Modify & transmit params via CAN

Core/Inc/params.h

@@ -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

Core/Inc/util.h

@@ -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

Core/Inc/vehicle.h

@@ -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

Core/Src/main.c

@@ -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);
 

Core/Src/params.c

@@ -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);
+}

Core/Src/vehicle.c

@@ -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: