sil architecture for tms #599
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| { | ||
| "name": "tms-common", | ||
| "version": "0.1.0", | ||
| "description": "Platform-independent TMS logic: temperature sensing, BMS broadcast packing, and fan control.", | ||
| "dependencies": { | ||
| "Embedded Template Library": "^20", | ||
| "atomic_buffer": "*", | ||
| "can": "*", | ||
| "lookup_table": "*", | ||
| "moving_average": "*", | ||
| "periph": "*" | ||
| } | ||
| } |
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@@ -30,4 +30,4 @@ class FanController { | |
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| /// @brief Maximum PWM rate of change in %/second. | ||
| const float pwm_roc_ = 20.0f; | ||
| }; | ||
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@@ -20,4 +20,4 @@ float TempSensor::Read() { | |
| macfe::LookupTable::Evaluate(volt_ts_to_degC, volt_at_stm); | ||
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| return temperature; | ||
| } | ||
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@@ -59,4 +59,4 @@ class TempSensor { | |
| {2.44f, -40.0f}, | ||
| // clang-format on | ||
| }); | ||
| }; | ||
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| #include "tms-common.hpp" | ||
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| #include "generated/can/veh_messages.hpp" | ||
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| namespace macfe::tms { | ||
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| using namespace ::generated::can; | ||
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| TxTMSValues TMSBroadcast(const std::array<float, kSensorCount>& temperatures) { | ||
| return TxTMSValues{ | ||
| .val1 = static_cast<uint8_t>(temperatures[0] * 50.0f), | ||
| .val2 = static_cast<uint8_t>(temperatures[1] * 50.0f), | ||
| .val3 = static_cast<uint8_t>(temperatures[2] * 50.0f), | ||
| .val4 = static_cast<uint8_t>(temperatures[3] * 50.0f), | ||
| .val5 = static_cast<uint8_t>(temperatures[4] * 50.0f), | ||
| .val6 = static_cast<uint8_t>(temperatures[5] * 50.0f), | ||
| }; | ||
| } | ||
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| TxBmsBroadcast PackBmsBroadcast( | ||
| const std::array<float, kSensorCount>& temperatures) { | ||
| // Compute the min, max, and avg temperatures | ||
| uint8_t low_index = 0; | ||
| uint8_t high_index = 0; | ||
| int8_t low_temp = temperatures[0]; | ||
| int8_t high_temp = temperatures[0]; | ||
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| float temperature_sum = temperatures[0]; | ||
| for (uint8_t i = 1; i < temperatures.size(); i++) { | ||
| temperature_sum += temperatures[i]; | ||
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| auto t = static_cast<int8_t>(temperatures[i]); | ||
| if (t < low_temp) { | ||
| low_temp = t; | ||
| low_index = i; | ||
| } | ||
| if (t > high_temp) { | ||
| high_temp = t; | ||
| high_index = i; | ||
| } | ||
| } | ||
| int8_t avg_temp = static_cast<int8_t>(temperature_sum / kSensorCount); | ||
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| // This is a constant defined by Orion. It was discovered by | ||
| // decoding the CAN traffic coming from the Orion Thermal Expansion Pack. | ||
| const uint8_t kBmsChecksumConstant = 0x41; | ||
| const uint8_t kThermistorModuleNumber = 0; | ||
| uint8_t checksum = kThermistorModuleNumber + low_temp + high_temp + | ||
| avg_temp + kSensorCount + high_index + low_index + | ||
| kBmsChecksumConstant; | ||
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| return TxBmsBroadcast{ | ||
| .therm_module_num = kThermistorModuleNumber, | ||
| .low_therm_value = low_temp, | ||
| .high_therm_value = high_temp, | ||
| .avg_therm_value = avg_temp, | ||
| .num_therm_en = kSensorCount, | ||
| .high_therm_id = high_index, | ||
| .low_therm_id = low_index, | ||
| .checksum = checksum, | ||
| }; | ||
| } | ||
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| /*************************************************************** | ||
| Program Logic | ||
| ***************************************************************/ | ||
| void ReadAndSendTemperatures( | ||
| float update_period_ms, VehBus& veh_can_bus, FanController& fan_controller, | ||
| etl::array<TempSensor, kSensorCount>& temp_sensors) { | ||
| // Read the temperature sensors | ||
| std::array<float, kSensorCount> temperatures; | ||
| float avg_temp = 0; | ||
| for (size_t i = 0; i < kSensorCount; i++) { | ||
| temperatures[i] = temp_sensors[i].Update(); | ||
| avg_temp += temperatures[i] / kSensorCount; | ||
| } | ||
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| // Send the temperatures to the BMS | ||
| TxBmsBroadcast bms_broadcast = PackBmsBroadcast(temperatures); | ||
| TxTMSValues tms = TMSBroadcast(temperatures); | ||
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| veh_can_bus.Send(bms_broadcast); | ||
| veh_can_bus.Send(tms); | ||
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| // Adjust the fan speed based on the average temperature | ||
| fan_controller.Update(avg_temp, update_period_ms); | ||
| } | ||
| } // namespace macfe::tms | ||
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| #pragma once | ||
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| #include <array> | ||
| #include <cstdint> | ||
| #include <span> | ||
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| #include "etl/array.h" | ||
| #include "fan_controller.hpp" | ||
| #include "generated/can/veh_bus.hpp" | ||
| #include "periph/analog_input.hpp" | ||
| #include "temp_sensor.hpp" | ||
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| namespace macfe::tms { | ||
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| using ::generated::can::TxBmsBroadcast; | ||
| using ::generated::can::TxTMSValues; | ||
| using ::generated::can::VehBus; | ||
|
Contributor
There was a problem hiding this comment. Don't use It's ok to use in in the cc file |
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| inline constexpr size_t kSensorCount = 6; | ||
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| TxTMSValues TMSBroadcast(const std::array<float, kSensorCount>& temperatures); | ||
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| TxBmsBroadcast PackBmsBroadcast( | ||
