From 4c7d69fc821f49d7eaaff33329f7543ca46943e8 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 12:42:11 -0800
Subject: [PATCH 01/58] project files

---
 VCU/.cproject                                  | 3 ++-
 VCU/.settings/org.eclipse.core.resources.prefs | 2 ++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/VCU/.cproject b/VCU/.cproject
index 5d34c6db..ee387a73 100644
--- a/VCU/.cproject
+++ b/VCU/.cproject
@@ -264,6 +264,7 @@
 								<option id="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.ENUM_TYPE.1651611372" name="Designate enum type (--enum_type)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.ENUM_TYPE" value="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.ENUM_TYPE.packed" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.INCLUDE_PATH.2058602792" name="Add dir to #include search path (--include_path, -I)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.INCLUDE_PATH" valueType="includePath">
 									<listOptionValue builtIn="false" value="${HERCULES_FOLDER}/F021 Flash API/02.01.01/include"/>
+									<listOptionValue builtIn="false" value="${workspace_loc:/${ProjName}/Phantom/Drivers/STATE_MACHINE}"/>
 									<listOptionValue builtIn="false" value="${workspace_loc:/${ProjName}/Phantom/support}"/>
 									<listOptionValue builtIn="false" value="${PROJECT_ROOT}"/>
 									<listOptionValue builtIn="false" value="${CG_TOOL_ROOT}/include"/>
@@ -313,7 +314,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="halcogen_vcu/source/sys_link.cmd|Phantom/hardware/launchpad_hw|halcogen_vcu/source/sys_main.c|sys_linker_freeRTOS.cmd|halcogen_launchpad" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="Phantom/tasks/source/task_statemachine.c|halcogen_vcu/source/sys_link.cmd|Phantom/hardware/launchpad_hw|halcogen_vcu/source/sys_main.c|sys_linker_freeRTOS.cmd|halcogen_launchpad" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
diff --git a/VCU/.settings/org.eclipse.core.resources.prefs b/VCU/.settings/org.eclipse.core.resources.prefs
index 607341fb..fc69457e 100644
--- a/VCU/.settings/org.eclipse.core.resources.prefs
+++ b/VCU/.settings/org.eclipse.core.resources.prefs
@@ -48,6 +48,8 @@ encoding//BuildConfig_VCU-REV2/Phantom/Drivers/RTD_Buzzer/subdir_rules.mk=UTF-8
 encoding//BuildConfig_VCU-REV2/Phantom/Drivers/RTD_Buzzer/subdir_vars.mk=UTF-8
 encoding//BuildConfig_VCU-REV2/Phantom/Drivers/RTOS/subdir_rules.mk=UTF-8
 encoding//BuildConfig_VCU-REV2/Phantom/Drivers/RTOS/subdir_vars.mk=UTF-8
+encoding//BuildConfig_VCU-REV2/Phantom/Drivers/STATE_MACHINE/subdir_rules.mk=UTF-8
+encoding//BuildConfig_VCU-REV2/Phantom/Drivers/STATE_MACHINE/subdir_vars.mk=UTF-8
 encoding//BuildConfig_VCU-REV2/Phantom/Drivers/UART/subdir_rules.mk=UTF-8
 encoding//BuildConfig_VCU-REV2/Phantom/Drivers/UART/subdir_vars.mk=UTF-8
 encoding//BuildConfig_VCU-REV2/Phantom/data_structures/subdir_rules.mk=UTF-8

From 2f6a071da880c5eb7305006fd79cb8d24f1ffdb9 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 12:42:36 -0800
Subject: [PATCH 02/58] add logging and error checking to main

---
 VCU/Phantom/main.c | 41 ++++++++++++++++++++++++++++-------------
 1 file changed, 28 insertions(+), 13 deletions(-)

diff --git a/VCU/Phantom/main.c b/VCU/Phantom/main.c
index 8aa99dfa..61003cb7 100644
--- a/VCU/Phantom/main.c
+++ b/VCU/Phantom/main.c
@@ -23,6 +23,7 @@
 #include "phantom_queue.h"      // os_queue wrapper written by Joshua Guo
 #include "phantom_task.h"       // os_task wrapper written by Joshua Guo
 #include "Phantom_sci.h"     // UART wrapper written by Mahmoud Kamaleldin
+#include "state_machine.h"
 
 #include "execution_timer.h"
 
@@ -34,6 +35,8 @@
 #include "task_statemachine.h"
 #include "task_watchdog.h"
 #include "task_eeprom.h"
+#include "task_event_handler.h"
+#include "task_logger.h"
 
 /* USER CODE END */
 
@@ -61,33 +64,45 @@ void phantomDriversInit()
     VCUData_init();             // Initialize VCU Data Structure
     RTD_Buzzer_Init();          // Initialize Ready to Drive buzzer
     RGB_init();             // Initialize RGB LEDs to start off
+
+//    rtiInit();
+//    rtiEnableNotification(rtiNOTIFICATION_COMPARE1);
+//    _enable_IRQ();
+//    rtiStartCounter(rtiNOTIFICATION_COUNTER1);
+//    uint32 x= rtiGetPeriod(rtiNOTIFICATION_COMPARE1);
 }
 
 void phantomTasksInit()
 {
     #ifndef VCU_SIM_MODE
-    ReceiveTaskInit();
+//    ReceiveTaskInit();
     #else
     UARTprintln("Entering VCU Simulation Mode...");
     #endif
 
-    ThrottleInit();
 
-    InterruptInit();
+    SystemTasks_t t = {
+        .EventHandler=EventHandlerInit(),
+        .Logger=LoggerInit(),
+        .throttleActor=ThrottleInit(),
+        .throttleAgent=throttleAgentInit()
+    };
 
-    if (!throttleAgentInit())
+    if (!(t.EventHandler && t.Logger && t.throttleActor && t.throttleAgent))
     {
-        while(1) UARTprintf("Throttle not initialized\r\n");
+        while(1) UARTprintln("Some tasks not initialized: %d, %d, %d, %d", t.EventHandler, t.Logger, t.throttleActor, t.throttleAgent);
     }
 
+    StateMachineInit(t);
 }
 
 volatile unsigned long ulHighFrequencyTimerTicks;
 
+// TODO: Never actually triggered
 void rtiNotification(uint32 notification)
 {
     ulHighFrequencyTimerTicks++;
-    // should probably add a check to see if the right timer 
+    // should probably add a check to see if the right timer
     // was called but VCU only has one active hardware timer atm
 }
 /* USER CODE END */
@@ -97,20 +112,20 @@ void rtiNotification(uint32 notification)
 void main(void)
 {
 /* USER CODE BEGIN (3) */
-    rtiInit();
-    rtiEnableNotification(rtiNOTIFICATION_COMPARE0);
-    _enable_IRQ();
 
     halcogenInit();
+
     phantomDriversInit();
 
-    UARTInit(PC_UART, 9600); // something up above overwrites the configuration set here. Make sure this goes last!
+    UARTInit(PC_UART, 115200); // something up above overwrites the configuration set here. Make sure this goes last!
 
     phantomTasksInit();
 
-    // Phantom_startTaskScheduler is Blocking
-    Phantom_startTaskScheduler();
-    while(1);
+    UARTprintln("Starting scheduler!");
+
+    vTaskStartScheduler();
+
+    while(1) UARTprintf("Scheduler exited!");
    
 /* USER CODE END */
 }

From bc1c69821a7ff32165b413d3a8ac77a03649ee3d Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 12:43:33 -0800
Subject: [PATCH 03/58] add common event enums

---
 VCU/Phantom/data_structures/vcu_common.h | 33 +++++++++++++++++++++++-
 1 file changed, 32 insertions(+), 1 deletion(-)

diff --git a/VCU/Phantom/data_structures/vcu_common.h b/VCU/Phantom/data_structures/vcu_common.h
index 571bd15a..29d35de9 100644
--- a/VCU/Phantom/data_structures/vcu_common.h
+++ b/VCU/Phantom/data_structures/vcu_common.h
@@ -1,9 +1,40 @@
 #ifndef _PHANTOM_VCU_COMMON_DEFINES_H_
 #define _PHANTOM_VCU_COMMON_DEFINES_H_
 
-#include "phantom_task.h"
 #include "FreeRTOS.h"
+#include "FreeRTOSConfig.h"
 #include "os_queue.h"
+#include "os_task.h"
+
+#include "hal_stdtypes.h"
+
+typedef struct SystemTasks_t{
+	TaskHandle_t throttleAgent;
+	TaskHandle_t throttleActor;
+	TaskHandle_t Logger;
+	TaskHandle_t EventHandler;
+}SystemTasks_t;
+
+typedef enum eCarEvents{
+    BEGIN_OF_EVENTS=0,
+
+    EVENT_APPS1_RANGE_FAULT, 
+    EVENT_APPS2_RANGE_FAULT, 
+    EVENT_BSE_RANGE_FAULT, 
+    EVENT_FP_DIFF_FAULT, 
+    EVENT_RESET_CAR,
+    EVENT_READY_TO_DRIVE,
+    EVENT_TRACTIVE_ON,
+    EVENT_BRAKE_PLAUSIBILITY_CLEARED,
+    EVENT_BRAKE_PLAUSIBILITY_FAULT,
+    
+
+    END_OF_EVENTS
+} eCarEvents;
+typedef enum eSource{
+	FROM_ISR,
+	FROM_SCHEDULER
+} eSource;
 
 /**
  * @brief Machine states for the VCU.

From 12f4fb85c10b4241c3b47b9807ca96c83026bce9 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 12:51:12 -0800
Subject: [PATCH 04/58] cleanup task and driver files

---
 VCU/Phantom/Drivers/RTOS/phantom_queue.c      |  27 --
 VCU/Phantom/Drivers/RTOS/phantom_queue.h      |  50 ----
 VCU/Phantom/Drivers/RTOS/phantom_task.c       |  74 ------
 VCU/Phantom/Drivers/RTOS/phantom_task.h       |  27 --
 VCU/Phantom/tasks/headers/task_interrupt.h    |   9 -
 VCU/Phantom/tasks/headers/task_receive.h      |  15 --
 VCU/Phantom/tasks/headers/task_statemachine.h |  21 --
 .../tasks/headers/task_statemachine_backup.h  |  65 -----
 VCU/Phantom/tasks/headers/task_test.h         |  17 --
 VCU/Phantom/tasks/source/task_interrupt.c     | 101 --------
 VCU/Phantom/tasks/source/task_receive.c       |  38 ---
 VCU/Phantom/tasks/source/task_statemachine.c  | 239 ------------------
 VCU/Phantom/tasks/source/task_test.c          |  61 -----
 VCU/Phantom/test_eeprom/testEeprom.c          |  59 -----
 VCU/Phantom/test_eeprom/testEeprom.h          |  20 --
 VCU/Simulation_Mode_VCU_REV2/.gitignore       |   6 -
 VCU/Simulation_Mode_VCU_REV2/ccsObjs.opt      |   1 -
 17 files changed, 830 deletions(-)
 delete mode 100644 VCU/Phantom/Drivers/RTOS/phantom_queue.c
 delete mode 100644 VCU/Phantom/Drivers/RTOS/phantom_queue.h
 delete mode 100644 VCU/Phantom/Drivers/RTOS/phantom_task.c
 delete mode 100644 VCU/Phantom/Drivers/RTOS/phantom_task.h
 delete mode 100644 VCU/Phantom/tasks/headers/task_interrupt.h
 delete mode 100644 VCU/Phantom/tasks/headers/task_receive.h
 delete mode 100644 VCU/Phantom/tasks/headers/task_statemachine.h
 delete mode 100644 VCU/Phantom/tasks/headers/task_statemachine_backup.h
 delete mode 100644 VCU/Phantom/tasks/headers/task_test.h
 delete mode 100644 VCU/Phantom/tasks/source/task_interrupt.c
 delete mode 100644 VCU/Phantom/tasks/source/task_receive.c
 delete mode 100644 VCU/Phantom/tasks/source/task_statemachine.c
 delete mode 100644 VCU/Phantom/tasks/source/task_test.c
 delete mode 100644 VCU/Phantom/test_eeprom/testEeprom.c
 delete mode 100644 VCU/Phantom/test_eeprom/testEeprom.h
 delete mode 100644 VCU/Simulation_Mode_VCU_REV2/.gitignore
 delete mode 100644 VCU/Simulation_Mode_VCU_REV2/ccsObjs.opt

