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Show if parameter change has been confirmed by ABX

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This commit is contained in:
Jasper Blanckenburg
2023-08-02 00:33:43 +02:00
parent c32e2b71cd
commit d5b65828aa
11 changed files with 48 additions and 6 deletions
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5
Core/Inc/main.h
View File

@ -48,7 +48,10 @@ extern FDCAN_HandleTypeDef hfdcan1;
#define GUI_UPDATE_VEHICLE_STATE (1 << 0)
#define GUI_UPDATE_NEXT_SCREEN (1 << 1)
#define GUI_UPDATE_ALL (GUI_UPDATE_VEHICLE_STATE | GUI_UPDATE_NEXT_SCREEN)
#define GUI_UPDATE_PARAM_CONFIRMED (1 << 2)
#define GUI_UPDATE_ALL \
(GUI_UPDATE_VEHICLE_STATE | GUI_UPDATE_NEXT_SCREEN | \
GUI_UPDATE_PARAM_CONFIRMED)
/* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/

3
Core/Inc/vehicle_state.h
View File

@ -5,6 +5,7 @@
extern "C" {
#endif
#include "params.h"
#include "stw_defines.h"
#include <stdint.h>
@ -168,6 +169,8 @@ typedef struct {
float desired_speed;
ConePosition cone_pos[NUM_CONES];
ParamType last_param_confirmed;
} VehicleState;
extern VehicleState vehicle_state;

6
Core/Src/vehicle.c
View File

@ -28,6 +28,7 @@
#define CAN_ID_STW_PARAM_SET 0x402
#define CAN_ID_AS_MISSION_FB 0x410
#define CAN_ID_STW_STATUS 0x412
#define CAN_ID_ABX_PARAM_CONFIRMED 0x413
#define CAN_ID_STW_CONES_BASE 0x414
#define CAN_ID_STW_CONES_MASK 0x7FC
#define CAN_ID_SHUNT_CURRENT 0x521
@ -62,6 +63,7 @@ void vehicle_thread_entry(ULONG hfdcan_addr) {
ftcan_add_filter(CAN_ID_EPSC_OUT, 0x7FF);
ftcan_add_filter(CAN_ID_AS_MISSION_FB, 0x7FF);
ftcan_add_filter(CAN_ID_STW_STATUS, 0x7FF);
ftcan_add_filter(CAN_ID_ABX_PARAM_CONFIRMED, 0x7FF);
ftcan_add_filter(CAN_ID_STW_CONES_BASE, CAN_ID_STW_CONES_MASK);
ftcan_add_filter(CAN_ID_SHUNT_CURRENT, 0x7FF);
ftcan_add_filter(CAN_ID_SHUNT_VOLTAGE1, 0x7FF);
@ -205,6 +207,10 @@ void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
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];