Skip to content

Commit

Permalink
building in the teensy environment
Browse files Browse the repository at this point in the history
  • Loading branch information
@RCMast3r
RCMast3r committed Feb 5, 2024
1 parent 3d1cfc3 commit f13e030
Show file tree
Hide file tree
Showing 5 changed files with 57 additions and 131 deletions.
40 changes: 20 additions & 20 deletions lib/interfaces/src/DashboardInterface.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -4,20 +4,20 @@ void DashboardInterface::read(const CAN_message_t &can_msg)
{

DASHBOARD_STATE_t msg;
Unpack_DASHBOARD_STATE_ht_can(&msg, can_msg.buf, NULL);
Unpack_DASHBOARD_STATE_hytech(&msg, can_msg.buf, NULL);

_data.dial_mode = static_cast<DialMode_e>(msg.dial_state);

_data.ssok = msg.ssok_above_threshold;
_data.shutdown = msg.shutdown_h_above_threshold;

_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;
// _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;

_data.buzzer_state = msg.drive_buzzer;

Expand All @@ -30,18 +30,18 @@ void DashboardInterface::write()
msg.drive_buzzer = _data.buzzer_cmd;

// 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];
// 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];

CAN_message_t can_msg;
can_msg.id = Pack_DASHBOARD_MCU_STATE_hytech(&msg, can_msg.buf, &can_msg.len, NULL);
Expand Down
5 changes: 3 additions & 2 deletions lib/state_machine/include/MCUStateMachine.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,8 @@ class MCUStateMachine

/// @brief our components can use this time to tell when to do things. We can set this ourselves for testing purposes instead of using metro timers
/// @param current_millis the current millis() call
void tick_state_machine(const SysTick_s &tick);
// void tick_state_machine(const SysTick_s &tick);
void tick_state_machine(unsigned long cm);
CAR_STATE get_state() { return current_state_; }

private:
Expand All @@ -62,7 +63,7 @@ class MCUStateMachine
/// @brief drivers within state machine
DashboardInterface *dashboard_;
AMSInterface *bms_;
IMDInterface *imd_;
// IMDInterface *imd_;

TorqueControllerMux* controller_mux_;

Expand Down
40 changes: 20 additions & 20 deletions lib/state_machine/include/MCUStateMachine.tpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -22,17 +22,17 @@ void MCUStateMachine<DrivetrainSysType>::tick_state_machine(unsigned long curren
case CAR_STATE::TRACTIVE_SYSTEM_ACTIVE:
{
// TODO migrate to new pedals system
PedalsDriverInterface data;
if (!drivetrain_->hv_over_threshold_on_drivetrain())
{
set_state_(CAR_STATE::TRACTIVE_SYSTEM_NOT_ACTIVE, current_millis);
break;
}
if (dashboard_->start_button_pressed() && pedals_->mech_brake_active(data))
{
set_state_(CAR_STATE::ENABLING_INVERTERS, current_millis);
break;
}
PedalsSystemData_s data;
// if (!drivetrain_->hv_over_threshold_on_drivetrain())
// {
// set_state_(CAR_STATE::TRACTIVE_SYSTEM_NOT_ACTIVE, current_millis);
// break;
// }
// if (dashboard_->start_button_pressed() && pedals_->mech_brake_active(data))
// {
// set_state_(CAR_STATE::ENABLING_INVERTERS, current_millis);
// break;
// }
break;
}

Expand Down Expand Up @@ -118,14 +118,14 @@ void MCUStateMachine<DrivetrainSysType>::tick_state_machine(unsigned long curren
break;
}
// TODO migrate the handling of the pedals / move to the new pedals system
PedalsDriverInterface data;
auto pedals_data = pedals_->evaluate_pedals(data, current_millis);
// PedalsDriverInterface data;
// auto pedals_data = pedals_->evaluate_pedals(data, current_millis);
// auto dashboard_data = dashboard_->evaluate_dashboard(dash_data);

// TODO: below in the scope of this function
if (
bms_->ok_high() &&
imd_->ok_high() &&
// bms_->ok_high() &&
// imd_->ok_high() &&
!pedals_->max_duration_of_implausibility_exceeded(current_millis))
{
// drivetrain_->command_drivetrain(controller_mux_->get_drivetrain_input(pedals_data, dashboard_data));
Expand All @@ -134,11 +134,11 @@ void MCUStateMachine<DrivetrainSysType>::tick_state_machine(unsigned long curren
{
drivetrain_->command_drivetrain_no_torque();
hal_println("not calculating torque");
hal_printf("no brake implausibility: %d\n", pedals_data.brakeImplausible);
hal_printf("no accel implausibility: %d\n", pedals_data.accelImplausible);
hal_printf("bms heartbeat: %d\n", bms_->heartbeat_check(current_millis));
hal_printf("get bms ok high: %d\n", bms_->ok_high());
hal_printf("get imd ok high: %d\n", imd_->ok_high());
// hal_printf("no brake implausibility: %d\n", pedals_data.brakeImplausible);
// hal_printf("no accel implausibility: %d\n", pedals_data.accelImplausible);
// hal_printf("bms heartbeat: %d\n", bms_->heartbeat_check(current_millis));
// hal_printf("get bms ok high: %d\n", bms_->ok_high());
// hal_printf("get imd ok high: %d\n", imd_->ok_high());
}

break;
Expand Down
2 changes: 2 additions & 0 deletions lib/systems/include/PedalsSystem.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -78,6 +78,8 @@ class PedalsSystem
}

// Functions

bool max_duration_of_implausibility_exceeded(unsigned long t);
void tick(
const SysTick_s &sysClock,
const AnalogConversion_s &accel1,
Expand Down
101 changes: 12 additions & 89 deletions src/main.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,7 @@ MCP3208 ADC3(ADC3_CS);
OrbisBR10 steering1(STEERING_SERIAL);

/* Declare interfaces */
DashboardInterface dashboard;
// DashboardInterface dashboard;
AMSInterface ams_interface(SOFTWARE_OK);
WatchdogInterface wd_interface(WATCHDOG_INPUT);
MCUInterface<CircularBufferType> main_ecu(&CAN3_txBuffer);
Expand All @@ -61,29 +61,24 @@ SysClock sys_clock;
BuzzerController buzzer(BUZZER_ON_INTERVAL);
SafetySystem safety_system(&ams_interface, &wd_interface); // Tie ams and wd interface to safety system (by pointers)
PedalsSystem pedals;
SteeringSystem steering_system(steering1); // Unify member reference and pointers? tied by reference in this case
// SteeringSystem steering_system(steering1); // Unify member reference and pointers? tied by reference in this case
using DrivetrainSystemType = DrivetrainSystem<InverterInterfaceType>;
auto drivetrain = DrivetrainSystemType({&fl_inv, &fr_inv, &rl_inv, &rr_inv}, INVERTER_ENABLING_TIMEOUT_INTERVAL); // Tie inverter interfaces to drivetrain system (by pointers)
// Hypothetical controllers, need more implementation details
TorqueControllerSimple simple_mode;
TorqueControllerSimple normal_force_mode;
TorqueControllerSimple endurance_derating_mode;
TorqueControllerSimple launch_control_mode;
TorqueControllerSimple torque_vectoring_mode;
// TorqueControllerSimple simple_mode;
// TorqueControllerSimple normal_force_mode;
// TorqueControllerSimple endurance_derating_mode;
// TorqueControllerSimple launch_control_mode;
// TorqueControllerSimple torque_vectoring_mode;
TorqueControllerMux torque_controller_mux; // would prob need to tie controllers to mux as well?
/* Declare state machine */
MCUStateMachine<DrivetrainSystemType> fsm(&buzzer, &drivetrain, &dashboard); // need more implemetation details. associated interfaces and systems tied by pointers
// MCUStateMachine<DrivetrainSystemType> fsm(&buzzer, &drivetrain, &dashboard); // need more implemetation details. associated interfaces and systems tied by pointers

/* Global instantiations */
SysTick_s curr_tick;

/* Function declarations */
/* CAN functions */
void init_all_CAN();
void dispatch_all_CAN();
void dispatch_inv_CAN();
void dispatch_telem_CAN();
void update_and_enqueue_all_CAN();
/* External value readings */
void sample_all_external_readings();
/* Process all readings */
Expand All @@ -94,11 +89,8 @@ void setup() {
/* Tick system clock */
curr_tick = sys_clock.tick(micros());

/* Initialize CAN communication */
init_all_CAN();

