Full HV and Drive Testing

ECU/Application/Inc/CANutils.h

@@ -13,5 +13,6 @@
 void ECU_CAN_Send(GRCAN_BUS_ID bus, GRCAN_NODE_ID destNode, GRCAN_MSG_ID messageID, void *data, uint32_t size);
 void ECU_CAN_Send_DTI(GRCAN_CUSTOM_ID msgID, void *data, uint32_t size);
 void SendECUStateDataOverCAN(ECU_StateData *stateData);
+void SendECUAnalogDataOverCAN(ECU_StateData *stateData);
 
 #endif

ECU/Application/Inc/StateData.h

@@ -3,7 +3,7 @@
 
 #include "GRCAN_MSG_DATA.h"
 #include "StateMachine.h"
-#include "ecu_can.h"
+#include "can.h"
 
 #ifndef _STATEDATA_H_
 #define _STATEDATA_H_
@@ -87,7 +87,9 @@ typedef volatile struct ECU_StateData {
 	uint8_t glv_soc;
 	uint8_t acu_error_warning_bits;
 	uint8_t inverter_fault_map;
+	bool ts_active_button_press_interrupt;
 	bool ts_active_button_pressed;
+	bool rtd_button_press_interrupt;
 	bool rtd_button_pressed;
 	bool ir_plus;
 	bool ir_minus;

ECU/Application/Inc/StateTicks.h

@@ -1,7 +1,7 @@
 #include "StateData.h"
 #include "StateMachine.h"
 #include "adc.h"
-#include "ecu_can.h"
+#include "can.h"
 
 #ifndef _STATE_TICKS_H_
 #define _STATE_TICKS_H_

ECU/Application/Inc/StateUtils.h

@@ -15,10 +15,10 @@ uint32_t MillisecondsSinceBoot(void);
 #define BRAKE_F_MAX 4095    // TODO: need to be determined FIXME: Rename better
 #define BRAKE_R_MIN 0	    // TODO: need to be determined FIXME: Rename better
 #define BRAKE_R_MAX 4095    // TODO: need to be determined FIXME: Rename better
-#define THROTTLE_MIN_1 0    // TODO: need to be determined
-#define THROTTLE_MAX_1 4095 // TODO: need to be determined
-#define THROTTLE_MIN_2 0    // TODO: need to be determined
-#define THROTTLE_MAX_2 4095 // TODO: need to be determined
+#define THROTTLE_MIN_1 306  // TODO: need to be determined
+#define THROTTLE_MAX_1 3704 // TODO: need to be determined
+#define THROTTLE_MIN_2 336  // TODO: need to be determined
+#define THROTTLE_MAX_2 3794 // TODO: need to be determined
 #define BSE_MAX 4096.0f
 #define BSE_DEADZONE 1.2f
 #define MAX_BSE_FAILURE_TIME 100
@@ -54,5 +54,7 @@ float CalcAccPedalTravel(volatile const ECU_StateData *stateData);
 bool APPS_Plausible(volatile const ECU_StateData *stateData);
 bool BSE_Plausible(volatile const ECU_StateData *stateData);
 bool vehicle_is_moving(volatile const ECU_StateData *stateData);
+/* Disable inverter for both DTI and Custom */
+void disable_inverter(void);
 
 #endif

ECU/Application/Src/CANdler.c

@@ -110,17 +110,15 @@ void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCA
 
 			// LET IT BE KNOWN: these things are LSB FIRST, TODO: I'll get it right later
 			if (state_data->ecu_state == GR_GLV_ON) {
-				state_data->ts_active_button_pressed = dash_data->button_flags & 1;
+				state_data->ts_active_button_press_interrupt = dash_data->button_flags & 1;
 			} else {
-				state_data->ts_active_button_pressed = (dash_data->button_flags >> 2) & 1;
+				state_data->ts_active_button_press_interrupt = (dash_data->button_flags >> 2) & 1;
 			}
 
 			if (state_data->ecu_state == GR_PRECHARGE_COMPLETE) {
-				state_data->rtd_button_pressed = (dash_data->button_flags >> 1) & 1;
+				state_data->rtd_button_press_interrupt = (dash_data->button_flags >> 1) & 1;
 			} else if (state_data->ecu_state == GR_DRIVE_ACTIVE) {
-				state_data->rtd_button_pressed = (dash_data->button_flags >> 3) & 1;
-			} else {
-				state_data->rtd_button_pressed = false;
+				state_data->rtd_button_press_interrupt = (dash_data->button_flags >> 3) & 1;
 			}
 
 			break;

