BMS.hpp

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/**
 * @file BMS.hpp
 * @author Planeson, Red Bird Racing
 * @brief Declaration of the BMS class for managing the Accumulator (Kclear BMS) via CAN bus
 * @version 1.2
 * @date 2026-02-04
 * @see BMS.cpp
 * @dir BMS @brief The BMS library contains the BMS class for managing the Accumulator (Kclear BMS) via CAN bus, including starting HV and checking BMS status.
 */
 
#ifndef BMS_HPP
#define BMS_HPP
 
#include "Scheduler.hpp"
#include "CarState.hpp"
 
// ignore -Wpedantic warnings for mcp2515.h
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wpedantic"
#include <mcp2515.h>
#pragma GCC diagnostic pop
 
constexpr uint32_t BMS_COMMAND = 0x1801F340;                  /**< BMS command ID */
constexpr uint32_t BMS_SEND_CMD = BMS_COMMAND | CAN_EFF_FLAG; /**< BMS command ID with Extended Frame Format flag */
 
constexpr uint32_t BMS_INFO = 0x186040F3;                  /**< BMS info ID */
constexpr uint32_t BMS_INFO_EXT = BMS_INFO | CAN_EFF_FLAG; /**< BMS info ID with Extended Frame Format flag */
 
/** Start HV command frame */
constexpr can_frame start_hv_msg = {
    BMS_SEND_CMD, /**< can_id */
    2,            /**< can_dlc */
    {0x01, 0x01}  /**< data: MainRlyCmd = 1 (output HV), ShutDownCmd = 1 (do not shutdown) */
};
 
/** Stop HV command frame */
constexpr can_frame stop_hv_msg = {
    BMS_SEND_CMD, /**< can_id */
    2,            /**< can_dlc */
    {0x00, 0x00}  /**< data: MainRlyCmd = 0 (break open HV), ShutDownCmd = 0 (shutdown) */
};
 
/**
 * @brief BMS class for managing the Accumulator (Kclear BMS) via CAN bus
 */
class BMS
{
public:
    BMS(MCP2515 &bms_can_, CarState &car_);
    /**
     * @brief Returns true if HV has been started
     * @return true if HV started, false otherwise
     */
    bool hvReady() const { return car.pedal.status.bits.hv_ready; };
    void initFilter();
    void checkHv();
 
private:
    MCP2515 &bms_can; /**< Reference to MCP2515 for BMS CAN bus */
    /** Local storage for received BMS CAN frame */
    can_frame rx_bms_msg = {
        0,   /**< can_id */
        0,   /**< can_dlc */
        {0}, /**< data */
    };
    CarState &car;       /**< Reference to CarState, for the status flags and setting BMS data */
};
#endif // BMS_HPP