Fixed MCU and Telemetry interface compile issue

include/MCU_rev15_defs.h

@@ -24,4 +24,8 @@ const unsigned long SETUP_PRESENT_ACTION_INTERVAL       = 5000;
 const unsigned long BUZZER_ON_INTERVAL                  = 2000;
 const unsigned long INVERTER_ENABLING_TIMEOUT_INTERVAL  = 5000;
 
+// Communication speeds
+const unsigned long INV_CAN_BAUDRATE    = 500000;
+const unsigned long TELEM_CAN_BAUDRATE  = 500000;
+
 #endif /* __MCU15_H__ */

lib/interfaces/include/AnalogSensorsInterface.h

@@ -80,7 +80,10 @@ class AnalogMultiSensor
 
     /// @brief Used by systems to get data out of this device when it's self-actualizing sampling & conversion.
     /// @return Const ref to last data conversion.
-    const AnalogConversionPacket_s<N>& get();
+    const AnalogConversionPacket_s<N>& get()
+    {
+        return data;
+    }
 
     /// @brief Performs unit conversions on all channels
     void convert()

lib/interfaces/include/MCUInterface.h

@@ -4,9 +4,10 @@
 #include <stdint.h>
 #include "FlexCAN_T4.h"
 #include "HyTech_CAN.h"
-#include "hytech.h"
+// #include "hytech.h"
+#include "MessageQueueDefine.h"
 #include "SysClock.h"
-#include "MCUStateMachine.h"
+// #include "MCUStateMachine.h"
 
 const int DEFAULT_BMS_OK_READ       = 5;   // SHDN_D_READ
 const int DEFAULT_IMD_OK_READ       = 4;   // SHDN_C_READ
@@ -52,25 +53,24 @@ class MCUInterface
     int pin_inv_24V_en_;
 
 public:
-    MCUInterface(){};
-    // MCUInterface(message_queue *msg_output_queue, int bms_pin, int imd_pin, int bspd_pin, int sw_ok_pin, int bots_ok_pin, int brake_light_pin, int inv_pin, int inv_24V_pin): 
-    //     msg_queue_(msg_output_queue),
-    //     pin_bms_ok_read_(bms_pin),
-    //     pin_imd_ok_read_(imd_pin),
-    //     pin_bspd_ok_read_(bspd_pin),
-    //     pin_software_ok_read_(sw_ok_pin),
-    //     pin_bots_ok_read_(bots_ok_pin),
-    //     pin_brake_light_ctrl_(brake_light_pin),
-    //     pin_inv_en_(inv_pin),
-    //     pin_inv_24V_en_(inv_24V_pin)
-    // {
-    //     // Set pin mode
-    //     pinMode(pin_brake_light_ctrl_, OUTPUT);
-    //     pinMode(pin_inv_en_, OUTPUT);
-    //     pinMode(pin_inv_24V_en_, OUTPUT);
-    // };
-    // MCUInterface(message_queue *msg_output_queue):
-    //     MCUInterface(msg_output_queue, DEFAULT_BMS_OK_READ, DEFAULT_IMD_OK_READ, DEFAULT_BSPD_OK_READ, DEFAULT_SOFTWARE_OK_READ, DEFAULT_BOTS_OK_READ, DEFAULT_BRAKE_LIGHT_CTRL, DEFAULT_INVERTER_EN, DEFAULT_INVERTER_24V_EN) {};
+    MCUInterface(CANBufferType *msg_output_queue, int bms_pin, int imd_pin, int bspd_pin, int sw_ok_pin, int bots_ok_pin, int brake_light_pin, int inv_pin, int inv_24V_pin): 
+        msg_queue_(msg_output_queue),
+        pin_bms_ok_read_(bms_pin),
+        pin_imd_ok_read_(imd_pin),
+        pin_bspd_ok_read_(bspd_pin),
+        pin_software_ok_read_(sw_ok_pin),
+        pin_bots_ok_read_(bots_ok_pin),
+        pin_brake_light_ctrl_(brake_light_pin),
+        pin_inv_en_(inv_pin),
+        pin_inv_24V_en_(inv_24V_pin)
+    {
+        // Set pin mode
+        pinMode(pin_brake_light_ctrl_, OUTPUT);
+        pinMode(pin_inv_en_, OUTPUT);
+        pinMode(pin_inv_24V_en_, OUTPUT);
+    };
+    MCUInterface(CANBufferType *msg_output_queue):
+        MCUInterface(msg_output_queue, DEFAULT_BMS_OK_READ, DEFAULT_IMD_OK_READ, DEFAULT_BSPD_OK_READ, DEFAULT_SOFTWARE_OK_READ, DEFAULT_BOTS_OK_READ, DEFAULT_BRAKE_LIGHT_CTRL, DEFAULT_INVERTER_EN, DEFAULT_INVERTER_24V_EN) {};
 
     /* Initialize shutdown circuit input readings */
     void init();
@@ -88,7 +88,7 @@ class MCUInterface
 
     /* Update MCU_status CAN (main loop) */
     // State machine
-    void update_mcu_status_CAN_fsm(CAR_STATE fsm_state);
+    // void update_mcu_status_CAN_fsm(CAR_STATE fsm_state);
     // Systems
     void update_mcu_status_CAN_drivetrain(bool has_error);
     void update_mcu_status_CAN_safety(bool is_ok);
@@ -100,20 +100,20 @@ class MCUInterface
     void update_mcu_status_CAN_dashboard(bool is_pressed);
 
     /* Enqueue MCU_status CAN  */
-    void enqueue_CAN_mcu_status(CAN_message_t &msg);
+    void enqueue_CAN_mcu_status();
 
     /* Tick SysClock to send CAN at 10Hz */
-    void tick(
-        const SysTick_s &tick,
-        CAR_STATE fsm_state,
-        bool inv_has_error,
-        bool software_is_ok,
-        // TCMux return
-        bool buzzer_is_on,
-        // Pedal system return
-        bool pack_charge_is_critical,
-        bool button_is_pressed
-    );
+    // void tick(
+    //     const SysTick_s &tick,
+    //     CAR_STATE fsm_state,
+    //     bool inv_has_error,
+    //     bool software_is_ok,
+    //     // TCMux return
+    //     bool buzzer_is_on,
+    //     // Pedal system return
+    //     bool pack_charge_is_critical,
+    //     bool button_is_pressed
+    // );
 
 };
 

lib/interfaces/include/ORBIS_BR10.h

@@ -17,7 +17,7 @@ const uint16_t ORBIS_BR10_BITMASK_DETAILED_DIST_FAR         = (0b1 << 6);
 const uint16_t ORBIS_BR10_BITMASK_DETAILED_DIST_NEAR        = (0b1 << 7);
 const uint16_t ORBIS_BR10_BITMASK_DETAILED                  = (ORBIS_BR10_BITMASK_DETAILED_COUNTER_ERROR | ORBIS_BR10_BITMASK_DETAILED_SPEED_HIGH | ORBIS_BR10_BITMASK_DETAILED_TEMP_RANGE | ORBIS_BR10_BITMASK_DETAILED_DIST_FAR | ORBIS_BR10_BITMASK_DETAILED_DIST_NEAR);
 
-class OrbisBR10 : SteeringEncoderInterface
+class OrbisBR10 : public SteeringEncoderInterface
 {
 private:
 // Data

lib/interfaces/include/SteeringEncoderInterface.h

@@ -21,13 +21,13 @@ class SteeringEncoderInterface
 public:
 // Functions
     /// @brief Commands the underlying steering sensor to sample and hold the result
-    void sample();
+    virtual void sample();
     /// @brief Calculate steering angle and whether result is in sensor's defined bounds. DOES NOT SAMPLE.
     /// @return Calculated steering angle in degrees, upperSteeringStatus_s
-    SteeringEncoderConversion_s convert();
+    virtual SteeringEncoderConversion_s convert();
     /// @brief Set the upper steering sensor's offset. 0 degrees should be centered.
     /// @param newOffset 
-    void setOffset(float newOffset);
+    virtual void setOffset(float newOffset);
 };
 
 #endif /* __UPPERSTEERINGSENSOR_H__ */

lib/interfaces/include/TelemetryInterface.h

@@ -1,9 +1,11 @@
 #ifndef __TELEMETRY_INTERFACE_H__
 #define __TELEMETRY_INTERFACE_H__
 
+#include "stdint.h"
 #include "FlexCAN_T4.h"
 #include "HyTech_CAN.h"
-#include "hytech.h"
+// #include "hytech.h"
+#include "MessageQueueDefine.h"
 #include "SysClock.h"
 #include "AnalogSensorsInterface.h"
 #include "SteeringEncoderInterface.h"
@@ -18,12 +20,11 @@ class TelemetryInterface
     MCU_rear_potentiometers     mcu_rear_potentiometers_;
     MCU_analog_readings         mcu_analog_readings_;
     /* CAN Tx buffer */
-    // CANBufferType *msg_queue_;
+    CANBufferType *msg_queue_;
 
 public:
-    TelemetryInterface(){};
-    // TelemetryInterface(message_queue *msg_output_queue):
-    //     msg_queue_(msg_output_queue) {};
+    TelemetryInterface(CANBufferType *msg_output_queue):
+        msg_queue_(msg_output_queue) {};
 
     /* Update CAN messages (main loop) */
     // Interfaces
@@ -60,8 +61,8 @@ class TelemetryInterface
     void tick(
         const SysTick_s &tick,
         const AnalogConversionPacket_s<8> &adc1,
-        const AnalogConversionPacket_s<4> &adc2,
-        const AnalogConversionPacket_s<4> &adc3,
+        const AnalogConversionPacket_s<8> &adc2,
+        const AnalogConversionPacket_s<8> &adc3,
         const SteeringEncoderConversion_s &encoder
     );
 

lib/interfaces/src/MCUInterface.cpp

@@ -76,15 +76,17 @@ bool MCUInterface::imd_ok_is_high() {
 
 /* Send CAN message */
 // MCU status
-// void MCUInterface::enqueue_CAN_mcu_status() {
+void MCUInterface::enqueue_CAN_mcu_status() {
 
-//     CAN_message_t msg;
-//     mcu_status_.write(msg.buf);
-//     msg.id = ID_MCU_STATUS;
-//     msg.len = sizeof(mcu_status_);
+    CAN_message_t msg;
+    mcu_status_.write(msg.buf);
+    msg.id = ID_MCU_STATUS;
+    msg.len = sizeof(mcu_status_);
+    uint8_t buf[sizeof(CAN_message_t)];
+    memmove(buf, &msg, sizeof(msg));
 
-//     msg_queue_->push_back(msg, sizeof(CAN_message_t));
-// }
+    msg_queue_->push_back(buf, sizeof(CAN_message_t));
+}
 
 /* Update MCU_status CAN */
 // MCUInterface
@@ -103,12 +105,12 @@ void MCUInterface::update_mcu_status_CAN() {
 
 // Main loop
 // State machine
-void MCUInterface::update_mcu_status_CAN_fsm(CAR_STATE fsm_state) {
-    // State machine returns struct in main loop
-    // fsm.get_state()
-    // might not be compatible anymore, using new states
-    // mcu_status_.set_state(fsm_state);
-}
+// void MCUInterface::update_mcu_status_CAN_fsm(CAR_STATE fsm_state) {
+//     // State machine returns struct in main loop
+//     // fsm.get_state()
+//     // might not be compatible anymore, using new states
+//     // mcu_status_.set_state(fsm_state);
+// }
 //DriveTrain
 void MCUInterface::update_mcu_status_CAN_drivetrain(bool has_error) {
     // Drivetrain returns struct in main loop
@@ -138,7 +140,8 @@ void MCUInterface::update_mcu_status_CAN_TCMux() {
 void MCUInterface::update_mcu_status_CAN_dashboard(bool is_pressed) {
     // DashboardInterface (?) returns struct in main loop
     // dash.lauchControlButtonPressed()
-    // mcu_status_.toggle_launch_ctrl_active(is_pressed);
+    if (is_pressed)
+        mcu_status_.toggle_launch_ctrl_active();
 }
 // BuzzerSystem
 void MCUInterface::update_mcu_status_CAN_buzzer(bool is_on) {

lib/interfaces/src/TelemetryInterface.cpp

@@ -8,8 +8,10 @@ void TelemetryInterface::enqueue_CAN_mcu_pedal_readings() {
     mcu_pedal_readings_.write(msg.buf);
     msg.id = ID_MCU_PEDAL_READINGS;
     msg.len = sizeof(mcu_pedal_readings_);
+    uint8_t buf[sizeof(CAN_message_t)];
+    memmove(buf, &msg, sizeof(msg));
 
