From d8bf2c8e1e54a53f54fac7058307dcbf850d7c2a Mon Sep 17 00:00:00 2001 From: "Sidharth N. Babu" Date: Sat, 17 Jun 2023 11:01:52 -0700 Subject: [PATCH 01/10] i was bored, heres some docs (#319) * i just wrote these bc i was bored ur turn to deal with bad commit msgs lolzies * eliminated passive voice --------- Co-authored-by: Cam0Cow --- Docs/source/Apps/ExtraFiles.rst | 2 +- Docs/source/Apps/ReadSwitches.rst | 5 ----- Docs/source/Apps/SendTritium.rst | 12 ++++++++++++ Docs/source/Apps/UpdateVelocity.rst | 7 ------- Docs/source/Drivers/CANBus.rst | 12 +++++++----- Docs/source/index.rst | 4 +--- 6 files changed, 21 insertions(+), 21 deletions(-) delete mode 100644 Docs/source/Apps/ReadSwitches.rst create mode 100644 Docs/source/Apps/SendTritium.rst delete mode 100644 Docs/source/Apps/UpdateVelocity.rst diff --git a/Docs/source/Apps/ExtraFiles.rst b/Docs/source/Apps/ExtraFiles.rst index 9c3609ae..c652d6f6 100644 --- a/Docs/source/Apps/ExtraFiles.rst +++ b/Docs/source/Apps/ExtraFiles.rst @@ -30,4 +30,4 @@ This file contains an array for converting a pedal percentage (the index into th Tasks ===== -This file contains the storage for all general tasks related objects, including stacks, TCBs, mutexes, semaphores; as well as global variables such as ``RegenEnable`` and ``StateOfCharge``. All task files include ``Tasks.h`` and thus have access to them. \ No newline at end of file +This file contains the storage for all general tasks related objects, including stacks, TCBs, mutexes, and semaphores. All task files include ``Tasks.h`` and thus have access to them. \ No newline at end of file diff --git a/Docs/source/Apps/ReadSwitches.rst b/Docs/source/Apps/ReadSwitches.rst deleted file mode 100644 index ea12c6d8..00000000 --- a/Docs/source/Apps/ReadSwitches.rst +++ /dev/null @@ -1,5 +0,0 @@ -****************** -Read Switches Task -****************** - -The Read Switches task is responsible for reading the states of all user switches. It also updates the states of the lights based on switch input. The task also checks for the ignition switch position, and enables/disables the contactors accordingly. \ No newline at end of file diff --git a/Docs/source/Apps/SendTritium.rst b/Docs/source/Apps/SendTritium.rst new file mode 100644 index 00000000..bf02c6f4 --- /dev/null +++ b/Docs/source/Apps/SendTritium.rst @@ -0,0 +1,12 @@ +.. _velocity: + +******************** +SendTritium Task +******************** + +The SendTritium task currently houses our velocity control code. +It utilizes a FSM to coordinate what messages should be sent to the motor controller depending on a certain set of input variables. +This FSM depends on data from across the system, such as: +- The Pedals +- The switches +- The CAN messages from BPS (indicates whether we can regen brake or not) \ No newline at end of file diff --git a/Docs/source/Apps/UpdateVelocity.rst b/Docs/source/Apps/UpdateVelocity.rst deleted file mode 100644 index a127ff09..00000000 --- a/Docs/source/Apps/UpdateVelocity.rst +++ /dev/null @@ -1,7 +0,0 @@ -.. _velocity: - -******************** -Update Velocity Task -******************** - -**This area is under construction** \ No newline at end of file diff --git a/Docs/source/Drivers/CANBus.rst b/Docs/source/Drivers/CANBus.rst index 0ea56580..bd01631f 100644 --- a/Docs/source/Drivers/CANBus.rst +++ b/Docs/source/Drivers/CANBus.rst @@ -23,9 +23,11 @@ See ``CANbus.h`` and ``CANLUT.c`` for details. Implementation Details ====================== -The microcontroller's CAN hardware block includes three sending and three receiving mailboxes, which act as a small queue of CAN messages. The recieve mailboxes are constantly emptied (by the CAN recieve interrupt) -into a software queue in the BSP layer, in order to deepen the queue (we recieve a lot of messages). -When writing, the driver will write directly to the write mailboxes, as long as they aren't full, blocking otherwise. -When reading, the driver will read directly from a software queue in the BSP layer. It will return an error if the queue is empty. -The driver will read from the software queue and write to those hardware mailboxes as long as they aren't empty or full, respectively, blocking otherwise. +The microcontroller's CAN hardware block includes three sending and three receiving mailboxes, which act as a small queue of CAN messages. +The driver will write directly to the write mailboxes as long as they aren't full, and will block otherwise. + +The receive mailboxes are constantly emptied (by the CAN recieve interrupt) +into a software queue in the BSP layer in order to deepen the queue (we recieve a lot of messages). +When reading, the driver will read directly from a software queue in the BSP layer. A non-blocking read will return an error if the queue is empty. A blocking read will block on a driver-layer semaphore, to be woken up when data is avilable. +Everytime the BSP software queue is posted to, a receive interrupt signals to a driver-layer semaphore that a message has been received. This allows any waiting tasks to wake up and read the message. This is done since tasks that read and write CAN messages don't usually have anything else to do while waiting, which makes blocking fairly efficient. diff --git a/Docs/source/index.rst b/Docs/source/index.rst index 0ebc5df7..0a3091d5 100644 --- a/Docs/source/index.rst +++ b/Docs/source/index.rst @@ -33,15 +33,13 @@ Keep the docs clear and readible. Reach out to more experienced team members wit :maxdepth: 2 :caption: Apps - Apps/BlinkLights Apps/FaultState Apps/Main Apps/ReadCarCAN - Apps/ReadSwitches Apps/ReadTritium Apps/SendCarCAN Apps/UpdateDisplay - Apps/UpdateVelocity + Apps/SendTritium Apps/ExtraFiles From 765571b49bc844af5ff94d2ecbd0eb587d27c603 Mon Sep 17 00:00:00 2001 From: audreygpick <109998890+audreygpick@users.noreply.github.com> Date: Sun, 2 Jul 2023 19:13:09 -0500 Subject: [PATCH 02/10] DebugDump (#276) * Starting DebugDump file.. a little jank still * i have all the globals required of me printing. does not make right now, about to start experimenting with the enum->string thing * now makes, but I got rid of special enum->string functionality. Instead, I just added a string array under each enum. We can try again with the enum->string thing, but i just wanted to be able to make it * On the road to success: started correcting the pre-processors * Added refined enum->string pre-processor * Fixed build issues. Removed uneeded variables (couldn't use), updated strings * Fixed macro redine issue * Added framework for the commandline * Changed assertOSError loc (copy paste issue) * Added a bunch of commands to command line * Added renode files for testing code * Added changes and test file for testing * Fixed issues with command line and made it more responsive * Fixed issues with recieving on UART2 * Changes resc file for testing * Added test file to see if command line works * Added test file to see if Renode can set analog input * Defined the memory map better and added includs * Start of sim, took out unneed mutex * Added task information to create the Debug Dump taks and modified the startup script for renode and make a test to test the debug dump thread * Made some function inline and/or static, moved renode files to Simulator (not Renode anymore), and fixed some types and comments in the application and test * Rename Test_SendCarCan.c to Test_SendCarCan_.c Windows Issue * Some code cleanup and added task macros and data structs for command line task * Code cleanup, took out deprecated functions due to the merge with master * Deprecated file * Took out deprecated tests * Added getters macro, added start of debug dump for send tritium * small changes to spellings and syntax * Tested DebugDump and CommandLine and did a few fixes and clean up of code * Renamed the float function, moved it to a common.c file, took out deprecated global variables in Task.h, used the enum macro on the gears, took out isNull function (useless), added printing of the gears in DebugDump * Included FaultState into test again (took out by accident) * Fixed print_float function * Added enum generation macros and getter macros to common.h, changed the priority of command line task to 11 (lowest currently), added comments for info and readability, changed a for loops' condition to be more accurate in understanding, and corrected formating in CommandLine * Change ign1 & ign2 to print out as negative logic --------- Co-authored-by: NathanielDelgado Co-authored-by: ishdeshpa Co-authored-by: Cam0Cow --- Apps/Inc/SendTritium.h | 27 ++- Apps/Inc/Tasks.h | 20 +- Apps/Inc/common.h | 19 ++ Apps/Src/CommandLine.c | 357 +++++++++++++++++++++++++++++++++++ Apps/Src/DebugDump.c | 130 +++++++++++++ Apps/Src/SendTritium.c | 27 ++- Apps/Src/Tasks.c | 5 +- Apps/Src/Telemetry.c | 14 +- Apps/Src/common.c | 11 ++ BSP/STM32F413/Src/BSP_UART.c | 47 +++-- Drivers/Inc/Contactors.h | 15 +- Drivers/Inc/Minions.h | 34 ++-- Drivers/Src/Contactors.c | 1 - Drivers/Src/Minions.c | 16 +- Simulator/startup.resc | 2 +- Tests/Test_CommandLine.c | 18 ++ Tests/Test_DebugDump.c | 220 +++++++++++++++++++++ Tests/Test_Ign_Cont.c | 2 +- 18 files changed, 869 insertions(+), 96 deletions(-) create mode 100644 Apps/Src/CommandLine.c create mode 100644 Apps/Src/DebugDump.c create mode 100644 Apps/Src/common.c create mode 100644 Tests/Test_CommandLine.c create mode 100644 Tests/Test_DebugDump.c diff --git a/Apps/Inc/SendTritium.h b/Apps/Inc/SendTritium.h index a64ec2d6..44181071 100644 --- a/Apps/Inc/SendTritium.h +++ b/Apps/Inc/SendTritium.h @@ -1,15 +1,21 @@ #ifndef __SENDTRITIUM_H #define __SENDTRITIUM_H +#include "common.h" + #define MOTOR_MSG_PERIOD 500 #define FSM_PERIOD 250 #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 @@ -50,4 +56,17 @@ extern float velocityObserved; extern float cruiseVelSetpoint; #endif +// 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(float, currentSetpoint) +EXPOSE_GETTER(float, velocitySetpoint) +EXPOSE_GETTER(float, cruiseVelSetpoint) +EXPOSE_GETTER(float, velocityObserved) + #endif diff --git a/Apps/Inc/Tasks.h b/Apps/Inc/Tasks.h index 936d0756..4c28fad3 100644 --- a/Apps/Inc/Tasks.h +++ b/Apps/Inc/Tasks.h @@ -26,6 +26,8 @@ #define TASK_UPDATE_DISPLAY_PRIO 6 #define TASK_SEND_CAR_CAN_PRIO 8 #define TASK_TELEMETRY_PRIO 9 +#define TASK_DEBUG_DUMP_PRIO 10 +#define TASK_COMMAND_LINE_PRIO 11 /** * Stack Sizes @@ -41,7 +43,8 @@ #define TASK_READ_TRITIUM_STACK_SIZE DEFAULT_STACK_SIZE #define TASK_SEND_CAR_CAN_STACK_SIZE DEFAULT_STACK_SIZE #define TASK_TELEMETRY_STACK_SIZE DEFAULT_STACK_SIZE - +#define TASK_DEBUG_DUMP_STACK_SIZE DEFAULT_STACK_SIZE +#define TASK_COMMAND_LINE_STACK_SIZE DEFAULT_STACK_SIZE /** @@ -63,9 +66,9 @@ void Task_SendCarCAN(void* p_arg); void Task_Telemetry(void* p_arg); +void Task_DebugDump(void *p_arg); - - +void Task_CommandLine(void* p_arg); /** * TCBs @@ -78,7 +81,8 @@ extern OS_TCB UpdateDisplay_TCB; extern OS_TCB ReadTritium_TCB; extern OS_TCB SendCarCAN_TCB; extern OS_TCB Telemetry_TCB; - +extern OS_TCB DebugDump_TCB; +extern OS_TCB CommandLine_TCB; /** @@ -92,7 +96,8 @@ extern CPU_STK UpdateDisplay_Stk[TASK_UPDATE_DISPLAY_STACK_SIZE]; extern CPU_STK ReadTritium_Stk[TASK_READ_TRITIUM_STACK_SIZE]; extern CPU_STK SendCarCAN_Stk[TASK_SEND_CAR_CAN_STACK_SIZE]; extern CPU_STK Telemetry_Stk[TASK_TELEMETRY_STACK_SIZE]; - +extern CPU_STK DebugDump_Stk[TASK_DEBUG_DUMP_STACK_SIZE]; +extern CPU_STK CommandLine_Stk[TASK_COMMAND_LINE_STACK_SIZE]; /** * Queues @@ -110,11 +115,6 @@ extern OS_SEM FaultState_Sem4; */ -//Put all global state variables here -extern bool UpdateVel_ToggleCruise; -extern uint16_t SupplementalVoltage; -extern uint32_t StateOfCharge; - /** * OS Error States * diff --git a/Apps/Inc/common.h b/Apps/Inc/common.h index 5c1d0fb7..714c5474 100644 --- a/Apps/Inc/common.h +++ b/Apps/Inc/common.h @@ -11,6 +11,25 @@ #include #include +/* Used for generating ENUMS */ +#define GENERATE_ENUM(ENUM) ENUM, +#define GENERATE_STRING(STRING) #STRING, + +/** + * Used for creating getter functions (returns the value based on given inputs) + * + * GETTER is used for creating the function and EXPOSE_GETTER is used for creating the declaration in the header file + */ +#define GETTER(type, name) \ + type get_##name(void){ \ + return name; \ + } \ + +#define EXPOSE_GETTER(type, name) \ + type get_##name(void); \ + typedef void (*callback_t)(void); +void print_float(char *str, float f); + #endif diff --git a/Apps/Src/CommandLine.c b/Apps/Src/CommandLine.c new file mode 100644 index 00000000..96fbba25 --- /dev/null +++ b/Apps/Src/CommandLine.c @@ -0,0 +1,357 @@ +#include +#include +#include +#include +#include "os.h" +#include "Tasks.h" +#include "BSP_UART.h" +#include "CANbus.h" +#include "Contactors.h" +#include "Minions.h" +#include "Pedals.h" + +#define MAX_BUFFER_SIZE 128 // defined from BSP_UART_Read function + +// Represents a command that the command line understands +struct Command { + const char *name; + bool (*action)(void); +}; + +static bool cmd_help(void); + +static bool cmd_CANbus_Send(void); + +static bool cmd_CANbus_Read(void); + +static bool cmd_Contactors_Get(void); + +static bool cmd_Contactors_Set(void); + +static bool cmd_Minion_Read_Input(void); + +static bool cmd_Minion_Write_Output(void); + +static bool cmd_Pedals_Read(void); + + +const struct Command cmdline_commands[] = { + {.name = "help", .action = cmd_help}, + {.name = "CANbus_Send", .action = cmd_CANbus_Send}, + {.name = "CANbus_Read", .action = cmd_CANbus_Read}, + {.name = "Contactors_Get", .action = cmd_Contactors_Get}, + {.name = "Contactors_Set", .action = cmd_Contactors_Set}, + {.name = "Minion_Read_Input", .action = cmd_Minion_Read_Input}, + {.name = "Minion_Write_Output", .action = cmd_Minion_Write_Output}, + {.name = "Pedals_Read", .action = cmd_Pedals_Read}, + {.name = NULL, .action = NULL} +}; + +static char input[MAX_BUFFER_SIZE]; +char *save; // Save pointer for strtok_r + +char *help = { + "LHRS Controls Command Line:\n\r" + " For help, enter [help]\n\r" + " Format is: cmd [param, ...]\n\r" + " Commands and their params are as follows:\n\r" + " CANbus_Send (non)blocking motor/car 'string' - Sends a CAN\n\r" + "message with the string data as is on the determined line\n\r" + " CANbus_Read (non)blocking motor/car - Reads a CAN message\n\r" + "on the detemined line\n\r" + " Contactors_Get array_c/array_p/motor_c - Gets the status of\n\r" + "determined contactor\n\r" + " Contactors_Set array_c/array_p/motor_c on/off (non)blocking -\n\r" + "Sets the determined contactor\n\r" + " Contactors_Enable array_c/array_p/motor_c - Enables the determined\n\r" + "contactor\n\r" + " Contactors_Disable array_c/array_p/motor_c - Disables the determined\n\r" + "contactor\n\r" + " Minion_Read_Input 'input' - Reads the current status of the input\n\r" + " Minion_Write_Output `output` on/off - Sets the current state of the output\n\r" + " Pedals_Read accel/brake - Reads the current status of the pedal\n\r" +}; + +static inline bool isWhiteSpace(char character){ + switch (character) { + case 0x09: + case 0x0A: + case 0x0C: + case 0x0D: + case 0x20: return true; + default: return false; + } +} + +static bool executeCommand(char *input) { + // The first word in the input should be a valid command + char *command = strtok_r(input, " ", &save); + // Iterate through all valid commands and check if the input matches (exits if the action is NULL (acts as a sentinal)) + for (int i=0; cmdline_commands[i].action; i++) { + if (!strcmp(command, cmdline_commands[i].name)) { + return cmdline_commands[i].action(); // Execute the command + } + } + return false; // Didn't find a valid command! +} + +// *********** Command line (shell) ************ +void Task_CommandLine(void* p_arg) { + OS_ERR err; + + // output welcome/help screen + printf(help); + + while(1){ + printf("> "); + BSP_UART_Read(UART_2, input); + printf("\n\r"); + + if (!executeCommand(input)) { // If command failed, error + printf("Bad cmd. Please try again\n\r"); + } + } + + // Delay of 1 seconds + OSTimeDlyHMSM(0, 0, 1, 0, OS_OPT_TIME_HMSM_STRICT, &err); + if (err != OS_ERR_NONE){ + assertOSError(OS_NONE_LOC, err); + } +} + +// Function Implementations +// ------------------------------------------------------------------------ + +static inline bool cmd_help(void) { + printf(help); + return true; +} + +/* This has not been tested and not sure if this implementation is correct (not sure +if we want to just transmit string data from serial) */ +static bool cmd_CANbus_Send(void){ + char *data = strtok_r(NULL, " ", &save); + CANDATA_t msg = {.ID=0x0582, .idx=0}; // this would change in the future (don't assume char as data) + for(int i = 0; i < 8 && i < strlen(data); i++){ + msg.data[i] = data[i]; + } + + char *blockInput = strtok_r(NULL, " ", &save); + bool blocking; + if(strcmp(blockInput, "blocking") == 0){ + blocking = CAN_BLOCKING; + } + else if(strcmp(blockInput, "nonblocking") == 0){ + blocking = CAN_NON_BLOCKING; + } + else{ + return false; + } + + char *busInput = strtok_r(NULL, " ", &save); + CAN_t bus; + if(strcmp(busInput, "motor") == 0){ + bus = CAN_1; + } + else if(strcmp(busInput, "car") == 0){ + bus = CAN_3; + } + else{ + return false; + } + + if(CANbus_Send(msg, blocking, bus)){ + printf("msg sent on %s (%s)\n\r", "can", blockInput); + }else{ + printf("msg sent failed\n\r"); + } + return true; +} + +static bool cmd_CANbus_Read(void){ + CANDATA_t msg; + + char *blockInput = strtok_r(NULL, " ", &save); + bool blocking; + if(strcmp(blockInput, "blocking") == 0){ + blocking = CAN_BLOCKING; + } + else if(strcmp(blockInput, "nonblocking") == 0){ + blocking = CAN_NON_BLOCKING; + } + else{ + return false; + } + + char *busInput = strtok_r(NULL, " ", &save); + CAN_t bus; + if(strcmp(busInput, "motor") == 0){ + bus = CAN_1; + } + else if(strcmp(busInput, "car") == 0){ + bus = CAN_3; + } + else{ + return false; + } + + if(CANbus_Read(&msg, blocking, bus) == SUCCESS){ + printf("msg recieved on %s (%s)\n\r", busInput, blockInput); + printf("ID: %d, Data: ", msg.ID); + for(int i = 0; i < 8; i++){ + printf("[%d] %x \n\r", i, msg.data[i]); + } + }else{ + printf("read failed on %s (%s)\n\r", busInput, blockInput); + } + return true; +} + +static bool cmd_Contactors_Get(void){ + char *contactorInput = strtok_r(NULL, " ", &save); + contactor_t contactor; + if(strcmp(contactorInput, "array_c") == 0){ + contactor = ARRAY_CONTACTOR; + } + else if(strcmp(contactorInput, "array_p") == 0){ + contactor = ARRAY_PRECHARGE; + } + else if(strcmp(contactorInput, "motor_c") == 0){ + contactor = MOTOR_CONTACTOR; + } + else{ + return false; + } + + printf("%s state: %s\n\r", contactorInput, Contactors_Get(contactor) == ON ? "on" : "off"); + return true; +} + +static bool cmd_Contactors_Set(void){ + char *contactorInput = strtok_r(NULL, " ", &save); + contactor_t contactor; + if(strcmp(contactorInput, "array_c") == 0){ + contactor = ARRAY_CONTACTOR; + } + else if(strcmp(contactorInput, "array_p") == 0){ + contactor = ARRAY_PRECHARGE; + } + else if(strcmp(contactorInput, "motor_c") == 0){ + contactor = MOTOR_CONTACTOR; + } + else{ + return false; + } + + char *stateInput = strtok_r(NULL, " ", &save); + bool state; + if(strcmp(stateInput, "on") == 0){ + state = true; + } + else if(strcmp(stateInput, "off") == 0){ + state = false; + } + else{ + return false; + } + + char *blockingInput = strtok_r(NULL, " ", &save); + bool blocking; + if(strcmp(blockingInput, "blocking") == 0){ + blocking = true; + } + else if(strcmp(blockingInput, "nonblocking") == 0){ + blocking = false; + } + else{ + return false; + } + + if(Contactors_Set(contactor, state, blocking)){ + printf("%s set to %s (%s)\n\r", contactorInput, stateInput, blockingInput); + }else{ + printf("set failed\n\r"); + } + return true; +} + +static bool cmd_Minion_Read_Input(void){ + Minion_Error_t err; + char *pinInput = strtok_r(NULL, " ", &save); + MinionPin_t pin; + if(strcmp(pinInput, "ign_1") == 0){ + pin = IGN_1; + } + else if(strcmp(pinInput, "ign_2") == 0){ + pin = IGN_2; + } + else if(strcmp(pinInput, "regen_sw") == 0){ + pin = REGEN_SW; + } + else if(strcmp(pinInput, "for_sw") == 0){ + pin = FOR_SW; + } + else if(strcmp(pinInput, "rev_sw") == 0){ + pin = REV_SW; + } + else if(strcmp(pinInput, "cruz_en") == 0){ + pin = CRUZ_EN; + } + else if(strcmp(pinInput, "cruz_st") == 0){ + pin = CRUZ_ST; + } + // else if(strcmp(pinInput, "brakelight") == 0){ // uncomment when fix implemented + // pin = REGEN_SW; + // } + else{ + return false; + } + + printf("%s is %s\n\r", pinInput, Minion_Read_Pin(pin, &err) ? "on" : "off"); + return true; +} + +static bool cmd_Minion_Write_Output(void){ + Minion_Error_t err; + char *pinInput = strtok_r(NULL, " ", &save); + MinionPin_t pin; + if(strcmp(pinInput, "brakelight") == 0){ + pin = BRAKELIGHT; + } + else{ + return false; + } + + char *stateInput = strtok_r(NULL, " ", &save); + bool state; + if(strcmp(stateInput, "on") == 0){ + state = true; + } + else if(strcmp(stateInput, "off") == 0){ + state = false; + } + else{ + return false; + } + + Minion_Write_Output(pin, state, &err); + printf("%s set to %s\n\r", pinInput, stateInput); + return true; +} + +static bool cmd_Pedals_Read(void){ + char *pedalInput = strtok_r(NULL, " ", &save); + pedal_t pedal; + if(strcmp(pedalInput, "accel") == 0){ + pedal = ACCELERATOR; + } + else if(strcmp(pedalInput, "brake") == 0){ + pedal = BRAKE; + } + else{ + return false; + } + + printf("%s: %d\n\r", pedalInput, Pedals_Read(pedal)); + return true; +} diff --git a/Apps/Src/DebugDump.c b/Apps/Src/DebugDump.c new file mode 100644 index 00000000..33529ed4 --- /dev/null +++ b/Apps/Src/DebugDump.c @@ -0,0 +1,130 @@ +#include "os.h" +#include "Tasks.h" +#include "bsp.h" +#include "CANbus.h" +#include "CAN_Queue.h" +#include "Pedals.h" +#include "Minions.h" +#include "Contactors.h" +#include "common.h" +#include +#include "Tasks.h" +#include "SendTritium.h" + +// global variables +extern fault_bitmap_t FaultBitmap; +extern os_error_loc_t OSErrLocBitmap; + +static const char *MINIONPIN_STRING[] = { + FOREACH_MinionPin(GENERATE_STRING) +}; + +static const char *CONTACTOR_STRING[] = { + FOREACH_contactor(GENERATE_STRING) +}; + +static const char *GEAR_STRING[] = { + FOREACH_Gear(GENERATE_STRING) +}; + +// Need to keep this in sync with Task.h +/*----------------------------------------------*/ +#define FAULT_BITMAP_NUM 6 +#define OS_LOC_NUM 14 +static const char *OS_LOC_STRING[] = { + "OS_NONE_LOC", + "OS_ARRAY_LOC", + "OS_READ_CAN_LOC", + "OS_READ_TRITIUM_LOC", + "OS_SEND_CAN_LOC", + "OS_SEND_TRITIUM_LOC", + "OS_UPDATE_VEL_LOC", + "OS_CONTACTOR_LOC", + "OS_MINIONS_LOC", + "OS_MAIN_LOC", + "OS_CANDRIVER_LOC", + "OS_MOTOR_CONNECTION_LOC", + "OS_DISPLAY_LOC" +}; + +static