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Merge branch 'main' into Charger
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‎.gitignore

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# Doxygen autogenerated files
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Doxygen
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# mbed-os
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**/mbed-os/
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**/mbed-os-build/
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**/mbed-os-build
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# Python virtual environment (for using mbed-cli)
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.venv/
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# cmake build cache
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**/cmake_build
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**/.idea
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*.iml
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mbed-os-build/

‎CANDecoder/CANInterface.hpp

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#ifndef CAN_INTERFACE_HPP
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#define CAN_INTERFACE_HPP
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#include "mbed.h"
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/**
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* @brief Abstract interface for CAN communication
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* This enables dependency injection and mocking for testing
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*/
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class ICAN {
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public:
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virtual ~ICAN() = default;
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/**
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* @brief Read a CAN message if available
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* @param msg Reference to store the received message
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* @return true if message was read, false if no message available
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*/
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virtual bool read(CANMessage& msg) = 0;
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/**
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* @brief Send a CAN message
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* @param msg Message to send
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* @return true if message was sent successfully
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*/
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virtual bool write(const CANMessage& msg) = 0;
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/**
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* @brief Check if CAN interface is ready
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* @return true if ready for communication
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*/
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virtual bool isReady() const = 0;
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};
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/**
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* @brief Real CAN implementation using mbed CAN
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*/
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class MbedCAN : public ICAN {
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private:
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CAN& _can;
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public:
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explicit MbedCAN(CAN& can) : _can(can) {}
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bool read(CANMessage& msg) override {
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return _can.read(msg);
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}
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bool write(const CANMessage& msg) override {
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return _can.write(msg);
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}
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bool isReady() const override {
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return true; // mbed CAN is always ready after construction
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}
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};
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/**
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* @brief Mock CAN implementation for testing on STM32
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*/
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class MockCAN : public ICAN {
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private:
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static constexpr size_t MAX_MESSAGES = 32;
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CANMessage _incomingMessages[MAX_MESSAGES];
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CANMessage _sentMessages[MAX_MESSAGES];
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size_t _incomingCount = 0;
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size_t _sentCount = 0;
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size_t _messageIndex = 0;
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bool _isReady = true;
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public:
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// Test setup methods
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void injectMessage(const CANMessage& msg) {
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if (_incomingCount < MAX_MESSAGES) {
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_incomingMessages[_incomingCount++] = msg;
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}
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}
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void setReady(bool ready) { _isReady = ready; }
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// Verification methods
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size_t getSentMessageCount() const { return _sentCount; }
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const CANMessage& getSentMessage(size_t index) const { return _sentMessages[index]; }
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void clearSentMessages() { _sentCount = 0; }
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void clearIncomingMessages() {
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_incomingCount = 0;
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_messageIndex = 0;
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}
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// ICAN implementation
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bool read(CANMessage& msg) override {
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if (_messageIndex >= _incomingCount) {
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return false;
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}
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msg = _incomingMessages[_messageIndex++];
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return true;
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}
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bool write(const CANMessage& msg) override {
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if (!_isReady || _sentCount >= MAX_MESSAGES) return false;
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_sentMessages[_sentCount++] = msg;
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return true;
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}
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bool isReady() const override {
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return _isReady;
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}
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};
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#endif // CAN_INTERFACE_HPP

‎CANDecoder/CANProtocol.hpp

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// CANProtocol.hpp
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// Types for extracting CAN messages from the CAN bus
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// (Refer to ../CANbus.dbc for the protocol)
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// Written by: Njeri Gachoka
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#ifndef CANPROTOCOL_HPP
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#define CANPROTOCOL_HPP
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#include "mbed.h"
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#include <cstdint>
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namespace CAN_ID {
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// ACC
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constexpr uint32_t ACC_STATUS = 0x188;
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constexpr uint32_t ACC_SEG0_VOLTS = 0x191;
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constexpr uint32_t ACC_SEG1_VOLTS = 0x192;
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constexpr uint32_t ACC_SEG2_VOLTS = 0x193;
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constexpr uint32_t ACC_SEG3_VOLTS = 0x194;
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constexpr uint32_t ACC_SEG4_VOLTS = 0x195;
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constexpr uint32_t ACC_POWER = 0x288;
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constexpr uint32_t ACC_SEG0_TEMPS = 0x291;
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constexpr uint32_t ACC_SEG1_TEMPS = 0x292;
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constexpr uint32_t ACC_SEG2_TEMPS = 0x293;
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constexpr uint32_t ACC_SEG3_TEMPS = 0x294;
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constexpr uint32_t ACC_SEG4_TEMPS = 0x295;
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// ETC
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constexpr uint32_t ETC_STATUS = 0x189;
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// PDB
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constexpr uint32_t PDB_POWER_A = 0x19A;
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constexpr uint32_t PDB_POWER_B = 0x29B;
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// SME
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constexpr uint32_t SME_THROTTLE_DEMAND = 0x186;
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constexpr uint32_t SME_MAX_CURRENTS = 0x286;
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constexpr uint32_t SME_TRQSPD = 0x482;
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constexpr uint32_t SME_TEMP = 0x682;
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// TMAIN
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constexpr uint32_t TMAIN_DATA = 0x1A0;
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// TPERIPH
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constexpr uint32_t TPERIPH_BL_DATA = 0x1A4;
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constexpr uint32_t TPERIPH_BL_TIRETEMP = 0x2A3;
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constexpr uint32_t TPERIPH_BR_DATA = 0x1A5;
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constexpr uint32_t TPERIPH_BR_TIRETEMP = 0x2A4;
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constexpr uint32_t TPERIPH_FL_DATA = 0x1A2;
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constexpr uint32_t TPERIPH_FL_TIRETEMP = 0x2A1;
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constexpr uint32_t TPERIPH_FR_DATA = 0x1A3;
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constexpr uint32_t TPERIPH_FR_TIRETEMP = 0x2A2;
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// VDM
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constexpr uint32_t VDM_GPS_LAT_LONG = 0x000A0000;
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constexpr uint32_t VDM_GPS_DATA = 0x000A0001;
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constexpr uint32_t VDM_DATE_TIME = 0x000A0002;
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constexpr uint32_t VDM_ACCELERATION = 0x000A0003;
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constexpr uint32_t VDM_YAW_RATE = 0x000A0004;
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}
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struct ACC_STATUS_t {
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uint8_t BMS_FAULT : 1; // bit 0
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uint8_t IMD_FAULT : 1; // bit 1
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uint8_t SHUTDOWN_STATE : 1; // bit 2
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uint8_t PRECHARGE_DONE : 1; // bit 3
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uint8_t PRECHARGING : 1; // bit 4
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uint8_t CHARGING : 1; // bit 5
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uint8_t padding_6_7 : 2; // bits 6-7 (padding for gaps)
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uint8_t CELL_TOO_LOW : 1; // bit 8
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uint8_t CELL_TOO_HIGH : 1; // bit 9
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uint8_t TEMP_TOO_LOW : 1; // bit 10
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uint8_t TEMP_TOO_HIGH : 1; // bit 11
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uint8_t TEMP_TOO_HIGH_CRG : 1; // bit 12
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uint8_t padding_13_15 : 3; // bits 13-15 (padding to complete byte)
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uint16_t GLV_VOLTAGE; // bits 16-31
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uint32_t CELL_FAULT_INDEX; // bits 32-63
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};
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struct ACC_SEG_VOLTS_t {
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uint8_t VOLTS_CELL0; // bits 0-7
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uint8_t VOLTS_CELL1; // bits 8-15
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uint8_t VOLTS_CELL2; // bits 16-23
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uint8_t VOLTS_CELL3; // bits 24-31
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uint8_t VOLTS_CELL4; // byte 32-39
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uint8_t VOLTS_CELL5; // byte 40-47
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};
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struct ACC_POWER_t {
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uint16_t PACK_VOLTAGE; // bits 0-15
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uint8_t SOC; // bits 16-23
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uint16_t CURRENT; // bits 24-39
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};
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struct ACC_SEG_TEMPS_t {
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uint8_t TEMPS_CELL0; // bits 0-7
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uint8_t TEMPS_CELL1; // bits 8-15
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uint8_t TEMPS_CELL2; // bits 16-23
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uint8_t TEMPS_CELL3; // bits 24-31
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uint8_t TEMPS_CELL4; // bits 32-39
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uint8_t TEMPS_CELL5; // bits 40-47
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};
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struct ETC_STATUS_t {
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uint16_t HE1; // bits 0-15
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uint16_t HE2; // bits 16-31
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uint16_t BRAKE_SENSE_VOLTAGE; // bits 32-47
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uint8_t PEDAL_TRAVEL; // bits 48-55
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uint8_t RTD_BUTTON : 1; // bit 56
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uint8_t RTDS : 1; // bit 57
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uint8_t REVERSE : 1; // bit 58
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uint8_t BRAKELIGHT : 1; // bit 59
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uint8_t RTD : 1; // bit 60
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uint8_t IMPLAUSIBILITY : 1; // bit 61
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uint8_t TS_ACTIVE : 1; // bit 62
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};
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struct PDB_POWER_A_t {
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uint16_t GLV_VOLTAGE; // bits 0-15
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uint8_t CURRENT_SHUTDOWN; // bits 16-23
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uint8_t CURRENT_ACC; // bits 24-31
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uint8_t CURRENT_ETC; // bits 32-39
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uint8_t CURRENT_BPS; // bits 40-47
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uint8_t CURRENT_TRACTIVE; // bits 48-55
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uint8_t CURRENT_BSPD; // bits 56-63
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};
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struct PDB_POWER_B_t {
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uint8_t CURRENT_TELEMETRY; // bits 0-7
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uint8_t CURRENT_PDB; // bits 8-15
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uint8_t CURRENT_DASH; // bits 16-23
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uint8_t CURRENT_RTML; // bits 24-31
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uint8_t CURRENT_EXTRA_1; // bits 32-39
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uint8_t CURRENT_EXTRA_2; // bits 40-47
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};
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struct SME_THROTTLE_DEMAND_t {
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uint16_t TORQUE_DEMAND; // bits 0-15
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uint16_t MAX_SPEED; // bits 16-31
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uint8_t FORWARD : 1; // bit 32
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uint8_t REVERSE : 1; // bit 33
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uint8_t padding_34 : 1; // bit 34 (used for alignment)
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uint8_t POWER_READY : 1; // bit 35
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uint8_t padding2 : 4; // bits 36-39
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uint8_t MBB_ALIVE: 1; // bit 40
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};
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struct SME_TRQSPD_t {
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uint16_t SPEED; // bits 0-15
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uint16_t TORQUE; // bits 16-31
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uint8_t SOC_LOW_TRACTION : 1; // bit 32
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uint8_t SOC_LOW_HYDRAULIC : 1; // bit 33
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uint8_t REVERSE : 1; // bit 34
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uint8_t FORWARD : 1; // bit 35
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uint8_t PARK_BRAKE : 1; // bit 36
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uint8_t PEDAL_BRAKE : 1; // bit 37
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uint8_t CONTROLLER_OVERTEMP : 1; // bit 38
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uint8_t KEY_SWITCH_OVERVOLT : 1; // bit 39
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uint8_t KEY_SWITCH_UNDERVOLT: 1; // bit 40
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uint8_t RUNNING : 1; // bit 41
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uint8_t TRACTION : 1; // bit 42
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uint8_t HYDRAULIC : 1; // bit 43
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uint8_t POWERING_ENABLED : 1; // bit 44
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uint8_t POWERING_READY : 1; // bit 45
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uint8_t PRECHARGING : 1; // bit 46
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uint8_t CONTACTOR_CLOSED : 1; // bit 47
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uint16_t MOTOR_FLAGS; // bits 48-63
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};
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struct SME_TEMP_t {
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uint8_t MOTOR_TEMP; // bits 0-7
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uint8_t CONTROLLER_TEMP; // bits 8-15
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uint16_t DC_BUS_V; // bits 16-31
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uint8_t FAULT_CODE; // bits 32-39
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uint8_t FAULT_LEVEL; // bits 40-47
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uint16_t BUS_CURRENT; // bits 48-63
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};
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struct SME_MAX_CURRENTS_t {
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uint16_t CHARGE_CURRENT; // bits 0-15
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uint16_t DISCHARGE_CURRENT; // bits 16-31
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};
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struct TMAIN_DATA_t {
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uint16_t BRAKES_F; // bits 0-15
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uint16_t BRAKES_R; // bits 16-31
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};
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struct TPERIPH_DATA_t {
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uint16_t WHEELSPEED; // bits 0-15
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uint16_t SUSTRAVEL; // bits 16-31
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uint16_t STRAIN; // bits 32-47
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uint8_t SIDE_TIRE_TEMP; // bits 48-55
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};
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struct TPERIPH_TIRETEMP_t {
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uint8_t TIRETEMP_1; // bits 0-7
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uint8_t TIRETEMP_2; // bits 8-15
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uint8_t TIRETEMP_3; // bits 16-23
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uint8_t TIRETEMP_4; // bits 24-31
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uint8_t TIRETEMP_5; // bits 32-39
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uint8_t TIRETEMP_6; // bits 40-47
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uint8_t TIRETEMP_7; // bits 48-55
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uint8_t TIRETEMP_8; // bits 56-63
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};
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struct VDM_GPS_LAT_LONG_t {
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int32_t LATITUDE; // bits 7-38
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int32_t LONGITUDE; // bits 39-50
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};
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struct VDM_GPS_DATA_t {
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int16_t SPEED; // bits 7-22
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int16_t ALTITUDE; // bits 23-38
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int16_t TRUE_COURSE; // bits 39-54
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int8_t SATELLITES_IN_USE; // bits 55-62
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int8_t VALID1; // bits 63-70
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};
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struct VDM_DATE_TIME_t {
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int8_t VALID2; // bits 7-14
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int8_t UTC_DATE_YEAR; // bits 15-22
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int8_t UTC_DATE_MONTH; // bits 23-30
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int8_t UTC_DATE_DAY; // bits 31-38
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int8_t UTC_TIME_HOURS; // bits 47-54
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int8_t UTC_TIME_MINUTES; // bits 55-62
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int8_t UTC_TIME_SECONDS; // bits 63-70
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};
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struct VDM_ACCELERATION_t {
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int16_t X; // bits 7-22
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int16_t Y; // bits 23-38
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int16_t Z; // bits 39-54
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};
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struct VDM_YAW_RATE_t {
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int16_t X; // bits 7-22
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int16_t Y; // bits 23-38
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int16_t Z; // bits 39-54
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};
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#endif // CANPROTOCOL_HPP

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