/* Initialize interface */
main_ecu.init(); // pin mode, initial shutdown circuit readings,
// main_ecu.init(); // pin mode, initial shutdown circuit readings,
wd_interface.init(curr_tick); // pin mode, initialize wd kick time
ams_interface.init(curr_tick); // pin mode, initialize last heartbeat time

Expand All @@ -121,24 +113,21 @@ void loop() {
/* Tick system clock */
curr_tick = sys_clock.tick(micros());

/* Interfaaces retrieve values */
// Distribute incoming CAN messages
dispatch_all_CAN();
// Sensors sample and cache
sample_all_external_readings();

/* System process readings prior to ticking state machine */
process_all_value_readings();

/* Update and enqueue CAN messages */
update_and_enqueue_all_CAN();
// update_and_enqueue_all_CAN();

/* Inverter procedure before entering state machine */
// Drivetrain check if inverters have error
// Drivetrain reset inverters

/* Tick state machine */
fsm.tick_state_machine(curr_tick);
// fsm.tick_state_machine(curr_tick);

/* Tick safety system */
safety_system.software_shutdown(curr_tick);
Expand Down Expand Up @@ -166,72 +155,6 @@ void init_all_CAN() {
delay(500);
}

void dispatch_all_CAN() {
dispatch_inv_CAN();
dispatch_telem_CAN();
}

void dispatch_inv_CAN() {
while (CAN2_rxBuffer.available())
{
CAN_message_t recvd_msg;
uint8_t buf[sizeof(CAN_message_t)];
CAN2_rxBuffer.pop_front(buf, sizeof(CAN_message_t));
memmove(&recvd_msg, buf, sizeof(recvd_msg));
switch (recvd_msg.id)
{
// Motor status
case ID_MC1_STATUS: fl_inv.receive_status_msg(recvd_msg); break;
case ID_MC2_STATUS: fr_inv.receive_status_msg(recvd_msg); break;
case ID_MC3_STATUS: rl_inv.receive_status_msg(recvd_msg); break;
case ID_MC3_STATUS: rr_inv.receive_status_msg(recvd_msg); break;
// Motor temperature
case ID_MC1_TEMPS: fl_inv.receive_temp_msg(recvd_msg); break;
case ID_MC2_TEMPS: fr_inv.receive_temp_msg(recvd_msg); break;
case ID_MC3_TEMPS: rl_inv.receive_temp_msg(recvd_msg); break;
case ID_MC4_TEMPS: rr_inv.receive_temp_msg(recvd_msg); break;
// Motor energy
case ID_MC1_ENERGY: fl_inv.receive_energy_msg(recvd_msg); break;
case ID_MC2_ENERGY: fr_inv.receive_energy_msg(recvd_msg); break;
case ID_MC3_ENERGY: rl_inv.receive_energy_msg(recvd_msg); break;
case ID_MC4_ENERGY: rr_inv.receive_energy_msg(recvd_msg); break;
default: break;
}
}
}

void dispatch_telem_CAN() {
while (CAN3_rxBuffer.available())
{
CAN_message_t recvd_msg;
uint8_t buf[sizeof(CAN_message_t)];
CAN3_rxBuffer.pop_front(buf, sizeof(CAN_message_t));
memmove(&recvd_msg, buf, sizeof(recvd_msg));
switch (recvd_msg.id)
{
// AMS CAN
case ID_BMS_COULOMB_COUNTS:
// ams_interface.retrieve_coulomb_count_CAN(recvd_msg);
break;
case ID_BMS_STATUS:
ams_interface.retrieve_status_CAN(recvd_msg, curr_tick);
break;
case ID_BMS_TEMPERATURES:
ams_interface.retrieve_temp_CAN(recvd_msg);
break;
case ID_BMS_VOLTAGES:
ams_interface.retrieve_voltage_CAN(recvd_msg);
break;
// Dashboard status
case ID_DASHBOARD_STATUS:
dashboard.read(recvd_msg);
break;
default:
break;
}
}
}

void update_and_enqueue_all_CAN() {
// Drivetrain system
// probably here as well
Expand Down Expand Up @@ -261,7 +184,7 @@ void sample_all_external_readings() {
// Tick steering system
// steering1.tick();
// Read shutdown circuits
main_ecu.read_mcu_status();
// main_ecu.read_mcu_status();
}

void process_all_value_readings() {
Expand Down

0 comments on commit f13e030

Please sign in to comment.