Heartbeat Refactor (#1325)

### Changelist 
<!-- Give a list of the changes covered in this PR. This will help both
you and the reviewer keep this PR within scope. -->
- Changed structure of heartbeat monitor config. (see
`firmware/shared/src/app/app_heartbeatMonitorBoard.h`)
- Gives sturcture towards future app level refactor

### 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. -->
- fixed tests for all boards
- adapted shared heartbeat monitor to new structure

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

firmware/cmake/shared.cmake

@@ -19,6 +19,10 @@ set(SHARED_EMBEDDED_DIR_CPP "${SHARED_DIR}/srcpp")
 set(SHARED_APP_INCLUDE_DIR_CPP "${SHARED_EMBEDDED_DIR_CPP}/app")
 set(SHARED_IO_INCLUDE_DIR_CPP "${SHARED_EMBEDDED_DIR_CPP}/io")
 set(SHARED_HW_INCLUDE_DIR_CPP "${SHARED_EMBEDDED_DIR_CPP}/hw")
+# code sources
+file(GLOB_RECURSE SHARED_APP_SRCS "${SHARED_APP_INCLUDE_DIR}/*.c")
+file(GLOB_RECURSE SHARED_IO_SRCS "${SHARED_IO_INCLUDE_DIR}/*.c")
+file(GLOB_RECURSE SHARED_HW_SRCS "${SHARED_HW_INCLUDE_DIR}/*.c")
 
 # Test Utils
 set(SHARED_TEST_UTILS_INCLUDE_DIRS "${SHARED_DIR}/test_utils")
@@ -69,13 +73,13 @@ endfunction()
 function(jsoncan_library BOARD CAR JSONCAN_DIR)
     jsoncan_sources(
             ${BOARD}
-            "${JSONCAN_DIR}"
+            ${JSONCAN_DIR}
             FALSE
             ${CAR}
     )
     add_library(
-            "${CAR}_${BOARD}_jsoncan" STATIC
-            "${CAN_SRCS}"
+            "${CAR}_${BOARD}_jsoncan" INTERFACE
     )
-    target_include_directories("${CAR}_${BOARD}_jsoncan" PUBLIC "${CAN_INCLUDE_DIRS}")
+    target_sources("${CAR}_${BOARD}_jsoncan" INTERFACE ${CAN_SRCS})
+    target_include_directories("${CAR}_${BOARD}_jsoncan" INTERFACE "${CAN_INCLUDE_DIRS}")
 endfunction()

firmware/cmake/tests.cmake

@@ -23,7 +23,6 @@ function(compile_gtest_executable
     target_compile_options(${TEST_EXECUTABLE_NAME}
         PUBLIC
         -Wall
-        -g3
     )
     target_link_libraries(${TEST_EXECUTABLE_NAME} gtest_main)
     add_test(NAME ${TEST_EXECUTABLE_NAME}
@@ -61,9 +60,9 @@ function(create_fake_library
 
     add_library(${LIB_NAME} STATIC ${FAKE_SRCS})
     target_compile_options(${LIB_NAME}
-        PUBLIC
-        -Wall
-        -g3
+            PUBLIC
+            -Wall
+            -g3
     )
     target_include_directories(${LIB_NAME}
         PUBLIC

firmware/logfs/CMakeLists.txt

@@ -1,3 +1,6 @@
+message("")
+message("⚙️ Configuring LogFS")
+
 set(LOGFS_INCLUDE_DIRS
     "${CMAKE_CURRENT_SOURCE_DIR}/src"
 )

firmware/quadruna/BMS/CMakeLists.txt

@@ -12,6 +12,7 @@ list(APPEND APP_SRCS
         "${SHARED_APP_INCLUDE_DIR}/app_timer.c"
         "${SHARED_APP_INCLUDE_DIR}/app_math.c"
         "${SHARED_APP_INCLUDE_DIR}/app_heartbeatMonitor.c"
+        "${SHARED_APP_INCLUDE_DIR}/app_heartbeatBoard.c"
         "${SHARED_APP_INCLUDE_DIR}/app_shdnLoopNode.c"
 )
 set(APP_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/src/app" "${SHARED_APP_INCLUDE_DIR}" "${SHARED_APP_INCLUDE_QUADRUNA_DIR}")

