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jahnavithota2011cindyli-13
jahnavithota2011
authored and
cindyli-13
committed
Create PDB monitoring module (#392)
* PDB Module added * CMake * rename include * Fixed Errors * clang fix * Changes made * Made pins config private members * clang
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‎rover-apps/pdb/CMakeLists.txt‎

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add_library(PDB_Monitoring STATIC)
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target_sources(PDB_Monitoring PRIVATE src/PDBMonitoring.cpp)
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target_include_directories(PDB_Monitoring PUBLIC
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include
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../common/include
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)
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target_link_libraries(PDB_Monitoring
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PRIVATE
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Logger
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mbed-os
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)
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add_executable(pdb)
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target_sources(pdb PRIVATE ../common/src/main.cpp)
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target_include_directories(pdb PUBLIC ../common/include)
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target_link_libraries(pdb
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PRIVATE
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CANBus
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CANMsg
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Logger
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uwrt-mars-rover-hw-bridge
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#Modules
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PDB_Monitoring
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)
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mbed_set_post_build(pdb)

‎rover-apps/pdb/include/AppConfig.h‎

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#pragma once
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#include <vector>
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#include "Module.h"
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#include "PDBMonitoring.h"
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PDBMonitoring PDB;
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std::vector<Module*> gModules = {
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// put modules here
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&PDB,
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};

‎rover-apps/pdb/include/PDBMonitoring.h‎

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#pragma once
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#include "Module.h"
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#include "mbed.h"
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/*This PDB module is for load, rail and temperature monitoring.*/
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class PDBMonitoring final : public Module {
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public:
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/* Sets the Load DIAG_EN pins */
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PDBMonitoring();
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void periodic_1s(void) override;
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void periodic_10s(void) override {}
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void periodic_100ms(void) override {}
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void periodic_10ms(void) override {}
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void periodic_1ms(void) override;
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private:
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void load_monitoring();
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void rail_monitoring();
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void temperature_monitoring();
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static const float PDB_VBAT_RAIL_NOMINAL_VOLTAGE;
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static const float PDB_VBAT_RAIL_MIN_THRESHOLD;
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static const float PDB_VBAT_RAIL_MAX_THRESHOLD;
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static const float PDB_24V_RAIL_NOMINAL_VOLTAGE;
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static const float PDB_24V_RAIL_MIN_THRESHOLD;
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static const float PDB_24V_RAIL_MAX_THRESHOLD;
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static const float PDB_17V_RAIL_NOMINAL_VOLTAGE;
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static const float PDB_17V_RAIL_MIN_THRESHOLD;
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static const float PDB_17V_RAIL_MAX_THRESHOLD;
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static const float PDB_5V_RAIL_NOMINAL_VOLTAGE;
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static const float PDB_5V_RAIL_MIN_THRESHOLD;
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static const float PDB_5V_RAIL_MAX_THRESHOLD;
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static const float PDB_TEMPERATURE_MIN_THRESHOLD;
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static const float PDB_TEMPERATURE_MAX_THRESHOLD;
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static const bool PDB_5V_LOAD1_DIAG_EN;
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static const bool PDB_5V_LOAD2_DIAG_EN;
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static const bool PDB_5V_LOAD3_DIAG_EN;
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static const bool PDB_5V_LOAD4_DIAG_EN;
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static const bool PDB_5V_LOAD5_DIAG_EN;
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static const bool PDB_17V_LOAD_DIAG_EN;
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/* Pins configuration for Load Monitoring */
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DigitalOut load1_5V_diag_en;
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DigitalIn load1_5V_fault_n;
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DigitalOut load2_5V_diag_en;
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DigitalIn load2_5V_fault_n;
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DigitalOut load3_5V_diag_en;
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DigitalIn load3_5V_fault_n;
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DigitalOut load4_5V_diag_en;
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DigitalIn load4_5V_fault_n;
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DigitalOut load5_5V_diag_en;
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DigitalIn load5_5V_fault_n;
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DigitalOut load_17V_diag_en;
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DigitalIn load_17V_fault_n;
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/* Pins configuration for Rail Monitoring */
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AnalogIn railBattery;
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AnalogIn rail5V;
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AnalogIn rail17V;
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AnalogIn rail24V;
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DigitalIn rail24V_pgood_n;
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/* Pins configuration for Temperature Monitoring */
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AnalogIn temperatureADC;
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};

‎rover-apps/pdb/src/PDBMonitoring.cpp‎

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#include "PDBMonitoring.h"
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#include <cmath>
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#include "Logger.h"
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const float PDBMonitoring::PDB_VBAT_RAIL_NOMINAL_VOLTAGE = 24.0;
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const float PDBMonitoring::PDB_VBAT_RAIL_MIN_THRESHOLD = 18.0;
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const float PDBMonitoring::PDB_VBAT_RAIL_MAX_THRESHOLD = 25.2;
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const float PDBMonitoring::PDB_24V_RAIL_NOMINAL_VOLTAGE = 24.0;
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const float PDBMonitoring::PDB_24V_RAIL_MIN_THRESHOLD = 22.0;
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const float PDBMonitoring::PDB_24V_RAIL_MAX_THRESHOLD = 26.0;
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const float PDBMonitoring::PDB_17V_RAIL_NOMINAL_VOLTAGE = 17.0;
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const float PDBMonitoring::PDB_17V_RAIL_MIN_THRESHOLD = 16.0;
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const float PDBMonitoring::PDB_17V_RAIL_MAX_THRESHOLD = 18.0;
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const float PDBMonitoring::PDB_5V_RAIL_NOMINAL_VOLTAGE = 5.0;
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const float PDBMonitoring::PDB_5V_RAIL_MIN_THRESHOLD = 4.8;
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const float PDBMonitoring::PDB_5V_RAIL_MAX_THRESHOLD = 6.0;
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const float PDBMonitoring::PDB_TEMPERATURE_MIN_THRESHOLD = 10.0;
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const float PDBMonitoring::PDB_TEMPERATURE_MAX_THRESHOLD = 50.0;
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const bool PDBMonitoring::PDB_5V_LOAD1_DIAG_EN = 1;
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const bool PDBMonitoring::PDB_5V_LOAD2_DIAG_EN = 0;
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const bool PDBMonitoring::PDB_5V_LOAD3_DIAG_EN = 0;
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const bool PDBMonitoring::PDB_5V_LOAD4_DIAG_EN = 0;
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const bool PDBMonitoring::PDB_5V_LOAD5_DIAG_EN = 0;
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const bool PDBMonitoring::PDB_17V_LOAD_DIAG_EN = 1;
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PDBMonitoring::PDBMonitoring()
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: load1_5V_diag_en(LOAD1_5V_DIAG_EN),
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load1_5V_fault_n(LOAD1_5V_FAULT),
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load2_5V_diag_en(LOAD2_5V_DIAG_EN),
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load2_5V_fault_n(LOAD2_5V_FAULT),
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load3_5V_diag_en(LOAD3_5V_DIAG_EN),
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load3_5V_fault_n(LOAD3_5V_FAULT),
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load4_5V_diag_en(LOAD4_5V_DIAG_EN),
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load4_5V_fault_n(LOAD4_5V_FAULT),
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load5_5V_diag_en(LOAD5_5V_DIAG_EN),
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load5_5V_fault_n(LOAD5_5V_FAULT),
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load_17V_diag_en(LOAD_17V_DIAG_EN),
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load_17V_fault_n(LOAD_17V_FAULT),
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railBattery(RAIL_BATTERY_ANLG_IN),
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rail5V(RAIL_5V_ANLG_IN),
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rail17V(RAIL_17V_ANLG_IN),
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rail24V(RAIL_24V_ANLG_IN),
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rail24V_pgood_n(RAIL_24V_PGOOD_N),
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temperatureADC(TEMPERATURE_ADC_IN) {
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load1_5V_diag_en = PDB_5V_LOAD1_DIAG_EN;
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load2_5V_diag_en = PDB_5V_LOAD2_DIAG_EN;
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load3_5V_diag_en = PDB_5V_LOAD3_DIAG_EN;
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load4_5V_diag_en = PDB_5V_LOAD4_DIAG_EN;
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load5_5V_diag_en = PDB_5V_LOAD5_DIAG_EN;
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load_17V_diag_en = PDB_17V_LOAD_DIAG_EN;
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}
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/*TODO:Replace the logger statements with CAN logs
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* after CAN Module is ready */
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void PDBMonitoring::load_monitoring() {
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if (load1_5V_diag_en && !load1_5V_fault_n) {
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Utility::logger << "Fault on 5V load 1\n";
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}
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if (load2_5V_diag_en && !load2_5V_fault_n) {
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Utility::logger << "Fault on 5V load 2\n";
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}
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if (load3_5V_diag_en && !load3_5V_fault_n) {
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Utility::logger << "Fault on 5V load 3\n";
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}
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if (load4_5V_diag_en && !load4_5V_fault_n) {
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Utility::logger << "Fault on 5V load 4\n";
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}
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if (load5_5V_diag_en && !load5_5V_fault_n) {
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Utility::logger << "Fault on 5V load 5\n";
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}
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if (load_17V_diag_en && !load_17V_fault_n) {
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Utility::logger << "Fault on 17V load\n";
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}
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}
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void PDBMonitoring::rail_monitoring() {
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float rail_vbat_voltage = railBattery.read_voltage() / 3 * PDB_VBAT_RAIL_NOMINAL_VOLTAGE;
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float rail_24V_voltage = rail24V.read_voltage() / 3 * PDB_24V_RAIL_NOMINAL_VOLTAGE;
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float rail_17V_voltage = rail17V.read_voltage() / 3 * PDB_17V_RAIL_NOMINAL_VOLTAGE;
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float rail_5V_voltage = rail5V.read_voltage() / 3 * PDB_5V_RAIL_NOMINAL_VOLTAGE;
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if (rail_vbat_voltage < PDB_VBAT_RAIL_MIN_THRESHOLD || rail_vbat_voltage > PDB_VBAT_RAIL_MAX_THRESHOLD) {
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Utility::logger << "!!! VBAT RAIL VOLTAGE: %.3fV !!!\n", rail_vbat_voltage;
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}
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if (rail_24V_voltage < PDB_24V_RAIL_MIN_THRESHOLD || rail_24V_voltage > PDB_24V_RAIL_MAX_THRESHOLD) {
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Utility::logger << "!!! 24V RAIL VOLTAGE: %.3fV !!!\n", rail_24V_voltage;
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}
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if (rail_17V_voltage < PDB_17V_RAIL_MIN_THRESHOLD || rail_17V_voltage > PDB_17V_RAIL_MAX_THRESHOLD) {
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Utility::logger << "!!! 17V RAIL VOLTAGE: %.3fV !!!\n", rail_17V_voltage;
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}
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if (rail_5V_voltage < PDB_5V_RAIL_MIN_THRESHOLD || rail_5V_voltage > PDB_5V_RAIL_MAX_THRESHOLD) {
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Utility::logger << "!!! 5V RAIL VOLTAGE: %.3fV !!!\n", rail_5V_voltage;
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}
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}
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/*https://www.ti.com/lit/ds/symlink/lmt87-q1.pdf?ts=1627158177761&ref_url=https%253A%252F%252Fwww.google.com%252F*/
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void PDBMonitoring::temperature_monitoring() {
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float temperature_celsius =
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(13.582 - sqrt(pow(-13.582, 2) + 4 * 0.00433 * (2230.8 - temperatureADC.read_voltage() * 1000))) /
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(2 * (-0.00433)) +
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30;
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if (temperature_celsius < PDB_TEMPERATURE_MIN_THRESHOLD || temperature_celsius > PDB_TEMPERATURE_MAX_THRESHOLD) {
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Utility::logger << "!!! TEMPERATURE FAULT:" << temperature_celsius << "degrees Celsius\n";
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}
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}
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void PDBMonitoring::periodic_1s() {
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temperature_monitoring();
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load_monitoring();
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}
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void PDBMonitoring::periodic_1ms() {
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/*Monitoring Period = 500ms*/
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int rail_counter = 0;
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if (rail_counter % 5 == 0) {
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rail_monitoring();
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rail_counter = 0;
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}
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rail_counter++;
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}

