Implement PDU 24A

Core/Inc/cerberus_conf.h

@@ -75,5 +75,6 @@
 #define CANID_LV_MONITOR       0x503
 #define CANID_PEDALS_ACCEL_MSG 0x504
 #define CANID_PEDALS_BRAKE_MSG 0x505
+#define CANID_PDU_CURRENT      0x508
 // Reserved for MPU debug message, see yaml for format
 #define CANID_EXTRA_MSG 0x701

Core/Inc/fault.h

@@ -24,6 +24,7 @@ typedef enum {
 	BSPD_PREFAULT = 0x1000,
 	LV_MONITOR_FAULT = 0x2000,
 	RTDS_FAULT = 0x4000,
+	PDU_CURRENT_FAULT = 0x8000,
 	MAX_FAULTS
 } fault_code_t;
 

Core/Inc/pdu.h

@@ -3,6 +3,7 @@
 
 #include "cmsis_os.h"
 #include "pca9539.h"
+#include "INA226.h"
 #include <stdbool.h>
 #include <stdint.h>
 
@@ -13,6 +14,10 @@ typedef struct {
 	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;
 } pdu_t;
 
 /* Creates a new PDU interface */
@@ -26,15 +31,16 @@ int8_t write_fan_battbox(pdu_t *pdu, bool status);
 
 /* 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;
 
@@ -59,14 +65,14 @@ 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
@@ -81,6 +87,11 @@ typedef enum {
  */
 int8_t read_shutdown(pdu_t *pdu, bool status[MAX_SHUTDOWN_STAGES]);
 
+// 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.
  * 

Core/Src/monitor.c

@@ -27,6 +27,53 @@
 static bool tsms = false;
 osMutexId_t tsms_mutex;
 
+/**
+ * @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.
  */
@@ -120,6 +167,7 @@ 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);