Merge branch 'master' into clang-format

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,30 @@
+---
+name: Bug report
+about: Report a bug in the Controls System
+title: ''
+labels: bug
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Which feature is being tested?
+2. Which requirements are being tested?
+3. Which test is used?
+4. What is the hardware configuration?
+5. What combination of inputs cause the error?
+6. What does the error look like?
+7. Does this issue already exist?
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
+
+**Additional context**
+Add any other context about the problem here.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest a new feature for Controls
+title: ''
+labels: enhancement
+assignees: ''
+
+---
+
+**Describe the problem this feature will solve**
+A clear and concise description of what the problem is. Please make sure the issue for this feature does not already exist.
+
+**Describe the proposed solution**
+A clear and concise description of what you want to happen.
+
+**Describe possible alternatives**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

.readthedocs.yaml

@@ -0,0 +1,64 @@
+# Read the Docs configuration file for Sphinx projects
+
+# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
+
+
+# Required
+
+version: 2
+
+
+# Set the OS, Python version and other tools you might need
+
+build:
+
+  os: ubuntu-22.04
+
+  apt_packages:
+    - doxygen
+
+  tools:
+
+    python: "3.11"
+
+  jobs:
+    post_install:
+      - make docs
+
+
+
+# Build documentation in the "docs/" directory with Sphinx
+
+sphinx:
+
+  configuration: Docs/source/conf.py
+
+  # You can configure Sphinx to use a different builder, for instance use the dirhtml builder for simpler URLs
+
+  # builder: "dirhtml"
+
+  # Fail on all warnings to avoid broken references
+
+  # fail_on_warning: true
+
+
+# Optionally build your docs in additional formats such as PDF and ePub
+
+# formats:
+
+#    - pdf
+
+#    - epub
+
+
+# Optional but recommended, declare the Python requirements required
+
+# to build your documentation
+
+# See https://docs.readthedocs.io/en/stable/guides/reproducible-builds.html
+
+python:
+
+   install:
+
+   - requirements: Docs/source/requirements.txt

Apps/Inc/CAN_Queue.h

@@ -1,6 +1,11 @@
-/* Copyright (c) 2021 UT Longhorn Racing Solar */
-/** CAN_Queue.c
- * Queue that holds all CAN messages that Task_CANBusConsumer needs to send.
+/**
+ * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar
+ * @file CAN_Queue.h
+ * @brief Queue that holds all CAN messages that Task_CANBusConsumer needs to send.
+ * 
+ * @defgroup CAN_Queue
+ * @addtogroup CAN_Queue
+ * @{
  */
 
 #ifndef CAN_QUEUE_H
@@ -15,3 +20,6 @@ ErrorStatus CAN_Queue_Post(CANDATA_t message);
 ErrorStatus CAN_Queue_Pend(CANDATA_t *message);
 
 #endif
+
+
+/* @} */

Apps/Inc/FaultState.h

@@ -1,6 +1,19 @@
+/**
+ * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar
+ * @file FaultState.h
+ * @brief 
+ * 
+ * @defgroup FaultState
+ * @addtogroup FaultState
+ * @{
+ */
 #ifndef __FAULT_STATE_H
 #define __FAULT_STATE_H
 
+
 void EnterFaultState(void);
 
-#endif
+#endif
+
+
+/* @} */

Apps/Inc/MedianFilter.h

@@ -1,4 +1,13 @@
-// Copyright (c) 2022 Longhorn Racing Solar
+/**
+ * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar
+ * @file MedianFilter.h
+ * @brief 
+ * 
+ * @defgroup MedianFilter
+ * @addtogroup MedianFilter
+ * @{
+ */
+
 /*
  * This file implements a median filter.
  * 
@@ -209,3 +218,4 @@ GETSINGLE (MF_TYPE_NAME *filter, uint32_t channel) {
 #undef PUT
 #undef GETSINGLE 
 
+/* @} */

Apps/Inc/ReadCarCAN.h

@@ -1,4 +1,12 @@
-/* Copyright (c) 2020 UT Longhorn Racing Solar */
+/**
+ * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar
+ * @file ReadCarCAN.h
+ * @brief 
+ * 
+ * @defgroup ReadCarCAN
+ * @addtogroup ReadCarCAN
+ * @{
+ */
 
 #ifndef __READ_CAR_CAN_H
 #define __READ_CAR_CAN_H
@@ -17,4 +25,7 @@
 */
 bool ChargeEnable_Get();
 
-#endif
+#endif
+
+
+/* @} */

Apps/Inc/ReadTritium.h

@@ -1,41 +1,52 @@
-/* Copyright (c) 2021 UT Longhorn Racing Solar */
-
-#ifndef __READ_TRITIUM_H
-#define __READ_TRITIUM_H
-
-#include "os.h"
-#include "common.h"
-#include "Tasks.h"
-
-#define CAR_STOPPED 0
-
-/**
- * Motor Error States
- * Read messages from motor in ReadTritium and trigger appropriate error messages as needed based on bits
- * 
- */
-typedef enum{
-    T_HARDWARE_OVER_CURRENT_ERR = (1<<0), 
-    T_SOFTWARE_OVER_CURRENT_ERR = (1<<1), 
-    T_DC_BUS_OVERVOLT_ERR = (1<<2), 
-    T_HALL_SENSOR_ERR = (1<<3), 
-    T_WATCHDOG_LAST_RESET_ERR = (1<<4), 
-    T_CONFIG_READ_ERR = (1<<5), 
-    T_UNDER_VOLTAGE_LOCKOUT_ERR = (1<<6), 
-    T_DESAT_FAULT_ERR = (1<<7), 
-    T_MOTOR_OVER_SPEED_ERR = (1<<8), 
-    T_INIT_FAIL = (1<<9), //motor controller fails to restart or initialize
-    T_NONE = 0x00,
-} tritium_error_code_t;
-#define NUM_TRITIUM_ERRORS 9 //9 errors, and 1 entry for no error
-
-/**
- * @brief Returns the current error status of the tritium controller
- */
-tritium_error_code_t MotorController_getTritiumError(void);
-
-float Motor_RPM_Get();
-float Motor_Velocity_Get();
-void MotorController_Restart();
-
-#endif
+/**
+ * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar
+ * @file ReadTritium.h
+ * @brief 
+ * 
+ * @defgroup ReadTritium
+ * @addtogroup ReadTritium
+ * @{
+ */
+
+#ifndef __READ_TRITIUM_H
+#define __READ_TRITIUM_H
+
+#include "os.h"
+#include "common.h"
+#include "Tasks.h"
+
+#define CAR_STOPPED 0
+
+/**
+ * Motor Error States
+ * Read messages from motor in ReadTritium and trigger appropriate error messages as needed based on bits
+ * 
+ */
+typedef enum{
+    T_HARDWARE_OVER_CURRENT_ERR = (1<<0), 
+    T_SOFTWARE_OVER_CURRENT_ERR = (1<<1), 
+    T_DC_BUS_OVERVOLT_ERR = (1<<2), 
+    T_HALL_SENSOR_ERR = (1<<3), 
+    T_WATCHDOG_LAST_RESET_ERR = (1<<4), 
+    T_CONFIG_READ_ERR = (1<<5), 
+    T_UNDER_VOLTAGE_LOCKOUT_ERR = (1<<6), 
+    T_DESAT_FAULT_ERR = (1<<7), 
+    T_MOTOR_OVER_SPEED_ERR = (1<<8), 
+    T_INIT_FAIL = (1<<9), //motor controller fails to restart or initialize
+    T_NONE = 0x00,
+} tritium_error_code_t;
+#define NUM_TRITIUM_ERRORS 9 //9 errors, and 1 entry for no error
+
+/**
+ * @brief Returns the current error status of the tritium controller
+ */
+tritium_error_code_t MotorController_getTritiumError(void);
+
+float Motor_RPM_Get();
+float Motor_Velocity_Get();
+void MotorController_Restart();
+
+#endif
+
+
+/* @} */

