Updated variable names, comments, and struct declarations

Author: DiegoLHendrix

include/LVSS.hpp

@@ -50,24 +50,24 @@ namespace time = core::time;
 namespace LVSS {
 
 static constexpr uint8_t POWER_SWITCHES_SIZE = 3;
-
 /**
  * This is the main board class for the LVSS.
  * Updates the power switch temperature, current, and fault values.
  */
 class LVSS : public CANDevice {
 public:
-    static constexpr uint8_t NODE_ID      = 1;
-    static constexpr uint8_t VCU_NODE_ID  = 0;
-    static constexpr uint8_t TPDO_NODE_ID = 1;
+    static constexpr uint8_t NODE_ID       = 1;
+    static constexpr uint8_t TPDO_NODE_ID  = 1;
+    static constexpr uint8_t VCU_NODE_ID   = 0;
+    static constexpr io::Pin vicorFaultPin = io::Pin::PB_4;
+    static constexpr io::Pin vicorSNS      = io::Pin::PA_4;
 
+    /** Vicor fault pin */
     io::GPIO& vicorFT;
-    static constexpr io::Pin vicorFaultPin   = io::Pin::PB_4;
-    static constexpr io::Pin vicorSNS        = io::Pin::PA_4;
     io::GPIO::State VICOR_FAULT_ACTIVE_STATE = io::GPIO::State::HIGH;
 
     /** Union bit field to hold a bit representing which boards are on/off */
-    union BoardPowerState_u {
+    typedef union {
         uint16_t val;
         struct {
             // Power Switch 0
@@ -81,11 +81,11 @@ class LVSS : public CANDevice {
             // Power Switch 2
             uint8_t gub : 1;
             uint8_t acc : 1;
-        };
-    };
+        } __attribute__((packed));
+    } BoardPowerState_u;
 
     /** Struct to hold the data for individual boards */
-    union switchData_u {
+    typedef union {
         uint16_t battCurrent;
         uint16_t hibCurrent;
         uint16_t tmsCurrent;
@@ -96,9 +96,9 @@ class LVSS : public CANDevice {
         int16_t switch0Temp;
         int16_t switch1Temp;
         int16_t switch2Temp;
-    };
+    } switchData_u;
 
-    union switchFaults_u {
+    typedef union {
         uint16_t val;
         struct {
             // Power Switch 0
@@ -110,14 +110,14 @@ class LVSS : public CANDevice {
             uint16_t hudlCurrentFault : 1;
 
             // Power Switch 2
-            uint16_t accCurrentFault  : 1;
-            uint16_t gubCurrentFault  : 1;
+            uint16_t accCurrentFault : 1;
+            uint16_t gubCurrentFault : 1;
 
             uint16_t switch0TempFault : 1;
             uint16_t switch1TempFault : 1;
             uint16_t switch2TempFault : 1;
-        };
-    };
+        } __attribute__((packed));
+    } switchFaults_u;
 
     /** FSM State declaration */
     enum class State {
@@ -128,9 +128,9 @@ class LVSS : public CANDevice {
     /**
      * Constructor for the LVSS class, takes a pointer to an array of power switches
      *
-     * @param powerSwitches an array of pointers to power switches
-     * @param vicorFT fault status pin of the vicor
-     * @param acs71240 vicor current sensing IC
+     * @param powerSwitches[in] an array of pointers to power switches
+     * @param vicorFT[in] fault status pin of the vicor
+     * @param acs71240[in] vicor current sensing IC
      */
     explicit LVSS(TPS2HB35BQ* powerSwitches[POWER_SWITCHES_SIZE], io::GPIO& vicorFT, ACS71240 acs71240);
 

include/dev/ACS71240.hpp

@@ -11,7 +11,8 @@ namespace log = core::log;
 namespace LVSS {
 
 /**
- * Class for LVSS current sensor
+ * This class is used to control ACS71240 temperature sensor.
+ * The ACS71240 is a current sensing IC used to sense the current going across the LVSS and Vicor.
  */
 class ACS71240 {
 public:
@@ -29,9 +30,10 @@ class ACS71240 {
 
 private:
     /** ADC instance for getting input voltage */
-    int16_t voltIn = 3300; //millivolts
-    int16_t sensitivity = 44; //millivolts / amp
-    int16_t avgAdcCount = 1970; //Background Noise
+    int16_t adcVoltage = 3300; // ADC voltage in millivolts
+    int16_t sensitivity = 44; // millivolts / amp
+    int16_t scaledCurrent = 180; // Sensitivity multiplied by ADC resolution (4096 * 0.044)
+    int16_t avgAdcCount = 1970; // Background Noise
     io::ADC& ADC;
 };
 

include/dev/TPS2HB35BQ.hpp

@@ -30,6 +30,13 @@ class TPS2HB35BQ {
     TPS2HB35BQ(io::GPIO& en1, io::GPIO& en2, io::GPIO& latch, io::GPIO& diagEn, io::GPIO& diagSelect1,
                io::GPIO& diagSelect2, io::ADC& senseOut, uint32_t rsns = 330);
 
+    /**
+     * diagMode::OFF: Sets diagnostics pin  low, along with both diag select pins.
+     * diagMode::FAULT_STATUS: Get the fault status of the power switch
+     * diagMode::CH1CURRENT: Get the channel 1 current of the power switch
+     * diagMode::CH2CURRENT: Get the channel 2 current of the power switch
+     * diagMode::TEMP: Get the temperature of the power switch
+     */
     enum DiagMode {
         OFF          = 0x00,
         FAULT_STATUS = 0x01,
@@ -38,38 +45,48 @@ class TPS2HB35BQ {
         TEMP         = 0x04
     };
 
+    /**
+     * Sets the latch mode for the power switches
+     */
     enum LatchMode {
         LATCHED    = 0x00, // If there is a fault the power switch will shut off and stay off
         AUTO_RETRY = 0x01  // If there is a fault the power switch will shut off and try to turn back on until there is
                            // no longer a fault
     };
 
+    /**
+     * Sets the power switch channel output to high or low.
+     *
+     * @param powerSwitchOneEnabled State of power switch channel 1
+     * @param powerSwitchTwoEnabled State of power switch channel 2
+     */
     void setPowerSwitchStates(bool powerSwitchOneEnabled, bool powerSwitchTwoEnabled);
 
     /**
-     * Get the current of the power switch
-     * A fault is detected if the current is somewhere between 4 and 5.3 mA
+     * Get the current of the power switch.
+     * A fault is detected if the current is somewhere between 4 and 5.3 mA.
      *
+     * @param channelSelect The channel to sense the current from
      * @return The current of the power switch in milli amps
      */
     uint32_t getCurrentAndFault(uint8_t channelSelect);
 
     /**
      * Get the temperature of the power switch.
      *
-     * @return The temperature of the power switch in Celsius
+     * @return The temperature of the power switch in millicelcius
      */
     int32_t getTemperature();
 
     /**
-     * Set the latch mode of the power switch
+     * Set the latch mode of the power switch.
      *
      * @param mode The latch mode to set
      */
     void setLatch(LatchMode mode);
 
     /**
-     * Set the limits for the power switches
+     * Set the limits for the power switches at which they shut down.
      *
      * @param ohms The resistance value of the sense resistor
      * @param ratio The current sense ratio
@@ -78,14 +95,6 @@ class TPS2HB35BQ {
      */
     void setLimits(uint32_t ohms, uint32_t ratio, uint32_t milliamps, int32_t millicelsius);
 
-    /**
-     * diagMode::OFF: Sets diagnostics pin  low, along with both diag select pins.
-     * diagMode::FAULT_STATUS: Get the fault status of the power switch
-     * diagMode::CH1CURRENT: Get the channel 1 current of the power switch
-     * diagMode::CH2CURRENT: Get the channel 2 current of the power switch
-     * diagMode::TEMP: Get the temperature of the power switch
-     */
-
 private:
     io::GPIO& en1;
     io::GPIO& en2;
@@ -95,14 +104,16 @@ class TPS2HB35BQ {
     io::GPIO& diagSelect2;
     io::ADC& senseOut;
 
-    uint32_t counts                   = 0;      // ADC Counts
-    uint32_t adcVoltage               = 3300;   // ADC Voltage
-    uint32_t rsns                     = 360;    // Resistor that sets the current limit
-    uint32_t kcl                      = 140;    // Current Limit Ratio
-    uint32_t icl                      = 9000;   // Current Limit Value in milliamps
-    int32_t TemperatureLimit          = 135000; // Temperature Limit of 135 C in millicelsius
-    uint32_t dIsnst                   = 11;     // Coefficient 0.011 mA/C in microamps
-    uint32_t resistanceOnJunctionTemp = 25000;  // 25 C in millicelsius
+    uint32_t counts          = 0;      // ADC Counts
+    uint32_t rsns            = 360;    // Resistor that sets the current limit
+    uint32_t kcl             = 140;    // Current Limit Ratio
+    uint32_t icl             = 9000;   // Current Limit Value in milliamps
+    int32_t TemperatureLimit = 135000; // Temperature Limit of 135 C in millicelsius
+
+    static constexpr uint32_t adcVoltage               = 3300;   // ADC Voltage
+    static constexpr uint32_t dIsnst                   = 11;     // Coefficient 0.011 mA/C in microamps
+    static constexpr uint32_t resistanceOnJunctionTemp = 25000;  // 25 C in millicelsius
+    static constexpr uint32_t adcResolution            = 4096;   // 25 C in millicelsius
 
     /**
      * Controls the diagnostic enable pin
@@ -114,7 +125,7 @@ class TPS2HB35BQ {
     /**
      * Read the sense out of the power switch
      *
-     * @param senseOut The sense out value
+     * @return senseOut The sense out value
      */
     uint32_t readSenseOut();
 

src/dev/ACS71240.cpp

@@ -8,10 +8,10 @@ uint16_t ACS71240::readCurrent() {
     // Gets adcCounts from adc
     int16_t adcCounts = ADC.readRaw();
 
-    //(((adcCounts - average adc counts) * inputVoltage) / (sensitivity * 2^12)/100)
-    int16_t current = (((adcCounts - avgAdcCount) * voltIn) / (sensitivity << 12)/100);
+    // (((adcCounts - average adc counts) * 3.3) / (4096 * 0.044)) * 1000
+    int16_t rawCurrent = (((adcCounts - avgAdcCount) * adcVoltage) / scaledCurrent);
 
-    return current;
+    return rawCurrent;
 }
 
 } // namespace LVSS

src/dev/TPS2HB35BQ.cpp

@@ -87,7 +87,7 @@ uint32_t TPS2HB35BQ::getCurrentAndFault(uint8_t channelSelect) {
     }
 
     /* volts = (ADC Counts * 3300 kilovolts) / 4096 */
-    uint32_t milliVolts = (counts * adcVoltage) / 4096; // Turn ADC counts into milli volts
+    uint32_t milliVolts = (counts * adcVoltage) / adcResolution; // Turn ADC counts into milli volts
     uint32_t microAmps  = (milliVolts * 1000) / rsns;   // Turn milli volts into micro amps
 
     /* If current is greater than the current limit latch the sns pin */
@@ -109,7 +109,7 @@ int32_t TPS2HB35BQ::getTemperature() {
         setLatch(LatchMode::LATCHED); // Latch power switches
     }
 
-    uint32_t milliVolts = (counts * adcVoltage) / 4096; // Turn ADC counts into milli volts
+    uint32_t milliVolts = (counts * adcVoltage) / adcResolution; // Turn ADC counts into milli volts
     int32_t microAmps   = (milliVolts * 1000) / rsns;   // Turn milli volts into micro amps
 
     /* ( Isns (mA) - 0.85 mA ) / (dIsnst/dT) + 25 celsius */

targets/REV3-LVSS/main.cpp

@@ -30,7 +30,6 @@ namespace types = core::types;
  *
  * @param message[in] The passed in CAN message that was read.
  */
-// create a can interrupt handler
 void canInterrupt(io::CANMessage& message, void* priv) {
     auto* queue = reinterpret_cast<types::FixedQueue<CANOPEN_QUEUE_SIZE, io::CANMessage>*>(priv);
 
@@ -39,6 +38,26 @@ void canInterrupt(io::CANMessage& message, void* priv) {
     }
 }
 
+io::GPIO& lvssPowerSwitch0Enable0 = io::getGPIO<io::Pin::PC_14>(io::GPIO::Direction::OUTPUT); // hib
+io::GPIO& lvssPowerSwitch0Enable1 = io::getGPIO<io::Pin::PD_2>(io::GPIO::Direction::OUTPUT);  // battery
+io::GPIO& lvssPowerSwitch0Latch   = io::getGPIO<io::Pin::PC_10>(io::GPIO::Direction::OUTPUT); // latch
+
+io::GPIO& lvssPowerSwitch1Enable0 = io::getGPIO<io::Pin::PF_1>(io::GPIO::Direction::OUTPUT); // hudl
+io::GPIO& lvssPowerSwitch1Enable1 = io::getGPIO<io::Pin::PA_0>(io::GPIO::Direction::OUTPUT); // tms
+io::GPIO& lvssPowerSwitch1Latch   = io::getGPIO<io::Pin::PC_3>(io::GPIO::Direction::OUTPUT); // latch
+
+io::GPIO& lvssPowerSwitch2Enable0 = io::getGPIO<io::Pin::PA_1>(io::GPIO::Direction::OUTPUT);  // gub
+io::GPIO& lvssPowerSwitch2Enable1 = io::getGPIO<io::Pin::PC_8>(io::GPIO::Direction::OUTPUT);  // acc
+io::GPIO& lvssPowerSwitch2Latch   = io::getGPIO<io::Pin::PB_14>(io::GPIO::Direction::OUTPUT); // latch
+
+io::GPIO& diagEnable  = io::getGPIO<io::Pin::PC_13>(io::GPIO::Direction::OUTPUT); // diag enable
+io::GPIO& diagSelect1 = io::getGPIO<io::Pin::PC_15>(io::GPIO::Direction::OUTPUT); // diag select 1
+io::GPIO& diagSelect2 = io::getGPIO<io::Pin::PF_0>(io::GPIO::Direction::OUTPUT);  // diag select 2
+
+io::ADC& lvssPowerSwitch0SenseOut = io::getADC<io::Pin::PC_1>();
+io::ADC& lvssPowerSwitch1SenseOut = io::getADC<io::Pin::PC_2>();
+io::ADC& lvssPowerSwitch2SenseOut = io::getADC<io::Pin::PC_0>();
+
 int main() {
     // Initialize system
     core::platform::init();
@@ -48,26 +67,6 @@ int main() {
     log::LOGGER.setUART(&uart);
     log::LOGGER.setLogLevel(log::Logger::LogLevel::DEBUG);
 
-    io::GPIO& lvssPowerSwitch0Enable0 = io::getGPIO<io::Pin::PC_14>(io::GPIO::Direction::OUTPUT); // hib
-    io::GPIO& lvssPowerSwitch0Enable1 = io::getGPIO<io::Pin::PD_2>(io::GPIO::Direction::OUTPUT);  // battery
-    io::GPIO& lvssPowerSwitch0Latch   = io::getGPIO<io::Pin::PC_10>(io::GPIO::Direction::OUTPUT); // latch
-
-    io::GPIO& lvssPowerSwitch1Enable0 = io::getGPIO<io::Pin::PF_1>(io::GPIO::Direction::OUTPUT); // hudl
-    io::GPIO& lvssPowerSwitch1Enable1 = io::getGPIO<io::Pin::PA_0>(io::GPIO::Direction::OUTPUT); // tms
-    io::GPIO& lvssPowerSwitch1Latch   = io::getGPIO<io::Pin::PC_3>(io::GPIO::Direction::OUTPUT); // latch
-
-    io::GPIO& lvssPowerSwitch2Enable0 = io::getGPIO<io::Pin::PA_1>(io::GPIO::Direction::OUTPUT);  // gub
-    io::GPIO& lvssPowerSwitch2Enable1 = io::getGPIO<io::Pin::PC_8>(io::GPIO::Direction::OUTPUT);  // acc
-    io::GPIO& lvssPowerSwitch2Latch   = io::getGPIO<io::Pin::PB_14>(io::GPIO::Direction::OUTPUT); // latch
-
-    io::GPIO& diagEnable  = io::getGPIO<io::Pin::PC_13>(io::GPIO::Direction::OUTPUT); // diag enable
-    io::GPIO& diagSelect1 = io::getGPIO<io::Pin::PC_15>(io::GPIO::Direction::OUTPUT); // diag select 1
-    io::GPIO& diagSelect2 = io::getGPIO<io::Pin::PF_0>(io::GPIO::Direction::OUTPUT);  // diag select 2
-
-    io::ADC& lvssPowerSwitch0SenseOut = io::getADC<io::Pin::PC_1>();
-    io::ADC& lvssPowerSwitch1SenseOut = io::getADC<io::Pin::PC_2>();
-    io::ADC& lvssPowerSwitch2SenseOut = io::getADC<io::Pin::PC_0>();
-
     LVSS::TPS2HB35BQ powerSwitch0 = LVSS::TPS2HB35BQ(lvssPowerSwitch0Enable0,
                                                      lvssPowerSwitch0Enable1,
                                                      lvssPowerSwitch0Latch,

targets/REV3-TPS2HB35BQ/main.cpp

@@ -27,7 +27,6 @@ using namespace std;
  *
  * @param message[in] The passed in CAN message that was read.
  */
-// create a can interrupt handler
 void canInterrupt(io::CANMessage& message, void* priv) {
     auto* queue = reinterpret_cast<types::FixedQueue<CANOPEN_QUEUE_SIZE, io::CANMessage>*>(priv);