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commit 2dadde9
Merge: 7971ee6 1815272
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Fri May 24 22:48:47 2024 -0400

    Merge branch 'master' into v1.2_candidate

commit 1815272
Merge: bb03837 bc4e311
Author: CL16gtgh <113149455+CL16gtgh@users.noreply.github.com>
Date:   Fri May 24 21:31:50 2024 -0400

    Merge pull request #93 from hytech-racing/CASE_testbranch

    Case testbranch

commit bc4e311
Merge: fd0885f 0b68870
Author: CL16gtgh <113149455+CL16gtgh@users.noreply.github.com>
Date:   Fri May 24 21:29:43 2024 -0400

    Merge pull request #92 from hytech-racing/feature/filter-steering-reading

    Feature/filter steering reading

commit fd0885f
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Fri May 24 21:28:01 2024 -0400

    Squashed commit of the following:

    commit 0b68870
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 17:33:24 2024 -0400

        Squashed commit of the following:

        commit 07faefa
        Merge: f149cdc bb03837
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Wed May 22 17:29:16 2024 -0400

            Merge branch 'master' into CASE_testbranch

        commit f149cdc
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Wed May 22 17:06:46 2024 -0400

            Reapply "bad"

            This reverts commit 2a253cd.

        commit e8cbee7
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Wed May 22 17:06:35 2024 -0400

            Reapply "Update main.cpp"

            This reverts commit 50de74c.

        commit 3d1aab3
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Wed May 22 17:06:23 2024 -0400

            Reapply "Merge branch 'master' into CASE_testbranch"

            This reverts commit e062970.

        commit e062970
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Wed May 22 16:37:16 2024 -0400

            Revert "Merge branch 'master' into CASE_testbranch"

            This reverts commit df74595.

        commit 50de74c
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Wed May 22 16:37:07 2024 -0400

            Revert "Update main.cpp"

            This reverts commit dfa4f7a.

        commit 2a253cd
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Wed May 22 16:36:55 2024 -0400

            Revert "bad"

            This reverts commit 95c4618.

        commit 95c4618
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Wed May 22 16:36:42 2024 -0400

            bad

        commit dfa4f7a
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Wed May 22 16:24:22 2024 -0400

            Update main.cpp

        commit df74595
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Wed May 22 16:23:20 2024 -0400

            Merge branch 'master' into CASE_testbranch

        commit bb03837
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Wed May 22 15:10:02 2024 -0400

            more detailed steering report

        commit 2b56423
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Wed May 22 14:26:14 2024 -0400

            not working when steered to right

        commit 40dd816
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Tue May 21 18:05:55 2024 -0400

            Revert "Added Derate Factor code to AMS interface"

            This reverts commit 5262fe8.

        commit 760bd8f
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Tue May 21 18:04:56 2024 -0400

            Revert "added derate factor to case and loadcell"

            This reverts commit 5d9761b.

        commit 5d9761b
        Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
        Date:   Tue May 21 00:07:20 2024 -0700

            added derate factor to case and loadcell

        commit 5262fe8
        Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
        Date:   Mon May 20 23:53:20 2024 -0700

            Added Derate Factor code to AMS interface

        commit 23be5cd
        Merge: 8ac101b 1416d3e
        Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
        Date:   Mon May 20 22:54:56 2024 -0700

            Merge branch 'master' of https://github.com/hytech-racing/MCU

        commit 1416d3e
        Author: Ben Hall <rcmast3r1@gmail.com>
        Date:   Sat May 11 15:24:45 2024 -0400

            adding private member functions to doxygen docs

        commit 408193b
        Author: Ben Hall <rcmast3r1@gmail.com>
        Date:   Sat May 11 15:11:22 2024 -0400

            fixing repo library dep clone directives

    commit 28d5e72
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 16:17:14 2024 -0400

        Revert "Squashed commit of the following:"

        This reverts commit 25136c7.

    commit 25136c7
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 16:15:59 2024 -0400

        Squashed commit of the following:

        commit bb03837
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Wed May 22 15:10:02 2024 -0400

            more detailed steering report

        commit 2b56423
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Wed May 22 14:26:14 2024 -0400

            not working when steered to right

        commit 23be5cd
        Merge: 8ac101b 1416d3e
        Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
        Date:   Mon May 20 22:54:56 2024 -0700

            Merge branch 'master' of https://github.com/hytech-racing/MCU

        commit 1416d3e
        Author: Ben Hall <rcmast3r1@gmail.com>
        Date:   Sat May 11 15:24:45 2024 -0400

            adding private member functions to doxygen docs

        commit 408193b
        Author: Ben Hall <rcmast3r1@gmail.com>
        Date:   Sat May 11 15:11:22 2024 -0400

            fixing repo library dep clone directives

    commit ccd205a
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 15:50:25 2024 -0400

        finale

    commit d0c523e
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 14:57:58 2024 -0400

        read more values

    commit b528dfc
    Merge: f4e69ef 207b299
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Mon May 20 21:26:55 2024 -0400

