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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,9 @@ | ||
| #ifndef MESAGE_QUEUE_DEFINE_H | ||
| #define MESAGE_QUEUE_DEFINE_H | ||
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| #include "FlexCAN_T4.h" | ||
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| constexpr std::size_t CANBufferSize = 16; | ||
| using CANBufferType = CircularBuffer<uint8_t, CANBufferSize>; | ||
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| #endif |
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| Original file line number | Diff line number | Diff line change |
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| @@ -1,73 +1,74 @@ | ||
| // #include "DashboardInterface.h" | ||
| #include "DashboardInterface.h" | ||
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| // void DashboardInterface::read(const CAN_message_t &can_msg) | ||
| // { | ||
| void DashboardInterface::read(const CAN_message_t &can_msg) | ||
| { | ||
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| // DASHBOARD_STATE_t msg; | ||
| // Unpack_DASHBOARD_STATE_ht_can(&msg, can_msg.buf, NULL); | ||
| DASHBOARD_STATE_t msg; | ||
| Unpack_DASHBOARD_STATE_ht_can(&msg, can_msg.buf, NULL); | ||
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| // _data.dial_mode = static_cast<DialMode_e>(msg.dial_state); | ||
| _data.dial_mode = static_cast<DialMode_e>(msg.dial_state); | ||
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| // _data.ssok = msg.ssok_above_threshold | ||
| // _data.shutdown = msg.shutdown_h_above_threshold; | ||
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| // _data.button.start = msg.start_btn; | ||
| // _data.button.mark = msg.mark_btn; | ||
| // _data.button.mode = msg.mode_btn; | ||
| // _data.button.mc_cycle = msg.mc_cycle_btn; | ||
| // _data.button.launch_ctrl = msg.launch_ctrl_btn; | ||
| // _data.button.torque_mode = msg.torque_mode_btn; | ||
| // _data.button.led_dimmer = msg.led_dimmer_btn; | ||
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| // _data.buzzer_state = msg.drive_buzzer; | ||
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| // } | ||
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| // CAN_message_t DashboardInterface::write() | ||
| // { | ||
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| // DASHBOARD_MCU_STATE_t msg; | ||
| // msg.drive_buzzer = _data.buzzer_cmd; | ||
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| // // TODO: use logic as to not write data for LEDs that have not changed | ||
| // msg.bots_led = _data.LED[DashLED_e::BOTS_LED]; | ||
| // msg.launch_control_led = _data.LED[DashLED_e::LAUNCH_CONTROL_LED]; | ||
| // msg.mode_led = _data.LED[DashLED_e::MODE_LED]; | ||
| // msg.mech_brake_led = _data.LED[DashLED_e::MECH_BRAKE_LED]; | ||
| // msg.cockpit_brb_led = _data.LED[DashLED_e::COCKPIT_BRB_LED]; | ||
| // msg.inertia_led = _data.LED[DashLED_e::INERTIA_LED]; | ||
| // msg.glv_led = _data.LED[DashLED_e::GLV_LED]; | ||
| // msg.crit_charge_led = _data.LED[DashLED_e::CRIT_CHARGE_LED]; | ||
| // msg.start_led = _data.LED[DashLED_e::START_LED]; | ||
| // msg.mc_error_led = _data.LED[DashLED_e::MC_ERROR_LED]; | ||
| // msg.imd_led = _data.LED[DashLED_e::IMD_LED]; | ||
| // msg.ams_led = _data.LED[DashLED_e::AMS_LED]; | ||
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| // CAN_message_t can_msg; | ||
| // can_msg.id = Pack_DASHBOARD_MCU_STATE_ht_can(&msg, can_msg.buf, &can_msg.len, NULL); | ||
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| // return can_msg; | ||
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| // } | ||
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| // //figure out how to set enumed led colors or send (0,255 value) | ||
| // void DashboardInterface::setLED(DashLED_e led, LEDColors_e color) | ||
| // { | ||
| // _data.LED[static_cast<int>(led)] = static_cast<int> color; | ||
| // } | ||
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| // DialMode_e DashboardInterface::getDialMode() {return _data.dial_mode;} | ||
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| // bool DashboardInterface::startButtonPressed() {return _data.button.start;} | ||
| // bool DashboardInterface::specialButtonPressed() {return _data.button.mark;} | ||
| // bool DashboardInterface::torqueButtonPressed() {return _data.button.mode;} | ||
