uh

lib/interfaces/include/AnalogSensorsInterface.h

@@ -5,21 +5,15 @@
 #include <algorithm>
 #include <SysClock.h>
 
-enum AnalogSensorStatus_e
-{
-    ANALOG_SENSOR_GOOD = 0,
-    ANALOG_SENSOR_CLAMPED = 1,
-};
-
-struct AnalogConversion_s
+struct AnalogSensorReadingAndStatus_s
 {
     int raw;
-    float conversion;
-    AnalogSensorStatus_e status;
+    float convertedReading;
+    bool dataIsClamped;
 };
 
 template <int N>
-struct AnalogConversionPacket_s
+struct AnalogDataPacket_s
 {
     AnalogSensorReadingAndStatus_s conversions[N];
 };
@@ -54,13 +48,14 @@ class AnalogChannel
     {
         float conversion = lastSample * scale + offset;
         float clampedConversion = std::min(std::max(conversion, clampLow), clampHigh);
-        AnalogSensorStatus_e returnStatus = ANALOG_SENSOR_GOOD;
+        bool clamped = false;
+
         if (clamp && (conversion > clampHigh || conversion < clampLow))
-            returnStatus = ANALOG_SENSOR_CLAMPED;
+            clamped = true;
         return {
             lastSample,
             clamp ? clampedConversion : conversion,
-            returnStatus
+            clamped 
         };
     }
 };
@@ -72,15 +67,15 @@ class AnalogMultiSensor
 public:
 // Data
     AnalogChannel channels[N];
-    AnalogConversionPacket_s<N> data;
+    AnalogDataPacket_s<N> data;
 // Functions
     /// @brief Called by the main loop. Allows AnalogMultiSensor devices not owned by a single system to self-actualize sampling & conversion.
     /// @param tick 
     void tick(const SysTick_s &tick);
 
     /// @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 AnalogDataPacket_s<N>& get();
 
     /// @brief Performs unit conversions on all channels
     void convert()

lib/interfaces/include/TelemetryInterface.h

@@ -28,25 +28,25 @@ class TelemetryInterface
     /* Update CAN messages (main loop) */
     // Interfaces
     void update_pedal_readings_CAN_msg(
-        const AnalogConversion_s &accel1,
-        const AnalogConversion_s &accel2,
-        const AnalogConversion_s &brake1,
-        const AnalogConversion_s &brake2
+        const AnalogSensorReadingAndStatus_s &accel1,
+        const AnalogSensorReadingAndStatus_s &accel2,
+        const AnalogSensorReadingAndStatus_s &brake1,
+        const AnalogSensorReadingAndStatus_s &brake2
     );
     void update_load_cells_CAN_msg(
-        const AnalogConversion_s &lc_fl,
-        const AnalogConversion_s &lc_fr
+        const AnalogSensorReadingAndStatus_s &lc_fl,
+        const AnalogSensorReadingAndStatus_s &lc_fr
     );
     void update_potentiometers_CAN_msg(
-        const AnalogConversion_s &pots_fl,
-        const AnalogConversion_s &pots_fr
+        const AnalogSensorReadingAndStatus_s &pots_fl,
+        const AnalogSensorReadingAndStatus_s &pots_fr
     );
     void update_analog_readings_CAN_msg(
         const SteeringEncoderConversion_s &steer1,
-        const AnalogConversion_s &steer2,
-        const AnalogConversion_s &current,
-        const AnalogConversion_s &reference,
-        const AnalogConversion_s &glv
+        const AnalogSensorReadingAndStatus_s &steer2,
+        const AnalogSensorReadingAndStatus_s &current,
+        const AnalogSensorReadingAndStatus_s &reference,
+        const AnalogSensorReadingAndStatus_s &glv
     );
 
