FWT-150 Look at my Very Stable code S

.github/workflows/cmake.yml

@@ -16,7 +16,7 @@ env:
 jobs:
   build:
     # Select the server's operating system
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
 
     steps:
       # Checkout the repository, including all submodules

include/LVSS.hpp

@@ -3,8 +3,6 @@
 
 #include <EVT/dev/LCD.hpp>
 #include <EVT/io/CANopen.hpp>
-#include <EVT/io/GPIO.hpp>
-#include <EVT/io/SPI.hpp>
 #include <EVT/utils/log.hpp>
 #include <LVSS.hpp>
 #include <cstdio>
@@ -14,6 +12,7 @@
 
 namespace IO = EVT::core::IO;
 namespace DEV = EVT::core::DEV;
+namespace time = EVT::core::time;
 
 namespace LVSS {
 
@@ -25,12 +24,58 @@ static constexpr uint8_t POWER_SWITCHES_SIZE = 3;
 class LVSS : public CANDevice {
 public:
     static constexpr uint8_t NODE_ID = 42;
+    static constexpr uint8_t TPDO_NODE_ID = 1;
+
+    IO::GPIO& vicorFT;
+    static constexpr IO::Pin vicorFaultPin = IO::Pin::PB_4;
+    static constexpr IO::GPIO::State VICOR_FAULT_ACTIVE_STATE = IO::GPIO::State::HIGH;
+
+    /** Union bit field to hold a bit representing which boards are on/off */
+    typedef union {
+        uint16_t val;
+        struct {
+            // Power Switch 0
+            uint8_t batt : 1;
+            uint8_t hib : 1;
+
+            // Power Switch 1
+            uint8_t tms : 1;
+            uint8_t hudl : 1;
+
+            // Power Switch 2
+            uint8_t gub : 1;
+            uint8_t acc : 1;
+        };
+    } u_t;
+
+    /** FSM State declaration */
+    enum class State {
+        /** When LVSS is powered on */
+        INITIALIZATION = 0u,
+        /** Reads VCU signal and starting data liike switch current */
+        SOFT_START = 1u,
+        /** Turns on the specified boards */
+        POWER_UP = 2u,
+        /** Checks values for errors */
+        IDLE = 3u,
+        /** Handles errors */
+        FAULT = 4u,
+    };
+
+    enum class PowerSwitchStatus {
+        Safe = 1u,
+        OverCurrent = 2u,
+        Temperature = 3u,
+        Fault = 4u
+    };
+
+    PowerSwitchStatus err[3] = {PowerSwitchStatus::Safe, PowerSwitchStatus::Safe, PowerSwitchStatus::Safe};// Holds the error status for each power switch
 
     /**
      * Constructor for the LVSS class, takes a pointer to an array of power switches
      * @param powerSwitches an array of pointers to power switches
      */
-    explicit LVSS(TPS2HB50BQ1* powerSwitches[POWER_SWITCHES_SIZE]);
+    explicit LVSS(TPS2HB50BQ1* powerSwitches[POWER_SWITCHES_SIZE], IO::GPIO& vicorFT);
 
     CO_OBJ_T* getObjectDictionary() override;
 
@@ -44,11 +89,122 @@ class LVSS : public CANDevice {
     void process();
 
