_margin);
238 bool pedal_1_is_active;
239 bool pedal_2_is_active;
240 if(check_mech_activation)
241 {
-
242 pedal_1_is_active = val1_deadzone_removed >= params.mechanical_activation_percentage;
-
243 pedal_2_is_active = val2_deadzone_removed >= params.mechanical_activation_percentage;
+
242 pedal_1_is_active = val1_deadzone_removed >= params.mechanical_activation_percentage;
+
243 pedal_2_is_active = val2_deadzone_removed >= params.mechanical_activation_percentage;
244 } else {
-
245 pedal_1_is_active = val1_deadzone_removed >= params.activation_percentage;
-
246 pedal_2_is_active = val2_deadzone_removed >= params.activation_percentage;
+
245 pedal_1_is_active = val1_deadzone_removed >= params.activation_percentage;
+
246 pedal_2_is_active = val2_deadzone_removed >= params.activation_percentage;
247 }
248 return (pedal_1_is_active || pedal_2_is_active);
249}
diff --git a/classWatchdogInterface.html b/classWatchdogInterface.html index 54123c5e0..97754fa00 100644 --- a/classWatchdogInterface.html +++ b/classWatchdogInterface.html @@ -91,7 +91,7 @@

- + @@ -386,9 +386,8 @@

Definition at line 37 of file WatchdogInterface.cpp.

37 {
-
38 watchdog_state = state;
+
38 watchdog_state = state;
39}
-
state
CAR_STATE state
Definition: main_ethernet_test.cpp:9
diff --git a/dashboard__interface__test_8h.html b/dashboard__interface__test_8h.html index 04329f336..f8a73182b 100644 --- a/dashboard__interface__test_8h.html +++ b/dashboard__interface__test_8h.html @@ -97,8 +97,8 @@

 
bool get_watchdog_state ()
 
void set_watchdog_state (bool state)
void set_watchdog_state (bool state)
 
 WatchdogInterface (int wd_input_pin)
 
- - + +

Variables

Circular_Buffer< uint8_t,(uint32_t) 16, sizeof(CAN_message_t)> dash_CAN_buffer
 
CANBufferType dash_CAN_buffer
 

Function Documentation

@@ -161,7 +161,7 @@

Definition at line 63 of file dashboard_interface_test.h.

64{
65
-
66 Circular_Buffer <uint8_t, (uint32_t)16, sizeof(CAN_message_t)> dash_CAN_buffer_2;
+
66 CANBufferType dash_CAN_buffer_2;
67 DashboardInterface dash_interface(&dash_CAN_buffer_2);
68
69 uint8_t LED[12] = {};
@@ -233,6 +233,7 @@

135 TEST_ASSERT_EQUAL(LEDColors_e::YELLOW, mcu_state.launch_control_led);

136
137}
+
CANBufferType
Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
Definition: MessageQueueDefine.h:6
printMemoryHex
void printMemoryHex(void *ptr, size_t length)
Definition: dashboard_interface_test.h:10
@@ -261,7 +262,7 @@

Definition at line 23 of file dashboard_interface_test.h.

24{
-
25 DashboardInterface dash_interface(&dash_CAN_buffer);
+
25 DashboardInterface dash_interface(&dash_CAN_buffer);
26
27 // Chat GPT code that iterates through a truth table
28 for (int i = 0; i < (1 << 10); ++i) { // 2^10 possible combinations
@@ -298,19 +299,19 @@

59

60
61}
-
dash_CAN_buffer
Circular_Buffer< uint8_t,(uint32_t) 16, sizeof(CAN_message_t)> dash_CAN_buffer
Definition: dashboard_interface_test.h:7
+
dash_CAN_buffer
CANBufferType dash_CAN_buffer
Definition: dashboard_interface_test.h:7

Variable Documentation

- -

◆ dash_CAN_buffer

+ +

◆ dash_CAN_buffer

- +
Circular_Buffer<uint8_t, (uint32_t)16, sizeof(CAN_message_t)> dash_CAN_bufferCANBufferType dash_CAN_buffer
diff --git a/dashboard__interface__test_8h_source.html b/dashboard__interface__test_8h_source.html index afef0de5f..265384717 100644 --- a/dashboard__interface__test_8h_source.html +++ b/dashboard__interface__test_8h_source.html @@ -82,7 +82,7 @@
4#include "hytech.h"
5#include "DashboardInterface.h"
6
-
7Circular_Buffer <uint8_t, (uint32_t)16, sizeof(CAN_message_t)> dash_CAN_buffer;
+
7CANBufferType dash_CAN_buffer;
8
9/* CHAT GPT FUNCTIONS */
10void printMemoryHex(void* ptr, size_t length) {
@@ -100,7 +100,7 @@
22
23void test_dashboard_unpacking_can_message(void)
24{
-
25 DashboardInterface dash_interface(&dash_CAN_buffer);
+
25 DashboardInterface dash_interface(&dash_CAN_buffer);
26
27 // Chat GPT code that iterates through a truth table
28 for (int i = 0; i < (1 << 10); ++i) { // 2^10 possible combinations
@@ -141,7 +141,7 @@
63void test_dashboard_circular_buffer(void)
64{
65
-
66 Circular_Buffer <uint8_t, (uint32_t)16, sizeof(CAN_message_t)> dash_CAN_buffer_2;
+
66 CANBufferType dash_CAN_buffer_2;
67 DashboardInterface dash_interface(&dash_CAN_buffer_2);
68
69 uint8_t LED[12] = {};
@@ -213,6 +213,7 @@
135 TEST_ASSERT_EQUAL(LEDColors_e::YELLOW, mcu_state.launch_control_led);
136
137}
+
CANBufferType
Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
Definition: MessageQueueDefine.h:6
DashboardInterface::read
void read(const CAN_message_t &can_msg)
Definition: DashboardInterface.cpp:3
@@ -228,8 +229,8 @@
test_dashboard_circular_buffer
void test_dashboard_circular_buffer(void)
Definition: dashboard_interface_test.h:63
-
dash_CAN_buffer
Circular_Buffer< uint8_t,(uint32_t) 16, sizeof(CAN_message_t)> dash_CAN_buffer
Definition: dashboard_interface_test.h:7
printMemoryHex
void printMemoryHex(void *ptr, size_t length)
Definition: dashboard_interface_test.h:10
+
dash_CAN_buffer
CANBufferType dash_CAN_buffer
Definition: dashboard_interface_test.h:7
test_dashboard_unpacking_can_message
void test_dashboard_unpacking_can_message(void)
Definition: dashboard_interface_test.h:23
diff --git a/dir_5ed425ce4b6c3b7b94ddf84a7a710f83.html b/dir_5ed425ce4b6c3b7b94ddf84a7a710f83.html index cfc62680e..79d252fe8 100644 --- a/dir_5ed425ce4b6c3b7b94ddf84a7a710f83.html +++ b/dir_5ed425ce4b6c3b7b94ddf84a7a710f83.html @@ -81,14 +81,18 @@ Files

file  AMS_interface_test.h [code]   +file  CAN_testing_utilities.h [code] +  +file  Coulomb_Counting_Tests.h [code] +  file  dashboard_interface_test.h [code]   file  MCU_interface_test.h [code]   -file  run_embedded_tests.cpp [code] -  file  Telemetry_interface_test.h [code]   +file  test_interfaces.cpp [code] +  file  Watchdog_interface_test.h [code]   diff --git a/files.html b/files.html index 53b197902..183debd82 100644 --- a/files.html +++ b/files.html @@ -80,74 +80,74 @@  MCU_rev15_defs.h  ▼ lib  ▼ interfaces - ▼ include - AMSInterface.h - DashboardInterface.h - HytechCANInterface.h - InverterInterface.h - LoadCellInterface.h - MCUInterface.h - MessageQueueDefine.h - ParameterInterface.h - ProtobufMsgInterface.h - SABInterface.h - TelemetryInterface.h - ThermistorInterface.h - VectornavInterface.h - WatchdogInterface.h - ▼ src - AMSInterface.cpp - DashboardInterface.cpp - HytechCANInterface.cpp - LoadCellInterface.cpp - MCUInterface.cpp - SABInterface.cpp - TelemetryInterface.cpp - ThermistorInterface.cpp - WatchdogInterface.cpp - ▼ mock_interfaces - AMSInterface.h - AnalogSensorsInterface.h - DashboardInterface.h - Filter_IIR.h - HytechCANInterface.h - IMDInterface.h - InverterInterface.h - LoadCellInterface.h - MCUInterface.h - ParameterInterface.h - ProtobufMsgInterface.h - SteeringEncoderInterface.h - TelemetryInterface.h - TorqueControllerData.h - VectornavInterface.h - WatchdogInterface.h - ▼ shared_data - ▼ include - TorqueControllersData.h + ► include + AMSInterface.h + DashboardInterface.h + HytechCANInterface.h + InverterInterface.h + LoadCellInterface.h + MCUInterface.h + MessageQueueDefine.h + ParameterInterface.h + ProtobufMsgInterface.h + SABInterface.h + TelemetryInterface.h + ThermistorInterface.h + VectornavInterface.h + WatchdogInterface.h + ► src + AMSInterface.cpp + DashboardInterface.cpp + HytechCANInterface.cpp + LoadCellInterface.cpp + MCUInterface.cpp + SABInterface.cpp + TelemetryInterface.cpp + ThermistorInterface.cpp + WatchdogInterface.cpp + ▼ mock_interfaces + AMSInterface.h + AnalogSensorsInterface.h + DashboardInterface.h + Filter_IIR.h + HytechCANInterface.h + IMDInterface.h + InverterInterface.h + LoadCellInterface.h + MCUInterface.h + ParameterInterface.h + ProtobufMsgInterface.h + SteeringEncoderInterface.h + TelemetryInterface.h + TorqueControllerData.h + VectornavInterface.h + WatchdogInterface.h + ▼ shared_data + ► include + TorqueControllersData.h  ▼ state_machine - ▼ include - MCUStateMachine.h - ▼ systems - ▼ include - accel_lookup.h - Buzzer.h - CASESystem.h - DrivetrainSystem.h - PedalsSystem.h - PhysicalParameters.h - SafetySystem.h - SteeringSystem.h - TorqueControllerMux.h - TorqueControllers.h - Utility.h - ▼ src - Buzzer.cpp - PedalsSystem.cpp - SafetySystem.cpp - SteeringSystem.cpp - TorqueControllerMux.cpp - TorqueControllers.cpp + ► include + MCUStateMachine.h + ▼ systems + ► include + accel_lookup.h + Buzzer.h + CASESystem.h + DrivetrainSystem.h + PedalsSystem.h + PhysicalParameters.h + SafetySystem.h + SteeringSystem.h + TorqueControllerMux.h + TorqueControllers.h + Utility.h + ► src + Buzzer.cpp + PedalsSystem.cpp + SafetySystem.cpp + SteeringSystem.cpp + TorqueControllerMux.cpp + TorqueControllers.cpp  ▼ src  main.cpp  main_ethernet_test.cpp @@ -156,11 +156,13 @@  ▼ test  ▼ test_interfaces  AMS_interface_test.h - dashboard_interface_test.h - MCU_interface_test.h - run_embedded_tests.cpp - Telemetry_interface_test.h - Watchdog_interface_test.h + CAN_testing_utilities.h + Coulomb_Counting_Tests.h + dashboard_interface_test.h + MCU_interface_test.h + Telemetry_interface_test.h + test_interfaces.cpp + Watchdog_interface_test.h  ▼ test_systems  drivetrain_system_test.h  InverterInterface.h diff --git a/functions_i.html b/functions_i.html index 61739517e..5e2ffeb2e 100644 --- a/functions_i.html +++ b/functions_i.html @@ -86,7 +86,6 @@

- i -

  • initial_ecef_x_ : BaseLaunchController
  • initial_ecef_y_ : BaseLaunchController
  • initial_ecef_z_ : BaseLaunchController
    • -
  • initialization_startup_interval_ : AMSInterface
  • initialize_charge() : AMSInterface
  • inverter_init_timeout() : DrivetrainMock, DrivetrainSystem< InverterType >
  • inverter_on_ : InverterInterface< message_queue >
    • diff --git a/functions_l.html b/functions_l.html index f8fdc2f3a..877f1b55c 100644 --- a/functions_l.html +++ b/functions_l.html @@ -81,7 +81,6 @@

    - l -

    • last_disable_cmd_time_ : DrivetrainSystem< InverterType >
    • last_eval_time_ : CASESystem< message_queue >
    • last_general_cmd_time_ : DrivetrainSystem< InverterType >
      • -
    • last_heartbeat_time : AMSInterface
    • last_heartbeat_time_ : AMSInterface
    • last_lowest_priority_controller_send_time_ : CASESystem< message_queue >
    • last_no_torque_cmd_time_ : DrivetrainSystem< InverterType >
      • diff --git a/functions_t.html b/functions_t.html index 8a16dbf2e..4051157ce 100644 --- a/functions_t.html +++ b/functions_t.html @@ -122,7 +122,7 @@

      - t -

      • torque_setpoint_nm : InverterCommand
      • torque_setpoint_nm_ : InverterMock
      • TorqueControllerCASEWrapper() : TorqueControllerCASEWrapper
        • -
      • TorqueControllerLoadCellVectoring() : TorqueControllerLoadCellVectoring
        • +
      • TorqueControllerLoadCellVectoring() : TorqueControllerLoadCellVectoring
      • torqueControllerLoadCellVectoring_ : TorqueControllerMux
      • TorqueControllerLookupLaunch() : TorqueControllerLookupLaunch
      • TorqueControllerMux() : TorqueControllerMux
        • @@ -132,7 +132,7 @@

        - t -

        • torqueControllerSimple_ : TorqueControllerMux
        • TorqueControllerSimpleLaunch() : TorqueControllerSimpleLaunch
        • torqueControllerSimpleLaunch_ : TorqueControllerMux
          • -
        • TorqueControllerSlipLaunch() : TorqueControllerSlipLaunch
          • +
        • TorqueControllerSlipLaunch() : TorqueControllerSlipLaunch
        • torqueControllerSlipLaunch_ : TorqueControllerMux
        • torqueDeltaPreventsModeChange : TCMuxStatus_s
        • torqueLimit_ : TorqueControllerMux
          • diff --git a/functions_v.html b/functions_v.html index 62737fecc..640bd684c 100644 --- a/functions_v.html +++ b/functions_v.html @@ -82,7 +82,7 @@

          - v -

          diff --git a/functions_vars_i.html b/functions_vars_i.html index 97fc3cffd..50ffedb89 100644 --- a/functions_vars_i.html +++ b/functions_vars_i.html @@ -83,7 +83,6 @@

          - i -

          diff --git a/functions_vars_l.html b/functions_vars_l.html index 0ff4cf117..8bb1e0bf8 100644 --- a/functions_vars_l.html +++ b/functions_vars_l.html @@ -81,7 +81,6 @@

          - l -

          • last_disable_cmd_time_ : DrivetrainSystem< InverterType >
          • last_eval_time_ : CASESystem< message_queue >
          • last_general_cmd_time_ : DrivetrainSystem< InverterType >
            • -
          • last_heartbeat_time : AMSInterface
          • last_heartbeat_time_ : AMSInterface
          • last_lowest_priority_controller_send_time_ : CASESystem< message_queue >
          • last_no_torque_cmd_time_ : DrivetrainSystem< InverterType >
            • diff --git a/functions_vars_v.html b/functions_vars_v.html index f1288a98b..169168fa7 100644 --- a/functions_vars_v.html +++ b/functions_vars_v.html @@ -81,7 +81,7 @@

            - v -

            diff --git a/globals_c.html b/globals_c.html index 3402d79d5..e4b5cadfc 100644 --- a/globals_c.html +++ b/globals_c.html @@ -75,16 +75,20 @@

            - c -

            diff --git a/globals_d.html b/globals_d.html index 99586702b..915c1709d 100644 --- a/globals_d.html +++ b/globals_d.html @@ -72,7 +72,7 @@
            Here is a list of all file members with links to the files they belong to:

            - d -

              -
            • dash_CAN_buffer : dashboard_interface_test.h
              • +
            • dash_CAN_buffer : dashboard_interface_test.h
            • DashLED_e : DashboardInterface.h
            • DEBOUNCE_MILLIS : Utility.h
            • DEFAULT_ALPHA : Filter_IIR.h
              • @@ -87,7 +87,7 @@

              - d -

              • DEFAULT_IMD_SENSE_PIN : MCUInterface.h
              • DEFAULT_INIT_TEMP : AMSInterface.h
              • DEFAULT_INIT_VOLTAGE : AMSInterface.h
                • -
              • DEFAULT_INITIALIZATION_WAIT_INTERVAL : AMSInterface.h
                • +
              • DEFAULT_INITIALIZATION_WAIT_INTERVAL : AMSInterface.h
              • DEFAULT_INVERTER_24V_ENABLE : MCUInterface.h
              • DEFAULT_INVERTER_ENABLE : MCUInterface.h
              • DEFAULT_LAUNCH_RATE : TorqueControllers.h
                • diff --git a/globals_defs.html b/globals_defs.html index 041b50d7c..bf03f2ce3 100644 --- a/globals_defs.html +++ b/globals_defs.html @@ -70,6 +70,8 @@
                 
                diff --git a/globals_func.html b/globals_func.html index 0ba1b3cef..2b0add42d 100644 --- a/globals_func.html +++ b/globals_func.html @@ -84,6 +84,8 @@

                - e -

                  - g -

                  • gen_positive_and_negative_slope_params() : pedals_system_test.h
                  • gen_positive_slope_only_params() : pedals_system_test.h
                    • +
                  • generate_can_msg_from_uint_16s() : CAN_testing_utilities.h
                    • +
                  • generate_can_msg_from_uint_32s() : CAN_testing_utilities.h
                  • get_pedal_conversion_val() : pedals_system_test.h
                  • get_real_accel_pedal_params() : pedals_system_test.h
                  • get_real_brake_pedal_params() : pedals_system_test.h
                    • @@ -108,7 +110,7 @@

                    - i -

                      - l -

                      @@ -121,6 +123,7 @@

                      - o -

                      @@ -133,29 +136,33 @@

                      - p -

                        - r -

                        - s -

                        - t -

                          -
                        • tearDown() : run_embedded_tests.cpp
                          • -
                        • TEST() : state_machine_test.h, drivetrain_system_test.h, state_machine_test.h, steering_system_test.h, test_CASE.h, torque_controller_mux_test.h, safety_system_test.h, drivetrain_system_test.h, param_system_test.h, pedals_system_test.h, state_machine_test.h, pedals_system_test.h
                          • +
                        • tearDown() : test_interfaces.cpp
                          • +
                        • TEST() : state_machine_test.h, drivetrain_system_test.h, state_machine_test.h, steering_system_test.h, test_CASE.h, torque_controller_mux_test.h, pedals_system_test.h, state_machine_test.h, drivetrain_system_test.h, param_system_test.h, pedals_system_test.h, safety_system_test.h
                        • test_AMS_charge_critical_threshold() : AMS_interface_test.h
                        • test_AMS_filtered_readings() : AMS_interface_test.h
                        • test_AMS_heartbeat() : AMS_interface_test.h
                        • test_AMS_unpacking_BMS_status_message() : AMS_interface_test.h
                        • test_AMS_unpacking_BMS_temperatures_message() : AMS_interface_test.h
                          • -
                        • test_AMS_unpacking_BMS_voltages_message() : AMS_interface_test.h
                          • +
                        • test_bms_voltages_CAN_message() : AMS_interface_test.h
                          • +
                        • test_calculate_SoC_acu() : Coulomb_Counting_Tests.h
                          • +
                        • test_calculate_SoC_em() : Coulomb_Counting_Tests.h
                          • +
                        • test_current_shunt_CAN_message() : AMS_interface_test.h
                        • test_dashboard_circular_buffer() : dashboard_interface_test.h
                        • test_dashboard_unpacking_can_message() : dashboard_interface_test.h
                          • +
                        • test_em_measurements_CAN_message() : AMS_interface_test.h
                        • test_ethernet() : main_ethernet_test.cpp
                          • +
                        • test_initialize_charge() : Coulomb_Counting_Tests.h
                        • test_mcu_circular_buffer() : MCU_interface_test.h
                        • test_set_brake_light() : MCU_interface_test.h
                        • test_telemetry_update_CAN() : Telemetry_interface_test.h
                          • diff --git a/globals_g.html b/globals_g.html index 47a43f92a..c8d4521e5 100644 --- a/globals_g.html +++ b/globals_g.html @@ -75,6 +75,8 @@

                          - g -

                          • GEARBOX_RATIO : PhysicalParameters.h
                          • gen_positive_and_negative_slope_params() : pedals_system_test.h
                          • gen_positive_slope_only_params() : pedals_system_test.h
                            • +
                          • generate_can_msg_from_uint_16s() : CAN_testing_utilities.h
                            • +
                          • generate_can_msg_from_uint_32s() : CAN_testing_utilities.h
                          • get_pedal_conversion_val() : pedals_system_test.h
                          • get_real_accel_pedal_params() : pedals_system_test.h
                          • get_real_brake_pedal_params() : pedals_system_test.h
                            • diff --git a/globals_l.html b/globals_l.html index ff5bfb91f..8697caae9 100644 --- a/globals_l.html +++ b/globals_l.html @@ -88,7 +88,7 @@

