Develop/fsae (#186)

* switch to pca9539 (untested) (#175) * switch to pca9539 (untested) * update pdu to improved api * fix addr * new reg name * disable shutdown * removed debugging stuff * bump --------- Co-authored-by: Scott A <[email protected]> * Feature/pedal tune (#180) * prepped for pedal tuning + added break check when going to drive mode * added Scott's implementation for bspd pre check * added defcon 5 fault * fuck * remoced torque send * pedals calibrated * fix bit * im stupid * new pedals * added debug * poop farty * Auto stash before merge of "feature/pedal-tune" and "origin/feature/pedal-tune" * move tsms status * reset queuue * fixed stuff --------- Co-authored-by: Jack Rubacha <[email protected]> * Finally get mph working! (#183) * dti back and mph calcs * queue fixes and got a backwards erpm reading * use correct units * fix up mph, tested recieve and send, not validated connection --------- Co-authored-by: Scott A <[email protected]> * Monitor fixes (#181) * add lv monitor again * remove bad line * fix missed line in rebase * fix up math * regen fix issue * fix send torque * Bms fault fixes (#182) * fix bms fault, get rid of write fan battbox * add note * fix bspd prefault * adjust value for proper scale * fix mph, bspd prefault * fix nero * add brake filter * Debounce tsms (#178) * tsms debounce with nertimer * you saw nothing * tsms debounce with nertimer * you saw nothing * add tsms debounce --------- Co-authored-by: Jack Rubacha <[email protected]> --------- Co-authored-by: Jack Rubacha <[email protected]> Co-authored-by: Scott A <[email protected]>
Northeastern-Electric-Racing · Jun 17, 2024 · 4210c9c · 4210c9c
1 parent 1b6b5b1
commit 4210c9c
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Showing 24 changed files with 664 additions and 405 deletions.
diff --git a/.mxproject b/.mxproject
diff --git a/Core/Inc/cerberus_conf.h b/Core/Inc/cerberus_conf.h
@@ -5,20 +5,22 @@
 #define FUSES_SAMPLE_DELAY	   1000   /* ms */
 #define SHUTDOWN_MONITOR_DELAY 500   /* ms */
 #define NERO_DELAY_TIME        100 /* ms*/
+#define LV_READ_DELAY       1000
 #define SERIAL_MONITOR_DELAY
 #define CAN_ROUTER_DELAY
 #define CAN_DISPATCH_DELAY      5
-#define BMS_CAN_MONITOR_DELAY   7000
+#define BMS_CAN_MONITOR_DELAY   4000
 #define STATE_MACHINE_DELAY
 #define TORQUE_CALC_DELAY
 #define FAULT_HANDLE_DELAY
 
 /* Pedal tuning */
 #define PEDALS_SAMPLE_DELAY     20    /* ms */
-#define ACCEL1_OFFSET           2767
-#define ACCEL1_MAX_VAL          3319
-#define ACCEL2_OFFSET           1920
-#define ACCEL2_MAX_VAL          3382
+#define ACCEL1_OFFSET           980
+#define ACCEL1_MAX_VAL          1866
+#define ACCEL2_OFFSET           1780
+#define ACCEL2_MAX_VAL          3365
+#define PEDAL_BRAKE_THRESH      650
 
 /* Torque Tuning */
 #define MAX_TORQUE              220 /* Nm * 10 */
@@ -50,16 +52,17 @@
 #define WATCHDOG_Pin		GPIO_PIN_15
 #define WATCHDOG_GPIO_Port	GPIOB
 
-#define CANID_PEDAL_SENSOR 0x002
-// TODO: GET CORRECT CAN ID
-#define CANID_IMU			0x003
+
 #define CANID_TEMP_SENSOR	0x004
 #define CANID_TORQUE_MSG	0x005
 #define CANID_OUTBOUND_MSG	0xA55
 #define CANID_FUSE			0x111
 #define CANID_SHUTDOWN_LOOP 0x123
+#define CANID_IMU_ACCEL	    0x506
+#define CANID_IMU_GYRO	    0x507
 #define CANID_NERO_MSG      0x501
 #define CANID_FAULT_MSG 	0x502
+#define CANID_LV_MONITOR    0x503
 #define CANID_PEDALS_ACCEL_MSG 	0x504
 #define CANID_PEDALS_BRAKE_MSG 	0x505
 #define CANID_EXTRA_MSG     0x701 // Reserved for MPU debug message, see yaml for format
diff --git a/Core/Inc/dti.h b/Core/Inc/dti.h
@@ -22,9 +22,10 @@
 #define DTI_CANID_TEMPS_FAULT 0x456 /* Controller Temp, Motor Temp, Faults */
 #define DTI_CANID_ID_IQ		  0x476 /* Id, Iq values */
 #define DTI_CANID_SIGNALS	  0x496 /* Throttle signal, Brake signal, IO, Drive enable */
+#define DTI_QUEUE_SIZE        5
 
