Merge branch 'master' into cmake-cleanup-2024

firmware/quadruna/BMS/CMakeLists.txt

@@ -12,7 +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_shdnLoop.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}")
 
@@ -166,6 +166,7 @@ elseif ("${TARGET}" STREQUAL "test")
             "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_tractiveSystem.h"
             "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_sd.h"
             "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_bspdTest.h"
+            "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_bmsShdn.h"
     )
     create_fake_library(
             "quadruna_BMS_fakes"

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

@@ -0,0 +1,13 @@
+#include "app_shdnLoop.h"
+#include "app_shdnLoopNode.h"
+#include "io_bmsShdn.h"
+#include "app_canTx.h"
+
+static const BoardShdnNode ts_ilck_ok_node = { &io_bmsShdn_TS_ILCK_OK_get, &app_canTx_BMS_TSIlckOKStatus_set };
+static const BoardShdnNode hvd_ok_node     = { &io_bmsShdn_HVD_OK_get, &app_canTx_BMS_HVDShdnOKStatus_set };
+
+void app_shdnLoop_broadcast(void)
+{
+    app_shdnLoopNode_broadcast(&ts_ilck_ok_node);
+    app_shdnLoopNode_broadcast(&hvd_ok_node);
+}

firmware/quadruna/BMS/src/tasks.c

@@ -37,14 +37,11 @@
 #include "app_canRx.h"
 #include "app_canAlerts.h"
 #include "app_commitInfo.h"
-#include "app_thermistors.h"
 #include "app_accumulator.h"
 #include "app_soc.h"
 #include "app_globals.h"
 #include "states/app_initState.h"
-#include "states/app_inverterOnState.h"
 #include "app_stateMachine.h"
-#include "app_shdnLoop.h"
 
 #include "shared.pb.h"
 #include "BMS.pb.h"
@@ -286,11 +283,6 @@ static const BmsShdnConfig bms_shdn_pin_config = {
     .hvd_ok_gpio     = hvd_ok_shdn_pin,
 };
 
-static const BoardShdnNode bms_bshdn_nodes[BMS_SHDN_NODE_COUNT] = {
-    { &io_bmsShdn_TS_ILCK_OK_get, &app_canTx_BMS_TSIlckOKStatus_set },
-    { &io_bmsShdn_HVD_OK_get, &app_canTx_BMS_HVDShdnOKStatus_set }
-};
-
 void tasks_preInit(void)
 {
     // After booting, re-enable interrupts and ensure the core is using the application's vector table.
@@ -343,8 +335,6 @@ void tasks_init(void)
     app_globals_init(&globals_config);
     app_stateMachine_init(app_initState_get());
 
-    app_shdnLoop_init(bms_bshdn_nodes, BMS_SHDN_NODE_COUNT);
-
     app_heartbeatMonitor_init(
         heartbeatMonitorChecklist, heartbeatGetters, heartbeatUpdaters, &app_canTx_BMS_Heartbeat_set,
         heartbeatFaultSetters, heartbeatFaultGetters);

firmware/quadruna/CRIT/CMakeLists.txt

@@ -12,7 +12,7 @@ list(APPEND APP_SRCS
         "${SHARED_APP_INCLUDE_DIR}/app_rangeCheck.c"
         "${SHARED_APP_INCLUDE_DIR}/app_signal.c"
         "${SHARED_APP_INCLUDE_DIR}/app_timer.c"
-        "${SHARED_APP_INCLUDE_DIR}/app_shdnLoop.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}")
 
@@ -149,6 +149,7 @@ elseif ("${TARGET}" STREQUAL "test")
             "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_driveMode.h"
             "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_leds.h"
             "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_switches.h"
+            "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_critShdn.h"
     )
     create_fake_library(
             "quadruna_CRIT_fakes"

