Launch control + Internal speed controller

.gitmodules

@@ -10,4 +10,4 @@
 	path = lib/CANlib
 	url = https://github.com/MITMotorsports/CANlib.git
 	branch = master
-    ignore = dirty
+  ignore = dirty

can_spec_my18.yml

@@ -26,6 +26,28 @@ boards:
         - MCCommand
         - VCUControlsParams
         - VCUControlsMonitoring
+        - VCUSpeedCntrlKpTimes1000
+        - VCUSpeedCntrlKiTimes1000
+        - VCUSpeedCntrlKdTimes1000
+        - VCUSpeedCntrlIWindupMax
+        - VCUSpeedCntrlIWindupMin
+        - VCUSpeedCntrlMinOutputValue
+        - VCUSpeedCntrlMaxOutputValue
+        - VCUSpeedCntrlMinInputValue
+        - VCUSpeedCntrlMaxInputValue
+        - VCUSpeedCntrlErrorUpdateTimeout
+        - VCUSpeedCntrlDt
+        - VCUSpeedCntrlEnabled
+        - VCUSpeedCntrlOutOfInputRangeThrottled
+        - VCUSpeedCntrlOutOfOutputRangeThrottled
+        - VCUSpeedCntrlErrorUpdateTimedOut
+        - VCUSpeedCntrlRPMSetpoint
+        - VCUSpeedCntrlCommandedTorque
+        - VCUSpeedCntrlRPMError
+        - VCUSpeedCntrlLastRPMError
+        - VCUSpeedCntrlDerivRPMError
+        - VCUSpeedCntrlRPMErrorAccumulated
+        - VCUSpeedCntrlLastErrorUpdateTimestamp
     subscribe:
       can0:
         - FrontCanNodeBrakeThrottle
@@ -695,10 +717,10 @@ buses:
             c_type: uint16_t
           launch_ctrl_slip_ratio: # Ranges from 105 to 115
             position: 48
-            length: 8
+            length: 9
             c_type: uint16_t
           using_launch_ctrl:
-            position: 56
+            position: 57
             length: 1
             c_type: bool
       VCUControlsParams:
@@ -869,6 +891,231 @@ buses:
             position: 48
             length: 16
             c_type: uint16_t
+      VCUSpeedCntrlKpTimes1000:
+        can_id:  0x223
+        period: 200ms
+        is_big_endian: true
+        segments:
+          kp_times_1000:
+            position: 0
+            length: 32
+            c_type: int32_t
+      VCUSpeedCntrlKiTimes1000:
+        can_id:  0x225
+        period: 200ms
+        is_big_endian: true
+        segments:
+          ki_times_1000:
+            position: 0
+            length: 32
+            c_type: int32_t
+      VCUSpeedCntrlKdTimes1000:
+        can_id:  0x227
+        period: 200ms
+        is_big_endian: true
+        segments:
+          kd_times_1000:
+            position: 0
+            length: 32
+            c_type: int32_t
+      VCUSpeedCntrlIWindupMax:
+        can_id:  0x229
+        period: 200ms
+        is_big_endian: true
+        segments:
+          i_windup_max:
+            position: 0
+            length: 32
+            c_type: int32_t
+      VCUSpeedCntrlIWindupMin:
+        can_id:  0x22B
+        period: 200ms
+        is_big_endian: true
+        segments:
+          i_windup_min:
+            position: 0
+            length: 32
+            c_type: int32_t
+      VCUSpeedCntrlMinOutputValue:
+        can_id:  0x22D
+        period: 200ms
+        is_big_endian: true
+        segments:
+          min_output_value:
+            position: 0
+            length: 32
+            c_type: int32_t
+      VCUSpeedCntrlMaxOutputValue:
+        can_id:  0x22F
+        period: 200ms
+        is_big_endian: true
+        segments:
+          max_output_value:
+            position: 0
+            length: 32
+            c_type: int32_t
+      VCUSpeedCntrlMinInputValue:
+        can_id:  0x231
+        period: 200ms
+        is_big_endian: true
+        segments:
+          min_input_value:
+            position: 0
+            length: 32
+            c_type: int32_t
+      VCUSpeedCntrlMaxInputValue:
+        can_id:  0x233
+        period: 200ms
+        is_big_endian: true
+        segments:
+          max_input_value:
+            position: 0
+            length: 32
+            c_type: int32_t
+      VCUSpeedCntrlErrorUpdateTimeout:
+        can_id:  0x235
+        period: 200ms
+        is_big_endian: true
+        segments:
+          error_update_timeout:
+            position: 0
+            length: 32
+            c_type: int32_t
+      VCUSpeedCntrlDt:
+        can_id:  0x237
+        period: 200ms
+        is_big_endian: true
+        segments:
+          dt:
+            position: 0
+            length: 32
+            c_type: int32_t
+      VCUSpeedCntrlEnabled:
+        can_id: 0x239
+        period: 200ms
+        is_big_endian: true
+        segments:
+          enabled:
+            position: 0
+            length: 1
+            c_type: bool
+      VCUSpeedCntrlOutOfInputRangeThrottled:
+        can_id: 0x23B
+        period: 200ms
+        is_big_endian: true
+        segments:
+          out_of_input_range_throttled:
+            position: 0
+            length: 1
+            c_type: bool
+      VCUSpeedCntrlOutOfOutputRangeThrottled:
+        can_id: 0x23D
+        period: 200ms
+        is_big_endian: true
+        segments:
+          out_of_output_range_throttled:
+            position: 0
+            length: 1
+            c_type: bool
+      VCUSpeedCntrlErrorUpdateTimedOut:
+        can_id: 0x23F
+        period: 200ms
+        is_big_endian: true
+        segments:
+          error_update_timed_out:
+            position: 0
+            length: 1
+            c_type: bool
+      VCUSpeedCntrlRPMSetpoint:
+        can_id: 0x241
+        period: 200ms
+        is_big_endian: true
+        segments:
+          rpm_setpoint:
+            position: 0
+            length: 32
+            c_type: int32_t
+      VCUSpeedCntrlCommandedTorque:
+        can_id: 0x243
+        period: 200ms
+        is_big_endian: true
+        segments:
+          commanded_torque:
+            position: 0
+            length: 32
+            c_type: int32_t
+      VCUSpeedCntrlRPMError:
+        can_id: 0x245
+        period: 200ms
+        is_big_endian: true
+        segments:
+          rpm_error:
+            position: 0
+            length: 32
+            c_type: int32_t
+      VCUSpeedCntrlLastRPMError:
+        can_id: 0x247
+        period: 200ms
+        is_big_endian: true
+        segments:
+          last_rpm_error:
+            position: 0
+            length: 32
+            c_type: int32_t
+      VCUSpeedCntrlDerivRPMError:
+        can_id: 0x249
+        period: 200ms
+        is_big_endian: true
+        segments:
+          deriv_rpm_error:
+            position: 0
+            length: 32
+            c_type: int32_t
+      VCUSpeedCntrlRPMErrorAccumulated:
+        can_id: 0x24B
+        period: 200ms
+        is_big_endian: true
+        segments:
+          rpm_error_accumulated:
+            position: 0
+            length: 32
+            c_type: int32_t
+      VCUSpeedCntrlLastErrorUpdateTimestamp:
+        can_id: 0x24D
+        period: 200ms
+        is_big_endian: true
+        segments:
+          last_error_update_timestamp:
+            position: 0
+            length: 32
+            c_type: uint32_t
+      DashSpeedCntrlKpTimes1000:
+        can_id:  0x224
+        period: 200ms
+        is_big_endian: true
+        segments:
+          kp_times_1000:
+            position: 0
+            length: 32
+            c_type: int32_t
+      DashSpeedCntrlKiTimes1000:
+        can_id:  0x226
+        period: 200ms
+        is_big_endian: true
+        segments:
+          ki_times_1000:
+            position: 0
+            length: 32
+            c_type: int32_t
+      DashSpeedCntrlRPMSetpoint:
+        can_id: 0x242
+        period: 200ms
+        is_big_endian: true
+        segments:
+          rpm_setpoint:
+            position: 0
+            length: 32
+            c_type: int32_t
       MCCommand:
         can_id: 0x0C0 # From manual
         period: 9ms  # MC needs a message at 2 Hz or higher

