Update param freq

Fix dumb config typo
Fix DRS
2024-08-01 20:56:09 +02:00 · 2024-07-24 09:35:22 +02:00 · 2024-07-23 15:13:22 +02:00 · 2024-07-22 19:35:23 +02:00 · 2024-07-22 19:32:24 +02:00
9 changed files with 443 additions and 313 deletions
--- a/AZURE_RTOS/App/app_azure_rtos.c
+++ b/AZURE_RTOS/App/app_azure_rtos.c
@ -21,19 +21,19 @@
 /* Includes ------------------------------------------------------------------*/

 #include "app_azure_rtos.h"
+
 #include "stm32h7xx.h"

 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "app.h"
+#include "app_touchgfx.h"
 #include "leds.h"
 #include "main.h"
-#include "ui.h"
-#include "vehicle.h"
-
-#include "app_touchgfx.h"
 #include "tx_api.h"
 #include "tx_port.h"
+#include "ui.h"
+#include "vehicle.h"

 /* USER CODE END Includes */

@ -56,10 +56,11 @@
 #if (USE_STATIC_ALLOCATION == 1)
 /* USER CODE BEGIN TX_Pool_Buffer */
 /* USER CODE END TX_Pool_Buffer */
-#if defined ( __ICCARM__ )
-#pragma data_alignment=4
+#if defined(__ICCARM__)
+#pragma data_alignment = 4
 #endif
-__ALIGN_BEGIN static UCHAR tx_byte_pool_buffer[TX_APP_MEM_POOL_SIZE] __ALIGN_END;
+__ALIGN_BEGIN static UCHAR
+    tx_byte_pool_buffer[TX_APP_MEM_POOL_SIZE] __ALIGN_END;
 static TX_BYTE_POOL tx_app_byte_pool;

 #endif
@ -69,6 +70,7 @@ TX_THREAD app_thread;
 TX_THREAD ui_thread;
 TX_THREAD vehicle_thread;
 TX_THREAD led_thread;
+TX_THREAD params_thread;
 TX_QUEUE gui_button_queue;
 TX_EVENT_FLAGS_GROUP gui_update_events;
 /* USER CODE END PV */
@ -79,12 +81,11 @@ TX_EVENT_FLAGS_GROUP gui_update_events;
 /* USER CODE END PFP */

 /**
-  * @brief  Define the initial system.
-  * @param  first_unused_memory : Pointer to the first unused memory
-  * @retval None
-  */
-VOID tx_application_define(VOID *first_unused_memory)
-{
+ * @brief  Define the initial system.
+ * @param  first_unused_memory : Pointer to the first unused memory
+ * @retval None
+ */
+VOID tx_application_define(VOID *first_unused_memory) {
  /* USER CODE BEGIN  tx_application_define_1*/

  /* USER CODE END  tx_application_define_1 */
@ -92,22 +93,20 @@ VOID tx_application_define(VOID *first_unused_memory)
  UINT status = TX_SUCCESS;
  VOID *memory_ptr;

-  if (tx_byte_pool_create(&tx_app_byte_pool, "Tx App memory pool", tx_byte_pool_buffer, TX_APP_MEM_POOL_SIZE) != TX_SUCCESS)
-  {
+  if (tx_byte_pool_create(&tx_app_byte_pool, "Tx App memory pool",
+                          tx_byte_pool_buffer,
+                          TX_APP_MEM_POOL_SIZE) != TX_SUCCESS) {
    /* USER CODE BEGIN TX_Byte_Pool_Error */

    /* USER CODE END TX_Byte_Pool_Error */
-  }
-  else
-  {
+  } else {
    /* USER CODE BEGIN TX_Byte_Pool_Success */

    /* USER CODE END TX_Byte_Pool_Success */

    memory_ptr = (VOID *)&tx_app_byte_pool;
    status = App_ThreadX_Init(memory_ptr);
-    if (status != TX_SUCCESS)
-    {
+    if (status != TX_SUCCESS) {
      /* USER CODE BEGIN  App_ThreadX_Init_Error */
      while (1) {
      }
@ -117,21 +116,22 @@ VOID tx_application_define(VOID *first_unused_memory)
    /* USER CODE BEGIN  App_ThreadX_Init_Success */

    /* USER CODE END  App_ThreadX_Init_Success */
-
  }

 #else
  /*
-   * Using dynamic memory allocation requires to apply some changes to the linker file.
-   * ThreadX needs to pass a pointer to the first free memory location in RAM to the tx_application_define() function,
+   * Using dynamic memory allocation requires to apply some changes to the
+   linker file.
+   * ThreadX needs to pass a pointer to the first free memory location in RAM to
+   the tx_application_define() function,
   * using the "first_unused_memory" argument.
   * This require changes in the linker files to expose this memory location.
   * For EWARM add the following section into the .icf file:
       place in RAM_region    { last section FREE_MEM };
   * For MDK-ARM
       - either define the RW_IRAM1 region in the ".sct" file
-       - or modify the line below in "tx_initialize_low_level.S to match the memory region being used
-          LDR r1, =|Image$$RW_IRAM1$$ZI$$Limit|
+       - or modify the line below in "tx_initialize_low_level.S to match the
+   memory region being used LDR r1, =|Image$$RW_IRAM1$$ZI$$Limit|

   * For STM32CubeIDE add the following section into the .ld file:
       ._threadx_heap :
@ -141,13 +141,17 @@ VOID tx_application_define(VOID *first_unused_memory)
            . = . + 64K;
            . = ALIGN(8);
          } >RAM_D1 AT> RAM_D1
-      * The simplest way to provide memory for ThreadX is to define a new section, see ._threadx_heap above.
+      * The simplest way to provide memory for ThreadX is to define a new
+   section, see ._threadx_heap above.
      * In the example above the ThreadX heap size is set to 64KBytes.
-      * The ._threadx_heap must be located between the .bss and the ._user_heap_stack sections in the linker script.
-      * Caution: Make sure that ThreadX does not need more than the provided heap memory (64KBytes in this example).
+      * The ._threadx_heap must be located between the .bss and the
+   ._user_heap_stack sections in the linker script.
+      * Caution: Make sure that ThreadX does not need more than the provided
+   heap memory (64KBytes in this example).
      * Read more in STM32CubeIDE User Guide, chapter: "Linker script".

