User/fangm/pedal reader (#178)

* create folder structure

* Initial commit

* Read accel pedal positions

* CAN for pedal debugging

* Forgot return

* add cmake

* Adds readme & initialize functions

* Gets debug LED working for MotorDebug

---------

Co-authored-by: Max Fang <[email protected]>
Co-authored-by: Tyler St-Amour <[email protected]>

firmware/dbcs/pedal.dbc

@@ -0,0 +1,14 @@
+VERSION ""
+
+BS_:
+
+BU_: FRONTCONTROLLER
+
+
+BO_ 2364540158 APPS: 8 FRONTCONTROLLER
+	SG_ APPS1 : 0|16@1+ (1,0) [0|100] "percent" Vector__XXX
+	SG_ APPS2 : 16|16@1+ (1,0) [0|100] "percent" Vector__XXX
+
+
+CM_ SG_ 2364540158 APPS1 "Accel Pedal 1";
+CM_ SG_ 2364540158 APPS2 "Accel Pedal 2";

firmware/projects/EV5/debug/MotorDebug/CMakeLists.txt

@@ -0,0 +1,37 @@
+# Blake Freer
+# Sept 6, 2024
+
+# 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=\"EV5/debug/MotorDebug\""
+	DEPENDS ${CAN_DEPENDENCIES}
+	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+	COMMENT Generating CAN code from DBCs
+)
+
+target_sources(main
+	PRIVATE
+	main.cc
+)
+add_dependencies(main generated_can)
+
+# Link ETL which is needed for generated/can/msg_registry.h
+add_subdirectory(${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/EV5/debug/MotorDebug/README.md

@@ -0,0 +1,7 @@
+# Motor Debug
+
+_September 6, 2024 - Blake Freer, Max Fang, Tyler St-Amour_
+
+Read both accelerator pedal values. Report the percentage over CAN.
+
+Created to verify the orientation of the pedal position sensors.

firmware/projects/EV5/debug/MotorDebug/bindings.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#include <cstdint>
+
+#include "shared/periph/adc.h"
+#include "shared/periph/can.h"
+#include "shared/periph/gpio.h"
+
+namespace bindings {
+
+extern shared::periph::ADCInput& accel_pedal_1;
+extern shared::periph::ADCInput& accel_pedal_2;
+extern shared::periph::CanBase& vehicle_can_base;
+extern shared::periph::DigitalOutput& debug_led;
+
+extern void Initialize();
+
+extern void DelayMS(uint32_t ms);
+
+}  // namespace bindings

firmware/projects/EV5/debug/MotorDebug/config.yaml

@@ -0,0 +1,6 @@
+canGen:
+  ourNode: FRONTCONTROLLER
+  busses:
+    - busName: vehicle
+      dbcFiles:
+        - "pedal.dbc"

firmware/projects/EV5/debug/MotorDebug/main.cc

@@ -0,0 +1,44 @@
+#include <stdint.h>
+
+#include "bindings.h"
+#include "generated/can/vehicle_can_messages.h"
+#include "generated/can/vehicle_msg_registry.h"
+#include "projects/EV5/debug/MotorDebug/generated/can/vehicle_msg_registry.h"
+#include "shared/comms/can/can_bus.h"
+#include "shared/periph/can.h"
+
+namespace bindings {
+
+extern shared::periph::CanBase& vehicle_can_base;
+
+}  // namespace bindings
+
+generated::can::VehicleMsgRegistry veh_can_registry{};
+shared::can::CanBus vehicle_can_bus{
+    bindings::vehicle_can_base,
+    veh_can_registry,
+};
+
+generated::can::APPS pedal_message{};
+
+bool debug_led_state = true;
+
+int main() {
+    bindings::Initialize();
+
+    while (true) {
+        uint32_t accel_pedal_pos_1 = bindings::accel_pedal_1.Read();
+        uint32_t accel_pedal_pos_2 = bindings::accel_pedal_2.Read();
+
+        // // Send over CAN
+        pedal_message.apps1 = static_cast<uint16_t>(accel_pedal_pos_1);
+        pedal_message.apps2 = static_cast<uint16_t>(accel_pedal_pos_2);
+        vehicle_can_bus.Send(pedal_message);
+
+        bindings::DelayMS(100);
+        bindings::debug_led.Set(debug_led_state);
+        debug_led_state = !debug_led_state;
+    }
+
+    return 0;
+}

firmware/projects/EV5/debug/MotorDebug/platforms/cli/CMakeLists.txt

@@ -0,0 +1,4 @@
+target_sources(bindings PRIVATE bindings.cc)
+target_include_directories(bindings PRIVATE ${DIR_PROJECT})
+
+target_link_libraries(bindings PUBLIC mcal-cli)

