Create PDB monitoring module (#392)

* PDB Module added

* CMake

* rename include

* Fixed Errors

* clang fix

* Changes made

* Made pins config private members

* clang

rover-apps/pdb/CMakeLists.txt

@@ -0,0 +1,25 @@
+add_library(PDB_Monitoring STATIC)
+target_sources(PDB_Monitoring PRIVATE src/PDBMonitoring.cpp)
+target_include_directories(PDB_Monitoring PUBLIC
+        include
+        ../common/include
+        )
+target_link_libraries(PDB_Monitoring
+        PRIVATE
+        Logger
+        mbed-os
+        )
+
+add_executable(pdb)
+target_sources(pdb PRIVATE ../common/src/main.cpp)
+target_include_directories(pdb PUBLIC ../common/include)
+target_link_libraries(pdb
+        PRIVATE
+        CANBus
+        CANMsg
+        Logger
+        uwrt-mars-rover-hw-bridge
+        #Modules
+        PDB_Monitoring
+        )
+mbed_set_post_build(pdb)

rover-apps/pdb/include/AppConfig.h

@@ -0,0 +1,13 @@
+#pragma once
+
+#include <vector>
+
+#include "Module.h"
+#include "PDBMonitoring.h"
+
+PDBMonitoring PDB;
+
+std::vector<Module*> gModules = {
+    // put modules here
+    &PDB,
+};

rover-apps/pdb/include/PDBMonitoring.h

@@ -0,0 +1,78 @@
+#pragma once
+
+#include "Module.h"
+#include "mbed.h"
+
+/*This PDB module is for load, rail and temperature monitoring.*/
+
+class PDBMonitoring final : public Module {
+ public:
+  /* Sets the Load DIAG_EN pins */
+  PDBMonitoring();
+
+  void periodic_1s(void) override;
+  void periodic_10s(void) override {}
+  void periodic_100ms(void) override {}
+  void periodic_10ms(void) override {}
+  void periodic_1ms(void) override;
+
+ private:
+  void load_monitoring();
+  void rail_monitoring();
+  void temperature_monitoring();
+
+  static const float PDB_VBAT_RAIL_NOMINAL_VOLTAGE;
+  static const float PDB_VBAT_RAIL_MIN_THRESHOLD;
+  static const float PDB_VBAT_RAIL_MAX_THRESHOLD;
+
+  static const float PDB_24V_RAIL_NOMINAL_VOLTAGE;
+  static const float PDB_24V_RAIL_MIN_THRESHOLD;
+  static const float PDB_24V_RAIL_MAX_THRESHOLD;
+
+  static const float PDB_17V_RAIL_NOMINAL_VOLTAGE;
+  static const float PDB_17V_RAIL_MIN_THRESHOLD;
+  static const float PDB_17V_RAIL_MAX_THRESHOLD;
+
+  static const float PDB_5V_RAIL_NOMINAL_VOLTAGE;
+  static const float PDB_5V_RAIL_MIN_THRESHOLD;
+  static const float PDB_5V_RAIL_MAX_THRESHOLD;
+
+  static const float PDB_TEMPERATURE_MIN_THRESHOLD;
+  static const float PDB_TEMPERATURE_MAX_THRESHOLD;
+
+  static const bool PDB_5V_LOAD1_DIAG_EN;
+  static const bool PDB_5V_LOAD2_DIAG_EN;
+  static const bool PDB_5V_LOAD3_DIAG_EN;
+  static const bool PDB_5V_LOAD4_DIAG_EN;
+  static const bool PDB_5V_LOAD5_DIAG_EN;
+  static const bool PDB_17V_LOAD_DIAG_EN;
+
+  /* Pins configuration for Load Monitoring */
+  DigitalOut load1_5V_diag_en;
+  DigitalIn load1_5V_fault_n;
+
+  DigitalOut load2_5V_diag_en;
+  DigitalIn load2_5V_fault_n;
+
+  DigitalOut load3_5V_diag_en;
+  DigitalIn load3_5V_fault_n;
+
+  DigitalOut load4_5V_diag_en;
+  DigitalIn load4_5V_fault_n;
+
+  DigitalOut load5_5V_diag_en;
+  DigitalIn load5_5V_fault_n;
+
+  DigitalOut load_17V_diag_en;
+  DigitalIn load_17V_fault_n;
+
+  /* Pins configuration for Rail Monitoring */
+  AnalogIn railBattery;
+  AnalogIn rail5V;
+  AnalogIn rail17V;
+  AnalogIn rail24V;
+  DigitalIn rail24V_pgood_n;
+
+  /* Pins configuration for Temperature Monitoring */
+  AnalogIn temperatureADC;
+};

rover-apps/pdb/src/PDBMonitoring.cpp

@@ -0,0 +1,132 @@
+#include "PDBMonitoring.h"
+
+#include <cmath>
+
+#include "Logger.h"
+
+const float PDBMonitoring::PDB_VBAT_RAIL_NOMINAL_VOLTAGE = 24.0;
+const float PDBMonitoring::PDB_VBAT_RAIL_MIN_THRESHOLD   = 18.0;
+const float PDBMonitoring::PDB_VBAT_RAIL_MAX_THRESHOLD   = 25.2;
+
+const float PDBMonitoring::PDB_24V_RAIL_NOMINAL_VOLTAGE = 24.0;
+const float PDBMonitoring::PDB_24V_RAIL_MIN_THRESHOLD   = 22.0;
+const float PDBMonitoring::PDB_24V_RAIL_MAX_THRESHOLD   = 26.0;
+
+const float PDBMonitoring::PDB_17V_RAIL_NOMINAL_VOLTAGE = 17.0;
+const float PDBMonitoring::PDB_17V_RAIL_MIN_THRESHOLD   = 16.0;
+const float PDBMonitoring::PDB_17V_RAIL_MAX_THRESHOLD   = 18.0;
+
+const float PDBMonitoring::PDB_5V_RAIL_NOMINAL_VOLTAGE = 5.0;
+const float PDBMonitoring::PDB_5V_RAIL_MIN_THRESHOLD   = 4.8;
+const float PDBMonitoring::PDB_5V_RAIL_MAX_THRESHOLD   = 6.0;
+
+const float PDBMonitoring::PDB_TEMPERATURE_MIN_THRESHOLD = 10.0;
+const float PDBMonitoring::PDB_TEMPERATURE_MAX_THRESHOLD = 50.0;
+
+const bool PDBMonitoring::PDB_5V_LOAD1_DIAG_EN = 1;
+const bool PDBMonitoring::PDB_5V_LOAD2_DIAG_EN = 0;
+const bool PDBMonitoring::PDB_5V_LOAD3_DIAG_EN = 0;
+const bool PDBMonitoring::PDB_5V_LOAD4_DIAG_EN = 0;
+const bool PDBMonitoring::PDB_5V_LOAD5_DIAG_EN = 0;
+const bool PDBMonitoring::PDB_17V_LOAD_DIAG_EN = 1;
+
+PDBMonitoring::PDBMonitoring()
+    : load1_5V_diag_en(LOAD1_5V_DIAG_EN),
+      load1_5V_fault_n(LOAD1_5V_FAULT),
+      load2_5V_diag_en(LOAD2_5V_DIAG_EN),
+      load2_5V_fault_n(LOAD2_5V_FAULT),
+      load3_5V_diag_en(LOAD3_5V_DIAG_EN),
+      load3_5V_fault_n(LOAD3_5V_FAULT),
+      load4_5V_diag_en(LOAD4_5V_DIAG_EN),
+      load4_5V_fault_n(LOAD4_5V_FAULT),
+      load5_5V_diag_en(LOAD5_5V_DIAG_EN),
+      load5_5V_fault_n(LOAD5_5V_FAULT),
+      load_17V_diag_en(LOAD_17V_DIAG_EN),
+      load_17V_fault_n(LOAD_17V_FAULT),
+      railBattery(RAIL_BATTERY_ANLG_IN),
+      rail5V(RAIL_5V_ANLG_IN),
+      rail17V(RAIL_17V_ANLG_IN),
+      rail24V(RAIL_24V_ANLG_IN),
+      rail24V_pgood_n(RAIL_24V_PGOOD_N),
+      temperatureADC(TEMPERATURE_ADC_IN) {
+  load1_5V_diag_en = PDB_5V_LOAD1_DIAG_EN;
+  load2_5V_diag_en = PDB_5V_LOAD2_DIAG_EN;
+  load3_5V_diag_en = PDB_5V_LOAD3_DIAG_EN;
+  load4_5V_diag_en = PDB_5V_LOAD4_DIAG_EN;
+  load5_5V_diag_en = PDB_5V_LOAD5_DIAG_EN;
+  load_17V_diag_en = PDB_17V_LOAD_DIAG_EN;
+}
+
+/*TODO:Replace the logger statements with CAN logs
+ * after CAN Module is ready */
+
+void PDBMonitoring::load_monitoring() {
+  if (load1_5V_diag_en && !load1_5V_fault_n) {
+    Utility::logger << "Fault on 5V load 1\n";
+  }
+  if (load2_5V_diag_en && !load2_5V_fault_n) {
+    Utility::logger << "Fault on 5V load 2\n";
+  }
+  if (load3_5V_diag_en && !load3_5V_fault_n) {
+    Utility::logger << "Fault on 5V load 3\n";
+  }
+  if (load4_5V_diag_en && !load4_5V_fault_n) {
+    Utility::logger << "Fault on 5V load 4\n";
+  }
+  if (load5_5V_diag_en && !load5_5V_fault_n) {
+    Utility::logger << "Fault on 5V load 5\n";
+  }
+  if (load_17V_diag_en && !load_17V_fault_n) {
+    Utility::logger << "Fault on 17V load\n";
+  }
+}
+
+void PDBMonitoring::rail_monitoring() {
+  float rail_vbat_voltage = railBattery.read_voltage() / 3 * PDB_VBAT_RAIL_NOMINAL_VOLTAGE;
+  float rail_24V_voltage  = rail24V.read_voltage() / 3 * PDB_24V_RAIL_NOMINAL_VOLTAGE;
+  float rail_17V_voltage  = rail17V.read_voltage() / 3 * PDB_17V_RAIL_NOMINAL_VOLTAGE;
+  float rail_5V_voltage   = rail5V.read_voltage() / 3 * PDB_5V_RAIL_NOMINAL_VOLTAGE;
+
+  if (rail_vbat_voltage < PDB_VBAT_RAIL_MIN_THRESHOLD || rail_vbat_voltage > PDB_VBAT_RAIL_MAX_THRESHOLD) {
+    Utility::logger << "!!! VBAT RAIL VOLTAGE: %.3fV !!!\n", rail_vbat_voltage;
+  }
+  if (rail_24V_voltage < PDB_24V_RAIL_MIN_THRESHOLD || rail_24V_voltage > PDB_24V_RAIL_MAX_THRESHOLD) {
+    Utility::logger << "!!! 24V RAIL VOLTAGE: %.3fV !!!\n", rail_24V_voltage;
+  }
+  if (rail_17V_voltage < PDB_17V_RAIL_MIN_THRESHOLD || rail_17V_voltage > PDB_17V_RAIL_MAX_THRESHOLD) {
+    Utility::logger << "!!! 17V RAIL VOLTAGE: %.3fV !!!\n", rail_17V_voltage;
+  }
+  if (rail_5V_voltage < PDB_5V_RAIL_MIN_THRESHOLD || rail_5V_voltage > PDB_5V_RAIL_MAX_THRESHOLD) {
+    Utility::logger << "!!! 5V RAIL VOLTAGE: %.3fV !!!\n", rail_5V_voltage;
+  }
+}
+
+/*https://www.ti.com/lit/ds/symlink/lmt87-q1.pdf?ts=1627158177761&ref_url=https%253A%252F%252Fwww.google.com%252F*/
+
+void PDBMonitoring::temperature_monitoring() {
+  float temperature_celsius =
+      (13.582 - sqrt(pow(-13.582, 2) + 4 * 0.00433 * (2230.8 - temperatureADC.read_voltage() * 1000))) /
+          (2 * (-0.00433)) +
+      30;
+
+  if (temperature_celsius < PDB_TEMPERATURE_MIN_THRESHOLD || temperature_celsius > PDB_TEMPERATURE_MAX_THRESHOLD) {
+    Utility::logger << "!!! TEMPERATURE FAULT:" << temperature_celsius << "degrees Celsius\n";
+  }
+}
+
+void PDBMonitoring::periodic_1s() {
+  temperature_monitoring();
+  load_monitoring();
+}
+
+void PDBMonitoring::periodic_1ms() {
+  /*Monitoring Period = 500ms*/
+  int rail_counter = 0;
+
+  if (rail_counter % 5 == 0) {
+    rail_monitoring();
+    rail_counter = 0;
+  }
+
+  rail_counter++;
+}

