UART data fetching integrated

Core/Inc/dashboard.h

@@ -15,7 +15,6 @@
 void run_dashboard_loop();
 void init();
 
-void update_values();
 void update_values_setup();
 void update_adc();
 
@@ -46,8 +45,8 @@ void draw_speed(int32_t speed);
 void draw_power(int32_t amps, int16_t duty, int16_t voltage);
 
 // Displays the two ADS voltages
-// 2 voltages from COMM_GET_DECODED_ADC, scale 1 000 000
+// 2 voltages from reFloat - COMM_CUSTOM_APP_DATA, scale 10, adcx_en are booleans.
-void draw_adc(int32_t adc1, int32_t adc2);
+void draw_adc(int32_t adc1_scaled, int32_t adc2_scaled, uint8_t adc1_en, uint8_t adc2_en);
 
 // Displays the controller and motor temperatures
 // 2 temperatures from COMM_GET_VALUES_SETUP, scale 10

Core/Inc/float16.h

@@ -0,0 +1,10 @@
+#ifndef FLOAT16_H
+#define FLOAT16_H
+
+// Helper function to convert float16 to float (from StackOverflow)
+float float16_to_float(uint16_t float16_val);
+
+// Convert Refloat float16 to int16_t (scaled by 10)
+int16_t refloat_float16_to_int16_scaled(uint16_t float16_val);
+
+#endif

Core/Inc/usart.h

@@ -6,7 +6,6 @@
 
 void USART1_SendPacket(const uint8_t *data, uint8_t length);
 uint8_t USART1_ReceiveByte(void);
-uint8_t USART1_ReceiveByteTimeout(uint32_t timeout);
 void USART1_Flush(void);
 
 

Core/Src/dashboard.c

@@ -7,25 +7,39 @@
 #include "monomaniacone72pt.h"
 #include "usart.h"
 #include "crc.h"
+#include "float16.h"
 #include <stdio.h>
 
+uint8_t initialized = 0;
 void run_dashboard_loop() {
 
-  init();
+  LCD_Init();
+  LCD_Fill_Screen(COLOR_OFF, 1);
+  LCD_Fill_Screen(COLOR_BG, 0);
+  HAL_Delay(1000);
+  while (1) {
+    update_values_setup();
+    update_adc();
+    HAL_Delay(100);
+  }
+
+}
+
+void run_dashboard_loop_test() {
+  LCD_Init();
+  LCD_Fill_Screen(COLOR_OFF, 1);
+  LCD_Fill_Screen(COLOR_BG, 0);
+  draw_init();
   uint32_t i = 0;
   while (1) {
 
-    if (i % 10 == 0) {
-      update_values();
-    }
-
     draw_battery(654, i * 100 / 4, 1321, 343);
     draw_speed(i * 1000 / 4);
     int16_t duty = 1000 - (int16_t) i * 1000 / 200;
     draw_power_bars(duty);
     draw_power(100 * i / 20 * (duty < 0 ? -1 : 1), duty, 60 * 10);
 
-    draw_adc((i % 34) * 100000, ((400 - i + 16) % 34) * 100000);
+    draw_adc(i % 34, (400 - i + 16) % 34, i % 34 >= 2.5, (400 - i + 16) % 34 >= 2.5);
 
     draw_temps((4 * i) % 900, ((10 * i) + 450) % 900);
 
@@ -39,66 +53,155 @@ void run_dashboard_loop() {
 
 }
 
-void init() {
+void update_values_setup() {
-  LCD_Init();
+// UART send 0201 2F D58D 03
-  draw_init();
-}
-
-void update_values() {
-// UART send 0201 04 4084 03
-
   uint8_t packet[1];
-  packet[0] = 0x04;// PAYLOAD (COMM_GET_VALUES)
+  packet[0] = 0x2F;// COMM_GET_VALUES_SETUP
   USART1_SendPacket(packet, 1);
 
-// Wait for start byte (0x02)
-  while (USART1_ReceiveByte() != 0x02) {
-  }
-  ;
 // Read length (big-endian)
-  uint16_t len = USART1_ReceiveUInt16() & 0xFF;
+  uint8_t len = USART1_ReceiveUInt16() & 0xFF;
-// Read packet
+  if (len != 0x46) {
-  uint8_t data[len];
+    HAL_Delay(500);
-  for (uint16_t i = 0; i < len - 2; i++) {
+    USART1_Flush();
-    data[i] = USART1_ReceiveByte();
+    return;// Timed out
   }
-  uint16_t crc = USART1_ReceiveUInt16();
+// Read packet
+  USART1_ReceiveByte();// Packet id
+  int16_t temp_fet = USART1_ReceiveInt16();
+  int16_t temp_motor = USART1_ReceiveInt16();
+  USART1_ReceiveInt32();// Current tot
+  int32_t current_in_tot = USART1_ReceiveInt32();
+  int16_t duty_cycle = USART1_ReceiveInt16();
+  USART1_ReceiveInt32();// rpm
+  int32_t speed = USART1_ReceiveInt32();
+  int16_t input_voltage_filtered = USART1_ReceiveInt16();
+  int16_t battery_level = USART1_ReceiveInt16();
+  USART1_ReceiveInt32();// ah tot
+  USART1_ReceiveInt32();// ah charge tot
+  USART1_ReceiveInt32();// wh tot
+  USART1_ReceiveInt32();// wh charge tot
+  USART1_ReceiveInt32();// distance
+  int32_t distance_abs = USART1_ReceiveInt32();
+  USART1_ReceiveInt32();// pid pos now
+  uint8_t fault_code = USART1_ReceiveByte();
+  USART1_ReceiveByte();// Controller Id
+  USART1_ReceiveByte();// Num VESCs
+  USART1_ReceiveInt32();// wh battery left
+  uint32_t distance_life = USART1_ReceiveUInt32();
+  USART1_ReceiveUInt32();// System time
+
+  USART1_ReceiveUInt16(); // CRC
 // End byte
   if (USART1_ReceiveByte() != 0x03) {
     return;// Invalid packet
   }
 // CRC check
-  if (crc != crc16(data, len)) {
+//  if (crc != crc16(data, len)) {
-    return;
+//    return;
+//  }
+  if (!initialized) {
+    draw_init();
+    initialized = 1;
   }
-  __NOP();
+  draw_battery(input_voltage_filtered, battery_level, distance_abs,
-}
+      distance_life);
-void update_values_setup() {
+  draw_power_bars(duty_cycle);
-// UART send 0201 2F D58D 03
+  draw_speed(speed * 10);
+  draw_power(current_in_tot, duty_cycle, input_voltage_filtered);
+  draw_temps(temp_fet, temp_motor);
 }
 void update_adc() {
-// UART send 0201 20 2462 03
+// Replies to 0x24 0x65 for command id: 0, 1, 18, 19, 1B, 1D, C9, CA
-}
+//                                      0  1  24  25  27  29  201 202
 