                            - l -

                            diff --git a/globals_o.html b/globals_o.html index da9487f78..84feb0d05 100644 --- a/globals_o.html +++ b/globals_o.html @@ -75,6 +75,7 @@

                            - o -

                            diff --git a/globals_p.html b/globals_p.html index 020876231..1afc5df4f 100644 --- a/globals_p.html +++ b/globals_p.html @@ -75,7 +75,7 @@

                            - p -

                            • PACK_CHARGE_CRIT_LOWEST_CELL_THRESHOLD : AMSInterface.h
                            • PACK_CHARGE_CRIT_TOTAL_THRESHOLD : AMSInterface.h
                            • param_interface : main.cpp
                              • -
                            • params : main_ethernet_test.cpp
                              • +
                            • params : main_ethernet_test.cpp
                            • pedals_system : main.cpp
                            • PRIMARY_ALPHA : steering_system_test.h
                            • PRIMARY_STEERING_SENSE_OFFSET : MCU_rev15_defs.h
                              • diff --git a/globals_r.html b/globals_r.html index 2b5013dc4..0a678805c 100644 --- a/globals_r.html +++ b/globals_r.html @@ -78,11 +78,13 @@

                              - r -

                              diff --git a/globals_s.html b/globals_s.html index 10df91da6..600d08c92 100644 --- a/globals_s.html +++ b/globals_s.html @@ -79,14 +79,12 @@

                              - s -

                              • SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND : MCU_rev15_defs.h
                              • send_all_CAN_msgs() : HytechCANInterface.h
                              • Serial5 : main.cpp
                                • -
                              • setUp() : run_embedded_tests.cpp
                                • -
                              • setup() : main.cpp, main_ethernet_test.cpp, main_spi_test.cpp, test_can_interface.cpp, run_embedded_tests.cpp
                                • +
                              • setup() : main.cpp, main_ethernet_test.cpp, main_spi_test.cpp, test_can_interface.cpp, test_interfaces.cpp
                              • SETUP_PRESENT_ACTION_INTERVAL : MCU_rev15_defs.h
                              • SIMPLE_TC_REAR_TORQUE_SCALE : MCU_rev15_defs.h
                              • SIMPLE_TC_REGEN_TORQUE_SCALE : MCU_rev15_defs.h
                              • SOFTWARE_OK : MCU_rev15_defs.h
                              • SS_PIN : main_spi_test.cpp
                                • -
                              • state : main_ethernet_test.cpp
                              • steering1 : main.cpp
                              • STEERING_DIVERGENCE_ERROR_THRESHOLD : SteeringSystem.h
                              • STEERING_DIVERGENCE_WARN_THRESHOLD : SteeringSystem.h
                                • diff --git a/globals_t.html b/globals_t.html index d37a574dc..cc2f16725 100644 --- a/globals_t.html +++ b/globals_t.html @@ -81,22 +81,27 @@

                                - t -

                                • TC_SAFE_MODE : TorqueControllers.h
                                • TC_SIMPLE_LAUNCH : TorqueControllers.h
                                • TC_SLIP_LAUNCH : TorqueControllers.h
                                  • -
                                • tearDown() : run_embedded_tests.cpp
                                  • +
                                • tearDown() : test_interfaces.cpp
                                • TELEM_CAN : main.cpp
                                • TELEM_CAN_BAUDRATE : MCU_rev15_defs.h
                                • telem_read_channels : main.cpp
                                  • -
                                • TEST() : state_machine_test.h, steering_system_test.h, test_CASE.h, torque_controller_mux_test.h, pedals_system_test.h, safety_system_test.h, drivetrain_system_test.h, param_system_test.h, pedals_system_test.h
                                  • +
                                • TEST() : state_machine_test.h, steering_system_test.h, test_CASE.h, torque_controller_mux_test.h, pedals_system_test.h, safety_system_test.h, drivetrain_system_test.h, param_system_test.h, pedals_system_test.h
                                • test_AMS_charge_critical_threshold() : AMS_interface_test.h
                                • test_AMS_filtered_readings() : AMS_interface_test.h
                                • test_AMS_heartbeat() : AMS_interface_test.h
                                • test_AMS_unpacking_BMS_status_message() : AMS_interface_test.h
                                • test_AMS_unpacking_BMS_temperatures_message() : AMS_interface_test.h
                                  • -
                                • test_AMS_unpacking_BMS_voltages_message() : AMS_interface_test.h
                                  • +
                                • test_bms_voltages_CAN_message() : AMS_interface_test.h
                                  • +
                                • test_calculate_SoC_acu() : Coulomb_Counting_Tests.h
                                  • +
                                • test_calculate_SoC_em() : Coulomb_Counting_Tests.h
                                • TEST_CAN1 : test_can_interface.cpp
                                • TEST_CAN2 : test_can_interface.cpp
                                  • +
                                • test_current_shunt_CAN_message() : AMS_interface_test.h
                                • test_dashboard_circular_buffer() : dashboard_interface_test.h
                                • test_dashboard_unpacking_can_message() : dashboard_interface_test.h
                                  • +
                                • test_em_measurements_CAN_message() : AMS_interface_test.h
                                • test_ethernet() : main_ethernet_test.cpp
                                  • +
                                • test_initialize_charge() : Coulomb_Counting_Tests.h
                                • test_mcu_circular_buffer() : MCU_interface_test.h
                                • test_set_brake_light() : MCU_interface_test.h
                                • test_telemetry_update_CAN() : Telemetry_interface_test.h
                                  • diff --git a/globals_type.html b/globals_type.html index 6924bca9f..73e19d04b 100644 --- a/globals_type.html +++ b/globals_type.html @@ -71,7 +71,7 @@
                                   
                                  diff --git a/interfaces_2include_2DashboardInterface_8h_source.html b/interfaces_2include_2DashboardInterface_8h_source.html index 0d3f0772c..a5729e4d7 100644 --- a/interfaces_2include_2DashboardInterface_8h_source.html +++ b/interfaces_2include_2DashboardInterface_8h_source.html @@ -249,7 +249,7 @@
                                  191
                                  192#endif /* __DASHBOARDINTERFACE_H__ */
                                  -
                                  CANBufferType
                                  Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
                                  Definition: MessageQueueDefine.h:7
                                  +
                                  CANBufferType
                                  Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
                                  Definition: MessageQueueDefine.h:6
                                  diff --git a/interfaces_2include_2HytechCANInterface_8h.html b/interfaces_2include_2HytechCANInterface_8h.html index 2c4e4a1ae..2c22518de 100644 --- a/interfaces_2include_2HytechCANInterface_8h.html +++ b/interfaces_2include_2HytechCANInterface_8h.html @@ -128,8 +128,8 @@   CANBufferType CAN1_txBuffer   -CANBufferType CAN2_txBuffer -  +CANBufferType CAN2_txBuffer +  CANBufferType CAN3_txBuffer   @@ -537,8 +537,8 @@

                                  -

                                  ◆ CAN2_txBuffer

                                  + +

                                  ◆ CAN2_txBuffer

                                  @@ -547,7 +547,7 @@

                                  - +
                                  InverterInterfaceType rr_inv & CAN2_txBufferCANBufferType CAN2_txBuffer
                                  @@ -557,7 +557,7 @@

                                  -

                                  Definition at line 14 of file test_can_interface.cpp.

                                  +

                                  Definition at line 8 of file HytechCANInterface.cpp.

                                  diff --git a/interfaces_2include_2HytechCANInterface_8h_source.html b/interfaces_2include_2HytechCANInterface_8h_source.html index 7fb8f4ee6..a4ef95677 100644 --- a/interfaces_2include_2HytechCANInterface_8h_source.html +++ b/interfaces_2include_2HytechCANInterface_8h_source.html @@ -129,7 +129,7 @@
                                  51/* TX buffer for CAN1 */
                                  52extern CANBufferType CAN1_txBuffer;
                                  53/* TX buffer for CAN2 */
                                  -
                                  54extern CANBufferType CAN2_txBuffer;
                                  +
                                  54extern CANBufferType CAN2_txBuffer;
                                  55/* TX buffer for CAN3 */
                                  56extern CANBufferType CAN3_txBuffer;
                                  57
                                  @@ -301,14 +301,13 @@
                                  227
                                  228#endif /* HYTECHCANINTERFACE */
                                  -
                                  CANBufferType
                                  Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
                                  Definition: MessageQueueDefine.h:7
                                  +
                                  CANBufferType
                                  Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
                                  Definition: MessageQueueDefine.h:6
                                  AMSInterface
                                  this class is for interfacing with the AMS (accumulator management system)
                                  Definition: AMSInterface.h:27
                                  -
                                  CAN2_txBuffer
                                  CANBufferType CAN2_txBuffer
                                  Definition: test_can_interface.cpp:14
                                  on_can2_receive
                                  void on_can2_receive(const CAN_message_t &msg)
                                  Definition: HytechCANInterface.cpp:19
                                  CAN1_txBuffer
                                  CANBufferType CAN1_txBuffer
                                  Definition: HytechCANInterface.cpp:7
                                  CAN3_rxBuffer
                                  Circular_Buffer< uint8_t,(uint32_t) 16, sizeof(CAN_message_t)> CAN3_rxBuffer
                                  Definition: HytechCANInterface.cpp:5
                                  @@ -320,6 +319,7 @@
                                  CAN1_rxBuffer
                                  Circular_Buffer< uint8_t,(uint32_t) 16, sizeof(CAN_message_t)> CAN1_rxBuffer
                                  Definition: HytechCANInterface.cpp:3
                                  on_can1_receive
                                  void on_can1_receive(const CAN_message_t &msg)
                                  Definition: HytechCANInterface.cpp:12
                                  CAN2_rxBuffer
                                  Circular_Buffer< uint8_t,(uint32_t) 16, sizeof(CAN_message_t)> CAN2_rxBuffer
                                  Definition: HytechCANInterface.cpp:4
                                  +
                                  CAN2_txBuffer
                                  CANBufferType CAN2_txBuffer
                                  Definition: HytechCANInterface.cpp:8
                                  AMSInterface.h
                                  DashboardInterface.h
                                  VectornavInterface.h
                                  diff --git a/interfaces_2include_2MCUInterface_8h_source.html b/interfaces_2include_2MCUInterface_8h_source.html index 1b1da0b84..819fdfae7 100644 --- a/interfaces_2include_2MCUInterface_8h_source.html +++ b/interfaces_2include_2MCUInterface_8h_source.html @@ -211,7 +211,7 @@
                                  134
                                  135#endif /* __MCU_INTERFACE_H__ */
                                  -
                                  CANBufferType
                                  Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
                                  Definition: MessageQueueDefine.h:7
                                  +
                                  CANBufferType
                                  Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
                                  Definition: MessageQueueDefine.h:6
                                  MCUInterface::brb_ok_is_high
                                  bool brb_ok_is_high()
                                  Definition: MCUInterface.cpp:84
                                  diff --git a/interfaces_2include_2ParameterInterface_8h_source.html b/interfaces_2include_2ParameterInterface_8h_source.html index 451a7483e..84e994ee7 100644 --- a/interfaces_2include_2ParameterInterface_8h_source.html +++ b/interfaces_2include_2ParameterInterface_8h_source.html @@ -89,9 +89,9 @@
                                  11public:
                                  12 ParameterInterface(): current_car_state_(CAR_STATE::STARTUP), params_need_sending_(false), config_(DEFAULT_CONFIG) {}
                                  13
                                  -
                                  14 void update_car_state(const CAR_STATE& state)
                                  +
                                  14 void update_car_state(const CAR_STATE& state)
                                  15 {
                                  -
                                  16 current_car_state_ = state;
                                  +
                                  16 current_car_state_ = state;
                                  17 }
                                  18 void update_config(const config &config)
                                  19 {
                                  @@ -136,7 +136,6 @@ -
                                  state
                                  CAR_STATE state
                                  Definition: main_ethernet_test.cpp:9
                                  diff --git a/interfaces_2include_2TelemetryInterface_8h_source.html b/interfaces_2include_2TelemetryInterface_8h_source.html index e1da3d1c0..94e04554a 100644 --- a/interfaces_2include_2TelemetryInterface_8h_source.html +++ b/interfaces_2include_2TelemetryInterface_8h_source.html @@ -237,7 +237,7 @@
                                  159#endif /* TELEMETRYINTERFACE */
                                  -
                                  CANBufferType
                                  Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
                                  Definition: MessageQueueDefine.h:7
                                  +
                                  CANBufferType
                                  Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
                                  Definition: MessageQueueDefine.h:6
                                  diff --git a/interfaces_2include_2WatchdogInterface_8h_source.html b/interfaces_2include_2WatchdogInterface_8h_source.html index 9052ed005..68287ffd5 100644 --- a/interfaces_2include_2WatchdogInterface_8h_source.html +++ b/interfaces_2include_2WatchdogInterface_8h_source.html @@ -111,7 +111,7 @@
                                  33 /* Getters */
                                  34 bool get_watchdog_state();
                                  35 /* Setters */
                                  -
                                  36 void set_watchdog_state(bool state);
                                  +
                                  36 void set_watchdog_state(bool state);
                                  37
                                  38};
                                  39
                                  @@ -127,7 +127,6 @@
                                  WatchdogInterface::set_watchdog_state
                                  void set_watchdog_state(bool state)
                                  Definition: WatchdogInterface.cpp:37
                                  WatchdogInterface::WatchdogInterface
                                  WatchdogInterface(int wd_input_pin)
                                  Definition: WatchdogInterface.h:21
                                  WATCHDOG_KICK_INTERVAL
                                  const unsigned long WATCHDOG_KICK_INTERVAL
                                  Definition: WatchdogInterface.h:6
                                  -
                                  state
                                  CAR_STATE state
                                  Definition: main_ethernet_test.cpp:9
                                  diff --git a/main__ethernet__test_8cpp.html b/main__ethernet__test_8cpp.html index c5469e3b2..2c0cd2af8 100644 --- a/main__ethernet__test_8cpp.html +++ b/main__ethernet__test_8cpp.html @@ -102,11 +102,9 @@   EthernetUDP protobuf_recv_socket   -CAR_STATE state = CAR_STATE::STARTUP -  -ParameterInterface params (state) -  -ETHInterfaces ethernet_interfaces = {&params} +ParameterInterface params = ParameterInterface() +  +ETHInterfaces ethernet_interfaces = {&params}  

                                  Function Documentation

                                  @@ -125,12 +123,12 @@

                                  -

                                  Definition at line 13 of file main_ethernet_test.cpp.

                                  -
                                  14{
                                  -
                                  15 Ethernet.begin(EthParams::default_MCU_MAC_address, EthParams::default_MCU_ip);
                                  -
                                  16 protobuf_send_socket.begin(EthParams::default_protobuf_send_port);
                                  -
                                  17 protobuf_recv_socket.begin(EthParams::default_protobuf_recv_port);
                                  -
                                  18}
                                  +

                                  Definition at line 12 of file main_ethernet_test.cpp.

                                  +
                                  13{
                                  +
                                  14 Ethernet.begin(EthParams::default_MCU_MAC_address, EthParams::default_MCU_ip);
                                  +
                                  15 protobuf_send_socket.begin(EthParams::default_protobuf_send_port);
                                  +
                                  16 protobuf_recv_socket.begin(EthParams::default_protobuf_recv_port);
                                  +
                                  17}
                                  protobuf_send_socket
                                  EthernetUDP protobuf_send_socket
                                  Definition: main_ethernet_test.cpp:7
                                  protobuf_recv_socket
                                  EthernetUDP protobuf_recv_socket
                                  Definition: main_ethernet_test.cpp:8
                                  EthParams::default_protobuf_send_port
                                  const uint16_t default_protobuf_send_port
                                  Definition: InterfaceParams.h:13
                                  @@ -155,12 +153,12 @@

                                  -

                                  Definition at line 39 of file main_ethernet_test.cpp.

                                  -
                                  40{
                                  -
                                  41 test_ethernet();
                                  -
                                  42 // Serial.println("loopin");
                                  -
                                  43}
                                  -
                                  test_ethernet
                                  void test_ethernet()
                                  Definition: main_ethernet_test.cpp:20
                                  +

                                  Definition at line 38 of file main_ethernet_test.cpp.

                                  +
                                  39{
                                  +
                                  40 test_ethernet();
                                  +
                                  41 // Serial.println("loopin");
                                  +
                                  42}
                                  +
                                  test_ethernet
                                  void test_ethernet()
                                  Definition: main_ethernet_test.cpp:19

                                  @@ -180,11 +178,11 @@

                                  -

                                  Definition at line 34 of file main_ethernet_test.cpp.

                                  -
                                  35{
                                  -
                                  36 init_ethernet_device();
                                  -
                                  37}
                                  -
                                  init_ethernet_device
                                  void init_ethernet_device()
                                  Definition: main_ethernet_test.cpp:13
                                  +

                                  Definition at line 33 of file main_ethernet_test.cpp.

                                  +
                                  34{
                                  +
                                  35 init_ethernet_device();
                                  +
                                  36}
                                  +
                                  init_ethernet_device
                                  void init_ethernet_device()
                                  Definition: main_ethernet_test.cpp:12

                                  @@ -203,27 +201,27 @@

                                  -

                                  Definition at line 20 of file main_ethernet_test.cpp.

                                  -
                                  21{
                                  -
                                  22
                                  -
                                  23 handle_ethernet_socket_receive(&protobuf_recv_socket, &recv_pb_stream_union_msg, ethernet_interfaces);
                                  -
                                  24 if(params.params_need_sending())
                                  -
                                  25 {
                                  -
                                  26 auto config = params.get_config();
                                  -
                                  27 if(!handle_ethernet_socket_send_pb(&protobuf_send_socket, config, config_fields)){
                                  -
                                  28 }
                                  -
                                  29 params.reset_params_need_sending();
                                  -
                                  30 }
                                  -
                                  31
                                  -
                                  32}
                                  +

                                  Definition at line 19 of file main_ethernet_test.cpp.

                                  +
                                  20{
                                  +
                                  21
                                  +
                                  22 handle_ethernet_socket_receive(&protobuf_recv_socket, &recv_pb_stream_union_msg, ethernet_interfaces);
                                  +
                                  23 if(params.params_need_sending())
                                  +
                                  24 {
                                  +
                                  25 auto config = params.get_config();
                                  +
                                  26 if(!handle_ethernet_socket_send_pb(&protobuf_send_socket, config, config_fields)){
                                  +
                                  27 }
                                  +
                                  28 params.reset_params_need_sending();
                                  +
                                  29 }
                                  +
                                  30
                                  +
                                  31}
                                  handle_ethernet_socket_receive
                                  void handle_ethernet_socket_receive(EthernetUDP *socket, recv_function_t recv_function, ETHInterfaces &interfaces)
                                  Definition: ProtobufMsgInterface.h:22
                                  recv_pb_stream_union_msg
                                  void recv_pb_stream_union_msg(const uint8_t *buffer, size_t packet_size, ETHInterfaces &interfaces)
                                  Definition: ProtobufMsgInterface.h:54
                                  handle_ethernet_socket_send_pb
                                  bool handle_ethernet_socket_send_pb(EthernetUDP *socket, const pb_struct &msg, const pb_msgdesc_t *msg_desc)
                                  Definition: ProtobufMsgInterface.h:37
                                  -
                                  params
                                  ParameterInterface params(state)
                                  -
                                  ethernet_interfaces
                                  ETHInterfaces ethernet_interfaces
                                  Definition: main_ethernet_test.cpp:11
                                  +
                                  params
                                  ParameterInterface params
                                  Definition: main_ethernet_test.cpp:9
                                  +
                                  ethernet_interfaces
                                  ETHInterfaces ethernet_interfaces
                                  Definition: main_ethernet_test.cpp:10
                                  @@ -235,31 +233,29 @@

                                  - +
                                  ETHInterfaces ethernet_interfaces = {&params}ETHInterfaces ethernet_interfaces = {&params}
                                  -

                                  Definition at line 11 of file main_ethernet_test.cpp.

                                  +

                                  Definition at line 10 of file main_ethernet_test.cpp.

                                  - -

                                  ◆ params

                                  + +

                                  ◆ params

                                  - - - - - +
                                  ParameterInterface params(state) (state )ParameterInterface params = ParameterInterface()
                                  +

                                  Definition at line 9 of file main_ethernet_test.cpp.

                                  +
                                  @@ -292,22 +288,6 @@

                                  Definition at line 7 of file main_ethernet_test.cpp.

                                  - - - -

                                  ◆ state

                                  - -
                                  -
                                  - - - - -
                                  CAR_STATE state = CAR_STATE::STARTUP
                                  -
                                  - -

                                  Definition at line 9 of file main_ethernet_test.cpp.

                                  -
                                  diff --git a/main__ethernet__test_8cpp_source.html b/main__ethernet__test_8cpp_source.html index 5ce4818f7..62552b40e 100644 --- a/main__ethernet__test_8cpp_source.html +++ b/main__ethernet__test_8cpp_source.html @@ -84,43 +84,40 @@
                                  6
                                  7EthernetUDP protobuf_send_socket;
                                  8EthernetUDP protobuf_recv_socket;
                                  -
                                  9CAR_STATE state = CAR_STATE::STARTUP;
                                  -
                                  10ParameterInterface params(state);
                                  -
                                  11ETHInterfaces ethernet_interfaces = {&params};
                                  -
                                  12
                                  -
                                  13void init_ethernet_device()
                                  -
                                  14{
                                  -
                                  15 Ethernet.begin(EthParams::default_MCU_MAC_address, EthParams::default_MCU_ip);
                                  -
                                  16 protobuf_send_socket.begin(EthParams::default_protobuf_send_port);
                                  -
                                  17 protobuf_recv_socket.begin(EthParams::default_protobuf_recv_port);
                                  -
                                  18}
                                  -
                                  19
                                  -
                                  20void test_ethernet()
                                  -
                                  21{
                                  -
                                  22
                                  -
                                  23 handle_ethernet_socket_receive(&protobuf_recv_socket, &recv_pb_stream_union_msg, ethernet_interfaces);
                                  -
                                  24 if(params.params_need_sending())
                                  -
                                  25 {
                                  -
                                  26 auto config = params.get_config();
                                  -
                                  27 if(!handle_ethernet_socket_send_pb(&protobuf_send_socket, config, config_fields)){
                                  -
                                  28 }
                                  -
                                  29 params.reset_params_need_sending();
                                  -
                                  30 }
                                  -
                                  31
                                  -
                                  32}
                                  -
                                  33
                                  -
                                  34void setup()
                                  -
                                  35{
                                  -
                                  36 init_ethernet_device();
                                  -
                                  37}
                                  -
                                  38
                                  -
                                  39void loop()
                                  -
                                  40{
                                  -
                                  41 test_ethernet();
                                  -
                                  42 // Serial.println("loopin");
                                  -
                                  43}
                                  -
                                  CAR_STATE
                                  CAR_STATE
                                  Definition: MCUStateMachine.h:18
                                  - +
                                  9ParameterInterface params = ParameterInterface();
                                  +
                                  10ETHInterfaces ethernet_interfaces = {&params};
                                  +
                                  11
                                  +
                                  12void init_ethernet_device()
                                  +
                                  13{
                                  +
                                  14 Ethernet.begin(EthParams::default_MCU_MAC_address, EthParams::default_MCU_ip);
                                  +
                                  15 protobuf_send_socket.begin(EthParams::default_protobuf_send_port);
                                  +
                                  16 protobuf_recv_socket.begin(EthParams::default_protobuf_recv_port);
                                  +
                                  17}
                                  +
                                  18
                                  +
                                  19void test_ethernet()
                                  +
                                  20{
                                  +
                                  21
                                  +
                                  22 handle_ethernet_socket_receive(&protobuf_recv_socket, &recv_pb_stream_union_msg, ethernet_interfaces);
                                  +
                                  23 if(params.params_need_sending())
                                  +
                                  24 {
                                  +
                                  25 auto config = params.get_config();
                                  +
                                  26 if(!handle_ethernet_socket_send_pb(&protobuf_send_socket, config, config_fields)){
                                  +
                                  27 }
                                  +
                                  28 params.reset_params_need_sending();
                                  +
                                  29 }
                                  +
                                  30
                                  +
                                  31}
                                  +
                                  32
                                  +
                                  33void setup()
                                  +
                                  34{
                                  +
                                  35 init_ethernet_device();
                                  +
                                  36}
                                  +
                                  37
                                  +
                                  38void loop()
                                  +
                                  39{
                                  +
                                  40 test_ethernet();
                                  +
                                  41 // Serial.println("loopin");
                                  +
                                  42}
                                  MCU_rev15_defs.h
                                  @@ -129,15 +126,14 @@
                                  handle_ethernet_socket_receive
                                  void handle_ethernet_socket_receive(EthernetUDP *socket, recv_function_t recv_function, ETHInterfaces &interfaces)
                                  Definition: ProtobufMsgInterface.h:22
                                  recv_pb_stream_union_msg
                                  void recv_pb_stream_union_msg(const uint8_t *buffer, size_t packet_size, ETHInterfaces &interfaces)
                                  Definition: ProtobufMsgInterface.h:54
                                  handle_ethernet_socket_send_pb
                                  bool handle_ethernet_socket_send_pb(EthernetUDP *socket, const pb_struct &msg, const pb_msgdesc_t *msg_desc)
                                  Definition: ProtobufMsgInterface.h:37
                                  -
                                  params
                                  ParameterInterface params(state)
                                  -
                                  state
                                  CAR_STATE state
                                  Definition: main_ethernet_test.cpp:9
                                  -
                                  setup
                                  void setup()
                                  Definition: main_ethernet_test.cpp:34
                                  -
                                  test_ethernet
                                  void test_ethernet()
                                  Definition: main_ethernet_test.cpp:20
                                  +
                                  setup
                                  void setup()
                                  Definition: main_ethernet_test.cpp:33
                                  +
                                  test_ethernet
                                  void test_ethernet()
                                  Definition: main_ethernet_test.cpp:19
                                  protobuf_send_socket
                                  EthernetUDP protobuf_send_socket
                                  Definition: main_ethernet_test.cpp:7
                                  -
                                  init_ethernet_device
                                  void init_ethernet_device()
                                  Definition: main_ethernet_test.cpp:13
                                  -
                                  ethernet_interfaces
                                  ETHInterfaces ethernet_interfaces
                                  Definition: main_ethernet_test.cpp:11
                                  +
                                  init_ethernet_device
                                  void init_ethernet_device()
                                  Definition: main_ethernet_test.cpp:12
                                  +
                                  params
                                  ParameterInterface params
                                  Definition: main_ethernet_test.cpp:9
                                  +
                                  ethernet_interfaces
                                  ETHInterfaces ethernet_interfaces
                                  Definition: main_ethernet_test.cpp:10
                                  protobuf_recv_socket
                                  EthernetUDP protobuf_recv_socket
                                  Definition: main_ethernet_test.cpp:8
                                  -
                                  loop
                                  void loop()
                                  Definition: main_ethernet_test.cpp:39
                                  +
                                  loop
                                  void loop()
                                  Definition: main_ethernet_test.cpp:38
                                  EthParams::default_protobuf_send_port
                                  const uint16_t default_protobuf_send_port
                                  Definition: InterfaceParams.h:13
                                  EthParams::default_MCU_MAC_address
                                  uint8_t default_MCU_MAC_address[6]
                                  Definition: InterfaceParams.h:7
                                  EthParams::default_protobuf_recv_port
                                  const uint16_t default_protobuf_recv_port
                                  Definition: InterfaceParams.h:14
                                  diff --git a/mock__interfaces_2AMSInterface_8h.html b/mock__interfaces_2AMSInterface_8h.html index 509914faa..749e683d8 100644 --- a/mock__interfaces_2AMSInterface_8h.html +++ b/mock__interfaces_2AMSInterface_8h.html @@ -75,6 +75,7 @@
                                  Classes | +Macros | Variables
                                  AMSInterface.h File Reference
                                  @@ -89,9 +90,16 @@  this class is for interfacing with the AMS (accumulator management system) More...
                                    + + + + + +

                                  +Macros

                                  #define CANBufferType_mock   int
                                   
                                  #define CAN_message_t_mock   int
                                   
                                  - + @@ -105,7 +113,44 @@ + + + +

                                  Variables

                                  const unsigned long HEARTBEAT_INTERVAL = 20
                                  const unsigned long HEARTBEAT_INTERVAL = 2000
                                   
                                  const unsigned long PACK_CHARGE_CRIT_TOTAL_THRESHOLD = 420
                                   
                                   
                                  const float DEFAULT_VOLTAGE_ALPHA = 0.8
                                   
                                  const unsigned short MAX_PACK_CHARGE = 48600
                                   
                                  const unsigned long DEFAULT_INITIALIZATION_WAIT_INTERVAL = 5000
                                   
                                  +

                                  Macro Definition Documentation

                                  + +

                                  ◆ CAN_message_t_mock

                                  + +
                                  +
                                  + + + + +
                                  #define CAN_message_t_mock   int
                                  +
                                  + +

                                  Definition at line 7 of file AMSInterface.h.

                                  + +
                                  +
                                  + +

                                  ◆ CANBufferType_mock

                                  + +
                                  +
                                  + + + + +
                                  #define CANBufferType_mock   int
                                  +
                                  + +

                                  Definition at line 6 of file AMSInterface.h.

                                  + +
                                  +

                                  Variable Documentation

                                  ◆ DEFAULT_INIT_TEMP

                                  @@ -119,7 +164,7 @@

                                  -

                                  Definition at line 10 of file AMSInterface.h.

                                  +

                                  Definition at line 17 of file AMSInterface.h.

                                  @@ -135,7 +180,23 @@

                                  -

                                  Definition at line 11 of file AMSInterface.h.

                                  +

                                  Definition at line 18 of file AMSInterface.h.

                                  + + + + +

                                  ◆ DEFAULT_INITIALIZATION_WAIT_INTERVAL

                                  + +
                                  +
                                  + + + + +
                                  const unsigned long DEFAULT_INITIALIZATION_WAIT_INTERVAL = 5000
                                  +
                                  + +

                                  Definition at line 22 of file AMSInterface.h.

                                  @@ -151,7 +212,7 @@

                                  -

                                  Definition at line 12 of file AMSInterface.h.

                                  +

                                  Definition at line 19 of file AMSInterface.h.

                                  @@ -167,7 +228,7 @@

                                  -

                                  Definition at line 13 of file AMSInterface.h.

                                  +

                                  Definition at line 20 of file AMSInterface.h.

                                  @@ -178,12 +239,29 @@

                                  - +
                                  const unsigned long HEARTBEAT_INTERVAL = 20const unsigned long HEARTBEAT_INTERVAL = 2000
                                  +

                                  Mock interface for testing purposes. Please see the real AMSInterface for proper documentation.

                                  -

                                  Definition at line 6 of file AMSInterface.h.

                                  +

                                  Definition at line 13 of file AMSInterface.h.

                                  + +
                                  + + +

                                  ◆ MAX_PACK_CHARGE

                                  + +
                                  +
                                  + + + + +
                                  const unsigned short MAX_PACK_CHARGE = 48600
                                  +
                                  + +

                                  Definition at line 21 of file AMSInterface.h.

                                  @@ -199,7 +277,7 @@

                                  -

                                  Definition at line 8 of file AMSInterface.h.

                                  +

                                  Definition at line 15 of file AMSInterface.h.

                                  @@ -215,7 +293,7 @@

                                  -

                                  Definition at line 7 of file AMSInterface.h.

                                  +

                                  Definition at line 14 of file AMSInterface.h.