     /* Enqueue outbound telemetry CAN messages */    

lib/interfaces/src/TelemetryInterface.cpp

@@ -56,28 +56,28 @@ void TelemetryInterface::enqueue_CAN_mcu_analog_readings() {
 /* Update CAN messages */
 // Main loop
 // MCP3208 returns structure
-void TelemetryInterface::update_pedal_readings_CAN_msg(const AnalogConversion_s &accel1,
-                                                       const AnalogConversion_s &accel2,
-                                                       const AnalogConversion_s &brake1,
-                                                       const AnalogConversion_s &brake2) {
+void TelemetryInterface::update_pedal_readings_CAN_msg(const AnalogSensorReadingAndStatus_s &accel1,
+                                                       const AnalogSensorReadingAndStatus_s &accel2,
+                                                       const AnalogSensorReadingAndStatus_s &brake1,
+                                                       const AnalogSensorReadingAndStatus_s &brake2) {
     // do sth with mcu_pedal_readings_
     mcu_pedal_readings_.set_accelerator_pedal_1(accel1.raw);
     mcu_pedal_readings_.set_accelerator_pedal_2(accel2.raw);
     mcu_pedal_readings_.set_brake_pedal_1(brake1.raw);
     mcu_pedal_readings_.set_brake_pedal_2(brake2.raw);
 }
 // MCP3204 returns structure
-void TelemetryInterface::update_load_cells_CAN_msg(const AnalogConversion_s &lc_fl,
-                                                   const AnalogConversion_s &lc_fr) {
+void TelemetryInterface::update_load_cells_CAN_msg(const AnalogSensorReadingAndStatus_s &lc_fl,
+                                                   const AnalogSensorReadingAndStatus_s &lc_fr) {
     // do sth with mcu_load_cells_
     mcu_load_cells_.set_RL_load_cell(lc_fl.raw);
     mcu_load_cells_.set_RR_load_cell(lc_fr.raw);
     // mcu_load_cells_.set_FL_load_cell(lc_rl.raw);
     // mcu_load_cells_.set_FR_load_cell(lc_rr.raw);
 }
 // MCP3204 returns structure
-void TelemetryInterface::update_potentiometers_CAN_msg(const AnalogConversion_s &pots_fl,
-                                                       const AnalogConversion_s &pots_fr) {
+void TelemetryInterface::update_potentiometers_CAN_msg(const AnalogSensorReadingAndStatus_s &pots_fl,
+                                                       const AnalogSensorReadingAndStatus_s &pots_fr) {
     // do sth with mcu_front_potentiometers_
     mcu_front_potentiometers_.set_pot1(pots_fl.raw);
     mcu_front_potentiometers_.set_pot3(pots_fr.raw);
@@ -88,10 +88,10 @@ void TelemetryInterface::update_potentiometers_CAN_msg(const AnalogConversion_s
 }
 // SteeringDual and MCP3208 return structures
 void TelemetryInterface::update_analog_readings_CAN_msg(const SteeringEncoderConversion_s &steer1,
-                                                        const AnalogConversion_s &steer2,
-                                                        const AnalogConversion_s &current,
-                                                        const AnalogConversion_s &reference,
-                                                        const AnalogConversion_s &glv) {
+                                                        const AnalogSensorReadingAndStatus_s &steer2,
+                                                        const AnalogSensorReadingAndStatus_s &current,
+                                                        const AnalogSensorReadingAndStatus_s &reference,
+                                                        const AnalogSensorReadingAndStatus_s &glv) {
     // do sth with mcu_analog_readings_
     mcu_analog_readings_.set_steering_1(steer1.angle);
     mcu_analog_readings_.set_steering_2(steer2.raw);

lib/state_machine/include/MCUStateMachine.tpp

@@ -22,13 +22,13 @@ void MCUStateMachine<DrivetrainSysType>::tick_state_machine(unsigned long curren
     case CAR_STATE::TRACTIVE_SYSTEM_ACTIVE:
     {
 
-        PedalsSystemData_s data;
+        auto data = pedals_->evaluate_pedals();
         if (!drivetrain_->hv_over_threshold_on_drivetrain())
         {
             set_state_(CAR_STATE::TRACTIVE_SYSTEM_NOT_ACTIVE, current_millis);
             break;
         }
-        if (dashboard_->start_button_pressed() && pedals_->mech_brake_active(data))
+        if (dashboard_->startButtonPressed() && pedals_->mech_brake_active(data))
         {
             set_state_(CAR_STATE::ENABLING_INVERTERS, current_millis);
             break;

lib/systems/include/PedalsSystem.h

@@ -2,14 +2,7 @@
 #define PEDALSSYSTEM
 #include <math.h>
 #include <tuple>
-
-struct PedalsDriverInterface
-{
-    int accelPedalPosition1;
-    int accelPedalPosition2;
-    int brakePedalPosition1;
-    int brakePedalPosition2;
-};
+#include "AnalogSensorsInterface.h"
 
 struct PedalsSystemInterface
 {
@@ -20,7 +13,7 @@ struct PedalsSystemInterface
     int requestedTorque;
 };
 
-/// @brief Pedals params struct that will hold min / max that will be used for evaluateion. 
+/// @brief Pedals params struct that will hold min / max that will be used for evaluateion.
 //          NOTE: min and max may be need to be flipped depending on the sensor. (looking at you brake pedal sensor 2)
 struct PedalsParams
 {
@@ -32,31 +25,37 @@ struct PedalsParams
     int start_sense_2;
     int end_sense_1;
     int end_sense_2;
-}; 
+};
 
 class PedalsSystem
 {
 public:
-    PedalsSystem(){
+    PedalsSystem()
+    {
         implausibilityStartTime_ = 0;
         // Setting of min and maxes for pedals via config file
     };
     PedalsSystemInterface evaluate_pedals(
-        const PedalsDriverInterface &pedal_data, unsigned long curr_time);
+        const AnalogSensorReadingAndStatus_s &accel_pedal1,
+        const AnalogSensorReadingAndStatus_s &accel_pedal2,
+        const AnalogSensorReadingAndStatus_s &brake_pedal1,
+        const AnalogSensorReadingAndStatus_s &brake_pedal2,
+        unsigned long curr_time);
+
     bool max_duration_of_implausibility_exceeded(unsigned long curr_time);
+
     bool mech_brake_active();
 
 private:
     std::tuple<int, int> linearize_accel_pedal_values_(int accel1, int accel2);
 
     bool evaluate_pedal_implausibilities_(int sense_1, int sense_2, const PedalsParams &params, float max_percent_differnce);
-    
+
     bool evaluate_brake_and_accel_pressed_(const PedalsDriverInterface &data);
-    bool pedal_is_active_(int sense1, int sense_2, const PedalsParams& pedalParams, float percent_threshold); 
+    bool pedal_is_active_(int sense1, int sense_2, const PedalsParams &pedalParams, float percent_threshold);
     PedalsParams accelParams_;
     PedalsParams brakeParams_;
     unsigned long implausibilityStartTime_;
 };
 
-
 #endif /* PEDALSSYSTEM */

lib/systems/include/SteeringSystem.h

@@ -42,7 +42,7 @@ class SteeringSystem
     /// @return SteeringSystemOutput_s contains steering angle and SteeringSystemStatus_e
     void tick(
         const SysTick_s &tick,
-        const AnalogConversion_s &secondaryConversion
+        const AnalogSensorReadingAndStatus_s &secondaryConversion
     );
 
     /// @brief Get a reference to the steering system's data

lib/systems/include/TorqueControllerMux.h

@@ -60,10 +60,10 @@ class TorqueControllerMux
         const DrivetrainDynamicReport_s& drivetrainData,
         const PedalsSystemData_s& pedalsData,
         const SteeringSystemData_s& steeringData,
-        const AnalogConversion_s& loadFLData,
-        const AnalogConversion_s& loadFRData,
-        const AnalogConversion_s& loadRLData,
-        const AnalogConversion_s& loadRRData,
+        const AnalogSensorReadingAndStatus_s& loadFLData,
+        const AnalogSensorReadingAndStatus_s& loadFRData,
+        const AnalogSensorReadingAndStatus_s& loadRLData,
+        const AnalogSensorReadingAndStatus_s& loadRRData,
         DialMode_e dashboardDialMode,
         bool dashboardTorqueModeButtonPressed
     );

lib/systems/src/PedalsSystem.cpp

@@ -1,17 +1,23 @@
 #include "PedalsSystem.h"
 
 // TODO parameterize percentages in constructor
-PedalsSystemInterface PedalsSystem::evaluate_pedals(const PedalsDriverInterface &data, unsigned long curr_time)
+PedalsSystemInterface PedalsSystem::evaluate_pedals(const AnalogSensorReadingAndStatus_s &accel_pedal1, 
+                                                    const AnalogSensorReadingAndStatus_s &accel_pedal2, 
+                                                    const AnalogSensorReadingAndStatus_s &brake_pedal1, 
+                                                    const AnalogSensorReadingAndStatus_s &brake_pedal2, 
+                                                    unsigned long curr_time)
 {
     PedalsSystemInterface out;
-    out.accelImplausible = evaluate_pedal_implausibilities_(data.accelPedalPosition1, data.accelPedalPosition2, accelParams_, 0.1);
+    out.accelImplausible = evaluate_pedal_implausibilities_(accel_pedal1.convertedReading, data.accelPedalPosition2, accelParams_, 0.1);
     out.brakeImplausible = evaluate_pedal_implausibilities_(data.brakePedalPosition1, data.brakePedalPosition2, brakeParams_, 0.25);
     out.brakeAndAccelPressedImplausibility = evaluate_brake_and_accel_pressed_(data);
     bool implausibility = (out.brakeAndAccelPressedImplausibility || out.brakeImplausible || out.accelImplausible);
 
