WIP

Author: jmaralo

Core/Inc/HVSCU/Communication/Ethernet.hpp

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "HVSCU/Actuators/Contactors.hpp"
+#include "HVSCU/Sensors/IMD.hpp"
 #include "ST-LIB.hpp"
 
 namespace HVSCU::Communication {
@@ -87,6 +88,9 @@ class Ethernet {
     double *average_current_v;
     double *average_current_w;
 
+    Sensors::IMD::State *imd_state;
+    float *imd_isolation_resistance;
+
     static void on_close_contactors() { has_received_close_contactors = true; }
 
     static void on_open_contactors() { has_received_open_contactors = true; }
@@ -338,6 +342,8 @@ class Ethernet {
     HeapPacket bcu_current_sense_packet{1703, average_current_u,
                                         average_current_v, average_current_w};
 
+    HeapPacket imd_state_packet{1610, imd_isolation_resistance, imd_state};
+
    public:
     Ethernet(float *total_supercaps_voltage,
              std::array<std::array<float *, 48>, 3> cells_voltage,
@@ -357,12 +363,14 @@ class Ethernet {
              float *average_dc_link_voltage, float *dc_link_voltage_1,
              float *dc_link_voltage_2, float *dc_link_voltage_3,
              float *dc_link_voltage_4, double *average_current_u,
-             double *average_current_v, double *average_current_w);
+             double *average_current_v, double *average_current_w,
+             Sensors::IMD::State *imd_state, float *imd_isolation_resistance);
 
     void send_supercaps_data();
     void send_sdc_data();
     void send_contactors_data();
     void send_current_sense();
+    void send_imd_data();
     void send_bcu_data();
     bool is_connected();
 };

Core/Inc/HVSCU/Sensors/IMD.hpp

@@ -39,6 +39,9 @@ class IMD {
     const State &get_state() const;
     const float &get_isolation_resistance() const;
 
+    State *get_state_pointer();
+    float *get_isolation_resistance_pointer();
+
     void update();
 };
 

Core/Src/HVSCU/Board.cpp

@@ -37,15 +37,18 @@ Board::Board()
                &can.dc_link_voltage_1, &can.dc_link_voltage_2,
                &can.dc_link_voltage_3, &can.dc_link_voltage_4,
                &can.average_current_u, &can.average_current_v,
-               &can.average_current_w) {
+               &can.average_current_w, imd.get_state_pointer(),
+               imd.get_isolation_resistance_pointer()) {
     initialize_state_machine();
 
     can.start();
+    imd.turn_on();
 
     Time::register_low_precision_alarm(100, [&]() {
         ethernet.send_supercaps_data();
         ethernet.send_sdc_data();
         ethernet.send_contactors_data();
+        ethernet.send_imd_data();
     });
 
     Time::register_low_precision_alarm(1, [&]() { send_ethernet_1khz = true; });

Core/Src/HVSCU/Communication/Ethernet.cpp

@@ -19,7 +19,8 @@ Ethernet::Ethernet(
     float *dc_link_voltage_1, float *dc_link_voltage_2,
     float *dc_link_voltage_3, float *dc_link_voltage_4,
     double *average_current_u, double *average_current_v,
-    double *average_current_w)
+    double *average_current_w, Sensors::IMD::State *imd_state,
+    float *imd_isolation_resistance)
     : control_station_tcp(local_ip, tcp_server_port),
       control_station_udp(local_ip, udp_port, control_station_ip, udp_port),
       sdc_good(sdc_good),
@@ -48,7 +49,9 @@ Ethernet::Ethernet(
       dc_link_voltage_4(dc_link_voltage_4),
       average_current_u(average_current_u),
       average_current_v(average_current_v),
-      average_current_w(average_current_w) {}
+      average_current_w(average_current_w),
+      imd_state(imd_state),
+      imd_isolation_resistance(imd_isolation_resistance) {}
 
 void Ethernet::send_supercaps_data() {
     control_station_udp.send_packet(total_voltage);
@@ -77,5 +80,10 @@ void Ethernet::send_bcu_data() {
     control_station_udp.send_packet(bcu_current_sense_packet);
 }
 
+void Ethernet::send_imd_data() {
+    control_station_udp.send_packet(imd_state_packet);
+}
+
 bool Ethernet::is_connected() { return control_station_tcp.is_connected(); }
+
 };  // namespace HVSCU::Communication

Core/Src/HVSCU/Sensors/IMD.cpp

@@ -29,6 +29,9 @@ const float &IMD::get_isolation_resistance() const {
     return isolation_resistance;
 }
 
+IMD::State *IMD::get_state_pointer() { return &state; }
+float *IMD::get_isolation_resistance_pointer() { return &isolation_resistance; }
+
 #define Kohms(ohms) (ohms * 1000000.0f)
 
 inline float duty_cycle_to_resistance(const float &duty_cycle) {
@@ -41,6 +44,7 @@ inline float duty_cycle_to_resistance(const float &duty_cycle) {
 }
 
 void IMD::update() {
+    output.read();
     if (output_frequency <= SHORTCIRCUIT_STATE_FREQ_THRESHOLD) {
         state = IMD::State::ShortCircuit;
         isolation_resistance = 0.0f;