Bms libraries porting (#217)

* Porting

* BMS WIP

* Ported over MVP AFE Driver with our libraries

* Modifications to FSM

* Merged some FSM stuff

* Made some modifications

* Made some more changes

* Some more changes

* More modifications

* Working?

* Linting

* Linting

* Revert

* Linting

* Small fixes

* Small fixes

* Moved crc15

* Removed all AFE related stuff

* Added some files back

* FWXV-232 Add BMS Current Sense

* Fixes

* Format

---------

Co-authored-by: AFailure <[email protected]>
Co-authored-by: vagrant <vagrant@midsunbox>
Co-authored-by: Bafran <[email protected]>

libraries/ms-common/inc/crc15.h

@@ -0,0 +1,8 @@
+#pragma once
+// crc15 implementation for the LTC6811
+#include <stddef.h>
+#include <stdint.h>
+
+void crc15_init_table(void);
+
+uint16_t crc15_calculate(uint8_t *data, size_t len);

libraries/ms-common/inc/notify.h

@@ -28,7 +28,7 @@ typedef enum {
   NUM_PUB_TOPICS,
 } Topic;
 
-// Gets highest priority (highest value)  event available, and clears it
+// Gets highest priority (highest value) event available, and clears it
 // Returns STATUS_CODE_OK if all events processed, STATUS_CODE_INCOMPLETE if any remaining
 // Notification value should be processed until all events are cleared
 StatusCode event_from_notification(uint32_t *notification, Event *event);

libraries/ms-common/src/crc15.c

@@ -0,0 +1,37 @@
+#include "crc15.h"
+
+// x^{15} + x^{14} + x^{10} + x^{8} + x^{7} + x^{4} + x^{3} + x^{0}
+// so divisor is: 0b1100010110011001 (0xC599)
+// 0xC599 - (2^15) == 0x4599
+#define CRC_POLYNOMIAL 0x4599
+
+static uint16_t s_crc15_table[256];
+
+void crc15_init_table(void) {
+  for (uint32_t i = 0; i < 256; ++i) {
+    uint32_t remainder = i << 7;
+    for (uint8_t bit = 8; bit > 0; --bit) {
+      if (remainder & 0x4000) {
+        // check MSB
+        remainder = (remainder << 1);
+        remainder = (remainder ^ CRC_POLYNOMIAL);
+      } else {
+        remainder = (remainder << 1);
+      }
+    }
+
+    s_crc15_table[i] = remainder & 0xFFFF;
+  }
+}
+
+uint16_t crc15_calculate(uint8_t *data, size_t len) {
+  // CRC should be initialized to 16 (see datasheet p.44)
+  uint16_t remainder = 16;
+
+  for (size_t i = 0; i < len; i++) {
+    uint16_t addr = ((remainder >> 7) ^ data[i]) & 0xFF;
+    remainder = (remainder << 8) ^ s_crc15_table[addr];
+  }
+
+  return remainder << 1;
+}

libraries/ms-drivers/inc/ads1259.h

@@ -0,0 +1,63 @@
+#pragma once
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "ads1259_def.h"
+#include "gpio.h"
+#include "spi.h"
+
+typedef enum Ads1259StatusCode {
+  ADS1259_STATUS_CODE_OK = 0,
+  ADS1259_STATUS_CODE_OUT_OF_RANGE,
+  ADS1259_STATUS_CODE_CHECKSUM_FAULT,
+  ADS1259_STATUS_CODE_DATA_NOT_READY,
+  NUM_ADS1259_STATUS_CODE,
+} Ads1259StatusCode;
+
+typedef void (*Ads1259ErrorHandlerCb)(Ads1259StatusCode code, void *context);
+
+typedef struct Ads1259RxData {
+  uint8_t MSB;
+  uint8_t MID;
+  uint8_t LSB;
+  uint8_t CHK_SUM;
+} Ads1259RxData;
+
+typedef union Ads1259ConversionData {
+  struct {
+    uint8_t LSB;
+    uint8_t MID;
+    uint8_t MSB;
+  };
+  uint32_t raw;
+} Ads1259ConversionData;
+
+// Initialize Ads1259Settings with SPI settings and error callback function
+typedef struct Ads1259Settings {
+  SpiPort spi_port;
+  uint32_t spi_baudrate;
+  GpioAddress mosi;
+  GpioAddress miso;
+  GpioAddress sclk;
+  GpioAddress cs;
+  Ads1259ErrorHandlerCb handler;
+  void *error_context;
+} Ads1259Settings;
+
+// Static instance of Ads1259Storage must be declared
+// ads1259_get_data() reads 24-bit conversion data into 'reading'
+typedef struct Ads1259Storage {
+  Ads1259RxData rx_data;
+  SpiPort spi_port;
+  Ads1259ConversionData conv_data;
+  double reading;
+  Ads1259ErrorHandlerCb handler;
+  void *error_context;
+} Ads1259Storage;
+
+// Initializes ads1259 - soft-timers and spi must be initialized
+StatusCode ads1259_init(Ads1259Storage *storage, Ads1259Settings *settings);
+
+// Gets reading via single conversion mode
+StatusCode ads1259_get_conversion_data(Ads1259Storage *storage);