-void LCD_DrawHollowRoundRect(
+  uint8_t packet[3];
-    uint16_t x,
+  packet[0] = 0x24;// COMM_CUSTOM_APP_DATA
-    uint16_t y,
+  packet[1] = 0x65;// reFloat package interface
-    uint16_t w,
+  packet[2] = 0x01;// command id
-    uint16_t h,
+  USART1_SendPacket(packet, 3);
-    uint8_t radius_top,
+
-    uint8_t radius_bottom,
+  uint8_t len = USART1_ReceiveUInt16() & 0xFF;
-    uint8_t border_width,
+  if (len == 0xFF) {// len is usually 0x3A = 58, but may be shorter.
-    uint16_t color,
+    HAL_Delay(500);
-    uint16_t fill_color,
+    USART1_Flush();
-    uint8_t do_fill);
+    return;// Timed out
+  }
+
+// Read packet
+  USART1_ReceiveByte();// packet id
+  USART1_ReceiveByte();// reFloat package interface
+  USART1_ReceiveByte();// command id
+  USART1_ReceiveInt32();// Balance current
+  USART1_ReceiveInt32();// IMU Pitch
+  USART1_ReceiveInt32();// IMU Roll
+  USART1_ReceiveByte();// State
+  uint8_t beep_fs_state = USART1_ReceiveByte();// Beep reason + footpad sensors state
+  uint32_t adc1_f32 = USART1_ReceiveUInt32();
+  uint32_t adc2_f32 = USART1_ReceiveUInt32();
+
+// Results if command id 31 (0x1F) was working:
+//  uint8_t mask = USART1_ReceiveByte();// mask                                   // 0x00
+//  uint8_t extra_flags = USART1_ReceiveByte();// extra flags                     // 0x02
+//  uint32_t time = USART1_ReceiveInt32();// time                                 // 0x00 10 00 41
+//  uint8_t state_and_time = USART1_ReceiveByte();// state_and_mode               // 0x9B
+//  uint8_t flags_and_footpad = USART1_ReceiveByte();// flags_and_footpad         // 0x8A
+//  uint8_t stop_cond_and_sat = USART1_ReceiveByte();// stop_cond_and_sat         // 0x29
+//  uint8_t alert_reason = USART1_ReceiveByte();// alert_reason                   // 0x41
+//
+//  USART1_ReceiveInt16();//motor.speed
+//  USART1_ReceiveInt16();//motor.erpm
+//  USART1_ReceiveInt16();//motor.current
+//  USART1_ReceiveInt16();//motor.dir_current
+//  USART1_ReceiveInt16();//motor.filt_current
+//  USART1_ReceiveInt16();//motor.duty_cycle
+//  USART1_ReceiveInt16();//motor.batt_voltage
+//  USART1_ReceiveInt16();//motor.batt_current
+//  USART1_ReceiveInt16();//motor.mosfet_temp
+//  USART1_ReceiveInt16();//motor.motor_temp
+//  USART1_ReceiveInt16();//imu.pitch
+//  USART1_ReceiveInt16();//imu.balance_pitch
+//  USART1_ReceiveInt16();//imu.roll
+//  uint16_t adc1_f16 = USART1_ReceiveUInt16();//footpad.adc1
+//  uint16_t adc2_f16 = USART1_ReceiveUInt16();//footpad.adc2
+//  USART1_ReceiveInt16();//remote.input
+//// May have other ignored values.
+//  int16_t adc1 = refloat_float16_to_int16_scaled(adc1_f16);
+//  int16_t adc2 = refloat_float16_to_int16_scaled(adc2_f16);
+
+  if (!initialized) {
+    draw_init();
+    initialized = 1;
+  }
+  float adc1 = *((float*) &adc1_f32);
+  float adc2 = *((float*) &adc2_f32);
+
+  uint8_t fs_state = beep_fs_state & 0b11;
+  uint8_t adc1_en = 0;
+  uint8_t adc2_en = 0;
+  if(fs_state == 1) {
+   if (adc1 > adc2){
+      adc1_en = 1;
+    } else {
+      adc2_en = 2;
+    }
+  }else if(fs_state == 2) {
+    adc1_en = 1;
+    adc2_en = 1;
+  }
+
+  draw_adc((int32_t) 10 * adc1, (int32_t) 10 * adc2, adc1_en, adc2_en);
+
+// Make sure other values are discarded
+  HAL_Delay(100);
+  USART1_Flush();
+}
 
 #define LEFT_CENTER_COL1 38
 #define LEFT_CENTER_COL2 116
 #define RIGHT_CENTER 400
 
 void draw_init() {
-  LCD_Fill_Screen(COLOR_OFF, 1);
-  LCD_Fill_Screen(COLOR_BG, 0);
 
 // Draw footpad sensors rect
   uint16_t sensor_width = 126;
@@ -142,10 +245,10 @@ void draw_init() {
 }
 
