Daybreak 2025 Integration

.github/workflows/c-cpp.yml

@@ -15,8 +15,8 @@ jobs:
       run: git submodule update --init --recursive
     - name: Install tools
       run: |
-        ./Embedded-Sharepoint/Scripts/install.sh -i
         sudo apt -y update
+        sudo apt -y install gcc-arm-none-eabi
     - name: clean
       run: make clean
     - name: make leader

.gitignore

@@ -7,3 +7,5 @@ __pycache__
 
 !.vscode/LHR.code-workspace
 !.vscode/c_cpp_properties.json
+
+.venv

Apps/Inc/IOState.h

@@ -0,0 +1,28 @@
+#ifndef __IOSTATE_H
+#define __IOSTATE_H
+
+#include "common.h"
+#include "os.h"
+#include "Tasks.h"
+
+// Macros for the SWITCH_BITMAP signal in the IO_STATE CAN message
+#define SWITCH_BITMAP_BRAKELIGHT(value)  ((value & 0x01) << 7) // Bit 7: BRAKELIGHT
+#define SWITCH_BITMAP_CRUZ_ST(value)     ((value & 0x01) << 6) // Bit 6: CRUZ_ST
+#define SWITCH_BITMAP_CRUZ_EN(value)     ((value & 0x01) << 5) // Bit 5: CRUZ_EN
+#define SWITCH_BITMAP_REV_SW(value)      ((value & 0x01) << 4) // Bit 4: REV_SW
+#define SWITCH_BITMAP_FOR_SW(value)      ((value & 0x01) << 3) // Bit 3: FOR_SW
+#define SWITCH_BITMAP_REGEN_SW(value)    ((value & 0x01) << 2) // Bit 2: REGEN_SW
+#define SWITCH_BITMAP_IGN_2_MOTOR(value) ((value & 0x01) << 1) // Bit 1: IGN_2_Motor
+#define SWITCH_BITMAP_IGN_1_ARRAY(value) ((value & 0x01) << 0) // Bit 0: IGN_1_Array
+
+#define CANBUS_MOTOR_SAFE_TO_RUN         1
+#define CANBUS_MOTOR_NOT_SAFE_TO_RUN     (!CANBUS_MOTOR_SAFE_TO_RUN)
+
+// typedef enum {
+//     IOSTATE_ERR_NONE  = 0x0000,         // No error
+//     IOSTATE_ERROR = 0xFFFF,             // More than one state is high at a time
+// } IOState_error_code_t;
+
+void assertIOStateError(controls_error_e io_err);
+
+#endif

Apps/Inc/ReadCarCAN.h

@@ -14,25 +14,25 @@
 #include "os.h"
 #include "common.h"
 #include "Tasks.h"
-#include "CANbus.h"
 
-/**
- * Error types
- */
-typedef enum
-{
-	READCARCAN_ERR_NONE,
-	READCARCAN_ERR_CHARGE_DISABLE,		   // Received a charge disable msg
-	READCARCAN_ERR_MISSED_MSG,			   // Didn't receive a BPS charge msg in time
-	READCARCAN_ERR_DISABLE_CONTACTORS_MSG, // Ignition is turned to neither (off due to LV) or both at the same time (impossible) are on at
-	READCARCAN_ERR_BPS_TRIP				   // Received a BPS trip msg (0 or 1)
-} ReadCarCAN_error_code_t;
+#define BPS_TRIP_MESSAGE 1
 
-/**
- * @brief Returns whether regen braking / charging is enabled or not
- * @return  Whether regen braking / charging is enabled or not
- */
-bool ChargeEnable_Get(void);
+// /**
+//  * Error types
+//  */
+// typedef enum
+// {
+// 	READCARCAN_ERR_NONE = 0x0000,
+// 	//READCARCAN_ERR_CHARGE_DISABLE = 0xAAAA,		    // Received a charge disable msg
+// 	READCARCAN_ERR_BPS_MISSED_MSG = 0xBBBB,			    // Didn't receive a BPS charge msg in time
+// 	READCARCAN_ERR_PCHG_MISSED_MSG = 0xCCCC,			    // Didn't receive a precharge msg in time
+// 	//READCARCAN_ERR_DISABLE_CONTACTORS_MSG = 0xCCCC, // Ignition is turned to neither (off due to LV) or both at the same time (impossible) are on at
+// 	READCARCAN_ERR_BPS_TRIP = 0xDDDD,				// Received a BPS trip msg (0 or 1)
+// 	READCARCAN_ERR_ACTIVE_PRECHARGE_FAULT = 0xEEEE,  // Active precharge sent a fault message
+// } ReadCarCAN_error_code_t;
+
+
+void assertReadCarCANError(controls_error_e rcc_err);
 
 #endif
 

Apps/Inc/ReadTritium.h

@@ -1,7 +1,7 @@
 /* Copyright (c) 2021 UT Longhorn Racing Solar
  * @file ReadTritium.h
- * @brief 
- * 
+ * @brief
+ *
  * @defgroup ReadTritium
  * @addtogroup ReadTritium
  * @{
@@ -14,30 +14,37 @@
 #include "common.h"
 #include "Tasks.h"
 
+
 /**
  * Motor Error States
- * Read messages from motor in ReadTritium and trigger appropriate error messages as needed based on bits
- * 
+ * Read messages from motor in ReadTritium and trigger appropriate error messages as needed based on
+ * bits
+ *
  */
-typedef enum{
-    T_HARDWARE_OVER_CURRENT_ERR = (1<<0), 
-    T_SOFTWARE_OVER_CURRENT_ERR = (1<<1), 
-    T_DC_BUS_OVERVOLT_ERR = (1<<2), 
-    T_HALL_SENSOR_ERR = (1<<3), 
-    T_WATCHDOG_LAST_RESET_ERR = (1<<4), 
-    T_CONFIG_READ_ERR = (1<<5), 
-    T_UNDER_VOLTAGE_LOCKOUT_ERR = (1<<6), 
-    T_DESAT_FAULT_ERR = (1<<7), 
-    T_MOTOR_OVER_SPEED_ERR = (1<<8), 
-    T_INIT_FAIL = (1<<9), //motor controller fails to restart or initialize
-    T_MOTOR_WATCHDOG_TRIP = (1 << 15),
-    T_NONE = 0x00,
-} tritium_error_code_t;
+// typedef enum{
+//     T_HARDWARE_OVER_CURRENT_ERR = (1<<0),
+//     T_SOFTWARE_OVER_CURRENT_ERR = (1<<1),
+//     T_DC_BUS_OVERVOLT_ERR = (1<<2),
+//     T_HALL_SENSOR_ERR = (1<<3),
+//     T_WATCHDOG_LAST_RESET_ERR = (1<<4),
+//     T_CONFIG_READ_ERR = (1<<5),
+//     T_UNDER_VOLTAGE_LOCKOUT_ERR = (1<<6),
+//     T_DESAT_FAULT_ERR = (1<<7),
+//     T_MOTOR_OVER_SPEED_ERR = (1<<8),
+//     T_INIT_FAIL = (1<<9), //motor controller fails to restart or initialize
+//     T_MOTOR_WATCHDOG_TRIP = (1 << 15),
+//     T_NONE = 0x00,
+// } tritium_error_code_t;
+
+// #define MOTOR_VELOCITY_SWOC_THRESHOLD 8.0f
 
 float Motor_RPM_Get();
 float Motor_Velocity_Get();
+float Motor_Velocity_Get_Safe();  // Thread-safe version
+uint16_t Motor_Error_Get();
 
-#endif
+void assertTritiumError(controls_error_e motor_err);
 
+#endif
 
 /* @} */

Apps/Inc/SendCarCAN.h

@@ -1,7 +1,12 @@
 #ifndef __SENDCARCAN_H
 #define __SENDCARCAN_H
 
+#include "common.h"
+#include "os.h"
 #include "CANbus.h"
+#include "Tasks.h"
+
+
 
 /**
  * @brief Initialize SendCarCAN

Apps/Inc/SendTritium.h

@@ -11,90 +11,65 @@
 #define __SENDTRITIUM_H
 
 #include "common.h"
+#include "os.h"
+#include "Dashboard.h"
+#include "Tasks.h"
+
 
 //#define SENDTRITIUM_PRINT_MES
+#define CANBUS_MOTOR_SAFE_TO_RUN 1
 
 #define MOTOR_MSG_PERIOD 100 // in ms
 #define FSM_PERIOD 100 // in ms
 #define DEBOUNCE_PERIOD 2 // in units of FSM_PERIOD
-#define MOTOR_MSG_COUNTER_THRESHOLD (MOTOR_MSG_PERIOD)/(FSM_PERIOD)
-
-#define FOREACH_Gear(GEAR) \
-        GEAR(FORWARD_GEAR),   \
-        GEAR(NEUTRAL_GEAR),  \
-        GEAR(REVERSE_GEAR),   \
-
-typedef enum GEAR_ENUM {
-    FOREACH_Gear(GENERATE_ENUM)
-    NUM_GEARS,
-} Gear_t;
-
-// State Names
-typedef enum{
-    FORWARD_DRIVE,
-    NEUTRAL_DRIVE,
-    REVERSE_DRIVE,
-    RECORD_VELOCITY,
-    POWERED_CRUISE,
-    COASTING_CRUISE,
-    BRAKE_STATE,
-    ONEPEDAL,
-    ACCELERATE_CRUISE
-} TritiumStateName_t;
-
-// State Struct for FSM
-typedef struct TritiumState{
-    TritiumStateName_t name;
-    void (*stateHandler)(void);
-    void (*stateDecider)(void);
-} TritiumState_t;
+
+#define MAX_VELOCITY 12000.0f // rpm (unobtainable value)
+
+// Used to define accel & brake (hysteresis) thresholds for when to start/stop powering the motor, respectively
+#define ACCEL_PEDAL_THRESHOLD 15 // percent
+#define BRAKE_UNPRESSED_THRESHOLD 40 // percent
+#define BRAKE_PRESSED_THRESHOLD 30 // percent
+
+// Motor Controller current values. Current is in Amps (A)
+#define MAX_MOCO_BATTERY_CURRENT 64.0f  // NOTE: Provided only for reference. This 64A max for daybreak, anticipated to be 135 for next-gen
+#define CONT_MOCO_BATTERY_CURRENT 30.0f // Continuous 
+#define MAX_MOCO_CURRENT 122.0f
+
+#define PEDAL_MIN 0        // percent
+#define PEDAL_MAX 100      // percent
+#define CURRENT_SP_MIN 0   // percent
+#define CURRENT_SP_MAX 100 // percent
+#define SWOC_CURRENT_SP_MAX 60 // percent
+
+#define GEAR_FAULT_THRESHOLD 3 // number of times gear fault can occur before it is considered a fault
+
+#define ACCCEL_PEDAL_RESET_THRESHOLD 20
+
+// /**
+//  * Error types
+//  * 
+//  */
+// typedef enum
+// {
+//     SENDTRITIUM_ERR_NONE,
+//     SENDTRITIUM_ERR_GEAR_FAULT,     // Received multiple or no gear inputs (e.g. FOR_SW, REV_SW)
+// } SendTritium_error_code_t;
 
 #ifdef SENDTRITIUM_EXPOSE_VARS
 // Inputs
-extern bool cruiseEnable;
-extern bool cruiseSet;
-extern bool onePedalEnable;
-extern bool regenEnable;
-
 extern uint8_t brakePedalPercent;
 extern uint8_t accelPedalPercent;
-
-extern Gear_t gear;
-
-extern TritiumState_t state;
-extern float velocityObserved;
-extern float cruiseVelSetpoint;
+extern gear_t gear;
+extern bool isBrakeOn; // Used for updating display & brakelight
 #endif
 
 // Getter functions for local variables in SendTritium.c
-EXPOSE_GETTER(bool, cruiseEnable)
-EXPOSE_GETTER(bool, cruiseSet)
-EXPOSE_GETTER(bool, onePedalEnable)
-EXPOSE_GETTER(bool, regenEnable)
 EXPOSE_GETTER(uint8_t, brakePedalPercent)
 EXPOSE_GETTER(uint8_t, accelPedalPercent)
-EXPOSE_GETTER(Gear_t, gear)
-EXPOSE_GETTER(TritiumState_t, state)
-EXPOSE_GETTER(float, velocityObserved)
-EXPOSE_GETTER(float, cruiseVelSetpoint)
+EXPOSE_GETTER(gear_t, gear)
 EXPOSE_GETTER(float, currentSetpoint)
 EXPOSE_GETTER(float, velocitySetpoint)
-
-// Setter functions for local variables in SendTritium.c
-#ifdef SENDTRITIUM_EXPOSE_VARS
-EXPOSE_SETTER(bool, cruiseEnable)
-EXPOSE_SETTER(bool, cruiseSet)
-EXPOSE_SETTER(bool, onePedalEnable)
-EXPOSE_SETTER(bool, regenEnable)
-EXPOSE_SETTER(uint8_t, brakePedalPercent)
-EXPOSE_SETTER(uint8_t, accelPedalPercent)
-EXPOSE_SETTER(Gear_t, gear)
-EXPOSE_SETTER(TritiumState_t, state)
-EXPOSE_SETTER(float, velocityObserved)
-EXPOSE_SETTER(float, cruiseVelSetpoint)
-EXPOSE_SETTER(float, currentSetpoint)
-EXPOSE_SETTER(float, velocitySetpoint)
-#endif
+EXPOSE_GETTER(bool, isBrakeOn)
 
 /**
  * @brief Linearly map range of integers to another range of integers, and provide the pecentage result.