firmware/quadruna/BMS/src/app/app_globals.h

@@ -3,7 +3,6 @@
 #include <stdint.h>
 #include "io_faultLatch.h"
 #include "io_thermistors.h"
-#include "app_heartbeatMonitor.h"
 #include "app_timer.h"
 
 typedef struct

firmware/quadruna/BMS/src/app/app_heartbeatMonitors.c

@@ -0,0 +1,20 @@
+#include "app_heartbeatMonitors.h"
+#include "app_canRx.h"
+#include "app_canAlerts.h"
+#include "app_canTx.h"
+
+static HeartbeatBoard heartbeat_boards[1] = {
+    // vc
+    {
+        .getter       = app_canRx_VC_Heartbeat_get,
+        .resetter     = app_canRx_VC_Heartbeat_update,
+        .fault_setter = app_canAlerts_BMS_Warning_MissingVCHeartbeat_set,
+        .fault_getter = app_canAlerts_BMS_Warning_MissingVCHeartbeat_get,
+        .timeout_ms   = 200,
+    }
+};
+
+HeartbeatMonitor hb_monitor = { .boards        = heartbeat_boards,
+                                .board_count   = 1,
+                                .block_faults  = false,
+                                .own_heartbeat = app_canTx_BMS_Heartbeat_set };

firmware/quadruna/BMS/src/app/app_heartbeatMonitors.h

@@ -0,0 +1,5 @@
+#pragma once
+
+#include "app_heartbeatMonitor.h"
+
+extern HeartbeatMonitor hb_monitor;

firmware/quadruna/BMS/src/app/states/app_allStates.c

@@ -1,7 +1,5 @@
 #include "states/app_allStates.h"
 #include "states/app_faultState.h"
-#include "app_utils.h"
-#include "app_thermistors.h"
 #include "app_accumulator.h"
 #include "app_tractiveSystem.h"
 #include "app_imd.h"
@@ -11,6 +9,7 @@
 #include "io_faultLatch.h"
 #include "io_airs.h"
 #include "io_bspdTest.h"
+#include "app_heartbeatMonitors.h"
 
 // Num of cycles for voltage and cell temperature values to settle
 #define NUM_CYCLES_TO_SETTLE (30U)
@@ -55,8 +54,8 @@ bool app_allStates_runOnTick100Hz(void)
 {
     app_canTx_BMS_Heartbeat_set(true);
 
-    app_heartbeatMonitor_checkIn();
-    app_heartbeatMonitor_broadcastFaults();
+    app_heartbeatMonitor_checkIn(&hb_monitor);
+    app_heartbeatMonitor_broadcastFaults(&hb_monitor);
 
     const bool balancing_enabled = app_canRx_Debug_CellBalancingRequest_get();
 

firmware/quadruna/BMS/src/app/states/app_initState.c

@@ -1,10 +1,10 @@
 #include "states/app_allStates.h"
-#include "app_utils.h"
 #include "app_imd.h"
 #include "app_soc.h"
 #include "io_faultLatch.h"
 #include "io_airs.h"
 #include "app_inverterOnState.h"
+#include "app_heartbeatMonitors.h"
 
 #define TS_DISCHARGED_THRESHOLD_V (10.0f)
 
@@ -45,7 +45,7 @@ static void initStateRunOnTick100Hz(void)
     {
         const bool air_negative_closed = io_airs_isNegativeClosed();
         const bool ts_discharged       = app_tractiveSystem_getVoltage() < TS_DISCHARGED_THRESHOLD_V;
-        const bool missing_hb          = app_heartbeatMonitor_isSendingMissingHeartbeatFault();
+        const bool missing_hb          = app_heartbeatMonitor_isSendingMissingHeartbeatFault(&hb_monitor);
 
         if (air_negative_closed && ts_discharged)
         {

firmware/quadruna/BMS/src/tasks.c

@@ -211,41 +211,6 @@ static const GlobalsConfig globals_config = { .bms_ok_latch  = &bms_ok_latch,
                                               .imd_ok_latch  = &imd_ok_latch,
                                               .bspd_ok_latch = &bspd_ok_latch };
 
-// config for heartbeat monitor (can funcs and flags)
-// BMS relies on VC
-static const bool heartbeatMonitorChecklist[HEARTBEAT_BOARD_COUNT] = {
-    [BMS_HEARTBEAT_BOARD] = false, [VC_HEARTBEAT_BOARD] = true,   [RSM_HEARTBEAT_BOARD] = false,
-    [FSM_HEARTBEAT_BOARD] = false, [DIM_HEARTBEAT_BOARD] = false, [CRIT_HEARTBEAT_BOARD] = false
-};
-
-// heartbeatGetters - get heartbeat signals from other boards
-static bool (*const heartbeatGetters[HEARTBEAT_BOARD_COUNT])(void) = {
-    [BMS_HEARTBEAT_BOARD] = NULL, [VC_HEARTBEAT_BOARD] = app_canRx_VC_Heartbeat_get,
-    [RSM_HEARTBEAT_BOARD] = NULL, [FSM_HEARTBEAT_BOARD] = NULL,
-    [DIM_HEARTBEAT_BOARD] = NULL, [CRIT_HEARTBEAT_BOARD] = NULL
-};
-
-// heartbeatUpdaters - update local CAN table with heartbeat status
-static void (*const heartbeatUpdaters[HEARTBEAT_BOARD_COUNT])(bool) = {
-    [BMS_HEARTBEAT_BOARD] = NULL, [VC_HEARTBEAT_BOARD] = app_canRx_VC_Heartbeat_update,
-    [RSM_HEARTBEAT_BOARD] = NULL, [FSM_HEARTBEAT_BOARD] = NULL,
-    [DIM_HEARTBEAT_BOARD] = NULL, [CRIT_HEARTBEAT_BOARD] = NULL
-};
-
-// heartbeatFaultSetters - broadcast heartbeat faults over CAN
-static void (*const heartbeatFaultSetters[HEARTBEAT_BOARD_COUNT])(bool) = {
-    [BMS_HEARTBEAT_BOARD] = NULL, [VC_HEARTBEAT_BOARD] = app_canAlerts_BMS_Warning_MissingVCHeartbeat_set,
-    [RSM_HEARTBEAT_BOARD] = NULL, [FSM_HEARTBEAT_BOARD] = NULL,
-    [DIM_HEARTBEAT_BOARD] = NULL, [CRIT_HEARTBEAT_BOARD] = NULL
-};
-
-// heartbeatFaultGetters - gets fault statuses over CAN
-static bool (*const heartbeatFaultGetters[HEARTBEAT_BOARD_COUNT])(void) = {
-    [BMS_HEARTBEAT_BOARD] = NULL, [VC_HEARTBEAT_BOARD] = app_canAlerts_BMS_Warning_MissingVCHeartbeat_get,
-    [RSM_HEARTBEAT_BOARD] = NULL, [FSM_HEARTBEAT_BOARD] = NULL,
-    [DIM_HEARTBEAT_BOARD] = NULL, [CRIT_HEARTBEAT_BOARD] = NULL
-};
-
 const Gpio *id_to_gpio[] = { [BMS_GpioNetName_ACCEL_BRAKE_OK_3V3]     = &accel_brake_ok_pin,
                              [BMS_GpioNetName_AIR_P_EN]               = &airs_config.air_p_gpio,
                              [BMS_GpioNetName_AUX_TSENSE_MUX0]        = &thermistors_config.mux_0_gpio,
@@ -335,10 +300,6 @@ void tasks_init(void)
     app_globals_init(&globals_config);
     app_stateMachine_init(app_initState_get());
 
-    app_heartbeatMonitor_init(
-        heartbeatMonitorChecklist, heartbeatGetters, heartbeatUpdaters, &app_canTx_BMS_Heartbeat_set,
-        heartbeatFaultSetters, heartbeatFaultGetters);
-
     // broadcast commit info
     app_canTx_BMS_Hash_set(GIT_COMMIT_HASH);
     app_canTx_BMS_Clean_set(GIT_COMMIT_CLEAN);

firmware/quadruna/BMS/test/test_bmsBaseStateMachineTest.h

@@ -3,7 +3,6 @@
 #include <gtest/gtest.h>
 #include "test_baseStateMachineTest.h"
 
-#include "fake_io_time.hpp"
 #include "fake_io_led.hpp"
 #include "fake_io_airs.hpp"
 #include "fake_io_sd.hpp"
@@ -21,7 +20,7 @@ extern "C"
 #include "app_canRx.h"
 #include "app_canAlerts.h"
 #include "app_canUtils.h"
-#include "app_heartbeatMonitor.h"
+#include "app_heartbeatMonitors.h"
 #include "app_stateMachine.h"
 #include "app_utils.h"
 #include "states/app_initState.h"
@@ -48,9 +47,9 @@ class BmsBaseStateMachineTest : public BaseStateMachineTest
         app_canTx_init();
         app_canRx_init();
 
-        app_heartbeatMonitor_init(
-            heartbeatMonitorChecklist, heartbeatGetters, heartbeatUpdaters, &app_canTx_BMS_Heartbeat_set,
-            heartbeatFaultSetters, heartbeatFaultGetters);
+        // Disable heartbeat monitor in the nominal case. To use representative heartbeat behavior,
+        // re-enable the heartbeat monitor.
+        app_heartbeatMonitor_blockFaults(&hb_monitor, true);
 
         app_accumulator_init();
         app_tractiveSystem_init();
@@ -76,10 +75,6 @@ class BmsBaseStateMachineTest : public BaseStateMachineTest
 
         // Default to starting the state machine in the `init` state
         app_stateMachine_init(app_initState_get());
-
-        // Disable heartbeat monitor in the nominal case. To use representative heartbeat behavior,
-        // re-enable the heartbeat monitor.
-        app_heartbeatMonitor_blockFaults(true);
     }
 
     void TearDown() override
@@ -121,41 +116,6 @@ class BmsBaseStateMachineTest : public BaseStateMachineTest
     const FaultLatch           imd_ok_latch       = {};
     const FaultLatch           bspd_ok_latch      = {};
 
-    // config for heartbeat monitor (can funcs and flags)
-    // BMS relies on VC
-    bool heartbeatMonitorChecklist[HEARTBEAT_BOARD_COUNT] = {
-        [BMS_HEARTBEAT_BOARD] = false, [VC_HEARTBEAT_BOARD] = true,   [RSM_HEARTBEAT_BOARD] = false,
-        [FSM_HEARTBEAT_BOARD] = false, [DIM_HEARTBEAT_BOARD] = false, [CRIT_HEARTBEAT_BOARD] = false
-    };
-
-    // heartbeatGetters - get heartbeat signals from other boards
-    bool (*heartbeatGetters[HEARTBEAT_BOARD_COUNT])() = {
-        [BMS_HEARTBEAT_BOARD] = NULL, [VC_HEARTBEAT_BOARD] = app_canRx_VC_Heartbeat_get,
-        [RSM_HEARTBEAT_BOARD] = NULL, [FSM_HEARTBEAT_BOARD] = NULL,
-        [DIM_HEARTBEAT_BOARD] = NULL, [CRIT_HEARTBEAT_BOARD] = NULL
-    };
-
-    // heartbeatUpdaters - update local CAN table with heartbeat status
-    void (*heartbeatUpdaters[HEARTBEAT_BOARD_COUNT])(bool) = {
-        [BMS_HEARTBEAT_BOARD] = NULL, [VC_HEARTBEAT_BOARD] = app_canRx_VC_Heartbeat_update,
-        [RSM_HEARTBEAT_BOARD] = NULL, [FSM_HEARTBEAT_BOARD] = NULL,
-        [DIM_HEARTBEAT_BOARD] = NULL, [CRIT_HEARTBEAT_BOARD] = NULL
-    };
-
-    // heartbeatFaultSetters - broadcast heartbeat faults over CAN
-    void (*heartbeatFaultSetters[HEARTBEAT_BOARD_COUNT])(bool) = {
-        [BMS_HEARTBEAT_BOARD] = NULL, [VC_HEARTBEAT_BOARD] = app_canAlerts_BMS_Warning_MissingVCHeartbeat_set,
-        [RSM_HEARTBEAT_BOARD] = NULL, [FSM_HEARTBEAT_BOARD] = NULL,
-        [DIM_HEARTBEAT_BOARD] = NULL, [CRIT_HEARTBEAT_BOARD] = NULL
-    };
-
-    // heartbeatFaultGetters - gets fault statuses over CAN
-    bool (*heartbeatFaultGetters[HEARTBEAT_BOARD_COUNT])() = {
-        [BMS_HEARTBEAT_BOARD] = NULL, [VC_HEARTBEAT_BOARD] = app_canAlerts_BMS_Warning_MissingVCHeartbeat_get,
-        [RSM_HEARTBEAT_BOARD] = NULL, [FSM_HEARTBEAT_BOARD] = NULL,
-        [DIM_HEARTBEAT_BOARD] = NULL, [CRIT_HEARTBEAT_BOARD] = NULL
-    };
-
     const GlobalsConfig globals_config = {
         .bms_ok_latch  = &bms_ok_latch,
         .imd_ok_latch  = &imd_ok_latch,