        Merge branch 'CASE_testbranch' into feature/filter-steering-reading

    commit f4e69ef
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Mon May 20 01:16:52 2024 -0400

        Added comments to steering test for readability

    commit c1710c2
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Sat May 18 22:01:15 2024 -0400

        Recalibrated bottom sensor and wheel spun

    commit 04524b7
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Sat May 18 19:02:42 2024 -0400

        Minor adjustment

    commit 455aab3
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Sat May 18 18:45:53 2024 -0400

        Adjusted steering system test for iir filter

    commit 0c6639f
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Sat May 18 14:38:51 2024 -0400

        Added non zero filer alpha

    commit 7ab723e
    Merge: e7dceb7 04ad455
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Fri May 17 23:49:31 2024 -0400

        Merge branch 'CASE_testbranch' into feature/filter-steering-reading

    commit e7dceb7
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Sun May 12 22:06:24 2024 -0400

        configuration for testing

    commit c76391e
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Sun May 12 20:02:55 2024 -0400

        compiles. to be tested

    commit 6df7c59
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Sun May 12 00:52:58 2024 -0400

        Integrating filter into steering system

commit 7971ee6
Merge: 4d9b982 07faefa
Author: CL16gtgh <113149455+CL16gtgh@users.noreply.github.com>
Date:   Fri May 24 21:01:08 2024 -0400

    Merge pull request #87 from hytech-racing/CASE_testbranch

    Case testbranch

commit 0b68870
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 17:33:24 2024 -0400

    Squashed commit of the following:

    commit 07faefa
    Merge: f149cdc bb03837
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 17:29:16 2024 -0400

        Merge branch 'master' into CASE_testbranch

    commit f149cdc
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 17:06:46 2024 -0400

        Reapply "bad"

        This reverts commit 2a253cd.

    commit e8cbee7
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 17:06:35 2024 -0400

        Reapply "Update main.cpp"

        This reverts commit 50de74c.

    commit 3d1aab3
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 17:06:23 2024 -0400

        Reapply "Merge branch 'master' into CASE_testbranch"

        This reverts commit e062970.

    commit e062970
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 16:37:16 2024 -0400

        Revert "Merge branch 'master' into CASE_testbranch"

        This reverts commit df74595.

    commit 50de74c
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 16:37:07 2024 -0400

        Revert "Update main.cpp"

        This reverts commit dfa4f7a.

    commit 2a253cd
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 16:36:55 2024 -0400

        Revert "bad"

        This reverts commit 95c4618.

    commit 95c4618
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 16:36:42 2024 -0400

        bad

    commit dfa4f7a
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 16:24:22 2024 -0400

        Update main.cpp

    commit df74595
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 16:23:20 2024 -0400

        Merge branch 'master' into CASE_testbranch

    commit bb03837
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 15:10:02 2024 -0400

        more detailed steering report

    commit 2b56423
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 14:26:14 2024 -0400

        not working when steered to right

    commit 40dd816
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Tue May 21 18:05:55 2024 -0400

        Revert "Added Derate Factor code to AMS interface"

        This reverts commit 5262fe8.

    commit 760bd8f
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Tue May 21 18:04:56 2024 -0400

        Revert "added derate factor to case and loadcell"

        This reverts commit 5d9761b.

    commit 5d9761b
    Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
    Date:   Tue May 21 00:07:20 2024 -0700

        added derate factor to case and loadcell

    commit 5262fe8
    Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
    Date:   Mon May 20 23:53:20 2024 -0700

        Added Derate Factor code to AMS interface

    commit 23be5cd
    Merge: 8ac101b 1416d3e
    Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
    Date:   Mon May 20 22:54:56 2024 -0700

        Merge branch 'master' of https://github.com/hytech-racing/MCU

    commit 1416d3e
    Author: Ben Hall <rcmast3r1@gmail.com>
    Date:   Sat May 11 15:24:45 2024 -0400

        adding private member functions to doxygen docs

    commit 408193b
    Author: Ben Hall <rcmast3r1@gmail.com>
    Date:   Sat May 11 15:11:22 2024 -0400

        fixing repo library dep clone directives

commit 07faefa
Merge: f149cdc bb03837
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 17:29:16 2024 -0400

    Merge branch 'master' into CASE_testbranch

commit f149cdc
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 17:06:46 2024 -0400

    Reapply "bad"

    This reverts commit 2a253cd.

commit e8cbee7
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 17:06:35 2024 -0400

    Reapply "Update main.cpp"

    This reverts commit 50de74c.

commit 3d1aab3
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 17:06:23 2024 -0400

    Reapply "Merge branch 'master' into CASE_testbranch"

    This reverts commit e062970.

commit e062970
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 16:37:16 2024 -0400

    Revert "Merge branch 'master' into CASE_testbranch"

    This reverts commit df74595.

commit 50de74c
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 16:37:07 2024 -0400

    Revert "Update main.cpp"

    This reverts commit dfa4f7a.

commit 2a253cd
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 16:36:55 2024 -0400

    Revert "bad"

    This reverts commit 95c4618.

commit 95c4618
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 16:36:42 2024 -0400

    bad

commit dfa4f7a
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 16:24:22 2024 -0400

    Update main.cpp

commit df74595
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 16:23:20 2024 -0400

    Merge branch 'master' into CASE_testbranch

commit 28d5e72
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 16:17:14 2024 -0400

    Revert "Squashed commit of the following:"

    This reverts commit 25136c7.

commit 25136c7
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 16:15:59 2024 -0400

    Squashed commit of the following:

    commit bb03837
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 15:10:02 2024 -0400

        more detailed steering report

    commit 2b56423
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 14:26:14 2024 -0400

        not working when steered to right

    commit 23be5cd
    Merge: 8ac101b 1416d3e
    Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
    Date:   Mon May 20 22:54:56 2024 -0700

        Merge branch 'master' of https://github.com/hytech-racing/MCU

    commit 1416d3e
    Author: Ben Hall <rcmast3r1@gmail.com>
    Date:   Sat May 11 15:24:45 2024 -0400

        adding private member functions to doxygen docs

    commit 408193b
    Author: Ben Hall <rcmast3r1@gmail.com>
    Date:   Sat May 11 15:11:22 2024 -0400

        fixing repo library dep clone directives

commit ccd205a
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 15:50:25 2024 -0400

    finale

commit bb03837
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 15:10:02 2024 -0400

    more detailed steering report

commit d0c523e
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 14:57:58 2024 -0400

    read more values

commit 2b56423
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 14:26:14 2024 -0400

    not working when steered to right

commit 40dd816
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Tue May 21 18:05:55 2024 -0400

    Revert "Added Derate Factor code to AMS interface"

    This reverts commit 5262fe8.

commit 760bd8f
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Tue May 21 18:04:56 2024 -0400

    Revert "added derate factor to case and loadcell"

    This reverts commit 5d9761b.

commit 5d9761b
Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
Date:   Tue May 21 00:07:20 2024 -0700

    added derate factor to case and loadcell

commit 5262fe8
Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
Date:   Mon May 20 23:53:20 2024 -0700

    Added Derate Factor code to AMS interface

commit 23be5cd
Merge: 8ac101b 1416d3e
Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
Date:   Mon May 20 22:54:56 2024 -0700

    Merge branch 'master' of https://github.com/hytech-racing/MCU

commit b528dfc
Merge: f4e69ef 207b299
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Mon May 20 21:26:55 2024 -0400

    Merge branch 'CASE_testbranch' into feature/filter-steering-reading

commit f4e69ef
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Mon May 20 01:16:52 2024 -0400

    Added comments to steering test for readability

commit c1710c2
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Sat May 18 22:01:15 2024 -0400

    Recalibrated bottom sensor and wheel spun

commit 04524b7
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Sat May 18 19:02:42 2024 -0400

    Minor adjustment

commit 455aab3
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Sat May 18 18:45:53 2024 -0400

    Adjusted steering system test for iir filter

commit 0c6639f
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Sat May 18 14:38:51 2024 -0400

    Added non zero filer alpha

commit 207b299
Author: Luke Chen <43226681+Luke-kC@users.noreply.github.com>
Date:   Sat May 18 00:59:13 2024 -0700

    Decoupled and NL scheduled slip targets for TCS

commit 7ab723e
Merge: e7dceb7 04ad455
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Fri May 17 23:49:31 2024 -0400

    Merge branch 'CASE_testbranch' into feature/filter-steering-reading

commit 04ad455
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Fri May 17 23:34:23 2024 -0400

    Wheel spun

commit 68740e3
Author: Luke Chen <43226681+Luke-kC@users.noreply.github.com>
Date:   Thu May 16 01:44:37 2024 -0700

    CASE updated with normal load based TCS gain scheduling

commit e08f4d1
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 15 20:30:28 2024 -0400

    Temp changes

commit 0afe0b5
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 15 18:03:13 2024 -0400

    Reset calibrated steering offset and add serial monitor speed in .ini (not sure if it's doing anything helpful)

commit 375f018
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 15 15:18:47 2024 -0400

