Code review main charge system

.vscode/settings.json

@@ -0,0 +1,6 @@
+{
+    "files.associations": {
+        "random": "cpp",
+        "limits": "cpp"
+    }
+}

.vscode/test/test_maincharge.cpp

@@ -0,0 +1,19 @@
+#include <Arduino.h>
+#include "MainChargeSystem.h"
+
+// Function to test
+
+
+// Test functions
+void test_mainCharge(){
+
+}
+
+
+void setup() {
+
+}
+
+void loop() {
+    // Leave empty for tests
+}

include/CCUTasks.h

@@ -1 +1 @@
-#include <ht_sched.hpp>
+#include <ht_sched.hpp>

lib/constants/CCUParams.h

@@ -0,0 +1,7 @@
+#include <Arduino.h>
+
+struct CCUParams{
+  double target_voltage = 3.1; //per cell
+  int max_AC_current = 15; //need to add the DC current setpoint probably 30 amps
+  float ideal_cell_temp = 40;
+};

lib/constants/pidParams.h

@@ -0,0 +1,8 @@
+#include <Arduino.h>
+
+struct PIDParams {
+  uint32_t PIDrunInterval = 12;
+  float Kp = 1;
+  float Ki = 1;
+  float Kd = 1;
+};

lib/interfaces/EthernetInterface.h

@@ -0,0 +1,22 @@
+/* Template message
+{
+    std::array<std::array<std::optional<volt>, 12>, num_chips> voltages;
+    std::array<celcius, 4 * num_chips> cell_temperatures;
+    std::array<float, num_humidity_sensors> humidity;
+    std::array<float, num_board_thermistors> board_temperatures;
+    float min_voltage;
+    float max_voltage;
+    size_t min_voltage_cell_id;              // 0 - 125
+    size_t max_voltage_cell_id;              // 0 - 125
+    size_t max_board_temperature_segment_id; // 0 - 5
+    size_t max_humidity_segment_id;          // 0 - 5
+    size_t max_cell_temperature_cell_id;     // 0 - 47
+    float total_voltage;
+    float average_cell_temperature;
+};
+*/
+struct EthernetInterface
+{
+    float maxCellTemp = 70; //in degress C
+    float maxCellV = 2.3; //in Volts
+};

lib/systems/MainChargeSystem.h

@@ -1,43 +1,43 @@
 /* Imports */
-#include <Arduino.h> 
-//#include "EthernetInterface.h" // this is not created yet but will take info from acu and give out usable values 
-#include "DerateFactorSystem.h" // not made yet need to decide the scaling based on temp of cells
-//#include "Charger_data.h"
-
+#include <Arduino.h>
+#include <PID_RT.h>
+#include "CCUParams.h"
+#include "PIDParams.h"
+#include "EthernetInterface.h" // this is not created yet but will take info from acu and give out usable values  
 
 /* TO-DO 
 Taking in the message from ACU protobuf recieving 
-_sys becomes System
 */
-/* Constants */
-
-double target_voltage = 12.4; //currently arbitrary
-bool current_flow = false;
-int max_AC_current = 5;
 
-/* Class Instance Creation */
 
+bool current_flow = false;
+float current_setpoint;
 
-/* Function Init */
-
-int set_charge_current();
+/* Object Instance Creation */
+EthernetInterface ethernetInterface;
+CCUParams ccuParams;
+PID_RT pid;
+PIDParams pidParams;
 
 /* Logic */
+void charge_setup() {
+  pid.setInterval(pidParams.PIDrunInterval);
+  pid.setKp(pidParams.Kp);
+  pid.setKi(pidParams.Ki);
+  pid.setKd(pidParams.Kd);
+}
 
-void charge_cycle() {
-  double max_cell_V = 1; // ethernet_message.get_max_cell_V(); returns the max cell Voltage to allow for decision whether or not to continue charging or not (not yet created) the code for individual cell temps is in the AMS code that already exists
-
-  if (max_cell_V >= target_voltage) { //checks whether or not any of the cells are charged yet
+void charge_cycle() { //add safe start that ramps up to max over 10 seconds
+  if (ethernetInterface.maxCellV >= ccuParams.target_voltage || ethernetInterface.maxCellTemp > ccuParams.ideal_cell_temp) { //checks whether or not any of the cells are charged yet
       current_flow = false; //this should be a function that actually turns on/off current flow 
   }
   else { 
-      set_charge_current(); //sets the charge current to the PID adjusted value
-      current_flow = true; //same as line 32
+    pid.compute(ethernetInterface.maxCellTemp-ccuParams.ideal_cell_temp); //also probably account to voltage
+    float pidTemp = pid.getOutput();
+    pid.compute(ethernetInterface.maxCellV-ccuParams.target_voltage);
+    float pidVolts = pid.getOutput();
+    float scalar = min(pidTemp, pidVolts);
+    current_setpoint = ccuParams.max_AC_current * scalar; //replace with just a Pd
+    current_flow = true; //same as line 32
   }
-}
-
-
-int set_charge_current() { //returns an int value for current
-  int current_setpoint = max_AC_current * 1; //derateCalculation(); derate calculation actually needs to be thought of
-  return current_setpoint;
-}
+}

platformio.ini

@@ -9,8 +9,7 @@
 lib_deps_shared =
   https://github.com/ssilverman/QNEthernet#v0.26.0
   https://github.com/hytech-racing/HT_SCHED
-  https://github.com/RobTillaart/PID_RT.git
-
+  https://github.com/RobTillaart/PID_RT
 ; Teensy41 Environment. This environment is the primary environment for uploading code to the car.
 ; * Build to verify the on-charger software
 ; * UPLOAD to compile and upload the on-charger software
@@ -41,7 +40,7 @@ test_ignore =
   test_systems
 lib_deps =
   ${common.lib_deps_shared}
-  https://github.com/hytech-racing/shared_firmware_interfaces.git
+  ;https://github.com/hytech-racing/shared_firmware_interfaces.git
 
 ; Test Systems Environment. This is only for compiling and uploading the hardware-abstracted code.
 ; * BUILD to verify the SYSTEMS compile.

src/main.cpp

@@ -1,6 +1,6 @@
 /* Libraries */
 #include <Arduino.h>
-#include "MainCharge_sys.h"
+#include "MainChargeSystem.h"
 #include <QNEthernet.h>
 
 /* Parameters */