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Throwing out the welcome mat #9

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merged 13 commits into from
Nov 18, 2023
Merged

Throwing out the welcome mat #9

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787c69b
Updated submodule
ActuallyTaylor Sep 16, 2023
f553b53
Fixed HUDL not having UART and receiving data
ActuallyTaylor Sep 21, 2023
5faaf4b
Applied Formatting Changes During GitHub Build
Oct 17, 2023
4ce165a
Update HUDL.cpp
ActuallyTaylor Oct 26, 2023
8582a26
Update main.cpp
ActuallyTaylor Oct 26, 2023
59e6bc3
Fixed comments
ActuallyTaylor Oct 26, 2023
4b01203
Fixed issues
ActuallyTaylor Oct 30, 2023
12616d0
Moved can stuff :(
ActuallyTaylor Oct 30, 2023
d73f020
Applied Formatting Changes During GitHub Build
Oct 30, 2023
26915a5
Update src/HUDL/HUDL.cpp
ActuallyTaylor Nov 4, 2023
5f9424a
Update targets/HUDL/main.cpp
ActuallyTaylor Nov 4, 2023
66c59f2
Changed rpm to signed
ActuallyTaylor Nov 4, 2023
73bcf40
Update targets/HUDL/main.cpp
ActuallyTaylor Nov 17, 2023
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79 changes: 2 additions & 77 deletions include/HUDL/HUDL.hpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -70,87 +70,14 @@ class HUDL {
static constexpr uintptr_t MC_NODE_ID = 0x01;

private:
enum CurrentPage {
PAGE_1,
ERROR_PAGE
};

enum Corner {
TOP_LEFT,
TOP_RIGHT,
BOTTOM_LEFT,
BOTTOM_RIGHT
};

CurrentPage currentHUDLScreen = PAGE_1;
bool setHeaders = false;
char* errorString;

unsigned char evtBitMap[1024] = {
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x3F, 0x3F, 0x3F, 0x3F,
0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F,
0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F,
0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F,
0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x7F, 0x7F, 0x7F, 0x7F, 0x7F,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x3F, 0x03, 0x00, 0x00, 0x00, 0x00, 0x80,
0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0,
0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF8, 0xFC, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xF7, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0xC0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0,
0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x0F, 0x01, 0x00, 0x00, 0x00, 0x18, 0x1F,
0x1F, 0x9F, 0xFF, 0xFF, 0xFF, 0xFF, 0x1F, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x18, 0x1F,
0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0xDF, 0xFF, 0xFF, 0xFF, 0xFF, 0x1F,
0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x7F, 0x3F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F,
0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x9F, 0xFF, 0xFF, 0xFF, 0x7F, 0x1F, 0x01, 0x00, 0x00,
0x00, 0x00, 0xC0, 0xF8, 0xFE, 0xFF, 0xFF, 0x3F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F,
0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFB, 0xF8, 0xF8, 0x78, 0x00, 0x00, 0x00, 0x00, 0xC0, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8,
0xF8, 0xFF, 0xFF, 0x3F, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0xC0, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8,
0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xFF, 0xFF, 0xFF, 0xF3, 0xF0, 0xF0,
0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xC0, 0x00, 0x00, 0x00, 0x00, 0x03, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0x7F, 0x1F, 0x0F, 0x07, 0x01, 0x00, 0x00, 0x80, 0xC0, 0xE0, 0xF0, 0xF0, 0xF0,
0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xFC, 0xFF, 0xFF, 0x0F, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00,
0xF0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8,
0xF8, 0xF8, 0xF8, 0xFC, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0xFE, 0xFE, 0xFE, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0x1F, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x18, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F,
0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x9F, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x03,
0x01, 0x01, 0x00, 0xC0, 0xE0, 0xE0, 0xF0, 0xFC, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x7F, 0x3F, 0x03, 0x00, 0x00, 0x00, 0x00, 0x80, 0xE0, 0xFE, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF7, 0xF1,
0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0,
0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF8, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0,
0xF8, 0xFC, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xF7, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF0, 0xF8, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};

uint16_t dummyValue = 0;

