Fix/implement faux can (#59)

* init commit + fixes

* adjust faux can baudrate

* merge with main

* removed commented blocks and moved around some CAN things

* removed ethernet socket defs from globals

* reworked CAN Interface to use singleton struct for TELEM and FAUX objects

* added TODO

---------

Co-authored-by: mansi-b29 <133283027+mansi-b29@users.noreply.github.com>

Author: AlexBailey11

include/VCF_Constants.h

@@ -101,6 +101,9 @@ namespace VCFInterfaceConstants {
     constexpr float BRAKE_PRESSURE_REAR_SCALE = 1.0;
     constexpr float BRAKE_PRESSURE_REAR_OFFSET = 0;
 
+    /* VCF CAN Constants */
+    constexpr uint32_t TELEM_CAN_BAUDRATE = 1000000; // 1 000 000 = 1 Mbit/s
+    constexpr uint32_t FAUX_CAN_BAUDRATE = 500000; // 500 000 = 500 Kbit/s
 }
 
 // calibration and processing constants

include/VCF_Globals.h

@@ -27,18 +27,7 @@
 /* From MCP23017 Library */
 #include "MCP23017.h"
 
-
-/* Interface and system data structs */
-// using VCFData_sInstance = etl::singleton<VCFData_s>;
-
 /* IOExpander setup */
 using IOExpanderInstance = etl::singleton<MCP23017>;
 
-/* Digital Steering Setup */
-using OrbisBRInstance = etl::singleton<OrbisBR>;
-
-/* Ethernet sockets */
-extern qindesign::network::EthernetUDP VCF_socket;
-extern qindesign::network::EthernetUDP VCR_socket;
-
 #endif /* VCF_GLOBALS */

lib/interfaces/include/VCFCANInterfaceImpl.h

@@ -20,7 +20,10 @@
 /* Globally accessible types */
 using CANRXBufferType = Circular_Buffer<uint8_t, (uint32_t)16, sizeof(CAN_message_t)>;
 using CANTXBufferType = Circular_Buffer<uint8_t, (uint32_t)128, sizeof(CAN_message_t)>;
-template <CAN_DEV_TABLE CAN_DEV> using FlexCAN_Type = FlexCAN_T4<CAN_DEV, RX_SIZE_256, TX_SIZE_16>;
+
+// Definitions of VCF CAN bus types
+using TelemCAN_t = FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16>;
+using FrontAuxCAN_t = FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_16>;
 
 /* Interfaces accessible to this one */
 struct CANInterfaces {
@@ -33,30 +36,33 @@ struct CANInterfaces {
     ACUInterface &acu_interface;
     VCRInterface &vcr_interface;
 };
+using CANInterfacesInstance = etl::singleton<CANInterfaces>;
 
-struct VCFCANInterfaceObjects {
+struct VCFCANInterface {
+    VCFCANInterface(etl::delegate<void (CANInterfaces &, const CAN_message_t &, unsigned long, CANInterfaceType_e)> recv_switch_func) 
+        : can_recv_switch(recv_switch_func) 
+        {}
 
-    VCFCANInterfaceObjects(etl::delegate<void(CANInterfaces &, const CAN_message_t &, unsigned long, CANInterfaceType_e)> recv_switch, FlexCAN_T4_Base * main_can): MAIN_CAN(main_can),can_recv_switch(recv_switch) 
-    {} 
+    TelemCAN_t TELEM_CAN;
 
-    
-    FlexCAN_T4_Base* MAIN_CAN;
-    // TODO fix this. needs to be a pointer to an in-main global created instance of CAN3. this also cannot be a base type.
-    CANRXBufferType main_can_rx_buffer;
-    CANTXBufferType main_can_tx_buffer;
-    etl::delegate<void(CANInterfaces &, const CAN_message_t &, unsigned long, CANInterfaceType_e)> can_recv_switch;
-    
+    CANRXBufferType telem_can_rx_buffer;
+    CANTXBufferType telem_can_tx_buffer;
+
+    FrontAuxCAN_t FRONT_AUX_CAN;
+
+    CANRXBufferType front_aux_can_rx_buffer;
+    CANTXBufferType front_aux_can_tx_buffer;
+
+    etl::delegate<void (CANInterfaces &, const CAN_message_t &, unsigned long, CANInterfaceType_e)> can_recv_switch;
 };
+using VCFCANInterfaceInstance = etl::singleton<VCFCANInterface>;
 
 namespace VCFCANInterfaceImpl {
     void on_main_can_recv(const CAN_message_t &msg);
-    void vcf_recv_switch(CANInterfaces &interfaces, const CAN_message_t &msg, unsigned long millis, CANInterfaceType_e interface_type);
+    void on_faux_can_recv(const CAN_message_t &msg);
+    
+    void vcf_recv_switch(CANInterfaces &interfaces, const CAN_message_t &msg, unsigned long millis, CANInterfaceType_e interface_type); //vcf can receive
     void send_all_CAN_msgs(CANTXBufferType &buffer, FlexCAN_T4_Base *can_interface);
-
-    extern FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> main_can;
-
-    using VCFCANInterfaceObjectsInstance = etl::singleton<VCFCANInterfaceObjects>;
-    using CANInterfacesInstance = etl::singleton<CANInterfaces>;
 }
 
