Migrate To New CAN Specification

Autogen/CAN/.gitignore

@@ -2,5 +2,4 @@ inc/
 !inc/output.dbc
 
 # CANfigurator
-Inc/*.h
 Doc/*.dbc

Autogen/CAN/Doc/GRCAN.CANdo

@@ -160,7 +160,8 @@ routing:
           - msg: Debug FD
           - msg: Ping
         TCM:
-          - msg: ECU Pedals Data
+          - msg: ECU Analog Data
+          - msg: ECU Performance
     Energy Meter:
       CAN3:
         BCU:
@@ -3903,7 +3904,7 @@ Message ID:
       comment: Literal copy of ECU Status's status bit map
       data type: b[24]
       units: Bool map
-  ECU Pedals Data:
+  ECU Analog Data:
     MSG ID: 0x02E
     MSG LENGTH: 16
     BSPD Signal:
@@ -4051,6 +4052,16 @@ Message ID:
       comment: W
       data type: i16
       map equation: "x/100"
+  ECU Performance:
+    MSG ID: 0x123
+    MSG LENGTH: 4
+    Elapsed Cycles:
+      bit_start: 0
+      comment:
+        Represents the total number of clock cycles elapsed for 10 iterations of the main loop
+        data type: u32
+        units: Clock Cycles
+      data type: u8
 
 Custom CAN ID:
   DTI Control 1:

Autogen/CAN/Inc/GRCAN_MSG_DATA.h

@@ -37,7 +37,7 @@ See diagram in StateMachine.h
 5: TS Discharge ECU State
 6-7: Reserved
 See diagram in StateMachine.h (Byte 0) */
-	uint8_t state_messages;
+	uint8_t ecu_state;
 	/** [Byte 1 / Bits 8-15]
 8: BCU Node Status (1: OK, 0: Timeout)
 9: GR Inverter Status (1: OK, 0: Timeout)
@@ -405,7 +405,7 @@ typedef struct {
 	uint16_t steering_angle_signal;
 	/** 4-20 mA signal (Byte 14) */
 	uint16_t aux_signal;
-} GRCAN_ECU_PEDALS_DATA_MSG;
+} GRCAN_ECU_ANALOG_DATA_MSG;
 
 /** GPS LAT */
 typedef struct {
@@ -465,4 +465,13 @@ typedef struct {
 	uint16_t dgps_w;
 } GRCAN_UVW_DGPS_MSG;
 
+/** ECU Performance */
+typedef struct {
+	/**
+	 * Represents the total number of clock cycles elapsed for 10 iterations of the main loop
+	 * data type: u32
+	 * units: Clock Cycles (Byte 0) */
+	uint32_t elapsed_cycles;
+} GRCAN_ECU_PERFORMANCE_MSG;
+
 #endif

Autogen/CAN/Inc/GRCAN_MSG_ID.h

@@ -33,14 +33,15 @@ typedef enum {
 	MSG_TCM_STATUS = 0x029,
 	MSG_TCM_RESOURCE_UTILIZATION = 0x02A,
 	MSG_DASH_WARNING_FLAGS = 0x02B,
-	MSG_ECU_PEDALS_DATA = 0x02E,
+	MSG_ECU_ANALOG_DATA = 0x02E,
 	MSG_GPS_LAT = 0x031,
 	MSG_GPS_LON = 0x032,
 	MSG_GPS_ALT = 0x033,
 	MSG_GPS_PX = 0x034,
 	MSG_GPS_QY = 0x035,
 	MSG_GPS_RZ = 0x036,
 	MSG_UVW_DGPS = 0x030,
+	MSG_ECU_PERFORMANCE = 0x123,
 } GRCAN_MSG_ID;
 
 #endif // CAN_MSG_IDS_H

CCU/Application/Inc/CCUStateData.h

@@ -30,7 +30,7 @@ typedef struct {
 	// bool BCU_S2_PRECHARGE_ERROR;
 
 	// State
-	// uint8_t BCU_S2_PRECHARGE_BITS;
+	uint8_t BCU_S2_PRECHARGE_BITS;
 	// bool BCU_S2_PRECHARGE_STATE;
 	// bool BCU_S2_IR_STATE;
 	bool BCU_S2_SOFTWARE_LATCH;

