Initial test technique for CAN messages -- Random messages

include/IOManagement.h

@@ -8,13 +8,13 @@
 #include <Arduino.h>
 
 //Outputs
-#define MCU_DIR                PA_6
-#define MCU_ECO                PB_1
-#define MCU_MC_ON              PA_2
+#define MCU_DIR                PA6
+#define MCU_ECO                PB1
+#define MCU_MC_ON              PA2
 
 //Inputs
-#define MCU_SPEED_SIG          PA_8
-#define PRK_BRK_TELEM          PB_4
+#define MCU_SPEED_SIG          PA8
+#define PRK_BRK_TELEM          PB4
 
 struct Digital_Data {
     bool direction : 1;         // output

include/const.h

@@ -5,7 +5,8 @@
  * Debugging Techniques:
  * 1. Send random data over CAN and verify if you received the same random data
 */
-#define DEBUG_TECHNIQUE 1
+
+#define COUNTER_EXP         100
 
 #define IO_UPDATE_PERIOD 100000 // us
 #define PID_UPDATE_INTERVAL IO_UPDATE_PERIOD/1000000 // sec

include/motor_control.h

@@ -16,7 +16,4 @@ PDCStates get_state();
 extern volatile float rpm;
 extern volatile float motorSpeedSetpoint;
 
-// cruise control variables
-PID *curr_PID;
-
 #endif

src/canPDC.cpp

@@ -17,9 +17,11 @@ void CANPDC::readHandler(CAN_message_t msg) {
 }
 
 void CANPDC::sendPDCData() {
+    // Serial.printf("message sent: %d\n",this->sendMessage(0x200, (void*)&acc_out, sizeof(float)));
     this->sendMessage(0x200, (void*)&acc_out, sizeof(float));
     this->sendMessage(0x201, (void*)&regen_brake, sizeof(float));
     this->sendMessage(0x202, (void*)&lv_12V_telem, sizeof(float));
+    // Serial.printf("sent or not %f",this->sendMessage(0x203, (void*)&lv_5V_telem, sizeof(float)));
     this->sendMessage(0x203, (void*)&lv_5V_telem, sizeof(float));
     this->sendMessage(0x204, (void*)&lv_5V_current, sizeof(float));
     this->sendMessage(0x205, (void*)&current_in_telem, sizeof(float));

src/main.cpp

@@ -1,16 +1,90 @@
 #include <Arduino.h>
-#include "IOManagement.h"
-#include "const.h"
+
 #include "canPDC.h"
+#include "const.h"
+#include "IOManagement.h"
+#include "motor_control.h"
+#include "adc.h"
+
+//For random
+#include <stdlib.h>
+#include <time.h>
+
+#define DEBUG_TECHNIQUE     1
+
+int counter = 0;
+
+//Counter for debug prints 100 ticks equates to 5 seconds
 
 CANPDC canBus(CAN1, DEF);
 
+
+#if DEBUG_TECHNIQUE == 1
+//Define methods
+void randomizeData();
+void debugPrint();
+
+void randomizeData() {
+  // Generate a random float between 0 and 100
+  acc_out = ((float)rand() / RAND_MAX) * 100;
+  regen_brake = ((float)rand() / RAND_MAX) * 100;
+  lv_12V_telem = ((float)rand() / RAND_MAX) * 100;
+  lv_5V_telem = ((float)rand() / RAND_MAX) * 100;
+  lv_5V_current = ((float)rand() / RAND_MAX) * 100;
+  current_in_telem = ((float)rand() / RAND_MAX) * 100;
+  brake_pressure_telem = ((float)rand() / RAND_MAX) * 100;
+
+  //Random boolean
+  brakeLED = rand() % 2;
+
+  //Random digital data
+  digital_data.direction = rand() % 2;
+  digital_data.mc_speed_sig = rand() % 2;
+  digital_data.eco_mode = rand() % 2;
+  digital_data.mcu_mc_on = rand() % 2;
+  digital_data.park_brake = rand() % 2;
+}
+void debugPrint() {
+  Serial.printf("acc_out: %f\n", acc_out);
+  Serial.printf("regen_brake: %f\n", regen_brake);
+  Serial.printf("lv_12V_telem: %f\n", lv_12V_telem);
+  Serial.printf("lv_5V_telem: %f\n", lv_5V_telem);
+  Serial.printf("lv_5V_current: %f\n", lv_5V_current);
+  Serial.printf("current_in_telem: %f\n", current_in_telem);
+  Serial.printf("brake_pressure_telem: %f\n", brake_pressure_telem);
+  Serial.printf("brakeLED: %i\n", brakeLED);
+  Serial.printf("digital_data.direction: %i\n", digital_data.direction);
+  Serial.printf("digital_data.mc_speed_sig: %i\n", digital_data.mc_speed_sig);
+  Serial.printf("digital_data.eco_mode: %i\n", digital_data.eco_mode);
+  Serial.printf("digital_data.mcu_mc_on: %i\n", digital_data.mcu_mc_on);
+  Serial.printf("digital_data.park_brake: %i\n", digital_data.park_brake);
+}
+#endif
+
+
 void setup() {
   Serial.begin(115200);
+
   initIO();
+  initPDCState();
+
+  //initialize random
+  srand(time(NULL));
+  randomizeData();
 }
 
 void loop() {
+  // Display digital and analog values every second (for testing) 
+  #if DEBUG_TECHNIQUE == 1
+    if (counter >= COUNTER_EXP) {
+      randomizeData();
+      debugPrint();
+      counter = 0;
+      //Receiving
+      Serial.printf("Received forwardANdReverse: %i\n", forwardAndReverse);
+    }
+    counter++;
+  #endif
   canBus.sendPDCData();
   canBus.runQueue(DATA_SEND_PERIOD);
 }

src/motor_control.cpp

@@ -1,6 +1,9 @@
 
 #include "motor_control.h"
 
+// cruise control variables
+PID *curr_PID;
+
 volatile PDCStates pdcState = PDCStates::OFF;
 volatile CRUZ_MODE cruzMode = CRUZ_MODE::OFF;
 
@@ -9,7 +12,7 @@ PID power_PID(POWER_D_PARAM, POWER_I_PARAM, POWER_P_PARAM, PID_UPDATE_INTERVAL);
 PID speed_PID(SPEED_D_PARAM, SPEED_I_PARAM, SPEED_P_PARAM, PID_UPDATE_INTERVAL);
 
 volatile float speed_pid_compute = 0.0;
-STM32TimerInterrupt state_updater(TIM7);
+STM32TimerInterrupt state_updater(TIM2);
 
 volatile float rpm;
 volatile float motorSpeedSetpoint;