Introduce Transmitter interface for generic comm transmit and Shunt

class

Software/Software.ino

@@ -9,6 +9,7 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 
+#include "src/communication/Transmitter.h"
 #include "src/communication/can/comm_can.h"
 #include "src/communication/contactorcontrol/comm_contactorcontrol.h"
 #include "src/communication/equipmentstopbutton/comm_equipmentstopbutton.h"
@@ -105,9 +106,8 @@ void setup() {
 #ifdef EQUIPMENT_STOP_BUTTON
   init_equipment_stop_button();
 #endif
-#ifdef CAN_SHUNT_SELECTED
+
   setup_can_shunt();
-#endif
   // BOOT button at runtime is used as an input for various things
   pinMode(0, INPUT_PULLUP);
 
@@ -203,6 +203,12 @@ void mqtt_loop(void*) {
 }
 #endif
 
+static std::list<Transmitter*> transmitters;
+
+void register_transmitter(Transmitter* transmitter) {
+  transmitters.push_back(transmitter);
+}
+
 void core_loop(void*) {
   esp_task_wdt_add(NULL);  // Register this task with WDT
   TickType_t xLastWakeTime = xTaskGetTickCount();
@@ -255,15 +261,24 @@ void core_loop(void*) {
       START_TIME_MEASUREMENT(time_values);
 #endif
       update_pause_state();  // Check if we are OK to send CAN or need to pause
-      update_values_battery();  // Fetch battery values
+
+      // Fetch battery values
+      if (battery) {
+        battery->update_values();
+      }
 
       if (battery2) {
-        update_values_battery2();
+        battery2->update_values();
         check_interconnect_available();
       }
       update_calculated_values();
       update_machineryprotection();  // Check safeties
-      update_values_inverter();      // Update values heading towards inverter
+
+      // Update values heading towards inverter
+      if (inverter) {
+        inverter->update_values();
+      }
+
 #ifdef FUNCTION_TIME_MEASUREMENT
       END_TIME_MEASUREMENT_MAX(time_values, datalayer.system.status.time_values_us);
 #endif
@@ -271,12 +286,12 @@ void core_loop(void*) {
 #ifdef FUNCTION_TIME_MEASUREMENT
     START_TIME_MEASUREMENT(cantx);
 #endif
-    // Output
-    transmit_can(currentMillis);  // Send CAN messages to all components
 
-#ifdef RS485_BATTERY_SELECTED
-    transmit_rs485(currentMillis);
-#endif  // RS485_BATTERY_SELECTED
+    // Let all transmitter objects send their messages
+    for (auto& transmitter : transmitters) {
+      transmitter->transmit(currentMillis);
+    }
+
 #ifdef FUNCTION_TIME_MEASUREMENT
     END_TIME_MEASUREMENT_MAX(cantx, datalayer.system.status.time_cantx_us);
     END_TIME_MEASUREMENT_MAX(all, datalayer.system.status.core_task_10s_max_us);
@@ -508,12 +523,6 @@ void update_calculated_values() {
   lastMillisOverflowCheck = currentMillis;
 }
 
-void update_values_inverter() {
-  if (inverter) {
-    inverter->update_values();
-  }
-}
-
 void check_reset_reason() {
   esp_reset_reason_t reason = esp_reset_reason();
   switch (reason) {

Software/src/battery/BATTERIES.cpp

@@ -41,41 +41,21 @@ void setup_battery() {
 #endif
 }
 
-void update_values_battery() {
-  battery->update_values();
-}
-
 // transmit_can_battery is called once and we need to
 // call both batteries.
-void transmit_can_battery(unsigned long currentMillis) {
-  ((CanBattery*)battery)->transmit_can(currentMillis);
-
-  if (battery2) {
-    ((CanBattery*)battery2)->transmit_can(currentMillis);
-  }
-}
 
 void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
   ((CanBattery*)battery)->handle_incoming_can_frame(rx_frame);
 }
 
-void update_values_battery2() {
-  battery2->update_values();
-}
-
 void handle_incoming_can_frame_battery2(CAN_frame rx_frame) {
   ((CanBattery*)battery2)->handle_incoming_can_frame(rx_frame);
 }
 
 #ifdef RS485_BATTERY_SELECTED
-void transmit_rs485() {
-  ((RS485Battery*)battery)->transmit_rs485();
-}
-
 void receive_RS485() {
   ((RS485Battery*)battery)->receive_RS485();
 }
-
 #endif
 
 #endif

Software/src/battery/BATTERIES.h

@@ -12,7 +12,6 @@ extern Battery* battery2;
 #ifdef BMW_SBOX
 #include "BMW-SBOX.h"
 void handle_incoming_can_frame_shunt(CAN_frame rx_frame);
-void transmit_can_shunt(unsigned long currentMillis);
 void setup_can_shunt();
 #endif
 

Software/src/battery/BMW-SBOX.cpp

@@ -1,41 +1,9 @@
 #include "../include.h"
 #ifdef BMW_SBOX
+#include "../communication/can/comm_can.h"
 #include "../datalayer/datalayer.h"
 #include "BMW-SBOX.h"
 
-#define MAX_ALLOWED_FAULT_TICKS 1000
-
-enum SboxState { DISCONNECTED, PRECHARGE, NEGATIVE, POSITIVE, PRECHARGE_OFF, COMPLETED, SHUTDOWN_REQUESTED };
-SboxState contactorStatus = DISCONNECTED;
-
-unsigned long prechargeStartTime = 0;
-unsigned long negativeStartTime = 0;
-unsigned long positiveStartTime = 0;
-unsigned long timeSpentInFaultedMode = 0;
-unsigned long LastMsgTime = 0;  // will store last time a 20ms CAN Message was send
-unsigned long LastAvgTime = 0;  // Last current storage time
-unsigned long ShuntLastSeen = 0;
-
-uint32_t avg_mA_array[10];
-uint32_t avg_sum;
-
-uint8_t k;  //avg array pointer
-
-uint8_t CAN100_cnt = 0;
-
-CAN_frame SBOX_100 = {.FD = false,
-                      .ext_ID = false,
-                      .DLC = 4,
-                      .ID = 0x100,
-                      .data = {0x55, 0x00, 0xFF, 0x00, 0x00, 0x00, 0x00,
-                               0x00}};  // Byte 0: relay control, Byte 1: counter 0-E, Byte 4: CRC
-
-CAN_frame SBOX_300 = {.FD = false,
-                      .ext_ID = false,
-                      .DLC = 4,
-                      .ID = 0x300,
-                      .data = {0xFF, 0xFE, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00}};  // Static frame
-
 uint8_t reverse_bits(uint8_t byte) {
   uint8_t reversed = 0;
   for (int i = 0; i < 8; i++) {
@@ -64,7 +32,7 @@ uint8_t calculateCRC(CAN_frame CAN) {
   return crc;
 }
 
-void handle_incoming_can_frame_shunt(CAN_frame rx_frame) {
+void BmwSbox::handle_incoming_can_frame(CAN_frame rx_frame) {
   unsigned long currentTime = millis();
   if (rx_frame.ID == 0x200) {
     ShuntLastSeen = currentTime;
@@ -100,7 +68,7 @@ void handle_incoming_can_frame_shunt(CAN_frame rx_frame) {
   }
 }
 
-void transmit_can_shunt(unsigned long currentMillis) {
+void BmwSbox::transmit_can(unsigned long currentMillis) {
 
   /** Shunt can frames seen? **/
   if (ShuntLastSeen + 1000 < currentMillis) {
@@ -210,7 +178,7 @@ void transmit_can_shunt(unsigned long currentMillis) {
   }
 }
 
-void setup_can_shunt() {
+void BmwSbox::setup() {
   strncpy(datalayer.system.info.shunt_protocol, "BMW SBOX", 63);
   datalayer.system.info.shunt_protocol[63] = '\0';
 }

Software/src/battery/BMW-SBOX.h

@@ -1,22 +1,67 @@
 #ifndef BMW_SBOX_CONTROL_H
 #define BMW_SBOX_CONTROL_H
 #include "../include.h"
-#define CAN_SHUNT_SELECTED
-void transmit_can(CAN_frame* tx_frame, int interface);
 
+#define CAN_SHUNT_SELECTED
+#define SELECTED_SHUNT_CLASS BmwSbox
+
+#include "Shunt.h"
+
+class BmwSbox : public CanShunt {
+ public:
+  void setup();
+  void transmit_can(unsigned long currentMillis);
+  void handle_incoming_can_frame(CAN_frame rx_frame);
+
+ private:
   /** Minimum input voltage required to enable relay control **/
-#define MINIMUM_INPUT_VOLTAGE 250
+  static const int MINIMUM_INPUT_VOLTAGE = 250;
 
   /** Minimum required percentage of input voltage at the output port to engage the positive relay. **/
   /** Prevents engagement of the positive contactor if the precharge resistor is faulty. **/
-#define MAX_PRECHARGE_RESISTOR_VOLTAGE_PERCENT 0.99
+  static constexpr const double MAX_PRECHARGE_RESISTOR_VOLTAGE_PERCENT = 0.99;
 
   /* NOTE: modify the T2 time constant below to account for the resistance and capacitance of the target system.
  *      t=3RC at minimum, t=5RC ideally
  */
 
-#define CONTACTOR_CONTROL_T1 5000  // Time before negative contactor engages and precharging starts
-#define CONTACTOR_CONTROL_T2 5000  // Precharge time before precharge resistor is bypassed by positive contactor
-#define CONTACTOR_CONTROL_T3 2000  // Precharge relay lead time after positive contactor has been engaged
+  static const int CONTACTOR_CONTROL_T1 = 5000;  // Time before negative contactor engages and precharging starts
+  static const int CONTACTOR_CONTROL_T2 =
+      5000;  // Precharge time before precharge resistor is bypassed by positive contactor
+  static const int CONTACTOR_CONTROL_T3 = 2000;  // Precharge relay lead time after positive contactor has been engaged
+
+  static const int MAX_ALLOWED_FAULT_TICKS = 1000;
+
+  enum SboxState { DISCONNECTED, PRECHARGE, NEGATIVE, POSITIVE, PRECHARGE_OFF, COMPLETED, SHUTDOWN_REQUESTED };
+  SboxState contactorStatus = DISCONNECTED;
+
+  unsigned long prechargeStartTime = 0;
+  unsigned long negativeStartTime = 0;
+  unsigned long positiveStartTime = 0;
+  unsigned long timeSpentInFaultedMode = 0;
+  unsigned long LastMsgTime = 0;  // will store last time a 20ms CAN Message was send
+  unsigned long LastAvgTime = 0;  // Last current storage time
+  unsigned long ShuntLastSeen = 0;
+
+  uint32_t avg_mA_array[10];
+  uint32_t avg_sum;
+
+  uint8_t k;  //avg array pointer
+
+  uint8_t CAN100_cnt = 0;
+
+  CAN_frame SBOX_100 = {.FD = false,
+                        .ext_ID = false,
+                        .DLC = 4,
+                        .ID = 0x100,
+                        .data = {0x55, 0x00, 0xFF, 0x00, 0x00, 0x00, 0x00,
+                                 0x00}};  // Byte 0: relay control, Byte 1: counter 0-E, Byte 4: CRC
+
+  CAN_frame SBOX_300 = {.FD = false,
+                        .ext_ID = false,
+                        .DLC = 4,
+                        .ID = 0x300,
+                        .data = {0xFF, 0xFE, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00}};  // Static frame
+};
 
 #endif

Software/src/battery/CanBattery.h

@@ -3,22 +3,31 @@
 
 #include "Battery.h"
 
