drs changes inshallah

components/CAN/CAN_Config.hpp

@@ -6,6 +6,7 @@
 #include "etl/set.h"
 
 // Defining the CAN_IDs & Signals
+#define STEERING_WHEEL 103
 #define VCU_PDM_REAR_CMD 2012
 #define M173_MODULATION_AND_FLUX_INFO 173
 #define M172_TORQUE_AND_TIMER_INFO 172
@@ -55,6 +56,8 @@
 #define VCU_FRONT_WHEEL_RIGHT 2029
 #define PACKINFO 1057
 
+inline CAN_Signal DRS_Request_ID103{true, 0, 1};
+inline CAN_Signal Torque_Limit_Request_ID103{true, 8, 8};
 inline CAN_Signal Rear_Cmd_HSD1_ID2012{true, 0, 8};
 inline CAN_Signal Rear_Cmd_HSD2_ID2012{true, 8, 8};
 inline CAN_Signal Rear_Cmd_HSD3_ID2012{true, 16, 8};
@@ -293,6 +296,10 @@ inline CAN_Signal MaxCellVoltage_ID1057{true, 48, 16, 0.001f};
 // Define the CAN Map
 inline etl::map CAN_Map
 { 
+    etl::pair{STEERING_WHEEL, etl::vector<CAN_Signal*, 16>{
+    &DRS_Request_ID103,
+    &Torque_Limit_Request_ID103
+    }},
     etl::pair{VCU_PDM_REAR_CMD, etl::vector<CAN_Signal*, 16>{ 
         &Rear_Cmd_HSD1_ID2012,
         &Rear_Cmd_HSD2_ID2012,

components/Devices/CMakeLists.txt

@@ -1,3 +1,3 @@
-idf_component_register(SRCS "RearECU.cpp" "BMS.cpp" "Inverter.cpp" "Pedals.cpp" "Devices.cpp" "pwm.cpp"
+idf_component_register(SRCS "RearECU.cpp" "BMS.cpp" "Inverter.cpp" "Pedals.cpp" "Devices.cpp" "pwm.cpp" "DRS.cpp"
                   INCLUDE_DIRS "."
                   REQUIRES CAN IO Sensors)

components/Devices/DRS.cpp

@@ -0,0 +1,34 @@
+#include "DRS.hpp"
+#include "CAN_Config.hpp"
+#include "esp_log.h"
+
+static const char* TAG = "DRS";
+
+static void send_servo(bool open) {
+    uint16_t position = open ? DRS::POSITION_OPEN : DRS::POSITION_CLOSED;
+    uint8_t lo = position & 0xFF;
+    uint8_t hi = (position >> 8) & 0xFF;
+
+    twai_message_t msg = {};
+    msg.identifier       = 0;     
+    msg.extd             = 0;
+    msg.data_length_code = 5;
+    msg.data[0] = 'w';             
+    msg.data[1] = 0;              
+    msg.data[2] = 0x1E;            
+    msg.data[3] = lo;
+    msg.data[4] = hi;
+
+    twai_transmit(&msg, pdMS_TO_TICKS(10));
+}
+
+void DRS::init() {
+    send_servo(false);  // start closed
+    ESP_LOGI(TAG, "DRS initialised — wing CLOSED");
+}
+
+void DRS::update() {
+    bool open = DRS_Request_ID103.get_bool();
+    send_servo(open);
+    ESP_LOGD(TAG, ">DRS_open:%d", open);
+}

components/Devices/DRS.hpp

@@ -0,0 +1,11 @@
+#pragma once
+#include "driver/twai.h"
+
+namespace DRS {
+    // Servo position values — calibrate to your actual wing travel
+    constexpr uint16_t POSITION_OPEN   = 10922;  // REG_POSITION_MAX_LIMIT default
+    constexpr uint16_t POSITION_CLOSED = 5462;   // REG_POSITION_MIN_LIMIT default
+
+    void init();
+    void update();  // call this in the RearECU loop
+}

components/Devices/Inverter.cpp

@@ -7,7 +7,7 @@ SemaphoreHandle_t Inverter::mutex = xSemaphoreCreateMutex();
 
 Inverter::Inverter()
 {
-    torqueLimit = 170; // get this from memory later
+    torqueLimit = 195; // get this from memory later
     VCU_INV_Direction_Command_ID192.set(true); //flip direction cause whatever
     ESP_LOGI(TAG, "Inverter Initialized");
 }

components/Devices/RearECU.cpp

@@ -1,5 +1,7 @@
 #include "RearECU.h"
 #include "esp_log.h"
+#include "DRS.hpp"
+
 static const char* TAG = "RearECU"; //Used for ESP_LOGx commands. See ESP-IDF Documentation
 
 using namespace RearECU;
@@ -22,6 +24,7 @@ void RearECU::rearECU_Task(void*)
     CAN_Tx_100ms_IDs.insert(VCU_REAR_IMU_2);
 
     pwm_init();
+    DRS::init();
     int pump_duty_cycle = 100; 
 
 
@@ -77,5 +80,7 @@ void RearECU::rearECU_Task(void*)
 
         vTaskDelay(pdMS_TO_TICKS(100));
 
+        DRS::update();
+
     }
 }