Task 290

.gitignore

@@ -3,3 +3,7 @@
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 .vscode/ipch
+.cache/*
+/.vscode
+/.idea
+compile_commands.json

include/apps.h

@@ -0,0 +1,95 @@
+/**
+ * @file apps.h
+ * @brief Accelerator Pedal Position Sensor interface for plausibility checks and pedal mapping.
+ * @author Asher Olgeirson (UCD Formula Student)
+ * @author Shane Whelan (UCD Formula Student)
+ * @date 2025/2026
+ */
+
+#ifndef APPS_H
+#define APPS_H
+
+/* Accelerator Pedal Position Sensor                            \
+  See T.11.8 and T.11.9 for more info                                          \
+ Requirments:                                                                  \
+ - Detect implausibility where there is a 10% difference or more between the   \
+ two sensors \
+ - Shut down main motors when implausibility exists for 100ms or more          \
+ - Fail safe (shut down main motors) when short to ground or supply, open,     \
+ mechanicaly impossible, or otherwise broken                                   \
+ - Fail safe within 500ms of detecting a failure                               \
+                                                                               \
+ */
+
+#include <Arduino.h>
+#include <utility>
+
+namespace APPS {
+
+enum class AppsStatus { OK, Implausible, Fault };
+
+struct AppsReading {
+  AppsReading(AppsStatus status, double value, double APPS1, double APPS2) {
+    this->status = status;
+    this->value = value;
+    this->APPS1 = APPS1;
+    this->APPS2 = APPS2;
+  }
+
+  AppsStatus status;
+  double value; // This could work as an std::optional<double>, but the risk of
+                // bad optional access exceptions outweighs the advantage
+  double APPS1;
+  double APPS2;
+};
+
+//@breif Returns pedal position (%) or -1.0 on implausibility
+//@return An AppsReading struct containing validity and pedal position
+// Do not trust .value without first checking that .status is OK
+AppsReading get_apps_reading();
+
+//@breif T.11.8 compliance. Accepts a pair of APPS1 and APPS2 in order
+bool check_plausiblity(std::pair<float, float> percentages);
+
+//@breif T.11.9 compliance. Accepts a pair of APPS1 and APPS2 in order
+bool check_integrity(std::pair<float, float> raws);
+
+//@breif reads raw values without adjusting or normalizing
+std::pair<float, float> get_raw_values();
+
+//@breif converts raw values to percentages. First position in input pair
+//becomes first position in return pair and vice versa
+std::pair<float, float> get_percentage_values(std::pair<float, float> raws);
+
+constexpr int DEBUG_MODE = 2; // 0: Off, 1: implausibility only, 2: all
+
+// TODO: Get real measurements
+extern const double PEDAL_MIN;
+// TODO: Get real measurements
+extern const double PEDAL_MAX;
+constexpr int APPS_1_PIN = A6;
+constexpr int APPS_2_PIN = A7;
+
+// How many MS since an implausibility was detecting
+inline int implausibility_start = 0;
+
+// TODO: Get real measurements
+// Define pedal calibration constants
+// These are RAW ADC values (not voltages), since values DECREASE when
+// pressed
+constexpr int APPS1_RAW_MIN = 473; // Value when pedal is fully pressed (100%)
+constexpr int APPS1_RAW_MAX = 750; // Value when pedal is released (0%)
+constexpr int APPS2_RAW_MIN = 468; // Value when pedal is fully pressed (100%)
+constexpr int APPS2_RAW_MAX = 750; // Value when pedal is released (0%)
+
+// APPS
+constexpr float APPS_PLAUSIBILITY_THRESHOLD = 10.0f; // T11.8.9
+constexpr float APPS_BRAKE_CONFLICT_THRESHOLD = 25.0f; // percent threshold for brake conflict logic
+
+const unsigned long PLAUSIBILITY_TIMEOUT_MS =
+    100; // Max time for APPS implausibility (Rule EV.5.6.3)
+const unsigned long BRAKE_PLAUSIBILITY_TIMEOUT_MS =
+    500; // Max time for APPS/Brake implausibility (Rule
+
+} // namespace APPS
+#endif // APPS_H