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

@@ -1,10 +1,6 @@
 #include "app_driveMode.h"
-#include <stdlib.h>
-#include <stdint.h>
-#include <assert.h>
-#include "app_canTx.h"
-#include "app_canAlerts.h"
 #include "io_driveMode.h"
+#include "app_canTx.h"
 
 void app_driveMode_broadcast(void)
 {

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

@@ -0,0 +1,15 @@
+#include "app_shdnLoop.h"
+#include "app_shdnLoopNode.h"
+#include "io_critShdn.h"
+#include "app_canTx.h"
+
+static const BoardShdnNode inertia_sen_node   = { &io_critShdn_get_INERTIA_SEN_OK_get,
+                                                  &app_canTx_CRIT_InertiaSenOKStatus_set };
+static const BoardShdnNode cockpit_estop_node = { &io_critShdn_COCKPIT_ESTOP_OK_get,
+                                                  &app_canTx_CRIT_CockpitEStopOKStatus_set };
+
+void app_shdnLoop_broadcast(void)
+{
+    app_shdnLoopNode_broadcast(&inertia_sen_node);
+    app_shdnLoopNode_broadcast(&cockpit_estop_node);
+}

firmware/quadruna/CRIT/src/tasks.c

@@ -8,8 +8,6 @@
 #include "app_heartbeatMonitor.h"
 #include "app_stateMachine.h"
 #include "app_mainState.h"
-#include "app_globals.h"
-#include "app_shdnLoop.h"
 // io
 #include "io_log.h"
 #include "io_chimera.h"
@@ -332,8 +330,6 @@ const AdcChannel id_to_adc[] = {
 
 static const UART debug_uart = { .handle = &huart2 };
 
-static const GlobalsConfig globals_config = { .drive_mode = &drive_mode };
-
 static const Leds led_config = {
     .imd_led         = &imd_led,
     .bspd_led        = &bspd_led,
@@ -405,11 +401,6 @@ static bool (*const heartbeatFaultGetters[HEARTBEAT_BOARD_COUNT])(void) = {
 static const CritShdnConfig crit_shdn_pin_config = { .cockpit_estop_gpio  = shdn_sen_pin,
                                                      .inertia_sen_ok_gpio = inertia_sen_pin };
 
-static const BoardShdnNode crit_bshdn_nodes[CRIT_SHDN_NODE_COUNT] = {
-    { &io_critShdn_get_INERTIA_SEN_OK_get, &app_canTx_CRIT_InertiaSenOKStatus_set },
-    { &io_critShdn_COCKPIT_ESTOP_OK_get, &app_canTx_CRIT_CockpitEStopOKStatus_set }
-};
-
 void tasks_preInit(void)
 {
     hw_bootup_enableInterruptsForApp();
@@ -447,14 +438,11 @@ void tasks_init(void)
     app_canTx_init();
     app_canRx_init();
 
-    app_shdnLoop_init(crit_bshdn_nodes, CRIT_SHDN_NODE_COUNT);
-
     app_heartbeatMonitor_init(
         heartbeatMonitorChecklist, heartbeatGetters, heartbeatUpdaters, &app_canTx_CRIT_Heartbeat_set,
         heartbeatFaultSetters, heartbeatFaultGetters);
 
     app_stateMachine_init(app_mainState_get());
-    app_globals_init(&globals_config);
 
     // broadcast commit info
     app_canTx_CRIT_Hash_set(GIT_COMMIT_HASH);

firmware/quadruna/CRIT/test/test_critBaseStateMachineTest.h

@@ -14,7 +14,6 @@ extern "C"
 #include "app_canUtils.h"
 #include "app_utils.h"
 #include "app_mainState.h"
-#include "app_globals.h"
 }
 
 // Test fixture definition for any test requiring the state machine. Can also be used for non-state machine related
@@ -33,7 +32,6 @@ class CritBaseStateMachineTest : public BaseStateMachineTest
         app_heartbeatMonitor_init(
             heartbeatMonitorChecklist, heartbeatGetters, heartbeatUpdaters, &app_canTx_CRIT_Heartbeat_set,
             heartbeatFaultSetters, heartbeatFaultGetters);
-        app_globals_init(&globals_config);
         app_stateMachine_init(app_mainState_get());
 
         // Disable heartbeat monitor in the nominal case. To use representative heartbeat behavior,
@@ -64,9 +62,6 @@ class CritBaseStateMachineTest : public BaseStateMachineTest
         fake_io_switches_regen_get_reset();
         fake_io_switches_torquevec_get_reset();
     }
-    // dummy used to initialize shdn_sen_pin
-    const DriveMode drive_mode = {};
-
     // config to forward can functions to shared heartbeat
     // DIM rellies on all boards but itself
     const bool heartbeatMonitorChecklist[HEARTBEAT_BOARD_COUNT] = {
@@ -111,8 +106,4 @@ class CritBaseStateMachineTest : public BaseStateMachineTest
         [DIM_HEARTBEAT_BOARD]  = NULL,
         [CRIT_HEARTBEAT_BOARD] = NULL
     };
-
-    const GlobalsConfig globals_config = {
-        .drive_mode = &drive_mode,
-    };
 };

firmware/quadruna/FSM/CMakeLists.txt

@@ -12,7 +12,7 @@ list(APPEND APP_SRCS
         "${SHARED_APP_INCLUDE_DIR}/app_rangeCheck.c"
         "${SHARED_APP_INCLUDE_DIR}/app_signal.c"
         "${SHARED_APP_INCLUDE_DIR}/app_timer.c"
-        "${SHARED_APP_INCLUDE_DIR}/app_shdnLoop.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}")
 
@@ -154,6 +154,7 @@ elseif ("${TARGET}" STREQUAL "test")
             "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_brake.h"
             "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_suspension.h"
             "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_loadCell.h"
+            "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_fsmShdn.h"
     )
     create_fake_library(
             "quadruna_FSM_fakes"

firmware/quadruna/FSM/src/app/app_apps.c

@@ -1,16 +1,13 @@
 #include "app_apps.h"
-#include <assert.h>
-#include <stdlib.h>
 #include <math.h>
 #include "app_signal.h"
 #include "app_canTx.h"
 #include "app_canAlerts.h"
 #include "io_apps.h"
-#include "io_brake.h"
 
-Signal papps_ocsc_signal;
-Signal sapps_ocsc_signal;
-Signal papps_sapps_disagreement_signal;
+static Signal papps_ocsc_signal;
+static Signal sapps_ocsc_signal;
+static Signal papps_sapps_disagreement_signal;
 
 void app_apps_init(void)
 {
@@ -21,7 +18,7 @@ void app_apps_init(void)
         PAPPS_SAPPS_DISAGREEMENT_TIME_TO_CLEAR);
 }
 
-void app_apps_broadcast()
+void app_apps_broadcast(void)
 {
     float papps_pedal_percentage = io_apps_getPrimary();
     float sapps_pedal_percentage = io_apps_getSecondary();

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

@@ -1,9 +1,6 @@
 #include "app_mainState.h"
 #include <stddef.h>
-#include "app_utils.h"
 #include "app_canTx.h"
-#include "app_canRx.h"
-#include "app_canAlerts.h"
 #include "app_steering.h"
 #include "app_wheels.h"
 #include "app_apps.h"

firmware/quadruna/FSM/src/app/app_shdnLoop.c

@@ -0,0 +1,11 @@
+#include "app_shdnLoop.h"
+#include "app_shdnLoopNode.h"
+#include "io_fsmShdn.h"
+#include "app_canTx.h"
+
+static const BoardShdnNode bots_node = { &io_fsmShdn_FSM_SHDN_OK_get, &app_canTx_FSM_BOTSOKStatus_set };
+
+void app_shdnLoop_broadcast(void)
+{
+    app_shdnLoopNode_broadcast(&bots_node);
+}

firmware/quadruna/FSM/src/app/app_steering.c

@@ -1,6 +1,4 @@
 #include "app_steering.h"
-#include <stdlib.h>
-#include <assert.h>
 #include "app_canTx.h"
 #include "app_rangeCheck.h"
 #include "app_canAlerts.h"

firmware/quadruna/FSM/src/app/app_suspension.c

@@ -15,4 +15,4 @@ void app_suspension_broadcast(void)
 
     // app_canAlerts_FSM_Warning_LeftSuspensionOCSC_set(io_suspension_leftSensorOCSC());
     // app_canAlerts_FSM_Warning_RightSuspensionOCSC_set(io_suspension_rightSensorOCSC());
-}
+}

firmware/quadruna/FSM/src/tasks.c

@@ -8,7 +8,6 @@
 #include "app_canRx.h"
 #include "app_canAlerts.h"
 #include "app_commitInfo.h"
-#include "app_shdnLoop.h"
 #include "app_apps.h"
 
 #include "io_jsoncan.h"
@@ -30,7 +29,7 @@
 #include "hw_hardFaultHandler.h"
 #include "hw_watchdog.h"
 #include "hw_watchdogConfig.h"
-#include "hw_stackWaterMark.h"
+#include "hw_stackWaterMark.h" // TODO enable stackwatermark on the FSM
 #include "hw_stackWaterMarkConfig.h"
 #include "hw_adc.h"
 #include "hw_gpio.h"
@@ -135,9 +134,6 @@ void tasks_preInit(void)
 
 static const FsmShdnConfig fsm_shdn_pin_config = { .fsm_shdn_ok_gpio = fsm_shdn };
 
