Bug/anand89/main sdc ws (#117)

* Changes from testing * Can Change * Uncomment apps, final changes --------- Co-authored-by: AdityaAsGithub <[email protected]>
PurdueElectricRacing · Apr 16, 2024 · ccdc70a · ccdc70a
1 parent ca70049
commit ccdc70a
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Showing 16 changed files with 356 additions and 85 deletions.
diff --git a/common/daq/can_config.json b/common/daq/can_config.json
@@ -55,6 +55,28 @@
                             "msg_id_override": "0x7C0",
                             "is_normal":true
                         },
+                        {
+                            "msg_name": "load_sensor_readings",
+                            "msg_desc": "Load Sensor readings from left and right",
+                            "signals": [
+                                {"sig_name": "left_load_sensor", "type": "float", "unit": "N"},
+                                {"sig_name": "right_load_sensor", "type": "float", "unit": "N"}
+                            ],
+                            "msg_period": 15,
+                            "msg_hlp": 4,
+                            "msg_pgn": 1000
+                        },
+                        {
+                            "msg_name": "shock_rear",
+                            "msg_desc": "Load Sensor readings from left and right",
+                            "signals": [
+                                {"sig_name": "left_shock", "type": "uint16_t", "unit": "mm"},
+                                {"sig_name": "right_shock", "type": "uint16_t", "unit": "mm"}
+                            ],
+                            "msg_period": 15,
+                            "msg_hlp": 4,
+                            "msg_pgn": 1020
+                        },
                         {
                             "msg_name": "mcu_status",
                             "msg_desc": "performance metrics of MCU",
@@ -624,6 +646,28 @@
                             "msg_hlp":4,
                             "msg_pgn":10
                         },
+                        {
+                            "msg_name": "shock_front",
+                            "msg_desc": "Load Sensor readings from left and right",
+                            "signals": [
+                                {"sig_name": "left_shock", "type": "uint16_t", "unit": "mm"},
+                                {"sig_name": "right_shock", "type": "uint16_t", "unit": "mm"}
+                            ],
+                            "msg_period": 15,
+                            "msg_hlp": 4,
+                            "msg_pgn": 1015
+                        },
+                        {
+                            "msg_name": "load_sensor_readings_dash",
+                            "msg_desc": "Load Sensor readings from left and right",
+                            "signals": [
+                                {"sig_name": "left_load_sensor", "type": "float", "unit": "N"},
+                                {"sig_name": "right_load_sensor", "type": "float", "unit": "N"}
+                            ],
+                            "msg_period": 15,
+                            "msg_hlp": 4,
+                            "msg_pgn": 1010
+                        },
                         {
                             "msg_name": "cooling_driver_request",
                             "msg_desc": "Cooling Pump/Fan requests from Dash LCD",

diff --git a/common/daq/per_dbc.dbc b/common/daq/per_dbc.dbc
@@ -55,6 +55,14 @@ BO_ 1984 LWS_Config: 2 Main_Module
  SG_ Reserved_1 : 3|5@1+ (1,0) [0|0] "" Vector__XXX
  SG_ CCW : 0|3@1+ (1,0) [0|0] "" Vector__XXX
 
+BO_ 2415983105 load_sensor_readings: 8 Main_Module
+ SG_ right_load_sensor : 32|32@1- (1,0) [0|0] "N" Vector__XXX
+ SG_ left_load_sensor : 0|32@1- (1,0) [0|0] "N" Vector__XXX
+
+BO_ 2415984385 shock_rear: 4 Main_Module
+ SG_ right_shock : 16|16@1+ (1,0) [0|0] "mm" Vector__XXX
+ SG_ left_shock : 0|16@1+ (1,0) [0|0] "mm" Vector__XXX
+
 BO_ 2415925633 mcu_status: 4 Main_Module
  SG_ sched_error : 24|8@1+ (1,0) [0|0] "" Vector__XXX
  SG_ background_use : 16|8@1+ (1,0) [0|0] "" Vector__XXX
@@ -327,6 +335,14 @@ BO_ 2415919749 raw_throttle_brake: 8 Dashboard
  SG_ throttle_right : 12|12@1+ (0.02442,0) [0|0] "%" Vector__XXX
  SG_ throttle : 0|12@1+ (0.02442,0) [0|0] "%" Vector__XXX
 