Expand All @@ -164,13 +91,11 @@ class HUDL {
/** The torque actual value provided by the MC node over CAN. Found in the first 16 bits of the 4th PDO coming from the MC. */
uint16_t torqueActual = 0;

uint16_t actualPosition = 0;
int16_t actualPosition = 0;

static uint8_t columnForCorner(Corner corner);
static uint8_t pageForCorner(Corner corner);
static uint8_t wrapForCorner(HUDL::Corner corner);

void writeError(const char* text);
void headerForCorner(Corner corner, const char* text);
void dataForCorner(Corner corner, const char* text);

Expand Down Expand Up @@ -274,7 +199,7 @@ class HUDL {
.Data = (uintptr_t) 0xFE,
},
/**
* Motor Controller RPDO 1
* Motor Controller RPDO 1
* 0: RPDO number in index and total number of sub indexes.
* 1: The COB-ID to receive PDOs from.
* 2: transmission trigger
Expand Down
2 changes: 1 addition & 1 deletion libs/EVT-core
Open in desktop
Submodule EVT-core updated 11 files
+26 −25 include/EVT/dev/LCD.hpp
+4 −3 include/EVT/io/CAN.hpp
+3 −1 include/EVT/io/platform/f3xx/CANf3xx.hpp
+2 −2 samples/lcd/basic/main.cpp
+1 −1 samples/lcd/lcd-alphabet/main.cpp
+1 −1 samples/lcd/lcd-counter/main.cpp
+12 −12 samples/lcd/lcd-more-sections/main.cpp
+9 −9 samples/lcd/lcd-segment/main.cpp
+65 −76 src/dev/LCD.cpp
+1 −1 src/dev/platform/f3xx/IWDGf3xx.cpp
+6 −2 src/io/platform/f3xx/CANf3xx.cpp
126 changes: 45 additions & 81 deletions src/HUDL/HUDL.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,11 +25,6 @@ HUDL::HUDL(IO::GPIO& reg_select, IO::GPIO& reset, IO::SPI& spi) : lcd(DEV::LCD(r
void HUDL::initLCD() {
lcd.initLCD();
lcd.clearLCD();
lcd.setEntireScreenBitMap(evtBitMap);
EVT::core::time::wait(2000);
lcd.clearLCD();
// lcd.setDefaultSections(SECTION_TITLES);
// lcd.displaySectionHeaders();
}

CO_OBJ_T* HUDL::getObjectDictionary() {
Expand All @@ -41,62 +36,49 @@ uint16_t HUDL::getObjectDictionarySize() const {
}

void HUDL::updateLCD() {
switch (currentHUDLScreen) {
case PAGE_1: {// Set a new scope for this case
if (!setHeaders) {
lcd.clearLCD();
headerForCorner(TOP_LEFT, "Battery");
headerForCorner(TOP_RIGHT, "HI Temp");
headerForCorner(BOTTOM_LEFT, "RPM");
headerForCorner(BOTTOM_RIGHT, "MC Stat");
setHeaders = true;
}
if (!setHeaders) {
lcd.clearLCD();
headerForCorner(TOP_LEFT, "Bat %");
headerForCorner(TOP_RIGHT, "Temp");
headerForCorner(BOTTOM_LEFT, "RPM");
headerForCorner(BOTTOM_RIGHT, "MC Stat");
setHeaders = true;
}

// Set the battery voltage
char voltage[9];
std::sprintf(voltage, "%hu.%hu v", totalVoltage / 10, totalVoltage % 10);
dataForCorner(TOP_LEFT, voltage);

// Set the highest temp
uint16_t highestTemp = thermTemps[0];
for (uint16_t temp : thermTemps) {
if (temp > highestTemp) {
highestTemp = temp;
}
}
char temp[9];
std::sprintf(temp, "%hu.%hu C", thermTemps[0] / 100, thermTemps[0] % 100);

dataForCorner(TOP_RIGHT, temp);

// Set the rpm
char rpm[8];
std::sprintf(rpm, "%lu", actualPosition);
dataForCorner(BOTTOM_LEFT, rpm);

// Set the status word
char status[8];

if (statusWord == 0x21) {
std::sprintf(status, "STOP");
} else if (statusWord == 0x27) {
std::sprintf(status, "GO");
} else {
std::sprintf(status, "UNKNOWN");
// std::sprintf(errorString, "There was an error with the Motor Controller: Unknown Error %x", statusWord);
// currentHUDLScreen = ERROR_PAGE;
}
// Set the battery voltage
char voltage[9];
std::sprintf(voltage, "%hu.%hu v", totalVoltage / 10, totalVoltage % 10);
dataForCorner(TOP_LEFT, voltage);

dataForCorner(BOTTOM_RIGHT, status);
} break;
case ERROR_PAGE: {// Set a new scope for this page
if (!setHeaders) {
lcd.clearLCD();
// Set the highest temp
uint16_t highestTemp = thermTemps[0];
for (uint16_t temp : thermTemps) {
if (temp > highestTemp) {
highestTemp = temp;
}
writeError(errorString);
break;
}

char temp[9];
std::sprintf(temp, "%hu.%hu C", highestTemp / 10, highestTemp % 10);
dataForCorner(TOP_RIGHT, temp);

// Set the rpm
char rpm[8];
std::sprintf(rpm, "%d", actualPosition);
dataForCorner(BOTTOM_LEFT, rpm);

// Set the motor controller status word
char status[8];

if (statusWord == 0x21) {
std::sprintf(status, "STOP");
} else if (statusWord == 0x27) {
std::sprintf(status, "GO");
} else {
std::sprintf(status, "%x", statusWord);
}

dataForCorner(BOTTOM_RIGHT, status);
}

void HUDL::headerForCorner(HUDL::Corner corner, const char* text) {
Expand All @@ -113,7 +95,7 @@ void HUDL::headerForCorner(HUDL::Corner corner, const char* text) {
sectionColumn += padding;

// Write the text to the screen under the section header.
lcd.writeLargeText(text, sectionPage, sectionColumn, false);
lcd.writeText(text, sectionPage, sectionColumn, EVT::core::DEV::LCD::FontSize::LARGE, false);
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}

void HUDL::dataForCorner(HUDL::Corner corner, const char* text) {
Expand All @@ -130,19 +112,7 @@ void HUDL::dataForCorner(HUDL::Corner corner, const char* text) {
sectionColumn += padding;

// Write the text to the screen under the section header.
lcd.writeLargeText(text, sectionPage, sectionColumn, false);
}

void HUDL::writeError(const char* text) {
// Calculate the padding to center the text in the section
uint8_t length = strlen("!!! Error !!!") * 8;
uint8_t padding = (128 - length) / 2;

// Write the Error header
lcd.writeLargeText("!!! Error !!!", 0, padding, false);

// Write the error message
lcd.writeSmallText(text, 2, 0, true);
lcd.writeText(text, sectionPage, sectionColumn, EVT::core::DEV::LCD::FontSize::LARGE, false);
}

uint8_t HUDL::columnForCorner(HUDL::Corner corner) {
Expand All @@ -153,17 +123,8 @@ uint8_t HUDL::columnForCorner(HUDL::Corner corner) {
case TOP_RIGHT:
case BOTTOM_RIGHT:
return 64;
}
}

uint8_t HUDL::wrapForCorner(HUDL::Corner corner) {
switch (corner) {
case TOP_LEFT:
case BOTTOM_LEFT:
return 64;
case TOP_RIGHT:
case BOTTOM_RIGHT:
return 128;
default:
return -1;
}
}

Expand All @@ -175,6 +136,9 @@ uint8_t HUDL::pageForCorner(HUDL::Corner corner) {
case BOTTOM_LEFT:
case BOTTOM_RIGHT:
return 4;
default:
return -1;
}
}

}// namespace HUDL
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