On car testing minimal (#45)

* yo

* Fixed all pindefs outside of setup

* memes

* yo

* Added dash LED to safety system

* walker eepy

* working without adcs

* some comments to debug

* pushing current issues

* working kinda minimal progress

* working without steering sensor

* pushing up constants and stuff

* Reworked dashboard to use tick function and added LED states

* pushing up debugging tcmux

* torque requests

* the negative sign was correct

* fixing tcs and offsets

* almost working kinda, error after a second sending no torque

* working code

* known good debug

* yo

* working on car

* what is on car currently

* working except for hardware issue

* removed more print lines, simplified resetting of drivetrain, limited AMK max RPM for lot testing, re-enabled correct speed setpoint for torque control, and added in resetting of drivetrain via dash button

* minor change in main_minimal for serial definition and bringing actual main up to where minimal main is now

* Fixed pin defs for dashboard lights

* Fixed IMD and AMS lights going red if BOTS tripped

* Updated buzzer time and brake/accel thresholds

* Fix for buzzer timing, force buzzer to end before entering ready to drive

* Added new can message for inverter RPMs

* Drivetrain RPMs are sent to TCU

* Added DRIVETRAIN_ERR_STATUS_TELEM_hytech to telemetry

* Added drivetrain_status_telem_CAN_msg() (untested)

* Added some pedal data to drivetrain status message

* Added accumulator current/reference can messages

* Update to ADC interface to support setting 1M baud for MCP 04's. Changing pindefs for reading status of IMD and BMS OK

* discovered potential issue with drivetrain system

* fixed regen pedal scaling

* Steering Sensor should now be working

* add SAB reading to ECU

* Added Motor Controller torque message and rolling average print for seal testing

* Updated HT_CAN with new suspension messages. Removed old ones

* removed fixed point precision on steering sensor. no clue why it was there

* add load cell vectoring. add safe mode transition when controllers fault

* working on car

* attempting to remove deadzone in pedals for ensuring that we can always reach 100 percent and start at 0 percent accel and brake

* put stuff for loadcell mode 1 calibrate

* hopefully calibrated?

* tick load cell controller

* adding more to readme about auto-completition and setup of vscode

* Added torque mode LED display

* Changed torqueMode button

* Updated Mock dashboard interface

* adding in more docs to tc mux and tcs as well as adding in scaling for simple tc for regen

* moving main minimal into main

* only deploying docs on master

---------

Co-authored-by: walkermburns <[email protected]>
Co-authored-by: Dopp-IO <[email protected]>
Co-authored-by: Justin Hwang <[email protected]>
Co-authored-by: Dopp-IO <[email protected]>
Co-authored-by: shaynoorani <[email protected]>

.github/workflows/docs.yml

@@ -1,6 +1,10 @@
 name: generate doxygen docs and deploy to github pages
 
-on: [push, pull_request]
+
+on:
+  push:
+    branches:
+      - master
 jobs:
 
   gen_docs:

.gitignore

@@ -4,4 +4,5 @@
 .vscode/launch.json
 .vscode/ipch
 .vscode/
+compile_commands.json
 docs/html/

README.md

@@ -28,7 +28,7 @@ To test using platformio core CLI simply run `pio test -e test_env`.
 
 To upload to the teensy simply use the platformio upload arrow shown [here at number 3](https://docs.platformio.org/en/latest/integration/ide/vscode.html#platformio-toolbar).
 
-#### On Implementing and Importance of tests
+##### On Implementing and Importance of tests
 Unit tests are a great way to ensure that new features and new code in general can integrate and work well with other code. It provides a framework to verify that your stuff works the way it should and lets you know when and how it doesnt. 
 
 This project uses unit tests in the `test` folder to for both local testing and testing in the CI on github.
@@ -39,6 +39,44 @@ You can see results of previous test runs on commits here: https://github.com/hy
 
 These MUST be maintained for functionality of the car. 
 