    Compiles and passed steering test

commit 7c1fcdc
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 15 00:35:27 2024 -0400

    debug notes but might be a good starting point to add back basic debug serial prints

commit e7dceb7
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Sun May 12 22:06:24 2024 -0400

    configuration for testing

commit c76391e
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Sun May 12 20:02:55 2024 -0400

    compiles. to be tested

commit 6df7c59
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Sun May 12 00:52:58 2024 -0400

    Integrating filter into steering system

commit 1416d3e
Author: Ben Hall <rcmast3r1@gmail.com>
Date:   Sat May 11 15:24:45 2024 -0400

    adding private member functions to doxygen docs

commit 408193b
Author: Ben Hall <rcmast3r1@gmail.com>
Date:   Sat May 11 15:11:22 2024 -0400

    fixing repo library dep clone directives

commit 30b29e2
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Fri May 10 20:39:27 2024 -0400

    lib branch merged, back to main

commit a5be8d7
Author: Luke Chen <43226681+Luke-kC@users.noreply.github.com>
Date:   Fri May 10 02:00:48 2024 -0400

    Added steer dependent torque delta constraint to TCS

commit f2c263a
Author: Luke Chen <43226681+Luke-kC@users.noreply.github.com>
Date:   Thu May 9 09:21:38 2024 -0400

    Add CAN msg for TCS saturation limits

commit 32c0265
Author: Luke Chen <43226681+Luke-kC@users.noreply.github.com>
Date:   Thu May 9 09:20:12 2024 -0400

    Added TCS saturation limit for front and rear axles

commit a7913ab
Author: Luke Chen <43226681+Luke-kC@users.noreply.github.com>
Date:   Thu May 9 01:29:09 2024 -0400

    last flashed 5/9/24 on car

commit 8b099f3
Author: Ben Hall <rcmast3r1@gmail.com>
Date:   Wed May 8 17:05:29 2024 -0400

    uh

commit ef00104
Author: Luke Chen <43226681+Luke-kC@users.noreply.github.com>
Date:   Wed May 8 16:07:49 2024 -0400

    push for benajmin

commit 6447dee
Author: Luke Chen <43226681+Luke-kC@users.noreply.github.com>
Date:   Wed May 8 00:35:24 2024 -0400

    Flashed to car 5/8/24

commit 7d2367a
Merge: c715337 21da00a
Author: Luke Chen <43226681+Luke-kC@users.noreply.github.com>
Date:   Wed May 8 00:22:51 2024 -0400

    Merge branch 'feature/teensy_analog_read' into CASE_testbranch

commit 21da00a
Author: Eric Galluzzi <ericbgalluzzi@gmail.com>
Date:   Wed May 8 00:17:07 2024 -0400

    updated platform.ini

commit 400094b
Author: Eric Galluzzi <ericbgalluzzi@gmail.com>
Date:   Tue May 7 20:05:14 2024 -0400

    adjusted can release

commit 772950f
Author: Eric Galluzzi <ericbgalluzzi@gmail.com>
Date:   Tue May 7 18:25:17 2024 -0400

    compiles!

commit 9deaed5
Author: Eric Galluzzi <ericbgalluzzi@gmail.com>
Date:   Tue May 7 18:01:30 2024 -0400

    working my magic

commit c715337
Author: Ben Hall <rcmast3r1@gmail.com>
Date:   Sun May 5 20:22:58 2024 -0400

    jankily fixing tests

commit 0dc9ea8
Author: Ben Hall <rcmast3r1@gmail.com>
Date:   Sun May 5 20:12:00 2024 -0400

    integrating the parameter interface

commit 26961d3
Author: Luke Chen <43226681+Luke-kC@users.noreply.github.com>
Date:   Sun May 5 17:31:31 2024 -0400

    Update main.cpp

commit ee824f0
Author: Luke Chen <43226681+Luke-kC@users.noreply.github.com>
Date:   Sun May 5 17:10:02 2024 -0400

    Update main.cpp

commit 78067d9
Merge: ebe6c6d a373714
Author: Luke Chen <43226681+Luke-kC@users.noreply.github.com>
Date:   Sun May 5 16:56:15 2024 -0400

    Merge branch 'CASE_testbranch'

commit ebe6c6d
Author: walkermburns <walkermburns@gmail.com>
Date:   Sun May 5 15:56:23 2024 -0400

    Updated load cell scaling

commit a373714
Author: Ben Hall <rcmast3r1@gmail.com>
Date:   Sun May 5 12:40:47 2024 -0400

    updating readme with a proposed shift in generation of stuff

commit 078fb50
Merge: 14c4a28 14a3ea8
Author: Ben Hall <rcmast3r1@gmail.com>
Date:   Sun May 5 12:37:08 2024 -0400

    pushing up

commit 14c4a28
Author: Luke Chen <43226681+Luke-kC@users.noreply.github.com>
Date:   Sat May 4 22:26:46 2024 -0400

    fix test_CASE.h

commit 83fb0f2
Author: Luke Chen <43226681+Luke-kC@users.noreply.github.com>
Date:   Sat May 4 22:20:06 2024 -0400

