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Add Estop messages #7

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Add Estop messages #7

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2 changes: 2 additions & 0 deletions include/interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@

#define PKG_HEADER 0x54
#define HEADER_SIZE 4
#define ESTOP_QUERY_PIN PIN_A4

enum CanMappings {
KillAuton = 0x0,
Expand All @@ -14,6 +15,7 @@ enum CanMappings {
SetThrottle = 0x6,
EncoderTick = 0x7,
TrainingMode = 0x8,
EnableAuton = 0x9,
};

struct message {
Expand Down
91 changes: 76 additions & 15 deletions src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,29 +5,18 @@ constexpr int HIGH_PRIORITY_BAUD = 500000;

FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> h_priority;

bool training_mode = false;
bool auton_kill = false;

//Send received CAN messages to the pc via the serial connection
void serial_send(const CAN_message_t &can_msg) {
message serial_msg = Interface::convert_to_serial(can_msg);
if (can_msg.id == CanMappings::KillAuton) {
auton_kill = true;
digitalWrite(LED_BUILTIN, HIGH);
}

Serial.write(reinterpret_cast<const char *>(&serial_msg), HEADER_SIZE + serial_msg.len);
}

//Send received serial messages onto the CAN bus
void can_send(message &msg) {
if (!auton_kill && !training_mode) {
CAN_message_t cmsg = Interface::convert_to_can(&msg);
if (cmsg.id == CanMappings::TrainingMode) {
training_mode = true;
}
CAN_message_t cmsg = Interface::convert_to_can(&msg);

h_priority.write(cmsg);
}
h_priority.write(cmsg);
}

void serial_receive() {
Expand All @@ -44,10 +33,73 @@ void serial_receive() {
}
}

/// On estop activated, we set the brake to brake the kart, and signal the transition to ROS.
void estop_stopped() {
message brake_full{
0x54,
CanMappings::SetBrake,
1,
{0x37}
};

message pc_kill{
0x54,
CanMappings::KillAuton,
0,
{}
};

can_send(brake_full);
serial_send(Interface::convert_to_can(&pc_kill));
}

/// On estop released, we set the brake to 0, and signal the transition to ROS.
void estop_released() {
message brake_zero{
0x54,
CanMappings::SetBrake,
1,
{0}
};

message pc_enable{
0x54,
CanMappings::EnableAuton,
0,
{}
};

can_send(brake_zero);
serial_send(Interface::convert_to_can(&pc_enable));
}

volatile bool estopped = true;
volatile uint32_t last_stop = 0;

void estop_cb() {
// Debounce
if (millis() - last_stop > 700) {
estopped = !estopped;

if (estopped) {
estop_stopped();
} else {
estop_released();
}

last_stop = millis();
}
}

void setup() {
Serial.begin(SERIAL_BAUD);
pinMode(LED_BUILTIN, OUTPUT);

// Estop state. Will be LOW when ESTOP is ESTOPed, HIGH when vehicle is active.
pinMode(ESTOP_QUERY_PIN, INPUT_PULLDOWN);

attachInterrupt(ESTOP_QUERY_PIN, &estop_cb, CHANGE);

digitalToggle(LED_BUILTIN);

//Set up high priority CAN bus
Expand All @@ -66,12 +118,21 @@ void setup() {
h_priority.enableMBInterrupts();
h_priority.onReceive(MB0, serial_send);
h_priority.mailboxStatus();

// Zero brake when boot, as we start stopped
message brake_zero{
0x54,
CanMappings::SetBrake,
1,
{0}
};
can_send(brake_zero);
}

void loop() {
h_priority.events();

if (Serial.available() && !auton_kill && !training_mode) {
if (Serial.available()) {
noInterrupts()
serial_receive();
interrupts()
Expand Down