Added brake sensor

hytech-racing · Sep 20, 2024 · 25f12f0 · 25f12f0
1 parent 2a9272e
commit 25f12f0
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Showing 3 changed files with 32 additions and 14 deletions.
diff --git a/lib/interfaces/include/MCUInterface.h b/lib/interfaces/include/MCUInterface.h
@@ -9,17 +9,18 @@
 #include "PedalsSystem.h"
 #include "SharedDataTypes.h"
 
-const int DEFAULT_BMS_OK_READ         = 17;      // SHDN_D_READ
-const int DEFAULT_BMS_SENSE_PIN       = 16;      // BMS_OK_SENSE
-const int DEFAULT_IMD_OK_READ         = 10;      // SHDN_C_READ
-const int DEFAULT_IMD_SENSE_PIN       = 18;      // OKHS_SENSE
-const int DEFAULT_BSPD_OK_READ        = 39;      // SHDN_E_READ
-const int DEFAULT_SOFTWARE_OK_READ    = 25;      // SHDN_F_READ Watchdog Combined
-const int DEFAULT_BOTS_OK_READ        = 24;      // SHDN_B_READ
-const int DEFAULT_BRB_OK_READ         = 26;      // SHDN_G_READ
-const int DEFAULT_BRAKE_LIGHT_CTRL    = 6;
-const int DEFAULT_INVERTER_ENABLE     = 9;
-const int DEFAULT_INVERTER_24V_ENABLE = 7;
+const int DEFAULT_BMS_OK_READ                = 17;      // SHDN_D_READ
+const int DEFAULT_BMS_SENSE_PIN              = 16;      // BMS_OK_SENSE
+const int DEFAULT_IMD_OK_READ                = 10;      // SHDN_C_READ
+const int DEFAULT_IMD_SENSE_PIN              = 18;      // OKHS_SENSE
+const int DEFAULT_BSPD_OK_READ               = 39;      // SHDN_E_READ
+const int DEFAULT_SOFTWARE_OK_READ           = 25;      // SHDN_F_READ Watchdog Combined
+const int DEFAULT_BOTS_OK_READ               = 24;      // SHDN_B_READ
+const int DEFAULT_BRB_OK_READ                = 26;      // SHDN_G_READ
+const int DEFAULT_BRAKE_LIGHT_CTRL           = 6;
+const int DEFAULT_INVERTER_ENABLE            = 9;
+const int DEFAULT_INVERTER_24V_ENABLE        = 7;
+const int DEFAULT_BRAKE_PRESSURE_SENSOR_READ = 27;      // Read pin for brake pressure sensor.
 
 /// @brief specifically designed so that Walker would be happy
 struct MainECUHardwareReadPins
@@ -36,10 +37,12 @@ struct MainECUHardwareReadPins
     // inverter enable pins
     int pin_inv_en;
     int pin_inv_24V_en;
+    int pin_brake_pressure_sensor_read;
 };
 
 static const MainECUHardwareReadPins DEFAULT_PINS = {DEFAULT_BMS_OK_READ,DEFAULT_IMD_OK_READ, DEFAULT_BSPD_OK_READ, DEFAULT_SOFTWARE_OK_READ,
-                                                     DEFAULT_BOTS_OK_READ, DEFAULT_BRB_OK_READ, DEFAULT_BRAKE_LIGHT_CTRL, DEFAULT_INVERTER_ENABLE, DEFAULT_INVERTER_24V_ENABLE};
+                                                     DEFAULT_BOTS_OK_READ, DEFAULT_BRB_OK_READ, DEFAULT_BRAKE_LIGHT_CTRL, DEFAULT_INVERTER_ENABLE,
+                                                     DEFAULT_INVERTER_24V_ENABLE, DEFAULT_BRAKE_PRESSURE_SENSOR_READ};
 
 class MCUInterface
 {
@@ -115,6 +118,7 @@ class MCUInterface
     // Interfaces
     void update_mcu_status_CAN_ams(bool is_critical);
     void update_mcu_status_CAN_dashboard(bool is_active);
+    void update_brake_pressure_CAN();
 
     /* Enqueue MCU_status CAN  */
     void enqueue_CAN_mcu_status();

diff --git a/lib/interfaces/src/MCUInterface.cpp b/lib/interfaces/src/MCUInterface.cpp
@@ -182,6 +182,19 @@ void MCUInterface::update_mcu_status_CAN_pedals(const PedalsSystemData_s &pedals
     mcu_status_.no_brake_implausibility = !pedals.brakeImplausible;
     mcu_status_.no_accel_or_brake_implausibility = !(pedals.brakeAndAccelPressedImplausibility);
 }
+void MCUInterface::update_brake_pressure_CAN()
+{
+    BRAKE_PRESSURE_SENSOR_t brake_sensor_msg;
+    brake_sensor_msg.brake_sensor_analog_read = analogRead(pins_.pin_brake_pressure_sensor_read);
+
+    CAN_message_t msg;
+
+    msg.id = Pack_BRAKE_PRESSURE_SENSOR_hytech(&brake_sensor_msg, msg.buf, &msg.len, (uint8_t*) &msg.flags.extended);
+
+    uint8_t buf[sizeof(CAN_message_t)] = {};
+    memmove(buf, &msg, sizeof(CAN_message_t));
+    msg_queue_->push_back(buf, sizeof(CAN_message_t));
+}
 
 void MCUInterface::tick(int fsm_state,
                         bool inv_has_error,
@@ -209,6 +222,7 @@ void MCUInterface::tick(int fsm_state,
     // External Interfaces
     update_mcu_status_CAN_ams(pack_charge_is_critical);
     update_mcu_status_CAN_dashboard(button_is_pressed);
+    update_brake_pressure_CAN();
     // Internal values
     update_mcu_status_CAN();
     // Push into buffer

diff --git a/platformio.ini b/platformio.ini
@@ -58,7 +58,7 @@ lib_deps =
   https://github.com/tonton81/FlexCAN_T4
   https://github.com/ssilverman/QNEthernet#v0.26.0
   https://github.com/RCMast3r/hytech_can#testing_new_inv_ids
-  https://github.com/hytech-racing/HT_CAN/releases/download/125/can_lib.tar.gz
+  https://github.com/hytech-racing/HT_CAN/releases/download/127/can_lib.tar.gz
 
 [env:test_can_on_teensy]
 lib_ignore =
@@ -81,7 +81,7 @@ lib_deps =
     https://github.com/hytech-racing/shared_firmware_interfaces.git#feature/thermistor-template
     https://github.com/hytech-racing/shared_firmware_systems.git#af96a63
     https://github.com/RCMast3r/spi_libs#2214fee
-    https://github.com/hytech-racing/HT_CAN/releases/download/108/can_lib.tar.gz
+    https://github.com/hytech-racing/HT_CAN/releases/download/127/can_lib.tar.gz
     git+ssh://git@github.com/hytech-racing/CASE_lib.git#v49