Driver cntrl validation (#270)

* steering validation changes * steering values updated + tested on mockup * steering + brakes work
uw-midsun · Mar 28, 2024 · 0346df0 · 0346df0
1 parent a02f592
commit 0346df0
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Showing 4 changed files with 26 additions and 16 deletions.
diff --git a/projects/pedal/inc/pedal.h b/projects/pedal/inc/pedal.h
@@ -14,7 +14,7 @@
 #include "status.h"
 
 #define BRAKE_LIMIT_SWITCH \
-  { .port = GPIO_PORT_A, .pin = 7 }
+  { .port = GPIO_PORT_B, .pin = 1 }
 
 #define ADC_HALL_SENSOR \
   { .port = GPIO_PORT_A, .pin = 1 }

diff --git a/projects/steering/inc/steering_task.h b/projects/steering/inc/steering_task.h
@@ -9,14 +9,14 @@
 #include "status.h"
 #include "steering_setters.h"
 
-#define VOLTAGE_TOLERANCE_MV 20
+#define VOLTAGE_TOLERANCE_MV 100
 // turn signal voltages
-#define TURN_LEFT_SIGNAL_VOLTAGE_MV 1200
-#define TURN_RIGHT_SIGNAL_VOLTAGE_MV 2130
-#define NEUTRAL_SIGNAL_VOLTAGE_MV 2610
+#define TURN_LEFT_SIGNAL_VOLTAGE_MV 2100
+#define TURN_RIGHT_SIGNAL_VOLTAGE_MV 1200
+#define NEUTRAL_SIGNAL_VOLTAGE_MV 3300
 // cruise control voltages
-#define CRUISE_CONTROl_STALK_SPEED_INCREASE_VOLTAGE_MV 1650
-#define CRUISE_CONTROl_STALK_SPEED_DECREASE_VOLTAGE_MV 790
+#define CRUISE_CONTROl_STALK_SPEED_INCREASE_VOLTAGE_MV 1600
+#define CRUISE_CONTROl_STALK_SPEED_DECREASE_VOLTAGE_MV 775
 #define CRUISE_CONTROl_STALK_NEUTRAL_VOLTAGE_MV 3300
 
 #define TURN_SIGNAL_GPIO \

diff --git a/projects/steering/src/main.c b/projects/steering/src/main.c
@@ -7,6 +7,7 @@
 #include "gpio.h"
 #include "gpio_it.h"
 #include "gpio_mcu.h"
+#include "interrupt.h"
 #include "log.h"
 #include "master_task.h"
 #include "steering_task.h"
@@ -15,13 +16,18 @@
 static CanStorage s_can_storage = { 0 };
 const CanSettings can_settings = {
   .device_id = SYSTEM_CAN_DEVICE_STEERING,
-  .bitrate = CAN_HW_BITRATE_125KBPS,
+  .bitrate = CAN_HW_BITRATE_500KBPS,
   .tx = { GPIO_PORT_A, 12 },
   .rx = { GPIO_PORT_A, 11 },
-  .loopback = true,
+  .loopback = false,
 };
 
-void pre_loop_init() {}
+void pre_loop_init() {
+  // Setup analog inputs and initialize adc
+  Task *steering_master_task = get_master_task();
+  steering_init(steering_master_task);
+  adc_init();
+}
 
 void run_fast_cycle() {}
 
@@ -41,13 +47,10 @@ void run_slow_cycle() {}
 int main() {
   tasks_init();
   log_init();
+  interrupt_init();
   gpio_init();
   gpio_it_init();
 
-  // Setup analog inputs and initialize adc
-  steering_init();
-  adc_init();
-
   can_init(&s_can_storage, &can_settings);
   init_master_task();
   tasks_start();

diff --git a/projects/steering/src/steering.c b/projects/steering/src/steering.c
@@ -11,7 +11,7 @@ StatusCode steering_init(Task *task) {
   // Initialize Pins
   gpio_init_pin(&turn_signal_address, GPIO_ANALOG, GPIO_STATE_LOW);
   gpio_init_pin(&cc_address, GPIO_ANALOG, GPIO_STATE_LOW);
-  gpio_init_pin(&cc_toggle_address, GPIO_ANALOG, GPIO_STATE_LOW);
+  gpio_init_pin(&cc_toggle_address, GPIO_INPUT_FLOATING, GPIO_STATE_LOW);
   // Set up ADC
   adc_add_channel(turn_signal_address);
   adc_add_channel(cc_address);
@@ -26,17 +26,21 @@ StatusCode steering_init(Task *task) {
   return STATUS_CODE_OK;
 }
 
-void steering_input(uint32_t notification) {
+void steering_input() {
   uint16_t control_stalk_data;
+  uint32_t notification;
   set_steering_info_input_cc(0);
+  LOG_DEBUG("RUNNING CYCLE\n");
   // Read ADC of pin set by turn signal lights
   adc_read_converted(turn_signal_address, &control_stalk_data);
   // Determine if it's a left, right or off signal
   if (control_stalk_data > TURN_LEFT_SIGNAL_VOLTAGE_MV - VOLTAGE_TOLERANCE_MV &&
       control_stalk_data < TURN_LEFT_SIGNAL_VOLTAGE_MV + VOLTAGE_TOLERANCE_MV) {
+    LOG_DEBUG("LEFT\n");
     set_steering_info_input_lights(TURN_SIGNAL_LEFT);
   } else if (control_stalk_data > TURN_RIGHT_SIGNAL_VOLTAGE_MV - VOLTAGE_TOLERANCE_MV &&
              control_stalk_data < TURN_RIGHT_SIGNAL_VOLTAGE_MV + VOLTAGE_TOLERANCE_MV) {
+    LOG_DEBUG("RIGHT\n");
     set_steering_info_input_lights(TURN_SIGNAL_RIGHT);
   } else {
     set_steering_info_input_lights(TURN_SIGNAL_OFF);
@@ -48,17 +52,20 @@ void steering_input(uint32_t notification) {
       control_stalk_data < CRUISE_CONTROl_STALK_SPEED_INCREASE_VOLTAGE_MV + VOLTAGE_TOLERANCE_MV) {
     // toggle second bit to 1
     set_steering_info_input_cc(CC_INCREASE_MASK | CC_INPUT);
+    LOG_DEBUG("CC INCREASE\n");
   } else if (control_stalk_data >
                  CRUISE_CONTROl_STALK_SPEED_DECREASE_VOLTAGE_MV - VOLTAGE_TOLERANCE_MV &&
              control_stalk_data <
                  CRUISE_CONTROl_STALK_SPEED_DECREASE_VOLTAGE_MV + VOLTAGE_TOLERANCE_MV) {
     // toggle first bit to 1
     set_steering_info_input_cc(CC_DECREASE_MASK | CC_INPUT);
+    LOG_DEBUG("CC DECREASE\n");
   }
   if (notify_get(&notification) == STATUS_CODE_OK) {
     while (event_from_notification(&notification, &STEERING_EVENT) == STATUS_CODE_INCOMPLETE) {
       if (STEERING_EVENT == CC_TOGGLE_EVENT) {
         set_steering_info_input_cc(CC_TOGGLE_MASK | CC_INPUT);
+        LOG_DEBUG("CC TOGGLED\n");
       }
     }
   }