-static const BoardShdnNode fsm_bshdn_nodes[FSM_SHDN_NODE_COUNT] = { { &io_fsmShdn_FSM_SHDN_OK_get,
-                                                                      &app_canTx_FSM_BOTSOKStatus_set } };
-
 void tasks_init(void)
 {
     // Configure and initialize SEGGER SystemView.
@@ -162,8 +158,6 @@ void tasks_init(void)
     app_canTx_init();
     app_canRx_init();
 
-    app_shdnLoop_init(fsm_bshdn_nodes, FSM_SHDN_NODE_COUNT);
-
     io_apps_init(&apps_config);
     io_brake_init(&brake_config);
     io_loadCell_init(&load_cell_config);

firmware/quadruna/VC/CMakeLists.txt

@@ -10,7 +10,7 @@ list(APPEND APP_SRCS
         "${SHARED_APP_INCLUDE_DIR}/app_heartbeatMonitor.c"
         "${SHARED_APP_INCLUDE_DIR}/app_stateMachine.c"
         "${SHARED_APP_INCLUDE_DIR}/app_timer.c"
-        "${SHARED_APP_INCLUDE_DIR}/app_shdnLoop.c"
+        "${SHARED_APP_INCLUDE_DIR}/app_shdnLoopNode.c"
         "${SHARED_APP_INCLUDE_DIR}/app_signal.c"
 )
 set(APP_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/src/app" "${CMAKE_CURRENT_SOURCE_DIR}/src/app/vehicle_dynamics" "${SHARED_APP_INCLUDE_DIR}" "${SHARED_APP_INCLUDE_QUADRUNA_DIR}")

firmware/quadruna/VC/src/app/app_efuse.c

@@ -1,18 +1,32 @@
 #include "app_efuse.h"
+
 #include <stdbool.h>
+#include <stddef.h>
+
 #include "io_efuse.h"
-#include "io_log.h"
+#include "app_canTx.h"
 
-static void (*const *efuse_enabled_can_setters)(bool);
-static void (*const *efuse_current_can_setters)(float);
+static void (*const efuse_enabled_can_setters[NUM_EFUSE_CHANNELS])(bool) = {
+    [EFUSE_CHANNEL_SHDN]   = app_canTx_VC_ShdnStatus_set,
+    [EFUSE_CHANNEL_LV]     = app_canTx_VC_LvStatus_set,
+    [EFUSE_CHANNEL_PUMP]   = app_canTx_VC_PumpStatus_set,
+    [EFUSE_CHANNEL_AUX]    = app_canTx_VC_AuxStatus_set,
+    [EFUSE_CHANNEL_INV_R]  = app_canTx_VC_InvRStatus_set,
+    [EFUSE_CHANNEL_INV_L]  = app_canTx_VC_InvLStatus_set,
+    [EFUSE_CHANNEL_TELEM]  = NULL,
+    [EFUSE_CHANNEL_BUZZER] = NULL,
+};
 
-void app_efuse_init(
-    void (*const enabled_setters[NUM_EFUSE_CHANNELS])(bool),
-    void (*const current_setters[NUM_EFUSE_CHANNELS])(float))
-{
-    efuse_enabled_can_setters = enabled_setters;
-    efuse_current_can_setters = current_setters;
-}
+static void (*const efuse_current_can_setters[NUM_EFUSE_CHANNELS])(float) = {
+    [EFUSE_CHANNEL_SHDN]   = app_canTx_VC_ShdnCurrent_set,
+    [EFUSE_CHANNEL_LV]     = app_canTx_VC_LvCurrent_set,
+    [EFUSE_CHANNEL_PUMP]   = app_canTx_VC_PumpCurrent_set,
+    [EFUSE_CHANNEL_AUX]    = app_canTx_VC_AuxCurrent_set,
+    [EFUSE_CHANNEL_INV_R]  = app_canTx_VC_InvRCurrent_set,
+    [EFUSE_CHANNEL_INV_L]  = app_canTx_VC_InvLCurrent_set,
+    [EFUSE_CHANNEL_TELEM]  = NULL,
+    [EFUSE_CHANNEL_BUZZER] = NULL,
+};
 
 void app_efuse_broadcast(void)
 {