Fsm integration

.github/workflows/release_artifacts.yml

@@ -0,0 +1,40 @@
+name: Include Submodules in Release
+
+on:
+  release:
+    types: [published]
+
+jobs:
+  flatten-release:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v6
+        with:
+          submodules: recursive
+          fetch-depth: 0
+
+      - name: Remove submodule metadata
+        run: |
+          git submodule foreach --quiet '
+            echo "Flattening $name at $path..."
+            git rm --cached -r "$path" || true
+            rm -rf ".git/modules/$path"
+          '
+          rm -f .gitmodules
+
+      - name: Create release zip
+        run: |
+          REPO_NAME=${{ github.event.repository.name }}
+          TAG_NAME=${{ github.event.release.tag_name }}
+          ZIP_NAME="${REPO_NAME}-${TAG_NAME}.zip"
+          echo "Creating zip: $ZIP_NAME"
+          zip -r "$ZIP_NAME" . -x ".git/*" -x ".github/*"
+          echo "ZIP created: $ZIP_NAME"
+
+      - name: Upload zip to release
+        uses: softprops/action-gh-release@v2
+        with:
+          files: "${{ github.event.repository.name }}-${{ github.event.release.tag_name }}.zip"
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

Firmware/Drivers/Inc/ADC_Sense.h

@@ -1,24 +1,23 @@
 #pragma once
 
 #include "inits.h"
-#include "queue.h"
-#include "UART.h"
 #include "ADC.h"
 #include "ADC_Battery_LUT.h"
 #include "ADC_Motor_LUT.h"
 #include "FaultBits.h"
+#include "UART.h"
+#include "queue.h"
 
 // ADC Channel 11 (Motor Voltage) and 12 (Battery Voltage) are GPIOB 12 and 2
-#define ADC1_CHANNEL ADC_CHANNEL_11
-#define ADC2_CHANNEL ADC_CHANNEL_12
-#define ADC_QUEUE_LENGTH 4
+#define ADC1_CHANNEL        ADC_CHANNEL_11
+#define ADC2_CHANNEL        ADC_CHANNEL_12
+#define ADC_QUEUE_LENGTH    4
 #define ADC_QUEUE_ITEM_SIZE sizeof(uint16_t)
-#define ADC_SAMPLING_TIME ADC_SAMPLETIME_2CYCLES_5
+#define ADC_SAMPLING_TIME   ADC_SAMPLETIME_2CYCLES_5
 
 /**
  * @brief ADC Initialization Function
  * @param adcHandle Pointer to ADC handle struct
- * @retval None
  */
 void HAL_ADC_MspInit(ADC_HandleTypeDef *adcHandle);
 
@@ -27,40 +26,36 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef *adcHandle);
  *
  * Contains scaled motor and battery voltages in millivolts.
  */
-typedef struct
-{
-  uint32_t Motor_Voltage;
-  uint32_t Battery_Voltage;
+typedef struct {
+    uint32_t Motor_Voltage;
+    uint32_t Battery_Voltage;
 } ADC_Sense_Result;
 
 /**
  * @brief ADC sense function return status
  */
-typedef enum
-{
-  ADC_SENSE_OK = 0,         // Operation successful
-  ADC_QUEUE_ERR,            // Queue creation failed
-  ADC_1_INIT_ERR,           // ADC1 initialization failed
-  ADC_2_INIT_ERR,           // ADC2 initialization failed
-  ADC_1_READ_ERR,           // ADC1 read failed
-  ADC_2_READ_ERR,           // ADC2 read failed
-  ADC_SENSE_INIT_ERR,       // Initialization not called or failed
-  READ_ADC_BAD_PARAM_ERR,   // Bad result parameter
-  MOTOR_QUEUE_RECEIVE_ERR,  // ADC values not received from motor ADC queue
-  BATTERY_QUEUE_RECEIVE_ERR // ADC values not received from battery ADC queue
+typedef enum {
+    ADC_SENSE_OK = 0,         // Operation successful
+    ADC_QUEUE_ERR,            // Queue creation failed
+    ADC_1_INIT_ERR,           // ADC1 initialization failed
+    ADC_2_INIT_ERR,           // ADC2 initialization failed
+    ADC_1_READ_ERR,           // ADC1 read failed
+    ADC_2_READ_ERR,           // ADC2 read failed
+    ADC_SENSE_INIT_ERR,       // Initialization not called or failed
+    READ_ADC_BAD_PARAM_ERR,   // Bad result parameter
+    MOTOR_QUEUE_RECEIVE_ERR,  // ADC values not received from motor ADC queue
+    BATTERY_QUEUE_RECEIVE_ERR // ADC values not received from battery ADC queue
 } ADC_Sense_Status_t;
 
