Supercap V1 communication protocol UART

.vscode/launch.json

@@ -1,58 +1,73 @@
 {
-    "version": "0.2.0",
-    "configurations": [
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "name": "CMSIS-DAP",
+      "cwd": "${workspaceRoot}",
+      "executable": "${workspaceRoot}${/}build${/}${input:robotProject}${/}${input:robotProject}.elf",
+      "request": "launch",
+      "type": "cortex-debug",
+      "svdFile": "STM32F407.svd",
+      "servertype": "openocd",
+      "serverpath": "/usr/bin/openocd",
+      "configFiles": [
+        "${workspaceRoot}${/}config${/}openocd_cmsis_dap.cfg"
+      ],
+      "rtos": "FreeRTOS",
+      "liveWatch": {
+        "enabled": true,
+        "samplesPerSecond": 4
+      },
+      "preLaunchTask": "Build"
+    },
+    {
+      "name": "ST-LINK",
+      "cwd": "${workspaceRoot}",
+      "executable": "${workspaceRoot}${/}build${/}${input:robotProject}${/}${input:robotProject}.elf",
+      "request": "launch",
+      "type": "cortex-debug",
+      "svdFile": "STM32F407.svd",
+      "servertype": "openocd",
+      "serverpath": "/usr/bin/openocd",
+      "configFiles": [
+        "${workspaceRoot}${/}config${/}openocd_stlink.cfg"
+      ],
+      "rtos": "FreeRTOS",
+      "liveWatch": {
+        "enabled": true,
+        "samplesPerSecond": 8
+      },
+      "preLaunchTask": "Build"
+    },
+    {
+      "name": "C/C++ Runner: Debug Session",
+      "type": "cppdbg",
+      "request": "launch",
+      "args": [],
+      "stopAtEntry": false,
+      "externalConsole": false,
+      "cwd": "/home/polarbearbo/RoboMaster/Embedded-Control/control-base/devices/src",
+      "program": "/home/polarbearbo/RoboMaster/Embedded-Control/control-base/devices/src/build/Debug/outDebug",
+      "MIMode": "gdb",
+      "miDebuggerPath": "gdb",
+      "setupCommands": [
         {
-            "name": "CMSIS-DAP",
-            "cwd": "${workspaceRoot}",
-            "executable": "${workspaceRoot}${/}build${/}${input:robotProject}${/}${input:robotProject}.elf",
-            "request": "launch",
-            "type": "cortex-debug",
-            "svdFile": "STM32F407.svd",
-            "servertype": "openocd", //GDB server
-            "configFiles": [
-                "${workspaceRoot}${/}config${/}openocd_cmsis_dap.cfg" // config
-            ],
-            //"runToEntryPoint": "main", // stop at main
-            //"showDevDebugOutput": "raw", // enable debug output
-            "rtos": "FreeRTOS",
-            "liveWatch": {
-                "enabled": true,
-                "samplesPerSecond": 4
-            },
-            "preLaunchTask": "Build" // build before debug
-        },
-        {
-            "name": "ST-LINK",
-            "cwd": "${workspaceRoot}",
-            "executable": "${workspaceRoot}${/}build${/}${input:robotProject}${/}${input:robotProject}.elf",
-            "request": "launch",
-            "type": "cortex-debug",
-            "svdFile": "STM32F407.svd",
-            "servertype": "openocd", //GDB server
-            "configFiles": [
-                "${workspaceRoot}${/}config${/}openocd_stlink.cfg" // config
-            ],
-            //"runToEntryPoint": "main", // stop at main
-            //"showDevDebugOutput": "raw", // enable debug output
-            "rtos": "FreeRTOS",
-            "liveWatch": {
-                "enabled": true,
-                "samplesPerSecond": 8
-            },
-            "preLaunchTask": "Build" // build before debug
-        }
-    ],
-    "inputs": [
-        {
-            "id": "robotProject",
-            "type": "pickString",
-            "description": "Select the robot project to debug",
-            "options": [
-                "Swerve-Standard",
-                "Sentry",
-                //"Template"
-                // Add your other robot projects here
-            ]
+          "description": "Enable pretty-printing for gdb",
+          "text": "-enable-pretty-printing",
+          "ignoreFailures": true
         }
-    ]
+      ]
+    }
+  ],
+  "inputs": [
+    {
+      "id": "robotProject",
+      "type": "pickString",
+      "description": "Select the robot project to debug",
+      "options": [
+        "Swerve-Standard",
+        "Sentry"
+      ]
+    }
+  ]
 }

