led blinking on node board

CooperUnion · Feb 29, 2024 · 7424a2a · 7424a2a
1 parent aa9a594
commit 7424a2a
Show file tree

Hide file tree

Showing 6 changed files with 91 additions and 0 deletions.
diff --git a/can/can.yml b/can/can.yml
@@ -340,6 +340,30 @@ nodes:
             from_template: EncoderData
             id: 0x13
 
+  - LED:
+      rx:
+        - DBW_ESTOP
+        - UPD_UpdateControl_LED  # bootloader
+      messages:
+        - NodeInfo:
+            from_template: DBWNodeInfo
+            id: 0xD7
+
+        - NodeStatus:
+            from_template: DBWNodeStatus
+            id: 0xE7
+
+  - LEDBL:
+      rx:
+        - UPD_IsoTpTx_LED
+        - UPD_UpdateControl_LED
+      messages:
+        - IsoTpTx:
+            id: 0x601
+        - Status:
+            from_template: BlStatus
+            id: 0x602
+
   - ODRIVE:
       -rx:
         - STEER_ODriveVelocity
@@ -715,6 +739,10 @@ nodes:
         - CTRLBL_IsoTpTx
         - CTRLBL_Status
 
+        - LED_NodeStatus
+        - LEDBL_IsoTpTx
+        - LEDBL_Status
+
         - STEER_NodeStatus
         - STEERBL_IsoTpTx
         - STEERBL_Status
@@ -733,6 +761,8 @@ nodes:
             id: 0x531
         - IsoTpTx_CTRL:
             id: 0x532
+        - IsoTpTx_LED:
+            id: 0x536
         - IsoTpTx_STEER:
             id: 0x533
         - IsoTpTx_SUP:
@@ -748,6 +778,9 @@ nodes:
         - UpdateControl_CTRL:
             from_template: UpdateControl
             id: 0x5A2
+        - UpdateControl_LED:
+            from_template: UpdateControl
+            id: 0x5A6
         - UpdateControl_STEER:
             from_template: UpdateControl
             id: 0x5A3

diff --git a/dbw/ember_bl/platformio.ini b/dbw/ember_bl/platformio.ini
@@ -65,6 +65,11 @@ board = ccmn_v2.0B
 board_can_node = CTRLBL
 board_node_identity = CTRL
 
+[env:led]
+board = ccmn_v2.0B
+board_can_node = LEDBL
+board_node_identity = LED
+
 [env:steer]
 board = ccmn_v2.0B
 board_can_node = STEERBL

diff --git a/dbw/node_fw/mod/led/led.c b/dbw/node_fw/mod/led/led.c
@@ -0,0 +1,37 @@
+#include "led.h"
+#include <driver/gpio.h>
+
+#include "ember_common.h"
+#include "ember_taskglue.h"
+
+// ######        DEFINES        ###### //
+#define LED_GPIO 17
+
+// ######     PRIVATE DATA      ###### //
+static int LED_STATUS;
+
+// ######      PROTOTYPES       ###### //
+static void led_init();
+static void led_1Hz();
+
+// ######    RATE FUNCTIONS     ###### //
+
+ember_rate_funcs_S module_rf = {
+    .call_init  = led_init,
+    .call_1Hz = led_1Hz,
+};
+
+static void led_init(){
+    gpio_set_direction(LED_GPIO, GPIO_MODE_OUTPUT);
+}
+
+static void led_1Hz(){
+    LED_STATUS = !LED_STATUS;
+    gpio_set_level(LED_GPIO, LED_STATUS);
+}
+
+// ######   PRIVATE FUNCTIONS   ###### //
+
+// ######   PUBLIC FUNCTIONS    ###### //
+
+// ######        CAN TX         ###### //
diff --git a/dbw/node_fw/mod/led/led.h b/dbw/node_fw/mod/led/led.h
@@ -0,0 +1,4 @@
+#ifndef LED_H
+#define LED_H
+
+#endif
diff --git a/dbw/node_fw/mod/led/library.json b/dbw/node_fw/mod/led/library.json
@@ -0,0 +1,5 @@
+{
+    "name": "jeannette-led",
+    "version": "rolling",
+    "description": "simple node to turn on LED"
+}
diff --git a/dbw/node_fw/platformio.ini b/dbw/node_fw/platformio.ini
@@ -117,3 +117,10 @@ board_can_node = SUP
 lib_deps =
     ${env.lib_deps}
     cuber-sup
+
+[env:led]
+board = ccmn_v2.0B
+board_can_node = LED
+lib_deps =
+    ${env.lib_deps}
+    jeannette-led