-   * The "tx_initialize_low_level.S" should be also modified to enable the "USE_DYNAMIC_MEMORY_ALLOCATION" flag.
+   * The "tx_initialize_low_level.S" should be also modified to enable the
+   "USE_DYNAMIC_MEMORY_ALLOCATION" flag.
   */

  /* USER CODE BEGIN DYNAMIC_MEM_ALLOC */
@ -208,6 +212,15 @@ VOID tx_application_define(VOID *first_unused_memory)
    Error_Handler();
  }

+  void *params_thread_stack = mem;
+  mem += THREAD_STACK_SIZE;
+  if (tx_thread_create(&params_thread, "Params Thread", params_thread_entry, 0,
+                       params_thread_stack, THREAD_STACK_SIZE,
+                       THREAD_PRIO_PARAMS, THREAD_PRIO_UI, TX_NO_TIME_SLICE,
+                       TX_AUTO_START) != TX_SUCCESS) {
+    Error_Handler();
+  }
+
  if (MX_TouchGFX_Init(mem) != TX_SUCCESS) {
    Error_Handler();
  }
@ -215,5 +228,4 @@ VOID tx_application_define(VOID *first_unused_memory)
  mem += 4096;
  /* USER CODE END DYNAMIC_MEM_ALLOC */
 #endif
-
 }
--- a/AZURE_RTOS/App/app_azure_rtos.h
+++ b/AZURE_RTOS/App/app_azure_rtos.h
@ -27,7 +27,6 @@ extern "C" {

 /* Includes ------------------------------------------------------------------*/
 #include "app_azure_rtos_config.h"
-
 #include "app_threadx.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
@ -44,6 +43,7 @@ extern "C" {
 #define THREAD_STACK_SIZE 4096

 #define THREAD_PRIO_APP 10
+#define THREAD_PRIO_PARAMS 8
 #define THREAD_PRIO_UI 6
 #define THREAD_PRIO_VEHICLE 7
 #define THREAD_PRIO_LED 11
--- a/Core/Inc/params.h
+++ b/Core/Inc/params.h
@ -7,18 +7,20 @@ extern "C" {

 #include <stddef.h>
 #include <stdint.h>
+#include <tx_port.h>

 #include "util.h"

-CountedEnum(ParamType, size_t, PF_PLIM, PF_TLIM, PF_SLIM, PF_TVEC, PF_PG, PF_REKU);
+CountedEnum(ParamType, size_t, PF_PLIM, PF_TLIM, PF_SLIM, PF_TVEC, PF_PG,
+            PF_REKU);

 typedef struct {
-  unsigned plim; //< Power limit
-  unsigned tlim; //< Torque limit
-  unsigned slim; //< Speed limit
-  unsigned tvec; //< Torque vectoring
-  unsigned pg;   //< Power ground
-  unsigned reku; //< Rekuperation
+  unsigned plim;  //< Power limit
+  unsigned tlim;  //< Torque limit
+  unsigned slim;  //< Speed limit
+  unsigned tvec;  //< Torque vectoring
+  unsigned pg;    //< Power ground
+  unsigned reku;  //< Rekuperation
 } Params;

 extern Params params;
@ -28,8 +30,13 @@ void params_inc(ParamType param);
 void params_dec(ParamType param);
 void params_broadcast(ParamType param);

+/** FT24 only
+ * Broadcasts the current registered params to the CAN bus every second
+ */
+void params_thread_entry(ULONG _);
+
 #ifdef __cplusplus
 }
 #endif

-#endif // INC_PARAMS_H
+#endif  // INC_PARAMS_H
--- a/Core/Src/params.c
+++ b/Core/Src/params.c
@ -1,17 +1,29 @@
 #include "params.h"
+
+#include <tx_api.h>
+
 #include "can-halal.h"
+#include "leds.h"
 #include "vehicle.h"

 /**
 * Decrements the given value if it is above the minimum allowed value
 */
-#define DEC_IF_ABOVE(param_val, min_val, decr_amt) ((param_val) = ((param_val) - (decr_amt) ) > (min_val) ? ((param_val) - (decr_amt)) : (min_val))
-#define INC_IF_BELOW(param_val, max_val, incr_amt) ((param_val) = ((param_val) + (incr_amt)) > (max_val) ? ((param_val) + (incr_amt)) : (max_val))
+// TODO these functions take into account that the parameters are unsigned, it's
+// definitely better to have them signed but would need to be tested with the
+// autobox
+#define DEC_IF_ABOVE(param_val, min_val, decr_amt)                       \
+  ((param_val) = (((int)(param_val) - (int)(decr_amt)) > (int)(min_val)) \
+                     ? ((param_val) - (decr_amt))                        \
+                     : (min_val))
+#define INC_IF_BELOW(param_val, max_val, incr_amt)        \
+  ((param_val) = (((param_val) + (incr_amt)) < (max_val)) \
+                     ? ((param_val) + (incr_amt))         \
+                     : (max_val))

 Params params = {0};

-void params_init()
-{
+void params_init() {
  // Default values
  params.plim = 20;
  params.tlim = 1400;
@ -21,81 +33,89 @@ void params_init()
  params.reku = 0;
 }

-void params_inc(ParamType param)
-{
-  switch (param)
-  {
-  case PF_PLIM:
-    INC_IF_BELOW(params.plim, 80, 1);
-    break;
-  case PF_TLIM:
-    INC_IF_BELOW(params.tlim, 1500, 100);
-    break;
-  case PF_SLIM:
-    INC_IF_BELOW(params.slim, 100, 1);
-    break;
-  case PF_TVEC:
-    INC_IF_BELOW(params.tvec, 100, 1);
-    break;
-  case PF_PG:
-    INC_IF_BELOW(params.pg, 100, 1);
-    break;
-  case PF_REKU:
-    INC_IF_BELOW(params.reku, 100, 1);
-    break;
+void params_inc(ParamType param) {
+  switch (param) {
+    case PF_PLIM:
+      INC_IF_BELOW(params.plim, 80, 1);
+      break;
+    case PF_TLIM:
+      INC_IF_BELOW(params.tlim, 1500, 100);
+      break;
+    case PF_SLIM:
+      INC_IF_BELOW(params.slim, 100, 1);
+      break;
+    case PF_TVEC:
+      INC_IF_BELOW(params.tvec, 100, 1);
+      break;
+    case PF_PG:
+      INC_IF_BELOW(params.pg, 100, 1);
+      break;
+    case PF_REKU:
+      INC_IF_BELOW(params.reku, 100, 1);
+      break;
  }
 }

-void params_dec(ParamType param)
-{
-  switch (param)
-  {
-  case PF_PLIM:
-    DEC_IF_ABOVE(params.plim, 0, 1);
-    break;
-  case PF_TLIM:
-    DEC_IF_ABOVE(params.tlim, 0, 100);
-    break;
-  case PF_SLIM:
-    DEC_IF_ABOVE(params.slim, 0, 1);
-    break;
-  case PF_TVEC:
-    DEC_IF_ABOVE(params.tvec, 0, 1);
-    break;
-  case PF_PG:
-    DEC_IF_ABOVE(params.pg, 0, 1);
-    break;
-  case PF_REKU:
-    DEC_IF_ABOVE(params.reku, 0, 1);
-    break;
+void params_dec(ParamType param) {
+  switch (param) {
+    case PF_PLIM:
+      DEC_IF_ABOVE(params.plim, 0, 1);
+      break;
+    case PF_TLIM:
+      DEC_IF_ABOVE(params.tlim, 0, 100);
+      break;
+    case PF_SLIM:
+      DEC_IF_ABOVE(params.slim, 0, 1);
+      break;
+    case PF_TVEC:
+      DEC_IF_ABOVE(params.tvec, 0, 1);
+      break;
+    case PF_PG:
+      DEC_IF_ABOVE(params.pg, 0, 1);
+      break;
+    case PF_REKU:
+      DEC_IF_ABOVE(params.reku, 0, 1);
+      break;
  }
 }

-void params_broadcast(ParamType param)
-{
+void params_broadcast(ParamType param) {
  int32_t value;
-  switch (param)
-  {
-  case PF_PLIM:
-    value = params.plim;
-    break;
-  case PF_TLIM:
-    value = params.tlim;
-    break;
-  case PF_SLIM:
-    value = params.slim;
-    break;
-  case PF_TVEC:
-    value = params.tvec;
-    break;
-  case PF_PG:
-    value = params.pg;
-    break;
-  case PF_REKU:
-    value = params.reku;
-    break;
-  default:
-    return;
+  switch (param) {
+    case PF_PLIM:
+      value = params.plim;
+      break;
+    case PF_TLIM:
+      value = params.tlim;
+      break;
+    case PF_SLIM:
+      value = params.slim;
+      break;
+    case PF_TVEC:
+      value = params.tvec;
+      break;
+    case PF_PG:
+      value = params.pg;
+      break;
+    case PF_REKU:
+      value = params.reku;
+      break;
+    default:
+      return;
  }
  vehicle_broadcast_param(param, value);
 }
+
+void params_thread_entry(ULONG _) {
+  tx_thread_sleep(TX_TIMER_TICKS_PER_SECOND);
+
+  while (1) {
+    for (size_t i = 0; i < ParamType_COUNT; i++) {
+      led_set(1, 0, 255, 0);
+      params_broadcast(i);
+    }
+
+    // Wait one second
+    tx_thread_sleep(TX_TIMER_TICKS_PER_SECOND);
+  }
+}
--- a/Core/Src/ui.c
+++ b/Core/Src/ui.c
@ -13,8 +13,8 @@
 #include "leds.h"

 #define DRS_BUTTON_IDX (6)
-#define DRS_PRESS_WAIT_CYCLES (10)
-static drs_press_buf_cycles = 0;
+#define DRS_PRESS_WAIT_CYCLES (1000)
+static int drs_press_buf_cycles = 0;

 void ui_thread_entry(ULONG _) {
  GPIO_TypeDef *button_ports[NUM_BUTTONS] = {BTN1_GPIO_Port, BTN2_GPIO_Port,
--- a/Core/Src/vehicle.c
+++ b/Core/Src/vehicle.c
@ -1,16 +1,14 @@
 #include "vehicle.h"

-#include "main.h"
-#include "ui.h"
-#include "vehicle_state.h"
-
 #include "can-halal.h"
-
+#include "main.h"
 #include "stm32h7xx.h"
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_fdcan.h"
 #include "stm32h7xx_hal_gpio.h"
 #include "tx_api.h"
+#include "ui.h"
+#include "vehicle_state.h"

 #define CAN_ID_AMS_SLAVE_PANIC 0x9
 #define CAN_ID_AMS_STATUS 0xA
@ -98,7 +96,8 @@ void vehicle_broadcast_param(ParamType param, int32_t value) {

 void vehicle_broadcast_buttons(GPIO_PinState *button_states) {
  uint8_t data = (button_states[0] << 2) | (button_states[1] << 0) |
-                 (button_states[2] << 1) | (button_states[3] << 3);
+                 (button_states[2] << 1) | (button_states[3] << 3) |
+                 (button_states[6] << 4);
  ftcan_transmit(CAN_ID_STW_BUTTONS, &data, 1);
 }