| const std::array<float, kSensorCount>& temperatures); | ||
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| void ReadAndSendTemperatures( | ||
| float update_period_ms, VehBus& veh_can_bus, FanController& fan_controller, | ||
| etl::array<TempSensor, kSensorCount>& temp_sensors); | ||
| } // namespace macfe::tms | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -1,51 +1,51 @@ | ||
|
Contributor
There was a problem hiding this comment. Regenerate the code from cubemx and run post_cubemx.sh. These files shouldn't have a git diff. They should've just been renamed |
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| /* USER CODE BEGIN Header */ | ||
| /** | ||
| ****************************************************************************** | ||
| * @file adc.h | ||
| * @brief This file contains all the function prototypes for | ||
| * the adc.c file | ||
| ****************************************************************************** | ||
| * @attention | ||
| * | ||
| * Copyright (c) 2025 STMicroelectronics. | ||
| * All rights reserved. | ||
| * | ||
| * This software is licensed under terms that can be found in the LICENSE file | ||
| * in the root directory of this software component. | ||
| * If no LICENSE file comes with this software, it is provided AS-IS. | ||
| * | ||
| ****************************************************************************** | ||
| */ | ||
| /* USER CODE END Header */ | ||
| /* Define to prevent recursive inclusion -------------------------------------*/ | ||
| #ifndef __ADC_H__ | ||
| #define __ADC_H__ | ||
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| #ifdef __cplusplus | ||
| extern "C" { | ||
| #endif | ||
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| /* Includes ------------------------------------------------------------------*/ | ||
| #include "main.h" | ||
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| /* USER CODE BEGIN Includes */ | ||
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| /* USER CODE END Includes */ | ||
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| extern ADC_HandleTypeDef hadc1; | ||
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| /* USER CODE BEGIN Private defines */ | ||
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| /* USER CODE END Private defines */ | ||
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| void MX_ADC1_Init(void); | ||
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| /* USER CODE BEGIN Prototypes */ | ||
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| /* USER CODE END Prototypes */ | ||
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| #ifdef __cplusplus | ||
| } | ||
| #endif | ||
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| #endif /* __ADC_H__ */ | ||
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| @@ -1,51 +1,51 @@ | ||
| /* USER CODE BEGIN Header */ | ||
| /** | ||
| ****************************************************************************** | ||
| * @file can.h | ||
| * @brief This file contains all the function prototypes for | ||
| * the can.c file | ||
| ****************************************************************************** | ||
| * @attention | ||
| * | ||
| * Copyright (c) 2025 STMicroelectronics. | ||
| * All rights reserved. | ||
| * | ||
| * This software is licensed under terms that can be found in the LICENSE file | ||
| * in the root directory of this software component. | ||
| * If no LICENSE file comes with this software, it is provided AS-IS. | ||
| * | ||
| ****************************************************************************** | ||
| */ | ||
| /* USER CODE END Header */ | ||
| /* Define to prevent recursive inclusion -------------------------------------*/ | ||
| #ifndef __CAN_H__ | ||
| #define __CAN_H__ | ||
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| #ifdef __cplusplus | ||
| extern "C" { | ||
| #endif | ||
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| /* Includes ------------------------------------------------------------------*/ | ||
| #include "main.h" | ||
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| /* USER CODE BEGIN Includes */ | ||
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| /* USER CODE END Includes */ | ||
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| extern CAN_HandleTypeDef hcan2; | ||
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| /* USER CODE BEGIN Private defines */ | ||
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| /* USER CODE END Private defines */ | ||
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| void MX_CAN2_Init(void); | ||
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| /* USER CODE BEGIN Prototypes */ | ||
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| /* USER CODE END Prototypes */ | ||
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| #ifdef __cplusplus | ||
| } | ||
| #endif | ||
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| #endif /* __CAN_H__ */ |
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What's the 50.0 factor here?
It should be a named constant
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This factor was already implemented prior. Additionally, the logic before made no sense. Take a look:
TxTMSValues TMSBroadcast(const std::array<float, kSensorCount>& temperatures) { return TxTMSValues{ .val1 = static_cast<uint8_t>(bindings::temp_sensor_adc_1.ReadVoltage() * 50.0f), .val2 = static_cast<uint8_t>(bindings::temp_sensor_adc_2.ReadVoltage() * 50.0f), .val3 = static_cast<uint8_t>(bindings::temp_sensor_adc_3.ReadVoltage() * 50.0f), .val4 = static_cast<uint8_t>(bindings::temp_sensor_adc_4.ReadVoltage() * 50.0f), .val5 = static_cast<uint8_t>(bindings::temp_sensor_adc_5.ReadVoltage() * 50.0f), .val6 = static_cast<uint8_t>(bindings::temp_sensor_adc_6.ReadVoltage() * 50.0f), }; }We pass in temperatures but read from bindings, which doesnt make sense. This version actually uses the passed in param
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Yeah that is pretty bad. Global variables are not good
Glad to have it fixed.
You should open a github issue "figure out what this TMS constant is"