+BO_ 2415984069 shock_front: 4 Dashboard
+ SG_ right_shock : 16|16@1+ (1,0) [0|0] "mm" Vector__XXX
+ SG_ left_shock : 0|16@1+ (1,0) [0|0] "mm" Vector__XXX
+
+BO_ 2415983749 load_sensor_readings_dash: 8 Dashboard
+ SG_ right_load_sensor : 32|32@1- (1,0) [0|0] "N" Vector__XXX
+ SG_ left_load_sensor : 0|32@1- (1,0) [0|0] "N" Vector__XXX
+
 BO_ 2348810949 cooling_driver_request: 5 Dashboard
  SG_ batt_fan : 32|8@1+ (1,0) [0|100] "%" Vector__XXX
  SG_ batt_pump2 : 24|8@1+ (1,0) [0|0] "" Vector__XXX
@@ -631,6 +647,12 @@ CM_ BO_ 1984 "Steering sensor configuration";
 CM_ SG_ 1984 Reserved_2 "";
 CM_ SG_ 1984 Reserved_1 "";
 CM_ SG_ 1984 CCW "";
+CM_ BO_ 2415983105 "Load Sensor readings from left and right";
+CM_ SG_ 2415983105 right_load_sensor "";
+CM_ SG_ 2415983105 left_load_sensor "";
+CM_ BO_ 2415984385 "Load Sensor readings from left and right";
+CM_ SG_ 2415984385 right_shock "";
+CM_ SG_ 2415984385 left_shock "";
 CM_ BO_ 2415925633 "performance metrics of MCU";
 CM_ SG_ 2415925633 sched_error "PSCHED Error Flags (bit #)
  0 - N/A
@@ -864,6 +886,12 @@ CM_ SG_ 2415919749 brake_right "";
 CM_ SG_ 2415919749 brake "";
 CM_ SG_ 2415919749 throttle_right "";
 CM_ SG_ 2415919749 throttle "";
+CM_ BO_ 2415984069 "Load Sensor readings from left and right";
+CM_ SG_ 2415984069 right_shock "";
+CM_ SG_ 2415984069 left_shock "";
+CM_ BO_ 2415983749 "Load Sensor readings from left and right";
+CM_ SG_ 2415983749 right_load_sensor "";
+CM_ SG_ 2415983749 left_load_sensor "";
 CM_ BO_ 2348810949 "Cooling Pump/Fan requests from Dash LCD";
 CM_ SG_ 2348810949 batt_fan "";
 CM_ SG_ 2348810949 batt_pump2 "";
@@ -1084,6 +1112,10 @@ VAL_ 2415925569 rear_left_motor_link 0 "disconnected" 1 "attempting" 2 "verifyin
 VAL_ 2415925569 rear_left_motor 0 "disconnected" 1 "connected" 2 "config" 3 "error" ;
 VAL_ 2347693088 car_state 0 "ready2go" 1 "flipped" 2 "flying" 3 "lightspeed" ;
 VAL_ 2347693089 car_state2 0 "ready2go" 1 "flipped" 2 "flying" 3 "lightspeed" ;
+SIG_VALTYPE_ 2415983105 left_load_sensor : 1;
+SIG_VALTYPE_ 2415983105 right_load_sensor : 1;
+SIG_VALTYPE_ 2415983749 left_load_sensor : 1;
+SIG_VALTYPE_ 2415983749 right_load_sensor : 1;
 SIG_VALTYPE_ 2348810751 left_speed : 1;
 SIG_VALTYPE_ 2348810751 right_speed : 1;
 SIG_VALTYPE_ 2483028349 test_sig5_3 : 1;

diff --git a/common/phal_F4_F7/can/can.c b/common/phal_F4_F7/can/can.c
@@ -87,6 +87,9 @@ bool PHAL_initCAN(CAN_TypeDef* bus, bool test_mode, uint32_t bit_rate)
             case 24000000:
                 bus->BTR = PHAL_CAN_24MHz_250k;
                 break;
+            case 36000000:
+                bus->BTR = PHAL_CAN_36MHz_250k;
+                break;
             default:
                 return false;
         }

diff --git a/common/phal_F4_F7/can/can.h b/common/phal_F4_F7/can/can.h
@@ -37,6 +37,7 @@
 
 #define PHAL_CAN_16MHz_250k (0x003a0003) // sample point = 75%
 #define PHAL_CAN_24MHz_250k (0x003a0005) // sample point = 75%
+#define PHAL_CAN_36MHz_250k (0x003a0008) // sample point = 75%
 
 typedef struct
 {

diff --git a/common/phal_F4_F7/usart/usart.c b/common/phal_F4_F7/usart/usart.c
@@ -114,7 +114,7 @@ bool PHAL_initUSART(usart_init_t* handle, const uint32_t fck)
 
     // // Set CR3 parameters
     handle->periph->CR3 |= handle->obsample << USART_CR3_ONEBIT_Pos;
-    handle->periph->CR3 |= USART_CR3_EIE;
+    // handle->periph->CR3 |= USART_CR3_EIE;
 
     // Enable peripheral for use
     handle->periph->CR1 |= USART_CR1_UE;

diff --git a/source/a_box/main.c b/source/a_box/main.c
@@ -150,8 +150,7 @@ int main (void)
 //    PHAL_writeGPIO(BMS_STATUS_GPIO_Port, BMS_STATUS_Pin, 1);
 