 // Displays the battery voltage and percent, with the trip and life distances
-// Input voltage from COMM_GET_VALUES, scale 10
+// Input voltage from COMM_GET_VALUES_SETUP, scale 10
-// battery percent (level) from COMM_GET_VALUES_SETUP, scale 100
+// battery percent (level) from COMM_GET_VALUES_SETUP, scale 10
-// trip distance from COMM_GET_VALUES_SETUP, scale 100
+// trip distance from COMM_GET_VALUES_SETUP, scale 1000, in m
-// life distance (odometer) from COMM_GET_VALUES_SETUP
+// life distance (odometer) from COMM_GET_VALUES_SETUP, in m
 int16_t last_voltage = 0;
 int32_t last_percent = 0;
 int32_t last_trip_dist = 0;
@@ -155,17 +258,17 @@ void draw_battery(
     int32_t trip_dist,
     uint32_t life_dist) {
 
-  if (voltage == last_voltage && percent / 100 == last_percent / 100
+  if (voltage == last_voltage && percent / 10 == last_percent
-      && trip_dist / 10 == last_trip_dist / 10) {
+      && trip_dist / 100000 == last_trip_dist) {
     return;
   }
   last_voltage = voltage;
-  last_percent = percent;
+  last_percent = percent / 10;
-  last_trip_dist = trip_dist;
+  last_trip_dist = trip_dist / 100000;
 
   uint16_t bar_width = LCD_WIDTH - 12;
   uint16_t bar_height = 22;
-  uint16_t filled_bar_width = (((float) (percent / 100)) / 100.0) * bar_width;
+  uint16_t filled_bar_width = (((float) (percent / 10)) / 100.0) * bar_width;
   if (filled_bar_width < 6) {
     filled_bar_width = 6;// Must be at least the size of the border radius.
   }
@@ -176,10 +279,10 @@ void draw_battery(
   char voltage_text[8];
   sprintf(voltage_text, "%.1fV", ((float) voltage) / 10.0);
   char percent_text[6];
-  sprintf(percent_text, "%lu%%", percent / 100);
+  sprintf(percent_text, "%lu%%", percent / 10);
   char distances_text[20];
-  sprintf(distances_text, "%.1fKm / %luKm", ((float) trip_dist) / 100.0,
+  sprintf(distances_text, "%.1fKm / %luKm",
-      life_dist);
+      ((float) (trip_dist / 100000)) / 10.0, life_dist / 1000);
 
 // Drawing the bars
   LCD_DrawHollowRoundRect(4, LCD_HEIGHT - (bar_height + 4) - 4, bar_width + 4,
@@ -193,7 +296,7 @@ void draw_battery(
   uint16_t left_x = 10;
   uint16_t right_x = LCD_WIDTH - 10;
 
-  if (percent > 20 * 100) {
+  if (percent > 20 * 10) {
 // Drawing the voltage to the left
     left_x = 10
         + GFX_DrawText(left_x, text_y_14, voltage_text, &monomaniacone14pt,
@@ -205,7 +308,7 @@ void draw_battery(
         COLOR_FG, COLOR_BG, 2, -2);
   }
 
-  if (percent > 50 * 100) {
+  if (percent > 50 * 10) {
 // Drawing the distances on the left
     GFX_DrawText(left_x, text_y_14, distances_text, &monomaniacone14pt,
     COLOR_BG, COLOR_SUCCESS, 0, -3);
@@ -215,7 +318,7 @@ void draw_battery(
     COLOR_FG, COLOR_BG, 2, -3);
   }
 