                                  diff --git a/mock__interfaces_2AMSInterface_8h_source.html b/mock__interfaces_2AMSInterface_8h_source.html index 185907435..0f4a0ca63 100644 --- a/mock__interfaces_2AMSInterface_8h_source.html +++ b/mock__interfaces_2AMSInterface_8h_source.html @@ -76,79 +76,198 @@
                                  AMSInterface.h
                                  -Go to the documentation of this file.
                                  1#ifndef __AMS_INTERFACE_H__
                                  -
                                  2#define __AMS_INTERFACE_H__
                                  +Go to the documentation of this file.
                                  1#ifndef __AMSINTERFACE_H__
                                  +
                                  2#define __AMSINTERFACE_H__
                                  3
                                  4#include "SysClock.h"
                                  5
                                  -
                                  6const unsigned long HEARTBEAT_INTERVAL = 20; // milliseconds
                                  -
                                  7const unsigned long PACK_CHARGE_CRIT_TOTAL_THRESHOLD = 420;
                                  -
                                  8const unsigned long PACK_CHARGE_CRIT_LOWEST_CELL_THRESHOLD = 35000;
                                  -
                                  9
                                  -
                                  10const float DEFAULT_INIT_TEMP = 40.0;
                                  -
                                  11const float DEFAULT_INIT_VOLTAGE = 3.5;
                                  -
                                  12const float DEFAULT_TEMP_ALPHA = 0.8;
                                  -
                                  13const float DEFAULT_VOLTAGE_ALPHA = 0.8;
                                  -
                                  14
                                  -
                                  15class AMSInterface
                                  -
                                  16{
                                  -
                                  17public:
                                  -
                                  18 AMSInterface(int sw_ok_pin, float init_temp, float init_volt, float temp_alpha, float volt_alpha){
                                  -
                                  19 // Set pin mode
                                  -
                                  20 };
                                  -
                                  21 /* Initialize interface pin mode */
                                  -
                                  22 void init(unsigned long curr_millis) {set_heartbeat(curr_millis);}
                                  +
                                  6#define CANBufferType_mock int
                                  +
                                  7#define CAN_message_t_mock int
                                  +
                                  8
                                  +
                                  13const unsigned long HEARTBEAT_INTERVAL = 2000; // milliseconds
                                  +
                                  14const unsigned long PACK_CHARGE_CRIT_TOTAL_THRESHOLD = 420;
                                  +
                                  15const unsigned long PACK_CHARGE_CRIT_LOWEST_CELL_THRESHOLD = 35000; //equivalent to 3.5V
                                  +
                                  16
                                  +
                                  17const float DEFAULT_INIT_TEMP = 40.0;
                                  +
                                  18const float DEFAULT_INIT_VOLTAGE = 3.5;
                                  +
                                  19const float DEFAULT_TEMP_ALPHA = 0.8;
                                  +
                                  20const float DEFAULT_VOLTAGE_ALPHA = 0.8;
                                  +
                                  21const unsigned short MAX_PACK_CHARGE = 48600;
                                  +
                                  22const unsigned long DEFAULT_INITIALIZATION_WAIT_INTERVAL = 5000;
                                  23
                                  -
                                  24 /* Write to Main ECU */
                                  -
                                  25 // Initialize output value
                                  -
                                  26 void set_start_state() {};
                                  -
                                  27 // Set output value
                                  -
                                  28 void set_state_ok_high(bool ok_high) {};
                                  -
                                  29
                                  -
                                  30 /* Monitor AMS state */
                                  -
                                  31 void set_heartbeat(unsigned long curr_millis) {last_heartbeat_time = curr_millis;}
                                  -
                                  32 bool heartbeat_received(unsigned long curr_millis)
                                  -
                                  33 {
                                  -
                                  34 return ((curr_millis - last_heartbeat_time) < HEARTBEAT_INTERVAL);
                                  -
                                  35 }
                                  -
                                  36 bool is_below_pack_charge_critical_low_thresh() {};
                                  -
                                  37 bool is_below_pack_charge_critical_total_thresh();
                                  -
                                  38 bool pack_charge_is_critical() {};
                                  -
                                  39
                                  -
                                  40 /* IIR filtered AMS readings */
                                  -
                                  41 float get_filtered_max_cell_temp();
                                  -
                                  42 float get_filtered_min_cell_voltage();
                                  +
                                  24class AMSInterface
                                  +
                                  25{
                                  +
                                  26public:
                                  +
                                  27
                                  +
                                  28 AMSInterface(CANBufferType_mock *msg_output_queue, int sw_ok_pin, float init_temp, float init_volt, float temp_alpha, float volt_alpha):
                                  +
                                  29 msg_queue_(msg_output_queue),
                                  +
                                  30 pin_software_ok_(sw_ok_pin),
                                  +
                                  31 filtered_max_cell_temp(init_temp),
                                  +
                                  32 filtered_min_cell_voltage(init_volt),
                                  +
                                  33 cell_temp_alpha(temp_alpha),
                                  +
                                  34 cell_voltage_alpha(volt_alpha),
                                  +
                                  35 use_em_for_soc_(true),
                                  +
                                  36 charge_(0.0f),
                                  +
                                  37 SoC_(0.0f),
                                  +
                                  38 has_initialized_charge_(false),
                                  +
                                  39 has_received_bms_voltage_(false) {};
                                  +
                                  40
                                  +
                                  41 AMSInterface(CANBufferType_mock *msg_output_queue, int sw_ok_pin):
                                  +
                                  42 AMSInterface(msg_output_queue, sw_ok_pin, DEFAULT_INIT_TEMP, DEFAULT_INIT_VOLTAGE, DEFAULT_TEMP_ALPHA, DEFAULT_VOLTAGE_ALPHA) {};
                                  43
                                  -
                                  44 /* Retrieve CAN */
                                  -
                                  45private:
                                  -
                                  46 /* AMS CAN messages */
                                  -
                                  47 // Outbound
                                  -
                                  48 /* AMS last heartbeat time */
                                  -
                                  49 unsigned long last_heartbeat_time;
                                  -
                                  50};
                                  -
                                  51
                                  -
                                  52#endif /* __AMS_INTERFACE_H__ */
                                  +
                                  44
                                  +
                                  45 void init(SysTick_s &initial_tick) {};
                                  +
                                  46 void set_start_state() {};
                                  +
                                  47 bool heartbeat_received(unsigned long curr_millis) {return ((curr_millis - last_heartbeat_time_) < HEARTBEAT_INTERVAL);};
                                  +
                                  48 bool pack_charge_is_critical() {};
                                  +
                                  49
                                  +
                                  50 //SETTERS//
                                  +
                                  51 void set_state_ok_high(bool ok_high) {};
                                  +
                                  52 void set_heartbeat(unsigned long curr_millis) {last_heartbeat_time_ = curr_millis;};
                                  +
                                  53
                                  +
                                  54 //GETTERS//
                                  +
                                  55 float get_filtered_max_cell_temp() {};
                                  +
                                  56 float get_filtered_min_cell_voltage() {};
                                  +
                                  57 float get_acc_derate_factor() {};
                                  +
                                  58
                                  +
                                  59 float initialize_charge() {};
                                  +
                                  60 void calculate_SoC_em(const SysTick_s &tick) {};
                                  +
                                  61 void calculate_SoC_acu(const SysTick_s &tick) {};
                                  +
                                  62 float get_SoC() {return SoC_;}
                                  +
                                  63 void tick(const SysTick_s &tick) {};
                                  +
                                  64
                                  +
                                  65 void retrieve_status_CAN(unsigned long curr_millis, CAN_message_t_mock &recvd_msg) {};
                                  +
                                  66 void retrieve_temp_CAN(CAN_message_t_mock &recvd_msg) {};
                                  +
                                  67 void retrieve_voltage_CAN(CAN_message_t_mock &recvd_msg) {};
                                  +
                                  68 void calculate_acc_derate_factor() {};
                                  +
                                  69
                                  +
                                  70 void retrieve_em_measurement_CAN(CAN_message_t_mock &can_msg) {};
                                  +
                                  71 void retrieve_current_shunt_CAN(const CAN_message_t_mock &can_msg) {};
                                  +
                                  72 bool is_using_em_for_soc() {return use_em_for_soc_;}
                                  +
                                  73 void set_use_em_for_soc(bool new_use_em_for_soc) {
                                  +
                                  74 use_em_for_soc_ = new_use_em_for_soc;
                                  +
                                  75 }
                                  +
                                  76 void enqueue_state_of_charge_CAN() {};
                                  +
                                  77
                                  +
                                  79 //template <typename U>
                                  +
                                  80 //void enqueue_new_CAN(U *structure, uint32_t (*pack_function)(U *, uint8_t *, uint8_t *, uint8_t *));
                                  +
                                  81
                                  +
                                  82 // Getters (for testing purposes)
                                  +
                                  83 //BMS_VOLTAGES_t get_bms_voltages() {return bms_voltages_;}
                                  +
                                  84 //EM_MEASUREMENT_t get_em_measurements() {return em_measurements_;}
                                  +
                                  85 //ACU_SHUNT_MEASUREMENTS_t get_acu_shunt_measurements() {return acu_shunt_measurements_;}
                                  +
                                  86
                                  +
                                  87
                                  +
                                  88private:
                                  +
                                  89
                                  +
                                  90 const float VOLTAGE_LOOKUP_TABLE[101] = {3.972, 3.945, 3.918, 3.891, 3.885, 3.874, 3.864, 3.858, 3.847, 3.836, 3.82, 3.815, 3.815, 3.798, 3.788,
                                  +
                                  91 3.782, 3.771, 3.755, 3.744, 3.744, 3.733, 3.728, 3.723, 3.712, 3.701, 3.695, 3.69, 3.679, 3.679, 3.668, 3.663, 3.657, 3.647,
                                  +
                                  92 3.647, 3.636, 3.625, 3.625, 3.625, 3.614, 3.609, 3.603, 3.603, 3.592, 3.592, 3.592, 3.581, 3.581, 3.571, 3.571, 3.571, 3.56,
                                  +
                                  93 3.56, 3.56, 3.549, 3.549, 3.549, 3.549, 3.538, 3.538, 3.551, 3.546, 3.535, 3.535, 3.535, 3.53, 3.524, 3.524, 3.524, 3.513,
                                  +
                                  94 3.513, 3.513, 3.503, 3.503, 3.492, 3.492, 3.492, 3.487, 3.481, 3.481, 3.476, 3.471, 3.46, 3.46, 3.449, 3.444, 3.428, 3.428,
                                  +
                                  95 3.417, 3.401, 3.39, 3.379, 3.363, 3.331, 3.299, 3.267, 3.213, 3.149, 3.041, 3, 3, 0};
                                  +
                                  96
                                  +
                                  97 CANBufferType_mock *msg_queue_;
                                  +
                                  98
                                  +
                                  99 /* software OK pin */
                                  +
                                  100 int pin_software_ok_;
                                  +
                                  101
                                  +
                                  102 /* AMS CAN messages */
                                  +
                                  103 //BMS_status bms_status_;
                                  +
                                  104 //BMS_temperatures bms_temperatures_;
                                  +
                                  105 //ACU_SHUNT_MEASUREMENTS_t acu_shunt_measurements_;
                                  +
                                  106 //EM_MEASUREMENT_t em_measurements_;
                                  +
                                  107 //BMS_VOLTAGES_t bms_voltages_;
                                  +
                                  108
                                  +
                                  109 /* AMS last heartbeat time */
                                  +
                                  110 unsigned long last_heartbeat_time_;
                                  +
                                  111
                                  +
                                  112 /* IIR filter parameters */
                                  +
                                  113 float bms_high_temp;
                                  +
                                  114 float bms_low_voltage;
                                  +
                                  115 float filtered_max_cell_temp;
                                  +
                                  116 float filtered_min_cell_voltage;
                                  +
                                  117 float cell_temp_alpha;
                                  +
                                  118 float cell_voltage_alpha;
                                  +
                                  119
                                  +
                                  120 float acc_derate_factor;
                                  +
                                  121 bool use_em_for_soc_ = true;
                                  +
                                  122 float charge_;
                                  +
                                  123 float SoC_;
                                  +
                                  124 SysTick_s last_tick_;
                                  +
                                  125 bool has_initialized_charge_;
                                  +
                                  126 bool has_received_bms_voltage_;
                                  +
                                  127 unsigned long timestamp_start_;
                                  +
                                  128
                                  +
                                  129 bool is_below_pack_charge_critical_low_thresh();
                                  +
                                  130 bool is_below_pack_charge_critical_total_thresh();
                                  +
                                  131
                                  +
                                  132};
                                  +
                                  133
                                  +
                                  134#endif /* __AMSINTERFACE_H__ */
                                  AMSInterface
                                  this class is for interfacing with the AMS (accumulator management system)
                                  Definition: AMSInterface.h:27
                                  -
                                  AMSInterface::set_heartbeat
                                  void set_heartbeat(unsigned long curr_millis)
                                  Definition: AMSInterface.cpp:46
                                  -
                                  AMSInterface::get_filtered_min_cell_voltage
                                  float get_filtered_min_cell_voltage()
                                  +
                                  AMSInterface::get_acc_derate_factor
                                  float get_acc_derate_factor()
                                  Definition: AMSInterface.h:57
                                  +
                                  AMSInterface::has_initialized_charge_
                                  bool has_initialized_charge_
                                  Definition: AMSInterface.h:250
                                  +
                                  AMSInterface::enqueue_state_of_charge_CAN
                                  void enqueue_state_of_charge_CAN()
                                  Definition: AMSInterface.h:76
                                  +
                                  AMSInterface::cell_voltage_alpha
                                  float cell_voltage_alpha
                                  Definition: AMSInterface.h:218
                                  +
                                  AMSInterface::tick
                                  void tick(const SysTick_s &tick)
                                  Definition: AMSInterface.cpp:119
                                  + +
                                  AMSInterface::get_SoC
                                  float get_SoC()
                                  Definition: AMSInterface.h:62
                                  +
                                  AMSInterface::acc_derate_factor
                                  float acc_derate_factor
                                  Definition: AMSInterface.h:220
                                  +
                                  AMSInterface::filtered_min_cell_voltage
                                  float filtered_min_cell_voltage
                                  Definition: AMSInterface.h:216
                                  +
                                  AMSInterface::set_heartbeat
                                  void set_heartbeat(unsigned long curr_millis)
                                  Definition: AMSInterface.h:52
                                  +
                                  AMSInterface::last_tick_
                                  SysTick_s last_tick_
                                  Definition: AMSInterface.h:245
                                  +
                                  AMSInterface::retrieve_current_shunt_CAN
                                  void retrieve_current_shunt_CAN(const CAN_message_t_mock &can_msg)
                                  Definition: AMSInterface.h:71
                                  +
                                  AMSInterface::get_filtered_min_cell_voltage
                                  float get_filtered_min_cell_voltage()
                                  Definition: AMSInterface.h:56
                                  +
                                  AMSInterface::bms_low_voltage
                                  float bms_low_voltage
                                  Definition: AMSInterface.h:214
                                  +
                                  AMSInterface::retrieve_status_CAN
                                  void retrieve_status_CAN(unsigned long curr_millis, CAN_message_t_mock &recvd_msg)
                                  Definition: AMSInterface.h:65
                                  AMSInterface::is_below_pack_charge_critical_total_thresh
                                  bool is_below_pack_charge_critical_total_thresh()
                                  -
                                  AMSInterface::heartbeat_received
                                  bool heartbeat_received(unsigned long curr_millis)
                                  Definition: AMSInterface.h:32
                                  -
                                  AMSInterface::get_filtered_max_cell_temp
                                  float get_filtered_max_cell_temp()
                                  -
                                  AMSInterface::set_state_ok_high
                                  void set_state_ok_high(bool ok_high)
                                  Definition: AMSInterface.h:28
                                  -
                                  AMSInterface::AMSInterface
                                  AMSInterface(int sw_ok_pin, float init_temp, float init_volt, float temp_alpha, float volt_alpha)
                                  Definition: AMSInterface.h:18
                                  -
                                  AMSInterface::is_below_pack_charge_critical_low_thresh
                                  bool is_below_pack_charge_critical_low_thresh()
                                  Definition: AMSInterface.h:36
                                  -
                                  AMSInterface::init
                                  void init(unsigned long curr_millis)
                                  Definition: AMSInterface.h:22
                                  -
                                  AMSInterface::set_start_state
                                  void set_start_state()
                                  Definition: AMSInterface.h:26
                                  -
                                  AMSInterface::last_heartbeat_time
                                  unsigned long last_heartbeat_time
                                  Definition: AMSInterface.h:49
                                  -
                                  AMSInterface::pack_charge_is_critical
                                  bool pack_charge_is_critical()
                                  Definition: AMSInterface.h:38
                                  +
                                  AMSInterface::init
                                  void init(SysTick_s &initial_tick)
                                  Definition: AMSInterface.h:45
                                  +
                                  AMSInterface::bms_high_temp
                                  float bms_high_temp
                                  Definition: AMSInterface.h:213
                                  +
                                  AMSInterface::AMSInterface
                                  AMSInterface(CANBufferType_mock *msg_output_queue, int sw_ok_pin)
                                  Definition: AMSInterface.h:41
                                  +
                                  AMSInterface::retrieve_temp_CAN
                                  void retrieve_temp_CAN(CAN_message_t_mock &recvd_msg)
                                  Definition: AMSInterface.h:66
                                  +
                                  AMSInterface::last_heartbeat_time_
                                  unsigned long last_heartbeat_time_
                                  Definition: AMSInterface.h:210
                                  +
                                  AMSInterface::heartbeat_received
                                  bool heartbeat_received(unsigned long curr_millis)
                                  Definition: AMSInterface.h:47
                                  +
                                  AMSInterface::calculate_SoC_acu
                                  void calculate_SoC_acu(const SysTick_s &tick)
                                  Definition: AMSInterface.h:61
                                  +
                                  AMSInterface::use_em_for_soc_
                                  bool use_em_for_soc_
                                  Definition: AMSInterface.h:227
                                  +
                                  AMSInterface::cell_temp_alpha
                                  float cell_temp_alpha
                                  Definition: AMSInterface.h:217
                                  +
                                  AMSInterface::get_filtered_max_cell_temp
                                  float get_filtered_max_cell_temp()
                                  Definition: AMSInterface.h:55
                                  +
                                  AMSInterface::timestamp_start_
                                  unsigned long timestamp_start_
                                  Definition: AMSInterface.h:261
                                  +
                                  AMSInterface::pin_software_ok_
                                  int pin_software_ok_
                                  Definition: AMSInterface.h:200
                                  +
                                  AMSInterface::set_state_ok_high
                                  void set_state_ok_high(bool ok_high)
                                  Definition: AMSInterface.h:51
                                  +
                                  AMSInterface::msg_queue_
                                  CANBufferType_mock * msg_queue_
                                  Definition: AMSInterface.h:97
                                  +
                                  AMSInterface::is_using_em_for_soc
                                  bool is_using_em_for_soc()
                                  Definition: AMSInterface.h:72
                                  +
                                  AMSInterface::has_received_bms_voltage_
                                  bool has_received_bms_voltage_
                                  Definition: AMSInterface.h:256
                                  +
                                  AMSInterface::is_below_pack_charge_critical_low_thresh
                                  bool is_below_pack_charge_critical_low_thresh()
                                  +
                                  AMSInterface::AMSInterface
                                  AMSInterface(CANBufferType_mock *msg_output_queue, int sw_ok_pin, float init_temp, float init_volt, float temp_alpha, float volt_alpha)
                                  Definition: AMSInterface.h:28
                                  +
                                  AMSInterface::retrieve_voltage_CAN
                                  void retrieve_voltage_CAN(CAN_message_t_mock &recvd_msg)
                                  Definition: AMSInterface.h:67
                                  +
                                  AMSInterface::retrieve_em_measurement_CAN
                                  void retrieve_em_measurement_CAN(CAN_message_t_mock &can_msg)
                                  Definition: AMSInterface.h:70
                                  +
                                  AMSInterface::msg_queue_
                                  CANBufferType * msg_queue_
                                  Definition: AMSInterface.h:197
                                  +
                                  AMSInterface::initialize_charge
                                  float initialize_charge()
                                  Definition: AMSInterface.h:59
                                  +
                                  AMSInterface::set_start_state
                                  void set_start_state()
                                  Definition: AMSInterface.h:46
                                  + +
                                  AMSInterface::filtered_max_cell_temp
                                  float filtered_max_cell_temp
                                  Definition: AMSInterface.h:215
                                  +
                                  AMSInterface::VOLTAGE_LOOKUP_TABLE
                                  const float VOLTAGE_LOOKUP_TABLE[101]
                                  Definition: AMSInterface.h:187
                                  +
                                  AMSInterface::set_use_em_for_soc
                                  void set_use_em_for_soc(bool new_use_em_for_soc)
                                  Definition: AMSInterface.h:73
                                  +
                                  AMSInterface::pack_charge_is_critical
                                  bool pack_charge_is_critical()
                                  Definition: AMSInterface.h:48
                                  +
                                  AMSInterface::calculate_acc_derate_factor
                                  void calculate_acc_derate_factor()
                                  Definition: AMSInterface.h:68
                                  +
                                  AMSInterface::calculate_SoC_em
                                  void calculate_SoC_em(const SysTick_s &tick)
                                  Definition: AMSInterface.h:60
                                  DEFAULT_VOLTAGE_ALPHA
                                  const float DEFAULT_VOLTAGE_ALPHA
                                  Definition: AMSInterface.h:20
                                  DEFAULT_INIT_VOLTAGE
                                  const float DEFAULT_INIT_VOLTAGE
                                  Definition: AMSInterface.h:18
                                  PACK_CHARGE_CRIT_LOWEST_CELL_THRESHOLD
                                  const unsigned long PACK_CHARGE_CRIT_LOWEST_CELL_THRESHOLD
                                  Definition: AMSInterface.h:15
                                  DEFAULT_INIT_TEMP
                                  const float DEFAULT_INIT_TEMP
                                  Definition: AMSInterface.h:17
                                  +
                                  MAX_PACK_CHARGE
                                  const uint16_t MAX_PACK_CHARGE
                                  Definition: AMSInterface.h:21
                                  DEFAULT_TEMP_ALPHA
                                  const float DEFAULT_TEMP_ALPHA
                                  Definition: AMSInterface.h:19
                                  PACK_CHARGE_CRIT_TOTAL_THRESHOLD
                                  const unsigned long PACK_CHARGE_CRIT_TOTAL_THRESHOLD
                                  Definition: AMSInterface.h:13
                                  +
                                  DEFAULT_INITIALIZATION_WAIT_INTERVAL
                                  const unsigned long DEFAULT_INITIALIZATION_WAIT_INTERVAL
                                  Definition: AMSInterface.h:22
                                  HEARTBEAT_INTERVAL
                                  const unsigned long HEARTBEAT_INTERVAL
                                  Definition: AMSInterface.h:11
                                  -
                                  HEARTBEAT_INTERVAL
                                  const unsigned long HEARTBEAT_INTERVAL
                                  Definition: AMSInterface.h:6
                                  +
                                  DEFAULT_VOLTAGE_ALPHA
                                  const float DEFAULT_VOLTAGE_ALPHA
                                  Definition: AMSInterface.h:20
                                  +
                                  DEFAULT_INIT_VOLTAGE
                                  const float DEFAULT_INIT_VOLTAGE
                                  Definition: AMSInterface.h:18
                                  +
                                  CAN_message_t_mock
                                  #define CAN_message_t_mock
                                  Definition: AMSInterface.h:7
                                  +
                                  DEFAULT_INIT_TEMP
                                  const float DEFAULT_INIT_TEMP
                                  Definition: AMSInterface.h:17
                                  +
                                  DEFAULT_TEMP_ALPHA
                                  const float DEFAULT_TEMP_ALPHA
                                  Definition: AMSInterface.h:19
                                  +
                                  HEARTBEAT_INTERVAL
                                  const unsigned long HEARTBEAT_INTERVAL
                                  Definition: AMSInterface.h:13
                                  +
                                  CANBufferType_mock
                                  #define CANBufferType_mock
                                  Definition: AMSInterface.h:6
                                  diff --git a/mock__interfaces_2ParameterInterface_8h_source.html b/mock__interfaces_2ParameterInterface_8h_source.html index 15b2fedc3..b47c55d47 100644 --- a/mock__interfaces_2ParameterInterface_8h_source.html +++ b/mock__interfaces_2ParameterInterface_8h_source.html @@ -89,9 +89,9 @@
                                  11public:
                                  12 ParameterInterface(): current_car_state_(CAR_STATE::STARTUP), params_need_sending_(false), config_(DEFAULT_CONFIG) {}
                                  13
                                  -
                                  14 void update_car_state(const CAR_STATE& state)
                                  +
                                  14 void update_car_state(const CAR_STATE& state)
                                  15 {
                                  -
                                  16 current_car_state_ = state;
                                  +
                                  16 current_car_state_ = state;
                                  17 }
                                  18 void update_config(const config &config)
                                  19 {
                                  @@ -136,7 +136,6 @@ -
                                  state
                                  CAR_STATE state
                                  Definition: main_ethernet_test.cpp:9
                                  diff --git a/pedals__system__test_8h.html b/pedals__system__test_8h.html index 5ba7bebed..a4a05cd66 100644 --- a/pedals__system__test_8h.html +++ b/pedals__system__test_8h.html @@ -153,23 +153,23 @@

                                  Definition at line 21 of file pedals_system_test.h.

                                  22{
                                  -
                                  23 PedalsParams params;
                                  -
                                  24 params.min_pedal_1 = 2000;
                                  -
                                  25 params.max_pedal_1 = 1000;
                                  -
                                  26 params.min_pedal_2 = 1000;
                                  -
                                  27 params.max_pedal_2 = 2000;
                                  -
                                  28 params.min_sensor_pedal_1 = 90;
                                  -
                                  29 params.min_sensor_pedal_2 = 90;
                                  -
                                  30 params.max_sensor_pedal_1 = 4000;
                                  -
                                  31 params.max_sensor_pedal_2 = 4000;
                                  -
                                  32 params.activation_percentage = 0.25;
                                  -
                                  33 params.mechanical_activation_percentage = 0.4;
                                  -
                                  34 params.deadzone_margin = .03; // .05
                                  -
                                  35 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                  -
                                  36 return params;
                                  +
                                  23 PedalsParams params;
                                  +
                                  24 params.min_pedal_1 = 2000;
                                  +
                                  25 params.max_pedal_1 = 1000;
                                  +
                                  26 params.min_pedal_2 = 1000;
                                  +
                                  27 params.max_pedal_2 = 2000;
                                  +
                                  28 params.min_sensor_pedal_1 = 90;
                                  +
                                  29 params.min_sensor_pedal_2 = 90;
                                  +
                                  30 params.max_sensor_pedal_1 = 4000;
                                  +
                                  31 params.max_sensor_pedal_2 = 4000;
                                  +
                                  32 params.activation_percentage = 0.25;
                                  +
                                  33 params.mechanical_activation_percentage = 0.4;
                                  +
                                  34 params.deadzone_margin = .03; // .05
                                  +
                                  35 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                  +
                                  36 return params;
                                  37}
                                  DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN
                                  const float DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN
                                  Definition: MCU_rev15_defs.h:82
                                  -
                                  params
                                  ParameterInterface params(state)
                                  +
                                  params
                                  ParameterInterface params
                                  Definition: main_ethernet_test.cpp:9
                                  PedalsParams
                                  Pedals params struct that will hold min / max that will be used for evaluateion.
                                  Definition: PedalsSystem.h:26
                                  @@ -191,20 +191,20 @@

                                  Definition at line 75 of file pedals_system_test.h.

                                  76{
                                  -
                                  77 PedalsParams params;
                                  -
                                  78 params.min_pedal_1 = 1000;
                                  -
                                  79 params.max_pedal_1 = 2000;
                                  -
                                  80 params.min_pedal_2 = 1000;
                                  -
                                  81 params.max_pedal_2 = 2000;
                                  -
                                  82 params.min_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MIN;
                                  -
                                  83 params.max_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MAX;
                                  -
                                  84 params.min_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MIN;
                                  -
                                  85 params.max_sensor_pedal_2 = BRAKE1_PEDAL_OOR_MAX;
                                  -
                                  86 params.activation_percentage = 0.1;
                                  -
                                  87 params.mechanical_activation_percentage = 0.4;
                                  -
                                  88 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                  -
                                  89 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                  -
                                  90 return params;
                                  +
                                  77 PedalsParams params;
                                  +
                                  78 params.min_pedal_1 = 1000;
                                  +
                                  79 params.max_pedal_1 = 2000;
                                  +
                                  80 params.min_pedal_2 = 1000;
                                  +
                                  81 params.max_pedal_2 = 2000;
                                  +
                                  82 params.min_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MIN;
                                  +
                                  83 params.max_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MAX;
                                  +
                                  84 params.min_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MIN;
                                  +
                                  85 params.max_sensor_pedal_2 = BRAKE1_PEDAL_OOR_MAX;
                                  +
                                  86 params.activation_percentage = 0.1;
                                  +
                                  87 params.mechanical_activation_percentage = 0.4;
                                  +
                                  88 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                  +
                                  89 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                  +
                                  90 return params;
                                  91}
                                  BRAKE2_PEDAL_OOR_MIN
                                  const int BRAKE2_PEDAL_OOR_MIN
                                  Definition: MCU_rev15_defs.h:76
                                  BRAKE1_PEDAL_OOR_MIN
                                  const int BRAKE1_PEDAL_OOR_MIN
                                  Definition: MCU_rev15_defs.h:75
                                  @@ -270,20 +270,20 @@

                                  Definition at line 40 of file pedals_system_test.h.

                                  41{
                                  -
                                  42 PedalsParams params;
                                  -
                                  43 params.min_pedal_1 = ACCEL1_PEDAL_MIN;
                                  -
                                  44 params.max_pedal_1 = ACCEL1_PEDAL_MAX;
                                  -
                                  45 params.min_pedal_2 = ACCEL2_PEDAL_MIN;
                                  -
                                  46 params.max_pedal_2 = ACCEL2_PEDAL_MAX;
                                  -
                                  47 params.min_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MIN;
                                  -
                                  48 params.max_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MAX;
                                  -
                                  49 params.min_sensor_pedal_2 = ACCEL2_PEDAL_OOR_MIN;
                                  -
                                  50 params.max_sensor_pedal_2 = ACCEL1_PEDAL_OOR_MAX;
                                  -
                                  51 params.activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                  -
                                  52 params.mechanical_activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                  -
                                  53 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                  -
                                  54 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                  -
                                  55 return params;
                                  +
                                  42 PedalsParams params;
                                  +
                                  43 params.min_pedal_1 = ACCEL1_PEDAL_MIN;
                                  +
                                  44 params.max_pedal_1 = ACCEL1_PEDAL_MAX;
                                  +
                                  45 params.min_pedal_2 = ACCEL2_PEDAL_MIN;
                                  +
                                  46 params.max_pedal_2 = ACCEL2_PEDAL_MAX;
                                  +
                                  47 params.min_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MIN;
                                  +
                                  48 params.max_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MAX;
                                  +
                                  49 params.min_sensor_pedal_2 = ACCEL2_PEDAL_OOR_MIN;
                                  +
                                  50 params.max_sensor_pedal_2 = ACCEL1_PEDAL_OOR_MAX;
                                  +
                                  51 params.activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                  +
                                  52 params.mechanical_activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                  +
                                  53 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                  +
                                  54 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                  +
                                  55 return params;
                                  56}
                                  ACCEL1_PEDAL_MIN
                                  const int ACCEL1_PEDAL_MIN
                                  Definition: MCU_rev15_defs.h:60
                                  ACCEL1_PEDAL_MAX
                                  const int ACCEL1_PEDAL_MAX
                                  Definition: MCU_rev15_defs.h:57
                                  @@ -313,20 +313,20 @@

                                  Definition at line 57 of file pedals_system_test.h.

                                  58{
                                  -
                                  59 PedalsParams params;
                                  -
                                  60 params.min_pedal_1 = BRAKE1_PEDAL_MIN;
                                  -
                                  61 params.max_pedal_1 = BRAKE1_PEDAL_MAX;
                                  -
                                  62 params.min_pedal_2 = BRAKE2_PEDAL_MIN;
                                  -
                                  63 params.max_pedal_2 = BRAKE2_PEDAL_MAX;
                                  -
                                  64 params.min_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MIN;
                                  -
                                  65 params.max_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MAX;
                                  -
                                  66 params.min_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MIN;
                                  -
                                  67 params.max_sensor_pedal_2 = BRAKE1_PEDAL_OOR_MAX;
                                  -
                                  68 params.activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                  -
                                  69 params.mechanical_activation_percentage = BRAKE_MECH_THRESH;
                                  -
                                  70 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                  -
                                  71 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                  -
                                  72 return params;
                                  +
                                  59 PedalsParams params;
                                  +
                                  60 params.min_pedal_1 = BRAKE1_PEDAL_MIN;
                                  +
                                  61 params.max_pedal_1 = BRAKE1_PEDAL_MAX;
                                  +
                                  62 params.min_pedal_2 = BRAKE2_PEDAL_MIN;
                                  +
                                  63 params.max_pedal_2 = BRAKE2_PEDAL_MAX;
                                  +
                                  64 params.min_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MIN;
                                  +
                                  65 params.max_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MAX;
                                  +
                                  66 params.min_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MIN;
                                  +
                                  67 params.max_sensor_pedal_2 = BRAKE1_PEDAL_OOR_MAX;
                                  +
                                  68 params.activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                  +
                                  69 params.mechanical_activation_percentage = BRAKE_MECH_THRESH;
                                  +
                                  70 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                  +
                                  71 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                  +
                                  72 return params;
                                  73}
                                  BRAKE1_PEDAL_MAX
                                  const int BRAKE1_PEDAL_MAX
                                  Definition: MCU_rev15_defs.h:63
                                  BRAKE2_PEDAL_MIN
                                  const int BRAKE2_PEDAL_MIN
                                  Definition: MCU_rev15_defs.h:67
                                  @@ -499,10 +499,10 @@

                                  420{
                                  421 AnalogConversion_s test_pedal_good_val_accel = {1050, 0.05, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  422 AnalogConversion_s test_pedal_good_val_brake = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  -
                                  423 auto params = gen_positive_slope_only_params();
                                  +
                                  423 auto params = gen_positive_slope_only_params();
                                  424 // taking out deadzone margin to ensure that brake vals are good
                                  -
                                  425 params.deadzone_margin = 0;
                                  -
                                  426 PedalsSystem pedals(params, params);
                                  +
                                  425 params.deadzone_margin = 0;
                                  +
                                  426 PedalsSystem pedals(params, params);
                                  427 auto data = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, test_pedal_good_val_brake, 1300);
                                  428 EXPECT_NEAR(data.brakePercent, 0.2, .02);
                                  429 EXPECT_NEAR(data.regenPercent, 0.5, .02);
                                  @@ -557,10 +557,10 @@

                                  446{
                                  447 AnalogConversion_s test_pedal_good_val_accel = {1050, 0.05, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  448 AnalogConversion_s test_pedal_good_val_brake = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  -
                                  449 auto params = gen_positive_slope_only_params();
                                  +
                                  449 auto params = gen_positive_slope_only_params();
                                  450 // taking out deadzone margin to ensure that brake vals are good
                                  -
                                  451 params.deadzone_margin = 0;
                                  -
                                  452 PedalsSystem pedals(params, params);
                                  +
                                  451 params.deadzone_margin = 0;
                                  +
                                  452 PedalsSystem pedals(params, params);
                                  453 auto data = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, 1300);
                                  454 EXPECT_NEAR(data.brakePercent, 0.2, .02);
                                  455 EXPECT_NEAR(data.regenPercent, 0.5, .02);
                                  @@ -613,9 +613,9 @@

                                  536 AnalogConversion_s test_pedal_implaus_2 = {600, 0.5, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};

                                  537 AnalogConversion_s test_pedal_good_val_brake = {900, 0.02, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  538
                                  -
                                  539 auto params = gen_positive_slope_only_params();
                                  -
                                  540 PedalsSystem pedals(params, params);
                                  -
                                  541 PedalsSystem pedals_single(params, params);
                                  +
                                  539 auto params = gen_positive_slope_only_params();
                                  +
                                  540 PedalsSystem pedals(params, params);
                                  +
                                  541 PedalsSystem pedals_single(params, params);
                                  542 auto data_double_implause_1 = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_implaus_1, test_pedal_good_val_brake, test_pedal_good_val_brake, 1300);
                                  543 EXPECT_NEAR(data_double_implause_1.accelPercent, 0, .001);
                                  544 auto data_single_implause_1 = pedals_single.evaluate_pedals(test_pedal_good_val_accel, test_pedal_implaus_1, test_pedal_good_val_brake, 1300);
                                  @@ -659,10 +659,10 @@

                                  484{
                                  485 AnalogConversion_s test_pedal_good_val_accel = {930, -0.05, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  486 AnalogConversion_s test_pedal_good_val_brake = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  -
                                  487 auto params = gen_positive_slope_only_params();
                                  +
                                  487 auto params = gen_positive_slope_only_params();
                                  488 // taking out deadzone margin to ensure that brake vals are good
                                  -
                                  489 params.deadzone_margin = 0;
                                  -
                                  490 PedalsSystem pedals(params, params);
                                  +
                                  489 params.deadzone_margin = 0;
                                  +
                                  490 PedalsSystem pedals(params, params);
                                  491 auto data = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, test_pedal_good_val_brake, 1300);
                                  492 EXPECT_FALSE(data.accelImplausible);
                                  493 EXPECT_EQ(data.accelPercent, 0);
                                  @@ -701,10 +701,10 @@

                                  470{
                                  471 AnalogConversion_s test_pedal_good_val_accel = {930, -0.05, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  472 AnalogConversion_s test_pedal_good_val_brake = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  -
                                  473 auto params = gen_positive_slope_only_params();
                                  +
                                  473 auto params = gen_positive_slope_only_params();
                                  474 // taking out deadzone margin to ensure that brake vals are good
                                  -
                                  475 params.deadzone_margin = 0;
                                  -
                                  476 PedalsSystem pedals(params, params);
                                  +
                                  475 params.deadzone_margin = 0;
                                  +
                                  476 PedalsSystem pedals(params, params);
                                  477 auto data = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, 1300);
                                  478 EXPECT_FALSE(data.accelImplausible);
                                  479 EXPECT_EQ(data.accelPercent, 0);
                                  @@ -746,9 +746,9 @@

                                  515 AnalogConversion_s test_pedal_good_val_accel = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};

                                  516 AnalogConversion_s test_pedal_good_val_brake = {1001, 0.0, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  517
                                  -
                                  518 auto params = gen_positive_slope_only_params();
                                  -
                                  519 PedalsSystem pedals(params, params);
                                  -
                                  520 PedalsSystem pedals_single(params, params);
                                  +
                                  518 auto params = gen_positive_slope_only_params();
                                  +
                                  519 PedalsSystem pedals(params, params);
                                  +
                                  520 PedalsSystem pedals_single(params, params);
                                  521 auto data_double_oor_hi = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_oor_hi_val_accel, test_pedal_good_val_brake, test_pedal_good_val_brake, 1300);
                                  522 EXPECT_NEAR(data_double_oor_hi.accelPercent, 0, .001);
                                  523 auto data_single_oor_hi = pedals_single.evaluate_pedals(test_pedal_good_val_accel, test_pedal_oor_hi_val_accel, test_pedal_good_val_brake, 1300);
                                  @@ -793,9 +793,9 @@

                                  499 AnalogConversion_s test_pedal_good_val_accel = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};

                                  500 AnalogConversion_s test_pedal_good_val_brake = {1001, 0.0, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  501
                                  -
                                  502 auto params = gen_positive_slope_only_params();
                                  -
                                  503 PedalsSystem pedals(params, params);
                                  -
                                  504 PedalsSystem pedals_single(params, params);
                                  +
                                  502 auto params = gen_positive_slope_only_params();
                                  +
                                  503 PedalsSystem pedals(params, params);
                                  +
                                  504 PedalsSystem pedals_single(params, params);
                                  505 auto data_double = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, test_pedal_good_val_brake, 1300);
                                  506 EXPECT_TRUE(data_double.accelPressed);
                                  507 auto data_single = pedals_single.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, 1300);
                                  @@ -1065,8 +1065,8 @@

                                  Definition at line 118 of file pedals_system_test.h.

                                  119{
                                  -
                                  120 auto params = gen_positive_and_negative_slope_params();
                                  -
                                  121 PedalsSystem pedals(params, params);
                                  +
                                  120 auto params = gen_positive_and_negative_slope_params();
                                  +
                                  121 PedalsSystem pedals(params, params);
                                  122
                                  123 AnalogConversion_s test_pedal_bad_val_min = {0, 0.0, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  124 AnalogConversion_s test_pedal_bad_val_max = {4000, 2.0, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  diff --git a/pedals__system__test_8h_source.html b/pedals__system__test_8h_source.html index 683878c65..a35e5c524 100644 --- a/pedals__system__test_8h_source.html +++ b/pedals__system__test_8h_source.html @@ -98,74 +98,74 @@
                                  20}
                                  21PedalsParams gen_positive_and_negative_slope_params()
                                  22{
                                  -
                                  23 PedalsParams params;
                                  -
                                  24 params.min_pedal_1 = 2000;
                                  -
                                  25 params.max_pedal_1 = 1000;
                                  -
                                  26 params.min_pedal_2 = 1000;
                                  -
                                  27 params.max_pedal_2 = 2000;
                                  -
                                  28 params.min_sensor_pedal_1 = 90;
                                  -
                                  29 params.min_sensor_pedal_2 = 90;
                                  -
                                  30 params.max_sensor_pedal_1 = 4000;
                                  -
                                  31 params.max_sensor_pedal_2 = 4000;
                                  -
                                  32 params.activation_percentage = 0.25;
                                  -
                                  33 params.mechanical_activation_percentage = 0.4;
                                  -
                                  34 params.deadzone_margin = .03; // .05
                                  -
                                  35 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                  -
                                  36 return params;
                                  +
                                  23 PedalsParams params;
                                  +
                                  24 params.min_pedal_1 = 2000;
                                  +
                                  25 params.max_pedal_1 = 1000;
                                  +
                                  26 params.min_pedal_2 = 1000;
                                  +
                                  27 params.max_pedal_2 = 2000;
                                  +
                                  28 params.min_sensor_pedal_1 = 90;
                                  +
                                  29 params.min_sensor_pedal_2 = 90;
                                  +
                                  30 params.max_sensor_pedal_1 = 4000;
                                  +
                                  31 params.max_sensor_pedal_2 = 4000;
                                  +
                                  32 params.activation_percentage = 0.25;
                                  +
                                  33 params.mechanical_activation_percentage = 0.4;
                                  +
                                  34 params.deadzone_margin = .03; // .05
                                  +
                                  35 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                  +
                                  36 return params;
                                  37}
                                  38
                                  39//
                                  40PedalsParams get_real_accel_pedal_params()
                                  41{
                                  -
                                  42 PedalsParams params;
                                  -
                                  43 params.min_pedal_1 = ACCEL1_PEDAL_MIN;
                                  -
                                  44 params.max_pedal_1 = ACCEL1_PEDAL_MAX;
                                  -
                                  45 params.min_pedal_2 = ACCEL2_PEDAL_MIN;
                                  -
                                  46 params.max_pedal_2 = ACCEL2_PEDAL_MAX;
                                  -
                                  47 params.min_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MIN;
                                  -
                                  48 params.max_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MAX;
                                  -
                                  49 params.min_sensor_pedal_2 = ACCEL2_PEDAL_OOR_MIN;
                                  -
                                  50 params.max_sensor_pedal_2 = ACCEL1_PEDAL_OOR_MAX;
                                  -
                                  51 params.activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                  -
                                  52 params.mechanical_activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                  -
                                  53 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                  -
                                  54 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                  -
                                  55 return params;
                                  +
                                  42 PedalsParams params;
                                  +
                                  43 params.min_pedal_1 = ACCEL1_PEDAL_MIN;
                                  +
                                  44 params.max_pedal_1 = ACCEL1_PEDAL_MAX;
                                  +
                                  45 params.min_pedal_2 = ACCEL2_PEDAL_MIN;
                                  +
                                  46 params.max_pedal_2 = ACCEL2_PEDAL_MAX;
                                  +
                                  47 params.min_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MIN;
                                  +
                                  48 params.max_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MAX;
                                  +
                                  49 params.min_sensor_pedal_2 = ACCEL2_PEDAL_OOR_MIN;
                                  +
                                  50 params.max_sensor_pedal_2 = ACCEL1_PEDAL_OOR_MAX;
                                  +
                                  51 params.activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                  +
                                  52 params.mechanical_activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                  +
                                  53 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                  +
                                  54 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                  +
                                  55 return params;
                                  56}
                                  57PedalsParams get_real_brake_pedal_params()
                                  58{
                                  -
                                  59 PedalsParams params;
                                  -
                                  60 params.min_pedal_1 = BRAKE1_PEDAL_MIN;
                                  -
                                  61 params.max_pedal_1 = BRAKE1_PEDAL_MAX;
                                  -
                                  62 params.min_pedal_2 = BRAKE2_PEDAL_MIN;
                                  -
                                  63 params.max_pedal_2 = BRAKE2_PEDAL_MAX;
                                  -
                                  64 params.min_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MIN;
                                  -
                                  65 params.max_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MAX;
                                  -
                                  66 params.min_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MIN;
                                  -
                                  67 params.max_sensor_pedal_2 = BRAKE1_PEDAL_OOR_MAX;
                                  -
                                  68 params.activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                  -
                                  69 params.mechanical_activation_percentage = BRAKE_MECH_THRESH;
                                  -
                                  70 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                  -
                                  71 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                  -
                                  72 return params;
                                  +
                                  59 PedalsParams params;
                                  +
                                  60 params.min_pedal_1 = BRAKE1_PEDAL_MIN;
                                  +
                                  61 params.max_pedal_1 = BRAKE1_PEDAL_MAX;
                                  +
                                  62 params.min_pedal_2 = BRAKE2_PEDAL_MIN;
                                  +
                                  63 params.max_pedal_2 = BRAKE2_PEDAL_MAX;
                                  +
                                  64 params.min_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MIN;
                                  +
                                  65 params.max_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MAX;
                                  +
                                  66 params.min_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MIN;
                                  +
                                  67 params.max_sensor_pedal_2 = BRAKE1_PEDAL_OOR_MAX;
                                  +
                                  68 params.activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                  +
                                  69 params.mechanical_activation_percentage = BRAKE_MECH_THRESH;
                                  +
                                  70 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                  +
                                  71 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                  +
                                  72 return params;
                                  73}
                                  74
                                  75PedalsParams gen_positive_slope_only_params()
                                  76{
                                  -
                                  77 PedalsParams params;
                                  -
                                  78 params.min_pedal_1 = 1000;
                                  -
                                  79 params.max_pedal_1 = 2000;
                                  -
                                  80 params.min_pedal_2 = 1000;
                                  -
                                  81 params.max_pedal_2 = 2000;
                                  -
                                  82 params.min_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MIN;
                                  -
                                  83 params.max_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MAX;
                                  -
                                  84 params.min_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MIN;
                                  -
                                  85 params.max_sensor_pedal_2 = BRAKE1_PEDAL_OOR_MAX;
                                  -
                                  86 params.activation_percentage = 0.1;
                                  -
                                  87 params.mechanical_activation_percentage = 0.4;
                                  -
                                  88 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                  -
                                  89 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                  -
                                  90 return params;
                                  +
                                  77 PedalsParams params;
                                  +
                                  78 params.min_pedal_1 = 1000;
                                  +
                                  79 params.max_pedal_1 = 2000;
                                  +
                                  80 params.min_pedal_2 = 1000;
                                  +
                                  81 params.max_pedal_2 = 2000;
                                  +
                                  82 params.min_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MIN;
                                  +
                                  83 params.max_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MAX;
                                  +
                                  84 params.min_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MIN;
                                  +
                                  85 params.max_sensor_pedal_2 = BRAKE1_PEDAL_OOR_MAX;
                                  +
                                  86 params.activation_percentage = 0.1;
                                  +
                                  87 params.mechanical_activation_percentage = 0.4;
                                  +
                                  88 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                  +
                                  89 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                  +
                                  90 return params;
                                  91}
                                  92
                                  93bool get_result_of_double_brake_test(PedalsSystem &pedals, const AnalogConversion_s &a1, const AnalogConversion_s &a2, const AnalogConversion_s &b1, const AnalogConversion_s &b2)
                                  @@ -195,8 +195,8 @@
                                  117// T.4.3.4, T.4.2.7, T.4.2.9, T.4.2.10 FSAE rules 2024 v1
                                  118TEST(PedalsSystemTesting, test_accel_and_brake_limits_plausibility)
                                  119{
                                  -
                                  120 auto params = gen_positive_and_negative_slope_params();
                                  -
                                  121 PedalsSystem pedals(params, params);
                                  +
                                  120 auto params = gen_positive_and_negative_slope_params();
                                  +
                                  121 PedalsSystem pedals(params, params);
                                  122
                                  123 AnalogConversion_s test_pedal_bad_val_min = {0, 0.0, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  124 AnalogConversion_s test_pedal_bad_val_max = {4000, 2.0, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  @@ -496,10 +496,10 @@
                                  420{
                                  421 AnalogConversion_s test_pedal_good_val_accel = {1050, 0.05, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  422 AnalogConversion_s test_pedal_good_val_brake = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  -
                                  423 auto params = gen_positive_slope_only_params();
                                  +
                                  423 auto params = gen_positive_slope_only_params();
                                  424 // taking out deadzone margin to ensure that brake vals are good
                                  -
                                  425 params.deadzone_margin = 0;
                                  -
                                  426 PedalsSystem pedals(params, params);
                                  +
                                  425 params.deadzone_margin = 0;
                                  +
                                  426 PedalsSystem pedals(params, params);
                                  427 auto data = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, test_pedal_good_val_brake, 1300);
                                  428 EXPECT_NEAR(data.brakePercent, 0.2, .02);
                                  429 EXPECT_NEAR(data.regenPercent, 0.5, .02);
                                  @@ -522,10 +522,10 @@
                                  446{
                                  447 AnalogConversion_s test_pedal_good_val_accel = {1050, 0.05, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  448 AnalogConversion_s test_pedal_good_val_brake = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  -
                                  449 auto params = gen_positive_slope_only_params();
                                  +
                                  449 auto params = gen_positive_slope_only_params();
                                  450 // taking out deadzone margin to ensure that brake vals are good
                                  -
                                  451 params.deadzone_margin = 0;
                                  -
                                  452 PedalsSystem pedals(params, params);
                                  +
                                  451 params.deadzone_margin = 0;
                                  +
                                  452 PedalsSystem pedals(params, params);
                                  453 auto data = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, 1300);
                                  454 EXPECT_NEAR(data.brakePercent, 0.2, .02);
                                  455 EXPECT_NEAR(data.regenPercent, 0.5, .02);
                                  @@ -546,10 +546,10 @@
                                  470{
                                  471 AnalogConversion_s test_pedal_good_val_accel = {930, -0.05, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  472 AnalogConversion_s test_pedal_good_val_brake = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  -
                                  473 auto params = gen_positive_slope_only_params();
                                  +
                                  473 auto params = gen_positive_slope_only_params();
                                  474 // taking out deadzone margin to ensure that brake vals are good
                                  -
                                  475 params.deadzone_margin = 0;
                                  -
                                  476 PedalsSystem pedals(params, params);
                                  +
                                  475 params.deadzone_margin = 0;
                                  +
                                  476 PedalsSystem pedals(params, params);
                                  477 auto data = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, 1300);
                                  478 EXPECT_FALSE(data.accelImplausible);
                                  479 EXPECT_EQ(data.accelPercent, 0);
                                  @@ -560,10 +560,10 @@
                                  484{
                                  485 AnalogConversion_s test_pedal_good_val_accel = {930, -0.05, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  486 AnalogConversion_s test_pedal_good_val_brake = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  -
                                  487 auto params = gen_positive_slope_only_params();
                                  +
                                  487 auto params = gen_positive_slope_only_params();
                                  488 // taking out deadzone margin to ensure that brake vals are good
                                  -
                                  489 params.deadzone_margin = 0;
                                  -
                                  490 PedalsSystem pedals(params, params);
                                  +
                                  489 params.deadzone_margin = 0;
                                  +
                                  490 PedalsSystem pedals(params, params);
                                  491 auto data = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, test_pedal_good_val_brake, 1300);
                                  492 EXPECT_FALSE(data.accelImplausible);
                                  493 EXPECT_EQ(data.accelPercent, 0);
                                  @@ -575,9 +575,9 @@
                                  499 AnalogConversion_s test_pedal_good_val_accel = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  500 AnalogConversion_s test_pedal_good_val_brake = {1001, 0.0, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  501
                                  -
                                  502 auto params = gen_positive_slope_only_params();
                                  -
                                  503 PedalsSystem pedals(params, params);
                                  -
                                  504 PedalsSystem pedals_single(params, params);
                                  +
                                  502 auto params = gen_positive_slope_only_params();
                                  +
                                  503 PedalsSystem pedals(params, params);
                                  +
                                  504 PedalsSystem pedals_single(params, params);
                                  505 auto data_double = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, test_pedal_good_val_brake, 1300);
                                  506 EXPECT_TRUE(data_double.accelPressed);
                                  507 auto data_single = pedals_single.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, 1300);
                                  @@ -591,9 +591,9 @@
                                  515 AnalogConversion_s test_pedal_good_val_accel = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  516 AnalogConversion_s test_pedal_good_val_brake = {1001, 0.0, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  517
                                  -
                                  518 auto params = gen_positive_slope_only_params();
                                  -
                                  519 PedalsSystem pedals(params, params);
                                  -
                                  520 PedalsSystem pedals_single(params, params);
                                  +
                                  518 auto params = gen_positive_slope_only_params();
                                  +
                                  519 PedalsSystem pedals(params, params);
                                  +
                                  520 PedalsSystem pedals_single(params, params);
                                  521 auto data_double_oor_hi = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_oor_hi_val_accel, test_pedal_good_val_brake, test_pedal_good_val_brake, 1300);
                                  522 EXPECT_NEAR(data_double_oor_hi.accelPercent, 0, .001);
                                  523 auto data_single_oor_hi = pedals_single.evaluate_pedals(test_pedal_good_val_accel, test_pedal_oor_hi_val_accel, test_pedal_good_val_brake, 1300);
                                  @@ -612,9 +612,9 @@
                                  536 AnalogConversion_s test_pedal_implaus_2 = {600, 0.5, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  537 AnalogConversion_s test_pedal_good_val_brake = {900, 0.02, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                  538
                                  -
                                  539 auto params = gen_positive_slope_only_params();
                                  -
                                  540 PedalsSystem pedals(params, params);
                                  -
                                  541 PedalsSystem pedals_single(params, params);
                                  +
                                  539 auto params = gen_positive_slope_only_params();
                                  +
                                  540 PedalsSystem pedals(params, params);
                                  +
                                  541 PedalsSystem pedals_single(params, params);
                                  542 auto data_double_implause_1 = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_implaus_1, test_pedal_good_val_brake, test_pedal_good_val_brake, 1300);
                                  543 EXPECT_NEAR(data_double_implause_1.accelPercent, 0, .001);
                                  544 auto data_single_implause_1 = pedals_single.evaluate_pedals(test_pedal_good_val_accel, test_pedal_implaus_1, test_pedal_good_val_brake, 1300);
                                  @@ -653,7 +653,7 @@
                                  PedalsSystem::evaluate_pedals
                                  PedalsSystemData_s evaluate_pedals(const AnalogConversion_s &accel1, const AnalogConversion_s &accel2, const AnalogConversion_s &brake1, const AnalogConversion_s &brake2, unsigned long curr_time)
                                  Definition: PedalsSystem.cpp:64
                                  PedalsSystem::setParams
                                  void setParams(const PedalsParams &accelParams, const PedalsParams &brakeParams)
                                  Definition: PedalsSystem.h:55
                                  -
                                  params
                                  ParameterInterface params(state)
                                  +
                                  params
                                  ParameterInterface params
                                  Definition: main_ethernet_test.cpp:9
                                  TEST
                                  TEST(PedalsSystemTesting, test_accel_and_brake_limits_plausibility)
                                  Definition: pedals_system_test.h:118
                                  get_real_accel_pedal_params
                                  PedalsParams get_real_accel_pedal_params()
                                  Definition: pedals_system_test.h:40
                                  get_result_of_single_brake_test
                                  bool get_result_of_single_brake_test(PedalsSystem &pedals, const AnalogConversion_s &a1, const AnalogConversion_s &a2, const AnalogConversion_s &b1)
                                  Definition: pedals_system_test.h:100
                                  diff --git a/run__embedded__tests_8cpp.html b/run__embedded__tests_8cpp.html deleted file mode 100644 index b4f83a997..000000000 --- a/run__embedded__tests_8cpp.html +++ /dev/null @@ -1,237 +0,0 @@ - - - - - - - -MCU: test/test_interfaces/run_embedded_tests.cpp File Reference - - - - - - - - - -
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                                  #include <Arduino.h>
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                                  -Functions