firmware/quadruna/BMS/test/test_faults.cpp

@@ -492,7 +492,8 @@ TEST_F(BmsFaultTest, check_state_transition_fault_state_precharge_fault)
         fake_io_airs_isNegativeClosed_returns(true);
         app_canRx_Debug_StartCharging_update(false);
         LetTimePass(210U);
-        ASSERT_EQ(app_prechargeState_get(), app_stateMachine_getCurrentState());
+        ASSERT_EQ(app_prechargeState_get(), app_stateMachine_getCurrentState())
+            << "Given " << app_stateMachine_getCurrentState()->name << ", expected to be precharge state";
         ASSERT_FALSE(app_canAlerts_BMS_Fault_PrechargeFailure_get());
 
         // 3.8V nominal cell voltage * total # of cells to give estimate of nominal pack voltage

firmware/quadruna/BMS/test/test_imd.h

@@ -22,14 +22,14 @@ class ImdTest : public testing::Test
     }
 };
 
-static void test_imd_setImdCondition(ImdConditionName condition_name)
+static void test_imd_setImdCondition(const ImdConditionName condition_name)
 {
-    const float mapping[NUM_OF_IMD_CONDITIONS] = {
-        [IMD_CONDITION_SHORT_CIRCUIT] = 0.0f,          [IMD_CONDITION_NORMAL] = 10.0f,
-        [IMD_CONDITION_UNDERVOLTAGE_DETECTED] = 20.0f, [IMD_CONDITION_SST] = 30.0f,
-        [IMD_CONDITION_DEVICE_ERROR] = 40.0f,          [IMD_CONDITION_GROUND_FAULT] = 50.0f,
+    const std::map<ImdConditionName, float> mapping{
+        { IMD_CONDITION_SHORT_CIRCUIT, 0.0f },          { IMD_CONDITION_NORMAL, 10.0f },
+        { IMD_CONDITION_UNDERVOLTAGE_DETECTED, 20.0f }, { IMD_CONDITION_SST, 30.0f },
+        { IMD_CONDITION_DEVICE_ERROR, 40.0f },          { IMD_CONDITION_GROUND_FAULT, 50.0f }
     };
 
-    fake_io_imd_getFrequency_returns(mapping[condition_name]);
+    fake_io_imd_getFrequency_returns(mapping.at(condition_name));
     ASSERT_EQ(condition_name, app_imd_getCondition().name);
 }

firmware/quadruna/BMS/test/test_stateMachine.cpp

@@ -371,7 +371,7 @@ TEST_F(BmsStateMachineTest, no_charger_connected_missing_hb_init_state)
 {
     SetInitialState(app_initState_get());
     fake_io_airs_isNegativeClosed_returns(true);
-    app_heartbeatMonitor_blockFaults(false);
+    app_heartbeatMonitor_blockFaults(&hb_monitor, false);
     app_canRx_VC_Heartbeat_update(false);
 
     LetTimePass(500U);

firmware/quadruna/CRIT/CMakeLists.txt

@@ -8,6 +8,7 @@ file(GLOB_RECURSE APP_SRCS "${CMAKE_CURRENT_SOURCE_DIR}/src/app/*.c")
 list(APPEND APP_SRCS
         "${SHARED_APP_INCLUDE_DIR}/app_stateMachine.c"
         "${SHARED_APP_INCLUDE_DIR}/app_heartbeatMonitor.c"
+        "${SHARED_APP_INCLUDE_DIR}/app_heartbeatBoard.c"
         "${SHARED_APP_INCLUDE_DIR}/app_rangeCheck.c"
         "${SHARED_APP_INCLUDE_DIR}/app_signal.c"
         "${SHARED_APP_INCLUDE_DIR}/app_timer.c"

firmware/quadruna/CRIT/src/app/app_heartbeatMonitors.c

@@ -0,0 +1,37 @@
+#include "app_heartbeatMonitors.h"
+
+#include "app_canTx.h"
+#include "app_canRx.h"
+#include "app_canAlerts.h"
+
+static HeartbeatBoard heartbeat_boards[4] = {
+    // bms
+    { .getter       = app_canRx_BMS_Heartbeat_get,
+      .resetter     = app_canRx_BMS_Heartbeat_update,
+      .fault_setter = app_canAlerts_CRIT_Fault_MissingBMSHeartbeat_set,
+      .fault_getter = app_canAlerts_CRIT_Fault_MissingBMSHeartbeat_get,
+      .timeout_ms   = 200 },
+    // vc
+    { .getter       = app_canRx_VC_Heartbeat_get,
+      .resetter     = app_canRx_VC_Heartbeat_update,
+      .fault_setter = app_canAlerts_CRIT_Fault_MissingVCHeartbeat_set,
+      .fault_getter = app_canAlerts_CRIT_Fault_MissingVCHeartbeat_get,
+      .timeout_ms   = 200 },
+    // rsm
+    { .getter       = app_canRx_RSM_Heartbeat_get,
+      .resetter     = app_canRx_RSM_Heartbeat_update,
+      .fault_setter = app_canAlerts_CRIT_Fault_MissingRSMHeartbeat_set,
+      .fault_getter = app_canAlerts_CRIT_Fault_MissingRSMHeartbeat_get,
+      .timeout_ms   = 200 },
+    // fsm
+    { .getter       = app_canRx_FSM_Heartbeat_get,
+      .resetter     = app_canRx_FSM_Heartbeat_update,
+      .fault_setter = app_canAlerts_CRIT_Fault_MissingFSMHeartbeat_set,
+      .fault_getter = app_canAlerts_CRIT_Fault_MissingFSMHeartbeat_get,
+      .timeout_ms   = 200 }
+};
+
+HeartbeatMonitor hb_monitor = { .boards        = heartbeat_boards,
+                                .board_count   = 4,
+                                .block_faults  = false,
+                                .own_heartbeat = app_canTx_CRIT_Heartbeat_set };

firmware/quadruna/CRIT/src/app/app_heartbeatMonitors.h

@@ -0,0 +1,5 @@
+#pragma once
+
+#include "app_heartbeatMonitor.h"
+
+extern HeartbeatMonitor hb_monitor;

firmware/quadruna/CRIT/src/app/app_mainState.c

@@ -1,9 +1,9 @@
 #include "app_mainState.h"
 #include "app_driveMode.h"
 #include "app_shdnLoop.h"
-#include "app_heartbeatMonitor.h"
 #include "app_leds.h"
 #include "app_switches.h"
+#include "app_heartbeatMonitors.h"
 
 static void mainStateRunOnTick100Hz(void)
 {
@@ -13,8 +13,8 @@ static void mainStateRunOnTick100Hz(void)
 
     app_shdnLoop_broadcast();
 
-    app_heartbeatMonitor_checkIn();
-    app_heartbeatMonitor_broadcastFaults();
+    app_heartbeatMonitor_checkIn(&hb_monitor);
+    app_heartbeatMonitor_broadcastFaults(&hb_monitor);
 }
 
 static void mainStateRunOnEntry(void) {}