Implement AMK dashboard page

can_library/configs/nodes/DASHBOARD.json

@@ -93,6 +93,18 @@
                 },
                 {
                     "msg_name": "igbt_temps"
+                },
+                {
+                    "msg_name": "inva_diagnostics"
+                },
+                {
+                    "msg_name": "invb_diagnostics"
+                },
+                {
+                    "msg_name": "invc_diagnostics"
+                },
+                {
+                    "msg_name": "invd_diagnostics"
                 }
             ]
         },

can_library/configs/nodes/MAIN_MODULE.json

@@ -125,6 +125,118 @@
                     ],
                     "msg_priority": 5,
                     "msg_period": 5000
+                },
+                {
+                    "msg_name": "inva_diagnostics",
+                    "msg_desc": "VCAN diagnostics for inverter A",
+                    "signals": [
+                        {
+                            "sig_name": "inverter_state",
+                            "sig_desc": "Current inverter state",
+                            "type": "uint8_t"
+                        },
+                        {
+                            "sig_name": "bError",
+                            "sig_desc": "AMK status error bit",
+                            "type": "bool"
+                        },
+                        {
+                            "sig_name": "diagnostic_number",
+                            "sig_desc": "AMK diagnostic number",
+                            "type": "uint32_t"
+                        },
+                        {
+                            "sig_name": "InverterOn",
+                            "sig_desc": "AMK inverter on status",
+                            "type": "bool"
+                        }
+                    ],
+                    "msg_period": 2000,
+                    "msg_priority": 4
+                },
+                {
+                    "msg_name": "invb_diagnostics",
+                    "msg_desc": "VCAN diagnostics for inverter B",
+                    "signals": [
+                        {
+                            "sig_name": "inverter_state",
+                            "sig_desc": "Current inverter state",
+                            "type": "uint8_t"
+                        },
+                        {
+                            "sig_name": "bError",
+                            "sig_desc": "AMK status error bit",
+                            "type": "bool"
+                        },
+                        {
+                            "sig_name": "diagnostic_number",
+                            "sig_desc": "AMK diagnostic number",
+                            "type": "uint32_t"
+                        },
+                        {
+                            "sig_name": "InverterOn",
+                            "sig_desc": "AMK inverter on status",
+                            "type": "bool"
+                        }
+                    ],
+                    "msg_period": 2000,
+                    "msg_priority": 4
+                },
+                {
+                    "msg_name": "invc_diagnostics",
+                    "msg_desc": "VCAN diagnostics for inverter C",
+                    "signals": [
+                        {
+                            "sig_name": "inverter_state",
+                            "sig_desc": "Current inverter state",
+                            "type": "uint8_t"
+                        },
+                        {
+                            "sig_name": "bError",
+                            "sig_desc": "AMK status error bit",
+                            "type": "bool"
+                        },
+                        {
+                            "sig_name": "diagnostic_number",
+                            "sig_desc": "AMK diagnostic number",
+                            "type": "uint32_t"
+                        },
+                        {
+                            "sig_name": "InverterOn",
+                            "sig_desc": "AMK inverter on status",
+                            "type": "bool"
+                        }
+                    ],
+                    "msg_period": 2000,
+                    "msg_priority": 4
+                },
+                {
+                    "msg_name": "invd_diagnostics",
+                    "msg_desc": "VCAN diagnostics for inverter D",
+                    "signals": [
+                        {
+                            "sig_name": "inverter_state",
+                            "sig_desc": "Current inverter state",
+                            "type": "uint8_t"
+                        },
+                        {
+                            "sig_name": "bError",
+                            "sig_desc": "AMK status error bit",
+                            "type": "bool"
+                        },
+                        {
+                            "sig_name": "diagnostic_number",
+                            "sig_desc": "AMK diagnostic number",
+                            "type": "uint32_t"
+                        },
+                        {
+                            "sig_name": "InverterOn",
+                            "sig_desc": "AMK inverter on status",
+                            "type": "bool"
+                        }
+                    ],
+                    "msg_period": 2000,
+                    "msg_priority": 4
                 }
             ],
             "rx": [