+#include "src/communication/Transmitter.h"
 #include "src/devboard/utils/types.h"
 
 // Abstract base class for batteries using the CAN bus
-class CanBattery : public Battery {
+class CanBattery : public Battery, Transmitter {
  public:
   virtual void handle_incoming_can_frame(CAN_frame rx_frame) = 0;
   virtual void transmit_can(unsigned long currentMillis) = 0;
 
   String interface_name() { return getCANInterfaceName(can_interface); }
 
+  void transmit(unsigned long currentMillis) { transmit_can(currentMillis); }
+
  protected:
   CAN_Interface can_interface;
 
-  CanBattery() { can_interface = can_config.battery; }
+  CanBattery() {
+    can_interface = can_config.battery;
+    register_transmitter(this);
+  }
 
-  CanBattery(CAN_Interface interface) { can_interface = interface; }
+  CanBattery(CAN_Interface interface) {
+    can_interface = interface;
+    register_transmitter(this);
+  }
 };
 
 #endif

Software/src/battery/RS485Battery.h

@@ -3,15 +3,20 @@
 
 #include "Battery.h"
 
+#include "src/communication/Transmitter.h"
 #include "src/devboard/utils/types.h"
 
 // Abstract base class for batteries using the RS485 interface
-class RS485Battery : public Battery {
+class RS485Battery : public Battery, Transmitter {
  public:
   virtual void receive_RS485() = 0;
-  virtual void transmit_rs485() = 0;
+  virtual void transmit_rs485(unsigned long currentMillis) = 0;
 
   String interface_name() { return "RS485"; }
+
+  void transmit(unsigned long currentMillis) { transmit_rs485(currentMillis); }
+
+  RS485Battery() { register_transmitter(this); }
 };
 
 #endif

Software/src/battery/Shunt.h

@@ -0,0 +1,31 @@
+#ifndef _SHUNT_H
+#define _SHUNT_H
+
+#include "../communication/can/comm_can.h"
+#include "src/communication/Transmitter.h"
+#include "src/devboard/utils/types.h"
+
+class CanShunt : public Transmitter {
+ public:
+  virtual void setup() = 0;
+  virtual void transmit_can(unsigned long currentMillis) = 0;
+  virtual void handle_incoming_can_frame(CAN_frame rx_frame) = 0;
+
+  void transmit(unsigned long currentMillis) {
+    if (allowed_to_send_CAN) {
+      transmit_can(currentMillis);
+    }
+  }
+
+ protected:
+  CAN_Interface can_interface;
+
+  CanShunt() {
+    can_interface = can_config.battery;
+    register_transmitter(this);
+  }
+};
+
+extern CanShunt* shunt;
+
+#endif

Software/src/battery/Shunts.cpp

@@ -0,0 +1,16 @@
+#include "../include.h"
+#include "Shunt.h"
+
+CanShunt* shunt = nullptr;
+
+void setup_can_shunt() {
+#if defined(CAN_SHUNT_SELECTED) && defined(SELECTED_SHUNT_CLASS)
+  shunt = new SELECTED_SHUNT_CLASS();
+#endif
+}
+
+void handle_incoming_can_frame_shunt(CAN_frame rx_frame) {
+  if (shunt) {
+    shunt->handle_incoming_can_frame(rx_frame);
+  }
+}

Software/src/charger/CanCharger.h

@@ -4,6 +4,7 @@
 #include "src/devboard/utils/types.h"
 
 #include "../datalayer/datalayer.h"
+#include "src/communication/Transmitter.h"
 
 enum class ChargerType { NissanLeaf, ChevyVolt };
 
@@ -36,13 +37,19 @@ class Charger {
 };
 
 // Base class for chargers on a CAN bus
-class CanCharger : public Charger {
+class CanCharger : public Charger, Transmitter {
  public:
   virtual void map_can_frame_to_variable(CAN_frame rx_frame) = 0;
   virtual void transmit_can(unsigned long currentMillis) = 0;
 
