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NateX9NateX9
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Merge pull request #3 from KentuckySolarCar/light-router-dev
Light Router Re-Implementation from TeensyBottomShellReborn into Develop
2 parents f3271d9 + 984b9e2 commit 004a028

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‎.ccls

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clang
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%c -Wall -ffunction-sections -fdata-sections -mthumb -mcpu=cortex-m7 -nostdlib -mfloat-abi=hard -mfpu=fpv5-d16 -O2
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%cpp -fno-exceptions -felide-constructors -fno-rtti -std=gnu++17 -Wno-error=narrowing -fpermissive -fno-threadsafe-statics -Wall -ffunction-sections -fdata-sections -mthumb -mcpu=cortex-m7 -nostdlib -mfloat-abi=hard -mfpu=fpv5-d16 -O2
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-I/home/ben/solar-car/TeensyBottomShellReborn/include
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-I/home/ben/solar-car/TeensyBottomShellReborn/src
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-I/home/ben/solar-car/TeensyBottomShellReborn/.pio/libdeps/teensy41/ChRt/src
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-I/home/ben/solar-car/TeensyBottomShellReborn/lib/function
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-I/home/ben/.platformio/packages/framework-arduinoteensy/cores/teensy4
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-I/home/ben/solar-car/TeensyBottomShellReborn/.pio/libdeps/teensy41/Unity/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/ADC
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/AccelStepper/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Adafruit_NeoPixel
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Adafruit_STMPE610
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Adafruit_VS1053
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Adafruit_nRF8001
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Adafruit_nRF8001/utility
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/AltSoftSerial
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Artnet
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Audio
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Audio/utility
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Bounce
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Bounce2/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/CapacitiveSensor
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/CryptoAccel/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/DS1307RTC
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/DmxSimple
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/DogLcd
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/EEPROM
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/EasyTransfer/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/EasyTransferI2C/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Encoder
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Encoder/utility
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Entropy
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Ethernet/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/FNET/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/FastCRC
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/FastLED/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/FlexCAN
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/FlexCAN_T4
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/FlexIO_t4/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/FlexiTimer2
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/FreqCount
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/FreqMeasure
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/FreqMeasureMulti
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/FrequencyTimer2
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/ILI9341_t3
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/ILI9488_t3/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/IRremote/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Keypad/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/LedControl/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/LedDisplay
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/LiquidCrystal/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/LiquidCrystalFast
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/LittleFS/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/LowPower
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/MFRC522/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/MIDI/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Metro
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/MsTimer2
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/NXPMotionSense
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/NXPMotionSense/utility
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/NativeEthernet/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/OSC
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/OctoWS2811
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/OneWire
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/PS2Keyboard
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/PS2Keyboard/utility
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/PWMServo
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Ping
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/PulsePosition
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/QuadEncoder
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/RA8875/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/RadioHead
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/ResponsiveAnalogRead/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/SD/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/SPI
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/SPIFlash
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/ST7735_t3/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/SdFat/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/SerialFlash
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Servo
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/ShiftPWM
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Snooze/src
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/SoftPWM
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/SoftwareSerial
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/TFT_ILI9163C
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Talkie
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/TeensyThreads
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Time
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/TimeAlarms
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/TimerOne
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/TimerThree
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/TinyGPS
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Tlc5940
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/TouchScreen
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/USBHost_t36
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/USBHost_t36/utility
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/UTFT
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/VirtualWire
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/WS2812Serial
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Wire
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/Wire/utility
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/XBee
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/XPT2046_Touchscreen
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/i2c_t3
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/ks0108
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/ssd1351
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-I/home/ben/.platformio/packages/framework-arduinoteensy/libraries/x10
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-I/home/ben/.platformio/packages/toolchain-gccarmnoneeabi-teensy/arm-none-eabi/include/c++/11.3.1
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-I/home/ben/.platformio/packages/toolchain-gccarmnoneeabi-teensy/arm-none-eabi/include/c++/11.3.1/arm-none-eabi
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-I/home/ben/.platformio/packages/toolchain-gccarmnoneeabi-teensy/lib/gcc/arm-none-eabi/11.3.1/include-fixed
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-I/home/ben/.platformio/packages/toolchain-gccarmnoneeabi-teensy/lib/gcc/arm-none-eabi/11.3.1/include
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-I/home/ben/.platformio/packages/toolchain-gccarmnoneeabi-teensy/arm-none-eabi/include
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-DPLATFORMIO=60116
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-D__IMXRT1062__
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-DARDUINO_TEENSY41
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-DUSB_SERIAL
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-DARDUINO=10805
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-DTEENSYDUINO=159
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-DCORE_TEENSY
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-DF_CPU=600000000
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-DLAYOUT_US_ENGLISH

