Launch control whole shebang

.gitignore

@@ -8,6 +8,8 @@ test/**/*.png
 # Annoying ropeproject
 **/.ropeproject
 
+test/**/*.png
+
 # vim
 *.swp
 

.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
@@ -370,16 +392,6 @@ buses:
             position: 6
             length: 1
             c_type: bool
-          lc_state:
-            position: 7
-            length: 3
-            c_type: enum
-            enum:
-              BEFORE: 0
-              SPEEDING_UP: 1
-              SPEED_CONTROLLER: 2
-              ZERO_TORQUE: 3
-              DONE: 4
       VCUErrors:
         can_id: 0x0F4
         period: 111ms
@@ -686,6 +698,31 @@ buses:
             position: 60
             length: 1
             c_type: bool
+      DashRequestLC:
+        can_id: 0x0D5
+        is_big_endian: true
+        period: 69ms
+        segments:
+          speeding_up_torque:
+            position: 0
+            length: 16
+            c_type: uint16_t
+          speeding_up_speed:
+            position: 16
+            length: 16
+            c_type: uint16_t
+          ws_thresh:
+            position: 32
+            length: 16
+            c_type: uint16_t
+          launch_ctrl_slip_ratio: # Ranges from 105 to 115
+            position: 48
+            length: 9
+            c_type: uint16_t
+          using_launch_ctrl:
+            position: 57
+            length: 1
+            c_type: bool
       VCUControlsParams:
         can_id: 0x0D4
         is_big_endian: true
@@ -735,6 +772,41 @@ buses:
             position: 60
             length: 1
             c_type: bool
+      VCUControlsParamsLC:
+        can_id: 0x0D6
+        is_big_endian: true
+        period: 200ms
+        segments:
+          speeding_up_torque:
+            position: 0
+            length: 16
+            c_type: uint16_t
+          speeding_up_speed:
+            position: 16
+            length: 16
+            c_type: uint16_t
+          ws_thresh:
+            position: 32
+            length: 16
+            c_type: uint16_t
+          launch_ctrl_slip_ratio: # Ranges from 105 to 115
+            position: 48
+            length: 8
+            c_type: uint16_t
+          using_launch_ctrl:
+            position: 56
+            length: 1
+            c_type: bool
+          lc_state:
+            position: 57
+            length: 3
+            c_type: enum
+            enum:
+              BEFORE: 0
+              SPEEDING_UP: 1
+              SPEED_CONTROLLER: 2
+              ZERO_TORQUE: 3
+              DONE: 4
       ButtonRequest:
         can_id: 0x0D8
         period: 73ms
@@ -819,6 +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

@@ -58,9 +58,15 @@ typedef struct {
 
     // Controls values
     can0_DashRequest_T controls;
+    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;
 
     Buttons_T buttons;
 } carstats_t;

src/dashboard/inc/page_manager.h

@@ -9,6 +9,8 @@ typedef enum {
     DASH_PAGE_CRITICAL = 0,
     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,