TelemetryInterface Class Reference

#include <TelemetryInterface.h>

Collaboration diagram for TelemetryInterface:

Public Member Functions
	TelemetryInterface (CANBufferType *msg_output_queue, const TelemetryInterfaceReadChannels &channels)
AnalogConversion_s	get_glv_voltage (const AnalogConversionPacket_s< 8 > &adc1)
void	update_pedal_readings_CAN_msg (float accel_percent, float brake_percent, float mech_brake_percent)
void	update_pedal_readings_raw_CAN_msg (const AnalogConversion_s &accel_1, const AnalogConversion_s &accel_2, const AnalogConversion_s &brake_1, const AnalogConversion_s &brake_2)
void	update_suspension_CAN_msg (const AnalogConversion_s &lc_fl, const AnalogConversion_s &lc_fr, const AnalogConversion_s &pots_fl, const AnalogConversion_s &pots_fr)
void	update_analog_readings_CAN_msg (const SteeringEncoderConversion_s &steer1, const AnalogConversion_s &steer2, const AnalogConversion_s &current, const AnalogConversion_s &reference, const AnalogConversion_s &glv)
void	update_drivetrain_rpms_CAN_msg (InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)
void	update_drivetrain_err_status_CAN_msg (InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)
void	update_drivetrain_status_telem_CAN_msg (InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr, bool accel_implaus, bool brake_implaus, float accel_per, float brake_per)
void	update_drivetrain_torque_telem_CAN_msg (InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)
void	update_drivetrain_torque_filter_out_telem_CAN_msg (InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)
void	update_penthouse_accum_CAN_msg (const AnalogConversion_s &current, const AnalogConversion_s &reference)
void	update_steering_status_CAN_msg (const float steering_system_angle, const float filtered_angle_encoder, const float filtered_angle_analog, const uint8_t steering_system_status, const uint8_t steering_encoder_status, const uint8_t steering_analog_status)
template<typename T >
void	enqueue_CAN (T can_msg, uint32_t id)
template<typename U >
void	enqueue_new_CAN (U *structure, uint32_t(*pack_function)(U *, uint8_t *, uint8_t *, uint8_t *))
void	tick (const AnalogConversionPacket_s< 8 > &adc1, const AnalogConversionPacket_s< 4 > &adc2, const AnalogConversionPacket_s< 4 > &adc3, const SteeringEncoderConversion_s &encoder, InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr, bool accel_implaus, bool brake_implaus, float accel_per, float brake_per, const AnalogConversion_s &accel_1, const AnalogConversion_s &accel_2, const AnalogConversion_s &brake_1, const AnalogConversion_s &brake_2, float mech_brake_active_percent, const TorqueControllerMuxError &current_mux_status)
	TelemetryInterface ()
	~TelemetryInterface ()
void	update_TCMux_status_CAN_msg (const TCMuxStatus_s &tcMuxStatus)
void	update_steering_status_CAN_msg (const float steering_system_angle, const float filtered_angle_encoder, const float filtered_angle_analog, const uint8_t steering_system_status, const uint8_t steering_encoder_status, const uint8_t steering_analog_status)

Private Attributes
MCU_analog_readings	mcu_analog_readings_
CANBufferType *	msg_queue_
TelemetryInterfaceReadChannels	channels_

Detailed Description

Definition at line 37 of file TelemetryInterface.h.

Constructor & Destructor Documentation

TelemetryInterface() [1/2]

TelemetryInterface::TelemetryInterface ( CANBufferType *  msg_output_queue, const TelemetryInterfaceReadChannels &  channels  )

inline

Definition at line 48 of file TelemetryInterface.h.

                                                                                                        : msg_queue_(msg_output_queue),
                                                                                                          channels_(channels){};

TelemetryInterface() [2/2]

TelemetryInterface::TelemetryInterface ( )

inline

Definition at line 13 of file TelemetryInterface.h.

{};

~TelemetryInterface()

TelemetryInterface::~TelemetryInterface ( )

inline

Definition at line 14 of file TelemetryInterface.h.

{};

Member Function Documentation

enqueue_CAN()

template<typename T >

void TelemetryInterface::enqueue_CAN	(	T	can_msg,
		uint32_t	id
	)

Definition at line 226 of file TelemetryInterface.cpp.