‎rover-apps/pdb_2021/CMakeLists.txt‎

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add_library(PDB_Monitoring STATIC)
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target_sources(PDB_Monitoring PRIVATE src/PDBMonitoring.cpp)
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target_include_directories(PDB_Monitoring PUBLIC
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include
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../common/include
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)
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target_link_libraries(PDB_Monitoring
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PRIVATE
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Logger
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mbed-os
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)
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add_executable(pdb_2021)
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target_sources(pdb_2021 PRIVATE src/main.cpp)
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target_include_directories(pdb_2021 PUBLIC include)
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CANMsg
820
Logger
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uwrt-mars-rover-hw-bridge
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#Modules
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PDB_Monitoring
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)
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mbed_set_post_build(pdb_2021)

‎targets/TARGET_PDB_REV2_2021/include/PinNames.h‎

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RAIL_17V_ANLG_IN = PA_5,
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RAIL_24V_ANLG_IN = PB_0,
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RAIL_BATTERY_ANLG_IN = PB_1,
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RAIL_24V_PGOOD_N = PC_6,
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/**** Temperature Sensor ****/
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TEMPERATURE_ADC_IN = PA_3,
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/**** Load Monitor ****/
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LOAD1_5V_DIAG_EN = PA_6,
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LOAD1_5V_FAULT = PA_7,
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LOAD2_5V_DIAG_EN = PC_2,
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LOAD2_5V_FAULT = PC_3,
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LOAD3_5V_DIAG_EN = PC_0,
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LOAD3_5V_FAULT = PC_1,
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LOAD4_5V_DIAG_EN = PC_13,
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LOAD4_5V_FAULT = PC_14,
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LOAD5_5V_DIAG_EN = PB_8,
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LOAD5_5V_FAULT = PB_9,
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LOAD_17V_DIAG_EN = PC_4,
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LOAD_17V_FAULT = PC_5,
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/**** LED Matrix ****/
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LED_MATRIX_R_CHANNEL = PB_4,

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