rover-apps/pdb_2021/CMakeLists.txt

@@ -1,3 +1,15 @@
+add_library(PDB_Monitoring STATIC)
+target_sources(PDB_Monitoring PRIVATE src/PDBMonitoring.cpp)
+target_include_directories(PDB_Monitoring PUBLIC
+        include
+        ../common/include
+        )
+target_link_libraries(PDB_Monitoring
+        PRIVATE
+        Logger
+        mbed-os
+        )
+
 add_executable(pdb_2021)
 target_sources(pdb_2021 PRIVATE src/main.cpp)
 target_include_directories(pdb_2021 PUBLIC include)
@@ -7,5 +19,7 @@ target_link_libraries(pdb_2021
         CANMsg
         Logger
         uwrt-mars-rover-hw-bridge
+        #Modules
+        PDB_Monitoring
         )
 mbed_set_post_build(pdb_2021)

targets/TARGET_PDB_REV2_2021/include/PinNames.h

@@ -171,6 +171,29 @@ typedef enum {
   RAIL_17V_ANLG_IN     = PA_5,
   RAIL_24V_ANLG_IN     = PB_0,
   RAIL_BATTERY_ANLG_IN = PB_1,
+  RAIL_24V_PGOOD_N     = PC_6,
+
+  /**** Temperature Sensor ****/
+  TEMPERATURE_ADC_IN = PA_3,
+
+  /**** Load Monitor ****/
+  LOAD1_5V_DIAG_EN = PA_6,
+  LOAD1_5V_FAULT   = PA_7,
+
+  LOAD2_5V_DIAG_EN = PC_2,
+  LOAD2_5V_FAULT   = PC_3,
+
+  LOAD3_5V_DIAG_EN = PC_0,
+  LOAD3_5V_FAULT   = PC_1,
+
+  LOAD4_5V_DIAG_EN = PC_13,
+  LOAD4_5V_FAULT   = PC_14,
+
+  LOAD5_5V_DIAG_EN = PB_8,
+  LOAD5_5V_FAULT   = PB_9,
+
+  LOAD_17V_DIAG_EN = PC_4,
+  LOAD_17V_FAULT   = PC_5,
 
   /**** LED Matrix ****/
   LED_MATRIX_R_CHANNEL = PB_4,