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Add CON-bus to safety lights #28

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Add CON-bus to safety lights #28

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32 changes: 27 additions & 5 deletions firmware/safety_lights/safety_lights.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -2,10 +2,11 @@
#include <ACAN2515.h>
#include <Adafruit_NeoPixel.h>
#include "ArduinoJson.h"
#include <CONBus.h>
#include <CANBusDriver.h>

// Config

static const int BLINK_PERIOD_MS = 500;
static const int DEFAULT_BRIGHTNESS = 50;

// Definitions
Expand All @@ -31,6 +32,12 @@ bool is_autonomous = false;
bool is_eco = false;
int current_brightness = DEFAULT_BRIGHTNESS;

// Setup CONBus variables
CONBus::CONBus conbus;
CONBus::CANBusDriver conbus_can(conbus, 0x11); // device id 0x11 (17)

uint32_t blink_period_ms = 500;

// Json packet
StaticJsonDocument<256> json_in;

Expand Down Expand Up @@ -111,6 +118,7 @@ void modeSelector(){ // RGB mode selector
}

CANMessage frame;
CANMessage out_frame;

void onCanRecieve() {
can.isr();
Expand Down Expand Up @@ -150,6 +158,8 @@ void setup() {
Serial.print(errorCode);
}

conbus.addRegister(0x00, &blink_period_ms);

}

void loop() {
Expand Down Expand Up @@ -187,6 +197,8 @@ void loop() {
// Serial.print("Received CAN ");
// Serial.println(frame.id);

conbus_can.readCanMessage(frame.id, frame.data);

switch (frame.id) {
case 1: // Mobility stop
is_mobility_stopped = true;
Expand Down Expand Up @@ -216,6 +228,16 @@ void loop() {
whiteFlash();
modeSelector();

if (conbus_can.isReplyReady()) {
conbus_can.peekReply(outFrame.id, outFrame.len, outFrame.data);

bool success = can.tryToSend(outFrame);

if (success) {
conbus_can.popReply();
}
}

// delay(10); // Just so we aren't looping too fast
}

Expand All @@ -231,9 +253,9 @@ void whiteFlash() {
return;
}
if (!is_eco) {
digitalWrite(WHITE_PIN, (millis() / BLINK_PERIOD_MS) % 2);
digitalWrite(WHITE_PIN, (millis() / blink_period_ms) % 2);
} else {
analogWrite(WHITE_PIN,((millis() / BLINK_PERIOD_MS) % 2) * 128);
analogWrite(WHITE_PIN,((millis() / blink_period_ms) % 2) * 128);
}
}

Expand All @@ -245,7 +267,7 @@ void colorSolid() { // LED strip solid effect

void colorFlash(){ // LED strip flashing effect
strip.setBrightness(current_brightness);
if ((millis() / BLINK_PERIOD_MS) % 2 == 0){
if ((millis() / blink_period_ms) % 2 == 0){
strip.fill(current_color);
strip.show();
}
Expand All @@ -255,7 +277,7 @@ void colorFlash(){ // LED strip flashing effect
}

void colorFade(){ // LED strip fading effect
strip.setBrightness(abs(sin(millis() / (float)BLINK_PERIOD_MS)) * current_brightness);
strip.setBrightness(abs(sin(millis() / (float)blink_period_ms)) * current_brightness);
strip.fill(current_color);
strip.show();
}
Expand Down