CAN for powertrain

include/IOManagement.h

@@ -3,17 +3,42 @@
 
 #include <Arduino.h>
 #include "STM32TimerInterrupt_Generic.h"
+#include "adc.h"
+
+// Inputs
+#define BATT_NEG_CONT_MCU           PB3
+#define ESTOP_MCU                   PA9
+#define BATT_POS_CONT_MCU           PA10
+#define PPC1_SUPP_INVALID           PA12
+#define PPC1_DCDC_INVALID           PB0
+#define MPPT_CONT_MCU               PB5
+#define MC_CONT_MCU                 PB4
+
+// Outputs
+#define MCU_BATT_EN                 PA8
+
+#define IO_UPDATE_PERIOD 100000 // us
 
-// TODO: add macros for digital pins
 
 struct Digital_Data {
-    // TODO: add the digital signals
-    bool batt_neg_cont : 1;
+    bool batt_neg_cont : 1;     // input
+    bool estop_mcu : 1;         // input
+    bool batt_pos_cont : 1;     // input
+    bool ppc1_supp_invalid : 1; // input
+    bool ppc1_dcdc_invalid : 1; // input
+    bool mcu_batt_en : 1;       // output
+    bool mppt_cont_mcu : 1;     // input
+    bool mc_cont_mcu : 1;       // input
 };
 
 extern volatile Digital_Data digital_data;
 
-// TODO: add extern volatile floats for analog signals.
+// Analog signals
+extern volatile float i_12v;
+extern volatile float v_12v;
+extern volatile float supp_i;
+extern volatile float batt_i;
+extern volatile float supp_v;
 
 // initialize digital and analog pins
 void initIO();
@@ -22,6 +47,6 @@ void initIO();
 void readIO();
 
 // Set the value of output pins
-// TODO: add setter functions for output pins.
+void set_mcu_batt_en(bool batt_en);
 
 #endif

src/IOManagement.cpp

@@ -2,13 +2,53 @@
 
 volatile Digital_Data digital_data;
 
+volatile float i_12v = 0;
+volatile float v_12v = 0;
+volatile float supp_i = 0;
+volatile float batt_i = 0;
+volatile float supp_v = 0;
+
 // Ticker to poll input readings at fixed rate
 STM32TimerInterrupt IOTimer(TIM2);
 
 void initIO() {
+    // Initalize digital pins
+    pinMode(BATT_NEG_CONT_MCU, INPUT);
+    pinMode(ESTOP_MCU, INPUT);
+    pinMode(BATT_POS_CONT_MCU, INPUT);
+    pinMode(PPC1_SUPP_INVALID, INPUT);
+    pinMode(PPC1_DCDC_INVALID, INPUT);
+    pinMode(MCU_BATT_EN, OUTPUT);
+    pinMode(MPPT_CONT_MCU, INPUT);
+    pinMode(MC_CONT_MCU, INPUT);
+
+    // Initialize analog pins
+    initADC(ADC1);
 
+    if (IOTimer.attachInterruptInterval(IO_UPDATE_PERIOD, readIO)) {
+        printf("IO timer started\n");
+    } else {
+        printf("Failed to start IO timer\n");
+    }
 }
 
 void readIO() {
+    digital_data.batt_neg_cont = digitalRead(BATT_NEG_CONT_MCU);
+    digital_data.estop_mcu = digitalRead(ESTOP_MCU);
+    digital_data.batt_pos_cont = digitalRead(BATT_POS_CONT_MCU);
+    digital_data.ppc1_supp_invalid = digitalRead(PPC1_SUPP_INVALID);
+    digital_data.ppc1_dcdc_invalid = digitalRead(PPC1_DCDC_INVALID);
+    digital_data.mppt_cont_mcu = digitalRead(MPPT_CONT_MCU);
+    digital_data.mc_cont_mcu = digitalRead(MC_CONT_MCU);
+
+    i_12v = readADC(ADC_CHANNEL_12);        // PA7
+    v_12v = readADC(ADC_CHANNEL_11);        // PA6
+    supp_i = readADC(ADC_CHANNEL_9);        // PA4
+    batt_i = readADC(ADC_CHANNEL_6);        // PA1
+    supp_v = readADC(ADC_CHANNEL_5);        // PA0
+}
 
+void set_mcu_batt_en(bool batt_en) {
+    digitalWrite(MCU_BATT_EN, batt_en);
+    digital_data.mcu_batt_en = batt_en;
 }

src/canPowertrain.cpp

@@ -2,10 +2,26 @@
 
 CANPowertrain::CANPowertrain(CAN_TypeDef* canPort, CAN_PINS pins, int frequency) : CANManager(canPort, pins, frequency) {};
 
-void CANPowertrain::readHandler(CAN_message_t msg) {
+//volatile bool mcu_battery_enable = false;
 
+void CANPowertrain::readHandler(CAN_message_t msg) {
+    /*uint8_t *data = msg.buf;
+    switch(msg.id){
+        case POWERTRAIN_BOOLS:
+            mcu_battery_enable = (data[0] >> 5) & 1;
+            break;
+        default:
+            break;
+    }*/
 }
 
 void CANPowertrain::sendPowertrainData() {
     // TODO: send messages with their respective CAN IDs
+    this->sendMessage(0x500, (void*)&i_out_12v, sizeof(float));
+    this->sendMessage(0x501, (void*)&v_out_12v, sizeof(float));
+    this->sendMessage(0x502, (void*)&supp_i, sizeof(float));
+    this->sendMessage(0x503, (void*)&batt_i, sizeof(float));
+    this->sendMessage(0x504, (void*)&supp_v, sizeof(float));
+    this->sendMessage(0x505, (void*)&digital_data, sizeof(digital_data));
+
 }