-#define WHEEL_CIRCUMFERENCE 1.2767 /* meters */
-#define GEAR_RATIO 4.3 /* unitless */ 
+#define TIRE_DIAMETER 16 /* inches */
+#define GEAR_RATIO 47 / 13.0 /* unitless */ 
 #define POLE_PAIRS 10 /* unitless */
 
 typedef struct 
@@ -44,13 +45,13 @@ typedef struct
 } dti_t;
 
 // TODO: Expand GET interface
-uint32_t dti_get_rpm(dti_t* dti);
+int32_t dti_get_rpm(dti_t* dti);
 
 /* Utilities for Decoding CAN message */
-// extern osThreadId_t dti_router_handle;
-// extern const osThreadAttr_t dti_router_attributes;
-// extern osMessageQueueId_t dti_router_queue;
-// void vDTIRouter(void* pv_params);
+extern osThreadId_t dti_router_handle;
+extern const osThreadAttr_t dti_router_attributes;
+extern osMessageQueueId_t dti_router_queue;
+void vDTIRouter(void* pv_params);
 
 dti_t* dti_init();
 

diff --git a/Core/Inc/fault.h b/Core/Inc/fault.h
@@ -21,6 +21,8 @@ typedef enum {
 	INVALID_TRANSITION_FAULT = 0x400,
 	BMS_CAN_MONITOR_FAULT    = 0x800,
 	BUTTONS_MONITOR_FAULT    = 0xF00,
+	BSPD_PREFAULT 		  	= 0x1000,
+	LV_MONITOR_FAULT    = 0x2000,
 	MAX_FAULTS
 } fault_code_t;
 

diff --git a/Core/Inc/monitor.h b/Core/Inc/monitor.h
@@ -5,6 +5,10 @@
 #include "stm32f4xx_hal.h"
 #include "stdbool.h"
 
+void vLVMonitor(void* pv_params);
+extern osThreadId lv_monitor_handle;
+extern const osThreadAttr_t lv_monitor_attributes;
+
 /* Defining Temperature Monitor Task */
 void vTempMonitor(void* pv_params);
 extern osThreadId_t temp_monitor_handle;
@@ -25,6 +29,11 @@ void vIMUMonitor(void* pv_params);
 extern osThreadId_t imu_monitor_handle;
 extern const osThreadAttr_t imu_monitor_attributes;
 
+/* Task for Monitoring the TSMS sense on PDU  CTRL expander*/
+void vTsmsMonitor(void* pv_params);
+extern osThreadId_t tsms_monitor_handle;
+extern const osThreadAttr_t tsms_monitor_attributes;
+
 /* Task for Monitoring the Fuses on PDU */
 void vFusingMonitor(void* pv_params);
 extern osThreadId_t fusing_monitor_handle;

diff --git a/Core/Inc/mpu.h b/Core/Inc/mpu.h
@@ -13,6 +13,10 @@ typedef struct {
 	ADC_HandleTypeDef* pedals_adc;
 	uint32_t pedal_dma_buf[4];
 
+
+	ADC_HandleTypeDef* lv_adc;
+	uint32_t lv_dma_buf;
+
 	GPIO_TypeDef* led_gpio;
 	GPIO_TypeDef* watchdog_gpio;
 	sht30_t* temp_sensor;
@@ -29,7 +33,7 @@ typedef struct
 } brake_adc_channels_t;
 
 
-mpu_t* init_mpu(I2C_HandleTypeDef* hi2c, ADC_HandleTypeDef* pedals_adc, GPIO_TypeDef* led_gpio,
+mpu_t* init_mpu(I2C_HandleTypeDef* hi2c, ADC_HandleTypeDef* pedals_adc, ADC_HandleTypeDef* lv_adc, GPIO_TypeDef* led_gpio,
 				GPIO_TypeDef* watchdog_gpio);
 
 int8_t write_rled(mpu_t* mpu, bool status);
@@ -44,6 +48,8 @@ int8_t pet_watchdog(mpu_t* mpu);
 
 void read_pedals(mpu_t* mpu, uint32_t pedal_buf[4]);
 
+void read_lv_voltage(mpu_t* mpu, uint32_t *lv_buf);
+
 int8_t read_temp_sensor(mpu_t* mpu, uint16_t* temp, uint16_t* humidity);
 
 int8_t read_accel(mpu_t* mpu, uint16_t accel[3]);

diff --git a/Core/Inc/nero.h b/Core/Inc/nero.h
@@ -47,6 +47,8 @@ void select_nero_index();
 */
 void set_mph(int8_t new_mph);
 
+void set_nero_home_mode();
+
 /*
 * Emits the state of NERO
 */

diff --git a/Core/Inc/pdu.h b/Core/Inc/pdu.h
@@ -2,16 +2,15 @@
 #define PDU_H
 
 #include "cmsis_os.h"
-#include "pi4ioe.h"
-#include "max7314.h"
+#include "pca9539.h"
 #include <stdbool.h>
 #include <stdint.h>
 
 typedef struct {
 	I2C_HandleTypeDef* hi2c;
 	osMutexId_t* mutex;
-	max7314_t* shutdown_expander;
-	max7314_t* ctrl_expander;
+	pca9539_t* shutdown_expander;
+	pca9539_t* ctrl_expander;
 	osTimerId rtds_timer;
 } pdu_t;
 
@@ -40,7 +39,7 @@ typedef enum {
 	MAX_FUSES
 } fuse_t;
 
-int8_t read_fuse(pdu_t* pdu, fuse_t fuse, bool* status);
+int8_t read_fuses(pdu_t* pdu, bool status[MAX_FUSES]);
 
 int8_t read_tsms_sense(pdu_t* pdu, bool* status);
 
@@ -60,6 +59,6 @@ typedef enum {
 	MAX_SHUTDOWN_STAGES
 } shutdown_stage_t;
 
-int8_t read_shutdown(pdu_t* pdu, shutdown_stage_t stage, bool* status);
+int8_t read_shutdown(pdu_t* pdu, bool status[MAX_SHUTDOWN_STAGES]);
 
 #endif /* PDU_H */
diff --git a/Core/Inc/queues.h b/Core/Inc/queues.h
@@ -28,4 +28,8 @@ typedef struct {
 
 extern osMessageQueueId_t pedal_data_queue;
 
+extern osMessageQueueId_t break_state_queue;
+
+bool get_brake_state();
+
 #endif // QUEUES_H
diff --git a/Core/Inc/stm32f4xx_hal_conf.h b/Core/Inc/stm32f4xx_hal_conf.h
@@ -214,7 +214,7 @@
 #define MAC_ADDR5   0U
 
 /* Definition of the Ethernet driver buffers size and count */
-#define ETH_RX_BUF_SIZE                 /* buffer size for receive               */
+#define ETH_RX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for receive               */
 #define ETH_TX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for transmit              */
 #define ETH_RXBUFNB                    4U       /* 4 Rx buffers of size ETH_RX_BUF_SIZE  */
 #define ETH_TXBUFNB                    4U       /* 4 Tx buffers of size ETH_TX_BUF_SIZE  */

diff --git a/Core/Src/bms.c b/Core/Src/bms.c
@@ -27,6 +27,7 @@ void bms_fault_callback()
 {
 	fault_data_t fault_data = { .id = BMS_CAN_MONITOR_FAULT, .severity = DEFCON1 }; /*TO-DO: update severity*/
 	fault_data.diag = "Failing To Receive CAN Messages from Shepherd";
+	osTimerStart(bms->bms_monitor_timer, BMS_CAN_MONITOR_DELAY);
 	queue_fault(&fault_data);
 }
 

diff --git a/Core/Src/can_handler.c b/Core/Src/can_handler.c
@@ -21,6 +21,7 @@
 #include <stdlib.h>
 #include "stdio.h"
 #include <string.h>
+#include "dti.h"
 
 #define CAN_MSG_QUEUE_SIZE 50 /* messages */
 static osMessageQueueId_t can_outbound_queue;
@@ -75,14 +76,16 @@ void can1_callback(CAN_HandleTypeDef* hcan)
 	switch (new_msg.id) {
 	/* Messages Relevant to Motor Controller */
 	case DTI_CANID_ERPM:
-	case DTI_CANID_CURRENTS:
-	case DTI_CANID_TEMPS_FAULT:
-	case DTI_CANID_ID_IQ:
+	// case DTI_CANID_CURRENTS:
+	// case DTI_CANID_TEMPS_FAULT:
+	// case DTI_CANID_ID_IQ:
 	// case DTI_CANID_SIGNALS:
-	// 	osMessageQueuePut(dti_router_queue, &new_msg, 0U, 0U);
-	// 	break;
+		osMessageQueuePut(dti_router_queue, &new_msg, 0U, 0U);
+		break;
 	case BMS_DCL_MSG:
+		//printf("Recieved dcl");
 		osMessageQueuePut(bms_monitor_queue, &new_msg, 0U, 0U);
+		break;
 	default:
 		break;
 	}

diff --git a/Core/Src/dti.c b/Core/Src/dti.c
@@ -35,10 +35,6 @@ dti_t* dti_init()
 	mc->mutex = osMutexNew(&dti_mutex_attributes);
 	assert(mc->mutex);
 