CCU/Application/Src/CANDler.c

@@ -4,10 +4,10 @@
 #include "CANDler.h"
 
 #include "CCUStateData.h"
-#include "GR_OLD_BUS_ID.h"
-#include "GR_OLD_MSG_DAT.h"
-#include "GR_OLD_MSG_ID.h"
-#include "GR_OLD_NODE_ID.h"
+#include "GRCAN_BUS_ID.h"
+#include "GRCAN_MSG_DATA.h"
+#include "GRCAN_MSG_ID.h"
+#include "GRCAN_NODE_ID.h"
 #include "Logomatic.h"
 #include "Unused.h"
 #include "bitManipulations.h"
@@ -19,16 +19,13 @@ CANHandle *primary_can = {0};
 void Read_CAN(uint32_t ID, void *data, uint32_t size)
 {
 
-	GR_OLD_MSG_ID messageId = (0x000FFF00 & ID) >> 8;
-	GR_OLD_NODE_ID nodeId = (0xFF00000 & ID) >> 20;
-
-	UNUSED(nodeId); // TODO Determine if calculating this value is actually needed
+	GRCAN_MSG_ID messageId = (0x000FFF00 & ID) >> 8;
 
 	switch (messageId) {
 		case MSG_BCU_STATUS_2:
 			// FIXME: if bad message do a thing
 
-			if (size != sizeof(GR_OLD_BCU_STATUS_2_MSG)) {
+			if (size != sizeof(GRCAN_BCU_STATUS_2_MSG)) {
 				LOGOMATIC("Bad CCU CAN Rx length! ID: %lu, Size %lu\n", ID, size);
 				break;
 			}
@@ -41,19 +38,22 @@ void Read_CAN(uint32_t ID, void *data, uint32_t size)
 
 			// What the rewrite would look like: STATUS 2
 
-			GR_OLD_BCU_STATUS_2_MSG *bcu_status_2 = (GR_OLD_BCU_STATUS_2_MSG *)data;
-			state_data.BCU_S2_MIN_CELL_Volt = bcu_status_2->voltage_min_cell;
+			GRCAN_BCU_STATUS_2_MSG *bcu_status_2 = (GRCAN_BCU_STATUS_2_MSG *)data;
+			state_data.BCU_S2_20Volt = bcu_status_2->_20v_voltage;
+			state_data.BCU_S2_12Volt = bcu_status_2->_12v_voltage;
+			state_data.BCU_S2_SDC_Volt = bcu_status_2->sdc_voltage;
+			state_data.BCU_S2_MIN_CELL_Volt = bcu_status_2->min_cell_voltage;
 			state_data.BCU_S2_MAX_CELL_TEMP = bcu_status_2->max_cell_temp;
 
-			state_data.BCU_S2_OVERTEMP_ERROR = GETBIT(bcu_status_2->error_bits, 0);
-			state_data.BCU_S2_OVERVOLT_ERROR = GETBIT(bcu_status_2->error_bits, 1);
-			state_data.BCU_S2_UNDERVOLT_ERROR = GETBIT(bcu_status_2->error_bits, 2);
-			state_data.BCU_S2_OVERCURR_ERROR = GETBIT(bcu_status_2->error_bits, 3);
-			state_data.BCU_S2_OVERCURR_ERROR = GETBIT(bcu_status_2->error_bits, 4);
+			state_data.BCU_S2_OVERTEMP_ERROR = GETBIT(bcu_status_2->status_flags, 0);
+			state_data.BCU_S2_OVERVOLT_ERROR = GETBIT(bcu_status_2->status_flags, 1);
+			state_data.BCU_S2_UNDERVOLT_ERROR = GETBIT(bcu_status_2->status_flags, 2);
+			state_data.BCU_S2_OVERCURR_ERROR = GETBIT(bcu_status_2->status_flags, 3);
+			state_data.BCU_S2_UNDERCURR_ERROR = GETBIT(bcu_status_2->status_flags, 4);
 