source/dashboard/lcd/lcd.c

@@ -16,6 +16,7 @@
 #include "pages/race.h"
 #include "pages/calibration.h"
 #include "pages/faults.h"
+#include "pages/amk.h"
 
 volatile page_t curr_page = PAGE_PREFLIGHT; // Current page displayed on the LCD
 volatile page_t prev_page = PAGE_PREFLIGHT; // Previous page displayed on the LCD
@@ -45,6 +46,14 @@ const page_handler_t page_handlers[NUM_PAGES] = { // Order must match page_t enu
         .select    = nullptr,
         .telemetry = calibration_telemetry_update,
         .string    = CALIBRATION_STRING
+    },
+    [PAGE_AMK] = {
+        .update    = nullptr,
+        .move_up   = nullptr,
+        .move_down = nullptr,
+        .select    = nullptr,
+        .telemetry = amk_telemetry_update,
+        .string    = AMK_STRING
     }
 };
 

source/dashboard/lcd/lcd.h

@@ -14,6 +14,7 @@ typedef enum : uint8_t {
     PAGE_RACE        = 0,
     PAGE_FAULTS      = 1,
     PAGE_CALIBRATION = 2,
+    PAGE_AMK         = 3,
     NUM_PAGES, // leave as auto to count number of pages
     PAGE_PREFLIGHT, // not selectable, only shown on power on
 } page_t;

source/dashboard/lcd/pages/amk.c

@@ -0,0 +1,91 @@
+/**
+ * @file amk.c
+ * @brief AMK page implementation
+ *
+ * @author Amruth Nadimpally (nadimpaa@purdue.edu)
+ * @author Aditya Saini (sain91@purdue.edu)
+ */
+
+#include "amk.h"
+
+#include "can_library/generated/DASHBOARD.h"
+#include "nextion.h"
+#include "colors.h"
+
+static void update_inverter_telemetry(
+    char *status_id,
+    char *error_id,
+    char *diagnostic_id,
+    char *on_id,
+    bool is_stale,
+    uint8_t inverter_state,
+    bool has_error,
+    uint32_t diagnostic_number,
+    bool inverter_on
+) {
+    NXT_setFontColor(error_id, WHITE);
+    NXT_setFontColor(diagnostic_id, WHITE);
+    NXT_setFontColor(on_id, WHITE);
+
+    if (is_stale) {
+        NXT_setFontColor(status_id, RED);
+        NXT_setText(status_id, "STALE");
+        NXT_setText(error_id, "--");
+        NXT_setText(diagnostic_id, "--");
+        NXT_setText(on_id, "--");
+        return;
+    }
+
+    NXT_setFontColor(status_id, has_error ? RED : GREEN);
+    NXT_setTextFormatted(status_id, "%u", (unsigned int) inverter_state);
+    NXT_setText(error_id, has_error ? "ERROR" : "OK");
+    NXT_setTextFormatted(diagnostic_id, "%lu", (unsigned int) diagnostic_number);
+    NXT_setText(on_id, inverter_on ? "ON" : "OFF");
+}
+
+void amk_telemetry_update() {
+    update_inverter_telemetry(
+        INVA_STATUS,
+        INVA_ERROR,
+        INVA_DIAGNOSTIC,
+        INVA_ON,
+        can_data.inva_diagnostics.is_stale(),
+        can_data.inva_diagnostics.inverter_state,
+        can_data.inva_diagnostics.bError,
+        can_data.inva_diagnostics.diagnostic_number,
+        can_data.inva_diagnostics.InverterOn
+    );
+    update_inverter_telemetry(
+        INVB_STATUS,
+        INVB_ERROR,
+        INVB_DIAGNOSTIC,
+        INVB_ON,
+        can_data.invb_diagnostics.is_stale(),
+        can_data.invb_diagnostics.inverter_state,
+        can_data.invb_diagnostics.bError,
+        can_data.invb_diagnostics.diagnostic_number,
+        can_data.invb_diagnostics.InverterOn
+    );
+    update_inverter_telemetry(
+        INVC_STATUS,
+        INVC_ERROR,
+        INVC_DIAGNOSTIC,
+        INVC_ON,
+        can_data.invc_diagnostics.is_stale(),
+        can_data.invc_diagnostics.inverter_state,
+        can_data.invc_diagnostics.bError,
+        can_data.invc_diagnostics.diagnostic_number,
+        can_data.invc_diagnostics.InverterOn
+    );
+    update_inverter_telemetry(
+        INVD_STATUS,
+        INVD_ERROR,
+        INVD_DIAGNOSTIC,
+        INVD_ON,
+        can_data.invd_diagnostics.is_stale(),
+        can_data.invd_diagnostics.inverter_state,
+        can_data.invd_diagnostics.bError,
+        can_data.invd_diagnostics.diagnostic_number,
+        can_data.invd_diagnostics.InverterOn
+    );
+}

