rewriting to send struct instead of string, saving progress

Formula-Electric-Berkeley · Apr 30, 2023 · 570da69 · 570da69
1 parent 73f7b16
commit 570da69
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Showing 12 changed files with 11,544 additions and 12,721 deletions.
diff --git a/DATA_LOGGER/.vscode/settings.json b/DATA_LOGGER/.vscode/settings.json
@@ -0,0 +1,5 @@
+{
+    "files.associations": {
+        "iosfwd": "cpp"
+    }
+}
diff --git a/DATA_LOGGER/pi/FEB_CAN_NODE.h b/DATA_LOGGER/pi/FEB_CAN_NODE.h
@@ -0,0 +1,288 @@
+#ifndef INC_FEB_CAN_NODE_H_
+#define INC_FEB_CAN_NODE_H_
+
+#include "stdio.h"
+#include "string.h"
+#include "stdint.h"
+#include "fstream"
+
+struct SPI_RxHeader{
+      union {
+          uint32_t StdId;
+          uint32_t ExtId;
+      };
+      uint8_t DLC;
+      uint8_t IDE;
+};
+
+typedef union {
+      struct{
+          struct SPI_RxHeader RxHeader;
+          uint8_t RxData[8];
+          uint8_t RESERVED;
+} message;
+
+      uint8_t bits[8];
+      } SPI_MESSAGE_TYPE;
+
+SPI_MESSAGE_TYPE SPI_MESSAGE = {.message.RESERVED = 10};
+
+/*** SETTINGS ***/
+#define ID_LENGTH_BITS 11
+#define BITS_PER_ID 7
+#define BITS_PER_MESSAGE_TYPE 4
+
+typedef uint32_t AddressIdType;
+typedef uint8_t FilterArrayLength;
+
+/*** EMERGENCY IDs ***/
+#define EMERGENCY_ID 0b0000000
+#define EMERGENCY_APPS_EMERGENCY 0b00000000000
+#define EMERGENCY_SM_EMERGENCY 0b00000000001
+
+/*** EMERGENCY MESSSAGE BUFFER ***/
+#define EMERGENCY_APPS_EMERGENCY_TYPE uint8_t
+#define EMERGENCY_SM_EMERGENCY_TYPE uint8_t
+
+typedef struct EMERGENCY_MESSAGE_TYPE {
+    EMERGENCY_APPS_EMERGENCY_TYPE apps_emergency;
+    EMERGENCY_SM_EMERGENCY_TYPE sm_emergency;
+} EMERGENCY_MESSAGE_TYPE;
+EMERGENCY_MESSAGE_TYPE EMERGENCY_MESSAGE;
+
+void Store_EMERGENCY_Msg(AddressIdType RxId, uint8_t *RxData, uint32_t data_length, fstream log_file) {
+    char buf[128];
+    int buf_len;
+    switch (RxId){
+        case EMERGENCY_APPS_EMERGENCY:
+            memcpy(&(EMERGENCY_MESSAGE.apps_emergency), RxData, data_length);
+            buf_len = sprintf(buf, "%.3f,EMERGENCY,APPS_EMERGENCY,%d\n", HAL_GetTick()/1000.0, EMERGENCY_MESSAGE.apps_emergency);
+            break;
+        case EMERGENCY_SM_EMERGENCY:
+            memcpy(&(EMERGENCY_MESSAGE.sm_emergency), RxData, data_length);
+            buf_len = sprintf(buf, "%.3f,EMERGENCY,SM_EMERGENCY,%d\n", HAL_GetTick()/1000.0, EMERGENCY_MESSAGE.sm_emergency);
+            break;
+    }
+    log_file << buf;
+}
+
+/*** BMS IDs ***/
+#define BMS_ID 0b0000001
+#define BMS_TEMPERATURE 0b00000010000
+#define BMS_VOLTAGE 0b00000010001
+
+/*** BMS MESSSAGE BUFFER ***/
+#define BMS_TEMPERATURE_TYPE float
+#define BMS_VOLTAGE_TYPE float
+
+typedef struct BMS_MESSAGE_TYPE {
+    BMS_TEMPERATURE_TYPE temperature;
+    BMS_VOLTAGE_TYPE voltage;
+} BMS_MESSAGE_TYPE;
+BMS_MESSAGE_TYPE BMS_MESSAGE;
+
+void Store_BMS_Msg(AddressIdType RxId, uint8_t *RxData, uint32_t data_length, fstream log_file) {
+    char buf[128];
+    int buf_len;
+    switch (RxId){
+        case BMS_TEMPERATURE:
+            memcpy(&(BMS_MESSAGE.temperature), RxData, data_length);
+            buf_len = sprintf(buf, "%.3f,BMS,TEMPERATURE,%.3f\n", HAL_GetTick()/1000.0, BMS_MESSAGE.temperature);
+            break;
+        case BMS_VOLTAGE:
+            memcpy(&(BMS_MESSAGE.voltage), RxData, data_length);
+            buf_len = sprintf(buf, "%.3f,BMS,VOLTAGE,%.3f\n", HAL_GetTick()/1000.0, BMS_MESSAGE.voltage);
+            break;
+    }
+    log_file << buf;
+}
+
+/*** SM IDs ***/
+#define SM_ID 0b0000010
+#define SM_COMMAND_1 0b00000100000
+
+/*** SM MESSSAGE BUFFER ***/
+#define SM_COMMAND_1_TYPE uint8_t
+
+typedef struct SM_MESSAGE_TYPE {
+    SM_COMMAND_1_TYPE command_1;
+} SM_MESSAGE_TYPE;
+SM_MESSAGE_TYPE SM_MESSAGE;
+
+void Store_SM_Msg(AddressIdType RxId, uint8_t *RxData, uint32_t data_length, fstream log_file) {
+    char buf[128];
+    int buf_len;
+    switch (RxId){
+        case SM_COMMAND_1:
+            memcpy(&(SM_MESSAGE.command_1), RxData, data_length);
+            buf_len = sprintf(buf, "%.3f,SM,COMMAND_1,%d\n", HAL_GetTick()/1000.0, SM_MESSAGE.command_1);
+            break;
+    }
+    log_file << buf;
+}
+
+/*** APPS IDs ***/
+#define APPS_ID 0b0000011
+#define APPS_ACCELERATOR1_PEDAL 0b00000110000
+#define APPS_ACCELERATOR2_PEDAL 0b00000110001
+#define APPS_BRAKE_PEDAL 0b00000110010
+#define APPS_TORQUE 0b00000110011
+
+/*** APPS MESSSAGE BUFFER ***/
+#define APPS_ACCELERATOR1_PEDAL_TYPE float
+#define APPS_ACCELERATOR2_PEDAL_TYPE float
+#define APPS_BRAKE_PEDAL_TYPE float
+#define APPS_TORQUE_TYPE float
+
+typedef struct APPS_MESSAGE_TYPE {
+    APPS_ACCELERATOR1_PEDAL_TYPE accelerator1_pedal;
+    APPS_ACCELERATOR2_PEDAL_TYPE accelerator2_pedal;
+    APPS_BRAKE_PEDAL_TYPE brake_pedal;
+    APPS_TORQUE_TYPE torque;
+} APPS_MESSAGE_TYPE;
+APPS_MESSAGE_TYPE APPS_MESSAGE;
+
+void Store_APPS_Msg(AddressIdType RxId, uint8_t *RxData, uint32_t data_length, fstream log_file) {
+    char buf[128];
+    int buf_len;
+    switch (RxId){
+        case APPS_ACCELERATOR1_PEDAL:
+            memcpy(&(APPS_MESSAGE.accelerator1_pedal), RxData, data_length);
+            buf_len = sprintf(buf, "%.3f,APPS,ACCELERATOR1_PEDAL,%.3f\n", HAL_GetTick()/1000.0, APPS_MESSAGE.accelerator1_pedal);
+            break;
+        case APPS_ACCELERATOR2_PEDAL:
+            memcpy(&(APPS_MESSAGE.accelerator2_pedal), RxData, data_length);
+            buf_len = sprintf(buf, "%.3f,APPS,ACCELERATOR2_PEDAL,%.3f\n", HAL_GetTick()/1000.0, APPS_MESSAGE.accelerator2_pedal);
+            break;
+        case APPS_BRAKE_PEDAL:
+            memcpy(&(APPS_MESSAGE.brake_pedal), RxData, data_length);
+            buf_len = sprintf(buf, "%.3f,APPS,BRAKE_PEDAL,%.3f\n", HAL_GetTick()/1000.0, APPS_MESSAGE.brake_pedal);
+            break;
+        case APPS_TORQUE:
+            memcpy(&(APPS_MESSAGE.torque), RxData, data_length);
+            buf_len = sprintf(buf, "%.3f,APPS,TORQUE,%.3f\n", HAL_GetTick()/1000.0, APPS_MESSAGE.torque);
+            break;
+    }
+    log_file << buf;
+}
+
+/*** RMS IDs ***/
+#define RMS_ID 0b0000100
+
+
+/*** SW IDs ***/
+#define SW_ID 0b0000101
+#define SW_DRIVER_INPUT 0b00001010000
+
+/*** SW MESSSAGE BUFFER ***/
+#define SW_DRIVER_INPUT_TYPE uint8_t
+
+typedef struct SW_MESSAGE_TYPE {
+    SW_DRIVER_INPUT_TYPE driver_input;
+} SW_MESSAGE_TYPE;
+SW_MESSAGE_TYPE SW_MESSAGE;
+
+void Store_SW_Msg(AddressIdType RxId, uint8_t *RxData, uint32_t data_length, fstream log_file) {
+    char buf[128];
+    int buf_len;
+    switch (RxId){
+        case SW_DRIVER_INPUT:
+            memcpy(&(SW_MESSAGE.driver_input), RxData, data_length);
+            buf_len = sprintf(buf, "%.3f,SW,DRIVER_INPUT,%d\n", HAL_GetTick()/1000.0, SW_MESSAGE.driver_input);
+            break;
+    }
+    log_file << buf;
+}
+
+/*** DL IDs ***/
+#define DL_ID 0b0000110
+
+
+/*** RX Arrays ***/
+const AddressIdType BMS_RX_ID[] = {SM_ID};
+const FilterArrayLength BMS_RX_NUM = 1;
+
+const AddressIdType SM_RX_ID[] = {BMS_ID, APPS_ID};
+const FilterArrayLength SM_RX_NUM = 2;
+
+const AddressIdType APPS_RX_ID[] = {SM_ID};
+const FilterArrayLength APPS_RX_NUM = 1;
+
+const AddressIdType RMS_RX_ID[] = {SM_ID};
+const FilterArrayLength RMS_RX_NUM = 1;
+
+const AddressIdType SW_RX_ID[] = {SM_ID};
+const FilterArrayLength SW_RX_NUM = 1;
+
+const AddressIdType DL_RX_ID[] = {BMS_ID, SM_ID, APPS_ID, RMS_ID, SW_ID};
+const FilterArrayLength DL_RX_NUM = 5;
+
+const AddressIdType* assign_filter_array(AddressIdType NODE_ID) {
+    switch(NODE_ID) {
+        case BMS_ID:
+            return BMS_RX_ID;
+            break;
+        case SM_ID:
+            return SM_RX_ID;
+            break;
+        case APPS_ID:
+            return APPS_RX_ID;
+            break;
+        case RMS_ID:
+            return RMS_RX_ID;
+            break;
+        case SW_ID:
+            return SW_RX_ID;
+            break;
+        case DL_ID:
+            return DL_RX_ID;
+            break;
+    }
+    return 0;
+}
+
+FilterArrayLength assign_filter_array_legnth(AddressIdType NODE_ID) {
+    switch(NODE_ID) {
+        case BMS_ID:
+            return BMS_RX_NUM;
+            break;
+        case SM_ID:
+            return SM_RX_NUM;
+            break;
+        case APPS_ID:
+            return APPS_RX_NUM;
+            break;
+        case RMS_ID:
+            return RMS_RX_NUM;
+            break;
+        case SW_ID:
+            return SW_RX_NUM;
+            break;
+        case DL_ID:
+            return DL_RX_NUM;
+            break;
+    }
+    return 0;
+}
+
+void store_msg(SPI_RxHeader *pHeader, uint8_t *RxData, fstream log_file) {
+    switch(pHeader->StdId >> BITS_PER_MESSAGE_TYPE) {
+        case EMERGENCY_ID:
+            Store_EMERGENCY_Msg(pHeader->StdId, RxData, pHeader->DLC, log_file);
+            break;
+        case BMS_ID:
+            Store_BMS_Msg(pHeader->StdId, RxData, pHeader->DLC, log_file);
+            break;
+        case SM_ID:
+            Store_SM_Msg(pHeader->StdId, RxData, pHeader->DLC, log_file);
+            break;
+        case APPS_ID:
+            Store_APPS_Msg(pHeader->StdId, RxData, pHeader->DLC, log_file);
+            break;
+        case SW_ID:
+            Store_SW_Msg(pHeader->StdId, RxData, pHeader->DLC, log_file);
+            break;
+    }
+}
+
+#endif /* INC_FEB_CAN_H_ */
diff --git a/DATA_LOGGER/pi/data.csv b/DATA_LOGGER/pi/data.csv
@@ -0,0 +1,15 @@
+CAN ID Length,Bits per Board,Boards,Rx,Message Types,Data Type,Rx Any (T/F),Comments
+11.0,7.0,Emergency,,APPS_Emergency,uint8_t,F,
+,,,,SM_Emergency,uint8_t,,
+,,BMS,SM,Temperature,float,T,
+,,,,Voltage,float,,
+,,SM,BMS APPS,Command 1,uint8_t,F,
+,,APPS,SM,Accelerator1 Pedal,float,F,
+,,,,Accelerator2 Pedal,float,,
+,,,,Brake Pedal,float,,
+,,,,Torque ,float,,
+,,RMS,SM,, ,,
+,,SW,SM,Driver Input,uint8_t,T,
+,,DL,BMS SM APPS RMS SW,,,T,
+,,,,,,,
+,,,,,,,
diff --git a/DATA_LOGGER/pi/data_logger.cpp b/DATA_LOGGER/pi/data_logger.cpp
@@ -4,7 +4,7 @@
 #include <unistd.h> // for sleep
 
 #include <wiringPiSPI.h>
-#include <unistd.h>
+#include<FEB_CAN_NODE.h>
 
 /**********************
  *         pi  stm32
@@ -105,18 +105,10 @@ int main() {
 
 	while(1) {
 		log_file.open(log_file_path, ios::out | ios::app);
-		read(fd, buffer, 128);
+		read(fd, (unsigned char *)SPI_MESSAGE.bits, sizeof(SPI_MESSAGE));
 
-		if (buffer[0] != 10) {
-			for(int i = 0; i < 128; i++) {
-				if(buffer[i] == 10){
-				   log_file << endl;
-				   cout << endl;
-				   break;
-				}
-				log_file << buffer[i];
-				cout << buffer[i];
-			}
+		if (SPI_MESSAGE.bits[0] != 10) {
+			store_msg(&(SPI_MESSAGE.message.RxHeader), SPI_MESSAGE.message.RxData);
 		}
 
 		log_file.close();