Merge pull request #168 from PolySync/maint/reorganize-software-stack

Reorganize software stack
PolySync · Jul 28, 2017 · 1171726 · 1171726
2 parents 13b1af5 + 8c993d7
commit 1171726
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Showing 360 changed files with 6,756 additions and 10,869 deletions.
diff --git a/Jenkinsfile b/Jenkinsfile
@@ -11,20 +11,16 @@ node('arduino') {
     }
     stage('Build') {
       parallel 'kia soul firmware': {
-        sh 'cd platforms && mkdir build && cd build && cmake .. -DBUILD_KIA_SOUL=ON -DCMAKE_BUILD_TYPE=Release && make'
-      }, 'joystick commander': {
-        sh 'cd utils/joystick_commander && mkdir build && cd build && cmake .. && make'
-      }, 'diagnostics tool': {
-        sh 'cd utils/diagnostics_tool && mkdir build && cd build && cmake .. && make'
+        sh 'cd firmware && mkdir build && cd build && cmake .. -DKIA_SOUL=ON -DCMAKE_BUILD_TYPE=Release && make'
       }
       echo 'Build Complete!'
     }
     stage('Test') {
       parallel 'unit tests': {
-        sh 'cd platforms && mkdir build_unit_tests && cd build_unit_tests && cmake .. -DTESTS=ON -DCMAKE_BUILD_TYPE=Release && make run-unit-tests'
+        sh 'cd firmware && mkdir build_unit_tests && cd build_unit_tests && cmake .. -DKIA_SOUL=ON -DTESTS=ON -DCMAKE_BUILD_TYPE=Release && make run-unit-tests'
         echo 'Unit Tests Complete!'
       }, 'property-based tests': {
-        sh 'cd platforms && mkdir build_property_tests && cd build_property_tests && cmake .. -DTESTS=ON -DCMAKE_BUILD_TYPE=Release && make run-property-tests'
+        sh 'cd firmware && mkdir build_property_tests && cd build_property_tests && cmake .. -DKIA_SOUL=ON -DTESTS=ON -DCMAKE_BUILD_TYPE=Release && make run-property-tests'
         echo 'Property-Based Tests Complete!'
       }, 'acceptance tests': {
         echo 'Acceptance Tests Complete!'

diff --git a/README.md b/README.md
diff --git a/api/include/can_protocols/brake_can_protocol.h b/api/include/can_protocols/brake_can_protocol.h
@@ -0,0 +1,100 @@
+/**
+ * @file brake_can_protocol.h
+ * @brief Brake CAN Protocol.
+ *
+ */
+
+
+#ifndef _OSCC_BRAKE_CAN_PROTOCOL_H_
+#define _OSCC_BRAKE_CAN_PROTOCOL_H_
+
+
+#include <stdint.h>
+#include "magic.h"
+
+
+/*
+ * @brief Brake command message (CAN frame) ID.
+ *
+ */
+#define OSCC_BRAKE_COMMAND_CAN_ID (0x60)
+
+/*
+ * @brief Brake report message (CAN frame) ID.
+ *
+ */
+#define OSCC_BRAKE_REPORT_CAN_ID (0x61)
+
+/*
+ * @brief Brake report message (CAN frame) length.
+ *
+ */
+#define OSCC_BRAKE_REPORT_CAN_DLC (8)
+
+/*
+ * @brief Brake report message publishing frequency. [Hz]
+ *
+ */
+#define OSCC_BRAKE_REPORT_PUBLISH_FREQ_IN_HZ (50)
+
+/*
+ * @brief Brake DTC bitfield position indicating an invalid sensor value.
+ *
+ */
+#define OSCC_BRAKE_DTC_INVALID_SENSOR_VAL (0x0)
+
+
+#pragma pack(push)
+#pragma pack(1)
+
+/**
+ * @brief Brake command message data.
+ *
+ * CAN frame ID: \ref OSCC_BRAKE_COMMAND_CAN_ID
+ *
+ */
+typedef struct
+{
+    uint8_t magic[2]; /* Magic number identifying CAN frame as from OSCC.
+                         Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
+                         Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
+
+    uint16_t pedal_command; /*!< Pedal command. [65535 == 100%] */
+
+    uint8_t enable; /*!< Command to enable or disable steering control.
+                     * Zero value means disable.
+                     * Non-zero value means enable. */
+
+    uint8_t reserved[3]; /*!< Reserved. */
+} oscc_brake_command_s;
+
+
+/**
+ * @brief Brake report message data.
+ *
+ * CAN frame ID: \ref OSCC_BRAKE_REPORT_CAN_ID
+ *
+ */
+typedef struct
+{
+    uint8_t magic[2]; /* Magic number identifying CAN frame as from OSCC.
+                         Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
+                         Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
+
+    uint8_t enabled; /*!< Braking controls enabled state.
+                      * Zero value means disabled (commands are ignored).
+                      * Non-zero value means enabled (no timeouts or overrides have occured). */
+
+    uint8_t operator_override; /*!< Driver override state.
+                                * Zero value means there has been no operator override.
+                                * Non-zero value means an operator has physically overridden
+                                * the system. */
+
+    uint8_t dtcs; /* Bitfield of DTCs present in the module. */
+
+    uint8_t reserved[3]; /*!< Reserved. */
+} oscc_brake_report_s;
+
+#pragma pack(pop)
+
+#endif /* _OSCC_BRAKE_CAN_PROTOCOL_H_ */
diff --git a/api/include/can_protocols/fault_can_protocol.h b/api/include/can_protocols/fault_can_protocol.h
@@ -0,0 +1,59 @@
+/**
+ * @file fault_can_protocol.h
+ * @brief Fault CAN Protocol.