 
-   if (1 != PHAL_initCAN(CAN1, false, 250000))
-       PHAL_FaultHandler();
+
 
 //     for (uint16_t dimitri_is_not_better_than_me = 0; dimitri_is_not_better_than_me < 1000; dimitri_is_not_better_than_me++)
 //     {
@@ -212,7 +211,7 @@ int main (void)
 void preflightChecks(void)
 {
    static uint16_t state;
-
+    uint8_t charger_speed_def = 0;
 
    switch (state++)
    {
@@ -222,6 +221,20 @@ void preflightChecks(void)
         case 1:
             initFaultLibrary(FAULT_NODE_NAME, &q_tx_can1_s[0], ID_FAULT_SYNC_A_BOX);
             break;
+        case 700:
+            charger_speed_def = PHAL_readGPIO(BMS_CHARGE_ENABLE_Port, BMS_CHARGE_ENABLE_Pin);
+            uint8_t speed_2 = PHAL_readGPIO(BMS_CHARGER_SAFETY_Port, BMS_CHARGER_SAFETY_Pin);
+            if (charger_speed_def)
+            {
+                if (1 != PHAL_initCAN(CAN1, false, 250000))
+            PHAL_FaultHandler();
+            }
+            else
+            {
+                if (1 != PHAL_initCAN(CAN1, false, 500000))
+                PHAL_FaultHandler();
+            }
+            break;
        default:
            if (state > 750)
            {

diff --git a/source/dashboard/can/can_parse.h b/source/dashboard/can/can_parse.h
@@ -19,9 +19,19 @@
 // Make this match the node name within the can_config.json
 #define NODE_NAME "Dashboard"
 
+// Used to represent a float as 32 bits
+typedef union {
+    float f;
+    uint32_t u;
+} FloatConvert_t;
+#define FLOAT_TO_UINT32(float_) (((FloatConvert_t) float_).u)
+#define UINT32_TO_FLOAT(uint32_) (((FloatConvert_t) ((uint32_t) uint32_)).f)
+
 // Message ID definitions
 /* BEGIN AUTO ID DEFS */
 #define ID_RAW_THROTTLE_BRAKE 0x10000285
+#define ID_SHOCK_FRONT 0x1000fdc5
+#define ID_LOAD_SENSOR_READINGS_DASH 0x1000fc85
 #define ID_COOLING_DRIVER_REQUEST 0xc0002c5
 #define ID_FILT_THROTTLE_BRAKE 0x4000245
 #define ID_START_BUTTON 0x4000005
@@ -58,6 +68,8 @@
 // Message DLC definitions
 /* BEGIN AUTO DLC DEFS */
 #define DLC_RAW_THROTTLE_BRAKE 8
+#define DLC_SHOCK_FRONT 4
+#define DLC_LOAD_SENSOR_READINGS_DASH 8
 #define DLC_COOLING_DRIVER_REQUEST 5
 #define DLC_FILT_THROTTLE_BRAKE 3
 #define DLC_START_BUTTON 1
@@ -103,6 +115,20 @@
         data_a->raw_throttle_brake.brake_pot = brake_pot_;\
         canTxSendToBack(&msg);\
     } while(0)
+#define SEND_SHOCK_FRONT(left_shock_, right_shock_) do {\
+        CanMsgTypeDef_t msg = {.Bus=CAN1, .ExtId=ID_SHOCK_FRONT, .DLC=DLC_SHOCK_FRONT, .IDE=1};\
+        CanParsedData_t* data_a = (CanParsedData_t *) &msg.Data;\
+        data_a->shock_front.left_shock = left_shock_;\
+        data_a->shock_front.right_shock = right_shock_;\
+        canTxSendToBack(&msg);\
+    } while(0)
+#define SEND_LOAD_SENSOR_READINGS_DASH(left_load_sensor_, right_load_sensor_) do {\
+        CanMsgTypeDef_t msg = {.Bus=CAN1, .ExtId=ID_LOAD_SENSOR_READINGS_DASH, .DLC=DLC_LOAD_SENSOR_READINGS_DASH, .IDE=1};\
+        CanParsedData_t* data_a = (CanParsedData_t *) &msg.Data;\
+        data_a->load_sensor_readings_dash.left_load_sensor = FLOAT_TO_UINT32(left_load_sensor_);\
+        data_a->load_sensor_readings_dash.right_load_sensor = FLOAT_TO_UINT32(right_load_sensor_);\
+        canTxSendToBack(&msg);\
+    } while(0)
 #define SEND_COOLING_DRIVER_REQUEST(dt_pump_, dt_fan_, batt_pump_, batt_pump2_, batt_fan_) do {\
         CanMsgTypeDef_t msg = {.Bus=CAN1, .ExtId=ID_COOLING_DRIVER_REQUEST, .DLC=DLC_COOLING_DRIVER_REQUEST, .IDE=1};\
         CanParsedData_t* data_a = (CanParsedData_t *) &msg.Data;\
@@ -220,6 +246,14 @@ typedef union {
         uint64_t brake_right: 12;
         uint64_t brake_pot: 12;
     } raw_throttle_brake;
+    struct {
+        uint64_t left_shock: 16;
+        uint64_t right_shock: 16;
+    } shock_front;
+    struct {
+        uint64_t left_load_sensor: 32;
+        uint64_t right_load_sensor: 32;
+    } load_sensor_readings_dash;
     struct {
         uint64_t dt_pump: 8;
         uint64_t dt_fan: 8;