Klagarge/SummerSchool2-Controller
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add kartculator

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This commit is contained in:
Rémi Heredero
2023-08-31 13:42:31 +02:00
parent 00130b03ee
commit dc6e4ec65a
8 changed files with 267 additions and 178 deletions
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39
306-controller_interface.X/app/can_message.c
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@ -9,6 +9,7 @@
#include "car.h"
#include "../app/factory/factory.h"
#include "../middleware/can_interface.h"
#include "kartculator.h"
typedef union {
struct {
@ -20,6 +21,14 @@ typedef union {
uint32_t full;
} BYTES_4;
typedef union {
struct {
uint8_t byte0;
uint8_t byte1;
} separate;
uint16_t full;
} BYTES_2;
void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
switch(idSender){
@ -145,6 +154,11 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
case 2:
if(idMsg == 0x1) { // JOY_MESURE
// posX posY button -
BYTES_4 tmpData;
tmpData.full = data;
calcTorque(tmpData.separate.byte1);
calcPosition(tmpData.separate.byte0);
}
@ -182,7 +196,14 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
case 4:
if(idMsg == 0x0) { // DRIVE_SPEED
// speedHH speedH speedL speedLL
BYTES_4 tmpData;
tmpData.full = data;
BYTES_4 rpm;
rpm.separate.byte0 = tmpData.separate.byte3;
rpm.separate.byte1 = tmpData.separate.byte2;
rpm.separate.byte2 = tmpData.separate.byte1;
rpm.separate.byte3 = tmpData.separate.byte0;
calcSpeed(rpm.full);
}
if(idMsg == 0xF) { // DRIVE_ALIVE
@ -199,7 +220,14 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
case 5:
if(idMsg == 0x1) { // STEERING_GET_CENTER
// valHH valH valL valLL
BYTES_4 tmpData;
tmpData.full = data;
BYTES_4 center;
center.separate.byte0 = tmpData.separate.byte3;
center.separate.byte1 = tmpData.separate.byte2;
center.separate.byte2 = tmpData.separate.byte1;
center.separate.byte3 = tmpData.separate.byte0;
eKart.center = center.full;
}
if(idMsg == 0x2) { // STEERING_GET_POSITION
@ -291,7 +319,12 @@ void CM_DRIVE_SETUP(void* p) {
void CM_DRIVE_POWER(void* p) {
// valH valL - -
// TODO
BYTES_2 torque;
BYTES_4 tmpData;
torque.full = *((int16_t*) p);
tmpData.separate.byte0 = torque.separate.byte1;
tmpData.separate.byte1 = torque.separate.byte0;
CAN_Send(4, 1, tmpData.full);
}
void CM_STEERING_SETUP(void* p) {

4
306-controller_interface.X/app/can_message.h
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@ -75,6 +75,10 @@ void CM_DISPLAY_DIRECTION(void* p);
*/
void CM_DRIVE_SETUP(void* p);
/**
* Send power to the drive
* @param p the torque (int16_t*)
*/
void CM_DRIVE_POWER(void* p);
/**

7
306-controller_interface.X/app/car.h
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@ -69,9 +69,10 @@ typedef struct {
KART_CST_TYPE KART_CST;
typedef struct {
int32_t speed;
uint32_t center;
uint32_t position;
int16_t torque; //
uint32_t center; //
uint32_t position; //
uint8_t speed; // 100m/h
} KART_VAR_TYPE;
KART_VAR_TYPE eKart;

39
306-controller_interface.X/app/kartculator.c Normal file
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@ -0,0 +1,39 @@
/**
* @author R<>mi Heredero
* @version. 0.0.0
* @date August 2023
* @file kartculator.c
*/
#include "kartculator.h"
void calcTorque(uint8_t joy_pos) {
int32_t calcTorque;
calcTorque = joy_pos; // joystick position
calcTorque *= KART_CST.CONTROL_POWER_FACTOR; // convert by power factor
calcTorque /= 1000; // torque define by joystick
eKart.torque = (int16_t) calcTorque;
}
void calcPosition(uint8_t joy_pos){
int32_t calcPosition;
calcPosition = joy_pos;
}
void calcSpeed(int32_t rpm) {
}
int16_t getTorque() {
}
uint32_t getPosition() {
}
uint8_t getSpeed() {
}

24
306-controller_interface.X/app/kartculator.h Normal file
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@ -0,0 +1,24 @@
/**
* @author R<>mi Heredero
* @version. 0.0.0
* @date August 2023
* @file kartculator.h
*/
#ifndef KARTCULATOR_H
#define KARTCULATOR_H
#include <stdint.h> // usage of standard types
#include <stdbool.h> // usage of boolean types
#include "../mcc_generated_files/mcc.h"
#include "car.h"
void calcTorque(uint8_t joy_pos);
void calcPosition(uint8_t joy_pos);
void calcSpeed(int32_t rpm);
int16_t getTorque();
uint32_t getPosition();
uint8_t getSpeed();
#endif /* KARTCULATOR_H */

12
306-controller_interface.X/middleware/eeprom.c
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@ -25,10 +25,10 @@ void MEM_init(){
KART_CST.CONTROL_STEERING_MODE = 0;
KART_CST.CONTROL_ALIVE_TIME = 50;
KART_CST.CONTROL_SPEED_FACTOR = 0;
KART_CST.CONTROL_POWER_FACTOR = 0;
KART_CST.CONTROL_STEERING_FACTOR = 0;
KART_CST.CONTROL_MAX_SPEED_FW = 0;
KART_CST.CONTROL_MAX_SPEED_BW = 0;
KART_CST.CONTROL_POWER_FACTOR = 10000;
KART_CST.CONTROL_STEERING_FACTOR = 400000000;
KART_CST.CONTROL_MAX_SPEED_FW = 500;
KART_CST.CONTROL_MAX_SPEED_BW = 250;
KART_CST.JOYSTICK_MODE = 0;
KART_CST.JOYSTICK_PARAM1 = 5;
@ -37,8 +37,8 @@ void MEM_init(){
KART_CST.DISPLAY_ALIVE_TIME = 100;
KART_CST.DRIVE_SPEED_TIME = 0;
KART_CST.DRIVE_STOP_TIME = 0;
KART_CST.DRIVE_SPEED_TIME = 5;
KART_CST.DRIVE_STOP_TIME = 20;
KART_CST.DRIVE_ALIVE_TIME = 10;
KART_CST.STEERING_ALIVE_TIME = 100;

2
306-controller_interface.X/nbproject/configurations.xml
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@ -9,6 +9,7 @@
<itemPath>app/car.h</itemPath>
<itemPath>app/can_message.h</itemPath>
<itemPath>middleware/eeprom.h</itemPath>
<itemPath>app/kartculator.h</itemPath>
</logicalFolder>
<logicalFolder name="board" displayName="board" projectFiles="true">
<itemPath>board/led/led.h</itemPath>
@ -46,6 +47,7 @@
<itemPath>app/factory/factory.c</itemPath>
<itemPath>app/can_message.c</itemPath>
<itemPath>middleware/eeprom.c</itemPath>
<itemPath>app/kartculator.c</itemPath>
</logicalFolder>
<logicalFolder name="board" displayName="board" projectFiles="true">
<itemPath>board/led/led.c</itemPath>