HV Boot and Wheels Spinning (#1250)

### Changelist 
<!-- Give a list of the changes covered in this PR. This will help both
you and the reviewer keep this PR within scope. -->
- Make wheels turn

### Testing Done
<!-- Outline the testing that was done to demonstrate the changes are
solid. This could be unit tests, integration tests, testing on the car,
etc. Include relevant code snippets, screenshots, etc as needed. -->
- Turning wheels

### Resolved Tickets
<!-- Link any tickets that this PR resolves. -->
uh

---------

Co-authored-by: AmirTajaddodi <[email protected]>
Co-authored-by: will-chaba <[email protected]>
Co-authored-by: Amir Tajaddoditalab <[email protected]>
Co-authored-by: Ashli <[email protected]>
Co-authored-by: Will Chaba <[email protected]>
Co-authored-by: Jiajun-Huang <[email protected]>
Co-authored-by: Jiajun-Huang <[email protected]>

.github/workflows/ci.yml

@@ -23,7 +23,7 @@ jobs:
         uses: actions/checkout@v4
 
       - name: Format code
-        run: python3 scripts/clang_format/fix_formatting.py
+        run: python3 scripts/utilities/fix_formatting.py
 
       - name: Check for differences
         run: git --no-pager diff --color --exit-code

.gitignore

@@ -150,4 +150,5 @@ environment/bin
 CMakeUserPresets.json
 build
 
-zadig.exe
+zadig.exe
+/can_bus/**/*.plt

.vscode/tasks.json

@@ -204,7 +204,7 @@
             "command": "python3 fix_formatting.py",
             "group": "build",
             "options": {
-                "cwd": "${workspaceFolder}/scripts/clang_format"
+                "cwd": "${workspaceFolder}/scripts/utilities/"
             }
         },
     ]

CMakeLists.txt

@@ -92,7 +92,7 @@ ENDIF ()
 message("🐍 Using Python Command: \"${PYTHON_COMMAND}\"")
 
 # ======== Clang-Format ========
-set(FIX_FORMATTING_SCRIPT ${CMAKE_CURRENT_SOURCE_DIR}/scripts/clang_format/fix_formatting.py)
+set(FIX_FORMATTING_SCRIPT scripts/utilities/fix_formatting.py)
 option(FIX_FORMATTING "Run clang-format on all boards" OFF)
 IF (FIX_FORMATTING)
 	message("⚙️ Run Clang-Formatting for all boards")
@@ -103,6 +103,7 @@ IF (FIX_FORMATTING)
 ENDIF ()
 
 # ======== Code Time ========
+option(PLATFORM "The platform to build for" "")
 message("⚙️ Configuring for \"${PLATFORM}\" platform and \"${TARGET}\" build target")
 IF ("${PLATFORM}" STREQUAL "firmware")
 	# ======== Dependency Handling ========

