[SOFT-516] Update steering: DRL behaviour (#425)

projects/smoke_steering/src/main.c

@@ -12,9 +12,9 @@
   { .port = GPIO_PORT_A, .pin = 4 }
 #define RADIO_PTT_GPIO_ADDR \
   { .port = GPIO_PORT_B, .pin = 1 }
-#define DRL_1_GPIO_ADDR \
+#define DRL_ON_GPIO_ADDR \
   { .port = GPIO_PORT_A, .pin = 6 }
-#define DRL_2_GPIO_ADDR \
+#define DRL_OFF_GPIO_ADDR \
   { .port = GPIO_PORT_A, .pin = 5 }
 #define REGEN_BRAKE_TOGGLE_GPIO_ADDR \
   { .port = GPIO_PORT_A, .pin = 7 }
@@ -28,18 +28,18 @@
 #define TIMER_INTERVAL_MS 1000
 #define VOLTAGE_TOLERANCE_MV 10
 // Check these values for the turn signal empirically
-#define STEERING_CONTROL_STALK_LEFT_SIGNAL_VOLTAGE_MV 2972
-#define STEERING_CONTROL_STALK_RIGHT_SIGNAL_VOLTAGE_MV 3013
+#define STEERING_CONTROL_STALK_LEFT_SIGNAL_VOLTAGE_MV 3025
+#define STEERING_CONTROL_STALK_RIGHT_SIGNAL_VOLTAGE_MV 2984
 #define STEERING_CONTROL_STALK_NO_SIGNAL_VOLTAGE_MV 3300
 #define ADC_READER_GPIO_ADDR \
   { .port = GPIO_PORT_A, .pin = 3 }
+#define DRL_SIGNAL_VOLTAGE_MV 1500
+#define DRL_SIGNAL_VOLTAGE_TOLERANCE_MV 300
 
 typedef enum {
   STEERING_DIGITAL_INPUT_HORN = 0,
-  STEERING_DIGITAL_INPUT_RADIO_PTT,
-  STEERING_DIGITAL_INPUT_DRL_1,
-  STEERING_DIGITAL_INPUT_DRL_2,
   STEERING_DIGITAL_INPUT_REGEN_BRAKE_TOGGLE,
+  STEERING_DIGITAL_INPUT_RADIO_PTT,
   STEERING_DIGITAL_INPUT_CC_TOGGLE,
   STEERING_DIGITAL_INPUT_CC_INCREASE_SPEED,
   STEERING_DIGITAL_INPUT_CC_DECREASE_SPEED,
@@ -49,8 +49,6 @@ typedef enum {
 static GpioAddress s_steering_address_lookup_table[NUM_STEERING_DIGITAL_INPUTS] = {
   [STEERING_DIGITAL_INPUT_HORN] = HORN_GPIO_ADDR,
   [STEERING_DIGITAL_INPUT_RADIO_PTT] = RADIO_PTT_GPIO_ADDR,
-  [STEERING_DIGITAL_INPUT_DRL_1] = DRL_1_GPIO_ADDR,
-  [STEERING_DIGITAL_INPUT_DRL_2] = DRL_2_GPIO_ADDR,
   [STEERING_DIGITAL_INPUT_REGEN_BRAKE_TOGGLE] = REGEN_BRAKE_TOGGLE_GPIO_ADDR,
   [STEERING_DIGITAL_INPUT_CC_TOGGLE] = CC_TOGGLE_GPIO_ADDR,
   [STEERING_DIGITAL_INPUT_CC_INCREASE_SPEED] = CC_INCREASE_SPEED_GPIO_ADDR,
@@ -60,8 +58,6 @@ static GpioAddress s_steering_address_lookup_table[NUM_STEERING_DIGITAL_INPUTS]
 static char *s_steering_input_lookup_table[NUM_STEERING_DIGITAL_INPUTS] = {
   [STEERING_DIGITAL_INPUT_HORN] = "Horn",
   [STEERING_DIGITAL_INPUT_RADIO_PTT] = "Radio PTT (formerly lane assist)",
-  [STEERING_DIGITAL_INPUT_DRL_1] = "DRL 1 (formerly high beam forward)",
-  [STEERING_DIGITAL_INPUT_DRL_2] = "DRL 2 (formerly high beam rear)",
   [STEERING_DIGITAL_INPUT_REGEN_BRAKE_TOGGLE] = "Regenerative Braking",
   [STEERING_DIGITAL_INPUT_CC_TOGGLE] = "Cruise Control",
   [STEERING_DIGITAL_INPUT_CC_INCREASE_SPEED] = "Increase Speed Cruise Control",
@@ -84,6 +80,22 @@ void prv_callback_log_adc(uint16_t data, PeriodicReaderId id, void *context) {
   LOG_DEBUG("Turn Signal ADC value: %d\n", data);
 }
 
+void prv_callback_log_drl_on(uint16_t data, PeriodicReaderId id, void *context) {
+  if (data > DRL_SIGNAL_VOLTAGE_MV - DRL_SIGNAL_VOLTAGE_TOLERANCE_MV &&
+      data < DRL_SIGNAL_VOLTAGE_MV + DRL_SIGNAL_VOLTAGE_TOLERANCE_MV) {
+    LOG_DEBUG("DRL ON signal triggered\n");
+  }
+  LOG_DEBUG("DRL ON Signal ADC value: %d\n", data);
+}
+
+void prv_callback_log_drl_off(uint16_t data, PeriodicReaderId id, void *context) {
+  if (data > DRL_SIGNAL_VOLTAGE_MV - DRL_SIGNAL_VOLTAGE_TOLERANCE_MV &&
+      data < DRL_SIGNAL_VOLTAGE_MV + DRL_SIGNAL_VOLTAGE_TOLERANCE_MV) {
+    LOG_DEBUG("DRL OFF signal triggered\n");
+  }
+  LOG_DEBUG("DRL OFF Signal ADC value: %d\n", data);
+}
+
 void prv_init_buttons() {
   GpioSettings digital_input_settings = {
     .direction = GPIO_DIR_IN,         //
@@ -117,8 +129,20 @@ void prv_init_stalk() {
     .address = ADC_READER_GPIO_ADDR,
     .callback = prv_callback_log_adc,
   };
+  AdcPeriodicReaderSettings drl_on_settings = {
+    .address = DRL_ON_GPIO_ADDR,
+    .callback = prv_callback_log_drl_on,
+  };
+  AdcPeriodicReaderSettings drl_off_settings = {
+    .address = DRL_OFF_GPIO_ADDR,
+    .callback = prv_callback_log_drl_off,
+  };
   adc_periodic_reader_set_up_reader(PERIODIC_READER_ID_0, &reader_settings);
   adc_periodic_reader_start(PERIODIC_READER_ID_0);
+  adc_periodic_reader_set_up_reader(PERIODIC_READER_ID_1, &drl_on_settings);
+  adc_periodic_reader_start(PERIODIC_READER_ID_1);
+  adc_periodic_reader_set_up_reader(PERIODIC_READER_ID_2, &drl_off_settings);
+  adc_periodic_reader_start(PERIODIC_READER_ID_2);
 }
 
 int main(void) {

projects/steering/inc/steering_control_stalk.h

@@ -5,10 +5,19 @@
 #include "event_queue.h"
 #include "status.h"
 
-#define VOLTAGE_TOLERANCE_MV 100
-#define STEERING_CONTROL_STALK_LEFT_SIGNAL_VOLTAGE_MV 1000
-#define STEERING_CONTROL_STALK_RIGHT_SIGNAL_VOLTAGE_MV 2000
+#define VOLTAGE_TOLERANCE_MV 20
+#define STEERING_CONTROL_STALK_LEFT_SIGNAL_VOLTAGE_MV 3025
+#define STEERING_CONTROL_STALK_RIGHT_SIGNAL_VOLTAGE_MV 2984
+#define DRL_SIGNAL_VOLTAGE_MV 1500
+#define DRL_SIGNAL_VOLTAGE_TOLERANCE_MV 300
+
+#define DRL_ON_GPIO_ADDR \
+  { .port = GPIO_PORT_A, .pin = 6 }
+#define DRL_OFF_GPIO_ADDR \
+  { .port = GPIO_PORT_A, .pin = 5 }
 