README.md

@@ -0,0 +1,3 @@
+![Project Logo](images/logo.png)
+
+

Sentry/src/motor_task.c

@@ -7,12 +7,12 @@
 extern Supercap_t g_supercap;
 
 void Motor_Task_Loop() {
-    DJI_Motor_Send();
+    // DJI_Motor_Send();
     // MF_Motor_Send();
     // DM_Motor_Send();
 
     g_supercap.send_counter++;
-    if (g_supercap.send_counter >= 100) {
+    if (g_supercap.send_counter >= (1000 / SUPERCAP_SEND_FREQ)) {
         Supercap_Send();
         g_supercap.send_counter = 0;
     }

Sentry/src/robot.c

@@ -49,8 +49,8 @@ void Handle_Starting_Up_State()
     Launch_Task_Init();
     Remote_Init(&huart3);
     CAN_Service_Init();
-    Referee_System_Init(&huart1);
-    Supercap_Init(&g_supercap);
+    // Referee_System_Init(&huart1);
+    Supercap_Init(&huart1);
 
     // Set robot state to disabled
     g_robot_state.state = DISABLED;

control-base/devices/inc/supercap.h

@@ -5,22 +5,53 @@
 #include "bsp_can.h"
 #include "referee_system.h"
 #include "jetson_orin.h"
-
-#define SUPERCAP_POWER (20)
-
+#include "bsp_uart.h"
+// #define SUPERCAP_POWER (20)
+#define SUPERCAP_SEND_FREQ (1.0f) // Hz
+//todo ask why it is 128
+#define SUPERCAP_RX_BUFFER_SIZE (1) //number of bytes 
+#define SUPERCAP_BUFFER_SIZE (64) // new buffer
+#define SUPERCAP_TX_BUFFER_SIZE (3) //todo finish this
 typedef struct
 {
     uint8_t can_bus;
     uint16_t tx_id;
     uint16_t rx_id;
-    uint8_t send_counter;
+    uint16_t send_counter;
+
+    uint8_t receive_counter;
+    uint8_t final_receive_counter;
 
     uint8_t supercap_percent;
     uint8_t supercap_enabled_flag;
+
+    float Vi; //input voltage
+    float Vo; //output voltage
+    float Pi; //input power
+    float Ii; //input current
+    float Ps; //reference power
+    float Io; //output current
+
+    //formate of rx
+    //printf("Vi:%2.2f Vo:%2.2f Pi:%3.2f Ii:%2.2f Io:%2.2f Pa:%3.2f\r\n", VIPMR, VOFWR,POW_IN, IIPWR, IOPWR, pref);
+    uint8_t rx_buffer[SUPERCAP_RX_BUFFER_SIZE];
+    uint8_t tx_buffer[SUPERCAP_TX_BUFFER_SIZE]; // chnage this to other uint type if possible
+    uint8_t buffer_for_construction[SUPERCAP_BUFFER_SIZE]; //storing each byte unitl \r\n
+    uint8_t final_buffer_for_construction[SUPERCAP_BUFFER_SIZE];
+    // struct {
+    //     float input_voltage; // Vi
+    //     float output_voltage; // Vo
+    //     float input_power; //Pi
+    //     float input_current; //Ii
+    //     float output_currenIi; //Io
+    //     float ref_power; //Pa
+    // } supercap_data;
+
 } Supercap_t;
 
