removed pin underscores in iomanagement.h

include/IOManagement.h

@@ -2,24 +2,26 @@
 #define __IO_MANAGER_H__
 
 #include "PID.h" 
+#include "dac.h"
 #include "adc.h"
 #include "const.h"
 #include "STM32TimerInterrupt_Generic.h"
 #include <Arduino.h>
 
 //Outputs
-#define MCU_DIR                PA_6
-#define MCU_ECO                PB_1
-#define MCU_MC_ON              PA_2
+#define MCU_DIR                PB7
+#define MCU_ECO                PB1
 
 //Inputs
-#define PRK_BRK_TELEM          PB_4
+#define MC_ON                  PA10
+#define PRK_BRK_TELEM          PB4
 
 struct Digital_Data {
     bool direction : 1;         // output
     bool eco_mode : 1;          // output
-    bool mcu_mc_on : 1;         // output
+    bool mc_on : 1;             // input
     bool park_brake : 1;        // input
+    bool brakeLED : 1;          // derived by state machine
 };
 
 extern volatile Digital_Data digital_data;
@@ -42,7 +44,6 @@ void readIO();
 // Set the value of output pins
 void set_direction(bool dir);
 void set_eco_mode(bool eco);
-void set_mcu_mc_on(bool mc_on);
 void writeAccOut(float newAccOut);
 void writeRegenBrake(float newRegenBrake);
 

include/canPDC.h

@@ -7,6 +7,7 @@
 
 //Macros for the CAN message IDs
 #define FORWARD_AND_REVERSE_ID 0x300
+#define FORWARD_AND_REVERSE_BIT_MASK 0x01
 
 class CANPDC : public CANManager {
     public:
@@ -15,8 +16,6 @@ class CANPDC : public CANManager {
         void sendPDCData();
 };
 
-extern volatile bool brakeLED;
 extern volatile bool forwardAndReverse;
-extern volatile bool mc_on;
 
 #endif

include/const.h

@@ -15,11 +15,8 @@
 // How fast to transmit data over CAN in ms (and debug prints if on) 
 #define DATA_SEND_PERIOD 50
 
-///////////////
 // PID macros
-///////////////
-//Todo: tune these
-#define POWER_P_PARAM 0.0
+#define POWER_P_PARAM 0.0 // TODO: tune these
 #define POWER_I_PARAM 0.0
 #define POWER_D_PARAM 0.0
 #define SPEED_P_PARAM 2.5
@@ -33,40 +30,16 @@
 #define MAX_RPM 1000.0
 
 // limits for outputs of PID
-// is 0.0 to 1.0 due to how AnalogOut pins work.
+// is 0.0 to 1.0 due to how analog output pins work.
 #define MIN_OUT 0.0
 #define MAX_OUT 1.0
 
-//////////////////////
-//State machine stuff
-/////////////////////
-enum class PDCStates : uint8_t {
-    OFF,
-    PARK,
-    IDLE,
-    FORWARD,
-    REVERSE,
-    CRUISE_POWER,
-    CRUISE_SPEED
-};
-
-enum class CRUZ_MODE : uint8_t {
-    OFF,
-    SPEED,
-    POWER,
-};
-
-extern volatile CRUZ_MODE cruzMode;
-extern volatile PDCStates pdcState;
-
+// State machine constants
 #define FORWARD_VALUE 0
 #define REVERSE_VALUE 1
 #define BRAKE_SENSOR_THRESHOLD 0.14 // 0.7/5
 
-///////////////
-// Speed stuff
-///////////////
-
+// Speed constants
 #define MIN_MOVING_SPEED 3.0        // speed threshold for idle state
 
 #endif

include/motor_control.h

@@ -8,15 +8,30 @@
 #include "STM32TimerInterrupt_Generic.h"
 #include "canPDC.h"
 
+enum class PDCStates : uint8_t {
+    OFF,
+    PARK,
+    IDLE,
+    FORWARD,
+    REVERSE,
+    CRUISE_POWER,
+    CRUISE_SPEED
+};
+
+enum class CRUZ_MODE : uint8_t {
+    OFF,
+    SPEED,
+    POWER,
+};
+
+
 void initPDCState();
 void transition();
-PDCStates get_state();
 
 //Speed variables
 extern volatile float rpm;
 extern volatile float motorSpeedSetpoint;
-
-// cruise control variables
-PID *curr_PID;
+extern volatile CRUZ_MODE cruzMode;
+extern volatile PDCStates pdcState;
 
 #endif

include/speed_calc.h

@@ -19,6 +19,6 @@ void startSpeedCalculation();
 // Starts speed (RPM and MPH) calculations at specified interval
 extern volatile float rpm;
 extern volatile float mph;
-extern volatile unsigned int previousPulses[ARRAY_SIZE];
+extern volatile uint8_t previousPulses[ARRAY_SIZE];
 
 #endif

src/IOManagement.cpp

@@ -17,23 +17,23 @@ STM32TimerInterrupt IOTimer(TIM2);
 void initIO() {
     pinMode(MCU_DIR, OUTPUT);
     pinMode(MCU_ECO, OUTPUT);
-    pinMode(MCU_MC_ON, OUTPUT);
+    pinMode(MC_ON, INPUT);
     pinMode(PRK_BRK_TELEM, INPUT);
 
     initADC(ADC1);
 
-    if(IOTimer.attachInterruptInterval(IO_UPDATE_PERIOD, readIO))
-    {
+    uint32_t channels[2] = {DAC_CHANNEL_1, DAC_CHANNEL_2};
+    initDAC(DAC1, channels, 2);
+
+    if(IOTimer.attachInterruptInterval(IO_UPDATE_PERIOD, readIO)) {
         printf("starting IO timer\n");
-    }
-    else 
-    {
+    } else {
         printf("problem starting IO timer\n");
     }
 }
 
-void readIO() 
-{
+void readIO() {
+    digital_data.mc_on = digitalRead(MC_ON);
     digital_data.park_brake = digitalRead(PRK_BRK_TELEM);
 
     acc_in = readADC(ADC_CHANNEL_11); // PA_6
@@ -54,17 +54,12 @@ void set_eco_mode(bool eco){
     digital_data.eco_mode = eco;
 }
 
-void set_mcu_mc_on(bool mc_on){
-    digital_data.mcu_mc_on = mc_on;
-    digitalWrite(MCU_MC_ON, mc_on);
-}
-
 void writeAccOut(float newAccOut) {
     acc_out = newAccOut;
-    analogWrite(PA_5, acc_out);
+    writeDAC(DAC_CHANNEL_2, newAccOut); // PA_5
 }
 
 void writeRegenBrake(float newRegenBrake) {
     regen_brake = newRegenBrake;
-    analogWrite(PA_4, regen_brake);
+    writeDAC(DAC_CHANNEL_1, newRegenBrake); // PA_4
 }

src/canPDC.cpp

@@ -1,15 +1,13 @@
 #include "canPDC.h"
 
-volatile bool brakeLED = false;
 volatile bool forwardAndReverse = false;
-volatile bool mc_on = false;
 
 CANPDC::CANPDC(CAN_TypeDef* canPort, CAN_PINS pins, int frequency) : CANManager(canPort, pins, frequency) {};
 
 void CANPDC::readHandler(CAN_message_t msg) {
     switch(msg.id){
         case FORWARD_AND_REVERSE_ID:
-            forwardAndReverse = msg.buf[0];
+            forwardAndReverse = msg.buf[0] & FORWARD_AND_REVERSE_BIT_MASK;
             break;
         default:
             break;
@@ -25,6 +23,7 @@ void CANPDC::sendPDCData() {
     this->sendMessage(0x205, (void*)&current_in_telem, sizeof(float));
     this->sendMessage(0x206, (void*)&brake_pressure_telem, sizeof(float));
     this->sendMessage(0x207, (void*)&digital_data, sizeof(digital_data));
-    this->sendMessage(0x20A, (void*)&brakeLED, sizeof(bool));
     this->sendMessage(0x208, (void*)&mph, sizeof(float));
+    this->sendMessage(0x209, (void*)&acc_in, sizeof(float));
+
 }

src/main.cpp

@@ -1,18 +1,73 @@
 #include <Arduino.h>
 #include "IOManagement.h"
+#include "dac.h"
 #include "const.h"
 #include "canPDC.h"
 #include "speed_calc.h"
+#include "motor_control.h"
 
 CANPDC canBus(CAN1, DEF);
 