ECU/Application/Src/CANutils.c

@@ -10,7 +10,7 @@
 #include "StateData.h"
 #include "StateTicks.h"
 #include "StateUtils.h"
-#include "ecu_can.h"
+#include "can.h"
 #include "main.h"
 #include "stm32g4xx_hal_fdcan.h"
 #include "string.h"
@@ -33,7 +33,7 @@ void ECU_CAN_Send(GRCAN_BUS_ID bus, GRCAN_NODE_ID destNode, GRCAN_MSG_ID message
 	    .IdType = FDCAN_EXTENDED_ID,
 	    .TxFrameType = FDCAN_DATA_FRAME,
 	    .ErrorStateIndicator = FDCAN_ESI_ACTIVE,
-	    .DataLength = size,
+	    .DataLength = BytesToCANDLC(size),
 	    .BitRateSwitch = FDCAN_BRS_OFF,
 	    .TxEventFifoControl = FDCAN_NO_TX_EVENTS,
 	    .MessageMarker = 0,
@@ -78,17 +78,20 @@ void ECU_CAN_Send_DTI(GRCAN_CUSTOM_ID msgID, void *data, uint32_t size)
 	TxHeader.Identifier = msgID;
 	TxHeader.DataLength = size;
 
-	TxHeader.IdType = FDCAN_EXTENDED_ID;
-
 	TxHeader.FDFormat = FDCAN_CLASSIC_CAN;
 
 	FDCANTxMessage msg = {0};
 	msg.tx_header = TxHeader;
 
-	for (uint32_t i = 0; i < size; i++) {
-		msg.data[size - i - 1] = ((uint8_t *)data)[i];
+	uint8_t temp;
+	for (uint16_t i = 0; i < size / 2; ++i) {
+		temp = ((uint8_t *)data)[i];
+		((uint8_t *)data)[i] = ((uint8_t *)data)[size - i - 1];
+		((uint8_t *)data)[size - i - 1] = temp;
 	}
 
+	memcpy(&(msg.data), data, size);
+
 	// can_send(primary_can, &msg);
 	can_enqueue(stateLump.primary_can, &msg);
 }
@@ -116,9 +119,27 @@ void SendECUStateDataOverCAN(ECU_StateData *stateData)
 					.RRWheelRPM = (uint16_t)(stateData->rr_wheel_rpm * 10 + 32768),
 					.RLWheelRPM = (uint16_t)(stateData->rl_wheel_rpm * 10 + 32768)};
 
-	// LOGOMATIC("Sending ECU State Data over CAN\n");
-
 	ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_ALL, GRCAN_ECU_STATUS_1, (void *)&messages.ECUStatusMsgOne, sizeof(messages.ECUStatusMsgOne));
 	ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_ALL, GRCAN_ECU_STATUS_2, (void *)&messages.ECUStatusMsgTwo, sizeof(messages.ECUStatusMsgTwo));
 	ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_ALL, GRCAN_ECU_STATUS_3, (void *)&messages.ECUStatusMsgThree, sizeof(messages.ECUStatusMsgThree));
 }
+
+void SendECUAnalogDataOverCAN(ECU_StateData *stateData)
+{
+	uint32_t millis_since_boot = MillisecondsSinceBoot();
+
+	static uint32_t last_can_tcm_request_millis = 0;
+
+	if (millis_since_boot - last_can_tcm_request_millis > 100) {
+		GRCAN_ECU_ANALOG_DATA_MSG message = {.bspd_signal = stateData->bspd_signal,
+						     .bse_signal = stateData->bse_signal,
+						     .apps_1_signal = stateData->APPS1_Signal,
+						     .apps_2_signal = stateData->APPS2_Signal,
+						     .brakeline_f_signal = stateData->Brake_F_Signal,
+						     .brakeline_r_signal = stateData->Brake_R_Signal,
+						     .steering_angle_signal = stateData->steering_angle_signal,
+						     .aux_signal = stateData->aux_signal};
+		ECU_CAN_Send(GRCAN_BUS_DATA, GRCAN_TCM, GRCAN_ECU_ANALOG_DATA, &message, sizeof(message));
+		last_can_tcm_request_millis = millis_since_boot;
+	}
+}

ECU/Application/Src/Lights.c

@@ -5,7 +5,7 @@
 #include "StateUtils.h"
 #include "adc.h"
 #include "bitManipulations.h"
-#include "ecu_can.h"
+#include "can.h"
 #include "main.h"
 #include "stm32g4xx_ll_gpio.h"