X86 interrupts (#14)

* started working on nvic * finish interrupt_nvic_enable * exti enable and small fixes * finish exti functions * Finish NVIC and fix EXTI * Remove .idea * Comment NVIC related * small fix * lint and format * Simulation infra and can stuff * Formatting --------- Co-authored-by: d3kanesa <[email protected]>
uw-midsun · Dec 31, 2024 · b98315e · b98315e
1 parent e060e59
commit b98315e
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diff --git a/SConstruct b/SConstruct
@@ -163,17 +163,13 @@ elif COMMAND == "new":
     SConscript('scons/new_target.scons', exports='VARS')
 
 ###########################################################
-# hil command
+# HIL command
 ###########################################################
 elif COMMAND == "hil":
-    print(TEST_FILE)
     if not TEST_FILE:
-        #Error handling
         pass
-
     SConscript('scons/pytest.scons', exports='VARS')
 
-
 ###########################################################
 # Clean
 ###########################################################

diff --git a/...n/templates/new_project/test/test.c.jinja → ...roject/test/test_{{project_name}}.c.jinja b/...n/templates/new_project/test/test.c.jinja → ...roject/test/test_{{project_name}}.c.jinja
diff --git a/...n/templates/project_can/inc/can_codegen.h → ...lates/project_can/inc/can_codegen.h.jinja b/...n/templates/project_can/inc/can_codegen.h → ...lates/project_can/inc/can_codegen.h.jinja
@@ -31,6 +31,10 @@ extern rx_struct g_rx_struct;
 extern tx_struct g_tx_struct;
 
 void can_tx_all();
+void can_tx_fast_cycle();
+void can_tx_medium_cycle();
+void can_tx_slow_cycle();
+
 void can_rx_all();
 
 /** @} */
diff --git a/autogen/templates/project_can/src/{{project_name}}_rx_all.c.jinja b/autogen/templates/project_can/src/{{project_name}}_rx_all.c.jinja
@@ -53,26 +53,111 @@ void can_rx_all() {
     }
 }
 
-void clear_rx_received() {
+void clear_all_rx_received() {
 {%- for message in messages %}
     g_rx_struct.received_{{message.name}} = false;
 {%- endfor %}
 }
 
-StatusCode check_can_watchdogs() {
+void clear_fast_rx_received() {
+{%- for message in messages %}
+{%- if message.cycle == "fast" %}
+    g_rx_struct.received_{{message.name}} = false;
+{%- endif %}
+{%- endfor %}
+}
+
+void clear_medium_rx_received() {
+{%- for message in messages %}
+{%- if message.cycle == "medium" %}
+    g_rx_struct.received_{{message.name}} = false;
+{%- endif %}
+{%- endfor %}
+}
+
+void clear_slow_rx_received() {
+{%- for message in messages %}
+{%- if message.cycle == "slow" %}
+    g_rx_struct.received_{{message.name}} = false;
+{%- endif %}
+{%- endfor %}
+}
+
+StatusCode check_all_can_watchdogs() {
 {%- for message in messages %}
     {%- if message.receiver[project_name].watchdog != 0 %}
     if (!g_rx_struct.received_{{message.name}}) {
         ++s_{{message.name}}_msg_watchdog.cycles_over;
         if (s_{{message.name}}_msg_watchdog.cycles_over >= s_{{message.name}}_msg_watchdog.max_cycles) {
             LOG_CRITICAL("DID NOT RECEIVE CAN MESSAGE: %u IN MAX CYCLES : %u\n", SYSTEM_CAN_MESSAGE_{{message.sender | upper}}_{{message.name | upper}},
                             s_{{message.name}}_msg_watchdog.max_cycles);
-            s_{{message.name}}_msg_watchdog.missed = 1;
+            s_{{message.name}}_msg_watchdog.missed = true;
         } else {
-            s_{{message.name}}_msg_watchdog.missed = 0;
+            s_{{message.name}}_msg_watchdog.missed = false;
         }
     }
     {%- endif %}
 {%- endfor %}
     return STATUS_CODE_OK;
-}
+}
+
+StatusCode check_fast_can_watchdogs() {
+{%- for message in messages %}
+{%- if message.cycle == "fast" %}
+    {%- if message.receiver[project_name].watchdog != 0 %}
+    if (!g_rx_struct.received_{{message.name}}) {
+        ++s_{{message.name}}_msg_watchdog.cycles_over;
+        if (s_{{message.name}}_msg_watchdog.cycles_over >= s_{{message.name}}_msg_watchdog.max_cycles) {
+            LOG_CRITICAL("DID NOT RECEIVE FAST CYCLE CAN MESSAGE: %u IN MAX CYCLES : %u\n", SYSTEM_CAN_MESSAGE_{{message.sender | upper}}_{{message.name | upper}},
+                            s_{{message.name}}_msg_watchdog.max_cycles);
+            s_{{message.name}}_msg_watchdog.missed = true;
+        } else {
+            s_{{message.name}}_msg_watchdog.missed = false;
+        }
+    }
+    {%- endif %}
+{%- endif %}
+{%- endfor %}
+    return STATUS_CODE_OK;
+}
+
+StatusCode check_medium_can_watchdogs() {
+{%- for message in messages %}
+{%- if message.cycle == "medium" %}
+    {%- if message.receiver[project_name].watchdog != 0 %}
+    if (!g_rx_struct.received_{{message.name}}) {
+        ++s_{{message.name}}_msg_watchdog.cycles_over;
+        if (s_{{message.name}}_msg_watchdog.cycles_over >= s_{{message.name}}_msg_watchdog.max_cycles) {
+            LOG_CRITICAL("DID NOT RECEIVE MEDIUM CYCLE CAN MESSAGE: %u IN MAX CYCLES : %u\n", SYSTEM_CAN_MESSAGE_{{message.sender | upper}}_{{message.name | upper}},
+                            s_{{message.name}}_msg_watchdog.max_cycles);
+            s_{{message.name}}_msg_watchdog.missed = true;
+        } else {
+            s_{{message.name}}_msg_watchdog.missed = false;
+        }
+    }
+    {%- endif %}
+{%- endif %}
+{%- endfor %}
+    return STATUS_CODE_OK;
+}
+
+StatusCode check_slow_can_watchdogs() {
+{%- for message in messages %}
+{%- if message.cycle == "slow" %}
+    {%- if message.receiver[project_name].watchdog != 0 %}
+    if (!g_rx_struct.received_{{message.name}}) {
+        ++s_{{message.name}}_msg_watchdog.cycles_over;
+        if (s_{{message.name}}_msg_watchdog.cycles_over >= s_{{message.name}}_msg_watchdog.max_cycles) {
+            LOG_CRITICAL("DID NOT RECEIVE SLOW CAN MESSAGE: %u IN MAX CYCLES : %u\n", SYSTEM_CAN_MESSAGE_{{message.sender | upper}}_{{message.name | upper}},
+                            s_{{message.name}}_msg_watchdog.max_cycles);
+            s_{{message.name}}_msg_watchdog.missed = true;
+        } else {
+            s_{{message.name}}_msg_watchdog.missed = false;
+        }
+    }
+    {%- endif %}
+{%- endif %}
+{%- endfor %}
+    return STATUS_CODE_OK;
+}
+
diff --git a/autogen/templates/project_can/src/{{project_name}}_tx_all.c.jinja b/autogen/templates/project_can/src/{{project_name}}_tx_all.c.jinja
@@ -17,6 +17,7 @@
 /* Intra-component Headers */
 #include "can_codegen.h"
 {% set messages = messages | selectattr("sender", "eq", project_name) | list -%}
+
 static CanMessage s_msg = { 0U };
 
 static void prv_tx_can_message(CanMessageId id, uint8_t num_bytes, uint64_t data) {
@@ -37,4 +38,46 @@ void can_tx_all() {
     {%- endfor -%}
     );
 {%- endfor %}
-}
+}
+
+void can_tx_fast_cycle() {
+{%- for message in messages %}
+{%- if message.cycle == "fast" %}
+    prv_tx_can_message(
+        SYSTEM_CAN_MESSAGE_{{message.sender | upper}}_{{message.name | upper}}, 
+        {{- (message.signals | sum(attribute='length') / 8) | int }},
+    {%- for signal in message.signals %}
+        (uint64_t) g_tx_struct.{{message.name}}_{{signal.name}} << {{signal.start_bit}}{{ " |" if not loop.last }}
+    {%- endfor -%}
+    );
+{%- endif %}
+{%- endfor %}
+}
+
+void can_tx_medium_cycle() {
+{%- for message in messages %}
+{%- if message.cycle == "medium" %}
+    prv_tx_can_message(
+        SYSTEM_CAN_MESSAGE_{{message.sender | upper}}_{{message.name | upper}}, 
+        {{- (message.signals | sum(attribute='length') / 8) | int }},
+    {%- for signal in message.signals %}
+        (uint64_t) g_tx_struct.{{message.name}}_{{signal.name}} << {{signal.start_bit}}{{ " |" if not loop.last }}
+    {%- endfor -%}
+    );
+{%- endif %}
+{%- endfor %}
+}
+
+void can_tx_slow_cycle() {
+{%- for message in messages %}
+{%- if message.cycle == "slow" %}
+    prv_tx_can_message(
+        SYSTEM_CAN_MESSAGE_{{message.sender | upper}}_{{message.name | upper}}, 
+        {{- (message.signals | sum(attribute='length') / 8) | int }},
+    {%- for signal in message.signals %}
+        (uint64_t) g_tx_struct.{{message.name}}_{{signal.name}} << {{signal.start_bit}}{{ " |" if not loop.last }}
+    {%- endfor -%}
+    );
+{%- endif %}
+{%- endfor %}
+}
diff --git a/autogen/templates/system_can/system_can.h.jinja b/autogen/templates/system_can/system_can.h.jinja
@@ -35,6 +35,6 @@ typedef enum {
 
 {% for message in messages %}
 #define SYSTEM_CAN_MESSAGE_{{ message.sender | upper }}_{{ message.name | upper }} \
-  {% if not message.critical %} SYSTEM_CAN_MESSAGE_PRIORITY_BIT + {% endif %}({{ message.id }} << CAN_MESSAGE_ID_OFFSET) + SYSTEM_CAN_DEVICE_{{ message.sender | upper }}
+  {% if not message.critical %} SYSTEM_CAN_MESSAGE_PRIORITY_BIT + {% endif %}({{ message.id }} << SYSTEM_CAN_MESSAGE_ID_OFFSET) + SYSTEM_CAN_DEVICE_{{ message.sender | upper }}
 {% endfor %}
 /** @} */
diff --git a/build_system.md b/build_system.md
@@ -63,6 +63,10 @@ Commands:
         (x86) Run the project's binary.
         - e.g. `scons sim --platform=x86 <target>` (`scons sim --platform=x86 --project=new_led`)
 
+    vehicle_sim
+        (x86) Runs a full vehicle simulation
+        - e.g. 'scons vehicle_sim --platform=x86'
+
     gdb
         (x86) Run the project's binary with gdb.
         - e.g. `scons gdb <target>` (`scons gdb --project=new_led`)
@@ -84,6 +88,9 @@ Commands:
     clean
         Delete the `build` directory.
     
+    hil
+        Runs a HIL test. This is not fully implemented yet
+    
     doxygen
         Build a local copy of the doxygen HTML
 

diff --git a/can/boards/bms_carrier.yaml b/can/boards/bms_carrier.yaml
@@ -25,25 +25,8 @@
         afe_status:
           length: 8
 
-    battery_info:
-      id: 14
-      critical: true
-      cycle: "slow"
-      target:
-        centre_console:
-          watchdog: 0
-      signals:
-        fan1:
-          length: 8
-        fan2:
-          length: 8
-        max_cell_v:
-          length: 16
-        min_cell_v:
-          length: 16
-
     battery_vt:
-      id: 15
+      id: 2
       critical: true
       cycle: "fast"
       target:
@@ -58,11 +41,28 @@
           length: 16
         batt_perc:
           length: 16
+
+    battery_info:
+      id: 3
+      critical: true
+      cycle: "slow"
+      target:
+        centre_console:
+          watchdog: 0
+      signals:
+        fan1:
+          length: 8
+        fan2:
+          length: 8
+        max_cell_v:
+          length: 16
+        min_cell_v:
+          length: 16
 
     AFE1_status:
           id: 61
           critical: false
-          cycle: "medium"
+          cycle: "slow"
           target:
             centre_console:
               watchdog: 0
@@ -83,7 +83,7 @@
     AFE2_status:
       id: 62
       critical: false
-      cycle: "medium"
+      cycle: "slow"
       target:
         centre_console:
           watchdog: 0
@@ -104,7 +104,7 @@
     AFE3_status:
       id: 63
       critical: false
-      cycle: "medium"
+      cycle: "slow"
       target:
         centre_console:
           watchdog: 0

diff --git a/can/boards/can_communication.yaml b/can/boards/can_communication.yaml
@@ -0,0 +1,44 @@
+# If you need to add a new message use a reasonable
+# reserved ID. The higher ID the lower the priority. Generally
+# - 0-13: Critical messages
+# - 14-30: Actionable messages (trigger a change in another system)
+# - 30-63: Data messages (usually not actionable by an onboard device)
+
+---
+  Messages:
+    fast_one_shot_msg:
+      id: 58
+      critical: false
+      cycle: "fast"
+      target:
+       can_communication:
+        watchdog: 5
+      signals:
+        sig1:
+          length: 16
+        sig2:
+          length: 16
+    medium_one_shot_msg:
+      id: 59
+      critical: false
+      cycle: "medium"
+      target:
+       can_communication:
+        watchdog: 5
+      signals:
+        sig1:
+          length: 16
+        sig2:
+          length: 16
+    slow_one_shot_msg:
+      id: 60
+      critical: false
+      cycle: "slow"
+      target:
+       can_communication:
+        watchdog: 5
+      signals:
+        sig1:
+          length: 16
+        sig2:
+          length: 16
diff --git a/can/boards/centre_console.yaml b/can/boards/centre_console.yaml
@@ -7,7 +7,7 @@
 ---
 Messages:
   cc_pedal:
-    id: 2
+    id: 4
     critical: true
     cycle: "fast"
     target:
@@ -58,7 +58,7 @@ Messages:
         length: 8
 
   cc_regen_percentage:
-    id: 8
+    id: 7
     critical: true
     cycle: "medium"
     target: