Merged main into ams_interface

Author: vanshagg233

.clang-tidy

@@ -0,0 +1,7 @@
+Checks: 'bugprone-*, cppcoreguidelines-*, readability-identifier-naming, -cppcoreguidelines-avoid-non-const-global-variables, -bugprone-branch-clone, -cppcoreguidelines-pro-type-vararg, -bugprone-easily-swappable-parameters'
+WarningsAsErrors: 'cppcoreguidelines-*, bugprone-*, readability-identifier-naming'
+FormatStyle: 'file'
+CheckOptions:
+  - { key: readability-identifier-naming.ClassMemberCase, value: 'lower_case' }
+  - { key: readability-identifier-naming.ClassMemberPrefix, value: '_' }
+  - { key: readability-identifier-naming.FunctionCase, value: 'lower_case' }

.clangd

@@ -0,0 +1,2 @@
+CompileFlags:
+  CompilationDatabase: .

.github/workflows/platformio.yml

@@ -24,4 +24,7 @@ jobs:
       run: pio run -e teensy41
 
     - name: Run Tests
-      run: pio test -e test_systems_env
+      run: pio test -e test_systems_env
+
+    - name: run checks
+      run: pio check -e teensy41 --fail-on-defect high

.gitignore

@@ -1,3 +1,4 @@
 .pio
 .vscode/*
 compile_commands.json
+.cache/

README.md

@@ -16,5 +16,11 @@ If you are not already familiar with PlatformIO, please read [Module 4](https://
 
 To TEST code, open a PlatformIO terminal (CTRL-SHIFT-P, then `PlatformIO: New Terminal`). Then, to test systems (non hardware-specific logic), call `pio test -e test_systems_env`. This will run all unit tests in the `test/test_systems` directory.
 
+## Check code
+
+in the PlatformIO terminal:
+
+`pio check -e teensy41 --fail-on-defect high`
+
 ## FAQ: Why red squiggles?
 See [this](https://wiki.hytechracing.org/books/hytech-racing-general-info/page/vscode-setup-for-auto-completion-and-code-navigation) page on our BookStack for help configuring VSCode for auto completion and code navigation within external library dependencies.

include/VCR_Constants.h

@@ -36,21 +36,26 @@ const int THERMISTOR_6 = 6;
 const int THERMISTOR_7 = 7;
 
 /* Scaling and offset */
-const float GLV_SENSE_SCALE = -1; //TODO: FIGURE THIS OUT
-const int GLV_SENSE_OFFSET = -1; //TODO: FIGURE THIS OUT
-const float CURRENT_SENSE_SCALE = -1; //TODO: FIGURE THIS OUT
-const int CURRENT_SENSE_OFFSET = -1; //TODO: FIGURE THIS OUT
-const float REFERENCE_SENSE_SCALE = -1; //TODO: FIGURE THIS OUT
-const int REFERENCE_SENSE_OFFSET = -1; //TODO: FIGURE THIS OUT
-const float RL_LOADCELL_SCALE = -1; //TODO: FIGURE THIS OUT
-const int RL_LOADCELL_OFFSET = -1; //TODO: FIGURE THIS OUT
-const float RR_LOADCELL_SCALE = -1; //TODO: FIGURE THIS OUT
-const int RR_LOADCELL_OFFSET = -1; //TODO: FIGURE THIS OUT
-const float RL_SUS_POT_SCALE = -1; //TODO: FIGURE THIS OUT
-const int RL_SUS_POT_OFFSET = -1; //TODO: FIGURE THIS OUT
-const float RR_SUS_POT_SCALE = -1; //TODO: FIGURE THIS OUT
-const int RR_SUS_POT_OFFSET = -1; //TODO: FIGURE THIS OUT
-
+const float GLV_SENSE_SCALE = (float)(24.0/((2.77149877/3.3)*4096.0)); //unsure about the multiplication by 4.0865
+const int GLV_SENSE_OFFSET = 0; //No offset for GLV
+const float CURRENT_SENSE_SCALE = (float)(24/((2.77149877/3.3)*4096)); //unsure about the multiplication by 4.0865
+const int CURRENT_SENSE_OFFSET = 0; //No offset for CURRENT_SENSE
+const float REFERENCE_SENSE_SCALE = (float)(24/((2.77149877/3.3)*4096)); //unsure about the multiplication by 4.0865
+const int REFERENCE_SENSE_OFFSET = 0; //No offset for REFERENCE_SENSE
+
+//Values are from the old MCU rev15
+const float RL_LOADCELL_SCALE = 0.1149f;
+const float RL_LOADCELL_OFFSET = 13.526f / RL_LOADCELL_SCALE;
+const float RR_LOADCELL_SCALE = 0.118f;
+const float RR_LOADCELL_OFFSET = 25.721f / RR_LOADCELL_SCALE;
+
+//does not matter that much
+const float RL_SUS_POT_SCALE = 1;
+const int RL_SUS_POT_OFFSET = 1;
+const float RR_SUS_POT_SCALE = 1;
+const int RR_SUS_POT_OFFSET = 1;
+
+const int WATCHDOG_PIN = 36;
 