+uint8_t counter = 0;
+bool digital_output = false;
+
 void setup() {
   Serial.begin(115200);
   initIO();
+  initPDCState();
   startSpeedCalculation();
 }
 
 void loop() {
   canBus.sendPDCData();
-  canBus.runQueue(DATA_SEND_PERIOD);
+  canBus.runQueue(50);
+  counter++;
+  if (counter >= 20) {
+    counter = 0;
+    // clear the screen
+    printf("\e[1;1H\e[2J");
+
+    // state
+    printf("State: ");
+    switch (pdcState) {
+      case PDCStates::OFF:
+        printf("OFF\n");
+        break;
+      case PDCStates::PARK:
+        printf("PARK\n");
+        break;
+      case PDCStates::IDLE:
+        printf("IDLE\n");
+        break;
+      case PDCStates::FORWARD:
+        printf("FORWARD\n");
+        break;
+      case PDCStates::REVERSE:
+        printf("REVERSE\n");
+        break;
+      case PDCStates::CRUISE_POWER:
+        printf("CRUISE_POWER\n");
+        break;
+      case PDCStates::CRUISE_SPEED:
+        printf("CRUISE_SPEED\n");
+        break;
+      default:
+        printf("unknown\n");
+        break;
+    }
+
+    // digital inputs 
+    printf("mc_on: %d\n", digital_data.mc_on);
+    printf("park_brake: %d\n", digital_data.park_brake);
+    printf("Brake LED: %d\n", digital_data.brakeLED);
+
+    // analog inputs
+    printf("12V: %f\n", lv_12V_telem);
+    printf("5V: %f\n", lv_5V_telem);
+    printf("5V current: %f\n", lv_5V_current);
+    printf("current in: %f\n", current_in_telem);
+    printf("brake pressure: %f\n", brake_pressure_telem);
+    printf("mph: %f\n", mph);
+    printf("acc_in: %f\n", acc_in);
+  }
 }

src/motor_control.cpp

@@ -7,6 +7,7 @@ volatile CRUZ_MODE cruzMode = CRUZ_MODE::OFF;
 //PID interval is in seconds and macro is in microseconds
 PID power_PID(POWER_D_PARAM, POWER_I_PARAM, POWER_P_PARAM, PID_UPDATE_INTERVAL);
 PID speed_PID(SPEED_D_PARAM, SPEED_I_PARAM, SPEED_P_PARAM, PID_UPDATE_INTERVAL);
+PID *curr_PID;
 
 volatile float speed_pid_compute = 0.0;
 STM32TimerInterrupt state_updater(TIM7);
@@ -18,7 +19,7 @@ void initPDCState(){
     pdcState = PDCStates::OFF;
 
     // initialize Ticker to run the transition method every pid update interval seconds
-    state_updater.attachInterruptInterval(PID_UPDATE_INTERVAL, transition);
+    state_updater.attachInterruptInterval(IO_UPDATE_PERIOD, transition);
     // set limits of inputs and outputs
     power_PID.setInputLimits(MIN_POWER, MAX_POWER);
     power_PID.setOutputLimits(MIN_OUT, MAX_OUT);
@@ -43,11 +44,12 @@ void transition() {
             // OUTPUT: set acc_out pin based on acc_in from the pedal
             // this allows us to accelerate into REVERSE or FORWARD states
             writeAccOut(acc_in);
+            digital_data.direction = forwardAndReverse;
             set_direction(digital_data.direction);
 
             // car moving fast, transition to locked direction state
             if (rpm >= MIN_MOVING_SPEED) {
-                if (forwardAndReverse == FORWARD_VALUE) {
+                if (digital_data.direction == FORWARD_VALUE) {
                     pdcState = PDCStates::FORWARD;
                 } else {
                     pdcState = PDCStates::REVERSE;
@@ -109,12 +111,12 @@ void transition() {
 
         // OFF state as our default
         default:
-            if (mc_on) {
+            // OUTPUT: make sure the motor isn't spinning when it's OFF
+            writeAccOut(0.0);
+            if (digital_data.mc_on) {
                 pdcState = PDCStates::PARK;
                 break;
             }
-            // OUTPUT: make sure the motor isn't spinning when it's OFF
-            writeAccOut(0.0);
             // Set to known state since it is our default
             pdcState = PDCStates::OFF;
             break;
@@ -124,7 +126,7 @@ void transition() {
 
     // use if, else if because we should only switch to 1 state.
     // put higher priority checks up top.
-    if (!mc_on) {
+    if (!digital_data.mc_on) {
         // the motor is off, so go into OFF state
         pdcState = PDCStates::OFF;
         writeAccOut(0.0);
@@ -138,5 +140,5 @@ void transition() {
         writeAccOut(0.0);
     }
     // set brakeLED based on analog brake sensor 
-    brakeLED = brake_pressure_telem > BRAKE_SENSOR_THRESHOLD;
+    digital_data.brakeLED = brake_pressure_telem > BRAKE_SENSOR_THRESHOLD;
 }