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Implement AMK dashboard page #335

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Implement AMK dashboard page #335

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529f33a
implement inverter dashboard page
amruthn1 Apr 10, 2026
6ad0834
clean up
Saini-01 Apr 12, 2026
549b146
Undo launch.json changes
amruthn1 Apr 12, 2026
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12 changes: 12 additions & 0 deletions common/can_library/configs/nodes/DASHBOARD.json
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Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,18 @@
},
{
"msg_name": "igbt_temps"
},
{
"msg_name": "inva_set_vcan"
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@irvingywang irvingywang Apr 15, 2026

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u need more information than echoing inv_set. i would trim this down to a custom message which includes the amk state and diagnostic stuff only

},
{
"msg_name": "invb_set_vcan"
},
{
"msg_name": "invc_set_vcan"
},
{
"msg_name": "invd_set_vcan"
}
]
},
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292 changes: 268 additions & 24 deletions common/can_library/configs/nodes/MAIN_MODULE.json
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Binary file modified source/dashboard/lcd/Dashboard26.HMI
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9 changes: 9 additions & 0 deletions source/dashboard/lcd/lcd.c
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
#include <stddef.h>
#include <stdint.h>

#include "amk.h"
#include "nextion.h"

// pages
Expand Down Expand Up @@ -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
}
};

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1 change: 1 addition & 0 deletions source/dashboard/lcd/lcd.h
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Expand Up @@ -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;
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96 changes: 96 additions & 0 deletions source/dashboard/lcd/pages/amk.c
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@@ -0,0 +1,96 @@
/**
* @file amk.c
* @brief AMK page implementation
*
* @author Amruth Nadimpally (nadimpaa@purdue.edu)
* @author Aditya Saini (sain91@purdue.edu)
*/

#include "amk.h"

#include "common/can_library/generated/DASHBOARD.h"
#include "nextion.h"
#include "colors.h"

void amk_telemetry_update() {
NXT_setFontColor(INVA_BERROR, WHITE);
NXT_setFontColor(INVB_BERROR, WHITE);
NXT_setFontColor(INVC_BERROR, WHITE);
NXT_setFontColor(INVD_BERROR, WHITE);
NXT_setFontColor(INVA_DIAGNOSTIC, WHITE);
NXT_setFontColor(INVB_DIAGNOSTIC, WHITE);
NXT_setFontColor(INVC_DIAGNOSTIC, WHITE);
NXT_setFontColor(INVD_DIAGNOSTIC, WHITE);
NXT_setFontColor(INVA_ON, WHITE);
NXT_setFontColor(INVB_ON, WHITE);
NXT_setFontColor(INVC_ON, WHITE);
NXT_setFontColor(INVD_ON, WHITE);

if (can_data.inva_set_vcan.is_stale()) {
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@irvingywang irvingywang Apr 15, 2026

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theres too much repeated code here

NXT_setFontColor(INVA_STATUS, RED);
NXT_setText(INVA_STATUS, "STALE");
NXT_setText(INVA_BERROR, "--");
NXT_setText(INVA_DIAGNOSTIC, "--");
NXT_setText(INVA_ON, "--");
} else {
NXT_setFontColor(INVA_STATUS, can_data.inva_set_vcan.AMK_Control_bEnable ? GREEN : RED);
NXT_setText(INVA_STATUS, can_data.inva_set_vcan.AMK_Control_bEnable ? "ENABLE" : "DISABLE");
NXT_setText(INVA_ON, can_data.inva_set_vcan.AMK_Control_bInverterOn ? "ON" : "OFF");
NXT_setText(INVA_BERROR, can_data.inva_set_vcan.AMK_Control_bErrorReset ? "RESET" : "OK");
int16_t inva_torque = (int16_t)(
can_data.inva_set_vcan.AMK_TorqueSetpoint * UNPACK_COEFF_INVC_SET_VCAN_AMK_TORQUESETPOINT
);
NXT_setTextFormatted(INVA_DIAGNOSTIC, "%d", inva_torque);
}

if (can_data.invb_set_vcan.is_stale()) {
NXT_setFontColor(INVB_STATUS, RED);
NXT_setText(INVB_STATUS, "STALE");
NXT_setText(INVB_BERROR, "--");
NXT_setText(INVB_DIAGNOSTIC, "--");
NXT_setText(INVB_ON, "--");
} else {
NXT_setFontColor(INVB_STATUS, can_data.invb_set_vcan.AMK_Control_bEnable ? GREEN : RED);
NXT_setText(INVB_STATUS, can_data.invb_set_vcan.AMK_Control_bEnable ? "ENABLE" : "DISABLE");
NXT_setText(INVB_ON, can_data.invb_set_vcan.AMK_Control_bInverterOn ? "ON" : "OFF");
NXT_setText(INVB_BERROR, can_data.invb_set_vcan.AMK_Control_bErrorReset ? "RESET" : "OK");
int16_t invb_torque = (int16_t)(
can_data.invb_set_vcan.AMK_TorqueSetpoint * UNPACK_COEFF_INVC_SET_VCAN_AMK_TORQUESETPOINT
);
NXT_setTextFormatted(INVB_DIAGNOSTIC, "%d", invb_torque);
}