@ -112,142 +111,144 @@ void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
    }
  } else {
    switch (id) {
-    case CAN_ID_AMS_SLAVE_PANIC:
-      vehicle_state.last_ams_slave_panic.id = data[0];
-      vehicle_state.last_ams_slave_panic.kind = data[1];
-      ptr = &data[2];
-      vehicle_state.last_ams_slave_panic.arg =
-          ftcan_unmarshal_unsigned(&ptr, 4);
-      break;
-    case CAN_ID_AMS_STATUS:
-      vehicle_state.ts_state = data[0] & 0x7F;
-      vehicle_state.sdc_closed = (data[0] & 0x80) >> 7;
-      vehicle_state.soc_ts = data[1];
-      ptr = &data[2];
-      vehicle_state.min_cell_volt =
-          ftcan_unmarshal_unsigned(&ptr, 2) * CAN_AMS_STATUS_VOLTAGE_FACTOR;
-      vehicle_state.max_cell_temp =
-          ftcan_unmarshal_signed(&ptr, 2) * CAN_AMS_STATUS_TEMP_FACTOR;
-      vehicle_state.imd_ok = (data[6] >> 7);
-      // TODO: Separate temperatures for left and right side of battery
-      vehicle_state.temps.bat_l = vehicle_state.max_cell_temp;
-      vehicle_state.temps.bat_r = vehicle_state.max_cell_temp;
-      break;
-    case CAN_ID_SDCL_TX:
-      vehicle_state.sdcl_state[0] = data[0] & CAN_SDCL_STATE_1_MASK;
-      vehicle_state.sdcl_state[1] = data[0] & CAN_SDCL_STATE_2_MASK;
-      vehicle_state.sdcl_state[2] = data[0] & CAN_SDCL_STATE_3_MASK;
-      break;
-    case CAN_ID_PDU_RESPONSE:
-      vehicle_state.pdu_sdc_active = data[0] & CAN_PDU_RESPONSE_SDC_TX_MASK;
-      break;
-    case CAN_ID_AMS_ERROR:
-      vehicle_state.last_ams_error.kind = data[0];
-      vehicle_state.last_ams_error.arg = data[1];
-      break;
-    case CAN_ID_JETSON_TX:
-      vehicle_state.last_jetson_msg = HAL_GetTick();
-      vehicle_state.as_ok = data[0] & CAN_JETSON_TX_AS_OK_MASK;
-      vehicle_state.desired_speed =
-          ((int8_t)data[1]) * CAN_JETSON_TX_SPEED_FACTOR;
-      vehicle_state.desired_angle =
-          ((int8_t)data[2]) * CAN_JETSON_TX_ANGLE_FACTOR;
-      break;
-    case CAN_ID_ABX_DRIVER:
-      vehicle_state.brake_press_f =
-          (data[1] | ((data[2] & 0x0F) << 8)) * CAN_ABX_DRIVER_PRESS_FACTOR;
-      vehicle_state.brake_press_r =
-          ((data[2] >> 4) | (data[3] << 4)) * CAN_ABX_DRIVER_PRESS_FACTOR;
-      vehicle_state.speed = data[5] * CAN_ABX_DRIVER_SPEED_FACTOR;
-      break;
-    case CAN_ID_ABX_HYDRAULICS:
-      vehicle_state.hyd_press_a =
-          (data[0] | ((data[1] & 0x0F) << 8)) * CAN_ABX_DRIVER_PRESS_FACTOR;
-      vehicle_state.hyd_press_b =
-          ((data[1] >> 4) | (data[2] << 4)) * CAN_ABX_DRIVER_PRESS_FACTOR;
-      break;
-    case CAN_ID_ABX_TIMINGS:
-      vehicle_state.lap_best = (data[0] | (data[1] << 8)) * 0.01f;
-      vehicle_state.lap_last = (data[2] | (data[3] << 8)) * 0.01f;
-      break;
-    case CAN_ID_ABX_BRAKE_T:
-      vehicle_state.temps.brake_fl = (data[0] | (data[1] << 8)) * 0.01f;
-      vehicle_state.temps.brake_fr = (data[2] | (data[3] << 8)) * 0.01f;
-      vehicle_state.temps.brake_rl = (data[4] | (data[5] << 8)) * 0.01f;
-      vehicle_state.temps.brake_rr = (data[6] | (data[7] << 8)) * 0.01f;
-      break;
-    case CAN_ID_CS_INTERNAL:
-      vehicle_state.temps.inv_l =
-          (data[0] | (data[1] << 8)) * CAN_CS_INTERNAL_TEMP_FACTOR;
-      vehicle_state.temps.inv_r =
-          (data[2] | (data[3] << 8)) * CAN_CS_INTERNAL_TEMP_FACTOR;
-      vehicle_state.temps.mot_l =
-          (data[4] | (data[5] << 8)) * CAN_CS_INTERNAL_TEMP_FACTOR;
-      vehicle_state.temps.mot_r =
-          (data[6] | (data[7] << 8)) * CAN_CS_INTERNAL_TEMP_FACTOR;
-      break;
-    case CAN_ID_ABX_MISC:
-      vehicle_state.distance_total =
-          (data[3] | (data[4] << 8)) * CAN_ABX_MISC_DISTANCE_TOTAL_FACTOR;
-      vehicle_state.soc_lv = data[5];
-      vehicle_state.lv_bat_voltage =
-          data[6] * CAN_ABX_MISC_LV_BAT_VOLTAGE_FACTOR;
-      break;
-    case CAN_ID_EPSC_OUT:
-      vehicle_state.last_epsc_msg = HAL_GetTick();
-      vehicle_state.measured_angle =
-          ((int16_t)((data[0] << 8) | (data[1]))) * CAN_EPSC_OUT_ANGLE_FACTOR;
-      break;
-    case CAN_ID_AS_MISSION_FB:
-      vehicle_state.active_mission = data[0] & 0b111;
-      break;
-    case CAN_ID_STW_STATUS:
-      vehicle_state.as_state = data[0] & 0b111;
-      vehicle_state.r2d_progress = data[0] >> 4;
-      vehicle_state.errors.invl_ready = (data[1] >> 0) & 1;
-      vehicle_state.errors.invr_ready = (data[1] >> 1) & 1;
-      vehicle_state.errors.sdc_bfl = (data[1] >> 2) & 1;
-      vehicle_state.errors.sdc_brl = (data[1] >> 3) & 1;
-      vehicle_state.errors.sdc_acc = (data[1] >> 4) & 1;
-      vehicle_state.errors.sdc_hvb = (data[1] >> 5) & 1;
-      vehicle_state.lap_count = data[2] & 0b111111;
-      vehicle_state.ini_chk_state = data[3];
-      vehicle_state.errors.err_sdc = (data[4] >> 0) & 1;
-      vehicle_state.errors.err_ams = (data[4] >> 1) & 1;
-      vehicle_state.errors.err_pdu = (data[4] >> 2) & 1;
-      vehicle_state.errors.err_ini_chk = (data[4] >> 3) & 1;
-      vehicle_state.errors.err_con_mon = (data[4] >> 4) & 1;
-      vehicle_state.errors.err_scs = (data[4] >> 5) & 1;
-      vehicle_state.errors.err_sbspd = (data[4] >> 6) & 1;
-      vehicle_state.errors.err_appsp = (data[4] >> 7) & 1;
-      vehicle_state.errors.err_as = (data[5] >> 0) & 1;
-      vehicle_state.errors.err_ros = (data[5] >> 1) & 1;
-      vehicle_state.errors.err_res = (data[5] >> 2) & 1;
-      vehicle_state.errors.err_invl = (data[5] >> 3) & 1;
-      vehicle_state.errors.err_invr = (data[5] >> 4) & 1;
-      break;
-    case CAN_ID_ABX_PARAM_CONFIRMED:
-      vehicle_state.last_param_confirmed = data[0];
-      tx_event_flags_set(&gui_update_events, GUI_UPDATE_PARAM_CONFIRMED, TX_OR);
-      break;
-    case CAN_ID_SHUNT_CURRENT: {
-      // The first two bytes of shunt result messages are metadata
-      const uint8_t *result_ptr = &data[2];
-      vehicle_state.ts_current = ftcan_unmarshal_signed(&result_ptr, 4) * 1e-3;
-      break;
-    }
-    case CAN_ID_SHUNT_VOLTAGE1: {
-      const uint8_t *result_ptr = &data[2];
-      vehicle_state.ts_voltage_bat =
-          ftcan_unmarshal_signed(&result_ptr, 4) * 1e-3;
-      break;
-    }
-    case CAN_ID_SHUNT_VOLTAGE2: {
-      const uint8_t *result_ptr = &data[2];
-      vehicle_state.ts_voltage_veh =
-          ftcan_unmarshal_signed(&result_ptr, 4) * 1e-3;
-      break;
-    }
+      case CAN_ID_AMS_SLAVE_PANIC:
+        vehicle_state.last_ams_slave_panic.id = data[0];
+        vehicle_state.last_ams_slave_panic.kind = data[1];
+        ptr = &data[2];
+        vehicle_state.last_ams_slave_panic.arg =