+### setup vscode 
+##### with auto-completition and advanced navigation using compile commands
+
+
+the `compile_commands.json` file is a file that gets generated in the build folder upon excution of the [compiledb platformio task](https://docs.platformio.org/en/latest/integration/compile_commands.html) that sets up the include paths for vscode. [more about compile_commands.json here](https://clangd.llvm.org/design/compile-commands).
+
+If you enter the platformio terminal, you can generate compile commands with 
+1. ![alt text](image-1.png)
+
+then 
+2. ```pio run -t compiledb -e teensy41```
+
+
+this will generate the compile commands for the `teensy41` environment which is the environment we use to build and flash to the car. in a similar fashion, other environments (eg: `test_env`) can have their compile commands generated.
+
+3. then you need to setup vscode to recognize where this file is, which gets put into the `.pio` folder in your workspace. To do this, simply create a `.vscode` folder in the workspace and add a file called `c_cpp_properties.json` and it should look like this:
+
+```json
+{
+    "configurations": [
+        {
+            "name": "teensy41",
+            "includePath": [
+                "${workspaceFolder}/**"
+            ],
+            "defines": [],
+            "cStandard": "c17",
+            "cppStandard": "gnu++17",
+            "intelliSenseMode": "linux-gcc-x64",
+            "compileCommands": "${workspaceFolder}/.pio/build/teensy41/compile_commands.json"
+        }
+    ],
+    "version": 4
+}
+```
+then you can select this configuration to be used with [this c/c++ extension](https://marketplace.visualstudio.com/items?itemName=ms-vscode.cpptools) in vscode for auto-completition and code navigation. 
+
+to select the configuration, use the hotkey `ctrl+shift+p` to open the command prompt in vscode, and then type \`C/C++: Select a Configuration\` and then select your configuration for which you named above.
 
 
 ## Design Lore of the Code

include/MCU_rev15_defs.h

@@ -5,11 +5,9 @@
 const int ADC1_CS = 34;
 const int ADC2_CS = 33;
 const int ADC3_CS = 29;
-const int SOFTWARE_OK       = 28;
+const int SOFTWARE_OK       = 8;
 const int WATCHDOG_INPUT    = 32;
 
-// serial def
-HardwareSerial* STEERING_SERIAL = &Serial5;
 
 // ADC1 channel defs
 const int MCU15_ACCEL1_CHANNEL          = 2;
@@ -36,17 +34,31 @@ const unsigned long INV_CAN_BAUDRATE    = 500000;
 const unsigned long TELEM_CAN_BAUDRATE  = 500000;
 
 // APPS/Brake pedal parameters
-const int ACCEL1_MIN_THRESH = 100;
-const int ACCEL2_MIN_THRESH = 100;
-const int ACCEL1_MAX_THRESH = 3000;
-const int ACCEL2_MAX_THRESH = 3000;
+const int ACCEL1_MIN_THRESH = 2087;
+const int ACCEL2_MIN_THRESH = 1472;
+const int ACCEL1_MAX_THRESH = 3283;
+const int ACCEL2_MAX_THRESH = 323;
 const float APPS_ACTIVATION_PERCENTAGE = 0.1;
 
-const int BRAKE1_MIN_THRESH = 100;
-const int BRAKE2_MIN_THRESH = 100;
-const int BRAKE1_MAX_THRESH = 3000;
-const int BRAKE2_MAX_THRESH = 3000;
-const float BRAKE_ACTIVATION_PERCENTAGE = 0.05;
-const float BRAKE_MECH_THRESH = 0.05; // TODO: Determine actual mech threshold
+const int BRAKE1_MIN_THRESH = 2757;
+const int BRAKE2_MIN_THRESH = 867;
+const int BRAKE1_MAX_THRESH = 1421;
+const int BRAKE2_MAX_THRESH = 2198;
+const float BRKAE_ACTIVATION_PERCENTAGE = 0.05;
+const float BRAKE_MECH_THRESH = 0.55;
 
+// Load Cell Defs to convert raw to lbs
+// lbs = (scale)*raw + offset
+
+const float LOADCELL_FL_SCALE = 0.0553;
+const float LOADCELL_FL_OFFSET = 15.892;
+
+const float LOADCELL_FR_SCALE = 0.0512;
+const float LOADCELL_FR_OFFSET = 17.196;
+
+const float LOADCELL_RL_SCALE = 0.1147;
+const float LOADCELL_RL_OFFSET = 21.842;
+
+const float LOADCELL_RR_SCALE = 0.0588;
+const float LOADCELL_RR_OFFSET = 19.576;
 #endif /* __MCU15_H__ */

lib/interfaces/include/AMSInterface.h

@@ -4,10 +4,9 @@
 #include "FlexCAN_T4.h"
 #include "HyTech_CAN.h"
 
-
-/// @brief Heartbeat Interval is the allowable amount of time between BMS status messages before car delatches */
-const unsigned long HEARTBEAT_INTERVAL                      = 20;   // milliseconds
-/// @brief The total pcc threshold is the lowest allowable voltage of the entire pack (in Volts)*/
+/* Heartbeat Interval is the allowable amount of time between BMS status messages before car delatches */
+const unsigned long HEARTBEAT_INTERVAL                      = 2000;   // milliseconds
+/* The total pcc threshold is the lowest allowable voltage of the entire pack (in Volts)*/
 const unsigned long PACK_CHARGE_CRIT_TOTAL_THRESHOLD        = 420;
 /* The lowest pcc threshold is the lowest allowable single cell voltage (in 100 microvolts)*/
 const unsigned long PACK_CHARGE_CRIT_LOWEST_CELL_THRESHOLD  = 35000; //equivalent to 3.5V
@@ -32,11 +31,8 @@ class AMSInterface
         filtered_max_cell_temp(init_temp),
         filtered_min_cell_voltage(init_volt),
         cell_temp_alpha(temp_alpha),
-        cell_voltage_alpha(volt_alpha)
-    {
-        // Set pin mode
-        pinMode(pin_software_ok_, OUTPUT);
-    }
+        cell_voltage_alpha(volt_alpha) {};
+
     /* Overloaded constructor that only takes in software OK pin and uses default voltages and temp*/
     AMSInterface(int sw_ok_pin):
         AMSInterface(sw_ok_pin, DEFAULT_INIT_TEMP, DEFAULT_INIT_VOLTAGE, DEFAULT_TEMP_ALPHA, DEFAULT_VOLTAGE_ALPHA) {};

lib/interfaces/include/DashboardInterface.h

@@ -4,6 +4,21 @@
 #include "MessageQueueDefine.h"
 #include "FlexCAN_T4.h"
 #include "hytech.h"
+#include "MCUInterface.h"
+#include "MCU_status.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
@@ -40,8 +55,8 @@ enum class DashLED_e
     INERTIA_LED,
     GLV_LED,
     CRIT_CHARGE_LED,
-    START_LED,
-    MC_ERROR_LED,
+    START_LED, /// from state machine. When READY_TO_DRIVE, set START_LED to true. See what else uses READY_TO_DRIVE so that you can update START_LED.
+    MC_ERROR_LED, /// from DrivetrainSystem.cpp, get drivetrain_error_occurred()
     IMD_LED,
     AMS_LED,
 };
@@ -112,9 +127,15 @@ class DashboardInterface
         @param can_msg is the reference to a new CAN message CAN_message_t
     */
     void read(const CAN_message_t &can_msg);
+
     /* write function will Pack a message based on the current data in the interface and push it to the tx buffer */
     CAN_message_t write();
 
+    /*
+        Tick DashboardInterface at 10hz to gather data and send CAN message
+    */
+    void tick10(MCUInterface* mcu, int car_state, bool buzzer, bool drivetrain_error, TorqueLimit_e torque);
+
     /*!
         getter for the dashboard's current dial position (drive profile)
         @return returns a DialMode_e enum with the current dial position
@@ -129,7 +150,7 @@ class DashboardInterface
     /* getter for the mark button */
     bool specialButtonPressed();
     /* getter for the torque button (does not currently exist on dash ) */
-    bool torqueButtonPressed();
+    bool torqueModeButtonPressed();
     /* getter for the inverter reset button (clears error codes ) */
     bool inverterResetButtonPressed();
     /* getter for the launch control button */

lib/interfaces/include/HytechCANInterface.h

@@ -10,6 +10,7 @@
 #include "InverterInterface.h"
 #include "DashboardInterface.h"
 #include "AMSInterface.h"
+#include "SABInterface.h"
 
 /* 
     struct holding interfaces processed by process_ring_buffer() 
@@ -27,6 +28,7 @@ struct CANInterfaces
     InverterInterface<circular_buffer> *rear_right_inv;
     DashboardInterface *dash_interface;
     AMSInterface *ams_interface;
+    SABInterface *sab_interface;
 };
 
 // the goal with the can interface is that there exists a receive call that appends to a circular buffer
@@ -70,7 +72,10 @@ template <typename BufferType, typename InterfaceType>
 void process_ring_buffer(BufferType &rx_buffer, const InterfaceType &interfaces, unsigned long curr_millis)
 {
     // TODO switch to using the global CAN receive function from the generated CAN library
+    // if(rx_buffer.size() > 0){
 
+    // Serial.println(rx_buffer.size());
+    // }
     while (rx_buffer.available())
     {
         CAN_message_t recvd_msg;
@@ -136,6 +141,11 @@ void process_ring_buffer(BufferType &rx_buffer, const InterfaceType &interfaces,
         case ID_MC4_ENERGY:
             interfaces.rear_right_inv->receive_energy_msg(recvd_msg);
             break;
+
+            // SAB msgs
+        case SAB_SUSPENSION_CANID:
+            interfaces.sab_interface->retrieve_pots_and_load_cells_CAN(recvd_msg);
+            break;
         }
     }
 }
@@ -155,6 +165,7 @@ void send_all_CAN_msgs(bufferType &buffer, FlexCAN_T4_Base *can_interface)
         buffer.pop_front(buf, sizeof(CAN_message_t));
         memmove(&msg, buf, sizeof(msg));
         can_interface->write(msg);
+        // delayMicroseconds(2500);
     }
 }