{
 
    CAN_message_t msg;
    msg_class.write(msg.buf);
    msg.id = id;
    msg.len = sizeof(msg_class);
    uint8_t buf[sizeof(CAN_message_t)];
    memmove(buf, &msg, sizeof(CAN_message_t));
 
    msg_queue_->push_back(buf, sizeof(CAN_message_t));
}

enqueue_new_CAN()

template<typename U >

void TelemetryInterface::enqueue_new_CAN	(	U *	structure,
		uint32_t(*)(U *, uint8_t *, uint8_t *, uint8_t *)	pack_function
	)

Definition at line 241 of file TelemetryInterface.cpp.

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

get_glv_voltage()

AnalogConversion_s TelemetryInterface::get_glv_voltage ( const AnalogConversionPacket_s< 8 > &  adc1 )

inline

Definition at line 53 of file TelemetryInterface.h.

    {
        return adc1.conversions[channels_.glv_sense_channel];
    }

tick()

void TelemetryInterface::tick	(	const AnalogConversionPacket_s< 8 > &	adc1,
		const AnalogConversionPacket_s< 4 > &	adc2,
		const AnalogConversionPacket_s< 4 > &	adc3,
		const SteeringEncoderConversion_s &	encoder,
		InvInt_t *	fl,
		InvInt_t *	fr,
		InvInt_t *	rl,
		InvInt_t *	rr,
		bool	accel_implaus,
		bool	brake_implaus,
		float	accel_per,
		float	brake_per,
		const AnalogConversion_s &	accel_1,
		const AnalogConversion_s &	accel_2,
		const AnalogConversion_s &	brake_1,
		const AnalogConversion_s &	brake_2,
		float	mech_brake_active_percent,
		const TorqueControllerMuxError &	current_mux_status
	)

Definition at line 252 of file TelemetryInterface.cpp.

{
 
    MCU_ERROR_STATES_t error_states;
    error_states.torque_controller_mux_status = static_cast<uint8_t>(current_mux_status);
    enqueue_new_CAN<MCU_ERROR_STATES_t>(&error_states, &Pack_MCU_ERROR_STATES_hytech);
 
    // Pedals
    update_pedal_readings_CAN_msg(accel_per,
                                  brake_per,
                                  mech_brake_active_percent);
 
    update_pedal_readings_raw_CAN_msg(accel_1,
                                      accel_2,
                                      brake_1,
                                      brake_2);
    // Analog readings
    update_analog_readings_CAN_msg(encoder,
                                   adc1.conversions[channels_.analog_steering_channel],
                                   adc1.conversions[channels_.current_channel],
                                   adc1.conversions[channels_.current_ref_channel],
                                   adc1.conversions[channels_.glv_sense_channel]);
    // Load cells
    update_suspension_CAN_msg(adc2.conversions[channels_.loadcell_fl_channel],
                              adc3.conversions[channels_.loadcell_fr_channel],
                              adc2.conversions[channels_.pots_fl_channel],
                              adc3.conversions[channels_.pots_fr_channel]);
 
    update_drivetrain_rpms_CAN_msg(fl, fr, rl, rr);
    update_drivetrain_err_status_CAN_msg(fl, fr, rl, rr);
    update_drivetrain_status_telem_CAN_msg(fl, fr, rl, rr, accel_implaus, brake_implaus, accel_per, brake_per);
    update_drivetrain_torque_telem_CAN_msg(fl, fr, rl, rr);
    update_drivetrain_torque_filter_out_telem_CAN_msg(fl, fr, rl, rr);
 
    update_penthouse_accum_CAN_msg(adc1.conversions[channels_.current_channel],
                                   adc1.conversions[channels_.current_ref_channel]);
 
}

update_analog_readings_CAN_msg()

void TelemetryInterface::update_analog_readings_CAN_msg	(	const SteeringEncoderConversion_s &	steer1,
		const AnalogConversion_s &	steer2,
		const AnalogConversion_s &	current,
		const AnalogConversion_s &	reference,
		const AnalogConversion_s &	glv
	)

Definition at line 47 of file TelemetryInterface.cpp.

{
    // do sth with mcu_analog_readings_
    mcu_analog_readings_.set_steering_1(steer1.raw);
    mcu_analog_readings_.set_steering_2(steer2.raw);
    mcu_analog_readings_.set_hall_effect_current(current.raw - reference.raw);  // this is wrong btw. should let analog channel do the math but not necessary atm
    mcu_analog_readings_.set_glv_battery_voltage(glv.conversion * FIXED_POINT_PRECISION);
 
    enqueue_CAN<MCU_analog_readings>(mcu_analog_readings_, ID_MCU_ANALOG_READINGS);
}

update_drivetrain_err_status_CAN_msg()

void TelemetryInterface::update_drivetrain_err_status_CAN_msg	(	InvInt_t *	fl,
		InvInt_t *	fr,
		InvInt_t *	rl,
		InvInt_t *	rr
	)

Definition at line 73 of file TelemetryInterface.cpp.

