wheel speed on dash

Author: asymptonic

DASH/Core/User/Inc/FEB_CAN_SensorNodes.h

@@ -0,0 +1,19 @@
+/**
+ ******************************************************************************
+ * @file           : FEB_CAN_SensorNodes.h
+ * @brief          : CAN SensorNodes Receiving Module
+ * @author         : Formula Electric @ Berkeley
+ ******************************************************************************
+ */
+
+#ifndef FEB_CAN_SensorNodes_H
+#define FEB_CAN_SensorNodes_H
+
+#include <stdbool.h>
+#include <stdint.h>
+
+void FEB_CAN_SensorNodes_Init(void);
+uint16_t FEB_CAN_SensorNodes_GetLastRearWheelSpeed(void);
+bool FEB_CAN_SensorNodes_IsDataFresh(uint32_t timeout_ms);
+
+#endif /* FEB_CAN_SensorNodes_H */

DASH/Core/User/Inc/UI_Elements/FEB_UI_Torque.h

@@ -7,7 +7,7 @@
 #define FEB_UI_TORQUE_H
 
 // ── API ───────────────────────────────────────────────────────────────
-void FEB_UI_Update_Torque(int16_t torque);
+void FEB_UI_Update_Torque();
 void FEB_UI_Init_Torque(lv_obj_t *ui_Screen);
 void FEB_UI_Destroy_Torque(void);
 

DASH/Core/User/Inc/UI_Elements/FEB_UI_WSS.h

@@ -0,0 +1,14 @@
+/*
+ * FEB_UI_WSS.h
+ * Formula Electric Berkeley - DASH UI Wheel Speed
+ */
+
+#ifndef FEB_UI_WSS_H
+#define FEB_UI_WSS_H
+
+// ── API ───────────────────────────────────────────────────────────────
+void FEB_UI_Update_WSS();
+void FEB_UI_Init_WSS(lv_obj_t *ui_Screen);
+void FEB_UI_Destroy_WSS(void);
+
+#endif /* FEB_UI_WSS_H */

DASH/Core/User/Src/FEB_CAN.c

@@ -30,6 +30,7 @@
 #include "FEB_CAN_LVPDB.h"
 #include "FEB_CAN_PCU.h"
 #include "FEB_CAN_BMS.h"
+#include "FEB_CAN_SensorNodes.h"
 
 /* ========================== External HAL handles ========================== */
 extern CAN_HandleTypeDef hcan1;
@@ -150,6 +151,7 @@ void StartDASHTaskRx(void *argument)
   FEB_CAN_BMS_Init();
   FEB_CAN_PCU_Init();
   FEB_CAN_LVPDB_Init();
+  FEB_CAN_SensorNodes_Init();
 
   /* Signal that CAN is ready for state publishing */
   FEB_CAN_State_SetReady();

DASH/Core/User/Src/FEB_CAN_LVPDB.c

@@ -33,7 +33,6 @@ static LVPDB_State_t lvpdb_state = {.lv_24v_voltage = 0, .lv_12v_voltage = 0, .l
 static void rx_callback_lv_voltages(FEB_CAN_Instance_t instance, uint32_t can_id, FEB_CAN_ID_Type_t id_type,
                                     const uint8_t *data, uint8_t length, void *user_data)
 {
-  LOG_I("CAN RX", "Received can message %X %X", data[0], data[1]);
   struct feb_can_lvpdb_lv_24v_bus_and_12v_bus_voltages_t msg;
   if (feb_can_lvpdb_lv_24v_bus_and_12v_bus_voltages_unpack(&msg, data, length) == 0)
   {

