Split up header.h

include/README

@@ -25,7 +25,9 @@ new version when next recompiled. The header file eliminates the labor of
 finding and changing all the copies as well as the risk that a failure to
 find one copy will result in inconsistencies within a program.
 
-In C, the convention is to give header files names that end with `.h'.
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
 
 Read more about using header files in official GCC documentation:
 

include/apps.h

@@ -0,0 +1,23 @@
+#pragma once
+//APPS = Accelerator Pedal Position Sensor
+//-----------------------CONSTANTS------------------------
+extern const double PEDAL_MIN;
+extern const double PEDAL_MAX;
+
+// APPS Pins
+const int APPS_1_PIN = A6;
+const int APPS_2_PIN = A7;
+
+// APPS_PLAUSIBILITY_THRESHOLDS
+// Brake Sensor
+const int APPS_BRAKE_PLAUSIBILITY_THRESHOLD = 25; // % APPS request threshold for brake plausibility check (Rule EV.5.7)
+
+// APPS
+const float APPS_PLAUSIBILITY_THRESHOLD = 10.0f; // % difference threshold (Rule EV.5.6)
+
+// TIMEOUTS
+const unsigned long APPS_PLAUSIBILITY_TIMEOUT_MS = 100; // Max time for APPS implausibility (Rule EV.5.6.3)
+const unsigned long APPS_BRAKE_PLAUSIBILITY_TIMEOUT_MS = 500; // Max time for APPS/Brake implausibility (Rule EV.2.3.1)
+
+//-----------------------FUNCTION PROTOTYPES------------------------
+double get_apps_reading(); // Returns pedal position (%) or -1.0 on implausibility

include/bamocar-due.h

@@ -0,0 +1,192 @@
+/**
+ * @file bamocar-due.h
+ * @brief Defines the Bamocar class for interacting with the Bamocar D3
+ * controller. Modified to remove CAN callback registration and expose message
+ * handling.
+ * @author Shane Whelan (UCD Formula Student)
+ * @date 2025-04-27
+ */
+#pragma once
+
+#include <Arduino.h>
+#ifdef min
+#undef min
+#endif
+
+#ifdef max
+#undef max
+#endif
+#include "bamocar-registers.h"
+#include "due_can.h"
+#include <functional>
+
+// #define CAN_TIMEOUT 0.01
+#define TORQUE_MAX_PERCENT 1.00
+
+// Forward declaration
+class CANManager;
+
+class M_data {
+public:
+  // --- Constructor Overloads (Unchanged) ---
+  M_data(uint8_t regID, uint16_t m_data16) {
+    data.bytes[0] = regID;
+    data.bytes[1] = m_data16 & 0xFF;
+    data.bytes[2] = m_data16 >> 8;
+    dataLength = 3;
+  }
+
+  M_data(uint8_t regID, int16_t m_data16) {
+    data.bytes[0] = regID;
+    data.bytes[1] = m_data16 & 0xFF;
+    data.bytes[2] = m_data16 >> 8;
+    dataLength = 3;
+  }
+
+  M_data(uint8_t regID, uint32_t m_data32) {
+    data.bytes[0] = regID;
+    data.bytes[1] = m_data32 & 0xFF;
+    data.bytes[2] = (m_data32 >> 8) & 0xFF;
+    data.bytes[3] = (m_data32 >> 16) & 0xFF;
+    data.bytes[4] = (m_data32 >> 24) & 0xFF;
+    dataLength = 5;
+  }
+
+  M_data(uint8_t regID, int32_t m_data32) {
+    data.bytes[0] = regID;
+    data.bytes[1] = m_data32 & 0xFF;
+    data.bytes[2] = (m_data32 >> 8) & 0xFF;
+    data.bytes[3] = (m_data32 >> 16) & 0xFF;
+    data.bytes[4] = (m_data32 >> 24) & 0xFF;
+    dataLength = 5;
+  }
+
+  M_data(uint8_t regID, uint8_t requestedRegID, uint8_t interval) {
+    data.bytes[0] = regID;
+    data.bytes[1] = requestedRegID;
+    data.bytes[2] = interval;
+    dataLength = 3;
+  }
+  // --- End Constructor Overloads ---
+
+  BytesUnion getData() { return data; }
+
+  uint8_t length() { return dataLength; }
+
+protected:
+  BytesUnion data;
+  uint8_t dataLength;
+};
+
+// -------------------------------------
+
+class Bamocar {
+public:
+  /**
+   * @brief Constructor for Bamocar.
+   * Removed mailbox parameter as callbacks are no longer used here.
+   * Initializes default CAN IDs.
+   */
+  Bamocar() {
+    // instance = this; // Keep if static instance is needed elsewhere
+    _rxID = STD_RX_ID; // ID we send commands TO
+    _txID = STD_TX_ID; // ID we receive responses FROM
+  }
+
+  // --- Public Interface Functions (Unchanged signatures) ---
+  float getSpeed();
+  bool setSpeed(int16_t speed);
+  bool requestSpeed(uint8_t interval = INTVL_IMMEDIATE);
+
+  bool setAccel(int16_t accel);
+  bool setDecel(int16_t decel);
+
+  float getTorque();
+  bool setTorque(float torque);
+  bool requestTorque(uint8_t interval = INTVL_IMMEDIATE);
+  float getMaxTorqueNm(); // Helper function for regen scaling
+
+  float getCurrent(); // Remember to fix implementation (2.0/10.0)
+  bool requestCurrent(uint8_t interval = INTVL_IMMEDIATE);
+
+  uint16_t getMotorTemp();
+  uint16_t getControllerTemp();
+  uint16_t getAirTemp();
+  bool requestMotorTemp(uint8_t interval = INTVL_IMMEDIATE);
+  bool requestControllerTemp(uint8_t interval = INTVL_IMMEDIATE);
+  bool requestAirTemp(uint8_t interval = INTVL_IMMEDIATE);
+
+  uint32_t getStatus(); // Changed return type to match _rcvd.STATUS
+  bool requestStatus(uint8_t interval = INTVL_IMMEDIATE);
+
+  void setSoftEnable(bool enable);
+  bool getHardEnable();
+  bool requestHardEnabled(uint8_t interval = INTVL_IMMEDIATE);
+
+  void setRxID(uint16_t rxID); // ID to send commands TO
+  void setTxID(uint16_t txID); // ID to receive responses FROM
+  uint16_t getTxID() const {
+    return _txID;
+  } // Getter for CANManager filter setup
+  uint16_t getRxID() const { return _rxID; } // Getter
+
+  /**
+   * @brief Public function to handle incoming CAN frames intended for this
+   * Bamocar instance. Called by CANManager.
+   * @param msg The received CAN_FRAME.
+   */
+  void handle_incoming_frame(const CAN_FRAME &msg);
+
+protected:
+  // static Bamocar *instance; // Keep if needed
+  uint16_t _rxID; // ID we send commands TO
+  uint16_t _txID; // ID we receive responses FROM
+
+  // Structure to hold received data (Unchanged)
+  struct _rcvd {
+    int16_t N_ACTUAL = 0, N_MAX = 0, TORQUE = 0;
+    uint16_t READY = 0, I_ACTUAL = 0, I_DEVICE = 0, I_200PC = 0, RAMP_ACC = 0,
+             RAMP_DEC = 0, TEMP_MOTOR = 0, TEMP_IGBT = 0, TEMP_AIR = 0,
+             HARD_ENABLED = 0;
+    uint32_t STATUS = 0; // Ensure this is uint32_t
+  } _rcvd;
+
+  /**
+   * @brief Sends a command/request to the Bamocar via the CANManager.
+   * @param m_data The M_data object containing the command.
+   * @return True if the message was successfully sent by CANManager, false
+   * otherwise.
+   */
+  bool _sendCAN(M_data m_data);
+
+  /**
+   * @brief Sends a request for data transmission from the Bamocar.
+   * @param requestedRegID The register ID to request.
+   * @param interval The requested transmission interval code.
+   * @return True if the request message was successfully sent, false otherwise.
+   */
+  bool _requestData(uint8_t requestedRegID, uint8_t interval = INTVL_IMMEDIATE);
+
+  // Removed _forwardFrame as it's no longer needed for callbacks
+
+  /**
+   * @brief Parses a received CAN message and updates the internal state
+   * (_rcvd). Now called by the public handle_incoming_frame.
+   * @param msg The received CAN_FRAME.
+   */
+  void _parseMessage(const CAN_FRAME &msg); // Made const reference
+
+  /**
+   * @brief Extracts 16-bit data from a received CAN frame.
+   * @param msg The received CAN_FRAME.
+   * @return The extracted 16-bit value.
+   */
+  int16_t _getReceived16Bit(const CAN_FRAME &msg); // Made const reference
+
+  /**
+   * @brief Extracts 32-bit data from a received CAN frame.
+   * @param msg The received CAN_FRAME.
+   * @return The extracted 32-bit value.
+   */
+  int32_t _getReceived32Bit(const CAN_FRAME &msg); // Made const reference
+};

