Removed all ticking from interfaces

hytech-racing · Feb 9, 2024 · d7b4728 · d7b4728
1 parent c6985be
commit d7b4728
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Showing 9 changed files with 30 additions and 38 deletions.
diff --git a/lib/interfaces/include/AnalogSensorsInterface.h b/lib/interfaces/include/AnalogSensorsInterface.h
@@ -3,7 +3,6 @@
 
 #include <tuple>
 #include <algorithm>
-#include <SysClock.h>
 
 enum class AnalogSensorStatus_e
 {
@@ -76,7 +75,7 @@ class AnalogMultiSensor
 // 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);
+    void tick(unsigned long curr_millis);
 
     /// @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.

diff --git a/lib/interfaces/include/TelemetryInterface.h b/lib/interfaces/include/TelemetryInterface.h
@@ -6,7 +6,6 @@
 #include "HyTech_CAN.h"
 // #include "hytech.h"
 #include "MessageQueueDefine.h"
-#include "SysClock.h"
 #include "AnalogSensorsInterface.h"
 #include "SteeringEncoderInterface.h"
 
@@ -57,9 +56,8 @@ class TelemetryInterface
     void enqueue_CAN_mcu_rear_potentiometers();
     void enqueue_CAN_mcu_analog_readings();
 
-    /* Tick SysClock to send CAN */
+    /* Tick at 50Hz to send CAN */
     void tick(
-        const SysTick_s &tick,
         const AnalogConversionPacket_s<8> &adc1,
         const AnalogConversionPacket_s<4> &adc2,
         const AnalogConversionPacket_s<4> &adc3,

diff --git a/lib/interfaces/include/WatchdogInterface.h b/lib/interfaces/include/WatchdogInterface.h
@@ -3,7 +3,6 @@
 
 #include "FlexCAN_T4.h"
 #include "HyTech_CAN.h"
-#include "SysClock.h"
 
 const unsigned long WATCHDOG_KICK_INTERVAL = 7;    // milliseconds
 
@@ -27,14 +26,14 @@ class WatchdogInterface
     };
 
     /* Initialize interface pin mode */
-    void init(const SysTick_s &tick);
+    void init(unsigned long curr_millis);
 
     /* Write to Main ECU */
     // Initialize output value
     void set_start_state();
 
     /* Kick watchdog */
-    void kick_watchdog(const SysTick_s &tick);
+    void kick_watchdog(unsigned long curr_millis);
 
 };
 

diff --git a/lib/interfaces/src/TelemetryInterface.cpp b/lib/interfaces/src/TelemetryInterface.cpp
@@ -110,26 +110,23 @@ void TelemetryInterface::update_analog_readings_CAN_msg(const SteeringEncoderCon
 }
 
 /* Tick SysClock */
-void TelemetryInterface::tick(const SysTick_s &tick,
-                              const AnalogConversionPacket_s<8> &adc1,
+void TelemetryInterface::tick(const AnalogConversionPacket_s<8> &adc1,
                               const AnalogConversionPacket_s<4> &adc2,
                               const AnalogConversionPacket_s<4> &adc3,
                               const SteeringEncoderConversion_s &encoder) {
 
-    if (tick.triggers.trigger50) {
-        // Pedals
-        update_pedal_readings_CAN_msg(adc1.conversions[2], adc1.conversions[1], adc1.conversions[5], adc1.conversions[3]);
-        enqueue_CAN_mcu_pedal_readings();
-        // Analog readings
-        update_analog_readings_CAN_msg(encoder, adc1.conversions[7], adc1.conversions[6], adc1.conversions[0], adc1.conversions[4]);
-        enqueue_CAN_mcu_analog_readings();
-        // Load cells
-        update_load_cells_CAN_msg(adc2.conversions[2], adc3.conversions[2]);
-        enqueue_CAN_mcu_load_cells();
-        // Pots
-        update_potentiometers_CAN_msg(adc2.conversions[3], adc3.conversions[3]);
-        enqueue_CAN_mcu_front_potentiometers();
-        // enqueue_CAN_mcu_rear_potentiometers();
-    }
+    // Pedals
+    update_pedal_readings_CAN_msg(adc1.conversions[2], adc1.conversions[1], adc1.conversions[5], adc1.conversions[3]);
+    enqueue_CAN_mcu_pedal_readings();
+    // Analog readings
+    update_analog_readings_CAN_msg(encoder, adc1.conversions[7], adc1.conversions[6], adc1.conversions[0], adc1.conversions[4]);
+    enqueue_CAN_mcu_analog_readings();
+    // Load cells
+    update_load_cells_CAN_msg(adc2.conversions[2], adc3.conversions[2]);
+    enqueue_CAN_mcu_load_cells();
+    // Pots
+    update_potentiometers_CAN_msg(adc2.conversions[3], adc3.conversions[3]);
+    enqueue_CAN_mcu_front_potentiometers();
+    // enqueue_CAN_mcu_rear_potentiometers();
 
 }
diff --git a/lib/interfaces/src/WatchdogInterface.cpp b/lib/interfaces/src/WatchdogInterface.cpp
@@ -1,9 +1,9 @@
 #include "WatchdogInterface.h"
 
 /* Pin mode output to watchdog WD */
-void WatchdogInterface::init(const SysTick_s &tick) {
+void WatchdogInterface::init(unsigned long curr_millis) {
 
-    watchdog_time = tick.millis;
+    watchdog_time = curr_millis;
 
 }
 
@@ -15,11 +15,11 @@ void WatchdogInterface::set_start_state() {
 }
 
 /* Toggle watchdog WD to kick dog */
-void WatchdogInterface::kick_watchdog(const SysTick_s &tick) {
-    if ((tick.millis - watchdog_time) > WATCHDOG_KICK_INTERVAL) {
+void WatchdogInterface::kick_watchdog(unsigned long curr_millis) {
+    if ((curr_millis - watchdog_time) > WATCHDOG_KICK_INTERVAL) {
         watchdog_state = !watchdog_state;
         digitalWrite(pin_watchdog_input_, watchdog_state);
-        watchdog_time = tick.millis;
+        watchdog_time = curr_millis;
     }
 }
 

diff --git a/lib/mock_interfaces/WatchdogInterface.h b/lib/mock_interfaces/WatchdogInterface.h
@@ -27,7 +27,7 @@ class WatchdogInterface
     void set_start_state();
 
     /* Kick watchdog */
-    void kick_watchdog(const SysTick_s &tick);
+    void kick_watchdog(unsigned long curr_millis);
 
 };
 

diff --git a/lib/systems/src/SafetySystem.cpp b/lib/systems/src/SafetySystem.cpp
@@ -24,7 +24,7 @@ void SafetySystem::software_shutdown(const SysTick_s &tick) {
         ams_->set_state_ok_high(false);
 
     // Kick watchdog every software cycle
-    wd_->kick_watchdog(tick);
+    wd_->kick_watchdog(tick.millis);
 }
 
 /* Return software ok */

diff --git a/src/main.cpp b/src/main.cpp
@@ -113,7 +113,7 @@ void setup() {
 
     /* Initialize interface */
     main_ecu.init();    // initial shutdown circuit readings, 
-    wd_interface.init(curr_tick);   // initialize wd kick time
+    wd_interface.init(curr_tick.millis);   // initialize wd kick time
     ams_interface.init(curr_tick.millis);  // initialize last heartbeat time
 
     /* Initialize system */
@@ -159,8 +159,7 @@ void tick_all_interfaces(const SysTick_s& current_system_tick) {
 
      } else if (t.trigger50) {
 
-        telem_interface.tick(current_system_tick,
-                            ADC1.get(),
+        telem_interface.tick(ADC1.get(),
                             ADC2.get(),    // Add MCP3204 functionality for corner board
                             ADC3.get(),    // Add implementation to get()
                             steering1.convert());

diff --git a/test/test_interfaces/AMS_interface_test.h b/test/test_interfaces/AMS_interface_test.h
@@ -38,9 +38,9 @@ void test_AMS_heartbeat()
 {   
     //setting arbitrary pin 20
     AMSInterface ams_interface(20);
-    ams_interface.init();
+    ams_interface.init(millis());
     ams_interface.set_start_state();
-    TEST_ASSERT_EQUAL(true, ams_interface.heartbeat_received());
+    TEST_ASSERT_EQUAL(true, ams_interface.heartbeat_received(millis()));
     delay(20);
-    TEST_ASSERT_EQUAL(false, ams_interface.heartbeat_received());
+    TEST_ASSERT_EQUAL(false, ams_interface.heartbeat_received(millis()));
 }