Finish steering update (#229)

libraries/codegen/boards/steering.yaml

@@ -18,7 +18,7 @@ Messages:
       motor_controller:
         watchdog: 0
     signals:
-      digital_input:
-        length: 8
-      analog_input:
-        length: 8
+      input_cc:
+        length: 8 # (cc_toggle | cc_increade | cc_decrease)
+      input_lights:
+        length: 8 

libraries/ms-common/src/x86/adc.c

@@ -64,7 +64,7 @@ StatusCode adc_get_channel(GpioAddress address, uint8_t *adc_channel) {
       *adc_channel += 10;
       break;
     case NUM_GPIO_PORTS:  // for special channels BAT/REF/TEMP
-      if (address.pin != ADC_Channel_Vrefint || address.pin != ADC_Channel_TempSensor) {
+      if (address.pin != ADC_Channel_Vrefint && address.pin != ADC_Channel_TempSensor) {
         return status_code(STATUS_CODE_INVALID_ARGS);
       }
       break;
@@ -125,7 +125,7 @@ StatusCode adc_init(void) {
 
   adc_add_channel(ADC_REF);
 
-  s_adc_readings[s_adc_ranks[ADC_Channel_TempSensor] - 1] = MOCK_VREFINT;
+  s_adc_readings[s_adc_ranks[ADC_Channel_Vrefint] - 1] = MOCK_VREFINT;
 
   // Initialize static variables
   sem_init(&s_adc_status.converting, 1, 0);

projects/power_distribution/src/lights_fsm.c

@@ -37,7 +37,7 @@ static void prv_lights_signal_blinker(SoftTimerId id) {
 
 static void prv_init_state_input(Fsm *fsm, void *context) {
   // can transition to LEFT, RIGHT, HAZARD
-  EELightType light_event = get_steering_info_analog_input();
+  EELightType light_event = get_steering_info_input_lights();
   HazardStatus hazard_status = get_power_info_hazard_state();
 
   if (hazard_status == HAZARD_ON) {
@@ -56,7 +56,7 @@ static void prv_init_state_output(void *context) {
 
 static void prv_left_signal_input(Fsm *fsm, void *context) {
   // can transition to INIT, RIGHT, HAZARD
-  EELightType light_event = get_steering_info_analog_input();
+  EELightType light_event = get_steering_info_input_lights();
   HazardStatus hazard_status = get_power_info_hazard_state();
 
   if (hazard_status == HAZARD_ON) {
@@ -77,7 +77,7 @@ static void prv_left_signal_output(void *context) {
 
 static void prv_right_signal_input(Fsm *fsm, void *context) {
   // can transition to INIT, LEFT, HAZARD
-  EELightType light_event = get_steering_info_analog_input();
+  EELightType light_event = get_steering_info_input_lights();
   HazardStatus hazard_status = get_power_info_hazard_state();
 
   if (hazard_status == HAZARD_ON) {
@@ -98,7 +98,7 @@ static void prv_right_signal_output(void *context) {
 
 static void prv_hazard_input(Fsm *fsm, void *context) {
   // can transition to INIT, BPS_FAULT
-  EELightType light_event = get_steering_info_analog_input();
+  EELightType light_event = get_steering_info_input_lights();
 
   if (light_event == EE_LIGHT_TYPE_OFF) {
     fsm_transition(fsm, INIT_STATE);

projects/power_distribution/test/test_lights_fsm.c

@@ -4,7 +4,7 @@
 #include "unity.h"
 
 #define HAZARD_SIGNAL_MSG g_rx_struct.power_info_hazard_state
-#define STEERING_ANALOG_SIGNAL_MSG g_rx_struct.steering_info_analog_input
+#define STEERING_ANALOG_SIGNAL_MSG g_rx_struct.steering_info_input_lights
 
 void setup_test(void) {
   log_init();

