Therm Broadcast Fixes + ...

can_bus/hexray/BMS/BMS_tx.json

@@ -8287,6 +8287,66 @@
       }
     }
   },
+  "SegmentSerialIds": {
+    "msg_id": 483,
+    "cycle_time": null,
+    "allowed_modes": [
+      "DEBUG"
+    ],
+    "description": "Per-segment 48-bit ADBMS serial number (read from RDSID), split into three 16-bit words (word0 = bits 0-15, word1 = bits 16-31, word2 = bits 32-47)",
+    "signals": {
+      "Seg0_SerialIdWord0": { "bits": 16 },
+      "Seg0_SerialIdWord1": { "bits": 16 },
+      "Seg0_SerialIdWord2": { "bits": 16 },
+      "Seg1_SerialIdWord0": { "bits": 16 },
+      "Seg1_SerialIdWord1": { "bits": 16 },
+      "Seg1_SerialIdWord2": { "bits": 16 },
+      "Seg2_SerialIdWord0": { "bits": 16 },
+      "Seg2_SerialIdWord1": { "bits": 16 },
+      "Seg2_SerialIdWord2": { "bits": 16 },
+      "Seg3_SerialIdWord0": { "bits": 16 },
+      "Seg3_SerialIdWord1": { "bits": 16 },
+      "Seg3_SerialIdWord2": { "bits": 16 },
+      "Seg4_SerialIdWord0": { "bits": 16 },
+      "Seg4_SerialIdWord1": { "bits": 16 },
+      "Seg4_SerialIdWord2": { "bits": 16 },
+      "Seg5_SerialIdWord0": { "bits": 16 },
+      "Seg5_SerialIdWord1": { "bits": 16 },
+      "Seg5_SerialIdWord2": { "bits": 16 },
+      "Seg6_SerialIdWord0": { "bits": 16 },
+      "Seg6_SerialIdWord1": { "bits": 16 },
+      "Seg6_SerialIdWord2": { "bits": 16 },
+      "Seg7_SerialIdWord0": { "bits": 16 },
+      "Seg7_SerialIdWord1": { "bits": 16 },
+      "Seg7_SerialIdWord2": { "bits": 16 },
+      "Seg8_SerialIdWord0": { "bits": 16 },
+      "Seg8_SerialIdWord1": { "bits": 16 },
+      "Seg8_SerialIdWord2": { "bits": 16 },
+      "Seg9_SerialIdWord0": { "bits": 16 },
+      "Seg9_SerialIdWord1": { "bits": 16 },
+      "Seg9_SerialIdWord2": { "bits": 16 }
+    }
+  },
+  "SegmentSerialIdErrors": {
+    "msg_id": 484,
+    "cycle_time": null,
+    "allowed_modes": [
+      "DEBUG"
+    ],
+    "description": "Per-segment error codes for segment serial number reads (NO_ERROR = no error)",
+    "signals": {
+      "Seg0_SerialIdError": { "enum": "ErrorCode" },
+      "Seg1_SerialIdError": { "enum": "ErrorCode" },
+      "Seg2_SerialIdError": { "enum": "ErrorCode" },
+      "Seg3_SerialIdError": { "enum": "ErrorCode" },
+      "Seg4_SerialIdError": { "enum": "ErrorCode" },
+      "Seg5_SerialIdError": { "enum": "ErrorCode" },
+      "Seg6_SerialIdError": { "enum": "ErrorCode" },
+      "Seg7_SerialIdError": { "enum": "ErrorCode" },
+      "Seg8_SerialIdError": { "enum": "ErrorCode" },
+      "Seg9_SerialIdError": { "enum": "ErrorCode" }
+    }
+  },
   "EvseCPStatus": {
     "msg_id": 482,
     "allowed_modes":[

