PWM code updated to function properly: tested

src/controller/controller.c

@@ -1,4 +1,7 @@
 #include "src/controller/controller.h"
+#include "src/i2c_comm/i2c_hal.h"
+#include "src/pi/i2c_pi_target.h"
+#include "ti/driverlib/dl_i2c.h"
 #include "ti_msp_dl_config.h"
 #include <stdio.h>
 #include <string.h>
@@ -18,36 +21,38 @@ bool controller_SetCommandRequest(uint8_t const TARGET_ADDRESS, uint8_t command,
         }
     }
     tx_packet.txLen = data_len + 1; // +1 for command
-    //return i2c_hal.write(TARGET_ADDRESS);
-    return i2c_mock_interface.write(TARGET_ADDRESS); //Testing:: mock test: comment it out in Production
+    return i2c_hal.write(TARGET_ADDRESS);
+    //return i2c_mock_interface.write(TARGET_ADDRESS); //Testing:: mock test: comment it out in Production
 }
 
 //Generic Function to send data to the target controller using I2C:
 //Format: command + ((slot_id) + data (optional))
-bool controller_GetCommandRequest(uint8_t const TARGET_ADDRESS, uint8_t command, uint8_t slot_id, uint8_t *data, uint8_t data_len){
+bool controller_GetCommandRequest(uint8_t const TARGET_ADDRESS, uint8_t slot_id, uint8_t *data, uint8_t data_len){
+    
+    //Write Command to the target
     //Set the command in the tx buffer in bit masked format to the target
-    tx_packet.txBuffer[0] = command| (slot_id<<4); //shift slot_id to the left by 4 bits
-    printf("[MCU] GET Bitmasked Command:: 0x%02X\n", tx_packet.txBuffer[0]);
-    //Conditional check to check if the data is not null and data length is greater than 0
-    if(data != NULL && data_len > 0){
-        //when data is sent along with the command, copying the data to the tx buffer
-       memcpy(&tx_packet.txBuffer[1], data, data_len);
-       tx_packet.txLen = data_len + 1; // +1 for command
-    }
-    else{
-        tx_packet.txLen = 1; // Only command
-    }
-    /*if(!i2c_hal.read(TARGET_ADDRESS)){
-        return false;
-    }*/
-    bool result= i2c_mock_interface.read(TARGET_ADDRESS); //Testing:: mock test: Comment it out in Production
-    if(result){
-        printf("[I2C] Successfully read %d bytes from target 0x%02X\n", data_len, TARGET_ADDRESS);
-        return true;
-    }else{
-        printf("[ERROR] Failed to read from target 0x%02X\n", TARGET_ADDRESS);
+    uint8_t command= CMD_GET_MEASUREMENT|(slot_id & 0x0F); //shift slot_id to the left by 4 bits
+    DL_I2C_startControllerTransfer(I2C_1_INST, TARGET_ADDRESS, DL_I2C_CONTROLLER_DIRECTION_TX, 1);
+    DL_I2C_fillControllerTXFIFO(I2C_1_INST, &command, 1);
+    printf("[MCU] GET Bitmasked Command:: 0x%02X\n", command);
+    if(DL_I2C_getControllerStatus(I2C_1_INST)& (DL_I2C_CONTROLLER_STATUS_ERROR)){
+        printf("I2C Write Error: Bus is stuck\n");
+        DL_I2C_resetControllerTransfer(I2C_1_INST);
         return false;
     }
+
+    //Receive the data from the target:
+    uint8_t rx_index=0;
+    DL_I2C_startControllerTransfer(I2C_1_INST, TARGET_ADDRESS, DL_I2C_CONTROLLER_DIRECTION_RX, sizeof(BatteryMeasurement));
+    while(rx_index < data_len){
+        if(!DL_I2C_isControllerRXFIFOEmpty(I2C_1_INST)){
+            rx_packet.rxBuffer[rx_index]= DL_I2C_receiveTargetData(I2C_1_INST);
+            printf("Received Bytes[%d]: 0x%02X\n", rx_index, rx_packet.rxBuffer[rx_index]);
+            rx_index++;
+        }
+    }
+    printf("[I2C] Successfully read %d bytes from target 0x%02X\n", data_len, TARGET_ADDRESS);
+    return true;
 }
 
 //Send command to set charge and discharge current to the target
@@ -62,22 +67,50 @@ void controller_SetCurrent(uint8_t const TARGET_ADDRESS, uint8_t slot_id, int16_
 
