Fix/rotor temp msgs

lib/interfaces/include/BrakeRotorTemp.h

@@ -0,0 +1,55 @@
+#ifndef BRAKEROTORTEMP_H
+#define BRAKEROTORTEMP_H
+
+/* External libraries */
+#include "FlexCAN_T4.h"
+#include "etl/singleton.h"
+
+
+namespace BrakeRotorTempDefaultParams {
+    constexpr size_t channels_within_brake_temp_sensor = 16; // TODO: check if our sensors are actually 16 channel
+}
+
+struct BrakeTempSensorData_s {
+    float max_temp;
+    float avg_temp;
+
+    std::array<float, BrakeRotorTempDefaultParams::channels_within_brake_temp_sensor> channel_data;
+};
+
+struct BrakeTempData_s {
+    BrakeTempSensorData_s fl_sensor;
+    BrakeTempSensorData_s fr_sensor;
+};
+
+/**
+ * Interface to receive messages from the Izze Racing IRTS-60deg-v3 sensor
+ */
+class BrakeRotorTemp
+{
+    public:
+        // default empty constructor will init state to zeros
+        BrakeRotorTemp() {}
+
+        /**
+         * Retrieves the latest data that has been sent from the sensors
+         * @return the latest temp data
+         */
+        BrakeTempData_s getBrakeRotorTempData() const;
+
+        /**
+         * CAN receive function to parse the new CAN msg and update internal state
+         * Called by VCF's recv switch
+         * @param msg the CAN msg to parse
+         */
+        void receiveBrakeRotorTempData(const CAN_message_t &msg);
+
+    private:
+        BrakeTempData_s _temp_data;
+
+        void _updateCalculatedValues(bool FR);
+};
+
+using BrakeRotorTempInstance = etl::singleton<BrakeRotorTemp>;
+
+#endif // BRAKEROTORTEMP_H

lib/interfaces/include/DashboardInterface.h

@@ -52,14 +52,14 @@ class DashboardInterface
         DashInputState_s get_dashboard_outputs();
 
         // Stores outputs
-        DashInputState_s DashboardInterface::get_dashboard_stored_state();
+        DashInputState_s get_dashboard_stored_state();
 
         /**
          * Syncs stored outputs with last read outputs.
          * Used to store previous state of buttons to determine if they are clicked or not.
          * In other words, to find the falling edge.
          */
-        void DashboardInterface::sync_dashboard_stored_state();
+        void sync_dashboard_stored_state();
 
         // Receiving
         void receive_ACU_OK(const CAN_message_t &can_msg);

lib/interfaces/include/VCFCANInterfaceImpl.h

@@ -12,6 +12,7 @@
 #include "DashboardInterface.h"
 #include "ACUInterface.h"
 #include "VCRInterface.h"
+#include "BrakeRotorTemp.h"
 
 #include "SharedFirmwareTypes.h"
 
@@ -27,14 +28,16 @@ using FrontAuxCAN_t = FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_16>;
 
 /* Interfaces accessible to this one */
 struct CANInterfaces {
-    explicit CANInterfaces(DashboardInterface &dash_int, ACUInterface &acu_int, VCRInterface &vcr_int)
+    explicit CANInterfaces(DashboardInterface &dash_int, ACUInterface &acu_int, VCRInterface &vcr_int, BrakeRotorTemp &brake_rotor_temp_int)
         : dash_interface(dash_int),
           acu_interface(acu_int),
-          vcr_interface(vcr_int) {}
+          vcr_interface(vcr_int),
+          brake_rotor_temp_interface(brake_rotor_temp_int) {}
 
