Merge remote-tracking branch 'origin' into 81-bmsfaultpriority-v2

.pre-commit-config.yaml

@@ -1,10 +1,10 @@
-repos:
-    - repo: local
-      hooks:
-        - id: clang_restage
-          name: Restage formatted files
-          entry: clang_restage
-          language: system
-          pass_filenames: false
-          always_run: true
+repos:
+    - repo: local
+      hooks:
+        - id: clang_restage
+          name: Restage formatted files
+          entry: clang_restage
+          language: system
+          pass_filenames: false
+          always_run: true
           stages: [pre-commit]

cangen/can-messages/mpu.json

@@ -1021,6 +1021,7 @@
          },
          "points": [
           {
+            "endianness": "little",
             "size": 32
           }
         ]
@@ -1037,6 +1038,7 @@
          },
          "points": [
           {
+            "endianness": "little",
             "size": 32
           }
         ]

general/include/pca9539.h

@@ -39,21 +39,19 @@ PCA 9539 16 bit GPIO expander.  Datasheet: https://www.ti.com/lit/ds/symlink/pca
  * @brief Pointer to write function
  * 
  */
-typedef int (*WritePtr)(uint16_t dev_addr, uint16_t mem_address,
-			uint16_t mem_add_size, uint8_t *data, uint16_t size,
-			int delay);
+typedef uint8_t (*PCA_Write)(uint16_t dev_addr, uint8_t reg, uint8_t *data,
+			     uint8_t size);
 
 /**
  * @brief Pointer to read function
  * 
  */
-typedef int (*ReadPtr)(uint16_t dev_addr, uint16_t mem_address,
-		       uint16_t mem_add_size, uint8_t *data, uint16_t size,
-		       int delay);
+typedef uint8_t (*PCA_Read)(uint16_t dev_addr, uint8_t reg, uint8_t *data,
+			    uint8_t size);
 
 typedef struct {
-	WritePtr write;
-	ReadPtr read;
+	PCA_Write write;
+	PCA_Read read;
 
 	uint16_t dev_addr;
 } pca9539_t;
@@ -66,7 +64,7 @@ typedef struct {
  * @param readFunc function pointer to HAL specific read func
  * @param dev_addr i2c device address
  */
-void pca9539_init(pca9539_t *pca, WritePtr writeFunc, ReadPtr readFunc,
+void pca9539_init(pca9539_t *pca, PCA_Write writeFunc, PCA_Read readFunc,
 		  uint8_t dev_addr);
 
 /**

general/src/pca9539.c

@@ -4,28 +4,17 @@
 
 #define REG_SIZE_BITS 8
 
-int pca_write_reg(pca9539_t *pca, uint16_t address, uint8_t *data)
+static int pca_write_reg(pca9539_t *pca, uint8_t address, uint8_t *data)
 {
-	//Parameters in the HAL Function
-	uint16_t mem_add_size = 8;
-	uint16_t data_size = 1;
-	int delay = 0xFFFFFFFFU;
-
-	return pca->write(pca->dev_addr, address, mem_add_size, data, data_size,
-			  delay);
+	return pca->write(pca->dev_addr, address, data, 1);
 }
 
-int pca_read_reg(pca9539_t *pca, uint16_t address, uint8_t *data)
+static int pca_read_reg(pca9539_t *pca, uint8_t address, uint8_t *data)
 {
-	uint16_t mem_add_size = 8;
-	uint16_t data_size = 1;
-	int delay = 0xFFFFFFFFU;
-
-	return pca->read(pca->dev_addr, address, mem_add_size, data, data_size,
-			 delay);
+	return pca->read(pca->dev_addr, address, data, 1);
 }
 
-void pca9539_init(pca9539_t *pca, WritePtr writeFunc, ReadPtr readFunc,
+void pca9539_init(pca9539_t *pca, PCA_Write writeFunc, PCA_Read readFunc,
 		  uint8_t dev_addr)
 {
 	pca->dev_addr = dev_addr << 1u;

middleware/include/c_utils.h

@@ -1,18 +1,29 @@
-#ifndef C_UTILS
-#define C_UTILS
-
-/*
- * Will retrieve the container of a certain pointer given the container type and
- * its pointer Trick pulled from Linux Kernel
- */
-#define CONTAINER_OF(ptr, type, member) \
-	((type *)((char *)(ptr) - offsetof(type, member)))
-
-#endif /* C_UTILS */
-
-void endian_swap(void *ptr, int size);
-
-/// @brief Reverses the bit order of a byte
-/// @param b byte
-/// @return the same byte but wuth the bits reversed
-unsigned char reverse_bits(unsigned char b);
+#ifndef C_UTILS
+#define C_UTILS
+
+/*
+ * Will retrieve the container of a certain pointer given the container type and
+ * its pointer Trick pulled from Linux Kernel
+ */
+#define CONTAINER_OF(ptr, type, member) \
+	((type *)((char *)(ptr) - offsetof(type, member)))
+
+/*
+ * Gets a bit of a binary number at desired location
+*/
+#define NER_GET_BIT(num, bit) ((num >> bit) & 1)
+
+/*
+ * Sets a bit of a binary number at desired location
+*/
+#define NER_SET_BIT(num, bit) \
+	bit < (sizeof(num) * 8) ? (num |= (1UL << bit)) : num
+
+void endian_swap(void *ptr, int size);
+
+/// @brief Reverses the bit order of a byte
+/// @param b byte
+/// @return the same byte but wuth the bits reversed
+unsigned char reverse_bits(unsigned char b);
+
+#endif /* C_UTILS */

middleware/simple_ema.c

@@ -0,0 +1,8 @@
+#include <stdio.h>
+#include "simple_ema.h"
+
+void ema_filter(float current_value, float *previous_ema, float alpha)
+{
+	*previous_ema =
+		(alpha * current_value) + ((1 - alpha) * (*previous_ema));
+}

middleware/simple_ema.h

@@ -0,0 +1,7 @@
+#ifndef SIMPLE_EMA
+#define SIMPLE_EMA
+
+// Exponential Moving Average Lowpass Filter
+void ema_filter(float current_value, float *previous_ema, float alpha);
+
+#endif /* SIMPLE_EMA */

middleware/src/c_utils.c

@@ -1,20 +1,20 @@
-#include "c_utils.h"
-
-void endian_swap(void *ptr, int size)
-{
-	char *p = (char *)ptr;
-	char tmp;
-	for (int i = 0; i < size / 2; i++) {
-		tmp = p[i];
-		p[i] = p[size - i - 1];
-		p[size - i - 1] = tmp;
-	}
-}
-
-unsigned char reverse_bits(unsigned char b)
-{
-	b = (b & 0xF0) >> 4 | (b & 0x0F) << 4;
-	b = (b & 0xCC) >> 2 | (b & 0x33) << 2;
-	b = (b & 0xAA) >> 1 | (b & 0x55) << 1;
-	return b;
+#include "c_utils.h"
+
+void endian_swap(void *ptr, int size)
+{
+	char *p = (char *)ptr;
+	char tmp;
+	for (int i = 0; i < size / 2; i++) {
+		tmp = p[i];
+		p[i] = p[size - i - 1];
+		p[size - i - 1] = tmp;
+	}
+}
+
+unsigned char reverse_bits(unsigned char b)
+{
+	b = (b & 0xF0) >> 4 | (b & 0x0F) << 4;
+	b = (b & 0xCC) >> 2 | (b & 0x33) << 2;
+	b = (b & 0xAA) >> 1 | (b & 0x55) << 1;
+	return b;
 }