Modify & transmit params via CAN
This commit is contained in:
parent
a5f10be4fd
commit
253b10ba15
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@ -5,8 +5,14 @@
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extern "C" {
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#endif
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#include <stddef.h>
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#include <stdint.h>
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#include "util.h"
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CountedEnum(ParamType, size_t, PF_BBAL, PF_TC1, PF_TC2, PF_TORQUEMAP, PF_TEST1,
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PF_TEST2, PF_TEST3, PF_TEST4);
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typedef struct {
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float bbal;
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unsigned tc1;
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@ -17,6 +23,11 @@ typedef struct {
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extern Params params;
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void params_init();
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void params_inc(ParamType param);
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void params_dec(ParamType param);
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void params_broadcast(ParamType param);
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#ifdef __cplusplus
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}
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#endif
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@ -0,0 +1,11 @@
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#ifndef INC_UTIL_H
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#define INC_UTIL_H
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// This is wacky preprocessor magic that allows us to count the number of
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// members of an enum. Unfortunately, it doesn't work with enum classes, so we
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// have to use C-style enums.
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#define CountedEnum(NAME, TYPE, ...) \
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typedef enum { __VA_ARGS__ } NAME; \
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static const size_t NAME##_COUNT = sizeof((int[]){__VA_ARGS__}) / sizeof(int);
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#endif // INC_UTIL_H
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@ -1,6 +1,7 @@
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#ifndef __INC_VEHICLE_H
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#define __INC_VEHICLE_H
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#include "params.h"
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#include "stw_defines.h"
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#include "tx_port.h"
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@ -106,6 +107,8 @@ void vehicle_thread_entry(ULONG hfdcan_addr);
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void vehicle_select_mission(Mission mission);
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void vehicle_broadcast_param(ParamType param, int32_t value);
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#ifdef __cplusplus
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}
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#endif
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@ -27,6 +27,7 @@
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#include "ft_logo_rainbow_rgb565.h"
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#include "hx8357d.h"
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#include "leds.h"
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#include "params.h"
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#include "shorttimer.h"
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#include <stdint.h>
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@ -144,6 +145,7 @@ int main(void) {
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if (HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4) != HAL_OK) {
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Error_Handler();
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}
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params_init();
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shorttimer_init(htim_us);
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led_init(&hspi3, &htim1);
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@ -1,3 +1,118 @@
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#include "params.h"
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#include "can-halal.h"
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#include "vehicle.h"
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Params params = {0};
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void params_init() { params.bbal = 50; }
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void params_inc(ParamType param) {
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switch (param) {
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case PF_BBAL:
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params.bbal += 0.5f;
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if (params.bbal > 100.0f) {
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params.bbal = 100.0f;
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}
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break;
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case PF_TC1:
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params.tc1++;
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break;
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case PF_TC2:
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params.tc2++;
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break;
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case PF_TORQUEMAP:
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params.torque_map++;
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break;
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case PF_TEST1:
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params.test[0]++;
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break;
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case PF_TEST2:
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params.test[1]++;
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break;
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case PF_TEST3:
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params.test[2]++;
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break;
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case PF_TEST4:
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params.test[3]++;
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break;
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}
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}
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void params_dec(ParamType param) {
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switch (param) {
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case PF_BBAL:
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params.bbal -= 0.5f;
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if (params.bbal < 0.0f) {
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params.bbal = 0.0f;
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}
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break;
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case PF_TC1:
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if (params.tc1 > 0) {
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params.tc1--;
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}
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break;
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case PF_TC2:
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if (params.tc2 > 0) {
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params.tc2--;
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}
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break;
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case PF_TORQUEMAP:
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if (params.torque_map > 0) {
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params.torque_map--;
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}
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break;
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case PF_TEST1:
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if (params.test[0] > 0) {
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params.test[0]--;
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}
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break;
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case PF_TEST2:
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if (params.test[1] > 0) {
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params.test[1]--;
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}
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break;
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case PF_TEST3:
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if (params.test[2] > 0) {
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params.test[2]--;
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}
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break;
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case PF_TEST4:
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if (params.test[3] > 0) {
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params.test[3]--;
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}
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break;
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}
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}
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void params_broadcast(ParamType param) {
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int32_t value;
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switch (param) {
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case PF_BBAL:
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value = params.bbal * 10;
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break;
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case PF_TC1:
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value = params.tc1;
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break;
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case PF_TC2:
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value = params.tc2;
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break;
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case PF_TORQUEMAP:
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value = params.torque_map;
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break;
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case PF_TEST1:
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value = params.test[0];
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break;
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case PF_TEST2:
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value = params.test[1];
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break;
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case PF_TEST3:
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value = params.test[2];
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break;
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case PF_TEST4:
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value = params.test[3];
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break;
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default:
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return;
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}
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vehicle_broadcast_param(param, value);
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}
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@ -13,6 +13,7 @@
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#define CAN_ID_AMS_STATUS 0xA
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#define CAN_ID_MISSION_SELECTED 0x400
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#define CAN_ID_STW_PARAM_SET 0x402
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#define CAN_ID_AS_MISSION_FB 0x410
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#define CAN_ID_STW_STATUS 0x412
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#define CAN_ID_SHUNT_CURRENT 0x521
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@ -33,8 +34,6 @@ void vehicle_thread_entry(ULONG hfdcan_addr) {
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ftcan_add_filter(CAN_ID_SHUNT_VOLTAGE3, 0x7FF);
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while (1) {
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uint8_t data[] = {0xFF, 0xEE};
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ftcan_transmit(0x456, data, 2);
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tx_thread_sleep(10);
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}
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}
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ftcan_transmit(CAN_ID_MISSION_SELECTED, &mission_int, 1);
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}
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void vehicle_broadcast_param(ParamType param, int32_t value) {
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uint8_t data[5];
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uint8_t *ptr = data;
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ptr = ftcan_marshal_unsigned(ptr, param, 1);
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ptr = ftcan_marshal_signed(ptr, value, 4);
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ftcan_transmit(CAN_ID_STW_PARAM_SET, data, 5);
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}
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void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
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switch (id) {
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case CAN_ID_AMS_STATUS:
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@ -6,13 +6,7 @@
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#include <stddef.h>
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#include <stdint.h>
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// We want to automatically count the number of data field types for the
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// description array. This is wacky preprocessor magic that allows us to do just
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// that. Unfortunately, it doesn't work with enum classes, so we have to use
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// C-style enums.
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#define CountedEnum(NAME, TYPE, ...) \
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enum NAME : TYPE { __VA_ARGS__ }; \
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constexpr size_t NAME##_COUNT = sizeof((int[]){__VA_ARGS__}) / sizeof(int);
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#include "util.h"
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CountedEnum(DataFieldType, size_t, DF_TSState, DF_ASState, DF_ActiveMission,
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DF_R2DProgress, DF_INVLReady, DF_INVRReady, DF_SDC, DF_ERR,
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@ -20,8 +14,6 @@ CountedEnum(DataFieldType, size_t, DF_TSState, DF_ASState, DF_ActiveMission,
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DF_TireTempRL, DF_TireTempRR, DF_MinCellVolt, DF_MaxCellTemp,
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DF_TSSoC, DF_LVSoC, DF_TSCurrent, DF_TSVoltageBat, DF_TSVoltageVeh,
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DF_Speed, DF_BBal);
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CountedEnum(ParamFieldType, size_t, PF_BBAL, PF_TC1, PF_TC2, PF_TORQUEMAP,
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PF_TEST1, PF_TEST2, PF_TEST3, PF_TEST4);
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enum class NamedFieldKind { Float, Bool, Text, Int };
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#include "gui/common/NamedField.hpp"
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#include <gui_generated/containers/ConfigItemBase.hpp>
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class ConfigItem : public ConfigItemBase, public NamedField<ParamFieldType> {
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#include "params.h"
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class ConfigItem : public ConfigItemBase, public NamedField<ParamType> {
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public:
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ConfigItem();
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virtual ~ConfigItem() {}
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#define PARAM_FIELD(FIELD) []() { return (void *)¶ms.FIELD; }
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void inc_bbal(void *valPtr) {
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// float *val = (float *)valPtr;
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// *val += 0.1f;
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// if (*val > 100.0f) {
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// *val = 100.0f;
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// }
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}
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void dec_bbal(void *valPtr) {
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// float *val = (float *)valPtr;
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// *val -= 0.1f;
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// if (*val < 0.0f) {
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// *val = 0.0f;
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// }
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}
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void inc_int(void *valPtr) {
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// int *val = (int *)valPtr;
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// *val += 1;
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}
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void dec_int(void *valPtr) {
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// int *val = (int *)valPtr;
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// *val -= 1;
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// if (*val < 0) {
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// *val = 0;
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// }
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}
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NamedFieldDescription paramFieldDescs[] = {
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[PF_BBAL] = {NamedFieldKind::Float, "BBAL", 2, 1, PARAM_FIELD(bbal)},
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[PF_TC1] = {NamedFieldKind::Int, "TC1", 2, 0, PARAM_FIELD(tc1)},
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};
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static_assert(sizeof(paramFieldDescs) / sizeof(paramFieldDescs[0]) ==
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ParamFieldType_COUNT,
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ParamType_COUNT,
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"Incorrect number of param field descriptions");
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template <class T>
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}
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template class NamedField<DataFieldType>;
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template class NamedField<ParamFieldType>;
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template class NamedField<ParamType>;
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@ -1,6 +1,7 @@
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#include "gui/common/NamedField.hpp"
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#include "gui/containers/ConfigItem.hpp"
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#include "main.h"
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#include "params.h"
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#include <cstdint>
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#include <gui/vehicleconfig_screen/VehicleConfigView.hpp>
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@ -8,7 +9,7 @@ VehicleConfigView::VehicleConfigView() : selectedParam{0} {}
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void VehicleConfigView::setupScreen() {
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VehicleConfigViewBase::setupScreen();
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params.setNumberOfItems(ParamFieldType_COUNT);
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params.setNumberOfItems(ParamType_COUNT);
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}
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void VehicleConfigView::tearDownScreen() {
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}
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void VehicleConfigView::paramsUpdateItem(ConfigItem &item, int16_t itemIndex) {
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item.setType(static_cast<ParamFieldType>(itemIndex));
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item.setType(static_cast<ParamType>(itemIndex));
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item.setSelected(itemIndex == selectedParam);
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}
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void VehicleConfigView::selectPrevParam() {
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if (selectedParam == 0) {
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updateSelectedParam(ParamFieldType_COUNT - 1);
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updateSelectedParam(ParamType_COUNT - 1);
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} else {
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updateSelectedParam(selectedParam - 1);
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}
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}
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void VehicleConfigView::selectNextParam() {
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updateSelectedParam((selectedParam + 1) % ParamFieldType_COUNT);
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updateSelectedParam((selectedParam + 1) % ParamType_COUNT);
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}
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void VehicleConfigView::decParam() {
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// TODO: How to handle this for different parameter types?
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params_dec(static_cast<ParamType>(selectedParam));
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params.itemChanged(selectedParam);
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}
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void VehicleConfigView::incParam() {
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// TODO: How to handle this for different parameter types?
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params_inc(static_cast<ParamType>(selectedParam));
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params.itemChanged(selectedParam);
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}
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void VehicleConfigView::confirmParam() {
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// TODO: How to handle this for different parameter types?
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params_broadcast(static_cast<ParamType>(selectedParam));
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}
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void VehicleConfigView::updateSelectedParam(int select) {
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@ -81,7 +84,7 @@ void VehicleConfigView::updateSelectedParam(int select) {
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}
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int16_t firstWanted;
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if (selectedParam == 0 && previousSelected == ParamFieldType_COUNT - 1) {
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if (selectedParam == 0 && previousSelected == ParamType_COUNT - 1) {
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firstWanted = 0;
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} else if (selectedParam > previousSelected) {
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firstWanted = selectedParam - numVisible + 1;
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}
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if (firstWanted < 0) {
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firstWanted = 0;
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} else if (firstWanted > ParamFieldType_COUNT - 1) {
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firstWanted = ParamFieldType_COUNT - 1;
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} else if (firstWanted > ParamType_COUNT - 1) {
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firstWanted = ParamType_COUNT - 1;
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}
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params.animateToItem(firstWanted, 0);
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}
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