 /**
- * @brief Initialize ADC1 struct and calls the wrapper adc_init function to initialize ADC1 peripheral
- * @param None
- * @retval None
+ * @brief Initialize ADC1 struct and calls the wrapper adc_init function to initialize ADC1
+ * peripheral
  */
 ADC_Sense_Status_t ADC_1_Init(void);
 
 /**
- * @brief Initialize ADC2 struct and calls the wrapper adc_init function to initialize ADC2 peripheral
- * @param None
- * @retval None
+ * @brief Initialize ADC2 struct and calls the wrapper adc_init function to initialize ADC2
+ * peripheral
  */
 ADC_Sense_Status_t ADC_2_Init(void);
 
@@ -89,13 +84,11 @@ ADC_Sense_Status_t Read_ADC(uint32_t Timeout_MS, ADC_Sense_Result *Result);
 /**
  * @brief ADC1 Initialization Function
  * @param None
- * @retval None
  */
 void MX_ADC1_Init(void);
 
 /**
  * @brief ADC2 Initialization Function
  * @param None
- * @retval None
  */
 void MX_ADC2_Init(void);

Firmware/Drivers/Inc/CANbus.h

@@ -1,34 +1,46 @@
 #pragma once
 
-#include "stm32xx_hal.h"
 #include "CAN_FD.h"
-
-extern FDCAN_HandleTypeDef *hfdcan1;
-extern FDCAN_HandleTypeDef *hfdcan3;
+#include "stm32xx_hal.h"
+#include "MotorCAN_can_msgs.h"
+#include "BPSCAN_can_msgs.h"
+#include "CarCAN_can_msgs.h"
+#include "SteeringCAN_can_msgs.h"
 
 extern FDCAN_HandleTypeDef *motorfdcan;
 extern FDCAN_HandleTypeDef *carfdcan;
 
-can_status_t CAN_Init(void);
-
-can_status_t Motor_CANBus_Send(FDCAN_TxHeaderTypeDef *header,
-                               uint8_t data[],
-                               TickType_t delay_ticks);
+can_status_t MotorCAN_Init(void);
+can_status_t MotorCAN_Send(FDCAN_TxHeaderTypeDef *header, uint8_t data[], TickType_t delay_ticks);
+can_status_t MotorCAN_Recv(uint32_t id, FDCAN_RxHeaderTypeDef *header, uint8_t data[],
+                           TickType_t delay_ticks);
 
-can_status_t Motor_CANBus_Receive(uint16_t id,
-                                  FDCAN_RxHeaderTypeDef *header,
-                                  uint8_t data[],
-                                  TickType_t delay_ticks);
+can_status_t MotorCAN_Recv_Status(mc_status_t *out, TickType_t delay);
+can_status_t MotorCAN_Recv_Velocity(mc_velocitymeasurement_t *out, TickType_t delay);
+can_status_t MotorCAN_Recv_Control_Src(set_motor_cmd_src_t *out, TickType_t delay);
 
-can_status_t Car_CANBus_Send(FDCAN_TxHeaderTypeDef *header,
-                             uint8_t data[],
-                             TickType_t delay_ticks);
+can_status_t MotorCAN_Send_Drive_Cmd(float velocity, float current, TickType_t delay);
+can_status_t MotorCAN_Send_Power_Cmd(float current, TickType_t delay);
 
-can_status_t Car_CANBus_Receive(uint16_t id,
-                                FDCAN_RxHeaderTypeDef *header,
-                                uint8_t data[],
+can_status_t CarCAN_Init(void);
+can_status_t CarCAN_Send(FDCAN_TxHeaderTypeDef *header, uint8_t data[], TickType_t delay_ticks);
+can_status_t CarCAN_Recv(uint32_t id, FDCAN_RxHeaderTypeDef *header, uint8_t data[],
                                 TickType_t delay_ticks);
 
