User/freerb/fc (#127)

* bringup frontcontroller bindings to rvalue-reference style

* fix: 🐛 Fix OS compiler errors.

675f0d0 introduced a breaking change for the TMS and DemoProjectRTOS by removing the CMake commands which compiled and linked the freertos code, as well as added an unnecessary include (sys/types.h) to mcal/stm/os/tick.h (this is likely clangd's fault). This commit restores these files so that the projects can compile again.

* feat: Add Tasks to FrontController.

Creates a 5 and 500 ms task in FrontController using freertos. Provides a framework for Sam and Blake to develop the actual code off of.

* updates moing avg class to be more robust against large values and adds a moving average to the pedal class

* adds docs from electrical team for pedal position

* finishes simulink input, besides reading CAN messages

* adds all outputs from simulink, uses placeholders where I didn't know what to fill in

* Update control system to latest

* Add enums to cangen

* Add ability to do 2 can busses with cangen

* Removes duplicate include in app, unnecessary include in main

* updates ioc to match 'ENG-Electrical/MACEV5/Low Voltage/Pin Mapping' as of time of commit

* adds bindings for all IO pins, though not all have an app-level object yet

* Update yamls

* Fix build for lvcontroller

* Remove clangd include

* remvoes amps, not building

* converts to & from &&

* update to 6.11.1

* fixes type conversion warnings in jinja, converts bms cmd to bool

* adds front controller simple

* checkouts out mfang simple branch

* disables unused IO for simple model

* fc

* uses different autogen and staticcast bool

* sends inverter

* fixes clang-format issue

---------

Co-authored-by: BlakeFreer <[email protected]>

.gitmodules

@@ -7,3 +7,6 @@
 [submodule "firmware/third-party/etl"]
 	path = firmware/third-party/etl
 	url = https://github.com/ETLCPP/etl.git
+[submodule "firmware/projects/FrontControllerSimple/vehicle_control_system"]
+	path = firmware/projects/FrontControllerSimple/vehicle_control_system
+	url = https://github.com/macformula/vehicle_control_system.git

firmware/dbcs/veh.dbc

@@ -164,8 +164,6 @@ BO_ 777 GnssImu: 8 CANmod
  SG_ AngularRateY : 42|11@1+ (0.25,-256) [-256|255.75] "deg/s"  FC
  SG_ AngularRateZ : 53|11@1+ (0.25,-256) [-256|255.75] "deg/s"  FC
 
-
-
 CM_ BO_ 3221225472 "This is a message for not used signals, created by Vector CANdb++ DBC OLE DB Provider.";
 CM_ BO_ 1572 "This ID Transmits at 8 ms.";
 CM_ BO_ 1571 "This ID Transmits at 8 ms.";

firmware/mcal/stm32f767/os/tick.h

@@ -3,8 +3,6 @@
 
 #pragma once
 
-#include <sys/types.h>
-
 #include <cstdint>
 
 #include "cmsis_os2.h"

firmware/mcal/stm32f767/periph/can.h

@@ -3,9 +3,6 @@
 
 #pragma once
 
-#include <bits/ranges_base.h>
-#include <sys/_stdint.h>
-
 #include <cstddef>
 
 #include "shared/comms/can/raw_can_msg.h"

firmware/projects/DemoCanBar/config.yaml

@@ -1,5 +1,6 @@
 canGen:
   ourNode: bar
-  busName: veh
-  dbcFiles:
-    - "demo.dbc"
+  busses:
+    - busName: veh
+      dbcFiles:
+        - "demo.dbc"

firmware/projects/DemoCanFoo/config.yaml

@@ -1,5 +1,6 @@
 canGen:
   ourNode: foo
-  busName: veh
-  dbcFiles:
-    - "demo.dbc"
+  busses:
+    - busName: veh
+      dbcFiles:
+        - "demo.dbc"

firmware/projects/DemoProjectRTOS/platforms/stm32f767/CMakeLists.txt

@@ -5,3 +5,7 @@ add_subdirectory(cubemx)
 
 target_sources(bindings PUBLIC bindings.cc)
 target_link_libraries(bindings PUBLIC driver mcal-stm32f767)
+
+add_library(os)
+target_sources(os PUBLIC os.cc)
+target_link_libraries(os PUBLIC driver mcal-stm32f767)

