verified working telemetry receive

car-bsp/DataModules/inc/CustomBMS.hpp

@@ -0,0 +1,128 @@
+/*
+ * CustomBMS.hpp
+ *
+ * Created on: April 4, 2024
+ * Author: Matthew Shen & Yash Bhat
+ */
+
+#ifndef SOLARGATORSBSP_DATAMODULES_INC_CUSTOMBMS_HPP_
+#define SOLARGATORSBSP_DATAMODULES_INC_CUSTOMBMS_HPP_
+
+#include <DataModule.hpp>
+
+namespace SolarGators::DataModules {
+
+class CustomBMSRx0 final: public DataModule {
+public:
+    CustomBMSRx0(uint32_t can_id);
+    ~CustomBMSRx0() {};
+
+    void ToByteArray(uint8_t* buff) const;
+    void FromByteArray(uint8_t* buff);
+    #ifdef IS_TELEMETRY
+    void PostTelemetry(PythonScripts* scripts);
+    #endif
+
+    uint16_t GetPackVoltage() const;
+    uint16_t GetAvgCellVoltage() const;
+    uint16_t GetHighCellVoltage() const;
+    uint16_t GetLowCellVoltage() const;
+
+    static constexpr uint8_t Size = 8;
+protected:
+    uint16_t pack_voltage_;
+    uint16_t avg_cell_voltage_;
+    uint16_t high_cell_voltage_;
+    uint16_t low_cell_voltage_;
+};
+
+class CustomBMSRx1 final: public DataModule {
+public:
+    CustomBMSRx1(uint32_t can_id);
+    ~CustomBMSRx1() {};
+
+    void ToByteArray(uint8_t* buff) const;
+    void FromByteArray(uint8_t* buff);
+    #ifdef IS_TELEMETRY
+    void PostTelemetry(PythonScripts* scripts);
+    #endif
+
+    int16_t GetPackCurrent() const;
+    int16_t GetIntegralCurrent() const;
+    int16_t GetAveragePower() const;
+    uint8_t GetHighCellVoltageID() const;
+    uint8_t GetLowCellVoltageID() const;
+
+    static constexpr uint8_t Size = 8;
+protected:
+    int16_t pack_current_;
+    int16_t integral_current_;
+    int16_t average_power_;
+    uint8_t high_cell_voltage_id_;
+    uint8_t low_cell_voltage_id_;
+};
+
+class CustomBMSRx2 final: public DataModule {
+public:
+    CustomBMSRx2(uint32_t can_id);
+    ~CustomBMSRx2() {};
+
+    void ToByteArray(uint8_t* buff) const;
+    void FromByteArray(uint8_t* buff);
+    #ifdef IS_TELEMETRY
+    void PostTelemetry(PythonScripts* scripts);
+    #endif
+
+    uint16_t GetHighTemp() const;
+    uint16_t GetLowTemp() const;
+    uint8_t GetHighTempCellID() const;
+    uint8_t GetLowTempCellID() const;
+    uint16_t GetInternalTemp() const;
+
+    static constexpr uint8_t Size = 8;
+protected:
+    uint16_t high_temp_;
+    uint16_t low_temp_;
+    uint8_t high_temp_cell_id_;
+    uint8_t low_temp_cell_id_;
+    uint16_t internal_temp_;
+};
+
+class CustomBMSRx3 final: public DataModule {
+public:
+    CustomBMSRx3(uint32_t can_id);
+    ~CustomBMSRx3() {};
+
+    void ToByteArray(uint8_t* buff) const;
+    void FromByteArray(uint8_t* buff);
+    #ifdef IS_TELEMETRY
+    void PostTelemetry(PythonScripts* scripts);
+    #endif
+
+    uint8_t GetFaultFlags() const;
+    bool GetLowCellVoltageFault() const;
+    bool GetHighCellVoltageFault() const;
+    bool GetHighDischargeCurrentFault() const;
+    bool GetHighChargeCurrentFault() const;
+    bool GetHighTempFault() const;
+    bool GetThermistorDisconnectedFault() const;
+    bool GetCurrentSensorDisconnectedFault() const;
+    bool GetKillSwitchPressedFault() const;
+    uint8_t GetStatusFlags() const;
+    bool GetContactorStatus(uint8_t contactor) const;
+    bool GetContactorSource() const;
+    bool GetBalancingActive() const;
+    uint16_t GetPackSoC() const;
+
+    static constexpr uint8_t Size = 5;
+protected:
+    uint8_t fault_flags_;
+    uint8_t status_flags_;
+    uint16_t pack_soc_;
+};
+
+// Additional classes for BMSSecondaryFrame0 to BMSSecondaryFrame3 can be defined here following the same pattern.
+
+}
+
+#endif /* CUSTOMBMS_HPP_ */