 #endif // VCFCANINTERFACEIMPL_H

lib/interfaces/include/VCFEthernetInterface.h

@@ -1,6 +1,7 @@
 #ifndef VCF_ETHERNET_INTERFACE_H
 #define VCF_ETHERNET_INTERFACE_H
 
+#include "QNEthernet.h"
 #include "hytech_msgs.pb.h"
 #include "SharedFirmwareTypes.h"
 #include "ADCInterface.h"
@@ -31,6 +32,10 @@ namespace VCFEthernetInterface
 
     constexpr const size_t ver_hash_len = 9;
     constexpr float SHDN_HIGH_THRESHOLD = 12.0; // threshold for shutdown being considered high
+
+    /* Ethernet sockets */
+    extern qindesign::network::EthernetUDP VCF_socket;
+    extern qindesign::network::EthernetUDP VCR_socket;
 }
 
 #endif /* VCF_ETHERNET_INTERFACE_H */

lib/interfaces/include/VCRInterface.h

@@ -41,6 +41,7 @@ class VCRInterface
 
         void receive_inverter_status_4(const CAN_message_t &can_msg);
 
+
         VehicleState_e get_vehicle_state() {return _vehicle_state_value;}
         DrivetrainState_e get_drivetrain_state() {return _drivetrain_state_value;}
         InverterBusVolts_s get_dc_bus_voltage() {return _bus_voltages;}

lib/interfaces/src/VCFCANInterfaceImpl.cpp

@@ -1,12 +1,31 @@
 #include "VCFCANInterfaceImpl.h"
 #include "BuzzerController.h"
 
-namespace VCFCANInterfaceImpl {
+namespace VCFCANInterfaceImpl {    
     void on_main_can_recv(const CAN_message_t &msg)
     {
         uint8_t buf[sizeof(CAN_message_t)];
         memmove(buf, &msg, sizeof(msg)); // NOLINT (memory operations are fine)
-        VCFCANInterfaceObjectsInstance::instance().main_can_rx_buffer.push_back(buf, sizeof(CAN_message_t));
+        VCFCANInterfaceInstance::instance().telem_can_rx_buffer.push_back(buf, sizeof(CAN_message_t));
+    }
+
+    void on_faux_can_recv(const CAN_message_t &msg)
+    {
+        VCFCANInterfaceInstance::instance().TELEM_CAN.write(msg); //immediately forward onto telem can to view data
+        uint8_t buf[sizeof(CAN_message_t)];
+        memmove(buf, &msg, sizeof(msg)); // NOLINT (memory operations are fine)
+        VCFCANInterfaceInstance::instance().front_aux_can_rx_buffer.push_back(buf, sizeof(CAN_message_t));
+
+        // Serial.println("msg recvd");
+        // Serial.print("MB: "); Serial.print(msg.mb);
+        // Serial.print("  ID: 0x"); Serial.print(msg.id, HEX);
+        // Serial.print("  EXT: "); Serial.print(msg.flags.extended);
+        // Serial.print("  LEN: "); Serial.print(msg.len);
+        // Serial.print(" DATA: ");
+        // for ( uint8_t i = 0; i < 8; i++ ) {
+        // Serial.print(msg.buf[i]); Serial.print(" ");
+        // }
+        // Serial.print("  TS: "); Serial.println(msg.timestamp);
     }
 
     void vcf_recv_switch(CANInterfaces &interfaces, const CAN_message_t &msg, unsigned long millis, CANInterfaceType_e interface_type)
@@ -53,7 +72,6 @@ namespace VCFCANInterfaceImpl {
                 interfaces.vcr_interface.receive_inverter_status_4(msg);
                 break;
             }
-
             default:
                 break;
             }

platformio.ini

@@ -52,7 +52,7 @@ lib_deps =
   ${common.lib_deps_shared}
   arkhipenko/TaskScheduler@^3.8.5
   https://github.com/ssilverman/QNEthernet#v0.26.0
-  https://github.com/hytech-racing/shared_firmware_interfaces.git#985966ca09f9427e6c636fd42f7640176aec11ee
+  https://github.com/hytech-racing/shared_firmware_interfaces.git
   blemasle/MCP23017@^2.0.0
   https://github.com/adafruit/Adafruit_NeoPixel.git
   https://github.com/KSU-MS/pio-git-hash-gen#7998b5b3f8a2464209b0e73338717998bcf511ee
@@ -186,7 +186,7 @@ test_ignore =
   test_systems
 lib_deps =
   ${common.lib_deps_shared}
-  https://github.com/hytech-racing/shared_firmware_interfaces.git#29a9cb09f91b684382e897de780d8d52a14659a7
+  https://github.com/hytech-racing/shared_firmware_interfaces.git
   blemasle/MCP23017@^2.0.0
   https://github.com/KSU-MS/pio-git-hash-gen#7998b5b3f8a2464209b0e73338717998bcf511ee