-void Supercap_Init(Supercap_t *g_supercap);
-void Supercap_Decode(CAN_Instance_t *can_instance);
+
+void Supercap_Init(UART_HandleTypeDef *huartx); // in robot the input element is g_supercap
+void Supercap_Decode(UART_Instance_t *supercap_uart_instance_ptr, float *Vi, float *Vo, float *Pi, float *Ii, float *Io, float *Ps);
 void Supercap_Send(void);
 
 extern Supercap_t g_supercap;

control-base/devices/src/supercap.c

@@ -1,51 +1,107 @@
 #include "supercap.h"
+#include "bsp_uart.h"
+#include "bsp_daemon.h"
+#include "string.h"
+#include "stdlib.h"
+#include "bsp_serial.h"
 
-#include "referee_system.h"
-
+#define SUPERCAP_TIMEOUT_MS (3000)
 Supercap_t g_supercap;
-CAN_Instance_t *supercap_can_instance;
+Daemon_Instance_t *g_supercap_daemon_ptr;
+// CAN_Instance_t *supercap_can_instance;
+UART_Instance_t *supercap_uart_instance_ptr;
 extern Jetson_Orin_Data_t g_orin_data;
+char* middle_cpy;
+char uart_buffer[SUPERCAP_RX_BUFFER_SIZE];
+uint8_t uart_byte;
+uint8_t uart_index = 0;
+uint8_t supercap_uart_instance_initialized;
+
+// Parsed values
+//float Vi = 0, Vo = 0, Pi = 0, Io = 0, Ps = 0, Ii = 0;
 
 struct rx_data
 {
-    uint16_t cap_percentage;
-    uint16_t reserved1;
-    uint16_t reserved2;
-    uint16_t reserved3;
-} g_supercap_rx_data;
+    uint16_t max_discharge;
+    uint16_t base_power;
+    int16_t cap_energy_percent;
+    uint16_t cap_state;
+} g_supercap_data;
 
-void Supercap_Init(Supercap_t *g_supercap)
-{
-    // Initialize supercap
-    g_supercap->can_bus = 1;
-    g_supercap->tx_id = 0x2C8;
-    g_supercap->rx_id = 0x2C7;
-    supercap_can_instance =
-        CAN_Device_Register(g_supercap->can_bus, g_supercap->tx_id,
-                            g_supercap->rx_id, Supercap_Decode);
+
+// Function to extract float after a key like "Vi:"
+// float extract_value(const char *src, const char *key) {
+//     const char *start = strstr(src, key);
+//     if (!start) return 0.0f;
+//     start += strlen(key);  // move pointer after "Vi:"
+//     return atof(start);    // convert to float
+// }
+
+void Supercap_Timeout_Callback(void){
+    UART_Service_Init(supercap_uart_instance_ptr);
+}
+
+void Supercap_Decode_Callback(UART_Instance_t *uart_instance) {
+    // static float Vi, Vo, Pi, Io, Ps, Ii;
+
+    // uart_instance->rx_buffer[0];
+    if (uart_instance->rx_buffer[0] != '\n') {
+
+        g_supercap.buffer_for_construction[g_supercap.receive_counter] = uart_instance->rx_buffer[0]; // store the byte in the buffer
+        g_supercap.receive_counter++; // R
+    }
+    else // if the end of frame is reached
+    {
+        g_supercap.buffer_for_construction[g_supercap.receive_counter] = '\0'; 
+        g_supercap.receive_counter = 0; // reset counter if \n is received
+        Daemon_Reload(g_supercap_daemon_ptr);
+
+        // Supercap decode logic
+        // g_supercap.Vi = extract_value((const char*)g_supercap.buffer_for_construction, "Vi:");
+        // g_supercap.Vo = extract_value((const char*)g_supercap.buffer_for_construction, "Vo:");
+        // g_supercap.Pi = extract_value((const char*)g_supercap.buffer_for_construction, "Pi:");
+        // g_supercap.Ii = extract_value((const char*)g_supercap.buffer_for_construction, "Ii:");
+        // g_supercap.Io = extract_value((const char*)g_supercap.buffer_for_construction, "Io:");
+        // g_supercap.Ps = extract_value((const char*)g_supercap.buffer_for_construction, "Ps:");
+       sscanf((char *)g_supercap.buffer_for_construction, "Vi:%f Vo:%f Pi:%f Ii:%f Io:%f Ps:%f",
+              &g_supercap.Vi, &g_supercap.Vo, &g_supercap.Pi, &g_supercap.Ii, &g_supercap.Io, &g_supercap.Ps);
+    }
 }
 
-void Supercap_Decode(CAN_Instance_t *can_instance)
+void Supercap_Init(UART_HandleTypeDef *huartx)
 {
-    // Recieve supercap data
-    uint16_t *supercap_rx = (uint16_t *) can_instance->rx_buffer;
-
-    g_supercap_rx_data.cap_percentage = supercap_rx[0];
-    g_supercap_rx_data.reserved1 = 0;
-    g_supercap_rx_data.reserved2 = 0;
-    g_supercap_rx_data.reserved3 = 0;
-    // ! do not read more than 8 bytes from the buffer
+    // Initialize supercap
+    // g_supercap->can_bus = 1; // can 2
+    // g_supercap->tx_id = 0x2C8;
+    // g_supercap->rx_id = 0x2C7;
+
+    //supercap_uart_instance_ptr = UART_Register(huartx, g_supercap.rx_buffer, SUPERCAP_RX_BUFFER_SIZE, Supercap_Decode);
+    supercap_uart_instance_ptr = UART_Register(huartx, g_supercap.rx_buffer, SUPERCAP_RX_BUFFER_SIZE, Supercap_Decode_Callback);    // matches expected signature
+    uint16_t reload_value = SUPERCAP_TIMEOUT_MS / DAEMON_PERIOD;
+    uint16_t intial_counter = reload_value;
+    g_supercap_daemon_ptr = Daemon_Register(reload_value, intial_counter, Supercap_Timeout_Callback);
+    supercap_uart_instance_initialized = 1; //turn on supercap uart 
 }
 
+
+// fomrate PXXXP -  sending XXX as power
+// PVONP - Turn on supercap
+// PVOFFP - Turn off supercap
 void Supercap_Send(void)
 {
+     if (!supercap_uart_instance_initialized) {
+        return;
+    }
+
     // Send supercap data
-    uint16_t *supercap_tx = (uint16_t *) supercap_can_instance->tx_buffer;
-    supercap_tx[0] = Referee_System.Robot_State.Chassis_Power_Max;    // The power limit from the referee system
-    supercap_tx[1] = (uint16_t) Referee_System.Power_Heat.Chassis_Power;        // the total power requested from the chassis
-    supercap_tx[2] = 0;
-    supercap_tx[3] = 0;
+    // uint16_t *supercap_tx = (uint16_t *) supercap_can_instance->tx_buffer;
+    // supercap_tx[0] = 0x003C;
+    // supercap_tx[1] = 0x003C;
+    // supercap_tx[2] = 0x2012;
+    // supercap_tx[3] = 0x0112;
     // ! do not write more than 8 bytes to the buffer
-
-    CAN_Transmit(supercap_can_instance);
+
+	// UART_Transmit(supercap_uart_instance_ptr, g_supercap.tx_buffer, sizeof(g_orin_data.tx_buffer), UART_DMA);
+    uint8_t max_power = 60;
+    DEBUG_PRINTF(supercap_uart_instance_ptr->uart_handle, "P%03dP\r\n", max_power);
 }