car-bsp/DataModules/inc/DataModuleInfo.hpp

@@ -21,6 +21,11 @@ static constexpr uint32_t BMS_RX3_MSG_ID = 0x6B3;
 static constexpr uint32_t BMS_RX4_MSG_ID = 0x6B4;
 static constexpr uint32_t BMS_RX5_MSG_ID = 0x6B5;
 
+static constexpr uint32_t CBMS_RX0_MSG_ID = 0x6C0;
+static constexpr uint32_t CBMS_RX1_MSG_ID = 0x6C1;
+static constexpr uint32_t CBMS_RX2_MSG_ID = 0x6C2;
+static constexpr uint32_t CBMS_RX3_MSG_ID = 0x6C3;
+
 // Mitsuba
 //TX Messages
 static constexpr uint32_t MOTORTX_RL_MSG_ID = 0x08F89540;

car-bsp/DataModules/src/CustomBMS.cpp

@@ -0,0 +1,117 @@
+/*
+ * CustomBMS.cpp
+ *
+ * Created on: April 4, 2024
+ * Author: Matthew Shen & Yash Bhat
+ */
+
+#include "CustomBMS.hpp"
+
+
+namespace SolarGators::DataModules {
+
+// BMSFrame0 Implementation
+CustomBMSRx0::CustomBMSRx0(uint32_t can_id) : DataModule(can_id, 0, this->Size, 0, false) {}
+
+void CustomBMSRx0::ToByteArray(uint8_t* buff) const {
+    buff[0] = pack_voltage_ >> 8;
+    buff[1] = pack_voltage_ & 0xFF;
+    buff[2] = avg_cell_voltage_ >> 8;
+    buff[3] = avg_cell_voltage_ & 0xFF;
+    buff[4] = high_cell_voltage_ >> 8;
+    buff[5] = high_cell_voltage_ & 0xFF;
+    buff[6] = low_cell_voltage_ >> 8;
+    buff[7] = low_cell_voltage_ & 0xFF;
+}
+
+void CustomBMSRx0::FromByteArray(uint8_t* buff) {
+    // Voltage is in V * 1e-1
+    pack_voltage_ = (static_cast<uint16_t>(buff[1]) << 8) | buff[0];
+    // Voltage in mV for remaining values
+    avg_cell_voltage_ = (static_cast<uint16_t>(buff[3]) << 8) | buff[2];
+    high_cell_voltage_ = (static_cast<uint16_t>(buff[5]) << 8) | buff[4];
+    low_cell_voltage_ = (static_cast<uint16_t>(buff[7]) << 8) | buff[6];
+}
+
+uint16_t CustomBMSRx0::GetPackVoltage() const {
+    return pack_voltage_;
+}
+
+uint16_t CustomBMSRx0::GetAvgCellVoltage() const {
+    return avg_cell_voltage_;
+}
+
+uint16_t CustomBMSRx0::GetHighCellVoltage() const {
+    return high_cell_voltage_;
+}
+
+uint16_t CustomBMSRx0::GetLowCellVoltage() const {
+    return low_cell_voltage_;
+}
+
+#ifdef IS_TELEMETRY
+  void CustomBMSRx0::PostTelemetry(PythonScripts* scripts){
+	PythonHttp http;
+	http.init();
+	http.addData("low_cell_volt_", GetLowCellVoltage());
+	http.addData("high_cell_volt_", GetHighCellVoltage());
+	http.addData("avg_cell_volt_", GetAvgCellVoltage());
+	http.addData("pack_sum_volt_", GetPackVoltage());
+	scripts->send("bms/rx0", http.getParameters());
+	http.flush();
+  }
+#endif
+// BMSFrame1 Implementation
+CustomBMSRx1::CustomBMSRx1(uint32_t can_id) : DataModule(can_id, 0, this->Size, 0, false) {}
+
+void CustomBMSRx1::ToByteArray(uint8_t* buff) const {
+    buff[0] = pack_current_ >> 8;
+    buff[1] = pack_current_ & 0xFF;
+    buff[2] = integral_current_ >> 8;
+    buff[3] = integral_current_ & 0xFF;
+    buff[4] = average_power_ >> 8;
+    buff[5] = average_power_ & 0xFF;
+    buff[6] = high_cell_voltage_id_;
+    buff[7] = low_cell_voltage_id_;
+}
+
+void CustomBMSRx1::FromByteArray(uint8_t* buff) {
+    pack_current_ = (static_cast<int16_t>(buff[1]) << 8) | buff[0];
+    integral_current_ = (static_cast<int16_t>(buff[3]) << 8) | buff[2];
+    average_power_ = (static_cast<int16_t>(buff[5]) << 8) | buff[4];
+    high_cell_voltage_id_ = buff[6];
+    low_cell_voltage_id_ = buff[7];
+}
+
+int16_t CustomBMSRx1::GetPackCurrent() const {
+    //Current is in A * 1e-2
+    return pack_current_;
+}
+
+int16_t CustomBMSRx1::GetIntegralCurrent() const {
+    //Charge is in uAh
+    return integral_current_;
+}
+
+int16_t CustomBMSRx1::GetAveragePower() const {
+    //Power in W
+    return average_power_;
+}
+
+uint8_t CustomBMSRx1::GetHighCellVoltageID() const {
+    return high_cell_voltage_id_;
+}
+
+uint8_t CustomBMSRx1::GetLowCellVoltageID() const {
+    return low_cell_voltage_id_;
+}
+#ifdef IS_TELEMETRY
+    void CustomBMSRx1::PostTelemetry(PythonScripts* scripts){
+	PythonHttp http;
+	http.init();
+	http.addData("pack_current_", GetPackCurrent());
+	scripts->send("bms/rx2", http.getParameters());
+	http.flush();
+    }
+}
+#endif

telemetry-collector/src/main.cpp

@@ -12,6 +12,7 @@
 #include "PowerBoard.hpp"
 #include "DataModuleInfo.hpp"
 #include "Mppt.hpp"
+#include "CustomBMS.hpp"
 #include "GPS.hpp"
 #include "crc16.hpp"
 #include "Logger.hpp"
@@ -22,6 +23,9 @@ SolarGators::DataModules::MitsubaRx0 MitsubaRx0(SolarGators::DataModuleInfo::MOT
 SolarGators::DataModules::MitsubaRx1 MitsubaRx1(SolarGators::DataModuleInfo::MOTORRX1_RL_MSG_ID, 0);
 SolarGators::DataModules::MitsubaRx2 MitsubaRx2(SolarGators::DataModuleInfo::MOTORRX2_RL_MSG_ID, 0);
 
+SolarGators::DataModules::CustomBMSRx0 CustomBMSRx0(SolarGators::DataModuleInfo::CBMS_RX0_MSG_ID);
+SolarGators::DataModules::CustomBMSRx1 CustomBMSRx1(SolarGators::DataModuleInfo::CBMS_RX1_MSG_ID);
+
 SolarGators::DataModules::OrionBMSRx0 OrionBMSRx0(SolarGators::DataModuleInfo::BMS_RX0_MSG_ID, 0);
 SolarGators::DataModules::OrionBMSRx1 OrionBMSRx1(SolarGators::DataModuleInfo::BMS_RX1_MSG_ID, 0);
 SolarGators::DataModules::OrionBMSRx2 OrionBMSRx2(SolarGators::DataModuleInfo::BMS_RX2_MSG_ID, 0);
@@ -77,6 +81,8 @@ int main(int argc, char *argv[]) {
     modules.insert(std::make_pair(OrionBMSRx4.can_id_, &OrionBMSRx4));
     modules.insert(std::make_pair(OrionBMSRx5.can_id_, &OrionBMSRx5));
 
+    modules.insert(std::make_pair(CustomBMSRx0.can_id_, &CustomBMSRx0));
+    modules.insert(std::make_pair(CustomBMSRx0.can_id_, &CustomBMSRx1));
     // MPPTs
     modules.insert(std::make_pair(MPPT0_Rx_0.can_id_, &MPPT0_Rx_0));
     modules.insert(std::make_pair(MPPT1_Rx_0.can_id_, &MPPT1_Rx_0));