 
 #endif /* VCR_CONSTANTS */

include/VCR_Globals.h

@@ -11,11 +11,15 @@
 #include "VCR_Constants.h"
 
 /* Interface and system data structs */
-extern VCRInterfaceData_s interface_data;
-extern VCRSystemData_s system_data;
+extern VCRInterfaceData_s interface_data; // NOLINT
+extern VCRSystemData_s system_data; // NOLINT
 
 /* ADC setup */
-extern MCP_ADC<8> adc_0; // MCP3208. ADC0 in VCR schematic. Used for valuable telem data.
-extern MCP_ADC<8> adc_1; // MCP3208. ADC1 in VCR schematic. Used for extra thermistors or extra sensors while testing.
+constexpr unsigned int channels_within_mcp_adc = 8;
+extern MCP_ADC<channels_within_mcp_adc> adc_0; // MCP3208. ADC0 in VCR schematic. Used for valuable telem data.
+extern MCP_ADC<channels_within_mcp_adc> adc_1; // MCP3208. ADC1 in VCR schematic. Used for extra thermistors or extra sensors while testing.
+
+/* Watchdog pin */
+extern const int watchdog_pin;
 
 #endif /* VCR_GLOBALS */

include/VCR_Tasks.h

@@ -32,14 +32,12 @@
 /* From shared_firmware_types library */
 #include "SharedFirmwareTypes.h"
 
-/**
- * This "Test" function is purely for validation of the HT_SCHED dependency. This is intended to be removed when
- * further development occurs.
- */
-bool init_test_task(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
-bool run_test_task(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
-extern HT_TASK::Task test_task;
-
+/* Local includes */
+#include "WatchdogSystem.h"
+#include "VCR_Constants.h"
+#include "VehicleStateMachine.h"
+#include "VCR_Globals.h"
+#include "Buzzer.h"
 
 /**
  * The "tick state machine" task will simply call the state machine's tick function with the current
@@ -54,7 +52,7 @@ extern HT_TASK::Task tick_state_machine_task;
 /**
  * The read_adc0 task will command adc0 to sample all eight channels, convert the outputs, and
  * store them in structs defined in shared_firmware_types. This function relies on adc_0 being
- * defined in ADC_interface.h.
+ * defined in VCRGlobals.h.
  */
 bool init_read_adc0_task(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
 bool run_read_adc0_task(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
@@ -66,9 +64,9 @@ extern HT_TASK::Task read_adc0_task;
  * NOTE: These channels are UNUSED BY DEFAULT and exist ONLY FOR TESTING. You may edit this
  * manually to add sensors.
  * 
- * The read_adc1 task will command adc0 to sample all eight channels, convert the outputs, and
+ * The read_adc1 task will command adc1 to sample all eight channels, convert the outputs, and
  * store them in a struct defined in shared_firmware_types. This function relies on adc_1 being
- * defined in ADC_interface.h.
+ * defined in VCRGlobals.h.
  */
 bool init_read_adc1_task(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
 bool run_read_adc1_task(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
@@ -83,4 +81,12 @@ extern HT_TASK::Task read_adc1_task;
 bool run_update_buzzer_controller_task(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
 extern HT_TASK::Task update_buzzer_controller_task;
 