+  void transmit(unsigned long currentMillis) {
+    if (allowed_to_send_CAN) {
+      transmit_can(currentMillis);
+    }
+  }
+
  protected:
-  CanCharger(ChargerType type) : Charger(type) {}
+  CanCharger(ChargerType type) : Charger(type) { register_transmitter(this); }
 };
 
 #endif

Software/src/communication/Transmitter.h

@@ -0,0 +1,11 @@
+#ifndef _TRANSMITTER_H
+#define _TRANSMITTER_H
+
+class Transmitter {
+ public:
+  virtual void transmit(unsigned long currentMillis) = 0;
+};
+
+void register_transmitter(Transmitter* transmitter);
+
+#endif

Software/src/communication/can/comm_can.cpp

@@ -104,30 +104,6 @@ void init_CAN() {
 #endif  // CANFD_ADDON
 }
 
-// Transmit functions
-void transmit_can(unsigned long currentMillis) {
-
-  if (!allowed_to_send_CAN) {
-    return;  //Global block of CAN messages
-  }
-
-#ifndef RS485_BATTERY_SELECTED
-  transmit_can_battery(currentMillis);
-#endif
-
-#ifdef CAN_INVERTER_SELECTED
-  transmit_can_inverter(currentMillis);
-#endif  // CAN_INVERTER_SELECTED
-
-  if (charger) {
-    charger->transmit_can(currentMillis);
-  }
-
-#ifdef CAN_SHUNT_SELECTED
-  transmit_can_shunt(currentMillis);
-#endif  // CAN_SHUNT_SELECTED
-}
-
 void transmit_can_frame(CAN_frame* tx_frame, int interface) {
   if (!allowed_to_send_CAN) {
     return;

Software/src/communication/can/comm_can.h

@@ -37,16 +37,6 @@ void init_CAN();
  */
 void transmit_can_frame();
 
-/**
- * @brief Send CAN messages to all components 
- *
- * @param[in] void
- * @param[in] unsigned long currentMillis
- *
- * @return void
- */
-void transmit_can(unsigned long currentMillis);
-
 /**
  * @brief Receive CAN messages from all interfaces 
  *

Software/src/inverter/CanInverterProtocol.h

@@ -5,11 +5,20 @@
 
 #include "src/devboard/utils/types.h"
 
-class CanInverterProtocol : public InverterProtocol {
+class CanInverterProtocol : public InverterProtocol, Transmitter {
  public:
   virtual const char* interface_name() { return getCANInterfaceName(can_config.inverter); }
   virtual void transmit_can(unsigned long currentMillis) = 0;
   virtual void map_can_frame_to_variable(CAN_frame rx_frame) = 0;
+
+  void transmit(unsigned long currentMillis) {
+    if (allowed_to_send_CAN) {
+      transmit_can(currentMillis);
+    }
+  }
+
+ protected:
+  CanInverterProtocol() { register_transmitter(this); }
 };
 
 #endif

Software/src/inverter/INVERTERS.cpp

@@ -34,17 +34,10 @@ void setup_inverter() {
 }
 
 #ifdef CAN_INVERTER_SELECTED
-void update_values_can_inverter() {
-  can_inverter->update_values();
-}
 
 void map_can_frame_to_variable_inverter(CAN_frame rx_frame) {
   can_inverter->map_can_frame_to_variable(rx_frame);
 }
-
-void transmit_can_inverter(unsigned long currentMillis) {
-  can_inverter->transmit_can(currentMillis);
-}
 #endif
 
 #ifdef RS485_INVERTER_SELECTED

Software/src/inverter/INVERTERS.h

@@ -34,7 +34,6 @@ extern InverterProtocol* inverter;
 void setup_inverter();
 
 #ifdef CAN_INVERTER_SELECTED
-void update_values_can_inverter();
 void map_can_frame_to_variable_inverter(CAN_frame rx_frame);
 void transmit_can_inverter(unsigned long currentMillis);
 #endif