diff --git a/VCU/Phantom/Drivers/RTOS/phantom_queue.c b/VCU/Phantom/Drivers/RTOS/phantom_queue.c
deleted file mode 100644
index 9c572ea5..00000000
--- a/VCU/Phantom/Drivers/RTOS/phantom_queue.c
+++ /dev/null
@@ -1,27 +0,0 @@
-/*
- * phantom_queue.h
- *
- * Created on: July 15, 2022
- *      Author: Josh Guo
- * 
- * Light-weight wrapper for freertos queue API
- */
-
-#include "phantom_queue.h"
-
-QueueHandle_t Phantom_createQueue(UBaseType_t queue_length, UBaseType_t item_size)
-{
-    QueueHandle_t qHandle = xQueueCreate(queue_length, item_size);
-    return qHandle;
-}
-
-QueueSetHandle_t Phantom_createQueueSet(UBaseType_t combined_queue_size)
-{
-    QueueSetHandle_t qSetHandle = xQueueCreateSet(combined_queue_size);
-    return qSetHandle;
-}
-
-void Phantom_addToQueueSet(QueueSetHandle_t queue_set_handle, QueueHandle_t queue_handle)
-{
-    BaseType_t result = xQueueAddToSet(queue_handle, queue_set_handle);
-}
diff --git a/VCU/Phantom/Drivers/RTOS/phantom_queue.h b/VCU/Phantom/Drivers/RTOS/phantom_queue.h
deleted file mode 100644
index 28a5caea..00000000
--- a/VCU/Phantom/Drivers/RTOS/phantom_queue.h
+++ /dev/null
@@ -1,50 +0,0 @@
-#ifndef PHANTOM_QUEUE_H_
-#define PHANTOM_QUEUE_H_
-
-/*
- * phantom_queue.h
- *
- * Created on: July 15, 2022
- *      Author: Josh Guo
- * 
- * Light-weight wrapper for freertos queue API
- */
-
-#include "FreeRTOS.h"
-#include "FreeRTOSConfig.h"
-#include "os_queue.h"
-
-QueueHandle_t Phantom_createQueue(UBaseType_t queue_length, UBaseType_t item_size);
-QueueSetHandle_t Phantom_createQueueSet(UBaseType_t combined_queue_size);
-void Phantom_addToQueueSet(QueueSetHandle_t queue_set_handle, QueueHandle_t queue_handle);
-
-#define Phantom_createMailBox(item_size)                                        Phantom_createQueue(1, (item_size))
-#define Phantom_overwrite                                                       xQueueOverwrite
-#define Phantom_overwriteISR                                                    xQueueOverwriteFromISR
-
-#define Phantom_queueSize(queue_handle)                                         (uxQueueMessagesWaiting(queue_handle) + uxQueueSpacesAvailable(queue_handle))
-#define Phantom_queueSizeISR(queue_handle)                                      (uxQueueMessagesWaitingFromISR(queue_handle) + uxQueueSpacesAvailable(queue_handle))
-
-#define Phantom_isQueueEmptyISR                                                 xQueueIsQueueEmptyFromISR
-#define Phantom_isQueueFullISR                                                  xQueueIsQueueFullFromISR
-#define Phantom_itemsInQueue                                                    uxQueueMessagesWaiting
-#define Phantom_itemsInQueueISR                                                 uxQueueMessagesWaitingFromISR
-#define Phantom_spaceInQueue                                                    uxQueueSpacesAvailable
-
-#define Phantom_peek(queue_handle, buffer_ptr, wait_time_ms)                    xQueuePeek((queue_handle), (buffer_ptr), pdMS_TO_TICKS(wait_time_ms))
-#define Phantom_peekISR                                                         xQueuePeekFromISR
-
-#define Phantom_send(queue_handle, item_ptr, wait_time_ms)                      xQueueSendToBack((queue_handle), (item_ptr), pdMS_TO_TICKS(wait_time_ms))
-#define Phantom_sendISR(queue_handle, item_ptr, WokenHigherPriorityTask)        xQueueSendFromISR((queue_handle), (item_ptr), WokenHigherPriorityTask)
-#define Phantom_sendFront(queue_handle, item_ptr, wait_time_ms)                 xQueueSendToFront((queue_handle), (item_ptr), pdMS_TO_TICKS(wait_time_ms))
-#define Phantom_sendFrontISR(queue_handle, item_ptr, WokenHigherPriorityTask)
-
-#define Phantom_receive(queue_handle, buffer_ptr, wait_time_ms)                 xQueueReceive((queue_handle), (buffer_ptr), pdMS_TO_TICKS(wait_time_ms))
-#define Phantom_receiveISR                                                      xQueueReceiveFromISR
-
-#define Phantom_resetQueue                                                      xQueueReset
-
-#define Phantom_selectFromQueueSet(qset_handle, wait_time_ms)                   xQueueSelectFromSet((qset_handle), pdMS_TO_TICKS(wait_time_ms))
-#define Phantom_selectFromQueueSetISR                                           xQueueSelectFromSetFromISR
-
-#endif
diff --git a/VCU/Phantom/Drivers/RTOS/phantom_task.c b/VCU/Phantom/Drivers/RTOS/phantom_task.c
deleted file mode 100644
index e3758920..00000000
--- a/VCU/Phantom/Drivers/RTOS/phantom_task.c
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
- * phantom_task.c
- *
- *  Created on: Aug. 25, 2021
- *      Author: Josh Guo
- */
-#include "sys_common.h"
-#include "FreeRTOS.h"
-#include "FreeRTOSConfig.h"
-#include "os_task.h"
-
-#include "phantom_task.h"
-
-static void periodicTaskSkeleton(void* task);
-static void continuousTaskSkeleton(void* task);
-
-TaskHandle_t Phantom_createTask(Task* task,
-					   char* const taskName,
-					   uint16 stackSize,
-					   uint32 taskPriority)
-{
-    TaskHandle_t taskHandle = NULL;
-
-    TaskFunction_t taskSkeleton = periodicTaskSkeleton;
-    if (task->frequencyMs == 0) {
-        taskSkeleton = continuousTaskSkeleton;
-    }
-
-    xTaskCreate(taskSkeleton, taskName, stackSize, task, taskPriority, &taskHandle);
-
-    return taskHandle;
-}
-
-void Phantom_startTaskScheduler(void)
-{
-    vTaskStartScheduler();
-}
-
-void Phantom_endTaskScheduler(void)
-{
-    vTaskEndScheduler();
-}
-
-void Phantom_suspendTask(TaskHandle_t taskHandle)
-{
-    vTaskSuspend(taskHandle);
-}
-
-void Phantom_resumeTask(TaskHandle_t taskHandle)
-{
-    vTaskResume(taskHandle);
-}
-
-static void periodicTaskSkeleton(void* task)
-{
-    const TaskFunction_t taskFnPtr = ((Task*) task)->functionPtr;
-    const TickType_t xFrequency = pdMS_TO_TICKS(((Task*) task)->frequencyMs);
-    
-    TickType_t xLastWakeTime = xTaskGetTickCount();
-    while (1) {
-        vTaskDelayUntil(&xLastWakeTime, xFrequency);
-
-        taskFnPtr(NULL);
-    }
-}
-
-static void continuousTaskSkeleton(void* task)
-{
-    const TaskFunction_t taskFnPtr = ((Task*) task)->functionPtr;
-
-    while (1) {
-        taskFnPtr(NULL);
-    }
-}
diff --git a/VCU/Phantom/Drivers/RTOS/phantom_task.h b/VCU/Phantom/Drivers/RTOS/phantom_task.h
deleted file mode 100644
index 7651226d..00000000
--- a/VCU/Phantom/Drivers/RTOS/phantom_task.h
+++ /dev/null
@@ -1,27 +0,0 @@
-/*
- * phantom_task.h
- *
- *  Created on: Aug. 25, 2021
- *      Author: Josh Guo
- */
-#ifndef PHANTOM_TASK_H_
-#define PHANTOM_TASK_H_
-
-#include "hal_stdtypes.h"
-#include "os_projdefs.h"
-
-typedef void* TaskHandle_t;
-
-typedef struct {
-    TaskFunction_t functionPtr;
-    uint32 frequencyMs;
-} Task;
-
-TaskHandle_t Phantom_createTask(Task* task, char* const taskName, uint16 stackSize, uint32 taskPriority);
-
-/* Phantom_startTaskScheduler is Blocking */
-void Phantom_startTaskScheduler(void);
-void Phantom_endTaskScheduler(void);
-
-#endif
-
diff --git a/VCU/Phantom/tasks/headers/task_interrupt.h b/VCU/Phantom/tasks/headers/task_interrupt.h
deleted file mode 100644
index e29b05f5..00000000
--- a/VCU/Phantom/tasks/headers/task_interrupt.h
+++ /dev/null
@@ -1,9 +0,0 @@
-#ifndef PHANTOM_TASKS_INTERRUPT_ACTOR_H_
-#define PHANTOM_TASKS_INTERRUPT_ACTOR_H_
-
-#include <stdint.h>
-
-void InterruptInit(void);
-uint8_t receiveIntEvent(uint32_t delay);
-
-#endif
diff --git a/VCU/Phantom/tasks/headers/task_receive.h b/VCU/Phantom/tasks/headers/task_receive.h
deleted file mode 100644
index 269d54f6..00000000
--- a/VCU/Phantom/tasks/headers/task_receive.h
+++ /dev/null
@@ -1,15 +0,0 @@
-/*
- * task_receive.h
- *
- *  Created on: Jun 16, 2022
- *      Author: Rafael
- */
-
-#ifndef PHANTOM_TASKS_HEADERS_TASK_RECEIVE_H_
-#define PHANTOM_TASKS_HEADERS_TASK_RECEIVE_H_
-
-
-void ReceiveTaskInit(void);
-
-
-#endif /* PHANTOM_TASKS_HEADERS_TASK_RECEIVE_H_ */
diff --git a/VCU/Phantom/tasks/headers/task_statemachine.h b/VCU/Phantom/tasks/headers/task_statemachine.h
deleted file mode 100644
index f0f63453..00000000
--- a/VCU/Phantom/tasks/headers/task_statemachine.h
+++ /dev/null
@@ -1,21 +0,0 @@
-/*
- * task_statemachine.h
- *
- *  Created on: Apr 16, 2020
- *      Author: gabriel, jjkhan, josh
- *
- *
- *  Last Modified on: Dec 30, 2020 -> By jjkhan
- */
-
-#ifndef PHANTOM_TASKS_TASK_STATEMACHINE_H_
-#define PHANTOM_TASKS_TASK_STATEMACHINE_H_
-
-#include "vcu_common.h"
-
-State StateMachine_getState();
-
-/* Task */
-void Task_StateMachineInit(void);
-
-#endif /* PHANTOM_TASKS_TASK_STATEMACHINE_H_ */
diff --git a/VCU/Phantom/tasks/headers/task_statemachine_backup.h b/VCU/Phantom/tasks/headers/task_statemachine_backup.h
deleted file mode 100644
index a59855a9..00000000
--- a/VCU/Phantom/tasks/headers/task_statemachine_backup.h
+++ /dev/null
@@ -1,65 +0,0 @@
-// /*
-//  * task_statemachine.h
-//  *
-//  *  Created on: Apr 16, 2020
-//  *      Author: gabriel
-//  *
-//  *
-//  *  Last Modified on: Dec 30, 2020 -> By jjkhan
-//  */
-
-// #ifndef PHANTOM_TASKS_TASK_STATEMACHINE_H_
-// #define PHANTOM_TASKS_TASK_STATEMACHINE_H_
-
-// /*
-//  *  Header files used by state machine task.
-//  */
-// #include "board_hardware.h"   // contains hardware defines for specific board used (i.e. VCU or launchpad)
-
-
-
-// #define NOFAULT         0U
-// #define FAULT           1U
-
-// /*
-//  *  Possible Fault Locations - Bit Number
-//  *
-//  */
-// #define SDC_FAULT              0U
-// #define BSE_APPS_FAULT         1U
-// #define HV_LV_FAULT            2U
-// #define CAN_FAULT              3U
-// #define IMD_SYSTEM_FAULT       4U
-// #define TSAL_FAULTS            5U
-
-
-
-// /* SET RESET */
-// #define SET         1U
-// #define ON          SET
-
-// extern State state; // Moved it from task_statemachine source file - jjkhan
-
-// // Defined in main.c, used in the task for HV Current and Voltage Out of range sensors.
-// extern TimerHandle_t xTimers[];
-// extern volatile bool HV_VOLTAGE_TIMER_EXPIRED;
-// extern volatile bool HV_CURRENT_TIMER_EXPIRED;
-
-// /* Task Helper Functions. */
-
-// int checkSDC(void);
-// int checkIMD(void);
-// int checkBSE_APPS(void);
-// int CheckHVLVSensor(void);
-// int checkCAN(void);
-// int checkTSAL_FAULTS(void);
-// uint16_t faultLocation(void);
-
-// /* Task */
-// void vStateMachineTask(void *);
-
-
-
-
-
-// #endif /* PHANTOM_TASKS_TASK_STATEMACHINE_H_ */
diff --git a/VCU/Phantom/tasks/headers/task_test.h b/VCU/Phantom/tasks/headers/task_test.h
deleted file mode 100644
index 560f1837..00000000
--- a/VCU/Phantom/tasks/headers/task_test.h
+++ /dev/null
@@ -1,17 +0,0 @@
-/*
- *  task_test.h
- *
- *  Test Task for Testing 
- * 
- *  Created on: Sept. 3, 2021
- *      Author: Joshua Guo
- */
-#ifndef PHANTOM_TASKS_TASK_TEST_H_
-#define PHANTOM_TASKS_TASK_TEST_H_
-
-
-
-void Task_testInit(void);
-
-
-#endif
diff --git a/VCU/Phantom/tasks/source/task_interrupt.c b/VCU/Phantom/tasks/source/task_interrupt.c
deleted file mode 100644
index e6773e86..00000000
--- a/VCU/Phantom/tasks/source/task_interrupt.c
+++ /dev/null
@@ -1,101 +0,0 @@
-/*
- *  Task Template made by Joshua Guo
- * 
- *  Created on:
- *      Author: Joshua Guo, 
- */
-#include "phantom_task.h"
-#include "phantom_queue.h"
-
-#include "task_interrupt.h"
-#include "task_statemachine.h"
-
-#include "vcu_common.h"
-#include "os_portmacro.h"
-#include "stdarg.h"
-
-#include "vcu_common.h"
-
-#include "sys_common.h"
-#include "sys_vim.h"
-#include "gio.h"
-#include "board_hardware.h"
-
-
-/* Static members */
-static const int NUM_INTERRUPTS = 4; // Not a macro to keep this scoped to the file 
-static PipeTask_t actorTask;
-static QueueHandle_t agentISR_Q;
-
-static void vInterruptActorTask(void* arg);
-static uint8_t sendFromISR(isr_action_t data);
-static void receiveFromISR(isr_action_t* data_ptr);
-
-/* Public API */
-uint8_t receiveIntEvent(uint32_t delay)
-{
-    uint8_t event;
-
-    Phantom_receive(actorTask.q, &event, delay);   
-
-    return event;
-}
-
-void InterruptInit(void)
-{
-    /* Actor initialization */
-
-    actorTask.task = (Task) {vInterruptActorTask, 0};
-
-    actorTask.taskHandle = Phantom_createTask(&actorTask.task, "InterruptActorTask", 150, 5);
-
-    actorTask.q = NULL; 
-
-    /* Agent initialization */
-
-    agentISR_Q = Phantom_createQueue(NUM_INTERRUPTS, sizeof(isr_action_t));
-
-    vimInit();
-}
-
-/* Task thread */
-static void vInterruptActorTask(void* arg)
-{
-    isr_action_t buffer;
-
-    receiveFromISR(&buffer);
-
-    buffer.isr_func(-1, actorTask.q); // TODO: and any other params?
-}
-
-/* Agent Interrupt Handler */
-static uint8_t sendFromISR(isr_action_t data){
-
-    BaseType_t WokenHigherPriorityTask = pdFALSE;
-
-    Phantom_sendISR(agentISR_Q, &data, &WokenHigherPriorityTask);
-
-    return WokenHigherPriorityTask == pdTRUE;
-}
-
-void gioNotification(gioPORT_t* port, uint32 bit)
-{
-    isr_action_t interruptAction = {ISR_ID_ERROR, NULL};
-
-    if (port == READY_TO_DRIVE_PORT && bit == READY_TO_DRIVE_PIN) {
-        interruptAction.id = RTDS_INTERRUPT;
-        interruptAction.isr_func = NULL; // TODO: Write function handler
-    }
-
-    if (interruptAction.id != ISR_ID_ERROR) {
-
-
-    }
-
-    sendFromISR(interruptAction);
-}
-
-static void receiveFromISR(isr_action_t* data_ptr)
-{
-    Phantom_receive(agentISR_Q, data_ptr, portMAX_DELAY);   
-}
\ No newline at end of file
diff --git a/VCU/Phantom/tasks/source/task_receive.c b/VCU/Phantom/tasks/source/task_receive.c
deleted file mode 100644
index b7f21860..00000000
--- a/VCU/Phantom/tasks/source/task_receive.c
+++ /dev/null
@@ -1,38 +0,0 @@
-/*
- * task_receive.c
- *
- *  Created on: Jun 16, 2022
- *      Author: Rafael Guveara
- */
-
-
-#include "phantom_task.h"
-#include "Phantom_sci.h"
-#include "FreeRTOS.h"
-#include "os_task.h"
-#include "board_hardware.h"
-#include "stdlib.h"
-#include "vcu_data.h"
-
-// (int)((ceil(log10(2^32))+1)*sizeof(char)) -stack overflow
-static char float_str[11];
-extern volatile unsigned long ulHighFrequencyTimerTicks;
-
-static Task task;
-static TaskHandle_t taskHandle;
-
-static void vReceiveTask(void* arg);
-
-void ReceiveTaskInit(void)
-{
-    task = (Task) {vReceiveTask, 0};
-
-    // blocks indefinitely if task creation failed
-    taskHandle = Phantom_createTask(&task, "VCU_CLI", 512, 0);
-}
-
-static void vReceiveTask(void* arg)
-{
-
-
-}
diff --git a/VCU/Phantom/tasks/source/task_statemachine.c b/VCU/Phantom/tasks/source/task_statemachine.c
deleted file mode 100644
index 37410b2a..00000000
--- a/VCU/Phantom/tasks/source/task_statemachine.c
+++ /dev/null
@@ -1,239 +0,0 @@
-/*
- *  Task Template made by Joshua Guo
- * 
- *  Created on:
- *      Author: gabriel, jjkhan, joshua guo 
- */
-#include "phantom_task.h"
-#include "phantom_timer.h"   // if you need to use timers
-#include "phantom_queue.h"
-
-// #include your_task_header_file
-// Any other .h files you need goes here...
-#include "task_config.h"
-#include "board_hardware.h"   // contains hardware defines for specific board used (i.e. VCU or launchpad)
-#include "vcu_data.h"           // deprecated
-#include "vcu_common.h"
-#include "RGB_LED.h"
-
-static Task task;
-static TaskHandle_t taskHandle;
-static QueueHandle_t queueHandle;
-
-// Any other module-scope variables goes here... (make sure they have the 'static' keyword)
-static State currentState;
-
-static TimerHandle_t HV_CurrentTimerHandle;
-static TimerHandle_t HV_VoltageTimerHandle;
-static bool HV_VOLTAGE_TIMER_EXPIRED;
-static bool HV_CURRENT_TIMER_EXPIRED;
-
-// Pre-define your static functions here...
-static void vStateMachineTask(void* arg);
-static bool isSevereFault(uint32 faults, State currentState);
-static bool isMinorFault(uint32 faults);
-static void HV_CurrentTimerCallback(TimerHandle_t timer);
-static void HV_VoltageTimerCallback(TimerHandle_t timer);
-
-State StateMachine_getState()
-{
-    return currentState;
-}
-
-void Task_StateMachineInit(void)
-{
-    task = (Task) {vStateMachineTask, STATE_MACHINE_TASK_PERIOD_MS};
-
-    // Phantom_createTask should block infinitely if task creation failed
-    taskHandle = Phantom_createTask(&task, "StateMachineTask", STATE_MACHINE_TASK_STACK_SIZE, STATE_MACHINE_TASK_PRIORITY);
-
-    // create your timers here...
-    HV_CurrentTimerHandle = Phantom_createTimer("HV_Current_OutOfRange_T", 10000, NO_RELOAD, NULL, HV_CurrentTimerCallback);
-    HV_VoltageTimerHandle = Phantom_createTimer("HV_Voltage_OutOfRange_T", 10000, NO_RELOAD, NULL, HV_VoltageTimerCallback);
-
-    // any other init code you want to put goes here...
-    HV_VOLTAGE_TIMER_EXPIRED = false;
-    HV_CURRENT_TIMER_EXPIRED = false;
-}
-
-static void vStateMachineTask(void* arg)
-{
-    // arg will always be NULL, so ignore it.
-
-    // your task stuff goes in here...
-    State newState = currentState;
-
-    bool TSAL_signal = VCUData_getTSALSignal();
-    bool RTDS_signal = VCUData_getRTDSignal();
-    uint32 faults = VCUData_readFaults(ALL_FAULTS);
-
-    switch(newState)
-    {
-        case TRACTIVE_OFF:
-            RGB_drive(RGB_CYAN);
-
-            if (RTDS_signal || faults) {
-                newState = SEVERE_FAULT;
-            } else if (TSAL_signal) {
-                newState = TRACTIVE_ON; //No faults AND TSAL is on AND RTDS not set
-            }
-            break;
-
-        case TRACTIVE_ON:
-            RGB_drive(RGB_MAGENTA);
-
-            if (faults) {
-                newState = isSevereFault(faults, newState) ? SEVERE_FAULT : isMinorFault(faults) ? MINOR_FAULT : newState;
-            } else if (!TSAL_signal) {
-                newState = TRACTIVE_OFF;
-            } else if (RTDS_signal) {
-                newState = RUNNING;
-            }
-            break;
-
-        case RUNNING:
-            RGB_drive(RGB_GREEN);
-
-            if (faults) {
-                // Update state depending on severity of fault
-                newState = isSevereFault(faults, newState) ? SEVERE_FAULT : isMinorFault(faults) ? MINOR_FAULT : newState;
-            } else if(!TSAL_signal) {
-                newState= SEVERE_FAULT;
-            } else if(!RTDS_signal) {
-                newState = TRACTIVE_ON;
-            }
-            break;
-
-        case MINOR_FAULT:
-            RGB_drive(RGB_YELLOW);
-            if (faults && isSevereFault(faults, newState)) {
-                newState = SEVERE_FAULT;
-            } else if (RTDS_signal && TSAL_signal) {
-                newState = RUNNING;
-            } else if (!RTDS_signal && TSAL_signal){
-                newState = TRACTIVE_ON;
-            } else if (!RTDS_signal) {
-                newState = TRACTIVE_OFF;
-            }
-
-            // Reset the HV timer_started flags as the HV fault was fixed before timeout
-            if (newState != MINOR_FAULT) {
-                Phantom_stopTimer(HV_CurrentTimerHandle, 5);
-                Phantom_stopTimer(HV_VoltageTimerHandle, 5);
-            }
-            break;
-
-        case SEVERE_FAULT:
-            RGB_drive(RGB_RED);
-
-            if (!(faults || RTDS_signal))
-            {
-                newState = TRACTIVE_OFF;
-            }
-            break;
-    }
-
-    currentState = newState;
-}
-
-static bool isSevereFault(uint32 faults, State currentState)
-{
-    if (!faults) {
-        return false;
-    }
-
-    // Shutdown Circuit Fault or IMD Fault -> its Severe so don't need to check other faults
-    if (faults & (SHUTDOWN_CIRCUIT_FAULT_GROUP | IMD_FAULT_GROUP))
-    {
-        return true;
-    }
-
-    // Check BSE APPS Faults
-    if (faults & (BSE_APPS_FAULT_GROUP & ~BSE_APPS_SIMULTANEOUS_MINOR_FAULT))
-    {
-        // if the fault isn't the Minor Fault, then set SEVERE_FAULT, don't need to check for minor
-        return true;
-    }
-
-    // Check HV Range Faults and set flags iff this isnt the first time (i.e. timers already started.)
-    // Check for SEVERE Faults Right now
-    if ((faults & HV_VOLTAGE_OUT_OF_RANGE_MINOR_FAULT) && HV_VOLTAGE_TIMER_EXPIRED)
-    {
-        // Timer expired
-        HV_VOLTAGE_TIMER_EXPIRED = false;
-        return true;
-    }
-
-    if ((faults & HV_CURRENT_OUT_OF_RANGE_MINOR_FAULT) && HV_CURRENT_TIMER_EXPIRED)
-    {                
-        //timer Expired
-        HV_CURRENT_TIMER_EXPIRED = false;
-        return true;
-    }
-
-    if((faults & HV_APPS_PROPORTION_SEVERE_ERROR) && currentState==RUNNING)
-    {
-        return true;
-    }
-
-    if((faults & TSAL_FAULT_GROUP) && (currentState==RUNNING || currentState==TRACTIVE_ON)){
-        return true;
-    }
-
-    // Check CAN Severe Faults
-    // Either CAN Message indicates a severe fault (TYPE1 ERROR) or a minor fault (TYPE2 ERROR)
-    if (faults & CAN_ERROR_TYPE1)
-    { // Severe Fault message from CAN, so don't need to check other faults, change currentState and yield task
-        return true;
-    }
-
-    return false;
-}
-
-static bool isMinorFault(uint32 faults)
-{
-    if (!faults) {
-        return false;
-    }
-
-    // Check for MINOR Faults
-    if (faults & HV_VOLTAGE_OUT_OF_RANGE_MINOR_FAULT)
-    {
-        if(!Phantom_isTimerActive(HV_VoltageTimerHandle)){
-            // Start Timer
-            HV_VOLTAGE_TIMER_EXPIRED = false;
-            Phantom_startTimer(HV_VoltageTimerHandle, 0);
-        }
-        return true;
-    }
-    if (faults & HV_CURRENT_OUT_OF_RANGE_MINOR_FAULT)
-    {
-        if(!Phantom_isTimerActive(HV_CurrentTimerHandle)){
-            // Start Timer
-            HV_CURRENT_TIMER_EXPIRED = false;
-            Phantom_startTimer(HV_CurrentTimerHandle, 0);
-        }
-        return true;
-    }
-
-    if (faults & (LV_CURRENT_OUT_OF_RANGE_MINOR_FAULT | 
-                  LV_VOLTAGE_OUT_OF_RANGE_MINOR_FAULT | 
-                  BSE_APPS_SIMULTANEOUS_MINOR_FAULT | 
-                  CAN_ERROR_TYPE2))
-    {
-        return true;
-    }
-
-    return false;
-}
-
-// Other helper functions and callbacks goes here...
-static void HV_CurrentTimerCallback(TimerHandle_t timer)
-{
-    HV_CURRENT_TIMER_EXPIRED = true;
-}
-
-static void HV_VoltageTimerCallback(TimerHandle_t timer)
-{
-    HV_VOLTAGE_TIMER_EXPIRED = true;
-}
diff --git a/VCU/Phantom/tasks/source/task_test.c b/VCU/Phantom/tasks/source/task_test.c
deleted file mode 100644
index aa2b2a49..00000000
--- a/VCU/Phantom/tasks/source/task_test.c
+++ /dev/null
@@ -1,61 +0,0 @@
-/*
- *  task_test.c
- *
- *  Test Task for Testing 
- * 
- *  Created on: Sept. 3, 2021
- *      Author: Joshua Guo
- */
-#include "phantom_task.h"
-#include "phantom_timer.h"
-#include "vcu_data.h"
-#include "RGB_LED.h"
-
-#include "task_config.h"
-#include "task_test.h"
-
-// pre-define static functions first
-static void vTestTask(void* arg);
-static void testTimerCallback(TimerHandle_t timer);
-
-static Task testTask;
-// static TaskHandle_t taskHandle;
-
-static TimerHandle_t testTimer;
-static long testTimerCounter = 0;
-
-void Task_testInit(void)
-{
-    testTask = (Task) {vTestTask, TEST_TASK_PERIOD_MS};
-    // Phantom_createTask should block infinitely if task creation failed
-    /*taskHandle = */Phantom_createTask(&testTask, "TestTask", TEST_TASK_STACK_SIZE, TEST_TASK_PRIORITY);
-
-    // create recurring timers here...
-    testTimer = Phantom_createTimer("testTimer", 1000, AUTO_RELOAD, &testTimerCounter, testTimerCallback);
-    Phantom_startTimer(testTimer, 0);
-
-    // so compiler won't complain about unused variables
-    // taskHandle;
-    // testTimer;
-}
-
-static void vTestTask(void* arg)
-{
-    uint8 faults = VCUData_readFaults(ALL_FAULTS);
-
-    if (faults) {
-        RGB_drive(RGB_YELLOW);
-    } else {
-        RGB_drive(RGB_OFF);
-    }
-}
-
-static void testTimerCallback(TimerHandle_t timer)
-{
-    uint8 faults = VCUData_readFaults(ALL_FAULTS);
-    if (!faults) {  // prefer to avoid anything with mutexes in a timer callback
-        VCUData_turnOnFaults(BMS_GPIO_SEVERE_FAULT | BSPD_SEVERE_FAULT | BSE_APPS_FAULT_GROUP);
-    } else {
-        VCUData_turnOffFaults(BMS_GPIO_SEVERE_FAULT | BSPD_SEVERE_FAULT | BSE_APPS_FAULT_GROUP);
-    }
-}
diff --git a/VCU/Phantom/test_eeprom/testEeprom.c b/VCU/Phantom/test_eeprom/testEeprom.c
deleted file mode 100644
index 30db9846..00000000
--- a/VCU/Phantom/test_eeprom/testEeprom.c
+++ /dev/null
@@ -1,59 +0,0 @@
-// /*
-//  * testEeprom.c
-//  *
-//  *  Created on: Mar 7, 2021
-//  *      Author: junaidkhan
-//  */
-// #include "phantom_freertos.h"
-// #include "testEeprom.h"
-// #include "os_queue.h"
-// #include "vcu_data.h"
-
-// extern QueueHandle_t eepromMessages;
-// extern volatile uint8_t initializationOccured;
-// void testEeprom(void *p){
-
-//     // Create a variable to be able to set a breakpoint to read rxBuffer Message each time in Memory Browser
-//     uint8_t forBreakPoint =0;
-
-//     // A buffer that will hold messages received from eepromTask - Don't need to print it.
-//     char rxBuffer[60];
-
-//     TickType_t mylastTickCount;
-//     mylastTickCount = xTaskGetTickCount();
-
-//     while(1){
-
-//         if(initializationOccured){
-
-//             unsigned long numberOfMessages = uxQueueMessagesWaiting(eepromMessages);
-//             if(numberOfMessages){
-
-//                 if (xQueueReceive(eepromMessages,rxBuffer,pdMS_TO_TICKS(0))==pdPASS){ // Don't block if no message in the Queue
-//                     forBreakPoint =1;
-//                 }
-//             }
-//             // Block for 500ms
-//             vTaskDelayUntil(&mylastTickCount,pdMS_TO_TICKS(100));
-
-//         }else{
-
-//             // Block for 500ms
-//             vTaskDelayUntil(&mylastTickCount,pdMS_TO_TICKS(100));
-//         }
-//     }
-// }
-
-// /* This will test if the eeprom bank is being updated.
-// void testEeprom(void *p){
-//     TickType_t mylastTickCount;
-//     mylastTickCount = xTaskGetTickCount();
-//     while(1){
-//         if(xSemaphoreTake(vcuKey, pdMS_TO_TICKS(10))){
-//             VCUDataPtr->DigitalVal.TSAL_FAULT ^= (1<<0);       // Toggle Bit-0
-//             xSemaphoreGive(vcuKey);
-//         }
-//         vTaskDelayUntil(&mylastTickCount,pdMS_TO_TICKS(500));
-//     }
-// }
-// */
diff --git a/VCU/Phantom/test_eeprom/testEeprom.h b/VCU/Phantom/test_eeprom/testEeprom.h
deleted file mode 100644
index 5f1aba2b..00000000
--- a/VCU/Phantom/test_eeprom/testEeprom.h
+++ /dev/null
@@ -1,20 +0,0 @@
-// /*
-//  * testEeprom.h
-//  *
-//  *  Created on: Mar 7, 2021
-//  *      Author: junaidkhan
-//  */
-
-// #ifndef PHANTOM_TEST_EEPROM_TESTEEPROM_H_
-// #define PHANTOM_TEST_EEPROM_TESTEEPROM_H_
-
-// #include "vcu_data.h"
-// #include "FreeRTOS.h"
-// #include "os_semphr.h"
-
-// extern SemaphoreHandle_t vcuKey;
-// extern data* VCUDataPtr;
-// void testEeprom(void *p);
-
-
-// #endif /* PHANTOM_TEST_EEPROM_TESTEEPROM_H_ */
diff --git a/VCU/Simulation_Mode_VCU_REV2/.gitignore b/VCU/Simulation_Mode_VCU_REV2/.gitignore
deleted file mode 100644
index 265cd11e..00000000
--- a/VCU/Simulation_Mode_VCU_REV2/.gitignore
+++ /dev/null
@@ -1,6 +0,0 @@
-/Phantom/
-/halcogen_launchpad/
-/halcogen_vcu/
-/makefile
-/objects.mk
-/sources.mk
diff --git a/VCU/Simulation_Mode_VCU_REV2/ccsObjs.opt b/VCU/Simulation_Mode_VCU_REV2/ccsObjs.opt
deleted file mode 100644
index f2e3c03d..00000000
--- a/VCU/Simulation_Mode_VCU_REV2/ccsObjs.opt
+++ /dev/null
@@ -1 +0,0 @@
-"./Phantom/Drivers/DAC_SPI/MCP48FV_DAC_SPI.obj" "./Phantom/Drivers/EEPROM/eeprom_driver.obj" "./Phantom/Drivers/RGB_LED/RGB_LED.obj" "./Phantom/Drivers/RTD_Buzzer/RTD_Buzzer.obj" "./Phantom/Drivers/RTOS/phantom_queue.obj" "./Phantom/Drivers/RTOS/phantom_task.obj" "./Phantom/Drivers/RTOS/phantom_timer.obj" "./Phantom/Drivers/UART/Phantom_sci.obj" "./Phantom/data_structures/vcu_data.obj" "./Phantom/main.obj" "./Phantom/tasks/source/task_eeprom.obj" "./Phantom/tasks/source/task_interrupt.obj" "./Phantom/tasks/source/task_receive.obj" "./Phantom/tasks/source/task_statemachine.obj" "./Phantom/tasks/source/task_test.obj" "./Phantom/tasks/source/task_throttle_actor.obj" "./Phantom/tasks/source/task_throttle_agent.obj" "./Phantom/tasks/source/task_watchdog.obj" "./Phantom/test_eeprom/testEeprom.obj" "./halcogen_launchpad/source/Device_TMS570LS12.obj" "./halcogen_launchpad/source/Fapi_UserDefinedFunctions.obj" "./halcogen_launchpad/source/adc.obj" "./halcogen_launchpad/source/dabort.obj" "./halcogen_launchpad/source/errata_SSWF021_45.obj" "./halcogen_launchpad/source/esm.obj" "./halcogen_launchpad/source/gio.obj" "./halcogen_launchpad/source/het.obj" "./halcogen_launchpad/source/i2c.obj" "./halcogen_launchpad/source/mibspi.obj" "./halcogen_launchpad/source/notification.obj" "./halcogen_launchpad/source/os_croutine.obj" "./halcogen_launchpad/source/os_event_groups.obj" "./halcogen_launchpad/source/os_heap.obj" "./halcogen_launchpad/source/os_list.obj" "./halcogen_launchpad/source/os_mpu_wrappers.obj" "./halcogen_launchpad/source/os_port.obj" "./halcogen_launchpad/source/os_portasm.obj" "./halcogen_launchpad/source/os_queue.obj" "./halcogen_launchpad/source/os_tasks.obj" "./halcogen_launchpad/source/os_timer.obj" "./halcogen_launchpad/source/pinmux.obj" "./halcogen_launchpad/source/rti.obj" "./halcogen_launchpad/source/sci.obj" "./halcogen_launchpad/source/svc.obj" "./halcogen_launchpad/source/sys_core.obj" "./halcogen_launchpad/source/sys_dma.obj" "./halcogen_launchpad/source/sys_intvecs.obj" "./halcogen_launchpad/source/sys_main.obj" "./halcogen_launchpad/source/sys_mpu.obj" "./halcogen_launchpad/source/sys_pcr.obj" "./halcogen_launchpad/source/sys_phantom.obj" "./halcogen_launchpad/source/sys_pmm.obj" "./halcogen_launchpad/source/sys_pmu.obj" "./halcogen_launchpad/source/sys_selftest.obj" "./halcogen_launchpad/source/sys_startup.obj" "./halcogen_launchpad/source/sys_vim.obj" "./halcogen_launchpad/source/system.obj" "./halcogen_launchpad/source/ti_fee_Info.obj" "./halcogen_launchpad/source/ti_fee_cancel.obj" "./halcogen_launchpad/source/ti_fee_cfg.obj" "./halcogen_launchpad/source/ti_fee_eraseimmediateblock.obj" "./halcogen_launchpad/source/ti_fee_format.obj" "./halcogen_launchpad/source/ti_fee_ini.obj" "./halcogen_launchpad/source/ti_fee_invalidateblock.obj" "./halcogen_launchpad/source/ti_fee_main.obj" "./halcogen_launchpad/source/ti_fee_read.obj" "./halcogen_launchpad/source/ti_fee_readSync.obj" "./halcogen_launchpad/source/ti_fee_shutdown.obj" "./halcogen_launchpad/source/ti_fee_util.obj" "./halcogen_launchpad/source/ti_fee_writeAsync.obj" "./halcogen_launchpad/source/ti_fee_writeSync.obj" "./halcogen_vcu/source/Device_TMS570LS12.obj" "./halcogen_vcu/source/Fapi_UserDefinedFunctions.obj" "./halcogen_vcu/source/adc.obj" "./halcogen_vcu/source/dabort.obj" "./halcogen_vcu/source/errata_SSWF021_45.obj" "./halcogen_vcu/source/esm.obj" "./halcogen_vcu/source/gio.obj" "./halcogen_vcu/source/het.obj" "./halcogen_vcu/source/i2c.obj" "./halcogen_vcu/source/mibspi.obj" "./halcogen_vcu/source/notification.obj" "./halcogen_vcu/source/os_croutine.obj" "./halcogen_vcu/source/os_event_groups.obj" "./halcogen_vcu/source/os_heap.obj" "./halcogen_vcu/source/os_list.obj" "./halcogen_vcu/source/os_mpu_wrappers.obj" "./halcogen_vcu/source/os_port.obj" "./halcogen_vcu/source/os_portasm.obj" "./halcogen_vcu/source/os_queue.obj" "./halcogen_vcu/source/os_tasks.obj" "./halcogen_vcu/source/os_timer.obj" "./halcogen_vcu/source/pinmux.obj" "./halcogen_vcu/source/rti.obj" "./halcogen_vcu/source/sci.obj" "./halcogen_vcu/source/sys_core.obj" "./halcogen_vcu/source/sys_dma.obj" "./halcogen_vcu/source/sys_intvecs.obj" "./halcogen_vcu/source/sys_mpu.obj" "./halcogen_vcu/source/sys_pcr.obj" "./halcogen_vcu/source/sys_phantom.obj" "./halcogen_vcu/source/sys_pmm.obj" "./halcogen_vcu/source/sys_pmu.obj" "./halcogen_vcu/source/sys_selftest.obj" "./halcogen_vcu/source/sys_startup.obj" "./halcogen_vcu/source/sys_vim.obj" "./halcogen_vcu/source/system.obj" "./halcogen_vcu/source/ti_fee_Info.obj" "./halcogen_vcu/source/ti_fee_cancel.obj" "./halcogen_vcu/source/ti_fee_cfg.obj" "./halcogen_vcu/source/ti_fee_eraseimmediateblock.obj" "./halcogen_vcu/source/ti_fee_format.obj" "./halcogen_vcu/source/ti_fee_ini.obj" "./halcogen_vcu/source/ti_fee_invalidateblock.obj" "./halcogen_vcu/source/ti_fee_main.obj" "./halcogen_vcu/source/ti_fee_read.obj" "./halcogen_vcu/source/ti_fee_readSync.obj" "./halcogen_vcu/source/ti_fee_shutdown.obj" "./halcogen_vcu/source/ti_fee_util.obj" "./halcogen_vcu/source/ti_fee_writeAsync.obj" "./halcogen_vcu/source/ti_fee_writeSync.obj" "../halcogen_launchpad/source/sys_link.cmd" "../halcogen_vcu/source/sys_linker_freeRTOS.cmd" -llibc.a 
\ No newline at end of file

From 5d8c316e194c84ff1d31467f7f5577bae156a043 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 12:52:09 -0800
Subject: [PATCH 05/58] add timer error checking; rename parameters

---
 VCU/Phantom/Drivers/RTOS/phantom_timer.c | 52 ++++++++++++++++++------
 VCU/Phantom/Drivers/RTOS/phantom_timer.h | 11 +++--
 2 files changed, 48 insertions(+), 15 deletions(-)

diff --git a/VCU/Phantom/Drivers/RTOS/phantom_timer.c b/VCU/Phantom/Drivers/RTOS/phantom_timer.c
index cfcd983e..ae4aa027 100644
--- a/VCU/Phantom/Drivers/RTOS/phantom_timer.c
+++ b/VCU/Phantom/Drivers/RTOS/phantom_timer.c
@@ -4,14 +4,11 @@
  *  Created on: Aug. 25, 2021
  *      Author: Josh Guo
  */
-#include "FreeRTOS.h"
-#include "FreeRTOSConfig.h"
 
-// this needs to be here because os_timer.h does not include this despite trying to reference it
-typedef void *TaskHandle_t; 
-#include "os_timer.h"
 
 #include "phantom_timer.h"
+#include "task_logger.h"
+#include "state_machine.h"
 
 // #define DEBUG    // uncomment this line for ASSERT statements to work
 
@@ -23,13 +20,13 @@ static int numOfTimers = 0;
     timerName:          Just a text name, not used by the RTOS kernel.
     periodMS:           The timer period in ticks, must be greater than 0.
     isAutoReloading:    If true, the timer will auto-reload itself when they expire.
-    counterPtr:         Pointer to a number which increments whenever the timer expires, initialized to 0.
+    timerID:         Pointer to a number which increments whenever the timer expires, initialized to 0.
     callbackFunction:   Callback function that is called when the timer expires.
 */
 TimerHandle_t Phantom_createTimer(char* const timerName, 
                                   uint32 periodMS, 
                                   bool isAutoReloading, 
-                                  void* counterPtr, 
+                                  TimerID_t timerID,
                                   TimerCallbackFunction_t callbackFunction)
 {
     if (numOfTimers >= MAX_NUMBER_OF_TIMERS) {
@@ -40,7 +37,7 @@ TimerHandle_t Phantom_createTimer(char* const timerName,
         timerName,
         pdMS_TO_TICKS(periodMS),
         isAutoReloading,
-        counterPtr,
+        (void*)timerID,
         callbackFunction
     );
 
@@ -48,14 +45,24 @@ TimerHandle_t Phantom_createTimer(char* const timerName,
     return newTimer;
 }
 
-uint8 Phantom_startTimer(TimerHandle_t timer, uint32 waitTimeMs)
+static uint8 LogTimerInfo(TimerHandle_t timer, char* str)
 {
-    return xTimerStart(timer, pdMS_TO_TICKS(waitTimeMs));
+    char buffer[32];
+    snprintf(buffer, 32, "(%s) %s", pcTimerGetName(timer), str);
+
+    return Log(buffer);
 }
 
 uint8 Phantom_stopTimer(TimerHandle_t timer, uint32 waitTimeMs)
 {
-    return xTimerStop(timer, pdMS_TO_TICKS(waitTimeMs));
+    uint8_t ret = xTimerStop(timer, pdMS_TO_TICKS(waitTimeMs)) == pdPASS;
+
+    if (!ret)
+    {
+        LogTimerInfo(timer, "Failed to stop timer");
+    }
+    
+    return ret;
 }
 
 uint8 Phantom_deleteTimer(TimerHandle_t timer, uint32 waitTimeMs)
@@ -72,5 +79,26 @@ int Phantom_getNumberOfTimers(void)
 
 bool Phantom_isTimerActive(TimerHandle_t timer)
 {
-    return xTimerIsTimerActive(timer);
+    uint8_t ret = xTimerIsTimerActive(timer) == pdPASS;
+    
+    return ret;
+}
+
+uint8 Phantom_startTimer(TimerHandle_t timer, uint32 waitTimeMs)
+{
+    uint8_t started = true;
+
+    if (!Phantom_isTimerActive(timer))
+    {
+        started = xTimerStart(timer, pdMS_TO_TICKS(waitTimeMs)) != pdFALSE;
+    }
+
+
+    if (!started)
+    {
+        LogTimerInfo(timer, "Timer not started");
+    }
+
+    return started;
+    
 }
diff --git a/VCU/Phantom/Drivers/RTOS/phantom_timer.h b/VCU/Phantom/Drivers/RTOS/phantom_timer.h
index 20b1f281..961af3fd 100644
--- a/VCU/Phantom/Drivers/RTOS/phantom_timer.h
+++ b/VCU/Phantom/Drivers/RTOS/phantom_timer.h
@@ -7,16 +7,21 @@
 #ifndef PHANTOM_TIMER_H_
 #define PHANTOM_TIMER_H_
 
+#include "vcu_common.h"
+
 #include "hal_stdtypes.h"
 
-#define MAX_WAIT_TIME_MS (((uint32_t) ~0) >> 10)
+#include "os_timer.h"
 
-typedef void *TimerHandle_t;
 typedef void (*TimerCallbackFunction_t)(TimerHandle_t xTimer);
 
+#define MAX_WAIT_TIME_MS (((uint32_t) ~0) >> 10)
+
 #define AUTO_RELOAD true
 #define NO_RELOAD   false 
 
