Revert "X86 interrupts (#14)"

This reverts commit b98315e.
uw-midsun · Dec 31, 2024 · c2be979 · c2be979
1 parent b98315e
commit c2be979
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diff --git a/SConstruct b/SConstruct
@@ -163,13 +163,17 @@ 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/...roject/test/test_{{project_name}}.c.jinja → ...n/templates/new_project/test/test.c.jinja b/...roject/test/test_{{project_name}}.c.jinja → ...n/templates/new_project/test/test.c.jinja
diff --git a/...lates/project_can/inc/can_codegen.h.jinja → ...n/templates/project_can/inc/can_codegen.h b/...lates/project_can/inc/can_codegen.h.jinja → ...n/templates/project_can/inc/can_codegen.h
@@ -31,10 +31,6 @@ 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
@@ -53,111 +53,26 @@ void can_rx_all() {
     }
 }
 
-void clear_all_rx_received() {
+void clear_rx_received() {
 {%- for message in messages %}
     g_rx_struct.received_{{message.name}} = false;
 {%- endfor %}
 }
 
-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() {
+StatusCode check_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 = true;
+            s_{{message.name}}_msg_watchdog.missed = 1;
         } else {
-            s_{{message.name}}_msg_watchdog.missed = false;
+            s_{{message.name}}_msg_watchdog.missed = 0;
         }
     }
     {%- 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
@@ -17,7 +17,6 @@
 /* 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) {
@@ -38,46 +37,4 @@ 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 }} << SYSTEM_CAN_MESSAGE_ID_OFFSET) + SYSTEM_CAN_DEVICE_{{ message.sender | upper }}
+  {% if not message.critical %} SYSTEM_CAN_MESSAGE_PRIORITY_BIT + {% endif %}({{ message.id }} << CAN_MESSAGE_ID_OFFSET) + SYSTEM_CAN_DEVICE_{{ message.sender | upper }}
 {% endfor %}
 /** @} */
diff --git a/build_system.md b/build_system.md
@@ -63,10 +63,6 @@ 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`)
@@ -88,9 +84,6 @@ 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_vt:
-      id: 2
-      critical: true
-      cycle: "fast"
-      target:
-        centre_console:
-          watchdog: 0
-      signals:
-        voltage:
-          length: 16
-        current:
-          length: 16
-        temperature:
-          length: 16
-        batt_perc:
-          length: 16
-
     battery_info:
-      id: 3
+      id: 14
       critical: true
       cycle: "slow"
       target:
@@ -59,10 +42,27 @@
         min_cell_v:
           length: 16
 
+    battery_vt:
+      id: 15
+      critical: true
+      cycle: "fast"
+      target:
+        centre_console:
+          watchdog: 0
+      signals:
+        voltage:
+          length: 16
+        current:
+          length: 16
+        temperature:
+          length: 16
+        batt_perc:
+          length: 16
+
     AFE1_status:
           id: 61
           critical: false
-          cycle: "slow"
+          cycle: "medium"
           target:
             centre_console:
               watchdog: 0
@@ -83,7 +83,7 @@
     AFE2_status:
       id: 62
       critical: false
-      cycle: "slow"
+      cycle: "medium"
       target:
         centre_console:
           watchdog: 0
@@ -104,7 +104,7 @@
     AFE3_status:
       id: 63
       critical: false
-      cycle: "slow"
+      cycle: "medium"
       target:
         centre_console:
           watchdog: 0

diff --git a/can/boards/can_communication.yaml b/can/boards/can_communication.yaml
diff --git a/can/boards/centre_console.yaml b/can/boards/centre_console.yaml
@@ -7,7 +7,7 @@
 ---
 Messages:
   cc_pedal:
-    id: 4
+    id: 2
     critical: true
     cycle: "fast"
     target:
@@ -58,7 +58,7 @@ Messages:
         length: 8
 
   cc_regen_percentage:
-    id: 7
+    id: 8
     critical: true
     cycle: "medium"
     target: