Wenmiao/can speedometer

.vscode/settings.json

@@ -12,6 +12,8 @@
         "random": "cpp",
         "initializer_list": "cpp",
         "mutex": "cpp",
-        "regex": "cpp"
-    }
+        "regex": "cpp",
+        "iterator": "cpp"
+    },
+    "r.lsp.promptToInstall": false
 }

include/IOManagement.h

@@ -1,40 +1,41 @@
-// #ifndef __IO_MANAGEMENT_H__
-// #define __IO_MANAGEMENT_H__
-
-// #include <Arduino.h>
-// #include "STM32TimerInterrupt_Generic.h"
-// #include "adc.h"
-
-// //Macros for pins
-// #define DIRECTION_SWITCH_PIN        PB1
-// #define LEFT_BLINK_PIN              PA9
-// #define RIGHT_BLINK_PIN             PA10
-// #define CRZ_MODE_A_PIN              PB6
-// #define CRZ_SET_PIN                 PB5
-// #define CRZ_RESET_PIN               PB4
-// #define HORN_PIN                    PA0
-// #define REGEN_BRAKE_PIN             ADC_CHANNEL_6 // PA1
-
-// #define IO_UPDATE_PERIOD 100000 // us
-
-// struct Digital_Data {
-//     bool direction_switch : 1;      // input
-//     bool left_blink : 1;            // input
-//     bool right_blink : 1;           // input
-//     bool crz_mode_a : 1;            // input
-//     bool crz_set : 1;               // input
-//     bool crz_reset : 1;             // input
-//     bool horn : 1;                  // input
-// };
-
-// extern volatile Digital_Data digital_data;
-
-// extern volatile float regen_brake;
-
-// // initialize digital and analog pins
-// void initIO();
-
-// // read digital and analog inputs
-// void readIO();
-
-// #endif
+ #ifndef __IO_MANAGEMENT_H__
+#define __IO_MANAGEMENT_H__
+
+#include <Arduino.h>
+
+// Macros for pins
+#define REGEN_BRAKE_PIN             36
+#define HEADLIGHT_PIN               39
+#define LEFT_BLINK_PIN              34
+#define RIGHT_BLINK_PIN             35
+#define DIRECTION_SWITCH_PIN        32
+#define HORN_PIN                    33
+#define CRZ_MODE_A_PIN              25
+#define CRZ_SET_PIN                 26
+#define CRZ_RESET_PIN               27
+
+
+#define IO_UPDATE_PERIOD 100000 // us
+
+struct Digital_Data {
+    bool headlight : 1;             // input
+    bool left_blink : 1;            // input
+    bool right_blink : 1;           // input
+    bool direction_switch : 1;      // input
+    bool horn : 1;                  // input
+    bool crz_mode_a : 1;            // input
+    bool crz_set : 1;               // input
+    bool crz_reset : 1;             // input
+};
+
+extern volatile Digital_Data digital_data;
+extern volatile uint16_t regen_brake;
+extern volatile uint16_t number_reads;
+
+// initialize digital and analog pins, and timer to read pins
+void initIO();
+
+// ISR to read digital and analog inputs
+void IRAM_ATTR readIO();
+
+#endif

include/canSteering.h

@@ -1,15 +1,21 @@
-// #ifndef __CAN_STEERING_H__
-// #define __CAN_STEERING_H__
 
-// #include "canmanager.h"
-// #include "IOManagement.h"
+#ifndef __CAN_STEERING_H__
+#define __CAN_STEERING_H__
 
-// #define CAN_QUEUE_PERIOD     50
-// class CANSteering : public CANManager {
-//     public:
-//         CANSteering(CAN_TypeDef* canPort, CAN_PINS pins, int frequency = DEFAULT_CAN_FREQ);
-//         void readHandler(CAN_message_t msg);
-//         void sendSteeringData();
-// };
+#include <ESP32-TWAI-CAN.hpp>
+#include "esp32canmanager.h"
+#include "IOManagement.h"
 
-// #endif
+#define CAN_QUEUE_PERIOD     50
+
+class CANSteering : public ESP32CANManager {
+    public:
+        CANSteering(int8_t tx, int8_t rx, uint16_t tx_queue, uint16_t rx_queue, uint16_t frequency = DEFAULT_ESP32_CAN_FREQ);
+        void readHandler(CanFrame msg);
+        void sendSteeringData();
+
+        int getVehicleSpeed();
+
+};
+
+#endif

include/pointer.h

@@ -22,4 +22,5 @@ void updatePointerAngle(double theta);
 
 void updatePointer(int value);
 