+typedef uint16_t TimerID_t;
+
 /*
     timerName:          Just a text name, not used by the RTOS kernel.
     periodMS:           The timer period in ticks, must be greater than 0.
@@ -27,7 +32,7 @@ typedef void (*TimerCallbackFunction_t)(TimerHandle_t xTimer);
 TimerHandle_t Phantom_createTimer(char* const timerName, 
                                   uint32 periodMS, 
                                   bool isAutoReloading, 
-                                  void* counterPtr, 
+                                  TimerID_t timerID,
                                   TimerCallbackFunction_t callbackFunction);
 
 uint8 Phantom_startTimer(TimerHandle_t timer, uint32 waitTimeMs);

From 4922f1d280a3585f5c52979dcc3fa6531d21b6e4 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 12:52:58 -0800
Subject: [PATCH 06/58] asynchronously get runtime stats

---
 VCU/Phantom/Drivers/UART/Phantom_sci.c | 30 +++++++++++++++++---------
 1 file changed, 20 insertions(+), 10 deletions(-)

diff --git a/VCU/Phantom/Drivers/UART/Phantom_sci.c b/VCU/Phantom/Drivers/UART/Phantom_sci.c
index 9b71fb28..eb706a15 100644
--- a/VCU/Phantom/Drivers/UART/Phantom_sci.c
+++ b/VCU/Phantom/Drivers/UART/Phantom_sci.c
@@ -10,13 +10,15 @@
 #include "FreeRTOS.h"
 #include "os_task.h"
 
+#include "task_logger.h"
+#include "task_event_handler.h"
+#include "state_machine.h"
 
 #define NUMBER_OF_SIMULATION_MESSAGES 3
 static volatile uint8_t messageCounter = 0;
 static volatile uint32_t serialData = 0; // there is 24 bit standard type so when we cast, we have to cast to 32 bit hence 4 bytes
 
-extern volatile unsigned long ulHighFrequencyTimerTicks;
-static char ptrTaskList[500];
+#define TASK_LIST_SIZE 512
 
 enum eCommands{
 
@@ -90,7 +92,6 @@ void UARTprintln(const char *_format, ...)
     }
 }
 
-
 uint32_t getSimData()
 {
     while(messageCounter < NUMBER_OF_SIMULATION_MESSAGES);
@@ -106,6 +107,21 @@ uint32_t getSimData()
     return ret;
 }
 
+void GetRuntimeStatistics(void* x)
+{
+    char ptrTaskList[TASK_LIST_SIZE];
+    // TODO: not configured!
+//    vTaskGetRunTimeStats(ptrTaskList);
+//    UARTSend(PC_UART, ptrTaskList);
+
+    vTaskList(ptrTaskList);
+    UARTSend(PC_UART, ptrTaskList);
+
+    UARTprintf("\r\n");
+}
+
+
+
 void sciReceiveCallback(sciBASE_t *sci, uint32 flags, uint8 data)
 {
 
@@ -121,13 +137,7 @@ void sciReceiveCallback(sciBASE_t *sci, uint32 flags, uint8 data)
     switch(data){
 
         case TASK_LIST:
-
-            // TODO: use interrupt task (this aborts because it's too many chars to send in an IRQ)
-            // vTaskGetRunTimeStats(ptrTaskList);
-            // UARTSend(PC_UART, ptrTaskList);
-            // vTaskList(ptrTaskList);
-            // UARTSend(PC_UART, ptrTaskList);
-
+        	HandleToBack(GetRuntimeStatistics, 0, FROM_ISR);
             break;
         case ECHO_THROTTLE:
             UARTSend(PC_UART, "No data available yet.");

From 5c30cb3776dd6edc3bb691d029d5ac490d41bd34 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 12:53:14 -0800
Subject: [PATCH 07/58] add commands to trigger car events

---
 VCU/Phantom/Drivers/UART/Phantom_sci.c | 53 +++++++++++++++++++-------
 1 file changed, 40 insertions(+), 13 deletions(-)

diff --git a/VCU/Phantom/Drivers/UART/Phantom_sci.c b/VCU/Phantom/Drivers/UART/Phantom_sci.c
index eb706a15..c36a87e6 100644
--- a/VCU/Phantom/Drivers/UART/Phantom_sci.c
+++ b/VCU/Phantom/Drivers/UART/Phantom_sci.c
@@ -28,7 +28,10 @@ enum eCommands{
     ECHO_BSE='4',
     STAT_RUN='5',  // vTaskGetRunTimeStats
     STAT_START='6',  // xTaskGetTickCount
-    TASK_LIST='7'// vTaskList
+    TASK_LIST='7', // vTaskList
+    RESET_CAR='r',
+    START_ENGINE='s',
+    TURN_TRACTIVE_ON='o',
 };
 
 
@@ -134,35 +137,59 @@ void sciReceiveCallback(sciBASE_t *sci, uint32 flags, uint8 data)
     }
     #else
 
+    char buffer[16];
+
     switch(data){
 
         case TASK_LIST:
         	HandleToBack(GetRuntimeStatistics, 0, FROM_ISR);
             break;
+
         case ECHO_THROTTLE:
-            UARTSend(PC_UART, "No data available yet.");
-            UARTSend(PC_UART, "\r");
+        	LogFromISR(UWHT, "No data available yet.");
+
             break;
         case ECHO_APPS1:
-            UARTSend(PC_UART, "No data available yet.");
-            UARTSend(PC_UART, "\r");
+        	LogFromISR(UWHT, "No data available yet.");
             break;
         case ECHO_APPS2:
-            UARTSend(PC_UART, "No data available yet.");
-            UARTSend(PC_UART, "\r");
+        	LogFromISR(UWHT, "No data available yet.");
             break;
         case ECHO_BSE:
-            UARTSend(PC_UART, "No data available yet.");
-            UARTSend(PC_UART, "\r");
+        	LogFromISR(UWHT, "No data available yet.");
             break;
         case STAT_START:            
-            UARTprintf("%d", xTaskGetTickCount());
-            UARTSend(PC_UART, "\r");
+        {
+            snprintf(buffer, 16, "%dms", xTaskGetTickCountFromISR());
+
+            LogFromISR(UWHT, buffer);
+            break;
+        }
+        case TURN_TRACTIVE_ON:
+        {
+            NotifyStateMachineFromISR(EVENT_TRACTIVE_ON);
+
             break;
+        }
+        case START_ENGINE:
+        {
+            NotifyStateMachineFromISR(EVENT_READY_TO_DRIVE);
+
+            break;
+        }
+        case RESET_CAR:
+        {
+            NotifyStateMachineFromISR(EVENT_RESET_CAR);
+
+            break;
+        }
         default:
-            UARTprintln("Unknown command: %c", data);
-            putchar(data);
+        {
+            LogFromISR(UWHT, "Unknown: ");
+
+            // HandleCritical(putchar, &data, FROM_ISR);
             break;
+        }
     }
 
     #endif

From 495996d6f182805eb8775c2e997c1bf0ab23616a Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 12:53:45 -0800
Subject: [PATCH 08/58] return task handles

---
 VCU/Phantom/tasks/headers/task_throttle_actor.h | 2 +-
 VCU/Phantom/tasks/headers/task_throttle_agent.h | 4 +++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/VCU/Phantom/tasks/headers/task_throttle_actor.h b/VCU/Phantom/tasks/headers/task_throttle_actor.h
index 40ecf153..f420b923 100644
--- a/VCU/Phantom/tasks/headers/task_throttle_actor.h
+++ b/VCU/Phantom/tasks/headers/task_throttle_actor.h
@@ -8,6 +8,6 @@
 #ifndef PHANTOM_TASKS_TASK_THROTTLE_ACTOR_H_
 #define PHANTOM_TASKS_TASK_THROTTLE_ACTOR_H_
 
-void ThrottleInit(void);
+TaskHandle_t ThrottleInit(void);
 
 #endif
diff --git a/VCU/Phantom/tasks/headers/task_throttle_agent.h b/VCU/Phantom/tasks/headers/task_throttle_agent.h
index bfe0c131..cb06eeac 100644
--- a/VCU/Phantom/tasks/headers/task_throttle_agent.h
+++ b/VCU/Phantom/tasks/headers/task_throttle_agent.h
@@ -11,7 +11,9 @@
 #include "vcu_common.h"
 
 
-uint8_t throttleAgentInit(void);
+#define HYSTERESIS      (200U)
+
+TaskHandle_t throttleAgentInit(void);
 uint8_t receivePedalReadings(pedal_reading_t* pdreading, TickType_t wait_time_ms);
 
 

From 9766f160d60be8ca6c7c28909b5ba86fb79597af Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 12:55:19 -0800
Subject: [PATCH 09/58] unwrap task wrappers; move brakelight to async process

---
 .../tasks/source/task_throttle_agent.c        | 87 ++++++++++++++-----
 1 file changed, 67 insertions(+), 20 deletions(-)

diff --git a/VCU/Phantom/tasks/source/task_throttle_agent.c b/VCU/Phantom/tasks/source/task_throttle_agent.c
index 4e9d61fa..30392b7c 100644
--- a/VCU/Phantom/tasks/source/task_throttle_agent.c
+++ b/VCU/Phantom/tasks/source/task_throttle_agent.c
@@ -4,8 +4,6 @@
  *  Created on: July 15, 2022
  *      Author: Joshua Guo
  */
-#include "phantom_task.h"
-#include "phantom_queue.h"
 
 #include "task_throttle_agent.h"
 #include "task_config.h"
@@ -13,6 +11,7 @@
 #include "vcu_common.h"
 #include "board_hardware.h"
 #include "adc.h"
+#include "gio.h"
 
 #include "Phantom_sci.h"
 
@@ -23,6 +22,11 @@
 #include "stdio.h"
 #include "math.h"
 
+#include "task_logger.h"
+#include "task_event_handler.h"
+
+#define BRAKE_LIGHT BRAKE_LIGHT_PORT, BRAKE_LIGHT_PIN
+
 typedef struct ThrottleAgent_t{
     PipeTask_t pipeline;
     pedal_reading_t readings;
@@ -35,47 +39,89 @@ static void vThrottleAgentTask(void* arg);
 
 static pedal_reading_t readPedals();
 
-
 /* Public API */
 uint8_t receivePedalReadings(pedal_reading_t* pdreading, TickType_t wait_time_ms)
 {
-    return xQueueReceive(footPedals.pipeline.q, pdreading, wait_time_ms) == pdTRUE;
+    if (footPedals.pipeline.q)
+    {
+        return xQueueReceive(footPedals.pipeline.q, pdreading, wait_time_ms) == pdTRUE;
+    }
+    else
+    {
+        vTaskDelay(pdMS_TO_TICKS(1000));
+
+        return 0;
+    }
 }
 
-uint8_t throttleAgentInit(void)
+TaskHandle_t throttleAgentInit(void)
 {
-    footPedals.pipeline.task = (Task) {vThrottleAgentTask, 0};
+	xTaskCreate(
+		vThrottleAgentTask,
+		"ThrottleAgent",
+		200,
+		NULL,
+        1,
+		&footPedals.pipeline.taskHandle 
+	);
 
-    // blocks indefinitely if task creation failed
-    footPedals.pipeline.taskHandle = Phantom_createTask(&footPedals.pipeline.task, "ThrottleAgentTask", THROTTLE_AGT_STACK_SIZE, THROTTLE_AGT_PRIORITY);
-
-    footPedals.pipeline.q = xQueueCreate(50, sizeof(pedal_reading_t));
+    footPedals.pipeline.q = xQueueCreate(10, sizeof(pedal_reading_t));
 
     footPedals.prevReadings = (pedal_reading_t) {0, 0 ,0};
 
-    return footPedals.pipeline.q && footPedals.pipeline.taskHandle;
+	return footPedals.pipeline.taskHandle;
 }
 
+
+static void SetBrakeLight(void* data)
+{
+    uint8_t value = *(uint8_t*) data;
+
+    char buffer[32];
+    sprintf(buffer, "Setting brakelight: %d", value);
+    Log(buffer);
+
+    gioSetBit(BRAKE_LIGHT, value);
+}
+
+
 static void vThrottleAgentTask(void* arg)
 {
-    footPedals.readings = readPedals();
+	Log("Starting thread");
+
+    while(true)
+    {
+        footPedals.readings = readPedals();
+
+        // apply a low pass filter with ALPHA of 0.5
+        footPedals.readings.bse = (footPedals.readings.bse + footPedals.prevReadings.bse) >> 1;
+        footPedals.readings.fp1 = (footPedals.readings.fp1 + footPedals.prevReadings.fp1) >> 1;
+        footPedals.readings.fp2 = (footPedals.readings.fp2 + footPedals.prevReadings.fp2) >> 1;
 
-    // apply a low pass filter with ALPHA of 0.5
-    footPedals.readings.bse = (footPedals.readings.bse + footPedals.prevReadings.bse) >> 1;
-    footPedals.readings.fp1 = (footPedals.readings.fp1 + footPedals.prevReadings.fp1) >> 1;
-    footPedals.readings.fp2 = (footPedals.readings.fp2 + footPedals.prevReadings.fp2) >> 1;
+        // update prev filtered values
+        footPedals.prevReadings =  footPedals.readings;
 
-    // update prev filtered values
-    footPedals.prevReadings =  footPedals.readings;
+        uint32_t BSESensorSum = footPedals.readings.bse; 
 
-    // send filtered values to mailbox (task_throttle_actor.c)
-   xQueueSend(footPedals.pipeline.q, &footPedals.readings, 1000);
+        uint8_t brakelight_value = BSESensorSum > (BRAKING_THRESHOLD + HYSTERESIS);
+
+        if (gioGetBit(BRAKE_LIGHT) != brakelight_value)
+        {
+            HandleToFront(SetBrakeLight, brakelight_value, FROM_SCHEDULER);
+        }
+        
+        // send filtered values to mailbox (task_throttle_actor.c)
+        xQueueSend(footPedals.pipeline.q, &footPedals.readings, 1);
+    }
 }
 
 static pedal_reading_t readPedals()
 {
+    vTaskDelay(pdMS_TO_TICKS(20));
 
     #ifndef VCU_SIM_MODE 
+
+
     // Get pedal readings from ADC
     adcData_t FP_data[3];
     adcStartConversion(adcREG1, adcGROUP1);
@@ -83,6 +129,7 @@ static pedal_reading_t readPedals()
     adcGetData(adcREG1, adcGROUP1, FP_data);
 
     // must map each value explicitly because compiler may not have the same mem packing rules for struct as arrays
+
     return (pedal_reading_t) {FP_data[0].value, FP_data[1].value, FP_data[2].value};
 
     #else

From 3279c3b62d2c5519ee67cf45b64a22feb6308a0e Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 12:56:34 -0800
Subject: [PATCH 10/58] add agent watchdog; remove state variables

---
 .../tasks/source/task_throttle_actor.c        | 159 ++++++++----------
 1 file changed, 68 insertions(+), 91 deletions(-)

diff --git a/VCU/Phantom/tasks/source/task_throttle_actor.c b/VCU/Phantom/tasks/source/task_throttle_actor.c
index 5eeed065..a36abd26 100644
--- a/VCU/Phantom/tasks/source/task_throttle_actor.c
+++ b/VCU/Phantom/tasks/source/task_throttle_actor.c
@@ -64,126 +64,103 @@ static uint32_t faultCode = 0;
 static void vThrottleActorTask(void* arg);
 
 static float calculatePedalPercent(uint32_t pedalValue, float minValue, float maxValue);
-static bool check_Pedal_Range_Fault(uint32_t pedalValue, uint32_t minValue, uint32_t maxValue, TimerHandle_t faultTimer, bool* timerFlag);
-static bool check_10PercentAPPS_Fault(float Percent_APPS1_Pressed, float Percent_APPS2_Pressed);
-static bool check_Brake_Plausibility_Fault(uint32_t BSE_sensor_sum, float Percent_APPS1_Pressed, float Percent_APPS2_Pressed);
+static void UpdatePedalRangeFaultTimer(uint32_t pedalValue, uint32_t minValue, uint32_t maxValue, TimerHandle_t faultTimer);
+static void UpdateAPPS10PercentFaultTimer(float Percent_APPS1_Pressed, float Percent_APPS2_Pressed);
+static void CheckBrakePlausibility(uint32_t BSE_sensor_sum, float Percent_APPS1_Pressed, float Percent_APPS2_Pressed);
 
-static void RTDS_CALLBACK(TimerHandle_t xTimers);
-static void APPS1_SEVERE_RANGE_FAULT_CALLBACK(TimerHandle_t xTimers);
-static void APPS2_SEVERE_RANGE_FAULT_CALLBACK(TimerHandle_t xTimers);
-static void BSE_SEVERE_RANGE_FAULT_CALLBACK(TimerHandle_t xTimers);
-static void FP_DIFF_SEVERE_FAULT_CALLBACK(TimerHandle_t xTimers);
+static void TurnOffThrottle(TimerHandle_t timer)
+{
+	static char buffer[64];
+	snprintf(buffer, 64, "(%s): Expired after %dms", pcTimerGetTimerName(timer), xTimerGetPeriod(timer));
+	LogColor(YEL, buffer);
+
+    MCP48FV_Set_Value(0); // send throttle value to DAC driver
+	LogColor(RED, "Turning off throttle");
+}
 
-void ThrottleInit(void)
+#define APPS_SENSOR_TIMEOUT 1000
+TaskHandle_t ThrottleInit(void)
 {
-    task = (Task) {vThrottleActorTask, 0};
 
-    // blocks indefinitely if task creation failed
-    taskHandle = Phantom_createTask(&task, "ThrottleActorTask", THROTTLE_ACT_STACK_SIZE, THROTTLE_ACT_PRIORITY);
+    xTaskCreate(
+		vThrottleActorTask,
+		"ThrottleActor",
+		THROTTLE_ACT_STACK_SIZE,
+		0,
+        THROTTLE_ACT_PRIORITY,
+		&taskHandle
+	);
 
-    /*     
-    APPS1RangeFaultTimer = Phantom_createTimer("APPS1_RANGE_FAULT_Timer", 100, NO_RELOAD, NULL, APPS1_SEVERE_RANGE_FAULT_CALLBACK);
-    APPS2RangeFaultTimer = Phantom_createTimer("APPS2_RANGE_FAULT_Timer", 100, NO_RELOAD, NULL, APPS2_SEVERE_RANGE_FAULT_CALLBACK);
-    BSERangeFaultTimer = Phantom_createTimer("BSE_RANGE_FAULT_Timer", 100, NO_RELOAD, NULL, BSE_SEVERE_RANGE_FAULT_CALLBACK);
-    FPDiffFaultTimer = Phantom_createTimer("FP_DIFF_FAULT_Timer", 100, NO_RELOAD, NULL, FP_DIFF_SEVERE_FAULT_CALLBACK);
-    RTDSTimer = Phantom_createTimer("RTDS_Timer", 2000, NO_RELOAD, NULL, RTDS_CALLBACK); 
-    */
 
-    (void) taskHandle;
-    
-    MCP48FV_Init();             
+    APPS1RangeFaultTimer = Phantom_createTimer("Apps1RangeCheck", 100, NO_RELOAD, EVENT_APPS1_RANGE_FAULT, NotifyStateMachineFromTimer);
+    // APPS2RangeFaultTimer = Phantom_createTimer("Apps2RangeCheck", 100, NO_RELOAD, EVENT_APPS2_RANGE_FAULT, NotifyStateMachineFromTimer);
+    // BSERangeFaultTimer = Phantom_createTimer("BseRangeCheck", 100, NO_RELOAD, EVENT_BSE_RANGE_FAULT, NotifyStateMachineFromTimer);
+    // FPDiffFaultTimer = Phantom_createTimer("FpDiffCheck", 100, NO_RELOAD, EVENT_FP_DIFF_FAULT, NotifyStateMachineFromTimer);
+    // RTDSTimer = Phantom_createTimer("RTDSSwitch", 2000, NO_RELOAD, 0, NotifyStateMachineFromTimer); 
+
+    AgentSoftwareWatchdog = Phantom_createTimer("AgentSoftwareWatchdog", APPS_SENSOR_TIMEOUT, NO_RELOAD, EVENT_APPS1_RANGE_FAULT, TurnOffThrottle);
+
+    MCP48FV_Init();
+
+    return taskHandle;
 }
 
 static void vThrottleActorTask(void* arg)
 {
-    pedal_reading_t pedalReadings;
+	Log("Suspending thread on initialization");
 
-    if (!receivePedalReadings(&pedalReadings, portMAX_DELAY))
-    {
-        return; // this is logically a continue
-    }
+    vTaskSuspend(NULL);
 
-    float apps1PedalPercent = calculatePedalPercent(pedalReadings.fp1, PADDED_APPS1_MIN_VALUE, PADDED_APPS2_MAX_VALUE);
-    float apps2PedalPercent = calculatePedalPercent(pedalReadings.fp2, PADDED_APPS2_MIN_VALUE, PADDED_APPS2_MAX_VALUE);
-    float bsePedalPercent = calculatePedalPercent(pedalReadings.bse, PADDED_BSE_MIN_VALUE, PADDED_BSE_MAX_VALUE);
-
-    // TODO: Add range fault checks
-
-    // // check for short to GND/VCC on APPS sensor 1
-    // bool apps1Fault = check_Pedal_Range_Fault(pedalReadings.fp1, APPS1_MIN_VALUE, APPS1_MAX_VALUE, APPS1RangeFaultTimer, &APPS1_RANGE_FAULT_TIMER_EXPIRED);
-    // // check for short to GND/VCC on APPS sensor 2
-    // bool apps2Fault = check_Pedal_Range_Fault(pedalReadings.fp2, APPS2_MIN_VALUE, APPS2_MAX_VALUE, APPS2RangeFaultTimer, &APPS2_RANGE_FAULT_TIMER_EXPIRED);
-    // // check for short to GND/VCC on BSE
-    // bool bseFault   = check_Pedal_Range_Fault(pedalReadings.bse, BSE_MIN_VALUE, BSE_MAX_VALUE, BSERangeFaultTimer, &BSE_RANGE_FAULT_TIMER_EXPIRED);
-    // // Check if APPS1 and APPS2 are within 10% of each other
-    // bool diffFault  = check_10PercentAPPS_Fault(apps1PedalPercent, apps2PedalPercent);
-    // // Check if brakes are pressed and accelerator pedal is pressed greater than or equal to 25%
-    // bool simulFault = check_Brake_Plausibility_Fault(pedalReadings.bse, apps1PedalPercent, apps2PedalPercent);
-
-    // // Fill the unrelevant bits with flags from vcu data
-    // uint32_t currentFaults = 0;
-
-    // currentFaults |= ((apps1Fault && 1) * APPS1_RANGE_SEVERE_FAULT);
-    // currentFaults |= (apps2Fault && 1) * APPS2_RANGE_SEVERE_FAULT;
-    // currentFaults |= (bseFault && 1) * BSE_RANGE_SEVERE_FAULT;
-    // currentFaults |= (diffFault && 1) * APPS_10DIFF_SEVERE_FAULT;
-    // currentFaults |= (simulFault && 1) * BSE_APPS_SIMULTANEOUS_MINOR_FAULT;
-
-    // faultCode = currentFaults;
-
-    /*********************************************************************************
-      brake light
-     *********************************************************************************/
-    uint32_t BSESensorSum = pedalReadings.bse;
-    if (brake_light_state == BRAKE_LIGHT_OFF && BSESensorSum > (BRAKING_THRESHOLD + HYSTERESIS))
-    {
-        
-        gioSetBit(BRAKE_LIGHT_PORT, BRAKE_LIGHT_PIN, BRAKE_LIGHT_ON);
+    while(true)
+    { 
+        xTimerStart(AgentSoftwareWatchdog, 1);
 
-        // update brake light enable in the vcu data structure
-        brake_light_state = BRAKE_LIGHT_ON;
-    }
-    else if (brake_light_state == BRAKE_LIGHT_ON && BSESensorSum < (BRAKING_THRESHOLD - HYSTERESIS))
-    {
-        
-        gioSetBit(BRAKE_LIGHT_PORT, BRAKE_LIGHT_PIN, BRAKE_LIGHT_OFF);
+        pedal_reading_t pedalReadings;
 
-        // update brake light enable in the vcu data structure
-        brake_light_state = BRAKE_LIGHT_OFF;
-    }
+        if (!receivePedalReadings(&pedalReadings, portMAX_DELAY))
+        {
+            continue; 
+        }
 
+        float apps1PedalPercent = calculatePedalPercent(pedalReadings.fp1, PADDED_APPS1_MIN_VALUE, PADDED_APPS2_MAX_VALUE);
+        float apps2PedalPercent = calculatePedalPercent(pedalReadings.fp2, PADDED_APPS2_MIN_VALUE, PADDED_APPS2_MAX_VALUE);
+        float bsePedalPercent = calculatePedalPercent(pedalReadings.bse, PADDED_BSE_MIN_VALUE, PADDED_BSE_MAX_VALUE);
 
+        // TODO: Add range fault checks
 
-    /*********************************************************************************
-      Set Throttle
-     *********************************************************************************/
-    State state = StateMachine_getState();
+        // // check for short to GND/VCC on APPS sensor 1
+        UpdatePedalRangeFaultTimer(pedalReadings.fp1, APPS1_MIN_VALUE, APPS1_MAX_VALUE, APPS1RangeFaultTimer);
+        // // check for short to GND/VCC on APPS sensor 2
+        // UpdatePedalRangeFaultTimer(pedalReadings.fp2, APPS2_MIN_VALUE, APPS2_MAX_VALUE, APPS2RangeFaultTimer, &APPS2_RANGE_FAULT_TIMER_EXPIRED);
+        // // check for short to GND/VCC on BSE
+        // UpdatePedalRangeFaultTimer(pedalReadings.bse, BSE_MIN_VALUE, BSE_MAX_VALUE, BSERangeFaultTimer, &BSE_RANGE_FAULT_TIMER_EXPIRED);
+        // // Check if APPS1 and APPS2 are within 10% of each other
+        // UpdateAPPS10PercentFaultTimer(apps1PedalPercent, apps2PedalPercent);
+        // // Check if brakes are pressed and accelerator pedal is pressed greater than or equal to 25%
+        // CheckBrakePlausibility(pedalReadings.bse, apps1PedalPercent, apps2PedalPercent);
+
+        /*********************************************************************************
+         Set Throttle
+        *********************************************************************************/
 
-    // debugging - jaypacamarra
-    // manually setting state to RUNNING and setting THROTTLE_AVAILABLE to true to test DAC - jaypacamarra
-    state = RUNNING;
-    isThrottleAvailable = true;
 
-    if (state == RUNNING && isThrottleAvailable)
-    {
-        
         float apps_percent_avg = (apps1PedalPercent + apps2PedalPercent) / 2;
 
-        
         // send DAC to inverter
         int16_t throttle = 390 * apps_percent_avg + 60;        // equation mapping the averaged signals to 0->500 for the DAC driver
+
         // ^ this equation may need to be modified for the curtis voltage lower limit and upper limit
         // i.e. map from 0.6V (60) to 4.5V (450) or something like that, instead of 0->500 (0V -> 5V)
         MCP48FV_Set_Value(throttle); // send throttle value to DAC driver
 
-		#ifdef VCU_SIM_MODE
+        char buffer[32];
+        snprintf(buffer, 32, "Running throttle actor");
+        Log(buffer);
+
+        #ifdef VCU_SIM_MODE
         UARTprintln("%d", throttle);
         #endif
-    }
-    else
-    {
-        // send 0 to DAC
-        MCP48FV_Set_Value(0);
+
 
         #ifdef VCU_SIM_MODE
         UARTprintln("0");

From 948f1c5d25aad0ed18f9cdedd6cc08a61877250c Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 12:57:14 -0800
Subject: [PATCH 11/58] make timer faults directly call state machine

---
 .../tasks/source/task_throttle_actor.c        | 94 ++++---------------
 1 file changed, 16 insertions(+), 78 deletions(-)

diff --git a/VCU/Phantom/tasks/source/task_throttle_actor.c b/VCU/Phantom/tasks/source/task_throttle_actor.c
index a36abd26..ccaca22b 100644
--- a/VCU/Phantom/tasks/source/task_throttle_actor.c
+++ b/VCU/Phantom/tasks/source/task_throttle_actor.c
@@ -5,9 +5,8 @@
  *  Created on: Sept 18, 2021
  *      Author: jaypacamarra, Joshua Guo
  */
-#include "phantom_task.h"
+
 #include "phantom_timer.h"
-#include "phantom_queue.h"
 
 #include <math.h>           // for fabsf function
 #include "hal_stdtypes.h"
@@ -24,7 +23,10 @@
 
 #include "task_throttle_agent.h"    // for access to mailbox
 #include "task_throttle_actor.h"    // for access to mailbox
-#include "task_statemachine.h"      // for access to mailbox & queue
+#include "state_machine.h"      // for access to mailbox & queue
+#include "task_logger.h"      
+
+
 
 static Task task;
 static TaskHandle_t taskHandle;
@@ -34,6 +36,7 @@ static TimerHandle_t APPS2RangeFaultTimer;
 static TimerHandle_t BSERangeFaultTimer;
 static TimerHandle_t FPDiffFaultTimer;
 static TimerHandle_t RTDSTimer;
+static TimerHandle_t AgentSoftwareWatchdog;
 
