Merge pull request #86 from hytech-racing/feature/tc_mux_simplification

send it

include/MCU_rev15_defs.h

@@ -2,9 +2,7 @@
 #define __MCU15_H__
 
 #include "PedalsSystem.h"
-#ifndef TESTING_SYSTEMS
-#include "InterfaceParams.h"
-#endif
+
 
 
 // pindefs
@@ -54,17 +52,17 @@ const unsigned long TELEM_CAN_BAUDRATE  = 500000;
 // All of these values are the PEDAL min/max
 // the sensor min/max that trip implaus are calculated
 // in the PedalsSystem constructor
-const int ACCEL1_PEDAL_MAX = 3409;  // 3330
-const int ACCEL2_PEDAL_MAX = 259;   // 388
+const int ACCEL1_PEDAL_MAX = 3491;  
+const int ACCEL2_PEDAL_MAX = 189;   
 
-const int ACCEL1_PEDAL_MIN = 2129;
-const int ACCEL2_PEDAL_MIN = 1517;
+const int ACCEL1_PEDAL_MIN = 2244;
+const int ACCEL2_PEDAL_MIN = 1405;
 
-const int BRAKE1_PEDAL_MAX = 1945;  // 2200;
-const int BRAKE2_PEDAL_MAX = 1742;  // 2200;
+const int BRAKE1_PEDAL_MAX = 1945;  
+const int BRAKE2_PEDAL_MAX = 1742;  
 
-const int BRAKE1_PEDAL_MIN = 1230;  // 785;    // 1230 to 1750
-const int BRAKE2_PEDAL_MIN = 2437;  // 785;    // 2450 to 1930
+const int BRAKE1_PEDAL_MIN = 1192;  
+const int BRAKE2_PEDAL_MIN = 2476;
 
 const int ACCEL1_PEDAL_OOR_MIN = 90;
 const int ACCEL2_PEDAL_OOR_MIN = 90;

include/PrintLogger.h

@@ -0,0 +1,44 @@
+#ifndef __PRINTLOGGER_H__
+#define __PRINTLOGGER_H__
+#include <stddef.h>
+#include <stdint.h>
+#ifdef ARDUINO
+#include <Arduino.h>
+#else
+#include <cstdarg>
+#include <stdio.h>
+#include <iostream>
+#endif
+
+#ifdef ARDUINO
+template <typename T>
+void logger_println(T out){
+    Serial.println(out);
+}
+#else
+template <typename T>
+void logger_println(T out){
+    std::cout << out<<std::endl;
+}
+#endif
+
+class RateLimitedLogger
+{
+    private:
+        unsigned long last_out_time_;
+    public:
+        RateLimitedLogger()
+        {
+            last_out_time_ = 0;
+        }
+
+        template <typename T>
+        void log_out(T out, unsigned long current_millis, unsigned long period=100) {
+            if((current_millis - last_out_time_) > period)
+            {
+                logger_println<T>(out);
+                last_out_time_ = current_millis;
+            }
+        }
+};
+#endif // __PRINTLOGGER_H__

lib/interfaces/include/DashboardInterface.h

@@ -6,36 +6,9 @@
 #include "hytech.h"
 #include "MCUInterface.h"
 #include "InverterInterface.h"
+#include "SharedDataTypes.h"
 
-#include "TorqueControllers.h"
 
-/*
-    Enum for the car's torque limits
-    MOVE ME! - ideally into a TorqueControllerDefs.h file
-    to prevent circular dependencies
-*/
-enum class TorqueLimit_e
-{
-    TCMUX_LOW_TORQUE = 0,
-    TCMUX_MID_TORQUE = 1,
-    TCMUX_FULL_TORQUE = 2,
-    TCMUX_NUM_TORQUE_LIMITS = 3,
-};
-
-/* Enum for the modes on the dial, corresponds directly to dial index pos. */
-enum class DialMode_e
-{   
-    /* No torque vectoring */
-    MODE_0,
-    /* Normal force torque vectoring */
-    MODE_1,
-    /* PID torque vectoring */
-    MODE_2,
-    /* Launch Ctrl */
-    MODE_3,
-    MODE_4,
-    MODE_5,
-};
 
 /* Enum for defined LED colors. ON will be LED's default color on dashboard*/
 enum class LEDColors_e
@@ -77,13 +50,15 @@ struct DashButtons_s
     bool right_shifter;
 };
 
+
 /* Struct holding all data for the DashboardInterface (inputs and outputs) */
 struct DashComponentInterface_s
 {
     /* READ DATA */
     // enum for dial position read by controller mux
-    DialMode_e dial_mode;
-    DialMode_e cur_dial_mode;
+    ControllerMode_e dial_mode;
+    ControllerMode_e cur_dial_mode;
+    TorqueLimit_e torque_limit_mode;
     // Buttons struct for better naming
     DashButtons_s button;
     bool ssok; // safety system OK (IMD?) RENAME
@@ -111,6 +86,8 @@ class DashboardInterface
     CANBufferType *msg_queue_;
     /* The instantiated data struct used to access data by member functions */
     DashComponentInterface_s _data;
+    bool prev_button_pressed_state_;
+    void update_torque_mode_(bool button_pressed);
 
 public:
     /*!
@@ -121,6 +98,8 @@ class DashboardInterface
     */
     DashboardInterface(CANBufferType *msg_output_queue)
     {
+        _data.torque_limit_mode = TorqueLimit_e::TCMUX_FULL_TORQUE;
+        prev_button_pressed_state_ = false;
         msg_queue_ = msg_output_queue;
     };
 