‎.vscode/settings.json

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{
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"files.associations": {
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"cstdlib": "cpp",
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"iostream": "cpp",
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"iosfwd": "cpp",
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"ostream": "cpp",
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"*.tpp": "cpp",
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"*.tcc": "cpp"
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}
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}

‎src/common/common.h

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#include <Arduino.h>
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#include "can_setup.h"
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#include "pin_definitions.h"
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#include <ChRt.h>
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#define BAUD_RATE 500000
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#define LIGHTS_PRIO (NORMALPRIO + 2)
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#define LIGHTS_WA 4096
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#define LIGHTS_SLEEP 100
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#define ROUTER_PRIO (NORMALPRIO + 3)
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#define ROUTER_WA 2048
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#define ROUTER_SLEEP 40
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#define HEARTBEAT_PRIO (LOWPRIO)
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#define HEARTBEAT_WA 512
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#define HEARTBEAT_SLEEP 100
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#endif

‎src/common/pin_definitions.h

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/**
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* @file pin_definitions.h
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* @brief Holds macros that serve as a hardware abstraction layer. Copied from TBS
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* @version 0.01
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*
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*
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*/
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#ifndef BOTTOM_SHELL_H
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#define BOTTOM_SHELL_H
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//TODO: Find pin for TRIGGER_MODE
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//Teensy 4.1 pin mappings, all names are referenced to the Eagle schematics
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//Left side of the board diagram
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#define TWELVE_V_MEASURE A0 //14, on the Eagle schematic as "12V_MEASURE"
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//15 is empty
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#define THROT1_IN A2 //16
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#define THROT2_IN A3 //17
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#define BPT_FR_IN A4 //18
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#define BPT_RR_IN A5 //19
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#define BPT_FL_IN A6 //20
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#define BPT_RL_IN A7 //21
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#define CAN0_TX A8 //22
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#define CAN0_RX A9 //23
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#define BRAKE_SWITCH A10 //24 EX7
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//A11 25 is empty
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//A12 26 is empty
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//A13 27 is empty
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#define RT_CTRL A14 //38
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#define LT_CTRL A15 //39
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#define BRAKE_CTRL A16 //40
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#define RUNNING_LIGHTS A17 //41
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//30 is empty
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//31 is empty
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#define BPS_STROBE 3
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//4 is empty
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#define FORWARD_REVERSE_IN 5 // EX1
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#define V_BAT VBAT
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//Right side of the board diagram
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#define V_USB VUSB
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//#define USB0_D- D-
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//#define USB0_D+ D+
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#define CAN1_RX 0
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#define CAN_TX 1
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//pins that were added on the updated bottom shell board schematic
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#define GPS_RX 7
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#define GPS_TX 8
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//28 is empty
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//29 is empty
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#define CAN0_STB 34
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#define CAN1_STB 35
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#define EX4 10 // CHARGE_ENABLE/CHARGE_DISABLE
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#define EX5 11
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#define EX6 12
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//heartbeat is on 13, DO NOT USE
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//32 is empty
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#define RECALIBRATION_MODE_PIN 9 // EX 3
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#define TRIGGER_MODE 6 // EX 2
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#define GPS_MISC 33
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#define GPS_TRIG 36
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#define GPS_PPS 37
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#endif