Apps/Inc/SendTritium.h

@@ -1,15 +1,32 @@
+/**
+ * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar
+ * @file SendTritium.h
+ * @brief 
+ * 
+ * @defgroup SendTritium
+ * @addtogroup SendTritium
+ * @{
+ */
 #ifndef __SENDTRITIUM_H
 #define __SENDTRITIUM_H
 
-#define MOTOR_MSG_PERIOD 500
-#define FSM_PERIOD 250
+#include "common.h"
+
+// #define SENDTRITIUM_PRINT_MES
+
+#define MOTOR_MSG_PERIOD 100
+#define FSM_PERIOD 100
 #define DEBOUNCE_PERIOD 2 // in units of FSM_PERIOD
 #define MOTOR_MSG_COUNTER_THRESHOLD (MOTOR_MSG_PERIOD)/(FSM_PERIOD)
 
-typedef enum{
-	FORWARD_GEAR,
-	NEUTRAL_GEAR,
-	REVERSE_GEAR
+#define FOREACH_Gear(GEAR) \
+        GEAR(FORWARD_GEAR)   \
+        GEAR(NEUTRAL_GEAR)  \
+        GEAR(REVERSE_GEAR)   \
+
+typedef enum GEAR_ENUM {
+    FOREACH_Gear(GENERATE_ENUM)
+    NUM_GEARS,
 } Gear_t;
 
 // State Names
@@ -32,22 +49,37 @@ typedef struct TritiumState{
     void (*stateDecider)(void);
 } TritiumState_t;
 
-#define __TEST_SENDTRITIUM
-#ifdef __TEST_SENDTRITIUM
-// Inputs
-extern bool cruiseEnable;
-extern bool cruiseSet;
-extern bool onePedalEnable;
-extern bool regenEnable;
+// Getter functions for local variables in SendTritium.c
+EXPOSE_GETTER(bool, cruiseEnable)
+EXPOSE_GETTER(bool, cruiseSet)
+EXPOSE_GETTER(bool, onePedalEnable)
+EXPOSE_GETTER(bool, regenEnable)
+EXPOSE_GETTER(uint8_t, brakePedalPercent)
+EXPOSE_GETTER(uint8_t, accelPedalPercent)
+EXPOSE_GETTER(Gear_t, gear)
+EXPOSE_GETTER(TritiumState_t, state)
+EXPOSE_GETTER(float, velocityObserved)
+EXPOSE_GETTER(float, cruiseVelSetpoint)
+EXPOSE_GETTER(float, currentSetpoint)
+EXPOSE_GETTER(float, velocitySetpoint)
 
-extern uint8_t brakePedalPercent;
-extern uint8_t accelPedalPercent;
-
-extern Gear_t gear;
-
-extern TritiumState_t state;
-extern float velocityObserved;
-extern float cruiseVelSetpoint;
+// Setter functions for local variables in SendTritium.c
+#ifdef SENDTRITIUM_EXPOSE_VARS
+EXPOSE_SETTER(bool, cruiseEnable)
+EXPOSE_SETTER(bool, cruiseSet)
+EXPOSE_SETTER(bool, onePedalEnable)
+EXPOSE_SETTER(bool, regenEnable)
+EXPOSE_SETTER(uint8_t, brakePedalPercent)
+EXPOSE_SETTER(uint8_t, accelPedalPercent)
+EXPOSE_SETTER(Gear_t, gear)
+EXPOSE_SETTER(TritiumState_t, state)
+EXPOSE_SETTER(float, velocityObserved)
+EXPOSE_SETTER(float, cruiseVelSetpoint)
+EXPOSE_SETTER(float, currentSetpoint)
+EXPOSE_SETTER(float, velocitySetpoint)
 #endif
 
 #endif
+
+
+/* @} */