 StatusCode control_stalk_init();
 
 void control_stalk_callback(uint16_t data, PeriodicReaderId id, void *context);
+void drl_on_callback(uint16_t data, PeriodicReaderId id, void *context);
+void drl_off_callback(uint16_t data, PeriodicReaderId id, void *context);

projects/steering/inc/steering_digital_input.h

@@ -9,10 +9,6 @@
   { .port = GPIO_PORT_A, .pin = 4 }
 #define RADIO_PPT_GPIO_ADDR \
   { .port = GPIO_PORT_B, .pin = 1 }
-#define DRL_1_GPIO_ADDR \
-  { .port = GPIO_PORT_A, .pin = 6 }
-#define DRL_2_GPIO_ADDR \
-  { .port = GPIO_PORT_A, .pin = 5 }
 #define REGEN_BRAKE_TOGGLE_GPIO_ADDR \
   { .port = GPIO_PORT_A, .pin = 7 }
 #define CC_TOGGLE_GPIO_ADDR \
@@ -25,8 +21,6 @@
 typedef enum {
   STEERING_DIGITAL_INPUT_HORN = 0,
   STEERING_DIGITAL_INPUT_RADIO_PPT,
-  STEERING_DIGITAL_INPUT_DRL_1,
-  STEERING_DIGITAL_INPUT_DRL_2,
   STEERING_DIGITAL_INPUT_REGEN_BRAKE_TOGGLE,
   STEERING_DIGITAL_INPUT_CC_TOGGLE,
   STEERING_DIGITAL_INPUT_CC_INCREASE_SPEED,

projects/steering/inc/steering_events.h

@@ -4,8 +4,6 @@ typedef enum {
   // Digital
   STEERING_INPUT_HORN_EVENT = 0,
   STEERING_RADIO_PPT_EVENT,
-  STEERING_DRL_1_EVENT,
-  STEERING_DRL_2_EVENT,
   STEERING_REGEN_BRAKE_EVENT,
   STEERING_DIGITAL_INPUT_CC_TOGGLE_PRESSED_EVENT,
   STEERING_CC_INCREASE_SPEED_EVENT,
@@ -16,10 +14,12 @@ typedef enum {
   // Analog
   STEERING_CONTROL_STALK_EVENT_LEFT_SIGNAL = STEERING_CC_DECREASE_SPEED_EVENT + 1,
   STEERING_CONTROL_STALK_EVENT_RIGHT_SIGNAL,
+  STEERING_DRL_ON_EVENT,
+  STEERING_DRL_OFF_EVENT,
 } SteeringAnalogEvent;
 
 typedef enum {
-  STEERING_CAN_EVENT_RX = STEERING_CONTROL_STALK_EVENT_RIGHT_SIGNAL + 1,
+  STEERING_CAN_EVENT_RX = STEERING_DRL_OFF_EVENT + 1,
   STEERING_CAN_EVENT_TX,
   STEERING_CAN_FAULT,
   NUM_TOTAL_STEERING_EVENTS,

projects/steering/src/steering_can.c

@@ -1,4 +1,5 @@
 #include "steering_can.h"
+
 #include "can.h"
 #include "can_transmit.h"
 #include "event_queue.h"
@@ -7,16 +8,18 @@
 #include "steering_digital_input.h"
 #include "steering_events.h"
 