                                  void setUp (void)
                                   
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                                  Definition at line 48 of file run_embedded_tests.cpp.

                                  -
                                  48{}
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                                  ◆ runUnityTests()

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                                  int runUnityTests (void )
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                                  Definition at line 21 of file run_embedded_tests.cpp.

                                  -
                                  22{
                                  -
                                  23 UNITY_BEGIN();
                                  -
                                  24 /* TEST DASHBOARD */
                                  -
                                  25 // RUN_TEST(test_ethernet);
                                  -
                                  26 // RUN_TEST(test_dashboard_unpacking_can_message);
                                  -
                                  27 // RUN_TEST(test_dashboard_circular_buffer);
                                  -
                                  28 /* TEST AMS */
                                  -
                                  29 // RUN_TEST(test_AMS_heartbeat);
                                  -
                                  30 /* TEST WATCHDOG */
                                  -
                                  31 // RUN_TEST(test_watchdog_kick);
                                  -
                                  32 // testing can interface
                                  -
                                  33 // RUN_TEST(test_can_interface_send)
                                  -
                                  34 // RUN_TEST(test_can_interface_send_and_receive_raw)
                                  -
                                  35 /* TEST TELEMETRY */
                                  -
                                  36 // RUN_TEST(test_telemetry_update_CAN);
                                  -
                                  37
                                  -
                                  38 return UNITY_END();
                                  -
                                  39}
                                  -
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                                  ◆ setup()

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                                  - - - - - - - - -
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                                  -
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                                  Definition at line 41 of file run_embedded_tests.cpp.

                                  -
                                  42{
                                  -
                                  43 delay(200);
                                  -
                                  44
                                  -
                                  45 runUnityTests();
                                  -
                                  46}
                                  -
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                                  int runUnityTests(void)
                                  Definition: run_embedded_tests.cpp:21
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                                  ◆ setUp()

                                  - -
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                                  -
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                                  Definition at line 10 of file run_embedded_tests.cpp.

                                  -
                                  11{
                                  -
                                  12 // init_can_interface();
                                  -
                                  13 init_ethernet_device();
                                  -
                                  14}
                                  -
                                  init_ethernet_device
                                  void init_ethernet_device()
                                  Definition: main_ethernet_test.cpp:13
                                  -
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                                  ◆ tearDown()

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                                  17{
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                                  18
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                                  19}
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                                  run_embedded_tests.cpp
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                                  1#include <Arduino.h>
                                  -
                                  2// #include <unity.h>
                                  -
                                  3
                                  -
                                  4// #include "AMS_interface_test.h"
                                  -
                                  5// #include "dashboard_interface_test.h"
                                  -
                                  6// #include "Watchdog_interface_test.h"
                                  -
                                  7// #include "test_ethernet.h"
                                  -
                                  8// #include "Telemetry_interface_test.h"
                                  -
                                  9
                                  -
                                  10void setUp(void)
                                  -
                                  11{
                                  -
                                  12 // init_can_interface();
                                  -
                                  13 init_ethernet_device();
                                  -
                                  14}
                                  -
                                  15
                                  -
                                  16void tearDown(void)
                                  -
                                  17{
                                  -
                                  18
                                  -
                                  19}
                                  -
                                  20
                                  -
                                  21int runUnityTests(void)
                                  -
                                  22{
                                  -
                                  23 UNITY_BEGIN();
                                  -
                                  24 /* TEST DASHBOARD */
                                  -
                                  25 // RUN_TEST(test_ethernet);
                                  -
                                  26 // RUN_TEST(test_dashboard_unpacking_can_message);
                                  -
                                  27 // RUN_TEST(test_dashboard_circular_buffer);
                                  -
                                  28 /* TEST AMS */
                                  -
                                  29 // RUN_TEST(test_AMS_heartbeat);
                                  -
                                  30 /* TEST WATCHDOG */
                                  -
                                  31 // RUN_TEST(test_watchdog_kick);
                                  -
                                  32 // testing can interface
                                  -
                                  33 // RUN_TEST(test_can_interface_send)
                                  -
                                  34 // RUN_TEST(test_can_interface_send_and_receive_raw)
                                  -
                                  35 /* TEST TELEMETRY */
                                  -
                                  36 // RUN_TEST(test_telemetry_update_CAN);
                                  -
                                  37
                                  -
                                  38 return UNITY_END();
                                  -
                                  39}
                                  -
                                  40
                                  -
                                  41void setup()
                                  -
                                  42{
                                  -
                                  43 delay(200);
                                  -
                                  44
                                  -
                                  45 runUnityTests();
                                  -
                                  46}
                                  -
                                  47
                                  -
                                  48void loop() {}
                                  -
                                  init_ethernet_device
                                  void init_ethernet_device()
                                  Definition: main_ethernet_test.cpp:13
                                  -
                                  setup
                                  void setup()
                                  Definition: run_embedded_tests.cpp:41
                                  -
                                  setUp
                                  void setUp(void)
                                  Definition: run_embedded_tests.cpp:10
                                  -
                                  tearDown
                                  void tearDown(void)
                                  Definition: run_embedded_tests.cpp:16
                                  -
                                  runUnityTests
                                  int runUnityTests(void)
                                  Definition: run_embedded_tests.cpp:21
                                  -
                                  loop
                                  void loop()
                                  Definition: run_embedded_tests.cpp:48
                                  -
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                                  -Generated by doxygen 1.9.5 -
                                  - - diff --git a/safety__system__test_8h.html b/safety__system__test_8h.html index e2fd6a877..3850fdb70 100644 --- a/safety__system__test_8h.html +++ b/safety__system__test_8h.html @@ -120,37 +120,53 @@

                                  Definition at line 11 of file safety_system_test.h.

                                  11 {
                                  -
                                  12 SysClock sys_clock;
                                  -
                                  13
                                  -
                                  14 SysTick_s curr_tick = sys_clock.tick(0);
                                  -
                                  15
                                  -
                                  16 AMSInterface ams_interface(0, 0, 0, 0, 0);
                                  -
                                  17 WatchdogInterface wd_interface(0);
                                  -
                                  18 SafetySystem safety_system(&ams_interface, &wd_interface);
                                  -
                                  19
                                  -
                                  20 ams_interface.init(curr_tick.millis);
                                  -
                                  21 wd_interface.init(curr_tick.millis);
                                  -
                                  22 safety_system.init();
                                  -
                                  23
                                  -
                                  24 ASSERT_EQ(safety_system.get_software_is_ok(), true);
                                  -
                                  25
                                  -
                                  26 // 10 milliseconds later
                                  -
                                  27 curr_tick = sys_clock.tick(10 * 1000);
                                  -
                                  28 ams_interface.set_heartbeat(curr_tick.millis);
                                  -
                                  29
                                  -
                                  30 safety_system.software_shutdown(curr_tick);
                                  -
                                  31
                                  -
                                  32 ASSERT_EQ(safety_system.get_software_is_ok(), true);
                                  -
                                  33
                                  -
                                  34 // 45 milliseconds later
                                  -
                                  35 curr_tick = sys_clock.tick(45 * 1000);
                                  -
                                  36 safety_system.software_shutdown(curr_tick);
                                  -
                                  37
                                  -
                                  38 ASSERT_EQ(ams_interface.heartbeat_received(curr_tick.millis), false);
                                  -
                                  39
                                  -
                                  40 ASSERT_EQ(safety_system.get_software_is_ok(), false);
                                  +
                                  12 // Initial tick
                                  +
                                  13 SysTick_s tick_zero;
                                  +
                                  14 tick_zero.millis = 100L;
                                  +
                                  15 tick_zero.micros = 100000L;
                                  +
                                  16
                                  +
                                  17 AMSInterface ams_interface(0, 0, 0, 0, 0, 0);
                                  +
                                  18 WatchdogInterface wd_interface(0);
                                  +
                                  19 SafetySystem safety_system(&ams_interface, &wd_interface);
                                  +
                                  20
                                  +
                                  21 ams_interface.init(tick_zero);
                                  +
                                  22 wd_interface.init(tick_zero.millis);
                                  +
                                  23 safety_system.init();
                                  +
                                  24
                                  +
                                  25 ASSERT_EQ(safety_system.get_software_is_ok(), true);
                                  +
                                  26
                                  +
                                  27 // 10 milliseconds later
                                  +
                                  28 SysTick_s tick_one;
                                  +
                                  29 tick_one.millis = 110L;
                                  +
                                  30 tick_one.micros = 110000L;
                                  +
                                  31 ams_interface.set_heartbeat(tick_one.millis);
                                  +
                                  32
                                  +
                                  33 safety_system.software_shutdown(tick_one);
                                  +
                                  34
                                  +
                                  35 ASSERT_EQ(safety_system.get_software_is_ok(), true);
                                  +
                                  36
                                  +
                                  37 // 1999 milliseconds later (should be within 2000ms window)
                                  +
                                  38 SysTick_s tick_two;
                                  +
                                  39 tick_two.millis = 2109L;
                                  +
                                  40 tick_two.micros = 2109000L;
                                  41
                                  -
                                  42}
                                  +
                                  42 safety_system.software_shutdown(tick_two);
                                  +
                                  43
                                  +
                                  44 ASSERT_EQ(ams_interface.heartbeat_received(tick_two.millis), true);
                                  +
                                  45
                                  +
                                  46
                                  +
                                  47 // 1999 milliseconds later (should fail)
                                  +
                                  48 SysTick_s tick_three;
                                  +
                                  49 tick_three.millis = 2110L;
                                  +
                                  50 tick_three.micros = 2110000L;
                                  +
                                  51
                                  +
                                  52 safety_system.software_shutdown(tick_three);
                                  +
                                  53
                                  +
                                  54 ASSERT_EQ(ams_interface.heartbeat_received(tick_three.millis), false);
                                  +
                                  55
                                  +
                                  56 ASSERT_EQ(safety_system.get_software_is_ok(), false);
                                  +
                                  57
                                  +
                                  58}
                                  AMSInterface
                                  this class is for interfacing with the AMS (accumulator management system)
                                  Definition: AMSInterface.h:27
                                  SafetySystem::software_shutdown
                                  void software_shutdown(const SysTick_s &tick)
                                  Definition: SafetySystem.cpp:16
                                  @@ -159,7 +175,6 @@

                                  WatchdogInterface::init
                                  void init(unsigned long curr_millis)
                                  Definition: WatchdogInterface.cpp:4

                                  wd_interface
                                  WatchdogInterface wd_interface(WATCHDOG_INPUT)
                                  ams_interface
                                  SafetySystem safety_system & ams_interface
                                  Definition: main.cpp:210
                                  -
                                  sys_clock
                                  SysClock sys_clock
                                  Definition: main.cpp:206

                                  diff --git a/safety__system__test_8h_source.html b/safety__system__test_8h_source.html index 621023735..a28e691aa 100644 --- a/safety__system__test_8h_source.html +++ b/safety__system__test_8h_source.html @@ -87,42 +87,58 @@
                                  9
                                  10
                                  11TEST(SafetySystemTest, test_software_shutdown) {
                                  -
                                  12 SysClock sys_clock;
                                  -
                                  13
                                  -
                                  14 SysTick_s curr_tick = sys_clock.tick(0);
                                  -
                                  15
                                  -
                                  16 AMSInterface ams_interface(0, 0, 0, 0, 0);
                                  -
                                  17 WatchdogInterface wd_interface(0);
                                  -
                                  18 SafetySystem safety_system(&ams_interface, &wd_interface);
                                  -
                                  19
                                  -
                                  20 ams_interface.init(curr_tick.millis);
                                  -
                                  21 wd_interface.init(curr_tick.millis);
                                  -
                                  22 safety_system.init();
                                  -
                                  23
                                  -
                                  24 ASSERT_EQ(safety_system.get_software_is_ok(), true);
                                  -
                                  25
                                  -
                                  26 // 10 milliseconds later
                                  -
                                  27 curr_tick = sys_clock.tick(10 * 1000);
                                  -
                                  28 ams_interface.set_heartbeat(curr_tick.millis);
                                  -
                                  29
                                  -
                                  30 safety_system.software_shutdown(curr_tick);
                                  -
                                  31
                                  -
                                  32 ASSERT_EQ(safety_system.get_software_is_ok(), true);
                                  -
                                  33
                                  -
                                  34 // 45 milliseconds later
                                  -
                                  35 curr_tick = sys_clock.tick(45 * 1000);
                                  -
                                  36 safety_system.software_shutdown(curr_tick);
                                  -
                                  37
                                  -
                                  38 ASSERT_EQ(ams_interface.heartbeat_received(curr_tick.millis), false);
                                  -
                                  39
                                  -
                                  40 ASSERT_EQ(safety_system.get_software_is_ok(), false);
                                  +
                                  12 // Initial tick
                                  +
                                  13 SysTick_s tick_zero;
                                  +
                                  14 tick_zero.millis = 100L;
                                  +
                                  15 tick_zero.micros = 100000L;
                                  +
                                  16
                                  +
                                  17 AMSInterface ams_interface(0, 0, 0, 0, 0, 0);
                                  +
                                  18 WatchdogInterface wd_interface(0);
                                  +
                                  19 SafetySystem safety_system(&ams_interface, &wd_interface);
                                  +
                                  20
                                  +
                                  21 ams_interface.init(tick_zero);
                                  +
                                  22 wd_interface.init(tick_zero.millis);
                                  +
                                  23 safety_system.init();
                                  +
                                  24
                                  +
                                  25 ASSERT_EQ(safety_system.get_software_is_ok(), true);
                                  +
                                  26
                                  +
                                  27 // 10 milliseconds later
                                  +
                                  28 SysTick_s tick_one;
                                  +
                                  29 tick_one.millis = 110L;
                                  +
                                  30 tick_one.micros = 110000L;
                                  +
                                  31 ams_interface.set_heartbeat(tick_one.millis);
                                  +
                                  32
                                  +
                                  33 safety_system.software_shutdown(tick_one);
                                  +
                                  34
                                  +
                                  35 ASSERT_EQ(safety_system.get_software_is_ok(), true);
                                  +
                                  36
                                  +
                                  37 // 1999 milliseconds later (should be within 2000ms window)
                                  +
                                  38 SysTick_s tick_two;
                                  +
                                  39 tick_two.millis = 2109L;
                                  +
                                  40 tick_two.micros = 2109000L;
                                  41
                                  -
                                  42}
                                  +
                                  42 safety_system.software_shutdown(tick_two);
                                  43
                                  -
                                  44
                                  +
                                  44 ASSERT_EQ(ams_interface.heartbeat_received(tick_two.millis), true);
                                  45
                                  46
                                  -
                                  47#endif /* __SAFETY_SYSTEM_TEST_H__ */
                                  +
                                  47 // 1999 milliseconds later (should fail)
                                  +
                                  48 SysTick_s tick_three;
                                  +
                                  49 tick_three.millis = 2110L;
                                  +
                                  50 tick_three.micros = 2110000L;
                                  +
                                  51
                                  +
                                  52 safety_system.software_shutdown(tick_three);
                                  +
                                  53
                                  +
                                  54 ASSERT_EQ(ams_interface.heartbeat_received(tick_three.millis), false);
                                  +
                                  55
                                  +
                                  56 ASSERT_EQ(safety_system.get_software_is_ok(), false);
                                  +
                                  57
                                  +
                                  58}
                                  +
                                  59
                                  +
                                  60
                                  +
                                  61
                                  +
                                  62
                                  +
                                  63#endif /* __SAFETY_SYSTEM_TEST_H__ */
                                  AMSInterface
                                  this class is for interfacing with the AMS (accumulator management system)
                                  Definition: AMSInterface.h:27
                                  @@ -134,7 +150,6 @@
                                  TEST
                                  TEST(SafetySystemTest, test_software_shutdown)
                                  Definition: safety_system_test.h:11
                                  wd_interface
                                  WatchdogInterface wd_interface(WATCHDOG_INPUT)
                                  ams_interface
                                  SafetySystem safety_system & ams_interface
                                  Definition: main.cpp:210
                                  -
                                  sys_clock
                                  SysClock sys_clock
                                  Definition: main.cpp:206
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                                  424 safety_system.software_shutdown(curr_tick);
                                  425
                                  426 // send CAN
                                  -
                                  427 send_all_CAN_msgs(CAN2_txBuffer, &INV_CAN);
                                  +
                                  427 send_all_CAN_msgs(CAN2_txBuffer, &INV_CAN);
                                  428 send_all_CAN_msgs(CAN3_txBuffer, &TELEM_CAN);
                                  429
                                  430 // Basic debug prints
                                  @@ -471,11 +471,11 @@

                                  DrivetrainSystem::reset_drivetrain
                                  void reset_drivetrain()
                                  ParameterInterface::update_car_state
                                  void update_car_state(const CAR_STATE &state)
                                  Definition: ParameterInterface.h:14
                                  PedalsSystem::getPedalsSystemDataCopy
                                  PedalsSystemData_s getPedalsSystemDataCopy()
                                  Definition: PedalsSystem.h:67
                                  -
                                  CAN2_txBuffer
                                  CANBufferType CAN2_txBuffer
                                  Definition: test_can_interface.cpp:14
                                  CAN3_rxBuffer
                                  Circular_Buffer< uint8_t,(uint32_t) 16, sizeof(CAN_message_t)> CAN3_rxBuffer
                                  Definition: HytechCANInterface.cpp:5
                                  process_ring_buffer
                                  void process_ring_buffer(BufferType &rx_buffer, const InterfaceType &interfaces, unsigned long curr_millis)
                                  Definition: HytechCANInterface.h:72
                                  send_all_CAN_msgs
                                  void send_all_CAN_msgs(bufferType &buffer, FlexCAN_T4_Base *can_interface)
                                  Definition: HytechCANInterface.h:190
                                  CAN2_rxBuffer
                                  Circular_Buffer< uint8_t,(uint32_t) 16, sizeof(CAN_message_t)> CAN2_rxBuffer
                                  Definition: HytechCANInterface.cpp:4
                                  +
                                  CAN2_txBuffer
                                  CANBufferType CAN2_txBuffer
                                  Definition: HytechCANInterface.cpp:8
                                  steering1
                                  SteeringSystem steering_system & steering1
                                  Definition: main.cpp:207
                                  pedals_system
                                  PedalsSystem pedals_system(accel_params, brake_params)
                                  tick_all_interfaces
                                  void tick_all_interfaces(const SysTick_s &current_system_tick)
                                  Definition: main.cpp:502
                                  diff --git a/src_2main_8cpp_source.html b/src_2main_8cpp_source.html index 54aeb4add..58ed1475c 100644 --- a/src_2main_8cpp_source.html +++ b/src_2main_8cpp_source.html @@ -271,10 +271,10 @@
                                  193using InvInt_t = InverterInterface<CircularBufferType>;
                                  194struct inverters
                                  195{
                                  -
                                  196 InvInt_t fl = InvInt_t(&CAN2_txBuffer, ID_MC1_SETPOINTS_COMMAND);
                                  -
                                  197 InvInt_t fr = InvInt_t(&CAN2_txBuffer, ID_MC2_SETPOINTS_COMMAND);
                                  -
                                  198 InvInt_t rl = InvInt_t(&CAN2_txBuffer, ID_MC3_SETPOINTS_COMMAND);
                                  -
                                  199 InvInt_t rr = InvInt_t(&CAN2_txBuffer, ID_MC4_SETPOINTS_COMMAND);
                                  +
                                  196 InvInt_t fl = InvInt_t(&CAN2_txBuffer, ID_MC1_SETPOINTS_COMMAND);
                                  +
                                  197 InvInt_t fr = InvInt_t(&CAN2_txBuffer, ID_MC2_SETPOINTS_COMMAND);
                                  +
                                  198 InvInt_t rl = InvInt_t(&CAN2_txBuffer, ID_MC3_SETPOINTS_COMMAND);
                                  +
                                  199 InvInt_t rr = InvInt_t(&CAN2_txBuffer, ID_MC4_SETPOINTS_COMMAND);
                                  200} inv;
                                  201
                                  202// /*
                                  @@ -502,7 +502,7 @@
                                  424 safety_system.software_shutdown(curr_tick);
                                  425
                                  426 // send CAN
                                  -
                                  427 send_all_CAN_msgs(CAN2_txBuffer, &INV_CAN);
                                  +
                                  427 send_all_CAN_msgs(CAN2_txBuffer, &INV_CAN);
                                  428 send_all_CAN_msgs(CAN3_txBuffer, &TELEM_CAN);
                                  429
                                  430 // Basic debug prints
                                  @@ -828,7 +828,7 @@
                                  SECONDARY_STEERING_SENSE_LEFTMOST_BOUND
                                  const int SECONDARY_STEERING_SENSE_LEFTMOST_BOUND
                                  Definition: MCU_rev15_defs.h:105
                                  SECONDARY_STEERING_SENSE_CENTER
                                  const int SECONDARY_STEERING_SENSE_CENTER
                                  Definition: MCU_rev15_defs.h:107
                                  ADC3_CS
                                  const int ADC3_CS
                                  Definition: MCU_rev15_defs.h:13
                                  -
                                  CANBufferType
                                  Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
                                  Definition: MessageQueueDefine.h:7
                                  +
                                  CANBufferType
                                  Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
                                  Definition: MessageQueueDefine.h:6
                                  @@ -882,13 +882,13 @@
                                  WatchdogInterface::init
                                  void init(unsigned long curr_millis)
                                  Definition: WatchdogInterface.cpp:4
                                  -
                                  CAN2_txBuffer
                                  CANBufferType CAN2_txBuffer
                                  Definition: test_can_interface.cpp:14
                                  on_can2_receive
                                  void on_can2_receive(const CAN_message_t &msg)
                                  Definition: HytechCANInterface.cpp:19
                                  CAN3_rxBuffer
                                  Circular_Buffer< uint8_t,(uint32_t) 16, sizeof(CAN_message_t)> CAN3_rxBuffer
                                  Definition: HytechCANInterface.cpp:5
                                  process_ring_buffer
                                  void process_ring_buffer(BufferType &rx_buffer, const InterfaceType &interfaces, unsigned long curr_millis)
                                  Definition: HytechCANInterface.h:72
                                  send_all_CAN_msgs
                                  void send_all_CAN_msgs(bufferType &buffer, FlexCAN_T4_Base *can_interface)
                                  Definition: HytechCANInterface.h:190
                                  on_can3_receive
                                  void on_can3_receive(const CAN_message_t &msg)
                                  Definition: HytechCANInterface.cpp:26
                                  CAN2_rxBuffer
                                  Circular_Buffer< uint8_t,(uint32_t) 16, sizeof(CAN_message_t)> CAN2_rxBuffer
                                  Definition: HytechCANInterface.cpp:4
                                  +
                                  CAN2_txBuffer
                                  CANBufferType CAN2_txBuffer
                                  Definition: HytechCANInterface.cpp:8
                                  handle_ethernet_socket_receive
                                  void handle_ethernet_socket_receive(EthernetUDP *socket, recv_function_t recv_function, ETHInterfaces &interfaces)
                                  Definition: ProtobufMsgInterface.h:22
                                  recv_pb_stream_union_msg
                                  void recv_pb_stream_union_msg(const uint8_t *buffer, size_t packet_size, ETHInterfaces &interfaces)
                                  Definition: ProtobufMsgInterface.h:54
                                  handle_ethernet_socket_send_pb
                                  bool handle_ethernet_socket_send_pb(EthernetUDP *socket, const pb_struct &msg, const pb_msgdesc_t *msg_desc)
                                  Definition: ProtobufMsgInterface.h:37
                                  diff --git a/state__machine__test_8h.html b/state__machine__test_8h.html index 50862d2b6..c9010e854 100644 --- a/state__machine__test_8h.html +++ b/state__machine__test_8h.html @@ -224,7 +224,7 @@

                                  Definition at line 60 of file state_machine_test.h.

                                  61{
                                  62
                                  -
                                  63 AMSInterface ams(0,0,0,0,0);
                                  +
                                  63 AMSInterface ams(0,0,0,0,0,0);
                                  64 BuzzerController buzzer(50);
                                  65 DrivetrainMock drivetrain;
                                  66 PedalsSystem pedals({},{});
                                  @@ -281,7 +281,7 @@

                                  Definition at line 161 of file state_machine_test.h.

                                  162{
                                  -
                                  163 AMSInterface ams(0,0,0,0,0);
                                  +
                                  163 AMSInterface ams(0,0,0,0,0,0);
                                  164 BuzzerController buzzer(50);
                                  165 DrivetrainMock drivetrain;
                                  166 PedalsSystem pedals({},{});
                                  @@ -348,7 +348,7 @@

                                  Definition at line 196 of file state_machine_test.h.

                                  197{
                                  -
                                  198 AMSInterface ams(0,0,0,0,0);
                                  +
                                  198 AMSInterface ams(0,0,0,0,0,0);
                                  199 BuzzerController buzzer(50);
                                  200 DrivetrainMock drivetrain;
                                  201 PedalsSystem pedals({},{});
                                  @@ -410,7 +410,7 @@

                                  Definition at line 229 of file state_machine_test.h.

                                  230{
                                  231
                                  -
                                  232 AMSInterface ams(0,0,0,0,0);
                                  +
                                  232 AMSInterface ams(0,0,0,0,0,0);
                                  233 BuzzerController buzzer(50);
                                  234 DrivetrainMock drivetrain;
                                  235 drivetrain.drivetrain_error_ = false;
                                  @@ -487,7 +487,7 @@

                                  Definition at line 277 of file state_machine_test.h.

                                  278{
                                  279
                                  -
                                  280 AMSInterface ams(0,0,0,0,0);
                                  +
                                  280 AMSInterface ams(0,0,0,0,0,0);
                                  281 BuzzerController buzzer(50);
                                  282 DrivetrainMock drivetrain;
                                  283 drivetrain.drivetrain_error_ = false;
                                  @@ -564,7 +564,7 @@

                                  Definition at line 78 of file state_machine_test.h.

                                  79{
                                  -
                                  80 AMSInterface ams(0,0,0,0,0);
                                  +
                                  80 AMSInterface ams(0,0,0,0,0,0);
                                  81 BuzzerController buzzer(50);
                                  82 DrivetrainMock drivetrain;
                                  83 PedalsSystem pedals({},{});
                                  @@ -628,7 +628,7 @@

                                  113{
                                  114 unsigned long sys_time = 1000;
                                  115
                                  -
                                  116 AMSInterface ams(0,0,0,0,0);
                                  +
                                  116 AMSInterface ams(0,0,0,0,0,0);
                                  117 BuzzerController buzzer(50);
                                  118 DrivetrainMock drivetrain;
                                  119 PedalsSystem pedals({},{});
                                  diff --git a/state__machine__test_8h_source.html b/state__machine__test_8h_source.html index 009a20ca5..7cee6ad9e 100644 --- a/state__machine__test_8h_source.html +++ b/state__machine__test_8h_source.html @@ -137,7 +137,7 @@
                                  60TEST(MCUStateMachineTesting, test_state_machine_init_tick)
                                  61{
                                  62
                                  -
                                  63 AMSInterface ams(0,0,0,0,0);
                                  +
                                  63 AMSInterface ams(0,0,0,0,0,0);
                                  64 BuzzerController buzzer(50);
                                  65 DrivetrainMock drivetrain;
                                  66 PedalsSystem pedals({},{});
                                  @@ -154,7 +154,7 @@
                                  77
                                  78TEST(MCUStateMachineTesting, test_state_machine_tractive_system_activation)
                                  79{
                                  -
                                  80 AMSInterface ams(0,0,0,0,0);
                                  +
                                  80 AMSInterface ams(0,0,0,0,0,0);
                                  81 BuzzerController buzzer(50);
                                  82 DrivetrainMock drivetrain;
                                  83 PedalsSystem pedals({},{});
                                  @@ -190,7 +190,7 @@
                                  113{
                                  114 unsigned long sys_time = 1000;
                                  115
                                  -
                                  116 AMSInterface ams(0,0,0,0,0);
                                  +
                                  116 AMSInterface ams(0,0,0,0,0,0);
                                  117 BuzzerController buzzer(50);
                                  118 DrivetrainMock drivetrain;
                                  119 PedalsSystem pedals({},{});
                                  @@ -237,7 +237,7 @@
                                  160// test getting into and out of the waiting RTD and ensuring it stays within the state when we want it to
                                  161TEST(MCUStateMachineTesting, test_state_machine_ready_to_drive_alert)
                                  162{
                                  -
                                  163 AMSInterface ams(0,0,0,0,0);
                                  +
                                  163 AMSInterface ams(0,0,0,0,0,0);
                                  164 BuzzerController buzzer(50);
                                  165 DrivetrainMock drivetrain;
                                  166 PedalsSystem pedals({},{});
                                  @@ -272,7 +272,7 @@
                                  195
                                  196TEST(MCUStateMachineTesting, test_state_machine_ready_to_drive_alert_leaving)
                                  197{
                                  -
                                  198 AMSInterface ams(0,0,0,0,0);
                                  +
                                  198 AMSInterface ams(0,0,0,0,0,0);
                                  199 BuzzerController buzzer(50);
                                  200 DrivetrainMock drivetrain;
                                  201 PedalsSystem pedals({},{});
                                  @@ -306,7 +306,7 @@
                                  229TEST(MCUStateMachineTesting, test_state_machine_rtd_state_transitions_to_ts_active)
                                  230{
                                  231
                                  -
                                  232 AMSInterface ams(0,0,0,0,0);
                                  +
                                  232 AMSInterface ams(0,0,0,0,0,0);
                                  233 BuzzerController buzzer(50);
                                  234 DrivetrainMock drivetrain;
                                  235 drivetrain.drivetrain_error_ = false;
                                  @@ -354,7 +354,7 @@
                                  277TEST(MCUStateMachineTesting, test_state_machine_rtd_state_transitions_to_ts_not_active)
                                  278{
                                  279
                                  -
                                  280 AMSInterface ams(0,0,0,0,0);
                                  +
                                  280 AMSInterface ams(0,0,0,0,0,0);
                                  281 BuzzerController buzzer(50);
                                  282 DrivetrainMock drivetrain;
                                  283 drivetrain.drivetrain_error_ = false;
                                  diff --git a/structinverters.html b/structinverters.html index 11e03c6aa..8bc28f552 100644 --- a/structinverters.html +++ b/structinverters.html @@ -78,13 +78,13 @@ - + - + - + - +

                                  Public Attributes

                                  InvInt_t fl = InvInt_t(&CAN2_txBuffer, ID_MC1_SETPOINTS_COMMAND)
                                  InvInt_t fl = InvInt_t(&CAN2_txBuffer, ID_MC1_SETPOINTS_COMMAND)
                                   
                                  InvInt_t fr = InvInt_t(&CAN2_txBuffer, ID_MC2_SETPOINTS_COMMAND)
                                  InvInt_t fr = InvInt_t(&CAN2_txBuffer, ID_MC2_SETPOINTS_COMMAND)
                                   
                                  InvInt_t rl = InvInt_t(&CAN2_txBuffer, ID_MC3_SETPOINTS_COMMAND)
                                  InvInt_t rl = InvInt_t(&CAN2_txBuffer, ID_MC3_SETPOINTS_COMMAND)
                                   
                                  InvInt_t rr = InvInt_t(&CAN2_txBuffer, ID_MC4_SETPOINTS_COMMAND)
                                  InvInt_t rr = InvInt_t(&CAN2_txBuffer, ID_MC4_SETPOINTS_COMMAND)
                                   

                                  Detailed Description

                                  @@ -98,7 +98,7 @@

                                  - +
                                  InvInt_t inverters::fl = InvInt_t(&CAN2_txBuffer, ID_MC1_SETPOINTS_COMMAND)InvInt_t inverters::fl = InvInt_t(&CAN2_txBuffer, ID_MC1_SETPOINTS_COMMAND)

                                  @@ -114,7 +114,7 @@

                                  - +
                                  InvInt_t inverters::fr = InvInt_t(&CAN2_txBuffer, ID_MC2_SETPOINTS_COMMAND)InvInt_t inverters::fr = InvInt_t(&CAN2_txBuffer, ID_MC2_SETPOINTS_COMMAND)

                                  @@ -130,7 +130,7 @@

                                  - +
                                  InvInt_t inverters::rl = InvInt_t(&CAN2_txBuffer, ID_MC3_SETPOINTS_COMMAND)InvInt_t inverters::rl = InvInt_t(&CAN2_txBuffer, ID_MC3_SETPOINTS_COMMAND)

                                  @@ -146,7 +146,7 @@

                                  - +
                                  InvInt_t inverters::rr = InvInt_t(&CAN2_txBuffer, ID_MC4_SETPOINTS_COMMAND)InvInt_t inverters::rr = InvInt_t(&CAN2_txBuffer, ID_MC4_SETPOINTS_COMMAND)

                                  diff --git a/test__can__interface_8cpp.html b/test__can__interface_8cpp.html index c61f14337..7be2be7b8 100644 --- a/test__can__interface_8cpp.html +++ b/test__can__interface_8cpp.html @@ -88,8 +88,8 @@ - - + +

                                  Typedefs

                                  using CircularBufferType = Circular_Buffer< uint8_t,(uint32_t) 16, sizeof(CAN_message_t)>
                                   
                                  using CircularBufferType = CANBufferType
                                   
                                  using InverterInterfaceType = InverterInterface< CircularBufferType >
                                   
                                  @@ -110,22 +110,28 @@ - - - + + + + + + + + +
                                   
                                  CAN_message_t msg
                                   
                                  InverterInterfaceType fl_inv & CAN2_txBuffer
                                   
                                  CANInterfaces< CircularBufferType > CAN_interfaces = {&fl_inv, &fr_inv, &rl_inv, &rr_inv, 0, 0, 0}
                                  InverterInterfaceType fl_inv = InverterInterfaceType(&CAN2_txBuffer, MC1_SETPOINTS_COMMAND_CANID)
                                   
                                  InverterInterfaceType fr_inv = InverterInterfaceType(&CAN2_txBuffer, MC2_SETPOINTS_COMMAND_CANID)
                                   
                                  InverterInterfaceType rl_inv = InverterInterfaceType(&CAN2_txBuffer, MC3_SETPOINTS_COMMAND_CANID)
                                   
                                  InverterInterfaceType rr_inv = InverterInterfaceType(&CAN2_txBuffer, MC4_SETPOINTS_COMMAND_CANID)
                                   
                                  CANInterfaces< CircularBufferType > CAN_interfaces = {&fl_inv, &fr_inv, &rl_inv, &rr_inv, 0, 0, 0}
                                   
                                  bool ran_test = false
                                   

                                  Typedef Documentation

                                  -                                   -

                                  ◆ CircularBufferType

                                  + +

                                  ◆ CircularBufferType

                                  - +
                                  using CircularBufferType = Circular_Buffer<uint8_t, (uint32_t)16, sizeof(CAN_message_t)>using CircularBufferType = CANBufferType
                                  @@ -242,7 +248,7 @@

                                  81 Serial.println("======= TEST 3 =======");

                                  82 // command the rl inverter to reset (sets the remove error flag on mc setpoints command)
                                  83 // queues onto tx buffer
                                  -
                                  84 rl_inv.command_reset();
                                  +
                                  84 rl_inv.command_reset();
                                  85 // msg.id = random(0x1, 0x7FE);
                                  86 // for (uint8_t i = 0; i < 8; i++) msg.buf[i] = i + 1;
                                  87 // uint8_t buf2[sizeof(CAN_message_t)];
                                  @@ -252,12 +258,12 @@

                                  91

                                  92 Serial.println("can2 tx buffer size: (should be 1)");
                                  93
                                  -
                                  94 Serial.println(CAN2_txBuffer.available());
                                  -
                                  95 send_all_CAN_msgs(CAN2_txBuffer, &TEST_CAN2);
                                  +
                                  94 Serial.println(CAN2_txBuffer.available());
                                  +
                                  95 send_all_CAN_msgs(CAN2_txBuffer, &TEST_CAN2);
                                  96
                                  97 Serial.println("can2 tx buffer size: (should be 0)");
                                  98
                                  -
                                  99 Serial.println(CAN2_txBuffer.available());
                                  +
                                  99 Serial.println(CAN2_txBuffer.available());
                                  100 Serial.println("sent on can2");
                                  101 delay(10);
                                  102 Serial.println("can1 rx buffer size: (should be 1) ");
                                  @@ -271,8 +277,8 @@

                                  110

                                  111 Serial.println("======= TEST 4 =======");
                                  112
                                  -
                                  113 rl_inv.command_reset();
                                  -
                                  114 send_all_CAN_msgs(CAN2_txBuffer, &TEST_CAN2);
                                  +
                                  113 rl_inv.command_reset();
                                  +
                                  114 send_all_CAN_msgs(CAN2_txBuffer, &TEST_CAN2);
                                  115
                                  116 delay(10);
                                  117 CAN_message_t recvd_msg;
                                  @@ -296,12 +302,14 @@

                                  135 }

                                  136 }
                                  137}
                                  +
                                  process_ring_buffer
                                  void process_ring_buffer(BufferType &rx_buffer, const InterfaceType &interfaces, unsigned long curr_millis)
                                  Definition: HytechCANInterface.h:72
                                  send_all_CAN_msgs
                                  void send_all_CAN_msgs(bufferType &buffer, FlexCAN_T4_Base *can_interface)
                                  Definition: HytechCANInterface.h:190
                                  CAN1_rxBuffer
                                  Circular_Buffer< uint8_t,(uint32_t) 16, sizeof(CAN_message_t)> CAN1_rxBuffer
                                  Definition: HytechCANInterface.cpp:3
                                  -
                                  CAN2_txBuffer
                                  InverterInterfaceType fl_inv & CAN2_txBuffer
                                  Definition: test_can_interface.cpp:13
                                  +
                                  CAN2_txBuffer
                                  CANBufferType CAN2_txBuffer
                                  Definition: HytechCANInterface.cpp:8
                                  msg
                                  CAN_message_t msg
                                  Definition: test_can_interface.cpp:9
                                  CAN_interfaces
                                  CANInterfaces< CircularBufferType > CAN_interfaces
                                  Definition: test_can_interface.cpp:18
                                  +
                                  rl_inv
                                  InverterInterfaceType rl_inv
                                  Definition: test_can_interface.cpp:15
                                  ran_test
                                  bool ran_test
                                  Definition: test_can_interface.cpp:48

                                  @@ -335,14 +343,30 @@

                                  Variable Documentation

                                  - -

                                  ◆ CAN2_txBuffer

                                  + +

                                  ◆ CAN_interfaces

                                  - + + +
                                  InverterInterfaceType rr_inv& CAN2_txBufferCANInterfaces<CircularBufferType> CAN_interfaces = {&fl_inv, &fr_inv, &rl_inv, &rr_inv, 0, 0, 0}
                                  +
                                  + +

                                  Definition at line 18 of file test_can_interface.cpp.

                                  + +
                                  +
                                  + +

                                  ◆ fl_inv

                                  + +
                                  +
                                  + + +
                                  InverterInterfaceType fl_inv = InverterInterfaceType(&CAN2_txBuffer, MC1_SETPOINTS_COMMAND_CANID)
                                  @@ -351,19 +375,19 @@

                                  -

                                  ◆ CAN_interfaces

                                  + +

                                  ◆ fr_inv

                                  - +
                                  CANInterfaces<CircularBufferType> CAN_interfaces = {&fl_inv, &fr_inv, &rl_inv, &rr_inv, 0, 0, 0}InverterInterfaceType fr_inv = InverterInterfaceType(&CAN2_txBuffer, MC2_SETPOINTS_COMMAND_CANID)
                                  -

                                  Definition at line 18 of file test_can_interface.cpp.

                                  +

                                  Definition at line 14 of file test_can_interface.cpp.

                                  @@ -397,6 +421,38 @@

                                  Definition at line 48 of file test_can_interface.cpp.

                                  +

                                  +
                                  + +

                                  ◆ rl_inv

                                  + +
                                  +
                                  + + + + +
                                  InverterInterfaceType rl_inv = InverterInterfaceType(&CAN2_txBuffer, MC3_SETPOINTS_COMMAND_CANID)
                                  +
                                  + +

                                  Definition at line 15 of file test_can_interface.cpp.

                                  + +
                                  +
                                  + +

                                  ◆ rr_inv

                                  + +
                                  +
                                  + + + + +
                                  InverterInterfaceType rr_inv = InverterInterfaceType(&CAN2_txBuffer, MC4_SETPOINTS_COMMAND_CANID)
                                  +
                                  + +

                                  Definition at line 16 of file test_can_interface.cpp.

                                  +
                                  diff --git a/test__can__interface_8cpp_source.html b/test__can__interface_8cpp_source.html index 69c179fb9..a8810b108 100644 --- a/test__can__interface_8cpp_source.html +++ b/test__can__interface_8cpp_source.html @@ -86,14 +86,14 @@
                                  8
                                  9CAN_message_t msg;
                                  10
                                  -
                                  11using CircularBufferType = Circular_Buffer<uint8_t, (uint32_t)16, sizeof(CAN_message_t)>;
                                  +
                                  11using CircularBufferType = CANBufferType;
                                  12using InverterInterfaceType = InverterInterface<CircularBufferType>;
                                  -
                                  13InverterInterfaceType fl_inv(&CAN2_txBuffer, ID_MC1_SETPOINTS_COMMAND);
                                  -
                                  14InverterInterfaceType fr_inv(&CAN2_txBuffer, ID_MC2_SETPOINTS_COMMAND);
                                  -
                                  15InverterInterfaceType rl_inv(&CAN2_txBuffer, ID_MC3_SETPOINTS_COMMAND);
                                  -
                                  16InverterInterfaceType rr_inv(&CAN2_txBuffer, ID_MC4_SETPOINTS_COMMAND);
                                  +
                                  13InverterInterfaceType fl_inv = InverterInterfaceType(&CAN2_txBuffer, MC1_SETPOINTS_COMMAND_CANID);
                                  +
                                  14InverterInterfaceType fr_inv = InverterInterfaceType(&CAN2_txBuffer, MC2_SETPOINTS_COMMAND_CANID);
                                  +
                                  15InverterInterfaceType rl_inv = InverterInterfaceType(&CAN2_txBuffer, MC3_SETPOINTS_COMMAND_CANID);
                                  +
                                  16InverterInterfaceType rr_inv = InverterInterfaceType(&CAN2_txBuffer, MC4_SETPOINTS_COMMAND_CANID);
                                  17
                                  -
                                  18CANInterfaces<CircularBufferType> CAN_interfaces = {&fl_inv, &fr_inv, &rl_inv, &rr_inv, 0, 0, 0};
                                  +
                                  18CANInterfaces<CircularBufferType> CAN_interfaces = {&fl_inv, &fr_inv, &rl_inv, &rr_inv, 0, 0, 0};
                                  19
                                  20void init_can_interface()
                                  21{
                                  @@ -159,7 +159,7 @@
                                  81 Serial.println("======= TEST 3 =======");
                                  82 // command the rl inverter to reset (sets the remove error flag on mc setpoints command)
                                  83 // queues onto tx buffer
                                  -
                                  84 rl_inv.command_reset();
                                  +
                                  84 rl_inv.command_reset();
                                  85 // msg.id = random(0x1, 0x7FE);
                                  86 // for (uint8_t i = 0; i < 8; i++) msg.buf[i] = i + 1;
                                  87 // uint8_t buf2[sizeof(CAN_message_t)];
                                  @@ -169,12 +169,12 @@
                                  91
                                  92 Serial.println("can2 tx buffer size: (should be 1)");
                                  93
                                  -
                                  94 Serial.println(CAN2_txBuffer.available());
                                  -
                                  95 send_all_CAN_msgs(CAN2_txBuffer, &TEST_CAN2);
                                  +
                                  94 Serial.println(CAN2_txBuffer.available());
                                  +
                                  95 send_all_CAN_msgs(CAN2_txBuffer, &TEST_CAN2);
                                  96
                                  97 Serial.println("can2 tx buffer size: (should be 0)");
                                  98
                                  -
                                  99 Serial.println(CAN2_txBuffer.available());
                                  +
                                  99 Serial.println(CAN2_txBuffer.available());
                                  100 Serial.println("sent on can2");
                                  101 delay(10);
                                  102 Serial.println("can1 rx buffer size: (should be 1) ");
                                  @@ -188,8 +188,8 @@
                                  110
                                  111 Serial.println("======= TEST 4 =======");
                                  112
                                  -
                                  113 rl_inv.command_reset();
                                  -
                                  114 send_all_CAN_msgs(CAN2_txBuffer, &TEST_CAN2);
                                  +
                                  113 rl_inv.command_reset();
                                  +
                                  114 send_all_CAN_msgs(CAN2_txBuffer, &TEST_CAN2);
                                  115
                                  116 delay(10);
                                  117 CAN_message_t recvd_msg;
                                  @@ -213,22 +213,29 @@
                                  135 }
                                  136 }
                                  137}
                                  +
                                  CANBufferType
                                  Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
                                  Definition: MessageQueueDefine.h:6
                                  +
                                  on_can2_receive
                                  void on_can2_receive(const CAN_message_t &msg)
                                  Definition: HytechCANInterface.cpp:19
                                  process_ring_buffer
                                  void process_ring_buffer(BufferType &rx_buffer, const InterfaceType &interfaces, unsigned long curr_millis)
                                  Definition: HytechCANInterface.h:72
                                  send_all_CAN_msgs
                                  void send_all_CAN_msgs(bufferType &buffer, FlexCAN_T4_Base *can_interface)
                                  Definition: HytechCANInterface.h:190
                                  CAN1_rxBuffer
                                  Circular_Buffer< uint8_t,(uint32_t) 16, sizeof(CAN_message_t)> CAN1_rxBuffer
                                  Definition: HytechCANInterface.cpp:3
                                  on_can1_receive
                                  void on_can1_receive(const CAN_message_t &msg)
                                  Definition: HytechCANInterface.cpp:12
                                  +
                                  CAN2_txBuffer
                                  CANBufferType CAN2_txBuffer
                                  Definition: HytechCANInterface.cpp:8
                                  CircularBufferType
                                  CANBufferType CircularBufferType
                                  Definition: main.cpp:163
                                  +
                                  fl_inv
                                  InverterInterfaceType fl_inv
                                  Definition: test_can_interface.cpp:13
                                  +
                                  InverterInterfaceType
                                  InverterInterface< CircularBufferType > InverterInterfaceType
                                  Definition: test_can_interface.cpp:12
                                  init_can_interface
                                  void init_can_interface()
                                  Definition: test_can_interface.cpp:20
                                  -
                                  CAN2_txBuffer
                                  InverterInterfaceType fl_inv & CAN2_txBuffer
                                  Definition: test_can_interface.cpp:13
                                  msg
                                  CAN_message_t msg
                                  Definition: test_can_interface.cpp:9
                                  setup
                                  void setup(void)
                                  Definition: test_can_interface.cpp:40
                                  TEST_CAN2
                                  FlexCAN_T4< CAN2, RX_SIZE_256, TX_SIZE_16 > TEST_CAN2
                                  Definition: test_can_interface.cpp:7
                                  CAN_interfaces
                                  CANInterfaces< CircularBufferType > CAN_interfaces
                                  Definition: test_can_interface.cpp:18
                                  +
                                  rl_inv
                                  InverterInterfaceType rl_inv
                                  Definition: test_can_interface.cpp:15
                                  TEST_CAN1
                                  FlexCAN_T4< CAN1, RX_SIZE_256, TX_SIZE_16 > TEST_CAN1
                                  Definition: test_can_interface.cpp:6
                                  +
                                  fr_inv
                                  InverterInterfaceType fr_inv
                                  Definition: test_can_interface.cpp:14
                                  ran_test
                                  bool ran_test
                                  Definition: test_can_interface.cpp:48
                                  +
                                  rr_inv
                                  InverterInterfaceType rr_inv
                                  Definition: test_can_interface.cpp:16
                                  loop
                                  void loop()
                                  Definition: test_can_interface.cpp:49

                                  diff --git a/test__interfaces_8cpp.html b/test__interfaces_8cpp.html new file mode 100644 index 000000000..d1d33ff00 --- /dev/null +++ b/test__interfaces_8cpp.html @@ -0,0 +1,259 @@ + + + + + + + +MCU: test/test_interfaces/test_interfaces.cpp File Reference + + + + + + + + + +
                                  +
                                  + + + + + + +
                                  +
                                  MCU +
                                  +
                                  +
                                  + + + + + + + + +
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                                  + + +
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                                  +
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                                  +
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                                  + + +
                                  +
                                  +
                                  +Functions
                                  +
                                  test_interfaces.cpp File Reference
                                  +
                                  +
                                  +
                                  #include <Arduino.h>
                                  +#include <unity.h>
                                  +#include "AMS_interface_test.h"
                                  +#include "dashboard_interface_test.h"
                                  +#include "Watchdog_interface_test.h"
                                  +#include "Coulomb_Counting_Tests.h"
                                  +#include "MCU_rev15_defs.h"
                                  +
                                  +

                                  Go to the source code of this file.

                                  + + + + + + + + + + + + +

                                  +Functions

                                  void tearDown (void)
                                   
                                  int runUnityTests (void)
                                   
                                  void on_can_receive ()
                                   
                                  void setup ()
                                   
                                  void loop ()
                                   
                                  +

                                  Function Documentation

                                  + +

                                  ◆ loop()

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                                  void loop ()
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                                  Definition at line 55 of file test_interfaces.cpp.

                                  +
                                  55 {
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                                  56
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                                  57}
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                                  ◆ on_can_receive()

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                                  void on_can_receive ()
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                                  Definition at line 43 of file test_interfaces.cpp.

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                                  43{} // do nothing
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                                  ◆ runUnityTests()

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                                  int runUnityTests (void )
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                                  Definition at line 15 of file test_interfaces.cpp.

                                  +
                                  16{
                                  +
                                  17 UNITY_BEGIN();
                                  +
                                  18 /* TEST DASHBOARD */
                                  +
                                  19 // RUN_TEST(test_dashboard_unpacking_can_message);
                                  +
                                  20 // RUN_TEST(test_dashboard_circular_buffer);
                                  +
                                  21
                                  +
                                  22 /* TEST CAN INTERFACE*/
                                  +
                                  23 // RUN_TEST(test_can_interface_send)
                                  +
                                  24 // RUN_TEST(test_can_interface_send_and_receive_raw)
                                  +
                                  25
                                  +
                                  26 /* TEST TELEMETRY */
                                  +
                                  27 // RUN_TEST(test_telemetry_update_CAN);
                                  +
                                  28
                                  +
                                  29 /* TEST AMS */
                                  +
                                  30 RUN_TEST(test_AMS_heartbeat);
                                  +
                                  31 RUN_TEST(test_current_shunt_CAN_message);
                                  +
                                  32 RUN_TEST(test_bms_voltages_CAN_message);
                                  +
                                  33 RUN_TEST(test_em_measurements_CAN_message);
                                  +
                                  34
                                  +
                                  35 /* TEST Coulomb Counting */
                                  +
                                  36 RUN_TEST(test_initialize_charge);
                                  +
                                  37 RUN_TEST(test_calculate_SoC_em);
                                  +
                                  38 RUN_TEST(test_calculate_SoC_acu);
                                  +
                                  39
                                  +
                                  40 return UNITY_END();
                                  +
                                  41}
                                  +
                                  test_em_measurements_CAN_message
                                  void test_em_measurements_CAN_message()
                                  Definition: AMS_interface_test.h:90
                                  +
                                  test_current_shunt_CAN_message
                                  void test_current_shunt_CAN_message()
                                  Definition: AMS_interface_test.h:29
                                  +
                                  test_bms_voltages_CAN_message
                                  void test_bms_voltages_CAN_message()
                                  Definition: AMS_interface_test.h:52
                                  +
                                  test_AMS_heartbeat
                                  void test_AMS_heartbeat()
                                  Definition: AMS_interface_test.h:117
                                  +
                                  test_initialize_charge
                                  void test_initialize_charge()
                                  Definition: Coulomb_Counting_Tests.h:10
                                  +
                                  test_calculate_SoC_em
                                  void test_calculate_SoC_em()
                                  Definition: Coulomb_Counting_Tests.h:55
                                  +
                                  test_calculate_SoC_acu
                                  void test_calculate_SoC_acu()
                                  Definition: Coulomb_Counting_Tests.h:144
                                  +
                                  +
                                  +
                                  + +

                                  ◆ setup()

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                                  + + + + + + + + +
                                  void setup (void )
                                  +
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                                  Definition at line 45 of file test_interfaces.cpp.

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                                  45 {
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                                  46
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                                  47 delay(500);
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                                  48
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                                  49 Serial.begin(115200);
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                                  50
                                  +
                                  51 runUnityTests();
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                                  52
                                  +
                                  53}
                                  +
                                  runUnityTests
                                  int runUnityTests(void)
                                  Definition: test_interfaces.cpp:15
                                  +
                                  +
                                  +
                                  + +

                                  ◆ tearDown()

                                  + +
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                                  void tearDown (void )
                                  +
                                  + +

                                  Definition at line 10 of file test_interfaces.cpp.

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                                  11{
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                                  12
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                                  13}
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                                  test_interfaces.cpp
                                  +
                                  +
                                  +Go to the documentation of this file.
                                  1#include <Arduino.h>
                                  +
                                  2#include <unity.h>
                                  +
                                  3
                                  +
                                  4#include "AMS_interface_test.h"
                                  +
                                  5#include "dashboard_interface_test.h"
                                  +
                                  6#include "Watchdog_interface_test.h"
                                  +
                                  7#include "Coulomb_Counting_Tests.h"
                                  +
                                  8#include "MCU_rev15_defs.h"
                                  +
                                  9
                                  +
                                  10void tearDown(void)
                                  +
                                  11{
                                  +
                                  12
                                  +
                                  13}
                                  +
                                  14
                                  +
                                  15int runUnityTests(void)
                                  +
                                  16{
                                  +
                                  17 UNITY_BEGIN();
                                  +
                                  18 /* TEST DASHBOARD */
                                  +
                                  19 // RUN_TEST(test_dashboard_unpacking_can_message);
                                  +
                                  20 // RUN_TEST(test_dashboard_circular_buffer);
                                  +
                                  21
                                  +
                                  22 /* TEST CAN INTERFACE*/
                                  +
                                  23 // RUN_TEST(test_can_interface_send)
                                  +
                                  24 // RUN_TEST(test_can_interface_send_and_receive_raw)
                                  +
                                  25
                                  +
                                  26 /* TEST TELEMETRY */
                                  +
                                  27 // RUN_TEST(test_telemetry_update_CAN);
                                  +
                                  28
                                  +
                                  29 /* TEST AMS */
                                  +
                                  30 RUN_TEST(test_AMS_heartbeat);
                                  +
                                  31 RUN_TEST(test_current_shunt_CAN_message);
                                  +
                                  32 RUN_TEST(test_bms_voltages_CAN_message);
                                  +
                                  33 RUN_TEST(test_em_measurements_CAN_message);
                                  +
                                  34
                                  +
                                  35 /* TEST Coulomb Counting */
                                  +
                                  36 RUN_TEST(test_initialize_charge);
                                  +
                                  37 RUN_TEST(test_calculate_SoC_em);
                                  +
                                  38 RUN_TEST(test_calculate_SoC_acu);
                                  +
                                  39
                                  +
                                  40 return UNITY_END();
                                  +
                                  41}
                                  +
                                  42
                                  +
                                  43void on_can_receive() {} // do nothing
                                  +
                                  44
                                  +
                                  45void setup() {
                                  +
                                  46
                                  +
                                  47 delay(500);
                                  +
                                  48
                                  +
                                  49 Serial.begin(115200);
                                  +
                                  50
                                  +
                                  51 runUnityTests();
                                  +
                                  52
                                  +
                                  53}
                                  +
                                  54
                                  +
                                  55void loop() {
                                  +
                                  56
                                  +
                                  57}
                                  +
                                  AMS_interface_test.h
                                  +
                                  test_em_measurements_CAN_message
                                  void test_em_measurements_CAN_message()
                                  Definition: AMS_interface_test.h:90
                                  +
                                  test_current_shunt_CAN_message
                                  void test_current_shunt_CAN_message()
                                  Definition: AMS_interface_test.h:29
                                  +
                                  test_bms_voltages_CAN_message
                                  void test_bms_voltages_CAN_message()
                                  Definition: AMS_interface_test.h:52
                                  +
                                  test_AMS_heartbeat
                                  void test_AMS_heartbeat()
                                  Definition: AMS_interface_test.h:117
                                  +
                                  Coulomb_Counting_Tests.h
                                  +
                                  test_initialize_charge
                                  void test_initialize_charge()
                                  Definition: Coulomb_Counting_Tests.h:10
                                  +
                                  test_calculate_SoC_em
                                  void test_calculate_SoC_em()
                                  Definition: Coulomb_Counting_Tests.h:55
                                  +
                                  test_calculate_SoC_acu
                                  void test_calculate_SoC_acu()
                                  Definition: Coulomb_Counting_Tests.h:144
                                  +
                                  MCU_rev15_defs.h
                                  +
                                  Watchdog_interface_test.h
                                  +
                                  dashboard_interface_test.h
                                  +
                                  on_can_receive
                                  void on_can_receive()
                                  Definition: test_interfaces.cpp:43
                                  +
                                  setup
                                  void setup()
                                  Definition: test_interfaces.cpp:45
                                  +
                                  tearDown
                                  void tearDown(void)
                                  Definition: test_interfaces.cpp:10
                                  +
                                  runUnityTests
                                  int runUnityTests(void)
                                  Definition: test_interfaces.cpp:15
                                  +
                                  loop
                                  void loop()
                                  Definition: test_interfaces.cpp:55
                                  +
                                  + +
                                  +Generated by doxygen 1.9.5 +
                                  + +