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Modify & transmit params via CAN

This commit is contained in:
Jasper Blanckenburg 2023-04-04 22:05:50 +02:00
parent a5f10be4fd
commit 253b10ba15
10 changed files with 199 additions and 24 deletions
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11
Core/Inc/params.h
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@ -5,8 +5,14 @@
extern "C" {
#endif
#include <stddef.h>
#include <stdint.h>
#include "util.h"
CountedEnum(ParamType, size_t, PF_BBAL, PF_TC1, PF_TC2, PF_TORQUEMAP, PF_TEST1,
PF_TEST2, PF_TEST3, PF_TEST4);
typedef struct {
float bbal;
unsigned tc1;
@ -17,6 +23,11 @@ typedef struct {
extern Params params;
void params_init();
void params_inc(ParamType param);
void params_dec(ParamType param);
void params_broadcast(ParamType param);
#ifdef __cplusplus
}
#endif

11
Core/Inc/util.h Normal file
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@ -0,0 +1,11 @@
#ifndef INC_UTIL_H
#define INC_UTIL_H
// This is wacky preprocessor magic that allows us to count the number of
// members of an enum. Unfortunately, it doesn't work with enum classes, so we
// have to use C-style enums.
#define CountedEnum(NAME, TYPE, ...) \
typedef enum { __VA_ARGS__ } NAME; \
static const size_t NAME##_COUNT = sizeof((int[]){__VA_ARGS__}) / sizeof(int);
#endif // INC_UTIL_H

3
Core/Inc/vehicle.h
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@ -1,6 +1,7 @@
#ifndef __INC_VEHICLE_H
#define __INC_VEHICLE_H
#include "params.h"
#include "stw_defines.h"
#include "tx_port.h"
@ -106,6 +107,8 @@ void vehicle_thread_entry(ULONG hfdcan_addr);
void vehicle_select_mission(Mission mission);
void vehicle_broadcast_param(ParamType param, int32_t value);
#ifdef __cplusplus
}
#endif

2
Core/Src/main.c
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@ -27,6 +27,7 @@
#include "ft_logo_rainbow_rgb565.h"
#include "hx8357d.h"
#include "leds.h"
#include "params.h"
#include "shorttimer.h"
#include <stdint.h>
@ -144,6 +145,7 @@ int main(void) {
if (HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4) != HAL_OK) {
Error_Handler();
}
params_init();
shorttimer_init(htim_us);
led_init(&hspi3, &htim1);

115
Core/Src/params.c
View File

@ -1,3 +1,118 @@
#include "params.h"
#include "can-halal.h"
#include "vehicle.h"
Params params = {0};
void params_init() { params.bbal = 50; }
void params_inc(ParamType param) {
switch (param) {
case PF_BBAL:
params.bbal += 0.5f;
if (params.bbal > 100.0f) {
params.bbal = 100.0f;
}
break;
case PF_TC1:
params.tc1++;
break;
case PF_TC2:
params.tc2++;
break;
case PF_TORQUEMAP:
params.torque_map++;
break;
case PF_TEST1:
params.test[0]++;
break;
case PF_TEST2:
params.test[1]++;
break;
case PF_TEST3:
params.test[2]++;
break;
case PF_TEST4:
params.test[3]++;
break;
}
}
void params_dec(ParamType param) {
switch (param) {
case PF_BBAL:
params.bbal -= 0.5f;
if (params.bbal < 0.0f) {
params.bbal = 0.0f;
}
break;
case PF_TC1:
if (params.tc1 > 0) {
params.tc1--;
}
break;
case PF_TC2:
if (params.tc2 > 0) {
params.tc2--;
}
break;
case PF_TORQUEMAP:
if (params.torque_map > 0) {
params.torque_map--;
}
break;
case PF_TEST1:
if (params.test[0] > 0) {
params.test[0]--;
}
break;
case PF_TEST2:
if (params.test[1] > 0) {
params.test[1]--;
}
break;
case PF_TEST3:
if (params.test[2] > 0) {
params.test[2]--;
}
break;
case PF_TEST4:
if (params.test[3] > 0) {
params.test[3]--;
}
break;
}
}
void params_broadcast(ParamType param) {
int32_t value;
switch (param) {
case PF_BBAL:
value = params.bbal * 10;
break;
case PF_TC1:
value = params.tc1;
break;
case PF_TC2:
value = params.tc2;
break;
case PF_TORQUEMAP:
value = params.torque_map;
break;
case PF_TEST1:
value = params.test[0];
break;
case PF_TEST2:
value = params.test[1];
break;
case PF_TEST3:
value = params.test[2];
break;
case PF_TEST4:
value = params.test[3];
break;
default:
return;
}
vehicle_broadcast_param(param, value);
}

11
Core/Src/vehicle.c
View File

@ -13,6 +13,7 @@
#define CAN_ID_AMS_STATUS 0xA
#define CAN_ID_MISSION_SELECTED 0x400
#define CAN_ID_STW_PARAM_SET 0x402
#define CAN_ID_AS_MISSION_FB 0x410
#define CAN_ID_STW_STATUS 0x412
#define CAN_ID_SHUNT_CURRENT 0x521
@ -33,8 +34,6 @@ void vehicle_thread_entry(ULONG hfdcan_addr) {
ftcan_add_filter(CAN_ID_SHUNT_VOLTAGE3, 0x7FF);
while (1) {
uint8_t data[] = {0xFF, 0xEE};
ftcan_transmit(0x456, data, 2);
tx_thread_sleep(10);
}
}
@ -44,6 +43,14 @@ void vehicle_select_mission(Mission mission) {
ftcan_transmit(CAN_ID_MISSION_SELECTED, &mission_int, 1);
}
void vehicle_broadcast_param(ParamType param, int32_t value) {
uint8_t data[5];
uint8_t *ptr = data;
ptr = ftcan_marshal_unsigned(ptr, param, 1);
ptr = ftcan_marshal_signed(ptr, value, 4);
ftcan_transmit(CAN_ID_STW_PARAM_SET, data, 5);
}
void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
switch (id) {
case CAN_ID_AMS_STATUS:

10
TouchGFX/gui/include/gui/common/NamedField.hpp
View File

@ -6,13 +6,7 @@
#include <stddef.h>
#include <stdint.h>
// We want to automatically count the number of data field types for the
// description array. This is wacky preprocessor magic that allows us to do just
// that. Unfortunately, it doesn't work with enum classes, so we have to use
// C-style enums.
#define CountedEnum(NAME, TYPE, ...) \
enum NAME : TYPE { __VA_ARGS__ }; \
constexpr size_t NAME##_COUNT = sizeof((int[]){__VA_ARGS__}) / sizeof(int);
#include "util.h"
CountedEnum(DataFieldType, size_t, DF_TSState, DF_ASState, DF_ActiveMission,
DF_R2DProgress, DF_INVLReady, DF_INVRReady, DF_SDC, DF_ERR,
@ -20,8 +14,6 @@ CountedEnum(DataFieldType, size_t, DF_TSState, DF_ASState, DF_ActiveMission,
DF_TireTempRL, DF_TireTempRR, DF_MinCellVolt, DF_MaxCellTemp,
DF_TSSoC, DF_LVSoC, DF_TSCurrent, DF_TSVoltageBat, DF_TSVoltageVeh,
DF_Speed, DF_BBal);
CountedEnum(ParamFieldType, size_t, PF_BBAL, PF_TC1, PF_TC2, PF_TORQUEMAP,
PF_TEST1, PF_TEST2, PF_TEST3, PF_TEST4);
enum class NamedFieldKind { Float, Bool, Text, Int };

4
TouchGFX/gui/include/gui/containers/ConfigItem.hpp
View File

@ -4,7 +4,9 @@
#include "gui/common/NamedField.hpp"
#include <gui_generated/containers/ConfigItemBase.hpp>
class ConfigItem : public ConfigItemBase, public NamedField<ParamFieldType> {
#include "params.h"
class ConfigItem : public ConfigItemBase, public NamedField<ParamType> {
public:
ConfigItem();
virtual ~ConfigItem() {}

33
TouchGFX/gui/src/common/NamedField.cpp
View File

@ -278,6 +278,35 @@ static_assert(sizeof(dataFieldDescs) / sizeof(dataFieldDescs[0]) ==
#define PARAM_FIELD(FIELD) []() { return (void *)&params.FIELD; }
void inc_bbal(void *valPtr) {
// float *val = (float *)valPtr;
// *val += 0.1f;
// if (*val > 100.0f) {
// *val = 100.0f;
// }
}
void dec_bbal(void *valPtr) {
// float *val = (float *)valPtr;
// *val -= 0.1f;
// if (*val < 0.0f) {
// *val = 0.0f;
// }
}
void inc_int(void *valPtr) {
// int *val = (int *)valPtr;
// *val += 1;
}
void dec_int(void *valPtr) {
// int *val = (int *)valPtr;
// *val -= 1;
// if (*val < 0) {
// *val = 0;
// }
}
NamedFieldDescription paramFieldDescs[] = {
[PF_BBAL] = {NamedFieldKind::Float, "BBAL", 2, 1, PARAM_FIELD(bbal)},
[PF_TC1] = {NamedFieldKind::Int, "TC1", 2, 0, PARAM_FIELD(tc1)},
@ -291,7 +320,7 @@ NamedFieldDescription paramFieldDescs[] = {
};
static_assert(sizeof(paramFieldDescs) / sizeof(paramFieldDescs[0]) ==
ParamFieldType_COUNT,
ParamType_COUNT,
"Incorrect number of param field descriptions");
template <class T>
@ -383,4 +412,4 @@ template <class T> void NamedField<T>::updateValueBuffer() {
}
template class NamedField<DataFieldType>;
template class NamedField<ParamFieldType>;
template class NamedField<ParamType>;

23
TouchGFX/gui/src/vehicleconfig_screen/VehicleConfigView.cpp
View File

@ -1,6 +1,7 @@
#include "gui/common/NamedField.hpp"
#include "gui/containers/ConfigItem.hpp"
#include "main.h"
#include "params.h"
#include <cstdint>
#include <gui/vehicleconfig_screen/VehicleConfigView.hpp>
@ -8,7 +9,7 @@ VehicleConfigView::VehicleConfigView() : selectedParam{0} {}
void VehicleConfigView::setupScreen() {
VehicleConfigViewBase::setupScreen();
params.setNumberOfItems(ParamFieldType_COUNT);
params.setNumberOfItems(ParamType_COUNT);
}
void VehicleConfigView::tearDownScreen() {
@ -16,31 +17,33 @@ void VehicleConfigView::tearDownScreen() {
}
void VehicleConfigView::paramsUpdateItem(ConfigItem &item, int16_t itemIndex) {
item.setType(static_cast<ParamFieldType>(itemIndex));
item.setType(static_cast<ParamType>(itemIndex));
item.setSelected(itemIndex == selectedParam);
}
void VehicleConfigView::selectPrevParam() {
if (selectedParam == 0) {
updateSelectedParam(ParamFieldType_COUNT - 1);
updateSelectedParam(ParamType_COUNT - 1);
} else {
updateSelectedParam(selectedParam - 1);
}
}
void VehicleConfigView::selectNextParam() {
updateSelectedParam((selectedParam + 1) % ParamFieldType_COUNT);
updateSelectedParam((selectedParam + 1) % ParamType_COUNT);
}
void VehicleConfigView::decParam() {
// TODO: How to handle this for different parameter types?
params_dec(static_cast<ParamType>(selectedParam));
params.itemChanged(selectedParam);
}
void VehicleConfigView::incParam() {
// TODO: How to handle this for different parameter types?
params_inc(static_cast<ParamType>(selectedParam));
params.itemChanged(selectedParam);
}
void VehicleConfigView::confirmParam() {
// TODO: How to handle this for different parameter types?
params_broadcast(static_cast<ParamType>(selectedParam));
}
void VehicleConfigView::updateSelectedParam(int select) {
@ -81,7 +84,7 @@ void VehicleConfigView::updateSelectedParam(int select) {
}
int16_t firstWanted;
if (selectedParam == 0 && previousSelected == ParamFieldType_COUNT - 1) {
if (selectedParam == 0 && previousSelected == ParamType_COUNT - 1) {
firstWanted = 0;
} else if (selectedParam > previousSelected) {
firstWanted = selectedParam - numVisible + 1;
@ -90,8 +93,8 @@ void VehicleConfigView::updateSelectedParam(int select) {
}
if (firstWanted < 0) {
firstWanted = 0;
} else if (firstWanted > ParamFieldType_COUNT - 1) {
firstWanted = ParamFieldType_COUNT - 1;
} else if (firstWanted > ParamType_COUNT - 1) {
firstWanted = ParamType_COUNT - 1;
}
params.animateToItem(firstWanted, 0);
}