can_bus/quadruna/BMS/BMS_enum.json

@@ -1,33 +1,36 @@
 {
-  "BmsState": {
-    "BMS_INIT_STATE": 0,
-    "BMS_PRECHARGE_STATE": 1,
-    "BMS_CHARGE_STATE": 2,
-    "BMS_DRIVE_STATE": 3,
-    "BMS_BALANCING_STATE": 4,
-    "BMS_FAULT_STATE": 5,
-    "BMS_INVERTER_ON_STATE": 6
-  },
-  "ImdConditionName": {
-    "IMD_CONDITION_SHORT_CIRCUIT": 0,
-    "IMD_CONDITION_NORMAL": 1,
-    "IMD_CONDITION_UNDERVOLTAGE_DETECTED": 2,
-    "IMD_CONDITION_SST": 3,
-    "IMD_CONDITION_DEVICE_ERROR": 4,
-    "IMD_CONDITION_GROUND_FAULT": 5,
-    "IMD_CONDITION_INVALID": 6
-  },
-  "ImdActiveFrequency":
-  {
-    "IMD_0Hz":  0,
-    "IMD_10Hz": 1,
-    "IMD_20Hz": 2,
-    "IMD_30Hz": 3,
-    "IMD_40Hz": 4,
-    "IMD_50Hz": 5
-  },
-  "ContactorState": {
-    "CONTACTOR_STATE_OPEN": 0,
-    "CONTACTOR_STATE_CLOSED": 1
-  }
+    "BmsState": {
+        "BMS_INIT_STATE": 0,
+        "BMS_PRECHARGE_STATE": 1,
+        "BMS_CHARGE_STATE": 2,
+        "BMS_DRIVE_STATE": 3,
+        "BMS_BALANCING_STATE": 4,
+        "BMS_FAULT_STATE": 5,
+        "BMS_INVERTER_ON_STATE": 6
+    },
+    "ImdConditionName": {
+        "IMD_CONDITION_SHORT_CIRCUIT": 0,
+        "IMD_CONDITION_NORMAL": 1,
+        "IMD_CONDITION_UNDERVOLTAGE_DETECTED": 2,
+        "IMD_CONDITION_SST": 3,
+        "IMD_CONDITION_DEVICE_ERROR": 4,
+        "IMD_CONDITION_GROUND_FAULT": 5,
+        "IMD_CONDITION_INVALID": 6
+    },
+    "ImdActiveFrequency": {
+        "IMD_0Hz": 0,
+        "IMD_10Hz": 1,
+        "IMD_20Hz": 2,
+        "IMD_30Hz": 3,
+        "IMD_40Hz": 4,
+        "IMD_50Hz": 5
+    },
+    "ContactorState": {
+        "CONTACTOR_STATE_OPEN": 0,
+        "CONTACTOR_STATE_CLOSED": 1
+    },
+    "CAN_AccumulatorMonitorState": {
+        "CAN_GET_CELL_VOLTAGE_STATE": 0,
+        "CAN_GET_CELL_TEMPERATURE_STATE": 1
+    }
 }

can_bus/quadruna/BMS/BMS_tx.json

@@ -18,10 +18,10 @@
         "description": "Context info for BMS alerts",
         "signals": {
             "TxOverflowCount": {
-                "bits": 8
+                "bits": 16
             },
             "RxOverflowCount": {
-                "bits": 8
+                "bits": 16
             },
             "WatchdogTimeoutTaskName": {
                 "enum": "RtosTaskName"
@@ -265,7 +265,7 @@
                 "unit": "V"
             },
             "TractiveSystemCurrent": {
-                "resolution": 0.1,
+                "resolution": 0.01,
                 "min": -300,
                 "max": 300,
                 "unit": "A"
@@ -401,5 +401,18 @@
                 "bits": 1
             }
         }
+    },
+    "ModuleCommunication": {
+        "msg_id": 144,
+        "cycle_time": 1000,
+        "description": "BMS Module Communication Status",
+        "signals": {
+            "NumCommTries": {
+                "bits": 16
+            },
+            "AccumulatorMonitorState": {
+                "enum": "CAN_AccumulatorMonitorState"
+            }
+        }
     }
 }

can_bus/quadruna/CRIT/CRIT_rx.json

@@ -7,6 +7,7 @@
         "BMS_Contactors",
         "BMS_OkStatuses",
         "VC_Regen",
-        "VC_TorqueVectoring"
+        "VC_TorqueVectoring",
+        "Debug_CanMode"
     ]
 }

can_bus/quadruna/CRIT/CRIT_tx.json

@@ -72,7 +72,7 @@
         "cycle_time": 100,
         "description": "CRIT Shutdown Node Status",
         "signals": {
-            "ShdnSenOKStatus": {
+            "CockpitEStopOKStatus": {
                 "bits": 1
             },
             "InertiaSenOKStatus": {

can_bus/quadruna/FSM/FSM_alerts.json

@@ -32,7 +32,7 @@
             "id": 307,
             "description": "Stack watermark failed on canRx task."
         },
-        "StackWaterMarkHighTaskCanTx":{
+        "StackWaterMarkHighTaskCanTx": {
             "id": 308,
             "description": "Stack watermark failed on canTx task."
         },
@@ -90,10 +90,6 @@
         }
     },
     "faults": {
-        "DummyFault": {
-            "id": 351,
-            "description": "Placeholder."
-        },
         "PappsOCSC": {
             "id": 352,
             "description": "Primary accelerator pedal voltage out of acceptable range (OCSC)."

can_bus/quadruna/FSM/FSM_tx.json

@@ -172,7 +172,7 @@
         "cycle_time": 100,
         "description": "FSM Shutdown Node Status",
         "signals": {
-            "FSMShdnOKStatus": {
+            "BOTSOKStatus": {
                 "bits": 1
             }
         }