@@ -145,14 +124,14 @@ class DashboardInterface
                 float min_cell_voltage,
                 AnalogConversion_s glv_voltage,
                 int launch_state,
-                DialMode_e dial_mode);
+                ControllerMode_e dial_mode);
 
     /*!
         getter for the dashboard's current dial position (drive profile)
-        @return returns a DialMode_e enum with the current dial position
+        @return returns a ControllerMode_e enum with the current dial position
     */
-    DialMode_e getDialMode();
-
+    ControllerMode_e getDialMode();
+    TorqueLimit_e getTorqueLimitMode();
     /* gets whether the safety system is ok (wtf is a safety system - rename this)*/
     bool safetySystemOK();
 

lib/interfaces/include/HytechCANInterface.h

@@ -170,7 +170,7 @@ void process_ring_buffer(BufferType &rx_buffer, const InterfaceType &interfaces,
         case VN_LAT_LON_CANID:
             interfaces.vn_interface->retrieve_lat_lon_CAN(recvd_msg);
             break;
-        case VN_GPS_TIME_CANID:
+        case VN_GPS_TIME_MSG_CANID:
             interfaces.vn_interface->retrieve_gps_time_CAN(recvd_msg);
             break;
         case VN_STATUS_CANID:

lib/interfaces/include/LoadCellInterface.h

@@ -4,6 +4,7 @@
 #include "Utility.h"
 #include "SysClock.h"
 #include "AnalogSensorsInterface.h"
+#include "SharedDataTypes.h"
 
 /* Structs */
 
@@ -15,12 +16,6 @@ struct LoadCellInterfaceTick_s
     const AnalogConversion_s &RRConversion;
 };
 
-struct LoadCellInterfaceOutput_s
-{
-    veh_vec<float> loadCellForcesFiltered;
-    veh_vec<AnalogConversion_s> loadCellConversions;
-    bool FIRSaturated;
-};
 
 class LoadCellInterface
 {

lib/interfaces/include/MCUInterface.h

@@ -7,6 +7,7 @@
 #include "hytech.h"
 #include "MessageQueueDefine.h"
 #include "PedalsSystem.h"
+#include "SharedDataTypes.h"
 
 const int DEFAULT_BMS_OK_READ         = 17;      // SHDN_D_READ
 const int DEFAULT_BMS_SENSE_PIN       = 16;      // BMS_OK_SENSE
@@ -123,9 +124,7 @@ class MCUInterface
         int fsm_state,
         bool inv_has_error,
         bool software_is_ok,
-        int drive_mode,
-        int torque_mode,
-        float max_torque,
+        const TorqueControllerMuxStatus& tc_mux_status, 
         bool buzzer_is_on,
         const PedalsSystemData_s &pedals_data,
         bool pack_charge_is_critical,

lib/interfaces/include/ProtobufMsgInterface.h

@@ -1,19 +1,16 @@
 #ifndef PROTOBUFMSGINTERFACE
 #define PROTOBUFMSGINTERFACE
 
-#include "ht_eth.pb.h"
 #include "pb_encode.h"
 #include "pb_decode.h"
 #include "pb_common.h"
-#include "ParameterInterface.h"
 #include "circular_buffer.h"
 #include "NativeEthernet.h"
 #include "MCU_rev15_defs.h"
-
+#include "InterfaceParams.h"
 
 struct ETHInterfaces
 {
-    ParameterInterface* param_interface;
 };
 
 using recv_function_t = void (*)(const uint8_t* buffer, size_t packet_size, ETHInterfaces& interfaces);
@@ -50,27 +47,17 @@ bool handle_ethernet_socket_send_pb(EthernetUDP* socket, const pb_struct& msg, c
     return true;
 }
 
-// 
-void recv_pb_stream_union_msg(const uint8_t *buffer, size_t packet_size, ETHInterfaces& interfaces)
+
+template <typename pb_msg_type>
+std::pair<pb_msg_type, bool> recv_pb_stream_msg(const uint8_t *buffer, size_t packet_size, ETHInterfaces& interfaces, const pb_msgdesc_t * desc_pointer)
 {
     pb_istream_t stream = pb_istream_from_buffer(buffer, packet_size);
-    HT_ETH_Union msg = HT_ETH_Union_init_zero;
-    if (pb_decode(&stream, HT_ETH_Union_fields, &msg))
+    pb_msg_type msg = {};
+    if (pb_decode(&stream, desc_pointer, &msg))
     {
-        Serial.println("decoded!");
-
-        switch (msg.which_type_union)
-        {
-        case HT_ETH_Union_config__tag:
-            interfaces.param_interface->update_config(msg.type_union.config_);
-            break;
-        case HT_ETH_Union_get_config__tag:
-            interfaces.param_interface->set_params_need_sending();
-            break;
-        default:
-            break;
-        }
+        return {msg, true};
     }
+    return {msg, };
 }