Make ev active firmware:

firmware/dbcs/veh_test.dbc

@@ -0,0 +1,50 @@
+VERSION ""
+
+
+NS_ : 
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BS_:
+
+BU_: SG FC
+
+
+BO_ 257 speedGoat_tx: 1 SG
+ SG_ sg_driverSpeaker : 1|1@1- (1,0) [0|1] ""  FC
+ SG_ sg_brakeLightEn : 0|1@1- (1,0) [0|1] ""  FC
+
+BO_ 256 fc_tx: 8 FC
+ SG_ fc_hvilStatus : 41|1@1- (1,0) [0|1] ""  SG
+ SG_ fc_startButton : 40|1@1- (1,0) [0|1] ""  SG
+ SG_ fc_steeringAngle : 32|8@1+ (0.005,0) [0|1] ""  SG
+ SG_ fc_bpps2 : 24|8@1+ (0.005,0) [0|1] ""  SG
+ SG_ fc_bpps1 : 16|8@1+ (0.005,0) [0|1] ""  SG
+ SG_ fc_apps2 : 8|8@1+ (0.005,0) [0|1] ""  SG
+ SG_ fc_apps1 : 0|8@1+ (0.005,0) [0|1] ""  SG

firmware/projects/EvActive/CMakeLists.txt

@@ -0,0 +1,42 @@
+# Samuel Parent
+# January 6, 2023
+
+# The target executable 'main' is created in the master CMakeLists. Do not change its name.
+# We only need to add the source code files and include directories.
+
+find_package(Python3 COMPONENTS Interpreter)
+message(${Python3_EXECUTABLE})
+
+if(NOT ${Python3_FOUND})
+	message(FATAL_ERROR "Python 3 executable not found")
+endif()
+
+FILE(GLOB_RECURSE CAN_DEPENDENCIES CONFIGURE_DEPENDS "${CMAKE_SOURCE_DIR}/../scripts/cangen/*" "${CMAKE_SOURCE_DIR}/dbcs/*")
+
+list(APPEND CAN_DEPENDENCIES "${CMAKE_CURRENT_SOURCE_DIR}/config.yaml")
+
+add_custom_target(
+	generated_can
+	COMMAND ${Python3_EXECUTABLE} "${CMAKE_SOURCE_DIR}/../scripts/cangen/main.py" "--project=\"EvActive\""
+	DEPENDS ${CAN_DEPENDENCIES}
+	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+	COMMENT Generating CAN code from DBCs
+)
+
+target_sources(main
+	PRIVATE
+	main.cc
+)
+add_dependencies(main generated_can)
+
+target_include_directories(main
+	PRIVATE
+	${CMAKE_CURRENT_SOURCE_DIR}/inc
+)
+
+# Link ETL which is needed for generated/can/msg_registry.h
+add_subdirectory(${CMAKE_SOURCE_DIR}/third-party/etl ${CMAKE_BINARY_DIR}/third-party)
+target_link_libraries(main PRIVATE etl)
+
+# Notice that we don't include any mcal/ subdirectory in this CMake file.
+# The master CMakeLists handles platform selection and library linking.

firmware/projects/EvActive/README.md

@@ -0,0 +1,3 @@
+# Front Controller
+
+Based on [FC Gen2](https://github.com/macformula/front_controller/tree/main/FC_GEN2).

firmware/projects/EvActive/config.yaml

@@ -0,0 +1,5 @@
+canGen:
+  ourNode: FC
+  busName: veh
+  dbcFiles:
+    - "veh_test.dbc"

firmware/projects/EvActive/main.cc

@@ -0,0 +1,117 @@
+/// @author Samuel Parent
+/// @date 2024-05-05
+
+#include <cstdint>
+
+#include "generated/can/can_messages.h"
+#include "generated/can/msg_registry.h"
+#include "shared/comms/can/can_bus.h"
+#include "shared/periph/adc.h"
+#include "shared/periph/gpio.h"
+#include "shared/util/mappers/linear_map.h"
+
+namespace bindings {
+extern shared::periph::CanBase& veh_can_base;
+
+extern shared::periph::ADCInput& accel_pedal_pos_1;
+extern shared::periph::ADCInput& accel_pedal_pos_2;
+extern shared::periph::ADCInput& brake_pedal_pos_1;
+extern shared::periph::ADCInput& brake_pedal_pos_2;
+extern shared::periph::ADCInput& suspension_travel_1;
+extern shared::periph::ADCInput& suspension_travel_2;
+extern shared::periph::ADCInput& hvil_feedback;
+extern shared::periph::ADCInput& steering_angle;
+
+extern shared::periph::DigitalInput& start_button_n;
+extern shared::periph::DigitalInput& wheel_speed_left_a;
+extern shared::periph::DigitalInput& wheel_speed_left_b;
+extern shared::periph::DigitalInput& wheel_speed_right_a;
+extern shared::periph::DigitalInput& wheel_speed_right_b;
+
+extern shared::periph::DigitalOutput& debug_led_en;
+extern shared::periph::DigitalOutput& dashboard_en;
+extern shared::periph::DigitalOutput& hvil_led_en;
+extern shared::periph::DigitalOutput& brake_light_en;
+extern shared::periph::DigitalOutput& status_led_en;
+extern shared::periph::DigitalOutput& rtds_en;
+
+extern void Initialize();
+extern void TickBlocking(uint32_t);
+}  // namespace bindings
+
+/***************************************************************
+    Objects
+***************************************************************/
+
+generated::can::VehMsgRegistry veh_can_registry{};
+
+shared::can::CanBus veh_can_bus{
+    bindings::veh_can_base,
+    veh_can_registry,
+};
+
+shared::util::LinearMap<float, uint32_t> adc_to_voltage{
+    static_cast<float>(3.3 / 4095.0), 0};
+
+int main(void) {
+    bindings::Initialize();
+
+    // Digital input values
+    bool start_button_n_value;
+    bool wheel_speed_left_a_value;
+    bool wheel_speed_left_b_value;
+    bool wheel_speed_right_a_value;
+    bool wheel_speed_right_b_value;
+
+    // Adc values
+    uint32_t accel_pedal_pos_1_value;
+    uint32_t accel_pedal_pos_2_value;
+    uint32_t brake_pedal_pos_1_value;
+    uint32_t brake_pedal_pos_2_value;
+    uint32_t suspension_travel_1_value;
+    uint32_t suspension_travel_2_value;
+    uint32_t hvil_feedback_value;
+    uint32_t steering_angle_value;
+
+    // CAN Messages
+    generated::can::speedGoat_tx from_speedgoat;
+    generated::can::fc_tx to_speedgoat;
+
+    while (1) {
+        // Read all input
+        accel_pedal_pos_1_value = bindings::accel_pedal_pos_1.Read();
+        accel_pedal_pos_2_value = bindings::accel_pedal_pos_2.Read();
+        brake_pedal_pos_1_value = bindings::brake_pedal_pos_1.Read();
+        brake_pedal_pos_2_value = bindings::brake_pedal_pos_2.Read();
+        steering_angle_value = bindings::steering_angle.Read();
+        hvil_feedback_value = bindings::hvil_feedback.Read();
+        start_button_n_value = bindings::start_button_n.Read();
+
+        // Pack CAN Message and send
+        to_speedgoat.fc_start_button = !start_button_n_value;
+        // TODO: this is random, it is a 12 bit adc so i chose down the middle
+        // to be the cuttoff
+        to_speedgoat.fc_hvil_status = hvil_feedback_value > 2048;
+        to_speedgoat.fc_apps1 =
+            adc_to_voltage.Evaluate(accel_pedal_pos_1_value);
+        to_speedgoat.fc_apps2 =
+            adc_to_voltage.Evaluate(accel_pedal_pos_2_value);
+        to_speedgoat.fc_bpps1 =
+            adc_to_voltage.Evaluate(brake_pedal_pos_1_value);
+        to_speedgoat.fc_bpps2 =
+            adc_to_voltage.Evaluate(brake_pedal_pos_2_value);
+        to_speedgoat.fc_steering_angle =
+            adc_to_voltage.Evaluate(steering_angle_value);
+        veh_can_bus.Send(to_speedgoat);
+
+        // Get values from Speedgoat CAN message
+        veh_can_bus.ReadWithUpdate(from_speedgoat);
+
+        bindings::brake_light_en.Set(from_speedgoat.sg_brake_light_en);
+        bindings::rtds_en.Set(from_speedgoat.sg_driver_speaker);
+
+        bindings::TickBlocking(10);
+    }
+
+    return 0;
+}

firmware/projects/EvActive/platforms/stm32f767/CMakeLists.txt

@@ -0,0 +1,7 @@
+# Blake Freer
+# January 8, 2024
+
+add_subdirectory(cubemx)
+
+target_sources(bindings PUBLIC bindings.cc)
+target_link_libraries(bindings PUBLIC driver mcal-stm32f767)

firmware/projects/EvActive/platforms/stm32f767/bindings.cc

@@ -0,0 +1,106 @@
+/// @author Blake Freer
+/// @date 2024-02-27
+
+// cubemx files
+#include "adc.h"
+#include "can.h"
+#include "cubemx/Inc/main.h"
+#include "gpio.h"
+
+// fw imports
+#include "mcal/stm32f767/periph/adc.h"
+#include "mcal/stm32f767/periph/can.h"
+#include "mcal/stm32f767/periph/gpio.h"
+#include "shared/periph/can.h"
+
+namespace mcal {
+using namespace stm32f767::periph;
+
+CanBase veh_can_base{&hcan3};
+
+ADCInput accel_pedal_pos_1{&hadc1, ADC_CHANNEL_12};
+ADCInput accel_pedal_pos_2{&hadc1, ADC_CHANNEL_13};
+ADCInput brake_pedal_pos_1{&hadc1, ADC_CHANNEL_2};
+ADCInput brake_pedal_pos_2{&hadc1, ADC_CHANNEL_1};
+ADCInput suspension_travel_1{&hadc1, ADC_CHANNEL_8};
+ADCInput suspension_travel_2{&hadc1, ADC_CHANNEL_9};
+ADCInput hvil_feedback{&hadc1, ADC_CHANNEL_5};
+ADCInput steering_angle{&hadc1, ADC_CHANNEL_4};
+
+DigitalInput start_button_n{START_BUTTON_N_GPIO_Port, START_BUTTON_N_Pin};
+DigitalInput wheel_speed_left_a{WHEEL_SPEED_LEFT_A_GPIO_Port,
+                                WHEEL_SPEED_LEFT_A_Pin};
+DigitalInput wheel_speed_left_b{WHEEL_SPEED_LEFT_B_GPIO_Port,
+                                WHEEL_SPEED_LEFT_B_Pin};
+DigitalInput wheel_speed_right_a{WHEEL_SPEED_RIGHT_A_GPIO_Port,
+                                 WHEEL_SPEED_RIGHT_A_Pin};
+DigitalInput wheel_speed_right_b{WHEEL_SPEED_RIGHT_A_GPIO_Port,
+                                 WHEEL_SPEED_RIGHT_A_Pin};
+
+DigitalOutput debug_led_en{DEBUG_LED_GPIO_Port, DEBUG_LED_Pin};
+DigitalOutput dashboard_en{DASHBOARD_HSD_EN_GPIO_Port, DASHBOARD_HSD_EN_Pin};
+DigitalOutput hvil_led_en{HVIL_LED_EN_GPIO_Port, HVIL_LED_EN_Pin};
+DigitalOutput brake_light_en{BRAKE_LIGHT_EN_GPIO_Port, BRAKE_LIGHT_EN_Pin};
+DigitalOutput status_led_en{STATUS_LED_EN_GPIO_Port, STATUS_LED_EN_Pin};
+DigitalOutput rtds_en{RTDS_EN_GPIO_Port, RTDS_EN_Pin};
+
+}  // namespace mcal
+
+extern "C" {
+/**
+ * This requires extern since it is not declared in a header, only defined
+ * in cubemx/../main.c
+ */
+void SystemClock_Config();
+}
+
+namespace bindings {
+
+shared::periph::CanBase& veh_can_base = mcal::veh_can_base;
+
+shared::periph::ADCInput& accel_pedal_pos_1 = mcal::accel_pedal_pos_1;
+shared::periph::ADCInput& accel_pedal_pos_2 = mcal::accel_pedal_pos_2;
+shared::periph::ADCInput& brake_pedal_pos_1 = mcal::brake_pedal_pos_1;
+shared::periph::ADCInput& brake_pedal_pos_2 = mcal::brake_pedal_pos_2;
+shared::periph::ADCInput& suspension_travel_1 = mcal::suspension_travel_1;
+shared::periph::ADCInput& suspension_travel_2 = mcal::suspension_travel_2;
+shared::periph::ADCInput& hvil_feedback = mcal::hvil_feedback;
+shared::periph::ADCInput& steering_angle = mcal::steering_angle;
+
+shared::periph::DigitalInput& start_button_n = mcal::start_button_n;
+shared::periph::DigitalInput& wheel_speed_left_a = mcal::wheel_speed_left_a;
+shared::periph::DigitalInput& wheel_speed_left_b = mcal::wheel_speed_left_b;
+shared::periph::DigitalInput& wheel_speed_right_a = mcal::wheel_speed_right_a;
+shared::periph::DigitalInput& wheel_speed_right_b = mcal::wheel_speed_right_b;
+
+shared::periph::DigitalOutput& debug_led_en = mcal::debug_led_en;
+shared::periph::DigitalOutput& dashboard_en = mcal::dashboard_en;
+shared::periph::DigitalOutput& hvil_led_en = mcal::hvil_led_en;
+shared::periph::DigitalOutput& brake_light_en = mcal::brake_light_en;
+shared::periph::DigitalOutput& status_led_en = mcal::status_led_en;
+shared::periph::DigitalOutput& rtds_en = mcal::rtds_en;
+
+void Initialize() {
+    SystemClock_Config();
+    HAL_Init();
+
+    MX_GPIO_Init();
+    MX_ADC1_Init();
+    MX_CAN1_Init();
+    MX_CAN3_Init();
+    mcal::veh_can_base.Setup();
+}
+
+void TickBlocking(uint32_t ticks) {
+    HAL_Delay(ticks);
+}
+
+extern "C" {
+void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef* hcan) {
+    if (hcan == &hcan3) {
+        mcal::veh_can_base.AddRxMessageToQueue();
+    }
+}
+}
+
+}  // namespace bindings