Implement PDU 24A

Core/Inc/cerberus_conf.h

@@ -74,5 +74,7 @@
 #define CANID_LV_MONITOR       0x503
 #define CANID_PEDALS_ACCEL_MSG 0x504
 #define CANID_PEDALS_BRAKE_MSG 0x505
+#define CANID_PDU_CURRENT      0x508
+#define CANID_PUMP_SENSORS     0x509
 // Reserved for MPU debug message, see yaml for format
 #define CANID_EXTRA_MSG 0x701

Core/Inc/fault.h

@@ -30,7 +30,9 @@ typedef enum {
 	BSPD_PREFAULT = (1 << 14),
 	LV_MONITOR_FAULT = (1 << 15),
 	RTDS_FAULT = (1 << 16),
-	MAX_FAULTS = (1 << 17)
+	PDU_CURRENT_FAULT = (1 << 17),
+	PUMP_SENSORS_FAULT = (1 << 18),
+	MAX_FAULTS = (1 << 19)
 } fault_code_t;
 
 typedef struct {

Core/Inc/pdu.h

@@ -2,37 +2,51 @@
 #define PDU_H
 
 #include <stdbool.h>
-
+#include "fault.h"
 #include "cmsis_os.h"
 #include "pca9539.h"
-
-#define SOUND_RTDS_FLAG 1U
+#include "INA226.h"
+#include <stdbool.h>
+#include <stdint.h>
 
 typedef struct {
+	I2C_HandleTypeDef *hi2c;
 	osMutexId_t *mutex;
 	pca9539_t *shutdown_expander;
 	pca9539_t *ctrl_expander;
+
+	ina226_t *motor_controller_current_sensor;
+	ina226_t *battbox_fans_current_sensor;
+	ina226_t *pumps_current_sensor;
+	ina226_t *lv_boards_current_sensor;
+
+	ADC_HandleTypeDef *pump_sensors_adc;
+	uint32_t pump_sensors_dma_buf[2];
 } pdu_t;
 
 /* Creates a new PDU interface */
-pdu_t *init_pdu();
+pdu_t *init_pdu(I2C_HandleTypeDef *hi2c, ADC_HandleTypeDef *pump_sensors_adc);
 
 /* Functions to Control PDU */
-int8_t write_pump(pdu_t *pdu, bool status);
-int8_t write_brakelight(pdu_t *pdu, bool status);
-int8_t write_fan_battbox(pdu_t *pdu, bool status);
+int8_t write_pump_0(pdu_t *pdu, bool state);
+int8_t write_pump_1(pdu_t *pdu, bool state);
+int8_t write_24V_12V_buck(pdu_t *pdu, bool state);
+int8_t write_brakelight(pdu_t *pdu, bool state);
+int8_t write_fan_battbox(pdu_t *pdu, bool state);
+int8_t write_rtds(pdu_t *pdu, bool state);
 
 /* Function to Read the Status of Fuses from PDU */
 typedef enum {
-	FUSE_BATTBOX,
-	FUSE_LVBOX,
-	FUSE_FAN_RADIATOR,
-	FUSE_MC,
-	FUSE_FAN_BATTBOX,
-	FUSE_PUMP,
-	FUSE_DASHBOARD,
-	FUSE_BRAKELIGHT,
-	FUSE_BRB,
+	BATTBOX_FUSE_STAT,
+	LV_BOARDS_FUSE_STAT,
+	RADFAN_FUSE_STAT,
+	BUCK_FUSE_STAT,
+	FANBATTBOX_FUSE_STAT,
+	PUMP_FUSE_STAT0,
+	DASHBOARD_FUSE_STAT,
+	BRKLIGHT_FUSE_STAT,
+	SD_TO_BRB_FUSE_STAT,
+	PUMP_FUSE_STAT1,
 	MAX_FUSES
 } fuse_t;
 
