Shockpot Patches (#236)

Author: irvingywang

common/daq/generation/gen_embedded_can.py

@@ -225,7 +225,7 @@ def configure_node(node_config, node_paths):
     period_lines = []
     for msg in raw_msg_defs:
         if msg['msg_period'] > 0: # skip undefined signal periods
-            period_lines.append(f"#define PERIOD_MILLISECONDS_{msg['msg_name'].upper()} ({msg['msg_period']})\n")
+            period_lines.append(f"#define PERIOD_{msg['msg_name'].upper()}_MS ({msg['msg_period']})\n")
     h_lines = generator.insert_lines(h_lines, gen_period_start, gen_period_stop, period_lines)
 
     # Signal Scales
@@ -237,11 +237,17 @@ def configure_node(node_config, node_paths):
                 continue
 
             # float32 only has about 7 sigfigs of precision, use .6g
-            scale_str = f"{float(scale):.6g}f"
-            unscale_str = f"{float(1.0/scale):.6g}f"
+            scale_val = float(scale)
+            unscale_val = float(1.0/scale)
 
-            scale_lines.append(f"#define SCALE_FACTOR_{msg['msg_name'].upper()}_{sig['sig_name'].upper()} ({scale_str})\n")
-            scale_lines.append(f"#define UNSCALE_FACTOR_{msg['msg_name'].upper()}_{sig['sig_name'].upper()} ({unscale_str})\n")
+            # enforce at least one 1 decimal point
+            scale_fmt = f"{scale_val:.6g}"
+            scale_str = f"{scale_fmt}f" if '.' in scale_fmt or 'e' in scale_fmt else f"{scale_val:.1f}f"
+            unscale_fmt = f"{unscale_val:.6g}"
+            unscale_str = f"{unscale_fmt}f" if '.' in unscale_fmt or 'e' in unscale_fmt else f"{unscale_val:.1f}f"
+            
+            scale_lines.append(f"#define SCALE_{msg['msg_name'].upper()}_{sig['sig_name'].upper()} ({scale_str})\n")
+            scale_lines.append(f"#define SCALE_INV_{msg['msg_name'].upper()}_{sig['sig_name'].upper()} ({unscale_str})\n")
     h_lines = generator.insert_lines(h_lines, gen_scale_start, gen_scale_stop, scale_lines)
 
     # Send Macros, requires knowledge of CAN peripheral

common/daq/node_configs/Dashboard.json

@@ -58,12 +58,14 @@
                   "sig_name": "left_shock",
                   "sig_desc": "Travel distance of front left shockpot",
                   "type": "int16_t",
+                  "scale": 0.1,
                   "unit": "mm"
                 },
                 {
                   "sig_name": "right_shock",
                   "sig_desc": "Travel distance of front right shockpot",
                   "type": "int16_t",
+                  "scale": 0.1,
                   "unit": "mm"
                 }
               ],

common/daq/node_configs/Main_Module.json

@@ -144,12 +144,14 @@
                   "sig_name": "left_shock",
                   "sig_desc": "Left Shockpot Travel",
                   "type": "int16_t",
+                  "scale": 0.1,
                   "unit": "mm"
                 },
                 {
                   "sig_name": "right_shock",
                   "sig_desc": "Right Shockpot Travel",
                   "type": "int16_t",
+                  "scale": 0.1,
                   "unit": "mm"
                 }
               ],

source/dashboard/main.c

@@ -204,7 +204,7 @@ int main(void) {
     taskCreate(pedalsPeriodic, 15);
     taskCreate(handleDashboardInputs, 50);
     taskCreate(heartBeatTask, 100);
-    taskCreate(sendShockpots, 15);
+    taskCreate(sendShockpots, PERIOD_SHOCK_FRONT_MS);
     taskCreate(sendVersion, 5000);
     taskCreate(interpretLoadSensor, 15);
     taskCreate(updateTelemetryPages, 200);
@@ -284,17 +284,20 @@ void sendVersion() {
  * Converts raw ADC values from left and right shock potentiometers into parsed displacement values
  * and sends them through CAN bus. Values are scaled linearly and adjusted for droop.
  */
-int16_t shock_l_parsed;
-int16_t shock_r_parsed;
+int16_t shock_l_scaled;
+int16_t shock_r_scaled;
 
 void sendShockpots() {
     uint16_t shock_l = raw_adc_values.shock_left;
     uint16_t shock_r = raw_adc_values.shock_right;
 
     // Will scale linearly from 0 - 3744. so 75 - (percent of 3744 * 75)
-    shock_l_parsed = -1 * ((POT_MAX_DIST - (int16_t)((shock_l / (POT_VOLT_MIN_L - POT_VOLT_MAX_L)) * POT_MAX_DIST)) - POT_DIST_DROOP_L);
-    shock_r_parsed = -1 * ((POT_MAX_DIST - (int16_t)((shock_r / (POT_VOLT_MIN_R - POT_VOLT_MAX_R)) * POT_MAX_DIST)) - POT_DIST_DROOP_R);
-    SEND_SHOCK_FRONT(shock_l_parsed, shock_r_parsed);
+    float shock_l_parsed = -1.0 * ((POT_MAX_DIST - ((shock_l / (POT_VOLT_MIN_L - POT_VOLT_MAX_L)) * POT_MAX_DIST)) - POT_DIST_DROOP_L);
+    float shock_r_parsed = -1.0 * ((POT_MAX_DIST - ((shock_r / (POT_VOLT_MIN_R - POT_VOLT_MAX_R)) * POT_MAX_DIST)) - POT_DIST_DROOP_R);
+    
+    shock_l_scaled = (int16_t)(shock_l_parsed * SCALE_INV_SHOCK_FRONT_LEFT_SHOCK);
+    shock_r_scaled = (int16_t)(shock_r_parsed * SCALE_INV_SHOCK_FRONT_RIGHT_SHOCK);
+    SEND_SHOCK_FRONT(shock_l_scaled, shock_r_scaled);
 }
 
 // jose was here

source/main_module/car/car.c

@@ -410,15 +410,26 @@ void parseMCDataPeriodic(void) {
     SEND_REAR_WHEEL_SPEEDS(wheel_speeds.left_rad_s_x100, wheel_speeds.right_rad_s_x100);
 }
 
+/**
+ * @brief Processes and sends shock potentiometer readings
+ *
+ * Converts raw ADC values from left and right shock potentiometers into parsed displacement values
+ * and sends them through CAN bus. Values are scaled linearly and adjusted for droop.
+ */
+int16_t shock_l_scaled;
+int16_t shock_r_scaled;
+
 void send_shockpots() {
     uint16_t shock_l = adc_readings.shock_l;
     uint16_t shock_r = adc_readings.shock_r;
-    int16_t shock_l_parsed;
-    int16_t shock_r_parsed;
+
     // Will scale linearly from 0 - 3744. so 75 - (percent of 3744 * 75)
-    shock_l_parsed = -1 * ((POT_MAX_DIST - (int16_t)((shock_l / (POT_VOLT_MIN_L - POT_VOLT_MAX_L)) * POT_MAX_DIST)) - POT_DIST_DROOP_L);
-    shock_r_parsed = -1 * ((POT_MAX_DIST - (int16_t)((shock_r / (POT_VOLT_MIN_R - POT_VOLT_MAX_R)) * POT_MAX_DIST)) - POT_DIST_DROOP_R);
-    SEND_SHOCK_REAR(shock_l_parsed, shock_r_parsed);
+    float shock_l_parsed = -1.0 * ((POT_MAX_DIST - ((shock_l / (POT_VOLT_MIN_L - POT_VOLT_MAX_L)) * POT_MAX_DIST)) - POT_DIST_DROOP_L);
+    float shock_r_parsed = -1.0 * ((POT_MAX_DIST - ((shock_r / (POT_VOLT_MIN_R - POT_VOLT_MAX_R)) * POT_MAX_DIST)) - POT_DIST_DROOP_R);
+    
+    shock_l_scaled = (int16_t)(shock_l_parsed * SCALE_INV_SHOCK_REAR_LEFT_SHOCK);
+    shock_r_scaled = (int16_t)(shock_r_parsed * SCALE_INV_SHOCK_REAR_RIGHT_SHOCK);
+    SEND_SHOCK_REAR(shock_l_scaled, shock_r_scaled);
 }
 
 /**

source/main_module/main.c

@@ -190,7 +190,7 @@ int main(void) {
     taskCreate(interpretLoadSensor, 15);
     taskCreate(updateSDCFaults, 300);
     taskCreate(heartBeatTask, 100);
-    taskCreate(send_shockpots, 15);
+    taskCreate(send_shockpots, PERIOD_SHOCK_REAR_MS);
     taskCreate(update_lights, 500);
     taskCreate(parseMCDataPeriodic, 15);
     taskCreate(daqPeriodic, DAQ_UPDATE_PERIOD);