BMS tesseracted

.github/workflows/cmake.yml

@@ -7,7 +7,7 @@ name: CMake
 # Define the workflow's triggers
 on:
   pull_request:
-    branches: [ main ]
+    branches: [main]
 
 # Set necessary environment variables
 env:
@@ -30,20 +30,25 @@ jobs:
       - name: Install Compiler and Linter
         run: |
           sudo apt-get install gcc-arm-none-eabi
-          sudo apt-get install clang-format-12
-          sudo update-alternatives --install /usr/bin/clang-format clang-format /usr/bin/clang-format-12 10000
+          sudo apt-get install clang-format-15
+          sudo update-alternatives --install /usr/bin/clang-format clang-format /usr/bin/clang-format-15 10000
 
       # Build the code for all supported chips
-      - name: F302 Build
-        run: |
-          cmake -DTARGET_DEV=STM32F302x8 -B ${{github.workspace}}/build
-          cmake --build ${{github.workspace}}/build
+#      - name: F302 Build
+#        run: |
+#          cmake -DTARGET_DEV=STM32F302x8 -B ${{github.workspace}}/build
+#          cmake --build ${{github.workspace}}/build
 
       - name: F334 Build
         run: |
           cmake -DTARGET_DEV=STM32F334x8 -B ${{github.workspace}}/build
           cmake --build ${{github.workspace}}/build
 
+#      - name: F446 Build
+#        run: |
+#          cmake -DTARGET_DEV=STM32F446xx -B ${{github.workspace}}/build
+#          cmake --build ${{github.workspace}}/build
+
       # Apply clang-format formatting to the branch and create a new commit if any files are changed
       - name: Apply Formatting
         run: |
@@ -57,4 +62,4 @@ jobs:
             git config --global user.name "GitHub Build"
             git commit -a -m "Applied Formatting Changes During GitHub Build"
             git push origin
-          fi
+          fi

CMakeLists.txt

@@ -4,9 +4,9 @@
 cmake_minimum_required(VERSION 3.15)
 
 # Convert CMake flags to compiler flags
-if(EVT_CORE_LOG_ENABLE)
+if (EVT_CORE_LOG_ENABLE)
     add_compile_definitions(EVT_CORE_LOG_ENABLE)
-endif()
+endif ()
 
 # Allow for up to 8 CANopen TPDOs
 add_compile_definitions(CO_TPDO_N=8)
@@ -23,11 +23,11 @@ add_compile_definitions(USE_HAL_DRIVER)
 
 # Handle Selection of the target device
 option(TARGET_DEV "Target device" "STM32F302x8")
-if(NOT TARGET_DEV)
+if (NOT TARGET_DEV)
     set(TARGET_DEV "STM32F334x8")
-endif()
+endif ()
 
-set(EVT_CORE_DIR      ${CMAKE_SOURCE_DIR}/libs/EVT-core)
+set(EVT_CORE_DIR ${CMAKE_SOURCE_DIR}/libs/EVT-core)
 
 # Link to the EVT-core library
 add_subdirectory(libs/EVT-core/)
@@ -39,11 +39,11 @@ include(${EVT_CORE_DIR}/cmake/evt-core_install.cmake)
 ###############################################################################
 # Project Setup
 ###############################################################################
-set(BOARD_LIB_NAME   BMS)
-if("${BOARD_LIB_NAME}" STREQUAL BOARD_NAME)
+set(BOARD_LIB_NAME BMS)
+if ("${BOARD_LIB_NAME}" STREQUAL BOARD_NAME)
     message(FATAL_ERROR
             "You must set the template project name in the top-level CMakeLists.txt")
-endif()
+endif ()
 
 file(STRINGS version.txt BOARD_VERSION)
 
@@ -56,22 +56,22 @@ add_library(${PROJECT_NAME} STATIC)
 
 # Add sources
 target_sources(${PROJECT_NAME} PRIVATE
-    src/BMS.cpp
-    src/BQSettingStorage.cpp
-    src/BQSetting.cpp
-    src/ResetHandler.cpp
-    src/SystemDetect.cpp
-    src/dev/BQ76952.cpp
-    src/dev/Interlock.cpp
-    src/dev/ThermistorMux.cpp
+        src/BMS.cpp
+        src/BQSettingStorage.cpp
+        src/BQSetting.cpp
+        src/ResetHandler.cpp
+        src/SystemDetect.cpp
+        src/dev/BQ76952.cpp
+        src/dev/Interlock.cpp
+        src/dev/ThermistorMux.cpp
 )
 
 ###############################################################################
 # Handle dependencies
 ###############################################################################
 target_link_libraries(${PROJECT_NAME}
         PUBLIC EVT
-        )
+)
 
 ###############################################################################
 # Install and expose library

include/BMS.hpp

@@ -1,21 +1,19 @@
 #pragma once
 
-#include <cstdint>
-
-#include <EVT/io/CANDevice.hpp>
-#include <EVT/io/CANOpenMacros.hpp>
-#include <co_core.h>
+#include <core/io/CANDevice.hpp>
+#include <core/io/CANOpenMacros.hpp>
+#include <core/io/pin.hpp>
+#include <core/dev/IWDG.hpp>
 
 #include <BMSCANOpenMacros.hpp>
 #include <BQSettingStorage.hpp>
-#include <EVT/dev/IWDG.hpp>
-#include <EVT/io/pin.hpp>
 #include <ResetHandler.hpp>
 #include <SystemDetect.hpp>
+
 #include <dev/Interlock.hpp>
 #include <dev/ThermistorMux.hpp>
 
-namespace IO = EVT::core::IO;
+namespace IO = core::io;
 
 namespace BMS {
 
@@ -58,11 +56,13 @@ class BMS : public CANDevice {
     static constexpr IO::Pin CAN_RX_PIN = IO::Pin::PA_11;
     static constexpr IO::Pin I2C_SCL_PIN = IO::Pin::PB_6;
     static constexpr IO::Pin I2C_SDA_PIN = IO::Pin::PB_7;
-    static constexpr IO::Pin INTERLOCK_PIN = IO::Pin::PA_3;
+    static constexpr IO::Pin INTERLOCK_PIN = IO::Pin::PF_0;
     static constexpr IO::Pin TEMP_INPUT_PIN = IO::Pin::PA_0;
     static constexpr IO::Pin MUX_S1_PIN = IO::Pin::PA_15;
     static constexpr IO::Pin MUX_S2_PIN = IO::Pin::PB_4;
     static constexpr IO::Pin MUX_S3_PIN = IO::Pin::PA_8;
+    static constexpr IO::Pin ERROR_LED_PIN = IO::Pin::PA_7;
+    static constexpr IO::Pin BQ_RESET_PIN = IO::Pin::PB_1;
 
     /** Error values */
     static constexpr uint8_t BQ_COMM_ERROR = 0x01;
@@ -72,18 +72,20 @@ class BMS : public CANDevice {
     /**
      * Make a new instance of the BMS with the given devices
      *
-     * @param bqSettingsStorage Object used to manage BQ settings storage
-     * @param bq BQ chip instance
-     * @param interlock GPIO used to check the interlock status
-     * @param alarm GPIO used to check the BQ alarm status
-     * @param systemDetect Object used to detect what system the BMS is connected to
-     * @param bmsOK GPIO used to output the OK signal from the BMS
-     * @param thermMux MUX for pack thermistors
-     * @param resetHandler Handler for reset messages
-     */
-    BMS(BQSettingsStorage& bqSettingsStorage, DEV::BQ76952 bq, DEV::Interlock& interlock,
-        IO::GPIO& alarm, SystemDetect& systemDetect, IO::GPIO& bmsOK,
-        DEV::ThermistorMux& thermMux, ResetHandler& resetHandler, EVT::core::DEV::IWDG& iwdg);
+     * @param[in] bqSettingsStorage Object used to manage BQ settings storage
+     * @param[in] bq BQ chip instance
+     * @param[in] interlock GPIO used to check the interlock status
+     * @param[in] alarm GPIO used to check the BQ alarm status
+     * @param[in] systemDetect Object used to detect what system the BMS is connected to
+     * @param[in] bmsOK GPIO used to output the OK signal from the BMS
+     * @param[in] errorLed GPIO used to indicate a BMS error with an LED
+     * @param[in] thermMux MUX for pack thermistors
+     * @param[in] resetHandler Handler for reset messages
+     * @param[in] iwdg Internal watchdog to ensure the BMS code is running without getting stuck
+     */
+    BMS(BQSettingsStorage& bqSettingsStorage, const dev::BQ76952 &bq, dev::Interlock& interlock,
+        IO::GPIO& alarm, SystemDetect& systemDetect, IO::GPIO& bmsOK, IO::GPIO& errorLed,
+        const dev::ThermistorMux& thermMux, ResetHandler& resetHandler, core::dev::IWDG& iwdg);
 
     /**
      * The node ID used to identify the device on the CAN network.
@@ -185,7 +187,7 @@ class BMS : public CANDevice {
     /**
      * Interface to the BQ chip
      */
-    DEV::BQ76952 bq;
+    dev::BQ76952 bq;
 
     /**
      * The current state of the BMS
@@ -195,7 +197,7 @@ class BMS : public CANDevice {
     /**
      * The interlock which is used to detect a cable plugged in
      */
-    DEV::Interlock& interlock;
+    dev::Interlock& interlock;
 
     /**
      * This GPIO is connected to the ALARM pin of the BQ
@@ -223,15 +225,20 @@ class BMS : public CANDevice {
      */
     IO::GPIO& bmsOK;
 
+    /**
+     * LED to indicate an error in the BMS
+     */
+    IO::GPIO& errorLed;
+
     /**
      * Multiplexer to handle pack thermistors
      */
-    DEV::ThermistorMux thermistorMux;
+    dev::ThermistorMux thermistorMux;
 
     /**
      * Internal watchdog to detect STM hang
      */
-    EVT::core::DEV::IWDG& iwdg;
+    core::dev::IWDG& iwdg;
 
     /**
      * Boolean flag which represents that a state has just changed
@@ -318,7 +325,7 @@ class BMS : public CANDevice {
      * by reading the voltage from the BQ chip and is then exposed over
      * CANopen.
      */
-    uint16_t cellVoltage[DEV::BQ76952::NUM_CELLS] = {};
+    uint16_t cellVoltage[dev::BQ76952::NUM_CELLS] = {};
 
     /**
      * Used to store values which the BMS updates.

include/BMSCANOpenMacros.hpp

@@ -1,6 +1,6 @@
 #pragma once
 
-#include <EVT/io/CANOpenMacros.hpp>
+#include <core/io/CANOpenMacros.hpp>
 
 /**
  * This macro creates a TPDO settings object for an extra node on a single

include/BQSettingStorage.hpp

@@ -2,7 +2,7 @@
 
 #include <cstdint>
 
-#include <EVT/dev/storage/M24C32.hpp>
+#include <core/dev/storage/M24C32.hpp>
 
 #include <BQSetting.hpp>
 #include <dev/BQ76952.hpp>
@@ -37,7 +37,7 @@ class BQSettingsStorage {
      * @param eeprom EEPROM instance that stores settings
      * @param bq BQ instance to send settings to
      */
-    BQSettingsStorage(EVT::core::DEV::M24C32& eeprom, DEV::BQ76952& bq);
+    BQSettingsStorage(core::dev::M24C32& eeprom, dev::BQ76952& bq);
 
     /**
      * Get the number of settings stored for the BQ
@@ -94,7 +94,7 @@ class BQSettingsStorage {
      *
      * @return The EEPROM instance
      */
-    EVT::core::DEV::M24C32& getEEPROM();
+    core::dev::M24C32& getEEPROM();
 