+
+
+/**
+ * This task will fetch the watchdog state from WatchdogSystem and write it to the watchdog pin
+ */
+bool run_kick_watchdog(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
+extern HT_TASK::Task kick_watchdog_task;
+
 #endif /* VCR_TASKS */

lib/state_machine/include/VehicleStateMachine.h

@@ -1,6 +1,10 @@
 #ifndef VEHICLE_STATE_MACHINE
 #define VEHICLE_STATE_MACHINE
 
+/* From local systems library */
+#include "DrivetrainSystem.h"
+#include "BuzzerController.h"
+
 /**
  * Enum representing possible states for the vehicle's state machine.
  * 
@@ -46,16 +50,17 @@ class VehicleStateMachine
      * @pre Other systems are updated properly
      * @pre All relevant data exists in the data structs (VCRInterfaceData, VCRSystemData, etc.)
      * @param current_millis The system time, in millis. Passed in by the scheduler.
+     * @param system_data A reference to the global system data struct.
      */
-    void tick_state_machine(unsigned long current_millis);
+    void tick_state_machine(unsigned long current_millis, const VCRSystemData_s &system_data);
 
     CAR_STATE get_state() { return _current_state; }
 
 private:
-    VehicleStateMachine()
-    {
-        _current_state = CAR_STATE::STARTUP;
-    }
+    VehicleStateMachine() :
+        _current_state(CAR_STATE::STARTUP),
+        _drivetrain(DrivetrainSystem<uint32_t>::getInstance()),
+        _buzzer(BuzzerController::getInstance()) {};
 
     void set_state_(CAR_STATE new_state, unsigned long curr_time);
 
@@ -73,6 +78,10 @@ class VehicleStateMachine
 
     CAR_STATE _current_state;
 
+    /* System references to show dependence on systems library */
+    DrivetrainSystem<uint32_t> &_drivetrain; //TODO: Make this InverterInterface instead of uint32_t
+    BuzzerController &_buzzer;
+    // AMSSystem &_ams_system;
 };
 
 #endif /* VEHICLE_STATE_MACHINE */

lib/state_machine/src/VehicleStateMachine.cpp

@@ -3,16 +3,9 @@
 
 /* Local includes */
 #include "VehicleStateMachine.h"
-#include "DrivetrainSystem.h"
-#include "SafetySystem.h"
-#include "Buzzer.h"
-#include "VCR_Globals.h"
 
-void VehicleStateMachine::tick_state_machine(unsigned long current_millis)
+void VehicleStateMachine::tick_state_machine(unsigned long current_millis, const VCRSystemData_s &system_data)
 {
-    // TODO: Make this NOT uint32_t (it was only specified to allow compilation)
-    DrivetrainSystem<uint32_t> &drivetrain = DrivetrainSystem<uint32_t>::getInstance();
-    BuzzerController &buzzer = BuzzerController::getInstance();
 
     switch (_current_state)
     {
@@ -27,8 +20,8 @@ void VehicleStateMachine::tick_state_machine(unsigned long current_millis)
     case CAR_STATE::TRACTIVE_SYSTEM_NOT_ACTIVE:
     {
         // if TS is above HV threshold, move to Tractive System Active
-        drivetrain.disable_no_pins();
-        if (drivetrain.hv_over_threshold_on_drivetrain())
+        _drivetrain.disable_no_pins();
+        if (_drivetrain.hv_over_threshold_on_drivetrain())
         {
             set_state_(CAR_STATE::TRACTIVE_SYSTEM_ACTIVE, current_millis);
         }
@@ -37,14 +30,14 @@ void VehicleStateMachine::tick_state_machine(unsigned long current_millis)
 
     case CAR_STATE::TRACTIVE_SYSTEM_ACTIVE:
     {
-        if (buzzer.buzzer_is_active(current_millis))
+        if (_buzzer.buzzer_is_active(current_millis))
         {
-            buzzer.deactivate();
+            _buzzer.deactivate();
         }
 
-        drivetrain.disable_no_pins();
+        _drivetrain.disable_no_pins();
 
-        if (!drivetrain.hv_over_threshold_on_drivetrain())
+        if (!_drivetrain.hv_over_threshold_on_drivetrain())
         {
             set_state_(CAR_STATE::TRACTIVE_SYSTEM_NOT_ACTIVE, current_millis);
             break;
@@ -62,19 +55,19 @@ void VehicleStateMachine::tick_state_machine(unsigned long current_millis)
     {
 