source/dashboard/lcd/pages/amk.h

@@ -0,0 +1,34 @@
+#ifndef AMK_H
+#define AMK_H
+
+/**
+ * @file amk.h
+ * @brief AMK page implementation
+ *
+ * @author Amruth Nadimpally (nadimpaa@purdue.edu)
+ * @author Aditya Saini (sain91@purdue.edu)
+ */
+
+#define AMK_STRING "amk"
+
+// Nextion object names
+#define INVA_STATUS            "A"
+#define INVB_STATUS            "B"
+#define INVC_STATUS            "C"
+#define INVD_STATUS            "D"
+#define INVA_ERROR             "aberror"
+#define INVB_ERROR             "bberror"
+#define INVC_ERROR             "cberror"
+#define INVD_ERROR             "dberror"
+#define INVA_DIAGNOSTIC        "da"
+#define INVB_DIAGNOSTIC        "db"
+#define INVC_DIAGNOSTIC        "dc"
+#define INVD_DIAGNOSTIC        "dd"
+#define INVA_ON                "ia"
+#define INVB_ON                "ib"
+#define INVC_ON                "ic"
+#define INVD_ON                "id"
+
+void amk_telemetry_update();
+
+#endif // AMK_H

source/main_module/state_machine.c

@@ -114,6 +114,36 @@ void report_telemetry() {
     );
 }
 
+void report_telemetry_5hz() {
+    CAN_SEND_inva_diagnostics(
+        g_car.front_right.state,
+        g_car.front_right.info->AMK_Status_bError,
+        g_car.front_right.err1->AMK_DiagnosticNumber,
+        g_car.front_right.info->AMK_Status_bInverterOn
+    );
+
+    CAN_SEND_invb_diagnostics(
+        g_car.front_left.state,
+        g_car.front_left.info->AMK_Status_bError,
+        g_car.front_left.err1->AMK_DiagnosticNumber,
+        g_car.front_left.info->AMK_Status_bInverterOn
+    );
+
+    CAN_SEND_invc_diagnostics(
+        g_car.rear_left.state,
+        g_car.rear_left.info->AMK_Status_bError,
+        g_car.rear_left.err1->AMK_DiagnosticNumber,
+        g_car.rear_left.info->AMK_Status_bInverterOn
+    );
+
+    CAN_SEND_invd_diagnostics(
+        g_car.rear_right.state,
+        g_car.rear_right.info->AMK_Status_bError,
+        g_car.rear_right.err1->AMK_DiagnosticNumber,
+        g_car.rear_right.info->AMK_Status_bInverterOn
+    );
+}
+
 void fsm_periodic() {
     // set default states
     g_car.current_state = g_car.next_state;
@@ -203,6 +233,7 @@ void fsm_periodic() {
     AMK_set_torque(&g_car.rear_right,  g_torque_request.rear_right);
 
     report_telemetry();
+    report_telemetry_5hz();
 
     // flush the internal state
     PHAL_writeGPIO(BRAKE_LIGHT_PORT, BRAKE_LIGHT_PIN, g_car.brake_light);