fix: typos (case) and changed platform to espressif32 (no arduino)

BrockMorgan88 · BrockMorgan88 · commit 6c32656240e2 · 2026-02-16T22:59:33.000+10:00
diff --git a/firmware/rover-control-board/include/power_parameters.hpp b/firmware/rover-control-board/include/power_parameters.hpp
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <hi_can.hpp>
+
 #include "rover_thread.hpp"
 #include "sdkconfig.h"
 
diff --git a/firmware/rover-control-board/platformio.ini b/firmware/rover-control-board/platformio.ini
@@ -13,7 +13,7 @@ lib_dir = "../components"
 default_envs = debug
 
 [env]
-platform = https://github.com/pioarduino/platform-espressif32/releases/download/55.03.30-2/platform-espressif32.zip
+platform = platformio/espressif32
 board = esp32-s3-devkitc-1
 framework = espidf
 upload_speed = 921600
diff --git a/firmware/rover-control-board/src/main.cpp b/firmware/rover-control-board/src/main.cpp
@@ -107,11 +107,11 @@ extern "C" void app_main()  // entry point - ESP-IDF expects C linkage
 
     try
     {
-        auto& canInterface = TwaiInterface::getInstance(std::make_pair(bsp::CAN_TX_PIN, bsp::CAN_RX_PIN), 0,
-                                                        filter_t{
-                                                            .address = static_cast<flagged_address_t>(RCB_DEVICE_ADDRESS),
-                                                            .mask = DEVICE_MASK,
-                                                        });
+        auto& canInterface = TwaiInterface::get_instance(std::make_pair(bsp::CAN_TX_PIN, bsp::CAN_RX_PIN), 0,
+                                                         filter_t{
+                                                             .address = static_cast<flagged_address_t>(RCB_DEVICE_ADDRESS),
+                                                             .mask = DEVICE_MASK,
+                                                         });
         packetManager.emplace(canInterface);
     }
     catch (const std::exception& e)
@@ -133,8 +133,8 @@ extern "C" void app_main()  // entry point - ESP-IDF expects C linkage
         try
         {
             parameterGroups.emplace_back(power_bus.GetParameterGroup());
-            packetManager->addGroup(parameterGroups.back());
-            packetManager->setTransmissionConfig(
+            packetManager->add_group(parameterGroups.back());
+            packetManager->set_transmission_config(
                 flagged_address_t(standard_address_t(RCB_DEVICE_ADDRESS, static_cast<uint8_t>(id), static_cast<uint8_t>(hi_can::addressing::power::distribution::rover_control_board::power_bus::parameter::POWER_STATUS))),
                 power_bus.GetTransmissionConfig());
         }
@@ -147,16 +147,16 @@ extern "C" void app_main()  // entry point - ESP-IDF expects C linkage
 
     timer = timerCreate(contactorTimerCb, 1000);
 
-    packetManager->setCallback(
+    packetManager->set_callback(
         filter_t{static_cast<flagged_address_t>(
             standard_address_t{power::distribution::rover_control_board::DEVICE_ID,
                                static_cast<uint8_t>(power::distribution::rover_control_board::group::CONTACTOR),
                                static_cast<uint8_t>(power::distribution::rover_control_board::contactor::parameter::SHUTDOWN)})},
-        {
-            .dataCallback = [&](hi_can::Packet packet)
+        PacketManager::callback_config_t{
+            .data_callback = [&](hi_can::Packet packet)
             {
                 hi_can::parameters::power::contactor::control_t data;
-                data.deserializeData(packet.getData());
+                data.deserialize_data(packet.get_data());
                 if (data.immediate_shutdown)
                 {
                     xTimerReset(timer, 0);
diff --git a/firmware/rover-control-board/src/power_parameters.cpp b/firmware/rover-control-board/src/power_parameters.cpp
@@ -20,9 +20,9 @@ TwaiPowerBusParameterGroup::TwaiPowerBusParameterGroup(addressing::power::distri
                                    static_cast<uint8_t>(bus),
                                    static_cast<uint8_t>(addressing::power::distribution::rover_control_board::power_bus::parameter::CONTROL_IMMEDIATE)))},
         PacketManager::callback_config_t{
-            .dataCallback = [&](const Packet& packet)
+            .data_callback = [&](const Packet& packet)
             {
-                _immediateStatus.deserializeData(packet.getData());
+                _immediateStatus.deserialize_data(packet.get_data());
                 if (_immediateStatus.clear_error && clearErrorHandler)
                 {
                     clearErrorHandler();
@@ -39,9 +39,9 @@ TwaiPowerBusParameterGroup::TwaiPowerBusParameterGroup(addressing::power::distri
                                    static_cast<uint8_t>(bus),
                                    static_cast<uint8_t>(addressing::power::distribution::rover_control_board::power_bus::parameter::CONTROL_SCHEDULED)))},
         PacketManager::callback_config_t{
-            .dataCallback = [this](const Packet& packet)
+            .data_callback = [this](const Packet& packet)
             {
-                _scheduledStatus.deserializeData(packet.getData());
+                _scheduledStatus.deserialize_data(packet.get_data());
                 _busOffTimer = _scheduledStatus.bus_off_time;
                 _busOnTimer = _scheduledStatus.bus_on_time;
             },
@@ -55,9 +55,9 @@ TwaiPowerBusParameterGroup::TwaiPowerBusParameterGroup(addressing::power::distri
                                    static_cast<uint8_t>(bus),
                                    static_cast<uint8_t>(addressing::power::distribution::rover_control_board::power_bus::parameter::CURRENT_LIMIT)))},
         PacketManager::callback_config_t{
-            .dataCallback = [this](const Packet& packet)
+            .data_callback = [this](const Packet& packet)
             {
-                memcpy(&_currentLimit, &(packet.getData()), sizeof(uint32_t));
+                memcpy(&_currentLimit, &(packet.get_data()), sizeof(uint32_t));
             },
         });
     _busStateHandler = busStateHandler;
@@ -71,17 +71,17 @@ void TwaiPowerBusParameterGroup::setBusStatus(parameters::power::distribution::p
     _currentStatus.status = status;
 }
 
-parameters::power::distribution::power_status TwaiPowerBusParameterGroup::getBusStatus(void)
+parameters::power::distribution::power_status TwaiPowerBusParameterGroup::getBusStatus()
 {
     return _currentStatus.status;
 }
 
-hi_can::parameters::power::distribution::status_t TwaiPowerBusParameterGroup::getStatus(void)
+hi_can::parameters::power::distribution::status_t TwaiPowerBusParameterGroup::getStatus()
 {
     return _currentStatus;
 }
 
-addressing::power::distribution::rover_control_board::group TwaiPowerBusParameterGroup::getId(void)
+addressing::power::distribution::rover_control_board::group TwaiPowerBusParameterGroup::getId()
 {
     return _busId;
 }
@@ -91,7 +91,7 @@ void TwaiPowerBusParameterGroup::setBusCurrent(uint32_t current)
     _currentStatus.current = current;
 }
 
-uint32_t TwaiPowerBusParameterGroup::getBusCurrent(void)
+uint32_t TwaiPowerBusParameterGroup::getBusCurrent()
 {
     return _currentStatus.current;
 }
@@ -101,12 +101,12 @@ void TwaiPowerBusParameterGroup::setBusVoltage(uint16_t voltage)
     _currentStatus.voltage = voltage;
 }
 
-uint16_t TwaiPowerBusParameterGroup::getBusVoltage(void)
+uint16_t TwaiPowerBusParameterGroup::getBusVoltage()
 {
     return _currentStatus.voltage;
 }
 
-uint32_t TwaiPowerBusParameterGroup::getLimitCurrent(void)
+uint32_t TwaiPowerBusParameterGroup::getLimitCurrent()
 {
     return _currentLimit;
 }
diff --git a/firmware/rover-control-board/src/rcb.cpp b/firmware/rover-control-board/src/rcb.cpp
@@ -61,7 +61,7 @@ RoverPowerBus::RoverPowerBus(hi_can::addressing::power::distribution::rover_cont
     hi_can::PacketManager::transmission_config_t _statusTransmissionConfig = {
         .generator = [&](void)
         {
-            return _canParameters.getStatus().serializeData();
+            return _canParameters.getStatus().serialize_data();
         },
         .interval = std::chrono::nanoseconds(100000000)};  // 100 milli seconds
 
diff --git a/software/shared/hi-can/src/hi_can_parameter.cpp b/software/shared/hi-can/src/hi_can_parameter.cpp
@@ -22,9 +22,9 @@ namespace hi_can::parameters::power::distribution
                                        static_cast<uint8_t>(bus),
                                        static_cast<uint8_t>(addressing::legacy::power::control::power_bus::parameter::POWER_STATUS)))},
             PacketManager::callback_config_t{
-                .dataCallback = [this](const Packet& packet)
+                .data_callback = [this](const Packet& packet)
                 {
-                    _status.deserializeData(packet.getData());
+                    _status.deserialize_data(packet.get_data());
                 },
             });
     }

Original file line number	Diff line number	Diff line change
`@@ -20,9 +20,9 @@ TwaiPowerBusParameterGroup::TwaiPowerBusParameterGroup(addressing::power::distri`
`20`	`20`	`static_cast<uint8_t>(bus),`
`21`	`21`	`static_cast<uint8_t>(addressing::power::distribution::rover_control_board::power_bus::parameter::CONTROL_IMMEDIATE)))},`
`22`	`22`	`PacketManager::callback_config_t{`
`23`		`- .dataCallback = [&](const Packet& packet)`
	`23`	`+ .data_callback = [&](const Packet& packet)`
`24`	`24`	`{`
`25`		`- _immediateStatus.deserializeData(packet.getData());`
	`25`	`+ _immediateStatus.deserialize_data(packet.get_data());`
`26`	`26`	`if (_immediateStatus.clear_error && clearErrorHandler)`
`27`	`27`	`{`
`28`	`28`	`clearErrorHandler();`
`@@ -39,9 +39,9 @@ TwaiPowerBusParameterGroup::TwaiPowerBusParameterGroup(addressing::power::distri`
`39`	`39`	`static_cast<uint8_t>(bus),`
`40`	`40`	`static_cast<uint8_t>(addressing::power::distribution::rover_control_board::power_bus::parameter::CONTROL_SCHEDULED)))},`
`41`	`41`	`PacketManager::callback_config_t{`
`42`		`- .dataCallback = [this](const Packet& packet)`
	`42`	`+ .data_callback = [this](const Packet& packet)`
`43`	`43`	`{`
`44`		`- _scheduledStatus.deserializeData(packet.getData());`
	`44`	`+ _scheduledStatus.deserialize_data(packet.get_data());`
`45`	`45`	`_busOffTimer = _scheduledStatus.bus_off_time;`
`46`	`46`	`_busOnTimer = _scheduledStatus.bus_on_time;`
`47`	`47`	`},`
`@@ -55,9 +55,9 @@ TwaiPowerBusParameterGroup::TwaiPowerBusParameterGroup(addressing::power::distri`
`55`	`55`	`static_cast<uint8_t>(bus),`
`56`	`56`	`static_cast<uint8_t>(addressing::power::distribution::rover_control_board::power_bus::parameter::CURRENT_LIMIT)))},`
`57`	`57`	`PacketManager::callback_config_t{`
`58`		`- .dataCallback = [this](const Packet& packet)`
	`58`	`+ .data_callback = [this](const Packet& packet)`
`59`	`59`	`{`
`60`		`- memcpy(&_currentLimit, &(packet.getData()), sizeof(uint32_t));`
	`60`	`+ memcpy(&_currentLimit, &(packet.get_data()), sizeof(uint32_t));`
`61`	`61`	`},`
`62`	`62`	`});`
`63`	`63`	`_busStateHandler = busStateHandler;`
`@@ -71,17 +71,17 @@ void TwaiPowerBusParameterGroup::setBusStatus(parameters::power::distribution::p`
`71`	`71`	`_currentStatus.status = status;`
`72`	`72`	`}`
`73`	`73`
`74`		`-parameters::power::distribution::power_status TwaiPowerBusParameterGroup::getBusStatus(void)`
	`74`	`+parameters::power::distribution::power_status TwaiPowerBusParameterGroup::getBusStatus()`
`75`	`75`	`{`
`76`	`76`	`return _currentStatus.status;`
`77`	`77`	`}`
`78`	`78`
`79`		`-hi_can::parameters::power::distribution::status_t TwaiPowerBusParameterGroup::getStatus(void)`
	`79`	`+hi_can::parameters::power::distribution::status_t TwaiPowerBusParameterGroup::getStatus()`
`80`	`80`	`{`
`81`	`81`	`return _currentStatus;`
`82`	`82`	`}`
`83`	`83`
`84`		`-addressing::power::distribution::rover_control_board::group TwaiPowerBusParameterGroup::getId(void)`
	`84`	`+addressing::power::distribution::rover_control_board::group TwaiPowerBusParameterGroup::getId()`
`85`	`85`	`{`
`86`	`86`	`return _busId;`
`87`	`87`	`}`
`@@ -91,7 +91,7 @@ void TwaiPowerBusParameterGroup::setBusCurrent(uint32_t current)`
`91`	`91`	`_currentStatus.current = current;`
`92`	`92`	`}`
`93`	`93`
`94`		`-uint32_t TwaiPowerBusParameterGroup::getBusCurrent(void)`
	`94`	`+uint32_t TwaiPowerBusParameterGroup::getBusCurrent()`
`95`	`95`	`{`
`96`	`96`	`return _currentStatus.current;`
`97`	`97`	`}`
`@@ -101,12 +101,12 @@ void TwaiPowerBusParameterGroup::setBusVoltage(uint16_t voltage)`
`101`	`101`	`_currentStatus.voltage = voltage;`
`102`	`102`	`}`
`103`	`103`
`104`		`-uint16_t TwaiPowerBusParameterGroup::getBusVoltage(void)`
	`104`	`+uint16_t TwaiPowerBusParameterGroup::getBusVoltage()`
`105`	`105`	`{`
`106`	`106`	`return _currentStatus.voltage;`
`107`	`107`	`}`
`108`	`108`
`109`		`-uint32_t TwaiPowerBusParameterGroup::getLimitCurrent(void)`
	`109`	`+uint32_t TwaiPowerBusParameterGroup::getLimitCurrent()`
`110`	`110`	`{`
`111`	`111`	`return _currentLimit;`
`112`	`112`	`}`
Original file line number	Diff line number	Diff line change
`@@ -61,7 +61,7 @@ RoverPowerBus::RoverPowerBus(hi_can::addressing::power::distribution::rover_cont`
`61`	`61`	`hi_can::PacketManager::transmission_config_t _statusTransmissionConfig = {`
`62`	`62`	`.generator = [&](void)`
`63`	`63`	`{`
`64`		`- return _canParameters.getStatus().serializeData();`
	`64`	`+ return _canParameters.getStatus().serialize_data();`
`65`	`65`	`},`
`66`	`66`	`.interval = std::chrono::nanoseconds(100000000)}; // 100 milli seconds`
`67`	`67`
Original file line number	Diff line number	Diff line change
`@@ -22,9 +22,9 @@ namespace hi_can::parameters::power::distribution`
`22`	`22`	`static_cast<uint8_t>(bus),`
`23`	`23`	`static_cast<uint8_t>(addressing::legacy::power::control::power_bus::parameter::POWER_STATUS)))},`
`24`	`24`	`PacketManager::callback_config_t{`
`25`		`- .dataCallback = [this](const Packet& packet)`
	`25`	`+ .data_callback = [this](const Packet& packet)`
`26`	`26`	`{`
`27`		`- _status.deserializeData(packet.getData());`
	`27`	`+ _status.deserialize_data(packet.get_data());`
`28`	`28`	`},`
`29`	`29`	`});`
`30`	`30`	`}`