AMiRo-OS

#include "ch.hpp"

#include "hal.h"

#include "PowerManagement.h"

#include <amiro/proximity/vcnl4020.hpp>

#include <global.hpp>

#include <algorithm>

#include <chprintf.h>

using namespace chibios_rt;

using namespace amiro;

extern Global global;

PowerManagement::PowerManagement(CANDriver *can)

    : ControllerAreaNetworkTx(can, CAN::POWER_MANAGEMENT_ID),

      ControllerAreaNetworkRx(can, CAN::POWER_MANAGEMENT_ID),

      bc_counter(0)

{

  this->powerStatus.charging_flags.value = 0;

}

msg_t PowerManagement::receiveMessage(CANRxFrame *frame) {

  int deviceId = this->decodeDeviceId(frame);

  switch (deviceId) {

    case CAN::SHELL_REPLY_ID(CAN::POWER_MANAGEMENT_ID):

      if (frame->DLC > 0) {

        sdWrite(&SD1, frame->data8, frame->DLC);

        return RDY_OK;

      }

      break;

    case CAN::SHELL_QUERY_ID(CAN::POWER_MANAGEMENT_ID):

      if (frame->DLC != 0) {

        global.sercanmux1.convCan2Serial(frame->data8, frame->DLC);

        return RDY_OK;

      } else {

        global.sercanmux1.rcvSwitchCmd(this->decodeBoardId(frame));

        return RDY_OK;

      }

      break;

    case CAN::CALIBRATE_PROXIMITY_RING:

      // Dont care about the payload but start the calibration

      // TODO Care about the payload. Differ between:

      // 1: Do fresh calibration (Save values to memory and to temporary values)

      // 2: Remove temporary Calibration and get uncalibrated values

      // 3: Load calibration from memory

      this->calibrate();

      break;

    case CAN::ROBOT_ID:

      if (frame->DLC == 1) {

        this->robotId = frame->data8[0];

        return RDY_OK;

      }

      break;

    case CAN::REQUEST_CHARGING_OVER_PIN:

      if (frame->DLC == 1) {

        // Error handling 

        // TODO: Error Handling, for now just set the given value

        this->powerStatus.charging_flags.content.diwheeldrive_enable_power_path = frame->data8[0];

        return RDY_OK;

      }

      break;

    default:

      break;

  }

  return -1;

}

msg_t PowerManagement::updateSensorVal() {

  // update charger status

  this->powerStatus.charging_flags.content.powermanagement_plugged_in = global.ltc4412.isPluggedIn();

  // this->powerStatus.charging_flags.content.powermanagement_plugged_in = (palReadPad((GPIO_TypeDef*)GPIOC, GPIOC_PATHDC) == PAL_HIGH); 

  // update fuel gauges values

  const BQ27500::Driver::UpdateData* power[2] {

    &global.bq27500[constants::PowerManagement::BAT_A].getStatus(),

    &global.bq27500[constants::PowerManagement::BAT_B].getStatus()

  };

  this->powerStatus.charging_flags.content.powermanagement_charging = (this->powerStatus.charging_flags.content.powermanagement_plugged_in &&

                                                                       this->powerStatus.charging_flags.content.vsys_higher_than_9V &&

                                                                       power[0]->minutes_to_empty == uint16_t(~0) &&

                                                                       power[1]->minutes_to_empty == uint16_t(~0))?

                                                                       true : false;

  this->powerStatus.charging_flags.content.diwheeldrive_charging = (this->powerStatus.charging_flags.content.diwheeldrive_enable_power_path &&

                                                                    this->powerStatus.charging_flags.content.vsys_higher_than_9V &&

                                                                    power[0]->minutes_to_empty == uint16_t(~0) &&

                                                                    power[1]->minutes_to_empty == uint16_t(~0))?

                                                                    true : false;

  this->powerStatus.state_of_charge = (power[0]->state_of_charge + power[1]->state_of_charge) / 2;

  if (this->powerStatus.charging_flags.content.powermanagement_charging || this->powerStatus.charging_flags.content.diwheeldrive_charging) {

    /*

     * Assumption:

     * When charging there is enough power available to charge both batteries at full rate simultaneously.

     * Thus, the second battery will not charge faster when the first battery is fully charged.

     */

    this->powerStatus.minutes_remaining = std::max(power[0]->minutes_to_full, power[1]->minutes_to_full);

  } else {

    /*

     * Computation of the remaining discharging time:

     * Take the time until the first of the two batteries is empty and add the remaining time of the second battery but half.

     *        time = min(a,b) + (max(a,b) - min(a,b))/2

     * <=>  2*time = 2*min(a,b) + max(a,b) - min(a,b)

     * <=>  2*time = min(a,b) + max(a,b)

     * <=>  2*time = a + b

     * <=>    time = (a + b)/2

     */

    this->powerStatus.minutes_remaining = (power[0]->minutes_to_empty + power[1]->minutes_to_empty) / 2;

  }

  this->powerStatus.power_consumption = (power[0]->average_power_mW + power[1]->average_power_mW) / 2;

  // update infrared sensor value

  // Note: The CANRx Value will never be updated in this thread

  for (int idx = 0; idx < 8; idx++)

    this->proximityRingValue[idx] = global.vcnl4020[idx].getProximityScaledWoOffset();

  return 0;

}

void PowerManagement::setStrategy(uint8_t strategy){

  CANTxFrame frame;

  chprintf((BaseSequentialStream*) &SD1, "Message Triggered!\n");

  // global.triggerCan = false;

  frame.SID = 0;

  this->encodeDeviceId(&frame, CAN::SET_LINE_FOLLOW_MSG);

  frame.data8[0] = strategy;

  frame.DLC = 1;

  this->transmitMessage(&frame);

}

void PowerManagement::periodicBroadcast() {

  CANTxFrame frame;

  if (this->bc_counter % 10 == 0) {

    frame.SID = 0;

    this->encodeDeviceId(&frame, CAN::POWER_STATUS_ID);

    frame.data8[0] = this->powerStatus.charging_flags.value;

    frame.data8[1] = this->powerStatus.state_of_charge;

    frame.data16[1] = this->powerStatus.minutes_remaining;

    frame.data16[2] = this->powerStatus.power_consumption;

    frame.DLC = 6;

    this->transmitMessage(&frame);

  }

  for (int i = 0; i < 8; i++) {

    frame.SID = 0;

    this->encodeDeviceId(&frame, CAN::PROXIMITY_RING_ID(i));

    frame.data16[0] = this->proximityRingValue[i];

    frame.DLC = 2;

    this->transmitMessage(&frame);

    BaseThread::sleep(US2ST(10)); // Use to sleep for 10 CAN cycle (@1Mbit), otherwise the cognition-board might not receive all messagee

  }

  ++this->bc_counter;

}

void PowerManagement::calibrate() {

  // Stop sending and receiving of values to indicate the calibration phase

//   eventTimerEvtSource->unregister(&this->eventTimerEvtListener);

//   rxFullCanEvtSource->unregister(&this->rxFullCanEvtListener);

  this->calibrateProximityRingValues();

  // Start sending and receving of values

//   eventTimerEvtSource->registerOne(&this->eventTimerEvtListener, CAN::PERIODIC_TIMER_ID);

//   rxFullCanEvtSource->registerOne(&this->rxFullCanEvtListener, CAN::RECEIVED_ID);

}

void PowerManagement::calibrateProximityRingValues() {

  uint16_t buffer;

  for (uint8_t idx = 0; idx < 8; ++idx) {

    global.vcnl4020[idx].calibrate();

    buffer = global.vcnl4020[idx].getProximityOffset();

    global.memory.setVcnl4020Offset(buffer,idx);

  }

}

ThreadReference PowerManagement::start(tprio_t PRIO) {

  this->ControllerAreaNetworkRx::start(PRIO + 1);

  this->ControllerAreaNetworkTx::start(PRIO);

  return NULL;

}

types::power_status&

PowerManagement::getPowerStatus()

{

  return this->powerStatus;

}

msg_t PowerManagement::terminate(void) {

  msg_t ret = RDY_OK;

  this->ControllerAreaNetworkTx::requestTerminate();

  ret |= this->ControllerAreaNetworkTx::wait();

  this->ControllerAreaNetworkRx::requestTerminate();

  ret |= this->ControllerAreaNetworkRx::wait();

  return ret;

}