Integrated rpm and wheel speed into ShiftController

DallasFormulaRacing · Jul 11, 2024 · 58f05be · 58f05be
1 parent 910f865
commit 58f05be
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Showing 3 changed files with 17 additions and 3 deletions.
diff --git a/Firmware/Shifter_System/Program/Src/Application/ShiftController/shift_controller.cpp b/Firmware/Shifter_System/Program/Src/Application/ShiftController/shift_controller.cpp
@@ -3,7 +3,10 @@
 
 namespace application {
 
-ShiftController::ShiftController() { }
+
+ShiftController::ShiftController(int16_t &rpm_observer,
+				std::array<float, 2> &wheel_speeds_observer)
+  : rpm_(rpm_observer), wheel_speeds_(wheel_speeds_observer) {}
 
 ShiftController::~ShiftController() { }
 

diff --git a/Firmware/Shifter_System/Program/Src/Application/ShiftController/shift_controller.hpp b/Firmware/Shifter_System/Program/Src/Application/ShiftController/shift_controller.hpp
@@ -4,6 +4,10 @@
 
 // Standard Libraries
 #include <cstdio>
+#include <cinttypes>
+
+#include <array>
+
 
 namespace application {
 
@@ -57,9 +61,12 @@ class ShiftController {
 	};
 
 	State* current_state_{&neutral_state_};
+	int16_t& rpm_;
+	std::array<float, 2>& wheel_speeds_;
 
 public:
-	ShiftController();
+	ShiftController(int16_t &rpm_observer,
+					std::array<float, 2> &wheel_speeds_observer);
 
 	~ShiftController();
 

diff --git a/Firmware/Shifter_System/Program/Src/app.cpp b/Firmware/Shifter_System/Program/Src/app.cpp
@@ -26,6 +26,7 @@ extern CAN_HandleTypeDef hcan1;
 // DFR Custom Dependencies
 #include "app.hpp"
 #include "../../Core/Inc/retarget.h"
+#include "Application/ShiftController/shift_controller.hpp"
 #include "./Platform/STM/F4/CAN/bxcan_stmf4.hpp"
 #include "./Platform/Interfaces/ican.hpp"
 #include "./Sensor/ECU/PE3/iecu.hpp"
@@ -71,11 +72,14 @@ void cppMain() {
 	bx_can_peripheral->ConfigureReceiveCallback(rx_interrupt_mode);
 	bx_can_peripheral->EnableInterruptMode();
 
-	int16_t rpm;
+	int16_t rpm = 0;
 	std::array<float, 2> wheel_speeds;
 
+	application::ShiftController shift_controller(rpm, wheel_speeds);
+
 	for(;;){
 
+		// Check for updated CAN messages
 		if (pe3_ecu.NewMessageArrived()) {
 			can_bus->DisableInterruptMode();