DASH/Core/User/Src/FEB_CAN_SensorNodes.c

@@ -0,0 +1,66 @@
+/**
+ ******************************************************************************
+ * @file           : FEB_CAN_SensorNodes.c
+ * @brief          : CAN SensorNodes Receiving Module Implementation
+ * @author         : Formula Electric @ Berkeley
+ ******************************************************************************
+ */
+
+#include "FEB_CAN_LVPDB.h"
+#include "feb_can.h"
+#include "feb_can_lib.h"
+#include "feb_log.h"
+#include "stm32f4xx_hal.h"
+#include <stdbool.h>
+#include <stdint.h>
+
+static int16_t rear_wheel_speed = 0;
+static uint32_t last_rx_tick;
+
+/* ============================================================================
+ * RX Callback Handlers
+ * ============================================================================ */
+
+static void rx_callback_rear_wss(FEB_CAN_Instance_t instance, uint32_t can_id, FEB_CAN_ID_Type_t id_type,
+                                 const uint8_t *data, uint8_t length, void *user_data)
+{
+  struct feb_can_wss_rear_data_t msg;
+  if (feb_can_wss_rear_data_unpack(&msg, data, length) == 0)
+  {
+    rear_wheel_speed = msg.wss_right_rear;
+    __DMB();
+    last_rx_tick = HAL_GetTick();
+  }
+}
+
+/* ============================================================================
+ * API Implementation
+ * ============================================================================ */
+
+void FEB_CAN_SensorNodes_Init(void)
+{
+  FEB_CAN_RX_Params_t rx_params = {
+      .instance = FEB_CAN_INSTANCE_1,
+      .can_id = FEB_CAN_WSS_REAR_DATA_FRAME_ID,
+      .id_type = FEB_CAN_ID_STD,
+      .filter_type = FEB_CAN_FILTER_EXACT,
+      .fifo = FEB_CAN_FIFO_0,
+      .callback = rx_callback_rear_wss,
+      .user_data = NULL,
+  };
+
+  FEB_CAN_RX_Register(&rx_params);
+}
+
+uint16_t FEB_CAN_SensorNodes_GetLastRearWheelSpeed(void)
+{
+  return rear_wheel_speed;
+}
+
+bool FEB_CAN_SensorNodes_IsDataFresh(uint32_t timeout_ms)
+{
+  uint32_t last = last_rx_tick;
+  if (last == 0)
+    return false;
+  return (HAL_GetTick() - last) < timeout_ms;
+}

DASH/Core/User/Src/FEB_IO.c

@@ -156,10 +156,10 @@ void FEB_IO_Update_GPIO(void)
   state.button_3 = (bool)(received_data[0] & (1 << 3));
   state.button_4 = (bool)(received_data[0] & (1 << 4));
 
-  state.switch_logging = !(bool)(received_data[1] & (1 << 1));
-  state.switch_accumulator_fans = !(bool)(received_data[1] & (1 << 2));
-  state.switch_coolant_pump_radiator_fan = !(bool)(received_data[1] & (1 << 3));
-  state.switch_4 = !(bool)(received_data[1] & (1 << 0));
+  state.switch_accumulator_fans = !(bool)(received_data[1] & (1 << 3));          // switch 1
+  state.switch_coolant_pump_radiator_fan = !(bool)(received_data[1] & (1 << 2)); // switch 2
+  state.switch_logging = !(bool)(received_data[1] & (1 << 1));                   // // switch 3
+  state.switch_4 = !(bool)(received_data[1] & (1 << 0));                         // switch 4
 
   FEB_IO_Update_Buzzer();
 }

DASH/Core/User/Src/FEB_RTD.c

@@ -14,7 +14,7 @@ static uint32_t rtd_trying_to_toggle_start_tick = 0;
 static bool rtd_toggle_complete = false;
 
 // Minimum brake pressure required for RTD activation (safety interlock)
-#define RTD_BRAKE_THRESHOLD 20
+#define RTD_BRAKE_THRESHOLD 200
 
 // Any RTD input older than this is treated as missing — RTD will not arm on
 // stale CAN data. Matches BMS_STATE_TIMEOUT_MS.

DASH/Core/User/Src/FEB_UI_Helpers.c

@@ -6,6 +6,7 @@
 #include "FEB_UI_Helpers.h"
 #include "FEB_CAN_PCU.h"
 #include "UI_Elements/FEB_UI_BMS_State.h"
+#include "UI_Elements/FEB_UI_WSS.h"
 #include "lvgl.h"
 #include "src/core/lv_obj_pos.h"
 #include "src/core/lv_obj_style.h"
@@ -35,6 +36,7 @@ void ui_init(void)
   FEB_UI_Init_Torque(ui_Screen1);
   FEB_UI_Init_IO_States(ui_Screen1);
   FEB_UI_Init_BMS_State(ui_Screen1);
+  FEB_UI_Init_WSS(ui_Screen1);
 
   // Load screen
   lv_disp_load_scr(ui_Screen1);
@@ -46,7 +48,8 @@ void ui_update(void)
 {
   fake_torque += 1;
 
-  FEB_UI_Update_Torque(FEB_CAN_PCU_GetLastTorque());
+  FEB_UI_Update_Torque();
+  FEB_UI_Update_WSS();
   FEB_UI_Update_IO_States();
   FEB_UI_Update_BMS_State();
 

DASH/Core/User/Src/UI_Elements/FEB_UI_BMS_State.c

@@ -22,7 +22,7 @@ int16_t cell_max_temperature = 67;
 uint16_t accumulator_total_voltage = 67;
 uint16_t low_voltage = 67;
 
-char buf[16];
+static char buf[16];
 
 void FEB_UI_Update_BMS_State()
 {