 //Get battery measurement: Voltage, Current and Temperature:
 bool controller_GetBatteryMeasurement(uint8_t const TARGET_ADDRESS, uint8_t slot_id, BatteryMeasurement *measurement){
-    if(controller_GetCommandRequest(TARGET_ADDRESS, CMD_GET_MEASUREMENT, slot_id, (uint8_t *)measurement, sizeof(BatteryMeasurement))){
-        measurement->voltage = rx_packet.rxBuffer[0] | (rx_packet.rxBuffer[1] << 8);
+    //Write Command to the target
+    //Set the command in the tx buffer in bit masked format to the target
+    uint8_t command= CMD_GET_MEASUREMENT|(slot_id & 0x0F); //shift slot_id to the left by 4 bits
+    DL_I2C_startControllerTransfer(I2C_1_INST, TARGET_ADDRESS, DL_I2C_CONTROLLER_DIRECTION_TX, 1);
+    DL_I2C_fillControllerTXFIFO(I2C_1_INST, &command, 1);
+    printf("[MCU] GET Bitmasked Command:: 0x%02X\n", command);
+    if(DL_I2C_getControllerStatus(I2C_1_INST)& (DL_I2C_CONTROLLER_STATUS_ERROR)){
+        printf("I2C Write Error: Bus is stuck\n");
+        DL_I2C_resetControllerTransfer(I2C_1_INST);
+        return false;
+    }
+
+    //Receive the data from the target:
+    
+    DL_I2C_startControllerTransfer(I2C_1_INST, TARGET_ADDRESS, DL_I2C_CONTROLLER_DIRECTION_RX, sizeof(BatteryMeasurement));
+    uint8_t *dest= (uint8_t *)measurement;
+    uint8_t rx_index=0;
+    while(rx_index < sizeof(BatteryMeasurement)){
+        if(!DL_I2C_isControllerRXFIFOEmpty(I2C_1_INST)){
+            dest[rx_index++]= DL_I2C_receiveTargetData(I2C_1_INST);
+            //printf("Received Bytes[%d]: 0x%02X\n", rx_index, rx_packet.rxBuffer[rx_index]);
+            //rx_index++;
+        }
+    }
+    printf("[I2C] Successfully read %d bytes from target 0x%02X\n", sizeof(BatteryMeasurement), TARGET_ADDRESS);
+    printf("Voltage: %u\n", measurement->voltage);
+    printf("Current: %d\n",  measurement->current);
+    printf("Temp:    %u\n", measurement->temperature);
+    
+        /*measurement->voltage = rx_packet.rxBuffer[0] | (rx_packet.rxBuffer[1] << 8);
         measurement->current = rx_packet.rxBuffer[2] | (rx_packet.rxBuffer[3] << 8);
         measurement->temperature = rx_packet.rxBuffer[4] | (rx_packet.rxBuffer[5] << 8);
         measurement->slot_state = (SlotState)(rx_packet.rxBuffer[6]);
         //Debug
         printf("Slot ID: 0x%02X\n", slot_id); 
-        printf("Voltage:0x%02X\n", rx_packet.rxBuffer[0] | (rx_packet.rxBuffer[1] << 8));
+        printf("Voltage:0x%04X\n", rx_packet.rxBuffer[0] | (rx_packet.rxBuffer[1] << 8));
         printf("Current:0x%02X\n", rx_packet.rxBuffer[2] | (rx_packet.rxBuffer[3] << 8));
         printf("Temperature:0x%02X\n", rx_packet.rxBuffer[4] | (rx_packet.rxBuffer[5] << 8));
-        printf("Slot State:0x%02X\n", rx_packet.rxBuffer[6]);
-        return true;
-    }
-    return false;
+        printf("Slot State:0x%02X\n", rx_packet.rxBuffer[6]);*/
+    return true;
 }
 
+
+
 //Clear error flag to the target
 //Format: command + ((slot_id) + data (optional))
 void controller_ClearError(uint8_t const TARGET_ADDRESS, uint8_t slot_id){
@@ -88,16 +121,20 @@ void controller_ClearError(uint8_t const TARGET_ADDRESS, uint8_t slot_id){
     controller_SetCommandRequest(TARGET_ADDRESS, CMD_CLEAR_ERR, data, sizeof(data));
 }
 
+
+
 //Logic to handle Power Burning PWM on the controller side: is there any clamping required between a certain range?
 void controller_EvaluateBatterySlotState(uint8_t slot_id, BatteryMeasurement *measurement){
+    static bool slot_sov_hov_state= false;
     if((measurement->slot_state== SLOT_ERR_HOV) || (measurement->slot_state == SLOT_STATE_SOV)){
+        slot_sov_hov_state= true;
         if(battery_data[slot_id].pwm_value < (PWM_MAX_VALUE - PWM_INCREMENT_VALUE)){
             battery_data[slot_id].pwm_value+= PWM_INCREMENT_VALUE; 
             printf("[Power Burning PWM] SOV/HOV state: Increased power burn PWM to %d\n", battery_data[slot_id].pwm_value);
             DL_TimerG_setCaptureCompareValue(PWM_0_INST, battery_data[slot_id].pwm_value, DL_TIMER_CC_0_INDEX); 
         }
          
-    }else if(measurement->slot_state== SLOT_STATE_OK){
+    }else if(measurement->slot_state== SLOT_STATE_OK && slot_sov_hov_state== true){
         if(battery_data[slot_id].pwm_value >= (INITIAL_PWM_VALUE + PWM_DECREMENT_VALUE)){
             battery_data[slot_id].pwm_value-= PWM_DECREMENT_VALUE;
             printf("[Power Burning PWM] OK state: Decreased power burn PWM to %d\n", battery_data[slot_id].pwm_value);
@@ -105,6 +142,6 @@ void controller_EvaluateBatterySlotState(uint8_t slot_id, BatteryMeasurement *me
         }
     }else{
         printf("[Power Burning PWM] initial state: %d\n", battery_data[slot_id].pwm_value);
-        DL_TimerG_setCaptureCompareValue(PWM_0_INST, INITIAL_PWM_VALUE, DL_TIMER_CC_0_INDEX); 
+        DL_TimerG_setCaptureCompareValue(PWM_0_INST, battery_data[slot_id].pwm_value, DL_TIMER_CC_0_INDEX); 
     }
 }