256 lines
10 KiB
C
256 lines
10 KiB
C
#include "vehicle.h"
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#include "can-halal.h"
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#include "main.h"
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#include "stm32h7xx.h"
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#include "stm32h7xx_hal.h"
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#include "stm32h7xx_hal_fdcan.h"
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#include "stm32h7xx_hal_gpio.h"
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#include "tx_api.h"
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#include "ui.h"
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#include "vehicle_state.h"
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#define CAN_ID_AMS_SLAVE_PANIC 0x9
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#define CAN_ID_AMS_STATUS 0xA
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#define CAN_ID_AMS_ERROR 0xC
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#define CAN_ID_SDCL_TX 0x10
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#define CAN_ID_PDU_RESPONSE 0xC9
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#define CAN_ID_JETSON_TX 0xE1
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#define CAN_ID_ABX_DRIVER 0x101
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#define CAN_ID_ABX_TIMINGS 0x102
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#define CAN_ID_ABX_BRAKE_T 0x105
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#define CAN_ID_CS_INTERNAL 0x108
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#define CAN_ID_ABX_MISC 0x109
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#define CAN_ID_ABX_HYDRAULICS 0x110
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#define CAN_ID_EPSC_OUT 0x321
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#define CAN_ID_MISSION_SELECTED 0x400
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#define CAN_ID_STW_BUTTONS 0x401
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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_ABX_PARAM_CONFIRMED 0x413
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#define CAN_ID_STW_CONES_BASE 0x414
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#define CAN_ID_STW_CONES_MASK 0x7FC
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#define CAN_ID_SHUNT_CURRENT 0x521
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#define CAN_ID_SHUNT_VOLTAGE1 0x522
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#define CAN_ID_SHUNT_VOLTAGE2 0x523
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#define CAN_AMS_STATUS_VOLTAGE_FACTOR 1e-4
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#define CAN_AMS_STATUS_TEMP_FACTOR 0.0625
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#define CAN_SDCL_STATE_1_MASK (1 << 1)
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#define CAN_SDCL_STATE_2_MASK (1 << 2)
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#define CAN_SDCL_STATE_3_MASK (1 << 3)
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#define CAN_PDU_RESPONSE_SDC_TX_MASK (1 << 4)
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#define CAN_JETSON_TX_AS_OK_MASK (1 << 1)
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#define CAN_JETSON_TX_ANGLE_FACTOR 0.00784314f
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#define CAN_JETSON_TX_SPEED_FACTOR (0.2 * 3.6)
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#define CAN_ABX_DRIVER_SPEED_FACTOR (0.2 * 3.6)
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#define CAN_ABX_DRIVER_PRESS_FACTOR 0.1f
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#define CAN_CS_INTERNAL_TEMP_FACTOR 0.01
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#define CAN_ABX_MISC_DISTANCE_TOTAL_FACTOR 0.01
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#define CAN_ABX_MISC_LV_BAT_VOLTAGE_FACTOR (15.0f / 255)
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#define CAN_EPSC_OUT_ANGLE_FACTOR 7.20721e-05f
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void vehicle_thread_entry(ULONG hfdcan_addr) {
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memset(&vehicle_state, 0, sizeof(vehicle_state));
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memset(&vehicle_state.cone_pos, 0xFF, sizeof(vehicle_state.cone_pos));
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ftcan_init((void *)hfdcan_addr);
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ftcan_add_filter(CAN_ID_AMS_SLAVE_PANIC, 0x7FF);
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ftcan_add_filter(CAN_ID_AMS_STATUS, 0x7FF);
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ftcan_add_filter(CAN_ID_AMS_ERROR, 0x7FF);
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ftcan_add_filter(CAN_ID_SDCL_TX, 0x7FF);
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ftcan_add_filter(CAN_ID_PDU_RESPONSE, 0x7FF);
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ftcan_add_filter(CAN_ID_JETSON_TX, 0x7FF);
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ftcan_add_filter(CAN_ID_ABX_DRIVER, 0x7FF);
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ftcan_add_filter(CAN_ID_ABX_TIMINGS, 0x7FF);
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ftcan_add_filter(CAN_ID_ABX_BRAKE_T, 0x7FF);
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ftcan_add_filter(CAN_ID_CS_INTERNAL, 0x7FF);
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ftcan_add_filter(CAN_ID_ABX_MISC, 0x7FF);
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ftcan_add_filter(CAN_ID_ABX_HYDRAULICS, 0x7FF);
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ftcan_add_filter(CAN_ID_EPSC_OUT, 0x7FF);
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ftcan_add_filter(CAN_ID_AS_MISSION_FB, 0x7FF);
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ftcan_add_filter(CAN_ID_STW_STATUS, 0x7FF);
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ftcan_add_filter(CAN_ID_ABX_PARAM_CONFIRMED, 0x7FF);
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ftcan_add_filter(CAN_ID_STW_CONES_BASE, CAN_ID_STW_CONES_MASK);
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ftcan_add_filter(CAN_ID_SHUNT_CURRENT, 0x7FF);
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ftcan_add_filter(CAN_ID_SHUNT_VOLTAGE1, 0x7FF);
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ftcan_add_filter(CAN_ID_SHUNT_VOLTAGE2, 0x7FF);
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while (1) {
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tx_thread_sleep(10);
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}
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}
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void vehicle_select_mission(Mission mission) {
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uint8_t mission_int = mission;
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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 vehicle_broadcast_buttons(GPIO_PinState *button_states) {