 /* For calculating throttle padding */
 /* Padding will eliminate unintended range faults at 0% or 100% pedal presses */
@@ -45,18 +48,9 @@ static TimerHandle_t RTDSTimer;
 #define PADDED_APPS2_MIN_VALUE  (APPS2_MIN_VALUE * (1U + PADDING_PERCENT))
 #define PADDED_APPS2_MAX_VALUE  (APPS2_MAX_VALUE * (1U - PADDING_PERCENT))
 
-#define HYSTERESIS      (200U)
 
 #define THROTTLE_FAULTS_MASK (APPS1_RANGE_SEVERE_FAULT | APPS2_RANGE_SEVERE_FAULT | BSE_RANGE_SEVERE_FAULT | APPS_10DIFF_SEVERE_FAULT | BSE_APPS_SIMULTANEOUS_MINOR_FAULT)
-static bool APPS1_RANGE_FAULT_TIMER_EXPIRED = false;   //added by jaypacamarra
-static bool APPS2_RANGE_FAULT_TIMER_EXPIRED = false;   //added by jaypacamarra
-static bool BSE_RANGE_FAULT_TIMER_EXPIRED = false;     //added by jaypacamarra
-static bool FP_DIFF_FAULT_TIMER_EXPIRED = false;       //added by jaypacamarra
 
-/* Brake Light readability */
-#define BRAKE_LIGHT_ON      0
-#define BRAKE_LIGHT_OFF     1
-static bool brake_light_state = BRAKE_LIGHT_ON; 
 
 static bool isThrottleAvailable = false; 
 static uint32_t faultCode = 0;
@@ -185,34 +179,22 @@ static float calculatePedalPercent(uint32_t pedalValue, float minValue, float ma
         return (pedalValue - minValue) / (maxValue - minValue);
 }
 
-/** @fn bool check_Pedal_Range_Fault(void)
+/** @fn bool UpdatePedalRangeFaultTimer(void)
 *   @brief Checks if the Pedal is in the right voltage range
 *   @Return This function returns:
 *           True -> Fault
 *           False -> No Fault
 */
-static bool check_Pedal_Range_Fault(uint32_t pedalValue, uint32_t minValue, uint32_t maxValue, TimerHandle_t faultTimer, bool* timerFlag) {
-    bool is_there_pedal_range_fault = false;
+static void UpdatePedalRangeFaultTimer(uint32_t pedalValue, uint32_t minValue, uint32_t maxValue, TimerHandle_t faultTimer) {
 
     if (pedalValue < minValue || pedalValue > maxValue) // BSE assumed shorted to GND or shorted to VCC
     {
-        if(!Phantom_isTimerActive(faultTimer))
-        {
-            if(!Phantom_startTimer(faultTimer, 50)) // start software timer for bse range fault
-            {
-                for(;;); // TODO: when watchdog is worked on, remember to also change this
-            }
-        }
-        is_there_pedal_range_fault = *timerFlag;
+        Phantom_startTimer(faultTimer, 50); // start software timer for bse range fault
     }
     else
     {
-        // Stop fault timer
         Phantom_stopTimer(faultTimer, MAX_WAIT_TIME_MS);
-        *timerFlag = false;
     }
-
-    return is_there_pedal_range_fault;
 }
 
 /** @fn bool check10PercentAPPS(void)
@@ -222,83 +204,39 @@ static bool check_Pedal_Range_Fault(uint32_t pedalValue, uint32_t minValue, uint
 *           True -> Fault
 *           False -> No Fault
 */
-static bool check_10PercentAPPS_Fault(float Percent_APPS1_Pressed, float Percent_APPS2_Pressed) {
-    bool is_there_10DIFF_fault = false;
+static void UpdateAPPS10PercentFaultTimer(float Percent_APPS1_Pressed, float Percent_APPS2_Pressed) {
+
     float FP_sensor_diff = fabsf(Percent_APPS2_Pressed - Percent_APPS1_Pressed); // Calculate absolute difference between APPS1 and APPS2 readings
 
     if (FP_sensor_diff > 0.10)
     {
-        if(!Phantom_isTimerActive(FPDiffFaultTimer))
-        {
-            if(!Phantom_startTimer(FPDiffFaultTimer, 50)) // start software timer for apps1 range fault
-            {
-                for(;;); // TODO: when watchdog is worked on, remember to also change this
-            }
-        }
-        is_there_10DIFF_fault = FP_DIFF_FAULT_TIMER_EXPIRED;
+        Phantom_startTimer(FPDiffFaultTimer, 50); 
     }
     else
     {
-        // Stop the fault timer
         Phantom_stopTimer(FPDiffFaultTimer, MAX_WAIT_TIME_MS);
-        FP_DIFF_FAULT_TIMER_EXPIRED = false;
     }
-
-    return is_there_10DIFF_fault;
 }
 
-/** @fn bool check_Brake_Plausibility_Fault(void)
+/** @fn bool CheckBrakePlausibility(void)
 *   @brief Checks if the brakes and accelerator are pressed at the same time.
 *          A fault means the brake is pressed and the APPS reads 25% or higher.
 *   @Return This function returns:
 *           True -> Fault
 *           False -> No Fault
 */
-static bool check_Brake_Plausibility_Fault(uint32_t BSE_sensor_sum, float Percent_APPS1_Pressed, float Percent_APPS2_Pressed) {
-    static bool is_there_brake_plausibility_fault = false;
+static void CheckBrakePlausibility(uint32_t BSE_sensor_sum, float Percent_APPS1_Pressed, float Percent_APPS2_Pressed) {
 
     if (BSE_sensor_sum >= BRAKING_THRESHOLD + HYSTERESIS &&
         Percent_APPS1_Pressed >= 0.25 && Percent_APPS2_Pressed >= 0.25)
     {
-        // Set fault
-        is_there_brake_plausibility_fault = true;
+        NotifyStateMachine(EVENT_BRAKE_PLAUSIBILITY_FAULT);
     }
     else if (Percent_APPS1_Pressed < 0.05 && Percent_APPS2_Pressed < 0.05)
     {
         // APPS/Brake plausibility fault only clears if APPS returns to less than 5% pedal position
         // with or without brake operation (see EV.5.7.2) - jaypacamarra
-    
-        // No fault
-        is_there_brake_plausibility_fault = false;
+        NotifyStateMachine(EVENT_BRAKE_PLAUSIBILITY_CLEARED);
     }
-
-    return is_there_brake_plausibility_fault;
 }
 
-static void RTDS_CALLBACK(TimerHandle_t xTimers)
-{
-    isThrottleAvailable = true;
-}
-
-//++ Added by Jay Pacamarra
-/* Timer callback when APPS1 Range fault occurs for 100 ms*/
-static void APPS1_SEVERE_RANGE_FAULT_CALLBACK(TimerHandle_t xTimers)
-{
-    APPS1_RANGE_FAULT_TIMER_EXPIRED = true;
-}
-/* Timer callback when APPS2 Range fault occurs for 100 ms*/
-static void APPS2_SEVERE_RANGE_FAULT_CALLBACK(TimerHandle_t xTimers)
-{
-    APPS2_RANGE_FAULT_TIMER_EXPIRED = true;
-}
-/* Timer callback when BSE Range fault occurs for 100 ms*/
-static void BSE_SEVERE_RANGE_FAULT_CALLBACK(TimerHandle_t xTimers)
-{
-    BSE_RANGE_FAULT_TIMER_EXPIRED = true;
-}
-/* Timer callback when APPS1 and APPS2 differ by 10% or more for 100 ms*/
-static void FP_DIFF_SEVERE_FAULT_CALLBACK(TimerHandle_t xTimers)
-{
-    FP_DIFF_FAULT_TIMER_EXPIRED = true;
-}
-//++ Added by Jay Pacamarra

From b6a95342e8603c329ab4c5d3ab7e4b9b3f3cea7f Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 12:57:29 -0800
Subject: [PATCH 12/58] add colors!

---
 VCU/Phantom/data_structures/ansi_colors.h | 88 +++++++++++++++++++++++
 1 file changed, 88 insertions(+)
 create mode 100644 VCU/Phantom/data_structures/ansi_colors.h

diff --git a/VCU/Phantom/data_structures/ansi_colors.h b/VCU/Phantom/data_structures/ansi_colors.h
new file mode 100644
index 00000000..106865c3
--- /dev/null
+++ b/VCU/Phantom/data_structures/ansi_colors.h
@@ -0,0 +1,88 @@
+/*
+ * This is free and unencumbered software released into the public domain.
+ *
+ * For more information, please refer to <https://unlicense.org>
+ */
+
+#ifndef PHANTOM_DATA_STRUCTURES_ANSI_COLORS_H_
+#define PHANTOM_DATA_STRUCTURES_ANSI_COLORS_H_
+
+//Regular text
+#define BLK "\e[0;30m"
+#define RED "\e[0;31m"
+#define GRN "\e[0;32m"
+#define YEL "\e[0;33m"
+#define BLU "\e[0;34m"
+#define MAG "\e[0;35m"
+#define CYN "\e[0;36m"
+#define WHT "\e[0;37m"
+
+//Regular bold text
+#define BBLK "\e[1;30m"
+#define BRED "\e[1;31m"
+#define BGRN "\e[1;32m"
+#define BYEL "\e[1;33m"
+#define BBLU "\e[1;34m"
+#define BMAG "\e[1;35m"
+#define BCYN "\e[1;36m"
+#define BWHT "\e[1;37m"
+
+//Regular underline text
+#define UBLK "\e[4;30m"
+#define URED "\e[4;31m"
+#define UGRN "\e[4;32m"
+#define UYEL "\e[4;33m"
+#define UBLU "\e[4;34m"
+#define UMAG "\e[4;35m"
+#define UCYN "\e[4;36m"
+#define UWHT "\e[4;37m"
+
+//Regular background
+#define BLKB "\e[40m"
+#define REDB "\e[41m"
+#define GRNB "\e[42m"
+#define YELB "\e[43m"
+#define BLUB "\e[44m"
+#define MAGB "\e[45m"
+#define CYNB "\e[46m"
+#define WHTB "\e[47m"
+
+//High intensty background
+#define BLKHB "\e[0;100m"
+#define REDHB "\e[0;101m"
+#define GRNHB "\e[0;102m"
+#define YELHB "\e[0;103m"
+#define BLUHB "\e[0;104m"
+#define MAGHB "\e[0;105m"
+#define CYNHB "\e[0;106m"
+#define WHTHB "\e[0;107m"
+
+//High intensty text
+#define HBLK "\e[0;90m"
+#define HRED "\e[0;91m"
+#define HGRN "\e[0;92m"
+#define HYEL "\e[0;93m"
+#define HBLU "\e[0;94m"
+#define HMAG "\e[0;95m"
+#define HCYN "\e[0;96m"
+#define HWHT "\e[0;97m"
+
+//Bold high intensity text
+#define BHBLK "\e[1;90m"
+#define BHRED "\e[1;91m"
+#define BHGRN "\e[1;92m"
+#define BHYEL "\e[1;93m"
+#define BHBLU "\e[1;94m"
+#define BHMAG "\e[1;95m"
+#define BHCYN "\e[1;96m"
+#define BHWHT "\e[1;97m"
+
+//Reset
+#define reset "\e[0m"
+#define CRESET "\e[0m"
+#define COLOR_RESET "\e[0m"
+
+
+
+
+#endif /* PHANTOM_DATA_STRUCTURES_ANSI_COLORS_H_ */

From f570b51963afe4e58316642d6f5dd3e50c51b75e Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 12:57:47 -0800
Subject: [PATCH 13/58] add logger task

---
 VCU/Phantom/tasks/headers/task_logger.h |  24 ++++
 VCU/Phantom/tasks/source/task_logger.c  | 173 ++++++++++++++++++++++++
 2 files changed, 197 insertions(+)
 create mode 100644 VCU/Phantom/tasks/headers/task_logger.h
 create mode 100644 VCU/Phantom/tasks/source/task_logger.c

diff --git a/VCU/Phantom/tasks/headers/task_logger.h b/VCU/Phantom/tasks/headers/task_logger.h
new file mode 100644
index 00000000..abb05b4e
--- /dev/null
+++ b/VCU/Phantom/tasks/headers/task_logger.h
@@ -0,0 +1,24 @@
+/*
+ * task_logger.h
+ *
+ *  Created on: Feb 11, 2023
+ *      Author: rafgu
+ */
+
+#ifndef PHANTOM_TASKS_HEADERS_TASK_LOGGER_H_
+#define PHANTOM_TASKS_HEADERS_TASK_LOGGER_H_
+
+#include "vcu_common.h"
+#include "string.h"
+#include "stdio.h"
+#include "ansi_colors.h"
+
+
+TaskHandle_t LoggerInit();
+uint8_t Log(const char* str);
+uint8_t LogColor(const char* color, const char* str);
+uint8_t LogFromISR(const char* color, const char* str);
+void GetLogHeader(eSource source, const char* color, char* str);
+
+
+#endif /* PHANTOM_TASKS_HEADERS_TASK_LOGGER_H_ */
diff --git a/VCU/Phantom/tasks/source/task_logger.c b/VCU/Phantom/tasks/source/task_logger.c
new file mode 100644
index 00000000..0364f10a
--- /dev/null
+++ b/VCU/Phantom/tasks/source/task_logger.c
@@ -0,0 +1,173 @@
+/*
+ * task_logger.c
+ *
+ *  Created on: Feb 11, 2023
+ *      Author: rafgu
+ */
+
+#include "task_logger.h"
+#include "Phantom_sci.h"
+
+#include "task_config.h"
+
+#include "stdio.h"
+#include <string.h>
+
+static PipeTask_t rtos_handles;
+
+static Task task;
+static void LoggerThread(void* pvParams);
+
+typedef uint64_t segment_t;
+#define SEGMENT_SIZE sizeof(segment_t)
+
+static uint8_t LogMessage(const char* color, const char* str, eSource source);
+static uint8_t LogSegment(eSource source, uint8_t* data);
+static uint8_t AsyncPrint(eSource source, const char* str);
+
+TaskHandle_t LoggerInit()
+{
+	xTaskCreate(
+		LoggerThread,
+		"LoggerThread",
+		700,
+		0,
+		0,
+		&rtos_handles.taskHandle
+	);
+
+    rtos_handles.q = xQueueCreate(128, sizeof(segment_t)); 
+
+	return rtos_handles.taskHandle;
+}
+
+uint8_t LogColor(const char* color, const char* str)
+{
+	return LogMessage(color, str, FROM_SCHEDULER);
+}
+
+uint8_t Log(const char* str)
+{
+	return LogMessage(WHT, str, FROM_SCHEDULER);
+}
+
+uint8_t LogFromISR(const char* color, const char* str)
+{
+	return LogMessage(color, str, FROM_ISR);
+}
+
+void GetLogHeader(eSource source, const char* color, char* str)
+{
+	switch (source)
+	{
+	case FROM_ISR:
+		sprintf(str,  "\r%s[FromISR:%.2f] ", color, (float)xTaskGetTickCountFromISR()/configTICK_RATE_HZ);
+		break;
+	
+	case FROM_SCHEDULER:
+		sprintf(str,  "\r%s[%s:%.2f] ", color, pcTaskGetName(NULL), (float)xTaskGetTickCount()/configTICK_RATE_HZ);
+		break;
+
+	default:
+		break;
+	}
+}
+
+/* Internal Implementation*/
+
+static void LoggerThread(void* pvParams)
+{
+	segment_t segment;
+
+	Log("Starting thread");
+
+	while(1)
+	{
+		if (xQueueReceive(rtos_handles.q, &segment, portMAX_DELAY) == pdFALSE)
+		{
+			continue;	
+		}
+
+		UARTprintf((char*)&segment);
+	}
+}
+
+static uint8_t LogMessage(const char* color, const char* str, eSource source)
+{
+	char header[64];
+	GetLogHeader(source, color, header);
+	AsyncPrint(source, header);
+
+	AsyncPrint(source, str);
+	
+	char buffer[16];
+	sprintf(buffer, "%s\r\n", reset);
+	AsyncPrint(source, buffer);
+
+	return 1;
+}
+
+
+uint8_t LogSegment(eSource source, uint8_t* data)
+{
+	segment_t segment;
+	memcpy(&segment, data, SEGMENT_SIZE);
+
+	uint8_t ret;
+
+	switch(source)
+	{
+		case FROM_ISR:
+		{
+			BaseType_t xHigherPriorityTaskWoken;
+			ret = xQueueSendToBackFromISR(rtos_handles.q, &segment, &xHigherPriorityTaskWoken) == pdPASS;
+
+			break;
+		}
+		case FROM_SCHEDULER:
+		{
+			ret = xQueueSendToBack(rtos_handles.q, &segment, 1) == pdPASS;
+
+
+			break;
+		}
+		default:
+		{
+			ret = false;
+			break;
+		}
+	}
+
+	return ret;
+}
+
+uint8_t AsyncPrint(eSource source, const char* str)
+{
+	uint8_t data[SEGMENT_SIZE];
+	memset(data, '\0', SEGMENT_SIZE);
+
+	uint16_t num_bytes = strlen(str);
+
+	uint8_t num_segments = num_bytes/SEGMENT_SIZE ? num_bytes/SEGMENT_SIZE : 1;
+
+	uint8_t segment_num;
+	for (segment_num = 0; segment_num < num_segments; segment_num++)
+	{
+		memcpy(&data, str + (segment_num*SEGMENT_SIZE), SEGMENT_SIZE);
+
+		LogSegment(source, data);
+	}
+
+	uint16_t byte_number = segment_num*SEGMENT_SIZE;
+	uint16_t bytes_left = num_bytes - byte_number;
+	
+	if (bytes_left != 0 && num_bytes >= SEGMENT_SIZE)
+	{
+		memset(data, '\0', SEGMENT_SIZE);
+		memcpy(&data, str + (segment_num*SEGMENT_SIZE), bytes_left);
+		
+		LogSegment(source, data);
+	}
+
+	return 1;
+}

From 9e71838d87450a6c348a8542f9e6e16db0f606ca Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 12:58:01 -0800
Subject: [PATCH 14/58] add generic event handler

---
 .../tasks/headers/task_event_handler.h        |  20 +++
 VCU/Phantom/tasks/source/task_event_handler.c | 117 ++++++++++++++++++
 2 files changed, 137 insertions(+)
 create mode 100644 VCU/Phantom/tasks/headers/task_event_handler.h
 create mode 100644 VCU/Phantom/tasks/source/task_event_handler.c

diff --git a/VCU/Phantom/tasks/headers/task_event_handler.h b/VCU/Phantom/tasks/headers/task_event_handler.h
new file mode 100644
index 00000000..34184f3e
--- /dev/null
+++ b/VCU/Phantom/tasks/headers/task_event_handler.h
@@ -0,0 +1,20 @@
+/*
+ * task_event_handler.h
+ *
+ *  Created on: Feb 11, 2023
+ *      Author: rafgu
+ */
+
+#ifndef PHANTOM_TASKS_HEADERS_TASK_EVENT_HANDLER_H_
+#define PHANTOM_TASKS_HEADERS_TASK_EVENT_HANDLER_H_
+
+#include "vcu_common.h"
+
+typedef void (*event_handler_t)(void*);
+
+TaskHandle_t EventHandlerInit();
+
+void HandleToBack(event_handler_t callback, uint16_t data, eSource source);
+void HandleToFront(event_handler_t callback, uint16_t data, eSource source);
+
+#endif /* PHANTOM_TASKS_HEADERS_TASK_EVENT_HANDLER_H_ */
diff --git a/VCU/Phantom/tasks/source/task_event_handler.c b/VCU/Phantom/tasks/source/task_event_handler.c
new file mode 100644
index 00000000..6dc2b966
--- /dev/null
+++ b/VCU/Phantom/tasks/source/task_event_handler.c
@@ -0,0 +1,117 @@
+/*
+ * task_event_handler.c
+ *
+ *  Created on: Feb 11, 2023
+ *      Author: rafgu
+ */
+
+
+#include "task_event_handler.h"
+#include "Phantom_sci.h"
+
+#include "task_config.h"
+#include "task_logger.h"
+
+typedef struct event_t
+{
+	event_handler_t callback;
+	uint16_t data;
+}event_t;
+
+static PipeTask_t rtos_handles;
+
+static Task task;
+static void ThreadEventHandler(void* pvParams);
+
+typedef enum ePriority{
+	CRITICAL,
+	BACKGROUND
+}ePriority;
+
+#define MAX_DATA_LENGTH 8
+
+TaskHandle_t EventHandlerInit()
+{
+	xTaskCreate(
+		ThreadEventHandler,
+		"EventHandler",
+		128,
+		NULL,
+        EVENT_HANDLER_PRIORITY,
+		&rtos_handles.taskHandle
+	);
+
+    rtos_handles.q = xQueueCreate(16, sizeof(event_t));
+
+	return rtos_handles.taskHandle;
+}
+
+void QueueEvent(event_t event, eSource source, ePriority priority)
+{	
+	uint8_t ret;
+	BaseType_t xHigherPriorityTaskWoken;
+
+	if (priority == BACKGROUND && source == FROM_SCHEDULER)
+	{
+		ret = xQueueSendToBack(rtos_handles.q, &event, 1) == pdPASS;
+	}
+	else if (priority == BACKGROUND && source == FROM_ISR)
+	{
+		ret = xQueueSendToBackFromISR(rtos_handles.q, &event, &xHigherPriorityTaskWoken) == pdPASS;
+
+	}
+	else if (priority == CRITICAL && source == FROM_SCHEDULER){
+
+		ret = xQueueSendToFront(rtos_handles.q, &event, 1) == pdPASS;
+
+	} else if (priority == CRITICAL && source == FROM_ISR)
+	{
+		BaseType_t xHigherPriorityTaskWoken;
+
+		ret = xQueueSendToFrontFromISR(rtos_handles.q, &event, &xHigherPriorityTaskWoken) == pdPASS;
+	}
+	else
+	{
+		ret = 0; 
+	}
+}
+
+
+void HandleToFront(event_handler_t callback, uint16_t data, eSource source)
+{	
+	event_t event;
+	event.callback = callback;
+	event.data = data;
+
+	QueueEvent(event, source, CRITICAL);
+}
+
+void HandleToBack(event_handler_t callback, uint16_t data, eSource source)
+{
+	event_t event;
+	event.callback = callback;
+	event.data = data;
+
+	QueueEvent(event, source, BACKGROUND);
+}
+
+/* Internal Implementation*/
+static void ThreadEventHandler(void* pvParams)
+{
+	event_t event;
+
+	Log("Starting thread");
+
+	while(1)
+	{
+		if (xQueueReceive(rtos_handles.q, &event, portMAX_DELAY) == pdFALSE)
+		{
+			continue;	
+		}
+		
+		event.callback(&event.data);
+	}
+}
+
+
+

From 74cdf74683230ee9e91cbca28f247912a14f33f7 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 12:58:15 -0800
Subject: [PATCH 15/58] add base state machine

---
 .../Drivers/STATE_MACHINE/state_machine.c     | 171 ++++++++++++++++++
 .../Drivers/STATE_MACHINE/state_machine.h     |  27 +++
 2 files changed, 198 insertions(+)
 create mode 100644 VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
 create mode 100644 VCU/Phantom/Drivers/STATE_MACHINE/state_machine.h

diff --git a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
new file mode 100644
index 00000000..2850cf32
--- /dev/null
+++ b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
@@ -0,0 +1,171 @@
+/*
+ * state_machine.c
+ *
+ *  Created on: Feb 12, 2023
+ *      Author: rafgu
+ */
+
+
+
+
+#include "state_machine.h"
+
+#include "task_event_handler.h"
+#include "task_logger.h"
+#include "stdarg.h"
+#include "ansi_colors.h"
+
+static void UpdateStateMachine(void* data);
+
+static SystemTasks_t system_tasks;
+
+void StateMachineInit(SystemTasks_t tasks)
+{
+	system_tasks.throttleAgent = tasks.throttleAgent;
+	system_tasks.throttleActor = tasks.throttleActor;
+	system_tasks.EventHandler = tasks.EventHandler;
+	system_tasks.Logger = tasks.Logger;
+}
+
+bool any(uint8_t num, ...)
+{
+	va_list valist;
+	bool result = 0;
+
+	va_start(valist, num);
+
+	int i;
+	for (i = 0; i < num; i++)
+	{
+		result = result || va_arg(valist, int);
+	}
+
+	va_end(valist);
+
+	return result;
+}
+
+void NotifyStateMachine(eCarEvents event)
+{
+	HandleToFront(UpdateStateMachine, event, FROM_SCHEDULER);
+}
+
+void NotifyStateMachineFromISR(eCarEvents event)
+{
+	HandleToFront(UpdateStateMachine, event, FROM_ISR);
+}
+
+void NotifyStateMachineFromTimer(TimerHandle_t timer)
+{
+	TimerID_t event = (TimerID_t)pvTimerGetTimerID(timer);
+
+	static char buffer[64];
+	snprintf(buffer, 64, "(%s:%d): Expired after %dms", pcTimerGetTimerName(timer), event, xTimerGetPeriod(timer));
+	LogColor(YEL, buffer);
+
+	HandleToFront(UpdateStateMachine, event, FROM_SCHEDULER);
+}
+
+static State TractiveOff(eCarEvents event)
+{
+	if (event == EVENT_TRACTIVE_ON)
+	{
+		LogColor(BLU, "Moving from TractiveOff to TractiveOn");
+		return TRACTIVE_ON;
+	}
+	else
+	{
+		Log("Event is irrelevant. Staying at TractiveOff");
+	}
+
+
+	return TRACTIVE_OFF;
+}
+
+static State TractiveOn(eCarEvents event)
+{
+	if (event == EVENT_READY_TO_DRIVE)
+	{
+		LogColor(GRN, "Moving from TractiveOn to Running");
+
+		LogColor(GRN, "Resuming throttle actor.");
+		vTaskResume(system_tasks.throttleActor);
+
+		return RUNNING;
+	}
+	else
+	{
+		Log("Event is irrelevant. Staying at TractiveOn");
+	}
+
+	return TRACTIVE_ON;
+}
+
+static State Running(eCarEvents event)
+{
+	bool agentFault = any(4, EVENT_APPS1_RANGE_FAULT, EVENT_APPS2_RANGE_FAULT, EVENT_BSE_RANGE_FAULT, EVENT_FP_DIFF_FAULT);
+	if (agentFault)
+	{
+		LogColor(RED, "Moving from Running to SevereFault");
+
+		LogColor(RED, "Suspending throttle actor.");
+		vTaskSuspend(system_tasks.throttleActor);	
+
+		return SEVERE_FAULT;
+	}
+	else
+	{
+		Log("Event is irrelevant. Staying at Running");
+	}
+
+	return RUNNING;
+}
+
+static State SevereFault(eCarEvents event)
+{
+	if (event == EVENT_RESET_CAR)
+	{
+		LogColor(CYN, "Moving from SevereFault to TractiveOff");
+		return TRACTIVE_OFF;
+	}
+	else
+	{
+		Log("Event is irrelevant. Staying at SevereFault");
+	}
+
+	return SEVERE_FAULT;
+}
+
+
+/* Event Handler */
+static void UpdateStateMachine(void* data)
+{
+	/* static cached values */
+	static State state = TRACTIVE_OFF;
+
+	eCarEvents event = *(uint16_t*) data;
+
+ 	char buffer[32];
+	sprintf(buffer, "Event occurred: %d", event);
+	Log(buffer);
+
+	switch(state)
+	{
+		case TRACTIVE_OFF:
+			state = TractiveOff(event);
+			break;
+
+		case TRACTIVE_ON:
+			state = TractiveOn(event);
+			break;
+
+		case RUNNING:
+			state = Running(event);
+			break;
+
+		case SEVERE_FAULT:
+			state = SevereFault(event);
+			break;
+	}
+}
+
diff --git a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.h b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.h
new file mode 100644
index 00000000..ce1bebd2
--- /dev/null
+++ b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.h
@@ -0,0 +1,27 @@
+/*
+ * state_machine.h
+ *
+ *  Created on: Feb 12, 2023
+ *      Author: rafgu
+ */
+
+#ifndef PHANTOM_DRIVERS_STATE_MACHINE_STATE_MACHINE_H_
+#define PHANTOM_DRIVERS_STATE_MACHINE_STATE_MACHINE_H_
+
+#include "vcu_common.h"
+#include "phantom_timer.h"
+
+
+void StateMachineInit(SystemTasks_t tasks);
+
+void NotifyStateMachine(eCarEvents event);
+void NotifyStateMachineFromISR(eCarEvents event);
+
+void NotifyStateMachineFromTimer(TimerHandle_t timer);
+
+
+
+
+
+
+#endif /* PHANTOM_DRIVERS_STATE_MACHINE_STATE_MACHINE_H_ */

From 861af93691b40b3b25e08b05bc5ac8de3f063c6d Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 12:58:32 -0800
Subject: [PATCH 16/58] increase stack sizes significantly