-  if (percent > 80 * 100) {
+  if (percent > 80 * 10) {
 // Drawing the distances on the left
     GFX_DrawText(filled_bar_end_x - 4, text_y_14, percent_text,
         &monomaniacone14pt,
@@ -386,14 +489,13 @@ void draw_power(int32_t current_i, int16_t duty_i, int16_t voltage_i) {
 
 uint16_t last_adc1 = 1000;
 uint16_t last_adc2 = 1000;
-uint16_t adc_threshold = 29;
+uint8_t last_adc1_en = 0;
-// Displays the two ADS voltages
+uint8_t last_adc2_en = 0;
-// 2 voltages from COMM_GET_DECODED_ADC, scale 1 000 000
+// Displays the two ADC voltages
-void draw_adc(int32_t adc1_scaled, int32_t adc2_scaled) {
+// 2 voltages from reFloat - COMM_CUSTOM_APP_DATA, scale 10, adcx_en are booleans.
-  uint16_t adc1 =
+void draw_adc(int32_t adc1_scaled, int32_t adc2_scaled, uint8_t adc1_en, uint8_t adc2_en) {
-      adc1_scaled < 0 ? -adc1_scaled / 100000 : adc1_scaled / 100000;
+  uint16_t adc1 = adc1_scaled < 0 ? -adc1_scaled : adc1_scaled;
-  uint16_t adc2 =
+  uint16_t adc2 = adc2_scaled < 0 ? -adc2_scaled : adc2_scaled;
-      adc2_scaled < 0 ? -adc2_scaled / 100000 : adc2_scaled / 100000;
   if (adc1 > 33) {
     adc1 = 33;
   }
@@ -401,7 +503,7 @@ void draw_adc(int32_t adc1_scaled, int32_t adc2_scaled) {
     adc2 = 33;
   }
 // Max filled height = 39
-  if (adc1 != last_adc1) {
+  if (adc1 != last_adc1 || adc1_en != last_adc1_en) {
     uint16_t filled_height = adc1 * 39 / 33;
     uint16_t free_height = 61 - filled_height;
 
@@ -411,7 +513,7 @@ void draw_adc(int32_t adc1_scaled, int32_t adc2_scaled) {
     COLOR_BG);
 
 // Draw the colored zone
-    uint16_t color = adc1 >= adc_threshold ? COLOR_SUCCESS : COLOR_ERROR;
+    uint16_t color = adc1_en ? COLOR_SUCCESS : COLOR_ERROR;
     LCD_Draw_Rectangle(RIGHT_CENTER - 3 - 54, 76 + free_height, 54,
         filled_height, color);
 
@@ -422,9 +524,10 @@ void draw_adc(int32_t adc1_scaled, int32_t adc2_scaled) {
         &monomaniacone14pt, color, COLOR_BG, 1, -2);
 
     last_adc1 = adc1;
+    last_adc1_en = adc1_en;
   }
 // Max filled height = 39
-  if (adc2 != last_adc2) {
+  if (adc2 != last_adc2 || adc2_en != last_adc2_en) {
     uint16_t filled_height = adc2 * 39 / 33;
     uint16_t free_height = 61 - filled_height;
 
@@ -434,7 +537,7 @@ void draw_adc(int32_t adc1_scaled, int32_t adc2_scaled) {
     COLOR_BG);
 
 // Draw the colored zone
-    uint16_t color = adc2 >= adc_threshold ? COLOR_SUCCESS : COLOR_ERROR;
+    uint16_t color = adc2_en ? COLOR_SUCCESS : COLOR_ERROR;
     LCD_Draw_Rectangle(RIGHT_CENTER + 3, 76 + free_height, 54, filled_height,
         color);
 
@@ -445,6 +548,7 @@ void draw_adc(int32_t adc1_scaled, int32_t adc2_scaled) {
         &monomaniacone14pt, color, COLOR_BG, 1, -2);
 
     last_adc2 = adc2;
+    last_adc2_en = adc2_en;
   }
 
 }
@@ -470,7 +574,7 @@ void draw_temps(int16_t temp_fet_scaled, int16_t temp_motor_scaled) {
     sprintf(text, "%u>C", temp_mot);
     LCD_Draw_Rectangle(LEFT_CENTER_COL1 - 38, 138, 2 * 39, 25, COLOR_BG);
     GFX_DrawText(LEFT_CENTER_COL1, 159, text, &monomaniacone14pt,
-        COLOR_SECONDARY, COLOR_BG, 1, -1);
+    COLOR_SECONDARY, COLOR_BG, 1, -1);
   }
   if (temp_fet != last_temp_fet) {
     last_temp_fet = temp_fet;
@@ -479,6 +583,6 @@ void draw_temps(int16_t temp_fet_scaled, int16_t temp_motor_scaled) {
     sprintf(text, "%u>C", temp_fet);
     LCD_Draw_Rectangle(LEFT_CENTER_COL2 - 39, 138, 2 * 39, 25, COLOR_BG);
     GFX_DrawText(LEFT_CENTER_COL2, 159, text, &monomaniacone14pt, COLOR_PRIMARY,
-        COLOR_BG, 1, -1);
+    COLOR_BG, 1, -1);
   }
 }

Core/Src/float16.c

@@ -0,0 +1,36 @@
+#include <stdint.h>
+#include <float16.h>
+#include <math.h>
+
+// Helper function to convert float16 to float (from StackOverflow)
+float float16_to_float(uint16_t float16_val) {
+    // Implement the IEEE-754 FP16 decoding logic here.
+    // See: https://stackoverflow.com/a/60047308
+    // Example placeholder (replace with actual implementation):
+    uint32_t sign = (float16_val & 0x8000) << 16;
+    uint32_t exponent = (float16_val & 0x7C00) >> 10;
+    uint32_t mantissa = float16_val & 0x03FF;
+
+    if (exponent == 0) {
+        // Subnormal or zero
+        return (sign ? -1.0f : 1.0f) * powf(2.0f, -14.0f) * (mantissa / 1024.0f);
+    } else if (exponent == 0x1F) {
+        // Infinity or NaN (not supported in Refloat, per docs)
+        return sign ? -INFINITY : INFINITY;
+    } else {
+        // Normalized number
+        return (sign ? -1.0f : 1.0f) * powf(2.0f, exponent - 15.0f) * (1.0f + mantissa / 1024.0f);
+    }
+}
+
+// Convert Refloat float16 to int16_t (scaled by 10)
+int16_t refloat_float16_to_int16_scaled(uint16_t float16_val) {
+    float float_val = float16_to_float(float16_val);
+    float scaled_val = float_val * 10.0f;
+
+    // Clamp to int16_t range to avoid overflow
+    if (scaled_val > 32767.0f) return 32767;
+    if (scaled_val < -32768.0f) return -32768;
+
+    return (int16_t)scaled_val;
+}

Core/Src/usart.c

@@ -13,15 +13,15 @@ void USART1_SendByte(uint8_t byte) {
 }
 
 // USART1 Receive Byte (blocking)
-uint8_t USART1_ReceiveByte(void) {
+//uint8_t USART1_ReceiveByte(void) {
-    while (!(USART1->SR & USART_SR_RXNE)); // Wait until data received
+//    while (!(USART1->SR & USART_SR_RXNE)); // Wait until data received
-    return USART1->DR;                     // Return received byte
+//    return USART1->DR;                     // Return received byte
-}
+//}
 // Receive byte with timeout (returns 0xFF if timeout)
-uint8_t USART1_ReceiveByteTimeout(uint32_t timeout) {
+uint8_t USART1_ReceiveByte() {
     uint32_t start = HAL_GetTick();
     while (!(USART1->SR & USART_SR_RXNE)) {
-        if (HAL_GetTick() - start > timeout) {
+        if (HAL_GetTick() - start > 300) { // 300ms timeout
             return 0xFF;  // Timeout
         }
     }
@@ -35,12 +35,11 @@ void USART1_Flush(void) {
 }
 
 void USART1_SendPacket(const uint8_t *data, uint8_t length) {
-
+    USART1_Flush();
     uint16_t crc = crc16(data, length);
     uint8_t crc_h = (crc >> 8) & 0xFF;    // CRC high byte (big-endian)
     uint8_t crc_l = crc & 0xFF;           // CRC low byte
 
-    USART1_SendByte(0x02); // Start byte
     USART1_SendByte(0x02); // length type < 256
     USART1_SendByte(length);
     for (uint16_t i = 0; i < length; i++) {