can_bus/hexray/shared_enum.json

@@ -11,8 +11,9 @@
     "INVALID_READING": 8,
     "ERROR_INDETERMINATE": 9,
     "POLL_INVALID": 10, 
-    "NO_SEGMENT_DEFINED" : 11,
-    "NO_ERROR" : 12
+    "THERM_OUT_OF_RANGE": 11,
+    "NO_SEGMENT_DEFINED" : 12,
+    "NO_ERROR" : 13
   },
   "SwitchState": {
     "OFF": 0,

firmware/cmake/embedded.cmake

@@ -149,14 +149,14 @@ function(embedded_binary
     else ()
         target_compile_options(${ELF_NAME} PRIVATE -Os)
     endif ()
-    IF (${CMAKE_BUILD_TYPE} STREQUAL "Debug" AND ${USE_UBSAN})
-        target_compile_options(${ELF_NAME} PRIVATE -fsanitize=undefined)
-        set_property(SOURCE "${SHARED_LIB_INCLUDE_DIR_CPP}/lib_ubsan.cpp" APPEND PROPERTY COMPILE_OPTIONS
-                -fno-sanitize=undefined
-                -Wno-error=suggest-attribute=noreturn
-                -Wno-suggest-attribute=noreturn
-        )
-        target_sources(${ELF_NAME} PRIVATE "${SHARED_LIB_INCLUDE_DIR_CPP}/lib_ubsan.cpp")
+    IF (${CMAKE_BUILD_TYPE} STREQUAL "Debug")
+#        target_compile_options(${ELF_NAME} PRIVATE -fsanitize=undefined)
+#        set_property(SOURCE "${SHARED_LIB_INCLUDE_DIR_CPP}/lib_ubsan.cpp" APPEND PROPERTY COMPILE_OPTIONS
+#                -fno-sanitize=undefined
+#                -Wno-error=suggest-attribute=noreturn
+#                -Wno-suggest-attribute=noreturn
+#        )
+#        target_sources(${ELF_NAME} PRIVATE "${SHARED_LIB_INCLUDE_DIR_CPP}/lib_ubsan.cpp")
     ENDIF ()
 
     target_link_options(${ELF_NAME} PRIVATE

firmware/hexray/BMS/src/app/app_segments.hpp

@@ -110,6 +110,7 @@ namespace broadcast
     } // namespace debug
 
     void segmentHealthError(const health::Snapshot &health);
+    void serialNumbers(const io::adbms::Segments<result<uint64_t>> &serial_nums);
     void cellVoltageStats(const CellParam<float> &min, const CellParam<float> &max);
     void cellTempStats(const CellParam<float> &min, const CellParam<float> &max);
     void segmentVoltageStats(const SegmentParam<float> &min, const SegmentParam<float> &max);

firmware/hexray/BMS/src/app/segments/app_segments_broadcast.cpp

@@ -154,6 +154,11 @@ BroadcastBuffer<CanErr, MAX_NUM_SEGMENTS, io::can_tx::BMS_SegmentStatCErrors_sen
     segment_stat_c_error_buffer(app::can_tx::BMS_SegmentStatCErrors_getData());
 BroadcastBuffer<CanErr, MAX_NUM_SEGMENTS, io::can_tx::BMS_SegmentStatDErrors_sendAperiodic>
     segment_stat_d_error_buffer(app::can_tx::BMS_SegmentStatDErrors_getData());
+// Three consecutive 16-bit words per segment hold the 48-bit serial: [seg*3 + w] = bits [16*w, 16*w + 16).
+BroadcastBuffer<uint16_t, 3 * MAX_NUM_SEGMENTS, io::can_tx::BMS_SegmentSerialIds_sendAperiodic>
+    segment_serial_id_buffer(app::can_tx::BMS_SegmentSerialIds_getData());
+BroadcastBuffer<CanErr, MAX_NUM_SEGMENTS, io::can_tx::BMS_SegmentSerialIdErrors_sendAperiodic>
+    segment_serial_id_error_buffer(app::can_tx::BMS_SegmentSerialIdErrors_getData());
 
 } // namespace
 
@@ -439,6 +444,28 @@ namespace debug
     }
 } // namespace debug
 
+void serialNumbers(const Segments<result<uint64_t>> &serial_nums)
+{
+    for (size_t seg = 0U; seg < NUM_SEGMENTS; seg++)
+    {
+        const auto    &r      = serial_nums[seg];
+        const uint64_t serial = r.value_or(0U);
+        segment_serial_id_buffer[seg * 3U]      = static_cast<uint16_t>(serial & 0xFFFFU);
+        segment_serial_id_buffer[seg * 3U + 1U] = static_cast<uint16_t>((serial >> 16U) & 0xFFFFU);
+        segment_serial_id_buffer[seg * 3U + 2U] = static_cast<uint16_t>((serial >> 32U) & 0xFFFFU);
+        segment_serial_id_error_buffer[seg]     = r ? app::can_utils::ErrorCode::NO_ERROR : toCanErr(r.error());
+    }
+    for (size_t seg = NUM_SEGMENTS; seg < MAX_NUM_SEGMENTS; seg++)
+    {
+        segment_serial_id_buffer[seg * 3U]      = 0U;
+        segment_serial_id_buffer[seg * 3U + 1U] = 0U;
+        segment_serial_id_buffer[seg * 3U + 2U] = 0U;
+        segment_serial_id_error_buffer[seg]     = app::can_utils::ErrorCode::NO_SEGMENT_DEFINED;
+    }
+    segment_serial_id_buffer.send();
+    segment_serial_id_error_buffer.send();
+}
+
 // void cmdCountMismatch(const Segments<uint8_t> &mismatches)
 // {
 //     for (size_t seg = 0U; seg < NUM_SEGMENTS; seg++)

firmware/hexray/BMS/src/app/segments/app_segments_calculation.cpp

@@ -130,7 +130,13 @@ Therms<result<float>>
 
             const float voltage    = reading.value();
             const float resistance = R_SERIES * (voltage / (V_REF2 - voltage));
-            out[seg][therm]        = app::therm::adbms_ntc10k_lut.resistanceToTemp(resistance);
+            const auto  temp       = app::therm::adbms_ntc10k_lut.resistanceToTemp(resistance);
+            if (!temp)
+            {
+                out[seg][therm] = std::unexpected(temp.error());
+                continue;
+            }
+            out[seg][therm] = temp.value();
         }
     }
     return out;

firmware/hexray/BMS/src/app/states/app_balancingState.cpp

@@ -23,7 +23,7 @@ namespace balancingState
             (io::irs::negativeState() == app::can_utils::ContactorState::CONTACTOR_STATE_OPEN);
         const bool balancing_enabled = app::can_rx::Debug_CellBalancing_Request_get();
 
-        if (balancing_enabled && !ir_negative_open)
+        if (balancing_enabled && ir_negative_open)
         {
             app::segments::balancing::tick();
         }

firmware/hexray/BMS/src/io/adbms/io_adbms_aux.cpp

@@ -21,6 +21,10 @@ namespace io::adbms
 result<void> clear::flags()
 {
     Segments<RegBuffer> clr_regs{};
+    for (size_t seg = 0U; seg < NUM_SEGMENTS; seg++)
+    {
+        clr_regs[seg].fill(0xFF);
+    }
     RETURN_IF_ERR(writeRegGroup(CLRFLAG, clr_regs));
     RETURN_IF_ERR(writeRegGroup(CLOVUV, clr_regs));
     return {};

firmware/hexray/BMS/src/io/adbms/io_adbms_configs.cpp

@@ -90,4 +90,28 @@ Segments<result<PWMConfig>> read::pwmReg()
     }
     return pwm_configs;
 }
+
+Segments<result<uint64_t>> read::serialNum()
+{
+    Segments<result<uint64_t>> serial_nums{};
+
+    const Segments<result<RegBuffer>> raw_serial = readRegGroup(RDSID);
+    for (size_t seg = 0U; seg < NUM_SEGMENTS; ++seg)
+    {
+        if (!raw_serial[seg])
+        {
+            serial_nums[seg] = unexpected(raw_serial[seg].error());
+            continue;
+        }
+
+        const RegBuffer &bytes  = raw_serial[seg].value();
+        uint64_t         serial = 0U;
+        for (size_t i = 0U; i < REG_GROUP_SIZE; ++i)
+        {
+            serial |= static_cast<uint64_t>(bytes[i]) << (8U * i);
+        }
+        serial_nums[seg] = serial;
+    }
+    return serial_nums;
+}
 } // namespace io::adbms