+ *
+ */
+
+
+#ifndef _OSCC_FAULT_CAN_PROTOCOL_H_
+#define _OSCC_FAULT_CAN_PROTOCOL_H_
+
+
+#include <stdint.h>
+#include "magic.h"
+
+/*
+ * @brief Fault report message (CAN frame) ID.
+ *
+ */
+#define OSCC_FAULT_REPORT_CAN_ID (0x99)
+
+/*
+ * @brief Fault report message (CAN frame) length.
+ *
+ */
+#define OSCC_FAULT_REPORT_CAN_DLC (8)
+
+
+typedef enum
+{
+    FAULT_ORIGIN_BRAKE,
+    FAULT_ORIGIN_STEERING,
+    FAULT_ORIGIN_THROTTLE
+} fault_origin_id_t;
+
+
+#pragma pack(push)
+#pragma pack(1)
+
+/**
+ * @brief Fault report message data.
+ *
+ * Message size (CAN frame DLC): \ref OSCC_FAULT_REPORT_CAN_DLC
+ *
+ */
+typedef struct
+{
+    uint8_t magic[2]; /* Magic number identifying CAN frame as from OSCC.
+                         Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
+                         Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
+
+    uint32_t fault_origin_id; /* ID of the module that is sending out the fault. */
+
+    uint8_t reserved[2]; /* Reserved */
+} oscc_fault_report_s;
+
+#pragma pack(pop)
+
+
+#endif /* _OSCC_FAULT_CAN_PROTOCOL_H_ */
diff --git a/api/include/can_protocols/magic.h b/api/include/can_protocols/magic.h
@@ -0,0 +1,27 @@
+/**
+ * @file magic.h
+ * @brief Definitions of the magic bytes identifying messages as from OSCC.
+ *
+ */
+
+
+#ifndef _OSCC_MAGIC_H_
+#define _OSCC_MAGIC_H_
+
+
+/*
+ * @brief First magic byte used in commands and reports to distinguish CAN
+ *        frame as coming from OSCC (and not OBD).
+ *
+ */
+#define OSCC_MAGIC_BYTE_0 ( 0x05 )
+
+/*
+ * @brief Second magic byte used in commands and reports to distinguish CAN
+ *        frame as coming from OSCC (and not OBD).
+ *
+ */
+#define OSCC_MAGIC_BYTE_1 ( 0xCC )
+
+
+#endif /* _OSCC_MAGIC_H_ */
diff --git a/api/include/can_protocols/steering_can_protocol.h b/api/include/can_protocols/steering_can_protocol.h
@@ -0,0 +1,103 @@
+/**
+ * @file steering_can_protocol.h
+ * @brief Steering CAN Protocol.
+ *
+ */
+
+
+#ifndef _OSCC_STEERING_CAN_PROTOCOL_H_
+#define _OSCC_STEERING_CAN_PROTOCOL_H_
+
+
+#include <stdint.h>
+#include "magic.h"
+
+
+/*
+ * @brief Steering command message (CAN frame) ID.
+ *
+ */
+#define OSCC_STEERING_COMMAND_CAN_ID (0x64)
+
+/*
+ * @brief Steering report message (CAN frame) ID.
+ *
+ */
+#define OSCC_STEERING_REPORT_CAN_ID (0x65)
+
+/*
+ * @brief Steering report message (CAN frame) length.
+ *
+ */
+#define OSCC_STEERING_REPORT_CAN_DLC (8)
+
+/*
+ * @brief Steering report message publishing frequency. [Hz]
+ *
+ */
+#define OSCC_REPORT_STEERING_PUBLISH_FREQ_IN_HZ (50)
+
+/*
+ * @brief Steering DTC bitfield position indicating an invalid sensor value.
+ *
+ */
+#define OSCC_STEERING_DTC_INVALID_SENSOR_VAL (0x0)
+
+
+#pragma pack(push)
+#pragma pack(1)
+
+/**
+ * @brief Steering command message data.
+ *
+ * CAN frame ID: \ref OSCC_STEERING_COMMAND_CAN_ID
+ *
+ */
+typedef struct
+{
+    uint8_t magic[2]; /* Magic number identifying CAN frame as from OSCC.
+                         Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
+                         Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
+
+    uint16_t spoof_value_low; /*!< Value to be sent on the low spoof signal. */
+
+    uint16_t spoof_value_high; /*!< Value to be sent on the high spoof signal. */
+
+    uint8_t enable;    /*!< Command to enable or disable steering control.
+                         * Zero value means disable.
+                         * Non-zero value means enable. */
+
+    uint8_t reserved; /*!< Reserved. */
+} oscc_steering_command_s;
+
+
+/**
+ * @brief Steering report message data.
+ *
+ * CAN frame ID: \ref OSCC_STEERING_REPORT_CAN_ID
+ *
+ */
+typedef struct
+{
+    uint8_t magic[2]; /* Magic number identifying CAN frame as from OSCC.
+                         Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
+                         Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
+
+    uint8_t enabled; /*!< Steering controls enabled state.
+                      * Zero value means disabled (commands are ignored).
+                      * Non-zero value means enabled (no timeouts or overrides have occured). */
+
+    uint8_t operator_override; /*!< Driver override state.
+                                * Zero value means there has been no operator override.
+                                * Non-zero value means an operator has physically overridden
+                                * the system. */
+
+    uint8_t dtcs; /* Bitfield of DTCs present in the module. */
+
+    uint8_t reserved[3]; /*!< Reserved. */
+} oscc_steering_report_s;
+
+#pragma pack(pop)
+
+
+#endif /* _OSCC_STEERING_CAN_PROTOCOL_H_ */