Trim tab integration#41
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georgesleen merged 20 commits intowingsail-controller-AISfrom Feb 21, 2026
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Initial commit for complete CAN Servo library Signed-off-by: JoshuaO956 <148372526+JoshuaO956@users.noreply.github.com>
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Moved added libraries in #39 to firmware/drv-modules/can-servo/, and added can-servo/ to be included in the build for the wingsail-controller target. |
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* can.h first commit Should work? unless I overlooked something or tested it wrong Signed-off-by: alisha1697 <143849351+alisha1697@users.noreply.github.com> * can.c first commit Signed-off-by: alisha1697 <143849351+alisha1697@users.noreply.github.com> * Documentation of can.c Signed-off-by: alisha1697 <143849351+alisha1697@users.noreply.github.com> * Documented can.h Signed-off-by: alisha1697 <143849351+alisha1697@users.noreply.github.com> * Documentation complete can.c Signed-off-by: alisha1697 <143849351+alisha1697@users.noreply.github.com> * fixed frame range Signed-off-by: alisha1697 <143849351+alisha1697@users.noreply.github.com> * filter works...too much - receives out of range IDs Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> * CANFD project file Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> * Update can.c Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> * Update can.h Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> * fixed parsing in test_canfd.c Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> * Updated can.c with CAN_Receive and fixed definition error Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> * Updated can.h Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> * FDCAN_Serial_Testing Zip CUBEIDE project file Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> * com-modules update * removed files * Moved can files (#37): accepted CAN files move to CANFD dir, removed from base-library dir * updated README on flle usage + cleanup Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> * changed CAN_Receive to use a CAN_Frame rx pointer Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> * correct CAN_Receive function signature Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> * fdcan-library-test now has the project to test * fdcan-library-test is now a project --------- Signed-off-by: alisha1697 <143849351+alisha1697@users.noreply.github.com> Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> Co-authored-by: alisha1697 <143849351+alisha1697@users.noreply.github.com> Co-authored-by: alisha1697 <alishashahid6704@gmail.com> Co-authored-by: Michael Greenough <43833591+MichaelGreenough@users.noreply.github.com>
georgesleen
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wingsail-controller-AIS
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Feb 24, 2026
…Module Hardware (#38) * Update .ioc definition for UART2 DMA * Change NMEA handle to take the UART2 handle * Update launch file for flashing to mcu * Test initialization of UART2 with DMA * Update clangd compile commands to hopefully link with drv-modules * Move .clangd to be visible for all firmware * Update UART2 interrupt scheme to match on character * Try to link .c files with .h files using clangd lsp * Update compile_commands.json so that clangd can find source files * Get rid of redundant DMA activation in main * Transmission from AD3 to Nucleo working (sort of...) * Start reading NMEA0183 messages in main * Update nmea0183 read logic to overwrite oldest data in buffer rather than hard fault * Some print debugging * Update ioc definition for actual sense module * Write more information for a bad message * Create a new WIND_SENSOR source file for handling the wind sensor * Create a WIND_SENSOR type * Remove custom implementation of stdbool.h * Print out whole message when recieving * Update character matching and error clearing for robust NMEA0183 message parsing * Object management function prototypes * Update for proper clangd linting * Add some very simple unit testing for nmea messages * Update documentation * Update documentation * Update gitignore * Add a simple make helper for running unit tests * Define interface for wind sensor * Update AGENTS.md to reflect intended comment style * Implement the stuff? * Add unit tests for wind sensor * Update unit test structure * Update makefile to include clean target * Factor out more common functionality * Add a nice little print helper * Ignore machine specific development artifacts * Add some testing for the print functions while I don't have access * Update makefile so I can regenerate my config easiy * Remove build artifact * Add unit testing for the AIS transponder * Merge conflicts resolved? * Update to always print whether the data is valid or not * Remove AGENTS.md from history * Only print valid updates to wind sensor data * Add a little helper script to generate valid NMEA0183 messages * Update to check for message type and for temperature messages * Compare strings properly * Fix comparing message types * Update makefile and start work on canfd communication * Do a stupid cubeide thing :(((((( * Write CAN transmission code for the wind sensor * Add unit testing * Update constant names to be clearer * CAN loopback test * Debug bad can message sending * Simple loopback test for windsail can messages * Naive implementation of transmitting AIS can messages * Add unit tests * Add a function to transmit all recienved ships over CAN * Update unit tests * Update unit testing * Fix compilation error * Simple AIS loopback test * Update test to include more fields * Add a GPS driver * Update wind sensor to have a non-consuming pattern * Add a bunch of unit testing * Create a simple little scheduler to manage all the nmea stuff * Write simple test for multi-drop nmea0183 bus * Format files * Fix unit tests * Some unit testing * Match pinout of breakout board * Turn wind sensor gate on * Implement