     DashboardInterface &dash_interface;
     ACUInterface &acu_interface;
     VCRInterface &vcr_interface;
+    BrakeRotorTemp &brake_rotor_temp_interface;
 };
 using CANInterfacesInstance = etl::singleton<CANInterfaces>;
 

lib/interfaces/include/VCFEthernetInterface.h

@@ -7,6 +7,7 @@
 #include "ADCInterface.h"
 #include "DashboardInterface.h"
 #include "PedalsSystem.h"
+#include "BrakeRotorTemp.h"
 #include "SteeringSystem.h"
 
 namespace VCFEthernetInterface 
@@ -18,7 +19,11 @@ namespace VCFEthernetInterface
      * @return A populated instance of the outgoing protoc struct.
      */
     // hytech_msgs_VCFData_s make_vcf_data_msg(VCFData_s &shared_state);
-    hytech_msgs_VCFData_s make_vcf_data_msg(ADCInterface &ADCInterfaceInstance, DashboardInterface &dashInstance, PedalsSystem &pedalsInstance, SteeringSystem &steeringInstance);
+    hytech_msgs_VCFData_s make_vcf_data_msg(ADCInterface &ADCInterfaceInstance,
+                                            DashboardInterface &dashInstance,
+                                            PedalsSystem &pedalsInstance,
+                                            SteeringSystem &steeringInstance,
+                                            BrakeRotorTemp &brakeRotorTempInstance);
 
     /**
      * Function to take a populated protoc struct from VCR and update the VCF state. This is ONLY critical

