Launch control refactor (up to date with competition VCU code)

.gitignore

@@ -4,6 +4,8 @@ src/**/bin
 # Annoying ropeproject
 **/.ropeproject
 
+test/**/*.png
+
 # vim
 *.swp
 

can_spec_my18.yml

@@ -393,16 +393,6 @@ buses:
             position: 6
             length: 1
             c_type: bool
-          lc_state:
-            position: 7
-            length: 3
-            c_type: enum
-            enum:
-              BEFORE: 0
-              SPEEDING_UP: 1
-              SPEED_CONTROLLER: 2
-              ZERO_TORQUE: 3
-              DONE: 4
       VCUErrors:
         can_id: 0x0F4
         period: 111ms
@@ -681,6 +671,19 @@ buses:
             position: 60
             length: 1
             c_type: bool
+      DashRequestLC:
+        can_id: 0x0D5
+        is_big_endian: true
+        period: 69ms
+        segments:
+          using_launch_ctrl:
+            position: 0
+            length: 1
+            c_type: bool
+          launch_ctrl_slip_ratio: # Ranges from 105 to 115
+            position: 16
+            length: 16
+            c_type: uint16_t
       VCUControlsParams:
         can_id: 0x0D4
         is_big_endian: true
@@ -736,6 +739,19 @@ buses:
             position: 60
             length: 1
             c_type: bool
+      VCUParamsLC:
+        can_id: 0x0D6
+        is_big_endian: true
+        period: 200ms
+        segments:
+          using_launch_ctrl:
+            position: 0
+            length: 1
+            c_type: bool
+          slip_ratio: # Ranges from 105 to 115
+            position: 16
+            length: 16
+            c_type: uint16_t
       ButtonRequest:
         can_id: 0x0D8
         period: 73ms

src/dashboard/src/page_manager.c

@@ -49,6 +49,7 @@ void draw_nav_line(page_manager_t *pm, NHD_US2066_OLED *oled) {
 
 void draw_critical_page(page_manager_t *pm, NHD_US2066_OLED *oled);
 void draw_regen_page(page_manager_t *pm, NHD_US2066_OLED *oled);
+void draw_launch_control_page(page_manager_t *pm, NHD_US2066_OLED *oled);
 void draw_traction_page(page_manager_t *pm, NHD_US2066_OLED *oled);
 void draw_fault_page(page_manager_t *pm, NHD_US2066_OLED *oled);
 
@@ -60,8 +61,11 @@ void page_manager_update(page_manager_t *pm, NHD_US2066_OLED *oled) {
             draw_critical_page(pm, oled);
             break;
         case DASH_PAGE_REGEN:
-            draw_regen_page(pm, oled);
-            break;
+           draw_regen_page(pm, oled);
+           break;
+        case DASH_PAGE_LAUNCH_CONTROL:
+           draw_launch_control_page(pm, oled);
+           break;
         case DASH_PAGE_TEMP_LIM:
             draw_temp_lim_page(pm, oled);
             break;
@@ -430,6 +434,34 @@ void draw_volt_lim_page(page_manager_t *pm, NHD_US2066_OLED *oled) {
     oled_print(oled, ">");
 }
 
+void draw_launch_control_page(page_manager_t *pm, NHD_US2066_OLED *oled) {
+    carstats_t *stats = pm->stats;
+
+    oled_clearline(oled, 1);
+    oled_set_pos(oled, 1, 0);
+
+    if (stats->buttons.right.rising_edge) {
+        stats->controls.launch_ctrl_slip_ratio += 1;
+    }
+
+    stats->controls.launch_ctrl_slip_ratio = LOOPOVER(stats->controls.launch_ctrl_slip_ratio, 101, 120);
+
+    if (stats->buttons.B.rising_edge) stats->controls.using_launch_ctrl ^= 1;  // NOT
+
+    oled_print(oled, "LAUNCH CONTROL ");
+
+    oled_print(oled, (stats->controls.using_launch_ctrl) ? "ON" : "OFF");
+
+    oled_rprint_pad(oled, "SLIP RATIO ", 4);
+
+    if (stats->controls.launch_ctrl_slip_ratio != -1) {
+        oled_print_num(oled, stats->controls.launch_ctrl_slip_ratio);
+    }
+    else {
+        oled_print(oled, DATA_UNKNOWN);
+    }
+}
+
 void draw_fault_page(page_manager_t *pm, NHD_US2066_OLED *oled) {
   carstats_t *stats = pm->stats;
 

src/vcu/inc/controls.h

@@ -14,6 +14,15 @@
 #define MAX_ACCEL_VAL 1000
 #define MIN_ACCEL_VAL 0
 
+// Launch control contants
+// After wheel speed crosses this threshold, start using slip controller
+#define LC_WS_THRESH 45000
+#define LC_cGR 347 // Gear ratio times 100
+#define LC_ACCEL_BEGIN 950 // 95%
+#define LC_ACCEL_RELEASE 50 // 5%
+#define LC_BRAKE_BEGIN 100 // We want a lower threshold
+#define LC_BACKWARDS_CUTOFF 10
+
 // RG = regen
 #define RG_MOTOR_SPEED_THRESH 250            // RPM
 #define RG_CAR_SPEED_THRESH 5                // kph
@@ -31,6 +40,14 @@
 #define FRONT_BRAKE brake_1
 #define REAR_BRAKE brake_2
 
+typedef enum {
+  BEFORE,
+  SPEEDING_UP,
+  SPEED_CONTROLLER,
+  ZERO_TORQUE,
+  DONE,
+} Launch_Control_State_T;
+
 // TL = temp limiting
 #define MAX_TEMP 5800 // centiCelsius
 
@@ -40,11 +57,14 @@
 #define TEMP_LOG_LENGTH 200
 
 extern can0_VCUControlsParams_T control_settings;
+extern can0_VCUParamsLC_T lc_settings;
 
 // INTERACTION FUNCTIONS
 void enable_controls(void);
 void disable_controls(void);
 bool get_controls_enabled(void);
 void execute_controls(void);
+void set_lc_done(void);
+void set_lc_state_before(void);
 
 #endif // ifndef __TORQUE_CALC

src/vcu/src/can_handles.c

@@ -293,6 +293,17 @@ void handleDashRequest(Frame *msg) {
   control_settings.active_aero_enabled = unpacked_msg.active_aero_enabled;
 }
 
+void handle_DashRequestLC(Frame *msg) {
+  can0_DashRequestLC_T unpacked_msg;
+
+  unpack_can0_DashRequestLC(msg, &unpacked_msg);
+
+  if (unpacked_msg.launch_ctrl_slip_ratio != 65535) {
+    lc_settings.slip_ratio = unpacked_msg.launch_ctrl_slip_ratio;
+    lc_settings.using_launch_ctrl = unpacked_msg.using_launch_ctrl;
+  }
+}
+
 void send_VCUHeartbeat(void) {
   LIMIT(can0_VCUHeartbeat);