Merge branch 'develop' into regen-braking-jack

.github/workflows/build-check.yml

@@ -8,7 +8,7 @@ jobs:
     timeout-minutes: 10
     steps:
       - name: Checkout code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
             submodules: recursive
 
@@ -17,4 +17,4 @@ jobs:
             if ! make; then
             echo "The application has failed to build."
             exit 1  # This will cause the workflow to fail
-            fi
+            fi

.github/workflows/format-check.yml

@@ -0,0 +1,20 @@
+name: Code Style Check
+
+on: [push]
+
+jobs:
+  formatting-check:
+    name: Check format of C
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: recursive
+    - name: Run clang-format style check for C/C++ sources
+      uses: Northeastern-Electric-Racing/clang-format-action@main
+      with:
+        clang-format-version: '18'
+        # only check core, embedded base covered internally
+        check-path: "Core/"
+        # use the clang-format from embedded base
+        format-filepath: "./Drivers/Embedded-Base/clang-format"

Core/.clang-format-ignore

@@ -0,0 +1,6 @@
+./*/stm32*
+./*/sys*
+./*/FreeRTOS*
+./*/freertos*
+./*/main*
+./Startup/*

Core/Inc/cerberus_conf.h

@@ -6,20 +6,25 @@
 #define SHUTDOWN_MONITOR_DELAY 500 /* ms */
 #define NERO_DELAY_TIME	       100 /* ms*/
 #define LV_READ_DELAY	       1000
+#define YELLOW_LED_BLINK_DELAY 500 /* ms */
+#define TEMP_SENS_SAMPLE_DELAY 200 /* ms */
+#define IMU_SAMPLE_DELAY       500 /* ms */
+#define FUSES_SAMPLE_DELAY     1000 /* ms */
+#define SHUTDOWN_MONITOR_DELAY 500 /* ms */
+#define NERO_DELAY_TIME	       100 /* ms*/
+#define LV_READ_DELAY	       1000
 #define SERIAL_MONITOR_DELAY
 #define CAN_ROUTER_DELAY
 #define CAN_DISPATCH_DELAY    5
 #define BMS_CAN_MONITOR_DELAY 4000
+#define CAN_DISPATCH_DELAY    5
+#define BMS_CAN_MONITOR_DELAY 4000
 #define STATE_MACHINE_DELAY
 #define TORQUE_CALC_DELAY
 #define FAULT_HANDLE_DELAY
 
 /* Pedal tuning */
 #define PEDALS_SAMPLE_DELAY 20 /* ms */
-#define BRAKE1_OFFSET	    0
-#define BRAKE1_MAX_VAL	    0
-#define BRAKE2_OFFSET	    0
-#define BRAKE2_MAX_VAL	    0
 #define ACCEL1_OFFSET	    980
 #define ACCEL1_MAX_VAL	    1866
 #define ACCEL2_OFFSET	    1780

Core/Inc/dti.h

@@ -19,16 +19,35 @@
 /* Message IDs from DTI CAN Datasheet */
 #define DTI_CANID_ERPM	      0x416 /* ERPM, Duty, Input Voltage */
 #define DTI_CANID_CURRENTS    0x436 /* AC Current, DC Current */
+#define DTI_CANID_ERPM	      0x416 /* ERPM, Duty, Input Voltage */
+#define DTI_CANID_CURRENTS    0x436 /* AC Current, DC Current */
 #define DTI_CANID_TEMPS_FAULT 0x456 /* Controller Temp, Motor Temp, Faults */
 #define DTI_CANID_ID_IQ	      0x476 /* Id, Iq values */
 #define DTI_CANID_SIGNALS \
 	0x496 /* Throttle signal, Brake signal, IO, Drive enable */
 #define DTI_QUEUE_SIZE 5
 
+#define TIRE_DIAMETER 16 /* inches */
+#define GEAR_RATIO    47 / 13.0 /* unitless */
+#define POLE_PAIRS    10 /* unitless */
+#define DTI_CANID_ID_IQ	      0x476 /* Id, Iq values */
+#define DTI_CANID_SIGNALS \
+	0x496 /* Throttle signal, Brake signal, IO, Drive enable */
+#define DTI_QUEUE_SIZE 5
+
 #define TIRE_DIAMETER 16 /* inches */
 #define GEAR_RATIO    47 / 13.0 /* unitless */
 #define POLE_PAIRS    10 /* unitless */
 
+typedef struct {
+	int32_t rpm; /* SCALE: 1         UNITS: Rotations per Minute   */
+	int16_t duty_cycle; /* SCALE: 10        UNITS: Percentage             */
+	int16_t input_voltage; /* SCALE: 1         UNITS: Volts                  */
+	int16_t ac_current; /* SCALE: 10        UNITS: Amps                   */
+	int16_t dc_current; /* SCALE: 10        UNITS: Amps                   */
+	int16_t contr_temp; /* SCALE: 10        UNITS: Degrees Celsius        */
+	int16_t motor_temp; /* SCALE: 10        UNITS: Degrees Celsius        */
+	uint8_t fault_code; /* SCALE: 1         UNITS: No units just a number */
 typedef struct {
 	int32_t rpm; /* SCALE: 1         UNITS: Rotations per Minute   */
 	int16_t duty_cycle; /* SCALE: 10        UNITS: Percentage             */

Core/Inc/monitor.h

@@ -29,6 +29,11 @@ void vIMUMonitor(void *pv_params);
 extern osThreadId_t imu_monitor_handle;
 extern const osThreadAttr_t imu_monitor_attributes;
 
+/* Task for Monitoring the TSMS sense on PDU  CTRL expander*/
+void vTsmsMonitor(void *pv_params);
+extern osThreadId_t tsms_monitor_handle;
+extern const osThreadAttr_t tsms_monitor_attributes;
+
 /* Task for Monitoring the Fuses on PDU */
 void vFusingMonitor(void *pv_params);
 extern osThreadId_t fusing_monitor_handle;

Core/Src/dti.c

@@ -23,6 +23,7 @@
 
 #define CAN_QUEUE_SIZE 5 /* messages */
 #define SAMPLES	       20
+#define SAMPLES	       20
 static osMutexAttr_t dti_mutex_attributes;
 
 dti_t *dti_init()

Core/Src/main.c

@@ -223,6 +223,8 @@ int main(void)
   steeringio_buttons_monitor_handle = osThreadNew(vSteeringIOButtonsMonitor, wheel, &steeringio_buttons_monitor_attributes);
   pedals_monitor_handle = osThreadNew(vPedalsMonitor, mpu, &pedals_monitor_attributes);
   assert(pedals_monitor_handle);
+  tsms_monitor_handle = osThreadNew(vTsmsMonitor, pdu, &tsms_monitor_attributes);
+  assert(tsms_monitor_handle);
   fusing_monitor_handle = osThreadNew(vFusingMonitor, pdu, &fusing_monitor_attributes);
   assert(fusing_monitor_handle);
   // shutdown_monitor_handle = osThreadNew(vShutdownMonitor, pdu, &shutdown_monitor_attributes);

Core/Src/monitor.c

@@ -239,6 +239,7 @@ void vPedalsMonitor(void *pv_params)
 	mpu_t *mpu = (mpu_t *)pv_params;
 
 	uint8_t counter = 0;
+	static int index = 0;
 
 	for (;;) {
 		read_pedals(mpu, adc_data);
@@ -268,8 +269,24 @@ void vPedalsMonitor(void *pv_params)
 		// printf("Brake 1: %ld\r\n", adc_data[BRAKEPIN_1]);
 		// printf("Brake 2: %ld\r\n", adc_data[BRAKEPIN_2]);
 
-		is_braking = (adc_data[BRAKEPIN_1] + adc_data[BRAKEPIN_2]) / 2 >
-			     PEDAL_BRAKE_THRESH;
+		static float buffer[10] = { 0 };
+
+		uint16_t brake_avg =
+			(adc_data[BRAKEPIN_1] + adc_data[BRAKEPIN_2]) / 2;
+		// Add the new value to the buffer
+		buffer[index] = brake_avg;
+
+		// Increment the index, wrapping around if necessary
+		index = (index + 1) % buffer_size;
+
+		// Calculate the average of the buffer
+		float sum = 0.0;
+		for (int i = 0; i < buffer_size; ++i) {
+			sum += buffer[i];
+		}
+		float average_brake = sum / buffer_size;
+
+		is_braking = average_brake > PEDAL_BRAKE_THRESH;
 		brake_state = is_braking;
 
 		osMessageQueuePut(brakelight_signal, &is_braking, 0U, 0U);
@@ -402,6 +419,52 @@ void vIMUMonitor(void *pv_params)
 	}
 }
 
+osThreadId_t tsms_monitor_handle;
+const osThreadAttr_t tsms_monitor_attributes = {
+	.name = "TsmsMonitor",
+	.stack_size = 32 * 8,
+	.priority = (osPriority_t)osPriorityHigh,
+};
+
+void vTsmsMonitor(void *pv_params)
+{
+	fault_data_t fault_data = { .id = FUSE_MONITOR_FAULT,
+				    .severity = DEFCON5 };
+	pdu_t *pdu = (pdu_t *)pv_params;
+
+	bool tsms_status = false;
+	nertimer_t tsms_debounce_timer = { .active = false };
+
+	for (;;) {
+		/* If we got a reliable TSMS reading, handle transition to and out of ACTIVE*/
+		if (!read_tsms_sense(pdu, &tsms_status)) {
+			printf("Checking pdu");
+
+			// Timer has not been started, and there is a change in TSMS, so start the timer
+			if (tsms != tsms_status &&
+			    !is_timer_active(&tsms_debounce_timer)) {
+				start_timer(&tsms_debounce_timer, 500);
+			}
+			// During debouncing, the tsms reading changes, so end the debounce period
+			else if (tsms == tsms_status &&
+				 !is_timer_expired(&tsms_debounce_timer)) {
+				cancel_timer(&tsms_debounce_timer);
+			}
+			// The TSMS reading has been consistent thorughout the debounce period
+			else if (is_timer_expired(&tsms_debounce_timer)) {
+				tsms = tsms_status;
+			}
+			if (get_func_state() == ACTIVE && tsms == false) {
+				set_home_mode();
+			}
+		} else {
+			queue_fault(&fault_data);
+		}
+
+		osDelay(100);
+	}
+}
+
 osThreadId_t fusing_monitor_handle;
 const osThreadAttr_t fusing_monitor_attributes = {
 	.name = "FusingMonitor",
@@ -520,8 +583,6 @@ void vShutdownMonitor(void *pv_params)
 			queue_fault(&fault_data);
 		}
 
-		// serial_print("TSMS: %d\r\n", tsms_status);
-
 		osDelay(SHUTDOWN_MONITOR_DELAY);
 	}
 }

Core/Src/state_machine.c

@@ -1,13 +1,15 @@
 #include "state_machine.h"
-#include "fault.h"
 #include "can_handler.h"
+#include "fault.h"
+#include "nero.h"
+#include "pdu.h"
+#include "queues.h"
 #include "serial_monitor.h"
 #include "nero.h"
 #include "pdu.h"
 #include "queues.h"
 #include <stdbool.h>
 #include <stdio.h>
-#include <assert.h>
 
 #define STATE_TRANS_QUEUE_SIZE 4
 
@@ -31,14 +33,20 @@ static const bool valid_trans_to_from[MAX_FUNC_STATES][MAX_FUNC_STATES] = {
 	{ true, true, false, true }, /* BOOT */
 	{ false, true, true, true }, /* READY */
 	{ false, true, true, true }, /* DRIVING */
+	{ true, true, false, true }, /* BOOT */
+	{ false, true, true, true }, /* READY */
+	{ false, true, true, true }, /* DRIVING */
 	{ false, true, false, true } /* FAULTED */
 };
 
 osThreadId_t sm_director_handle;
+const osThreadAttr_t sm_director_attributes = {
+	.name = "State Machine Director",
 const osThreadAttr_t sm_director_attributes = {
 	.name = "State Machine Director",
 	.stack_size = 128 * 8,
 	.priority = (osPriority_t)osPriorityRealtime2,
+	.priority = (osPriority_t)osPriorityRealtime2,
 };
 
 static osMessageQueueId_t state_trans_queue;
@@ -63,7 +71,7 @@ int queue_state_transition(state_req_t new_state)
 			return 0;
 
 		/* Transitioning between drive states is always allowed */
-		//TODO: Make sure motor is not spinning before switching
+		// TODO: Make sure motor is not spinning before switching
 
 		/* If we are turning ON the motor, blare RTDS */
 		if (cerberus_state.drive == NOT_DRIVING) {
@@ -178,7 +186,7 @@ void vStateMachineDirector(void *pv_params)
 				continue;
 
 			/* Transitioning between drive states is always allowed */
-			//TODO: Make sure motor is not spinning before switching
+			// TODO: Make sure motor is not spinning before switching
 
 			/* If we are turning ON the motor, blare RTDS */
 			if (cerberus_state.drive == NOT_DRIVING) {

Core/Src/torque.c

@@ -25,6 +25,7 @@
 
 /* DO NOT ATTEMPT TO SEND TORQUE COMMANDS LOWER THAN THIS VALUE */
 #define MIN_COMMAND_FREQ  60 /* Hz */
+#define MIN_COMMAND_FREQ  60 /* Hz */
 #define MAX_COMMAND_DELAY 1000 / MIN_COMMAND_FREQ /* ms */
 
 static float torque_limit_percentage = 1.0;