         // If HV is not active, go to TRACTIVE_SYSTEM_NOT_ACTIVE
-        if (drivetrain.hv_over_threshold_on_drivetrain())
+        if (_drivetrain.hv_over_threshold_on_drivetrain())
         {
             set_state_(CAR_STATE::TRACTIVE_SYSTEM_NOT_ACTIVE, current_millis);
             break;
         }
 
         // If motor controllers have error, but HV still active
-        if (drivetrain.drivetrain_error_occured())
+        if (_drivetrain.drivetrain_error_occured())
         {
             set_state_(CAR_STATE::TRACTIVE_SYSTEM_ACTIVE, current_millis);
         }
 
-        if (drivetrain.handle_inverter_startup(current_millis))
+        if (_drivetrain.handle_inverter_startup(current_millis))
         {
             set_state_(CAR_STATE::WAITING_READY_TO_DRIVE_SOUND, current_millis);
             break;
@@ -86,16 +79,16 @@ void VehicleStateMachine::tick_state_machine(unsigned long current_millis)
     {
 
         // If HV is no longer active, return to TRACTIVE_SYSTEM_NOT_ACTIVE
-        if (drivetrain.hv_over_threshold_on_drivetrain())
+        if (_drivetrain.hv_over_threshold_on_drivetrain())
         {
             set_state_(CAR_STATE::TRACTIVE_SYSTEM_NOT_ACTIVE, current_millis);
             break;
         }
 
-        drivetrain.command_drivetrain_no_torque(); // While waiting for RTD sound to complete, always command 0 torque
+        _drivetrain.command_drivetrain_no_torque(); // While waiting for RTD sound to complete, always command 0 torque
 
         // If the ready-to-drive sound is done playing, move to ready to drive mode
-        if (!buzzer.buzzer_is_active(current_millis))
+        if (!_buzzer.buzzer_is_active(current_millis))
         {
             set_state_(CAR_STATE::READY_TO_DRIVE, current_millis);
         }
@@ -107,29 +100,29 @@ void VehicleStateMachine::tick_state_machine(unsigned long current_millis)
     {
 
         // If HV is no longer active, return to TRACTIVE_SYSTEM_NOT_ACTIVE
-        if (!drivetrain.hv_over_threshold_on_drivetrain())
+        if (!_drivetrain.hv_over_threshold_on_drivetrain())
         {
             hal_println("Drivetrain not over threshold while in READY_TO_DRIVE");
             set_state_(CAR_STATE::TRACTIVE_SYSTEM_NOT_ACTIVE, current_millis);
             break;
         }
 
-        if (drivetrain.drivetrain_error_occured())
+        if (_drivetrain.drivetrain_error_occured())
         {
             hal_println("Drivetrain error occurred while in READY_TO_DRIVE");
             set_state_(CAR_STATE::TRACTIVE_SYSTEM_ACTIVE, current_millis);
             break;
         }
 
-        if (SafetySystem::getInstance().get_software_is_ok() && !system_data.pedals_system_data.implausibility_has_exceeded_max_duration)
+        if (/* _ams_system.ams_ok() && */ !system_data.pedals_system_data.implausibility_has_exceeded_max_duration)
         {
             // TODO: Fix with all references to singleton classes
             // drivetrain.command_drivetrain(controller_mux_->getDrivetrainCommand(dashboard_->getDialMode(), dashboard_->getTorqueLimitMode(), current_car_state));
         }
         else
         {
             // If software is not OK or some implausibility has exceeded max duration, command 0 torque (but stay in RTD mode)
-            drivetrain.command_drivetrain_no_torque();
+            _drivetrain.command_drivetrain_no_torque();
         }
 
         break;
@@ -180,7 +173,7 @@ void VehicleStateMachine::handle_entry_logic_(CAR_STATE new_state, unsigned long
         break;
     case CAR_STATE::WAITING_READY_TO_DRIVE_SOUND:
     {
-        BuzzerController::getInstance().activate(curr_millis);
+        _buzzer.activate(curr_millis);
         break;
     }
     case CAR_STATE::READY_TO_DRIVE: