added in fan/pump control based on vehicle states

Author: mansi-b29

include/VCR_Constants.h

@@ -81,6 +81,11 @@ constexpr const float COOLANT_TEMP_OFFSET = 242;
 constexpr const float TEST_TEMP_SCALE = -46.8;
 constexpr const float TEST_TEMP_OFFSET = 386;
 
+// Fan/Pump Control
+constexpr int PUMP_CNTRL = 33;
+constexpr int INV_FAN_CNTRL = 34;
+constexpr int MOTOR_FAN_CNTRL = 35;
+
 /* Watchdog constants */
 constexpr int INVERTER_ENABLE_PIN = 2;
 constexpr int FLOWMETER_PIN = 7;

include/VCR_InterfaceTasks.h

@@ -98,4 +98,9 @@ HT_TASK::TaskResponse run_update_brakelight_task(const unsigned long& sysMicros,
  */
 HT_TASK::TaskResponse handle_send_VCR_ethernet_data(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo); // NOLINT (capitalized VCR)
 
+
+HT_TASK::TaskResponse enable_fans(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
+HT_TASK::TaskResponse enable_pumps(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
+
+
 #endif /* VCR_INTERFACETASKS */

lib/systems/include/DrivetrainSystem.h

@@ -16,6 +16,7 @@
 
 
 
+
 /**
  * When user calls evaluate_drivetrain(), this is part of the returned status to
  * indicate if the command was successful or invalid

src/VCR_InterfaceTasks.cpp

@@ -193,14 +193,17 @@ HT_TASK::TaskResponse init_ioexpander(const unsigned long& sysMicros, const HT_T
     IOExpanderInstance::instance().init();
 
     // setting GPB7 as an output (required by datasheet) and the rest as inputs for both ports
-    IOExpanderInstance::instance().portMode(MCP23017Port::A, 0b01111111); 
-    IOExpanderInstance::instance().portMode(MCP23017Port::B, 0b01111111); 
+    IOExpanderInstance::instance().portMode(MCP23017Port::A, 0b11111111);
+    IOExpanderInstance::instance().portMode(MCP23017Port::B, 0b11111111); 
 
-    // configure internal pull-ups (required by datasheet)
-    IOExpanderInstance::instance().writeRegister(MCP23017Register::GPPU_A, 0xFF); 
+    // internal pullups
     IOExpanderInstance::instance().writeRegister(MCP23017Register::GPPU_B, 0xFF);
+    IOExpanderInstance::instance().writeRegister(MCP23017Register::GPPU_A, 0xFF);
+    
+
+    // invert
+    IOExpanderInstance::instance().writeRegister(MCP23017Register::IPOL_A, 0xFF);
 
-    IOExpanderInstance::instance().writeRegister(MCP23017Register::IPOL_B, 0xFF);
 
     return HT_TASK::TaskResponse::YIELD;
 }
@@ -213,8 +216,6 @@ HT_TASK::TaskResponse read_ioexpander(const unsigned long& sysMicros, const HT_T
 
     uint16_t data = IOExpanderInstance::instance().read();
 
-    Serial.print(IOExpanderUtils::getBit(data, 0, 1));
-
     // inputs on port a (0)
     vcr_data.interface_data.shutdown_sensing_data.bspd_is_ok = IOExpanderUtils::getBit(data, 0, 1);
     //vcr_data.interface_data.shutdown_sensing_data.bspd_fault = IOExpanderUtils::getBit(data, 0, 2); //need to add bspd fault to shdn sensing data in shared firmware types
@@ -225,13 +226,17 @@ HT_TASK::TaskResponse read_ioexpander(const unsigned long& sysMicros, const HT_T
 
     // inputs on port b (1)
     //vcr_data.interface_data.shutdown_sensing_data.lv_present = IOExpanderUtils::getBit(data, 1, 0); //need to add
-    vcr_data.interface_data.shutdown_sensing_data.bms_is_ok = IOExpanderUtils::getBit(data, 1, 1); // i also need to update the shutdown sensing struct
+    vcr_data.interface_data.shutdown_sensing_data.bms_is_ok = IOExpanderUtils::getBit(data, 0, 1); // i also need to update the shutdown sensing struct
     vcr_data.interface_data.shutdown_sensing_data.imd_is_ok = IOExpanderUtils::getBit(data, 1, 2);
     //vcr_data.interface_data.shutdown_sensing_data.vcr_is_ok = IOExpanderUtils::getBit(data, 1, 3); //need to add
     vcr_data.interface_data.ethernet_is_linked.acu_link = IOExpanderUtils::getBit(data, 1, 4);
     vcr_data.interface_data.ethernet_is_linked.teensy_link = IOExpanderUtils::getBit(data, 1, 5);
     vcr_data.interface_data.ethernet_is_linked.vcf_link = IOExpanderUtils::getBit(data, 1, 6);
 
+    //Serial.println( vcr_data.interface_data.shutdown_sensing_data.bms_is_ok);
+
+    Wire2.requestFrom(0x20, 1);
+    Serial.println(Wire2.available());
     return HT_TASK::TaskResponse::YIELD;
     // NOLINTEND
 }
@@ -247,3 +252,15 @@ HT_TASK::TaskResponse run_update_brakelight_task(const unsigned long& sysMicros,
     digitalWrite(BRAKELIGHT_CONTROL_PIN, vcr_data.interface_data.recvd_pedals_data.pedals_data.brake_is_pressed);
     return HT_TASK::TaskResponse::YIELD;
 }
+
+
+HT_TASK::TaskResponse enable_fans(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo) 
+{
+    digitalWrite(MOTOR_FAN_CNTRL, VehicleStateMachineInstance::instance().get_state() == VehicleState_e::READY_TO_DRIVE ? 1 : 0);
+    digitalWrite(INV_FAN_CNTRL, VehicleStateMachineInstance::instance().get_state() == VehicleState_e::READY_TO_DRIVE ? 1 : 0);
+}
+
+HT_TASK::TaskResponse enable_pumps(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo) 
+{
+    digitalWrite(PUMP_CNTRL, VehicleStateMachineInstance::instance().get_state() == VehicleState_e::READY_TO_DRIVE ? 1 : 0);
+}

src/main.cpp

@@ -117,6 +117,8 @@ HT_TASK::Task IOExpander_read_task(init_ioexpander, read_ioexpander, ioexpander_
 HT_TASK::Task async_main_task(HT_TASK::DUMMY_FUNCTION, run_async_main_task, main_task_priority, main_task_period_us);
 HT_TASK::Task update_brakelight_task(init_update_brakelight_task, run_update_brakelight_task, update_brakelight_priority, update_brakelight_period_us);
 HT_TASK::Task update_sample_flowmeter(HT_TASK::DUMMY_FUNCTION, run_sample_flowmeter, dashboard_send_priority, dashboard_send_period_us);
+HT_TASK::Task run_enable_fans(HT_TASK::DUMMY_FUNCTION, enable_fans, dashboard_send_priority, dashboard_send_period_us);
+HT_TASK::Task run_enable_pumps(HT_TASK::DUMMY_FUNCTION, enable_pumps, dashboard_send_priority, dashboard_send_period_us);
 
 
 
@@ -178,12 +180,12 @@ HT_TASK::TaskResponse debug_print(const unsigned long& sysMicros, const HT_TASK:
     //Serial.println(vcr_data.interface_data.shutdown_sensing_data.k_watchdog_relay);
     // Serial.println(vcr_data.interface_data.shutdown_sensing_data.watchdog_is_ok);
     // Serial.println(vcr_data.interface_data.shutdown_sensing_data.l_bms_relay);
-    // Serial.println(vcr_data.interface_data.shutdown_sensing_data.bms_is_ok);
+     // Serial.println(vcr_data.interface_data.shutdown_sensing_data.bms_is_ok);
     // Serial.println(vcr_data.interface_data.shutdown_sensing_data.m_imd_relay);
     // Serial.println(vcr_data.interface_data.shutdown_sensing_data.imd_is_ok);
     // Serial.println("Linked Data");
     // Serial.println(vcr_data.interface_data.ethernet_is_linked.acu_link);
-     Serial.println(vcr_data.interface_data.ethernet_is_linked.drivebrain_link);
+  // Serial.println(vcr_data.interface_data.ethernet_is_linked.drivebrain_link);
     // Serial.println(vcr_data.interface_data.ethernet_is_linked.vcf_link);
     // Serial.println(vcr_data.interface_data.ethernet_is_linked.teensy_link);
     // Serial.println(vcr_data.interface_data.ethernet_is_linked.debug_link);
@@ -260,6 +262,10 @@ void setup() {
     pinMode(FLOWMETER_PIN, INPUT_PULLUP);
     pinMode(27, OUTPUT);
     digitalWrite(27, HIGH);
+
+    pinMode(18, INPUT_PULLUP);
+    pinMode(19, INPUT_PULLUP);
+    Wire2.setClock(10000);
     //attachInterrupt(digitalPinToInterrupt(FLOWMETER_PIN), countPulse, RISING);
     pulseCount = 0;
 
@@ -394,11 +400,14 @@ void setup() {
     scheduler.schedule(enqueue_coolant_temp_CAN_task);
     scheduler.schedule(async_main_task);
     scheduler.schedule(enqueue_controls_CAN_task);
-     scheduler.schedule(debug_state_print_task);
+    // scheduler.schedule(debug_state_print_task);
     scheduler.schedule(update_brakelight_task);
     scheduler.schedule(update_sample_flowmeter);
     scheduler.schedule(IOExpander_read_task);
 
+    scheduler.schedule(run_enable_fans);
+    scheduler.schedule(run_enable_pumps);
+
 }
 
 void loop() {