‎src/light/light.cpp

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#include "light.h"
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// VERY TEMPORARY STUFF FOR ERROR'S SAKE
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#define CAN_BPS_STATUS 0
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#define CAN_BUTTON_LEFT_TURN 1
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#define CAN_BUTTON_RIGHT_TURN 2
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#define CAN_BUTTON_HEADLIGHTS 3
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#define CAN_BUTTON_Y 4
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// the setup of this code is as follows:
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// we define two threads, one for routing can messages, and the other for updating the blinking of the lights.
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// the can router updates our internal state for the lights, while the blinker reflects this on the physical system.
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struct {
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bool isLeftTurnOn = false;
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bool isRightTurnOn = false;
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bool isStrobeOn = false;
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bool isHeadlightOn = false;
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bool isBrakeOn = false;
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bool isLightTestOn = false;
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} lightState;
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// Explanation of THD_WORKING_AREA:
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// the first parameter to this macro is the name of the data.
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// the second parameter is the size of the data we're working with. In this case, 4096 bytes.
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// we then define a function that operates in a thread called in the setup function.
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static THD_WORKING_AREA(wa_light_route, LIGHTS_WA);
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static THD_FUNCTION(light_route_thd, arg) {
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(void) arg;
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CAN_message_t msg;
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while (true) {
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while (MainCan.read(msg)) {
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switch (msg.id) {
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case CAN_BPS_STATUS: updateBPSLight(msg); break;
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case CAN_BUTTON_LEFT_TURN: updateLeftLight(msg); break;
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case CAN_BUTTON_RIGHT_TURN: updateRightLight(msg); break;
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case CAN_BUTTON_HEADLIGHTS: updateHeadlights(msg); break;
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case CAN_BUTTON_Y: updateYButtonLong(msg); break;
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default: {
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// we'll figure out alert messages later
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break;
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}
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}
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}
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if (isBrakePressed) {
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updateBrakeLights(isBrakePressed);
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}
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handleBPSLight();
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chThdSleepMilliseconds(ROUTER_SLEEP);
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}
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}
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static THD_WORKING_AREA(wa_light_blink, LIGHTS_WA);
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static THD_FUNCTION(light_blink_thd, arg) {
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// prevent compiler for complaining about unused stuff
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(void) arg;
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uint32_t blinkTimer = millis();
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bool isOn = false;
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while (true) {
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// change light status
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if (!lightState.isLeftTurnOn && !lightState.isRightTurnOn) {
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isOn = false;
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digitalWrite(LT_CTRL, LOW);
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digitalWrite(RT_CTRL, LOW);
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} else if (millis() - blinkTimer > TURN_SIGNALS_SPEED) {
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blinkTimer = millis();
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isOn = !isOn;
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digitalWrite(LT_CTRL, isOn && lightState.isLeftTurnOn);
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digitalWrite(RT_CTRL, isOn && lightState.isRightTurnOn);
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}
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digitalWrite(RUNNING_LIGHTS, lightState.isHeadlightOn);
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digitalWrite(BRAKE_CTRL, lightState.isBrakeOn);
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if (lightState.isLightTestOn && isThrottleUnlocked) {
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if (millis() - blinkTimer > TURN_SIGNALS_BRIGHTNESS) {
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blinkTimer = millis();
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isOn = !isOn;
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digitalWrite(LT_CTRL, isOn);
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digitalWrite(RT_CTRL, isOn);
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digitalWrite(BRAKE_CTRL, isOn);
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digitalWrite(RUNNING_LIGHTS, isOn);
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digitalWrite(BPS_STROBE, isOn);
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}
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}
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chThdSleepMilliseconds(LIGHTS_SLEEP);
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}
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}
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void lightSetup() {
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pinMode(BPS_STROBE,OUTPUT);
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pinMode(LT_CTRL,OUTPUT);
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pinMode(RT_CTRL,OUTPUT);
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pinMode(RUNNING_LIGHTS,OUTPUT);
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pinMode(BRAKE_CTRL,OUTPUT);
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digitalWrite(BPS_STROBE, LOW);
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chThdCreateStatic(wa_light_route, sizeof(wa_light_route), ROUTER_PRIO, light_route_thd, NULL);
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chThdCreateStatic(wa_light_blink, sizeof(wa_light_blink), LIGHTS_PRIO, light_blink_thd, NULL);
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}
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void updateLeftLight(CAN_message_t ltMsg){
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lightState.isLeftTurnOn = ltMsg.buf[0] % 2;
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}
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void updateRightLight(CAN_message_t rtMsg){
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lightState.isRightTurnOn = rtMsg.buf[0] % 2;
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}
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void updateHeadlights(CAN_message_t lightMsg){
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lightState.isHeadlightOn = lightMsg.buf[0] % 2;
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}
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void updateBrakeLights(bool brakeMsg){
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lightState.isBrakeOn = brakeMsg;
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}
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void updateBPSLight(CAN_message_t statusMsg){
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lightState.isStrobeOn = statusMsg.buf[1]; // This is 1(TRUE) if the battery pack is terminated by a fault, or 0(FALSE) if conditions are safe
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}
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void updateYButtonLong(CAN_message_t lightTestMsg){
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lightState.isLightTestOn = lightTestMsg.buf[2] % 2;
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}
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void handleBPSLight(){
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static uint32_t timer = millis();
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static bool isOn = false;
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if (lightState.isStrobeOn){
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if ((millis() - timer) > TURN_SIGNALS_SPEED){
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timer = millis();
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isOn = !isOn;
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digitalWrite(BPS_STROBE,isOn);
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}
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} else {
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isOn = false;
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digitalWrite(BPS_STROBE, isOn);
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}
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}

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