vcu emits current event

Author: matt-mekha

VCU/firmware/Core/Src/app_freertos.c

@@ -378,6 +378,7 @@ void StartControlTask(void *argument) {
     vcu_can_set_model_inputs(&in);
     vcu_can_set_model_outputs(&out);
     vcu_can_set_steering_angle_deg(steering_angle_deg);
+    vcu_can_set_event_mode(s_params.event_mode);
 
 
 

VCU/firmware/vcu/vcu_can.c

@@ -298,6 +298,10 @@ void vcu_can_set_steering_angle_deg(float steering_angle_deg) {
   steering_column_mailbox.steering_column_angle = steering_angle_deg;
 }
 
+void vcu_can_set_event_mode(uint8_t event_mode) {
+  vcu_state_mailbox.event_mode = event_mode;
+}
+
 static float compute_brake_bias_pct(const vcu_outputs_t *out) {
   static float remembered_brake_bias = 0.0f;
   float total = out->bse1_psi + out->bse2_psi;

VCU/firmware/vcu/vcu_can.h

@@ -28,6 +28,7 @@ void vcu_can_read_contactor_status(void);
 void vcu_can_set_model_inputs(const vcu_inputs_t *in);
 void vcu_can_set_model_outputs(const vcu_outputs_t *out);
 void vcu_can_set_steering_angle_deg(float steering_angle_deg);
+void vcu_can_set_event_mode(uint8_t event_mode);
 
 bool is_drive_switch_pressed(void);
 

drivers/longhorn-lib/can.json

@@ -3396,7 +3396,7 @@
         "to": [
             "Pi"
         ],
-        "data_length": 6,
+        "data_length": 7,
         "frequency_ms": 3,
         "frequency": 333.0,
         "quantity": 1,
@@ -3471,6 +3471,20 @@
                     "repeated": false,
                     "field_index": null
                 }
+            },
+            {
+                "index": 5,
+                "start_byte": 6,
+                "name": "Event Mode",
+                "length": 1,
+                "conv_type": "uint8",
+                "precision": 1.0,
+                "protobuf": {
+                    "type": "float",
+                    "field": "event_mode",
+                    "repeated": false,
+                    "field_index": null
+                }
             }
         ]
     },

drivers/longhorn-lib/can_ids.c

@@ -1842,6 +1842,9 @@ int pack_vcu_state(const msg_vcu_state_t* msg, uint8_t* tx_buf) {
     // Pack: Line Lock Enabled
     tx_buf[5] = (uint8_t)msg->line_lock_enabled;
 
+    // Pack: Event Mode
+    tx_buf[6] = (uint8_t)msg->event_mode;
+
     return 0;
 }
 
@@ -1864,6 +1867,9 @@ int unpack_vcu_state(const uint8_t* rx_buf, msg_vcu_state_t* msg) {
     // Unpack: Line Lock Enabled
     msg->line_lock_enabled = (uint8_t)rx_buf[5];
 
+    // Unpack: Event Mode
+    msg->event_mode = (uint8_t)rx_buf[6];
+
     return 0;
 }
 

drivers/longhorn-lib/can_ids.h

@@ -1423,7 +1423,7 @@ int unpack_steering_column(const uint8_t* rx_buf, msg_steering_column_t* msg);
 // From: VCU
 // To:   Pi
 #define VCU_STATE_ID 455
-#define VCU_STATE_DLC 6
+#define VCU_STATE_DLC 7
 #define VCU_STATE_FREQ 3
 #define VCU_STATE_TIMEOUT_MS 6
 
@@ -1433,6 +1433,7 @@ typedef struct {
     uint8_t ready_to_drive_buzzer;
     float state_of_charge_estimate;
     uint8_t line_lock_enabled;
+    uint8_t event_mode;
 } msg_vcu_state_t;
 
 // Signal: PRNDL State
@@ -1450,6 +1451,9 @@ typedef struct {
 // Signal: Line Lock Enabled
 #define VCU_STATE_LINE_LOCK_ENABLED_PREC 1.0f
 