-    // msg_queue_->push_back(msg, sizeof(CAN_message_t));
+    msg_queue_->push_back(buf, sizeof(CAN_message_t));
 }
 // Loadcell readings
 void TelemetryInterface::enqueue_CAN_mcu_load_cells() {
@@ -18,8 +20,10 @@ void TelemetryInterface::enqueue_CAN_mcu_load_cells() {
     mcu_load_cells_.write(msg.buf);
     msg.id = ID_MCU_LOAD_CELLS;
     msg.len = sizeof(mcu_load_cells_);
+    uint8_t buf[sizeof(CAN_message_t)];
+    memmove(buf, &msg, sizeof(msg));
 
-    // msg_queue_->push_back(msg, sizeof(CAN_message_t));
+    msg_queue_->push_back(buf, sizeof(CAN_message_t));
 }
 // Suspension potentiometers
 // Front
@@ -29,8 +33,10 @@ void TelemetryInterface::enqueue_CAN_mcu_front_potentiometers() {
     mcu_front_potentiometers_.write(msg.buf);
     msg.id = ID_MCU_FRONT_POTS;
     msg.len = sizeof(mcu_front_potentiometers_);
+    uint8_t buf[sizeof(CAN_message_t)];
+    memmove(buf, &msg, sizeof(msg));
 
-    // msg_queue_->push_back(msg, sizeof(CAN_message_t));
+    msg_queue_->push_back(buf, sizeof(CAN_message_t));
 }
 // Rear
 void TelemetryInterface::enqueue_CAN_mcu_rear_potentiometers() {
@@ -39,8 +45,10 @@ void TelemetryInterface::enqueue_CAN_mcu_rear_potentiometers() {
     mcu_rear_potentiometers_.write(msg.buf);
     msg.id = ID_MCU_REAR_POTS;
     msg.len = sizeof(mcu_rear_potentiometers_);
+    uint8_t buf[sizeof(CAN_message_t)];
+    memmove(buf, &msg, sizeof(msg));
 
-    // msg_queue_->push_back(msg, sizeof(CAN_message_t));
+    msg_queue_->push_back(buf, sizeof(CAN_message_t));
 }
 // Analog sensor readings
 void TelemetryInterface::enqueue_CAN_mcu_analog_readings() {
@@ -49,8 +57,10 @@ void TelemetryInterface::enqueue_CAN_mcu_analog_readings() {
     mcu_analog_readings_.write(msg.buf);
     msg.id = ID_MCU_ANALOG_READINGS;
     msg.len = sizeof(mcu_analog_readings_);
+    uint8_t buf[sizeof(CAN_message_t)];
+    memmove(buf, &msg, sizeof(msg));
 
-    // msg_queue_->push_back(msg, sizeof(CAN_message_t));
+    msg_queue_->push_back(buf, sizeof(CAN_message_t));
 }
 
 /* Update CAN messages */
@@ -102,8 +112,8 @@ void TelemetryInterface::update_analog_readings_CAN_msg(const SteeringEncoderCon
 /* Tick SysClock */
 void TelemetryInterface::tick(const SysTick_s &tick,
                               const AnalogConversionPacket_s<8> &adc1,
-                              const AnalogConversionPacket_s<4> &adc2,
-                              const AnalogConversionPacket_s<4> &adc3,
+                              const AnalogConversionPacket_s<8> &adc2,
+                              const AnalogConversionPacket_s<8> &adc3,
                               const SteeringEncoderConversion_s &encoder) {
 
     if (tick.triggers.trigger50) {

lib/systems/include/SteeringSystem.h

@@ -31,11 +31,11 @@ struct SteeringSystemData_s
 class SteeringSystem
 {
 private:
-    SteeringEncoderInterface& primarySensor_;
+    SteeringEncoderInterface *primarySensor_;
     SteeringEncoderConversion_s primaryConversion_;
     SteeringSystemData_s data_;
 public:
-    SteeringSystem(SteeringEncoderInterface &primarySensor) : primarySensor_(primarySensor) {}
+    SteeringSystem(SteeringEncoderInterface *primarySensor) : primarySensor_(primarySensor) {}
 
     /// @brief Computes steering angle and status of the steering system.
     /// @param secondaryAngle The computed steering angle as reported by the secondary steering sensor.

lib/systems/src/SteeringSystem.cpp

@@ -8,8 +8,8 @@ void SteeringSystem::tick(const SysTick_s &tick, const AnalogConversion_s &secon
     if (tick.triggers.trigger100)
     {
         // Poll upper steering sensor
-        primarySensor_.sample();
-        primaryConversion_ = primarySensor_.convert();
+        primarySensor_->sample();
+        primaryConversion_ = primarySensor_->convert();
 
         // Compute internal state