{
 
    if (1)
    { // We should only write error status if some error has occurred, but for now, this is just an if(1)
        DRIVETRAIN_ERR_STATUS_TELEM_t errors;
        errors.mc1_diagnostic_number = fl->get_error_status();
        errors.mc2_diagnostic_number = fr->get_error_status();
        errors.mc3_diagnostic_number = rl->get_error_status();
        errors.mc4_diagnostic_number = rr->get_error_status();
        enqueue_new_CAN<DRIVETRAIN_ERR_STATUS_TELEM_t>(&errors, &Pack_DRIVETRAIN_ERR_STATUS_TELEM_hytech);
    }
}

update_drivetrain_rpms_CAN_msg()

void TelemetryInterface::update_drivetrain_rpms_CAN_msg	(	InvInt_t *	fl,
		InvInt_t *	fr,
		InvInt_t *	rl,
		InvInt_t *	rr
	)

Definition at line 62 of file TelemetryInterface.cpp.

{
    DRIVETRAIN_RPMS_TELEM_t rpms;
    rpms.fl_motor_rpm = fl->get_speed();
    rpms.fr_motor_rpm = fr->get_speed();
    rpms.rl_motor_rpm = rl->get_speed();
    rpms.rr_motor_rpm = rr->get_speed();
 
    enqueue_new_CAN<DRIVETRAIN_RPMS_TELEM_t>(&rpms, &Pack_DRIVETRAIN_RPMS_TELEM_hytech);
}

update_drivetrain_status_telem_CAN_msg()

void TelemetryInterface::update_drivetrain_status_telem_CAN_msg	(	InvInt_t *	fl,
		InvInt_t *	fr,
		InvInt_t *	rl,
		InvInt_t *	rr,
		bool	accel_implaus,
		bool	brake_implaus,
		float	accel_per,
		float	brake_per
	)

Definition at line 87 of file TelemetryInterface.cpp.

{
    DRIVETRAIN_STATUS_TELEM_t status;
 
    status.mc1_dc_on = fl->get_dc_on();
    status.mc1_derating_on = fl->get_derating_on();
    status.mc1_error = fl->get_error();
    status.mc1_inverter_on = fl->get_inverter_on();
    status.mc1_quit_dc = fl->get_quit_dc_on();
    status.mc1_quit_inverter_on = fl->get_quit_inverter_on();
    status.mc1_system_ready = fl->inverter_system_ready();
    status.mc1_warning = fl->get_warning();
 
    status.mc2_dc_on = fr->get_dc_on();
    status.mc2_derating_on = fr->get_derating_on();
    status.mc2_error = fr->get_error();
    status.mc2_inverter_on = fr->get_inverter_on();
    status.mc2_quit_dc = fr->get_quit_dc_on();
    status.mc2_quit_inverter_on = fr->get_quit_inverter_on();
    status.mc2_system_ready = fr->inverter_system_ready();
    status.mc2_warning = fr->get_warning();
 
    status.mc3_dc_on = rl->get_dc_on();
    status.mc3_derating_on = rl->get_derating_on();
    status.mc3_error = rl->get_error();
    status.mc3_inverter_on = rl->get_inverter_on();
    status.mc3_quit_dc = rl->get_quit_dc_on();
    status.mc3_quit_inverter_on = rl->get_quit_inverter_on();
    status.mc3_system_ready = rl->inverter_system_ready();
    status.mc3_warning = rl->get_warning();
 
    status.mc4_dc_on = rr->get_dc_on();
    status.mc4_derating_on = rr->get_derating_on();
    status.mc4_error = rr->get_error();
    status.mc4_inverter_on = rr->get_inverter_on();
    status.mc4_quit_dc = rr->get_quit_dc_on();
    status.mc4_quit_inverter_on = rr->get_quit_inverter_on();
    status.mc4_system_ready = rr->inverter_system_ready();
    status.mc4_warning = rr->get_warning();
 
    status.accel_implausible = accel_implaus;
    status.brake_implausible = brake_implaus;
    status.brake_percent = (uint8_t)(abs(brake_per) * 100);
    status.accel_percent = (uint8_t)(abs(accel_per) * 100);
 
    MC_temps mc1_temps = fl->get_temps_msg();
    MC_temps mc2_temps = fr->get_temps_msg();
    MC_temps mc3_temps = rl->get_temps_msg();
    MC_temps mc4_temps = rr->get_temps_msg();
 
    MC_setpoints_command mc1_cmd = fl->get_cmd_msg();
    MC_setpoints_command mc2_cmd = fr->get_cmd_msg();
    MC_setpoints_command mc3_cmd = rl->get_cmd_msg();
    MC_setpoints_command mc4_cmd = rr->get_cmd_msg();
 
    enqueue_CAN<MC_temps>(mc1_temps, ID_MC1_TEMPS);
    enqueue_CAN<MC_temps>(mc2_temps, ID_MC2_TEMPS);
    enqueue_CAN<MC_temps>(mc3_temps, ID_MC3_TEMPS);
    enqueue_CAN<MC_temps>(mc4_temps, ID_MC4_TEMPS);
    enqueue_CAN<MC_setpoints_command>(mc1_cmd, ID_MC1_SETPOINTS_COMMAND);
    enqueue_CAN<MC_setpoints_command>(mc2_cmd, ID_MC2_SETPOINTS_COMMAND);
    enqueue_CAN<MC_setpoints_command>(mc3_cmd, ID_MC3_SETPOINTS_COMMAND);
    enqueue_CAN<MC_setpoints_command>(mc4_cmd, ID_MC4_SETPOINTS_COMMAND);
    enqueue_new_CAN<DRIVETRAIN_STATUS_TELEM_t>(&status, &Pack_DRIVETRAIN_STATUS_TELEM_hytech);
}

update_drivetrain_torque_filter_out_telem_CAN_msg()

void TelemetryInterface::update_drivetrain_torque_filter_out_telem_CAN_msg	(	InvInt_t *	fl,
		InvInt_t *	fr,
		InvInt_t *	rl,
		InvInt_t *	rr
	)

Definition at line 178 of file TelemetryInterface.cpp.

{
    // TODO: change this to use actual torque values from inverter
    // Torque current just temporary for gearbox seal validation
    DRIVETRAIN_FILTER_OUT_TORQUE_TEL_t torque;
    torque.fl_motor_torque = fl->get_commanded_torque();
    torque.fr_motor_torque = fr->get_commanded_torque();
    torque.rl_motor_torque = rl->get_commanded_torque();
    torque.rr_motor_torque = rr->get_commanded_torque();
 
    enqueue_new_CAN<DRIVETRAIN_FILTER_OUT_TORQUE_TEL_t>(&torque, &Pack_DRIVETRAIN_FILTER_OUT_TORQUE_TEL_hytech);
}

update_drivetrain_torque_telem_CAN_msg()

void TelemetryInterface::update_drivetrain_torque_telem_CAN_msg	(	InvInt_t *	fl,
		InvInt_t *	fr,
		InvInt_t *	rl,
		InvInt_t *	rr
	)

Definition at line 161 of file TelemetryInterface.cpp.

{
    // TODO: change this to use actual torque values from inverter
    // Torque current just temporary for gearbox seal validation
    DRIVETRAIN_TORQUE_TELEM_t torque;
    torque.fl_motor_torque = fl->get_motor_torque();
    torque.fr_motor_torque = fr->get_motor_torque();
    torque.rl_motor_torque = rl->get_motor_torque();
    torque.rr_motor_torque = rr->get_motor_torque();
 
    enqueue_new_CAN<DRIVETRAIN_TORQUE_TELEM_t>(&torque, &Pack_DRIVETRAIN_TORQUE_TELEM_hytech);
}

update_pedal_readings_CAN_msg()

void TelemetryInterface::update_pedal_readings_CAN_msg	(	float	accel_percent,
		float	brake_percent,
		float	mech_brake_percent
	)

Definition at line 5 of file TelemetryInterface.cpp.

{
 
    MCU_PEDAL_READINGS_t pedal_readings;
 
    pedal_readings.accel_percent_float_ro = HYTECH_accel_percent_float_ro_toS(accel_percent * 100);
    pedal_readings.brake_percent_float_ro = HYTECH_brake_percent_float_ro_toS(brake_percent * 100);
    pedal_readings.mechanical_brake_percent_float_ro = HYTECH_mechanical_brake_percent_float_ro_toS(mech_brake_percent * 100);
 
    enqueue_new_CAN<MCU_PEDAL_READINGS_t>(&pedal_readings, &Pack_MCU_PEDAL_READINGS_hytech);
}

update_pedal_readings_raw_CAN_msg()

void TelemetryInterface::update_pedal_readings_raw_CAN_msg	(	const AnalogConversion_s &	accel_1,
		const AnalogConversion_s &	accel_2,
		const AnalogConversion_s &	brake_1,
		const AnalogConversion_s &	brake_2
	)

Definition at line 18 of file TelemetryInterface.cpp.

{
    MCU_PEDAL_RAW_t pedal_read;
 
    pedal_read.accel_1_raw = accel_1.raw;
    pedal_read.accel_2_raw = accel_2.raw;
    pedal_read.brake_1_raw = brake_1.raw;
    pedal_read.brake_2_raw = brake_2.raw;
 
    enqueue_new_CAN<MCU_PEDAL_RAW_t>(&pedal_read, &Pack_MCU_PEDAL_RAW_hytech);
}

update_penthouse_accum_CAN_msg()

void TelemetryInterface::update_penthouse_accum_CAN_msg	(	const AnalogConversion_s &	current,
		const AnalogConversion_s &	reference
	)

Definition at line 196 of file TelemetryInterface.cpp.

{
    PENTHOUSE_ACCUM_MSG_t message;
    message.hall_curr_ref = reference.raw;
    message.hall_curr_signal = current.raw;
 
    enqueue_new_CAN<PENTHOUSE_ACCUM_MSG_t>(&message, &Pack_PENTHOUSE_ACCUM_MSG_hytech);
}

update_steering_status_CAN_msg() [1/2]

void TelemetryInterface::update_steering_status_CAN_msg	(	const float	steering_system_angle,
		const float	filtered_angle_encoder,
		const float	filtered_angle_analog,
		const uint8_t	steering_system_status,
		const uint8_t	steering_encoder_status,
		const uint8_t	steering_analog_status
	)

Definition at line 205 of file TelemetryInterface.cpp.

{
    STEERING_SYSTEM_REPORT_t msg;
 
    msg.steering_system_angle_ro = HYTECH_steering_system_angle_ro_toS(steering_system_angle);
    msg.steering_encoder_angle_ro = HYTECH_steering_encoder_angle_ro_toS(filtered_angle_encoder);
    msg.steering_analog_angle_ro = HYTECH_steering_analog_angle_ro_toS(filtered_angle_analog);
    msg.steering_system_status = steering_system_status;
    msg.steering_encoder_status = steering_encoder_status;
    msg.steering_analog_status = steering_analog_status;
 
    enqueue_new_CAN<STEERING_SYSTEM_REPORT_t>(&msg, &Pack_STEERING_SYSTEM_REPORT_hytech);
}

update_steering_status_CAN_msg() [2/2]

void TelemetryInterface::update_steering_status_CAN_msg ( const float  steering_system_angle, const float  filtered_angle_encoder, const float  filtered_angle_analog, const uint8_t  steering_system_status, const uint8_t  steering_encoder_status, const uint8_t  steering_analog_status  )

inline

Definition at line 20 of file TelemetryInterface.h.

      {};

update_suspension_CAN_msg()

void TelemetryInterface::update_suspension_CAN_msg	(	const AnalogConversion_s &	lc_fl,
		const AnalogConversion_s &	lc_fr,
		const AnalogConversion_s &	pots_fl,
		const AnalogConversion_s &	pots_fr
	)

Definition at line 33 of file TelemetryInterface.cpp.

{
    MCU_SUSPENSION_t sus;
    sus.load_cell_fl = lc_fl.raw;
    sus.load_cell_fr = lc_fr.raw;
    sus.potentiometer_fl = pots_fl.raw;
    sus.potentiometer_fr = pots_fr.raw;
 
    enqueue_new_CAN<MCU_SUSPENSION_t>(&sus, &Pack_MCU_SUSPENSION_hytech);
}

update_TCMux_status_CAN_msg()

void TelemetryInterface::update_TCMux_status_CAN_msg ( const TCMuxStatus_s &  tcMuxStatus )

inline

Definition at line 16 of file TelemetryInterface.h.

      {};

Member Data Documentation

channels_

TelemetryInterfaceReadChannels TelemetryInterface::channels_

private

Definition at line 45 of file TelemetryInterface.h.

mcu_analog_readings_

MCU_analog_readings TelemetryInterface::mcu_analog_readings_

private

Definition at line 41 of file TelemetryInterface.h.

msg_queue_

CANBufferType* TelemetryInterface::msg_queue_

private

Definition at line 43 of file TelemetryInterface.h.

---

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

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