lib/interfaces/src/BrakeRotorTemp.cpp

@@ -0,0 +1,179 @@
+#include "BrakeRotorTemp.h"
+
+#include "hytech.h"
+
+BrakeTempData_s BrakeRotorTemp::getBrakeRotorTempData() const {
+    return _temp_data;
+}
+
+void BrakeRotorTemp::receiveBrakeRotorTempData(const CAN_message_t &msg) {
+    switch (msg.id) {
+        case FL_BRAKE_ROTOR_TEMP_CH1_CH4_CANID:
+        {
+            // unpack the msg
+            FL_BRAKE_ROTOR_TEMP_CH1_CH4_t unpacked_msg;
+            Unpack_FL_BRAKE_ROTOR_TEMP_CH1_CH4_hytech(&unpacked_msg, msg.buf, msg.len); // NOLINT array decay to pointer
+
+            // copy data over to interface data
+            std::get<0>(_temp_data.fl_sensor.channel_data) = HYTECH_brake_temp_channel_1_ro_fromS(unpacked_msg.brake_temp_channel_1_ro);
+            std::get<1>(_temp_data.fl_sensor.channel_data) = HYTECH_brake_temp_channel_2_ro_fromS(unpacked_msg.brake_temp_channel_2_ro);
+            std::get<2>(_temp_data.fl_sensor.channel_data) = HYTECH_brake_temp_channel_3_ro_fromS(unpacked_msg.brake_temp_channel_3_ro);
+            std::get<3>(_temp_data.fl_sensor.channel_data) = HYTECH_brake_temp_channel_4_ro_fromS(unpacked_msg.brake_temp_channel_4_ro);
+
+            // update FL outputs
+            _updateCalculatedValues(false);
+            break;
+        }
+
+        case FL_BRAKE_ROTOR_TEMP_CH5_CH8_CANID:
+        {
+            // unpack the msg
+            FL_BRAKE_ROTOR_TEMP_CH5_CH8_t unpacked_msg;
+            Unpack_FL_BRAKE_ROTOR_TEMP_CH5_CH8_hytech(&unpacked_msg, msg.buf, msg.len); // NOLINT array decay to pointer
+
+            // copy data over to interface data
+            std::get<4>(_temp_data.fl_sensor.channel_data) = HYTECH_brake_temp_channel_5_ro_fromS(unpacked_msg.brake_temp_channel_5_ro);
+            std::get<5>(_temp_data.fl_sensor.channel_data) = HYTECH_brake_temp_channel_6_ro_fromS(unpacked_msg.brake_temp_channel_6_ro);
+            std::get<6>(_temp_data.fl_sensor.channel_data) = HYTECH_brake_temp_channel_7_ro_fromS(unpacked_msg.brake_temp_channel_7_ro);
+            std::get<7>(_temp_data.fl_sensor.channel_data) = HYTECH_brake_temp_channel_8_ro_fromS(unpacked_msg.brake_temp_channel_8_ro);
+
+            // update FL outputs
+            _updateCalculatedValues(false);
+            break;
+        }
+
+        case FL_BRAKE_ROTOR_TEMP_CH9_CH12_CANID:
+        {
+            // unpack the msg
+            FL_BRAKE_ROTOR_TEMP_CH9_CH12_t unpacked_msg;
+            Unpack_FL_BRAKE_ROTOR_TEMP_CH9_CH12_hytech(&unpacked_msg, msg.buf, msg.len); // NOLINT array decay to pointer
+
+            // copy data over to interface data
+            std::get<8>(_temp_data.fl_sensor.channel_data) = HYTECH_brake_temp_channel_9_ro_fromS(unpacked_msg.brake_temp_channel_9_ro);
+            std::get<9>(_temp_data.fl_sensor.channel_data) = HYTECH_brake_temp_channel_10_ro_fromS(unpacked_msg.brake_temp_channel_10_ro);
+            std::get<10>(_temp_data.fl_sensor.channel_data) = HYTECH_brake_temp_channel_11_ro_fromS(unpacked_msg.brake_temp_channel_11_ro);
+            std::get<11>(_temp_data.fl_sensor.channel_data) = HYTECH_brake_temp_channel_12_ro_fromS(unpacked_msg.brake_temp_channel_12_ro);
+
+            // update FL outputs
+            _updateCalculatedValues(false);
+            break;
+        }
+
+        case FL_BRAKE_ROTOR_TEMP_CH13_CH16_CANID:
+        {
+            // unpack the msg
+            FL_BRAKE_ROTOR_TEMP_CH13_CH16_t unpacked_msg;
+            Unpack_FL_BRAKE_ROTOR_TEMP_CH13_CH16_hytech(&unpacked_msg, msg.buf, msg.len); // NOLINT array decay to pointer
+
+            // copy data over to interface data
+            std::get<12>(_temp_data.fl_sensor.channel_data) = HYTECH_brake_temp_channel_13_ro_fromS(unpacked_msg.brake_temp_channel_13_ro);
+            std::get<13>(_temp_data.fl_sensor.channel_data) = HYTECH_brake_temp_channel_14_ro_fromS(unpacked_msg.brake_temp_channel_14_ro);
+            std::get<14>(_temp_data.fl_sensor.channel_data) = HYTECH_brake_temp_channel_15_ro_fromS(unpacked_msg.brake_temp_channel_15_ro);
+            std::get<15>(_temp_data.fl_sensor.channel_data) = HYTECH_brake_temp_channel_16_ro_fromS(unpacked_msg.brake_temp_channel_16_ro);
+
+            // update FL outputs
+            _updateCalculatedValues(false);
+            break;
+        }
+
+        case FR_BRAKE_ROTOR_TEMP_CH1_CH4_CANID:
+        {
+            // unpack the msg
+            FR_BRAKE_ROTOR_TEMP_CH1_CH4_t unpacked_msg;
+            Unpack_FR_BRAKE_ROTOR_TEMP_CH1_CH4_hytech(&unpacked_msg, msg.buf, msg.len); // NOLINT array decay to pointer
+
+            // copy data over to interface data
+            std::get<0>(_temp_data.fr_sensor.channel_data) = HYTECH_brake_temp_channel_1_ro_fromS(unpacked_msg.brake_temp_channel_1_ro);
+            std::get<1>(_temp_data.fr_sensor.channel_data) = HYTECH_brake_temp_channel_2_ro_fromS(unpacked_msg.brake_temp_channel_2_ro);