firmware/hexray/BMS/src/io/adbms/io_adbms_internal.hpp

@@ -14,6 +14,9 @@ namespace io::adbms
 inline constexpr uint8_t CMD_BYTES = 2;
 inline constexpr uint8_t PEC_BYTES = 2;
 
+// Serial Number
+inline constexpr uint16_t RDSID = 0x002CU;
+
 // Config
 inline constexpr uint16_t WRCFGA = 0x0001U;
 inline constexpr uint16_t WRCFGB = 0x0024U;

firmware/hexray/BMS/src/io/io_adbms.hpp

@@ -12,7 +12,7 @@
 #include <expected>
 
 // Physical daisy-chain dimensions for this ECU.
-inline constexpr uint8_t NUM_SEGMENTS            = 10;
+inline constexpr uint8_t NUM_SEGMENTS            = 1;
 inline constexpr uint8_t CELLS_PER_SEGMENT       = 14;
 inline constexpr uint8_t THERMISTORS_PER_SEGMENT = 14;
 inline constexpr uint8_t THERM_GPIOS_PER_SEGMENT = 8;
@@ -238,6 +238,7 @@ namespace read
     [[nodiscard]] Segments<result<int16_t>>   segVoltage();
     [[nodiscard]] ThermGpios<result<int16_t>> thermGpioVoltage();
     [[nodiscard]] Segments<StatusGroupsRes>   status();
+    [[nodiscard]] Segments<result<uint64_t>>  serialNum();
 } // namespace read
 
 namespace command
@@ -267,7 +268,6 @@ namespace command
     [[nodiscard]] result<void> pollAuxAdc();
     [[nodiscard]] result<void> startBalance();
     [[nodiscard]] result<void> stopBalance();
-
     [[nodiscard]] result<void> owcCells(OpenWireSwitch owcSwitch);
 } // namespace command
 

firmware/hexray/BMS/src/io/io_thermistors.cpp

@@ -42,6 +42,13 @@ float readSelectedTemp()
     const float raw_voltage           = aux_tsns.getVoltage();
     const float thermistor_resistance = (raw_voltage * BIAS_RESISTOR_OHM) / (REFERENCE_VOLTAGE - raw_voltage);
 
-    return b57861s_lut.resistanceToTemp(thermistor_resistance);
+    const auto result = b57861s_lut.resistanceToTemp(thermistor_resistance);
+    if (!result)
+    {
+        LOG_ERROR("Thermistor LUT error: {}", static_cast<int>(result.error()));
+        return std::numeric_limits<float>::lowest();
+    }
+
+    return result.value();
 }
 } // namespace io::therm

firmware/hexray/BMS/src/jobs.cpp

@@ -140,6 +140,7 @@ void jobs_run100Hz_tick()
     app::latches::broadcast();
     app::can_tx::BMS_BSPDBrakePressureThresholdExceeded_set(io::bspdtest::isBrakePressureThresholdExceeded());
     app::can_tx::BMS_BSPDAccelBrakeOk_set(io::bspdtest::isAccelBrakeOk());
+    io::bspdtest::enable(app::can_rx::Debug_EnableTestCurrent_get());
 
     if (app::can_alerts::AnyBoardHasFault())
     {
@@ -188,12 +189,15 @@ void jobs_runAdbmsConfigs_tick()
         }
     }
 