+// Signal: Event Mode
+#define VCU_STATE_EVENT_MODE_PREC 1.0f
+
 int pack_vcu_state(const msg_vcu_state_t* msg, uint8_t* tx_buf);
 int unpack_vcu_state(const uint8_t* rx_buf, msg_vcu_state_t* msg);
 

drivers/longhorn-lib/config/can_packets.csv

@@ -43,7 +43,7 @@ CAN ID,CAN ID Binary,From,To,Packet Info,Frequency (Hz),Data Length Code (DLC),Q
 0x1C4,111000100,VCU,Pi,BSE Voltages,333,6,1,"BSE Front Voltage (uint16, 0.0001 V); bse1_v (float) #16",,"BSE Rear Voltage (uint16, 0.0001 V); bse2_v (float) #17",,"BSE Line Lock Voltage (uint16, 0.0001 V); bse3_v (float) #18",,unused,unused,Critical,,
 0x1C5,111000101,VCU,Pi,Brakes,333,8,1,"Brake Pressure Front (uint16, 0.05 psi); brake_pressure_f (float) #13",,"Brake Pressure Rear Pre Lock (uint16, 0.05 psi); brake_pressure_rbll (float) #15",,"Brake Pressure Rear Post Lock (uint16, 0.05 psi); brake_pressure_rall (float) #14",,"Brake Bias (uint8, 0.01 %); brake_bias (float) #11","BSE Faults (bitfield, bse_faults)",Critical,,
 0x1C6,111000110,VCU,Pi,Steering Column,333,2,1,"Steering Column Angle (int16, 0.004º); steer_col_angle (float) #13",,unused,unused,unused,unused,unused,unused,Critical,,
-0x1C7,111000111,VCU,Pi,VCU State,333,6,1,"PRNDL State (uint8); prndl_state (float) #1","STOMP Fault (uint8, bool); stomp_fault (bool) #33","Ready To Drive Buzzer (uint8, bool); r2d_buzzer (bool) #27","State of Charge Estimate (uint16, 0.1 %); soc_estimate (float) #3",,"Line Lock Enabled (uint8, bool); line_lock_enabled (bool) #28",unused,unused,Critical,,
+0x1C7,111000111,VCU,Pi,VCU State,333,7,1,"PRNDL State (uint8); prndl_state (float) #1","STOMP Fault (uint8, bool); stomp_fault (bool) #33","Ready To Drive Buzzer (uint8, bool); r2d_buzzer (bool) #27","State of Charge Estimate (uint16, 0.1 %); soc_estimate (float) #3",,"Line Lock Enabled (uint8, bool); line_lock_enabled (bool) #28","Event Mode (uint8); event_mode (float) #39",unused,Critical,,
 0x402,10000000010,USM,Pi,Acceleration Vector Unsprung + Wheel Speed FL,333,8,1,"X (int16, 0.001 m/s^2); fl_unsprung_accel[0] (float) #6",,"Y (int16, 0.001 m/s^2); fl_unsprung_accel[1] (float) #6",,"Z (int16, 0.001 m/s^2); fl_unsprung_accel[2] (float) #6",,"Wheel Speed (int16, 0.01 rad/s); fl_wheel_speed (float) #11",,Data Acq,,
 0x403,10000000011,USM,Pi,Acceleration Vector Unsprung + Wheel Speed FR,333,8,1,"X (int16, 0.001 m/s^2); fr_unsprung_accel[0] (float) #7",,"Y (int16, 0.001 m/s^2); fr_unsprung_accel[1] (float) #7",,"Z (int16, 0.001 m/s^2); fr_unsprung_accel[2] (float) #7",,"Wheel Speed (int16, 0.01 rad/s); fr_wheel_speed (float) #12",,Data Acq,,
 0x404,10000000100,USM,Pi,Acceleration Vector Unsprung + Wheel Speed RL,333,8,1,"X (int16, 0.001 m/s^2); bl_unsprung_accel[0] (float) #4",,"Y (int16, 0.001 m/s^2); bl_unsprung_accel[1] (float) #4",,"Z (int16, 0.001 m/s^2); bl_unsprung_accel[2] (float) #4",,"Wheel Speed (int16, 0.01 rad/s); bl_wheel_speed (float) #9",,Data Acq,,