+            ftcan_unmarshal_unsigned(&ptr, 4);
+        break;
+      case CAN_ID_AMS_STATUS:
+        vehicle_state.ts_state = data[0] & 0x7F;
+        vehicle_state.sdc_closed = (data[0] & 0x80) >> 7;
+        vehicle_state.soc_ts = data[1];
+        ptr = &data[2];
+        vehicle_state.min_cell_volt =
+            ftcan_unmarshal_unsigned(&ptr, 2) * CAN_AMS_STATUS_VOLTAGE_FACTOR;
+        vehicle_state.max_cell_temp =
+            ftcan_unmarshal_signed(&ptr, 2) * CAN_AMS_STATUS_TEMP_FACTOR;
+        vehicle_state.imd_ok = (data[6] >> 7);
+        // TODO: Separate temperatures for left and right side of battery
+        vehicle_state.temps.bat_l = vehicle_state.max_cell_temp;
+        vehicle_state.temps.bat_r = vehicle_state.max_cell_temp;
+        break;
+      case CAN_ID_SDCL_TX:
+        vehicle_state.sdcl_state[0] = data[0] & CAN_SDCL_STATE_1_MASK;
+        vehicle_state.sdcl_state[1] = data[0] & CAN_SDCL_STATE_2_MASK;
+        vehicle_state.sdcl_state[2] = data[0] & CAN_SDCL_STATE_3_MASK;
+        break;
+      case CAN_ID_PDU_RESPONSE:
+        vehicle_state.pdu_sdc_active = data[0] & CAN_PDU_RESPONSE_SDC_TX_MASK;
+        break;
+      case CAN_ID_AMS_ERROR:
+        vehicle_state.last_ams_error.kind = data[0];
+        vehicle_state.last_ams_error.arg = data[1];
+        break;
+      case CAN_ID_JETSON_TX:
+        vehicle_state.last_jetson_msg = HAL_GetTick();
+        vehicle_state.as_ok = data[0] & CAN_JETSON_TX_AS_OK_MASK;
+        vehicle_state.desired_speed =
+            ((int8_t)data[1]) * CAN_JETSON_TX_SPEED_FACTOR;
+        vehicle_state.desired_angle =
+            ((int8_t)data[2]) * CAN_JETSON_TX_ANGLE_FACTOR;
+        break;
+      case CAN_ID_ABX_DRIVER:
+        vehicle_state.brake_press_f =
+            (data[1] | ((data[2] & 0x0F) << 8)) * CAN_ABX_DRIVER_PRESS_FACTOR;
+        vehicle_state.brake_press_r =
+            ((data[2] >> 4) | (data[3] << 4)) * CAN_ABX_DRIVER_PRESS_FACTOR;
+        vehicle_state.speed = data[5] * CAN_ABX_DRIVER_SPEED_FACTOR;
+        break;
+      case CAN_ID_ABX_HYDRAULICS:
+        vehicle_state.hyd_press_a =
+            (data[0] | ((data[1] & 0x0F) << 8)) * CAN_ABX_DRIVER_PRESS_FACTOR;
+        vehicle_state.hyd_press_b =
+            ((data[1] >> 4) | (data[2] << 4)) * CAN_ABX_DRIVER_PRESS_FACTOR;
+        break;
+      case CAN_ID_ABX_TIMINGS:
+        vehicle_state.lap_best = (data[0] | (data[1] << 8)) * 0.01f;
+        vehicle_state.lap_last = (data[2] | (data[3] << 8)) * 0.01f;
+        break;
+      case CAN_ID_ABX_BRAKE_T:
+        vehicle_state.temps.brake_fl = (data[0] | (data[1] << 8)) * 0.01f;
+        vehicle_state.temps.brake_fr = (data[2] | (data[3] << 8)) * 0.01f;
+        vehicle_state.temps.brake_rl = (data[4] | (data[5] << 8)) * 0.01f;
+        vehicle_state.temps.brake_rr = (data[6] | (data[7] << 8)) * 0.01f;
+        break;
+      case CAN_ID_CS_INTERNAL:
+        vehicle_state.temps.inv_l =
+            (data[0] | (data[1] << 8)) * CAN_CS_INTERNAL_TEMP_FACTOR;
+        vehicle_state.temps.inv_r =
+            (data[2] | (data[3] << 8)) * CAN_CS_INTERNAL_TEMP_FACTOR;
+        vehicle_state.temps.mot_l =
+            (data[4] | (data[5] << 8)) * CAN_CS_INTERNAL_TEMP_FACTOR;
+        vehicle_state.temps.mot_r =
+            (data[6] | (data[7] << 8)) * CAN_CS_INTERNAL_TEMP_FACTOR;
+        break;
+      case CAN_ID_ABX_MISC:
+        vehicle_state.distance_total =
+            (data[3] | (data[4] << 8)) * CAN_ABX_MISC_DISTANCE_TOTAL_FACTOR;
+        vehicle_state.soc_lv = data[5];
+        vehicle_state.lv_bat_voltage =
+            data[6] * CAN_ABX_MISC_LV_BAT_VOLTAGE_FACTOR;
+        break;
+      case CAN_ID_EPSC_OUT:
+        vehicle_state.last_epsc_msg = HAL_GetTick();
+        vehicle_state.measured_angle =
+            ((int16_t)((data[0] << 8) | (data[1]))) * CAN_EPSC_OUT_ANGLE_FACTOR;
+        break;
+      case CAN_ID_AS_MISSION_FB:
+        vehicle_state.active_mission = data[0] & 0b111;
+        break;
+      case CAN_ID_STW_STATUS:
+        vehicle_state.as_state = data[0] & 0b111;
+        vehicle_state.r2d_progress = data[0] >> 4;
+        vehicle_state.errors.invl_ready = (data[1] >> 0) & 1;
+        vehicle_state.errors.invr_ready = (data[1] >> 1) & 1;
+        vehicle_state.errors.sdc_bfl = (data[1] >> 2) & 1;
+        vehicle_state.errors.sdc_brl = (data[1] >> 3) & 1;
+        vehicle_state.errors.sdc_acc = (data[1] >> 4) & 1;
+        vehicle_state.errors.sdc_hvb = (data[1] >> 5) & 1;
+        vehicle_state.lap_count = data[2] & 0b111111;
+        vehicle_state.ini_chk_state = data[3];
+        vehicle_state.errors.err_sdc = (data[4] >> 0) & 1;
+        vehicle_state.errors.err_ams = (data[4] >> 1) & 1;
+        vehicle_state.errors.err_pdu = (data[4] >> 2) & 1;
+        vehicle_state.errors.err_ini_chk = (data[4] >> 3) & 1;
+        vehicle_state.errors.err_con_mon = (data[4] >> 4) & 1;
+        vehicle_state.errors.err_scs = (data[4] >> 5) & 1;
+        vehicle_state.errors.err_sbspd = (data[4] >> 6) & 1;
+        vehicle_state.errors.err_appsp = (data[4] >> 7) & 1;
+        vehicle_state.errors.err_as = (data[5] >> 0) & 1;
+        vehicle_state.errors.err_ros = (data[5] >> 1) & 1;
+        vehicle_state.errors.err_res = (data[5] >> 2) & 1;
+        vehicle_state.errors.err_invl = (data[5] >> 3) & 1;
+        vehicle_state.errors.err_invr = (data[5] >> 4) & 1;
+        break;
+      case CAN_ID_ABX_PARAM_CONFIRMED:
+        vehicle_state.last_param_confirmed = data[0];
+        tx_event_flags_set(&gui_update_events, GUI_UPDATE_PARAM_CONFIRMED,
+                           TX_OR);
+        break;
+      case CAN_ID_SHUNT_CURRENT: {
+        // The first two bytes of shunt result messages are metadata
+        const uint8_t *result_ptr = &data[2];
+        vehicle_state.ts_current =
+            ftcan_unmarshal_signed(&result_ptr, 4) * 1e-3;
+        break;
+      }
+      case CAN_ID_SHUNT_VOLTAGE1: {
+        const uint8_t *result_ptr = &data[2];
+        vehicle_state.ts_voltage_bat =
+            ftcan_unmarshal_signed(&result_ptr, 4) * 1e-3;
+        break;
+      }
+      case CAN_ID_SHUNT_VOLTAGE2: {
+        const uint8_t *result_ptr = &data[2];
+        vehicle_state.ts_voltage_veh =
+            ftcan_unmarshal_signed(&result_ptr, 4) * 1e-3;
+        break;
+      }
    }
  }
  tx_event_flags_set(&gui_update_events, GUI_UPDATE_VEHICLE_STATE, TX_OR);
--- a/STM32-for-VSCode.config.yaml
+++ b/STM32-for-VSCode.config.yaml
@ -29,6 +29,7 @@ cDefinitions:
 cxxDefinitions:
  - USE_HAL_DRIVER
  - STM32H7A3xx
+  - COMPILER_GIT_BUILD_HASH="a07d51f"