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uint8_t data = (button_states[0] << 2) | (button_states[1] << 0) |
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(button_states[2] << 1) | (button_states[3] << 3) |
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(button_states[6] << 4);
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ftcan_transmit(CAN_ID_STW_BUTTONS, &data, 1);
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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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const uint8_t *ptr;
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if ((id & CAN_ID_STW_CONES_MASK) == CAN_ID_STW_CONES_BASE) {
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size_t msg_num = id - CAN_ID_STW_CONES_BASE;
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for (size_t i = 0; i < 4; i++) {
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vehicle_state.cone_pos[msg_num * 4 + i].x = data[i * 2];
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vehicle_state.cone_pos[msg_num * 4 + i].y = data[i * 2 + 1];
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}
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} else {
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switch (id) {
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case CAN_ID_AMS_SLAVE_PANIC:
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vehicle_state.last_ams_slave_panic.id = data[0];
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vehicle_state.last_ams_slave_panic.kind = data[1];
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ptr = &data[2];
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vehicle_state.last_ams_slave_panic.arg =
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ftcan_unmarshal_unsigned(&ptr, 4);
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break;
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case CAN_ID_AMS_STATUS:
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vehicle_state.ts_state = data[0] & 0x7F;
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vehicle_state.sdc_closed = (data[0] & 0x80) >> 7;
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vehicle_state.soc_ts = data[1];
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ptr = &data[2];
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vehicle_state.min_cell_volt =
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ftcan_unmarshal_unsigned(&ptr, 2) * CAN_AMS_STATUS_VOLTAGE_FACTOR;
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vehicle_state.max_cell_temp =
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ftcan_unmarshal_signed(&ptr, 2) * CAN_AMS_STATUS_TEMP_FACTOR;
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vehicle_state.imd_ok = (data[6] >> 7);
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// TODO: Separate temperatures for left and right side of battery
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vehicle_state.temps.bat_l = vehicle_state.max_cell_temp;
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vehicle_state.temps.bat_r = vehicle_state.max_cell_temp;
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break;
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case CAN_ID_SDCL_TX:
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vehicle_state.sdcl_state[0] = data[0] & CAN_SDCL_STATE_1_MASK;
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vehicle_state.sdcl_state[1] = data[0] & CAN_SDCL_STATE_2_MASK;
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vehicle_state.sdcl_state[2] = data[0] & CAN_SDCL_STATE_3_MASK;
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break;
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case CAN_ID_PDU_RESPONSE:
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vehicle_state.pdu_sdc_active = data[0] & CAN_PDU_RESPONSE_SDC_TX_MASK;
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break;
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case CAN_ID_AMS_ERROR:
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vehicle_state.last_ams_error.kind = data[0];
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vehicle_state.last_ams_error.arg = data[1];
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break;
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case CAN_ID_JETSON_TX:
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vehicle_state.last_jetson_msg = HAL_GetTick();
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vehicle_state.as_ok = data[0] & CAN_JETSON_TX_AS_OK_MASK;
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vehicle_state.desired_speed =
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((int8_t)data[1]) * CAN_JETSON_TX_SPEED_FACTOR;
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vehicle_state.desired_angle =
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((int8_t)data[2]) * CAN_JETSON_TX_ANGLE_FACTOR;
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break;
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case CAN_ID_ABX_DRIVER:
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vehicle_state.brake_press_f =
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(data[1] | ((data[2] & 0x0F) << 8)) * CAN_ABX_DRIVER_PRESS_FACTOR;
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vehicle_state.brake_press_r =
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((data[2] >> 4) | (data[3] << 4)) * CAN_ABX_DRIVER_PRESS_FACTOR;
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vehicle_state.speed = data[5] * CAN_ABX_DRIVER_SPEED_FACTOR;
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break;
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case CAN_ID_ABX_HYDRAULICS:
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vehicle_state.hyd_press_a =
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(data[0] | ((data[1] & 0x0F) << 8)) * CAN_ABX_DRIVER_PRESS_FACTOR;
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vehicle_state.hyd_press_b =
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((data[1] >> 4) | (data[2] << 4)) * CAN_ABX_DRIVER_PRESS_FACTOR;
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break;
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case CAN_ID_ABX_TIMINGS:
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vehicle_state.lap_best = (data[0] | (data[1] << 8)) * 0.01f;
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vehicle_state.lap_last = (data[2] | (data[3] << 8)) * 0.01f;
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break;
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case CAN_ID_ABX_BRAKE_T:
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vehicle_state.temps.brake_fl = (data[0] | (data[1] << 8)) * 0.01f;
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vehicle_state.temps.brake_fr = (data[2] | (data[3] << 8)) * 0.01f;
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vehicle_state.temps.brake_rl = (data[4] | (data[5] << 8)) * 0.01f;
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vehicle_state.temps.brake_rr = (data[6] | (data[7] << 8)) * 0.01f;