include/brake_light.h

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+/**
+ * @file brake_light.h
+ * @brief Header file for brake light control based on brake pressure and deceleration.
+ * @author Charlie Zhang (UCD Formula Student)
+ * @date 2025/2026
+ */
+
+
+#pragma once
+#include <Arduino.h>
+#include <Adafruit_MPU6050.h>
+#include <Adafruit_Sensor.h>
+
+namespace BrakeLight {
+
+inline constexpr int DEBUG_MODE = 1; // 0: off, higher values increase verbosity
+
+// --- Pin definitions (update if needed) ---
+constexpr int BRAKE_PRESSURE_SENSOR_PIN_FRONT = A0;   // TODO: correct analog pin
+constexpr int BRAKE_PRESSURE_SENSOR_PIN_REAR  = A1;   // TODO: correct analog pin
+constexpr int BRAKE_LIGHT_PIN                 = LED_BUILTIN;    // TODO: correct output pin
+
+// --- Thresholds (placeholder values, calibrate on car) ---
+static constexpr int   BRAKE_THRESHOLD_DELTA  = 10;   // TODO: ADC counts above idle
+static constexpr int   BRAKE_LIGHT_HYSTERESIS = 6;    // TODO: counts below threshold to turn off
+static constexpr float REGEN_DECEL_THRESHOLD  = 1.0f; // m/s^2
+static constexpr float FORWARD_TILT_DEG       = 6.0f; // degrees
+
+// --- IMU calibration ---
+static constexpr uint16_t IMU_CALIB_SAMPLES = 1500; // TODO: tune boot time vs stability
+static constexpr float     ACCEL_EWMA_ALPHA = 0.2f; // low-pass smoothing factor
+
+struct BrakeData {
+  int front_pressure;
+  int rear_pressure;
+  int combined_pressure;
+  bool brake_active;   // true when brake light logic is ON
+  float decel_ms2;
+  float tilt_deg;
+};
+
+// --- Function declarations ---
+void init();
+BrakeData update();   // returns current readings
+void recalibrate_idle();
+bool initialize_mpu();
+void calibrate_imu_rest();
+float compute_forward_tilt_deg(float ay_ms2, float az_ms2);
+float read_decel_ms2(float ax_ms2);
+
+// Query current brake light state (true when logic is ON)
+bool is_active();
+
+} // namespace BrakeLight

include/dashboard.h

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+/**
+ * @file dashboard.h
+ * @brief Declares the Nextion dashboard interface for telemetry and sensor pages.
+ * @author Shane Whelan (UCD Formula Student)
+ * @date 2025/2026
+ */
+
+#pragma once
+#include <Arduino.h>
+#include <Nextion.h>
+
+namespace Dashboard {
+  void init(HardwareSerial &serial = Serial1);
+  void updateTelemetry(float speed, int rpm, bool rtdActive);
+  void updateSensors(float apps1, float apps2,
+                     float brakeFront, float brakeRear);
+  void updateAcceleratorBar(float accelPercent);
+  void updateBrakeLightBar(bool brakeActive);
+} // namespace Dashboard

include/dashboard_helpers.h

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+/**
+ * @file dashboard_helpers.h
+ * @brief Helper utilities for updating Nextion dashboard widgets.
+ * @author Shane Whelan (UCD Formula Student)
+ * @date 2025/2026
+ */
+
+#ifndef DASHBOARD_HELPERS_H
+#define DASHBOARD_HELPERS_H
+
+#include <Nextion.h>
+
+void setText(NexText &obj, const char *value);
+void setText(NexText &obj, float value, int decimals = 1);
+void setBar(NexProgressBar &obj, int value);
+
+#endif