-    if (implausibility && (implausibilityStartTime_ == 0)){
+    if (implausibility && (implausibilityStartTime_ == 0))
+    {
         implausibilityStartTime_ = curr_time;
-    } else if (!implausibility)
+    }
+    else if (!implausibility)
     {
         implausibilityStartTime_ = 0;
     }
@@ -22,12 +28,14 @@ PedalsSystemInterface PedalsSystem::evaluate_pedals(const PedalsDriverInterface
 // TODO parameterize duration in constructor
 bool PedalsSystem::max_duration_of_implausibility_exceeded(unsigned long curr_time)
 {
-    if(implausibilityStartTime_ !=0){
+    if (implausibilityStartTime_ != 0)
+    {
         return ((curr_time - implausibilityStartTime_) > 100);
-    } else {
+    }
+    else
+    {
         return false;
     }
-
 }
 
 bool PedalsSystem::evaluate_pedal_implausibilities_(int sense_1, int sense_2, const PedalsParams &params, float max_percent_diff)
@@ -68,9 +76,8 @@ bool PedalsSystem::evaluate_brake_and_accel_pressed_(const PedalsDriverInterface
 
     bool accel_pressed = pedal_is_active_(data.accelPedalPosition1, data.accelPedalPosition2, accelParams_, 0.1);
     bool brake_pressed = pedal_is_active_(data.brakePedalPosition1, data.brakePedalPosition2, brakeParams_, 0.05);
-
-    return (accel_pressed && brake_pressed);
 
+    return (accel_pressed && brake_pressed);
 }
 
 bool PedalsSystem::pedal_is_active_(int sense_1, int sense_2, const PedalsParams &pedalParams, float percent_threshold)

lib/systems/src/SteeringSystem.cpp

@@ -1,6 +1,6 @@
 #include "SteeringSystem.h"
 
-void SteeringSystem::tick(const SysTick_s &tick, const AnalogConversion_s &secondaryConversion)
+void SteeringSystem::tick(const SysTick_s &tick, const AnalogSensorReadingAndStatus_s &secondaryConversion)
 {
     // System works at 100hz
     // 1. Polls upper steering sensor
@@ -14,7 +14,7 @@ void SteeringSystem::tick(const SysTick_s &tick, const AnalogConversion_s &secon
         // Compute internal state
 
         // Both sensors are nominal
-        if ((primaryConversion_.status == STEERING_ENCODER_NOMINAL) && (secondaryConversion.status == ANALOG_SENSOR_GOOD))
+        if ((primaryConversion_.status == STEERING_ENCODER_NOMINAL) && (!secondaryConversion.dataIsClamped))
         {
             data_ = {
                 .angle = primaryConversion_.angle,
@@ -24,19 +24,19 @@ void SteeringSystem::tick(const SysTick_s &tick, const AnalogConversion_s &secon
         // One or both sensors are marginal
         // Sensors disagree by STEERING_DIVERGENCE_WARN_THRESHOLD degrees and less than STEERING_DIVERGENCE_ERROR_THRESHOLD degrees
         else if ((primaryConversion_.status == STEERING_ENCODER_MARGINAL)
-            || (secondaryConversion.status == ANALOG_SENSOR_CLAMPED)
-            || ((std::abs(primaryConversion_.angle - secondaryConversion.conversion) > STEERING_DIVERGENCE_WARN_THRESHOLD) && (std::abs(primaryConversion_.angle - secondaryConversion.conversion) < STEERING_DIVERGENCE_ERROR_THRESHOLD)))
+            || (secondaryConversion.dataIsClamped)
+            || ((std::abs(primaryConversion_.angle - secondaryConversion.convertedReading) > STEERING_DIVERGENCE_WARN_THRESHOLD) && (std::abs(primaryConversion_.angle - secondaryConversion.convertedReading) < STEERING_DIVERGENCE_ERROR_THRESHOLD)))
         {
             data_ = {
                 .angle = primaryConversion_.angle,
                 .status = STEERING_SYSTEM_MARGINAL
             };
         }
         // Upper steering sensor reports error, lower sensor is nominal
-        else if ((primaryConversion_.status == STEERING_ENCODER_ERROR) && (secondaryConversion.status == ANALOG_SENSOR_GOOD))
+        else if ((primaryConversion_.status == STEERING_ENCODER_ERROR) && (!secondaryConversion.dataIsClamped))
         {
             data_ = {
-                .angle = secondaryConversion.conversion,
+                .angle = secondaryConversion.convertedReading,
                 .status = STEERING_SYSTEM_DEGRADED
             };
         }

lib/systems/src/TorqueControllerMux.cpp

@@ -6,10 +6,10 @@ void TorqueControllerMux::tick(
         const DrivetrainDynamicReport_s& drivetrainData,
         const PedalsSystemData_s& pedalsData,
         const SteeringSystemData_s& steeringData,
-        const AnalogConversion_s& loadFLData,
-        const AnalogConversion_s& loadFRData,
-        const AnalogConversion_s& loadRLData,
-        const AnalogConversion_s& loadRRData,
+        const AnalogSensorReadingAndStatus_s& loadFLData,
+        const AnalogSensorReadingAndStatus_s& loadFRData,
+        const AnalogSensorReadingAndStatus_s& loadRLData,
+        const AnalogSensorReadingAndStatus_s& loadRRData,
         DialMode_e dashboardDialMode,
         bool dashboardTorqueModeButtonPressed
     )