Feature/thermistor interface

include/MCU_rev15_defs.h

@@ -8,9 +8,9 @@
 
 
 // pindefs
-const int ADC1_CS = 34;
-const int ADC2_CS = 33;
-const int ADC3_CS = 29;
+const int ADC1_CS = 34;     // Main ECU
+const int ADC2_CS = 33;     // FL corner board
+const int ADC3_CS = 29;     // FR corner board
 const int SOFTWARE_OK       = 8;
 const int WATCHDOG_INPUT    = 32;
 
@@ -32,17 +32,20 @@ const int MCU15_FR_LOADCELL_CHANNEL     = 2;
 
 //MCU teensy analog channels
 const int MCU15_TEENSY_ADC_CHANNELS = 2;
+// const int MCU15_NUM_THERMISTORS = 2;
 const int MCU15_THERM_FL = 38;
 const int MCU15_THERM_FR = 41;
-const int MCU15_THERM_FL_CHANNEL = 0;
-const int MCU15_THERM_FR_CHANNEL = 1;
+// const int MCU15_THERM_FL_CHANNEL = 0;
+// const int MCU15_THERM_FR_CHANNEL = 1;
 
 const int DEFAULT_ANALOG_PINS[MCU15_TEENSY_ADC_CHANNELS] = {MCU15_THERM_FL, MCU15_THERM_FR};
 // Time intervals
 const unsigned long SETUP_PRESENT_ACTION_INTERVAL       = 1000;
 const unsigned long BUZZER_ON_INTERVAL                  = 2000;
 const unsigned long INVERTER_ENABLING_TIMEOUT_INTERVAL  = 5000;
 
+//glv sense conversion
+const float GLV_SENSE_SCALE = .0073 * 4.0865;
 // Communication speeds
 const unsigned long INV_CAN_BAUDRATE    = 500000;
 const unsigned long TELEM_CAN_BAUDRATE  = 500000;
@@ -51,17 +54,17 @@ const unsigned long TELEM_CAN_BAUDRATE  = 500000;
 // All of these values are the PEDAL min/max
 // the sensor min/max that trip implaus are calculated
 // in the PedalsSystem constructor
-const int ACCEL1_PEDAL_MAX = 3330;
-const int ACCEL2_PEDAL_MAX = 388;
+const int ACCEL1_PEDAL_MAX = 3409;  // 3330
+const int ACCEL2_PEDAL_MAX = 259;   // 388
 
-const int ACCEL1_PEDAL_MIN = 2124;
+const int ACCEL1_PEDAL_MIN = 2129;
 const int ACCEL2_PEDAL_MIN = 1517;
 
-const int BRAKE1_PEDAL_MAX = 2200;
-const int BRAKE2_PEDAL_MAX = 2200;
+const int BRAKE1_PEDAL_MAX = 1828;  // 2200;
+const int BRAKE2_PEDAL_MAX = 1857;  // 2200;
 
-const int BRAKE1_PEDAL_MIN = 785;
-const int BRAKE2_PEDAL_MIN = 785;
+const int BRAKE1_PEDAL_MIN = 1184;  // 785;    // 1230 to 1750
+const int BRAKE2_PEDAL_MIN = 2486;  // 785;    // 2450 to 1930
 
 const int ACCEL1_PEDAL_OOR_MIN = 90;
 const int ACCEL2_PEDAL_OOR_MIN = 90;
@@ -76,7 +79,7 @@ const int BRAKE1_PEDAL_OOR_MAX = 4000;
 const int BRAKE2_PEDAL_OOR_MAX = 4000;
 
 const float DEFAULT_PEDAL_DEADZONE = 0.05f;
-const float DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN = 0.10f;
+const float DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN = 0.12f;
 
 const float APPS_ACTIVATION_PERCENTAGE = 0.1f;
 const float BRAKE_ACTIVATION_PERCENTAGE = 0.05f;
@@ -85,24 +88,28 @@ const float BRAKE_MECH_THRESH = 0.40f;
 // Load Cell Defs to convert raw to lbs
 // lbs = (raw + offset) * scale
 
-const float LOADCELL_FL_SCALE = 0.0554;
-const float LOADCELL_FL_OFFSET = 19.976 / LOADCELL_FL_SCALE;
+const float LOADCELL_FL_SCALE = 0.1053;
+const float LOADCELL_FL_OFFSET = 19.674 / LOADCELL_FL_SCALE;
 
-const float LOADCELL_FR_SCALE = 0.0514;
-const float LOADCELL_FR_OFFSET = 19.892 / LOADCELL_FR_SCALE;
+const float LOADCELL_FR_SCALE = 0.097;
+const float LOADCELL_FR_OFFSET = 21.183 / LOADCELL_FR_SCALE;
 
-const float LOADCELL_RL_SCALE = 0.0595;
-const float LOADCELL_RL_OFFSET = 7.148 / LOADCELL_RL_SCALE;
+const float LOADCELL_RL_SCALE = 0.1149;
+const float LOADCELL_RL_OFFSET = 13.526 / LOADCELL_RL_SCALE;
 
-const float LOADCELL_RR_SCALE = 0.06;
-const float LOADCELL_RR_OFFSET = 23.761 / LOADCELL_RR_SCALE;
+const float LOADCELL_RR_SCALE = 0.118;
+const float LOADCELL_RR_OFFSET = 25.721 / LOADCELL_RR_SCALE;
 
 // Steering parameters
 const float PRIMARY_STEERING_SENSE_OFFSET = 0.0; // units are degrees
-const int SECONDARY_STEERING_SENSE_LEFTMOST_BOUND = 785;    // 794    // 812    // 130 deg
-const int SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND = 3087;    // 3075    // 3179    // 134 deg
-const int SECONDARY_STEERING_SENSE_CENTER = 1945;    // 1960    // 1970
-const float STEERING_RANGE_DEGREES = 257.0f;    // 253.0f    // 256.05f   // 134+130-7(slop)
+const int SECONDARY_STEERING_SENSE_LEFTMOST_BOUND = 790;    // 785;    // 794    // 812    // 130 deg    // 128.95
+const int SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND = 3133;  // 3087;    // 3075    // 3179    // 134 deg    // 132.79
+const int SECONDARY_STEERING_SENSE_CENTER = 1985;   // 1945    // 1960    // 1970
+const float STEERING_RANGE_DEGREES = 254.74;    //257.0f    // 253.0f    // 256.05f   // 134+130-7(slop)
 const float STEERING_IIR_ALPHA = 0.7f;  // shaves off around 1 deg of max discrepancy
 
+// TC parameters
+const float SIMPLE_TC_REAR_TORQUE_SCALE  = 1.0;
+const float SIMPLE_TC_REGEN_TORQUE_SCALE = 0.4;
+
 #endif /* __MCU15_H__ */

lib/interfaces/include/AMSInterface.h

@@ -3,6 +3,9 @@
 
 #include "FlexCAN_T4.h"
 #include "HyTech_CAN.h"
+#include "SysClock.h"
+#include "hytech.h"
+#include "MessageQueueDefine.h"
 
 /* Heartbeat Interval is the allowable amount of time between BMS status messages before car delatches */
 const unsigned long HEARTBEAT_INTERVAL                      = 2000;   // milliseconds
@@ -15,6 +18,8 @@ const float DEFAULT_INIT_TEMP       = 40.0;
 const float DEFAULT_INIT_VOLTAGE    = 3.5;
 const float DEFAULT_TEMP_ALPHA      = 0.8;
 const float DEFAULT_VOLTAGE_ALPHA   = 0.8;
+const uint16_t MAX_PACK_CHARGE      = 48600;
+const unsigned long DEFAULT_INITIALIZATION_WAIT_INTERVAL = 5000;
 
 
 /// @brief this class is for interfacing with the AMS (accumulator management system) 
@@ -26,19 +31,26 @@ class AMSInterface
         @param sw_ok_pin The software ok pin number.
         This pin is connected to the shutdown line and will go low if the AMS times out
     */
-    AMSInterface(int sw_ok_pin, float init_temp, float init_volt, float temp_alpha, float volt_alpha):        
+    AMSInterface(CANBufferType *msg_output_queue, int sw_ok_pin, float init_temp, float init_volt, float temp_alpha, float volt_alpha):        
+        msg_queue_(msg_output_queue),
         pin_software_ok_(sw_ok_pin),
         filtered_max_cell_temp(init_temp),
         filtered_min_cell_voltage(init_volt),
         cell_temp_alpha(temp_alpha),
-        cell_voltage_alpha(volt_alpha) {};
+        cell_voltage_alpha(volt_alpha),
+        use_em_for_soc_(true),
+        charge_(0.0f),
+        SoC_(0.0f),
+        has_initialized_charge_(false),
+        has_received_bms_voltage_(false),
+        initialization_startup_interval_(DEFAULT_INITIALIZATION_WAIT_INTERVAL) {};
 