+static bool turning = false;
+
 StatusCode steering_can_process_event(Event *e) {
   switch (e->id) {
     case STEERING_INPUT_HORN_EVENT:
       CAN_TRANSMIT_HORN((EEHornState)e->data);
       break;
-    case STEERING_DRL_1_EVENT:
-      CAN_TRANSMIT_LIGHTS(EE_LIGHT_TYPE_DRL, (EELightState)e->data);
+    case STEERING_DRL_ON_EVENT:
+      if (turning == false) CAN_TRANSMIT_LIGHTS(EE_LIGHT_TYPE_DRL, EE_LIGHT_STATE_ON);
       break;
-    case STEERING_DRL_2_EVENT:
-      CAN_TRANSMIT_LIGHTS(EE_LIGHT_TYPE_DRL, (EELightState)e->data);
+    case STEERING_DRL_OFF_EVENT:
+      CAN_TRANSMIT_LIGHTS(EE_LIGHT_TYPE_DRL, EE_LIGHT_STATE_OFF);
       break;
     case STEERING_DIGITAL_INPUT_CC_TOGGLE_PRESSED_EVENT:
       CAN_TRANSMIT_CRUISE_CONTROL_COMMAND(EE_CRUISE_CONTROL_COMMAND_TOGGLE);
@@ -29,9 +32,11 @@ StatusCode steering_can_process_event(Event *e) {
       break;
     case STEERING_CONTROL_STALK_EVENT_LEFT_SIGNAL:
       CAN_TRANSMIT_LIGHTS(EE_LIGHT_TYPE_SIGNAL_LEFT, (EELightState)e->data);
+      turning = ((EELightState)e->data == EE_LIGHT_STATE_ON);
       break;
     case STEERING_CONTROL_STALK_EVENT_RIGHT_SIGNAL:
       CAN_TRANSMIT_LIGHTS(EE_LIGHT_TYPE_SIGNAL_RIGHT, (EELightState)e->data);
+      turning = ((EELightState)e->data == EE_LIGHT_STATE_ON);
       break;
     case STEERING_REGEN_BRAKE_EVENT:
       CAN_TRANSMIT_REGEN_BRAKING_TOGGLE_REQUEST();

projects/steering/src/steering_control_stalk.c

@@ -6,6 +6,10 @@
 
 AdcPeriodicReaderSettings reader_settings = { .address = { .port = GPIO_PORT_A, .pin = 3 },
                                               .callback = control_stalk_callback };
+AdcPeriodicReaderSettings drl_on_settings = { .address = DRL_ON_GPIO_ADDR,
+                                              .callback = drl_on_callback };
+AdcPeriodicReaderSettings drl_off_settings = { .address = DRL_OFF_GPIO_ADDR,
+                                               .callback = drl_off_callback };
 
 // Stores event id of the previous event that was just raised
 static SteeringAnalogEvent prev = 0;
@@ -24,8 +28,26 @@ void control_stalk_callback(uint16_t data, PeriodicReaderId id, void *context) {
   }
 }
 
+void drl_on_callback(uint16_t data, PeriodicReaderId id, void *context) {
+  if (data > DRL_SIGNAL_VOLTAGE_MV - DRL_SIGNAL_VOLTAGE_TOLERANCE_MV &&
+      data < DRL_SIGNAL_VOLTAGE_MV + DRL_SIGNAL_VOLTAGE_TOLERANCE_MV) {
+    event_raise((EventId)STEERING_DRL_ON_EVENT, data);
+  }
+}
+
+void drl_off_callback(uint16_t data, PeriodicReaderId id, void *context) {
+  if (data > DRL_SIGNAL_VOLTAGE_MV - DRL_SIGNAL_VOLTAGE_TOLERANCE_MV &&
+      data < DRL_SIGNAL_VOLTAGE_MV + DRL_SIGNAL_VOLTAGE_TOLERANCE_MV) {
+    event_raise((EventId)STEERING_DRL_OFF_EVENT, data);
+  }
+}
+
 StatusCode control_stalk_init() {
   status_ok_or_return(adc_periodic_reader_set_up_reader(PERIODIC_READER_ID_0, &reader_settings));
   status_ok_or_return(adc_periodic_reader_start(PERIODIC_READER_ID_0));
+  status_ok_or_return(adc_periodic_reader_set_up_reader(PERIODIC_READER_ID_1, &drl_on_settings));
+  status_ok_or_return(adc_periodic_reader_start(PERIODIC_READER_ID_1));
+  status_ok_or_return(adc_periodic_reader_set_up_reader(PERIODIC_READER_ID_2, &drl_off_settings));
+  status_ok_or_return(adc_periodic_reader_start(PERIODIC_READER_ID_2));
   return STATUS_CODE_OK;
 }

projects/steering/src/steering_digital_input.c

@@ -10,8 +10,6 @@
 static GpioAddress s_steering_address_lookup_table[NUM_STEERING_DIGITAL_INPUTS] = {
   [STEERING_DIGITAL_INPUT_HORN] = HORN_GPIO_ADDR,
   [STEERING_DIGITAL_INPUT_RADIO_PPT] = RADIO_PPT_GPIO_ADDR,
-  [STEERING_DIGITAL_INPUT_DRL_1] = DRL_1_GPIO_ADDR,
-  [STEERING_DIGITAL_INPUT_DRL_2] = DRL_2_GPIO_ADDR,
   [STEERING_DIGITAL_INPUT_REGEN_BRAKE_TOGGLE] = REGEN_BRAKE_TOGGLE_GPIO_ADDR,
   [STEERING_DIGITAL_INPUT_CC_TOGGLE] = CC_TOGGLE_GPIO_ADDR,
   [STEERING_DIGITAL_INPUT_CC_INCREASE_SPEED] = CC_INCREASE_SPEED_GPIO_ADDR,
@@ -21,8 +19,6 @@ static GpioAddress s_steering_address_lookup_table[NUM_STEERING_DIGITAL_INPUTS]
 static EventId s_steering_event_lookup_table[NUM_STEERING_DIGITAL_INPUTS] = {
   [STEERING_DIGITAL_INPUT_HORN] = STEERING_INPUT_HORN_EVENT,
   [STEERING_DIGITAL_INPUT_RADIO_PPT] = STEERING_RADIO_PPT_EVENT,
-  [STEERING_DIGITAL_INPUT_DRL_1] = STEERING_DRL_1_EVENT,
-  [STEERING_DIGITAL_INPUT_DRL_2] = STEERING_DRL_2_EVENT,
   [STEERING_DIGITAL_INPUT_REGEN_BRAKE_TOGGLE] = STEERING_REGEN_BRAKE_EVENT,
   [STEERING_DIGITAL_INPUT_CC_TOGGLE] = STEERING_DIGITAL_INPUT_CC_TOGGLE_PRESSED_EVENT,
   [STEERING_DIGITAL_INPUT_CC_INCREASE_SPEED] = STEERING_CC_INCREASE_SPEED_EVENT,

projects/steering/test/test_control_stalk.c

@@ -34,6 +34,13 @@ static CanStorage s_can_storage;
 
 static int count = 0;
 
+StatusCode prv_test_high_beam_rx_cb_handler(const CanMessage *msg, void *context,
+                                            CanAckStatus *ack_reply) {
+  TEST_ASSERT_EQUAL(SYSTEM_CAN_MESSAGE_LIGHTS, msg->msg_id);
+  count++;
+  return STATUS_CODE_OK;
+}
+
 StatusCode prv_test_signal_rx_cb_handler(const CanMessage *msg, void *context,
                                          CanAckStatus *ack_reply) {
   TEST_ASSERT_EQUAL(SYSTEM_CAN_MESSAGE_LIGHTS, msg->msg_id);
@@ -68,6 +75,34 @@ void test_control_stalk_left_signal() {
   TEST_ASSERT_EQUAL(1, count);
 }
 
+void test_drl() {
+  TEST_ASSERT_OK(
+      can_register_rx_handler(SYSTEM_CAN_MESSAGE_LIGHTS, prv_test_high_beam_rx_cb_handler, NULL));
+  // Manually call the callback function with DRL_SIGNAL voltage
+  drl_on_callback(DRL_SIGNAL_VOLTAGE_MV, PERIODIC_READER_ID_1, NULL);
+  Event e = { 0 };
+  MS_TEST_HELPER_ASSERT_NEXT_EVENT(e, (EventId)STEERING_DRL_ON_EVENT,
+                                   (uint16_t)DRL_SIGNAL_VOLTAGE_MV);
+  MS_TEST_HELPER_ASSERT_NO_EVENT_RAISED();
+  TEST_ASSERT_OK(steering_can_process_event(&e));
+  MS_TEST_HELPER_CAN_TX_RX(STEERING_CAN_EVENT_TX, STEERING_CAN_EVENT_RX);
+  TEST_ASSERT_EQUAL(2, count);
+
+  // Manually call the callback function with 0 voltage
+  drl_on_callback(0, PERIODIC_READER_ID_1, NULL);
+  MS_TEST_HELPER_ASSERT_NO_EVENT_RAISED();
+  TEST_ASSERT_EQUAL(2, count);
+
+  // Manually call the callback function with DRL_SIGNAL voltage
+  drl_off_callback(DRL_SIGNAL_VOLTAGE_MV, PERIODIC_READER_ID_2, NULL);
+  MS_TEST_HELPER_ASSERT_NEXT_EVENT(e, (EventId)STEERING_DRL_OFF_EVENT,
+                                   (uint16_t)DRL_SIGNAL_VOLTAGE_MV);
+  MS_TEST_HELPER_ASSERT_NO_EVENT_RAISED();
+  TEST_ASSERT_OK(steering_can_process_event(&e));
+  MS_TEST_HELPER_CAN_TX_RX(STEERING_CAN_EVENT_TX, STEERING_CAN_EVENT_RX);
+  TEST_ASSERT_EQUAL(3, count);
+}
+
 void test_control_stalk_right_signal_with_simultaneous_calls() {
   TEST_ASSERT_OK(
       can_register_rx_handler(SYSTEM_CAN_MESSAGE_LIGHTS, prv_test_signal_rx_cb_handler, NULL));
@@ -85,7 +120,7 @@ void test_control_stalk_right_signal_with_simultaneous_calls() {
   MS_TEST_HELPER_ASSERT_NO_EVENT_RAISED();
   TEST_ASSERT_OK(steering_can_process_event(&e));
   MS_TEST_HELPER_CAN_TX_RX(STEERING_CAN_EVENT_TX, STEERING_CAN_EVENT_RX);
-  TEST_ASSERT_EQUAL(2, count);
+  TEST_ASSERT_EQUAL(4, count);
 }
 