---
 VCU/Phantom/tasks/task_config.h | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/VCU/Phantom/tasks/task_config.h b/VCU/Phantom/tasks/task_config.h
index c01f0497..fc68a587 100644
--- a/VCU/Phantom/tasks/task_config.h
+++ b/VCU/Phantom/tasks/task_config.h
@@ -23,12 +23,13 @@
 /*********************************************************************************
  *                              TASK PRIORITIES
  *********************************************************************************/
-#define THROTTLE_AGT_PRIORITY           4
+#define THROTTLE_AGT_PRIORITY           1
 #define THROTTLE_AGT_SIM_PRIORITY       THROTTLE_AGT_PRIORITY
 #define THROTTLE_ACT_PRIORITY           5
-#define STATE_MACHINE_TASK_PRIORITY     2
 #define EEPROM_TASK_PRIORITY            0
 #define WATCHDOG_TASK_PRIORITY          0    // same as idle task
+#define EVENT_HANDLER_PRIORITY          5
+#define LOGGER_PRIORITY                 0
 
 #define TEST_TASK_PRIORITY              1
 
@@ -39,12 +40,11 @@
 /*********************************************************************************
  *                              TASK STACK SIZES
  *********************************************************************************/
-#define THROTTLE_AGT_STACK_SIZE         150
-#define THROTTLE_AGT_SIM_STACK_SIZE     150
-#define THROTTLE_ACT_STACK_SIZE         150
-#define STATE_MACHINE_TASK_STACK_SIZE   150
-#define EEPROM_TASK_STACK_SIZE          150
-#define WATCHDOG_TASK_STACK_SIZE        150    // same as idle task
+#define THROTTLE_AGT_STACK_SIZE         500
+#define THROTTLE_AGT_SIM_STACK_SIZE     500
+#define THROTTLE_ACT_STACK_SIZE         500
+// #define EEPROM_TASK_STACK_SIZE          750
+// #define WATCHDOG_TASK_STACK_SIZE        750    // same as idle task
 
 #define TEST_TASK_STACK_SIZE            150
 

From 6c3805af386bb9df6efab9899ee09d0b8a6b21a8 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 12:58:53 -0800
Subject: [PATCH 17/58] various cleanup

---
 VCU/Phantom/Drivers/UART/Phantom_sci.h   | 2 +-
 VCU/Phantom/data_structures/vcu_common.h | 5 +++++
 VCU/Phantom/main.c                       | 9 +--------
 3 files changed, 7 insertions(+), 9 deletions(-)

diff --git a/VCU/Phantom/Drivers/UART/Phantom_sci.h b/VCU/Phantom/Drivers/UART/Phantom_sci.h
index 06445850..9ed78f92 100644
--- a/VCU/Phantom/Drivers/UART/Phantom_sci.h
+++ b/VCU/Phantom/Drivers/UART/Phantom_sci.h
@@ -21,7 +21,7 @@ void UARTInit(sciBASE_t *sci, uint32 baud);
 void UARTSend(sciBASE_t *sci, char data[]);
 void UARTprintf(const char *_format, ...);
 void UARTprintln(const char *_format, ...);
-void split(char* str, const char* delimeter, char* buffer, int buffer_size);
+
 void sciReceiveCallback(sciBASE_t *sci, uint32 flags, uint8 data);
 uint32_t getSimData();
 
diff --git a/VCU/Phantom/data_structures/vcu_common.h b/VCU/Phantom/data_structures/vcu_common.h
index 29d35de9..e4b4ce50 100644
--- a/VCU/Phantom/data_structures/vcu_common.h
+++ b/VCU/Phantom/data_structures/vcu_common.h
@@ -68,6 +68,11 @@ typedef struct _pedal_reading {
     uint16_t fp1;
 } pedal_reading_t;
 
+typedef struct {
+    TaskFunction_t functionPtr;
+    uint32 frequencyMs;
+} Task;
+
 typedef struct {
     Task task;
     TaskHandle_t taskHandle;
diff --git a/VCU/Phantom/main.c b/VCU/Phantom/main.c
index 61003cb7..11e0ecb4 100644
--- a/VCU/Phantom/main.c
+++ b/VCU/Phantom/main.c
@@ -20,21 +20,14 @@
 #include "board_hardware.h"     // contains hardware defines for specific board used (i.e. VCU or launchpad)
 #include "vcu_data.h"           // VCU Data structure interface written by Joshua Guo (DEPRECATED)
 
-#include "phantom_queue.h"      // os_queue wrapper written by Joshua Guo
-#include "phantom_task.h"       // os_task wrapper written by Joshua Guo
 #include "Phantom_sci.h"     // UART wrapper written by Mahmoud Kamaleldin
 #include "state_machine.h"
 
 #include "execution_timer.h"
 
-#include "task_test.h"
-#include "task_interrupt.h"
-#include "task_receive.h"
+
 #include "task_throttle_actor.h"
 #include "task_throttle_agent.h"
-#include "task_statemachine.h"
-#include "task_watchdog.h"
-#include "task_eeprom.h"
 #include "task_event_handler.h"
 #include "task_logger.h"
 

From 41d1be2f22077d1d1dd67223f454de493980ac71 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 12:59:06 -0800
Subject: [PATCH 18/58] up timer priority to 2

---
 VCU/halcogen_vcu/include/FreeRTOSConfig.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/VCU/halcogen_vcu/include/FreeRTOSConfig.h b/VCU/halcogen_vcu/include/FreeRTOSConfig.h
index ffbc60b8..cb80b739 100644
--- a/VCU/halcogen_vcu/include/FreeRTOSConfig.h
+++ b/VCU/halcogen_vcu/include/FreeRTOSConfig.h
@@ -136,7 +136,7 @@
 
 /* Timers */
 #define configUSE_TIMERS                1
-#define configTIMER_TASK_PRIORITY       (1)
+#define configTIMER_TASK_PRIORITY       (2)
 #define configTIMER_QUEUE_LENGTH        10         // We have two timer tasks - added by jjkhan
 #define configTIMER_TASK_STACK_DEPTH    (configMINIMAL_STACK_SIZE*2)   // Fixed by jjkhan -> Without Task Stack Depth, no task will be created.
 

From 56ec465a55729ca970320ef9e36008f8a3bec8dc Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 12:59:19 -0800
Subject: [PATCH 19/58] update project files

---
 VCU/.cproject                                 |  2 +-
 .../org.eclipse.core.resources.prefs          | 27 -------------------
 2 files changed, 1 insertion(+), 28 deletions(-)

diff --git a/VCU/.cproject b/VCU/.cproject
index ee387a73..faa24446 100644
--- a/VCU/.cproject
+++ b/VCU/.cproject
@@ -314,7 +314,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="Phantom/tasks/source/task_statemachine.c|halcogen_vcu/source/sys_link.cmd|Phantom/hardware/launchpad_hw|halcogen_vcu/source/sys_main.c|sys_linker_freeRTOS.cmd|halcogen_launchpad" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="halcogen_vcu/source/sys_link.cmd|Phantom/hardware/launchpad_hw|halcogen_vcu/source/sys_main.c|sys_linker_freeRTOS.cmd|halcogen_launchpad" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
diff --git a/VCU/.settings/org.eclipse.core.resources.prefs b/VCU/.settings/org.eclipse.core.resources.prefs
index fc69457e..02b3c484 100644
--- a/VCU/.settings/org.eclipse.core.resources.prefs
+++ b/VCU/.settings/org.eclipse.core.resources.prefs
@@ -143,30 +143,3 @@ encoding//SIM_MODE_VCU_REV2/halcogen_vcu/source/subdir_vars.mk=UTF-8
 encoding//SIM_MODE_VCU_REV2/makefile=UTF-8
 encoding//SIM_MODE_VCU_REV2/objects.mk=UTF-8
 encoding//SIM_MODE_VCU_REV2/sources.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/Phantom/Drivers/DAC_SPI/subdir_rules.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/Phantom/Drivers/DAC_SPI/subdir_vars.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/Phantom/Drivers/EEPROM/subdir_rules.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/Phantom/Drivers/EEPROM/subdir_vars.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/Phantom/Drivers/RGB_LED/subdir_rules.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/Phantom/Drivers/RGB_LED/subdir_vars.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/Phantom/Drivers/RTD_Buzzer/subdir_rules.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/Phantom/Drivers/RTD_Buzzer/subdir_vars.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/Phantom/Drivers/RTOS/subdir_rules.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/Phantom/Drivers/RTOS/subdir_vars.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/Phantom/Drivers/UART/subdir_rules.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/Phantom/Drivers/UART/subdir_vars.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/Phantom/data_structures/subdir_rules.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/Phantom/data_structures/subdir_vars.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/Phantom/subdir_rules.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/Phantom/subdir_vars.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/Phantom/tasks/source/subdir_rules.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/Phantom/tasks/source/subdir_vars.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/Phantom/test_eeprom/subdir_rules.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/Phantom/test_eeprom/subdir_vars.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/halcogen_launchpad/source/subdir_rules.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/halcogen_launchpad/source/subdir_vars.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/halcogen_vcu/source/subdir_rules.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/halcogen_vcu/source/subdir_vars.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/makefile=UTF-8
-encoding//Simulation_Mode_VCU_REV2/objects.mk=UTF-8
-encoding//Simulation_Mode_VCU_REV2/sources.mk=UTF-8

From 6e78f415ca120f9491db89777289177f27474a4b Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 13:13:22 -0800
Subject: [PATCH 20/58] add all and any helper functions

---
 VCU/Phantom/data_structures/vcu_common.c | 45 ++++++++++++++++++++++++
 VCU/Phantom/data_structures/vcu_common.h |  6 ++++
 VCU/Phantom/main.c                       |  2 +-
 3 files changed, 52 insertions(+), 1 deletion(-)
 create mode 100644 VCU/Phantom/data_structures/vcu_common.c

diff --git a/VCU/Phantom/data_structures/vcu_common.c b/VCU/Phantom/data_structures/vcu_common.c
new file mode 100644
index 00000000..f5fa9773
--- /dev/null
+++ b/VCU/Phantom/data_structures/vcu_common.c
@@ -0,0 +1,45 @@
+/*
+ * vcu_common.c
+ *
+ *  Created on: Feb 13, 2023
+ *      Author: rafgu
+ */
+
+#include "vcu_common.h"
+#include "Phantom_sci.h"
+
+bool any(uint8_t num, ...)
+{
+	va_list valist;
+	bool result = 0;
+
+	va_start(valist, num);
+
+	int i;
+	for (i = 0; i < num; i++)
+	{
+		result = result || va_arg(valist, int);
+	}
+
+	va_end(valist);
+
+	return result;
+}
+
+bool all(uint8_t num, ...)
+{
+	va_list valist;
+	bool result = 1;
+
+	va_start(valist, num);
+
+	int i;
+	for (i = 0; i < num; i++)
+	{
+		result = result && va_arg(valist, int);
+	}
+
+	va_end(valist);
+
+	return result;
+}
diff --git a/VCU/Phantom/data_structures/vcu_common.h b/VCU/Phantom/data_structures/vcu_common.h
index e4b4ce50..97dc3568 100644
--- a/VCU/Phantom/data_structures/vcu_common.h
+++ b/VCU/Phantom/data_structures/vcu_common.h
@@ -6,8 +6,14 @@
 #include "os_queue.h"
 #include "os_task.h"
 
+#include "stdarg.h"
 #include "hal_stdtypes.h"
 
+bool any(uint8_t num, ...);
+
+bool all(uint8_t num, ...);
+
+
 typedef struct SystemTasks_t{
 	TaskHandle_t throttleAgent;
 	TaskHandle_t throttleActor;
diff --git a/VCU/Phantom/main.c b/VCU/Phantom/main.c
index 11e0ecb4..7466ef11 100644
--- a/VCU/Phantom/main.c
+++ b/VCU/Phantom/main.c
@@ -81,7 +81,7 @@ void phantomTasksInit()
         .throttleAgent=throttleAgentInit()
     };
 
-    if (!(t.EventHandler && t.Logger && t.throttleActor && t.throttleAgent))
+    if (!all(4, t.EventHandler, t.Logger, t.throttleActor, t.throttleAgent))
     {
         while(1) UARTprintln("Some tasks not initialized: %d, %d, %d, %d", t.EventHandler, t.Logger, t.throttleActor, t.throttleAgent);
     }

From 73c8ba31a76b03f581b4307668df22e79cbcadcf Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 13:14:05 -0800
Subject: [PATCH 21/58] consolidate data types and values

---
 VCU/Phantom/Drivers/RTOS/phantom_timer.h      |  4 ----
 .../Drivers/STATE_MACHINE/state_machine.c     | 19 -------------------
 VCU/Phantom/tasks/source/task_event_handler.c |  5 +++--
 VCU/Phantom/tasks/source/task_logger.c        |  1 -
 .../tasks/source/task_throttle_actor.c        | 15 ++-------------
 5 files changed, 5 insertions(+), 39 deletions(-)

diff --git a/VCU/Phantom/Drivers/RTOS/phantom_timer.h b/VCU/Phantom/Drivers/RTOS/phantom_timer.h
index 961af3fd..1f04a412 100644
--- a/VCU/Phantom/Drivers/RTOS/phantom_timer.h
+++ b/VCU/Phantom/Drivers/RTOS/phantom_timer.h
@@ -13,10 +13,6 @@
 
 #include "os_timer.h"
 
-typedef void (*TimerCallbackFunction_t)(TimerHandle_t xTimer);
-
-#define MAX_WAIT_TIME_MS (((uint32_t) ~0) >> 10)
-
 #define AUTO_RELOAD true
 #define NO_RELOAD   false 
 
diff --git a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
index 2850cf32..83ddb6bc 100644
--- a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
+++ b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
@@ -12,7 +12,6 @@
 
 #include "task_event_handler.h"
 #include "task_logger.h"
-#include "stdarg.h"
 #include "ansi_colors.h"
 
 static void UpdateStateMachine(void* data);
@@ -27,24 +26,6 @@ void StateMachineInit(SystemTasks_t tasks)
 	system_tasks.Logger = tasks.Logger;
 }
 
-bool any(uint8_t num, ...)
-{
-	va_list valist;
-	bool result = 0;
-
-	va_start(valist, num);
-
-	int i;
-	for (i = 0; i < num; i++)
-	{
-		result = result || va_arg(valist, int);
-	}
-
-	va_end(valist);
-
-	return result;
-}
-
 void NotifyStateMachine(eCarEvents event)
 {
 	HandleToFront(UpdateStateMachine, event, FROM_SCHEDULER);
diff --git a/VCU/Phantom/tasks/source/task_event_handler.c b/VCU/Phantom/tasks/source/task_event_handler.c
index 6dc2b966..9bbbfb87 100644
--- a/VCU/Phantom/tasks/source/task_event_handler.c
+++ b/VCU/Phantom/tasks/source/task_event_handler.c
@@ -20,7 +20,6 @@ typedef struct event_t
 
 static PipeTask_t rtos_handles;
 
-static Task task;
 static void ThreadEventHandler(void* pvParams);
 
 typedef enum ePriority{
@@ -46,7 +45,7 @@ TaskHandle_t EventHandlerInit()
 	return rtos_handles.taskHandle;
 }
 
-void QueueEvent(event_t event, eSource source, ePriority priority)
+uint8_t QueueEvent(event_t event, eSource source, ePriority priority)
 {	
 	uint8_t ret;
 	BaseType_t xHigherPriorityTaskWoken;
@@ -74,6 +73,8 @@ void QueueEvent(event_t event, eSource source, ePriority priority)
 	{
 		ret = 0; 
 	}
+
+	return ret;
 }
 
 
diff --git a/VCU/Phantom/tasks/source/task_logger.c b/VCU/Phantom/tasks/source/task_logger.c
index 0364f10a..7ce419f1 100644
--- a/VCU/Phantom/tasks/source/task_logger.c
+++ b/VCU/Phantom/tasks/source/task_logger.c
@@ -15,7 +15,6 @@
 
 static PipeTask_t rtos_handles;
 
-static Task task;
 static void LoggerThread(void* pvParams);
 
 typedef uint64_t segment_t;
diff --git a/VCU/Phantom/tasks/source/task_throttle_actor.c b/VCU/Phantom/tasks/source/task_throttle_actor.c
index ccaca22b..e3dea68b 100644
--- a/VCU/Phantom/tasks/source/task_throttle_actor.c
+++ b/VCU/Phantom/tasks/source/task_throttle_actor.c
@@ -28,7 +28,6 @@
 
 
 
-static Task task;
 static TaskHandle_t taskHandle;
 
 static TimerHandle_t APPS1RangeFaultTimer;
@@ -48,13 +47,6 @@ static TimerHandle_t AgentSoftwareWatchdog;
 #define PADDED_APPS2_MIN_VALUE  (APPS2_MIN_VALUE * (1U + PADDING_PERCENT))
 #define PADDED_APPS2_MAX_VALUE  (APPS2_MAX_VALUE * (1U - PADDING_PERCENT))
 
-
-#define THROTTLE_FAULTS_MASK (APPS1_RANGE_SEVERE_FAULT | APPS2_RANGE_SEVERE_FAULT | BSE_RANGE_SEVERE_FAULT | APPS_10DIFF_SEVERE_FAULT | BSE_APPS_SIMULTANEOUS_MINOR_FAULT)
-
-
-static bool isThrottleAvailable = false; 
-static uint32_t faultCode = 0;
-
 static void vThrottleActorTask(void* arg);
 
 static float calculatePedalPercent(uint32_t pedalValue, float minValue, float maxValue);
@@ -137,7 +129,6 @@ static void vThrottleActorTask(void* arg)
          Set Throttle
         *********************************************************************************/
 
-
         float apps_percent_avg = (apps1PedalPercent + apps2PedalPercent) / 2;
 
         // send DAC to inverter
@@ -159,8 +150,6 @@ static void vThrottleActorTask(void* arg)
         #ifdef VCU_SIM_MODE
         UARTprintln("0");
         #endif
-
-        isThrottleAvailable = false;
     }
 }
 
@@ -193,7 +182,7 @@ static void UpdatePedalRangeFaultTimer(uint32_t pedalValue, uint32_t minValue, u
     }
     else
     {
-        Phantom_stopTimer(faultTimer, MAX_WAIT_TIME_MS);
+        Phantom_stopTimer(faultTimer, portMAX_DELAY);
     }
 }
 
@@ -214,7 +203,7 @@ static void UpdateAPPS10PercentFaultTimer(float Percent_APPS1_Pressed, float Per
     }
     else
     {
-        Phantom_stopTimer(FPDiffFaultTimer, MAX_WAIT_TIME_MS);
+        Phantom_stopTimer(FPDiffFaultTimer, portMAX_DELAY);
     }
 }
 

From d96cfb6a2ebc1484a61c7c403eca0ca6f8b4d939 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 17:58:26 -0800
Subject: [PATCH 22/58] remove task template

---
 VCU/Phantom/tasks/task_template | 47 ---------------------------------
 1 file changed, 47 deletions(-)
 delete mode 100644 VCU/Phantom/tasks/task_template

diff --git a/VCU/Phantom/tasks/task_template b/VCU/Phantom/tasks/task_template
deleted file mode 100644
index d7026bb2..00000000
--- a/VCU/Phantom/tasks/task_template
+++ /dev/null
@@ -1,47 +0,0 @@
-/*
- *  Task Template made by Joshua Guo
- * 
- *  Created on:
- *      Author: Joshua Guo, 
- */
-#include "phantom_task.h"
-// #include "phantom_timer.h"   // if you need to use timers
-
-// #include your_task_header_file
-// Any other .h files you need goes here...
-
-static Task task;
-static TaskHandle_t taskHandle; 
-
-// Any other module-scope variables goes here... (make sure they have the 'static' keyword)
-// static TimerHandle_t yourTimerHandle;
-// static long yourTimerCounter;
-
-// Pre-define your static functions here...
-static void vYourTaskFunction(void* arg);
-// static void yourTimerCallbackFunc(TimerHandle_t timer);
-
-// this function should be in your header file (aside from include guards and other comments ofc)
-void YourTaskInit(void)
-{
-    task = (Task) {vYourTaskFunction, YOUR_TASK_PERIOD_MS};
-
-    // Phantom_createTask should block infinitely if task creation failed
-    taskHandle = Phantom_createTask(&task, TASK_NAME, YOUR_TASK_STACK_SIZE, YOUR_TASK_PRIORITY);
-
-    // create your persistent timers here...
-    // yourTimerHandle = Phantom_createTimer(YOUR_TIMER_NAME, YOUR_TIMER_PERIOD_MS, AUTO_RELOAD, &yourTimerCounter, yourTimerCallbackFunc);
-    // Phantom_startTimer(yourTimerHandle);
-
-    // any other init code you want to put goes here...
-}
-
-static void vYourTaskFunction(void* arg)
-{
-    // arg will always be NULL, so ignore it.
-
-    // your task stuff goes in here...
-}
-
-// Other helper functions and callbacks goes here...
-// static void yourTimerCallbackFunc(TimerHandle_t timer) {}
\ No newline at end of file

From 531d6e926beca6eaec9e1e09f5543d7d6fbc8bfd Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 17:58:38 -0800
Subject: [PATCH 23/58] add thread documentation

---
 Diagrams/Threads/threads.drawio.png | Bin 0 -> 72184 bytes
 Diagrams/Threads/threads.svg        |   1 +
 VCU/Phantom/tasks/readme.md         |   6 ++++++
 3 files changed, 7 insertions(+)
 create mode 100644 Diagrams/Threads/threads.drawio.png
 create mode 100644 Diagrams/Threads/threads.svg
 create mode 100644 VCU/Phantom/tasks/readme.md

diff --git a/Diagrams/Threads/threads.drawio.png b/Diagrams/Threads/threads.drawio.png
new file mode 100644
index 0000000000000000000000000000000000000000..3723db11c3020bb8f7f23d1748774e6b3cf7906e
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text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 398px; margin-left: 359px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"><span style="color: rgb(0, 0, 238); font-size: 10px; background-color: rgb(255, 255, 255);">#pedal_reading_t </span></div></div></div></foreignObject><text x="398" y="401" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">#pedal_readin...</text></switch></g><rect x="490" y="340" width="60" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; 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text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 48px; height: 1px; padding-top: 355px; margin-left: 431px;"><div data-drawio-colors="color: #000000; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 8px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"><font style="font-size: 8px;"><b style="">AgentWatchdog</b></font></div></div></div></foreignObject><text x="455" y="357" fill="#000000" font-family="Helvetica" font-size="8px" text-anchor="middle">AgentWatchdog</text></switch></g></g><switch><g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/><a transform="translate(0,-5)" xlink:href="https://www.diagrams.net/doc/faq/svg-export-text-problems" target="_blank"><text text-anchor="middle" font-size="10px" x="50%" y="100%">Text is not SVG - cannot display</text></a></switch></svg>
\ No newline at end of file
diff --git a/VCU/Phantom/tasks/readme.md b/VCU/Phantom/tasks/readme.md
new file mode 100644
index 00000000..eb23039a
--- /dev/null
+++ b/VCU/Phantom/tasks/readme.md
@@ -0,0 +1,6 @@
+
+
+[threads.drawio](../../../Diagrams/Threads/threads.drawio.png)
+
+![](../../../Diagrams/Threads/threads.svg)
+

From 94d57d3d4132b8c9da60004d3f45a82be138dfae Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 17:58:52 -0800
Subject: [PATCH 24/58] put fault timers in a struct

---
 .../tasks/source/task_throttle_actor.c        | 32 +++++++++++--------
 1 file changed, 18 insertions(+), 14 deletions(-)

diff --git a/VCU/Phantom/tasks/source/task_throttle_actor.c b/VCU/Phantom/tasks/source/task_throttle_actor.c
index e3dea68b..fbb979ff 100644
--- a/VCU/Phantom/tasks/source/task_throttle_actor.c
+++ b/VCU/Phantom/tasks/source/task_throttle_actor.c
@@ -30,12 +30,16 @@
 
 static TaskHandle_t taskHandle;
 
-static TimerHandle_t APPS1RangeFaultTimer;
-static TimerHandle_t APPS2RangeFaultTimer;
-static TimerHandle_t BSERangeFaultTimer;
-static TimerHandle_t FPDiffFaultTimer;
-static TimerHandle_t RTDSTimer;
+typedef struct FaultTimers_t{
+    TimerHandle_t APPS1Range;
+    TimerHandle_t APPS2Range;
+    TimerHandle_t BSERange;
+    TimerHandle_t FPDiff;
+    TimerHandle_t RTDS;
+} FaultTimers_t;
+
 static TimerHandle_t AgentSoftwareWatchdog;
+static FaultTimers_t faultTimers;
 
 /* For calculating throttle padding */
 /* Padding will eliminate unintended range faults at 0% or 100% pedal presses */
@@ -78,11 +82,11 @@ TaskHandle_t ThrottleInit(void)
 	);
 
 
-    APPS1RangeFaultTimer = Phantom_createTimer("Apps1RangeCheck", 100, NO_RELOAD, EVENT_APPS1_RANGE_FAULT, NotifyStateMachineFromTimer);
-    // APPS2RangeFaultTimer = Phantom_createTimer("Apps2RangeCheck", 100, NO_RELOAD, EVENT_APPS2_RANGE_FAULT, NotifyStateMachineFromTimer);
-    // BSERangeFaultTimer = Phantom_createTimer("BseRangeCheck", 100, NO_RELOAD, EVENT_BSE_RANGE_FAULT, NotifyStateMachineFromTimer);
-    // FPDiffFaultTimer = Phantom_createTimer("FpDiffCheck", 100, NO_RELOAD, EVENT_FP_DIFF_FAULT, NotifyStateMachineFromTimer);
-    // RTDSTimer = Phantom_createTimer("RTDSSwitch", 2000, NO_RELOAD, 0, NotifyStateMachineFromTimer); 
+    faultTimers.APPS1Range = Phantom_createTimer("Apps1RangeCheck", 100, NO_RELOAD, EVENT_APPS1_RANGE_FAULT, NotifyStateMachineFromTimer);
+    // faultTimers.APPS2Range = Phantom_createTimer("Apps2RangeCheck", 100, NO_RELOAD, EVENT_APPS2_RANGE_FAULT, NotifyStateMachineFromTimer);
+    // faultTimers.BSERange = Phantom_createTimer("BseRangeCheck", 100, NO_RELOAD, EVENT_BSE_RANGE_FAULT, NotifyStateMachineFromTimer);
+    // faultTimers.FPDiff = Phantom_createTimer("FpDiffCheck", 100, NO_RELOAD, EVENT_FP_DIFF_FAULT, NotifyStateMachineFromTimer);
+    // faultTimers.RTDS = Phantom_createTimer("RTDSSwitch", 2000, NO_RELOAD, 0, NotifyStateMachineFromTimer); 
 
     AgentSoftwareWatchdog = Phantom_createTimer("AgentSoftwareWatchdog", APPS_SENSOR_TIMEOUT, NO_RELOAD, EVENT_APPS1_RANGE_FAULT, TurnOffThrottle);
 
@@ -99,7 +103,7 @@ static void vThrottleActorTask(void* arg)
 
     while(true)
     { 
-        xTimerStart(AgentSoftwareWatchdog, 1);
+        TimerStart(AgentSoftwareWatchdog, 1);
 
         pedal_reading_t pedalReadings;
 
@@ -115,7 +119,7 @@ static void vThrottleActorTask(void* arg)
         // TODO: Add range fault checks
 
         // // check for short to GND/VCC on APPS sensor 1
-        UpdatePedalRangeFaultTimer(pedalReadings.fp1, APPS1_MIN_VALUE, APPS1_MAX_VALUE, APPS1RangeFaultTimer);
+        UpdatePedalRangeFaultTimer(pedalReadings.fp1, APPS1_MIN_VALUE, APPS1_MAX_VALUE, faultTimers.APPS1Range);
         // // check for short to GND/VCC on APPS sensor 2
         // UpdatePedalRangeFaultTimer(pedalReadings.fp2, APPS2_MIN_VALUE, APPS2_MAX_VALUE, APPS2RangeFaultTimer, &APPS2_RANGE_FAULT_TIMER_EXPIRED);
         // // check for short to GND/VCC on BSE
@@ -199,11 +203,11 @@ static void UpdateAPPS10PercentFaultTimer(float Percent_APPS1_Pressed, float Per
 
     if (FP_sensor_diff > 0.10)
     {
-        Phantom_startTimer(FPDiffFaultTimer, 50); 
+        Phantom_startTimer(faultTimers.FPDiff, 50); 
     }
     else
     {
-        Phantom_stopTimer(FPDiffFaultTimer, portMAX_DELAY);
+        Phantom_stopTimer(faultTimers.FPDiff, portMAX_DELAY);
     }
 }
 

From 5ca053df76111f309af5352463a522f7722f19d3 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 21:41:31 -0800
Subject: [PATCH 25/58] update png

---
 Diagrams/Threads/threads.drawio.png | Bin 72184 -> 72254 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/Diagrams/Threads/threads.drawio.png b/Diagrams/Threads/threads.drawio.png
index 3723db11c3020bb8f7f23d1748774e6b3cf7906e..ef5f51b23c56559360ccf9d8c14dd5f763094e56 100644
GIT binary patch
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From 1760d5fcb073431bed9e5d5b72a3e3b0b543f807 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Mon, 13 Feb 2023 21:43:21 -0800
Subject: [PATCH 26/58] reorganize and cleanup