-			state_data.BCU_S2_UNDER20v_WARNING = GETBIT(bcu_status_2->error_bits, 5);
-			state_data.BCU_S2_UNDER12v_WARNING = GETBIT(bcu_status_2->error_bits, 6);
-			state_data.BCU_S2_UNDERVOLTSDC_WARNING = GETBIT(bcu_status_2->error_bits, 7);
+			state_data.BCU_S2_UNDER20v_WARNING = GETBIT(bcu_status_2->status_flags, 5);
+			state_data.BCU_S2_UNDER12v_WARNING = GETBIT(bcu_status_2->status_flags, 6);
+			state_data.BCU_S2_UNDERVOLTSDC_WARNING = GETBIT(bcu_status_2->status_flags, 7);
 
 			break;
 
@@ -159,17 +159,22 @@ void CAN_Configure(void)
 
 void SendPrechargeStatus(CCU_StateData *state_data)
 {
+
 	FDCANTxMessage msg;
-	msg.tx_header.Identifier = ((0xFF & LOCAL_GR_ID) << 20) | ((0xFFF & MSG_BCU_PRECHARGE) << 8) | (0xFF & GR_BCU);
+	msg.tx_header.Identifier = ((0xFF & LOCAL_GR_ID) << 20) | ((0xFFF & MSG_BCU_PRECHARGE) << 8) | (0xFF & BCU);
 	msg.tx_header.IdType = FDCAN_EXTENDED_ID;
 	msg.tx_header.TxFrameType = FDCAN_DATA_FRAME;
 	msg.tx_header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
-	msg.tx_header.DataLength = 1;
+	msg.tx_header.DataLength = FDCAN_DLC_BYTES_1;
 	msg.tx_header.BitRateSwitch = FDCAN_BRS_OFF;
 	msg.tx_header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
 	msg.tx_header.MessageMarker = 0;
 
 	msg.data[0] = (state_data->BCU_PRECHARGE_SET_TS_ACTIVE);
+
+	if (sizeof(msg) != sizeof(GRCAN_BCU_PRECHARGE_MSG)) {
+		LOGOMATIC("Bad CCU CAN Tx length!, Size %u\n", sizeof(msg));
+	}
 	LOGOMATIC("PRECHARGE SET: %d\n", state_data->BCU_PRECHARGE_SET_TS_ACTIVE);
 
 	can_send(primary_can, &msg);

CCU/CMakeLists.txt

@@ -35,10 +35,7 @@ if(CMAKE_PRESET_NAME STREQUAL "HOOTLTest")
 		CCUStateTicksTests
 		PRIVATE
 			GLOBALSHARE_LIB
-			#GR_OLD_CAN_MESSAGES
 			LOGOMATIC_LIB
-			#GR_ADC
-			#PERIPHERAL_CAN_LIB
 			BitManipulations_Lib
 	)
 	add_test(CCUStateTicksTests CCUStateTicksTests)
@@ -78,7 +75,7 @@ target_sources(
 target_link_libraries(
 	${GR_PROJECT_NAME}_USER_CODE
 	INTERFACE
-		GR_OLD_CAN_MESSAGES
+		CANfigurator
 		BitManipulations_Lib
 		PERIPHERAL_CAN_LIB
 		VCP_LIB

CCU/Core/Inc/main.h

@@ -44,7 +44,7 @@ extern "C" {
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-#include "GR_OLD_NODE_ID.h"
+#include "GRCAN_NODE_ID.h"
 /* USER CODE END Includes */
 
 /* Exported types ------------------------------------------------------------*/
@@ -108,7 +108,7 @@ void Error_Handler(void);
 #define SOFTWARE_OK_CONTROL_GPIO_Port GPIOB
 
 /* USER CODE BEGIN Private defines */
-#define LOCAL_GR_ID GR_CCU
+#define LOCAL_GR_ID CCU
 /* USER CODE END Private defines */
 
 #ifdef __cplusplus

CMakeLists.txt

@@ -24,9 +24,6 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
 set(lib_path "Lib")
 set(platform_path "${lib_path}/Platform")
 
-# FIXME Temporary holdover for CAN messages until URCA is ready for merge
-include("${lib_path}/FancyLayers-RENAME/GRCAN/TemporaryHoldover/temp.cmake")
-
 # Vendor
 include("${lib_path}/Vendor/CMSIS_5/cmsis_5.cmake")
 include("${lib_path}/Vendor/STM32_HAL_LL/cube.cmake")