| // bool DashboardInterface::inverterResetButtonPressed() {return _data.button.mc_cycle;} | ||
| // bool DashboardInterface::launchControlButtonPressed() {return _data.button.launch_ctrl;} | ||
| // bool DashboardInterface::torqueLoadingButtonPressed() {return _data.button.torque_mode;} | ||
| // bool DashboardInterface::nightModeButtonPressed() {return _data.button.led_dimmer;} | ||
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| // bool DashboardInterface::safetySystemOK() {return _data.ssok;} | ||
| // bool DashboardInterface::shutdownHAboveThreshold() {return _data.shutdown;} | ||
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| // void DashboardInterface::soundBuzzer(bool state) {_data.buzzer_cmd = state;} | ||
| // bool DashboardInterface::checkBuzzer() {return _data.buzzer_state;} | ||
| _data.ssok = msg.ssok_above_threshold | ||
| _data.shutdown = msg.shutdown_h_above_threshold; | ||
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| _data.button.start = msg.start_btn; | ||
| _data.button.mark = msg.mark_btn; | ||
| _data.button.mode = msg.mode_btn; | ||
| _data.button.mc_cycle = msg.mc_cycle_btn; | ||
| _data.button.launch_ctrl = msg.launch_ctrl_btn; | ||
| _data.button.torque_mode = msg.torque_mode_btn; | ||
| _data.button.led_dimmer = msg.led_dimmer_btn; | ||
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| _data.buzzer_state = msg.drive_buzzer; | ||
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| } | ||
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| void DashboardInterface::write() | ||
| { | ||
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| DASHBOARD_MCU_STATE_t msg; | ||
| msg.drive_buzzer = _data.buzzer_cmd; | ||
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| // TODO: use logic as to not write data for LEDs that have not changed | ||
| msg.bots_led = _data.LED[DashLED_e::BOTS_LED]; | ||
| msg.launch_control_led = _data.LED[DashLED_e::LAUNCH_CONTROL_LED]; | ||
| msg.mode_led = _data.LED[DashLED_e::MODE_LED]; | ||
| msg.mech_brake_led = _data.LED[DashLED_e::MECH_BRAKE_LED]; | ||
| msg.cockpit_brb_led = _data.LED[DashLED_e::COCKPIT_BRB_LED]; | ||
| msg.inertia_led = _data.LED[DashLED_e::INERTIA_LED]; | ||
| msg.glv_led = _data.LED[DashLED_e::GLV_LED]; | ||
| msg.crit_charge_led = _data.LED[DashLED_e::CRIT_CHARGE_LED]; | ||
| msg.start_led = _data.LED[DashLED_e::START_LED]; | ||
| msg.mc_error_led = _data.LED[DashLED_e::MC_ERROR_LED]; | ||
| msg.imd_led = _data.LED[DashLED_e::IMD_LED]; | ||
| msg.ams_led = _data.LED[DashLED_e::AMS_LED]; | ||
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| CAN_message_t can_msg; | ||
| can_msg.id = Pack_DASHBOARD_MCU_STATE_ht_can(&msg, can_msg.buf, &can_msg.len, NULL); | ||
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| msg_queue_->push_back(can_msg, sizeof(CAN_message_t)); | ||
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| } | ||
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| //figure out how to set enumed led colors or send (0,255 value) | ||
| void DashboardInterface::setLED(DashLED_e led, LEDColors_e color) | ||
| { | ||
| _data.LED[static_cast<int>(led)] = static_cast<int> color; | ||
| } | ||
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| DialMode_e DashboardInterface::getDialMode() {return _data.dial_mode;} | ||
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| bool DashboardInterface::startButtonPressed() {return _data.button.start;} | ||
| bool DashboardInterface::specialButtonPressed() {return _data.button.mark;} | ||
| bool DashboardInterface::torqueButtonPressed() {return _data.button.mode;} | ||
| bool DashboardInterface::inverterResetButtonPressed() {return _data.button.mc_cycle;} | ||
| bool DashboardInterface::launchControlButtonPressed() {return _data.button.launch_ctrl;} | ||
| bool DashboardInterface::torqueLoadingButtonPressed() {return _data.button.torque_mode;} | ||
| bool DashboardInterface::nightModeButtonPressed() {return _data.button.led_dimmer;} | ||
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| bool DashboardInterface::safetySystemOK() {return _data.ssok;} | ||
| bool DashboardInterface::shutdownHAboveThreshold() {return _data.shutdown;} | ||
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| void DashboardInterface::soundBuzzer(bool state) {_data.buzzer_cmd = state;} | ||
| bool DashboardInterface::checkBuzzer() {return _data.buzzer_state;} | ||
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