---
 .../Drivers/STATE_MACHINE/state_machine.c     | 92 +++++++++++--------
 VCU/Phantom/Drivers/UART/Phantom_sci.c        |  4 -
 VCU/Phantom/tasks/source/task_event_handler.c | 68 +++++++-------
 VCU/Phantom/tasks/source/task_logger.c        | 39 ++++----
 .../tasks/source/task_throttle_actor.c        | 68 ++++++--------
 .../tasks/source/task_throttle_agent.c        |  9 +-
 6 files changed, 140 insertions(+), 140 deletions(-)

diff --git a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
index 83ddb6bc..de2a7cea 100644
--- a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
+++ b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
@@ -5,9 +5,6 @@
  *      Author: rafgu
  */
 
-
-
-
 #include "state_machine.h"
 
 #include "task_event_handler.h"
@@ -16,8 +13,16 @@
 
 static void UpdateStateMachine(void* data);
 
+static State TractiveOff(eCarEvents event);
+static State TractiveOn(eCarEvents event);
+static State Running(eCarEvents event);
+static State SevereFault(eCarEvents event);
+
 static SystemTasks_t system_tasks;
 
+
+/* Public API */
+
 void StateMachineInit(SystemTasks_t tasks)
 {
 	system_tasks.throttleAgent = tasks.throttleAgent;
@@ -47,6 +52,53 @@ void NotifyStateMachineFromTimer(TimerHandle_t timer)
 	HandleToFront(UpdateStateMachine, event, FROM_SCHEDULER);
 }
 
+
+/* Event Handler */
+static void UpdateStateMachine(void* data)
+{
+	/* static cached values */
+	static State state = TRACTIVE_OFF;
+ 	static char buffer[32];
+
+	eCarEvents event = *(uint16_t*) data;
+
+	sprintf(buffer, "Event occurred: %d", event);
+	Log(buffer);
+
+	switch(state)
+	{
+		case TRACTIVE_OFF:
+
+			state = TractiveOff(event);
+
+			break;
+
+		case TRACTIVE_ON:
+
+			state = TractiveOn(event);
+
+			break;
+
+		case RUNNING:
+
+			state = Running(event);
+
+			break;
+
+		case SEVERE_FAULT:
+		 
+			state = SevereFault(event);
+
+			break;
+		
+		default:
+			break;
+	}
+}
+
+
+/* State handlers */
+
 static State TractiveOff(eCarEvents event)
 {
 	if (event == EVENT_TRACTIVE_ON)
@@ -116,37 +168,3 @@ static State SevereFault(eCarEvents event)
 
 	return SEVERE_FAULT;
 }
-
-
-/* Event Handler */
-static void UpdateStateMachine(void* data)
-{
-	/* static cached values */
-	static State state = TRACTIVE_OFF;
-
-	eCarEvents event = *(uint16_t*) data;
-
- 	char buffer[32];
-	sprintf(buffer, "Event occurred: %d", event);
-	Log(buffer);
-
-	switch(state)
-	{
-		case TRACTIVE_OFF:
-			state = TractiveOff(event);
-			break;
-
-		case TRACTIVE_ON:
-			state = TractiveOn(event);
-			break;
-
-		case RUNNING:
-			state = Running(event);
-			break;
-
-		case SEVERE_FAULT:
-			state = SevereFault(event);
-			break;
-	}
-}
-
diff --git a/VCU/Phantom/Drivers/UART/Phantom_sci.c b/VCU/Phantom/Drivers/UART/Phantom_sci.c
index c36a87e6..eb9fc473 100644
--- a/VCU/Phantom/Drivers/UART/Phantom_sci.c
+++ b/VCU/Phantom/Drivers/UART/Phantom_sci.c
@@ -21,7 +21,6 @@ static volatile uint32_t serialData = 0; // there is 24 bit standard type so whe
 #define TASK_LIST_SIZE 512
 
 enum eCommands{
-
     ECHO_THROTTLE='1',
     ECHO_APPS1='2',
     ECHO_APPS2='3',
@@ -123,8 +122,6 @@ void GetRuntimeStatistics(void* x)
     UARTprintf("\r\n");
 }
 
-
-
 void sciReceiveCallback(sciBASE_t *sci, uint32 flags, uint8 data)
 {
 
@@ -187,7 +184,6 @@ void sciReceiveCallback(sciBASE_t *sci, uint32 flags, uint8 data)
         {
             LogFromISR(UWHT, "Unknown: ");
 
-            // HandleCritical(putchar, &data, FROM_ISR);
             break;
         }
     }
diff --git a/VCU/Phantom/tasks/source/task_event_handler.c b/VCU/Phantom/tasks/source/task_event_handler.c
index 9bbbfb87..af484f5c 100644
--- a/VCU/Phantom/tasks/source/task_event_handler.c
+++ b/VCU/Phantom/tasks/source/task_event_handler.c
@@ -21,13 +21,15 @@ typedef struct event_t
 static PipeTask_t rtos_handles;
 
 static void ThreadEventHandler(void* pvParams);
+static uint8_t QueueEvent(event_t event, eSource source, ePriority priority);
 
 typedef enum ePriority{
 	CRITICAL,
 	BACKGROUND
 }ePriority;
 
-#define MAX_DATA_LENGTH 8
+
+/* Public API */
 
 TaskHandle_t EventHandlerInit()
 {
@@ -45,39 +47,6 @@ TaskHandle_t EventHandlerInit()
 	return rtos_handles.taskHandle;
 }
 
-uint8_t QueueEvent(event_t event, eSource source, ePriority priority)
-{	
-	uint8_t ret;
-	BaseType_t xHigherPriorityTaskWoken;
-
-	if (priority == BACKGROUND && source == FROM_SCHEDULER)
-	{
-		ret = xQueueSendToBack(rtos_handles.q, &event, 1) == pdPASS;
-	}
-	else if (priority == BACKGROUND && source == FROM_ISR)
-	{
-		ret = xQueueSendToBackFromISR(rtos_handles.q, &event, &xHigherPriorityTaskWoken) == pdPASS;
-
-	}
-	else if (priority == CRITICAL && source == FROM_SCHEDULER){
-
-		ret = xQueueSendToFront(rtos_handles.q, &event, 1) == pdPASS;
-
-	} else if (priority == CRITICAL && source == FROM_ISR)
-	{
-		BaseType_t xHigherPriorityTaskWoken;
-
-		ret = xQueueSendToFrontFromISR(rtos_handles.q, &event, &xHigherPriorityTaskWoken) == pdPASS;
-	}
-	else
-	{
-		ret = 0; 
-	}
-
-	return ret;
-}
-
-
 void HandleToFront(event_handler_t callback, uint16_t data, eSource source)
 {	
 	event_t event;
@@ -97,6 +66,7 @@ void HandleToBack(event_handler_t callback, uint16_t data, eSource source)
 }
 
 /* Internal Implementation*/
+
 static void ThreadEventHandler(void* pvParams)
 {
 	event_t event;
@@ -115,4 +85,34 @@ static void ThreadEventHandler(void* pvParams)
 }
 
 
+uint8_t QueueEvent(event_t event, eSource source, ePriority priority)
+{	
+	uint8_t ret;
+	BaseType_t xHigherPriorityTaskWoken;
+
+	if (priority == BACKGROUND && source == FROM_SCHEDULER)
+	{
+		ret = xQueueSendToBack(rtos_handles.q, &event, 1) == pdPASS;
+	}
+	else if (priority == BACKGROUND && source == FROM_ISR)
+	{
+		ret = xQueueSendToBackFromISR(rtos_handles.q, &event, &xHigherPriorityTaskWoken) == pdPASS;
+
+	}
+	else if (priority == CRITICAL && source == FROM_SCHEDULER){
+
+		ret = xQueueSendToFront(rtos_handles.q, &event, 1) == pdPASS;
+
+	} else if (priority == CRITICAL && source == FROM_ISR)
+	{
+		BaseType_t xHigherPriorityTaskWoken;
+
+		ret = xQueueSendToFrontFromISR(rtos_handles.q, &event, &xHigherPriorityTaskWoken) == pdPASS;
+	}
+	else
+	{
+		ret = 0; 
+	}
 
+	return ret;
+}
\ No newline at end of file
diff --git a/VCU/Phantom/tasks/source/task_logger.c b/VCU/Phantom/tasks/source/task_logger.c
index 7ce419f1..73df52a3 100644
--- a/VCU/Phantom/tasks/source/task_logger.c
+++ b/VCU/Phantom/tasks/source/task_logger.c
@@ -16,6 +16,7 @@
 static PipeTask_t rtos_handles;
 
 static void LoggerThread(void* pvParams);
+#include <math.h>
 
 typedef uint64_t segment_t;
 #define SEGMENT_SIZE sizeof(segment_t)
@@ -101,17 +102,13 @@ static uint8_t LogMessage(const char* color, const char* str, eSource source)
 	
 	char buffer[16];
 	sprintf(buffer, "%s\r\n", reset);
-	AsyncPrint(source, buffer);
 
-	return 1;
+	return AsyncPrint(source, buffer);
 }
 
 
-uint8_t LogSegment(eSource source, uint8_t* data)
+uint8_t QueueSegment(eSource source, segment_t segment)
 {
-	segment_t segment;
-	memcpy(&segment, data, SEGMENT_SIZE);
-
 	uint8_t ret;
 
 	switch(source)
@@ -127,7 +124,6 @@ uint8_t LogSegment(eSource source, uint8_t* data)
 		{
 			ret = xQueueSendToBack(rtos_handles.q, &segment, 1) == pdPASS;
 
-
 			break;
 		}
 		default:
@@ -142,30 +138,31 @@ uint8_t LogSegment(eSource source, uint8_t* data)
 
 uint8_t AsyncPrint(eSource source, const char* str)
 {
-	uint8_t data[SEGMENT_SIZE];
-	memset(data, '\0', SEGMENT_SIZE);
+	/* Initialize tmp to copy segments into */
+	segment_t tmp;
+	memset(&tmp, '\0', SEGMENT_SIZE);
 
-	uint16_t num_bytes = strlen(str);
+	uint16_t total_num_bytes = strlen(str);
+	uint8_t num_segments = total_num_bytes/SEGMENT_SIZE; 
 
-	uint8_t num_segments = num_bytes/SEGMENT_SIZE ? num_bytes/SEGMENT_SIZE : 1;
+	uint8_t segment_index = 0;
 
-	uint8_t segment_num;
-	for (segment_num = 0; segment_num < num_segments; segment_num++)
+	/* Copy all full segments */
+	for (segment_index = 0; segment_index < num_segments; segment_index++)
 	{
-		memcpy(&data, str + (segment_num*SEGMENT_SIZE), SEGMENT_SIZE);
+		memcpy(&tmp, str + (segment_index*SEGMENT_SIZE), SEGMENT_SIZE);
 
-		LogSegment(source, data);
+		QueueSegment(source, tmp);
 	}
 
-	uint16_t byte_number = segment_num*SEGMENT_SIZE;
-	uint16_t bytes_left = num_bytes - byte_number;
+	uint16_t bytes_left = total_num_bytes - (segment_index*SEGMENT_SIZE);
 	
-	if (bytes_left != 0 && num_bytes >= SEGMENT_SIZE)
+	if (bytes_left != 0) 
 	{
-		memset(data, '\0', SEGMENT_SIZE);
-		memcpy(&data, str + (segment_num*SEGMENT_SIZE), bytes_left);
+		memset(&tmp, '\0', SEGMENT_SIZE);
+		memcpy(&tmp, str + (segment_index*SEGMENT_SIZE), bytes_left);
 		
-		LogSegment(source, data);
+		QueueSegment(source, tmp);
 	}
 
 	return 1;
diff --git a/VCU/Phantom/tasks/source/task_throttle_actor.c b/VCU/Phantom/tasks/source/task_throttle_actor.c
index fbb979ff..334135da 100644
--- a/VCU/Phantom/tasks/source/task_throttle_actor.c
+++ b/VCU/Phantom/tasks/source/task_throttle_actor.c
@@ -26,10 +26,11 @@
 #include "state_machine.h"      // for access to mailbox & queue
 #include "task_logger.h"      
 
-
-
 static TaskHandle_t taskHandle;
 
+// ^ this equation may need to be modified for the curtis voltage lower limit and upper limit
+// i.e. map from 0.6V (60) to 4.5V (450) or something like that, instead of 0->500 (0V -> 5V)
+#define MAP_PERCENT_TO_VOLTAGE(x) 390 * apps_percent_avg + 60  // equation mapping the averaged signals to 0->500 for the DAC driver
 typedef struct FaultTimers_t{
     TimerHandle_t APPS1Range;
     TimerHandle_t APPS2Range;
@@ -68,10 +69,24 @@ static void TurnOffThrottle(TimerHandle_t timer)
 	LogColor(RED, "Turning off throttle");
 }
 
-#define APPS_SENSOR_TIMEOUT 1000
-TaskHandle_t ThrottleInit(void)
+static void CheckFaultConditions(const pedal_reading_t* pedalReadings)
 {
+    // check for short to GND/VCC on APPS sensor 1
+    UpdatePedalRangeFaultTimer(pedalReadings->fp1, APPS1_MIN_VALUE, APPS1_MAX_VALUE, faultTimers.APPS1Range);
+
+    // TODO: Add range fault checks
+//     // check for short to GND/VCC on APPS sensor 2
+//     UpdatePedalRangeFaultTimer(pedalReadings->fp2, APPS2_MIN_VALUE, APPS2_MAX_VALUE, APPS2RangeFaultTimer, &APPS2_RANGE_FAULT_TIMER_EXPIRED);
+//     // check for short to GND/VCC on BSE
+//     UpdatePedalRangeFaultTimer(pedalReadings->bse, BSE_MIN_VALUE, BSE_MAX_VALUE, BSERangeFaultTimer, &BSE_RANGE_FAULT_TIMER_EXPIRED);
+//     // Check if APPS1 and APPS2 are within 10% of each other
+//     UpdateAPPS10PercentFaultTimer(apps1PedalPercent, apps2PedalPercent);
+//     // Check if brakes are pressed and accelerator pedal is pressed greater than or equal to 25%
+//     CheckBrakePlausibility(pedalReadings->bse, apps1PedalPercent, apps2PedalPercent);
+}
 
+TaskHandle_t ThrottleInit(void)
+{
     xTaskCreate(
 		vThrottleActorTask,
 		"ThrottleActor",
@@ -81,7 +96,6 @@ TaskHandle_t ThrottleInit(void)
 		&taskHandle
 	);
 
-
     faultTimers.APPS1Range = Phantom_createTimer("Apps1RangeCheck", 100, NO_RELOAD, EVENT_APPS1_RANGE_FAULT, NotifyStateMachineFromTimer);
     // faultTimers.APPS2Range = Phantom_createTimer("Apps2RangeCheck", 100, NO_RELOAD, EVENT_APPS2_RANGE_FAULT, NotifyStateMachineFromTimer);
     // faultTimers.BSERange = Phantom_createTimer("BseRangeCheck", 100, NO_RELOAD, EVENT_BSE_RANGE_FAULT, NotifyStateMachineFromTimer);
@@ -97,13 +111,14 @@ TaskHandle_t ThrottleInit(void)
 
 static void vThrottleActorTask(void* arg)
 {
-	Log("Suspending thread on initialization");
+    char buffer[32];
 
+	Log("Suspending thread on initialization");
     vTaskSuspend(NULL);
 
     while(true)
     { 
-        TimerStart(AgentSoftwareWatchdog, 1);
+        xTimerStart(AgentSoftwareWatchdog, 1);
 
         pedal_reading_t pedalReadings;
 
@@ -112,47 +127,24 @@ static void vThrottleActorTask(void* arg)
             continue; 
         }
 
+		/* Get pedal percentages */
         float apps1PedalPercent = calculatePedalPercent(pedalReadings.fp1, PADDED_APPS1_MIN_VALUE, PADDED_APPS2_MAX_VALUE);
         float apps2PedalPercent = calculatePedalPercent(pedalReadings.fp2, PADDED_APPS2_MIN_VALUE, PADDED_APPS2_MAX_VALUE);
         float bsePedalPercent = calculatePedalPercent(pedalReadings.bse, PADDED_BSE_MIN_VALUE, PADDED_BSE_MAX_VALUE);
 
-        // TODO: Add range fault checks
-
-        // // check for short to GND/VCC on APPS sensor 1
-        UpdatePedalRangeFaultTimer(pedalReadings.fp1, APPS1_MIN_VALUE, APPS1_MAX_VALUE, faultTimers.APPS1Range);
-        // // check for short to GND/VCC on APPS sensor 2
-        // UpdatePedalRangeFaultTimer(pedalReadings.fp2, APPS2_MIN_VALUE, APPS2_MAX_VALUE, APPS2RangeFaultTimer, &APPS2_RANGE_FAULT_TIMER_EXPIRED);
-        // // check for short to GND/VCC on BSE
-        // UpdatePedalRangeFaultTimer(pedalReadings.bse, BSE_MIN_VALUE, BSE_MAX_VALUE, BSERangeFaultTimer, &BSE_RANGE_FAULT_TIMER_EXPIRED);
-        // // Check if APPS1 and APPS2 are within 10% of each other
-        // UpdateAPPS10PercentFaultTimer(apps1PedalPercent, apps2PedalPercent);
-        // // Check if brakes are pressed and accelerator pedal is pressed greater than or equal to 25%
-        // CheckBrakePlausibility(pedalReadings.bse, apps1PedalPercent, apps2PedalPercent);
-
-        /*********************************************************************************
-         Set Throttle
-        *********************************************************************************/
+        CheckFaultConditions(&pedalReadings);
 
         float apps_percent_avg = (apps1PedalPercent + apps2PedalPercent) / 2;
 
-        // send DAC to inverter
-        int16_t throttle = 390 * apps_percent_avg + 60;        // equation mapping the averaged signals to 0->500 for the DAC driver
+        /* Set throttle voltage value */ 
+        int16_t throttle = MAP_PERCENT_TO_VOLTAGE(apps_percent_avg);
+        MCP48FV_Set_Value(throttle); 
 
-        // ^ this equation may need to be modified for the curtis voltage lower limit and upper limit
-        // i.e. map from 0.6V (60) to 4.5V (450) or something like that, instead of 0->500 (0V -> 5V)
-        MCP48FV_Set_Value(throttle); // send throttle value to DAC driver
-
-        char buffer[32];
-        snprintf(buffer, 32, "Running throttle actor");
-        Log(buffer);
+        Log( "Running throttle actor");
 
         #ifdef VCU_SIM_MODE
-        UARTprintln("%d", throttle);
-        #endif
-
-
-        #ifdef VCU_SIM_MODE
-        UARTprintln("0");
+        snprintf(buffer, 32, "%d", throttle);
+        Log(buffer);
         #endif
     }
 }
diff --git a/VCU/Phantom/tasks/source/task_throttle_agent.c b/VCU/Phantom/tasks/source/task_throttle_agent.c
index 30392b7c..9cbecb2a 100644
--- a/VCU/Phantom/tasks/source/task_throttle_agent.c
+++ b/VCU/Phantom/tasks/source/task_throttle_agent.c
@@ -72,11 +72,10 @@ TaskHandle_t throttleAgentInit(void)
 	return footPedals.pipeline.taskHandle;
 }
 
+/* Internal Implementation */
 
-static void SetBrakeLight(void* data)
+static void SetBrakeLight(uint8_t value)
 {
-    uint8_t value = *(uint8_t*) data;
-
     char buffer[32];
     sprintf(buffer, "Setting brakelight: %d", value);
     Log(buffer);
@@ -107,7 +106,7 @@ static void vThrottleAgentTask(void* arg)
 
         if (gioGetBit(BRAKE_LIGHT) != brakelight_value)
         {
-            HandleToFront(SetBrakeLight, brakelight_value, FROM_SCHEDULER);
+            SetBrakeLight(brakelight_value);
         }
         
         // send filtered values to mailbox (task_throttle_actor.c)
@@ -120,8 +119,6 @@ static pedal_reading_t readPedals()
     vTaskDelay(pdMS_TO_TICKS(20));
 
     #ifndef VCU_SIM_MODE 
-
-
     // Get pedal readings from ADC
     adcData_t FP_data[3];
     adcStartConversion(adcREG1, adcGROUP1);

From 9588d0265a50972324e262dc98d2244b84e2f1e8 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Thu, 16 Feb 2023 18:28:17 -0800
Subject: [PATCH 27/58] replace software watchdog with suspend throttle
 function

---
 .../Drivers/STATE_MACHINE/state_machine.c     | 41 ++++++++++++++-----
 .../tasks/headers/task_throttle_actor.h       |  2 +
 .../tasks/source/task_throttle_actor.c        | 27 +++++-------
 3 files changed, 43 insertions(+), 27 deletions(-)

diff --git a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
index de2a7cea..766c254d 100644
--- a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
+++ b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
@@ -8,11 +8,13 @@
 #include "state_machine.h"
 
 #include "task_event_handler.h"
+#include "task_throttle_actor.h"
 #include "task_logger.h"
 #include "ansi_colors.h"
 
 static void UpdateStateMachine(void* data);
 
+static State VariousStates(State state, eCarEvents event);
 static State TractiveOff(eCarEvents event);
 static State TractiveOn(eCarEvents event);
 static State Running(eCarEvents event);
@@ -58,13 +60,12 @@ static void UpdateStateMachine(void* data)
 {
 	/* static cached values */
 	static State state = TRACTIVE_OFF;
- 	static char buffer[32];
 
 	eCarEvents event = *(uint16_t*) data;
 
-	sprintf(buffer, "Event occurred: %d", event);
-	Log(buffer);
-
+	/* Events that change state from multiple states */
+	state = VariousStates(state, event);
+	
 	switch(state)
 	{
 		case TRACTIVE_OFF:
@@ -99,6 +100,29 @@ static void UpdateStateMachine(void* data)
 
 /* State handlers */
 
+static State VariousStates(State state, eCarEvents event)
+{
+	bool faults = any(6, 
+		event == EVENT_APPS1_RANGE_FAULT,
+		event == EVENT_APPS2_RANGE_FAULT, 
+		event == EVENT_BRAKE_PLAUSIBILITY_FAULT,
+		event == EVENT_BSE_RANGE_FAULT,
+		event == EVENT_FP_DIFF_FAULT,
+		event == EVENT_UNRESPONSIVE_APPS
+	);
+
+	if (faults)
+	{
+		LogColor(RED, "Suspending throttle actor.");
+		SuspendThrottle(system_tasks.throttleActor);
+		
+		LogColor(RED, "Moving to SevereFault state");
+		return SEVERE_FAULT;
+	}
+
+	return state;
+}
+
 static State TractiveOff(eCarEvents event)
 {
 	if (event == EVENT_TRACTIVE_ON)
@@ -136,15 +160,10 @@ static State TractiveOn(eCarEvents event)
 
 static State Running(eCarEvents event)
 {
-	bool agentFault = any(4, EVENT_APPS1_RANGE_FAULT, EVENT_APPS2_RANGE_FAULT, EVENT_BSE_RANGE_FAULT, EVENT_FP_DIFF_FAULT);
-	if (agentFault)
+	
+	if (false)
 	{
-		LogColor(RED, "Moving from Running to SevereFault");
 
-		LogColor(RED, "Suspending throttle actor.");
-		vTaskSuspend(system_tasks.throttleActor);	
-
-		return SEVERE_FAULT;
 	}
 	else
 	{
diff --git a/VCU/Phantom/tasks/headers/task_throttle_actor.h b/VCU/Phantom/tasks/headers/task_throttle_actor.h
index f420b923..175d38c8 100644
--- a/VCU/Phantom/tasks/headers/task_throttle_actor.h
+++ b/VCU/Phantom/tasks/headers/task_throttle_actor.h
@@ -10,4 +10,6 @@
 
 TaskHandle_t ThrottleInit(void);
 
+void SuspendThrottle(TaskHandle_t);
+
 #endif
diff --git a/VCU/Phantom/tasks/source/task_throttle_actor.c b/VCU/Phantom/tasks/source/task_throttle_actor.c
index 334135da..e9f6c20d 100644
--- a/VCU/Phantom/tasks/source/task_throttle_actor.c
+++ b/VCU/Phantom/tasks/source/task_throttle_actor.c
@@ -39,7 +39,6 @@ typedef struct FaultTimers_t{
     TimerHandle_t RTDS;
 } FaultTimers_t;
 
-static TimerHandle_t AgentSoftwareWatchdog;
 static FaultTimers_t faultTimers;
 
 /* For calculating throttle padding */
@@ -59,14 +58,15 @@ static void UpdatePedalRangeFaultTimer(uint32_t pedalValue, uint32_t minValue, u
 static void UpdateAPPS10PercentFaultTimer(float Percent_APPS1_Pressed, float Percent_APPS2_Pressed);
 static void CheckBrakePlausibility(uint32_t BSE_sensor_sum, float Percent_APPS1_Pressed, float Percent_APPS2_Pressed);
 
-static void TurnOffThrottle(TimerHandle_t timer)
+void SuspendThrottle(TaskHandle_t self)
 {
-	static char buffer[64];
-	snprintf(buffer, 64, "(%s): Expired after %dms", pcTimerGetTimerName(timer), xTimerGetPeriod(timer));
-	LogColor(YEL, buffer);
+    if (self == taskHandle)
+    {
+        MCP48FV_Set_Value(0); // send throttle value to DAC driver
+        LogColor(RED, "Turning off throttle");
 
-    MCP48FV_Set_Value(0); // send throttle value to DAC driver
-	LogColor(RED, "Turning off throttle");
+        vTaskSuspend(self);
+    }
 }
 
 static void CheckFaultConditions(const pedal_reading_t* pedalReadings)
@@ -102,8 +102,6 @@ TaskHandle_t ThrottleInit(void)
     // faultTimers.FPDiff = Phantom_createTimer("FpDiffCheck", 100, NO_RELOAD, EVENT_FP_DIFF_FAULT, NotifyStateMachineFromTimer);
     // faultTimers.RTDS = Phantom_createTimer("RTDSSwitch", 2000, NO_RELOAD, 0, NotifyStateMachineFromTimer); 
 
-    AgentSoftwareWatchdog = Phantom_createTimer("AgentSoftwareWatchdog", APPS_SENSOR_TIMEOUT, NO_RELOAD, EVENT_APPS1_RANGE_FAULT, TurnOffThrottle);
-
     MCP48FV_Init();
 
     return taskHandle;
@@ -111,19 +109,16 @@ TaskHandle_t ThrottleInit(void)
 
 static void vThrottleActorTask(void* arg)
 {
-    char buffer[32];
-
-	Log("Suspending thread on initialization");
-    vTaskSuspend(NULL);
+    SuspendThrottle(taskHandle);
 
     while(true)
     { 
-        xTimerStart(AgentSoftwareWatchdog, 1);
-
         pedal_reading_t pedalReadings;
 
-        if (!receivePedalReadings(&pedalReadings, portMAX_DELAY))
+        if (!receivePedalReadings(&pedalReadings, APPS_SENSOR_TIMEOUT))
         {
+            SuspendThrottle(taskHandle);
+
             continue; 
         }
 

From 636d267775b64a65c4663feb06899bb780b32dfa Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Thu, 16 Feb 2023 18:29:00 -0800
Subject: [PATCH 28/58] add flush logger

---
 VCU/Phantom/tasks/headers/task_logger.h | 1 +
 VCU/Phantom/tasks/source/task_logger.c  | 7 +++++++
 2 files changed, 8 insertions(+)

diff --git a/VCU/Phantom/tasks/headers/task_logger.h b/VCU/Phantom/tasks/headers/task_logger.h
index abb05b4e..ebb9e9bb 100644
--- a/VCU/Phantom/tasks/headers/task_logger.h
+++ b/VCU/Phantom/tasks/headers/task_logger.h
@@ -19,6 +19,7 @@ uint8_t Log(const char* str);
 uint8_t LogColor(const char* color, const char* str);
 uint8_t LogFromISR(const char* color, const char* str);
 void GetLogHeader(eSource source, const char* color, char* str);
+void FlushLogger(uint16_t waitms);
 
 
 #endif /* PHANTOM_TASKS_HEADERS_TASK_LOGGER_H_ */
diff --git a/VCU/Phantom/tasks/source/task_logger.c b/VCU/Phantom/tasks/source/task_logger.c
index 73df52a3..d4424727 100644
--- a/VCU/Phantom/tasks/source/task_logger.c
+++ b/VCU/Phantom/tasks/source/task_logger.c
@@ -40,6 +40,13 @@ TaskHandle_t LoggerInit()
 
 	return rtos_handles.taskHandle;
 }
+ 
+void FlushLogger(uint16_t waitms)
+{
+	vTaskPrioritySet(rtos_handles.taskHandle, configMAX_PRIORITIES-1);
+	vTaskDelay(pdMS_TO_TICKS(waitms)); 
+	vTaskPrioritySet(rtos_handles.taskHandle, 0);
+}
 
 uint8_t LogColor(const char* color, const char* str)
 {

From 61e347886d58b370ad9bd381e0519c8c012fa9da Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Thu, 16 Feb 2023 18:29:45 -0800
Subject: [PATCH 29/58] put priorities into macros

