Initial test technique for CAN messages -- Random messages

include/motor_control.h

@@ -16,7 +16,4 @@ PDCStates get_state();
 extern volatile float rpm;
 extern volatile float motorSpeedSetpoint;
 
-// cruise control variables
-PID *curr_PID;
-
 #endif

src/main.cpp

@@ -1,16 +1,86 @@
 #include <Arduino.h>
-#include "IOManagement.h"
-#include "const.h"
+
 #include "canPDC.h"
+#include "const.h"
+#include "IOManagement.h"
+#include "motor_control.h"
+#include "adc.h"
+
+//For random
+#include <stdlib.h>
+#include <time.h>
 
+int counter;
+
+//Counter for debug prints 20 ticks equates to a second
+int counterExpiry = 20;
 CANPDC canBus(CAN1, DEF);
 
+
+#if DEBUG_TECHNIQUE == 1
+void initData() {
+  // Generate a random float between 0 and 100
+  acc_out = ((float)rand() / RAND_MAX) * 100;
+  regen_brake = ((float)rand() / RAND_MAX) * 100;
+  lv_12V_telem = ((float)rand() / RAND_MAX) * 100;
+  lv_5V_telem = ((float)rand() / RAND_MAX) * 100;
+  lv_5V_current = ((float)rand() / RAND_MAX) * 100;
+  current_in_telem = ((float)rand() / RAND_MAX) * 100;
+  brake_pressure_telem = ((float)rand() / RAND_MAX) * 100;
+
+  //Random boolean
+  brakeLED = rand() % 2;
+
+  //Random digital data
+  digital_data.direction = rand() % 2;
+  digital_data.mc_speed_sig = rand() % 2;
+  digital_data.eco_mode = rand() % 2;
+  digital_data.mcu_mc_on = rand() % 2;
+  digital_data.park_brake = rand() % 2;
+}
+void debugPrint() {
+  Serial.printf("acc_out: %f\n", acc_out);
+  Serial.printf("regen_brake: %f\n", regen_brake);
+  Serial.printf("lv_12V_telem: %f\n", lv_12V_telem);
+  Serial.printf("lv_5V_telem: %f\n", lv_5V_telem);
+  Serial.printf("lv_5V_current: %f\n", lv_5V_current);
+  Serial.printf("current_in_telem: %f\n", current_in_telem);
+  Serial.printf("brake_pressure_telem: %f\n", brake_pressure_telem);
+  Serial.printf("brakeLED: %i\n", brakeLED);
+  Serial.printf("digital_data.direction: %i\n", digital_data.direction);
+  Serial.printf("digital_data.mc_speed_sig: %i\n", digital_data.mc_speed_sig);
+  Serial.printf("digital_data.eco_mode: %i\n", digital_data.eco_mode);
+  Serial.printf("digital_data.mcu_mc_on: %i\n", digital_data.mcu_mc_on);
+  Serial.printf("digital_data.park_brake: %i\n", digital_data.park_brake);
+}
+#endif
+
+
 void setup() {
+  #if DEBUG_TECNIQUE
+    int counter = 0;
+  #endif
+
   Serial.begin(115200);
+  initADC(ADC1); 
   initIO();
+  initPDCState();
+
+  //initialize random
+  srand(time(NULL));
 }
 
 void loop() {
+  // Display digital and analog values every second (for testing) 
+  if (DEBUG_TECHNIQUE == 1){
+    if (counter >= counterExpiry) {
+      debugPrint();
+      counter = 0;
+    }
+    counter++;
+  }
+
+  initData();
   canBus.sendPDCData();
   canBus.runQueue(DATA_SEND_PERIOD);
 }

src/motor_control.cpp

@@ -1,6 +1,9 @@
 
 #include "motor_control.h"
 
+// cruise control variables
+PID *curr_PID;
+
 volatile PDCStates pdcState = PDCStates::OFF;
 volatile CRUZ_MODE cruzMode = CRUZ_MODE::OFF;