Skip to content

Commit

Permalink
Intermediate commit #2
Browse files Browse the repository at this point in the history
  • Loading branch information
@Apehaenger
Apehaenger committed Oct 18, 2024
1 parent 37f2ac6 commit 9e24b05
Show file tree
Hide file tree
Showing 2 changed files with 26 additions and 31 deletions.
21 changes: 11 additions & 10 deletions Firmware/LowLevel/src/datatypes.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -136,10 +136,11 @@ struct ll_ui_event {
} __attribute__((packed));
#pragma pack(pop)

#define LL_HIGH_LEVEL_CONFIG_BIT_DFPIS5V (1 << 0) // Enable full sound via mower_config env var "OM_DFP_IS_5V"
#define LL_HIGH_LEVEL_CONFIG_BIT_BACKGROUND_SOUNDS (1 << 1) // Enable background sounds
#define LL_HIGH_LEVEL_CONFIG_BIT_DFPIS5V (1 << 0) // Enable full sound via mower_config env var "OM_DFP_IS_5V"
#define LL_HIGH_LEVEL_CONFIG_BIT_BACKGROUND_SOUNDS (1 << 1) // Enable background sounds
#define LL_HIGH_LEVEL_CONFIG_BIT_IGNORE_CHARGING_CURRENT (1 << 2) // Ignore charging current

#define LL_HIGH_LEVEL_CONFIG_BIT_HL_IS_LEADING ((LL_HIGH_LEVEL_CONFIG_BIT_DFPIS5V) | (LL_HIGH_LEVEL_CONFIG_BIT_BACKGROUND_SOUNDS)) // Config bits where HL is leading
#define LL_HIGH_LEVEL_CONFIG_BIT_HL_IS_LEADING (LL_HIGH_LEVEL_CONFIG_BIT_DFPIS5V | LL_HIGH_LEVEL_CONFIG_BIT_BACKGROUND_SOUNDS | LL_HIGH_LEVEL_CONFIG_BIT_IGNORE_CHARGING_CURRENT)

typedef char iso639_1[2]; // Two char ISO 639-1 language code

Expand Down Expand Up @@ -176,15 +177,15 @@ struct ll_high_level_config {

uint8_t config_bitmask = 0; // See LL_HIGH_LEVEL_CONFIG_BIT_*
uint16_t rain_threshold = 700; // If (stock CoverUI) rain value < rain_threshold then it rains. Expected to differ between C500, SA and SC types (0xFFFF = unknown)
float v_charge_cutoff = 30.0f; // Protective max. charging voltage before charging get switched off (NAN = unknown)
float i_charge_cutoff = 1.5f; // Protective max. charging current before charging get switched off (NAN = unknown)
float v_battery_cutoff = 29.0f; // Protective max. battery voltage before charging get switched off (NAN = unknown)
float v_battery_empty = 21.7f + 0.3f; // Empty battery voltage used for % calc of capacity (NAN = unknown)
float v_battery_full = 28.7f - 0.3f; // Full battery voltage used for % calc of capacity (NAN = unknown)
float v_charge_cutoff = 30.0f; // Protective max. charging voltage before charging get switched off (-1 = unknown)
float i_charge_cutoff = 1.5f; // Protective max. charging current before charging get switched off (-1 = unknown)
float v_battery_cutoff = 29.0f; // Protective max. battery voltage before charging get switched off (-1 = unknown)
float v_battery_empty = 21.7f + 0.3f; // Empty battery voltage used for % calc of capacity (-1 = unknown)
float v_battery_full = 28.7f - 0.3f; // Full battery voltage used for % calc of capacity (-1 = unknown)
uint16_t lift_period = 100; // Period (ms) for both wheels to be lifted in order to count as emergency (0 = disable, 0xFFFF = unknown). This is to filter uneven ground
uint16_t tilt_period = 2500; // Period (ms) for a single wheel to be lifted in order to count as emergency (0 = disable, 0xFFFF = unknown). This is to filter uneven ground
float shutdown_esc_max_pitch = 15.0f; // Do not shutdown ESCs if absolute pitch angle is greater than this (to be implemented)
iso639_1 language = {'e', 'n'}; // ISO 639-1 (2-char) language code (en, de, ...)
float shutdown_esc_max_pitch = 0.0f; // Do not shutdown ESCs if absolute pitch angle is greater than this (0 = disable, 0xffff = unknown) (to be implemented)
iso639_1 language = {'e', 'n'}; // ISO 639-1 (2-char) language code (en, de, ...)
uint8_t volume = 80; // Volume (0-100%) feedback (if directly changed i.e. via CoverUI or WebApp) (0xff = do not change)
HallConfig hall_configs[MAX_HALL_INPUTS] = {
{HallMode::LIFT_TILT, HallLevel::ACTIVE_LOW}, // [0] OM Hall-1 input (Lift1)
Expand Down
36 changes: 15 additions & 21 deletions Firmware/LowLevel/src/main.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -572,32 +572,29 @@ void applyConfig(const uint8_t *buffer, const size_t size) {
// Copy payload to temporary config
memcpy(&hl_config, buffer, payload_size);