projects/steering/inc/steering_task.h

@@ -0,0 +1,51 @@
+#pragma once
+
+#include "adc.h"
+#include "can.h"
+#include "gpio.h"
+#include "gpio_it.h"
+#include "gpio_mcu.h"
+#include "log.h"
+#include "status.h"
+#include "steering_setters.h"
+
+#define VOLTAGE_TOLERANCE_MV 20
+// turn signal voltages
+#define TURN_LEFT_SIGNAL_VOLTAGE_MV 1200
+#define TURN_RIGHT_SIGNAL_VOLTAGE_MV 2130
+#define NEUTRAL_SIGNAL_VOLTAGE_MV 2610
+// 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_NEUTRAL_VOLTAGE_MV 3300
+
+#define TURN_SIGNAL_GPIO \
+  { .port = GPIO_PORT_A, .pin = 5 }
+
+#define CC_CHANGE_GPIO \
+  { .port = GPIO_PORT_A, .pin = 6 }
+
+#define CC_TOGGLE_GPIO \
+  { .port = GPIO_PORT_A, .pin = 7 }
+
+#define CC_TOGGLE_EVENT 0x0
+
+// TurnSignal Values for each state
+typedef enum TurnSignalState {
+  TURN_SIGNAL_OFF = 0,
+  TURN_SIGNAL_LEFT,
+  TURN_SIGNAL_RIGHT,
+} TurnSignalState;
+
+// CruiseControl Mask Values for each state
+typedef enum {
+  CC_DECREASE_MASK = 0x01,
+  CC_INCREASE_MASK = 0x02,
+  CC_TOGGLE_MASK = 0x04,
+} CruiseControlMask;
+// Initializes the ADC input for the ctrl stalk as well as the gpio interrupt for the toggle
+// Must be called before adc_init()
+StatusCode steering_init();
+// Reads the analog input, determines a light state, and sets the requisite value in the can message
+// Also reads the toggle notification state and sets the requisite value in the can message
+void steering_input();

projects/steering/src/main.c

@@ -8,8 +8,7 @@
 #include "gpio_mcu.h"
 #include "log.h"
 #include "master_task.h"
-#include "steering_analog_task.h"
-#include "steering_digital_task.h"
+#include "steering_task.h"
 #include "tasks.h"
 
 #define DEVICE_ID 0x02
@@ -32,8 +31,7 @@ void run_medium_cycle() {
   wait_tasks(1);
 
   adc_run();
-  steering_analog_input();
-  steering_digital_input();
+  steering_input();
 
   run_can_tx_cycle();
   wait_tasks(1);
@@ -48,9 +46,8 @@ int main() {
   gpio_it_init();
 
   // Setup analog inputs and initialize adc
-  steering_analog_adc_init();
+  steering_init();
   adc_init();
-  steering_digital_input_init(get_master_task());
 
   can_init(&s_can_storage, &can_settings);
   init_master_task();

projects/steering/src/steering.c

@@ -0,0 +1,65 @@
+#include "steering_task.h"
+
+#define CC_INPUT g_tx_struct.steering_info_input_cc
+
+static const GpioAddress turn_signal_address = TURN_SIGNAL_GPIO;
+static const GpioAddress cc_address = CC_CHANGE_GPIO;
+static const GpioAddress cc_toggle_address = CC_TOGGLE_GPIO;
+static Event STEERING_EVENT;
+
+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);
+  // Set up ADC
+  adc_add_channel(turn_signal_address);
+  adc_add_channel(cc_address);
+  // Initialize interrupt settings
+  InterruptSettings it_settings = {
+    .priority = INTERRUPT_PRIORITY_NORMAL,
+    .type = INTERRUPT_TYPE_INTERRUPT,
+    .edge = INTERRUPT_EDGE_FALLING,
+  };
+  // Initialize interrupt
+  gpio_it_register_interrupt(&cc_toggle_address, &it_settings, CC_TOGGLE_EVENT, task);
+  return STATUS_CODE_OK;
+}
+
+void steering_input(uint32_t notification) {
+  uint16_t control_stalk_data;
+  set_steering_info_input_cc(0);
+  // 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) {
+    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) {
+    set_steering_info_input_lights(TURN_SIGNAL_RIGHT);
+  } else {
+    set_steering_info_input_lights(TURN_SIGNAL_OFF);
+  }
+  // Read ADC of pin set by cruise control
+  // Determine if it read an increase or decrease signal
+  adc_read_converted(cc_address, &control_stalk_data);
+  if (control_stalk_data > CRUISE_CONTROl_STALK_SPEED_INCREASE_VOLTAGE_MV - VOLTAGE_TOLERANCE_MV &&
+      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);
+  } 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);
+  }
+  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);
+      }
+    }
+  }
+}