firmware/projects/DemoProjectRTOS/platforms/stm32f767/cubemx/board_config.ioc

@@ -34,8 +34,8 @@ Mcu.PinsNb=5
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F767ZITx
-MxCube.Version=6.8.1
-MxDb.Version=DB.6.0.81
+MxCube.Version=6.11.0
+MxDb.Version=DB.6.0.110
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false\:false
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false\:false
 NVIC.ForceEnableDMAVector=true
@@ -94,6 +94,8 @@ ProjectManager.RegisterCallBack=
 ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=Makefile
 ProjectManager.ToolChainLocation=
+ProjectManager.UAScriptAfterPath=
+ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
 ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
 RCC.48MHZClocksFreq_Value=24000000

firmware/projects/FrontController/CMakeLists.txt

@@ -4,28 +4,46 @@
 # The target executable 'main' is created in the master CMakeLists. Do not change its name.
 # We only need to add the source code files and include directories.
 
+find_package(Python3 COMPONENTS Interpreter)
+message(${Python3_EXECUTABLE})
+
+if(NOT ${Python3_FOUND})
+	message(FATAL_ERROR "Python 3 executable not found")
+endif()
+
+FILE(GLOB_RECURSE CAN_DEPENDENCIES CONFIGURE_DEPENDS "${CMAKE_SOURCE_DIR}/../scripts/cangen/*" "${CMAKE_SOURCE_DIR}/dbcs/*")
+
+list(APPEND CAN_DEPENDENCIES "${CMAKE_CURRENT_SOURCE_DIR}/config.yaml")
+
+add_custom_target(
+    generated_can
+	COMMAND ${Python3_EXECUTABLE} "${CMAKE_SOURCE_DIR}/../scripts/cangen/main.py" "--project=\"FrontController\""
+	DEPENDS ${CAN_DEPENDENCIES}
+	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+	COMMENT Generating CAN code from DBCs
+)
+
 target_sources(main
-PRIVATE
+	PRIVATE
 	main.cc
 )
+add_dependencies(main generated_can)
 
 target_include_directories(main
 PRIVATE
 	${CMAKE_CURRENT_SOURCE_DIR}/inc
+	${CMAKE_CURRENT_SOURCE_DIR}/generated/can
 )
 
-add_library(controls)
+# Compile and link the control system files.
 
-target_include_directories(controls
-PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}/vehicle_control_system/src/vehicle_control_system-autogen/controller_autogen_ert_rtw
-)
+add_library(controls)
 
-FILE(GLOB SRC_CONTROLS CONFIGURE_DEPENDS
-	"vehicle_control_system/src/vehicle_control_system-autogen/controller_autogen_ert_rtw/*.c"
-)
+set(CTRL_SYS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/vehicle_control_system/src/vehicle_control_system-autogen/controller_autogen_ert_rtw")
+target_include_directories(controls PUBLIC ${CTRL_SYS_DIR})
 
-message(STATUS ${SRC_CONTROLS})
+FILE(GLOB SRC_CONTROLS CONFIGURE_DEPENDS "${CTRL_SYS_DIR}/*.cpp")
+message(STATUS "Controls sources: ${SRC_CONTROLS}")
 
 target_sources(controls
 PUBLIC
@@ -34,6 +52,9 @@ PUBLIC
 
 target_link_libraries(main PUBLIC controls)
 
+# Link ETL which is needed for generated/can/msg_registry.h
+add_subdirectory(${CMAKE_SOURCE_DIR}/third-party/etl ${CMAKE_BINARY_DIR}/third-party)
+target_link_libraries(main PRIVATE etl)
 
 # Notice that we don't include any mcal/ subdirectory in this CMake file.
 # The master CMakeLists handles platform selection and library linking.

firmware/projects/FrontController/config.yaml

@@ -0,0 +1,9 @@
+canGen:
+  ourNode: fc
+  busses:
+    - busName: veh
+      dbcFiles:
+        - "veh.dbc"
+    - busName: pt
+      dbcFiles:
+        - "pt.dbc"