Updated power limiting to filter on wheel speed

.gitignore

@@ -66,3 +66,6 @@ dkms.conf
 **/bin
 .DS_Store
 _DS_Store
+
+# vscode
+**/.vscode/

can_spec_my18.yml

@@ -30,6 +30,9 @@ boards:
       can0:
         - FrontCanNodeBrakeThrottle
         - MCVoltage
+        - KistlerSpeedDistance
+        - KistlerVelocity
+        - KistlerStatus
   dash:
     arch: lpc11cx4
     publish:
@@ -79,11 +82,88 @@ boards:
     subscribe:
       can0:
         - CurrentSensor_Config
+  kistler:
+    publish:
+      can0:
+        - KistlerSpeedDistance
+        - KistlerVelocity
+        - KistlerStatus
 buses:
   can0:
     baudrate: 500000
     is_extended: false
     messages:
+      KistlerSpeedDistance:
+        can_id: 0x7FA
+        period: 4ms
+        is_big_endian: false
+        segments:
+          timestamp:
+            position: 0
+            length: 16
+            c_type: uint16_t
+            unit: 4 ms
+          ground_speed:
+            position: 16
+            length: 16
+            c_type: uint16_t
+            unit: 1e-2 m/s
+          distance:
+            position: 32
+            length: 32
+            c_type: uint32_t
+            unit: mm
+      KistlerVelocity:
+        can_id: 0x7FB
+        period: 4ms
+        is_big_endian: false
+        segments:
+          longitudinal:
+            position: 0
+            length: 16
+            c_type: uint16_t
+            unit: 1e-2 m/s
+          lateral:
+            position: 16
+            length: 16
+            c_type: int16_t
+            unit: 1e-2 m/s
+          angle:
+            position: 32
+            length: 16
+            c_type: int16_t
+            unit: 1e-2 deg
+      KistlerStatus:
+        can_id: 0x7FC
+        period: 4ms
+        is_big_endian: false
+        segments:
+          serial_number:
+            position: 0
+            length: 24
+            c_type: uint32_t
+          sensor_number:
+            position: 24
+            length: 8
+            c_type: uint8_t
+          temperature:
+            position: 32
+            length: 8
+            c_type: uint8_t
+            unit: degC
+          led_illumination_curr:
+            position: 40
+            length: 8
+            c_type: uint8_t
+            unit: 1e-2 A
+          status_byte_1:
+            position: 48
+            length: 8
+            c_type: uint8_t
+          status_byte_2: 
+            position: 56
+            length: 8
+            c_type: uint8_t
       FrontCanNodeBrakeThrottle:
         can_id: 0x090
         period: 13ms
@@ -938,12 +1018,12 @@ buses:
             length: 16
             c_type: int16_t
             unit: mWb
-          Iq_feedback:
+          Id_feedback:
             position: 32
             length: 16
             c_type: int16_t
             unit: dA
-          Id_feedback:
+          Iq_feedback:
             position: 48
             length: 16
             c_type: int16_t
@@ -1541,8 +1621,74 @@ buses:
         is_big_endian: true
         period: 25 ms
         segments:
-          tMAX:
+          vq_tmax:
             unit: dNm
             position: 0
-            length: 32
-            c_type: int32_t
+            length: 16
+            c_type: int16_t
+          mech_tmax:
+            unit: dMm
+            position: 32
+            length: 16
+            c_type: int16_t
+          calc_eff:
+            unit: percent
+            position: 48
+            length: 8
+            c_type: uint8_t
+      VCU_PowerLimSettings:
+        can_id: 0x701
+        is_big_endian: true
+        period: 25 ms
+        <<: &epl
+          segments:
+            power_lim:
+              unit: hW
+              position: 0
+              length: 16
+              c_type: uint16_t
+            pl_enable:
+              position: 16
+              length: 1
+              c_type: bool
+            using_vq_lim:
+              position: 17
+              length: 1
+              c_type: bool
+            electrical_P:
+              position: 18
+              length: 8
+              c_type: uint8_t
+            electrical_I:
+              position: 26
+              length: 8
+              c_type: uint8_t
+            anti_windup:
+              position: 34
+              length: 16
+              c_type: uint16_t
+      Dash_PowerLimSettings:
+        can_id: 0x702
+        is_big_endian: true
+        period: 25 ms
+        <<: *epl
+      ElectricalPLLogging:
+        can_id: 0x722
+        is_big_endian: true
+        period: 25 ms 
+        segments: 
+          power_limited_torque: 
+            unit: dNM 
+            position: 0 
+            length: 16
+            c_type: uint16_t 
+          pedal_torque:
+            unit: dNM
+            position: 16
+            length: 16
+            c_type: uint16_t
+          anti_windup:
+            position: 32
+            length: 16
+            c_type: int16_t
+

src/bms/inc/console.h

@@ -100,7 +100,6 @@ typedef struct {
   bool           measure_on;
   bool           measure_temp;
   bool           measure_voltage;
-  bool           measure_packcurrent;
   bool           measure_packvoltage;
 } CONSOLE_OUTPUT_T;
 

src/bms/inc/main.h

@@ -14,25 +14,3 @@
 #define PRE_ERROR_CHECK_TIMEOUT 500
 
 extern volatile uint32_t msTicks;
-
-static char str[10];
-
-static BMS_PACK_STATUS_T pack_status;
-static BMS_INPUT_T  bms_input;
-static BMS_OUTPUT_T bms_output;
-static BMS_STATE_T  bms_state;
-
-static BMS_PACK_CONFIG_T pack_config;
-static uint32_t cell_voltages[MAX_NUM_MODULES * MAX_CELLS_PER_MODULE];
-static int16_t  cell_temperatures[MAX_NUM_MODULES * MAX_THERMISTORS_PER_MODULE];
-static int16_t  cell_temperature_offsets[MAX_NUM_MODULES * MAX_THERMISTORS_PER_MODULE];
-static uint8_t  module_cell_count[MAX_NUM_MODULES];
-
-// memory allocation for BMS_OUTPUT balancing
-static bool balance_reqs[MAX_NUM_MODULES * MAX_CELLS_PER_MODULE];
-static bool balance_waitingoff[MAX_NUM_MODULES * MAX_CELLS_PER_MODULE];
-static uint32_t balance_timeon[MAX_NUM_MODULES * MAX_CELLS_PER_MODULE];
-
-// memory for console
-static microrl_t rl;
-static CONSOLE_OUTPUT_T console_output;

src/bms/inc/measure.h

@@ -0,0 +1,6 @@
+#include "console.h"
+#include "state_types.h"
+
+void Output_Measurements(CONSOLE_OUTPUT_T *console_output,
+                         BMS_INPUT_T *bms_input,
+                         BMS_STATE_T *bms_state);

src/bms/src/board.c

@@ -23,31 +23,3 @@ void Board_BlockingDelay(uint32_t delayms) {
 
   while (msTicks < haltTime) ;
 }
-
-void Board_GetModeRequest(const CONSOLE_OUTPUT_T *console_output,
-                          BMS_INPUT_T            *bms_input) {
-  // // create console mode request
-  // BMS_SSM_MODE_T console_mode_request = BMS_SSM_MODE_STANDBY;
-
-  // // then get console mode request
-  // if (console_output->valid_mode_request) {
-  //   console_mode_request = console_output->mode_request;
-  // }
-
-  // if ((console_mode_request == BMS_SSM_MODE_STANDBY) &&
-  //     (bms_input->csb_mode_request == BMS_SSM_MODE_STANDBY)) {
-  //   bms_input->mode_request = bms_input->vcu_mode_request;
-  // }
-
-  // // if console mode request is standby vcu mode request is standby:
-  // // mode request is charger mode request
-  // // Error pass conflicting mode requests
-  // // else if (charge mode request is standby and vcu mode requst is stadndby):
-  // // mode request is console mode request
-  // // Error pass conflicting mode requests
-  // // else if console mode request is standby and charge mode reuqest is standby
-  // // mode request is vcu mode request
-  // // else if console mode request == discharge mode request or cosole mode
-  // // request == charge mode request
-  // // mode request is console
-}

src/bms/src/console.c

@@ -382,53 +382,40 @@ static void config(const char *const *argv) {
 }
 
 static void measure(const char *const *argv) {
-  // if (bms_state->curr_mode == BMS_SSM_MODE_STANDBY) {
-  //   if (strcmp(argv[1], "on") == 0) {
-  //     console_output->measure_on = true;
-  //     Board_Println("Measure On!");
-  //   } else if (strcmp(argv[1], "off") == 0) {
-  //     console_output->measure_on = false;
-  //     Board_Println("Measure Off!");
-  //   } else if (strcmp(argv[1], "print_flags") == 0) {
-  //     if (console_output->measure_voltage) {
-  //       Board_Println("Cell Voltages: On");
-  //     } else {
-  //       Board_Println("Cell Voltages: Off");
-  //     }
-
-  //     if (console_output->measure_temp) {
-  //       Board_Println("Cell Temps: On");
-  //     } else {
-  //       Board_Println("Cell Temps: Off");
-  //     }
-
-  //     if (console_output->measure_packcurrent) {
-  //       Board_Println("Pack Current: On");
-  //     } else {
-  //       Board_Println("Pack Current: Off");
-  //     }
-
-  //     if (console_output->measure_packvoltage) {
-  //       Board_Println("Pack Current: On");
-  //     } else {
-  //       Board_Println("Pack Current: Off");
-  //     }
-  //   } else if (strcmp(argv[1], "temps") == 0) {
-  //     console_output->measure_temp = !console_output->measure_temp;
-  //   } else if (strcmp(argv[1], "voltages") == 0) {
-  //     console_output->measure_voltage = !console_output->measure_voltage;
-  //   } else if (strcmp(argv[1], "packcurrent") == 0) {
-  //     console_output->measure_packcurrent = !console_output->measure_packcurrent;
-  //     Board_Println("Not implemented yet!");
-  //   } else if (strcmp(argv[1], "packvoltage") == 0) {
-  //     console_output->measure_packvoltage = !console_output->measure_packvoltage;
-  //     Board_Println("Not implemented yet!");
-  //   } else {
-  //     Board_Println("Unrecognized command!");
-  //   }
-  // } else {
-  //   Board_Println("Must be in standby");
-  // }
+  if (strcmp(argv[1], "on") == 0) {
+    console_output->measure_on = true;
+    Board_Println("Measure On!");
+  } else if (strcmp(argv[1], "off") == 0) {
+    console_output->measure_on = false;
+    Board_Println("Measure Off!");
+  } else if (strcmp(argv[1], "print_flags") == 0) {
+    if (console_output->measure_temp) {
+      Board_Println("Cell Temps: On");
+    } else {
+      Board_Println("Cell Temps: Off");
+    }
+
+    if (console_output->measure_voltage) {
+      Board_Println("Cell Voltages: On");
+    } else {
+      Board_Println("Cell Voltages: Off");
+    }
+
+    if (console_output->measure_packvoltage) {
+      Board_Println("Pack Voltage: On");
+    } else {
+      Board_Println("Pack Voltage: Off");
+    }
+
+  } else if (strcmp(argv[1], "temps") == 0) {
+    console_output->measure_temp = !console_output->measure_temp;
+  } else if (strcmp(argv[1], "voltages") == 0) {
+    console_output->measure_voltage = !console_output->measure_voltage;
+  } else if (strcmp(argv[1], "packvoltage") == 0) {
+    console_output->measure_packvoltage = !console_output->measure_packvoltage;
+  } else {
+    Board_Println("Unrecognized command!");
+  }
 }
 
 static void bal(const char *const *argv) {
@@ -510,7 +497,6 @@ void console_init(BMS_INPUT_T *input, BMS_STATE_T *state, CONSOLE_OUTPUT_T *con_
   console_output->measure_on          = false;
   console_output->measure_temp        = false;
   console_output->measure_voltage     = false;
-  console_output->measure_packcurrent = false;
   console_output->measure_packvoltage = false;
 }