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break;
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case CAN_ID_CS_INTERNAL:
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vehicle_state.temps.inv_l =
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(data[0] | (data[1] << 8)) * CAN_CS_INTERNAL_TEMP_FACTOR;
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vehicle_state.temps.inv_r =
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(data[2] | (data[3] << 8)) * CAN_CS_INTERNAL_TEMP_FACTOR;
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vehicle_state.temps.mot_l =
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(data[4] | (data[5] << 8)) * CAN_CS_INTERNAL_TEMP_FACTOR;
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vehicle_state.temps.mot_r =
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(data[6] | (data[7] << 8)) * CAN_CS_INTERNAL_TEMP_FACTOR;
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break;
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case CAN_ID_ABX_MISC:
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vehicle_state.distance_total =
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(data[3] | (data[4] << 8)) * CAN_ABX_MISC_DISTANCE_TOTAL_FACTOR;
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vehicle_state.soc_lv = data[5];
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vehicle_state.lv_bat_voltage =
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data[6] * CAN_ABX_MISC_LV_BAT_VOLTAGE_FACTOR;
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break;
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case CAN_ID_EPSC_OUT:
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vehicle_state.last_epsc_msg = HAL_GetTick();
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vehicle_state.measured_angle =
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((int16_t)((data[0] << 8) | (data[1]))) * CAN_EPSC_OUT_ANGLE_FACTOR;
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break;
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case CAN_ID_AS_MISSION_FB:
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vehicle_state.active_mission = data[0] & 0b111;
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break;
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case CAN_ID_STW_STATUS:
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vehicle_state.as_state = data[0] & 0b111;
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vehicle_state.r2d_progress = data[0] >> 4;
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vehicle_state.errors.invl_ready = (data[1] >> 0) & 1;
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vehicle_state.errors.invr_ready = (data[1] >> 1) & 1;
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vehicle_state.errors.sdc_bfl = (data[1] >> 2) & 1;
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vehicle_state.errors.sdc_brl = (data[1] >> 3) & 1;
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vehicle_state.errors.sdc_acc = (data[1] >> 4) & 1;
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vehicle_state.errors.sdc_hvb = (data[1] >> 5) & 1;
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vehicle_state.lap_count = data[2] & 0b111111;
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vehicle_state.ini_chk_state = data[3];
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vehicle_state.errors.err_sdc = (data[4] >> 0) & 1;
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vehicle_state.errors.err_ams = (data[4] >> 1) & 1;
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vehicle_state.errors.err_pdu = (data[4] >> 2) & 1;
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vehicle_state.errors.err_ini_chk = (data[4] >> 3) & 1;
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vehicle_state.errors.err_con_mon = (data[4] >> 4) & 1;
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vehicle_state.errors.err_scs = (data[4] >> 5) & 1;
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vehicle_state.errors.err_sbspd = (data[4] >> 6) & 1;
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vehicle_state.errors.err_appsp = (data[4] >> 7) & 1;
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vehicle_state.errors.err_as = (data[5] >> 0) & 1;
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vehicle_state.errors.err_ros = (data[5] >> 1) & 1;
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vehicle_state.errors.err_res = (data[5] >> 2) & 1;
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vehicle_state.errors.err_invl = (data[5] >> 3) & 1;
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vehicle_state.errors.err_invr = (data[5] >> 4) & 1;
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break;
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case CAN_ID_ABX_PARAM_CONFIRMED:
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vehicle_state.last_param_confirmed = data[0];
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tx_event_flags_set(&gui_update_events, GUI_UPDATE_PARAM_CONFIRMED,
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TX_OR);
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break;
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case CAN_ID_SHUNT_CURRENT: {
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// The first two bytes of shunt result messages are metadata
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const uint8_t *result_ptr = &data[2];
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vehicle_state.ts_current =
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ftcan_unmarshal_signed(&result_ptr, 4) * 1e-3;
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break;
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}
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case CAN_ID_SHUNT_VOLTAGE1: {
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const uint8_t *result_ptr = &data[2];
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vehicle_state.ts_voltage_bat =
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ftcan_unmarshal_signed(&result_ptr, 4) * 1e-3;
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break;
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}
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case CAN_ID_SHUNT_VOLTAGE2: {
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const uint8_t *result_ptr = &data[2];
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vehicle_state.ts_voltage_veh =
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ftcan_unmarshal_signed(&result_ptr, 4) * 1e-3;
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break;
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}
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}
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}
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tx_event_flags_set(&gui_update_events, GUI_UPDATE_VEHICLE_STATE, TX_OR);
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}
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