+can_status_t CarCAN_Recv_BPS_Status(bps_status_t *out, TickType_t delay);
+can_status_t CarCAN_Recv_LWS(lws_standard_t *out, TickType_t delay);
+can_status_t CarCAN_Recv_Driver_Input(driver_input_status_t *out, TickType_t delay);
+can_status_t CarCAN_Recv_Pedals_Position(pedal_status_t *out, TickType_t delay);
+can_status_t CarCAN_Recv_Brake_Pressure1(brake_pressure_1_t *out, TickType_t delay);
+can_status_t CarCAN_Recv_Brake_Pressure2(brake_pressure_2_t *out, TickType_t delay);
+can_status_t CarCAN_Recv_Controls_Status(controls_status_t *out, TickType_t delay);
+can_status_t CarCAN_Send_Precharge_Voltages(uint32_t motor_mv, uint32_t battery_mv,
+                                            TickType_t delay);
+can_status_t CarCAN_Send_Drive_Cmd(float velocity, float current, TickType_t delay);
+
+can_status_t CAN_Send_Drive_Cmd(float velocity, float current, TickType_t delay);
+
+
 /* HAL MSP hooks implemented in CANbus.c */
 void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef *fdcanHandle);
-void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef *fdcanHandle);
+void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef *fdcanHandle);

Firmware/Drivers/Inc/Contactors.h

@@ -1,27 +1,25 @@
-#pragma once
+    #pragma once
 
 #include "inits.h"
 
 /* Timing Definitions */
 /** Time to wait for the physical contactor to settle before reading feedback */
-#define CONTACTOR_SENSE_DELAY pdMS_TO_TICKS(250)
+#define CONTACTOR_SENSE_DELAY  pdMS_TO_TICKS(250)
 /** Maximum time allowed for callback execution to prevent task starvation */
 #define CALLBACK_BLOCKING_TIME pdMS_TO_TICKS(20)
 
 /**
  * @brief Represents the logical and physical state of a contactor.
  */
-typedef enum
-{
+typedef enum {
     OPEN = 0,  /**< Circuit is disconnected */
     CLOSED = 1 /**< Circuit is connected */
 } contactor_state_t;
 
 /**
  * @brief Identification for specific contactors within the HV system.
  */
-typedef enum
-{
+typedef enum {
     MOTOR_PRE_CONTACTOR, /**< Battery to Motor Contactor */
     MOTOR_CONTACTOR,     /**< Post-Precharge Bypass Contactor */
     NUM_CONTACTORS       /**< Total count helper */
@@ -30,36 +28,41 @@ typedef enum
 /**
  * @brief Contactor hardware abstraction object.
  */
-typedef struct
-{
-    contactor_state_t state; /**< Current state */
-    GpioPin_t sense_pin;     /**< Digital input for auxiliary feedback loop */
-    GpioPin_t control_pin;   /**< Digital output to coil driver/relay */
+typedef struct {
+    contactor_state_t state; /* Current state */
+    GpioPin_t sense_pin;     /* Digital input for auxiliary feedback loop */
+    GpioPin_t control_pin;   /* Digital output to coil driver/relay */
 
     /* RTOS Resources */
-    TimerHandle_t senseTimer;       /**< Handle for non-blocking state verification */
-    StaticTimer_t senseTimerBuffer; /**< Memory buffer for static timer allocation */
+    TimerHandle_t senseTimer;       /* Handle for non-blocking state verification */
+    StaticTimer_t senseTimerBuffer; /* Memory buffer for static timer allocation */
 } contactor_t;
 
-/** @brief Hardware/RTOS init for all contactors, timers, and mutexes. */
+/**
+ * @brief Hardware/RTOS init for all contactors, timers, and mutexes.
+ */
 void contactor_init(void);
 
-/** * @brief Reads the physical sense pin for a specific contactor.
+/**
+ * @brief Reads the physical sense pin for a specific contactor.
  * @return 1 if CLOSED, 0 if OPEN.
  */
 contactor_state_t contactor_get_sense(contactor_num_t contactor_num);
 
-/** * @brief Reads the current logical state for a specific contactor.
+/**
+ * @brief Reads the current logical state for a specific contactor.
  * @return 1 if CLOSED, 0 if OPEN.
  */
 contactor_state_t contactor_get_commanded_state(contactor_num_t contactor_num);
 
-/** * @brief Commands a contactor state change with safety verification via callback function.
+/**
+ * @brief Commands a contactor state change with safety verification via callback function.
  * @param wait_ms  Wait time for sense delay before returning.
  * @param emergency Immediate execution; bypasses safety callbacks.
  * @return SUCCESS or hardware ERROR code.
  */
-ErrorStatus contactor_set(contactor_num_t contactor_num, contactor_state_t state, uint32_t wait_ms, fault_state_t emergency);
+ErrorStatus contactor_set(contactor_num_t contactor_num, contactor_state_t state, uint32_t wait_ms,
+                          fault_state_t emergency);
 
 /** @brief When fault is detected, opens all contactors. */
 void contactor_emergency_open_all();