     /**
      * Reset the transfer setting logic
@@ -126,7 +126,7 @@ class BQSettingsStorage {
      * @param[out] isComplete Flag that represents all settings have been transferred
      * @return The resulting status of the transfer operation
      */
-    BMS::DEV::BQ76952::Status transferSetting(bool& isComplete);
+    dev::BQ76952::Status transferSetting(bool& isComplete);
 
     /**
      * Check if the settings are stored and can be used
@@ -158,11 +158,11 @@ class BQSettingsStorage {
     /**
      * EEPROM for storing the BQ settings.
      */
-    EVT::core::DEV::M24C32& eeprom;
+    core::dev::M24C32& eeprom;
     /**
      * The BQ chip interface
      */
-    DEV::BQ76952& bq;
+    dev::BQ76952& bq;
     /**
      * This is a count of the number of settings that have been written into
      * EEPROM. This is used for determining if all the settings have been
@@ -175,7 +175,7 @@ class BQSettingsStorage {
      */
     uint16_t numSettingsTransferred = 0;
 
-    friend class BMS;
+    friend class bms;
 };
 
 }// namespace BMS

include/ResetHandler.hpp

@@ -1,6 +1,6 @@
 #pragma once
 
-#include <EVT/io/types/CANMessage.hpp>
+#include <core/io/types/CANMessage.hpp>
 
 namespace BMS {
 
@@ -19,7 +19,7 @@ class ResetHandler {
      *
      * @param msg Message to register
      */
-    void registerInput(EVT::core::IO::CANMessage msg);
+    void registerInput(core::io::CANMessage msg);
 
     /**
      * Check whether reset messages have been received, indicating that the BMS
@@ -43,7 +43,7 @@ class ResetHandler {
         {0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07};
 
     /** Array of last MSG_HIST_LEN messages received */
-    EVT::core::IO::CANMessage msgHistory[MSG_HIST_LEN] = {};
+    core::io::CANMessage msgHistory[MSG_HIST_LEN] = {};
     /** Index of the last registered message */
     uint8_t lastRegMsgIndex = 0;
 };

include/dev/BQ76952.hpp

@@ -1,13 +1,14 @@
 #pragma once
 
-#include <EVT/io/I2C.hpp>
+#include <core/io/I2C.hpp>
+#include <core/io/GPIO.hpp>
 
 #include <BMSInfo.hpp>
 #include <BQSetting.hpp>
 
 #include <co_obj.h>
 
-namespace BMS::DEV {
+namespace BMS::dev {
 
 /**
  * Represents the functionality of the BQ76952. This is a layer of abstraction
@@ -48,8 +49,9 @@ class BQ76952 {
      *
      * @param[in] i2c I2C interface to use to communicate on the bus
      * @param[in] i2cAddress The address of the BQ76952 to use
+     * @param[in] resetPin GPIO instance to reset the BQ
      */
-    BQ76952(EVT::core::IO::I2C& i2c, uint8_t i2cAddress);
+    BQ76952(core::io::I2C& i2c, uint8_t i2cAddress, core::io::GPIO& resetPin);
 
     /**
      * Write out the given setting
@@ -225,6 +227,11 @@ class BQ76952 {
      */
     Status getBQStatus(uint8_t bqStatusArr[7]);
 
+    /**
+     * Reset the BQ
+     */
+    void reset();
+
     /** CANopen interface for probing the state of the balancing */
     //CO_OBJ_TYPE balancingCANOpen;
 
@@ -278,9 +285,11 @@ class BQ76952 {
     static constexpr uint16_t BQ_ID = 0x7695;
 
     /** I2C bus to communicate over */
-    EVT::core::IO::I2C& i2c;
-    /** The address of the BQ76952 on the I2C bus */
+    core::io::I2C& i2c;
+    /** The address of the BQ on the I2C bus */
     uint8_t i2cAddress;
+    /** Reset pin of the BQ */
+    core::io::GPIO& resetPin;
 };
 
-}// namespace BMS::DEV
+}// namespace BMS::dev