 private:
-    // false = OFF, true = ON?
-
     TPS2HB50BQ1* powerSwitches[POWER_SWITCHES_SIZE]{};// a struct for each power switch (of which there are 3)
-    // ACS781XLR currentSensor;
+
+    u_t boardEN;
+
+    /** Tracks signal from VCU */
+    uint16_t VCUBoardSig = 0x00;
+
+    /** Tracks high value current */
+    uint16_t highValCurrent = 0x00;
+
+    /** Tracks power switch current */
+    uint16_t switchCurrent = 0x00;
+
+    /** Tracks power switch temperature */
+    uint16_t switchTemperature = 0x00;
+
+    /** Tracks power switch fault */
+    uint16_t switchFaultstatus = 0x00;
+
+    /**
+     * The current state of the LVSS
+     */
+    State state;
+
+    uint8_t CurrentLim = 9000;   // Current Limit
+    uint8_t TemperatureLim = 135;// Temperature Limit
+
+    /**
+     * Boolean flag which represents that a state has just changed
+     *
+     * Useful for determining when operations that only take place once per
+     * state change should take place.
+     */
+    bool isNewState = false;
+
+    /**
+     * Handle VICOR Initialization state
+     * Waits for 110ms while the VICOR initializes.
+     *
+     * State: State::INITIALIZATION
+     */
+    void initState();
+
+    /**
+     * Handle VICOR soft start state
+     * Reads in CANopen messages from the VCU of which boards to turn on/ff.
+     *
+     * State: State::SOFT_START
+     */
+    void softStartState();
+
+    /**
+     * Handle VICOR when the LVSS sends out power to the boards
+     * Determines which boards get turned on/off first based on priority.
+     *
+     * State: State::POWER_UP
+     */
+    void powerUpState();
+
+    /**
+     * Checks LVSS values
+     *
+     * State: State::IDLE
+     */
+    void idleState();
+
+    /**
+     * Checks LVSS values
+     *
+     * State: State::FAULT
+     */
+    void faultState();
+
+    /**
+     * Have to know the size of the object dictionary for initialization
+     * process.
+     */
+    static constexpr uint8_t OBJECT_DICTIONARY_SIZE = 40;
+
+    /**
+     * The object dictionary itself. Will be populated by this object during
+     * construction.
+     *
+     * The plus one is for the special "end of dictionary" marker.
+     */
+    CO_OBJ_T objectDictionary[OBJECT_DICTIONARY_SIZE + 1] = {
+        MANDATORY_IDENTIFICATION_ENTRIES_1000_1014,
+        HEARTBEAT_PRODUCER_1017(2000),
+        IDENTITY_OBJECT_1018,
+        SDO_CONFIGURATION_1200,
+
+        RECEIVE_PDO_SETTINGS_OBJECT_140X(0x00, 0x00, TPDO_NODE_ID, RECEIVE_PDO_TRIGGER_ASYNC),
+        RECEIVE_PDO_MAPPING_START_KEY_16XX(0x00, 0x1),
+        RECEIVE_PDO_MAPPING_ENTRY_16XX(0x00, 0x01, PDO_MAPPING_UNSIGNED16),
+
+        TRANSMIT_PDO_SETTINGS_OBJECT_18XX(0x00, TRANSMIT_PDO_TRIGGER_TIMER, TRANSMIT_PDO_INHIBIT_TIME_DISABLE, 2000),
+        TRANSMIT_PDO_MAPPING_START_KEY_1AXX(0x00, 0x02),
+        TRANSMIT_PDO_MAPPING_ENTRY_1AXX(0x00, 0x01, PDO_MAPPING_UNSIGNED16),
+        TRANSMIT_PDO_MAPPING_ENTRY_1AXX(0x00, 0x02, PDO_MAPPING_UNSIGNED16),
+
+        // User defined data, this will be where we put elements that can be
+        // accessed via SDO and depending on configuration PDO
+        DATA_LINK_START_KEY_21XX(0x00, 0x05),
+        /** Receive data */
+        DATA_LINK_21XX(0x00, 0x01, CO_TUNSIGNED16, &VCUBoardSig),
+
+        /** Transfer data */
+        DATA_LINK_21XX(0x00, 0x02, CO_TUNSIGNED16, &highValCurrent),
+        DATA_LINK_21XX(0x00, 0x03, CO_TUNSIGNED16, &switchCurrent),
+        DATA_LINK_21XX(0x00, 0x04, CO_TUNSIGNED16, &switchTemperature),
+        DATA_LINK_21XX(0x00, 0x05, CO_TUNSIGNED16, &switchFaultstatus),
+
+        // End of dictionary marker
+        CO_OBJ_DICT_ENDMARK,
+    };
 };
 
 }// namespace LVSS
-#endif
+#endif

include/dev/TPS2HB50BQ1.hpp

@@ -64,7 +64,7 @@ class TPS2HB50BQ1 {
     /**
      * Get the temperature of the power switch
      *
-     * @return The temperature of the power switch
+     * @return The temperature of the power switch in millicelsius
      */
     uint32_t getTemp();
 
@@ -91,6 +91,15 @@ class TPS2HB50BQ1 {
     IO::GPIO& diagSelect2;
     IO::ADC& senseOut;
 
+    uint32_t temp = 0;   // Power Switch Temperature
+    uint32_t counts = 0; // ADC Counts
+    uint32_t volts = 0;  // ADC Voltage
+    uint32_t current = 0;// Power Switch Current in milliamps
+
+    uint32_t kcl = 90000;     // Current Limit Ratio
+    uint32_t rlim = 10000;    // Resistor that sets the current limit
+    uint32_t icl = kcl / rlim;// Current Limit Value
+
     void setDiagStateEnabled(bool state);
 
     /**