src/dashboard/inc/carstats.h

@@ -61,6 +61,9 @@ typedef struct {
     can0_DashRequestLC_T lc_controls;
     can0_VCUControlsParams_T vcu_controls;
     can0_VCUControlsParamsLC_T vcu_lc_controls;
+    can0_DashSpeedCntrlKpTimes1000_T kp;
+    can0_DashSpeedCntrlKiTimes1000_T ki;
+    can0_DashSpeedCntrlRPMSetpoint_T rpm_setpoint;
 
     bool vcu_controls_received;
     bool vcu_lc_controls_received;

src/dashboard/inc/page_manager.h

@@ -10,6 +10,7 @@ typedef enum {
     DASH_PAGE_TRACTION,
     DASH_PAGE_REGEN,
     DASH_PAGE_LAUNCH_CONTROL,
+    DASH_LC_PID_DEBUG,
     DASH_PAGE_TEMP_LIM,
     DASH_PAGE_VOLT_LIM,
     DASH_PAGE_FAULT,

src/dashboard/src/dispatch.c

@@ -108,6 +108,10 @@ void dispatch_init() {
     carstats.vcu_controls_received = false;
     carstats.vcu_lc_controls_received = false;
 
+    carstats.rpm_setpoint.rpm_setpoint = 0;
+    carstats.ki.ki_times_1000 = 1000;
+    carstats.kp.kp_times_1000 = 0;
+
     init_button_state(&carstats.buttons.left);
     init_button_state(&carstats.buttons.right);
     init_button_state(&carstats.buttons.A);
@@ -177,6 +181,9 @@ void send_dash_controls(void) {
     LIMIT(can0_DashRequest_period);
     handle_can_error(can0_DashRequest_Write(&carstats.controls));
     handle_can_error(can0_DashRequestLC_Write(&carstats.lc_controls));
+    handle_can_error(can0_DashSpeedCntrlKpTimes1000_Write(&carstats.kp));
+    handle_can_error(can0_DashSpeedCntrlKiTimes1000_Write(&carstats.ki));
+    handle_can_error(can0_DashSpeedCntrlRPMSetpoint_Write(&carstats.rpm_setpoint));
 }
 
 void vcu_controls_update(void) {