     /* Overloaded constructor that only takes in software OK pin and uses default voltages and temp*/
-    AMSInterface(int sw_ok_pin):
-        AMSInterface(sw_ok_pin, DEFAULT_INIT_TEMP, DEFAULT_INIT_VOLTAGE, DEFAULT_TEMP_ALPHA, DEFAULT_VOLTAGE_ALPHA) {};
+    AMSInterface(CANBufferType *msg_output_queue, int sw_ok_pin):
+        AMSInterface(msg_output_queue, sw_ok_pin, DEFAULT_INIT_TEMP, DEFAULT_INIT_VOLTAGE, DEFAULT_TEMP_ALPHA, DEFAULT_VOLTAGE_ALPHA) {};
 
     /* Initialize the heartbeat timer */
-    void init(unsigned long curr_millis);
+    void init(SysTick_s &initial_tick);
 
     /* Init software OK pin by setting high*/
     void set_start_state();
@@ -60,32 +72,143 @@ class AMSInterface
     float get_filtered_max_cell_temp();
     /* IIR filter and return filtered min cell voltage */
     float get_filtered_min_cell_voltage();
+    /*gets the derate factor for acc system*/
+    float get_acc_derate_factor();
+
+    /**
+     * Initializes the charge member variable from the voltage of the minimum cell using the VOLTAGE_LOOKUP_TABLE.
+     * 
+     * @pre The bms_voltages_ member variable MUST be initialized before this function can be called.
+     * @return The charge, in coulombs, that the charge member variable is initialized to.
+    */
+    float initialize_charge();
+
+    /**
+     * Calculates SoC based on the energy meter CAN message. Calling calculate_SoC_em()
+     * will update the SoC_ and charge_ member variables.
+     * 
+     * @param The current tick that the calculate_SoC_em function should use for integration.
+     * 
+     * @pre The last_tick_ member variable must be updated correctly.
+     * @post The charge_ field has the updated charge, and the SoC field contains an updated percentage.
+    */
+    void calculate_SoC_em(const SysTick_s &tick);
+
+    /**
+     * Calculates SoC based on the ACU_SHUNT_MEASUREMENTS CAN message. Calling calculate_SoC_acu()
+     * will update the SoC_ and charge_ member variables.
+     * 
+     * @param The current tick that the calculate_SoC_em function should use for integration.
+     * 
+     * @pre The last_tick_ member variable must be updated correctly.
+     * @post The charge_ field has the updated charge, and the SoC field contains an updated percentage.
+    */
+    void calculate_SoC_acu(const SysTick_s &tick);
+
+    /**
+     * Retrieves the value of the SoC member variable. This function does NOT recalculate
+     * the SoC_ variable, it only returns the value that is stored.
+     * 
+     * @return the current value stored in the SoC_ member variable.
+    */
+    float get_SoC() {return SoC_;}
+
+    /**
+     * This is AMSInterface's tick() function. It behaves correctly regardless of the
+     * since the functions calculate the elapsed time between the given tick and the stored last_tick_.
+     * 
+     * @param tick The current system tick.
+    */
+    void tick(const SysTick_s &tick);
 
     //RETRIEVE CAN MESSAGES//
-    /* read BMS status messages */
+
+    /**
+     * Reads this CAN message into the bms_status_ member variable. This function uses the OLD CAN library.
+     */
     void retrieve_status_CAN(unsigned long curr_millis, CAN_message_t &recvd_msg);
-    /* read BMS temperature messages */
+
+    /**
+     * Reads this CAN message into the bms_temperatures_ member variable. This function uses the OLD CAN library.
+     */
     void retrieve_temp_CAN(CAN_message_t &recvd_msg);
-    /* read BMS voltage messages */
+
+    /**
+     * 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.
+     */
     void retrieve_voltage_CAN(CAN_message_t &recvd_msg);
+
+    /*Updates Acc_derate_factor*/
+    void calculate_acc_derate_factor();
+
+    /**
+     * Reads this CAN message into the em_measurements_ member variable. This function
+     * does NOT apply the fromS() functions on the data. This function uses the NEW CAN library.
+     */
+    void retrieve_em_measurement_CAN(CAN_message_t &can_msg);
+
+    /**
+     * Reads this CAN message into the acu_shunt_measurements_ member variable. This function
+     * does NOT apply the fromS() functions on the data. This function uses the NEW CAN library.
+     */
+    void retrieve_current_shunt_CAN(const CAN_message_t &can_msg);
+
+    /**
+     * Retrieves the current state of the use_em_for_soc member variable.
+     * @return True if using EM, false if using ACU shunt measurements.
+     */
+    bool is_using_em_for_soc() {return use_em_for_soc_;}
+
+    /**
+     * Setter function for the use_em_for_soc_ member variable.
+     * @param new_use_em_for_soc The new value for the variable.
+     */
+    void set_use_em_for_soc(bool new_use_em_for_soc) {
+        use_em_for_soc_ = new_use_em_for_soc;
+    }
+
+    /**
+     * Puts the current value of SoC_ and charge_ onto msg_queue_.
+    */
+    void enqueue_state_of_charge_CAN();
+
+    /** Helper function to enqueue CAN messages using the new CAN library*/
+    template <typename U>
+    void enqueue_new_CAN(U *structure, uint32_t (*pack_function)(U *, uint8_t *, uint8_t *, uint8_t *));
+
+    // Getters (for testing purposes)
+    BMS_VOLTAGES_t get_bms_voltages() {return bms_voltages_;}
+    EM_MEASUREMENT_t get_em_measurements() {return em_measurements_;}
+    ACU_SHUNT_MEASUREMENTS_t get_acu_shunt_measurements() {return acu_shunt_measurements_;}
+
 
