From e2a8d9e24746af55774be234a831ef8e02e6d672 Mon Sep 17 00:00:00 2001
From: Daniel <dnakhooda@gmail.com>
Date: Sun, 2 Feb 2025 17:35:08 -0500
Subject: [PATCH] Pump depend on motor temp

---
 Core/Inc/control.h     | 10 ++++++++++
 Core/Inc/dti.h         | 13 +++++++++++++
 Core/Src/can_handler.c |  3 +++
 Core/Src/control.c     | 41 ++++++++++++++---------------------------
 Core/Src/dti.c         | 19 +++++++++++++++++++
 Core/Src/main.c        |  7 ++++++-
 6 files changed, 65 insertions(+), 28 deletions(-)

diff --git a/Core/Inc/control.h b/Core/Inc/control.h
index 2e21bbb..2a1bf54 100644
--- a/Core/Inc/control.h
+++ b/Core/Inc/control.h
@@ -2,14 +2,24 @@
 #define CONTROL_H
 
 #include "pdu.h"
+#include "dti.h"
 #include "can.h"
 
 #define CONTROL_CANID_FANBATTBOX 0x4A1
 #define CONTROL_CANID_PUMP	 0x4A0
 
+#define TEMP_MOTOR_LIMIT 50
+
 extern osThreadId_t control_handle;
 extern const osThreadAttr_t control_attributes;
 
+typedef struct {
+	pdu_t *pdu;
+	bool fanBattBoxState;
+	bool pumpState0;
+	bool pumpState1;
+} control_args_t;
+
 void vControl(void *param);
 
 void control_fanbattbox_record(can_msg_t args);
diff --git a/Core/Inc/dti.h b/Core/Inc/dti.h
index a701654..7c68cde 100644
--- a/Core/Inc/dti.h
+++ b/Core/Inc/dti.h
@@ -131,6 +131,19 @@ void dti_set_relative_current(int16_t relative_current);
  */
 void dti_set_drive_enable(bool drive_enable);
 
+/**
+ * @brief Record the moter temperature in the DTI
+ * 
+ * @param mc Pointer to DTI struct 
+ * @param msg CAN message containing temperature data
+ */
+void dti_record_motor_temp(dti_t *mc, can_msg_t msg);
+
+/**
+ * @brief gets the current motor temperature from the DTI
+ */
+uint16_t dti_get_motor_temp();
+
 /**
  * @brief gets the current mph from the DTI
  */
diff --git a/Core/Src/can_handler.c b/Core/Src/can_handler.c
index 8262b16..f389422 100644
--- a/Core/Src/can_handler.c
+++ b/Core/Src/can_handler.c
@@ -148,6 +148,9 @@ void vCanReceive(void *pv_params)
 			case DTI_CANID_ERPM:
 				dti_record_rpm(mc, msg);
 				break;
+			case DTI_CANID_TEMPS_FAULT:
+				dti_record_motor_temp(mc, msg);
+				break;
 			case BMS_DCL_MSG:
 				handle_dcl_msg();
 				break;
diff --git a/Core/Src/control.c b/Core/Src/control.c
index becbc3c..45cb372 100644
--- a/Core/Src/control.c
+++ b/Core/Src/control.c
@@ -1,5 +1,4 @@
 #include "control.h"
-#include "pdu.h"
 
 osThreadId_t control_handle;
 const osThreadAttr_t control_attributes = {
@@ -8,21 +7,22 @@ const osThreadAttr_t control_attributes = {
 	.priority = (osPriority_t)osPriorityRealtime,
 };
 
-static int fanBattBoxState = 0;
+static control_args_t *control_args;
 
-static int pumpState0 = 0;
-
-static int pumpState1 = 0;
-
-void vControl(void *param)
+void vControl(void *params)
 {
-	pdu_t *pdu = (pdu_t *)param;
+	control_args = (control_args_t *)params;
 
 	for (;;) {
-		write_fan_battbox(pdu, fanBattBoxState);
+		write_fan_battbox(control_args->pdu,
+				  control_args->fanBattBoxState);
 
-		write_pump_0(pdu, pumpState0);
-		write_pump_1(pdu, pumpState1);
+		write_pump_0(control_args->pdu,
+			     control_args->pumpState0 &&
+				     dti_get_motor_temp() <= TEMP_MOTOR_LIMIT);
+		write_pump_1(control_args->pdu,
+			     control_args->pumpState1 &&
+				     dti_get_motor_temp() <= TEMP_MOTOR_LIMIT);
 
 		osDelay(1000);
 	}
@@ -30,24 +30,11 @@ void vControl(void *param)
 
 void control_fanbattbox_record(can_msg_t msg)
 {
-	if (msg.data[0] > 0) {
-		fanBattBoxState = 1;
-	} else {
-		fanBattBoxState = 0;
-	}
+	control_args->fanBattBoxState = msg.data[0] > 0;
 }
 
 void control_pump_record(can_msg_t msg)
 {
-	if (msg.data[0] > 0) {
-		pumpState0 = 1;
-	} else {
-		pumpState0 = 0;
-	}
-
-	if (msg.data[1] > 0) {
-		pumpState1 = 1;
-	} else {
-		pumpState1 = 0;
-	}
+	control_args->pumpState0 = msg.data[0] > 0;
+	control_args->pumpState1 = msg.data[1] > 0;
 }
diff --git a/Core/Src/dti.c b/Core/Src/dti.c
index 3939352..7448f7e 100644
--- a/Core/Src/dti.c
+++ b/Core/Src/dti.c
@@ -24,6 +24,8 @@ static osMutexAttr_t dti_mutex_attributes;
 
 static uint8_t mph = 0;
 
+static uint8_t motorTemp = 0;
+
 dti_t *dti_init()
 {
 	dti_t *mc = malloc(sizeof(dti_t));
@@ -284,6 +286,23 @@ void dti_record_rpm(dti_t *mc, can_msg_t msg)
 	mph = dti_get_mph(mc);
 }
 
+void dti_record_motor_temp(dti_t *mc, can_msg_t msg)
+{
+	uint16_t temp = (msg.data[0] << 8) + (msg.data[1]);
+
+	temp /= 10;
+
+	osMutexAcquire(*mc->mutex, osWaitForever);
+	mc->motor_temp = temp;
+	osMutexRelease(*mc->mutex);
+	motorTemp = temp;
+}
+
+uint16_t dti_get_motor_temp()
+{
+	return motorTemp;
+}
+
 uint8_t get_mph()
 {
 	return mph;
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 23d9ff2..66231c5 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -255,7 +255,12 @@ int main(void)
   assert(sm_director_handle);
 
   /* Control File Thread */
-  control_handle = osThreadNew(vControl, pdu, &control_attributes);
+  control_args_t *control_args = malloc(sizeof(control_args_t));
+  control_args->pdu = pdu;
+  control_args->fanBattBoxState = 0;
+  control_args->pumpState0 = 0;
+  control_args->pumpState1 = 0;
+  control_handle = osThreadNew(vControl, control_args, &control_attributes);
   assert(control_handle);
 
   /* USER CODE END RTOS_THREADS */