+void drawPointerBackground();
 #endif

platformio.ini

@@ -15,20 +15,20 @@ framework = arduino
 lib_deps = 
 	bodmer/TFT_eSPI@^2.5.43
 	bodmer/JPEGDecoder@^2.0.0
+	handmade0octopus/ESP32-TWAI-CAN@^1.0.1
 lib_extra_dirs = ./embedded-pio
 build_flags = 
 	-D USER_SETUP_LOADED
-  -D ST7796_DRIVER=1	
-  -D TFT_MISO=19
-  -D TFT_MOSI=23
-  -D TFT_SCLK=18
-  -D TFT_CS=15
-  -D TFT_DC=2
-  -D TFT_RST=4
-  -D LOAD_GLCD=1
-  -D SMOOTH_FONT
+	-D ST7796_DRIVER=1
+	-D TFT_MISO=19
+	-D TFT_MOSI=23
+	-D TFT_SCLK=18
+	-D TFT_CS=15
+	-D TFT_DC=2
+	-D TFT_RST=4
+	-D LOAD_GLCD=1
+	-D SMOOTH_FONT
 	-D SPI_FREQUENCY=40000000
 	-D CONFIG_ESP_TASK_WDT_TIMEOUT_S=15
 	-D CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0=false
 	-D CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU1=false
-  ;-D TFT_DMA_ENABLED

src/IOManagement.cpp

@@ -1,41 +1,43 @@
-// #include "IOManagement.h"
+#include "IOManagement.h"
 
-// volatile Digital_Data digital_data = {0, 0, 0, 0, 0, 0, 0};
-// volatile float regen_brake = 0.0f;
+volatile Digital_Data digital_data;
+volatile uint16_t regen_brake;
+volatile uint16_t number_reads = 0;
+hw_timer_t *io_timer = NULL;
 
-// STM32TimerInterrupt IOTimer(TIM7);
+void initIO() {
+    // Initialize digital pins
+    pinMode(HEADLIGHT_PIN, INPUT);
+    pinMode(LEFT_BLINK_PIN, INPUT);
+    pinMode(RIGHT_BLINK_PIN, INPUT);
+    pinMode(DIRECTION_SWITCH_PIN, INPUT);
+    pinMode(HORN_PIN, INPUT);
+    pinMode(CRZ_MODE_A_PIN, INPUT);
+    pinMode(CRZ_SET_PIN, INPUT);
+    pinMode(CRZ_RESET_PIN, INPUT);
 
-// void initIO() {
-//     // Initialize digital pins
-//     pinMode(DIRECTION_SWITCH_PIN, INPUT);
-//     pinMode(LEFT_BLINK_PIN, INPUT);
-//     pinMode(RIGHT_BLINK_PIN, INPUT);
-//     pinMode(CRZ_MODE_A_PIN, INPUT);
-//     pinMode(CRZ_SET_PIN, INPUT);
-//     pinMode(CRZ_RESET_PIN, INPUT);
-//     pinMode(HORN_PIN, INPUT);
+    // Initialize timer for reading inputs
+    io_timer = timerBegin(0,  // which timer (choose between 0 and 3)
+                            80, // prescaler
+                            true // counts up
+    );
+    timerAttachInterrupt(io_timer, &readIO, true);
+    timerAlarmWrite(io_timer, IO_UPDATE_PERIOD, true);
+    timerAlarmEnable(io_timer); // start the timer
+}
 
-//     // Initialize analog pins
-//     initADC(ADC1);
+void IRAM_ATTR readIO() {
+    // Read analog input
+    regen_brake = analogRead(REGEN_BRAKE_PIN);
 
-//     // Initialize timer for reading inputs
-//     if (IOTimer.attachInterruptInterval(IO_UPDATE_PERIOD, readIO)) {
-//         printf("IO Timer started \n");
-//     } else {
-//         printf("Failed to start IO Timer \n");
-//     }
-// }
-
-// void readIO() {
-//     // Read digital inputs
-//     digital_data.direction_switch = digitalRead(DIRECTION_SWITCH_PIN);
-//     digital_data.left_blink = digitalRead(LEFT_BLINK_PIN);
-//     digital_data.right_blink = digitalRead(RIGHT_BLINK_PIN);
-//     digital_data.crz_mode_a = digitalRead(CRZ_MODE_A_PIN);
-//     digital_data.crz_set = digitalRead(CRZ_SET_PIN);
-//     digital_data.crz_reset = digitalRead(CRZ_RESET_PIN);
-//     digital_data.horn = digitalRead(HORN_PIN);
-
-//     // Read analog input
-//     regen_brake = readADC(REGEN_BRAKE_PIN);
-// }
+    // Read digital inputs
+    digital_data.headlight = digitalRead(HEADLIGHT_PIN);
+    digital_data.left_blink = digitalRead(LEFT_BLINK_PIN);
+    digital_data.right_blink = digitalRead(RIGHT_BLINK_PIN);
+    digital_data.direction_switch = digitalRead(DIRECTION_SWITCH_PIN);
+    digital_data.horn = digitalRead(HORN_PIN);
+    digital_data.crz_mode_a = digitalRead(CRZ_MODE_A_PIN);
+    digital_data.crz_set = digitalRead(CRZ_SET_PIN);
+    digital_data.crz_reset = digitalRead(CRZ_RESET_PIN);
+    number_reads++;
+}

src/canSteering.cpp

@@ -1,12 +1,40 @@
-// #include "canSteering.h"
 