firmware/projects/EV5/debug/MotorDebug/platforms/cli/bindings.cc

@@ -0,0 +1,40 @@
+#include <unistd.h>
+
+#include "bindings.h"
+#include "shared/periph/adc.h"
+#include "shared/periph/can.h"
+#include "shared/periph/gpio.h"
+
+// fw imports
+#include "mcal/cli/periph/adc.h"
+#include "mcal/cli/periph/can.h"
+#include "mcal/cli/periph/gpio.h"
+
+namespace mcal {
+using namespace cli::periph;
+
+ADCInput accel_pedal_1{"apps1"};
+ADCInput accel_pedal_2{"apps2"};
+
+CanBase vehicle_can_base{"vehicle"};
+
+DigitalOutput debug_led{"Debug LED"};
+}  // namespace mcal
+
+namespace bindings {
+shared::periph::ADCInput& accel_pedal_1 = mcal::accel_pedal_1;
+shared::periph::ADCInput& accel_pedal_2 = mcal::accel_pedal_2;
+shared::periph::CanBase& vehicle_can_base = mcal::vehicle_can_base;
+
+shared::periph::DigitalOutput& debug_led = mcal::debug_led;
+
+void Initialize() {
+    std::cout << "Initializing CLI..." << std::endl;
+    mcal::vehicle_can_base.Setup();
+}
+
+void DelayMS(uint32_t ms) {
+    usleep(ms * 1000);
+}
+
+}  // namespace bindings

firmware/projects/EV5/debug/MotorDebug/platforms/cli/mcal_conf.cmake

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+set(MCAL cli)

firmware/projects/EV5/debug/MotorDebug/platforms/stm32f767/CMakeLists.txt

@@ -0,0 +1,7 @@
+target_sources(bindings PRIVATE bindings.cc)
+target_include_directories(bindings PRIVATE ${DIR_PROJECT})
+
+target_link_libraries(bindings PUBLIC mcal-stm32f767)
+
+add_subdirectory(cubemx)  # provides "driver"
+target_link_libraries(bindings PUBLIC driver)

firmware/projects/EV5/debug/MotorDebug/platforms/stm32f767/bindings.cc

@@ -0,0 +1,68 @@
+#include <cstdint>
+
+#include "adc.h"
+#include "bindings.h"
+#include "can.h"
+#include "gpio.h"
+#include "main.h"
+#include "shared/periph/adc.h"
+#include "shared/periph/can.h"
+#include "shared/periph/gpio.h"
+#include "stm32f7xx_hal.h"
+#include "stm32f7xx_hal_adc.h"
+
+// fw imports
+#include "mcal/stm32f767/periph/adc.h"
+#include "mcal/stm32f767/periph/can.h"
+#include "mcal/stm32f767/periph/gpio.h"
+
+extern "C" {
+/**
+ * This requires extern since it is not declared in a header, only defined
+ * in cubemx/../main.c
+ */
+void SystemClock_Config();
+}
+
+namespace mcal {
+using namespace stm32f767::periph;
+
+ADCInput accel_pedal_1{
+    &hadc1,
+    ADC_CHANNEL_12,
+};
+ADCInput accel_pedal_2{
+    &hadc1,
+    ADC_CHANNEL_13,
+};
+
+CanBase vehicle_can_base{&hcan3};
+
+DigitalOutput debug_led{
+    DEBUG_LED_GPIO_Port,
+    DEBUG_LED_Pin,
+};
+}  // namespace mcal
+
+namespace bindings {
+shared::periph::ADCInput& accel_pedal_1 = mcal::accel_pedal_1;
+shared::periph::ADCInput& accel_pedal_2 = mcal::accel_pedal_2;
+shared::periph::CanBase& vehicle_can_base = mcal::vehicle_can_base;
+shared::periph::DigitalOutput& debug_led = mcal::debug_led;
+
+void Initialize() {
+    SystemClock_Config();
+    HAL_Init();
+
+    MX_ADC1_Init();
+    MX_GPIO_Init();
+    MX_CAN3_Init();
+
+    mcal::vehicle_can_base.Setup();
+}
+
+void DelayMS(uint32_t ms) {
+    HAL_Delay(ms);
+}
+
+}  // namespace bindings

firmware/projects/EV5/debug/MotorDebug/platforms/stm32f767/cubemx/.gitignore

@@ -0,0 +1,4 @@
+*
+!*.ioc
+!.gitignore
+!CMakeLists.txt

firmware/projects/EV5/debug/MotorDebug/platforms/stm32f767/cubemx/CMakeLists.txt

@@ -0,0 +1 @@
+include(${CMAKE_SOURCE_DIR}/cmake/build_cubemx.cmake)