 void test_invalid_voltage() {

projects/steering/test/test_steering_digital_input.c

@@ -36,13 +36,6 @@ StatusCode prv_test_horn_rx_cb_handler(const CanMessage *msg, void *context,
   return STATUS_CODE_OK;
 }
 
-StatusCode prv_test_high_beam_rx_cb_handler(const CanMessage *msg, void *context,
-                                            CanAckStatus *ack_reply) {
-  TEST_ASSERT_EQUAL(SYSTEM_CAN_MESSAGE_LIGHTS, msg->msg_id);
-  count++;
-  return STATUS_CODE_OK;
-}
-
 StatusCode prv_test_cc_toggle_rx_cb_handler(const CanMessage *msg, void *context,
                                             CanAckStatus *ack_reply) {
   TEST_ASSERT_EQUAL(SYSTEM_CAN_MESSAGE_CRUISE_CONTROL_COMMAND, msg->msg_id);
@@ -73,19 +66,6 @@ void test_steering_digital_input_horn() {
   TEST_ASSERT_EQUAL(1, count);
 }
 
-void test_steering_digital_input_drl_1() {
-  TEST_ASSERT_OK(
-      can_register_rx_handler(SYSTEM_CAN_MESSAGE_LIGHTS, prv_test_high_beam_rx_cb_handler, NULL));
-  GpioAddress drl_1_address = DRL_1_GPIO_ADDR;
-  TEST_ASSERT_OK(gpio_it_trigger_interrupt(&drl_1_address));
-  Event e = { 0 };
-  MS_TEST_HELPER_ASSERT_NEXT_EVENT(e, (EventId)STEERING_DRL_1_EVENT, (uint16_t)GPIO_STATE_LOW);
-  MS_TEST_HELPER_ASSERT_NO_EVENT_RAISED();
-  TEST_ASSERT_OK(steering_can_process_event(&e));
-  MS_TEST_HELPER_CAN_TX_RX(STEERING_CAN_EVENT_TX, STEERING_CAN_EVENT_RX);
-  TEST_ASSERT_EQUAL(2, count);
-}
-
 void test_steering_digital_input_cc_toggle() {
   TEST_ASSERT_OK(can_register_rx_handler(SYSTEM_CAN_MESSAGE_CRUISE_CONTROL_COMMAND,
                                          prv_test_cc_toggle_rx_cb_handler, NULL));
@@ -97,7 +77,7 @@ void test_steering_digital_input_cc_toggle() {
   MS_TEST_HELPER_ASSERT_NO_EVENT_RAISED();
   TEST_ASSERT_OK(steering_can_process_event(&e));
   MS_TEST_HELPER_CAN_TX_RX(STEERING_CAN_EVENT_TX, STEERING_CAN_EVENT_RX);
-  TEST_ASSERT_EQUAL(3, count);
+  TEST_ASSERT_EQUAL(2, count);
 }
 
 void test_invalid_can_message() {