Abox HIL and DAQ (#89)

PurdueElectricRacing · Feb 1, 2024 · 84d3f0b · 84d3f0b
1 parent dc80092
commit 84d3f0b
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diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -177,7 +177,7 @@
         },
         {   "name": "A_Box",
             "cwd": "${workspaceRoot}",
-            "executable": "./output/precharge/precharge.elf",
+            "executable": "./output/a_box/a_box.elf",
             "request": "launch",
             "type": "cortex-debug",
             "servertype": "openocd",
@@ -189,9 +189,9 @@
             ],
             "debuggerArgs": [
                 "-d",
-                "${workspaceFolder}/source/precharge"
+                "${workspaceFolder}/source/a_box"
             ],
-            // "preLaunchTask": "build",
+            "preLaunchTask": "build",
             "runToEntryPoint": "main"
         },
         {   "name": "Driveline Front",

diff --git a/common/daq/daq_config.json b/common/daq/daq_config.json
@@ -41,11 +41,19 @@
                 },
                 {
                     "node_name":"a_box",
-                    "includes":"#include \"orion.h\"",
+                    "includes":"#include \"orion.h\"\n#include \"tmu.h\"\n#include \"main.h\"",
                     "variables": [
                         {"var_name":"charge_request_user", "access_phrase":"charge_request_user", "read_only": false, "type":"uint8_t", "length": 1},
                         {"var_name":"user_charge_current_request", "access_phrase":"user_charge_current_request", "read_only": false, "type":"uint16_t", "length": 16},
-                        {"var_name":"user_charge_voltage_request", "access_phrase":"user_charge_voltage_request", "read_only": false, "type":"uint16_t", "length": 16}
+                        {"var_name":"user_charge_voltage_request", "access_phrase":"user_charge_voltage_request", "read_only": false, "type":"uint16_t", "length": 16},
+                        {"var_name":"tmu_daq_override", "access_phrase": "tmu_daq_override", "read_only": false, "type":"uint8_t", "length": 1},
+                        {"var_name":"tmu_daq_therm", "access_phrase": "tmu_daq_therm", "read_only": false, "type": "uint8_t", "length":4},
+                        {"var_name":"tmu_1", "access_phrase": "adc_readings.tmu_1", "read_only": true, "type": "uint16_t", "length": 12, "unit": "12-bit adc"},
+                        {"var_name":"tmu_2", "access_phrase": "adc_readings.tmu_2", "read_only": true, "type": "uint16_t", "length": 12, "unit": "12-bit adc"},
+                        {"var_name":"tmu_3", "access_phrase": "adc_readings.tmu_3", "read_only": true, "type": "uint16_t", "length": 12, "unit": "12-bit adc"},
+                        {"var_name":"tmu_4", "access_phrase": "adc_readings.tmu_4", "read_only": true, "type": "uint16_t", "length": 12, "unit": "12-bit adc"},
+                        {"var_name":"bms_daq_override", "access_phrase": "bms_daq_override", "read_only": false, "type":"uint8_t", "length": 1},
+                        {"var_name":"bms_daq_stat", "access_phrase": "bms_daq_stat", "read_only": false, "type": "uint8_t", "length":1}
                     ],
                     "files":[]
                 },

diff --git a/source/a_box/daq/daq.c b/source/a_box/daq/daq.c
@@ -15,13 +15,23 @@
 
 // BEGIN AUTO VAR INCLUDES
 #include "orion.h"
+#include "tmu.h"
+#include "main.h"
 // END AUTO VAR INCLUDES
 
 // BEGIN AUTO VAR DEFS
 daq_variable_t tracked_vars[NUM_VARS] = {
     {.is_read_only=0, .bit_length=1, .read_var_a=&charge_request_user, .write_var_a=&charge_request_user, },
     {.is_read_only=0, .bit_length=16, .read_var_a=&user_charge_current_request, .write_var_a=&user_charge_current_request, },
     {.is_read_only=0, .bit_length=16, .read_var_a=&user_charge_voltage_request, .write_var_a=&user_charge_voltage_request, },
+    {.is_read_only=0, .bit_length=1, .read_var_a=&tmu_daq_override, .write_var_a=&tmu_daq_override, },
+    {.is_read_only=0, .bit_length=4, .read_var_a=&tmu_daq_therm, .write_var_a=&tmu_daq_therm, },
+    {.is_read_only=1, .bit_length=12, .read_var_a=&adc_readings.tmu_1, .write_var_a=NULL, },
+    {.is_read_only=1, .bit_length=12, .read_var_a=&adc_readings.tmu_2, .write_var_a=NULL, },
+    {.is_read_only=1, .bit_length=12, .read_var_a=&adc_readings.tmu_3, .write_var_a=NULL, },
+    {.is_read_only=1, .bit_length=12, .read_var_a=&adc_readings.tmu_4, .write_var_a=NULL, },
+    {.is_read_only=0, .bit_length=1, .read_var_a=&bms_daq_override, .write_var_a=&bms_daq_override, },
+    {.is_read_only=0, .bit_length=1, .read_var_a=&bms_daq_stat, .write_var_a=&bms_daq_stat, },
 };
 // END AUTO VAR DEFS
 

diff --git a/source/a_box/daq/daq.h b/source/a_box/daq/daq.h
@@ -19,13 +19,21 @@
 #define DAQ_UPDATE_PERIOD 15 // ms
 
 // BEGIN AUTO VAR COUNT
-#define NUM_VARS 3
+#define NUM_VARS 11
 // END AUTO VAR COUNT
 
 // BEGIN AUTO VAR IDs
 #define DAQ_ID_CHARGE_REQUEST_USER 0
 #define DAQ_ID_USER_CHARGE_CURRENT_REQUEST 1
 #define DAQ_ID_USER_CHARGE_VOLTAGE_REQUEST 2
+#define DAQ_ID_TMU_DAQ_OVERRIDE 3
+#define DAQ_ID_TMU_DAQ_THERM 4
+#define DAQ_ID_TMU_1 5
+#define DAQ_ID_TMU_2 6
+#define DAQ_ID_TMU_3 7
+#define DAQ_ID_TMU_4 8
+#define DAQ_ID_BMS_DAQ_OVERRIDE 9
+#define DAQ_ID_BMS_DAQ_STAT 10
 // END AUTO VAR IDs
 
 // BEGIN AUTO FILE STRUCTS

diff --git a/source/a_box/main.c b/source/a_box/main.c
@@ -32,7 +32,7 @@ GPIOInitConfig_t gpio_config[] = {
    GPIO_INIT_CANTX_PA12,
 
    // Status and HV Monitoring
-   GPIO_INIT_OUTPUT(BMS_STATUS_GPIO_Port, BMS_STATUS_Pin, GPIO_OUTPUT_LOW_SPEED),
+   GPIO_INIT_OUTPUT_OPEN_DRAIN(BMS_STATUS_GPIO_Port, BMS_STATUS_Pin, GPIO_OUTPUT_LOW_SPEED),
    GPIO_INIT_INPUT(IMD_HS_PWM_GPIO_Port, IMD_HS_PWM_Pin, GPIO_INPUT_OPEN_DRAIN),
    GPIO_INIT_INPUT(IMD_LS_PWM_GPIO_Port, IMD_LS_PWM_Pin, GPIO_INPUT_OPEN_DRAIN),
    GPIO_INIT_INPUT(IMD_STATUS_GPIO_Port, IMD_STATUS_Pin, GPIO_INPUT_OPEN_DRAIN),
@@ -48,10 +48,10 @@ GPIOInitConfig_t gpio_config[] = {
    GPIO_INIT_OUTPUT(MUX_B_Port, MUX_B_Pin, GPIO_OUTPUT_LOW_SPEED),
    GPIO_INIT_OUTPUT(MUX_C_Port, MUX_C_Pin, GPIO_OUTPUT_LOW_SPEED),
    GPIO_INIT_OUTPUT(MUX_D_Port, MUX_D_Pin, GPIO_OUTPUT_LOW_SPEED),
-   GPIO_INIT_ANALOG(MUX_1_OUT_Port, MUX_1_OUT_Pin),
-   GPIO_INIT_ANALOG(MUX_2_OUT_Port, MUX_2_OUT_Pin),
-   GPIO_INIT_ANALOG(MUX_3_OUT_Port, MUX_3_OUT_Pin),
-   GPIO_INIT_ANALOG(MUX_4_OUT_Port, MUX_4_OUT_Pin),
+   GPIO_INIT_ANALOG(TMU_1_Port, TMU_1_Pin),
+   GPIO_INIT_ANALOG(TMU_2_Port, TMU_2_Pin),
+   GPIO_INIT_ANALOG(TMU_3_Port, TMU_3_Pin),
+   GPIO_INIT_ANALOG(TMU_4_Port, TMU_4_Pin),
 
    // Board Temp Measurement
    GPIO_INIT_ANALOG(BOARD_TEMP_Port, BOARD_TEMP_Pin),
@@ -88,6 +88,9 @@ extern uint8_t orion_error;
 q_handle_t q_tx_can;
 q_handle_t q_rx_can;
 
+bool bms_daq_override = false;
+bool bms_daq_stat = false;
+
 
 void PHAL_FaultHandler();
 extern void HardFault_Handler();
@@ -179,6 +182,9 @@ int main (void)
     initCANParse(&q_rx_can);
     orionInit();
 
+    bms_daq_override = false;
+    bms_daq_stat = false;
+
     if (daqInit(&q_tx_can))
         HardFault_Handler();
 
@@ -221,7 +227,7 @@ void preflightChecks(void)
    switch (state++)
    {
        case 0 :
-           if (!initTMU(&tmu)) {
+           if (initTMU(&tmu)) {
                 PHAL_FaultHandler();
            }
 
@@ -296,12 +302,15 @@ void monitorStatus()
 
 //    PHAL_writeGPIO(BMS_STATUS_GPIO_Port, BMS_STATUS_Pin, !bms_err);
 
-   PHAL_writeGPIO(ERROR_LED_GPIO_Port, ERROR_LED_Pin, bms_err);
+   if (bms_daq_override | tmu_daq_override) PHAL_toggleGPIO(ERROR_LED_GPIO_Port, ERROR_LED_Pin);
+   else PHAL_writeGPIO(ERROR_LED_GPIO_Port, ERROR_LED_Pin, bms_err);
    readTemps(&tmu);
 
    setFault(ID_IMD_FAULT, imd_err);
 
-   PHAL_writeGPIO(BMS_STATUS_GPIO_Port, BMS_STATUS_Pin, bms_err | imd_err);
+   uint8_t stat = bms_err | imd_err;
+   if (bms_daq_override) stat = bms_daq_stat;
+   PHAL_writeGPIO(BMS_STATUS_GPIO_Port, BMS_STATUS_Pin, stat);
 }
 
 void monitorTherm() {

diff --git a/source/a_box/main.h b/source/a_box/main.h
@@ -8,26 +8,13 @@
 #define FAULT_NODE_NAME NODE_A_BOX
 
 
-// SPI Accel
-#define SPI_SCLK_GPIO_Port (GPIOA)
-#define SPI_SCLK_Pin (5)
-#define SPI_MISO_GPIO_Port (GPIOA)
-#define SPI_MISO_Pin (6)
-#define SPI_MOSI_GPIO_Port (GPIOA)
-#define SPI_MOSI_Pin (7)
-#define SPI_CS_ACEL_GPIO_Port (GPIOA)
-#define SPI_CS_ACEL_Pin (3)
-#define SPI_CS_GYRO_GPIO_Port (GPIOA)
-#define SPI_CS_GYRO_Pin (2)
-#define SPI_CS_TMU_GPIO_Port (GPIOD)
-#define SPI_CS_TMU_GPIO_Pin (15)
-
-
 // Current Sense
-#define I_SENSE_CH1_GPIO_Port (GPIOA) // ADC12_IN5
+#define I_SENSE_CH1_GPIO_Port (GPIOA) 
 #define I_SENSE_CH1_Pin (0)
-#define I_SENSE_CH2_GPIO_Port (GPIOA) // ADC12_IN6
+#define I_SENSE_CH1_ADC_CHNL  (0)
+#define I_SENSE_CH2_GPIO_Port (GPIOA)
 #define I_SENSE_CH2_Pin (1)
+#define I_SENSE_CH2_ADC_CHNL  (1)
 
 
 // BMS Status
@@ -43,9 +30,9 @@
 
 // IMD Data
 #define IMD_HS_PWM_GPIO_Port (GPIOB)
-#define IMD_HS_PWM_Pin (6)
-#define IMD_LS_PWM_GPIO_Port (GPIOB)
-#define IMD_LS_PWM_Pin (7)
+#define IMD_HS_PWM_Pin (3)
+#define IMD_LS_PWM_GPIO_Port (GPIOA)
+#define IMD_LS_PWM_Pin (15)
 #define IMD_STATUS_GPIO_Port (GPIOB)
 #define IMD_STATUS_Pin (5)
 
@@ -70,14 +57,14 @@
 #define MUX_D_Pin   (6)
 
 //TMU Mux Output Pins
-#define MUX_1_OUT_Port (GPIOC)
-#define MUX_1_OUT_Pin (0)
-#define MUX_2_OUT_Port (GPIOC)
-#define MUX_2_OUT_Pin (1)
-#define MUX_3_OUT_Port (GPIOC)
-#define MUX_3_OUT_Pin (2)
-#define MUX_4_OUT_Port (GPIOC)
-#define MUX_4_OUT_Pin (3)
+#define TMU_1_Port (GPIOC)
+#define TMU_1_Pin (0)
+#define TMU_2_Port (GPIOC)
+#define TMU_2_Pin (1)
+#define TMU_3_Port (GPIOC)
+#define TMU_3_Pin (2)
+#define TMU_4_Port (GPIOC)
+#define TMU_4_Pin (3)
 
 // Board Temp
 #define BOARD_TEMP_Port (GPIOB)
@@ -86,6 +73,7 @@
 // 5V Monitoring
 #define VSENSE_5V_Port (GPIOA)
 #define VSENSE_5V_Pin (7)
+#define VSENSE_5V_ADC_CHNL  (7)
 
 // ADC Channels
 #define TMU_1_ADC_CHANNEL (10)
@@ -105,4 +93,7 @@ typedef struct
 }__attribute__((packed)) ADCReadings_t;
 volatile extern ADCReadings_t adc_readings;
 
+extern bool bms_daq_override;
+extern bool bms_daq_stat;
+
 #endif
diff --git a/source/a_box/tmu/tmu.c b/source/a_box/tmu/tmu.c
@@ -10,6 +10,8 @@ extern q_handle_t q_tx_can;
 //uint8_t curr_therm;
 uint8_t num_bad1, num_bad2, num_bad3, num_bad4;
 bool overtemp = false;
+bool tmu_daq_override = false;
+uint8_t tmu_daq_therm = 0;
 
 //Function defs not needed by any other file
 void resistance_to_temp(float resistance, uint16_t *temp);
@@ -25,10 +27,12 @@ bool initTMU(tmu_handle_t *tmu) {
    num_bad2 = 0;
    num_bad3 = 0;
    num_bad4 = 0;
-   PHAL_writeGPIO(MUX_1_OUT_Port, MUX_1_OUT_Pin, 0);
-   PHAL_writeGPIO(MUX_2_OUT_Port, MUX_2_OUT_Pin, 0);
-   PHAL_writeGPIO(MUX_3_OUT_Port, MUX_3_OUT_Pin, 0);
-   PHAL_writeGPIO(MUX_4_OUT_Port, MUX_4_OUT_Pin, 0);
+   tmu_daq_override = false;
+   tmu_daq_therm = 0;
+   PHAL_writeGPIO(MUX_A_Port, MUX_A_Pin, 0);
+   PHAL_writeGPIO(MUX_B_Port, MUX_B_Pin, 0);
+   PHAL_writeGPIO(MUX_C_Port, MUX_C_Pin, 0);
+   PHAL_writeGPIO(MUX_D_Port, MUX_D_Pin, 0);
    return false;
 }
 
@@ -185,10 +189,12 @@ void readTemps(tmu_handle_t *tmu) {
     }
 
 
-    PHAL_writeGPIO(MUX_1_OUT_Port, MUX_1_OUT_Pin, (curr_therm & 0x1));
-    PHAL_writeGPIO(MUX_2_OUT_Port, MUX_2_OUT_Pin, (curr_therm & 0x2));
-    PHAL_writeGPIO(MUX_3_OUT_Port, MUX_3_OUT_Pin, (curr_therm & 0x4));
-    PHAL_writeGPIO(MUX_4_OUT_Port, MUX_4_OUT_Pin, (curr_therm & 0x8));
+    uint8_t therm = curr_therm;
+    if (tmu_daq_override) therm = tmu_daq_therm;
+    PHAL_writeGPIO(MUX_A_Port, MUX_A_Pin, (therm & 0x1));
+    PHAL_writeGPIO(MUX_B_Port, MUX_B_Pin, (therm & 0x2));
+    PHAL_writeGPIO(MUX_C_Port, MUX_C_Pin, (therm & 0x4));
+    PHAL_writeGPIO(MUX_D_Port, MUX_D_Pin, (therm & 0x8));
 
 }
 

diff --git a/source/a_box/tmu/tmu.h b/source/a_box/tmu/tmu.h
@@ -73,6 +73,9 @@ typedef struct {
    int16_t tmu3[16];
    int16_t tmu4[16];
 } tmu_handle_t;
+extern bool tmu_daq_override;
+extern uint8_t tmu_daq_therm;
+
 void readTemps(tmu_handle_t *tmu);
 bool initTMU(tmu_handle_t *tmu);