requirement to send empty ship frame if no ships. Also fix some bugs in parsing * Fix name collision * Unit testing update * Fix some parsing logic * Remove debug statements from firmware to diagnose issue (hardware issue) * Add AIS/GPS/wind parsing and CAN scheduling to wingsail-controller (#40) * Update makefile and start work on canfd communication * Do a stupid cubeide thing :(((((( * Write CAN transmission code for the wind sensor * Add unit testing * Update constant names to be clearer * CAN loopback test * Debug bad can message sending * Simple loopback test for windsail can messages * Naive implementation of transmitting AIS can messages * Add unit tests * Add a function to transmit all recienved ships over CAN * Update unit tests * Update unit testing * Fix compilation error * Simple AIS loopback test * Update test to include more fields * Add a GPS driver * Update wind sensor to have a non-consuming pattern * Add a bunch of unit testing * Create a simple little scheduler to manage all the nmea stuff * Write simple test for multi-drop nmea0183 bus * Format files * Fix unit tests * Some unit testing * Match pinout of breakout board * Turn wind sensor gate on * Implement requirement to send empty ship frame if no ships. Also fix some bugs in parsing * Fix name collision * Unit testing update * Fix some parsing logic * Remove debug statements from firmware to diagnose issue (hardware issue) * Some more unit testing * Tentative fix * Update prescaler value so that can parameters match specs * Update compile_commands.json make target * Formatting fixes * Write gate drivers high * Update pinout for chopped board * Power cycle stuff on reset * Parse and log a bunch of messages from the GPS * add a bunch of logging stuff * Add lots of conditional printing * Remove scheduler printing * Trim tab integration (#41) * Add files via upload Initial commit for complete CAN Servo library Signed-off-by: JoshuaO956 <148372526+JoshuaO956@users.noreply.github.com> * Move into drv-modules * Add some clamping logic for the servo * Add can-servo to wingsail-controller target * Stop rounding GPS data... * Add a bunch of conditional logging * Partial fix * Vibe code some fixes hopefully * moar logs * Print debugging canservo * Don't send invalid lat/lon messages * Update .ioc for correct canspi settings * update gpio to be correct... * Enable the CS pin for the canservo * Remove double macro definiton (via chat suggestion) * Remove debug hello print * Do a bit of logging * Sail Controller CAN Library Update (#42) * can.h first commit Should work? unless I overlooked something or tested it wrong Signed-off-by: alisha1697 <143849351+alisha1697@users.noreply.github.com> * can.c first commit Signed-off-by: alisha1697 <143849351+alisha1697@users.noreply.github.com> * Documentation of can.c Signed-off-by: alisha1697 <143849351+alisha1697@users.noreply.github.com> * Documented can.h Signed-off-by: alisha1697 <143849351+alisha1697@users.noreply.github.com> * Documentation complete can.c Signed-off-by: alisha1697 <143849351+alisha1697@users.noreply.github.com> * fixed frame range Signed-off-by: alisha1697 <143849351+alisha1697@users.noreply.github.com> * filter works...too much - receives out of range IDs Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> * CANFD project file Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> * Update can.c Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> * Update can.h Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> * fixed parsing in test_canfd.c Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> * Updated can.c with CAN_Receive and fixed definition error Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> * Updated can.h Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> * FDCAN_Serial_Testing Zip CUBEIDE project file Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> * com-modules update * removed files * Moved can files (#37): accepted CAN files move to CANFD dir, removed from base-library dir * updated README on flle usage + cleanup Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> * changed CAN_Receive to use a CAN_Frame rx pointer Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> * correct CAN_Receive function signature Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> * fdcan-library-test now has the project to test * fdcan-library-test is now a project --------- Signed-off-by: alisha1697 <143849351+alisha1697@users.noreply.github.com> Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> Co-authored-by: alisha1697 <143849351+alisha1697@users.noreply.github.com> Co-authored-by: alisha1697 <alishashahid6704@gmail.com> Co-authored-by: Michael Greenough <43833591+MichaelGreenough@users.noreply.github.com> --------- Signed-off-by: JoshuaO956 <148372526+JoshuaO956@users.noreply.github.com> Signed-off-by: alisha1697 <143849351+alisha1697@users.noreply.github.com> Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> Co-authored-by: JoshuaO956 <148372526+JoshuaO956@users.noreply.github.com> Co-authored-by: alisha1697 <143849351+alisha1697@users.noreply.github.com> Co-authored-by: alisha1697 <alishashahid6704@gmail.com> Co-authored-by: Michael Greenough <43833591+MichaelGreenough@users.noreply.github.com> * Fixed ROT, and TWOs compliment (#43) * Update variables and constants related to ROT to use the new unsigned convention --------- Signed-off-by: JoshuaO956 <148372526+JoshuaO956@users.noreply.github.com> Signed-off-by: alisha1697 <143849351+alisha1697@users.noreply.github.com> Signed-off-by: Alisha Siddiqui <143849351+alisha1697@users.noreply.github.com> Co-authored-by: JoshuaO956 <148372526+JoshuaO956@users.noreply.github.com> Co-authored-by: alisha1697 <143849351+alisha1697@users.noreply.github.com> Co-authored-by: alisha1697 <alishashahid6704@gmail.com> Co-authored-by: Michael Greenough <43833591+MichaelGreenough@users.noreply.github.com>
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Integrate the updated CANSERVO library in PR #39 so that it works with the rest of the code.