MCUInterface Class Reference

#include <MCUInterface.h>

Collaboration diagram for MCUInterface:

Public Member Functions
	MCUInterface (CANBufferType *msg_output_queue, const MainECUHardwareReadPins &pins)
	MCUInterface (CANBufferType *msg_output_queue)
void	init ()
void	read_mcu_status ()
void	set_brake_light (bool brake_pedal_is_active)
void	enable_inverters_pin ()
void	disable_inverters_pin ()
bool	bms_ok_is_high ()
bool	imd_ok_is_high ()
bool	brb_ok_is_high ()
bool	get_bots_ok ()
void	update_mcu_status_CAN_fsm (int fsm_state)
void	update_mcu_status_CAN_drivetrain (bool has_error)
void	update_mcu_status_CAN_safety (bool is_ok)
void	update_mcu_status_CAN_TCMux (int drive_mode, int torque_mode, float max_torque)
void	update_mcu_status_CAN_buzzer (bool is_on)
void	update_mcu_status_CAN_pedals (const PedalsSystemData_s &pedals)
void	update_mcu_status_CAN_ams (bool is_critical)
void	update_mcu_status_CAN_dashboard (bool is_active)
void	update_brake_pressure_CAN ()
void	enqueue_CAN_mcu_status ()
void	tick (int fsm_state, bool inv_has_error, bool software_is_ok, const TorqueControllerMuxStatus &tc_mux_status, bool buzzer_is_on, const PedalsSystemData_s &pedals_data, bool pack_charge_is_critical, bool button_is_pressed)
	MCUInterface ()
void	enable_inverters_pin ()
void	disable_inverters_pin ()

Private Member Functions
void	measure_shutdown_circuit_input ()
void	measure_shutdown_circuit_voltage ()
void	update_mcu_status_CAN ()

Private Attributes
CANBufferType *	msg_queue_
MainECUHardwareReadPins	pins_
MCU_STATUS_t	mcu_status_
bool	bms_ok_high
bool	imd_ok_high
bool	bspd_ok_high
bool	software_ok_high
bool	brb_ok_high
bool	shutdown_b_above_threshold
bool	shutdown_c_above_threshold
bool	shutdown_d_above_threshold
bool	shutdown_e_above_threshold
bool	shutdown_g_above_threshold

Detailed Description

Definition at line 47 of file MCUInterface.h.

Constructor & Destructor Documentation

MCUInterface() [1/3]

MCUInterface::MCUInterface ( CANBufferType *  msg_output_queue, const MainECUHardwareReadPins &  pins  )

inline

Definition at line 81 of file MCUInterface.h.

                                                                                      :
        // Member initialization list
        msg_queue_(msg_output_queue),
        pins_(pins){};

MCUInterface() [2/3]

MCUInterface::MCUInterface ( CANBufferType *  msg_output_queue )

inline

Definition at line 87 of file MCUInterface.h.

                                                 :        
        MCUInterface(msg_output_queue, DEFAULT_PINS)
    {};

MCUInterface() [3/3]

MCUInterface::MCUInterface ( )

inline

Definition at line 11 of file MCUInterface.h.

    {
    };

Member Function Documentation

bms_ok_is_high()

bool MCUInterface::bms_ok_is_high

(

)

Definition at line 73 of file MCUInterface.cpp.

{
    return bms_ok_high;
}

brb_ok_is_high()

bool MCUInterface::brb_ok_is_high

(

)

Definition at line 84 of file MCUInterface.cpp.

{
    return brb_ok_high;
}

disable_inverters_pin() [1/2]

void MCUInterface::disable_inverters_pin

(

)

Definition at line 66 of file MCUInterface.cpp.

{
    digitalWrite(pins_.pin_inv_en, LOW);
    digitalWrite(pins_.pin_inv_24V_en, LOW);
}

disable_inverters_pin() [2/2]

void MCUInterface::disable_inverters_pin ( )

inline

Definition at line 16 of file MCUInterface.h.