-// CANSteering::CANSteering(CAN_TypeDef* canPort, CAN_PINS pins, int frequency) : CANManager(canPort, pins, frequency) {};
+#include "canSteering.h"
 
-// void CANSteering::readHandler(CAN_message_t msg) {
-
-// }
+#define MAX_ANALOG_VALUE 4095
 
-// void CANSteering::sendSteeringData() {
-//     this->sendMessage(0x300, (void*)&digital_data, sizeof(digital_data));
-//     this->sendMessage(0x301, (void*)&regen_brake, sizeof(float));
-// }
+float stuff = 0.0;
+float speedsig = 0.0;
+
+bool send_success;
+CANSteering::CANSteering(int8_t tx, int8_t rx, uint16_t tx_queue, uint16_t rx_queue, uint16_t frequency) : ESP32CANManager(tx, rx, tx_queue, rx_queue, frequency) {};
+int CANSteering::getVehicleSpeed() {
+    // Placeholder implementation
+    // In a real scenario, this would extract the vehicle speed from received CAN messages
+    return 42; // Example speed value
+}
+
+void CANSteering::readHandler(CanFrame msg) {
+    switch (msg.identifier){
+        case 0x200:{
+            stuff = *((float*)msg.data);
+            break;
+        }
+
+        case 0x201:{
+            speedsig = *((float*)msg.data);
+            break;
+        }
+        default:
+            break;
+    }
+
+
+}
+
+void CANSteering::sendSteeringData() {
+    send_success = true;
+    float regen_brake_calculation = 3.3 * regen_brake / MAX_ANALOG_VALUE;
+    send_success &= this->sendMessage(0x300, (void*)&digital_data, sizeof(digital_data));
+    send_success &= this->sendMessage(0x301, (void*)&regen_brake_calculation, sizeof(float));
+}

src/display.cpp

@@ -22,7 +22,7 @@ volatile int old_height = 0;
 
 int totalFrames = 0;
 
-TFT_eSPI tft = TFT_eSPI();
+extern TFT_eSPI tft;
 
 //Heap pointer for animation frames
 uint8_t *frameHeap = NULL;
@@ -50,7 +50,7 @@ void countAvailableFrames() {
 
 void initDisplay(bool SD_enable){
     // Set all chip selects high to avoid bus contention during initialisation of each peripheral
-    digitalWrite(22, HIGH); // Touch controller chip select (if used)
+    // digitalWrite(22, HIGH); // Touch controller chip select (if used)
     digitalWrite(15, HIGH); // TFT screen chip select
     digitalWrite( 5, HIGH); // SD card chips select, must use GPIO 5 (ESP32 SS)
 

src/main.cpp

@@ -1,37 +1,40 @@
 #include <Arduino.h>
 #include "display.h"
 #include "pointer.h"
+#include "canSteering.h"
+
+#define CAN_TX		21
+#define CAN_RX		22
+
+CANSteering canSteering(CAN_TX, CAN_RX, 10, 10, 250);
+extern bool send_success;
+
+extern float stuff;
+extern float speedsig;
 
 void setup() {
   Serial.begin(115200);
   Serial.println("Starting...");
-  initDisplay(false);
+  initIO();
+  begin(); // initialize pointer display
 
   // drawSdJpeg("/bsr/Jonathan.jpeg", 130, 0);
   // HeapAnim();
   Serial.println("Setup done.");
 }
 
 void loop() {
-  rotateColors();
-  // delay(42);
-  // drawSdJpeg("/test.jpg", 0, 0);
+  // rotateColors();
+  canSteering.sendSteeringData();
+  canSteering.runQueue(CAN_QUEUE_PERIOD);
 
-  // HeapAnim();
+  float speed = speedsig;
 
-  // pointer loop
-  // if (Serial.available()) {
-  //       String input = Serial.readStringUntil('\n');
-  //       input.trim();
-
-  //       if (input.startsWith("a")) {                          // ex: use a10 to set to 10 degrees
-  //           double angle = input.substring(1).toDouble();
-  //           updatePointerAngle(angle);
-  //           Serial.printf("set to angle: %.2f deg\n", angle);
-  //       } else {
-  //           int value = input.toInt();                        // otherwise use integer method
-  //           updatePointer(value);
-  //           Serial.printf("set to value: %d\n", value);
-  //       }
-  //   }
+  Serial.printf("Speed: %.2f\n", speed);
+
+  Serial.printf("direction %d\n", digital_data.direction_switch);
+  Serial.printf("crz set %d\n", digital_data.crz_set);
+
+
+  updatePointer(speed);
 }