Feat/torque mapping based on battery charge

.gitmodules

@@ -4,3 +4,4 @@
 [submodule "src/Middlewares/SUFST/can-defs"]
 	path = src/Middlewares/SUFST/can-defs
 	url = https://github.com/sufst/can-defs
+    branch = feat/vcu-power-save-mode

.vscode/c_cpp_properties.json

@@ -1,8 +1,54 @@
 {
   "configurations": [
+    {
+      "name": "arm-none-eabi-gcc (Linux)",
+      "compileCommands": [
+        "/home/r_kirkbride/Documents/GitHub/sufst/vcu/compile_commands.json"
+      ],
+      "includePath": [
+        "/home/r_kirkbride/Documents/GitHub/sufst/vcu/src/SUFST/Inc",
+        "/home/r_kirkbride/Documents/GitHub/sufst/vcu/src/SUFST/Inc/Functions",
+        "/home/r_kirkbride/Documents/GitHub/sufst/vcu/src/Core/Inc",
+        "/home/r_kirkbride/Documents/GitHub/sufst/vcu/src/Drivers/STM32F7xx_HAL_Driver/Inc",
+        "/home/r_kirkbride/Documents/GitHub/sufst/vcu/src/Drivers/CMSIS/Device/ST/STM32F7xx/Include",
+        "/home/r_kirkbride/Documents/GitHub/sufst/vcu/src/Drivers/CMSIS/**",
+        "/home/r_kirkbride/Documents/GitHub/sufst/vcu/src/Middlewares/ST/threadx/common/inc",
+        "/home/r_kirkbride/Documents/GitHub/sufst/vcu/src/Middlewares/ST/threadx/ports/cortex_m7/gnu/inc",
+        "/home/r_kirkbride/Documents/GitHub/sufst/vcu/src/Drivers/STM32F7xx_HAL_Driver/Inc"
+      ],
+      "defines": [
+        "TX_INCLUDE_USER_DEFINE_FILE",
+        "USE_HAL_DRIVER",
+        "STM32F746xx"
+      ],
+      "cStandard": "gnu11",
+      "intelliSenseMode": "gcc-arm",
+      "configurationProvider": "ms-vscode.makefile-tools",
+      "compileCommandsInCppPropertiesJson": [
+        "/home/r_kirkbride/Documents/GitHub/sufst/vcu/compile_commands.json"
+      ],
+      "configurationProviderInCppPropertiesJson": "ms-vscode.makefile-tools",
+      "mergeConfigurations": false,
+      "browse": {
+        "path": [
+          "/home/r_kirkbride/Documents/GitHub/sufst/vcu/src/SUFST/Inc",
+          "/home/r_kirkbride/Documents/GitHub/sufst/vcu/src/Core/Inc",
+          "/home/r_kirkbride/Documents/GitHub/sufst/vcu/src/Drivers/STM32F7xx_HAL_Driver/Inc",
+          "/home/r_kirkbride/Documents/GitHub/sufst/vcu/src/Drivers/CMSIS/Device/ST/STM32F7xx/Include",
+          "/home/r_kirkbride/Documents/GitHub/sufst/vcu/src/Drivers/CMSIS/**",
+          "/home/r_kirkbride/Documents/GitHub/sufst/vcu/src/Middlewares/ST/threadx/common/inc",
+          "/home/r_kirkbride/Documents/GitHub/sufst/vcu/src/Middlewares/ST/threadx/ports/cortex_m7/gnu/inc",
+          "/home/r_kirkbride/Documents/GitHub/sufst/vcu/src/Drivers/STM32F7xx_HAL_Driver/Inc",
+          "/home/r_kirkbride/Documents/GitHub/sufst/vcu"
+        ],
+        "limitSymbolsToIncludedHeaders": true
+      },
+      "compilerPath": "/usr/bin/arm-none-eabi-gcc",
+      "compilerPathInCppPropertiesJson": "/usr/bin/arm-none-eabi-gcc"
+    },
     {
       "name": "arm-none-eabi-gcc (macOS)",
-      "compileCommands": "${workspaceFolder}/compile_commands.json",
+      "compileCommands": ["${workspaceFolder}/compile_commands.json"],
       "includePath": [
         "${workspaceFolder}/src/SUFST/Inc",
         "${workspaceFolder}/src/Core/Inc",
@@ -12,7 +58,12 @@
         "${workspaceFolder}/src/Middlewares/ST/threadx/common/inc",
         "${workspaceFolder}/src/Middlewares/ST/threadx/ports/cortex_m7/gnu/inc",
         "${workspaceFolder}/src/SUFST/Inc/CAN",
-        "${workspaceFolder}/src/Drivers/STM32F7xx_HAL_Driver/Inc"
+        "${workspaceFolder}/src/Drivers/STM32F7xx_HAL_Driver/Inc",
+        "${workspaceFolder}/src/Middlewares/SUFST/rtcan/inc",
+        "${workspaceFolder}/src/SUFST/Inc/Interfaces",
+        "${workspaceFolder}/src/SUFST/Inc/Functions",
+        "${workspaceFolder}/src/SUFST/Inc/Services",
+        "${workspaceFolder}/src/Middlewares/SUFST/can-defs/out"
       ],
       "defines": [
         "TX_INCLUDE_USER_DEFINE_FILE",
@@ -21,11 +72,12 @@
       ],
       "cStandard": "gnu11",
       "intelliSenseMode": "gcc-arm",
-      "configurationProvider": "ms-vscode.makefile-tools"
+      "configurationProvider": "ms-vscode.makefile-tools",
+      "compilerPath": "/usr/bin/arm-none-eabi-gcc"
     },
     {
       "name": "arm-none-eabi-gcc (Windows)",
-      "compileCommands": "${workspaceFolder}/compile_commands.json",
+      "compileCommands": ["${workspaceFolder}/compile_commands.json"],
       "includePath": [
         "${workspaceFolder}/**",
         "${workspaceFolder}/src/Drivers/**"

.vscode/settings.json

@@ -49,9 +49,11 @@
     "status.h": "c",
     "torque_map_funcs.h": "c",
     "rtds.h": "c",
-    "pm100.h": "c"
+    "pm100.h": "c",
+    "canrx.h": "c"
   },
   "cortex-debug.variableUseNaturalFormat": true,
-  "C_Cpp.errorSquiggles": "Enabled",
-  "mcu-debug.rtos-views.showRTOS": false
+  "C_Cpp.errorSquiggles": "enabled",
+  "mcu-debug.rtos-views.showRTOS": false,
+  "C_Cpp.default.compilerPath": "arm-none-eabi-gcc"
 }

Makefile

@@ -101,6 +101,7 @@ src/SUFST/Src/Interfaces/rtds.c \
 src/SUFST/Src/Interfaces/scs.c \
 src/SUFST/Src/Interfaces/trc.c \
 src/SUFST/Src/Services/canbc.c \
+src/SUFST/Src/Services/canrx.c \
 src/SUFST/Src/Services/ctrl.c \
 src/SUFST/Src/Services/dash.c \
 src/SUFST/Src/Services/pm100.c \

src/SUFST/Inc/Functions/torque_map.h

@@ -24,13 +24,21 @@ typedef struct _torque_map_t
     uint16_t deadzone_end;                                 // end of deadzone
     float deadzone_scale;                  // scale factor for inputs
     const config_torque_map_t* config_ptr; // configuration
+    uint16_t output_max;
+    uint16_t
+        limit_min; // minimum Torque request at the end of the limit (Nm *10)
+    uint8_t limit_start; // BMS temp to start limiting torque (Celcius)
+    uint8_t limit_end;   // BMS temp for maximum toque limiting (Celcius)
 } torque_map_t;
 
 /*
  * public functions
  */
 status_t torque_map_init(torque_map_t* map_ptr,
                          const config_torque_map_t* config_ptr);
-uint16_t torque_map_apply(torque_map_t* map_ptr, uint16_t input);
+uint16_t torque_map_apply(torque_map_t* map_ptr,
+                          uint16_t input,
+                          uint8_t bms_temp,
+                          bool* power_saving);
 
 #endif

src/SUFST/Inc/Interfaces/scs.h

@@ -37,7 +37,7 @@ typedef struct
     uint32_t max_bounds_diff;       // cached bounds difference for validation
     const config_scs_t* config_ptr; // configuration
     status_t status;
-    status_t status_verbose;
+    scs_status_t status_verbose;
 } scs_t;
 
 /*

src/SUFST/Inc/Services/canrx.h

@@ -0,0 +1,56 @@
+/******************************************************************************
+ * @file    canrx.h
+ * @author  Robert Kirkbride (@r-kirkbride, rgak1g24@soton.ac.uk)
+ * @brief   Can Listener Service
+ * @details This service is responsible for listening for CAN messages required
+ *          by other services
+ *****************************************************************************/
+
+#ifndef CANRX_H
+#define CANRX_H
+
+#include <can_s.h>
+#include <rtcan.h>
+#include <stdint.h>
+#include <tx_api.h>
+
+#include "config.h"
+#include "log.h"
+#include "status.h"
+
+#define CANRX_QUEUE_SIZE              10 // 10 items
+
+#define CANRX_ERROR_NONE              0x00 // no errors
+#define CANRX_ERROR_INIT              0x01 // initialisation error
+#define CANRX_ERROR_BROADCAST_TIMEOUT 0x02 // no broadcasts received
+#define CANRX_ERROR_POST_FAULT        0x04 // power-on self-test fault
+#define CANRX_ERROR_RUN_FAULT         0x08 // runtime fault
+
+/**
+ * @brief   CANRX context
+ */
+typedef struct
+{
+    TX_THREAD thread;
+    rtcan_handle_t* rtcan_c_ptr;
+    rtcan_handle_t* rtcan_s_ptr;
+    TX_QUEUE can_c_rx_queue;
+    TX_QUEUE can_s_rx_queue;
+    ULONG can_rx_queue_mem[CANRX_QUEUE_SIZE];
+    TX_MUTEX state_mutex;
+    bool broadcasts_valid;
+    struct can_s_msgid_0_x202_t msgid_x202;
+    uint16_t error;
+    const config_canrx_t* config_ptr;
+} canrx_context_t;
+
+/*
+ * public functions
+ */
+status_t canrx_init(canrx_context_t* canrx_ptr,
+                    rtcan_handle_t* rtcan_c_ptr,
+                    rtcan_handle_t* rtcan_s_ptr,
+                    TX_BYTE_POOL* stack_pool_ptr,
+                    const config_canrx_t* config_ptr);
+
+#endif

src/SUFST/Inc/Services/ctrl.h

@@ -15,6 +15,7 @@
 #include "apps.h"
 #include "bps.h"
 #include "canbc.h"
+#include "canrx.h"
 #include "config.h"
 #include "dash.h"
 #include "log.h"
@@ -67,10 +68,12 @@ typedef struct
     int16_t motor_temp;
     int16_t inv_temp;
     int8_t max_temp;
+    uint8_t bms_temp;
 
     bool inverter_pwr;
     bool pump_pwr;
     bool fan_pwr;
+    bool power_saving;
 
     uint32_t neg_air_start;
     uint32_t precharge_start; // precharge start time in ticks
@@ -80,6 +83,7 @@ typedef struct
     dash_context_t* dash_ptr;   // dash service
     pm100_context_t* pm100_ptr; // PM100 service
     canbc_context_t* canbc_ptr; // CANBC service
+    canrx_context_t* canrx_ptr; // CANRX service
     tick_context_t* tick_ptr;   // tick thread (reads certain sensors)
     torque_map_t torque_map;    // torque map (APPS -> torque request)
 
@@ -98,6 +102,7 @@ status_t ctrl_init(ctrl_context_t* ctrl_ptr,
                    pm100_context_t* pm100_ptr,
                    tick_context_t* tick_ptr,
                    canbc_context_t* canbc_ptr,
+                   canrx_context_t* canrx_ptr,
                    TX_BYTE_POOL* stack_pool_ptr,
                    const config_ctrl_t* config_ptr,
                    const config_rtds_t* rtds_config_ptr,

src/SUFST/Inc/config.h

@@ -107,6 +107,9 @@ typedef struct {
      uint16_t input_max;                     // maximum input value (range must be zero to max)
      uint16_t output_max;                    // maximum output value (Nm * 10)
      float deadzone_fraction;                // fraction of input range for deadzone
+     uint16_t limit_min;                     // minimum Torque request at the end of the limit (Nm *10)
+     uint8_t limit_start;                    // BMS temp to start limiting torque (Celcius)
+     uint8_t limit_end;                      // BMS temp for maximum toque limiting (Celcius)
 } config_torque_map_t;
 
 /**
@@ -128,6 +131,14 @@ typedef struct {
      uint32_t broadcast_period_ticks;        // ticks between broadcasts
 } config_canbc_t;
 
+/**
+ * @brief   CAN recieving service
+ */
+typedef struct {
+    config_thread_t thread;                 // CANRX thread config
+    uint32_t broadcast_timeout_ticks;       // maximum number of ticks to wait for a broadcast
+} config_canrx_t;
+
 typedef struct
 {
      config_thread_t thread;                 // thread config
@@ -197,6 +208,7 @@ typedef struct {
      config_pm100_t pm100;
      config_tick_t tick;
      config_canbc_t canbc;
+     config_canrx_t canrx;
      config_heartbeat_t heartbeat;
      config_log_t log;
      config_rtos_t rtos;

src/SUFST/Inc/vcu.h

@@ -20,8 +20,8 @@
 #include "heartbeat.h"
 #include "log.h"
 #include "pm100.h"
-#include "tick.h"
 #include "status.h"
+#include "tick.h"
 
 /**
  * @brief       VCU context
@@ -30,17 +30,18 @@
  */
 typedef struct
 {
-     rtcan_handle_t rtcan_s;        // RTCAN service for sensors CAN bus
-     rtcan_handle_t rtcan_c;        // RTCAN service for critical systems CAN bus
-     canbc_context_t canbc;         // CAN broadcasting service instance
-     dash_context_t dash;           // dash service
-     ctrl_context_t ctrl;           // control service
-     pm100_context_t pm100;         // PM100 service
-     tick_context_t tick;
-     heartbeat_context_t heartbeat; // heartbeat service
-     log_context_t log;             // logging service
-     uint32_t err;                  // current error code
-     const config_t* config_ptr;    // pointer to global VCU configuration
+    rtcan_handle_t rtcan_s; // RTCAN service for sensors CAN bus
+    rtcan_handle_t rtcan_c; // RTCAN service for critical systems CAN bus
+    canbc_context_t canbc;  // CAN broadcasting service instance
+    canrx_context_t canrx;  // CAN recieving service instance
+    dash_context_t dash;    // dash service
+    ctrl_context_t ctrl;    // control service
+    pm100_context_t pm100;  // PM100 service
+    tick_context_t tick;
+    heartbeat_context_t heartbeat; // heartbeat service
+    log_context_t log;             // logging service
+    uint32_t err;                  // current error code
+    const config_t* config_ptr;    // pointer to global VCU configuration
 
 } vcu_context_t;