Shayan/GPS&RTOSQueue (#1144)

…TOS queue implementation

### Summary
Same as prev PR just rebased on DCM refactor

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

### Testing Done
CAN Testing was done on the queue to see if it was receiving and
transmitting data. GPS still needs to be tested

### Resolved Issues
<!-- Link any issues that this PR resolved like so: `Resolves #1, #2,
and #5` (Note: Using this format, Github will automatically close the
issue(s) when this PR is merged in). -->

### Checklist
*Please change `[ ]` to `[x]` when you are ready.*
- [ ] I have read and followed the code conventions detailed in
[README.md](../README.md) (*This will save time for both you and the
reviewer!*).
- [ ] If this pull request is longer then **500** lines, I have provided
*explicit* justification in the summary above explaining why I *cannot*
break this up into multiple pull requests (*Small PR's are faster and
less painful for everyone involved!*).

can_bus/thruna/DCM/DCM_alerts.json

@@ -12,7 +12,8 @@
         "WatchdogTimeout",
         "TxOverflow",
         "RxOverflow",
-        "RegenNotAvailable"
+        "RegenNotAvailable",
+        "SbgRxOverflow"
     ],
     "faults": [
         "MissingBMSHeartbeat",

can_bus/thruna/DCM/DCM_enum.json

@@ -2,5 +2,12 @@
     "DcmState": {
         "DCM_INIT_STATE": 0,
         "DCM_DRIVE_STATE": 1
+      },
+
+      "DcmSbgStatus": {
+        "Solution_Computed": 0,
+        "Insufficent_Readings": 1, 
+        "Internal_Error": 2, 
+        "Limit_Exceeded": 3
       }
-}
+}

can_bus/thruna/DCM/DCM_tx.json

@@ -420,5 +420,97 @@
                 "resolution": 0.1
             }
         }
+    },
+    "GpsPosInfo":{
+        "msg_id": 217,
+        "cycle_time": 100,
+        "description": "Car position info", 
+            "signals":{
+                "PositionStatus":{
+                    "enum": "DcmSbgStatus"
+                },
+                "Latitude":{
+                    "resolution": 0.00005,
+                    "min": 47,
+                    "max": 50,
+                    "unit": "deg"  
+                },
+                "LatitudeAccuracy":{
+                    "resolution": 0.1,
+                    "min": 0,
+                    "max": 2,
+                    "unit": "m" 
+                },
+                "Longtitude":{
+                    "resolution": 0.00005,
+                    "min": 122,
+                    "max": 125,
+                    "unit": "deg" 
+                },
+                "LongtitudeAccuracy":{
+                    "resolution": 0.1,
+                    "min": 0,
+                    "max": 2,
+                    "unit": "m" 
+                },
+                "Altitude":{
+                    "resolution": 0.5,
+                    "min": 0,
+                    "max": 400,
+                    "unit": "m"
+                },
+                "AltitudeAccuracy":{
+                    "resolution": 0.1,
+                    "min": 0,
+                    "max": 20,
+                    "unit": "m"
+                }
+        }
+    },
+    "GpsVelInfo":{
+        "msg_id": 218,
+        "cycle_time": 100,
+        "description": "Car Velocity info",
+        "signals":{
+            "VelocityStatus":{
+                "enum":"DcmSbgStatus"
+            },
+            "VelocityNorth":{
+                "resolution": 0.1,
+                "min": 0,
+                "max": 120,
+                "unit": "m/s"
+            },
+            "VelocityNorthAccuracy":{
+                "resolution": 0.1,
+                "min": 0,
+                "max": 20,
+                "unit": "m/s"
+            },
+            "VelocityEast":{
+                "resolution": 0.1,
+                "min": 0,
+                "max": 120,
+                "unit": "m/s"
+            },
+            "VelocityEastAccuracy":{
+                "resolution": 0.1,
+                "min": 0,
+                "max": 20,
+                "unit": "m/s"
+            },
+            "VelocityDown":{
+                "resolution": 0.1,
+                "min": 0,
+                "max": 120,
+                "unit": "m/s"
+            },
+            "VelocityDownAccuracy":{
+                "resolution": 0.1,
+                "min": 0,
+                "max": 20,
+                "unit": "m/s"
+            }
+        }
     }
-}
+}

firmware/thruna/DCM/CMakeLists.txt

@@ -6,7 +6,6 @@ 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_RingQueue.c"
     "${SHARED_APP_INCLUDE_DIR}/app_timer.c"
     "${SHARED_APP_INCLUDE_DIR}/app_rangeCheck.c"
 )