Feat/pedal pressure sensor

include/VCF_Constants.h

@@ -40,7 +40,7 @@ constexpr int STEERING_1_CHANNEL      = 5;
 // constexpr int UNUSED_CHANNEL       = 7;
 
 /* Channels on ADC_2 */
-// constexpr int UNUSED_CHANNEL       = 0;
+constexpr int PEDAL_PRESSURE_CHANNEL  = 0;
 // constexpr int UNUSED_CHANNEL       = 1;
 constexpr int ACCEL_1_CHANNEL         = 2;
 constexpr int ACCEL_2_CHANNEL         = 3;
@@ -81,6 +81,8 @@ constexpr float BRAKE_1_SCALE = 1;
 constexpr float BRAKE_1_OFFSET = 0;
 constexpr float BRAKE_2_SCALE = 1;
 constexpr float BRAKE_2_OFFSET = 0;
+constexpr float PEDAL_PRESSURE_SCALE = 1; // TODO: Figure out what these should be from calibration/ datasheet
+constexpr float PEDAL_PRESSURE_OFFSET = 0; //TODO: Figure out what these should be from calibration/ datasheet
 
 
 

lib/interfaces/include/PedalPressureInterface.h

@@ -0,0 +1,12 @@
+#ifndef PEDALPRESSUREINTERFACE_H
+#define PEDALPRESSUREINTERFACE_H
+
+#include "hytech.h"
+#include "VCFCANInterfaceImpl.h"
+#include "SharedFirmwareTypes.h"
+
+class PedalPressureInterface {
+public:
+    void send_pedal_pressure_CAN(uint16_t pedal_pressure);
+};
+#endif  // PEDALPRESSUREINTERFACE_H

lib/interfaces/src/PedalPressureInterface.cpp

@@ -0,0 +1,37 @@
+#include "PedalPressureInterface.h"
+#include "VCFCANInterfaceImpl.h"
+#include <cstdint>
+#include <cstring> // for memcpy
+
+// Constants
+constexpr uint32_t PEDAL_PRESSURE_CANID = 0x0CBU;
+constexpr uint8_t PEDAL_PRESSURE_DLC = 2U;  // 16-bit pedal pressure
+constexpr uint8_t BYTE_MASK = 0xFF;
+constexpr size_t CAN_MSG_SIZE = sizeof(CAN_message_t);
+constexpr uint8_t PEDAL_PRESSURE_SHIFT = 8U;
+
+
+void PedalPressureInterface::send_pedal_pressure_CAN(uint16_t pedal_pressure)
+{
+    // Construct the CAN message
+    CAN_message_t msg{};
+    msg.id = PEDAL_PRESSURE_CANID;
+    msg.len = PEDAL_PRESSURE_DLC;
+    msg.flags.extended = 0;
+
+    // Encode the 16-bit pedal pressure
+    msg.buf[0] = static_cast<uint8_t>(pedal_pressure & BYTE_MASK);        // low byte
+    msg.buf[1] = static_cast<uint8_t>((pedal_pressure >> PEDAL_PRESSURE_SHIFT) & BYTE_MASK); // high byte
+
+    // Copy to raw buffer for TX queue
+    uint8_t raw_buf[CAN_MSG_SIZE];
+    std::memcpy(static_cast<void*>(raw_buf), &msg, CAN_MSG_SIZE);
+
+    // Push to TX buffer using VCF helper
+    auto &can_objs = VCFCANInterfaceImpl::VCFCANInterfaceObjectsInstance::instance();
+    can_objs.main_can_tx_buffer.push_back(static_cast<uint8_t*>(raw_buf), CAN_MSG_SIZE);
+
+    // Send all messages on the main CAN interface
+    VCFCANInterfaceImpl::send_all_CAN_msgs(can_objs.main_can_tx_buffer, can_objs.MAIN_CAN);
+}
+

src/VCF_Tasks.cpp

@@ -45,6 +45,7 @@ HT_TASK::TaskResponse run_read_adc2_task(const unsigned long& sysMicros, const H
     VCFData_sInstance::instance().interface_data.pedal_sensor_data.accel_2 = ADCsOnVCFInstance::instance().adc_2.data.conversions[ACCEL_2_CHANNEL].conversion;
     VCFData_sInstance::instance().interface_data.pedal_sensor_data.brake_1 = ADCsOnVCFInstance::instance().adc_2.data.conversions[BRAKE_1_CHANNEL].conversion;
     VCFData_sInstance::instance().interface_data.pedal_sensor_data.brake_2 = ADCsOnVCFInstance::instance().adc_2.data.conversions[BRAKE_2_CHANNEL].conversion;
+    VCFData_sInstance::instance().interface_data.pedal_sensor_data.pedal_pressure = ADCsOnVCFInstance::instance().adc_2.data.conversions[PEDAL_PRESSURE_CHANNEL].conversion;
     return HT_TASK::TaskResponse::YIELD;
 }
 

src/main.cpp

@@ -160,6 +160,8 @@ void setup() {
     adc_2_offsets[BRAKE_1_CHANNEL] = BRAKE_1_OFFSET;
     adc_2_scales[BRAKE_2_CHANNEL] = BRAKE_2_SCALE;
     adc_2_offsets[BRAKE_2_CHANNEL] = BRAKE_2_OFFSET;
+    adc_2_offsets[PEDAL_PRESSURE_CHANNEL] = PEDAL_PRESSURE_OFFSET; 
+    adc_2_scales[PEDAL_PRESSURE_CHANNEL] = PEDAL_PRESSURE_SCALE;
     ADCsOnVCFInstance::create(adc_1_scales, adc_1_offsets, adc_2_scales, adc_2_offsets);
 
     EthernetIPDefsInstance::create();