-	/* Create Queue for CAN signaling */
-	// dti_router_queue = osMessageQueueNew(CAN_QUEUE_SIZE, sizeof(can_msg_t), NULL);
-	// assert(dti_router_queue);
-
 	return mc;
 }
 
@@ -221,66 +217,66 @@ void dti_set_drive_enable(bool drive_enable)
 	queue_can_msg(msg);
 }
 
-uint32_t dti_get_rpm(dti_t* mc)
+int32_t dti_get_rpm(dti_t* mc)
 {
-	uint32_t rpm;
+	int32_t rpm;
 	osMutexAcquire(*mc->mutex, osWaitForever);
 	rpm = mc->rpm;
+	//printf("Rpm %ld",rpm);
 	osMutexRelease(*mc->mutex);
 
 	return rpm;
 }
 
 /* Inbound Task-specific Info */
-// osThreadId_t dti_router_handle;
-// const osThreadAttr_t dti_router_attributes
-// 	= { .name = "DTIRouter", .stack_size = 64 * 8, .priority = (osPriority_t)osPriorityHigh };
-
-// static void dti_set_rpm(dti_t *mc, can_msg_t msg)
-// {
-// 	/* ERPM is first four bytes of can message in big endian format */
-// 	uint32_t erpm = 0;
-// 	for (int i = 0; i < 4; i++) {
-// 		erpm |= msg.data[i] << (8 * (3 - i));
-// 	}
-
-// 	uint32_t rpm = erpm / POLE_PAIRS;
-
-// 	osMutexAcquire(*mc->mutex, osWaitForever);
-// 	mc->rpm = rpm;
-// 	osMutexRelease(*mc->mutex);
-// }
-
-// void vDTIRouter(void* pv_params)
-// {
-// 	can_msg_t message;
-// 	osStatus_t status;
-// 	// fault_data_t fault_data = { .id = DTI_ROUTING_FAULT, .severity = DEFCON2 };
-
-// 	dti_t *mc = (dti_t *)pv_params;
-
-// 	for (;;) {
-// 		/* Wait until new CAN message comes into queue */
-// 		status = osMessageQueueGet(dti_router_queue, &message, NULL, osWaitForever);
-// 		if (status == osOK) 
-// 		{
-// 			switch (message.id) 
-// 			{
-// 				case DTI_CANID_ERPM:
-// 					dti_set_rpm(mc, message);
-// 					break;
-// 				case DTI_CANID_CURRENTS:
-// 					break;
-// 				case DTI_CANID_TEMPS_FAULT:
-// 					break;
-// 				case DTI_CANID_ID_IQ:
-// 					break;
-// 				case DTI_CANID_SIGNALS:
-// 					break;
-// 				default:
-// 					break;
-// 			}
-// 		}
-// 	}
-// }
+osThreadId_t dti_router_handle;
+const osThreadAttr_t dti_router_attributes
+	= { .name = "DTIRouter", .stack_size = 64 * 8, .priority = (osPriority_t)osPriorityHigh };
+
+static void dti_record_rpm(dti_t *mc, can_msg_t msg)
+{
+	/* ERPM is first four bytes of can message in big endian format */
+	int32_t erpm = (msg.data[0] << 24) + (msg.data[1] << 16) + (msg.data[2] << 8) + (msg.data[3]);
+
+	int32_t rpm = erpm / POLE_PAIRS;
+
+	//printf("\n\nRPM Rec: %ld\n\n", rpm);
+
+	osMutexAcquire(*mc->mutex, osWaitForever);
+	mc->rpm = rpm;
+	osMutexRelease(*mc->mutex);
+}
+
+void vDTIRouter(void* pv_params)
+{
+	can_msg_t message;
+	osStatus_t status;
+	// fault_data_t fault_data = { .id = DTI_ROUTING_FAULT, .severity = DEFCON2 };
+
+	dti_t *mc = (dti_t *)pv_params;
+
+	for (;;) {
+		/* Wait until new CAN message comes into queue */
+		status = osMessageQueueGet(dti_router_queue, &message, NULL, osWaitForever);
+		if (status == osOK) 
+		{
+			switch (message.id) 
+			{
+				case DTI_CANID_ERPM:
+					dti_record_rpm(mc, message);
+					break;
+				case DTI_CANID_CURRENTS:
+					break;
+				case DTI_CANID_TEMPS_FAULT:
+					break;
+				case DTI_CANID_ID_IQ:
+					break;
+				case DTI_CANID_SIGNALS:
+					break;
+				default:
+					break;
+			}
+		}
+	}
+}