---
 VCU/Phantom/tasks/source/task_event_handler.c  |  2 +-
 VCU/Phantom/tasks/source/task_logger.c         |  4 ++--
 VCU/Phantom/tasks/source/task_throttle_agent.c |  2 +-
 VCU/Phantom/tasks/task_config.h                | 18 +++++++++---------
 4 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/VCU/Phantom/tasks/source/task_event_handler.c b/VCU/Phantom/tasks/source/task_event_handler.c
index af484f5c..1f3132ea 100644
--- a/VCU/Phantom/tasks/source/task_event_handler.c
+++ b/VCU/Phantom/tasks/source/task_event_handler.c
@@ -36,7 +36,7 @@ TaskHandle_t EventHandlerInit()
 	xTaskCreate(
 		ThreadEventHandler,
 		"EventHandler",
-		128,
+		EVENT_HANDLER_STACK_SIZE,
 		NULL,
         EVENT_HANDLER_PRIORITY,
 		&rtos_handles.taskHandle
diff --git a/VCU/Phantom/tasks/source/task_logger.c b/VCU/Phantom/tasks/source/task_logger.c
index d4424727..d9edd4ef 100644
--- a/VCU/Phantom/tasks/source/task_logger.c
+++ b/VCU/Phantom/tasks/source/task_logger.c
@@ -30,9 +30,9 @@ TaskHandle_t LoggerInit()
 	xTaskCreate(
 		LoggerThread,
 		"LoggerThread",
-		700,
-		0,
+		LOGGER_STACK_SIZE,
 		0,
+		LOGGER_PRIORITY,
 		&rtos_handles.taskHandle
 	);
 
diff --git a/VCU/Phantom/tasks/source/task_throttle_agent.c b/VCU/Phantom/tasks/source/task_throttle_agent.c
index 9cbecb2a..d37f3ae1 100644
--- a/VCU/Phantom/tasks/source/task_throttle_agent.c
+++ b/VCU/Phantom/tasks/source/task_throttle_agent.c
@@ -59,7 +59,7 @@ TaskHandle_t throttleAgentInit(void)
 	xTaskCreate(
 		vThrottleAgentTask,
 		"ThrottleAgent",
-		200,
+		THROTTLE_AGT_STACK_SIZE,
 		NULL,
         1,
 		&footPedals.pipeline.taskHandle 
diff --git a/VCU/Phantom/tasks/task_config.h b/VCU/Phantom/tasks/task_config.h
index fc68a587..1bb45d99 100644
--- a/VCU/Phantom/tasks/task_config.h
+++ b/VCU/Phantom/tasks/task_config.h
@@ -23,15 +23,14 @@
 /*********************************************************************************
  *                              TASK PRIORITIES
  *********************************************************************************/
-#define THROTTLE_AGT_PRIORITY           1
-#define THROTTLE_AGT_SIM_PRIORITY       THROTTLE_AGT_PRIORITY
-#define THROTTLE_ACT_PRIORITY           5
-#define EEPROM_TASK_PRIORITY            0
-#define WATCHDOG_TASK_PRIORITY          0    // same as idle task
+#define THROTTLE_AGT_PRIORITY           2
+#define THROTTLE_ACT_PRIORITY           4
 #define EVENT_HANDLER_PRIORITY          5
-#define LOGGER_PRIORITY                 0
+#define LOGGER_PRIORITY                 1
 
-#define TEST_TASK_PRIORITY              1
+// #define EEPROM_TASK_PRIORITY            0
+// #define WATCHDOG_TASK_PRIORITY          0    // same as idle task
+// #define TEST_TASK_PRIORITY              1
 
 // there may also be interrupt/ISR priorities for:
 // CAN messages
@@ -40,9 +39,10 @@
 /*********************************************************************************
  *                              TASK STACK SIZES
  *********************************************************************************/
-#define THROTTLE_AGT_STACK_SIZE         500
-#define THROTTLE_AGT_SIM_STACK_SIZE     500
+#define THROTTLE_AGT_STACK_SIZE         200
 #define THROTTLE_ACT_STACK_SIZE         500
+#define LOGGER_STACK_SIZE               700
+#define EVENT_HANDLER_STACK_SIZE        128
 // #define EEPROM_TASK_STACK_SIZE          750
 // #define WATCHDOG_TASK_STACK_SIZE        750    // same as idle task
 

From 7215a145a66ac0f5d0a2954980345688e329b0a1 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Thu, 16 Feb 2023 18:30:08 -0800
Subject: [PATCH 30/58] cleanup

---
 VCU/Phantom/tasks/source/task_event_handler.c  | 12 +++++++-----
 VCU/Phantom/tasks/source/task_throttle_actor.c |  2 --
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/VCU/Phantom/tasks/source/task_event_handler.c b/VCU/Phantom/tasks/source/task_event_handler.c
index 1f3132ea..7669b045 100644
--- a/VCU/Phantom/tasks/source/task_event_handler.c
+++ b/VCU/Phantom/tasks/source/task_event_handler.c
@@ -18,15 +18,17 @@ typedef struct event_t
 	uint16_t data;
 }event_t;
 
+typedef enum ePriority{
+	CRITICAL,
+	BACKGROUND
+}ePriority;
+
 static PipeTask_t rtos_handles;
 
+
 static void ThreadEventHandler(void* pvParams);
 static uint8_t QueueEvent(event_t event, eSource source, ePriority priority);
 
-typedef enum ePriority{
-	CRITICAL,
-	BACKGROUND
-}ePriority;
 
 
 /* Public API */
@@ -115,4 +117,4 @@ uint8_t QueueEvent(event_t event, eSource source, ePriority priority)
 	}
 
 	return ret;
-}
\ No newline at end of file
+}
diff --git a/VCU/Phantom/tasks/source/task_throttle_actor.c b/VCU/Phantom/tasks/source/task_throttle_actor.c
index e9f6c20d..353cedb6 100644
--- a/VCU/Phantom/tasks/source/task_throttle_actor.c
+++ b/VCU/Phantom/tasks/source/task_throttle_actor.c
@@ -135,8 +135,6 @@ static void vThrottleActorTask(void* arg)
         int16_t throttle = MAP_PERCENT_TO_VOLTAGE(apps_percent_avg);
         MCP48FV_Set_Value(throttle); 
 
-        Log( "Running throttle actor");
-
         #ifdef VCU_SIM_MODE
         snprintf(buffer, 32, "%d", throttle);
         Log(buffer);

From bc7bb62087cdc91c3d984c444c6fb59b45fb5a93 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Thu, 16 Feb 2023 18:30:37 -0800
Subject: [PATCH 31/58] log all events handled by state machine

---
 VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
index 766c254d..9f5b016a 100644
--- a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
+++ b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
@@ -35,11 +35,19 @@ void StateMachineInit(SystemTasks_t tasks)
 
 void NotifyStateMachine(eCarEvents event)
 {
+ 	char buffer[32];
+	sprintf(buffer, "Event occurred: %d", event);
+	Log(buffer);
+
 	HandleToFront(UpdateStateMachine, event, FROM_SCHEDULER);
 }
 
 void NotifyStateMachineFromISR(eCarEvents event)
 {
+ 	char buffer[32];
+	sprintf(buffer, "Event occurred: %d", event);
+	LogFromISR(UWHT, buffer);
+
 	HandleToFront(UpdateStateMachine, event, FROM_ISR);
 }
 

From 17454f33d5eb14168fdfb4fee8beb8dd626e5e11 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Thu, 16 Feb 2023 18:33:31 -0800
Subject: [PATCH 32/58] add more events

---
 VCU/Phantom/data_structures/vcu_common.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/VCU/Phantom/data_structures/vcu_common.h b/VCU/Phantom/data_structures/vcu_common.h
index 97dc3568..0d2bbfb5 100644
--- a/VCU/Phantom/data_structures/vcu_common.h
+++ b/VCU/Phantom/data_structures/vcu_common.h
@@ -9,11 +9,10 @@
 #include "stdarg.h"
 #include "hal_stdtypes.h"
 
-bool any(uint8_t num, ...);
 
+bool any(uint8_t num, ...);
 bool all(uint8_t num, ...);
 
-
 typedef struct SystemTasks_t{
 	TaskHandle_t throttleAgent;
 	TaskHandle_t throttleActor;
@@ -31,9 +30,10 @@ typedef enum eCarEvents{
     EVENT_RESET_CAR,
     EVENT_READY_TO_DRIVE,
     EVENT_TRACTIVE_ON,
+    EVENT_TRACTIVE_OFF,
     EVENT_BRAKE_PLAUSIBILITY_CLEARED,
     EVENT_BRAKE_PLAUSIBILITY_FAULT,
-    
+    EVENT_UNRESPONSIVE_APPS,
 
     END_OF_EVENTS
 } eCarEvents;

From 6a628f760a01d22f11b06ce4cd2ed5e8ceb78ba7 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Sat, 18 Feb 2023 14:41:30 -0800
Subject: [PATCH 33/58] change baudrate fix test

---
 VCU/Phantom/main.c                  | 2 +-
 command-line/test_phantom_encode.py | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/VCU/Phantom/main.c b/VCU/Phantom/main.c
index 7466ef11..ea1e676d 100644
--- a/VCU/Phantom/main.c
+++ b/VCU/Phantom/main.c
@@ -110,7 +110,7 @@ void main(void)
 
     phantomDriversInit();
 
-    UARTInit(PC_UART, 115200); // something up above overwrites the configuration set here. Make sure this goes last!
+    UARTInit(PC_UART, 460800); // something up above overwrites the configuration set here. Make sure this goes last!
 
     phantomTasksInit();
 
diff --git a/command-line/test_phantom_encode.py b/command-line/test_phantom_encode.py
index 5f4d97ca..42a93a52 100644
--- a/command-line/test_phantom_encode.py
+++ b/command-line/test_phantom_encode.py
@@ -23,7 +23,7 @@ def latency_checker(a1, a2, response, sleep_ms):
 def test_throttle_output(i=320, latency_checker=lambda *args: None):
 
     ret = []
-    board = serial.Serial(port=sys.argv[1])
+    board = serial.Serial(port=sys.argv[1], baudrate=460800)
 
     n = 0
     while True:
@@ -43,7 +43,7 @@ def test_throttle_output(i=320, latency_checker=lambda *args: None):
         response = board.read_all().decode()
 
         ret.append(response)
-        assert throttle_output_on_startup[n] in response, f'{throttle_output_on_startup[n]=} not in {response=}' 
+        assert f'throttle={throttle_output_on_startup[n]}' in response, f'throttle={throttle_output_on_startup[n]} not in {response=}' 
         
         latency_checker(a1, a2, response)
 
@@ -106,6 +106,6 @@ def send_output(apps1: Iterable, apps2: Iterable):
 
 
 if __name__ == '__main__':
-    print(test_throttle_output())
+    print('\n'.join(test_throttle_output()))
     
     # print(send_output(APPS_RANGES[0], APPS_RANGES[1]))
\ No newline at end of file

From 5d0a0016584450dfc21e97fc175e001dd92e8e27 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Sat, 18 Feb 2023 14:41:45 -0800
Subject: [PATCH 34/58] add sim mode includes

---
 VCU/.cproject                                  | 3 ++-
 VCU/.settings/org.eclipse.core.resources.prefs | 6 ++----
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/VCU/.cproject b/VCU/.cproject
index faa24446..91431fdf 100644
--- a/VCU/.cproject
+++ b/VCU/.cproject
@@ -360,6 +360,7 @@
 								<option id="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.ENUM_TYPE.756688987" name="Designate enum type (--enum_type)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.ENUM_TYPE" value="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.ENUM_TYPE.packed" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.INCLUDE_PATH.597251475" name="Add dir to #include search path (--include_path, -I)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.INCLUDE_PATH" valueType="includePath">
 									<listOptionValue builtIn="false" value="${HERCULES_FOLDER}/F021 Flash API/02.01.01/include"/>
+									<listOptionValue builtIn="false" value="${workspace_loc:/${ProjName}/Phantom/Drivers/STATE_MACHINE}"/>
 									<listOptionValue builtIn="false" value="${workspace_loc:/${ProjName}/Phantom/support}"/>
 									<listOptionValue builtIn="false" value="${PROJECT_ROOT}"/>
 									<listOptionValue builtIn="false" value="${CG_TOOL_ROOT}/include"/>
@@ -380,7 +381,7 @@
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="true" id="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.PREINCLUDE.1657259802" name="Specify a preinclude file (--preinclude)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.PREINCLUDE" valueType="includeFiles"/>
 								<option id="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.OPT_LEVEL.1128941080" name="Optimization level (--opt_level, -O)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.OPT_LEVEL" value="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.OPT_LEVEL.off" valueType="enumerated"/>
-								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.DEFINE.2074496387" superClass="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.DEFINE" valueType="definedSymbols">
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.DEFINE.2074496387" name="Pre-define NAME (--define, -D)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.DEFINE" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="VCU_SIM_MODE"/>
 								</option>
 								<inputType id="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compiler.inputType__C_SRCS.1442936630" name="C Sources" superClass="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compiler.inputType__C_SRCS"/>
diff --git a/VCU/.settings/org.eclipse.core.resources.prefs b/VCU/.settings/org.eclipse.core.resources.prefs
index 02b3c484..c54bebf6 100644
--- a/VCU/.settings/org.eclipse.core.resources.prefs
+++ b/VCU/.settings/org.eclipse.core.resources.prefs
@@ -126,6 +126,8 @@ encoding//SIM_MODE_VCU_REV2/Phantom/Drivers/RTD_Buzzer/subdir_rules.mk=UTF-8
 encoding//SIM_MODE_VCU_REV2/Phantom/Drivers/RTD_Buzzer/subdir_vars.mk=UTF-8
 encoding//SIM_MODE_VCU_REV2/Phantom/Drivers/RTOS/subdir_rules.mk=UTF-8
 encoding//SIM_MODE_VCU_REV2/Phantom/Drivers/RTOS/subdir_vars.mk=UTF-8
+encoding//SIM_MODE_VCU_REV2/Phantom/Drivers/STATE_MACHINE/subdir_rules.mk=UTF-8
+encoding//SIM_MODE_VCU_REV2/Phantom/Drivers/STATE_MACHINE/subdir_vars.mk=UTF-8
 encoding//SIM_MODE_VCU_REV2/Phantom/Drivers/UART/subdir_rules.mk=UTF-8
 encoding//SIM_MODE_VCU_REV2/Phantom/Drivers/UART/subdir_vars.mk=UTF-8
 encoding//SIM_MODE_VCU_REV2/Phantom/data_structures/subdir_rules.mk=UTF-8
@@ -134,10 +136,6 @@ encoding//SIM_MODE_VCU_REV2/Phantom/subdir_rules.mk=UTF-8
 encoding//SIM_MODE_VCU_REV2/Phantom/subdir_vars.mk=UTF-8
 encoding//SIM_MODE_VCU_REV2/Phantom/tasks/source/subdir_rules.mk=UTF-8
 encoding//SIM_MODE_VCU_REV2/Phantom/tasks/source/subdir_vars.mk=UTF-8
-encoding//SIM_MODE_VCU_REV2/Phantom/test_eeprom/subdir_rules.mk=UTF-8
-encoding//SIM_MODE_VCU_REV2/Phantom/test_eeprom/subdir_vars.mk=UTF-8
-encoding//SIM_MODE_VCU_REV2/Simulation_Mode_VCU_REV2/subdir_rules.mk=UTF-8
-encoding//SIM_MODE_VCU_REV2/Simulation_Mode_VCU_REV2/subdir_vars.mk=UTF-8
 encoding//SIM_MODE_VCU_REV2/halcogen_vcu/source/subdir_rules.mk=UTF-8
 encoding//SIM_MODE_VCU_REV2/halcogen_vcu/source/subdir_vars.mk=UTF-8
 encoding//SIM_MODE_VCU_REV2/makefile=UTF-8

From ff288b52e5d53bf6f307290d11938c5e48a441ea Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Sat, 18 Feb 2023 14:43:06 -0800
Subject: [PATCH 35/58] add pre processor differences for sim mode

---
 VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c | 5 +++++
 VCU/Phantom/main.c                                | 8 +-------
 VCU/Phantom/tasks/source/task_throttle_actor.c    | 7 ++++++-
 3 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
index 9f5b016a..f7e62549 100644
--- a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
+++ b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
@@ -66,6 +66,11 @@ void NotifyStateMachineFromTimer(TimerHandle_t timer)
 /* Event Handler */
 static void UpdateStateMachine(void* data)
 {
+    #ifdef VCU_SIM_MODE
+    LogColor(YEL, "VCU is in Simulation Mode. Events do not affect the state machine.");
+	return;
+    #endif
+
 	/* static cached values */
 	static State state = TRACTIVE_OFF;
 
diff --git a/VCU/Phantom/main.c b/VCU/Phantom/main.c
index ea1e676d..0096e896 100644
--- a/VCU/Phantom/main.c
+++ b/VCU/Phantom/main.c
@@ -67,13 +67,6 @@ void phantomDriversInit()
 
 void phantomTasksInit()
 {
-    #ifndef VCU_SIM_MODE
-//    ReceiveTaskInit();
-    #else
-    UARTprintln("Entering VCU Simulation Mode...");
-    #endif
-
-
     SystemTasks_t t = {
         .EventHandler=EventHandlerInit(),
         .Logger=LoggerInit(),
@@ -86,6 +79,7 @@ void phantomTasksInit()
         while(1) UARTprintln("Some tasks not initialized: %d, %d, %d, %d", t.EventHandler, t.Logger, t.throttleActor, t.throttleAgent);
     }
 
+
     StateMachineInit(t);
 }
 
diff --git a/VCU/Phantom/tasks/source/task_throttle_actor.c b/VCU/Phantom/tasks/source/task_throttle_actor.c
index 353cedb6..59fa18fa 100644
--- a/VCU/Phantom/tasks/source/task_throttle_actor.c
+++ b/VCU/Phantom/tasks/source/task_throttle_actor.c
@@ -60,6 +60,7 @@ static void CheckBrakePlausibility(uint32_t BSE_sensor_sum, float Percent_APPS1_
 
 void SuspendThrottle(TaskHandle_t self)
 {
+    #ifndef VCU_SIM_MODE
     if (self == taskHandle)
     {
         MCP48FV_Set_Value(0); // send throttle value to DAC driver
@@ -67,6 +68,9 @@ void SuspendThrottle(TaskHandle_t self)
 
         vTaskSuspend(self);
     }
+    #else
+    LogColor(GRN, "Cannot suspend throttle in VCU Sim Mode.");
+    #endif
 }
 
 static void CheckFaultConditions(const pedal_reading_t* pedalReadings)
@@ -136,7 +140,8 @@ static void vThrottleActorTask(void* arg)
         MCP48FV_Set_Value(throttle); 
 
         #ifdef VCU_SIM_MODE
-        snprintf(buffer, 32, "%d", throttle);
+        char buffer[32];
+        snprintf(buffer, 32, "throttle=%d", throttle);
         Log(buffer);
         #endif
     }

From 2e2a40ad2396472539e437443a8e7168b4f42518 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Sat, 18 Feb 2023 14:43:20 -0800
Subject: [PATCH 36/58] enable all fault timers

---
 .../tasks/source/task_throttle_actor.c        | 31 ++++++++++---------
 1 file changed, 16 insertions(+), 15 deletions(-)

diff --git a/VCU/Phantom/tasks/source/task_throttle_actor.c b/VCU/Phantom/tasks/source/task_throttle_actor.c
index 59fa18fa..2cfb7d53 100644
--- a/VCU/Phantom/tasks/source/task_throttle_actor.c
+++ b/VCU/Phantom/tasks/source/task_throttle_actor.c
@@ -26,6 +26,8 @@
 #include "state_machine.h"      // for access to mailbox & queue
 #include "task_logger.h"      
 
+#define APPS_SENSOR_TIMEOUT 1000
+
 static TaskHandle_t taskHandle;
 
 // ^ this equation may need to be modified for the curtis voltage lower limit and upper limit
@@ -73,20 +75,20 @@ void SuspendThrottle(TaskHandle_t self)
     #endif
 }
 
-static void CheckFaultConditions(const pedal_reading_t* pedalReadings)
+static void CheckFaultConditions(const pedal_reading_t* pedalReadings, float apps1_percent, float apps2_percent)
 {
     // check for short to GND/VCC on APPS sensor 1
     UpdatePedalRangeFaultTimer(pedalReadings->fp1, APPS1_MIN_VALUE, APPS1_MAX_VALUE, faultTimers.APPS1Range);
 
     // TODO: Add range fault checks
-//     // check for short to GND/VCC on APPS sensor 2
-//     UpdatePedalRangeFaultTimer(pedalReadings->fp2, APPS2_MIN_VALUE, APPS2_MAX_VALUE, APPS2RangeFaultTimer, &APPS2_RANGE_FAULT_TIMER_EXPIRED);
-//     // check for short to GND/VCC on BSE
-//     UpdatePedalRangeFaultTimer(pedalReadings->bse, BSE_MIN_VALUE, BSE_MAX_VALUE, BSERangeFaultTimer, &BSE_RANGE_FAULT_TIMER_EXPIRED);
-//     // Check if APPS1 and APPS2 are within 10% of each other
-//     UpdateAPPS10PercentFaultTimer(apps1PedalPercent, apps2PedalPercent);
-//     // Check if brakes are pressed and accelerator pedal is pressed greater than or equal to 25%
-//     CheckBrakePlausibility(pedalReadings->bse, apps1PedalPercent, apps2PedalPercent);
+    // check for short to GND/VCC on APPS sensor 2
+    UpdatePedalRangeFaultTimer(pedalReadings->fp2, APPS2_MIN_VALUE, APPS2_MAX_VALUE, faultTimers.APPS2Range);
+    // check for short to GND/VCC on BSE
+    UpdatePedalRangeFaultTimer(pedalReadings->bse, BSE_MIN_VALUE, BSE_MAX_VALUE, faultTimers.BSERange);
+    // Check if APPS1 and APPS2 are within 10% of each other
+    UpdateAPPS10PercentFaultTimer(apps1_percent, apps2_percent);
+    // Check if brakes are pressed and accelerator pedal is pressed greater than or equal to 25%
+    CheckBrakePlausibility(pedalReadings->bse, apps1_percent, apps2_percent);
 }
 
 TaskHandle_t ThrottleInit(void)
@@ -101,10 +103,10 @@ TaskHandle_t ThrottleInit(void)
 	);
 
     faultTimers.APPS1Range = Phantom_createTimer("Apps1RangeCheck", 100, NO_RELOAD, EVENT_APPS1_RANGE_FAULT, NotifyStateMachineFromTimer);
-    // faultTimers.APPS2Range = Phantom_createTimer("Apps2RangeCheck", 100, NO_RELOAD, EVENT_APPS2_RANGE_FAULT, NotifyStateMachineFromTimer);
-    // faultTimers.BSERange = Phantom_createTimer("BseRangeCheck", 100, NO_RELOAD, EVENT_BSE_RANGE_FAULT, NotifyStateMachineFromTimer);
-    // faultTimers.FPDiff = Phantom_createTimer("FpDiffCheck", 100, NO_RELOAD, EVENT_FP_DIFF_FAULT, NotifyStateMachineFromTimer);
-    // faultTimers.RTDS = Phantom_createTimer("RTDSSwitch", 2000, NO_RELOAD, 0, NotifyStateMachineFromTimer); 
+    faultTimers.APPS2Range = Phantom_createTimer("Apps2RangeCheck", 100, NO_RELOAD, EVENT_APPS2_RANGE_FAULT, NotifyStateMachineFromTimer);
+    faultTimers.BSERange = Phantom_createTimer("BseRangeCheck", 100, NO_RELOAD, EVENT_BSE_RANGE_FAULT, NotifyStateMachineFromTimer);
+    faultTimers.FPDiff = Phantom_createTimer("FpDiffCheck", 100, NO_RELOAD, EVENT_FP_DIFF_FAULT, NotifyStateMachineFromTimer);
+    faultTimers.RTDS = Phantom_createTimer("RTDSSwitch", 2000, NO_RELOAD, 0, NotifyStateMachineFromTimer); 
 
     MCP48FV_Init();
 
@@ -129,9 +131,8 @@ static void vThrottleActorTask(void* arg)
 		/* Get pedal percentages */
         float apps1PedalPercent = calculatePedalPercent(pedalReadings.fp1, PADDED_APPS1_MIN_VALUE, PADDED_APPS2_MAX_VALUE);
         float apps2PedalPercent = calculatePedalPercent(pedalReadings.fp2, PADDED_APPS2_MIN_VALUE, PADDED_APPS2_MAX_VALUE);
-        float bsePedalPercent = calculatePedalPercent(pedalReadings.bse, PADDED_BSE_MIN_VALUE, PADDED_BSE_MAX_VALUE);
 
-        CheckFaultConditions(&pedalReadings);
+        CheckFaultConditions(&pedalReadings, apps1PedalPercent, apps2PedalPercent);
 
         float apps_percent_avg = (apps1PedalPercent + apps2PedalPercent) / 2;
 

From d05d241b6ad6734c810835b897daa51ceeff29f2 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Sat, 18 Feb 2023 14:43:39 -0800
Subject: [PATCH 37/58] cleanup run time stats function

---
 VCU/Phantom/Drivers/UART/Phantom_sci.c | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/VCU/Phantom/Drivers/UART/Phantom_sci.c b/VCU/Phantom/Drivers/UART/Phantom_sci.c
index eb9fc473..8786eb1e 100644
--- a/VCU/Phantom/Drivers/UART/Phantom_sci.c
+++ b/VCU/Phantom/Drivers/UART/Phantom_sci.c
@@ -111,15 +111,14 @@ uint32_t getSimData()
 
 void GetRuntimeStatistics(void* x)
 {
-    char ptrTaskList[TASK_LIST_SIZE];
     // TODO: not configured!
-//    vTaskGetRunTimeStats(ptrTaskList);
-//    UARTSend(PC_UART, ptrTaskList);
+    // vTaskGetRunTimeStats(ptrTaskList);
 
+    char ptrTaskList[TASK_LIST_SIZE];
     vTaskList(ptrTaskList);
-    UARTSend(PC_UART, ptrTaskList);
 
-    UARTprintf("\r\n");
+    UARTSend(PC_UART, ptrTaskList);
+    UARTprintln("\r");
 }
 
 void sciReceiveCallback(sciBASE_t *sci, uint32 flags, uint8 data)

From f5e2fcf69ae555679dd6bc3bfc1810d427b1efae Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Wed, 22 Feb 2023 15:50:38 -0800
Subject: [PATCH 38/58] rename throttle agent to pedal readings

---
 VCU/Debug/Phantom/tasks/source/subdir_vars.mk | 12 +++++-----
 VCU/Debug/ccsObjs.opt                         |  2 +-
 VCU/Debug/makefile                            |  6 ++---
 .../Drivers/STATE_MACHINE/state_machine.c     |  2 +-
 VCU/Phantom/data_structures/vcu_common.h      |  2 +-
 VCU/Phantom/main.c                            |  8 +++----
 .../tasks/headers/task_pedal_readings.h       | 20 +++++++++++++++++
 .../tasks/headers/task_throttle_agent.h       | 20 -----------------
 ...throttle_agent.c => task_pedal_readings.c} | 22 +++++++++----------
 .../tasks/source/task_throttle_actor.c        |  4 ++--
 VCU/Phantom/tasks/task_config.h               |  2 +-
 11 files changed, 50 insertions(+), 50 deletions(-)
 create mode 100644 VCU/Phantom/tasks/headers/task_pedal_readings.h
 delete mode 100644 VCU/Phantom/tasks/headers/task_throttle_agent.h
 rename VCU/Phantom/tasks/source/{task_throttle_agent.c => task_pedal_readings.c} (89%)

diff --git a/VCU/Debug/Phantom/tasks/source/subdir_vars.mk b/VCU/Debug/Phantom/tasks/source/subdir_vars.mk
index b66cfe6e..1da18bf0 100644
--- a/VCU/Debug/Phantom/tasks/source/subdir_vars.mk
+++ b/VCU/Debug/Phantom/tasks/source/subdir_vars.mk
@@ -12,7 +12,7 @@ C_SRCS += \
 ../Phantom/tasks/source/task_statemachine.c \
 ../Phantom/tasks/source/task_test.c \
 ../Phantom/tasks/source/task_throttle_actor.c \
-../Phantom/tasks/source/task_throttle_agent.c \
+../Phantom/tasks/source/task_pedal_readings.c \
 ../Phantom/tasks/source/task_watchdog.c 
 
 C_DEPS += \
@@ -22,7 +22,7 @@ C_DEPS += \
 ./Phantom/tasks/source/task_statemachine.d \
 ./Phantom/tasks/source/task_test.d \
 ./Phantom/tasks/source/task_throttle_actor.d \
-./Phantom/tasks/source/task_throttle_agent.d \
+./Phantom/tasks/source/task_pedal_readings.d \
 ./Phantom/tasks/source/task_watchdog.d 
 
 OBJS += \
@@ -32,7 +32,7 @@ OBJS += \
 ./Phantom/tasks/source/task_statemachine.obj \
 ./Phantom/tasks/source/task_test.obj \
 ./Phantom/tasks/source/task_throttle_actor.obj \
-./Phantom/tasks/source/task_throttle_agent.obj \
+./Phantom/tasks/source/task_pedal_readings.obj \
 ./Phantom/tasks/source/task_watchdog.obj 
 