 asDefinitions: []

@ -170,3 +171,4 @@ customMakefileRules:
 makeFlags:
 # - -O  # use this option when the output of make is mixed up only works for make version 4.0 and upwards
 # - --silent # use this option to silence the output of the build
+# - -j1
--- a/TouchGFX/gui/include/gui/common/NamedField.hpp
+++ b/TouchGFX/gui/include/gui/common/NamedField.hpp
@ -17,7 +17,7 @@ CountedEnum(DataFieldType, size_t, DF_TSState, DF_ASState, DF_ActiveMission,
            DF_Speed, DF_BBal, DF_BPF, DF_BPR, DF_DistanceTotal, DF_TempMotL,
            DF_TempMotR, DF_TempInvL, DF_TempInvR, DF_TempBrakeFL,
            DF_TempBrakeFR, DF_TempBrakeRL, DF_TempBrakeRR, DF_LapBest,
-            DF_LapLast, DF_LVBatVoltage);
+            DF_LapLast, DF_LVBatVoltage, DF_GitBuildHash);

 enum class NamedFieldKind { Float, Bool, Text, Int };

--- a/TouchGFX/gui/src/common/NamedField.cpp
+++ b/TouchGFX/gui/src/common/NamedField.cpp
@ -9,17 +9,27 @@
 #include <algorithm>
 #include <cstring>

