bugfix/header-errors

.gitignore

@@ -3,3 +3,4 @@
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 .vscode/ipch
+/logs

include/Button.h

@@ -2,15 +2,14 @@
 #include "config.h"
 
 class Button {
-  public:
-    Button(int pin);
-    bool isPressed();
-    bool isReleased();
-    bool heldFor(uint16_t duration_ms);
-
-  private:
-    uint8_t _pin;
-    bool _lastState;
-    uint64_t _lastEdgeTime;
-    uint64_t _holdStartTime;
+private:
+  uint8_t _pin;
+  bool _lastState;
+  uint64_t _lastEdgeTime;
+  uint64_t _holdStartTime;
+public:
+  Button(int pin);
+  bool isPressed();
+  bool isReleased();
+  bool heldFor(uint16_t duration_ms);
 };

include/CircularBuffer.h

@@ -4,7 +4,7 @@
 template <typename T, size_t size>
 class CircularBuffer {
 private:
-  T buffer[size];
+  T _buffer[size];
   size_t _head = 0;
   size_t _tail = 0;
   bool _full = false;
@@ -19,7 +19,7 @@ class CircularBuffer {
     _full = _head == _tail;
   }
 
-  bool pop (&T item) {
+  bool pop (T &item) {
     if (isEmpty()) {
       return false;
     }

include/Logger.h

@@ -2,17 +2,17 @@
 #include "config.h"
 #include "CircularBuffer.h"
 
-enum LogLevel { DEBUG, ERROR, INFO, WARNING };
+enum LogLevel { NONE, ERROR, WARNING, INFO, DEBUG };
+
 
-// In C++, this is the cleaner way to define a fixed-size char array type
 struct LogEntry {
     char data[MAX_LOG_LEN];
 };
 
 class Logger {
 private:
-  static SdFs sd;         // The SD filesystem object
-  static FsFile logFile;  // The log file object
+  static SdFs sd;
+  static FsFile logFile;
 
 public:
   static CircularBuffer<LogEntry, MAX_BUF> _logBuffer;

include/MpuController.h

@@ -1,3 +1,4 @@
+#pragma once
 #include "config.h"
 #include "Logger.h"
 #include "Nextion.h"

include/Nextion.h

@@ -1,3 +1,4 @@
+#pragma once
 #include "config.h"
 
 // Nextion connected to Serial7 (TX7/RX7 on Teensy 4.1)
@@ -16,11 +17,12 @@
 #define NX_DRIVE_SPEED  "n_speed"   // number: vehicle speed, integer km/h
 #define NX_DRIVE_RPM    "n_rpm"     // number: motor RPM
 #define NX_DRIVE_TORQUE "n_torque"  // number: torque command, 0-100%
-#define NX_DRIVE_DCBUS  "n_dcbus"   // number: DC bus voltage, whole volts
+#define NX_DRIVE_DCBUS  "n_dc_bus"   // number: DC bus voltage, whole volts
 #define NX_DRIVE_FAULT  "t_fault"   // text: "OK" or "FAULT"
 #define NX_DRIVE_STATE  "t_drive"   // text: "DRIVE: ON" or "DRIVE: OFF"
-#define NX_DRIVE_MOTOR_TEMP  "n_mtemp"   // number: motor temperature, °C
-#define NX_DRIVE_INVERTER_TEMP  "n_itemp"   // number: inverter temperature, °C
+#define NX_DRIVE_MOTOR_TEMP  "n_motor_temp"   // number: motor temperature, °C
+#define NX_DRIVE_INVERTER_TEMP  "n_inv_temp"   // number: inverter temperature, °C
+#define NX_DRIVE_SPEED_BAR "j_throttle"    // progress bar: throttle command, 0-100% 
 
 struct DashStatus {
   int16_t speed; // km/h
@@ -43,4 +45,5 @@ class Nextion {
   static void sendNumber(const char *component, int16_t value);
   static void bootStatus(const char *phase, const char *detail);
   static void updateDash(DashStatus dashStatus);
+  static void sendNumberValue(const char *component, int16_t value);
 };

include/Pedal.h

@@ -0,0 +1,14 @@
+#pragma once
+#include "config.h"
+
+class Pedal {
+private:
+  float appsPercent(int raw, int rest, int full);
+  bool fault = false;
+  uint8_t plausibilityCount = 0;
+public:
+  Pedal();
+  int16_t apps1Raw = 0;
+  int16_t apps2Raw = 0;
+  int16_t read();
+};

include/config.h

@@ -8,7 +8,8 @@
 
 
 // --------- LOGGING ----------
-#define LOG_SD true
+#define SERIAL_LOG_LEVEL LogLevel::NONE  // threshold for logging to serial (NONE to disable)
+#define LOG_SD false
 #define LOG_SERIAL false
 #define MAX_BUF 16
 #define MAX_LOG_LEN 128
@@ -18,7 +19,27 @@ extern FsFile logFile;
 #define DEBOUNCE_MS 50
 #define BUTTON_PIN 2
 
+// ---------- APPS (pedal sensor) config ----------
+// Set REST to ADC reading with pedal physically released.
+// Set FULL to ADC reading at maximum pedal travel.
+// Formula handles both rising and falling sensor directions.
+#define APPS1_PIN  A0
+#define APPS2_PIN  A1
+#define APPS1_REST 2884   // calibrate: ADC at physical zero
+#define APPS1_FULL 1835   // calibrate: ADC at full pedal
+#define APPS2_REST 2910   // calibrate: ADC at physical zero
+#define APPS2_FULL 1845   // calibrate: ADC at full pedal
+#define PEDAL_DEADBAND_PERCENT 3
+#define PEDAL_PLAUSIBILITY_PERCENT 10
+#define MAX_ACCEL_PERCENT 100
+#define TORQUE_MAX 32767
+
 // ---------- Adafruit MPU -----------
 #define MPU_ACCEL_RANGE MPU6050_RANGE_8_G
 #define MPU_GYRO_RANGE MPU6050_RANGE_500_DEG
-#define MPU_FILTER_BW MPU6050_BAND_21_HZ
+#define MPU_FILTER_BW MPU6050_BAND_21_HZ
+
+// ---------- BAMOCAR ----------
+#define BAMOCAR_RX_ID 0x201  // Teensy → Bamocar
+#define BAMOCAR_TX_ID 0x181  // Bamocar → Teensy
+extern FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> Can1;

src/Logger.cpp

@@ -17,6 +17,10 @@ void Logger::log(LogLevel level, const char* module, const char* msg) {
     LogEntry entry;
     snprintf(entry.data, MAX_LOG_LEN, "[%s] %s: %s", levelToStr(level), module, msg);
 
+    if (SERIAL_LOG_LEVEL >= level) {
+        Serial.println(entry.data);
+    }
+
     _logBuffer.push(entry);
     //TODO: consider having mode for nextion to display logs in real time
     //      serial writing is better done in smaller bursts, so use different buffer
@@ -43,7 +47,7 @@ void Logger::process() {
     uint8_t count = 0;
 
     // Pop and write in small bursts
-    while (_logBuffer.pop(&entry) && count < 5) {
+    while (_logBuffer.pop(entry) && count < 5) {
         logFile.println(entry.data);
         count++;
     }

src/Nextion.cpp

@@ -10,14 +10,14 @@ void Nextion::sendCmd(const char *cmd) {
 
 void Nextion::begin() {
   NEXTION_SERIAL.begin(NEXTION_BAUD);
-  delay(100); 
+  delay(100);
   sendCmd(""); // clear RX buffer
   sendCmd("bkcmd=1"); // enable Nextion command feedback
   sendCmd("page 0");
 }
 
 void Nextion::page(uint8_t pageNumber) {
-  char cmd[8];
+  char cmd[16];
   snprintf(cmd, sizeof(cmd), "page %d", pageNumber);
   sendCmd(cmd);
 }
@@ -29,6 +29,14 @@ void Nextion::sendText(const char *component, const char *text) {
 }
 
 void Nextion::sendNumber(const char *component, int16_t value) {
+  char cmd[32];
+  char buf[8];
+  itoa(value, buf, 10);
+  snprintf(cmd, sizeof(cmd), "%s.txt=\"%s\"", component, buf);
+  sendCmd(cmd);
+}
+
+void Nextion::sendNumberValue(const char *component, int16_t value) {
   char cmd[32];
   snprintf(cmd, sizeof(cmd), "%s.val=%d", component, value);
   sendCmd(cmd);
@@ -44,8 +52,10 @@ void Nextion::updateDash(DashStatus dashStatus) {
   sendNumber(NX_DRIVE_RPM, dashStatus.rpm);
   sendNumber(NX_DRIVE_TORQUE, dashStatus.torque);
   sendNumber(NX_DRIVE_DCBUS, dashStatus.dcBusV);
-  sendText(NX_DRIVE_FAULT, dashStatus.fault ? "FAULT" : "OK");
-  sendText(NX_DRIVE_STATE, dashStatus.driveOn ? "DRIVE: ON" : "DRIVE: OFF");
+  //sendText(NX_DRIVE_FAULT, dashStatus.fault ? "FAULT" : "OK");
+  //sendText(NX_DRIVE_STATE, dashStatus.driveOn ? "DRIVE: ON" : "DRIVE: OFF");
+  // TODO: update fault and drive state when we have that data from CAN
   sendNumber(NX_DRIVE_MOTOR_TEMP, dashStatus.motorTemp);
   sendNumber(NX_DRIVE_INVERTER_TEMP, dashStatus.inverterTemp);
+  sendNumberValue(NX_DRIVE_SPEED_BAR, dashStatus.torque);
 }

src/Pedal.cpp

@@ -0,0 +1,44 @@
+#include "pedal.h"
+
+float Pedal::appsPercent(int raw, int rest, int full) {
+  float pct = (float)(rest - raw) * 100.0f / (float)(rest - full);
+  pct = std::clamp(pct, 0.0f, 100.0f);
+  return pct;
+}
+
+int16_t Pedal::read() {
+  apps1Raw = analogRead(APPS1_PIN);
+  apps2Raw = analogRead(APPS2_PIN);
+
+  float pct1 = appsPercent(apps1Raw, APPS1_REST, APPS1_FULL);
+  float pct2 = appsPercent(apps2Raw, APPS2_REST, APPS2_FULL);
+
+  // Plausibility: sensors must agree within PEDAL_PLAUSIBILITY_PERCENT.
+  // Fault only latches after 3 consecutive bad readings (~60ms) to reject
+  // single noisy samples. Zero torque immediately on any bad reading.
+  if (fabsf(pct1 - pct2) > PEDAL_PLAUSIBILITY_PERCENT) {
+    plausibilityCount++;
+    if (plausibilityCount >= 3) fault = true;
+    return 0;
+  }
+
+  plausibilityCount = 0;
+
+  // reset fault when pedal is released
+  if (fault) {
+    if (pct1 < PEDAL_DEADBAND_PERCENT && pct2 < PEDAL_DEADBAND_PERCENT) {
+      fault = false;
+    } else {
+      return 0;
+    }
+  }
+  // TODO: cut power if fault persistent for 100ms
+
+  float pct = (pct1 + pct2) * 0.5f;
+  if (pct < PEDAL_DEADBAND_PERCENT) {
+    pct = 0.0f;
+  }
+  pct = std::min(pct, (float)MAX_ACCEL_PERCENT);
+
+  return (int16_t)(TORQUE_MAX * (pct / 100.0f));
+}

src/main.cpp

@@ -9,21 +9,40 @@ Adafruit_MPU6050 MPU;
 MpuController mpuController(MPU);
 Button driveButton(BUTTON_PIN);
 DashStatus dashStatus;
+FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> Can1;
 
 void setup() {
   Nextion::begin();
   Nextion::bootStatus("INITIALISATION", "System booting up, initialising components");
 
   Logger::begin();
+  if (SERIAL_LOG_LEVEL != LogLevel::NONE) {
+    Serial.begin(115200);
+    while (!Serial);
+    Serial.println("System Ready!");
+  }
+
   Logger::log(LogLevel::INFO, "Main", "System booting up, initialising components");
 
   mpuController.begin();
 
   Nextion::bootStatus("INITIALISATION", "Initialisation complete, starting main loop");
   Logger::log(LogLevel::INFO, "Main", "System initialised, starting main loop");
+
+  Nextion::page(NX_PAGE_DRIVE);
 }
 
 void loop() {
   mpuController.logTelemetry();
   //TODO: update dashStatus from CAN
+
+
+
+  //TODO: Implement brake and APPS signal checking
+  /* EV2.3.1 — if brakes are mechanically actuated AND APPS signals >25% pedal travel 
+  (or >5kW, whichever is lower) simultaneously for more than 500ms, commanded torque 
+  must be 0 Nm.
+  EV2.3.2 — once that condition triggers, torque must stay at 0 Nm until APPS drops 
+  below 5% and 0 Nm is commanded — regardless of whether brakes are still on.
+  */
 }