 private:
-    /* Private functions */
-    // Check if lowest cell temperature is below threshold
-    bool is_below_pack_charge_critical_low_thresh();
-    // Check if total pack charge is above threshold
-    bool is_below_pack_charge_critical_total_thresh();
+
+    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,
+    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,
+    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,
+    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};
+
+    /**
+     * CAN line that this AMSInterface should write to. This should be the Telemetry CAN line.
+    */
+    CANBufferType *msg_queue_;
+
+    /* software OK pin */
+    int pin_software_ok_;
 
     /* AMS CAN messages */
     BMS_status          bms_status_;
     BMS_temperatures    bms_temperatures_;
-    BMS_voltages        bms_voltages_;
+    ACU_SHUNT_MEASUREMENTS_t         acu_shunt_measurements_;
+    EM_MEASUREMENT_t                 em_measurements_;
+    BMS_VOLTAGES_t                   bms_voltages_;
 
     /* AMS last heartbeat time */
-    unsigned long last_heartbeat_time;
-
-    /* software OK pin */
-    int pin_software_ok_;
+    unsigned long last_heartbeat_time_;
 
     /* IIR filter parameters */
     float bms_high_temp;
@@ -94,6 +217,51 @@ class AMSInterface
     float filtered_min_cell_voltage;
     float cell_temp_alpha;
     float cell_voltage_alpha;
+
+    float acc_derate_factor;
+
+    /**
+     * 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.
+     */
+    bool use_em_for_soc_ = true;
+
+    /**
+     * The charge stored on the accumulator. Stored in coulombs, ranging from
+     * zero to MAX_PACK_CHARGE.
+    */
+    float charge_;
+
+    /**
+     * 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;
+    */
+    float SoC_;
+
+    /**
+     * Stores the last Sys_Tick_s struct from the last time the tick() function is called.
+    */
+    SysTick_s last_tick_;
+
+    /**
+     * Stores whether or not this AMSInterface has initialized SoC_ or not.
+    */
+   bool has_initialized_charge_;
+
+   bool has_received_bms_voltage_;
+
+   unsigned long initialization_startup_interval_;
+
+   unsigned long timestamp_start_;
+
+
+    // Check if lowest cell temperature is below threshold
+    bool is_below_pack_charge_critical_low_thresh();
+    // Check if total pack charge is above threshold
+    bool is_below_pack_charge_critical_total_thresh();
+
 };
 
-#endif /* __AMSINTERFACE_H__ */
+#endif /* __AMSINTERFACE_H__ */

lib/interfaces/include/HytechCANInterface.h

@@ -99,6 +99,12 @@ void process_ring_buffer(BufferType &rx_buffer, const InterfaceType &interfaces,
         case ID_BMS_VOLTAGES:
             interfaces.ams_interface->retrieve_voltage_CAN(recvd_msg);
             break;
+        case ID_EM_MEASUREMENT:
+            interfaces.ams_interface->retrieve_em_measurement_CAN(recvd_msg);
+            break;
+        case ACU_SHUNT_MEASUREMENTS_CANID:
+            interfaces.ams_interface->retrieve_current_shunt_CAN(recvd_msg);
+            break;
 
             // MC status msgs
         case ID_MC1_STATUS:
@@ -219,4 +225,4 @@ void enqueue_matlab_msg(bufferType *msg_queue, const CAN_MESSAGE_BUS & structure
 }
 
 
-#endif /* HYTECHCANINTERFACE */
+#endif /* HYTECHCANINTERFACE */