+#define _STRINGIZE(x) #x
+#define STRINGIZE(x) _STRINGIZE(x)
+
+#ifndef COMPILER_GIT_BUILD_HASH
+#define COMPILER_GIT_BUILD_HASH "git id not found"
+#endif
+static const char* git_hash = STRINGIZE(COMPILER_GIT_BUILD_HASH);
+
 #define VEH_FIELD(FIELD) []() { return (void *)&vehicle_state.FIELD; }
-#define VEH_BIT_FIELD(FIELD)                                                   \
-  []() {                                                                       \
-    static int x;                                                              \
-    x = vehicle_state.FIELD;                                                   \
-    return (void *)&x;                                                         \
+#define VEH_BIT_FIELD(FIELD) \
+  []() {                     \
+    static int x;            \
+    x = vehicle_state.FIELD; \
+    return (void *)&x;       \
  }

-void *get_tsstate_text() {
+void *get_tsstate_text()
+{
  const char *text;
-  switch (vehicle_state.ts_state) {
+  switch (vehicle_state.ts_state)
+  {
  case TS_INACTIVE:
    text = "INACT";
    break;
@ -47,9 +57,11 @@ void *get_tsstate_text() {
  return (void *)text;
 }

-void *get_asstate_text() {
+void *get_asstate_text()
+{
  const char *text;
-  switch (vehicle_state.as_state) {
+  switch (vehicle_state.as_state)
+  {
  case AS_OFF:
    text = "OFF";
    break;
@ -74,9 +86,11 @@ void *get_asstate_text() {
  return (void *)text;
 }

-void *get_mission_text() {
+void *get_mission_text()
+{
  const char *text;
-  switch (vehicle_state.active_mission) {
+  switch (vehicle_state.active_mission)
+  {
  case MISSION_NONE:
    text = "NONE";
    break;
@ -107,9 +121,11 @@ void *get_mission_text() {
  return (void *)text;
 }

-void *get_r2dprog_text() {
+void *get_r2dprog_text()
+{
  const char *text;
-  switch (vehicle_state.r2d_progress) {
+  switch (vehicle_state.r2d_progress)
+  {
  case R2D_NONE:
    text = "NONE";
    break;
@ -143,61 +159,106 @@ void *get_r2dprog_text() {
  return (void *)text;
 }

-void *get_inichk_text() {
+void *get_inichk_text()
+{
  return (void *)inichkstate_str(vehicle_state.ini_chk_state);
 }

-void *get_sdc_text() {
+void *get_sdc_text()
+{
  const char *text;
-  if (vehicle_state.errors.sdc_bfl) {
+  if (vehicle_state.errors.sdc_bfl)
+  {
    text = "BFL";
-  } else if (vehicle_state.errors.sdc_brl) {
+  }
+  else if (vehicle_state.errors.sdc_brl)
+  {
    text = "BRL";
-  } else if (vehicle_state.errors.sdc_acc) {
+  }
+  else if (vehicle_state.errors.sdc_acc)
+  {
    text = "ACC";
-  } else if (vehicle_state.errors.sdc_hvb) {
+  }
+  else if (vehicle_state.errors.sdc_hvb)
+  {
    text = "HVB";
-  } else {
+  }
+  else
+  {
    text = "CLOSED";
  }
  return (void *)text;
 }

-void *get_err_text() {
+void *get_err_text()
+{
  const char *text;
-  if (vehicle_state.errors.err_sdc) {
+  if (vehicle_state.errors.err_sdc)
+  {
    text = "SDC";
-  } else if (vehicle_state.errors.err_ams) {
+  }
+  else if (vehicle_state.errors.err_ams)
+  {
    text = "AMS";
-  } else if (vehicle_state.errors.err_pdu) {
+  }
+  else if (vehicle_state.errors.err_pdu)
+  {
    text = "PDU";
-  } else if (vehicle_state.errors.err_ini_chk) {
+  }
+  else if (vehicle_state.errors.err_ini_chk)
+  {
    text = "IniChk";
-  } else if (vehicle_state.errors.err_con_mon) {
+  }
+  else if (vehicle_state.errors.err_con_mon)
+  {
    text = "ConMon";
-  } else if (vehicle_state.errors.err_scs) {
+  }
+  else if (vehicle_state.errors.err_scs)
+  {
    text = "SCS";
-  } else if (vehicle_state.errors.err_sbspd) {
+  }
+  else if (vehicle_state.errors.err_sbspd)
+  {
    text = "sBSPD";
-  } else if (vehicle_state.errors.err_appsp) {
+  }
+  else if (vehicle_state.errors.err_appsp)
+  {
    text = "APPSp";
-  } else if (vehicle_state.errors.err_as) {
+  }
+  else if (vehicle_state.errors.err_as)
+  {
    text = "AS";
-  } else if (vehicle_state.errors.err_ros) {
+  }
+  else if (vehicle_state.errors.err_ros)
+  {
    text = "ROS";
-  } else if (vehicle_state.errors.err_res) {
+  }
+  else if (vehicle_state.errors.err_res)
+  {
    text = "RES";
-  } else if (vehicle_state.errors.err_invl) {
+  }
+  else if (vehicle_state.errors.err_invl)
+  {
    text = "INVL";
-  } else if (vehicle_state.errors.err_invr) {
+  }
+  else if (vehicle_state.errors.err_invr)
+  {
    text = "INVR";
-  } else {
+  }
+  else
+  {
    text = "NONE";
  }
  return (void *)text;
 }

-void *get_zero() {
+void *get_compiler_build_hash()
+{
+  return (void *)git_hash;
+}
+
+void *get_zero()
+{
  static float zero = 0.0f;
  return &zero;
 }
@ -265,7 +326,7 @@ NamedFieldDescription dataFieldDescs[] = {
                    VEH_FIELD(lap_last)},
    [DF_LVBatVoltage] = {NamedFieldKind::Float, "LVVBAT", 2, 2,
                         VEH_FIELD(lv_bat_voltage)},
-};
+    [DF_GitBuildHash] = {NamedFieldKind::Text, "BLDHASH", 1, 0, get_compiler_build_hash}};

 static_assert(sizeof(dataFieldDescs) / sizeof(dataFieldDescs[0]) ==
                  DataFieldType_COUNT,
@ -275,7 +336,7 @@ static_assert(sizeof(dataFieldDescs) / sizeof(dataFieldDescs[0]) ==

 NamedFieldDescription paramFieldDescs[] = {
    [PF_PLIM] = {NamedFieldKind::Int, "PLIM", 2, 0, PARAM_FIELD(plim)},
-    [PF_TLIM] = {NamedFieldKind::Int, "TLIM", 2, 1, PARAM_FIELD(plim)},
+    [PF_TLIM] = {NamedFieldKind::Int, "TLIM", 4, 1, PARAM_FIELD(tlim)},
    [PF_SLIM] = {NamedFieldKind::Int, "SLIM", 2, 2, PARAM_FIELD(slim)},
    [PF_TVEC] = {NamedFieldKind::Int, "TVEC", 2, 1, PARAM_FIELD(tvec)},
    [PF_PG] = {NamedFieldKind::Int, "PG", 2, 0, PARAM_FIELD(pg)},
@ -291,31 +352,38 @@ size_t dataFieldAlphaIndexByField[DataFieldType_COUNT];
 ParamType paramByAlphaIndex[ParamType_COUNT];
 size_t paramAlphaIndexByParam[ParamType_COUNT];

-template <class T> struct NFAlphabeticComp {
+template <class T>
+struct NFAlphabeticComp
+{
  NFAlphabeticComp(const NamedFieldDescription *fieldDescs)
      : fieldDescs{fieldDescs} {}

  const NamedFieldDescription *fieldDescs;

-  bool operator()(const T &a, const T &b) const {
+  bool operator()(const T &a, const T &b) const
+  {
    return strcmp(fieldDescs[a].title, fieldDescs[b].title) < 0;
  }
 };

 template <class T>
 void namedFieldSort(const NamedFieldDescription *fieldDescs, T *fieldByAlpha,
-                    size_t *alphaIndexByField, size_t numFields) {
-  for (size_t i = 0; i < numFields; i++) {
+                    size_t *alphaIndexByField, size_t numFields)
+{
+  for (size_t i = 0; i < numFields; i++)
+  {
    fieldByAlpha[i] = static_cast<T>(i);
  }
  std::sort(fieldByAlpha, fieldByAlpha + numFields,
            NFAlphabeticComp<T>(fieldDescs));
-  for (size_t i = 0; i < numFields; i++) {
+  for (size_t i = 0; i < numFields; i++)
+  {
    alphaIndexByField[fieldByAlpha[i]] = i;
  }
 }

-void namedFieldSort() {
+void namedFieldSort()
+{
  namedFieldSort(dataFieldDescs, dataFieldByAlphaIndex,
                 dataFieldAlphaIndexByField, DataFieldType_COUNT);
  namedFieldSort(paramFieldDescs, paramByAlphaIndex, paramAlphaIndexByParam,
@ -326,7 +394,9 @@ template <class T>
 NamedField<T>::NamedField(const NamedFieldDescription *fieldDescs)
    : fieldDescs{fieldDescs} {}

-template <class T> void NamedField<T>::setType(T type) {
+template <class T>
+void NamedField<T>::setType(T type)
+{
  this->type = type;
  desc = &fieldDescs[type];

@ -338,11 +408,15 @@ template <class T> void NamedField<T>::setType(T type) {
  updateValue();
 }

-template <class T> const T &NamedField<T>::getType() { return type; }
+template <class T>
+const T &NamedField<T>::getType() { return type; }

-template <class T> void NamedField<T>::updateValue() {
+template <class T>
+void NamedField<T>::updateValue()
+{
  void *val = desc->getValue();
-  switch (desc->kind) {
+  switch (desc->kind)
+  {
  case NamedFieldKind::Float:
    setFloatValue(*static_cast<float *>(val));
    break;
@ -358,32 +432,45 @@ template <class T> void NamedField<T>::updateValue() {
  }
 }

-template <class T> void NamedField<T>::setFloatValue(float floatValue) {
+template <class T>
+void NamedField<T>::setFloatValue(float floatValue)
+{
  fieldValue.f = floatValue;
  updateValueBuffer();
 }

-template <class T> void NamedField<T>::setBoolValue(int boolValue) {
+template <class T>
+void NamedField<T>::setBoolValue(int boolValue)
+{
  fieldValue.b = boolValue;
  updateValueBuffer();
 }

-template <class T> void NamedField<T>::setIntValue(int intValue) {
+template <class T>
+void NamedField<T>::setIntValue(int intValue)
+{
  fieldValue.i = intValue;
  updateValueBuffer();
 }

-template <class T> void NamedField<T>::setStrValue(const char *strValue) {
+template <class T>
+void NamedField<T>::setStrValue(const char *strValue)
+{
  touchgfx::Unicode::strncpy(valueBuffer, strValue,
                             sizeof(valueBuffer) / sizeof(*valueBuffer));
  updateValueBuffer();
 }

-template <class T> void NamedField<T>::updateValueBuffer() {
-  switch (desc->kind) {
-  case NamedFieldKind::Float: {
+template <class T>
+void NamedField<T>::updateValueBuffer()
+{
+  switch (desc->kind)
+  {
+  case NamedFieldKind::Float:
+  {
    size_t width = desc->int_digits;
-    if (desc->decimal_digits != 0) {
+    if (desc->decimal_digits != 0)
+    {
      width += desc->decimal_digits + 1; // 1 digit for the decimal point
    }
    float params[3] = {(float)width, (float)desc->decimal_digits, fieldValue.f};
@ -392,7 +479,8 @@ template <class T> void NamedField<T>::updateValueBuffer() {
        params);
    break;
  }
-  case NamedFieldKind::Bool: {
+  case NamedFieldKind::Bool:
+  {
    const char *str = fieldValue.b ? "YES" : "NO";
    touchgfx::Unicode::strncpy(valueBuffer, str,
                               sizeof(valueBuffer) / sizeof(*valueBuffer));
Author	SHA1	Message	Date
Julian Marmier	ba94373f3e	Update param freq	2024-08-01 20:56:09 +02:00
Julian	25da5cde32	Fix dumb config typo	2024-07-24 09:35:22 +02:00
Julian	10aa474124	Fix DRS	2024-07-23 15:13:22 +02:00
Julian	5fb5d271b1	Fix display issues and inc logic	2024-07-22 19:35:23 +02:00
Julian	a4bea0d78b	add commit hash (manual!)	2024-07-22 19:32:24 +02:00