    CASE testing flahsed to car 5/4/24, works on jacks, havent tested on ground

commit 8ac101b
Author: Ben Hall <rcmast3r1@gmail.com>
Date:   Thu May 2 02:55:15 2024 -0400

    removing fake data

commit 14a3ea8
Author: Ben Hall <rcmast3r1@gmail.com>
Date:   Thu May 2 01:41:36 2024 -0400

    cooking

commit c9da1cf
Author: Ben Hall <rcmast3r1@gmail.com>
Date:   Wed May 1 23:10:03 2024 -0400

    actually working in the test pog

commit cd4dbd3
Author: Ben Hall <rcmast3r1@gmail.com>
Date:   Wed May 1 04:25:27 2024 -0400

    she lives!

commit 3ea8ab2
Author: walkermburns <walkermburns@gmail.com>
Date:   Tue Apr 30 22:32:02 2024 -0400

    Moving Ethernet UDP socket into main and Using NativeEthernet instead

commit cb7c7d8
Author: Ben Hall <rcmast3r1@gmail.com>
Date:   Tue Apr 30 18:37:04 2024 -0400

    adding stuff in

commit 3b39475
Author: walkermburns <walkermburns@gmail.com>
Date:   Tue Apr 30 18:16:36 2024 -0400

    removed buffer size from EthernetInterface constructor

commit 11f49d6
Author: walkermburns <walkermburns@gmail.com>
Date:   Tue Apr 30 18:15:38 2024 -0400

    Rewriting send() function in EthernetInterface

commit 62a1d97
Author: walkermburns <walkermburns@gmail.com>
Date:   Tue Apr 30 17:47:28 2024 -0400

    fixing ethernetinterface compile errors

commit 4a289fc
Merge: b20435b 2e8dce9
Author: walkermburns <walkermburns@gmail.com>
Date:   Tue Apr 30 17:44:25 2024 -0400

    Merge branch 'feature/param_server' of github.com:hytech-racing/MCU into feature/param_server

commit b20435b
Author: walkermburns <walkermburns@gmail.com>
Date:   Tue Apr 30 17:44:20 2024 -0400

    Updating ethernet interface

commit 2e8dce9
Merge: d7a191a e21baf1
Author: Ben Hall <rcmast3r1@gmail.com>
Date:   Tue Apr 30 16:47:39 2024 -0400

    uh

commit d7a191a
Author: Ben Hall <rcmast3r1@gmail.com>
Date:   Tue Apr 30 16:46:14 2024 -0400

    removing BS

commit e21baf1
Merge: 4587289 1b1d620
Author: walkermburns <walkermburns@gmail.com>
Date:   Tue Apr 30 14:58:25 2024 -0400

    Merge branch 'feature/param_server' of github.com:hytech-racing/MCU into feature/param_server

commit 4587289
Author: walkermburns <walkermburns@gmail.com>
Date:   Tue Apr 30 14:58:21 2024 -0400

    Initial UDPSocket template

commit 1b1d620
Author: Ben Hall <rcmast3r1@gmail.com>
Date:   Tue Apr 30 14:03:39 2024 -0400

    pb ethernet receiving docs

commit 9d2b83b
Author: Ben Hall <rcmast3r1@gmail.com>
Date:   Tue Apr 30 13:22:05 2024 -0400

    working on getting protobuf messages handled

commit 43c11a4
Author: Ben Hall <rcmast3r1@gmail.com>
Date:   Tue Apr 30 00:48:05 2024 -0400

    cooking on parameter server

commit 21df00a
Author: walkermburns <walkermburns@gmail.com>
Date:   Mon Apr 29 23:45:09 2024 -0400

    fixing merges

commit 60358c7
Merge: bf38061 ada45c2
Author: walkermburns <walkermburns@gmail.com>
Date:   Mon Apr 29 23:42:08 2024 -0400

    Merge branch 'feature/param_server' of github.com:hytech-racing/MCU into feature/param_server

commit bf38061
Author: walkermburns <walkermburns@gmail.com>
Date:   Mon Apr 29 23:40:48 2024 -0400

    Cooking on EthernetInterface

commit ada45c2
Author: Ben Hall <rcmast3r1@gmail.com>
Date:   Mon Apr 29 23:14:41 2024 -0400

    adding in current progress

commit e84c294
Author: Ben Hall <rcmast3r1@gmail.com>
Date:   Mon Apr 29 19:18:44 2024 -0400

    adding stuff in
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CL16gtgh committed May 25, 2024
1 parent 74aca71 commit a859eb8
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2 changes: 1 addition & 1 deletion Doxyfile
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Expand Up @@ -524,7 +524,7 @@ EXTRACT_ALL = YES
# be included in the documentation.
# The default value is: NO.

EXTRACT_PRIVATE = NO
EXTRACT_PRIVATE = YES

# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual
# methods of a class will be included in the documentation.
Expand Down
17 changes: 17 additions & 0 deletions ETHERNET.md
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@@ -0,0 +1,17 @@
```mermaid
flowchart TD
ethernet[ethernet port] --> qnethernet[encoded ethernet data packets]
qnethernet --> port[protobuf union msgs port]
port --> ht_eth[HT ethernet interface]
ht_eth --> union_dec[union msgs splitter]
union_dec --> int1[interface 1 message buffer]
union_dec --> int2[interface 2 message buffer]
union_dec --> intN[interface N message buffer]
```

## explanation

### receiving
Packets stream over ethernet and hit the ethernet port itself. The ethernet library has an internal queue for the UDP packets received. We know that a specific port id (say 4521) all messages will be a protobuf union msg that can contain only one of the types of messages that we will be sending (config control, TCU status, CASE msgs, etc.) and the union decoder method in the ethernet interface itself will handle this. The ethernet shall be able to receive multiple messages in one loop (of a limited number) and in between iterations of the loop the ethernet driver will hold the un-parsed messages in it's queue.

The union message decoder will handle parsing of all of the messages in the queue and will be able to determine what message the union pb packet holds. If all messages of a specific type are needed, The message decoder will then add the decoded particular protobuf message struct to the message queue in the respective interface that way if multiple messages of the same type appear in one loop iteration they can all be processed by the underlying system / interface. If the interface just needs the latest version of a message each loop, the decoder will just update the message instance in its respective interface.
60 changes: 60 additions & 0 deletions README.md
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Expand Up @@ -296,3 +296,63 @@ new MCU code:
- interface level:
- hytech_can interface
- spi interfaces: SPI adcs for load cells, steering input, glv, etc.


```mermaid
flowchart LR
subgraph user_inputs[user defined inputs]
simulink
o_params
CAN_data
other_protos
end
subgraph user_interact[user interfaces]
fxglv_live
mcap
database
param_server
end
subgraph user_code_interact[user embedded code interfaces]
MCU
end
subgraph CASE_lib_repo[CASE lib repo gen]
CASE_lib
params
outputs
end
subgraph HT_params[HT_params repo gen]
param_defaults
nanopb
end
simulink[CASE simulink model] --> CASE_lib
simulink --> params[CASE defined params.json]
simulink --> outputs[CASE_outputs.proto]
params --> param_protos[params.proto]
params --> param_defaults[config defaults header]
param_defaults --> MCU
o_params[other params.json] --> param_protos
outputs --> h_proto
param_protos --> param_server[parameter server]
h_proto --> data_acq
data_acq --> fxglv_live[live foxglove]
data_acq --> mcap[output mcap files]
CAN_data[CAN message definitions] --> can_protos[CAN messages in hytech.proto]
can_protos --> h_proto
mcap --> database[mcap metadata defined database]
CASE_lib --> MCU
CAN_data --> dbc_h[dbc to C code gen hytech.h for CAN]
param_protos --> h_proto[hytech.proto]
dbc_h --> MCU
h_proto --> nanopb[protobuf msg defs ht_eth.pb.h]
nanopb --> MCU
other_protos[other msgs.proto]
other_protos --> h_proto
```
21 changes: 21 additions & 0 deletions include/InterfaceParams.h
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@@ -0,0 +1,21 @@
#ifndef INTERFACEPARAMS
#define INTERFACEPARAMS
#include "NativeEthernet.h"

namespace EthParams
{
uint8_t default_MCU_MAC_address[6] =
{0x04, 0xe9, 0xe5, 0x10, 0x1f, 0x22};

const IPAddress default_MCU_ip(192, 168, 1, 30);
const IPAddress default_TCU_ip(192, 168, 1, 68);

const uint16_t default_protobuf_send_port = 2001;
const uint16_t default_protobuf_recv_port = 2000;

const IPAddress default_netmask(255, 255, 255, 0);
const IPAddress default_gateway(192, 168, 0, 1);

const uint16_t default_buffer_size = 512;
}
#endif
23 changes: 18 additions & 5 deletions include/MCU_rev15_defs.h
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Expand Up @@ -2,6 +2,10 @@
#define __MCU15_H__

