UART data fetching integrated
This commit is contained in:
Clément Grennerat
parent
a4c071bbd0
commit
ad679bb9df
@ -15,7 +15,6 @@
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void run_dashboard_loop();
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void init();
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void update_values();
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void update_values_setup();
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void update_adc();
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@ -46,8 +45,8 @@ void draw_speed(int32_t speed);
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void draw_power(int32_t amps, int16_t duty, int16_t voltage);
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// Displays the two ADS voltages
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// 2 voltages from COMM_GET_DECODED_ADC, scale 1 000 000
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void draw_adc(int32_t adc1, int32_t adc2);
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// 2 voltages from reFloat - COMM_CUSTOM_APP_DATA, scale 10, adcx_en are booleans.
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void draw_adc(int32_t adc1_scaled, int32_t adc2_scaled, uint8_t adc1_en, uint8_t adc2_en);
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// Displays the controller and motor temperatures
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// 2 temperatures from COMM_GET_VALUES_SETUP, scale 10
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10
Core/Inc/float16.h
Normal file
10
Core/Inc/float16.h
Normal file
@ -0,0 +1,10 @@
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#ifndef FLOAT16_H
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#define FLOAT16_H
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// Helper function to convert float16 to float (from StackOverflow)
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float float16_to_float(uint16_t float16_val);
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// Convert Refloat float16 to int16_t (scaled by 10)
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int16_t refloat_float16_to_int16_scaled(uint16_t float16_val);
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#endif
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@ -6,7 +6,6 @@
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void USART1_SendPacket(const uint8_t *data, uint8_t length);
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uint8_t USART1_ReceiveByte(void);
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uint8_t USART1_ReceiveByteTimeout(uint32_t timeout);
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void USART1_Flush(void);
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@ -7,25 +7,39 @@
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#include "monomaniacone72pt.h"
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#include "usart.h"
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#include "crc.h"
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#include "float16.h"
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#include <stdio.h>
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uint8_t initialized = 0;
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void run_dashboard_loop() {
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init();
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LCD_Init();
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LCD_Fill_Screen(COLOR_OFF, 1);
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LCD_Fill_Screen(COLOR_BG, 0);
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HAL_Delay(1000);
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while (1) {
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update_values_setup();
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update_adc();
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HAL_Delay(100);
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}
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}
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void run_dashboard_loop_test() {
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LCD_Init();
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LCD_Fill_Screen(COLOR_OFF, 1);
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LCD_Fill_Screen(COLOR_BG, 0);
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draw_init();
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uint32_t i = 0;
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while (1) {
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if (i % 10 == 0) {
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update_values();
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}
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draw_battery(654, i * 100 / 4, 1321, 343);
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draw_speed(i * 1000 / 4);
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int16_t duty = 1000 - (int16_t) i * 1000 / 200;
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draw_power_bars(duty);
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draw_power(100 * i / 20 * (duty < 0 ? -1 : 1), duty, 60 * 10);
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draw_adc((i % 34) * 100000, ((400 - i + 16) % 34) * 100000);
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draw_adc(i % 34, (400 - i + 16) % 34, i % 34 >= 2.5, (400 - i + 16) % 34 >= 2.5);
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draw_temps((4 * i) % 900, ((10 * i) + 450) % 900);
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@ -39,66 +53,155 @@ void run_dashboard_loop() {
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}
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void init() {
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LCD_Init();
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draw_init();
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}
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void update_values() {
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// UART send 0201 04 4084 03
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void update_values_setup() {
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// UART send 0201 2F D58D 03
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uint8_t packet[1];
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packet[0] = 0x04;// PAYLOAD (COMM_GET_VALUES)
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packet[0] = 0x2F;// COMM_GET_VALUES_SETUP
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USART1_SendPacket(packet, 1);
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// Wait for start byte (0x02)
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while (USART1_ReceiveByte() != 0x02) {
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}
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;
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// Read length (big-endian)
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uint16_t len = USART1_ReceiveUInt16() & 0xFF;
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// Read packet
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uint8_t data[len];
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for (uint16_t i = 0; i < len - 2; i++) {
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data[i] = USART1_ReceiveByte();
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uint8_t len = USART1_ReceiveUInt16() & 0xFF;
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if (len != 0x46) {
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HAL_Delay(500);
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USART1_Flush();
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return;// Timed out
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}
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uint16_t crc = USART1_ReceiveUInt16();
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// Read packet
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USART1_ReceiveByte();// Packet id
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int16_t temp_fet = USART1_ReceiveInt16();
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int16_t temp_motor = USART1_ReceiveInt16();
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USART1_ReceiveInt32();// Current tot
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int32_t current_in_tot = USART1_ReceiveInt32();
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int16_t duty_cycle = USART1_ReceiveInt16();
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USART1_ReceiveInt32();// rpm
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int32_t speed = USART1_ReceiveInt32();
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int16_t input_voltage_filtered = USART1_ReceiveInt16();
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int16_t battery_level = USART1_ReceiveInt16();
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USART1_ReceiveInt32();// ah tot
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USART1_ReceiveInt32();// ah charge tot
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USART1_ReceiveInt32();// wh tot
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USART1_ReceiveInt32();// wh charge tot
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USART1_ReceiveInt32();// distance
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int32_t distance_abs = USART1_ReceiveInt32();
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USART1_ReceiveInt32();// pid pos now
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uint8_t fault_code = USART1_ReceiveByte();
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USART1_ReceiveByte();// Controller Id
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USART1_ReceiveByte();// Num VESCs
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USART1_ReceiveInt32();// wh battery left
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uint32_t distance_life = USART1_ReceiveUInt32();
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USART1_ReceiveUInt32();// System time
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USART1_ReceiveUInt16(); // CRC
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// End byte
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if (USART1_ReceiveByte() != 0x03) {
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return;// Invalid packet
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}
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// CRC check
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if (crc != crc16(data, len)) {
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return;
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// if (crc != crc16(data, len)) {
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// return;
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// }
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if (!initialized) {
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draw_init();
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initialized = 1;
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}
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__NOP();
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}
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void update_values_setup() {
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// UART send 0201 2F D58D 03
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draw_battery(input_voltage_filtered, battery_level, distance_abs,
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distance_life);
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draw_power_bars(duty_cycle);
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draw_speed(speed * 10);
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draw_power(current_in_tot, duty_cycle, input_voltage_filtered);
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draw_temps(temp_fet, temp_motor);
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}
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void update_adc() {
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// UART send 0201 20 2462 03
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// Replies to 0x24 0x65 for command id: 0, 1, 18, 19, 1B, 1D, C9, CA
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// 0 1 24 25 27 29 201 202
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uint8_t packet[3];
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packet[0] = 0x24;// COMM_CUSTOM_APP_DATA
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packet[1] = 0x65;// reFloat package interface
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packet[2] = 0x01;// command id
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USART1_SendPacket(packet, 3);
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uint8_t len = USART1_ReceiveUInt16() & 0xFF;
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if (len == 0xFF) {// len is usually 0x3A = 58, but may be shorter.
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HAL_Delay(500);
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USART1_Flush();
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return;// Timed out
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}
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void LCD_DrawHollowRoundRect(
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uint16_t x,
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uint16_t y,
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uint16_t w,
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uint16_t h,
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uint8_t radius_top,
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uint8_t radius_bottom,
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uint8_t border_width,
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uint16_t color,
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uint16_t fill_color,
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uint8_t do_fill);
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// Read packet
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USART1_ReceiveByte();// packet id
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USART1_ReceiveByte();// reFloat package interface
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USART1_ReceiveByte();// command id
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USART1_ReceiveInt32();// Balance current
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USART1_ReceiveInt32();// IMU Pitch
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USART1_ReceiveInt32();// IMU Roll
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USART1_ReceiveByte();// State
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uint8_t beep_fs_state = USART1_ReceiveByte();// Beep reason + footpad sensors state
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uint32_t adc1_f32 = USART1_ReceiveUInt32();
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uint32_t adc2_f32 = USART1_ReceiveUInt32();
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// Results if command id 31 (0x1F) was working:
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// uint8_t mask = USART1_ReceiveByte();// mask // 0x00
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// uint8_t extra_flags = USART1_ReceiveByte();// extra flags // 0x02
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// uint32_t time = USART1_ReceiveInt32();// time // 0x00 10 00 41
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// uint8_t state_and_time = USART1_ReceiveByte();// state_and_mode // 0x9B
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// uint8_t flags_and_footpad = USART1_ReceiveByte();// flags_and_footpad // 0x8A
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// uint8_t stop_cond_and_sat = USART1_ReceiveByte();// stop_cond_and_sat // 0x29
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// uint8_t alert_reason = USART1_ReceiveByte();// alert_reason // 0x41
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//
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// USART1_ReceiveInt16();//motor.speed
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// USART1_ReceiveInt16();//motor.erpm
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// USART1_ReceiveInt16();//motor.current
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// USART1_ReceiveInt16();//motor.dir_current
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// USART1_ReceiveInt16();//motor.filt_current
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// USART1_ReceiveInt16();//motor.duty_cycle
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// USART1_ReceiveInt16();//motor.batt_voltage
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// USART1_ReceiveInt16();//motor.batt_current
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// USART1_ReceiveInt16();//motor.mosfet_temp
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// USART1_ReceiveInt16();//motor.motor_temp
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// USART1_ReceiveInt16();//imu.pitch
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// USART1_ReceiveInt16();//imu.balance_pitch
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// USART1_ReceiveInt16();//imu.roll
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// uint16_t adc1_f16 = USART1_ReceiveUInt16();//footpad.adc1
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// uint16_t adc2_f16 = USART1_ReceiveUInt16();//footpad.adc2
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// USART1_ReceiveInt16();//remote.input
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//// May have other ignored values.
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// int16_t adc1 = refloat_float16_to_int16_scaled(adc1_f16);
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// int16_t adc2 = refloat_float16_to_int16_scaled(adc2_f16);
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if (!initialized) {
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draw_init();
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initialized = 1;
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}
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float adc1 = *((float*) &adc1_f32);
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float adc2 = *((float*) &adc2_f32);
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uint8_t fs_state = beep_fs_state & 0b11;
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uint8_t adc1_en = 0;
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uint8_t adc2_en = 0;
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if(fs_state == 1) {
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if (adc1 > adc2){
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adc1_en = 1;
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} else {
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adc2_en = 2;
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}
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}else if(fs_state == 2) {
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adc1_en = 1;
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adc2_en = 1;
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}
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draw_adc((int32_t) 10 * adc1, (int32_t) 10 * adc2, adc1_en, adc2_en);
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// Make sure other values are discarded
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HAL_Delay(100);
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USART1_Flush();
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}
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#define LEFT_CENTER_COL1 38
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#define LEFT_CENTER_COL2 116
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#define RIGHT_CENTER 400
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void draw_init() {
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LCD_Fill_Screen(COLOR_OFF, 1);
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LCD_Fill_Screen(COLOR_BG, 0);
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// Draw footpad sensors rect
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uint16_t sensor_width = 126;
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@ -142,10 +245,10 @@ void draw_init() {
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}
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// Displays the battery voltage and percent, with the trip and life distances
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// Input voltage from COMM_GET_VALUES, scale 10
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// battery percent (level) from COMM_GET_VALUES_SETUP, scale 100
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// trip distance from COMM_GET_VALUES_SETUP, scale 100
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// life distance (odometer) from COMM_GET_VALUES_SETUP
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// Input voltage from COMM_GET_VALUES_SETUP, scale 10
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// battery percent (level) from COMM_GET_VALUES_SETUP, scale 10
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// trip distance from COMM_GET_VALUES_SETUP, scale 1000, in m
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// life distance (odometer) from COMM_GET_VALUES_SETUP, in m
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int16_t last_voltage = 0;
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int32_t last_percent = 0;
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int32_t last_trip_dist = 0;
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@ -155,17 +258,17 @@ void draw_battery(
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int32_t trip_dist,
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uint32_t life_dist) {
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if (voltage == last_voltage && percent / 100 == last_percent / 100
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&& trip_dist / 10 == last_trip_dist / 10) {
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if (voltage == last_voltage && percent / 10 == last_percent
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&& trip_dist / 100000 == last_trip_dist) {
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return;
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}
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last_voltage = voltage;
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last_percent = percent;
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last_trip_dist = trip_dist;
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last_percent = percent / 10;
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last_trip_dist = trip_dist / 100000;
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uint16_t bar_width = LCD_WIDTH - 12;
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uint16_t bar_height = 22;
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uint16_t filled_bar_width = (((float) (percent / 100)) / 100.0) * bar_width;
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uint16_t filled_bar_width = (((float) (percent / 10)) / 100.0) * bar_width;
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if (filled_bar_width < 6) {
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filled_bar_width = 6;// Must be at least the size of the border radius.
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}
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@ -176,10 +279,10 @@ void draw_battery(
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char voltage_text[8];
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sprintf(voltage_text, "%.1fV", ((float) voltage) / 10.0);
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char percent_text[6];
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sprintf(percent_text, "%lu%%", percent / 100);
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sprintf(percent_text, "%lu%%", percent / 10);
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char distances_text[20];
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sprintf(distances_text, "%.1fKm / %luKm", ((float) trip_dist) / 100.0,
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life_dist);
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sprintf(distances_text, "%.1fKm / %luKm",
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((float) (trip_dist / 100000)) / 10.0, life_dist / 1000);
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// Drawing the bars
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LCD_DrawHollowRoundRect(4, LCD_HEIGHT - (bar_height + 4) - 4, bar_width + 4,
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@ -193,7 +296,7 @@ void draw_battery(
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uint16_t left_x = 10;
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uint16_t right_x = LCD_WIDTH - 10;
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if (percent > 20 * 100) {
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if (percent > 20 * 10) {
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// Drawing the voltage to the left
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left_x = 10
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+ GFX_DrawText(left_x, text_y_14, voltage_text, &monomaniacone14pt,
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@ -205,7 +308,7 @@ void draw_battery(
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COLOR_FG, COLOR_BG, 2, -2);
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}
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if (percent > 50 * 100) {
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if (percent > 50 * 10) {
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// Drawing the distances on the left
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GFX_DrawText(left_x, text_y_14, distances_text, &monomaniacone14pt,
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COLOR_BG, COLOR_SUCCESS, 0, -3);
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@ -215,7 +318,7 @@ void draw_battery(
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COLOR_FG, COLOR_BG, 2, -3);
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}
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if (percent > 80 * 100) {
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if (percent > 80 * 10) {
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// Drawing the distances on the left
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GFX_DrawText(filled_bar_end_x - 4, text_y_14, percent_text,
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&monomaniacone14pt,
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@ -386,14 +489,13 @@ void draw_power(int32_t current_i, int16_t duty_i, int16_t voltage_i) {
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uint16_t last_adc1 = 1000;
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uint16_t last_adc2 = 1000;
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uint16_t adc_threshold = 29;
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// Displays the two ADS voltages
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// 2 voltages from COMM_GET_DECODED_ADC, scale 1 000 000
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void draw_adc(int32_t adc1_scaled, int32_t adc2_scaled) {
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uint16_t adc1 =
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adc1_scaled < 0 ? -adc1_scaled / 100000 : adc1_scaled / 100000;
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uint16_t adc2 =
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adc2_scaled < 0 ? -adc2_scaled / 100000 : adc2_scaled / 100000;
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uint8_t last_adc1_en = 0;
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uint8_t last_adc2_en = 0;
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// Displays the two ADC voltages
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// 2 voltages from reFloat - COMM_CUSTOM_APP_DATA, scale 10, adcx_en are booleans.
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void draw_adc(int32_t adc1_scaled, int32_t adc2_scaled, uint8_t adc1_en, uint8_t adc2_en) {
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uint16_t adc1 = adc1_scaled < 0 ? -adc1_scaled : adc1_scaled;
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uint16_t adc2 = adc2_scaled < 0 ? -adc2_scaled : adc2_scaled;
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if (adc1 > 33) {
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adc1 = 33;
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}
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@ -401,7 +503,7 @@ void draw_adc(int32_t adc1_scaled, int32_t adc2_scaled) {
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adc2 = 33;
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}
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// Max filled height = 39
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if (adc1 != last_adc1) {
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if (adc1 != last_adc1 || adc1_en != last_adc1_en) {
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uint16_t filled_height = adc1 * 39 / 33;
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uint16_t free_height = 61 - filled_height;
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@ -411,7 +513,7 @@ void draw_adc(int32_t adc1_scaled, int32_t adc2_scaled) {
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COLOR_BG);
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// Draw the colored zone
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uint16_t color = adc1 >= adc_threshold ? COLOR_SUCCESS : COLOR_ERROR;
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uint16_t color = adc1_en ? COLOR_SUCCESS : COLOR_ERROR;
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LCD_Draw_Rectangle(RIGHT_CENTER - 3 - 54, 76 + free_height, 54,
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filled_height, color);
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@ -422,9 +524,10 @@ void draw_adc(int32_t adc1_scaled, int32_t adc2_scaled) {
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&monomaniacone14pt, color, COLOR_BG, 1, -2);
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last_adc1 = adc1;
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last_adc1_en = adc1_en;
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}
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// Max filled height = 39
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if (adc2 != last_adc2) {
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if (adc2 != last_adc2 || adc2_en != last_adc2_en) {
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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;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
36
Core/Src/float16.c
Normal file
36
Core/Src/float16.c
Normal file
@ -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;
|
||||
}
|
||||
@ -13,15 +13,15 @@ void USART1_SendByte(uint8_t byte) {
|
||||
}
|
||||
|
||||
// USART1 Receive Byte (blocking)
|
||||
uint8_t USART1_ReceiveByte(void) {
|
||||
while (!(USART1->SR & USART_SR_RXNE)); // Wait until data received
|
||||
return USART1->DR; // Return received byte
|
||||
}
|
||||
//uint8_t USART1_ReceiveByte(void) {
|
||||
// while (!(USART1->SR & USART_SR_RXNE)); // Wait until data received
|
||||
// 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++) {
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user