const char *FAULT_BITMAP_STRING[] = { + "FAULT_NONE", + "FAULT_OS", + "FAULT_UNREACH", + "FAULT_TRITIUM", + "FAULT_READBPS", + "FAULT_DISPLAY", + "FAULT_BPS" +}; +/*----------------------------------------------*/ + +void Task_DebugDump(void* p_arg) { + OS_ERR err; + Minion_Error_t mErr; + + while(1){ + + // Get pedal information + int8_t accelPedal = Pedals_Read(ACCELERATOR); + printf("ACCELERATOR: %d\n\r", accelPedal); + + int8_t brakePedal = Pedals_Read(BRAKE); + printf("BRAKE: %d\n\r", brakePedal); + + // Get minion information + for(MinionPin_t pin = 0; pin < NUM_MINIONPINS-1; pin++){ // Plan to change NUM_MINIONPINS-1 -> NUM_MINIONPINS after Minion function is fixed + bool pinState = Minion_Read_Pin(pin, &mErr); + // Ignition pins are negative logic, special-case them + printf("%s: %s\n\r", MINIONPIN_STRING[pin], pinState ^ (pin == IGN_1 || pin == IGN_2) ? "on" : "off"); + } + + // Get contactor info + for(contactor_t contactor = 0; contactor < NUM_CONTACTORS; contactor++){ + bool contactorState = Contactors_Get(contactor) == ON ? true : false; + printf("%s: %s\n\r", CONTACTOR_STRING[contactor], contactorState ? "on" : "off"); + } + + // Send Tritium variables + printf("Cruise Enable: %s\n\r", get_cruiseEnable() ? "true" : "false"); + printf("Cruise Set: %s\n\r", get_cruiseSet() ? "true" : "false"); + printf("One Pedal Enable: %s\n\r", get_onePedalEnable() ? "true" : "false"); + printf("Regen Enable: %s\n\r", get_regenEnable() ? "true" : "false"); + printf("Pedal Brake Percent: %d\n\r", get_brakePedalPercent()); + printf("Pedal Accel Percent: %d\n\r", get_accelPedalPercent()); + printf("Current Gear: %s\n\r", GEAR_STRING[get_gear()]); + print_float("Current Setpoint: ", get_currentSetpoint()); + + // fault bitmap + printf("Fault Bitmap: "); + if(FaultBitmap == FAULT_NONE){ + printf("%s", FAULT_BITMAP_STRING[0]); + }else{ + for(int i = 0; i < FAULT_BITMAP_NUM; i++){ + if(FaultBitmap & (1 << i)){ + printf("%s ", FAULT_BITMAP_STRING[i]); + } + } + } + printf("\n\r"); + + // os loc bitmap + printf("OS Location Bitmap: "); + if(OSErrLocBitmap == OS_NONE_LOC){ + printf("%s", OS_LOC_STRING[0]); + } + else{ + for(int i = 0; i < OS_LOC_NUM; i++){ + if(OSErrLocBitmap & (1 << i)){ + printf("%s ", OS_LOC_STRING[i]); + } + } + } + printf("\n\r"); + + // Delay of 5 seconds + OSTimeDlyHMSM(0, 0, 5, 0, OS_OPT_TIME_HMSM_STRICT, &err); + if (err != OS_ERR_NONE){ + assertOSError(OS_NONE_LOC, err); + } + } +} \ No newline at end of file diff --git a/Apps/Src/SendTritium.c b/Apps/Src/SendTritium.c index dba23f32..474589b6 100644 --- a/Apps/Src/SendTritium.c +++ b/Apps/Src/SendTritium.c @@ -24,6 +24,7 @@ #include "ReadTritium.h" #include "CANbus.h" #include "UpdateDisplay.h" +#include "common.h" // Macros #define MAX_VELOCITY 20000.0f // rpm (unobtainable value) @@ -87,6 +88,19 @@ static bool cruiseEnablePrevious = false; #endif +// Getter functions for local variables in SendTritium.c +GETTER(bool, cruiseEnable) +GETTER(bool, cruiseSet) +GETTER(bool, onePedalEnable) +GETTER(bool, regenEnable) +GETTER(uint8_t, brakePedalPercent) +GETTER(uint8_t, accelPedalPercent) +GETTER(Gear_t, gear) +GETTER(float, currentSetpoint) +GETTER(float, velocitySetpoint) +GETTER(float, cruiseVelSetpoint) +GETTER(float, velocityObserved) + // Handler & Decider Declarations static void ForwardDriveHandler(void); static void ForwardDriveDecider(void); @@ -178,13 +192,6 @@ static void getName(char* nameStr, uint8_t stateNameNum){ return; } -static void print_float(float f) { - int n = (int) f; - f -= n; - f *= (10 << 2); - printf("%d.%d\n\r", n, (int) f); -} - static void dumpInfo(){ printf("-------------------\n\r"); char stateName[20]; @@ -196,9 +203,9 @@ static void dumpInfo(){ printf("brakePedalPercent: %d\n\r", brakePedalPercent); printf("accelPedalPercent: %d\n\r", accelPedalPercent); printf("gear: %d\n\r", (uint8_t)gear); - printf("currentSetpoint: "); print_float(currentSetpoint); - printf("velocitySetpoint: "); print_float(velocitySetpoint); - printf("velocityObserved: "); print_float(velocityObserved); + print_float("currentSetpoint: ", currentSetpoint); + print_float("velocitySetpoint: ", velocitySetpoint); + print_float("velocityObserved: ", velocityObserved); printf("-------------------\n\r"); } #endif diff --git a/Apps/Src/Tasks.c b/Apps/Src/Tasks.c index 2405556f..37e1ad7a 100644 --- a/Apps/Src/Tasks.c +++ b/Apps/Src/Tasks.c @@ -20,6 +20,8 @@ OS_TCB UpdateDisplay_TCB; OS_TCB ReadTritium_TCB; OS_TCB SendCarCAN_TCB; OS_TCB Telemetry_TCB; +OS_TCB DebugDump_TCB; +OS_TCB CommandLine_TCB; /** * Stacks @@ -32,7 +34,8 @@ CPU_STK UpdateDisplay_Stk[TASK_UPDATE_DISPLAY_STACK_SIZE]; CPU_STK ReadTritium_Stk[TASK_READ_TRITIUM_STACK_SIZE]; CPU_STK SendCarCAN_Stk[TASK_SEND_CAR_CAN_STACK_SIZE]; CPU_STK Telemetry_Stk[TASK_TELEMETRY_STACK_SIZE]; - +CPU_STK DebugDump_Stk[TASK_DEBUG_DUMP_STACK_SIZE]; +CPU_STK CommandLine_Stk[TASK_COMMAND_LINE_STACK_SIZE]; /** * Semaphores diff --git a/Apps/Src/Telemetry.c b/Apps/Src/Telemetry.c index 65de84b3..b8f7e8b3 100644 --- a/Apps/Src/Telemetry.c +++ b/Apps/Src/Telemetry.c @@ -7,18 +7,6 @@ #include "common.h" -/** - * @file SendCarCAN.c - * @brief Implements the SendCarCAN Task - * - * Creates a datatype to house the data to be read by telemetry - * - * Gathers the information of the pedals, lights, switches, and contactors - * to be read by telemetry - * - */ - - // Make sure updated to the CarData_t and carMSGID are reflected in the CAN Bus IDs excel sheet /** @@ -43,7 +31,7 @@ void Task_Telemetry(void *p_arg){ // Get minion information carMsg.data[2] = 0; - for(MinionPin_t pin = 0; pin < MINIONPIN_NUM; pin++){ + for(MinionPin_t pin = 0; pin < NUM_MINIONPINS; pin++){ bool pinState = Minion_Read_Pin(pin, &Merr); carMsg.data[2] |= pinState << pin; } diff --git a/Apps/Src/common.c b/Apps/Src/common.c new file mode 100644 index 00000000..02a76931 --- /dev/null +++ b/Apps/Src/common.c @@ -0,0 +1,11 @@ +#include "common.h" + +void print_float(char * str, float f) { + if(str) printf(str); + + int32_t n = (int32_t)f; + f -= n; + f *= 100; + int32_t d = (f<0)?-f:f; + printf("%d.%02d\n\r", (int)n, (int)d); +} diff --git a/BSP/STM32F413/Src/BSP_UART.c b/BSP/STM32F413/Src/BSP_UART.c index 8e1557c2..2d783075 100644 --- a/BSP/STM32F413/Src/BSP_UART.c +++ b/BSP/STM32F413/Src/BSP_UART.c @@ -119,7 +119,7 @@ static void USART_USB_Init() { // Enable NVIC NVIC_InitTypeDef NVIC_InitStructure; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; - NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; + NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); @@ -166,25 +166,28 @@ uint32_t BSP_UART_Read(UART_t usart, char *str) { uint32_t recvd = 0; bool *line_recvd = lineRecvd[usart]; - if(*line_recvd) { - USART_TypeDef *usart_handle = handles[usart]; + + while(*line_recvd == false){ + BSP_UART_Write(usart, "", 0); // needs to be in. Otherwise, usbLineRecieved will not update + } - USART_ITConfig(usart_handle, USART_IT_RXNE, RESET); - - rxfifo_t *fifo = rx_fifos[usart]; - - rxfifo_peek(fifo, &data); - while(!rxfifo_is_empty(fifo) && data != '\r') { - recvd += rxfifo_get(fifo, (char*)str++); - rxfifo_peek(fifo, &data); - } + USART_TypeDef *usart_handle = handles[usart]; - rxfifo_get(fifo, &data); - *str = 0; - *line_recvd = false; - USART_ITConfig(usart_handle, USART_IT_RXNE, SET); + USART_ITConfig(usart_handle, USART_IT_RXNE, RESET); + + rxfifo_t *fifo = rx_fifos[usart]; + + rxfifo_peek(fifo, &data); + while(!rxfifo_is_empty(fifo) && data != '\r') { + recvd += rxfifo_get(fifo, (char*)str++); + rxfifo_peek(fifo, &data); } + rxfifo_get(fifo, &data); + *str = 0; + *line_recvd = false; + USART_ITConfig(usart_handle, USART_IT_RXNE, SET); + return recvd; } @@ -233,10 +236,10 @@ void USART2_IRQHandler(void) { OSIntEnter(); CPU_CRITICAL_EXIT(); - if(USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) { + if(USART_GetFlagStatus(USART2, USART_FLAG_RXNE) != RESET) { uint8_t data = USART2->DR; bool removeSuccess = 1; - if(data == '\r'){ + if(data == '\r' || data == '\n'){ usbLineReceived = true; if(usbRxCallback != NULL) usbRxCallback(); @@ -244,14 +247,18 @@ void USART2_IRQHandler(void) { // Check if it was a backspace. // '\b' for minicmom // '\177' for putty - if(data != '\b' && data != '\177') rxfifo_put(&usbRxFifo, data); + else if(data != '\b' && data != '\177') { + rxfifo_put(&usbRxFifo, data); + } // Sweet, just a "regular" key. Put it into the fifo // Doesn't matter if it fails. If it fails, then the data gets thrown away // and the easiest solution for this is to increase RX_SIZE else { char junk; // Delete the last entry! - removeSuccess = rxfifo_popback(&usbRxFifo, &junk); + removeSuccess = rxfifo_popback(&usbRxFifo, &junk); + + USART_SendData(UART_2, 0x7F); // TODO: Not sure if the backspace works. Need to test } if(removeSuccess) { USART2->DR = data; diff --git a/Drivers/Inc/Contactors.h b/Drivers/Inc/Contactors.h index 49df2242..d850e19e 100644 --- a/Drivers/Inc/Contactors.h +++ b/Drivers/Inc/Contactors.h @@ -13,13 +13,16 @@ #define ARRAY_CONTACTOR_PIN GPIO_Pin_11 #define MOTOR_CONTACTOR_PIN GPIO_Pin_12 +#define FOREACH_contactor(contactor) \ + contactor(ARRAY_CONTACTOR) \ + contactor(ARRAY_PRECHARGE) \ + contactor(MOTOR_CONTACTOR) \ + +typedef enum contactor_ENUM { + FOREACH_contactor(GENERATE_ENUM) + NUM_CONTACTORS, +}contactor_t; -typedef enum { - ARRAY_CONTACTOR = 0, - ARRAY_PRECHARGE, - MOTOR_CONTACTOR, - NUM_CONTACTORS -} contactor_t; /** diff --git a/Drivers/Inc/Minions.h b/Drivers/Inc/Minions.h index 1e4d2d67..421fa531 100644 --- a/Drivers/Inc/Minions.h +++ b/Drivers/Inc/Minions.h @@ -2,6 +2,24 @@ #define MINION_H #include #include "BSP_GPIO.h" +#include "common.h" + +// used to index into lookup table +// if changed, PINS_LOOKARR should be changed in Minions.c +#define FOREACH_MinionPin(PIN) \ + PIN(IGN_1) \ + PIN(IGN_2) \ + PIN(REGEN_SW) \ + PIN(FOR_SW) \ + PIN(REV_SW) \ + PIN(CRUZ_EN) \ + PIN(CRUZ_ST) \ + PIN(BRAKELIGHT) \ + +typedef enum MINIONPIN_ENUM { + FOREACH_MinionPin(GENERATE_ENUM) + NUM_MINIONPINS, +} MinionPin_t; typedef enum{ @@ -9,22 +27,6 @@ typedef enum{ MINION_ERR_WROTE_INPUT, } Minion_Error_t; -//used to index into lookup table -//if changed, PINS_LOOKARR should be changed in Minions.c -typedef enum{ - //inputs - IGN_1, - IGN_2, - REGEN_SW, - FOR_SW, - REV_SW, - CRUZ_EN, - CRUZ_ST, - //output - BRAKELIGHT, - //num of pins - MINIONPIN_NUM, -} MinionPin_t; typedef struct PinInfo{ uint16_t pinMask; diff --git a/Drivers/Src/Contactors.c b/Drivers/Src/Contactors.c index 39c1bfdf..964fddcc 100644 --- a/Drivers/Src/Contactors.c +++ b/Drivers/Src/Contactors.c @@ -5,7 +5,6 @@ #include "stm32f4xx_gpio.h" #include "Tasks.h" - static OS_MUTEX contactorsMutex; /** diff --git a/Drivers/Src/Minions.c b/Drivers/Src/Minions.c index c2221e86..c1960c59 100644 --- a/Drivers/Src/Minions.c +++ b/Drivers/Src/Minions.c @@ -5,10 +5,8 @@ #include "Tasks.h" #include "Contactors.h" -static OS_MUTEX OutputMutex; //Mutex to lock GPIO writes to input pins - //should be in sync with pin enum -const PinInfo_t PINS_LOOKARR[MINIONPIN_NUM] = { +const PinInfo_t PINS_LOOKARR[NUM_MINIONPINS] = { {GPIO_Pin_0, PORTA, INPUT}, {GPIO_Pin_1, PORTA, INPUT}, {GPIO_Pin_4, PORTA, INPUT}, @@ -20,12 +18,10 @@ const PinInfo_t PINS_LOOKARR[MINIONPIN_NUM] = { }; void Minion_Init(void){ - OS_ERR err; - for(uint8_t i = 0; i < MINIONPIN_NUM; i++){ + + for(uint8_t i = 0; i < NUM_MINIONPINS; i++){ BSP_GPIO_Init(PINS_LOOKARR[i].port, PINS_LOOKARR[i].pinMask, PINS_LOOKARR[i].direction); } - OSMutexCreate(&OutputMutex, "Minions Output Mutex", &err); - assertOSError(OS_MINIONS_LOC, err); } @@ -39,15 +35,9 @@ bool Minion_Read_Pin(MinionPin_t pin, Minion_Error_t* err){ bool Minion_Write_Output(MinionPin_t pin, bool status, Minion_Error_t* mErr){ - CPU_TS timestamp; - OS_ERR err; if(PINS_LOOKARR[pin].direction == OUTPUT){ - OSMutexPend(&OutputMutex, 0, OS_OPT_PEND_BLOCKING, ×tamp, &err); - assertOSError(OS_MINIONS_LOC, err); BSP_GPIO_Write_Pin(PINS_LOOKARR[pin].port, PINS_LOOKARR[pin].pinMask, status); - OSMutexPost(&OutputMutex, OS_OPT_POST_NONE, &err); - assertOSError(OS_MINIONS_LOC, err); return true; } *mErr = MINION_ERR_WROTE_INPUT; diff --git a/Simulator/startup.resc b/Simulator/startup.resc index 13467fff..8a5ce143 100644 --- a/Simulator/startup.resc +++ b/Simulator/startup.resc @@ -90,4 +90,4 @@ runMacro $show_uart_motor machine StartGdbServer 3335 connector Connect sysbus.can3 motorCan -mach set "ctrl-leader" \ No newline at end of file +mach set "ctrl-leader" diff --git a/Tests/Test_CommandLine.c b/Tests/Test_CommandLine.c new file mode 100644 index 00000000..eb7de3e2 --- /dev/null +++ b/Tests/Test_CommandLine.c @@ -0,0 +1,18 @@ +#include "os.h" +#include "Tasks.h" +#include "BSP_UART.h" +#include "CANbus.h" +#include "Contactors.h" +#include "Minions.h" +#include "Pedals.h" + +/* Test does not use OS. This is just to test the logic */ + +int main(void){ + BSP_UART_Init(UART_2); + CANbus_Init(CAN_1, NULL, 0); + Contactors_Init(); + Minion_Init(); + Pedals_Init(); + Task_CommandLine(NULL); +} \ No newline at end of file diff --git a/Tests/Test_DebugDump.c b/Tests/Test_DebugDump.c new file mode 100644 index 00000000..a1942ecd --- /dev/null +++ b/Tests/Test_DebugDump.c @@ -0,0 +1,220 @@ +/* Copyright (c) 2020 UT Longhorn Racing Solar */ + +#include "common.h" +#include "config.h" +#include "Tasks.h" +#include "stm32f4xx.h" +#include "CANbus.h" +#include "CANConfig.h" +#include "Contactors.h" +#include "Display.h" +#include "Minions.h" +#include "Pedals.h" +#include "CAN_Queue.h" +#include "UpdateDisplay.h" + +#define IGN_CONT_PERIOD 100 + +int main(void) { + // Disable interrupts + __disable_irq(); + + // Initialize some fault bitmaps for error checking purposes + OSErrLocBitmap = OS_NONE_LOC; + FaultBitmap = FAULT_NONE; + + OS_ERR err; + OSInit(&err); + OSSemCreate(&FaultState_Sem4, "Fault State Semaphore", 0, &err); + + assertOSError(OS_MAIN_LOC, err); + + // Initialize apps + OSTaskCreate( + (OS_TCB*)&Init_TCB, + (CPU_CHAR*)"Init", + (OS_TASK_PTR)Task_Init, + (void*)NULL, + (OS_PRIO)TASK_INIT_PRIO, + (CPU_STK*)Init_Stk, + (CPU_STK_SIZE)WATERMARK_STACK_LIMIT/10, + (CPU_STK_SIZE)TASK_INIT_STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)0, + (void*)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR), + (OS_ERR*)&err + ); + assertOSError(OS_MAIN_LOC, err); + + // Enable interrupts + __enable_irq(); + + // Start OS + OSStart(&err); + assertOSError(OS_MAIN_LOC, err); + + while(1); + + return 0; +} + +void Task_Init(void *p_arg){ + OS_ERR err; + + // Start systick + OS_CPU_SysTickInit(SystemCoreClock / (CPU_INT32U) OSCfg_TickRate_Hz); + + OSTimeDlyHMSM(0,0,5,0,OS_OPT_TIME_HMSM_STRICT,&err); + + assertOSError(OS_MAIN_LOC, err); + + // Initialize drivers + Pedals_Init(); + OSTimeDlyHMSM(0,0,5,0,OS_OPT_TIME_HMSM_STRICT,&err); + OSTimeDlyHMSM(0,0,10,0,OS_OPT_TIME_HMSM_STRICT,&err); + BSP_UART_Init(UART_2); + CANbus_Init(CARCAN, (CANId_t*)carCANFilterList, NUM_CARCAN_FILTERS); + CANbus_Init(MOTORCAN, NULL, NUM_MOTORCAN_FILTERS); + Contactors_Init(); + Display_Init(); + Minion_Init(); + CAN_Queue_Init(); + + // Initialize applications + UpdateDisplay_Init(); + + /* Commented due to it messing up the test */ + // Initialize FaultState + OSTaskCreate( + (OS_TCB*)&FaultState_TCB, + (CPU_CHAR*)"FaultState", + (OS_TASK_PTR)Task_FaultState, + (void*)NULL, + (OS_PRIO)TASK_FAULT_STATE_PRIO, + (CPU_STK*)FaultState_Stk, + (CPU_STK_SIZE)WATERMARK_STACK_LIMIT, + (CPU_STK_SIZE)TASK_FAULT_STATE_STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)0, + (void*)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR), + (OS_ERR*)&err + ); + assertOSError(OS_MAIN_LOC, err); + + // Initialize SendTritium + OSTaskCreate( + (OS_TCB*)&SendTritium_TCB, + (CPU_CHAR*)"SendTritium", + (OS_TASK_PTR)Task_SendTritium, + (void*)NULL, + (OS_PRIO)TASK_SEND_TRITIUM_PRIO, + (CPU_STK*)SendTritium_Stk, + (CPU_STK_SIZE)WATERMARK_STACK_LIMIT, + (CPU_STK_SIZE)TASK_SEND_TRITIUM_STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)0, + (void*)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR), + (OS_ERR*)&err + ); + assertOSError(OS_MAIN_LOC, err); + + // Initialize ReadCarCAN + OSTaskCreate( + (OS_TCB*)&ReadCarCAN_TCB, + (CPU_CHAR*)"ReadCarCAN", + (OS_TASK_PTR)Task_ReadCarCAN, + (void*)NULL, + (OS_PRIO)TASK_READ_CAR_CAN_PRIO, + (CPU_STK*)ReadCarCAN_Stk, + (CPU_STK_SIZE)WATERMARK_STACK_LIMIT, + (CPU_STK_SIZE)TASK_READ_CAR_CAN_STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)0, + (void*)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR), + (OS_ERR*)&err + ); + assertOSError(OS_MAIN_LOC, err); + + // Initialize UpdateDisplay + OSTaskCreate( + (OS_TCB*)&UpdateDisplay_TCB, + (CPU_CHAR*)"UpdateDisplay", + (OS_TASK_PTR)Task_UpdateDisplay, + (void*)NULL, + (OS_PRIO)TASK_UPDATE_DISPLAY_PRIO, + (CPU_STK*)UpdateDisplay_Stk, + (CPU_STK_SIZE)WATERMARK_STACK_LIMIT, + (CPU_STK_SIZE)TASK_UPDATE_DISPLAY_STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)0, + (void*)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR), + (OS_ERR*)&err + ); + assertOSError(OS_MAIN_LOC, err); + + // Initialize ReadTritium + OSTaskCreate( + (OS_TCB*)&ReadTritium_TCB, + (CPU_CHAR*)"ReadTritium", + (OS_TASK_PTR)Task_ReadTritium, + (void*)NULL, + (OS_PRIO)TASK_READ_TRITIUM_PRIO, + (CPU_STK*)ReadTritium_Stk, + (CPU_STK_SIZE)WATERMARK_STACK_LIMIT, + (CPU_STK_SIZE)TASK_READ_TRITIUM_STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)0, + (void*)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR), + (OS_ERR*)&err + ); + assertOSError(OS_MAIN_LOC, err); + + // Initialize SendCarCAN + OSTaskCreate( + (OS_TCB*)&SendCarCAN_TCB, + (CPU_CHAR*)"SendCarCAN", + (OS_TASK_PTR)Task_SendCarCAN, + (void*)NULL, + (OS_PRIO)TASK_SEND_CAR_CAN_PRIO, + (CPU_STK*)SendCarCAN_Stk, + (CPU_STK_SIZE)WATERMARK_STACK_LIMIT, + (CPU_STK_SIZE)TASK_SEND_CAR_CAN_STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)0, + (void*)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR), + (OS_ERR*)&err + ); + assertOSError(OS_MAIN_LOC, err); + + // Initialize DebugDump + OSTaskCreate( + (OS_TCB*)&DebugDump_TCB, + (CPU_CHAR*)"DebugDump", + (OS_TASK_PTR)Task_DebugDump, + (void*)NULL, + (OS_PRIO)TASK_DEBUG_DUMP_PRIO, + (CPU_STK*)DebugDump_Stk, + (CPU_STK_SIZE)WATERMARK_STACK_LIMIT, + (CPU_STK_SIZE)TASK_DEBUG_DUMP_STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)0, + (void*)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR), + (OS_ERR*)&err + ); + assertOSError(OS_MAIN_LOC, err); + + Minion_Error_t merr; + while(1){ + Contactors_Set(MOTOR_CONTACTOR, Minion_Read_Pin(IGN_2, &merr), true); //turn on the contactor if the ign switch lets us + assertOSError(OS_MINIONS_LOC, err); + OSTimeDlyHMSM(0, 0, 0, IGN_CONT_PERIOD, OS_OPT_TIME_HMSM_NON_STRICT, &err); + } +} diff --git a/Tests/Test_Ign_Cont.c b/Tests/Test_Ign_Cont.c index a8de4596..1566a71b 100644 --- a/Tests/Test_Ign_Cont.c +++ b/Tests/Test_Ign_Cont.c @@ -69,4 +69,4 @@ int main() assertOSError(OS_MAIN_LOC, err); OSStart(&err); -} \ No newline at end of file +} From 69bb12502854b7dd5c4cc8f32e10823cd33e9a1e Mon Sep 17 00:00:00 2001 From: Roie Gal Date: Thu, 6 Jul 2023 23:25:53 -0500 Subject: [PATCH 03/10] Enabled hooks, defined task switch hook (#324) * Enabled hooks, defined task switch hook * Added basic test * Now keeps track of last 8 tasks, ignores tick task * Added comments, ignore OS-spawned tasks * Made task trace length configurable --- Apps/Inc/Tasks.h | 22 ++++++++++ Apps/Src/Tasks.c | 30 +++++++++++++ Apps/Src/main.c | 1 + Tests/Test_TaskSwHook.c | 93 +++++++++++++++++++++++++++++++++++++++++ 4 files changed, 146 insertions(+) create mode 100644 Tests/Test_TaskSwHook.c diff --git a/Apps/Inc/Tasks.h b/Apps/Inc/Tasks.h index 4c28fad3..198d8b1f 100644 --- a/Apps/Inc/Tasks.h +++ b/Apps/Inc/Tasks.h @@ -109,6 +109,12 @@ extern OS_Q CANBus_MsgQ; */ extern OS_SEM FaultState_Sem4; +/** + * @brief Initialize the task switch hook + * Registers the hook with the RTOS + */ +void TaskSwHook_Init(void); + /** * Global Variables @@ -152,6 +158,22 @@ typedef enum{ FAULT_BPS = 0x20, // for if BPS trips } fault_bitmap_t; +/** + * Task trace + * + * Stores the last TASK_TRACE_LENGTH tasks that were run + * The most recent task is at tasks[index], the one before at tasks[index-1], + * wrapping back around at the beginnning + * + */ +#define TASK_TRACE_LENGTH 8 +typedef struct { + OS_TCB *tasks[TASK_TRACE_LENGTH]; + uint32_t index; +} task_trace_t; + +extern task_trace_t PrevTasks; + /** * Error variables */ diff --git a/Apps/Src/Tasks.c b/Apps/Src/Tasks.c index 37e1ad7a..8ff8df24 100644 --- a/Apps/Src/Tasks.c +++ b/Apps/Src/Tasks.c @@ -23,6 +23,8 @@ OS_TCB Telemetry_TCB; OS_TCB DebugDump_TCB; OS_TCB CommandLine_TCB; +task_trace_t PrevTasks; + /** * Stacks */ @@ -58,4 +60,32 @@ void _assertOSError(uint16_t OS_err_loc, OS_ERR err) OSSemPost(&FaultState_Sem4, OS_OPT_POST_1, &err); EnterFaultState(); } +} + +/** + * @brief Hook that's called every context switch + * + * This function will append the task being switched out to the task trace if and only if: + * 1. It's not a task created automatically by the RTOS + * 2. It's not the previously recorded task (a long running task interrupted by the + * tick task will only show up once) + * This function will overwrite tasks that have been in the trace for a while, keeping only + * the 8 most recent tasks + */ +void App_OS_TaskSwHook(void) { + OS_TCB *cur = OSTCBCurPtr; + uint32_t idx = PrevTasks.index; + if (cur == &OSTickTaskTCB) return; // Ignore the tick task + if (cur == &OSIdleTaskTCB) return; // Ignore the idle task + if (cur == &OSTmrTaskTCB ) return; // Ignore the timer task + if (cur == &OSStatTaskTCB) return; // Ignore the stat task + if (cur == PrevTasks.tasks[idx]) return; // Don't record the same task again + if (++idx == TASK_TRACE_LENGTH) idx = 0; + PrevTasks.tasks[idx] = cur; + PrevTasks.index = idx; +} + +void TaskSwHook_Init(void) { + PrevTasks.index = TASK_TRACE_LENGTH - 1; // List starts out empty + OS_AppTaskSwHookPtr = App_OS_TaskSwHook; } \ No newline at end of file diff --git a/Apps/Src/main.c b/Apps/Src/main.c index 357a3a51..0bad1dfd 100644 --- a/Apps/Src/main.c +++ b/Apps/Src/main.c @@ -25,6 +25,7 @@ int main(void) { OS_ERR err; OSInit(&err); + TaskSwHook_Init(); OSSemCreate(&FaultState_Sem4, "Fault State Semaphore", 0, &err); assertOSError(OS_MAIN_LOC, err); diff --git a/Tests/Test_TaskSwHook.c b/Tests/Test_TaskSwHook.c new file mode 100644 index 00000000..0309a8bb --- /dev/null +++ b/Tests/Test_TaskSwHook.c @@ -0,0 +1,93 @@ +#include "Tasks.h" +#include "os.h" +#include "bsp.h" + +static char *getTCBName(OS_TCB *tcb) { + return tcb ? tcb->NamePtr : "No Task"; +} + +void dumpTrace(void) { + int idx = PrevTasks.index; + printf("Task trace: ["); + for (int i=0; i<8; i++) { + if (!PrevTasks.tasks[idx]) break; + printf("%s, ", getTCBName(PrevTasks.tasks[idx])); + idx = (idx + TASK_TRACE_LENGTH - 1) % TASK_TRACE_LENGTH; // decrement idx, wrapping around at 0 + } + printf("]\n\r"); +} + +#define expect(str) printf("Previous expected: %s, previous actual: %s\n\r", (str), getTCBName(PrevTasks.tasks[PrevTasks.index])) + +static OS_TCB Task1TCB, Task2TCB; +static CPU_STK Task1Stk[DEFAULT_STACK_SIZE], Task2Stk[DEFAULT_STACK_SIZE]; + +void Task1(void *p_arg) { + (void) p_arg; + OS_ERR err; + + CPU_Init(); + OS_CPU_SysTickInit(SystemCoreClock / (CPU_INT32U)OSCfg_TickRate_Hz); + BSP_UART_Init(UART_2); + + expect("No Task"); + dumpTrace(); + OSTimeDlyHMSM(0, 0, 0, 500, OS_OPT_TIME_HMSM_STRICT, &err); + expect("Task 2"); + dumpTrace(); + OSTimeDlyHMSM(0, 0, 1, 0, OS_OPT_TIME_HMSM_STRICT, &err); + expect("Task 2"); + dumpTrace(); + while (1); + +} + +void Task2(void *p_arg) { + (void) p_arg; + OS_ERR err; + + expect("Task 1"); + dumpTrace(); + OSTimeDlyHMSM(0, 0, 0, 600, OS_OPT_TIME_HMSM_STRICT, &err); + expect("Task 1"); + dumpTrace(); + while (1); +} + +int main(void) { + OS_ERR err; + OSInit(&err); + TaskSwHook_Init(); + + OSTaskCreate( + (OS_TCB *)&Task1TCB, + (CPU_CHAR *)"Task 1", + (OS_TASK_PTR)Task1, + (void *)NULL, + (OS_PRIO)5, + (CPU_STK *)Task1Stk, + (CPU_STK_SIZE)DEFAULT_STACK_SIZE / 10, + (CPU_STK_SIZE)DEFAULT_STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)NULL, + (void *)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR), + (OS_ERR *)&err); + + OSTaskCreate( + (OS_TCB *)&Task2TCB, + (CPU_CHAR *)"Task 2", + (OS_TASK_PTR)Task2, + (void *)NULL, + (OS_PRIO)6, + (CPU_STK *)Task2Stk, + (CPU_STK_SIZE)DEFAULT_STACK_SIZE / 10, + (CPU_STK_SIZE)DEFAULT_STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)NULL, + (void *)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR), + (OS_ERR *)&err); + + OSStart(&err); +} \ No newline at end of file From 61400c38d9b7bb834b3d22c1b3ce220d7ffd0cd7 Mon Sep 17 00:00:00 2001 From: Roie Gal Date: Fri, 21 Jul 2023 22:24:09 -0500 Subject: [PATCH 04/10] Makefile output made clearer (#343) * Makefile output made clearer * Changed name of main CarSim/MotorSim and added an echo to Makefile --------- Co-authored-by: ishdeshpa --- BSP/STM32F413/Makefile | 18 ++++++++++++------ CarSim/{car-sim.c => Test_CarSim.c} | 0 Makefile | 3 +++ MotorSim/{motor-sim.c => Test_MotorSim.c} | 0 4 files changed, 15 insertions(+), 6 deletions(-) rename CarSim/{car-sim.c => Test_CarSim.c} (100%) rename MotorSim/{motor-sim.c => Test_MotorSim.c} (100%) diff --git a/BSP/STM32F413/Makefile b/BSP/STM32F413/Makefile index 0781c7d5..98e7eae9 100644 --- a/BSP/STM32F413/Makefile +++ b/BSP/STM32F413/Makefile @@ -154,20 +154,26 @@ OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(ASM_SOURCES:.s=.o))) vpath %.s $(sort $(dir $(ASM_SOURCES))) $(BUILD_DIR)/%.o: %.c Makefile | $(BUILD_DIR) - $(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@ + @echo "CC $(<:../../%=%)" + @$(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@ $(BUILD_DIR)/%.o: %.s Makefile | $(BUILD_DIR) - $(AS) -c $(CFLAGS) $< -o $@ + @echo "AS $(<:../../%=%)" + @$(AS) -c $(CFLAGS) $< -o $@ $(BUILD_DIR)/$(TARGET).elf: $(OBJECTS) Makefile - $(CC) $(OBJECTS) $(LDFLAGS) -o $@ - $(SZ) $@ + @echo "LD $(<:../../%=%)" + @$(CC) $(OBJECTS) $(LDFLAGS) -o $@ + @echo "SZ $(<:../../%=%)" + @$(SZ) $@ $(BUILD_DIR)/%.hex: $(BUILD_DIR)/%.elf | $(BUILD_DIR) - $(HEX) $< $@ + @echo "HEX $(<:../../%=%)" + @$(HEX) $< $@ $(BUILD_DIR)/%.bin: $(BUILD_DIR)/%.elf | $(BUILD_DIR) - $(BIN) $< $@ + @echo "BIN $(<:../../%=%)" + @$(BIN) $< $@ $(BUILD_DIR): mkdir $@ diff --git a/CarSim/car-sim.c b/CarSim/Test_CarSim.c similarity index 100% rename from CarSim/car-sim.c rename to CarSim/Test_CarSim.c diff --git a/Makefile b/Makefile index ae95bc07..86b23a74 100644 --- a/Makefile +++ b/Makefile @@ -28,6 +28,7 @@ simulator: leader motor-sim car-sim @echo "${BLUE}Compiled for simulator! Jolly Good!${NC}" leader: + @echo "${YELLOW}Compiling for leader...${NC}" ifeq ($(TEST_LEADER), none) $(MAKE) -C BSP -C STM32F413 -j TARGET=$(LEADER) TEST=none else @@ -37,11 +38,13 @@ endif motor-sim: ifneq ($(TEST_MOTOR), none) + @echo "${YELLOW}Compiling for motor sim...${NC}" $(MAKE) -C BSP -C STM32F413 -j TARGET=$(MOTORSIM) TEST=MotorSim/Test_$(TEST_MOTOR) @echo "${BLUE}Compiled for motor sim! Jolly Good!${NC}" endif car-sim: + @echo "${YELLOW}Compiling for car sim...${NC}" ifneq ($(TEST_CAR), none) $(MAKE) -C BSP -C STM32F413 -j TARGET=$(CARSIM) TEST=CarSim/Test_$(TEST_CAR) @echo "${BLUE}Compiled for car sim! Jolly Good!${NC}" diff --git a/MotorSim/motor-sim.c b/MotorSim/Test_MotorSim.c similarity index 100% rename from MotorSim/motor-sim.c rename to MotorSim/Test_MotorSim.c From d16008e194febadfdb35e0f667ffccbd97b25a2b Mon Sep 17 00:00:00 2001 From: Nathaniel Delgado <89701060+NathanielDelgado@users.noreply.github.com> Date: Mon, 24 Jul 2023 20:15:35 -0700 Subject: [PATCH 05/10] Rewrote and cleanup Minions (#344) * Rewrote and cleanup Minions * Changed capitalization of Minion functions * Corrected Minion->Minions and reversed the error code for Minions_Write * Corrected Minion function in CommandLine * Removed more minion errors --- Apps/Src/CommandLine.c | 32 +++++++++--------- Apps/Src/DebugDump.c | 7 ++-- Apps/Src/FaultState.c | 4 +-- Apps/Src/ReadCarCAN.c | 3 +- Apps/Src/SendTritium.c | 29 +++++++--------- Apps/Src/Telemetry.c | 5 ++- Apps/Src/main.c | 5 ++- Drivers/Inc/Minions.h | 71 +++++++++++++++++++++------------------ Drivers/Src/Minions.c | 46 ++++++++++++------------- Tests/Test_CommandLine.c | 2 +- Tests/Test_DebugDump.c | 5 ++- Tests/Test_Ign_Cont.c | 2 +- Tests/Test_MinionDriver.c | 23 ++++++------- Tests/Test_SendTritium.c | 2 +- Tests/Test_Telemetry.c | 5 ++- 15 files changed, 114 insertions(+), 127 deletions(-) diff --git a/Apps/Src/CommandLine.c b/Apps/Src/CommandLine.c index 96fbba25..79b5f480 100644 --- a/Apps/Src/CommandLine.c +++ b/Apps/Src/CommandLine.c @@ -28,9 +28,9 @@ static bool cmd_Contactors_Get(void); static bool cmd_Contactors_Set(void); -static bool cmd_Minion_Read_Input(void); +static bool cmd_Minions_Read(void); -static bool cmd_Minion_Write_Output(void); +static bool cmd_Minions_Write(void); static bool cmd_Pedals_Read(void); @@ -41,8 +41,8 @@ const struct Command cmdline_commands[] = { {.name = "CANbus_Read", .action = cmd_CANbus_Read}, {.name = "Contactors_Get", .action = cmd_Contactors_Get}, {.name = "Contactors_Set", .action = cmd_Contactors_Set}, - {.name = "Minion_Read_Input", .action = cmd_Minion_Read_Input}, - {.name = "Minion_Write_Output", .action = cmd_Minion_Write_Output}, + {.name = "Minions_Read", .action = cmd_Minions_Read}, + {.name = "Minions_Write", .action = cmd_Minions_Write}, {.name = "Pedals_Read", .action = cmd_Pedals_Read}, {.name = NULL, .action = NULL} }; @@ -67,8 +67,8 @@ char *help = { "contactor\n\r" " Contactors_Disable array_c/array_p/motor_c - Disables the determined\n\r" "contactor\n\r" - " Minion_Read_Input 'input' - Reads the current status of the input\n\r" - " Minion_Write_Output `output` on/off - Sets the current state of the output\n\r" + " Minions_Read 'input' - Reads the current status of the input\n\r" + " Minions_Write `output` on/off - Sets the current state of the output\n\r" " Pedals_Read accel/brake - Reads the current status of the pedal\n\r" }; @@ -275,10 +275,9 @@ static bool cmd_Contactors_Set(void){ return true; } -static bool cmd_Minion_Read_Input(void){ - Minion_Error_t err; +static bool cmd_Minions_Read(void){ char *pinInput = strtok_r(NULL, " ", &save); - MinionPin_t pin; + pin_t pin; if(strcmp(pinInput, "ign_1") == 0){ pin = IGN_1; } @@ -300,21 +299,20 @@ static bool cmd_Minion_Read_Input(void){ else if(strcmp(pinInput, "cruz_st") == 0){ pin = CRUZ_ST; } - // else if(strcmp(pinInput, "brakelight") == 0){ // uncomment when fix implemented - // pin = REGEN_SW; - // } + else if(strcmp(pinInput, "brakelight") == 0){ + pin = BRAKELIGHT; + } else{ return false; } - printf("%s is %s\n\r", pinInput, Minion_Read_Pin(pin, &err) ? "on" : "off"); + printf("%s is %s\n\r", pinInput, Minions_Read(pin) ? "on" : "off"); return true; } -static bool cmd_Minion_Write_Output(void){ - Minion_Error_t err; +static bool cmd_Minions_Write(void){ char *pinInput = strtok_r(NULL, " ", &save); - MinionPin_t pin; + pin_t pin; if(strcmp(pinInput, "brakelight") == 0){ pin = BRAKELIGHT; } @@ -334,7 +332,7 @@ static bool cmd_Minion_Write_Output(void){ return false; } - Minion_Write_Output(pin, state, &err); + Minions_Write(pin, state); printf("%s set to %s\n\r", pinInput, stateInput); return true; } diff --git a/Apps/Src/DebugDump.c b/Apps/Src/DebugDump.c index 33529ed4..7013178b 100644 --- a/Apps/Src/DebugDump.c +++ b/Apps/Src/DebugDump.c @@ -16,7 +16,7 @@ extern fault_bitmap_t FaultBitmap; extern os_error_loc_t OSErrLocBitmap; static const char *MINIONPIN_STRING[] = { - FOREACH_MinionPin(GENERATE_STRING) + FOREACH_PIN(GENERATE_STRING) }; static const char *CONTACTOR_STRING[] = { @@ -60,7 +60,6 @@ static const char *FAULT_BITMAP_STRING[] = { void Task_DebugDump(void* p_arg) { OS_ERR err; - Minion_Error_t mErr; while(1){ @@ -72,8 +71,8 @@ void Task_DebugDump(void* p_arg) { printf("BRAKE: %d\n\r", brakePedal); // Get minion information - for(MinionPin_t pin = 0; pin < NUM_MINIONPINS-1; pin++){ // Plan to change NUM_MINIONPINS-1 -> NUM_MINIONPINS after Minion function is fixed - bool pinState = Minion_Read_Pin(pin, &mErr); + for(pin_t pin = 0; pin < NUM_PINS; pin++){ + bool pinState = Minions_Read(pin); // Ignition pins are negative logic, special-case them printf("%s: %s\n\r", MINIONPIN_STRING[pin], pinState ^ (pin == IGN_1 || pin == IGN_2) ? "on" : "off"); } diff --git a/Apps/Src/FaultState.c b/Apps/Src/FaultState.c index 54bcdff4..ba2676a1 100644 --- a/Apps/Src/FaultState.c +++ b/Apps/Src/FaultState.c @@ -12,7 +12,7 @@ #define RESTART_THRESHOLD 3 static bool fromThread = false; //whether fault was tripped from thread -extern const PinInfo_t PINS_LOOKARR[]; // For GPIO writes. Externed from Minions Driver C file. +extern const pinInfo_t PININFO_LUT[]; // For GPIO writes. Externed from Minions Driver C file. static void ArrayMotorKill(void) { @@ -23,7 +23,7 @@ static void ArrayMotorKill(void) { static void nonrecoverableFaultHandler(){ //turn additional brakelight on to indicate critical error - BSP_GPIO_Write_Pin(PINS_LOOKARR[BRAKELIGHT].port, PINS_LOOKARR[BRAKELIGHT].pinMask, true); + BSP_GPIO_Write_Pin(PININFO_LUT[BRAKELIGHT].port, PININFO_LUT[BRAKELIGHT].pinMask, true); ArrayMotorKill(); } diff --git a/Apps/Src/ReadCarCAN.c b/Apps/Src/ReadCarCAN.c index ef6efd9b..66b44e2c 100644 --- a/Apps/Src/ReadCarCAN.c +++ b/Apps/Src/ReadCarCAN.c @@ -131,9 +131,8 @@ static inline void chargingEnable(void) { * */ static void arrayRestart(void *p_tmr, void *p_arg){ - Minion_Error_t Merr; if(chargeEnable){ // If regen has been disabled during precharge, we don't want to turn on the main contactor immediately after - Contactors_Set(ARRAY_CONTACTOR, (Minion_Read_Pin(IGN_1, &Merr)), false); //turn on array contactor if the ign switch lets us + Contactors_Set(ARRAY_CONTACTOR, (Minions_Read(IGN_1)), false); //turn on array contactor if the ign switch lets us UpdateDisplay_SetArray(true); } // done restarting the array diff --git a/Apps/Src/SendTritium.c b/Apps/Src/SendTritium.c index 474589b6..0ebb6a55 100644 --- a/Apps/Src/SendTritium.c +++ b/Apps/Src/SendTritium.c @@ -215,7 +215,6 @@ static void dumpInfo(){ * @brief Reads inputs from the system */ static void readInputs(){ - Minion_Error_t err; // Update pedals brakePedalPercent = Pedals_Read(BRAKE); @@ -225,18 +224,18 @@ static void readInputs(){ regenEnable = ChargeEnable_Get(); // Update buttons - if(Minion_Read_Pin(REGEN_SW, &err) && onePedalCounter < DEBOUNCE_PERIOD){onePedalCounter++;} + if(Minions_Read(REGEN_SW) && onePedalCounter < DEBOUNCE_PERIOD){onePedalCounter++;} else if(onePedalCounter > 0){onePedalCounter--;} - if(Minion_Read_Pin(CRUZ_EN, &err) && cruiseEnableCounter < DEBOUNCE_PERIOD){cruiseEnableCounter++;} + if(Minions_Read(CRUZ_EN) && cruiseEnableCounter < DEBOUNCE_PERIOD){cruiseEnableCounter++;} else if(cruiseEnableCounter > 0){cruiseEnableCounter--;} - if(Minion_Read_Pin(CRUZ_ST, &err) && cruiseSetCounter < DEBOUNCE_PERIOD){cruiseSetCounter++;} + if(Minions_Read(CRUZ_ST) && cruiseSetCounter < DEBOUNCE_PERIOD){cruiseSetCounter++;} else if(cruiseSetCounter > 0){cruiseSetCounter--;} // Update gears - bool forwardSwitch = Minion_Read_Pin(FOR_SW, &err); - bool reverseSwitch = Minion_Read_Pin(REV_SW, &err); + bool forwardSwitch = Minions_Read(FOR_SW); + bool reverseSwitch = Minions_Read(REV_SW); bool forwardGear = (forwardSwitch && !reverseSwitch); bool reverseGear = (!forwardSwitch && reverseSwitch); bool neutralGear = (!forwardSwitch && !reverseSwitch); @@ -555,24 +554,23 @@ static void OnePedalDriveHandler(){ UpdateDisplay_SetCruiseState(DISP_DISABLED); UpdateDisplay_SetGear(DISP_FORWARD); } - Minion_Error_t minion_err; if(accelPedalPercent <= ONEPEDAL_BRAKE_THRESHOLD){ // Regen brake: Map 0 -> brake to 100 -> 0 velocitySetpoint = 0; currentSetpoint = percentToFloat(map(accelPedalPercent, PEDAL_MIN, ONEPEDAL_BRAKE_THRESHOLD, CURRENT_SP_MAX, CURRENT_SP_MIN)); - Minion_Write_Output(BRAKELIGHT, true, &minion_err); + Minions_Write(BRAKELIGHT, true); UpdateDisplay_SetRegenState(DISP_ACTIVE); }else if(ONEPEDAL_BRAKE_THRESHOLD < accelPedalPercent && accelPedalPercent <= ONEPEDAL_NEUTRAL_THRESHOLD){ // Neutral: coast velocitySetpoint = MAX_VELOCITY; currentSetpoint = 0; - Minion_Write_Output(BRAKELIGHT, false, &minion_err); + Minions_Write(BRAKELIGHT, false); UpdateDisplay_SetRegenState(DISP_ENABLED); }else if(ONEPEDAL_NEUTRAL_THRESHOLD < accelPedalPercent){ // Accelerate: Map neutral -> 100 to 0 -> 100 velocitySetpoint = MAX_VELOCITY; currentSetpoint = percentToFloat(map(accelPedalPercent, ONEPEDAL_NEUTRAL_THRESHOLD, PEDAL_MAX, CURRENT_SP_MIN, CURRENT_SP_MAX)); - Minion_Write_Output(BRAKELIGHT, false, &minion_err); + Minions_Write(BRAKELIGHT, false); UpdateDisplay_SetRegenState(DISP_ENABLED); } } @@ -582,15 +580,14 @@ static void OnePedalDriveHandler(){ * drive state (brake, record velocity, neutral drive). */ static void OnePedalDriveDecider(){ - Minion_Error_t minion_err; if(brakePedalPercent >= BRAKE_PEDAL_THRESHOLD){ state = FSM[BRAKE_STATE]; }else if(cruiseSet && cruiseEnable && velocityObserved >= MIN_CRUISE_VELOCITY){ state = FSM[RECORD_VELOCITY]; - Minion_Write_Output(BRAKELIGHT, false, &minion_err); + Minions_Write(BRAKELIGHT, false); }else if(gear == NEUTRAL_GEAR || gear == REVERSE_GEAR){ state = FSM[NEUTRAL_DRIVE]; - Minion_Write_Output(BRAKELIGHT, false, &minion_err); + Minions_Write(BRAKELIGHT, false); } } @@ -605,12 +602,11 @@ static void BrakeHandler(){ UpdateDisplay_SetRegenState(DISP_DISABLED); UpdateDisplay_SetGear(DISP_FORWARD); } - Minion_Error_t minion_err; velocitySetpoint = MAX_VELOCITY; currentSetpoint = 0; cruiseEnable = false; onePedalEnable = false; - Minion_Write_Output(BRAKELIGHT, true, &minion_err); + Minions_Write(BRAKELIGHT, true); } /** @@ -618,11 +614,10 @@ static void BrakeHandler(){ * neutral drive). */ static void BrakeDecider(){ - Minion_Error_t minion_err; if(brakePedalPercent < BRAKE_PEDAL_THRESHOLD){ if(gear == FORWARD_GEAR) state = FSM[FORWARD_DRIVE]; else if(gear == NEUTRAL_GEAR || gear == REVERSE_GEAR) state = FSM[NEUTRAL_DRIVE]; - Minion_Write_Output(BRAKELIGHT, false, &minion_err); + Minions_Write(BRAKELIGHT, false); } } diff --git a/Apps/Src/Telemetry.c b/Apps/Src/Telemetry.c index b8f7e8b3..20cfeb48 100644 --- a/Apps/Src/Telemetry.c +++ b/Apps/Src/Telemetry.c @@ -22,7 +22,6 @@ void Task_Telemetry(void *p_arg){ } OS_ERR err; - Minion_Error_t Merr; while (1) { // Get pedal information @@ -31,8 +30,8 @@ void Task_Telemetry(void *p_arg){ // Get minion information carMsg.data[2] = 0; - for(MinionPin_t pin = 0; pin < NUM_MINIONPINS; pin++){ - bool pinState = Minion_Read_Pin(pin, &Merr); + for(pin_t pin = 0; pin < NUM_PINS; pin++){ + bool pinState = Minions_Read(pin); carMsg.data[2] |= pinState << pin; } diff --git a/Apps/Src/main.c b/Apps/Src/main.c index 0bad1dfd..30f04e06 100644 --- a/Apps/Src/main.c +++ b/Apps/Src/main.c @@ -79,7 +79,7 @@ void Task_Init(void *p_arg){ CANbus_Init(MOTORCAN, NULL, NUM_MOTORCAN_FILTERS); Contactors_Init(); Display_Init(); - Minion_Init(); + Minions_Init(); CAN_Queue_Init(); // Initialize applications @@ -194,9 +194,8 @@ void Task_Init(void *p_arg){ assertOSError(OS_MAIN_LOC, err); - Minion_Error_t merr; while(1){ - Contactors_Set(MOTOR_CONTACTOR, Minion_Read_Pin(IGN_2, &merr), true); //turn on the contactor if the ign switch lets us + Contactors_Set(MOTOR_CONTACTOR, Minions_Read(IGN_2), true); //turn on the contactor if the ign switch lets us assertOSError(OS_MINIONS_LOC, err); OSTimeDlyHMSM(0, 0, 0, IGN_CONT_PERIOD, OS_OPT_TIME_HMSM_NON_STRICT, &err); } diff --git a/Drivers/Inc/Minions.h b/Drivers/Inc/Minions.h index 421fa531..a0442e8b 100644 --- a/Drivers/Inc/Minions.h +++ b/Drivers/Inc/Minions.h @@ -1,12 +1,23 @@ -#ifndef MINION_H -#define MINION_H +/* Copyright (c) 2020 UT Longhorn Racing Solar */ + +/** + * @defgroup Minions + * + * This modules allows us to use GPIO more easily + * for our application's purposes + * + */ + +/** @addtogroup Minions @{ */ + +#ifndef MINIONS_H +#define MINIONS_H +#include "common.h" #include #include "BSP_GPIO.h" -#include "common.h" -// used to index into lookup table -// if changed, PINS_LOOKARR should be changed in Minions.c -#define FOREACH_MinionPin(PIN) \ +/* Should keep in line with the LUT in Minions.c */ +#define FOREACH_PIN(PIN) \ PIN(IGN_1) \ PIN(IGN_2) \ PIN(REGEN_SW) \ @@ -17,47 +28,41 @@ PIN(BRAKELIGHT) \ typedef enum MINIONPIN_ENUM { - FOREACH_MinionPin(GENERATE_ENUM) - NUM_MINIONPINS, -} MinionPin_t; - + FOREACH_PIN(GENERATE_ENUM) + NUM_PINS, +} pin_t; -typedef enum{ - MINION_ERR_NONE = 0, - MINION_ERR_WROTE_INPUT, -} Minion_Error_t; - - -typedef struct PinInfo{ +typedef struct { uint16_t pinMask; port_t port; - direction_t direction; //0 for input, 1 for output -} PinInfo_t; - + direction_t direction; +} pinInfo_t; /** - * @brief Initializes input switches, output pins, and output mutex + * @brief Initializes digital I/O * */ -void Minion_Init(void); +void Minions_Init(void); /** - * @brief Reads current state of specified input pin + * @brief Reads the status of a pin * - * @param pin specific pin to be read - * @return true - * @return false *NOTE* If output pin is passed, will exit + * @param pin + * @return true is high + * @return false is low */ -bool Minion_Read_Pin(MinionPin_t pin, Minion_Error_t* err); +bool Minions_Read(pin_t pin); /** - * @brief Writes given status to a specified output pin. Locks writing to all output pins + * @brief Updates the status of a pin * - * @param pin specific pin to be written to - * @param status state of pin (0 or 1) - * @return false if pin is not an output pin, true if it is + * @param pin + * @param status + * @return true is fail (wrote to an input) + * @return false is success (wrote to an output) */ -bool Minion_Write_Output(MinionPin_t pin, bool status, Minion_Error_t* mErr); +bool Minions_Write(pin_t pin, bool status); +#endif -#endif \ No newline at end of file +/** @} */ \ No newline at end of file diff --git a/Drivers/Src/Minions.c b/Drivers/Src/Minions.c index c1960c59..9b8d1e52 100644 --- a/Drivers/Src/Minions.c +++ b/Drivers/Src/Minions.c @@ -1,14 +1,13 @@ +/* Copyright (c) 2020 UT Longhorn Racing Solar */ + +/** @addtogroup Minions @{ */ + #include "Minions.h" -#include "os.h" -#include "BSP_GPIO.h" -#include -#include "Tasks.h" -#include "Contactors.h" -//should be in sync with pin enum -const PinInfo_t PINS_LOOKARR[NUM_MINIONPINS] = { - {GPIO_Pin_0, PORTA, INPUT}, +/* Should be in sync with enum in Minions.h */ +const pinInfo_t PININFO_LUT[NUM_PINS] = { {GPIO_Pin_1, PORTA, INPUT}, + {GPIO_Pin_0, PORTA, INPUT}, {GPIO_Pin_4, PORTA, INPUT}, {GPIO_Pin_5, PORTA, INPUT}, {GPIO_Pin_6, PORTA, INPUT}, @@ -17,29 +16,26 @@ const PinInfo_t PINS_LOOKARR[NUM_MINIONPINS] = { {GPIO_Pin_5, PORTB, OUTPUT} }; -void Minion_Init(void){ - - for(uint8_t i = 0; i < NUM_MINIONPINS; i++){ - BSP_GPIO_Init(PINS_LOOKARR[i].port, PINS_LOOKARR[i].pinMask, PINS_LOOKARR[i].direction); +void Minions_Init(void){ + for(uint8_t i = 0; i < NUM_PINS; i++){ + BSP_GPIO_Init(PININFO_LUT[i].port, PININFO_LUT[i].pinMask, PININFO_LUT[i].direction); } } - -bool Minion_Read_Pin(MinionPin_t pin, Minion_Error_t* err){ - if((PINS_LOOKARR[pin].direction == INPUT)){ - return (bool)BSP_GPIO_Read_Pin(PINS_LOOKARR[pin].port, PINS_LOOKARR[pin].pinMask); - }else{ - return (bool)BSP_GPIO_Get_State(PINS_LOOKARR[pin].port, PINS_LOOKARR[pin].pinMask); +bool Minions_Read(pin_t pin){ + if((PININFO_LUT[pin].direction == INPUT)){ + return (bool) BSP_GPIO_Read_Pin(PININFO_LUT[pin].port, PININFO_LUT[pin].pinMask); + } else{ + return (bool)BSP_GPIO_Get_State(PININFO_LUT[pin].port, PININFO_LUT[pin].pinMask); } } - -bool Minion_Write_Output(MinionPin_t pin, bool status, Minion_Error_t* mErr){ - - if(PINS_LOOKARR[pin].direction == OUTPUT){ - BSP_GPIO_Write_Pin(PINS_LOOKARR[pin].port, PINS_LOOKARR[pin].pinMask, status); +bool Minions_Write(pin_t pin, bool status){ + if(PININFO_LUT[pin].direction == OUTPUT){ + BSP_GPIO_Write_Pin(PININFO_LUT[pin].port, PININFO_LUT[pin].pinMask, status); return true; } - *mErr = MINION_ERR_WROTE_INPUT; return false; -} \ No newline at end of file +} + +/** @} */ diff --git a/Tests/Test_CommandLine.c b/Tests/Test_CommandLine.c index eb7de3e2..606ec3c8 100644 --- a/Tests/Test_CommandLine.c +++ b/Tests/Test_CommandLine.c @@ -12,7 +12,7 @@ int main(void){ BSP_UART_Init(UART_2); CANbus_Init(CAN_1, NULL, 0); Contactors_Init(); - Minion_Init(); + Minions_Init(); Pedals_Init(); Task_CommandLine(NULL); } \ No newline at end of file diff --git a/Tests/Test_DebugDump.c b/Tests/Test_DebugDump.c index a1942ecd..ab65a207 100644 --- a/Tests/Test_DebugDump.c +++ b/Tests/Test_DebugDump.c @@ -78,7 +78,7 @@ void Task_Init(void *p_arg){ CANbus_Init(MOTORCAN, NULL, NUM_MOTORCAN_FILTERS); Contactors_Init(); Display_Init(); - Minion_Init(); + Minions_Init(); CAN_Queue_Init(); // Initialize applications @@ -211,9 +211,8 @@ void Task_Init(void *p_arg){ ); assertOSError(OS_MAIN_LOC, err); - Minion_Error_t merr; while(1){ - Contactors_Set(MOTOR_CONTACTOR, Minion_Read_Pin(IGN_2, &merr), true); //turn on the contactor if the ign switch lets us + Contactors_Set(MOTOR_CONTACTOR, Minions_Read(IGN_2), true); //turn on the contactor if the ign switch lets us assertOSError(OS_MINIONS_LOC, err); OSTimeDlyHMSM(0, 0, 0, IGN_CONT_PERIOD, OS_OPT_TIME_HMSM_NON_STRICT, &err); } diff --git a/Tests/Test_Ign_Cont.c b/Tests/Test_Ign_Cont.c index 1566a71b..0a59175b 100644 --- a/Tests/Test_Ign_Cont.c +++ b/Tests/Test_Ign_Cont.c @@ -14,7 +14,7 @@ void Task1(void *arg) CPU_Init(); BSP_UART_Init(UART_2); - Minion_Init(); + Minions_Init(); Contactors_Init(); OS_ERR err; diff --git a/Tests/Test_MinionDriver.c b/Tests/Test_MinionDriver.c index 4bb3477a..9d635827 100644 --- a/Tests/Test_MinionDriver.c +++ b/Tests/Test_MinionDriver.c @@ -13,13 +13,12 @@ void Task1(void *arg) CPU_Init(); BSP_UART_Init(UART_2); - Minion_Init(); + Minions_Init(); bool lightState=false; OS_CPU_SysTickInit(SystemCoreClock / (CPU_INT32U)OSCfg_TickRate_Hz); OS_ERR e; - Minion_Error_t mErr; OSTimeDlyHMSM(0, 0, 3, 0, OS_OPT_TIME_HMSM_STRICT, &e); @@ -27,27 +26,27 @@ void Task1(void *arg) // tests the reading and writing // while (1){ // char str[128]; - // bool regen = Minion_Read_Input(REGEN_SW); - // bool forward = Minion_Read_Input(FOR_SW); - // bool reverse = Minion_Read_Input(REV_SW); - // bool enable = Minion_Read_Input(CRUZ_EN); - // bool set = Minion_Read_Input(CRUZ_ST); - // bool ign1 = Minion_Read_Input(IGN_1); - // bool ign2 = Minion_Read_Input(IGN_2); + // bool regen = Minions_Read_Input(REGEN_SW); + // bool forward = Minions_Read_Input(FOR_SW); + // bool reverse = Minions_Read_Input(REV_SW); + // bool enable = Minions_Read_Input(CRUZ_EN); + // bool set = Minions_Read_Input(CRUZ_ST); + // bool ign1 = Minions_Read_Input(IGN_1); + // bool ign2 = Minions_Read_Input(IGN_2); // int size = sprintf(str, "regen = %d, forward = %d, reverse = %d, enable = %d, set = %d IGN1 = %d, IGN2 = %d \r", regen, forward,reverse,enable,set,ign1,ign2); // BSP_UART_Write(UART_2, str, size); // lightState=!lightState; - // Minion_Write_Output(BRAKELIGHT, lightState); + // Minions_Write(BRAKELIGHT, lightState); // OSTimeDlyHMSM(0, 0, 0, 500, OS_OPT_TIME_HMSM_STRICT, &e); // } //tests the edge cases - bool output = Minion_Write_Output(REV_SW, lightState, &mErr); - bool input = Minion_Read_Input(BRAKELIGHT, &mErr); + bool output = Minions_Write(REV_SW, lightState); + bool input = Minions_Read(BRAKELIGHT); printf("This should print 0: %d", input); printf("This should print 0: %d", output); diff --git a/Tests/Test_SendTritium.c b/Tests/Test_SendTritium.c index da1f6e89..9d560a84 100644 --- a/Tests/Test_SendTritium.c +++ b/Tests/Test_SendTritium.c @@ -119,7 +119,7 @@ void Task1(void *arg) BSP_UART_Init(UART_2); Pedals_Init(); CANbus_Init(MOTORCAN); - Minion_Init(); + Minions_Init(); UpdateDisplay_Init(); OS_CPU_SysTickInit(SystemCoreClock / (CPU_INT32U)OSCfg_TickRate_Hz); diff --git a/Tests/Test_Telemetry.c b/Tests/Test_Telemetry.c index 4ff9fc71..6c08a237 100644 --- a/Tests/Test_Telemetry.c +++ b/Tests/Test_Telemetry.c @@ -20,12 +20,11 @@ void Task1(void *arg) CAN_Queue_Init(); // BSP_UART_Init(UART_2); Pedals_Init(); - Minion_Init(); + Minions_Init(); Contactors_Init(); OS_CPU_SysTickInit(SystemCoreClock / (CPU_INT32U)OSCfg_TickRate_Hz); - Minion_Error_t Merr; OS_ERR err; // Initialize Telemetry @@ -56,7 +55,7 @@ void Task1(void *arg) // Check light lightState = !lightState; - Minion_Write_Output(BRAKELIGHT, lightState, &Merr); + Minions_Write(BRAKELIGHT, lightState); // Check contactors (HAVE NOTHING HOOKED UP TO CONTACTORS) contactorState = contactorState == OFF ? ON : OFF; From fd33899b057c231b68fd80fd95a6f6beb0aa2294 Mon Sep 17 00:00:00 2001 From: Roie Gal Date: Wed, 26 Jul 2023 01:25:16 -0500 Subject: [PATCH 06/10] M2 testing Batch 1 (#321) * Removed old tests, renamed ones we should probably keep * Added evac test * Fixed ignition pin order, rewrote minions test * Created basic CANbus test w/ whitelist support * ign1 and ign2 are negative logic, correct output in test * Test fixes, put CARCAN in loopback mode * Test for motor testbench * Contactor test * UpdateDisplay and Pedals Driver fixes - assertUpdateDisplayError will no longer consider UPDATEDISPLAY_ERR_NO_CHANGE as a reason to fault - The pedals driver will now handle clamping the pedal percent between 0 and 100 * Fixed test float printing, fixed test stack overflow * Created BPS fault test * i was bored, heres some docs (#319) * i just wrote these bc i was bored ur turn to deal with bad commit msgs lolzies * eliminated passive voice --------- Co-authored-by: Cam0Cow * Merge in task switch hook code to make deubggin easier * Fix drive command being sent backwards * Remove testing changes * Small changes * Added some copyright info --------- --- Apps/Inc/SendTritium.h | 6 +- Apps/Src/SendTritium.c | 6 +- Apps/Src/Tasks.c | 2 +- Apps/Src/UpdateDisplay.c | 6 +- Drivers/Src/Pedals.c | 3 + ...t_CommandLine.c => Test_App_CommandLine.c} | 0 ...{Test_DebugDump.c => Test_App_DebugDump.c} | 0 ...st_FaultThread.c => Test_App_FaultState.c} | 0 ...est_ReadCarCAN.c => Test_App_ReadCarCAN.c} | 0 ...est_SendCarCAN.c => Test_App_SendCarCAN.c} | 0 ...t_SendTritium.c => Test_App_SendTritium.c} | 0 ...{Test_Telemetry.c => Test_App_Telemetry.c} | 0 ...DisplayApps.c => Test_App_UpdateDisplay.c} | 0 Tests/Test_BPSFault.c | 96 ++++++++++++ Tests/{Test_CAN.c => Test_BSP_CAN.c} | 0 Tests/Test_BSP_CANbus.c | 83 ---------- Tests/Test_BSP_SPI.c | 14 -- Tests/Test_BSP_Timer.c | 31 ---- Tests/Test_CANbus.c | 143 ----------------- Tests/Test_CarCANBoard.c | 32 ---- Tests/Test_Contactors.c | 59 ------- Tests/Test_Driver_CANbus.c | 106 +++++++++++++ Tests/Test_Driver_Contactors.c | 55 +++++++ ..._DisplayDriver.c => Test_Driver_Display.c} | 0 Tests/Test_Driver_Minions.c | 72 +++++++++ ...st_Pedal_Driver.c => Test_Driver_Pedal_.c} | 0 ..._IntegratedDriverTest.c => Test_Drivers.c} | 0 Tests/Test_Evac.c | 122 +++++++++++++++ Tests/Test_HelloWorld.c | 14 -- Tests/Test_Ign_Cont.c | 72 --------- Tests/Test_MinionDriver.c | 81 ---------- Tests/Test_MotorCANBoard.c | 24 --- Tests/Test_MotorConErrMessages.c | 73 --------- Tests/Test_MotorConSimUpdate.c | 9 -- Tests/Test_MotorControl.c | 136 ++++++++++++++++ Tests/Test_MotorController.c | 148 ------------------ Tests/Test_Precharge.c | 54 ------- Tests/Test_Printf.c | 12 -- Tests/Test_ReadPedals.c | 47 ------ Tests/Test_ReadTritium.c | 94 ----------- Tests/Test_ReadandSendCarCAN.c | 119 -------------- Tests/Test_ReceiveCAN.c | 81 ---------- Tests/Test_TaskMacro.c | 55 ------- Tests/Test_Tasks.c | 101 ------------ Tests/Test_Template.c | 8 - 45 files changed, 600 insertions(+), 1364 deletions(-) rename Tests/{Test_CommandLine.c => Test_App_CommandLine.c} (100%) rename Tests/{Test_DebugDump.c => Test_App_DebugDump.c} (100%) rename Tests/{Test_FaultThread.c => Test_App_FaultState.c} (100%) rename Tests/{Test_ReadCarCAN.c => Test_App_ReadCarCAN.c} (100%) rename Tests/{Test_SendCarCAN.c => Test_App_SendCarCAN.c} (100%) rename Tests/{Test_SendTritium.c => Test_App_SendTritium.c} (100%) rename Tests/{Test_Telemetry.c => Test_App_Telemetry.c} (100%) rename Tests/{Test_DisplayApps.c => Test_App_UpdateDisplay.c} (100%) create mode 100644 Tests/Test_BPSFault.c rename Tests/{Test_CAN.c => Test_BSP_CAN.c} (100%) delete mode 100755 Tests/Test_BSP_CANbus.c delete mode 100644 Tests/Test_BSP_SPI.c delete mode 100644 Tests/Test_BSP_Timer.c delete mode 100644 Tests/Test_CANbus.c delete mode 100644 Tests/Test_CarCANBoard.c delete mode 100644 Tests/Test_Contactors.c create mode 100644 Tests/Test_Driver_CANbus.c create mode 100644 Tests/Test_Driver_Contactors.c rename Tests/{Test_DisplayDriver.c => Test_Driver_Display.c} (100%) create mode 100644 Tests/Test_Driver_Minions.c rename Tests/{Test_Pedal_Driver.c => Test_Driver_Pedal_.c} (100%) rename Tests/{Test_IntegratedDriverTest.c => Test_Drivers.c} (100%) create mode 100644 Tests/Test_Evac.c delete mode 100644 Tests/Test_HelloWorld.c delete mode 100644 Tests/Test_Ign_Cont.c delete mode 100644 Tests/Test_MinionDriver.c delete mode 100644 Tests/Test_MotorCANBoard.c delete mode 100644 Tests/Test_MotorConErrMessages.c delete mode 100644 Tests/Test_MotorConSimUpdate.c create mode 100644 Tests/Test_MotorControl.c delete mode 100644 Tests/Test_MotorController.c delete mode 100644 Tests/Test_Precharge.c delete mode 100644 Tests/Test_Printf.c delete mode 100644 Tests/Test_ReadPedals.c delete mode 100644 Tests/Test_ReadTritium.c delete mode 100644 Tests/Test_ReadandSendCarCAN.c delete mode 100644 Tests/Test_ReceiveCAN.c delete mode 100644 Tests/Test_TaskMacro.c delete mode 100644 Tests/Test_Tasks.c delete mode 100644 Tests/Test_Template.c diff --git a/Apps/Inc/SendTritium.h b/Apps/Inc/SendTritium.h index 44181071..c002e01d 100644 --- a/Apps/Inc/SendTritium.h +++ b/Apps/Inc/SendTritium.h @@ -3,8 +3,8 @@ #include "common.h" -#define MOTOR_MSG_PERIOD 500 -#define FSM_PERIOD 250 +#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) @@ -38,7 +38,7 @@ typedef struct TritiumState{ void (*stateDecider)(void); } TritiumState_t; -#define __TEST_SENDTRITIUM +//#define __TEST_SENDTRITIUM #ifdef __TEST_SENDTRITIUM // Inputs extern bool cruiseEnable; diff --git a/Apps/Src/SendTritium.c b/Apps/Src/SendTritium.c index 0ebb6a55..bb724c7a 100644 --- a/Apps/Src/SendTritium.c +++ b/Apps/Src/SendTritium.c @@ -24,6 +24,7 @@ #include "ReadTritium.h" #include "CANbus.h" #include "UpdateDisplay.h" +#include "CANConfig.h" #include "common.h" // Macros @@ -634,7 +635,6 @@ void Task_SendTritium(void *p_arg){ prevState = FSM[NEUTRAL_DRIVE]; #ifndef __TEST_SENDTRITIUM - CANbus_Init(MOTORCAN); CANDATA_t driveCmd = { .ID=MOTOR_DRIVE, .idx=0, @@ -657,8 +657,8 @@ void Task_SendTritium(void *p_arg){ dumpInfo(); #else if(MOTOR_MSG_COUNTER_THRESHOLD == motorMsgCounter){ - memcpy(&driveCmd.data[0], ¤tSetpoint, sizeof(float)); - memcpy(&driveCmd.data[4], &velocitySetpoint, sizeof(float)); + memcpy(&driveCmd.data[4], ¤tSetpoint, sizeof(float)); + memcpy(&driveCmd.data[0], &velocitySetpoint, sizeof(float)); CANbus_Send(driveCmd, CAN_NON_BLOCKING, MOTORCAN); motorMsgCounter = 0; }else{ diff --git a/Apps/Src/Tasks.c b/Apps/Src/Tasks.c index 8ff8df24..d598ca1c 100644 --- a/Apps/Src/Tasks.c +++ b/Apps/Src/Tasks.c @@ -88,4 +88,4 @@ void App_OS_TaskSwHook(void) { void TaskSwHook_Init(void) { PrevTasks.index = TASK_TRACE_LENGTH - 1; // List starts out empty OS_AppTaskSwHookPtr = App_OS_TaskSwHook; -} \ No newline at end of file +} diff --git a/Apps/Src/UpdateDisplay.c b/Apps/Src/UpdateDisplay.c index 409b8e34..90176f44 100644 --- a/Apps/Src/UpdateDisplay.c +++ b/Apps/Src/UpdateDisplay.c @@ -73,7 +73,7 @@ const char* compStrings[15]= { static void assertUpdateDisplayError(UpdateDisplayError_t err){ OS_ERR os_err; - if(err != UPDATEDISPLAY_ERR_NONE){ + if(err != UPDATEDISPLAY_ERR_NONE || err != UPDATEDISPLAY_ERR_NO_CHANGE){ FaultBitmap |= FAULT_DISPLAY; OSSemPost(&FaultState_Sem4, OS_OPT_POST_1, &os_err); @@ -136,7 +136,7 @@ static UpdateDisplayError_t UpdateDisplay_PutNext(DisplayCmd_t cmd){ OS_ERR err; OSMutexPend(&DisplayQ_Mutex, 0, OS_OPT_PEND_BLOCKING, &ticks, &err); - assertOSError(OS_DISPLAY_LOC, err); + assertOSError(OS_DISPLAY_LOC, err); bool success = disp_fifo_put(&msg_queue, cmd); @@ -222,7 +222,7 @@ static UpdateDisplayError_t UpdateDisplay_SetComponent(Component_t comp, uint32_ ret = UpdateDisplay_PutNext(setCmd); assertUpdateDisplayError(ret); - return UpdateDisplay_PutNext(setCmd); + return ret; } else{ assertUpdateDisplayError(UPDATEDISPLAY_ERR_PARSE_COMP); diff --git a/Drivers/Src/Pedals.c b/Drivers/Src/Pedals.c index 84e4f352..984e03a2 100755 --- a/Drivers/Src/Pedals.c +++ b/Drivers/Src/Pedals.c @@ -49,6 +49,9 @@ int8_t Pedals_Read(pedal_t pedal){ (UpperBound[pedal] - LowerBound[pedal])); } + if (percentage > 100) return 100; + if (percentage < 0) return 0; + return percentage; } diff --git a/Tests/Test_CommandLine.c b/Tests/Test_App_CommandLine.c similarity index 100% rename from Tests/Test_CommandLine.c rename to Tests/Test_App_CommandLine.c diff --git a/Tests/Test_DebugDump.c b/Tests/Test_App_DebugDump.c similarity index 100% rename from Tests/Test_DebugDump.c rename to Tests/Test_App_DebugDump.c diff --git a/Tests/Test_FaultThread.c b/Tests/Test_App_FaultState.c similarity index 100% rename from Tests/Test_FaultThread.c rename to Tests/Test_App_FaultState.c diff --git a/Tests/Test_ReadCarCAN.c b/Tests/Test_App_ReadCarCAN.c similarity index 100% rename from Tests/Test_ReadCarCAN.c rename to Tests/Test_App_ReadCarCAN.c diff --git a/Tests/Test_SendCarCAN.c b/Tests/Test_App_SendCarCAN.c similarity index 100% rename from Tests/Test_SendCarCAN.c rename to Tests/Test_App_SendCarCAN.c diff --git a/Tests/Test_SendTritium.c b/Tests/Test_App_SendTritium.c similarity index 100% rename from Tests/Test_SendTritium.c rename to Tests/Test_App_SendTritium.c diff --git a/Tests/Test_Telemetry.c b/Tests/Test_App_Telemetry.c similarity index 100% rename from Tests/Test_Telemetry.c rename to Tests/Test_App_Telemetry.c diff --git a/Tests/Test_DisplayApps.c b/Tests/Test_App_UpdateDisplay.c similarity index 100% rename from Tests/Test_DisplayApps.c rename to Tests/Test_App_UpdateDisplay.c diff --git a/Tests/Test_BPSFault.c b/Tests/Test_BPSFault.c new file mode 100644 index 00000000..00e9c7b4 --- /dev/null +++ b/Tests/Test_BPSFault.c @@ -0,0 +1,96 @@ +/* Copyright (c) 2020 UT Longhorn Racing Solar */ + +#include "Tasks.h" +#include "CANbus.h" +#include "CAN_Queue.h" +#include "ReadCarCAN.h" +#include "Display.h" +#include "Contactors.h" +#include "CANConfig.h" + +/* + * NOTE: This test must be run with car CAN in loopback mode + * TODO: automate this, either with arguments to BSP or #define +*/ + +static OS_TCB Task1_TCB; +#define STACK_SIZE 256 +static CPU_STK Task1_Stk[STACK_SIZE]; + +#define CARCAN_FILTER_SIZE (sizeof carCANFilterList / sizeof(CANId_t)) + +void Task1(){ + OS_ERR err; + + CPU_Init(); + OS_CPU_SysTickInit(SystemCoreClock / (CPU_INT32U) OSCfg_TickRate_Hz); + CANbus_Init(CARCAN, carCANFilterList, CARCAN_FILTER_SIZE); + Contactors_Init(); + + // Send a BPS trip + CANDATA_t data = {.ID = BPS_TRIP, .idx = 0, .data = {1}}; + CANbus_Send(data, true, CARCAN); + OSTaskDel(NULL, &err); +} + +int main(){ + OS_ERR err; + OSInit(&err); + assertOSError(OS_MAIN_LOC, err); + TaskSwHook_Init(); + + OSSemCreate(&FaultState_Sem4, "Fault State Semaphore", 0, &err); + OSTaskCreate( + (OS_TCB*)&Task1_TCB, + (CPU_CHAR*)"Task1", + (OS_TASK_PTR)Task1, + (void*)NULL, + (OS_PRIO)4, + (CPU_STK*)Task1_Stk, + (CPU_STK_SIZE)STACK_SIZE/10, + (CPU_STK_SIZE)STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)NULL, + (void*)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR|OS_OPT_TASK_STK_CHK), + (OS_ERR*)&err + ); + assertOSError(OS_MAIN_LOC, err); + + OSTaskCreate( + (OS_TCB*)&FaultState_TCB, + (CPU_CHAR*)"Fault State", + (OS_TASK_PTR)Task_FaultState, + (void*)NULL, + (OS_PRIO)TASK_FAULT_STATE_PRIO, + (CPU_STK*)FaultState_Stk, + (CPU_STK_SIZE)STACK_SIZE/10, + (CPU_STK_SIZE)STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)NULL, + (void*)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR|OS_OPT_TASK_STK_CHK), + (OS_ERR*)&err + ); + assertOSError(OS_MAIN_LOC, err); + + OSTaskCreate( + (OS_TCB*)&ReadCarCAN_TCB, + (CPU_CHAR*)"ReadCarCAN", + (OS_TASK_PTR)Task_ReadCarCAN, + (void*)NULL, + (OS_PRIO)TASK_READ_CAR_CAN_PRIO, + (CPU_STK*)ReadCarCAN_Stk, + (CPU_STK_SIZE)STACK_SIZE/10, + (CPU_STK_SIZE)STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)NULL, + (void*)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR|OS_OPT_TASK_STK_CHK), + (OS_ERR*)&err + ); + assertOSError(OS_MAIN_LOC, err); + + OSStart(&err); + assertOSError(OS_MAIN_LOC, err); +} diff --git a/Tests/Test_CAN.c b/Tests/Test_BSP_CAN.c similarity index 100% rename from Tests/Test_CAN.c rename to Tests/Test_BSP_CAN.c diff --git a/Tests/Test_BSP_CANbus.c b/Tests/Test_BSP_CANbus.c deleted file mode 100755 index 88f188aa..00000000 --- a/Tests/Test_BSP_CANbus.c +++ /dev/null @@ -1,83 +0,0 @@ -/** - * Test file for library to interact with CAN - * - * Run this test in conjunction with the simulator. - * - * testCAN1 will simply write a message to the CAN1 line - * that will then be displayed by the GUI in the CAN seciton. - * - * testCAN2 will periodically send the MOTOR DRIVE command to - * CAN2 (the line connected to the motor controller). It writes - * a desired velocity, which will be displayed on the GUI. - * If the program terminates, the motor simulator will go into - * neutral, meaning it will stop changing velocity. - */ - -#include "common.h" -#include "config.h" -#include -#include - -#define LEN 4 -#define MOTOR_DRIVE_ID 0x221 - -void testCAN1(void) { - // Just to mimic what will actually happen - BSP_CAN_Init(CAN_1); - BSP_CAN_Init(CAN_2); - - uint8_t txData[LEN] = {0x00, 0x12, 0x42, 0x5A}; - uint32_t id; - - BSP_CAN_Write(CAN_1, 0x201, txData, LEN); - - uint8_t rxData[LEN] = {0}; - uint8_t len = BSP_CAN_Read(CAN_1, &id, rxData); - printf("ID: 0x%x\nData: ", id); - for (uint8_t i = 0; i < len; i++) { - printf("0x%x ", rxData[i]); - } - printf("\n"); -} - -void testCAN2(void) { - // Just to mimic what will actually happen - BSP_CAN_Init(CAN_1); - BSP_CAN_Init(CAN_2); - - uint8_t data[8] = {0x00, 0x00, 0x00, 0x50, - 0x00, 0x00, 0x00, 0x14}; - - while (1) { - BSP_CAN_Write(CAN_2, MOTOR_DRIVE_ID, data, 8); - // Mimic interrupt frequency without timer sim - usleep(1000 * 100); - } - - -} - -void testCAN3(void) { - // Just to mimic what will actually happen - BSP_CAN_Init(CAN_1); - BSP_CAN_Init(CAN_2); - - uint32_t id; - - uint8_t rxData[LEN] = {0}; - uint8_t len = BSP_CAN_Read(CAN_1, &id, rxData); - - if(len!=0){ - printf("ID: 0x%x\nData: ", id); - for (uint8_t i = 0; i < len; i++) { - printf("0x%x ", rxData[i]); - } - printf("\n"); - } -} - -int main(void) { - testCAN1(); - // testCAN2(); - //testCAN3(); -} diff --git a/Tests/Test_BSP_SPI.c b/Tests/Test_BSP_SPI.c deleted file mode 100644 index 5fab63d6..00000000 --- a/Tests/Test_BSP_SPI.c +++ /dev/null @@ -1,14 +0,0 @@ -#include "BSP_SPI.h" - -int main(void) { - BSP_SPI_Init(); - uint8_t txData[] = {0x41, 0x12, 0x00}; - uint8_t txLen = 3; - BSP_SPI_Write(txData, txLen); - uint8_t rxData[1]; - uint8_t rxLen = 1; - usleep(1000000); - BSP_SPI_Read(rxData, rxLen); - printf("Received Data: %x\n\r", rxData[0]); - return 0; -} diff --git a/Tests/Test_BSP_Timer.c b/Tests/Test_BSP_Timer.c deleted file mode 100644 index 13bd2fa4..00000000 --- a/Tests/Test_BSP_Timer.c +++ /dev/null @@ -1,31 +0,0 @@ -#include "BSP_Timer.h" - -/** - * @brief Test function to see if the first Timer works - * @param None - * @return none (will print a string on console) - */ -void functionOne() -{ - printf("First Function worked\n"); - -} - -/** - * @brief Test function to see of the second Timer works - * @param None - * @return none (will print a string on console) - */ -void functionTwo() -{ - printf("Second Function worked\n"); -} - - -int main() { - BSP_Timer_Init(1000, functionOne, TIMER_1); - BSP_Timer_Init(500, functionTwo, TIMER_2); - while(1) { - BSP_Timer_Update(); - } -} diff --git a/Tests/Test_CANbus.c b/Tests/Test_CANbus.c deleted file mode 100644 index ed70451a..00000000 --- a/Tests/Test_CANbus.c +++ /dev/null @@ -1,143 +0,0 @@ -#include "common.h" -#include "os.h" -#include "CANbus.h" -#include - -static OS_TCB Task1TCB; -static CPU_STK Task1Stk[128]; - -void createDummyMsg(CANDATA_t *msg, CANId_t id, uint64_t data) { - msg->ID = id; - msg->idx = 0; - memcpy(&msg->data, &data , sizeof data); -} - -void Task1(void *p_arg) { - (void) p_arg; - OS_ERR err; - - CPU_Init(); - OS_CPU_SysTickInit(SystemCoreClock / (CPU_INT32U) OSCfg_TickRate_Hz); - - /** - * +-------------+ - * | CANbus_Send | - * +-------------+ - */ - - /* - CANDATA_t msg; - CANDATA_t response; - msg.ID = MOTOR_DRIVE; - msg.idx = 0; - float vel = 312.0f; - float current = 0.8f; - memcpy(&msg.data[0], &vel, sizeof vel); - memcpy(&msg.data[4], ¤t, sizeof current); - - CANbus_Send(msg, CAN_BLOCKING, MOTORCAN); - CANbus_Read(&response, CAN_BLOCKING, MOTORCAN); - OSTimeDlyHMSM(0, 0, 1, 0, OS_OPT_TIME_HMSM_STRICT, &err); - - - msg.ID = ARRAY_CONTACTOR_STATE_CHANGE; - msg.idx = 0; - msg.data[0] = 1; - CANbus_Send(msg, CAN_BLOCKING, CARCAN); - CANbus_Read(&response, CAN_BLOCKING, CARCAN); - OSTimeDlyHMSM(0, 0, 1, 0, OS_OPT_TIME_HMSM_STRICT, &err); - - // Now test non-blocking CAN send - // The latter ones should return an error - CANDATA_t msg1, msg2, msg3, msg4; - createDummyMsg(&msg1, MOTOR_DRIVE, 1L); - createDummyMsg(&msg2, MOTOR_DRIVE, 2L); - createDummyMsg(&msg3, MOTOR_DRIVE, 3L); - createDummyMsg(&msg4, MOTOR_DRIVE, 4L); - - volatile ErrorStatus e; - e = CANbus_Send(msg1, CAN_NON_BLOCKING, MOTORCAN); - e = CANbus_Send(msg2, CAN_NON_BLOCKING, MOTORCAN); - e = CANbus_Send(msg3, CAN_NON_BLOCKING, MOTORCAN); // Potentially an error? - e = CANbus_Send(msg4, CAN_NON_BLOCKING, MOTORCAN); // Almost definitely an error, check in GDB - - OSTimeDlyHMSM(0, 0, 0, 500, OS_OPT_TIME_HMSM_STRICT, &err); - - CANbus_Read(&msg1, CAN_NON_BLOCKING, MOTORCAN); - CANbus_Read(&msg2, CAN_NON_BLOCKING, MOTORCAN); - CANbus_Read(&msg3, CAN_NON_BLOCKING, MOTORCAN); - CANbus_Read(&msg4, CAN_NON_BLOCKING, MOTORCAN); - - (void) e; - - OSTimeDlyHMSM(0, 0, 2, 0, OS_OPT_TIME_HMSM_STRICT, &err); - - - // Now do the same test, but blocking this time - // All of the operations should succeed, so we should see four CAN messages - e = CANbus_Send(msg1, CAN_BLOCKING, MOTORCAN); - e = CANbus_Send(msg2, CAN_BLOCKING, MOTORCAN); - e = CANbus_Send(msg3, CAN_BLOCKING, MOTORCAN); - e = CANbus_Send(msg4, CAN_BLOCKING, MOTORCAN); - - CANbus_Read(&msg1, CAN_BLOCKING, MOTORCAN); - CANbus_Read(&msg2, CAN_BLOCKING, MOTORCAN); - CANbus_Read(&msg3, CAN_BLOCKING, MOTORCAN); - CANbus_Read(&msg4, CAN_BLOCKING, MOTORCAN); - - */ - - CANDATA_t msg; - msg.ID = STATE_OF_CHARGE; - msg.idx = 0; - float a = 420.69f; - float b = 13.37f; - memcpy(&msg.data[0], &a, sizeof a); - memcpy(&msg.data[4], &b, sizeof b); - CANbus_Send(msg, CAN_BLOCKING, CARCAN); - CANbus_Read(&msg, CAN_BLOCKING, MOTORCAN); - OSTimeDlyHMSM(0, 0, 1, 0, OS_OPT_TIME_HMSM_STRICT, &err); - - - /** - * +-------------+ - * | CANbus_Read | - * +-------------+ - */ - // Might have to put CAN in loopback mode to test this? - - - - - while (1) { - OSTimeDlyHMSM(1, 0, 0, 0, OS_OPT_TIME_HMSM_STRICT, &err); - } -} - - - -int main(void) { - OS_ERR err; - OSInit(&err); - if (CANbus_Init(CARCAN) == ERROR) return -1; - if (CANbus_Init(MOTORCAN) == ERROR) return -1; - - OSTaskCreate( - &Task1TCB, - "Task 1", - Task1, - NULL, - 4, - Task1Stk, - 64, - 128, - 0, - 0, - NULL, - OS_OPT_TASK_STK_CLR | OS_OPT_TASK_STK_CHK, - &err - ); - - OSStart(&err); - -} \ No newline at end of file diff --git a/Tests/Test_CarCANBoard.c b/Tests/Test_CarCANBoard.c deleted file mode 100644 index dc09035e..00000000 --- a/Tests/Test_CarCANBoard.c +++ /dev/null @@ -1,32 +0,0 @@ -/* Copyright (c) 2020 UT Longhorn Racing Solar */ - -#include "common.h" -#include "config.h" -#include -#include -#include "CANbus.h" - -int main(void){ - BSP_UART_Init(UART_2); - CANbus_Init(); - - uint32_t ids[10] = {MC_BUS, VELOCITY, MC_PHASE_CURRENT, VOLTAGE_VEC, CURRENT_VEC, BACKEMF, TEMPERATURE, - CAR_STATE, MOTOR_DISABLE, CHARGE_ENABLE}; - - CANData_t data; - data.d = 0xFFFF8765; - - CANPayload_t payload; - payload.data = data; - payload.bytes = 4; - - int size; - - size = 0; - char str[128]; - uint8_t output; - - output = CANbus_Send(ids[0], payload); - - while(1); -} diff --git a/Tests/Test_Contactors.c b/Tests/Test_Contactors.c deleted file mode 100644 index d1fe91b8..00000000 --- a/Tests/Test_Contactors.c +++ /dev/null @@ -1,59 +0,0 @@ -/** - * Test file for setting contactor states - * - * Run this test in conjunction with the simulator - * GUI. The user is prompted to specify the - * contactor name and the state it should - * be set to. The input should be all caps and formatted - * as such: CONTACTOR_NAME(MOTOR/ARRAY) STATE(ON/OFF) - * Example inputs: "MOTOR ON", "ARRAY OFF" - * The corresponding contactor will change state - * in the GUI. - */ - -#include "common.h" -#include "config.h" -#include "Contactors.h" - -int main() { - Contactors_Init(MOTOR); - Contactors_Init(ARRAY); - char input[6]; - char motor[] = "MOTOR"; - char array[] = "ARRAY"; - char on[] = "ON"; - char off[] = "OFF"; - char state[4]; - State result; - while(1) { - printf("Enter the Contactor you wish to set followed by the state you would like to set it to\n"); - scanf("%s %s", &input, &state); - if (strcmp(input, motor) == 0){ - if (strcmp(state, on) == 0){ - Contactors_Set(MOTOR, ON, true); - result = Contactors_Get(MOTOR); - } - else { - Contactors_Set(MOTOR, OFF, true); - result = Contactors_Get(MOTOR); - } - } - if (strcmp(input, array) == 0){ - if (strcmp(state, on) == 0){ - Contactors_Set(ARRAY, ON, true); - result = Contactors_Get(ARRAY); - } - else { - Contactors_Set(ARRAY, OFF, true); - result = Contactors_Get(ARRAY); - } - } - usleep(1000); - if(result == ON) { - printf("State confirmed: %s\n", on); - } - if(result == OFF) { - printf("State confirmed: %s\n", off); - } - } -} \ No newline at end of file diff --git a/Tests/Test_Driver_CANbus.c b/Tests/Test_Driver_CANbus.c new file mode 100644 index 00000000..c410484d --- /dev/null +++ b/Tests/Test_Driver_CANbus.c @@ -0,0 +1,106 @@ +#include "Tasks.h" +#include "CANbus.h" +#include "BSP_UART.h" +#include "CANConfig.h" + +static OS_TCB Task1_TCB; +static CPU_STK Task1_Stk[128]; + +#define STACK_SIZE 128 + +#define CARCAN_FILTER_SIZE (sizeof carCANFilterList / sizeof(CANId_t)) + +static void assert(bool); + +CANDATA_t dataBuf, resultBuf; +uint64_t data = 0xdeadbeef12345678; + +/* + * NOTE: This test must be run with car CAN in loopback mode + * TODO: automate this, either with arguments to BSP or #define + */ + +void Task1(void *p_arg) { + (void) p_arg; + + CPU_Init(); + OS_CPU_SysTickInit(SystemCoreClock / (CPU_INT32U) OSCfg_TickRate_Hz); + + CANbus_Init(CARCAN, carCANFilterList, NUM_CARCAN_FILTERS); + + dataBuf.ID = CHARGE_ENABLE; // First, send a value that we want to be able to receive + memcpy(&dataBuf.data, &data, sizeof data); + + assert(CANbus_Send(dataBuf, true, CARCAN) == SUCCESS); + assert(CANbus_Read(&resultBuf, true, CARCAN) == SUCCESS); + assert(memcmp(&dataBuf, &resultBuf, sizeof dataBuf) == 0); + + dataBuf.ID = ODOMETER_AMPHOURS; // Now, send a message that we shouldn't receive + assert(CANbus_Send(dataBuf, true, CARCAN) == SUCCESS); + assert(CANbus_Read(&resultBuf, false, CARCAN) == ERROR); // check that no can message is read + + // Now send a bunch of messages that should be ignored, followed by those that shouldn't + for (int i=0; i<10; i++) { + assert(CANbus_Send(dataBuf, true, CARCAN) == SUCCESS); + } + + dataBuf.ID = BPS_TRIP; + assert(CANbus_Send(dataBuf, true, CARCAN) == SUCCESS); + dataBuf.ID = STATE_OF_CHARGE; + assert(CANbus_Send(dataBuf, true, CARCAN) == SUCCESS); + dataBuf.ID = SUPPLEMENTAL_VOLTAGE; + assert(CANbus_Send(dataBuf, true, CARCAN) == SUCCESS); + + // Make sure that only three messages make it through + assert(CANbus_Read(&resultBuf, true, CARCAN) == SUCCESS); + assert(resultBuf.ID == BPS_TRIP); + assert(CANbus_Read(&resultBuf, true, CARCAN) == SUCCESS); + assert(resultBuf.ID == STATE_OF_CHARGE); + assert(CANbus_Read(&resultBuf, true, CARCAN) == SUCCESS); + assert(resultBuf.ID == SUPPLEMENTAL_VOLTAGE); + assert(CANbus_Read(&resultBuf, false, CARCAN) == ERROR); // No more messages + + printf("Success!\r\n"); + for (;;); +} + +int main(void){ //initialize things and spawn task + OS_ERR err; + OSInit(&err); + if(err != OS_ERR_NONE){ + printf("OS error code %d\n\r",err); + } + + BSP_UART_Init(UART_2); + + OSTaskCreate( + (OS_TCB*)&Task1_TCB, + (CPU_CHAR*)"Task1", + (OS_TASK_PTR)Task1, + (void*)NULL, + (OS_PRIO)4, + (CPU_STK*)Task1_Stk, + (CPU_STK_SIZE)STACK_SIZE/10, + (CPU_STK_SIZE)STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)NULL, + (void*)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR|OS_OPT_TASK_STK_CHK), + (OS_ERR*)&err + ); + + + if (err != OS_ERR_NONE) { + printf("Task1 error code %d\n\r", err); + } + OSStart(&err); + if (err != OS_ERR_NONE) { + printf("OS error code %d\n\r", err); + } + return 0; + +} + +static void assert(bool cond) { + if (!cond) __asm("bkpt"); +} diff --git a/Tests/Test_Driver_Contactors.c b/Tests/Test_Driver_Contactors.c new file mode 100644 index 00000000..5b197745 --- /dev/null +++ b/Tests/Test_Driver_Contactors.c @@ -0,0 +1,55 @@ +#include "Tasks.h" +#include "Contactors.h" + +static OS_TCB Task1_TCB; +#define STACK_SIZE 128 +static CPU_STK Task1_Stk[STACK_SIZE]; + + +/* + * When running this test on the motor testbench, hardcode the SendTritium task + * to always send an unobtainable velocity. This ensures that no regen braking + * takes place + */ + +void Task1(){ + OS_ERR err; + + CPU_Init(); + OS_CPU_SysTickInit(SystemCoreClock / (CPU_INT32U) OSCfg_TickRate_Hz); + BSP_UART_Init(UART_2); + Contactors_Init(); + + for (;;) { + bool set = Contactors_Get(ARRAY_CONTACTOR); + printf("Turning contactor %s\r\n", set ? "off" : "on"); + Contactors_Set(ARRAY_CONTACTOR, !set, true); + OSTimeDlyHMSM(0, 0, 5, 0, OS_OPT_TIME_HMSM_STRICT, &err); + } +} + +int main(){ + OS_ERR err; + OSInit(&err); + assertOSError(OS_MAIN_LOC, err); + + OSTaskCreate( + (OS_TCB*)&Task1_TCB, + (CPU_CHAR*)"Task1", + (OS_TASK_PTR)Task1, + (void*)NULL, + (OS_PRIO)2, + (CPU_STK*)Task1_Stk, + (CPU_STK_SIZE)STACK_SIZE/10, + (CPU_STK_SIZE)STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)NULL, + (void*)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR|OS_OPT_TASK_STK_CHK), + (OS_ERR*)&err + ); + assertOSError(OS_MAIN_LOC, err); + + OSStart(&err); + assertOSError(OS_MAIN_LOC, err); +} \ No newline at end of file diff --git a/Tests/Test_DisplayDriver.c b/Tests/Test_Driver_Display.c similarity index 100% rename from Tests/Test_DisplayDriver.c rename to Tests/Test_Driver_Display.c diff --git a/Tests/Test_Driver_Minions.c b/Tests/Test_Driver_Minions.c new file mode 100644 index 00000000..fd3b3cd9 --- /dev/null +++ b/Tests/Test_Driver_Minions.c @@ -0,0 +1,72 @@ +/* Copyright (c) 2020 UT Longhorn Racing Solar */ + +#include "os.h" +#include "Tasks.h" +#include "Minions.h" +#include +#include "config.h" +#include "common.h" + +static OS_TCB Task1TCB; +static CPU_STK Task1Stk[DEFAULT_STACK_SIZE]; + +#define tof(b) (b ? "on" : "off") + +void Task1(void *arg) { + CPU_Init(); + OS_CPU_SysTickInit(SystemCoreClock / (CPU_INT32U)OSCfg_TickRate_Hz); + + BSP_UART_Init(UART_2); + Minion_Init(); + + OS_ERR err; + Minion_Error_t mErr; + bool brake_on = false; + bool ign1, ign2, regen_sw, for_sw, rev_sw, cruz_en, cruz_st; + + for (;;) { + Minion_Write_Output(BRAKELIGHT, brake_on, &mErr); + ign1 = !Minion_Read_Pin(IGN_1, &mErr); + ign2 = !Minion_Read_Pin(IGN_2, &mErr); + regen_sw = Minion_Read_Pin(REGEN_SW, &mErr); + for_sw = Minion_Read_Pin(FOR_SW, &mErr); + rev_sw = Minion_Read_Pin(REV_SW, &mErr); + cruz_en = Minion_Read_Pin(CRUZ_EN, &mErr); + cruz_st = Minion_Read_Pin(CRUZ_ST, &mErr); + printf( + "--------------------\r\nign1: %s\r\nign2: %s\r\n"\ + "regen_sw: %s\r\nfor_sw: %s\r\nrev_sw: %s\r\n"\ + "cruz_en: %s\r\ncruz_st: %s\r\n--------------------\r\n\r\n", + tof(ign1), tof(ign2), tof(regen_sw), tof(for_sw), + tof(rev_sw), tof(cruz_en), tof(cruz_st) + ); + + brake_on = !brake_on; + OSTimeDlyHMSM(0, 0, 1, 0, OS_OPT_TIME_HMSM_STRICT, &err); + } +}; + +int main(void) { + OS_ERR err; + OSInit(&err); + + // create tester thread + OSTaskCreate( + (OS_TCB *)&Task1TCB, + (CPU_CHAR *)"Task 1", + (OS_TASK_PTR)Task1, + (void *)NULL, + (OS_PRIO)13, + (CPU_STK *)Task1Stk, + (CPU_STK_SIZE)DEFAULT_STACK_SIZE / 10, + (CPU_STK_SIZE)DEFAULT_STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)NULL, + (void *)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR), + (OS_ERR *)&err); + assertOSError(OS_MAIN_LOC, err); + + OSStart(&err); +} + diff --git a/Tests/Test_Pedal_Driver.c b/Tests/Test_Driver_Pedal_.c similarity index 100% rename from Tests/Test_Pedal_Driver.c rename to Tests/Test_Driver_Pedal_.c diff --git a/Tests/Test_IntegratedDriverTest.c b/Tests/Test_Drivers.c similarity index 100% rename from Tests/Test_IntegratedDriverTest.c rename to Tests/Test_Drivers.c diff --git a/Tests/Test_Evac.c b/Tests/Test_Evac.c new file mode 100644 index 00000000..a6b843d8 --- /dev/null +++ b/Tests/Test_Evac.c @@ -0,0 +1,122 @@ +/* Copyright (c) 2020 UT Longhorn Racing Solar */ + +#include "Tasks.h" +#include "CANbus.h" +#include "CAN_Queue.h" +#include "ReadCarCAN.h" +#include "Display.h" +#include "UpdateDisplay.h" +#include "CANConfig.h" + +/* + * NOTE: This test must be run with car CAN in loopback mode + * TODO: automate this, either with arguments to BSP or #define +*/ + +static OS_TCB Task1_TCB; +#define STACK_SIZE 128 +static CPU_STK Task1_Stk[STACK_SIZE]; + +#define CARCAN_FILTER_SIZE (sizeof carCANFilterList / sizeof(CANId_t)) + +void Task1(){ + OS_ERR err; + + CPU_Init(); + OS_CPU_SysTickInit(SystemCoreClock / (CPU_INT32U) OSCfg_TickRate_Hz); + CANbus_Init(CARCAN, carCANFilterList, CARCAN_FILTER_SIZE); + Contactors_Init(); + Display_Init(); + UpdateDisplay_Init(); + + // Send a bunch of charge enable messages to ReadCarCAN for 10 seconds + CANDATA_t data = {.ID = CHARGE_ENABLE, .idx = 0, .data = {1}}; + for (int i=0; i<40; i++) { + CANbus_Send(data, true, CARCAN); + OSTimeDlyHMSM(0, 0, 0, 250, OS_OPT_TIME_HMSM_STRICT, &err); + } + data.ID = BPS_TRIP; + data.data[0] = 1; + CANbus_Send(data, true, CARCAN); + OSTimeDlyHMSM(1, 0, 0, 0, OS_OPT_TIME_HMSM_STRICT, &err); + while (1); +} + +int main(){ + OS_ERR err; + OSInit(&err); + assertOSError(OS_MAIN_LOC, err); + + OSSemCreate(&FaultState_Sem4, "Fault State Semaphore", 0, &err); + OSTaskCreate( + (OS_TCB*)&Task1_TCB, + (CPU_CHAR*)"Task1", + (OS_TASK_PTR)Task1, + (void*)NULL, + (OS_PRIO)4, + (CPU_STK*)Task1_Stk, + (CPU_STK_SIZE)STACK_SIZE/10, + (CPU_STK_SIZE)STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)NULL, + (void*)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR|OS_OPT_TASK_STK_CHK), + (OS_ERR*)&err + ); + assertOSError(OS_MAIN_LOC, err); + + OSTaskCreate( + (OS_TCB*)&UpdateDisplay_TCB, + (CPU_CHAR*)"Update Display", + (OS_TASK_PTR)Task_UpdateDisplay, + (void*)NULL, + (OS_PRIO)TASK_UPDATE_DISPLAY_PRIO, + (CPU_STK*)UpdateDisplay_Stk, + (CPU_STK_SIZE)STACK_SIZE/10, + (CPU_STK_SIZE)STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)NULL, + (void*)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR|OS_OPT_TASK_STK_CHK), + (OS_ERR*)&err + ); + assertOSError(OS_MAIN_LOC, err); + + OSTaskCreate( + (OS_TCB*)&FaultState_TCB, + (CPU_CHAR*)"Fault State", + (OS_TASK_PTR)Task_FaultState, + (void*)NULL, + (OS_PRIO)TASK_FAULT_STATE_PRIO, + (CPU_STK*)FaultState_Stk, + (CPU_STK_SIZE)STACK_SIZE/10, + (CPU_STK_SIZE)STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)NULL, + (void*)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR|OS_OPT_TASK_STK_CHK), + (OS_ERR*)&err + ); + assertOSError(OS_MAIN_LOC, err); + + OSTaskCreate( + (OS_TCB*)&ReadCarCAN_TCB, + (CPU_CHAR*)"ReadCarCAN", + (OS_TASK_PTR)Task_ReadCarCAN, + (void*)NULL, + (OS_PRIO)TASK_READ_CAR_CAN_PRIO, + (CPU_STK*)ReadCarCAN_Stk, + (CPU_STK_SIZE)STACK_SIZE/10, + (CPU_STK_SIZE)STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)NULL, + (void*)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR|OS_OPT_TASK_STK_CHK), + (OS_ERR*)&err + ); + assertOSError(OS_MAIN_LOC, err); + + OSStart(&err); + assertOSError(OS_MAIN_LOC, err); +} + diff --git a/Tests/Test_HelloWorld.c b/Tests/Test_HelloWorld.c deleted file mode 100644 index 05e92c82..00000000 --- a/Tests/Test_HelloWorld.c +++ /dev/null @@ -1,14 +0,0 @@ -#include "common.h" -#include "config.h" -#include - -int main(void){ - BSP_UART_Init(UART_2); - - while(1){ - printf("Hello World\n"); - for(int i=0; i<5000; i++){} - } - - return 0; -} \ No newline at end of file diff --git a/Tests/Test_Ign_Cont.c b/Tests/Test_Ign_Cont.c deleted file mode 100644 index 0a59175b..00000000 --- a/Tests/Test_Ign_Cont.c +++ /dev/null @@ -1,72 +0,0 @@ -#include "os.h" -#include "Tasks.h" -#include "Minions.h" -#include -#include "config.h" -#include "common.h" -#include "Contactors.h" - -static OS_TCB Task1TCB; -static CPU_STK Task1Stk[DEFAULT_STACK_SIZE]; - -void Task1(void *arg) -{ - CPU_Init(); - - BSP_UART_Init(UART_2); - Minions_Init(); - Contactors_Init(); - - OS_ERR err; - - OS_CPU_SysTickInit(SystemCoreClock / (CPU_INT32U)OSCfg_TickRate_Hz); - - // Initialize IgnitionContactor - OSTaskCreate( - (OS_TCB*)&IgnCont_TCB, - (CPU_CHAR*)"IgnitionContactor", - (OS_TASK_PTR)Task_Contactor_Ignition, - (void*)NULL, - (OS_PRIO)TASK_IGN_CONT_PRIO, - (CPU_STK*)IgnCont_Stk, - (CPU_STK_SIZE)WATERMARK_STACK_LIMIT, - (CPU_STK_SIZE)TASK_IGN_CONT_STACK_SIZE, - (OS_MSG_QTY)0, - (OS_TICK)0, - (void*)NULL, - (OS_OPT)(OS_OPT_TASK_STK_CLR), - (OS_ERR*)&err - ); - assertOSError(OS_MAIN_LOC, err); - - while (1){ - printf("Array Contactor: %d, Motor Contactor: %d\n\r", Contactors_Get(ARRAY_CONTACTOR), Contactors_Get(MOTOR_CONTACTOR)); - - OSTimeDlyHMSM(0, 0, 0, 500, OS_OPT_TIME_HMSM_STRICT, &err); - } -}; - -int main() -{ - OS_ERR err; - OSInit(&err); - - // create tester thread - OSTaskCreate( - (OS_TCB *)&Task1TCB, - (CPU_CHAR *)"Task 1", - (OS_TASK_PTR)Task1, - (void *)NULL, - (OS_PRIO)13, - (CPU_STK *)Task1Stk, - (CPU_STK_SIZE)DEFAULT_STACK_SIZE / 10, - (CPU_STK_SIZE)DEFAULT_STACK_SIZE, - (OS_MSG_QTY)0, - (OS_TICK)NULL, - (void *)NULL, - (OS_OPT)(OS_OPT_TASK_STK_CLR), - (OS_ERR *)&err); - assertOSError(OS_MAIN_LOC, err); - - OSStart(&err); -} diff --git a/Tests/Test_MinionDriver.c b/Tests/Test_MinionDriver.c deleted file mode 100644 index 9d635827..00000000 --- a/Tests/Test_MinionDriver.c +++ /dev/null @@ -1,81 +0,0 @@ -#include "os.h" -#include "Tasks.h" -#include "Minions.h" -#include -#include "config.h" -#include "common.h" - -static OS_TCB Task1TCB; -static CPU_STK Task1Stk[DEFAULT_STACK_SIZE]; - -void Task1(void *arg) -{ - CPU_Init(); - - BSP_UART_Init(UART_2); - Minions_Init(); - bool lightState=false; - - OS_CPU_SysTickInit(SystemCoreClock / (CPU_INT32U)OSCfg_TickRate_Hz); - - OS_ERR e; - - - OSTimeDlyHMSM(0, 0, 3, 0, OS_OPT_TIME_HMSM_STRICT, &e); - - // tests the reading and writing - // while (1){ - // char str[128]; - // bool regen = Minions_Read_Input(REGEN_SW); - // bool forward = Minions_Read_Input(FOR_SW); - // bool reverse = Minions_Read_Input(REV_SW); - // bool enable = Minions_Read_Input(CRUZ_EN); - // bool set = Minions_Read_Input(CRUZ_ST); - // bool ign1 = Minions_Read_Input(IGN_1); - // bool ign2 = Minions_Read_Input(IGN_2); - - - // int size = sprintf(str, "regen = %d, forward = %d, reverse = %d, enable = %d, set = %d IGN1 = %d, IGN2 = %d \r", regen, forward,reverse,enable,set,ign1,ign2); - // BSP_UART_Write(UART_2, str, size); - - // lightState=!lightState; - // Minions_Write(BRAKELIGHT, lightState); - - // OSTimeDlyHMSM(0, 0, 0, 500, OS_OPT_TIME_HMSM_STRICT, &e); - // } - - //tests the edge cases - bool output = Minions_Write(REV_SW, lightState); - bool input = Minions_Read(BRAKELIGHT); - - printf("This should print 0: %d", input); - printf("This should print 0: %d", output); - - lightState = !lightState; - for(int i = 0; i < 999999; i++){}//should be half a second -}; - -int main() -{ - OS_ERR err; - OSInit(&err); - - // create tester thread - OSTaskCreate( - (OS_TCB *)&Task1TCB, - (CPU_CHAR *)"Task 1", - (OS_TASK_PTR)Task1, - (void *)NULL, - (OS_PRIO)13, - (CPU_STK *)Task1Stk, - (CPU_STK_SIZE)DEFAULT_STACK_SIZE / 10, - (CPU_STK_SIZE)DEFAULT_STACK_SIZE, - (OS_MSG_QTY)0, - (OS_TICK)NULL, - (void *)NULL, - (OS_OPT)(OS_OPT_TASK_STK_CLR), - (OS_ERR *)&err); - assertOSError(OS_MAIN_LOC, err); - - OSStart(&err); -} \ No newline at end of file diff --git a/Tests/Test_MotorCANBoard.c b/Tests/Test_MotorCANBoard.c deleted file mode 100644 index a9474461..00000000 --- a/Tests/Test_MotorCANBoard.c +++ /dev/null @@ -1,24 +0,0 @@ -/* Copyright (c) 2020 UT Longhorn Racing Solar */ - -#include "common.h" -#include "config.h" -#include -#include -#include "CarState.h" -#include "UpdateVelocity.h" -#include - -float velocity_to_rpm(float velocity){ - float velocity_mpm = velocity * 60.0f; - float cir = WHEEL_DIAMETER * M_PI; - float wheel_rpm = velocity_mpm / cir; - return wheel_rpm * GEAR_REDUCTION; -} - -int main(){ - MotorController_Init(); - car_state_t car_state; - car_state.DesiredVelocity = MAX_VELOCITY; - car_state.DesiredMotorCurrent = 50; - MotorController_Drive(velocity_to_rpm(car_state.CruiseControlVelocity), car_state.DesiredMotorCurrent); -} \ No newline at end of file diff --git a/Tests/Test_MotorConErrMessages.c b/Tests/Test_MotorConErrMessages.c deleted file mode 100644 index 34c709f7..00000000 --- a/Tests/Test_MotorConErrMessages.c +++ /dev/null @@ -1,73 +0,0 @@ -/** - * File for testing Motor Controller, verifying CAN2 functionality and checking if motor error flags work - * - * The user sets "id" to be the desired Motor Controller command ID - * and "data[8]" to be the desired message. The test outputs the id - * and message that is received by the Motor Controller. "Success" - * is 1 if the message recieved is the expected message. - */ -#include "common.h" -#include "config.h" -#include "CarState.h" - - -int main(){ - - car_state_t car ; //car_state object, don't need a reference - car.MotorErrorCode = (motor_error_code_t) {OFF, OFF, OFF, OFF}; - MotorController_Init(); - float input1 = 2500.0f; - float input2 = 1.0f; - MotorController_Drive(input1,input2); - usleep(1000000); - CANbuff tester = {0, 0, 0}; //CANbuff object - uint32_t id = 0x243; - uint8_t data[8] = {0x00, 0x55, 0x55, 0x22, 0x11, 0x11, 0x11, 0x11}; //change data so it takes the message that sets all motor error flags - //BSP_CAN_Write(CAN_2, id, data, 8); - //need to figure out how to show if the motor error messages flag as "on" if triggered - uint32_t test_data=0x01080044; //32 bit bc motor controller error issues only in first 32 bits of message - - bool check = MotorController_Read(&tester, &car); //returns 1 if fine, but will also set flags - //printf("The ID on the bus was: %x\n\rMessage: %x, %x\n\rSuccess: %d",tester.id, tester.firstNum, tester.secondNum, check); - - //data[8] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x08, 0x00, 0x44}; - check = MotorController_Read(&tester, &car); - printf("Error flags for motor temp, slipspeed, CC velocity, overspeed are on: %d\n\r, %d\n\r, %d\n\r, %d\n\r", - car.MotorErrorCode.motorTempErr,car.MotorErrorCode.slipSpeedErr, car.MotorErrorCode.CCVelocityErr, - car.MotorErrorCode.overSpeedErr); - - test_data=0x00080044; - //data[8] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x08, 0x00, 0x44}; - check = MotorController_Read(&tester, &car); - printf("Error flags for motor temp, slipspeed, CC velocity are on. Overspeed off: %d\n\r, %d\n\r, %d\n\r, %d\n\r", - car.MotorErrorCode.motorTempErr,car.MotorErrorCode.slipSpeedErr, car.MotorErrorCode.CCVelocityErr, - car.MotorErrorCode.overSpeedErr); - - test_data=0x00080040; - //data[8] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x08, 0x00, 0x40}; - check = MotorController_Read(&tester, &car); - printf("Error flags for motor temp, slipspeed are on. CC velocity, Overspeed off: %d\n\r, %d\n\r, %d\n\r, %d\n\r", - car.MotorErrorCode.motorTempErr,car.MotorErrorCode.slipSpeedErr, car.MotorErrorCode.CCVelocityErr, - car.MotorErrorCode.overSpeedErr); - - test_data=0x00000040; - //data[8] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40}; - check = MotorController_Read(&tester, &car); - printf("Error flags for motor temp on. Slipspeed, CC velocity, Overspeed off: %d\n\r, %d\n\r, %d\n\r, %d\n\r", - car.MotorErrorCode.motorTempErr,car.MotorErrorCode.slipSpeedErr, car.MotorErrorCode.CCVelocityErr, - car.MotorErrorCode.overSpeedErr); - - test_data=0x00000000; - //data[8] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; - check = MotorController_Read(&tester, &car); - printf("Error flags for motor temp, slipspeed, CC velocity, Overspeed off: %d\n\r, %d\n\r, %d\n\r, %d\n\r", - car.MotorErrorCode.motorTempErr,car.MotorErrorCode.slipSpeedErr, car.MotorErrorCode.CCVelocityErr, - car.MotorErrorCode.overSpeedErr); - - //car->MotorErrorCode.motorTempErr,car->MotorErrorCode.slipSpeedErr, car->MotorErrorCode.CCVelocityErr, - //car->MotorErrorCode.overSpeedErr); - - - exit(0); -} - diff --git a/Tests/Test_MotorConSimUpdate.c b/Tests/Test_MotorConSimUpdate.c deleted file mode 100644 index a2e5b30b..00000000 --- a/Tests/Test_MotorConSimUpdate.c +++ /dev/null @@ -1,9 +0,0 @@ -#include "common.h" -#include "config.h" -#include -#define MOTOR_DRIVE 0x221 - -int main(){ //velocity motor current - uint8_t data[8] = {0x00, 0x11, 0x03, 0xE9, 0x00, 0x00, 0x99, 0x99}; //test torque mode - BSP_CAN_Write(CAN_2, MOTOR_DRIVE, data, 8); -} \ No newline at end of file diff --git a/Tests/Test_MotorControl.c b/Tests/Test_MotorControl.c new file mode 100644 index 00000000..ef38e43e --- /dev/null +++ b/Tests/Test_MotorControl.c @@ -0,0 +1,136 @@ +/* Copyright (c) 2020 UT Longhorn Racing Solar */ + +#include "Tasks.h" +#include "CANbus.h" +#include "CAN_Queue.h" +#include "ReadTritium.h" +#include "Display.h" +#include "Pedals.h" +#include "Minions.h" +#include "UpdateDisplay.h" +#include "CANConfig.h" +#include "common.h" + +static OS_TCB Task1_TCB; +#define STACK_SIZE 256 +static CPU_STK Task1_Stk[STACK_SIZE]; + +/* + * When running this test on the motor testbench, hardcode the SendTritium task + * to always send an unobtainable velocity. This ensures that no regen braking + * takes place + */ + +void Task1(){ + OS_ERR err; + + CPU_Init(); + OS_CPU_SysTickInit(SystemCoreClock / (CPU_INT32U) OSCfg_TickRate_Hz); + BSP_UART_Init(UART_2); + Pedals_Init(); + Minions_Init(); + Display_Init(); + UpdateDisplay_Init(); + CANbus_Init(MOTORCAN, motorCANFilterList, sizeof motorCANFilterList / sizeof(CANId_t)); + for (;;) { + print_float("Motor velocity is currently ", Motor_Velocity_Get()); + OSTimeDlyHMSM(0, 0, 1, 0, OS_OPT_TIME_HMSM_STRICT, &err); + assertOSError(OS_MAIN_LOC, err); + } +} + +int main(){ + OS_ERR err; + OSInit(&err); + assertOSError(OS_MAIN_LOC, err); + + OSSemCreate(&FaultState_Sem4, "Fault State Semaphore", 0, &err); + OSTaskCreate( + (OS_TCB*)&Task1_TCB, + (CPU_CHAR*)"Task1", + (OS_TASK_PTR)Task1, + (void*)NULL, + (OS_PRIO)2, + (CPU_STK*)Task1_Stk, + (CPU_STK_SIZE)STACK_SIZE/10, + (CPU_STK_SIZE)STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)NULL, + (void*)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR|OS_OPT_TASK_STK_CHK), + (OS_ERR*)&err + ); + assertOSError(OS_MAIN_LOC, err); + + OSTaskCreate( + (OS_TCB*)&UpdateDisplay_TCB, + (CPU_CHAR*)"Update Display", + (OS_TASK_PTR)Task_UpdateDisplay, + (void*)NULL, + (OS_PRIO)TASK_UPDATE_DISPLAY_PRIO, + (CPU_STK*)UpdateDisplay_Stk, + (CPU_STK_SIZE)STACK_SIZE/10, + (CPU_STK_SIZE)STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)NULL, + (void*)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR|OS_OPT_TASK_STK_CHK), + (OS_ERR*)&err + ); + assertOSError(OS_MAIN_LOC, err); + + OSTaskCreate( + (OS_TCB*)&FaultState_TCB, + (CPU_CHAR*)"Fault State", + (OS_TASK_PTR)Task_FaultState, + (void*)NULL, + (OS_PRIO)TASK_FAULT_STATE_PRIO, + (CPU_STK*)FaultState_Stk, + (CPU_STK_SIZE)STACK_SIZE/10, + (CPU_STK_SIZE)STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)NULL, + (void*)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR|OS_OPT_TASK_STK_CHK), + (OS_ERR*)&err + ); + assertOSError(OS_MAIN_LOC, err); + + OSTaskCreate( + (OS_TCB*)&SendTritium_TCB, + (CPU_CHAR*)"Send Tritium", + (OS_TASK_PTR)Task_SendTritium, + (void*)NULL, + (OS_PRIO)TASK_SEND_TRITIUM_PRIO, + (CPU_STK*)SendTritium_Stk, + (CPU_STK_SIZE)STACK_SIZE/10, + (CPU_STK_SIZE)STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)NULL, + (void*)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR|OS_OPT_TASK_STK_CHK), + (OS_ERR*)&err + ); + assertOSError(OS_MAIN_LOC, err); + + OSTaskCreate( + (OS_TCB*)&ReadTritium_TCB, + (CPU_CHAR*)"Read Tritium", + (OS_TASK_PTR)Task_ReadTritium, + (void*)NULL, + (OS_PRIO)TASK_READ_TRITIUM_PRIO, + (CPU_STK*)ReadTritium_Stk, + (CPU_STK_SIZE)STACK_SIZE/10, + (CPU_STK_SIZE)STACK_SIZE, + (OS_MSG_QTY)0, + (OS_TICK)NULL, + (void*)NULL, + (OS_OPT)(OS_OPT_TASK_STK_CLR|OS_OPT_TASK_STK_CHK), + (OS_ERR*)&err + ); + assertOSError(OS_MAIN_LOC, err); + + OSStart(&err); + assertOSError(OS_MAIN_LOC, err); +} + diff --git a/Tests/Test_MotorController.c b/Tests/Test_MotorController.c deleted file mode 100644 index 83b93567..00000000 --- a/Tests/Test_MotorController.c +++ /dev/null @@ -1,148 +0,0 @@ -/** - * File for testing Motor Controller and verifying CAN3 functionality - * - * - * This file spins the motor up to .5amps for 200ms, then 1 amp for 200ms, - * and then coasting for 200ms and repeats. - */ -#include "common.h" -#include "config.h" -#include "os.h" -#include "Tasks.h" -#include "CANbus.h" -#include "CAN_Queue.h" - -static OS_TCB Task1TCB; -static CPU_STK Task1Stk[128]; - - -#define BUSCURRENT 10 - -void Task1(void* arg){ - CPU_Init(); - OS_CPU_SysTickInit(SystemCoreClock / (CPU_INT32U) OSCfg_TickRate_Hz); - - OS_ERR err; - - - MotorController_Init(1.0f); - CANbus_Init(); - CAN_Queue_Init(); - float unatttainable_Velocity; - float desiredCurrent; - float currentSetPoint; - - - - while(1){ - unatttainable_Velocity = 2500.0f; - - desiredCurrent = 1.0f; //1 amps worth - currentSetPoint = desiredCurrent/BUSCURRENT; - for (int i=0; i<30; i++) { // Run for ~6 seconds - MotorController_Drive(unatttainable_Velocity,currentSetPoint); - OSTimeDlyHMSM(0,0,0,200,OS_OPT_TIME_HMSM_STRICT, &err); - if(err != OS_ERR_NONE){ - volatile int x = 0; - while(1){ - x++; - } - } - } - - desiredCurrent = 5.0f; //5 amps worth - currentSetPoint = desiredCurrent/BUSCURRENT; - for (int i=0; i<30; i++) { // ~6 seconds - MotorController_Drive(unatttainable_Velocity,currentSetPoint); - OSTimeDlyHMSM(0,0,0,200,OS_OPT_TIME_HMSM_STRICT, &err); - if(err != OS_ERR_NONE){ - volatile int x = 0; - while(1){ - x++; - } - } - } - - MotorController_Drive(unatttainable_Velocity,0); // prepare to coast - for (int i=0; i<30; i++) { // ~6 seconds - MotorController_Drive(0,0); // coasting - OSTimeDlyHMSM(0,0,0,200,OS_OPT_TIME_HMSM_STRICT, &err); - if(err != OS_ERR_NONE){ - volatile int x = 0; - while(1){ - x++; - } - } - } - } - -} - -int main(){ - - OS_ERR err; - OSInit(&err); - if(err != OS_ERR_NONE){ - volatile int x = 0; - while(1){ - x++; - } - } - OSSemCreate( //driver depends on fault state semaphore/thread - &FaultState_Sem4, - "Fault State Semaphore", - 0, - &err - ); - if(err != OS_ERR_NONE){ - volatile int x = 0; - while(1){ - x++; - } - } - - if(err != OS_ERR_NONE){ - volatile int x = 0; - while(1){ - x++; - } - } - - - - OSTaskCreate( - (OS_TCB*)&Task1TCB, - (CPU_CHAR*)"Task 1", - (OS_TASK_PTR)Task1, - (void*)NULL, - (OS_PRIO)13, - (CPU_STK*)Task1Stk, - (CPU_STK_SIZE)128/10, - (CPU_STK_SIZE)128, - (OS_MSG_QTY)0, - (OS_TICK)NULL, - (void*)NULL, - (OS_OPT)(OS_OPT_TASK_STK_CLR), - (OS_ERR*)&err - ); - if(err != OS_ERR_NONE){ - volatile int x = 0; - while(1){ - x++; - } - } - OSStart(&err); - - if(err != OS_ERR_NONE){ - volatile int x = 0; - while(1){ - x++; - } - } - { - volatile int x = 0; - while(1){x++;} - } - - -} diff --git a/Tests/Test_Precharge.c b/Tests/Test_Precharge.c deleted file mode 100644 index 50ac9bec..00000000 --- a/Tests/Test_Precharge.c +++ /dev/null @@ -1,54 +0,0 @@ -/** - * Test file for precharge board - * - * - */ - -#include "common.h" -#include "config.h" -#include "Precharge.h" - -int main() { - char board[6]; - char status[4]; - char* motor = "MOTOR"; - char* array = "ARRAY"; - char* on = "ON"; - char* off = "OFF"; - - while(1){ - printf("Enter the board you wish to set\n"); - gets(board); - printf("Enter the status you wish to set\n"); - gets(status); - if(!strcmp(board, motor)){ - if(!strcmp(status,on)){ - printf("Writing to board...\n"); - Precharge_Write(MOTOR_PRECHARGE, ON); - } - else if(!strcmp(status,off)){ - Precharge_Write(MOTOR_PRECHARGE, OFF); - } - else{ - printf("unrecognized status\n"); - } - } - else if(!strcmp(board,array)){ - if(!strcmp(status,on)){ - Precharge_Write(ARRAY_PRECHARGE, ON); - } - else if(!strcmp(status,off)){ - Precharge_Write(ARRAY_PRECHARGE, OFF); - } - else{ - printf("unrecognized status\n"); - } - } - else{ - printf("unrecognized board\n"); - } - printf("State of board:\n"); - printf("Array: %d Motor: %d\n", Precharge_Read(ARRAY_PRECHARGE), Precharge_Read(MOTOR_PRECHARGE)); - usleep(1000); - } -} \ No newline at end of file diff --git a/Tests/Test_Printf.c b/Tests/Test_Printf.c deleted file mode 100644 index c332f6e3..00000000 --- a/Tests/Test_Printf.c +++ /dev/null @@ -1,12 +0,0 @@ -#include "common.h" -#include "BSP_UART.h" - -int main() { - BSP_UART_Init(UART_2); - - while(1) { - printf("This is a test.\n"); - for(int i = 0; i < 999999; ++i); - } - -} \ No newline at end of file diff --git a/Tests/Test_ReadPedals.c b/Tests/Test_ReadPedals.c deleted file mode 100644 index fb226add..00000000 --- a/Tests/Test_ReadPedals.c +++ /dev/null @@ -1,47 +0,0 @@ -/** - * - * Test file for RTOS task read pedals - * - */ -#include "RTOSPedals.h" - -#define INITIAL_SWITCH_STATES {OFF, OFF, OFF, OFF, OFF, OFF, OFF, OFF, OFF, OFF, OFF} -#define INITIAL_BLINKER_STATES {OFF, OFF, OFF} - -car_state_t carState = {0.0f, 0.0f, 0.0f, 0.0f, 0, 0, 0, INITIAL_SWITCH_STATES, INITIAL_BLINKER_STATES, OFF, OFF}; - -int main(void){ - OS_ERR err; - OSInit(&err); - - if(err != OS_ERR_NONE){ - printf("OS error code %d\n", err); - } - - OSTaskCreate( - (OS_TCB*)&ReadPedals_TCB, - (CPU_CHAR*)"ReadPedals", - (OS_TASK_PTR)Task_ReadPedals, - (void*)&carState, - (OS_PRIO)TASK_READ_PEDALS_PRIO, - (CPU_STK*)ReadPedals_Stk, - (CPU_STK_SIZE)WATERMARK_STACK_LIMIT/10, - (CPU_STK_SIZE)TASK_READ_PEDALS_STACK_SIZE, - (OS_MSG_QTY)NULL, - (OS_TICK)NULL, - (void*)NULL, - (OS_OPT)(OS_OPT_TASK_STK_CLR), - (OS_ERR*)&err - ); - - if(err != OS_ERR_NONE){ - printf("OS error code %d\n", err); - } - - OS_CPU_SysTickInit(); - - OSStart(&err); - if (err != OS_ERR_NONE) { - printf("OS error code %d\n", err); - } -} diff --git a/Tests/Test_ReadTritium.c b/Tests/Test_ReadTritium.c deleted file mode 100644 index c9df16f2..00000000 --- a/Tests/Test_ReadTritium.c +++ /dev/null @@ -1,94 +0,0 @@ - - -#include "os.h" -#include "common.h" -#include "Tasks.h" - -void Task1(void *); - -void main(void) { - static OS_TCB Task1TCB; - static CPU_STK Task1Stk[128]; - - OS_ERR err; - OSInit(&err); - - // Initialized with error - if (err != OS_ERR_NONE) { - printf("OS error code %d\n", err); - } - - OSTaskCreate( - (OS_TCB*)&Task1TCB, - (CPU_CHAR*)"Task 1", - (OS_TASK_PTR)Task1, - (void*)NULL, - (OS_PRIO)1, - (CPU_STK*)Task1Stk, - (CPU_STK_SIZE)128/10, - (CPU_STK_SIZE)128, - (OS_MSG_QTY)NULL, - (OS_TICK)NULL, - (void*)NULL, - (OS_OPT)(OS_OPT_TASK_STK_CLR), - (OS_ERR*)&err - ); - - // Task not created - if (err != OS_ERR_NONE) { - printf("Task error code %d\n", err); - } - - OSQCreate(&CANBus_MsgQ, "CANBus Q", 16, &err); - if (err != OS_ERR_NONE) { - printf("OS error code %d\n", err); - } - - OSStart(&err); - if (err != OS_ERR_NONE) { - printf("OS error code %d\n", err); - } -} - -void Task1(void *p_arg) { - OS_ERR err; - CPU_TS ts; - - CPU_Init(); - OS_CPU_SysTickInit(); - - OSTaskCreate( - (OS_TCB*)&ReadTritium_TCB, - (CPU_CHAR*)"ReadTritium", - (OS_TASK_PTR)Task_ReadTritium, - (void*)NULL, - (OS_PRIO)2, - (CPU_STK*)ReadTritium_Stk, - (CPU_STK_SIZE)128/10, - (CPU_STK_SIZE)128, - (OS_MSG_QTY)NULL, - (OS_TICK)NULL, - (void*)NULL, - (OS_OPT)(OS_OPT_TASK_STK_CLR), - (OS_ERR*)&err - ); - - // Task not created - if (err != OS_ERR_NONE) { - printf("Task error code %d\n", err); - } - - printf("Created ReadTritium\n"); - - CANbuff *buf; - int counter = 0; - int size; - - while (1) { - MotorController_Drive(0, counter++); - printf("sent data\n"); - OSTimeDlyHMSM(0, 0, 1, 0, OS_OPT_TIME_HMSM_STRICT, &err); - buf = OSQPend(&CANBus_MsgQ, 0, OS_OPT_PEND_BLOCKING, &size, &ts, &err); - printf("Received firstNum: %d\n", buf->firstNum); - } -} \ No newline at end of file diff --git a/Tests/Test_ReadandSendCarCAN.c b/Tests/Test_ReadandSendCarCAN.c deleted file mode 100644 index f4c8ef29..00000000 --- a/Tests/Test_ReadandSendCarCAN.c +++ /dev/null @@ -1,119 +0,0 @@ -#include "os.h" -#include "common.h" -#include "Tasks.h" -#include "CAN_Queue.h" -#include "Contactors.h" -#include "Minions.h" -#include "BSP_UART.h" - -OS_TCB Task_EnableContactorsTCB; -CPU_STK EnableContactorsStk[DEFAULT_STACK_SIZE]; - - -// set up for the read car can task -void Task_EnableContactors(void *p_arg) { - OS_ERR err; - - // enable systick and the other tasks - OS_CPU_SysTickInit(SystemCoreClock / (CPU_INT32U) OSCfg_TickRate_Hz); - - CANbus_Init(); - Contactors_Init(); - Contactors_Enable(ARRAY_CONTACTOR); - Contactors_Enable(ARRAY_PRECHARGE); - - CAN_Queue_Init(); - - Minions_Init(); - - // delete this task - OSTaskDel(&Task_EnableContactorsTCB, &err); -} - -int main(void) { - OS_ERR err; - - // I don't know which UART y'all are using for the printf's I copy-pasted, but here you go - BSP_UART_Init(UART_2); - BSP_UART_Init(UART_3); - - OSInit(&err); - - // Initialized with error - if (err != OS_ERR_NONE) { - printf("OS error code %d\n", err); - } - - OSSemCreate( - (OS_SEM*) &FaultState_Sem4, - (CPU_CHAR*) "Fault State Semaphore", - (OS_SEM_CTR) 0, - (OS_ERR*) &err - ); - - if(err != OS_ERR_NONE){ - printf("Fault semaphore create failed:\n"); - printf("%d",err); - } - - OSTaskCreate( //create contactors enable task - (OS_TCB*)&Task_EnableContactorsTCB, - (CPU_CHAR*)"Enable Contactors", - (OS_TASK_PTR)Task_EnableContactors, - (void*)NULL, - (OS_PRIO)1, - (CPU_STK*)EnableContactorsStk, - (CPU_STK_SIZE)DEFAULT_STACK_SIZE/10, - (CPU_STK_SIZE)DEFAULT_STACK_SIZE, - (OS_MSG_QTY)0, - (OS_TICK)NULL, - (void*)NULL, - (OS_OPT)(OS_OPT_TASK_STK_CLR), - (OS_ERR*)&err - ); - - OSTaskCreate( //create readCarCAN task - (OS_TCB*)&ReadCarCAN_TCB, - (CPU_CHAR*)"Read Car CAN", - (OS_TASK_PTR)Task_ReadCarCAN, - (void*)NULL, - (OS_PRIO)12, - (CPU_STK*)ReadCarCAN_Stk, - (CPU_STK_SIZE)128/10, - (CPU_STK_SIZE)128, - (OS_MSG_QTY)0, - (OS_TICK)NULL, - (void*)NULL, - (OS_OPT)(OS_OPT_TASK_STK_CLR), - (OS_ERR*)&err - ); - - //spawn can send task - OSTaskCreate( - (OS_TCB*)&SendCarCAN_TCB, - (CPU_CHAR*)"SendCarCan", - (OS_TASK_PTR)Task_SendCarCAN, - (void*)NULL, - (OS_PRIO)3, - (CPU_STK*)SendCarCAN_Stk, - (CPU_STK_SIZE)DEFAULT_STACK_SIZE/10, - (CPU_STK_SIZE)DEFAULT_STACK_SIZE, - (OS_MSG_QTY)0, - (OS_TICK)NULL, - (void*)NULL, - (OS_OPT)(OS_OPT_TASK_STK_CLR|OS_OPT_TASK_STK_CHK), - (OS_ERR*)&err - ); - - // Task not created - if (err != OS_ERR_NONE) { - printf("Task error code %d\n", err); - } - - OSStart(&err); - if (err != OS_ERR_NONE) { - printf("OS error code %d\n", err); - } - - while(1){} -} diff --git a/Tests/Test_ReceiveCAN.c b/Tests/Test_ReceiveCAN.c deleted file mode 100644 index 083bc96c..00000000 --- a/Tests/Test_ReceiveCAN.c +++ /dev/null @@ -1,81 +0,0 @@ -/* Copyright (c) 2020 UT Longhorn Racing Solar */ - -#include "common.h" -#include "config.h" -#include -#include -#include "CANbus.h" -#include "stm32f4xx.h" -#include - -// Globals -static OS_TCB Task1TCB; -static CPU_STK Task1Stk[128]; - -// Task prototypes -void Task1(void *p_arg); - -void main(void) -{ - OS_ERR err; - OSInit(&err); - - // Initialized with error - if (err != OS_ERR_NONE) - { - printf("OS error code %d\n", err); - } - - OSTaskCreate( - (OS_TCB *)&Task1TCB, - (CPU_CHAR *)"Task 1", - (OS_TASK_PTR)Task1, - (void *)NULL, - (OS_PRIO)1, - (CPU_STK *)Task1Stk, - (CPU_STK_SIZE)128 / 10, - (CPU_STK_SIZE)128, - (OS_MSG_QTY)NULL, - (OS_TICK)NULL, - (void *)NULL, - (OS_OPT)(OS_OPT_TASK_STK_CLR), - (OS_ERR *)&err); - - // Task not created - if (err != OS_ERR_NONE) - { - printf("Task error code %d\n", err); - } - - OSStart(&err); - if (err != OS_ERR_NONE) - { - printf("OS error code %d\n", err); - } -} - -void Task1(void *p_arg) -{ - CPU_Init(); - OS_CPU_SysTickInit(SystemCoreClock / (CPU_INT32U)OSCfg_TickRate_Hz); - - // Initialize CAN 1, the car can - CANbus_Init(); - - // Receiving buffer that will be populated - uint8_t buffer[8]; - - uint32_t canId; - - while (1) - { - // Attempt to read from CANbus_Read - if (CANbus_Read(&canId, buffer, CAN_BLOCKING) == SUCCESS) - { - // Delay to be able to read buffer in GDB - for (int i = 0; i < 100000; i++) - { - } - } - } -} diff --git a/Tests/Test_TaskMacro.c b/Tests/Test_TaskMacro.c deleted file mode 100644 index 92fec655..00000000 --- a/Tests/Test_TaskMacro.c +++ /dev/null @@ -1,55 +0,0 @@ -#include "common.h" -#include "config.h" -#include "Tasks.h" -#include - -static OS_TCB Task1_TCB; -static OS_TCB Task2_TCB; -static CPU_STK Task1_Stk[128]; -static CPU_STK Task2_Stk[128]; - - -void Task1(void* p_arg) { - OS_ERR err; - CPU_TS ts; - OSTaskSemPend(0, OS_OPT_PEND_BLOCKING, &ts, &err); - printf("hello\n"); - OSTaskDel(NULL, &err); -} - -void Task2(void *p_arg) { - OS_ERR err; - CPU_Init(); - OS_CPU_SysTickInit(); - printf("Arg is : %d\n", (int)p_arg); - - OSTimeDlyHMSM(0, 0, 5, 0, OS_OPT_TIME_HMSM_STRICT, &err); - OSTaskSemPost(&Task1_TCB, OS_OPT_POST_NONE, &err); - OSTaskDel(NULL, &err); -} - -void main(void) { - OS_ERR err; - OSInit(&err); - - // Initialized with error - if (err != OS_ERR_NONE) { - printf("OS error code %d\n", err); - } - - INIT_TASK(Task1, 5, NULL, err); - - INIT_TASK(Task2, 4, 42, err); - - // Task not created - if (err != OS_ERR_NONE) { - printf("Task error code %d\n", err); - } - - OSStart(&err); - if (err != OS_ERR_NONE) { - printf("OS error code %d\n", err); - } - - -} \ No newline at end of file diff --git a/Tests/Test_Tasks.c b/Tests/Test_Tasks.c deleted file mode 100644 index 022ad724..00000000 --- a/Tests/Test_Tasks.c +++ /dev/null @@ -1,101 +0,0 @@ -#include "common.h" -#include "config.h" -#include "stm32f4xx.h" -#include - -// Globals -static OS_TCB Task1TCB; -static OS_TCB Task2TCB; -static CPU_STK Task1Stk[128]; -static CPU_STK Task2Stk[128]; - -// Task prototypes -void Task1(void* p_arg); -void Task2(void* p_arg); - -void main(void) { - OS_ERR err; - OSInit(&err); - - // Initialized with error - if (err != OS_ERR_NONE) { - printf("OS error code %d\n", err); - } - - OSTaskCreate( - (OS_TCB*)&Task1TCB, - (CPU_CHAR*)"Task 1", - (OS_TASK_PTR)Task1, - (void*)NULL, - (OS_PRIO)1, - (CPU_STK*)Task1Stk, - (CPU_STK_SIZE)128/10, - (CPU_STK_SIZE)128, - (OS_MSG_QTY)NULL, - (OS_TICK)NULL, - (void*)NULL, - (OS_OPT)(OS_OPT_TASK_STK_CLR), - (OS_ERR*)&err - ); - - // Task not created - if (err != OS_ERR_NONE) { - printf("Task error code %d\n", err); - } - - OSStart(&err); - if (err != OS_ERR_NONE) { - printf("OS error code %d\n", err); - } -} - -// Task 1 -void Task1(void* p_arg) { - OS_ERR err; - - CPU_Init(); - OS_CPU_SysTickInit(SystemCoreClock / (CPU_INT32U) OSCfg_TickRate_Hz); - - OSTaskCreate( - (OS_TCB*)&Task2TCB, - (CPU_CHAR*)"Task 2", - (OS_TASK_PTR)Task2, - (void*)NULL, - (OS_PRIO)2, - (CPU_STK*)Task2Stk, - (CPU_STK_SIZE)0, - (CPU_STK_SIZE)128, - (OS_MSG_QTY)NULL, - (OS_TICK)NULL, - (void*)NULL, - (OS_OPT)(OS_OPT_TASK_STK_CLR), - (OS_ERR*)&err - ); - - // Task not created - if (err != OS_ERR_NONE) { - printf("Task error code %d\n", err); - } - - while (1) { - printf("Task 1\n"); - OSTimeDly( - (OS_TICK) 1, - (OS_OPT) OS_OPT_TIME_DLY, - (OS_ERR*)&err - ); - } -} - -// Task 2 -void Task2(void* p_arg) { - OS_ERR err; - while (1) { - printf("Task 2\n"); - OSTimeDly( - (OS_TICK) 1, - (OS_OPT) OS_OPT_TIME_DLY, - (OS_ERR*)&err - ); - } -} diff --git a/Tests/Test_Template.c b/Tests/Test_Template.c deleted file mode 100644 index 9cacdd42..00000000 --- a/Tests/Test_Template.c +++ /dev/null @@ -1,8 +0,0 @@ -#include "common.h" -#include "config.h" - -int main() { - while(1) { - - } -} From e421e3ad0d90ee494291ce234727925ce0e0d2dd Mon Sep 17 00:00:00 2001 From: Nathaniel Delgado <89701060+NathanielDelgado@users.noreply.github.com> Date: Sat, 2 Sep 2023 12:26:16 -0500 Subject: [PATCH 07/10] Implement Breathe into documents for doxygen & sphinx integration (#325) * Added initial incorporation of doxygen into sphinx documentation * Added more doxygen groups to the documentation, added steps on how to use breathe and doxygen * Fixed issue with Unamed Groups showing up in Breathe output * added docs to makefile, moved doxyfile * replaced all file header comments with consistent file headers * updated yaml to include sphinx * removed sphinx install from yaml and fixed clean * Made doxygen docs only to header files, changed theme to make breathe output more readable --------- Co-authored-by: ishdeshpa --- Apps/Inc/CAN_Queue.h | 14 +- Apps/Inc/FaultState.h | 15 +- Apps/Inc/MedianFilter.h | 12 +- Apps/Inc/ReadCarCAN.h | 15 +- Apps/Inc/ReadTritium.h | 93 +- Apps/Inc/SendTritium.h | 12 + Apps/Inc/Tasks.h | 13 +- Apps/Inc/UpdateDisplay.h | 17 +- Apps/Inc/common.h | 12 +- Apps/Inc/fifo.h | 14 +- Apps/Src/CAN_Queue.c | 9 +- Apps/Src/FaultState.c | 9 +- Apps/Src/PedalToPercent.c | 10 +- Apps/Src/ReadCarCAN.c | 11 +- Apps/Src/ReadTritium.c | 7 +- Apps/Src/SendCarCAN.c | 11 +- Apps/Src/SendTritium.c | 6 +- Apps/Src/Tasks.c | 7 +- Apps/Src/Telemetry.c | 13 +- Apps/Src/UpdateDisplay.c | 12 +- Apps/Src/main.c | 7 +- BSP/Inc/BSP_ADC.h | 13 +- BSP/Inc/BSP_CAN.h | 13 +- BSP/Inc/BSP_GPIO.h | 13 +- BSP/Inc/BSP_OS.h | 16 +- BSP/Inc/BSP_SPI.h | 15 +- BSP/Inc/BSP_UART.h | 13 +- BSP/Inc/bsp.h | 12 +- BSP/STM32F413/Src/BSP_ADC.c | 2 +- BSP/STM32F413/Src/BSP_CAN.c | 1 + BSP/STM32F413/Src/BSP_UART.c | 2 +- Docs/.gitignore | 1 + Docs/doxyfile | 2797 ++++++++++++++++++++++++++++ Docs/source/Apps/ExtraFiles.rst | 11 +- Docs/source/Apps/FaultState.rst | 6 +- Docs/source/Apps/ReadCarCAN.rst | 6 +- Docs/source/Apps/ReadTritium.rst | 6 +- Docs/source/Apps/SendCarCAN.rst | 3 +- Docs/source/Apps/SendTritium.rst | 6 +- Docs/source/Apps/UpdateDisplay.rst | 6 +- Docs/source/BSP/ADC.rst | 6 +- Docs/source/BSP/CAN.rst | 6 +- Docs/source/BSP/GPIO.rst | 6 +- Docs/source/BSP/SPI.rst | 6 +- Docs/source/BSP/UART.rst | 7 +- Docs/source/Drivers/CANBus.rst | 4 + Docs/source/Drivers/Contactors.rst | 6 +- Docs/source/Drivers/Display.rst | 6 +- Docs/source/Drivers/Minions.rst | 6 +- Docs/source/Drivers/Pedals.rst | 6 +- Docs/source/conf.py | 8 +- Docs/source/index.rst | 6 +- Drivers/Inc/CANConfig.h | 17 +- Drivers/Inc/CANbus.h | 13 +- Drivers/Inc/Contactors.h | 15 +- Drivers/Inc/Display.h | 19 +- Drivers/Inc/GPIOExpander.h | 15 +- Drivers/Inc/Minions.h | 7 +- Drivers/Inc/Pedals.h | 17 +- Drivers/Src/CANConfig.c | 6 + Drivers/Src/CANbus.c | 31 +- Drivers/Src/Contactors.c | 8 +- Drivers/Src/Display.c | 9 +- Drivers/Src/Minions.c | 12 +- Drivers/Src/Pedals.c | 8 +- Makefile | 8 +- 66 files changed, 3322 insertions(+), 197 deletions(-) create mode 100644 Docs/doxyfile diff --git a/Apps/Inc/CAN_Queue.h b/Apps/Inc/CAN_Queue.h index e6925a0f..5425b4a2 100644 --- a/Apps/Inc/CAN_Queue.h +++ b/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 + + +/* @} */ diff --git a/Apps/Inc/FaultState.h b/Apps/Inc/FaultState.h index a845f728..62a4f8ed 100644 --- a/Apps/Inc/FaultState.h +++ b/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 \ No newline at end of file +#endif + + +/* @} */ diff --git a/Apps/Inc/MedianFilter.h b/Apps/Inc/MedianFilter.h index 24c7f53a..5dd62957 100644 --- a/Apps/Inc/MedianFilter.h +++ b/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 +/* @} */ \ No newline at end of file diff --git a/Apps/Inc/ReadCarCAN.h b/Apps/Inc/ReadCarCAN.h index 69389ee8..93b68a8c 100644 --- a/Apps/Inc/ReadCarCAN.h +++ b/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 \ No newline at end of file +#endif + + +/* @} */ diff --git a/Apps/Inc/ReadTritium.h b/Apps/Inc/ReadTritium.h index db7dc18b..fcb6465b 100755 --- a/Apps/Inc/ReadTritium.h +++ b/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 + + +/* @} */ diff --git a/Apps/Inc/SendTritium.h b/Apps/Inc/SendTritium.h index c002e01d..d614fb78 100644 --- a/Apps/Inc/SendTritium.h +++ b/Apps/Inc/SendTritium.h @@ -1,3 +1,12 @@ +/** + * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar + * @file SendTritium.h + * @brief + * + * @defgroup SendTritium + * @addtogroup SendTritium + * @{ + */ #ifndef __SENDTRITIUM_H #define __SENDTRITIUM_H @@ -70,3 +79,6 @@ EXPOSE_GETTER(float, cruiseVelSetpoint) EXPOSE_GETTER(float, velocityObserved) #endif + + +/* @} */ diff --git a/Apps/Inc/Tasks.h b/Apps/Inc/Tasks.h index 198d8b1f..1f80eac4 100644 --- a/Apps/Inc/Tasks.h +++ b/Apps/Inc/Tasks.h @@ -1,4 +1,13 @@ -/* Copyright (c) 2020 UT Longhorn Racing Solar */ +/** + * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar + * @file Tasks.h + * @brief + * + * @defgroup Tasks + * @addtogroup Tasks + * @{ + */ + #ifndef __TASKS_H #define __TASKS_H @@ -198,3 +207,5 @@ void _assertOSError(uint16_t OS_err_loc, OS_ERR err); //TODO: This should be cha #endif #endif + +/* @} */ \ No newline at end of file diff --git a/Apps/Inc/UpdateDisplay.h b/Apps/Inc/UpdateDisplay.h index c45c496b..a2204518 100644 --- a/Apps/Inc/UpdateDisplay.h +++ b/Apps/Inc/UpdateDisplay.h @@ -1,5 +1,5 @@ -/** - * @copyright Copyright (c) 2022 UT Longhorn Racing Solar +/** + * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar * @file UpdateDisplay.h * @brief Function prototypes for the display application. * @@ -7,10 +7,11 @@ * application. Call assertUpdateDisplayError after calling any of the * functions in this application. * - * @author Ishan Deshpande (IshDeshpa) - * @author Roie Gal (Cam0Cow) - * @author Nathaniel Delgado (NathanielDelgado) -*/ + * + * @defgroup UpdateDisplay + * @addtogroup UpdateDisplay + * @{ + */ #ifndef __UPDATE_DISPLAY_H #define __UPDATE_DISPLAY_H @@ -129,4 +130,6 @@ UpdateDisplayError_t UpdateDisplay_SetRegenState(TriState_t state); */ UpdateDisplayError_t UpdateDisplay_SetCruiseState(TriState_t state); -#endif \ No newline at end of file +#endif + +/* @} */ \ No newline at end of file diff --git a/Apps/Inc/common.h b/Apps/Inc/common.h index 714c5474..dcaea317 100644 --- a/Apps/Inc/common.h +++ b/Apps/Inc/common.h @@ -1,4 +1,12 @@ -/* Copyright (c) 2020 UT Longhorn Racing Solar */ +/** + * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar + * @file common.h + * @brief + * + * @defgroup common + * @addtogroup common + * @{ + */ #ifndef __COMMON_H #define __COMMON_H @@ -33,3 +41,5 @@ typedef void (*callback_t)(void); void print_float(char *str, float f); #endif + +/* @} */ diff --git a/Apps/Inc/fifo.h b/Apps/Inc/fifo.h index cea3e6a4..2f821c91 100644 --- a/Apps/Inc/fifo.h +++ b/Apps/Inc/fifo.h @@ -1,4 +1,13 @@ -// Copyright (c) 2021 Longhorn Racing Solar +/** + * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar + * @file fifo.h + * @brief + * + * @defgroup fifo + * @addtogroup fifo + * @{ + */ + /* * This file implements a fifo. * @@ -234,4 +243,5 @@ POPBACK (FIFO_TYPE_NAME *fifo, FIFO_TYPE *elem) { #undef PEEK #undef POPBACK #undef CONCAT -#undef _CONCAT \ No newline at end of file +#undef _CONCAT +/* @} */ diff --git a/Apps/Src/CAN_Queue.c b/Apps/Src/CAN_Queue.c index 70be11dc..6e61a8b5 100644 --- a/Apps/Src/CAN_Queue.c +++ b/Apps/Src/CAN_Queue.c @@ -1,6 +1,8 @@ -/* Copyright (c) 2020 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.c + * @brief + * */ #include "CAN_Queue.h" @@ -65,4 +67,3 @@ ErrorStatus CAN_Queue_Pend(CANDATA_t *message) { assertOSError(OS_SEND_CAN_LOC, err); return result ? SUCCESS : ERROR; } - diff --git a/Apps/Src/FaultState.c b/Apps/Src/FaultState.c index ba2676a1..2c56136d 100644 --- a/Apps/Src/FaultState.c +++ b/Apps/Src/FaultState.c @@ -1,3 +1,10 @@ +/** + * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar + * @file FaultState.c + * @brief + * + */ + #include "FaultState.h" #include "Display.h" #include "Contactors.h" @@ -141,4 +148,4 @@ void Task_FaultState(void *p_arg) { fromThread = false; OSTimeDlyHMSM(0,0,0,5,OS_OPT_TIME_HMSM_STRICT,&err); } -} \ No newline at end of file +} diff --git a/Apps/Src/PedalToPercent.c b/Apps/Src/PedalToPercent.c index 3d968377..87646432 100644 --- a/Apps/Src/PedalToPercent.c +++ b/Apps/Src/PedalToPercent.c @@ -1,5 +1,9 @@ -/* Copyright (c) 2021 UT Longhorn Racing Solar */ - +/** + * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar + * @file PedalToPercent.c + * @brief + * + */ /* Converts accelerator pedal percentage to a decimal */ const float pedalToPercent[] = { @@ -104,4 +108,4 @@ const float pedalToPercent[] = { 0.98f, 0.99f, 1.0f, -}; \ No newline at end of file +}; diff --git a/Apps/Src/ReadCarCAN.c b/Apps/Src/ReadCarCAN.c index 66b44e2c..a054307d 100644 --- a/Apps/Src/ReadCarCAN.c +++ b/Apps/Src/ReadCarCAN.c @@ -1,4 +1,10 @@ -/* Copyright (c) 2020 UT Longhorn Racing Solar */ +/** + * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar + * @file ReadCarCAN.c + * @brief + * + */ + #include "ReadCarCAN.h" #include "UpdateDisplay.h" @@ -255,6 +261,3 @@ void Task_ReadCarCAN(void *p_arg) } } } - - - diff --git a/Apps/Src/ReadTritium.c b/Apps/Src/ReadTritium.c index 1f472ae2..a9799bcb 100755 --- a/Apps/Src/ReadTritium.c +++ b/Apps/Src/ReadTritium.c @@ -1,4 +1,9 @@ -/* Copyright (c) 2021 UT Longhorn Racing Solar */ +/** + * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar + * @file ReadTritium.c + * @brief + * + */ #include "ReadTritium.h" #include "CAN_Queue.h" diff --git a/Apps/Src/SendCarCAN.c b/Apps/Src/SendCarCAN.c index 46fb4fd8..be4e7502 100644 --- a/Apps/Src/SendCarCAN.c +++ b/Apps/Src/SendCarCAN.c @@ -1,9 +1,5 @@ -#include "Tasks.h" -#include "CANbus.h" -#include "CAN_Queue.h" -#include "common.h" - /** + * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar * @file SendCarCAN.c * @brief Implements the SendCarCAN Task * @@ -11,6 +7,11 @@ * */ +#include "Tasks.h" +#include "CANbus.h" +#include "CAN_Queue.h" +#include "common.h" + /** * @brief Sends the feedback from the motor controller to be read by telemetry and * sends pedal, switch, light, and contactor information to be read by telemetry diff --git a/Apps/Src/SendTritium.c b/Apps/Src/SendTritium.c index bb724c7a..ba5b976c 100644 --- a/Apps/Src/SendTritium.c +++ b/Apps/Src/SendTritium.c @@ -1,6 +1,5 @@ /** - * @copyright Copyright (c) 2022 UT Longhorn Racing Solar - * + * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar * @file SendTritium.c * @brief Function implementations for the SendTritium application. * @@ -12,9 +11,6 @@ * If the macro __TEST_SENDTRITIUM is defined prior to including SendTritium.h, relevant * variables will be exposed as externs for unit testing. * - * @author Nathaniel Delgado (NathanielDelgado) - * @author Diya Rajon (diyarajon) - * @author Ishan Deshpande (IshDeshpa, ishdeshpa@utexas.edu) */ #include "Pedals.h" diff --git a/Apps/Src/Tasks.c b/Apps/Src/Tasks.c index d598ca1c..8b6923e3 100644 --- a/Apps/Src/Tasks.c +++ b/Apps/Src/Tasks.c @@ -1,4 +1,9 @@ -/* Copyright (c) 2020 UT Longhorn Racing Solar */ +/** + * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar + * @file Tasks.c + * @brief + * + */ #include "Tasks.h" #include "FaultState.h" diff --git a/Apps/Src/Telemetry.c b/Apps/Src/Telemetry.c index 20cfeb48..c3bd7257 100644 --- a/Apps/Src/Telemetry.c +++ b/Apps/Src/Telemetry.c @@ -1,3 +1,15 @@ +/** + * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar + * @file Telemetry.c + * @brief Implements the SendCarCAN Task + * + * Creates a datatype to house the data to be read by telemetry + * + * Gathers the information of the pedals, lights, switches, and contactors + * to be read by telemetry + * + */ + #include "Tasks.h" #include "CANbus.h" #include "CAN_Queue.h" @@ -6,7 +18,6 @@ #include "Contactors.h" #include "common.h" - // Make sure updated to the CarData_t and carMSGID are reflected in the CAN Bus IDs excel sheet /** diff --git a/Apps/Src/UpdateDisplay.c b/Apps/Src/UpdateDisplay.c index 90176f44..1356491e 100644 --- a/Apps/Src/UpdateDisplay.c +++ b/Apps/Src/UpdateDisplay.c @@ -1,5 +1,5 @@ -/** - * @copyright Copyright (c) 2022 UT Longhorn Racing Solar +/** + * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar * @file UpdateDisplay.c * @brief Function implementations for the display application. * @@ -7,10 +7,8 @@ * components on our HMI design. The HMI has the ability to indicate * relevant information about system status to the driver. * - * @author Ishan Deshpande (IshDeshpa) - * @author Roie Gal (Cam0Cow) - * @author Nathaniel Delgado (NathanielDelgado) -*/ + */ + #include "UpdateDisplay.h" #include "Minions.h" #include @@ -392,4 +390,4 @@ void Task_UpdateDisplay(void *p_arg) { UpdateDisplayError_t err = UpdateDisplay_PopNext(); assertUpdateDisplayError(err); } -} \ No newline at end of file +} diff --git a/Apps/Src/main.c b/Apps/Src/main.c index 30f04e06..56655828 100644 --- a/Apps/Src/main.c +++ b/Apps/Src/main.c @@ -1,4 +1,9 @@ -/* Copyright (c) 2020 UT Longhorn Racing Solar */ +/** + * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar + * @file main.c + * @brief + * + */ #include "common.h" #include "config.h" diff --git a/BSP/Inc/BSP_ADC.h b/BSP/Inc/BSP_ADC.h index 3f0ac8d5..33ccd47b 100644 --- a/BSP/Inc/BSP_ADC.h +++ b/BSP/Inc/BSP_ADC.h @@ -1,8 +1,12 @@ -/* Copyright (c) 2020 UT Longhorn Racing Solar */ - /** - * Header file for the library to interact + * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar + * @file BSP_ADC.h + * @brief Header file for the library to interact * with the Analog to Digital Converter (ADC) + * + * @defgroup BSP_ADC + * @addtogroup BSP_ADC + * @{ */ #ifndef __BSP_ADC_H @@ -44,3 +48,6 @@ int16_t BSP_ADC_Get_Value(ADC_t hardwareDevice); int16_t BSP_ADC_Get_Millivoltage(ADC_t hardwareDevice); #endif + + +/* @} */ diff --git a/BSP/Inc/BSP_CAN.h b/BSP/Inc/BSP_CAN.h index 0f24bc80..4163e0c2 100644 --- a/BSP/Inc/BSP_CAN.h +++ b/BSP/Inc/BSP_CAN.h @@ -1,8 +1,12 @@ -/* Copyright (c) 2020 UT Longhorn Racing Solar */ - /** - * Header file for the library to interact + * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar + * @file BSP_CAN.h + * @brief Header file for the library to interact * with both CAN lines in the car + * + * @defgroup BSP_CAN + * @addtogroup BSP_CAN + * @{ */ #ifndef __BSP_CAN_H @@ -47,3 +51,6 @@ ErrorStatus BSP_CAN_Write(CAN_t bus, uint32_t id, uint8_t data[8], uint8_t len); ErrorStatus BSP_CAN_Read(CAN_t bus, uint32_t* id, uint8_t* data); #endif + + +/* @} */ diff --git a/BSP/Inc/BSP_GPIO.h b/BSP/Inc/BSP_GPIO.h index 275f4483..66db068c 100644 --- a/BSP/Inc/BSP_GPIO.h +++ b/BSP/Inc/BSP_GPIO.h @@ -1,8 +1,12 @@ -/* Copyright (c) 2020 UT Longhorn Racing Solar */ - /** - * Header file for the library to interact + * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar + * @file BSP_GPIO.h + * @brief Header file for the library to interact * with the GPIO ports + * + * @defgroup BSP_GPIO + * @addtogroup BSP_GPIO + * @{ */ #ifndef __BSP_GPIO_H @@ -67,3 +71,6 @@ void BSP_GPIO_Write_Pin(port_t port, uint16_t pinmask, bool state); uint8_t BSP_GPIO_Get_State(port_t port, uint16_t pin); #endif + + +/* @} */ diff --git a/BSP/Inc/BSP_OS.h b/BSP/Inc/BSP_OS.h index 845fb089..ab4bfcd8 100644 --- a/BSP/Inc/BSP_OS.h +++ b/BSP/Inc/BSP_OS.h @@ -1,4 +1,13 @@ -/* Copyright (c) 2020 UT Longhorn Racing Solar */ +/** + * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar + * @file BSP_OS.h + * @brief + * + * @defgroup BSP_OS + * @addtogroup BSP_OS + * @{ + */ + #ifndef BSP_OS_H #define BSP_OS_H @@ -7,4 +16,7 @@ typedef struct { callback_t post; } bsp_os_t; -#endif \ No newline at end of file +#endif + + +/* @} */ diff --git a/BSP/Inc/BSP_SPI.h b/BSP/Inc/BSP_SPI.h index 3d54ec25..27ad70d9 100644 --- a/BSP/Inc/BSP_SPI.h +++ b/BSP/Inc/BSP_SPI.h @@ -1,8 +1,12 @@ -/* Copyright (c) 2020 UT Longhorn Racing Solar */ - /** - * Header file for the library to interact + * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar + * @file BSP_SPI.h + * @brief Header file for the library to interact * over SPI with minion board(s) + * + * @defgroup BSP_SPI + * @addtogroup BSP_SPI + * @{ */ #ifndef __BSP_SPI_H @@ -41,4 +45,7 @@ void BSP_SPI_Write(uint8_t* txBuf, uint8_t txLen); */ void BSP_SPI_Read(uint8_t* rxBuf, uint8_t rxLen); -#endif \ No newline at end of file +#endif + + +/* @} */ diff --git a/BSP/Inc/BSP_UART.h b/BSP/Inc/BSP_UART.h index 4f6c1c7b..15743921 100644 --- a/BSP/Inc/BSP_UART.h +++ b/BSP/Inc/BSP_UART.h @@ -1,8 +1,12 @@ -/* Copyright (c) 2020 UT Longhorn Racing Solar */ - /** - * Header file for the library to interact + * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar + * @file BSP_UART.h + * @brief Header file for the library to interact * with the UART line + * + * @defgroup BSP_UART + * @addtogroup BSP_UART + * @{ */ #ifndef __BSP_UART_H @@ -39,3 +43,6 @@ uint32_t BSP_UART_Read(UART_t uart, char *str); uint32_t BSP_UART_Write(UART_t uart ,char *str, uint32_t len); #endif + + +/* @} */ diff --git a/BSP/Inc/bsp.h b/BSP/Inc/bsp.h index fb105055..f4545669 100755 --- a/BSP/Inc/bsp.h +++ b/BSP/Inc/bsp.h @@ -1,4 +1,12 @@ -/* Copyright (c) 2020 UT Longhorn Racing Solar */ +/** + * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar + * @file bsp.h + * @brief + * + * @defgroup bsp + * @addtogroup bsp + * @{ + */ #ifndef __BSP_H #define __BSP_H @@ -27,3 +35,5 @@ #endif #endif + +/* @} */ diff --git a/BSP/STM32F413/Src/BSP_ADC.c b/BSP/STM32F413/Src/BSP_ADC.c index b3a87212..f49dac17 100644 --- a/BSP/STM32F413/Src/BSP_ADC.c +++ b/BSP/STM32F413/Src/BSP_ADC.c @@ -112,4 +112,4 @@ int16_t BSP_ADC_Get_Millivoltage(ADC_t hardwareDevice) { // Convert to millivoltage return (ADC_RANGE_MILLIVOLTS * data) >> ADC_PRECISION_BITS; -} \ No newline at end of file +} diff --git a/BSP/STM32F413/Src/BSP_CAN.c b/BSP/STM32F413/Src/BSP_CAN.c index 97873546..a45ef70c 100644 --- a/BSP/STM32F413/Src/BSP_CAN.c +++ b/BSP/STM32F413/Src/BSP_CAN.c @@ -1,4 +1,5 @@ /* Copyright (c) 2020 UT Longhorn Racing Solar */ + #include "BSP_CAN.h" #include "stm32f4xx.h" #include "os.h" diff --git a/BSP/STM32F413/Src/BSP_UART.c b/BSP/STM32F413/Src/BSP_UART.c index 2d783075..f63cf8f1 100644 --- a/BSP/STM32F413/Src/BSP_UART.c +++ b/BSP/STM32F413/Src/BSP_UART.c @@ -320,4 +320,4 @@ void USART3_IRQHandler(void) { if(USART_GetITStatus(USART3, USART_IT_ORE) != RESET); OSIntExit(); -} \ No newline at end of file +} diff --git a/Docs/.gitignore b/Docs/.gitignore index a007feab..9a1b3b5d 100644 --- a/Docs/.gitignore +++ b/Docs/.gitignore @@ -1 +1,2 @@ build/* +doxygen/* diff --git a/Docs/doxyfile b/Docs/doxyfile new file mode 100644 index 00000000..f98f8bc0 --- /dev/null +++ b/Docs/doxyfile @@ -0,0 +1,2797 @@ +# Doxyfile 1.9.8 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). +# +# Note: +# +# Use doxygen to compare the used configuration file with the template +# configuration file: +# doxygen -x [configFile] +# Use doxygen to compare the used configuration file with the template +# configuration file without replacing the environment variables or CMake type +# replacement variables: +# doxygen -x_noenv [configFile] + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the configuration +# file that follow. 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If set to NO, the +# Javadoc-style will behave just like regular comments and it will not be +# interpreted by doxygen. +# The default value is: NO. + +JAVADOC_BANNER = NO + +# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first +# line (until the first dot) of a Qt-style comment as the brief description. If +# set to NO, the Qt-style will behave just like regular Qt-style comments (thus +# requiring an explicit \brief command for a brief description.) +# The default value is: NO. + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a +# multi-line C++ special comment block (i.e. a block of //! or /// comments) as +# a brief description. This used to be the default behavior. The new default is +# to treat a multi-line C++ comment block as a detailed description. Set this +# tag to YES if you prefer the old behavior instead. +# +# Note that setting this tag to YES also means that rational rose comments are +# not recognized any more. +# The default value is: NO. + +MULTILINE_CPP_IS_BRIEF = NO + +# By default Python docstrings are displayed as preformatted text and doxygen's +# special commands cannot be used. By setting PYTHON_DOCSTRING to NO the +# doxygen's special commands can be used and the contents of the docstring +# documentation blocks is shown as doxygen documentation. +# The default value is: YES. + +PYTHON_DOCSTRING = YES + +# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the +# documentation from any documented member that it re-implements. +# The default value is: YES. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new +# page for each member. If set to NO, the documentation of a member will be part +# of the file/class/namespace that contains it. +# The default value is: NO. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen +# uses this value to replace tabs by spaces in code fragments. +# Minimum value: 1, maximum value: 16, default value: 4. + +TAB_SIZE = 4 + +# This tag can be used to specify a number of aliases that act as commands in +# the documentation. An alias has the form: +# name=value +# For example adding +# "sideeffect=@par Side Effects:^^" +# will allow you to put the command \sideeffect (or @sideeffect) in the +# documentation, which will result in a user-defined paragraph with heading +# "Side Effects:". Note that you cannot put \n's in the value part of an alias +# to insert newlines (in the resulting output). You can put ^^ in the value part +# of an alias to insert a newline as if a physical newline was in the original +# file. When you need a literal { or } or , in the value part of an alias you +# have to escape them by means of a backslash (\), this can lead to conflicts +# with the commands \{ and \} for these it is advised to use the version @{ and +# @} or use a double escape (\\{ and \\}) + +ALIASES = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. For +# instance, some of the names that are used will be different. The list of all +# members will be omitted, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or +# Python sources only. Doxygen will then generate output that is more tailored +# for that language. For instance, namespaces will be presented as packages, +# qualified scopes will look different, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources. Doxygen will then generate output that is tailored for Fortran. +# The default value is: NO. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for VHDL. +# The default value is: NO. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice +# sources only. Doxygen will then generate output that is more tailored for that +# language. For instance, namespaces will be presented as modules, types will be +# separated into more groups, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_SLICE = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, and +# language is one of the parsers supported by doxygen: IDL, Java, JavaScript, +# Csharp (C#), C, C++, Lex, D, PHP, md (Markdown), Objective-C, Python, Slice, +# VHDL, Fortran (fixed format Fortran: FortranFixed, free formatted Fortran: +# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser +# tries to guess whether the code is fixed or free formatted code, this is the +# default for Fortran type files). For instance to make doxygen treat .inc files +# as Fortran files (default is PHP), and .f files as C (default is Fortran), +# use: inc=Fortran f=C. +# +# Note: For files without extension you can use no_extension as a placeholder. +# +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise +# the files are not read by doxygen. When specifying no_extension you should add +# * to the FILE_PATTERNS. +# +# Note see also the list of default file extension mappings. + +EXTENSION_MAPPING = + +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments +# according to the Markdown format, which allows for more readable +# documentation. See https://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you can +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in +# case of backward compatibilities issues. +# The default value is: YES. + +MARKDOWN_SUPPORT = YES + +# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up +# to that level are automatically included in the table of contents, even if +# they do not have an id attribute. +# Note: This feature currently applies only to Markdown headings. +# Minimum value: 0, maximum value: 99, default value: 5. +# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. + +TOC_INCLUDE_HEADINGS = 5 + +# The MARKDOWN_ID_STYLE tag can be used to specify the algorithm used to +# generate identifiers for the Markdown headings. Note: Every identifier is +# unique. +# Possible values are: DOXYGEN use a fixed 'autotoc_md' string followed by a +# sequence number starting at 0 and GITHUB use the lower case version of title +# with any whitespace replaced by '-' and punctuation characters removed. +# The default value is: DOXYGEN. +# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. + +MARKDOWN_ID_STYLE = DOXYGEN + +# When enabled doxygen tries to link words that correspond to documented +# classes, or namespaces to their corresponding documentation. Such a link can +# be prevented in individual cases by putting a % sign in front of the word or +# globally by setting AUTOLINK_SUPPORT to NO. +# The default value is: YES. + +AUTOLINK_SUPPORT = YES + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should set this +# tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); +# versus func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. +# The default value is: NO. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. +# The default value is: NO. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: +# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen +# will parse them like normal C++ but will assume all classes use public instead +# of private inheritance when no explicit protection keyword is present. +# The default value is: NO. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate +# getter and setter methods for a property. Setting this option to YES will make +# doxygen to replace the get and set methods by a property in the documentation. +# This will only work if the methods are indeed getting or setting a simple +# type. If this is not the case, or you want to show the methods anyway, you +# should set this option to NO. +# The default value is: YES. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. +# The default value is: NO. + +DISTRIBUTE_GROUP_DOC = NO + +# If one adds a struct or class to a group and this option is enabled, then also +# any nested class or struct is added to the same group. By default this option +# is disabled and one has to add nested compounds explicitly via \ingroup. +# The default value is: NO. + +GROUP_NESTED_COMPOUNDS = NO + +# Set the SUBGROUPING tag to YES to allow class member groups of the same type +# (for instance a group of public functions) to be put as a subgroup of that +# type (e.g. under the Public Functions section). Set it to NO to prevent +# subgrouping. Alternatively, this can be done per class using the +# \nosubgrouping command. +# The default value is: YES. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions +# are shown inside the group in which they are included (e.g. using \ingroup) +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX +# and RTF). +# +# Note that this feature does not work in combination with +# SEPARATE_MEMBER_PAGES. +# The default value is: NO. + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions +# with only public data fields or simple typedef fields will be shown inline in +# the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO, structs, classes, and unions are shown on a separate page (for HTML and +# Man pages) or section (for LaTeX and RTF). +# The default value is: NO. + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or +# enum is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically be +# useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. +# The default value is: NO. + +TYPEDEF_HIDES_STRUCT = NO + +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. + +LOOKUP_CACHE_SIZE = 0 + +# The NUM_PROC_THREADS specifies the number of threads doxygen is allowed to use +# during processing. When set to 0 doxygen will based this on the number of +# cores available in the system. You can set it explicitly to a value larger +# than 0 to get more control over the balance between CPU load and processing +# speed. At this moment only the input processing can be done using multiple +# threads. Since this is still an experimental feature the default is set to 1, +# which effectively disables parallel processing. Please report any issues you +# encounter. Generating dot graphs in parallel is controlled by the +# DOT_NUM_THREADS setting. +# Minimum value: 0, maximum value: 32, default value: 1. + +NUM_PROC_THREADS = 1 + +# If the TIMESTAMP tag is set different from NO then each generated page will +# contain the date or date and time when the page was generated. Setting this to +# NO can help when comparing the output of multiple runs. +# Possible values are: YES, NO, DATETIME and DATE. +# The default value is: NO. + +TIMESTAMP = NO + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in +# documentation are documented, even if no documentation was available. Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. + +EXTRACT_ALL = NO + +# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will +# be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual +# methods of a class will be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIV_VIRTUAL = NO + +# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be +# included in the documentation. +# The default value is: NO. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO, +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. If set to YES, local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO, only methods in the interface are +# included. +# The default value is: NO. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. + +EXTRACT_ANON_NSPACES = NO + +# If this flag is set to YES, the name of an unnamed parameter in a declaration +# will be determined by the corresponding definition. By default unnamed +# parameters remain unnamed in the output. +# The default value is: YES. + +RESOLVE_UNNAMED_PARAMS = YES + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO, these classes will be included in the various overviews. This option +# will also hide undocumented C++ concepts if enabled. This option has no effect +# if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# declarations. If set to NO, these declarations will be included in the +# documentation. +# The default value is: NO. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO, these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. + +INTERNAL_DOCS = NO + +# With the correct setting of option CASE_SENSE_NAMES doxygen will better be +# able to match the capabilities of the underlying filesystem. In case the +# filesystem is case sensitive (i.e. it supports files in the same directory +# whose names only differ in casing), the option must be set to YES to properly +# deal with such files in case they appear in the input. For filesystems that +# are not case sensitive the option should be set to NO to properly deal with +# output files written for symbols that only differ in casing, such as for two +# classes, one named CLASS and the other named Class, and to also support +# references to files without having to specify the exact matching casing. On +# Windows (including Cygwin) and MacOS, users should typically set this option +# to NO, whereas on Linux or other Unix flavors it should typically be set to +# YES. +# Possible values are: SYSTEM, NO and YES. +# The default value is: SYSTEM. + +CASE_SENSE_NAMES = SYSTEM + +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES, the +# scope will be hidden. +# The default value is: NO. + +HIDE_SCOPE_NAMES = NO + +# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will +# append additional text to a page's title, such as Class Reference. If set to +# YES the compound reference will be hidden. +# The default value is: NO. + +HIDE_COMPOUND_REFERENCE= NO + +# If the SHOW_HEADERFILE tag is set to YES then the documentation for a class +# will show which file needs to be included to use the class. +# The default value is: YES. + +SHOW_HEADERFILE = YES + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. + +SHOW_INCLUDE_FILES = YES + +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. +# The default value is: YES. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo +# list. This list is created by putting \todo commands in the documentation. +# The default value is: YES. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test +# list. This list is created by putting \test commands in the documentation. +# The default value is: YES. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES, the +# list will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. See also section "Changing the +# layout of pages" for information. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. See also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = YES + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as documenting some parameters in +# a documented function twice, or documenting parameters that don't exist or +# using markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# If WARN_IF_INCOMPLETE_DOC is set to YES, doxygen will warn about incomplete +# function parameter documentation. If set to NO, doxygen will accept that some +# parameters have no documentation without warning. +# The default value is: YES. + +WARN_IF_INCOMPLETE_DOC = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO, doxygen will only warn about wrong parameter +# documentation, but not about the absence of documentation. If EXTRACT_ALL is +# set to YES then this flag will automatically be disabled. See also +# WARN_IF_INCOMPLETE_DOC +# The default value is: NO. + +WARN_NO_PARAMDOC = NO + +# If WARN_IF_UNDOC_ENUM_VAL option is set to YES, doxygen will warn about +# undocumented enumeration values. If set to NO, doxygen will accept +# undocumented enumeration values. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: NO. + +WARN_IF_UNDOC_ENUM_VAL = NO + +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS +# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but +# at the end of the doxygen process doxygen will return with a non-zero status. +# If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS_PRINT then doxygen behaves +# like FAIL_ON_WARNINGS but in case no WARN_LOGFILE is defined doxygen will not +# write the warning messages in between other messages but write them at the end +# of a run, in case a WARN_LOGFILE is defined the warning messages will be +# besides being in the defined file also be shown at the end of a run, unless +# the WARN_LOGFILE is defined as - i.e. standard output (stdout) in that case +# the behavior will remain as with the setting FAIL_ON_WARNINGS. +# Possible values are: NO, YES, FAIL_ON_WARNINGS and FAIL_ON_WARNINGS_PRINT. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# See also: WARN_LINE_FORMAT +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# In the $text part of the WARN_FORMAT command it is possible that a reference +# to a more specific place is given. To make it easier to jump to this place +# (outside of doxygen) the user can define a custom "cut" / "paste" string. +# Example: +# WARN_LINE_FORMAT = "'vi $file +$line'" +# See also: WARN_FORMAT +# The default value is: at line $line of file $file. + +WARN_LINE_FORMAT = "at line $line of file $file" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). In case the file specified cannot be opened for writing the +# warning and error messages are written to standard error. When as file - is +# specified the warning and error messages are written to standard output +# (stdout). + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. + +INPUT = Drivers/ Apps/ BSP/Inc/ BSP/STM32F413/Src + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: +# https://www.gnu.org/software/libiconv/) for the list of possible encodings. +# See also: INPUT_FILE_ENCODING +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses The INPUT_FILE_ENCODING tag can be used to specify +# character encoding on a per file pattern basis. Doxygen will compare the file +# name with each pattern and apply the encoding instead of the default +# INPUT_ENCODING) if there is a match. The character encodings are a list of the +# form: pattern=encoding (like *.php=ISO-8859-1). See cfg_input_encoding +# "INPUT_ENCODING" for further information on supported encodings. + +INPUT_FILE_ENCODING = + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# Note the list of default checked file patterns might differ from the list of +# default file extension mappings. +# +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, +# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, +# *.hh, *.hxx, *.hpp, *.h++, *.l, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, +# *.inc, *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C +# comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd, +# *.vhdl, *.ucf, *.qsf and *.ice. + +FILE_PATTERNS = *.c \ + *.cc \ + *.cxx \ + *.cpp \ + *.c++ \ + *.java \ + *.ii \ + *.ixx \ + *.ipp \ + *.i++ \ + *.inl \ + *.idl \ + *.ddl \ + *.odl \ + *.h \ + *.hh \ + *.hxx \ + *.hpp \ + *.h++ \ + *.l \ + *.cs \ + *.d \ + *.php \ + *.php4 \ + *.php5 \ + *.phtml \ + *.inc \ + *.m \ + *.markdown \ + *.md \ + *.mm \ + *.dox \ + *.py \ + *.pyw \ + *.f90 \ + *.f95 \ + *.f03 \ + *.f08 \ + *.f18 \ + *.f \ + *.for \ + *.vhd \ + *.vhdl \ + *.ucf \ + *.qsf \ + *.ice + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# ANamespace::AClass, ANamespace::*Test + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = * + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. +# +# Note that doxygen will use the data processed and written to standard output +# for further processing, therefore nothing else, like debug statements or used +# commands (so in case of a Windows batch file always use @echo OFF), should be +# written to standard output. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = + +# The Fortran standard specifies that for fixed formatted Fortran code all +# characters from position 72 are to be considered as comment. A common +# extension is to allow longer lines before the automatic comment starts. The +# setting FORTRAN_COMMENT_AFTER will also make it possible that longer lines can +# be processed before the automatic comment starts. +# Minimum value: 7, maximum value: 10000, default value: 72. + +FORTRAN_COMMENT_AFTER = 72 + +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# classes and enums directly into the documentation. +# The default value is: NO. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# entity all documented functions referencing it will be listed. +# The default value is: NO. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. + +REFERENCES_LINK_SOURCE = YES + +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see https://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. + +VERBATIM_HEADERS = YES + +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. + +ALPHABETICAL_INDEX = YES + +# The IGNORE_PREFIX tag can be used to specify a prefix (or a list of prefixes) +# that should be ignored while generating the index headers. The IGNORE_PREFIX +# tag works for classes, function and member names. The entity will be placed in +# the alphabetical list under the first letter of the entity name that remains +# after removing the prefix. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output +# The default value is: YES. + +GENERATE_HTML = NO + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_STYLESHEET = + +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# cascading style sheets that are included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). +# Note: Since the styling of scrollbars can currently not be overruled in +# Webkit/Chromium, the styling will be left out of the default doxygen.css if +# one or more extra stylesheets have been specified. So if scrollbar +# customization is desired it has to be added explicitly. For an example see the +# documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE tag can be used to specify if the generated HTML output +# should be rendered with a dark or light theme. +# Possible values are: LIGHT always generate light mode output, DARK always +# generate dark mode output, AUTO_LIGHT automatically set the mode according to +# the user preference, use light mode if no preference is set (the default), +# AUTO_DARK automatically set the mode according to the user preference, use +# dark mode if no preference is set and TOGGLE allow to user to switch between +# light and dark mode via a button. +# The default value is: AUTO_LIGHT. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE = AUTO_LIGHT + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the style sheet and background images according to +# this color. Hue is specified as an angle on a color-wheel, see +# https://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use gray-scales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML +# documentation will contain a main index with vertical navigation menus that +# are dynamically created via JavaScript. If disabled, the navigation index will +# consists of multiple levels of tabs that are statically embedded in every HTML +# page. Disable this option to support browsers that do not have JavaScript, +# like the Qt help browser. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_MENUS = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_SECTIONS = NO + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: +# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To +# create a documentation set, doxygen will generate a Makefile in the HTML +# output directory. Running make will produce the docset in that directory and +# running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy +# genXcode/_index.html for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_DOCSET = NO + +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# This tag determines the URL of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDURL = + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# on Windows. In the beginning of 2021 Microsoft took the original page, with +# a.o. the download links, offline the HTML help workshop was already many years +# in maintenance mode). You can download the HTML help workshop from the web +# archives at Installation executable (see: +# http://web.archive.org/web/20160201063255/http://download.microsoft.com/downlo +# ad/0/A/9/0A939EF6-E31C-430F-A3DF-DFAE7960D564/htmlhelp.exe). +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_HTMLHELP = NO + +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be +# written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_FILE = + +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler (hhc.exe). If non-empty, +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +HHC_LOCATION = + +# The GENERATE_CHI flag controls if a separate .chi index file is generated +# (YES) or that it should be included in the main .chm file (NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +GENERATE_CHI = NO + +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_INDEX_ENCODING = + +# The BINARY_TOC flag controls whether a binary table of contents is generated +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it +# enables the Previous and Next buttons. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +TOC_EXPAND = NO + +# The SITEMAP_URL tag is used to specify the full URL of the place where the +# generated documentation will be placed on the server by the user during the +# deployment of the documentation. The generated sitemap is called sitemap.xml +# and placed on the directory specified by HTML_OUTPUT. In case no SITEMAP_URL +# is specified no sitemap is generated. For information about the sitemap +# protocol see https://www.sitemaps.org +# This tag requires that the tag GENERATE_HTML is set to YES. + +SITEMAP_URL = + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_VIRTUAL_FOLDER = doc + +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_SECT_FILTER_ATTRS = + +# The QHG_LOCATION tag can be used to specify the location (absolute path +# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to +# run qhelpgenerator on the generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can +# further fine tune the look of the index (see "Fine-tuning the output"). As an +# example, the default style sheet generated by doxygen has an example that +# shows how to put an image at the root of the tree instead of the PROJECT_NAME. +# Since the tree basically has the same information as the tab index, you could +# consider setting DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_TREEVIEW = NO + +# When both GENERATE_TREEVIEW and DISABLE_INDEX are set to YES, then the +# FULL_SIDEBAR option determines if the side bar is limited to only the treeview +# area (value NO) or if it should extend to the full height of the window (value +# YES). Setting this to YES gives a layout similar to +# https://docs.readthedocs.io with more room for contents, but less room for the +# project logo, title, and description. If either GENERATE_TREEVIEW or +# DISABLE_INDEX is set to NO, this option has no effect. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FULL_SIDEBAR = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. + +TREEVIEW_WIDTH = 250 + +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +EXT_LINKS_IN_WINDOW = NO + +# If the OBFUSCATE_EMAILS tag is set to YES, doxygen will obfuscate email +# addresses. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +OBFUSCATE_EMAILS = YES + +# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg +# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see +# https://inkscape.org) to generate formulas as SVG images instead of PNGs for +# the HTML output. These images will generally look nicer at scaled resolutions. +# Possible values are: png (the default) and svg (looks nicer but requires the +# pdf2svg or inkscape tool). +# The default value is: png. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FORMULA_FORMAT = png + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_FONTSIZE = 10 + +# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands +# to create new LaTeX commands to be used in formulas as building blocks. See +# the section "Including formulas" for details. + +FORMULA_MACROFILE = + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# https://www.mathjax.org) which uses client side JavaScript for the rendering +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +USE_MATHJAX = NO + +# With MATHJAX_VERSION it is possible to specify the MathJax version to be used. +# Note that the different versions of MathJax have different requirements with +# regards to the different settings, so it is possible that also other MathJax +# settings have to be changed when switching between the different MathJax +# versions. +# Possible values are: MathJax_2 and MathJax_3. +# The default value is: MathJax_2. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_VERSION = MathJax_2 + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. For more details about the output format see MathJax +# version 2 (see: +# http://docs.mathjax.org/en/v2.7-latest/output.html) and MathJax version 3 +# (see: +# http://docs.mathjax.org/en/latest/web/components/output.html). +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility. This is the name for Mathjax version 2, for MathJax version 3 +# this will be translated into chtml), NativeMML (i.e. MathML. Only supported +# for NathJax 2. For MathJax version 3 chtml will be used instead.), chtml (This +# is the name for Mathjax version 3, for MathJax version 2 this will be +# translated into HTML-CSS) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from https://www.mathjax.org before deployment. The default value is: +# - in case of MathJax version 2: https://cdn.jsdelivr.net/npm/mathjax@2 +# - in case of MathJax version 3: https://cdn.jsdelivr.net/npm/mathjax@3 +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# for MathJax version 2 (see +# https://docs.mathjax.org/en/v2.7-latest/tex.html#tex-and-latex-extensions): +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# For example for MathJax version 3 (see +# http://docs.mathjax.org/en/latest/input/tex/extensions/index.html): +# MATHJAX_EXTENSIONS = ams +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: +# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to +# search using the keyboard; to jump to the search box use + S +# (what the is depends on the OS and browser, but it is typically +# , /