libraries/ms-drivers/inc/ads1259_def.h

@@ -0,0 +1,85 @@
+#pragma once
+
+// Voltage reference value
+#define EXTERNAL_VREF_V 2.5
+
+// ADS1259 Configuration and control commands
+
+#define ADS1259_WAKEUP 0x02      // Wake up from sleep mode
+#define ADS1259_SLEEP 0x04       // Begin Sleep Mode
+#define ADS1259_RESET 0x06       // Reset to power-up values
+#define ADS1259_START_CONV 0x08  // Start Conversion
+#define ADS1259_STOP_CONV 0x0A   // Stops all conversions after one in progress is complete
+#define ADS1259_START_READ_DATA_CONTINOUS 0x10  // enables the Read Data Continuous mode
+#define ADS1259_STOP_READ_DATA_CONTINUOUS 0x11  // cancels the Read Data Continuous mode
+#define ADS1259_READ_DATA_BY_OPCODE 0x12        // read the conversion result
+#define ADS1259_OFFSET_CALIBRATION 0x18         // performs an offset calibration
+#define ADS1259_GAIN_CALIBRATION 0x19           // performs a gain calibration
+
+// ADS1259 READ/WRITE REGISTER COMMANDS
+// Each command requires 2 bytes:
+// command opcode and register address
+// number of registers to read
+#define ADS1259_READ_REGISTER 0x20
+#define ADS1259_WRITE_REGISTER 0x40
+
+// Samples per second on ADS1259
+typedef enum Ads1259DataRate {
+  ADS1259_DATA_RATE_10 = 0,
+  ADS1259_DATA_RATE_17,
+  ADS1259_DATA_RATE_50,
+  ADS1259_DATA_RATE_60,
+  ADS1259_DATA_RATE_400,
+  ADS1259_DATA_RATE_1200,
+  ADS1259_DATA_RATE_3600,
+  ADS1259_DATA_RATE_14400,
+  NUM_ADS1259_DATA_RATE,
+} Ads1259DataRate;
+
+// REGISTER ADDRESSES
+#define ADS1259_ADDRESS_CONFIG0 0x00
+#define ADS1259_ADDRESS_CONFIG1 0x01
+#define ADS1259_ADDRESS_CONFIG2 0x02
+#define ADS1259_ADDRESS_OFC0 0x03
+#define ADS1259_ADDRESS_OFC1 0x04
+#define ADS1259_ADDRESS_OFC2 0x05
+#define ADS1259_ADDRESS_FSC0 0x06
+#define ADS1259_ADDRESS_FSC1 0x07
+#define ADS1259_ADDRESS_FSC2 0x08
+#define NUM_ADS1259_REGISTERS 0x09
+
+// ADS1259 Register Configurations - LSB to MSB
+// These values can be changed based on needed configurations
+
+// CONFIG0
+#define ADS1259_SPI_TIMEOUT_ENABLE 0x01        // Enable SPI Timeout
+#define ADS1259_INTERNAL_REF_BIAS_ENABLE 0x04  // Enable internal ref bias
+
+// CONFIG1
+#define ADS1259_CONVERSION_DELAY_MS 0x0  // Conversion delay not used -> if needed see datasheet
+#define ADS1259_VREF_EXTERNAL 0x08       // Enable external voltage reference
+#define ADS1259_DIGITAL_FILTER_2 0x10    // Enable SINC2 digital filter
+#define ADS1259_CHECK_SUM_ENABLE 0x40    // Enable check sum byte
+#define ADS1259_OUT_OF_RANGE_FLAG_ENABLE 0x80  // Enable out of range flag
+
+// CONFIG2
+#define ADS1259_SYNCOUT_ENABLE 0x20                 // Enable Syncout clock
+#define ADS1259_CONVERSION_CONTROL_MODE_PULSE 0x10  // Set Conversion mode to pulse
+#define ADS1259_DATA_RATE_SPS ADS1259_DATA_RATE_60
+
+// Offset used in Checksum calculation
+#define ADS1259_CHECKSUM_OFFSET 0x9B
+
+typedef enum Ads1259RxByte {
+  ADS1259_MSB = 0,
+  ADS1259_MID,
+  ADS1259_LSB,
+  ADS1259_CHK_SUM,
+  NUM_ADS_RX_BYTES,
+} Ads1259RxByte;
+
+#define NUM_CONFIG_REGISTERS 3
+#define NUM_REGISTER_WRITE_COMM 5
+#define CHK_SUM_FLAG_BIT 0x80
+#define RX_NEG_VOLTAGE_BIT 0x800000
+#define RX_MAX_VALUE 0x1000000