{};

enable_inverters_pin() [1/2]

void MCUInterface::enable_inverters_pin

(

)

Definition at line 61 of file MCUInterface.cpp.

{
    digitalWrite(pins_.pin_inv_en, HIGH);
    digitalWrite(pins_.pin_inv_24V_en, HIGH);
}

enable_inverters_pin() [2/2]

void MCUInterface::enable_inverters_pin ( )

inline

Definition at line 15 of file MCUInterface.h.

{};

enqueue_CAN_mcu_status()

void MCUInterface::enqueue_CAN_mcu_status

(

)

Definition at line 96 of file MCUInterface.cpp.

{
    CAN_message_t msg;
    
    msg.id = Pack_MCU_STATUS_hytech(&mcu_status_, msg.buf, &msg.len, (uint8_t*) &msg.flags.extended);
 
    uint8_t buf[sizeof(CAN_message_t)] = {};
    memmove(buf, &msg, sizeof(CAN_message_t));
    msg_queue_->push_back(buf, sizeof(CAN_message_t));
}

get_bots_ok()

bool MCUInterface::get_bots_ok

(

)

Definition at line 89 of file MCUInterface.cpp.

{
    return shutdown_b_above_threshold;
}

imd_ok_is_high()

bool MCUInterface::imd_ok_is_high

(

)

Definition at line 78 of file MCUInterface.cpp.

{
    return imd_ok_high;
}

init()

void MCUInterface::init

(

)

Definition at line 6 of file MCUInterface.cpp.

{
    // Set pin mode
    pinMode(pins_.pin_inv_en, OUTPUT);
    pinMode(pins_.pin_inv_24V_en, OUTPUT);
    pinMode(pins_.pin_brake_light_ctrl, OUTPUT);
 
    // Set initial shutdown circuit readings
    bms_ok_high = false;
    imd_ok_high = false;
    brb_ok_high = false;
 
    // Enable inverters (?)
    // Should be called from drivetrain
}

measure_shutdown_circuit_input()

void MCUInterface::measure_shutdown_circuit_input ( )

private

Definition at line 31 of file MCUInterface.cpp.

{
    // TODO: change these back to pins from constructor
    bms_ok_high = digitalRead(DEFAULT_BMS_SENSE_PIN);
    imd_ok_high = digitalRead(DEFAULT_IMD_SENSE_PIN);
    
    bspd_ok_high = digitalRead(pins_.pin_bspd_ok_read);
    software_ok_high = digitalRead(pins_.pin_software_ok_read);
    brb_ok_high = digitalRead(pins_.pin_brb_ok_read);
 
}

measure_shutdown_circuit_voltage()

void MCUInterface::measure_shutdown_circuit_voltage ( )

private

Definition at line 44 of file MCUInterface.cpp.

{
 
    shutdown_b_above_threshold = digitalRead(pins_.pin_bots_ok_read);
    shutdown_c_above_threshold = digitalRead(pins_.pin_imd_ok_read);
    shutdown_d_above_threshold = digitalRead(pins_.pin_bms_ok_read);
    shutdown_e_above_threshold = digitalRead(pins_.pin_bspd_ok_read);
    shutdown_g_above_threshold = digitalRead(pins_.pin_brb_ok_read);
}

read_mcu_status()

void MCUInterface::read_mcu_status

(

)

Definition at line 23 of file MCUInterface.cpp.

{
 
    measure_shutdown_circuit_input();
    measure_shutdown_circuit_voltage();
}

set_brake_light()

void MCUInterface::set_brake_light

(

bool

brake_pedal_is_active

)

Definition at line 55 of file MCUInterface.cpp.

{
 
    digitalWrite(pins_.pin_brake_light_ctrl, brake_pedal_is_active);
}

tick()

void MCUInterface::tick	(	int	fsm_state,
		bool	inv_has_error,
		bool	software_is_ok,
		const TorqueControllerMuxStatus &	tc_mux_status,
		bool	buzzer_is_on,
		const PedalsSystemData_s &	pedals_data,
		bool	pack_charge_is_critical,
		bool	button_is_pressed
	)

Definition at line 199 of file MCUInterface.cpp.

{
    // State machine
    update_mcu_status_CAN_fsm(fsm_state);
    // Systems
    update_mcu_status_CAN_drivetrain(inv_has_error);
    update_mcu_status_CAN_safety(software_is_ok);
    
    auto drive_mode = static_cast<int>(tc_mux_status.active_controller_mode);
    auto torque_mode = static_cast<int>(tc_mux_status.active_torque_limit_enum);
    auto max_torque = tc_mux_status.active_torque_limit_value;
 
    update_mcu_status_CAN_TCMux(drive_mode, torque_mode, max_torque);
    update_mcu_status_CAN_buzzer(buzzer_is_on);
    update_mcu_status_CAN_pedals(pedals_data);
    // External Interfaces
    update_mcu_status_CAN_ams(pack_charge_is_critical);
    update_mcu_status_CAN_dashboard(button_is_pressed);
    update_brake_pressure_CAN();
    // Internal values
    update_mcu_status_CAN();
    // Push into buffer
    enqueue_CAN_mcu_status();
    set_brake_light(pedals_data.brakePressed);
}

update_brake_pressure_CAN()

void MCUInterface::update_brake_pressure_CAN

(

)

Definition at line 185 of file MCUInterface.cpp.

{
    BRAKE_PRESSURE_SENSOR_t brake_sensor_msg;
    brake_sensor_msg.brake_sensor_analog_read = analogRead(pins_.pin_brake_pressure_sensor_read);
    
    CAN_message_t msg;
    
    msg.id = Pack_BRAKE_PRESSURE_SENSOR_hytech(&brake_sensor_msg, msg.buf, &msg.len, (uint8_t*) &msg.flags.extended);
 
    uint8_t buf[sizeof(CAN_message_t)] = {};
    memmove(buf, &msg, sizeof(CAN_message_t));
    msg_queue_->push_back(buf, sizeof(CAN_message_t));
}

update_mcu_status_CAN()

void MCUInterface::update_mcu_status_CAN ( )

private

Definition at line 109 of file MCUInterface.cpp.

{
    // Shutdown circuit input
    mcu_status_.bms_ok_high = bms_ok_high;
    mcu_status_.imd_ok_high = imd_ok_high;
    mcu_status_.bspd_ok_high = bspd_ok_high;
    mcu_status_.software_ok_high = software_ok_high;
    // Shutdown circuit voltage
    mcu_status_.shutdown_b_above_threshold = shutdown_b_above_threshold;
    mcu_status_.shutdown_c_above_threshold = shutdown_c_above_threshold;
    mcu_status_.shutdown_d_above_threshold = shutdown_d_above_threshold;
    mcu_status_.shutdown_e_above_threshold = shutdown_e_above_threshold;
    
}

update_mcu_status_CAN_ams()

void MCUInterface::update_mcu_status_CAN_ams

(

bool

is_critical

)

Definition at line 145 of file MCUInterface.cpp.

{
    // AMSInterface returns struct in main loop
    // ams_interface.pack_charge_is_critical()
    mcu_status_.pack_charge_critical = is_critical;
}

update_mcu_status_CAN_buzzer()

void MCUInterface::update_mcu_status_CAN_buzzer

(

bool

is_on

)

Definition at line 168 of file MCUInterface.cpp.

{
    // Buzzer returns struct in main loop
    // buzzer.buzzer_is_on()
    mcu_status_.drive_buzzer = is_on;
}

update_mcu_status_CAN_dashboard()

void MCUInterface::update_mcu_status_CAN_dashboard

(

bool

is_active

)

Definition at line 161 of file MCUInterface.cpp.

{
    // DashboardInterface (?) returns struct in main loop
    // dash.lauchControlButtonPressed()
    mcu_status_.launch_control_active = is_active;
}

update_mcu_status_CAN_drivetrain()

void MCUInterface::update_mcu_status_CAN_drivetrain

(

bool

has_error

)

Definition at line 131 of file MCUInterface.cpp.

{
    // Drivetrain returns struct in main loop
    // drivetrain.drive_error_occured()
    mcu_status_.inverter_error = has_error; // could also be called has_error
}

update_mcu_status_CAN_fsm()

void MCUInterface::update_mcu_status_CAN_fsm

(

int

fsm_state

)

Definition at line 126 of file MCUInterface.cpp.

{
    mcu_status_.ecu_state = fsm_state_enum_val;
}

update_mcu_status_CAN_pedals()

void MCUInterface::update_mcu_status_CAN_pedals

(

const PedalsSystemData_s &

pedals

)

Definition at line 176 of file MCUInterface.cpp.

{
    // PedalSystem returns struct in main loop
    mcu_status_.brake_pedal_active = pedals.brakePressed;
    // mcu_status_.set_mech_brake_active();
    mcu_status_.no_accel_implausibility = !pedals.accelImplausible;
    mcu_status_.no_brake_implausibility = !pedals.brakeImplausible;
    mcu_status_.no_accel_or_brake_implausibility = !(pedals.brakeAndAccelPressedImplausibility);
}

update_mcu_status_CAN_safety()

void MCUInterface::update_mcu_status_CAN_safety

(

bool

is_ok

)

Definition at line 138 of file MCUInterface.cpp.

{
    // SafetySystem returns struct in main loop
    // safety_system.get_software_is_ok()
    mcu_status_.software_ok = is_ok;
}

update_mcu_status_CAN_TCMux()

void MCUInterface::update_mcu_status_CAN_TCMux	(	int	drive_mode,
		int	torque_mode,
		float	max_torque
	)

Definition at line 153 of file MCUInterface.cpp.

{
    // TorqueControllerMux returns struct in main loop
    mcu_status_.drive_mode = drive_mode;
    mcu_status_.torque_mode = torque_mode;
    mcu_status_.max_torque = static_cast<uint8_t>(max_torque);
}

Member Data Documentation

bms_ok_high

bool MCUInterface::bms_ok_high

private

Definition at line 58 of file MCUInterface.h.

brb_ok_high

bool MCUInterface::brb_ok_high

private

Definition at line 62 of file MCUInterface.h.

bspd_ok_high

bool MCUInterface::bspd_ok_high

private

Definition at line 60 of file MCUInterface.h.

imd_ok_high

bool MCUInterface::imd_ok_high

private

Definition at line 59 of file MCUInterface.h.

mcu_status_

MCU_STATUS_t MCUInterface::mcu_status_

private

Definition at line 55 of file MCUInterface.h.

msg_queue_

CANBufferType* MCUInterface::msg_queue_

private

Definition at line 50 of file MCUInterface.h.

pins_

MainECUHardwareReadPins MCUInterface::pins_

private

Definition at line 52 of file MCUInterface.h.

shutdown_b_above_threshold

bool MCUInterface::shutdown_b_above_threshold

private

Definition at line 64 of file MCUInterface.h.

shutdown_c_above_threshold

bool MCUInterface::shutdown_c_above_threshold

private

Definition at line 65 of file MCUInterface.h.

shutdown_d_above_threshold

bool MCUInterface::shutdown_d_above_threshold

private

Definition at line 66 of file MCUInterface.h.

shutdown_e_above_threshold

bool MCUInterface::shutdown_e_above_threshold

private

Definition at line 67 of file MCUInterface.h.

shutdown_g_above_threshold

bool MCUInterface::shutdown_g_above_threshold

private

Definition at line 68 of file MCUInterface.h.

software_ok_high

bool MCUInterface::software_ok_high

private

Definition at line 61 of file MCUInterface.h.

---

The documentation for this class was generated from the following files:

• lib/interfaces/include/MCUInterface.h
• lib/mock_interfaces/MCUInterface.h
• lib/interfaces/src/MCUInterface.cpp