Merge branch 'develop' into performance-regen-v2

Author: caiodasilva2005

Core/Inc/cerberus_conf.h

@@ -67,19 +67,20 @@
 #define WATCHDOG_Pin	    GPIO_PIN_15
 #define WATCHDOG_GPIO_Port  GPIOB
 
-#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_MSG     0x504
-#define CANID_PDU_CURRENT    0x508
-#define CANID_PUMP_SENSORS   0x509
-#define CANID_EXPANDER_DEBUG 0x50A
+#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_VOLTS_MSG 0x504
+#define CAN_ID_PEDALS_NORM_MSG 0x505
+#define CANID_PDU_CURRENT      0x508
+#define CANID_PUMP_SENSORS     0x509
+#define CANID_EXPANDER_DEBUG   0x50A
 // Reserved for MPU debug message, see yaml for format
 #define CANID_EXTRA_MSG 0x701

Core/Src/main.c

@@ -803,6 +803,7 @@ struct __attribute__((__packed__)) git_hash_data {
  */
 void send_git_version_message()
 {
+  /*
 	const struct git_hash_data git_hash_data2 = { GIT_SHORTHASH,
 						      GIT_AUTHORHASH };
 	const struct git_version_data git_version_data2 = {
@@ -816,6 +817,7 @@ void send_git_version_message()
 	memcpy(&msg2.data, &git_hash_data2, sizeof(git_hash_data2));
 
 	queue_can_msg(msg1);
+  */
 	//queue_can_msg(msg2);
 }
 /* USER CODE END 4 */

Core/Src/pedals.c

@@ -56,6 +56,15 @@ static bool brake_pressed = false;
 static osMutexId_t brake_state_mut;
 static osMutexAttr_t brake_mutex_attributes;
 
+typedef struct {
+	float accel1_volts;
+	float accel2_volts;
+	float brake1_volts;
+	float brake2_volts;
+	float accel_norm;
+	float brake_norm;
+} pedal_data_t;
+
 bool get_brake_state()
 {
 	bool temp;
@@ -295,35 +304,55 @@ bool calc_brake_faults(float brake1, float brake2)
  */
 void send_pedal_data(void *arg)
 {
-	uint32_t *adc_data = (uint32_t *)arg;
+	pedal_data_t *pedal_vals = (pedal_data_t *)arg;
+
+	can_msg_t pedals_volts_msg = { .id = CANID_PEDALS_VOLTS_MSG,
+				       .len = 8,
+				       .data = { 0 } };
 
-	can_msg_t pedals_msg = { .id = CANID_PEDALS_MSG,
-				 .len = 8,
-				 .data = { 0 } };
+	can_msg_t pedals_norm_msg = { .id = CAN_ID_PEDALS_NORM_MSG,
+				      .len = 4,
+				      .data = { 0 } };
 
 	struct __attribute__((__packed__)) {
 		uint16_t accel_1;
 		uint16_t accel_2;
 		uint16_t brake_1;
 		uint16_t brake_2;
-	} voltage_data;
-
-	voltage_data.accel_1 =
-		(uint16_t)(adc_to_volts(adc_data[ACCELPIN_1]) * 100);
-	voltage_data.accel_2 =
-		(uint16_t)(adc_to_volts(adc_data[ACCELPIN_2]) * 100);
-	voltage_data.brake_1 =
-		(uint16_t)(adc_to_volts(adc_data[BRAKEPIN_1]) * 100);
-	voltage_data.brake_2 =
-		(uint16_t)(adc_to_volts(adc_data[BRAKEPIN_2]) * 100);
-
-	endian_swap(&voltage_data.accel_1, sizeof(voltage_data.accel_1));
-	endian_swap(&voltage_data.accel_2, sizeof(voltage_data.accel_2));
-	endian_swap(&voltage_data.brake_1, sizeof(voltage_data.brake_1));
-	endian_swap(&voltage_data.brake_2, sizeof(voltage_data.brake_2));
-
-	memcpy(pedals_msg.data, &voltage_data, pedals_msg.len);
-	queue_can_msg(pedals_msg);
+	} pedal_volts_data;
+
+	struct __attribute((__packed__)) {
+		uint16_t accel_norm;
+		uint16_t brake_norm;
+	} pedal_norm_data;
+
+	pedal_volts_data.accel_1 = (uint16_t)(pedal_vals->accel1_volts * 100);
+	pedal_volts_data.accel_2 = (uint16_t)(pedal_vals->accel2_volts * 100);
+	pedal_volts_data.brake_1 = (uint16_t)(pedal_vals->brake1_volts * 100);
+	pedal_volts_data.brake_2 = (uint16_t)(pedal_vals->brake2_volts * 100);
+
+	endian_swap(&pedal_volts_data.accel_1,
+		    sizeof(pedal_volts_data.accel_1));
+	endian_swap(&pedal_volts_data.accel_2,
+		    sizeof(pedal_volts_data.accel_2));
+	endian_swap(&pedal_volts_data.brake_1,
+		    sizeof(pedal_volts_data.brake_1));
+	endian_swap(&pedal_volts_data.brake_2,
+		    sizeof(pedal_volts_data.brake_2));
+
+	pedal_norm_data.accel_norm = (uint16_t)(pedal_vals->accel_norm * 100);
+	pedal_norm_data.brake_norm = (uint16_t)(pedal_vals->brake_norm * 100);
+
+	endian_swap(&pedal_norm_data.accel_norm,
+		    sizeof(pedal_norm_data.accel_norm));
+	endian_swap(&pedal_norm_data.brake_norm,
+		    sizeof(pedal_norm_data.brake_norm));
+
+	memcpy(pedals_volts_msg.data, &pedal_volts_data, pedals_volts_msg.len);
+	queue_can_msg(pedals_volts_msg);
+
+	memcpy(pedals_norm_msg.data, &pedal_norm_data, pedals_norm_msg.len);
+	queue_can_msg(pedals_norm_msg);
 }
 
 /**
@@ -603,9 +632,11 @@ void vProcessPedals(void *pv_params)
 
 	free(args);
 
+	pedal_data_t pedal_data;
+
 	uint32_t adc_data[4];
-	osTimerId_t send_pedal_data_timer =
-		osTimerNew(&send_pedal_data, osTimerPeriodic, adc_data, NULL);
+	osTimerId_t send_pedal_data_timer = osTimerNew(
+		&send_pedal_data, osTimerPeriodic, &pedal_data, NULL);
 
 	/* Send CAN messages with raw pedal readings, we do not care if it fails*/
 	osTimerStart(send_pedal_data_timer, 100);
@@ -656,6 +687,13 @@ void vProcessPedals(void *pv_params)
 			adc_to_volts(brake_avg), 0, MAX_VOLTS_UNSCALED);
 		float accel_value = (accel1_norm + accel2_norm) / 2;
 
+		pedal_data.accel1_volts = accel1_volts;
+		pedal_data.accel2_volts = accel2_volts;
+		pedal_data.brake1_volts = brake1_volts;
+		pedal_data.brake2_volts = brake2_volts;
+		pedal_data.accel_norm = accel_value;
+		pedal_data.brake_norm = brake_value;
+
 		/* Turn brakelight on or off */
 		osMutexAcquire(brake_state_mut, osWaitForever);
 		if (brake_value > PEDAL_BRAKE_THRESH) {