Ht07summer testing

Libraries/HyTech_CAN/ACU_shunt_measurements.h

@@ -0,0 +1,37 @@
+#pragma once
+#include <string.h>
+#include <stdint.h>
+#ifdef HT_DEBUG_EN
+    #include "Arduino.h"
+#endif
+
+#pragma pack(push,1)
+
+// @Parseclass @Prefix(ACU)
+class ACU_shunt_measurements {
+
+    public:
+    ACU_shunt_measurements() = default;
+    ACU_shunt_measurements(uint8_t buf[]) { load(buf); }
+
+    inline void load(uint8_t buf[])         { memcpy(this, buf, sizeof(*this)); }
+    inline void write(uint8_t buf[])  const { memcpy(buf, this, sizeof(*this)); }
+
+    // Getters
+    inline uint16_t get_shunt_current()         const {return shunt_current;}
+    inline uint16_t get_pack_filtered()         const {return pack_filtered;}
+    inline uint16_t get_ts_out_filtered()         const {return ts_out_filtered;}
+
+    // Setters
+    inline void set_shunt_current(uint16_t shunt_current) {this->shunt_current = (uint16_t) (shunt_current);}
+    inline void set_pack_filtered(uint16_t pack_filtered) {this->pack_filtered = (uint16_t) (pack_filtered);}
+    inline void set_ts_out_filtered(uint16_t ts_out_filtered) {this->ts_out_filtered = (uint16_t) (ts_out_filtered);}
+
+    // Member variables
+    private:
+        uint16_t shunt_current;
+        uint16_t pack_filtered;
+        uint16_t ts_out_filtered;
+};
+
+#pragma pack(pop)

Libraries/HyTech_CAN/CAN_ID.h

@@ -55,8 +55,9 @@
 #define ID_CHARGER_CONTROL                                          0x1806E5F4
 #define ID_CHARGER_DATA                                             0x18FF50E5
 
-#define ID_EM_STATUS                                                0x100
-#define ID_EM_MEASUREMENT                                           0x400
+#define ID_ACU_SHUNT_MEASUREMENT                                    0x401
+#define ID_EM_STATUS                                                0x400
+#define ID_EM_MEASUREMENT                                           0x100
 
 #define ID_IMU_ACCELEROMETER                                        0x90
 #define ID_IMU_GYROSCOPE                                            0x91

Libraries/HyTech_CAN/EM_measurement.h

@@ -18,8 +18,12 @@ class EM_measurement {
 
     // Big endian byte ordering
     inline void load_from_emeter(uint8_t buf[]) {
-        voltage = (buf[0] << 24) | (buf[1] << 16) | (buf[2] << 8) | (buf[3]);
-        current = (buf[4] << 24) | (buf[5] << 16) | (buf[6] << 8) | (buf[7]);
+        //voltage = (buf[0] << 24) | (buf[1] << 16) | (buf[2] << 8) | (buf[3]);
+        voltage = ((buf[4] & 0x01) << 24) | (buf[5] << 16) | (buf[6] << 8) | (buf[7]);  // First byte does not necessarily need & since those bits in fact appeared to be 0
+        //current = (buf[4] << 24) | (buf[5] << 16) | (buf[6] << 8) | (buf[7]);
+        // current = ((buf[0] & 0x01) << 24) | (buf[1] << 16) | (buf[2] << 8) | (buf[3]);  // Same as voltage
+        current = (buf[0] << 24) | (buf[1] << 16) | (buf[2] << 8) | (buf[3]); // possible fix?
+        // why is there gaps between values in signal?
     }
 
     // Big endian byte ordering
@@ -47,8 +51,8 @@ class EM_measurement {
 #endif
 
 private:
-    uint32_t voltage; //@Parse @Scale(65536) @Unit(V)
-    uint32_t current; //@Parse @Scale(65536) @Unit(A)
+    int32_t voltage; //@Parse @Scale(65536) @Unit(V)  // Changed into signed int per DBC file
+    int32_t current; //@Parse @Scale(65536) @Unit(A)
 };
 
 #pragma pack(pop) 

Libraries/HyTech_CAN/EM_status.h

@@ -16,11 +16,16 @@ class EM_status {
     inline void load(uint8_t buf[])           { memcpy(this, buf, sizeof(*this)); }
     inline void write(uint8_t buf[])    const { memcpy(buf, this, sizeof(*this)); }
 
-    inline uint8_t get_voltage_gain()   const { return gain & 0xF;  }
-    inline uint8_t get_current_gain()   const { return gain >> 4;   }
-    inline bool get_overvoltage()       const { return flags & 0x1; }
-    inline bool get_overpower()         const { return flags & 0x2; }
-    inline bool get_logging()           const { return flags & 0x4; }
+    //inline uint8_t get_voltage_gain()   const { return gain & 0xF;  }
+    inline uint8_t get_voltage_gain()   const { return ((gain & 0x1F) >> 1); }  // Modification per DBC file, yet to be verified
+    //inline uint8_t get_current_gain()   const { return gain >> 4;   }
+    inline uint8_t get_current_gain()   const { return (((gain & 0x01) << 3) | ((flags & 0xE0) >> 5)); }
+    //inline bool get_overvoltage()       const { return flags & 0x1; }
+    inline bool get_overvoltage()       const { return flags & 0x80; }
+    //inline bool get_overpower()         const { return flags & 0x2; }
+    inline bool get_overpower()         const { return flags & 0x40; }
+    //inline bool get_logging()           const { return flags & 0x4; }
+    inline bool get_logging()           const { return flags & 0x20; }
 
 #ifdef HT_DEBUG_EN
     void print() {
@@ -37,6 +42,7 @@ class EM_status {
 private:
     uint8_t gain;
     uint8_t flags; //@Parse @Flaglist(overvoltage, overpower, logging)
+    uint16_t dummy; // Compensate 4-byte data frame
 };
 
 #pragma pack(pop) 

Libraries/HyTech_CAN/HyTech_CAN.h

@@ -8,7 +8,7 @@
 #define BMS_STATE_BALANCING_OVERHEATED 4
 
 #include "CAN_ID.h"
-
+#include "ACU_shunt_measurements.h"
 #include "BMS_balancing_status.h"
 #include "BMS_coulomb_counts.h"
 #include "BMS_detailed_temperatures.h"

Libraries/LTC6811_2/LTC6811_2.cpp

@@ -4,8 +4,6 @@
 
 // debug mode
 #define DEBUG false
-// SPI slave select pin, as required for Teensy 4.0
-#define SS 10
 // SPI alternate pin definitions (not needed unless using Teensy 3.2 alternate SPI pins)
 #define MOSI 7 // pin 11 by default
 #define MISO 8 // pin 12 by default
@@ -16,7 +14,7 @@
 // SPI write
 void LTC6811_2::spi_write_reg(uint8_t *cmd, uint8_t *cmd_pec, uint8_t *data, uint8_t *data_pec) {
     SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE3));
-    digitalWrite(SS, LOW);
+    digitalWrite(this->chip_select, LOW);
     delayMicroseconds(1);
     SPI.transfer(cmd[0]);
     SPI.transfer(cmd[1]);
@@ -27,7 +25,7 @@ void LTC6811_2::spi_write_reg(uint8_t *cmd, uint8_t *cmd_pec, uint8_t *data, uin
     }
     SPI.transfer(data_pec[0]);
     SPI.transfer(data_pec[1]);
-    digitalWrite(SS, HIGH);
+    digitalWrite(this->chip_select, HIGH);
     delayMicroseconds(1);
     SPI.endTransaction();
 #if DEBUG
@@ -37,7 +35,7 @@ void LTC6811_2::spi_write_reg(uint8_t *cmd, uint8_t *cmd_pec, uint8_t *data, uin
 // SPI read; IF CODE DOES NOT WORK, THIS IS A GOOD PLACE TO START DEBUGGING
 void LTC6811_2::spi_read_reg(uint8_t *cmd, uint8_t* cmd_pec, uint8_t *data_in) {
     SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE3));
-    digitalWrite(SS, LOW);
+    digitalWrite(this->chip_select, LOW);
     delayMicroseconds(1);
     SPI.transfer(cmd[0]);
     SPI.transfer(cmd[1]);
@@ -50,25 +48,30 @@ void LTC6811_2::spi_read_reg(uint8_t *cmd, uint8_t* cmd_pec, uint8_t *data_in) {
         Serial.print("SPI in byte: "); Serial.println(data_in[i], BIN);
 #endif
     }
-    digitalWrite(SS, HIGH);
+    digitalWrite(this->chip_select, HIGH);
     delayMicroseconds(1);
     SPI.endTransaction();
 }
 
 // SPI command
 void LTC6811_2::spi_cmd(uint8_t *cmd, uint8_t* cmd_pec) {
     SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE3));
-    digitalWrite(SS, LOW);
+    digitalWrite(this->chip_select, LOW);
     delayMicroseconds(1);
     SPI.transfer(cmd[0]);
     SPI.transfer(cmd[1]);
     SPI.transfer(cmd_pec[0]);
     SPI.transfer(cmd_pec[1]);
-    digitalWrite(SS, HIGH);
+    digitalWrite(this->chip_select, HIGH);
     delayMicroseconds(1);
     SPI.endTransaction();
 }
 
+// Set SPI chip select
+void LTC6811_2::spi_set_chip_select(uint8_t cs) {
+    this->chip_select = cs;
+}
+
 // returns the address of the specific LTC6811-2 chip to send command to
 uint8_t LTC6811_2::get_cmd_address() {
     return 0x80 | (this->address << 3);
@@ -373,10 +376,10 @@ void LTC6811_2::stcomm() {
  */
 // Wakeup LTC6811 from core SLEEP state and/ or isoSPI IDLE state to ready for ADC measurements or isoSPI comms
 void LTC6811_2::wakeup() {
-    digitalWrite(SS, LOW);
+    digitalWrite(this->chip_select, LOW);
     delayMicroseconds(1);
     SPI.transfer(0);
-    digitalWrite(SS, HIGH);
+    digitalWrite(this->chip_select, HIGH);
     delayMicroseconds(400); //t_wake is 400 microseconds; wait that long to ensure device has turned on.
 }
 

Libraries/LTC6811_2/LTC6811_2.h

@@ -92,6 +92,7 @@ class LTC6811_2 {
     void spi_write_reg(uint8_t *cmd, uint8_t *cmd_pec, uint8_t *data, uint8_t *data_pec);
     void spi_read_reg(uint8_t *cmd, uint8_t* cmd_pec, uint8_t *data_in);
     void spi_cmd(uint8_t *cmd, uint8_t* cmd_pec);
+    void spi_set_chip_select(uint8_t cs);
     void write_register_group(uint16_t cmd_code, const uint8_t *buffer);
     void read_register_group(uint16_t cmd_code, uint8_t *data);
     void non_register_cmd(uint16_t cmd_code);
@@ -112,6 +113,7 @@ class LTC6811_2 {
     bool pec_error;
     uint8_t  adc_mode;
     uint8_t discharge_permitted;
+    uint8_t chip_select = 10;
     uint8_t adc_state = 0; // 0: wait to begin voltage conversions; 1: adcs converting voltage values; 2: wait to begin gpio conversions; 3: adcs converting GPIO values
     elapsedMillis adc_timer = 0; // timer that determines wait time for ADCs to finish their conversions
 };