if (can_data.invc_set_vcan.is_stale()) {
NXT_setFontColor(INVC_STATUS, RED);
NXT_setText(INVC_STATUS, "STALE");
NXT_setText(INVC_BERROR, "--");
NXT_setText(INVC_DIAGNOSTIC, "--");
NXT_setText(INVC_ON, "--");
} else {
NXT_setFontColor(INVC_STATUS, can_data.invc_set_vcan.AMK_Control_bEnable ? GREEN : RED);
NXT_setText(INVC_STATUS, can_data.invc_set_vcan.AMK_Control_bEnable ? "ENABLE" : "DISABLE");
NXT_setText(INVC_ON, can_data.invc_set_vcan.AMK_Control_bInverterOn ? "ON" : "OFF");
NXT_setText(INVC_BERROR, can_data.invc_set_vcan.AMK_Control_bErrorReset ? "RESET" : "OK");
int16_t invc_torque = (int16_t)(
can_data.invc_set_vcan.AMK_TorqueSetpoint * UNPACK_COEFF_INVC_SET_VCAN_AMK_TORQUESETPOINT
);
NXT_setTextFormatted(INVC_DIAGNOSTIC, "%d", invc_torque);
}

if (can_data.invd_set_vcan.is_stale()) {
NXT_setFontColor(INVD_STATUS, RED);
NXT_setText(INVD_STATUS, "STALE");
NXT_setText(INVD_BERROR, "--");
NXT_setText(INVD_DIAGNOSTIC, "--");
NXT_setText(INVD_ON, "--");
} else {
NXT_setFontColor(INVD_STATUS, can_data.invd_set_vcan.AMK_Control_bEnable ? GREEN : RED);
NXT_setText(INVD_STATUS, can_data.invd_set_vcan.AMK_Control_bEnable ? "ENABLE" : "DISABLE");
NXT_setText(INVD_ON, can_data.invd_set_vcan.AMK_Control_bInverterOn ? "ON" : "OFF");
NXT_setText(INVD_BERROR, can_data.invd_set_vcan.AMK_Control_bErrorReset ? "RESET" : "OK");
int16_t invd_torque = (int16_t)(
can_data.invd_set_vcan.AMK_TorqueSetpoint * UNPACK_COEFF_INVC_SET_VCAN_AMK_TORQUESETPOINT
);
NXT_setTextFormatted(INVD_DIAGNOSTIC, "%d", invd_torque);
}
}
34 changes: 34 additions & 0 deletions source/dashboard/lcd/pages/amk.h
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@@ -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_BERROR "aberror"
#define INVB_BERROR "bberror"
#define INVC_BERROR "cberror"
#define INVD_BERROR "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
48 changes: 48 additions & 0 deletions source/main_module/state_machine.c
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Expand Up @@ -116,6 +116,54 @@ void report_telemetry() {
g_car.rear_left.temps->AMK_IGBTTemp,
g_car.rear_right.temps->AMK_IGBTTemp
);

CAN_SEND_inva_set_vcan(
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@irvingywang irvingywang Apr 15, 2026

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prob shouldnt send this here, we dont want to potentially slow down the more critical stuff

g_car.front_right.set->AMK_Control_bReserve,
g_car.front_right.set->AMK_Control_bInverterOn,
g_car.front_right.set->AMK_Control_bDcOn,
g_car.front_right.set->AMK_Control_bEnable,
g_car.front_right.set->AMK_Control_bErrorReset,
g_car.front_right.set->AMK_Control_bReserve2,
g_car.front_right.set->AMK_TorqueSetpoint,
g_car.front_right.set->AMK_PositiveTorqueLimit,
g_car.front_right.set->AMK_NegativeTorqueLimit
);

CAN_SEND_invb_set_vcan(
g_car.front_left.set->AMK_Control_bReserve,
g_car.front_left.set->AMK_Control_bInverterOn,
g_car.front_left.set->AMK_Control_bDcOn,
g_car.front_left.set->AMK_Control_bEnable,
g_car.front_left.set->AMK_Control_bErrorReset,
g_car.front_left.set->AMK_Control_bReserve2,
g_car.front_left.set->AMK_TorqueSetpoint,
g_car.front_left.set->AMK_PositiveTorqueLimit,
g_car.front_left.set->AMK_NegativeTorqueLimit
);

CAN_SEND_invc_set_vcan(
g_car.rear_left.set->AMK_Control_bReserve,
g_car.rear_left.set->AMK_Control_bInverterOn,
g_car.rear_left.set->AMK_Control_bDcOn,
g_car.rear_left.set->AMK_Control_bEnable,
g_car.rear_left.set->AMK_Control_bErrorReset,
g_car.rear_left.set->AMK_Control_bReserve2,
g_car.rear_left.set->AMK_TorqueSetpoint,
g_car.rear_left.set->AMK_PositiveTorqueLimit,
g_car.rear_left.set->AMK_NegativeTorqueLimit
);

CAN_SEND_invd_set_vcan(
g_car.rear_right.set->AMK_Control_bReserve,
g_car.rear_right.set->AMK_Control_bInverterOn,
g_car.rear_right.set->AMK_Control_bDcOn,
g_car.rear_right.set->AMK_Control_bEnable,
g_car.rear_right.set->AMK_Control_bErrorReset,
g_car.rear_right.set->AMK_Control_bReserve2,
g_car.rear_right.set->AMK_TorqueSetpoint,
g_car.rear_right.set->AMK_PositiveTorqueLimit,
g_car.rear_right.set->AMK_NegativeTorqueLimit
);
}

void fsm_periodic() {
Expand Down
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