include/header.h

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+/**
+ * @file header.h
+ * @brief Global configuration constants and pin assignments for the testing ECU.
+ * @author Shane Whelan (UCD Formula Student)
+ * @date 2025/2026
+ */
+
+#pragma once
+#include <Arduino.h>
+
+// ====== GLOBAL FLAGS ======
+constexpr bool DEBUG_MODE = true;          // Enable Serial debug output
+
+// ====== PIN ASSIGNMENTS ======
+constexpr int RTD_BUTTON_PIN  = 22;  // Momentary Ready-to-Drive button
+constexpr int BUZZER_PIN      = 23;  // RTD buzzer output
+
+// ====== CAN SETTINGS ======
+constexpr unsigned int CAN_BAUD_RATE = 500000;
+constexpr unsigned int CAN_TIMEOUT_MS = 500;
+
+// ====== TIMING ======
+constexpr unsigned int STATUS_REQ_INTERVAL_MS = 20;
+constexpr unsigned int RPM_REQ_INTERVAL_MS    = 20;
+
+// ====== SPEED LIMITER ======
+// Top speed limit in km/h and taper band where torque linearly reduces to 0
+constexpr float SPEED_LIMIT_KMH         = 20.0f; // adjust as needed
+constexpr float SPEED_LIMIT_TAPER_KMH   = 3.0f;  // linear taper band below limit
+constexpr float SPEED_LIMIT_HYST_KMH    = 0.5f;  // optional hysteresis for re-enable
+// Slew rate to avoid jerky torque changes when limiting (counts per second)
+constexpr int   SPEED_SLEW_COUNTS_PER_SEC = 8000; // adjust to taste
+
+// ====== UI / DEBUG ======
+constexpr unsigned int DASHBOARD_UPDATE_INTERVAL_MS = 100;  // Nextion refresh cadence
+constexpr unsigned int DEBUG_PRINT_INTERVAL_MS      = 1000; // Serial debug cadence

include/helpers.h

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+/**
+ * @file helpers.h
+ * @brief Utility helpers shared across ECU modules.
+ * @author Shane Whelan (UCD Formula Student)
+ * @date 2025/2026
+ */
+
+#pragma once
+#include <Arduino.h>
+
+namespace Helper {
+float rpm_to_kmh(float rpm);
+}

include/logging.h

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+/**
+ * @file logging.h
+ * @brief SD-card logging interface for CAN traffic capture.
+ * @author Shane Whelan (UCD Formula Student)
+ * @date 2025/2026
+ */
+
+#pragma once
+#include <Arduino.h>
+#include <SD.h>
+#include <FlexCAN_T4.h>
+
+// Logs CAN frames, generates filenames, and streams to Serial2 (ESP)
+namespace Logging {
+  void init();                              // Mount SD + open new log file
+  void logCANFrame(const CAN_message_t &msg, const char *dir);
+  void flush();
+  void close();
+}

include/motor_controller.h

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+/**
+ * @file motor_controller.h
+ * @brief Interface for Bamocar D3 motor controller management over CAN.
+ * @author Shane Whelan (UCD Formula Student)
+ * @date 2025/2026
+ */
+
+#pragma once
+#include <Arduino.h>
+
+namespace MotorController {
+
+inline constexpr int DEBUG_MODE = 1; // 0 disables module logging
+
+// Bamocar torque scaling
+inline constexpr int16_t MAX_TORQUE_COUNTS  = 32767; // full-scale command
+inline constexpr float   MAX_TORQUE_PERCENT = 100.0f;
+
+// Init pins and CAN. rtdButtonPin is active-low. buzzerPin optional (-1 to disable)
+void init();
+
+// Call each loop
+void update();
+
+// Request torque. Ignored until readyToDrive is true
+void setTorque(int16_t torqueCounts);
+
+// Query
+bool ready();
+bool faulted();
+int  rpm();
+float dcBus();
+
+}

include/nextion_ids.h

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+/**
+ * @file nextion_ids.h
+ * @brief Defines Nextion component identifiers used by the dashboard module.
+ * @author Shane Whelan (UCD Formula Student)
+ * @date 2025/2026
+ */
+
+#ifndef NEXTION_IDS_H
+#define NEXTION_IDS_H
+
+// ---------- Page 2 – Driving Info ----------
+#define PAGE_TELEMETRY        2
+#define KMH_TXT_NAME          "kmh_txt"
+#define RPM_TXT_NAME          "rpm_txt"
+#define RTDSTATUS_TXT_NAME    "rtdstatus_txt"
+
+// ---------- Page 4 – Sensor Diagnostics ----------
+#define PAGE_SENSORS          4
+#define APPS1_TXT_NAME        "apps1_txt"
+#define APPS2_TXT_NAME        "apps2_txt"
+#define BRAKE_FRONT_TXT_NAME  "brakefront_txt"
+#define BRAKE_REAR_TXT_NAME   "brakerear_txt"
+
+// ---------- Page 5 – Accelerator ----------
+#define PAGE_ACCEL            5
+#define ACCEL_BAR_NAME        "accel_bar"
+#define BRAKE_LIGHT           "brake_light" // is type bar, but will only be set to 0 or 100
+
+#endif // NEXTION_IDS_H