#include "PedalsSystem.h"
#ifndef TESTING_SYSTEMS
#include "InterfaceParams.h"
#endif


// pindefs
const int ADC1_CS = 34;
Expand All @@ -26,6 +30,14 @@ const int MCU15_FR_POTS_CHANNEL = 1;
const int MCU15_FL_LOADCELL_CHANNEL = 2;
const int MCU15_FR_LOADCELL_CHANNEL = 2;

//MCU teensy analog channels
const int MCU15_TEENSY_ADC_CHANNELS = 2;
const int MCU15_THERM_FL = 38;
const int MCU15_THERM_FR = 41;
const int MCU15_THERM_FL_CHANNEL = 0;
const int MCU15_THERM_FR_CHANNEL = 1;

const int DEFAULT_ANALOG_PINS[MCU15_TEENSY_ADC_CHANNELS] = {MCU15_THERM_FL, MCU15_THERM_FR};
// Time intervals
const unsigned long SETUP_PRESENT_ACTION_INTERVAL = 1000;
const unsigned long BUZZER_ON_INTERVAL = 2000;
Expand Down Expand Up @@ -86,10 +98,11 @@ const float LOADCELL_RR_SCALE = 0.06;
const float LOADCELL_RR_OFFSET = 23.761 / LOADCELL_RR_SCALE;

// Steering parameters
const float PRIMARY_STEERING_SENSE_OFFSET = -21.18; // units are degrees
const int SECONDARY_STEERING_SENSE_LEFTMOST_BOUND = 812;
const int SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND = 3179;
const int SECONDARY_STEERING_SENSE_CENTER = 1970;
const float STEERING_RANGE_DEGREES = 256.05f;
const float PRIMARY_STEERING_SENSE_OFFSET = 0.0; // units are degrees
const int SECONDARY_STEERING_SENSE_LEFTMOST_BOUND = 785; // 794 // 812 // 130 deg
const int SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND = 3087; // 3075 // 3179 // 134 deg
const int SECONDARY_STEERING_SENSE_CENTER = 1945; // 1960 // 1970
const float STEERING_RANGE_DEGREES = 257.0f; // 253.0f // 256.05f // 134+130-7(slop)
const float STEERING_IIR_ALPHA = 0.7f; // shaves off around 1 deg of max discrepancy

#endif /* __MCU15_H__ */
46 changes: 46 additions & 0 deletions lib/interfaces/include/ParameterInterface.h
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@@ -0,0 +1,46 @@
#ifndef PARAMETERINTERFACE
#define PARAMETERINTERFACE
#include "MCUStateMachine.h"
#include "ht_eth.pb.h"
#include "default_config.h"

// yes, i know this is a singleton. im prototyping rn.
// TODO review if I can just give this a pointer to an ethernet port
class ParameterInterface
{
public:
ParameterInterface(): current_car_state_(CAR_STATE::STARTUP), params_need_sending_(false), config_(DEFAULT_CONFIG) {}

void update_car_state(const CAR_STATE& state)
{
current_car_state_ = state;
}
void update_config(const config &config)
{
if(static_cast<int>(current_car_state_) < 5 ){
config_ = config;
}

}
config get_config()
{
return config_;
}
void set_params_need_sending()
{
params_need_sending_ = true;
}
void reset_params_need_sending()
{
params_need_sending_ = false;
}
bool params_need_sending() { return params_need_sending_; }

private:
CAR_STATE current_car_state_;
bool params_need_sending_ = false;
config config_;

};

#endif
78 changes: 78 additions & 0 deletions lib/interfaces/include/ProtobufMsgInterface.h
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@@ -0,0 +1,78 @@
#ifndef PROTOBUFMSGINTERFACE
#define PROTOBUFMSGINTERFACE

#include "ht_eth.pb.h"
#include "pb_encode.h"
#include "pb_decode.h"
#include "pb_common.h"
#include "ParameterInterface.h"
#include "circular_buffer.h"
#include "NativeEthernet.h"
#include "MCU_rev15_defs.h"


struct ETHInterfaces
{
ParameterInterface* param_interface;
};

using recv_function_t = void (*)(const uint8_t* buffer, size_t packet_size, ETHInterfaces& interfaces);

// this should be usable with arbitrary functions idk something
void handle_ethernet_socket_receive(EthernetUDP* socket, recv_function_t recv_function, ETHInterfaces& interfaces)
{
int packet_size = socket->parsePacket();
if(packet_size > 0)
{
Serial.println("packet size");
Serial.println(packet_size);
uint8_t buffer[EthParams::default_buffer_size];
size_t read_bytes = socket->read(buffer, sizeof(buffer));
socket->read(buffer, UDP_TX_PACKET_MAX_SIZE);
recv_function(buffer, read_bytes, interfaces);
}
}

template <typename pb_struct>
bool handle_ethernet_socket_send_pb(EthernetUDP* socket, const pb_struct& msg, const pb_msgdesc_t* msg_desc)
{
socket->beginPacket(EthParams::default_TCU_ip, EthParams::default_protobuf_send_port);

uint8_t buffer[EthParams::default_buffer_size];
pb_ostream_t stream = pb_ostream_from_buffer(buffer, sizeof(buffer));
if (!pb_encode(&stream, msg_desc, &msg)) {
// You can handle error more explicitly by looking at stream.errmsg
return false;
}
auto message_length = stream.bytes_written;
socket->write(buffer, message_length);
socket->endPacket();
return true;
}

//
void recv_pb_stream_union_msg(const uint8_t *buffer, size_t packet_size, ETHInterfaces& interfaces)
{
pb_istream_t stream = pb_istream_from_buffer(buffer, packet_size);
HT_ETH_Union msg = HT_ETH_Union_init_zero;
if (pb_decode(&stream, HT_ETH_Union_fields, &msg))
{
Serial.println("decoded!");

switch (msg.which_type_union)
{
case HT_ETH_Union_config__tag:
interfaces.param_interface->update_config(msg.type_union.config_);
break;
case HT_ETH_Union_get_config__tag:
interfaces.param_interface->set_params_need_sending();
break;
default:
break;
}
}
}



#endif
7 changes: 7 additions & 0 deletions lib/interfaces/include/TelemetryInterface.h
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Expand Up @@ -29,6 +29,8 @@ struct TelemetryInterfaceReadChannels
int current_channel;
int current_ref_channel;
int glv_sense_channel;
int therm_fl_channel;
int therm_fr_channel;
};

class TelemetryInterface
Expand All @@ -54,6 +56,10 @@ class TelemetryInterface

/* Update CAN messages (main loop) */
// Interfaces
void update_front_thermistors_CAN_msg(
const AnalogConversion_s &therm_fl,
const AnalogConversion_s &therm_fr
);
void update_pedal_readings_CAN_msg(
float accel_percent,
float brake_percent,
Expand Down Expand Up @@ -125,6 +131,7 @@ class TelemetryInterface
const AnalogConversionPacket_s<8> &adc1,
const AnalogConversionPacket_s<4> &adc2,
const AnalogConversionPacket_s<4> &adc3,
const AnalogConversionPacket_s<2> &mcu_adc,
const SteeringEncoderConversion_s &encoder,
InvInt_t *fl,
InvInt_t *fr,
Expand Down
14 changes: 13 additions & 1 deletion lib/interfaces/src/TelemetryInterface.cpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,4 @@
#include "TelemetryInterface.h"

/* Update CAN messages */
// Main loop
// MCP3208 returns structure
Expand Down Expand Up @@ -58,6 +57,16 @@ void TelemetryInterface::update_analog_readings_CAN_msg(const SteeringEncoderCon

enqueue_CAN<MCU_analog_readings>(mcu_analog_readings_, ID_MCU_ANALOG_READINGS);
}
void TelemetryInterface::update_front_thermistors_CAN_msg(const AnalogConversion_s &therm_fl,
const AnalogConversion_s &therm_fr) {

FRONT_THERMISTORS_t front_thermistors_;
front_thermistors_.thermistor_motor_fl = therm_fl.raw;
front_thermistors_.thermistor_motor_fr = therm_fr.raw;

enqueue_new_CAN<FRONT_THERMISTORS_t>(&front_thermistors_, &Pack_FRONT_THERMISTORS_hytech);
}


void TelemetryInterface::update_drivetrain_rpms_CAN_msg(InvInt_t* fl, InvInt_t* fr, InvInt_t* rl, InvInt_t* rr)
{
Expand Down Expand Up @@ -233,6 +242,7 @@ void TelemetryInterface::enqeue_controller_CAN_msg(const PIDTVTorqueControllerDa
void TelemetryInterface::tick(const AnalogConversionPacket_s<8> &adc1,
const AnalogConversionPacket_s<4> &adc2,
const AnalogConversionPacket_s<4> &adc3,
const AnalogConversionPacket_s<2> &mcu_adc,
const SteeringEncoderConversion_s &encoder,
InvInt_t* fl,
InvInt_t* fr,
Expand Down Expand Up @@ -279,5 +289,7 @@ void TelemetryInterface::tick(const AnalogConversionPacket_s<8> &adc1,
adc1.conversions[channels_.current_ref_channel]);

enqeue_controller_CAN_msg(data);
update_front_thermistors_CAN_msg(mcu_adc.conversions[channels_.therm_fl_channel],
mcu_adc.conversions[channels_.therm_fr_channel]);

}
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