+    const Segments<result<uint64_t>> serial_numbers = io::adbms::read::serialNum();
+
     std::array<std::bitset<app::segments::health::NUM_HEALTH_BITS>, MAX_NUM_SEGMENTS> health;
     {
         const io::unique_semaphore h{ health_lock };
         health = app::segments::health::getAll();
     }
 
+    app::segments::broadcast::serialNumbers(serial_numbers);
     app::segments::broadcast::segmentHealthError(health);
 
     if (all_segments_ok)

firmware/shared/srcpp/app/app_thermistor.hpp

@@ -1,5 +1,6 @@
 #pragma once
 #include "app_math.hpp"
+#include "util_errorCodes.hpp"
 
 #include <cstddef>
 #include <cstdint>
@@ -48,27 +49,39 @@ namespace therm
          * Calculate temperature based on thermistor temperature and LUT
          * @param thermistor_resistance resistance of the thermistor
          * @param temp_resistance_lut reverse lookup table
-         * @return Thermistor temperature in degrees C or -1 if out of bounds or invalid LUT
+         * @return Thermistor temperature in degrees C or lowest float if out of bounds or invalid LUT.
+         * Special case for temperature too high, will return highest float instead of lowest.
          */
-        float resistanceToTemp(float thermistor_resistance) const noexcept
+        std::expected<float, ErrorCode> resistanceToTemp(float thermistor_resistance) const noexcept
         {
             if (!valid_ || resistances_ == nullptr || size_ == 0U)
-                return -1.0f;
+                return std::unexpected(ErrorCode::LUT_INVALID);
 
-            // Guard against NaN/inf inputs
-            if (!std::isfinite(thermistor_resistance))
-                return -1.0f;
-
-            // Handle trivial single-entry LUT safely
-            if (size_ == 1U)
+            // Ensure resistance is within bounds: resistances[0] is highest, resistances[size-1] is lowest
+            if (!std::isfinite(thermistor_resistance) || thermistor_resistance >= resistances_[0])
             {
-                return APPROX_EQUAL_FLOAT(thermistor_resistance, resistances_[0], 0.0001f) ? starting_temp_ : -1.0f;
+                return std::unexpected(ErrorCode::LUT_UNDERSHOOT);
+            }
+            else if (thermistor_resistance <= resistances_[size_ - 1U])
+            {
+                return std::unexpected(ErrorCode::LUT_OVERSHOOT);
             }
 
-            // Ensure resistance is within bounds: resistances[0] is highest, resistances[size-1] is lowest
-            if (!(thermistor_resistance <= resistances_[0] && thermistor_resistance >= resistances_[size_ - 1U]))
+            // Handle trivial single-entry LUT safely
+            if (size_ == 1U)
             {
-                return -1.0f;
+                if (!APPROX_EQUAL_FLOAT(thermistor_resistance, resistances_[0], 0.0001f))
+                {
+                    if (thermistor_resistance > resistances_[0])
+                    {
+                        return std::unexpected(ErrorCode::LUT_UNDERSHOOT);
+                    }
+                    else
+                    {
+                        return std::unexpected(ErrorCode::LUT_OVERSHOOT);
+                    }
+                }
+                return starting_temp_;
             }
 
             // Binary search for insertion point

firmware/shared/srcpp/util/util_errorCodes.hpp

@@ -16,7 +16,11 @@ enum class ErrorCode
     INVALID_READING,
     ERROR_INDETERMINATE,
     POLL_INVALID,
+    THERM_OUT_OF_RANGE,
     NUM_EXIT_CODES,
+    LUT_INVALID,
+    LUT_OVERSHOOT,
+    LUT_UNDERSHOOT
 };
 
 template <typename T> using result = std::expected<T, ErrorCode>;
@@ -47,6 +51,8 @@ constexpr const char *error_code_to_string(const ErrorCode code)
             return "Indeterminate error";
         case ErrorCode::POLL_INVALID:
             return "Poll invalid";
+        case ErrorCode::THERM_OUT_OF_RANGE:
+            return "Therm out of range";
         case ErrorCode::NUM_EXIT_CODES:
         default:
             return "Unknown error code";