DashPanel/Application/Inc/CANdler.h

@@ -1,14 +1,13 @@
 #ifndef CANDLER_H
 #define CANDLER_H
-#include "GR_OLD_MSG_DAT.h"
-#include "GR_OLD_MSG_ID.h"
-#include "GR_OLD_NODE_ID.h"
+#include "GRCAN_MSG_DATA.h"
+#include "GRCAN_MSG_ID.h"
+#include "GRCAN_NODE_ID.h"
 #include "can.h"
 
 typedef struct {
 	uint8_t ECUState;
-	uint8_t TSActiveButton;
-	uint8_t RTDButton;
+	uint8_t button_flags;
 	uint8_t led_bits;
 } DashStatus;
 
@@ -17,8 +16,8 @@ extern CANHandle *can_handler;
 extern bool canReadyToSend;
 
 void CANInitialize();
-void CAN_sendPing(GR_OLD_NODE_ID to, uint32_t data);
+void CAN_sendPing(GRCAN_NODE_ID to, uint32_t data);
 void CAN_callback(uint32_t ID, void *data, uint32_t size);
-void CAN_sendECU(CANHandle *c, GR_OLD_DASH_STATUS_MSG *msg, GR_OLD_NODE_ID to);
+void CAN_sendECU(CANHandle *c, GRCAN_DASH_STATUS_MSG *msg, GRCAN_NODE_ID to);
 
 #endif

DashPanel/Application/Src/CANdler.c

@@ -2,17 +2,18 @@
 
 #include <string.h>
 
-#include "GR_OLD_MSG_DAT.h"
-#include "GR_OLD_MSG_ID.h"
-#include "GR_OLD_NODE_ID.h"
+#include "GRCAN_MSG_DATA.h"
+#include "GRCAN_MSG_ID.h"
+#include "GRCAN_NODE_ID.h"
 #include "Logomatic.h"
 #include "Unused.h"
+#include "bitManipulations.h"
 #include "can.h"
 #include "dashutils.h"
 #include "main.h"
 #include "stm32g4xx_hal_fdcan.h"
 
-#define ECU_ID GR_ECU
+#define ECU_ID ECU
 #define PING_ID MSG_PING
 
 CANHandle *can_handler;
@@ -64,33 +65,33 @@ void CANInitialize()
 	can_start(can_handler);
 }
 
-void CAN_sendPing(GR_OLD_NODE_ID to, uint32_t data)
+void CAN_sendPing(GRCAN_NODE_ID to, uint32_t data)
 {
 	FDCANTxMessage pingMsg;
-	pingMsg.tx_header.Identifier = (GR_DASH_PANEL << 20) | (MSG_PING << 8) | to;
+	pingMsg.tx_header.Identifier = (Dash_Panel << 20) | (MSG_PING << 8) | to;
 	pingMsg.tx_header.IdType = FDCAN_EXTENDED_ID;
 	pingMsg.tx_header.TxFrameType = FDCAN_DATA_FRAME;
 	pingMsg.tx_header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
-	pingMsg.tx_header.DataLength = sizeof(GR_OLD_PING_MSG);
+	pingMsg.tx_header.DataLength = sizeof(GRCAN_PING_MSG);
 	pingMsg.tx_header.BitRateSwitch = FDCAN_BRS_OFF;
 	pingMsg.tx_header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
 	pingMsg.tx_header.MessageMarker = 0;
 
-	GR_OLD_PING_MSG msg = {.timestamp = data};
+	GRCAN_PING_MSG msg = {.timestamp = data};
 	memcpy(pingMsg.data, &msg, sizeof(msg));
 
 	can_send(can_handler, &pingMsg);
 }
 
-void CAN_sendECU(CANHandle *c, GR_OLD_DASH_STATUS_MSG *msg, GR_OLD_NODE_ID to)
+void CAN_sendECU(CANHandle *c, GRCAN_DASH_STATUS_MSG *msg, GRCAN_NODE_ID to)
 {
 
 	FDCANTxMessage sendECUMsg;
-	sendECUMsg.tx_header.Identifier = (GR_DASH_PANEL << 20) | (MSG_DASH_STATUS << 8) | to;
+	sendECUMsg.tx_header.Identifier = (Dash_Panel << 20) | (MSG_DASH_STATUS << 8) | to;
 	sendECUMsg.tx_header.IdType = FDCAN_EXTENDED_ID;
 	sendECUMsg.tx_header.TxFrameType = FDCAN_DATA_FRAME;
 	sendECUMsg.tx_header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
-	sendECUMsg.tx_header.DataLength = sizeof(GR_OLD_DASH_STATUS_MSG);
+	sendECUMsg.tx_header.DataLength = sizeof(GRCAN_DASH_STATUS_MSG);
 	sendECUMsg.tx_header.BitRateSwitch = FDCAN_BRS_OFF;
 	sendECUMsg.tx_header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
 	sendECUMsg.tx_header.MessageMarker = 0;
@@ -103,18 +104,24 @@ void CAN_sendECU(CANHandle *c, GR_OLD_DASH_STATUS_MSG *msg, GR_OLD_NODE_ID to)
 void CAN_callback(uint32_t ID, void *data, uint32_t size)
 {
 
-	GR_OLD_MSG_ID msg_id = (0x000FFF00 & ID) >> 8;
-	GR_OLD_NODE_ID node_id = (0x0FF00000 & ID) >> 20;
+	GRCAN_MSG_ID msg_id = GETBITS(ID, 12, 12);
+	GRCAN_NODE_ID node_id = GETBITS(ID, 4, 8);
 
 	// Process data
-	if (msg_id == MSG_ECU_STATUS_1 && size == sizeof(GR_OLD_ECU_STATUS_1_MSG)) {
-		GR_OLD_ECU_STATUS_1_MSG *ecu_data = (GR_OLD_ECU_STATUS_1_MSG *)data;
-		dashStatus.ECUState = ecu_data->ecu_status; // Get ECU Status
-	} else if (msg_id == MSG_DASH_CONFIG && size == sizeof(GR_OLD_DASH_CONFIG_MSG)) {
-		GR_OLD_DASH_CONFIG_MSG *dash_data = (GR_OLD_DASH_CONFIG_MSG *)data;
+	// ECU Status
+	if (msg_id == MSG_ECU_STATUS_1 && size == sizeof(GRCAN_ECU_STATUS_1_MSG)) {
+		GRCAN_ECU_STATUS_1_MSG *ecu_data = (GRCAN_ECU_STATUS_1_MSG *)data;
+		dashStatus.ECUState = ecu_data->ecu_state; // Get ECU Status
+
+		// Dash Config
+	} else if (msg_id == MSG_DASH_CONFIG && size == sizeof(GRCAN_DASH_CONFIG_MSG)) {
+		GRCAN_DASH_CONFIG_MSG *dash_data = (GRCAN_DASH_CONFIG_MSG *)data;
 		dashStatus.led_bits = dash_data->led_bits; // Get LED bits
-	} else if (msg_id == PING_ID && size == sizeof(GR_OLD_PING_MSG)) {
+
+		// Ping
+	} else if (msg_id == MSG_PING && size == sizeof(GRCAN_PING_MSG)) {
 		CAN_sendPing(node_id, *(uint32_t *)data);
+
 	} else {
 		// Check that you are sending the correct sizes if you get this message
 		LOGOMATIC("Unrecognized CAN message.\n");

DashPanel/CMakeLists.txt

@@ -38,7 +38,7 @@ target_sources(
 target_link_libraries(
 	${GR_PROJECT_NAME}_USER_CODE
 	INTERFACE
-		GR_OLD_CAN_MESSAGES
+		CANfigurator
 		PERIPHERAL_CAN_LIB
 		CircularBuffer_Lib
 		GR_NEOPIXEL

DashPanel/Core/Inc/main.h

@@ -66,6 +66,7 @@ extern "C" {
 
 /* Exported functions prototypes ---------------------------------------------*/
 void Error_Handler(void);
+void timer_inc(void);
 
 /* USER CODE BEGIN EFP */
 
@@ -95,6 +96,7 @@ void Error_Handler(void);
 #endif
 
 /* USER CODE BEGIN Private defines */
+extern uint32_t timer;
 
 /* USER CODE END Private defines */