modify steering gains over CAN

CooperUnion · Jun 2, 2024 · 8a41e95 · 8a41e95
1 parent c54d886
commit 8a41e95
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Showing 2 changed files with 30 additions and 0 deletions.
diff --git a/can/network.yml b/can/network.yml
@@ -314,6 +314,10 @@ nodes:
             from_template: PIDGains
             id: 0x778
 
+        - SetSTEERGains:
+            from_template: PIDGains
+            id: 0x779
+
         - SteeringCommand:
             id: 0x21
             cycletime: 10
@@ -490,6 +494,7 @@ nodes:
   - STEER:
       rx:
         - DBW_ESTOP
+        - DBW_SetSTEERGains
         - DBW_SteeringCommand
         - ODRIVE_Status
         - SUP_Authorization
@@ -608,6 +613,12 @@ nodes:
                     - READY
                     - CALIBRATING
                     - NEEDS_CALIBRATION
+
+        - SteeringGains:
+            from_template: PIDGains
+            id: 0x251
+            cycletime: 10
+
   - STEERBL:
       rx:
         - UPD_IsoTpTx_STEER

diff --git a/components/steer/src/steer.c b/components/steer/src/steer.c
@@ -162,6 +162,25 @@ static bool odrive_calibration_needed(void)
 	return calibration_needed;
 }
 
+void CANRX_onRxCallback_DBW_SetSTEERGains(
+	const struct CAN_TMessageRaw_PIDGains * const raw,
+	const struct CAN_TMessage_PIDGains * const    dec)
+{
+	(void) raw;
+
+	pid.kp = dec->gainKp;
+	pid.ki = dec->gainKi;
+	pid.kd = dec->gainKd;
+}
+
+void CANTX_populateTemplate_SteeringGains(
+	struct CAN_TMessage_PIDGains * const m)
+{
+	m->gainKp = pid.kp;
+	m->gainKi = pid.ki;
+	m->gainKd = pid.kd;
+}
+
 void CANTX_populate_STEER_Alarms(struct CAN_Message_STEER_Alarms * const m)
 {
 	m->STEER_alarmsRaised		= alarm.odrive_calibration;