+            std::get<2>(_temp_data.fr_sensor.channel_data) = HYTECH_brake_temp_channel_3_ro_fromS(unpacked_msg.brake_temp_channel_3_ro);
+            std::get<3>(_temp_data.fr_sensor.channel_data) = HYTECH_brake_temp_channel_4_ro_fromS(unpacked_msg.brake_temp_channel_4_ro);
+
+            // update FR outputs
+            _updateCalculatedValues(true);
+            break;
+        }
+
+        case FR_BRAKE_ROTOR_TEMP_CH5_CH8_CANID:
+        {
+            // unpack the msg
+            FR_BRAKE_ROTOR_TEMP_CH5_CH8_t unpacked_msg;
+            Unpack_FR_BRAKE_ROTOR_TEMP_CH5_CH8_hytech(&unpacked_msg, msg.buf, msg.len); // NOLINT array decay to pointer
+
+            // copy data over to interface data
+            std::get<4>(_temp_data.fr_sensor.channel_data) = HYTECH_brake_temp_channel_5_ro_fromS(unpacked_msg.brake_temp_channel_5_ro);
+            std::get<5>(_temp_data.fr_sensor.channel_data) = HYTECH_brake_temp_channel_6_ro_fromS(unpacked_msg.brake_temp_channel_6_ro);
+            std::get<6>(_temp_data.fr_sensor.channel_data) = HYTECH_brake_temp_channel_7_ro_fromS(unpacked_msg.brake_temp_channel_7_ro);
+            std::get<7>(_temp_data.fr_sensor.channel_data) = HYTECH_brake_temp_channel_8_ro_fromS(unpacked_msg.brake_temp_channel_8_ro);
+
+            // update FR outputs
+            _updateCalculatedValues(true);
+            break;
+        }
+
+        case FR_BRAKE_ROTOR_TEMP_CH9_CH12_CANID:
+        {
+            // unpack the msg
+            FR_BRAKE_ROTOR_TEMP_CH9_CH12_t unpacked_msg;
+            Unpack_FR_BRAKE_ROTOR_TEMP_CH9_CH12_hytech(&unpacked_msg, msg.buf, msg.len); // NOLINT array decay to pointer
+
+            // copy data over to interface data
+            std::get<8>(_temp_data.fr_sensor.channel_data) = HYTECH_brake_temp_channel_9_ro_fromS(unpacked_msg.brake_temp_channel_9_ro);
+            std::get<9>(_temp_data.fr_sensor.channel_data) = HYTECH_brake_temp_channel_10_ro_fromS(unpacked_msg.brake_temp_channel_10_ro);
+            std::get<10>(_temp_data.fr_sensor.channel_data) = HYTECH_brake_temp_channel_11_ro_fromS(unpacked_msg.brake_temp_channel_11_ro);
+            std::get<11>(_temp_data.fr_sensor.channel_data) = HYTECH_brake_temp_channel_12_ro_fromS(unpacked_msg.brake_temp_channel_12_ro);
+
+            // update FR outputs
+            _updateCalculatedValues(true);
+            break;
+        }
+
+        case FR_BRAKE_ROTOR_TEMP_CH13_CH16_CANID:
+        {
+            // unpack the msg
+            FR_BRAKE_ROTOR_TEMP_CH13_CH16_t unpacked_msg;
+            Unpack_FR_BRAKE_ROTOR_TEMP_CH13_CH16_hytech(&unpacked_msg, msg.buf, msg.len); // NOLINT array decay to pointer
+
+            // copy data over to interface data
+            std::get<12>(_temp_data.fr_sensor.channel_data) = HYTECH_brake_temp_channel_13_ro_fromS(unpacked_msg.brake_temp_channel_13_ro);
+            std::get<13>(_temp_data.fr_sensor.channel_data) = HYTECH_brake_temp_channel_14_ro_fromS(unpacked_msg.brake_temp_channel_14_ro);
+            std::get<14>(_temp_data.fr_sensor.channel_data) = HYTECH_brake_temp_channel_15_ro_fromS(unpacked_msg.brake_temp_channel_15_ro);
+            std::get<15>(_temp_data.fr_sensor.channel_data) = HYTECH_brake_temp_channel_16_ro_fromS(unpacked_msg.brake_temp_channel_16_ro);
+
+            // update FR outputs
+            _updateCalculatedValues(true);
+            break;
+        }
+
+        default:
+        break;
+    }
+}
+
+/**
+ * Helper method to update the calculated values of max and avg temps for each sensor after new data is 
+ * received. Will only update for the specified sensor.
+ * @param sensor corresponds to which sensor was updated. FL = 0, FR = 1
+ */
+void BrakeRotorTemp::_updateCalculatedValues(bool FR) {
+    if (FR) { // check if FR needs to be updated
+        auto begin_iterator = _temp_data.fr_sensor.channel_data.begin();
+        auto end_iterator = _temp_data.fr_sensor.channel_data.end();
+
+        // update maximum value
+        _temp_data.fr_sensor.max_temp = *std::max_element(begin_iterator, end_iterator);
+
+        // update avg value
+        float sum = std::accumulate(begin_iterator, end_iterator, 0.0f); // find sum
+        _temp_data.fr_sensor.avg_temp = sum / static_cast<float>(BrakeRotorTempDefaultParams::channels_within_brake_temp_sensor);
+    } else { // otherwise update FL
+        auto begin_iterator = _temp_data.fl_sensor.channel_data.begin();
+        auto end_iterator = _temp_data.fl_sensor.channel_data.end();
+
+        // update maximum value
+        _temp_data.fl_sensor.max_temp = *std::max_element(begin_iterator, end_iterator);
+
+        // update avg value
+        float sum = std::accumulate(begin_iterator, end_iterator, 0.0f); // find sum
+        _temp_data.fl_sensor.avg_temp = sum / static_cast<float>(BrakeRotorTempDefaultParams::channels_within_brake_temp_sensor);
+    }
+}

lib/interfaces/src/VCFCANInterfaceImpl.cpp

@@ -11,7 +11,7 @@ namespace VCFCANInterfaceImpl {
 
     void on_faux_can_recv(const CAN_message_t &msg)
     {
-        VCFCANInterfaceInstance::instance().TELEM_CAN.write(msg); //immediately forward onto telem can to view data
+        // VCFCANInterfaceInstance::instance().TELEM_CAN.write(msg); //immediately forward onto telem can to view data
         uint8_t buf[sizeof(CAN_message_t)];
         memmove(buf, &msg, sizeof(msg)); // NOLINT (memory operations are fine)
         VCFCANInterfaceInstance::instance().front_aux_can_rx_buffer.push_back(buf, sizeof(CAN_message_t));
@@ -61,6 +61,18 @@ namespace VCFCANInterfaceImpl {
                 interfaces.vcr_interface.receive_inverter_status_4(msg);
                 break;
             }
+            case FL_BRAKE_ROTOR_SENSOR_TEMP_CANID:
+            case FL_BRAKE_ROTOR_TEMP_CH1_CH4_CANID:
+            case FL_BRAKE_ROTOR_TEMP_CH5_CH8_CANID:
+            case FL_BRAKE_ROTOR_TEMP_CH9_CH12_CANID:
+            case FL_BRAKE_ROTOR_TEMP_CH13_CH16_CANID:
+            case FR_BRAKE_ROTOR_SENSOR_TEMP_CANID:
+            case FR_BRAKE_ROTOR_TEMP_CH1_CH4_CANID:
+            case FR_BRAKE_ROTOR_TEMP_CH5_CH8_CANID:
+            case FR_BRAKE_ROTOR_TEMP_CH9_CH12_CANID:
+            case FR_BRAKE_ROTOR_TEMP_CH13_CH16_CANID:
+                interfaces.brake_rotor_temp_interface.receiveBrakeRotorTempData(msg);
+                break;
             default:
                 break;
             }

lib/interfaces/src/VCFEthernetInterface.cpp

@@ -4,7 +4,7 @@
 #include "hytech_msgs_version.h"
 #include "device_fw_version.h"
 
-hytech_msgs_VCFData_s VCFEthernetInterface::make_vcf_data_msg(ADCInterface &ADCInterfaceInstance, DashboardInterface &dashInstance, PedalsSystem &pedalsInstance, SteeringSystem &steeringInstance)
+hytech_msgs_VCFData_s VCFEthernetInterface::make_vcf_data_msg(ADCInterface &ADCInterfaceInstance, DashboardInterface &dashInstance, PedalsSystem &pedalsInstance, SteeringSystem &steeringInstance, BrakeRotorTemp &brakeRotorTempInstance)
 {
 	hytech_msgs_VCFData_s out;
 
@@ -18,6 +18,7 @@ hytech_msgs_VCFData_s VCFEthernetInterface::make_vcf_data_msg(ADCInterface &ADCI
     out.has_vcf_ethernet_link_data = true;
     out.has_vcf_shutdown_data = true;
     out.has_brake_pressure_data = true;
+    out.has_brake_rotor_temp_data = true;
 
     // Load cells
     out.front_loadcell_data.FL_loadcell_analog = static_cast<uint32_t>(ADCInterfaceInstance.get_filtered_FL_load_cell());
@@ -81,6 +82,12 @@ hytech_msgs_VCFData_s VCFEthernetInterface::make_vcf_data_msg(ADCInterface &ADCI
     out.brake_pressure_data.front_brake_pressure = ADCInterfaceInstance.get_brake_pressure_front().conversion;
     out.brake_pressure_data.rear_brake_pressure = ADCInterfaceInstance.get_brake_pressure_rear().conversion;
 
+    // Brake rotor temps
+    out.brake_rotor_temp_data.fl_max_brake_rotor_temp = brakeRotorTempInstance.getBrakeRotorTempData().fl_sensor.max_temp;
+    out.brake_rotor_temp_data.fl_avg_brake_rotor_temp = brakeRotorTempInstance.getBrakeRotorTempData().fl_sensor.avg_temp;
+    out.brake_rotor_temp_data.fr_max_brake_rotor_temp = brakeRotorTempInstance.getBrakeRotorTempData().fr_sensor.max_temp;
+    out.brake_rotor_temp_data.fr_avg_brake_rotor_temp = brakeRotorTempInstance.getBrakeRotorTempData().fr_sensor.avg_temp;
+
     // Shutdown Senses
     out.vcf_shutdown_data.d_inertia_switch_out_read = ADCInterfaceInstance.shdn_d().conversion;
     out.vcf_shutdown_data.d_inertia_switch = ADCInterfaceInstance.shdn_d().conversion > SHDN_HIGH_THRESHOLD ? true : false;

platformio.ini

@@ -6,12 +6,11 @@
 [common]
 lib_deps_shared =
   nanopb/Nanopb@0.4.91
-  https://github.com/hytech-racing/shared_firmware_systems.git
-  https://github.com/hytech-racing/shared_firmware_types.git#d9818df40287f21524de7e4b8558ced2023bd705
+  https://github.com/hytech-racing/shared_firmware_systems.git#af96a631bd76ac4da2084c6fa4faa62ca1bac9d1
+  https://github.com/hytech-racing/shared_firmware_types.git#956ce41b93d93975a56d33aa3abd7efac7706533
   https://github.com/hytech-racing/HT_SCHED#c13cff762c59dd82a8c273e3e98fd1a80622656d
-  https://github.com/hytech-racing/HT_proto/releases/download/2026-04-19T22_02_36/hytech_msgs_pb_lib.tar.gz
-  https://github.com/hytech-racing/HT_CAN/releases/download/251/can_lib.tar.gz
-
+  https://github.com/hytech-racing/HT_proto/releases/download/2026-05-07T16_36_28/hytech_msgs_pb_lib.tar.gz
+  https://github.com/hytech-racing/HT_CAN/releases/download/254/can_lib.tar.gz
   etlcpp/Embedded Template Library
 
 ; Teensy41 Environment. This environment is the primary environment for uploading code to the car.
@@ -52,7 +51,7 @@ lib_deps =
   ${common.lib_deps_shared}
   arkhipenko/TaskScheduler@^3.8.5
   https://github.com/ssilverman/QNEthernet#v0.26.0
-  https://github.com/hytech-racing/shared_firmware_interfaces.git
+  https://github.com/hytech-racing/shared_firmware_interfaces.git#d9f195a0e5640cd99411deb97c960edb7b455659
   blemasle/MCP23017@^2.0.0
   https://github.com/adafruit/Adafruit_NeoPixel.git
   https://github.com/KSU-MS/pio-git-hash-gen#7998b5b3f8a2464209b0e73338717998bcf511ee