include/bamocar-registers.h

@@ -0,0 +1,50 @@
+/*
+
+bamocar-registers.h
+
+*/
+
+#ifndef Bamocar_registers_h
+#define Bamocar_registers_h
+
+// CAN-Relevant settings
+#define STD_RX_ID        0x201    //The ID the MC will listen on
+#define STD_TX_ID        0x181    //The ID the MC will answer with
+#define STD_BAUD_RATE   500000    //Standard Baudrate
+
+
+// Control Registers
+#define REG_ENABLE        0x51    //Disable or Enable transmission
+#define REG_REQUEST       0x3D    //Transmission request
+
+// Data Registers
+#define REG_STATUS        0x40    //Status of device
+#define REG_READY         0xE2    //State of the device
+
+#define REG_N_ACTUAL      0x30    //RPM actual
+#define REG_N_CMD         0x31    //RPM command
+#define REG_N_MAX         0xC8    //(SPEED_RPMMAX) Maximum rotation speed in turns per minute (Servo)
+
+#define REG_I_ACTUAL      0x20    //Current actual
+#define REG_I_DEVICE      0xC6    //Current device
+#define REG_I_200PC       0xD9    //Current 200 PC
+
+#define REG_TORQUE        0x90    //Torque reference
+
+#define REG_RAMP_ACC      0x35    //Ramp Acceleration command
+#define REG_RAMP_DEC      0xED    //Ramp Deceleration command
+
+#define REG_TEMP_MOTOR    0x49    //Active motor temperature
+#define REG_TEMP_IGBT     0x4A    //Active output stage temperature
+#define REG_TEMP_AIR      0x4B    //Air temperature in the servo
+
+#define REG_HARD_ENABLED  0xE8    //Hard Enabled State
+
+// Request interval Pre-settings
+#define INTVL_IMMEDIATE   0x00
+#define INTVL_SUSPEND     0xFF
+#define INTVL_100MS       0x64
+#define INTVL_200MS       0xC8
+#define INTVL_250MS       0xFA
+
+#endif

include/bpps.h

@@ -0,0 +1,49 @@
+#ifndef BPPS_H
+#define BPPS_H
+/**
+ * @file bpps.h
+ * @brief Handles reading brake pressure sensors, MPU6050 tilt sensor, and controls brake light
+ * @author Muhammad Ibrahim Mansoor (UCD Formula Student)
+ * @date 2025-10-9
+ */
+
+//BPPS = Brake Pedal Position Sensor
+//----------------- CONSTANTS ------------------
+//PINS
+// Analog Pins (INPUT)
+const int BRAKE_PRESSURE_SENSOR_PIN_FRONT = A0;
+const int BRAKE_PRESSURE_SENSOR_PIN_REAR = A1;
+
+// Digital Pins (OUTPUT)
+const int BRAKE_LIGHT_PIN = 7;
+
+//GYRO
+extern bool mpuInitialized;
+const float TILT_THRESHOLD_DEG = 5.8; // For MPU6050 brake light activation
+
+// Brake Light calibration constants
+const int BRAKE_LIGHT_THRESHOLD = 109; // Calibrated
+const int BRAKE_LIGHT_HYSTERESIS = 2; // Calibrated
+
+//--------------- GLOBAL VARIABLES --------------------
+
+//BRAKE PRESSURE VARIABLES
+extern int brakePressureFront;
+extern int brakePressureRear;
+extern int brakePressureCombined;
+//BRAKE IDLE VALUES
+extern int brakeIdleValueFront;
+extern int brakeIdleValueRear;
+extern int brakeIdleValueCombined;
+
+extern int dynamicBrakeThreshold;
+extern bool brakeInitialized;
+
+//------------ GLOBAL OBJECTS ---------------
+extern Adafruit_MPU6050 mpu;
+#endif // BPPS_H
+
+//------------ FUNCTION PROTOTYPES -----------
+bool initializeMPU(); // Initialize MPU6050 sensor
+void brake_light(); // Reads brake pressure, MPU, controls brake light
+void recalibrate_brake_idle(); // Recalibrate brake idle values

include/dashboard.h

@@ -0,0 +1,9 @@
+#ifndef DASHBOARD_H
+#define DASHBOARD_H
+
+// ------------ FUNCTION PROTOTYPES ------------
+void dash_setup();           // Setup for Nextion display
+void dash_loop();            // Update loop for Nextion display
+void sendPlottableData(); // Send data for plotting
+
+#endif // DASHBOARD_H

include/error_monitor.h

@@ -0,0 +1,23 @@
+#ifndef ERROR_MONITOR_H
+#define ERROR_MONITOR_H
+// ------------ CONSTANTS ------------
+// --- Debug ---
+const int DEBUG_MODE = 4; // 0=Off, 1=Essential, 2=Verbose, 3=Very Verbose, 4=Max Debug
+
+// VCU-HACK: Set to true to bypass BMS checks for bench testing without a BMS.
+// TODO: MUST BE FALSE FOR VEHICLE OPERATION.
+const bool BENCH_TESTING_MODE = true;
+
+// --- Pins ---
+const int ERROR_PIN_START = 22; // Start pin for error monitoring
+const int ERROR_PIN_END = 37;   // End pin for error monitoring
+
+// ------------ FUNCTION PROTOTYPES ------------
+void monitor_errors_setup(); // Setup error monitoring
+void monitor_errors_loop();  // Error monitoring loop
+void checkCriticalSystems(); // Check critical systems and update warnings
+const char* getErrorString(int errorCode); // Get error string from error code
+
+
+
+#endif // ERROR_MONITOR_H