Working tx

macformula · Apr 12, 2024 · a103b95 · a103b95
1 parent dc0bc45
commit a103b95
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Showing 6 changed files with 82 additions and 34 deletions.
diff --git a/firmware/projects/DemoCan/generated/can_messages.h b/firmware/projects/DemoCan/generated/can_messages.h
@@ -102,11 +102,7 @@ class TempSensors : public shared::can::CanTxMsg {
     static constexpr float kSensor1Scale = 0.2;
     static constexpr float kSensor1Offset = 0;
 
-    void Pack(shared::can::RawCanMsg& raw_msg) override {
-        if (raw_msg.header.id != kCanId) {
-            return;
-        }
-
+    void Pack(shared::can::RawCanMsg& raw_msg) const override {
         // temporary raw msg
         shared::can::RawCanMsg temp_raw_msg;
         temp_raw_msg.header = {
@@ -116,12 +112,12 @@ class TempSensors : public shared::can::CanTxMsg {
         };
 
         // temporary signal variables
-        int16_t temp_sensor6 = sensor6;
-        int16_t temp_sensor5 = sensor5;
-        int16_t temp_sensor4 = sensor4;
-        int16_t temp_sensor3 = sensor3;
-        int16_t temp_sensor2 = sensor2;
-        int16_t temp_sensor1 = sensor1;
+        int16_t temp_sensor6 = static_cast<int16_t>(static_cast<double>(sensor6 - kSensor6Offset) / static_cast<double>(kSensor6Scale));
+        int16_t temp_sensor5 = static_cast<int16_t>(static_cast<double>(sensor5 - kSensor5Offset) / static_cast<double>(kSensor5Scale));
+        int16_t temp_sensor4 = static_cast<int16_t>(static_cast<double>(sensor4 - kSensor4Offset) / static_cast<double>(kSensor4Scale));
+        int16_t temp_sensor3 = static_cast<int16_t>(static_cast<double>(sensor3 - kSensor3Offset) / static_cast<double>(kSensor3Scale));
+        int16_t temp_sensor2 = static_cast<int16_t>(static_cast<double>(sensor2 - kSensor2Offset) / static_cast<double>(kSensor2Scale));
+        int16_t temp_sensor1 = static_cast<int16_t>(static_cast<double>(sensor1 - kSensor1Offset) / static_cast<double>(kSensor1Scale));
 
         temp_raw_msg.data[0] |= pack_left_shift(temp_sensor6, 4U, 0xf0U);
         temp_raw_msg.data[1] |= pack_right_shift(temp_sensor6, 4U, 0x3fU);
@@ -137,7 +133,7 @@ class TempSensors : public shared::can::CanTxMsg {
         temp_raw_msg.data[7] |= pack_right_shift(temp_sensor1, 2U, 0xffU);
 
         // Copy temp raw msg to raw msg
-        raw_msg = temp_raw_msg;
+        raw_msg.Copy(temp_raw_msg);
     }
 };
 

diff --git a/firmware/projects/DemoCan/main.cc b/firmware/projects/DemoCan/main.cc
@@ -37,7 +37,7 @@ int main(void) {
         veh_can_bus.Read(veh_info_msg);
 
         std::cout << "requested speed: " << veh_info_msg.requested_speed
-                  << "actual speed: " << veh_info_msg.wheel_speed << std::endl;
+                  << " actual speed: " << veh_info_msg.wheel_speed << std::endl;
 
         temp_sens_msg.sensor1 = i++;
         temp_sens_msg.sensor2 = i++;

diff --git a/firmware/shared/comms/can/can_msg.h b/firmware/shared/comms/can/can_msg.h
@@ -38,7 +38,7 @@ class CanRxMsg : public CanMsg {
 
 class CanTxMsg : public CanMsg {
 private:
-    virtual void Pack(RawCanMsg&) = 0;
+    virtual void Pack(RawCanMsg&) const = 0;
 
 protected:
     template <typename T>

diff --git a/firmware/shared/comms/can/raw_can_msg.h b/firmware/shared/comms/can/raw_can_msg.h
@@ -5,6 +5,9 @@
 
 #include <stdint.h>
 
+#include <algorithm>
+#include <iostream>
+
 namespace shared::can {
 
 constexpr uint8_t kMaxMsgBytes = 8;
@@ -20,6 +23,17 @@ struct CanHeader {
 struct RawCanMsg {
     CanHeader header;
     uint8_t data[kMaxMsgBytes] = {0};
+
+    void Copy(
+        const shared::can::RawCanMsg& other) noexcept {
+
+        header.id = other.header.id;
+        header.data_len = other.header.data_len;
+        header.is_extended_frame = other.header.is_extended_frame;
+
+        std::copy(std::begin(other.data), std::end(other.data),
+                  std::begin(data));
+    }
 };
 
 }  // namespace shared::can
diff --git a/scripts/canal/canParser.ipynb b/scripts/canal/canParser.ipynb
@@ -16,7 +16,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 23,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -54,7 +54,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 24,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -71,7 +71,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 25,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -88,9 +88,18 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 26,
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "2024-04-12 10:06:43,226 - root - INFO - adding dbc files (['../../firmware/dbcs/DEMO_CAN.dbc'])\n",
+      "2024-04-12 10:06:43,228 - root - INFO - successfully added dbc (../../firmware/dbcs/DEMO_CAN.dbc)\n"
+     ]
+    }
+   ],
    "source": [
     "can_db = parse_dbc_files(dbc_files)"
    ]
@@ -104,7 +113,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 27,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -160,9 +169,17 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 28,
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "2024-04-12 10:06:43,240 - root - INFO - filtered messages by node (FOO) num msgs: rx = 1, tx = 1\n"
+     ]
+    }
+   ],
    "source": [
     "rx_msgs, tx_msgs = filter_messages_by_node(can_db.messages, our_node)"
    ]
@@ -176,9 +193,30 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 29,
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "big\n",
+      "big\n",
+      "little\n",
+      "shift amounts: [-4, 4, 12, 20, 28, 36, 44, 52]\n",
+      "little\n",
+      "shift amounts: [-14, -6, 2, 10, 18, 26, 34, 42]\n",
+      "little\n",
+      "shift amounts: [-24, -16, -8, 0, 8, 16, 24, 32]\n",
+      "little\n",
+      "shift amounts: [-34, -26, -18, -10, -2, 6, 14, 22]\n",
+      "little\n",
+      "shift amounts: [-44, -36, -28, -20, -12, -4, 4, 12]\n",
+      "little\n",
+      "shift amounts: [-54, -46, -38, -30, -22, -14, -6, 2]\n"
+     ]
+    }
+   ],
    "source": [
     "def get_masks_shifts(msgs):\n",
     "    masks_shifts_dict = {}\n",
@@ -208,7 +246,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 30,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -225,7 +263,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 31,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -270,7 +308,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 43,
+   "execution_count": 36,
    "metadata": {},
    "outputs": [
     {

diff --git a/scripts/canal/canal_messages.jinja2 b/scripts/canal/canal_messages.jinja2
@@ -113,11 +113,7 @@ private:
     static constexpr {{ sig_var_type }} k{{ sig.name }}Offset = {{ sig.offset }};
     {% endfor %}
 
-    void Pack(shared::can::RawCanMsg& raw_msg) override {
-        if (raw_msg.header.id != kCanId) {
-            return;
-        }
-
+    void Pack(shared::can::RawCanMsg& raw_msg) const override {
         // temporary raw msg
         shared::can::RawCanMsg temp_raw_msg;
         temp_raw_msg.header = {
@@ -129,7 +125,11 @@ private:
         // temporary signal variables
     {% for sig in msg.signals %}
         {% set sig_var = sig.name | camel_to_snake %}
-        {{ temp_signal_types[msg.name][sig.name] }} temp_{{ sig.name | camel_to_snake }} = {{ sig_var }};
+        {% set sig_var_scale = "k" + sig.name + "Scale" %}
+        {% set sig_var_offset = "k" + sig.name + "Offset" %}
+        {% set temp_sig_var = "temp_" + (sig.name | camel_to_snake) %}
+        {% set temp_sig_var_type = temp_signal_types[msg.name][sig.name] %}
+        {{ temp_sig_var_type }} {{ temp_sig_var }} = static_cast<{{ temp_sig_var_type }}>(static_cast<double>({{ sig_var }} - {{ sig_var_offset }}) / static_cast<double>({{ sig_var_scale }}));
     {% endfor %}
 
     {% for sig in msg.signals %}
@@ -153,7 +153,7 @@ private:
     {% endfor %}
 
         // Copy temp raw msg to raw msg
-        raw_msg = temp_raw_msg;
+        raw_msg.Copy(temp_raw_msg);
     }
 };
 {% endfor %}