// Takeover of HL leading config values
// Takeover HL leading config_bitmask values. This is only to illustrate that we may mix HL as well as LL leading bits here (if required some when).
// FIXME: Check if bitfields would look better
llhl_config.config_bitmask = (llhl_config.config_bitmask & ~LL_HIGH_LEVEL_CONFIG_BIT_HL_IS_LEADING) | (hl_config.config_bitmask & LL_HIGH_LEVEL_CONFIG_BIT_HL_IS_LEADING);

// Set HL leading member if they're not "undefined"
// TODO: Not that nice :-/ Is there no more clever way? Even with a templated function, I do see similar 8 lines here

// Take over HL members if they're not "undefined"
if (hl_config.rain_threshold != 0xffff) llhl_config.rain_threshold = hl_config.rain_threshold;
if (!std::isnan(hl_config.v_charge_cutoff)) llhl_config.v_charge_cutoff = min(hl_config.v_charge_cutoff, 40.0f); // Absolute max. limited by D2/D3 Schottky
if (!std::isnan(hl_config.i_charge_cutoff)) llhl_config.i_charge_cutoff = min(hl_config.i_charge_cutoff, 5.0f); // Absolute max. limited by D2/D3 Schottky
if (!std::isnan(hl_config.v_battery_cutoff)) llhl_config.v_battery_cutoff = hl_config.v_battery_cutoff;
if (!std::isnan(hl_config.v_battery_empty)) llhl_config.v_battery_empty = hl_config.v_battery_empty;
if (!std::isnan(hl_config.v_battery_full)) llhl_config.v_battery_full = hl_config.v_battery_full;
if (hl_config.lift_period != 0xffff) hl_config.lift_period = hl_config.lift_period;
if (hl_config.tilt_period != 0xffff) hl_config.tilt_period = hl_config.tilt_period;

// HL is always leading for language
strncpy(llhl_config.language, hl_config.language, 2);
if (hl_config.v_charge_cutoff >= 0) llhl_config.v_charge_cutoff = min(hl_config.v_charge_cutoff, 40.0f); // Absolute max. limited by D2/D3 Schottky
if (hl_config.i_charge_cutoff >= 0) llhl_config.i_charge_cutoff = min(hl_config.i_charge_cutoff, 5.0f); // Absolute max. limited by D2/D3 Schottky
if (hl_config.v_battery_cutoff >= 0) llhl_config.v_battery_cutoff = hl_config.v_battery_cutoff;
if (hl_config.v_battery_empty >= 0) llhl_config.v_battery_empty = hl_config.v_battery_empty;
if (hl_config.v_battery_full >= 0) llhl_config.v_battery_full = hl_config.v_battery_full;
if (hl_config.lift_period != 0xffff) llhl_config.lift_period = hl_config.lift_period;
if (hl_config.tilt_period != 0xffff) llhl_config.tilt_period = hl_config.tilt_period;
if (hl_config.volume != 0xff) llhl_config.volume = hl_config.volume;

// HL send 0xff if it doesn't provide a volume
if (hl_config.volume != 0xff) llhl_config.volume = llhl_config.volume;
strncpy(llhl_config.language, hl_config.language, 2); // HL always force the language

// Take over those hall inputs which are not undefined
for (size_t i = 0; i < MAX_HALL_INPUTS; i++) {
if (hl_config.hall_configs[i].mode != HallMode::UNDEFINED)
llhl_config.hall_configs[i] = hl_config.hall_configs[i];
}
// FIXME: TODO: Hall/emergency implementation
}

void onPacketReceived(const uint8_t *buffer, size_t size) {
Expand Down Expand Up @@ -627,21 +624,18 @@ void onPacketReceived(const uint8_t *buffer, size_t size) {
if (!ROS_running) {
// ROS is running (again (i.e. due to restart after reconfiguration))
ROS_running = true;

// Send current LL config (and request HL config response)
sendConfigMessage(PACKET_ID_LL_HIGH_LEVEL_CONFIG_REQ);
}
} else if (buffer[0] == PACKET_ID_LL_HIGH_LEVEL_STATE && size == sizeof(struct ll_high_level_state)) {
// copy the state
last_high_level_state = *((struct ll_high_level_state *) buffer);
} else if (buffer[0] == PACKET_ID_LL_HIGH_LEVEL_CONFIG_REQ || buffer[0] == PACKET_ID_LL_HIGH_LEVEL_CONFIG_RSP) {
applyConfig(buffer + 1, size - 1); // Skip type
applyConfig(buffer + 1, size - 1); // Skip type

// Store in flash
saveConfigToFlash();

if (buffer[0] == PACKET_ID_LL_HIGH_LEVEL_CONFIG_REQ)
sendConfigMessage(PACKET_ID_LL_HIGH_LEVEL_CONFIG_RSP);
sendConfigMessage(PACKET_ID_LL_HIGH_LEVEL_CONFIG_RSP); // Other side requested a config response
}
}

Expand Down

0 comments on commit 9e24b05

Please sign in to comment.