@@ -57,14 +71,14 @@ int8_t read_tsms_sense(pdu_t *pdu, bool *status);
 /* Functions to Read Status of Various Stages of Shutdown Loop */
 typedef enum {
 	CKPT_BRB_CLR, /* Cockpit BRB */
-	BMS_OK, /* Battery Management System (Shepherd) */
-	INERTIA_SW_OK, /* Inertia Switch */
-	SPARE_GPIO1_OK,
-	IMD_OK, /* Insulation Monitoring Device */
-	BSPD_OK, /* Brake System Plausbility Device */
-	BOTS_OK, /* Brake Over Travel Switch */
-	HVD_INTLK_OK, /* HVD Interlock */
-	HVC_INTLK_OK, /* HV C Interlock*/
+	BMS_GOOD, /* Battery Management System (Shepherd) */
+	INERTIA_SW_GOOD, /* Inertia Switch */
+	SPARE_GPIO1,
+	IMD_GOOD, /* Insulation Monitoring Device */
+	BSPD_GOOD, /* Brake System Plausbility Device */
+	BOTS_GOOD, /* Brake Over Travel Switch */
+	HVD_INTLK_GOOD, /* HVD Interlock */
+	HVC_INTLK_GOOD, /* HV C Interlock*/
 	//SIDE_BRB_CLR,	/* Side BRB */
 	//TSMS,			/* Tractive System Main Switch */
 	MAX_SHUTDOWN_STAGES
@@ -79,6 +93,19 @@ typedef enum {
  */
 int8_t read_shutdown(pdu_t *pdu, bool status[MAX_SHUTDOWN_STAGES]);
 
+/**
+ * @brief Read the status of the shutdown loop.
+ * 
+ * @param pdu Pointer to struct representing the PDU
+ * @param status Buffer that the data from both sensors will be written to
+ */
+void read_pump_sensors(pdu_t *pdu, uint32_t pump_sensors_buf[2]);
+
+// Function for reading current
+int8_t read_all_current(pdu_t *pdu, float *motor_controller_current,
+			float *battbox_fans_current, float *pumps_current,
+			float *lv_boards_current);
+
 /**
  * @brief Taskf for sounding RTDS.
  * 
@@ -97,4 +124,53 @@ extern const osThreadAttr_t rtds_attributes;
  */
 int8_t read_brake_state(pdu_t *pdu, bool *status);
 
+/* CTRL GPIO Expander */
+#define CTRL_ADDR		 PCA_I2C_ADDR_0
+#define PIN_PUMP_CTRL_0		 0 // P00
+#define PIN_PUMP_CTRL_1		 1 // P01
+#define PIN_24V_12V_BUCK_CTRL	 2 // P02
+#define PIN_BRKLIGHT_CTRL	 3 // P03
+#define PIN_FANBATTBOX_CTRL	 4 // P04
+#define PIN_BATTBOX_FUSE_STAT	 5 // P05
+#define PIN_LV_BOARDS_FUSE_STAT	 6 // P06
+#define PIN_RADFAN_FUSE_STAT	 7 // P07
+#define PIN_BUCK_FUSE_STAT	 0 // P10
+#define PIN_FANBATTBOX_FUSE_STAT 1 // P11
+#define PIN_PUMP_FUSE_STAT0	 2 // P12
+#define PIN_DASHBOARD_FUSE_STAT	 3 // P13
+#define PIN_BRKLIGHT_FUSE_STAT	 4 // P14
+#define PIN_SD_TO_BRB_FUSE_STAT	 5 // P15
+#define PIN_PUMP_FUSE_STAT1	 6 // P16
+#define PIN_RTDS_CTRL		 7 // P17
+
+/* Shutdown GPIO Expander */
+#define SHUTDOWN_ADDR	    PCA_I2C_ADDR_1
+#define PIN_CKPT_BRB_CLR    0 // P00
+#define PIN_BMS_GOOD	    1 // P01
+#define PIN_INERTIA_SW_GOOD 2 // P02
+#define PIN_SPARE_GPIO1	    3 // P03
+#define PIN_IMD_GOOD	    4 // P04
+#define PIN_BSPD_GOOD	    5 // P05
+#define PIN_SHUTDOWN_06	    6 // P06 (X)
+#define PIN_SHUTDOWN_07	    7 // P07 (X)
+#define PIN_SHUTDOWN_10	    0 // P10 (X)
+#define PIN_MC_STAT	    1 // P11
+#define PIN_SPARE_MON	    2 // P12
+#define PIN_SPARE_FAULT	    3 // P13
+#define PIN_TSMS_SENSE	    4 // P14
+#define PIN_BOTS_GOOD	    5 // P15
+#define PIN_HVD_INTLK_GOOD  6 // P16
+#define PIN_HVC_INTLK_GOOD  7 // P17
+
+/* Current Sensors */
+#define MOTOR_CONTROLLER_CURRENT_SENSOR_ADDR 0x40
+#define BATTBOX_FANS_CURRENT_SENSOR_ADDR     0x42
+#define PUMPS_CURRENT_SENSOR_ADDR	     0x44
+#define LV_BOARDS_CURRENT_SENSOR_ADDR	     0x45
+
+/* Misc */
+#define MUTEX_TIMEOUT	osWaitForever /* ms */
+#define RTDS_DURATION	1750 /* ms at 1kHz tick rate */
+#define SOUND_RTDS_FLAG 1U
+
 #endif /* PDU_H */

Core/Src/main.c

@@ -58,8 +58,10 @@
 
 /* Private variables ---------------------------------------------------------*/
 ADC_HandleTypeDef hadc1;
+ADC_HandleTypeDef hadc2;
 ADC_HandleTypeDef hadc3;
 DMA_HandleTypeDef hdma_adc1;
+DMA_HandleTypeDef hdma_adc2;
 DMA_HandleTypeDef hdma_adc3;
 
 CAN_HandleTypeDef hcan1;
@@ -95,6 +97,7 @@ static void MX_ADC1_Init(void);
 static void MX_USART3_UART_Init(void);
 static void MX_ADC3_Init(void);
 static void MX_IWDG_Init(void);
+static void MX_ADC2_Init(void);
 void StartDefaultTask(void *argument);
 
 /* USER CODE BEGIN PFP */
@@ -164,12 +167,13 @@ int main(void)
   MX_USART3_UART_Init();
   MX_ADC3_Init();
   MX_IWDG_Init();
+  MX_ADC2_Init();
   /* USER CODE BEGIN 2 */
 
   /* Create Interfaces to Represent Relevant Hardware */
   mpu_t *mpu  = init_mpu(&hadc3, &hadc1, GPIOC, GPIOB);
   assert(mpu);
-  pdu_t *pdu  = init_pdu(&hi2c2);
+  pdu_t *pdu  = init_pdu(&hi2c2, &hadc2);
   assert(pdu);
   dti_t *mc   = dti_init();
   assert(mc);
@@ -364,6 +368,66 @@ static void MX_ADC1_Init(void)
 
 }
 
+/**
+  * @brief ADC2 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_ADC2_Init(void)
+{
+
+  /* USER CODE BEGIN ADC2_Init 0 */
+
+  /* USER CODE END ADC2_Init 0 */
+
+  ADC_ChannelConfTypeDef sConfig = {0};
+
+  /* USER CODE BEGIN ADC2_Init 1 */
+
+  /* USER CODE END ADC2_Init 1 */
+
+  /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
+  */
+  hadc2.Instance = ADC2;
+  hadc2.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV6;
+  hadc2.Init.Resolution = ADC_RESOLUTION_12B;
+  hadc2.Init.ScanConvMode = ENABLE;
+  hadc2.Init.ContinuousConvMode = ENABLE;
+  hadc2.Init.DiscontinuousConvMode = DISABLE;
+  hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
+  hadc2.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc2.Init.NbrOfConversion = 2;
+  hadc2.Init.DMAContinuousRequests = ENABLE;
+  hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
+  if (HAL_ADC_Init(&hadc2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
+  */
+  sConfig.Channel = ADC_CHANNEL_10;
+  sConfig.Rank = 1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
+  if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
+  */
+  sConfig.Rank = 2;
+  if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN ADC2_Init 2 */
+
+  /* USER CODE END ADC2_Init 2 */
+
+}
+
 /**
   * @brief ADC3 Initialization Function
   * @param None

Core/Src/monitor.c

@@ -15,6 +15,81 @@
 static bool tsms = false;
 osMutexId_t tsms_mutex;
 
+/**
+ * @brief Read voltage of Pump Sensors and send a CAN message with the result.
+ */
+void read_pump_sens(pdu_t *pdu)
+{
+	// put fault stuff tomorrow
+	fault_data_t fault_data = { .id = PUMP_SENSORS_FAULT,
+				    .severity = DEFCON5 };
+	can_msg_t msg = { .id = CANID_PUMP_SENSORS, .len = 8, .data = { 0 } };
+
+	uint32_t pump_volts_int[2];
+
+	read_pump_sensors(pdu, pump_volts_int);
+
+	// convert to real voltage
+	float pump_sensor0_volts_real = (pump_volts_int[0] / 4095.0) * 3.3;
+	float pump_sensor1_volts_real = (pump_volts_int[1] / 4095.0) * 3.3;
+
+	pump_volts_int[0] = (uint32_t)(pump_sensor0_volts_real * 10000);
+	pump_volts_int[1] = (uint32_t)(pump_sensor1_volts_real * 10000);
+
+	memcpy(msg.data, pump_volts_int, msg.len);
+	if (queue_can_msg(msg)) {
+		fault_data.diag = "Failed to send pump sensor CAN message";
+		queue_fault(&fault_data);
+	}
+}
+
+/**
+ * @brief Read current of MC, battox fans, pumps, and LV boards and send a CAN message with the result.
+ */
+void read_current(pdu_t *pdu)
+{
+	fault_data_t fault_data = { .id = PDU_CURRENT_FAULT,
+				    .severity = DEFCON5 };
+	can_msg_t msg = { .id = CANID_PDU_CURRENT, .len = 8, .data = { 0 } };
+
+	float motor_controller_current;
+	float battbox_fans_current;
+	float pumps_current;
+	float lv_boards_current;
+
+	if (read_all_current(pdu, &motor_controller_current,
+			     &battbox_fans_current, &pumps_current,
+			     &lv_boards_current)) {
+		fault_data.diag = "Failed to read current";
+		queue_fault(&fault_data);
+	}
+
+	uint16_t int_motor_controller_current =
+		(uint16_t)(motor_controller_current * 1000);
+	uint16_t int_battbox_fans_current =
+		(uint16_t)(battbox_fans_current * 1000);
+	uint16_t int_pumps_current = (uint16_t)(pumps_current * 1000);
+	uint16_t int_lv_boards_current = (uint16_t)(lv_boards_current * 1000);
+
+	struct __attribute__((__packed__)) {
+		uint16_t motor_controller;
+		uint16_t battbox_fans;
+		uint16_t pumps_current;
+		uint16_t lv_boards;
+	} current_data;
+
+	current_data.motor_controller = int_motor_controller_current;
+	current_data.battbox_fans = int_battbox_fans_current;
+	current_data.pumps_current = int_pumps_current;
+	current_data.lv_boards = int_lv_boards_current;
+
+	memcpy(msg.data, &current_data, msg.len);
+	if (queue_can_msg(msg)) {
+		fault_data.diag = "Failed to send current CAN message";
+		queue_fault(&fault_data);
+	}
+}
+
 /**
  * @brief Read the open cell voltage of the LV batteries and send a CAN message with the result.
  */
@@ -138,6 +213,7 @@ void vNonFunctionalDataCollection(void *pv_params)
 	for (;;) {
 		read_lv_sense(mpu);
 		read_fuse_data(pdu);
+		read_current(pdu);
 
 		/* delay for 1000 ms (1k ticks at 1000 Hz tickrate) */
 		osDelay(1000);