 OBJS__QUOTED += \
@@ -42,7 +42,7 @@ OBJS__QUOTED += \
 "Phantom\tasks\source\task_statemachine.obj" \
 "Phantom\tasks\source\task_test.obj" \
 "Phantom\tasks\source\task_throttle_actor.obj" \
-"Phantom\tasks\source\task_throttle_agent.obj" \
+"Phantom\tasks\source\task_pedal_readings.obj" \
 "Phantom\tasks\source\task_watchdog.obj" 
 
 C_DEPS__QUOTED += \
@@ -52,7 +52,7 @@ C_DEPS__QUOTED += \
 "Phantom\tasks\source\task_statemachine.d" \
 "Phantom\tasks\source\task_test.d" \
 "Phantom\tasks\source\task_throttle_actor.d" \
-"Phantom\tasks\source\task_throttle_agent.d" \
+"Phantom\tasks\source\task_pedal_readings.d" \
 "Phantom\tasks\source\task_watchdog.d" 
 
 C_SRCS__QUOTED += \
@@ -62,7 +62,7 @@ C_SRCS__QUOTED += \
 "../Phantom/tasks/source/task_statemachine.c" \
 "../Phantom/tasks/source/task_test.c" \
 "../Phantom/tasks/source/task_throttle_actor.c" \
-"../Phantom/tasks/source/task_throttle_agent.c" \
+"../Phantom/tasks/source/task_pedal_readings.c" \
 "../Phantom/tasks/source/task_watchdog.c" 
 
 
diff --git a/VCU/Debug/ccsObjs.opt b/VCU/Debug/ccsObjs.opt
index f2e3c03d..6b75a253 100644
--- a/VCU/Debug/ccsObjs.opt
+++ b/VCU/Debug/ccsObjs.opt
@@ -1 +1 @@
-"./Phantom/Drivers/DAC_SPI/MCP48FV_DAC_SPI.obj" "./Phantom/Drivers/EEPROM/eeprom_driver.obj" "./Phantom/Drivers/RGB_LED/RGB_LED.obj" "./Phantom/Drivers/RTD_Buzzer/RTD_Buzzer.obj" "./Phantom/Drivers/RTOS/phantom_queue.obj" "./Phantom/Drivers/RTOS/phantom_task.obj" "./Phantom/Drivers/RTOS/phantom_timer.obj" "./Phantom/Drivers/UART/Phantom_sci.obj" "./Phantom/data_structures/vcu_data.obj" "./Phantom/main.obj" "./Phantom/tasks/source/task_eeprom.obj" "./Phantom/tasks/source/task_interrupt.obj" "./Phantom/tasks/source/task_receive.obj" "./Phantom/tasks/source/task_statemachine.obj" "./Phantom/tasks/source/task_test.obj" "./Phantom/tasks/source/task_throttle_actor.obj" "./Phantom/tasks/source/task_throttle_agent.obj" "./Phantom/tasks/source/task_watchdog.obj" "./Phantom/test_eeprom/testEeprom.obj" "./halcogen_launchpad/source/Device_TMS570LS12.obj" "./halcogen_launchpad/source/Fapi_UserDefinedFunctions.obj" "./halcogen_launchpad/source/adc.obj" "./halcogen_launchpad/source/dabort.obj" "./halcogen_launchpad/source/errata_SSWF021_45.obj" "./halcogen_launchpad/source/esm.obj" "./halcogen_launchpad/source/gio.obj" "./halcogen_launchpad/source/het.obj" "./halcogen_launchpad/source/i2c.obj" "./halcogen_launchpad/source/mibspi.obj" "./halcogen_launchpad/source/notification.obj" "./halcogen_launchpad/source/os_croutine.obj" "./halcogen_launchpad/source/os_event_groups.obj" "./halcogen_launchpad/source/os_heap.obj" "./halcogen_launchpad/source/os_list.obj" "./halcogen_launchpad/source/os_mpu_wrappers.obj" "./halcogen_launchpad/source/os_port.obj" "./halcogen_launchpad/source/os_portasm.obj" "./halcogen_launchpad/source/os_queue.obj" "./halcogen_launchpad/source/os_tasks.obj" "./halcogen_launchpad/source/os_timer.obj" "./halcogen_launchpad/source/pinmux.obj" "./halcogen_launchpad/source/rti.obj" "./halcogen_launchpad/source/sci.obj" "./halcogen_launchpad/source/svc.obj" "./halcogen_launchpad/source/sys_core.obj" "./halcogen_launchpad/source/sys_dma.obj" "./halcogen_launchpad/source/sys_intvecs.obj" "./halcogen_launchpad/source/sys_main.obj" "./halcogen_launchpad/source/sys_mpu.obj" "./halcogen_launchpad/source/sys_pcr.obj" "./halcogen_launchpad/source/sys_phantom.obj" "./halcogen_launchpad/source/sys_pmm.obj" "./halcogen_launchpad/source/sys_pmu.obj" "./halcogen_launchpad/source/sys_selftest.obj" "./halcogen_launchpad/source/sys_startup.obj" "./halcogen_launchpad/source/sys_vim.obj" "./halcogen_launchpad/source/system.obj" "./halcogen_launchpad/source/ti_fee_Info.obj" "./halcogen_launchpad/source/ti_fee_cancel.obj" "./halcogen_launchpad/source/ti_fee_cfg.obj" "./halcogen_launchpad/source/ti_fee_eraseimmediateblock.obj" "./halcogen_launchpad/source/ti_fee_format.obj" "./halcogen_launchpad/source/ti_fee_ini.obj" "./halcogen_launchpad/source/ti_fee_invalidateblock.obj" "./halcogen_launchpad/source/ti_fee_main.obj" "./halcogen_launchpad/source/ti_fee_read.obj" "./halcogen_launchpad/source/ti_fee_readSync.obj" "./halcogen_launchpad/source/ti_fee_shutdown.obj" "./halcogen_launchpad/source/ti_fee_util.obj" "./halcogen_launchpad/source/ti_fee_writeAsync.obj" "./halcogen_launchpad/source/ti_fee_writeSync.obj" "./halcogen_vcu/source/Device_TMS570LS12.obj" "./halcogen_vcu/source/Fapi_UserDefinedFunctions.obj" "./halcogen_vcu/source/adc.obj" "./halcogen_vcu/source/dabort.obj" "./halcogen_vcu/source/errata_SSWF021_45.obj" "./halcogen_vcu/source/esm.obj" "./halcogen_vcu/source/gio.obj" "./halcogen_vcu/source/het.obj" "./halcogen_vcu/source/i2c.obj" "./halcogen_vcu/source/mibspi.obj" "./halcogen_vcu/source/notification.obj" "./halcogen_vcu/source/os_croutine.obj" "./halcogen_vcu/source/os_event_groups.obj" "./halcogen_vcu/source/os_heap.obj" "./halcogen_vcu/source/os_list.obj" "./halcogen_vcu/source/os_mpu_wrappers.obj" "./halcogen_vcu/source/os_port.obj" "./halcogen_vcu/source/os_portasm.obj" "./halcogen_vcu/source/os_queue.obj" "./halcogen_vcu/source/os_tasks.obj" "./halcogen_vcu/source/os_timer.obj" "./halcogen_vcu/source/pinmux.obj" "./halcogen_vcu/source/rti.obj" "./halcogen_vcu/source/sci.obj" "./halcogen_vcu/source/sys_core.obj" "./halcogen_vcu/source/sys_dma.obj" "./halcogen_vcu/source/sys_intvecs.obj" "./halcogen_vcu/source/sys_mpu.obj" "./halcogen_vcu/source/sys_pcr.obj" "./halcogen_vcu/source/sys_phantom.obj" "./halcogen_vcu/source/sys_pmm.obj" "./halcogen_vcu/source/sys_pmu.obj" "./halcogen_vcu/source/sys_selftest.obj" "./halcogen_vcu/source/sys_startup.obj" "./halcogen_vcu/source/sys_vim.obj" "./halcogen_vcu/source/system.obj" "./halcogen_vcu/source/ti_fee_Info.obj" "./halcogen_vcu/source/ti_fee_cancel.obj" "./halcogen_vcu/source/ti_fee_cfg.obj" "./halcogen_vcu/source/ti_fee_eraseimmediateblock.obj" "./halcogen_vcu/source/ti_fee_format.obj" "./halcogen_vcu/source/ti_fee_ini.obj" "./halcogen_vcu/source/ti_fee_invalidateblock.obj" "./halcogen_vcu/source/ti_fee_main.obj" "./halcogen_vcu/source/ti_fee_read.obj" "./halcogen_vcu/source/ti_fee_readSync.obj" "./halcogen_vcu/source/ti_fee_shutdown.obj" "./halcogen_vcu/source/ti_fee_util.obj" "./halcogen_vcu/source/ti_fee_writeAsync.obj" "./halcogen_vcu/source/ti_fee_writeSync.obj" "../halcogen_launchpad/source/sys_link.cmd" "../halcogen_vcu/source/sys_linker_freeRTOS.cmd" -llibc.a 
\ No newline at end of file
+"./Phantom/Drivers/DAC_SPI/MCP48FV_DAC_SPI.obj" "./Phantom/Drivers/EEPROM/eeprom_driver.obj" "./Phantom/Drivers/RGB_LED/RGB_LED.obj" "./Phantom/Drivers/RTD_Buzzer/RTD_Buzzer.obj" "./Phantom/Drivers/RTOS/phantom_queue.obj" "./Phantom/Drivers/RTOS/phantom_task.obj" "./Phantom/Drivers/RTOS/phantom_timer.obj" "./Phantom/Drivers/UART/Phantom_sci.obj" "./Phantom/data_structures/vcu_data.obj" "./Phantom/main.obj" "./Phantom/tasks/source/task_eeprom.obj" "./Phantom/tasks/source/task_interrupt.obj" "./Phantom/tasks/source/task_receive.obj" "./Phantom/tasks/source/task_statemachine.obj" "./Phantom/tasks/source/task_test.obj" "./Phantom/tasks/source/task_throttle_actor.obj" "./Phantom/tasks/source/task_pedal_readings.obj" "./Phantom/tasks/source/task_watchdog.obj" "./Phantom/test_eeprom/testEeprom.obj" "./halcogen_launchpad/source/Device_TMS570LS12.obj" "./halcogen_launchpad/source/Fapi_UserDefinedFunctions.obj" "./halcogen_launchpad/source/adc.obj" "./halcogen_launchpad/source/dabort.obj" "./halcogen_launchpad/source/errata_SSWF021_45.obj" "./halcogen_launchpad/source/esm.obj" "./halcogen_launchpad/source/gio.obj" "./halcogen_launchpad/source/het.obj" "./halcogen_launchpad/source/i2c.obj" "./halcogen_launchpad/source/mibspi.obj" "./halcogen_launchpad/source/notification.obj" "./halcogen_launchpad/source/os_croutine.obj" "./halcogen_launchpad/source/os_event_groups.obj" "./halcogen_launchpad/source/os_heap.obj" "./halcogen_launchpad/source/os_list.obj" "./halcogen_launchpad/source/os_mpu_wrappers.obj" "./halcogen_launchpad/source/os_port.obj" "./halcogen_launchpad/source/os_portasm.obj" "./halcogen_launchpad/source/os_queue.obj" "./halcogen_launchpad/source/os_tasks.obj" "./halcogen_launchpad/source/os_timer.obj" "./halcogen_launchpad/source/pinmux.obj" "./halcogen_launchpad/source/rti.obj" "./halcogen_launchpad/source/sci.obj" "./halcogen_launchpad/source/svc.obj" "./halcogen_launchpad/source/sys_core.obj" "./halcogen_launchpad/source/sys_dma.obj" "./halcogen_launchpad/source/sys_intvecs.obj" "./halcogen_launchpad/source/sys_main.obj" "./halcogen_launchpad/source/sys_mpu.obj" "./halcogen_launchpad/source/sys_pcr.obj" "./halcogen_launchpad/source/sys_phantom.obj" "./halcogen_launchpad/source/sys_pmm.obj" "./halcogen_launchpad/source/sys_pmu.obj" "./halcogen_launchpad/source/sys_selftest.obj" "./halcogen_launchpad/source/sys_startup.obj" "./halcogen_launchpad/source/sys_vim.obj" "./halcogen_launchpad/source/system.obj" "./halcogen_launchpad/source/ti_fee_Info.obj" "./halcogen_launchpad/source/ti_fee_cancel.obj" "./halcogen_launchpad/source/ti_fee_cfg.obj" "./halcogen_launchpad/source/ti_fee_eraseimmediateblock.obj" "./halcogen_launchpad/source/ti_fee_format.obj" "./halcogen_launchpad/source/ti_fee_ini.obj" "./halcogen_launchpad/source/ti_fee_invalidateblock.obj" "./halcogen_launchpad/source/ti_fee_main.obj" "./halcogen_launchpad/source/ti_fee_read.obj" "./halcogen_launchpad/source/ti_fee_readSync.obj" "./halcogen_launchpad/source/ti_fee_shutdown.obj" "./halcogen_launchpad/source/ti_fee_util.obj" "./halcogen_launchpad/source/ti_fee_writeAsync.obj" "./halcogen_launchpad/source/ti_fee_writeSync.obj" "./halcogen_vcu/source/Device_TMS570LS12.obj" "./halcogen_vcu/source/Fapi_UserDefinedFunctions.obj" "./halcogen_vcu/source/adc.obj" "./halcogen_vcu/source/dabort.obj" "./halcogen_vcu/source/errata_SSWF021_45.obj" "./halcogen_vcu/source/esm.obj" "./halcogen_vcu/source/gio.obj" "./halcogen_vcu/source/het.obj" "./halcogen_vcu/source/i2c.obj" "./halcogen_vcu/source/mibspi.obj" "./halcogen_vcu/source/notification.obj" "./halcogen_vcu/source/os_croutine.obj" "./halcogen_vcu/source/os_event_groups.obj" "./halcogen_vcu/source/os_heap.obj" "./halcogen_vcu/source/os_list.obj" "./halcogen_vcu/source/os_mpu_wrappers.obj" "./halcogen_vcu/source/os_port.obj" "./halcogen_vcu/source/os_portasm.obj" "./halcogen_vcu/source/os_queue.obj" "./halcogen_vcu/source/os_tasks.obj" "./halcogen_vcu/source/os_timer.obj" "./halcogen_vcu/source/pinmux.obj" "./halcogen_vcu/source/rti.obj" "./halcogen_vcu/source/sci.obj" "./halcogen_vcu/source/sys_core.obj" "./halcogen_vcu/source/sys_dma.obj" "./halcogen_vcu/source/sys_intvecs.obj" "./halcogen_vcu/source/sys_mpu.obj" "./halcogen_vcu/source/sys_pcr.obj" "./halcogen_vcu/source/sys_phantom.obj" "./halcogen_vcu/source/sys_pmm.obj" "./halcogen_vcu/source/sys_pmu.obj" "./halcogen_vcu/source/sys_selftest.obj" "./halcogen_vcu/source/sys_startup.obj" "./halcogen_vcu/source/sys_vim.obj" "./halcogen_vcu/source/system.obj" "./halcogen_vcu/source/ti_fee_Info.obj" "./halcogen_vcu/source/ti_fee_cancel.obj" "./halcogen_vcu/source/ti_fee_cfg.obj" "./halcogen_vcu/source/ti_fee_eraseimmediateblock.obj" "./halcogen_vcu/source/ti_fee_format.obj" "./halcogen_vcu/source/ti_fee_ini.obj" "./halcogen_vcu/source/ti_fee_invalidateblock.obj" "./halcogen_vcu/source/ti_fee_main.obj" "./halcogen_vcu/source/ti_fee_read.obj" "./halcogen_vcu/source/ti_fee_readSync.obj" "./halcogen_vcu/source/ti_fee_shutdown.obj" "./halcogen_vcu/source/ti_fee_util.obj" "./halcogen_vcu/source/ti_fee_writeAsync.obj" "./halcogen_vcu/source/ti_fee_writeSync.obj" "../halcogen_launchpad/source/sys_link.cmd" "../halcogen_vcu/source/sys_linker_freeRTOS.cmd" -llibc.a 
\ No newline at end of file
diff --git a/VCU/Debug/makefile b/VCU/Debug/makefile
index 89b6d6bf..66e41032 100644
--- a/VCU/Debug/makefile
+++ b/VCU/Debug/makefile
@@ -26,7 +26,7 @@ ORDERED_OBJS += \
 "./Phantom/tasks/source/task_statemachine.obj" \
 "./Phantom/tasks/source/task_test.obj" \
 "./Phantom/tasks/source/task_throttle_actor.obj" \
-"./Phantom/tasks/source/task_throttle_agent.obj" \
+"./Phantom/tasks/source/task_pedal_readings.obj" \
 "./Phantom/tasks/source/task_watchdog.obj" \
 "./Phantom/test_eeprom/testEeprom.obj" \
 "./halcogen_launchpad/source/Device_TMS570LS12.obj" \
@@ -298,12 +298,12 @@ VCU.hex: $(EXE_OUTPUTS)
 # Other Targets
 clean:
 	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
-	-$(RM) "Phantom\Drivers\DAC_SPI\MCP48FV_DAC_SPI.obj" "Phantom\Drivers\EEPROM\eeprom_driver.obj" "Phantom\Drivers\RGB_LED\RGB_LED.obj" "Phantom\Drivers\RTD_Buzzer\RTD_Buzzer.obj" "Phantom\Drivers\RTOS\phantom_queue.obj" "Phantom\Drivers\RTOS\phantom_task.obj" "Phantom\Drivers\RTOS\phantom_timer.obj" "Phantom\Drivers\UART\Phantom_sci.obj" "Phantom\data_structures\vcu_data.obj" "Phantom\main.obj" "Phantom\tasks\source\task_eeprom.obj" "Phantom\tasks\source\task_interrupt.obj" "Phantom\tasks\source\task_receive.obj" "Phantom\tasks\source\task_statemachine.obj" "Phantom\tasks\source\task_test.obj" "Phantom\tasks\source\task_throttle_actor.obj" "Phantom\tasks\source\task_throttle_agent.obj" "Phantom\tasks\source\task_watchdog.obj" "Phantom\test_eeprom\testEeprom.obj" "halcogen_launchpad\source\Device_TMS570LS12.obj" "halcogen_launchpad\source\Fapi_UserDefinedFunctions.obj" "halcogen_launchpad\source\adc.obj" "halcogen_launchpad\source\dabort.obj" "halcogen_launchpad\source\errata_SSWF021_45.obj" "halcogen_launchpad\source\esm.obj" 
+	-$(RM) "Phantom\Drivers\DAC_SPI\MCP48FV_DAC_SPI.obj" "Phantom\Drivers\EEPROM\eeprom_driver.obj" "Phantom\Drivers\RGB_LED\RGB_LED.obj" "Phantom\Drivers\RTD_Buzzer\RTD_Buzzer.obj" "Phantom\Drivers\RTOS\phantom_queue.obj" "Phantom\Drivers\RTOS\phantom_task.obj" "Phantom\Drivers\RTOS\phantom_timer.obj" "Phantom\Drivers\UART\Phantom_sci.obj" "Phantom\data_structures\vcu_data.obj" "Phantom\main.obj" "Phantom\tasks\source\task_eeprom.obj" "Phantom\tasks\source\task_interrupt.obj" "Phantom\tasks\source\task_receive.obj" "Phantom\tasks\source\task_statemachine.obj" "Phantom\tasks\source\task_test.obj" "Phantom\tasks\source\task_throttle_actor.obj" "Phantom\tasks\source\task_pedal_readings.obj" "Phantom\tasks\source\task_watchdog.obj" "Phantom\test_eeprom\testEeprom.obj" "halcogen_launchpad\source\Device_TMS570LS12.obj" "halcogen_launchpad\source\Fapi_UserDefinedFunctions.obj" "halcogen_launchpad\source\adc.obj" "halcogen_launchpad\source\dabort.obj" "halcogen_launchpad\source\errata_SSWF021_45.obj" "halcogen_launchpad\source\esm.obj" 
 	-$(RM) "halcogen_launchpad\source\gio.obj" "halcogen_launchpad\source\het.obj" "halcogen_launchpad\source\i2c.obj" "halcogen_launchpad\source\mibspi.obj" "halcogen_launchpad\source\notification.obj" "halcogen_launchpad\source\os_croutine.obj" "halcogen_launchpad\source\os_event_groups.obj" "halcogen_launchpad\source\os_heap.obj" "halcogen_launchpad\source\os_list.obj" "halcogen_launchpad\source\os_mpu_wrappers.obj" "halcogen_launchpad\source\os_port.obj" "halcogen_launchpad\source\os_portasm.obj" "halcogen_launchpad\source\os_queue.obj" "halcogen_launchpad\source\os_tasks.obj" "halcogen_launchpad\source\os_timer.obj" "halcogen_launchpad\source\pinmux.obj" "halcogen_launchpad\source\rti.obj" "halcogen_launchpad\source\sci.obj" "halcogen_launchpad\source\svc.obj" "halcogen_launchpad\source\sys_core.obj" "halcogen_launchpad\source\sys_dma.obj" "halcogen_launchpad\source\sys_intvecs.obj" "halcogen_launchpad\source\sys_main.obj" "halcogen_launchpad\source\sys_mpu.obj" "halcogen_launchpad\source\sys_pcr.obj" 
 	-$(RM) "halcogen_launchpad\source\sys_phantom.obj" "halcogen_launchpad\source\sys_pmm.obj" "halcogen_launchpad\source\sys_pmu.obj" "halcogen_launchpad\source\sys_selftest.obj" "halcogen_launchpad\source\sys_startup.obj" "halcogen_launchpad\source\sys_vim.obj" "halcogen_launchpad\source\system.obj" "halcogen_launchpad\source\ti_fee_Info.obj" "halcogen_launchpad\source\ti_fee_cancel.obj" "halcogen_launchpad\source\ti_fee_cfg.obj" "halcogen_launchpad\source\ti_fee_eraseimmediateblock.obj" "halcogen_launchpad\source\ti_fee_format.obj" "halcogen_launchpad\source\ti_fee_ini.obj" "halcogen_launchpad\source\ti_fee_invalidateblock.obj" "halcogen_launchpad\source\ti_fee_main.obj" "halcogen_launchpad\source\ti_fee_read.obj" "halcogen_launchpad\source\ti_fee_readSync.obj" "halcogen_launchpad\source\ti_fee_shutdown.obj" "halcogen_launchpad\source\ti_fee_util.obj" "halcogen_launchpad\source\ti_fee_writeAsync.obj" "halcogen_launchpad\source\ti_fee_writeSync.obj" "halcogen_vcu\source\Device_TMS570LS12.obj" "halcogen_vcu\source\Fapi_UserDefinedFunctions.obj" 
 	-$(RM) "halcogen_vcu\source\adc.obj" "halcogen_vcu\source\dabort.obj" "halcogen_vcu\source\errata_SSWF021_45.obj" "halcogen_vcu\source\esm.obj" "halcogen_vcu\source\gio.obj" "halcogen_vcu\source\het.obj" "halcogen_vcu\source\i2c.obj" "halcogen_vcu\source\mibspi.obj" "halcogen_vcu\source\notification.obj" "halcogen_vcu\source\os_croutine.obj" "halcogen_vcu\source\os_event_groups.obj" "halcogen_vcu\source\os_heap.obj" "halcogen_vcu\source\os_list.obj" "halcogen_vcu\source\os_mpu_wrappers.obj" "halcogen_vcu\source\os_port.obj" "halcogen_vcu\source\os_portasm.obj" "halcogen_vcu\source\os_queue.obj" "halcogen_vcu\source\os_tasks.obj" "halcogen_vcu\source\os_timer.obj" "halcogen_vcu\source\pinmux.obj" "halcogen_vcu\source\rti.obj" "halcogen_vcu\source\sci.obj" "halcogen_vcu\source\sys_core.obj" "halcogen_vcu\source\sys_dma.obj" "halcogen_vcu\source\sys_intvecs.obj" "halcogen_vcu\source\sys_mpu.obj" "halcogen_vcu\source\sys_pcr.obj" "halcogen_vcu\source\sys_phantom.obj" "halcogen_vcu\source\sys_pmm.obj" 
 	-$(RM) "halcogen_vcu\source\sys_pmu.obj" "halcogen_vcu\source\sys_selftest.obj" "halcogen_vcu\source\sys_startup.obj" "halcogen_vcu\source\sys_vim.obj" "halcogen_vcu\source\system.obj" "halcogen_vcu\source\ti_fee_Info.obj" "halcogen_vcu\source\ti_fee_cancel.obj" "halcogen_vcu\source\ti_fee_cfg.obj" "halcogen_vcu\source\ti_fee_eraseimmediateblock.obj" "halcogen_vcu\source\ti_fee_format.obj" "halcogen_vcu\source\ti_fee_ini.obj" "halcogen_vcu\source\ti_fee_invalidateblock.obj" "halcogen_vcu\source\ti_fee_main.obj" "halcogen_vcu\source\ti_fee_read.obj" "halcogen_vcu\source\ti_fee_readSync.obj" "halcogen_vcu\source\ti_fee_shutdown.obj" "halcogen_vcu\source\ti_fee_util.obj" "halcogen_vcu\source\ti_fee_writeAsync.obj" "halcogen_vcu\source\ti_fee_writeSync.obj" 
-	-$(RM) "Phantom\Drivers\DAC_SPI\MCP48FV_DAC_SPI.d" "Phantom\Drivers\EEPROM\eeprom_driver.d" "Phantom\Drivers\RGB_LED\RGB_LED.d" "Phantom\Drivers\RTD_Buzzer\RTD_Buzzer.d" "Phantom\Drivers\RTOS\phantom_queue.d" "Phantom\Drivers\RTOS\phantom_task.d" "Phantom\Drivers\RTOS\phantom_timer.d" "Phantom\Drivers\UART\Phantom_sci.d" "Phantom\data_structures\vcu_data.d" "Phantom\main.d" "Phantom\tasks\source\task_eeprom.d" "Phantom\tasks\source\task_interrupt.d" "Phantom\tasks\source\task_receive.d" "Phantom\tasks\source\task_statemachine.d" "Phantom\tasks\source\task_test.d" "Phantom\tasks\source\task_throttle_actor.d" "Phantom\tasks\source\task_throttle_agent.d" "Phantom\tasks\source\task_watchdog.d" "Phantom\test_eeprom\testEeprom.d" "halcogen_launchpad\source\Device_TMS570LS12.d" "halcogen_launchpad\source\Fapi_UserDefinedFunctions.d" "halcogen_launchpad\source\adc.d" "halcogen_launchpad\source\errata_SSWF021_45.d" "halcogen_launchpad\source\esm.d" "halcogen_launchpad\source\gio.d" "halcogen_launchpad\source\het.d" 
+	-$(RM) "Phantom\Drivers\DAC_SPI\MCP48FV_DAC_SPI.d" "Phantom\Drivers\EEPROM\eeprom_driver.d" "Phantom\Drivers\RGB_LED\RGB_LED.d" "Phantom\Drivers\RTD_Buzzer\RTD_Buzzer.d" "Phantom\Drivers\RTOS\phantom_queue.d" "Phantom\Drivers\RTOS\phantom_task.d" "Phantom\Drivers\RTOS\phantom_timer.d" "Phantom\Drivers\UART\Phantom_sci.d" "Phantom\data_structures\vcu_data.d" "Phantom\main.d" "Phantom\tasks\source\task_eeprom.d" "Phantom\tasks\source\task_interrupt.d" "Phantom\tasks\source\task_receive.d" "Phantom\tasks\source\task_statemachine.d" "Phantom\tasks\source\task_test.d" "Phantom\tasks\source\task_throttle_actor.d" "Phantom\tasks\source\task_pedal_readings.d" "Phantom\tasks\source\task_watchdog.d" "Phantom\test_eeprom\testEeprom.d" "halcogen_launchpad\source\Device_TMS570LS12.d" "halcogen_launchpad\source\Fapi_UserDefinedFunctions.d" "halcogen_launchpad\source\adc.d" "halcogen_launchpad\source\errata_SSWF021_45.d" "halcogen_launchpad\source\esm.d" "halcogen_launchpad\source\gio.d" "halcogen_launchpad\source\het.d" 
 	-$(RM) "halcogen_launchpad\source\i2c.d" "halcogen_launchpad\source\mibspi.d" "halcogen_launchpad\source\notification.d" "halcogen_launchpad\source\os_croutine.d" "halcogen_launchpad\source\os_event_groups.d" "halcogen_launchpad\source\os_heap.d" "halcogen_launchpad\source\os_list.d" "halcogen_launchpad\source\os_mpu_wrappers.d" "halcogen_launchpad\source\os_port.d" "halcogen_launchpad\source\os_queue.d" "halcogen_launchpad\source\os_tasks.d" "halcogen_launchpad\source\os_timer.d" "halcogen_launchpad\source\pinmux.d" "halcogen_launchpad\source\rti.d" "halcogen_launchpad\source\sci.d" "halcogen_launchpad\source\sys_dma.d" "halcogen_launchpad\source\sys_main.d" "halcogen_launchpad\source\sys_pcr.d" "halcogen_launchpad\source\sys_phantom.d" "halcogen_launchpad\source\sys_pmm.d" "halcogen_launchpad\source\sys_selftest.d" "halcogen_launchpad\source\sys_startup.d" "halcogen_launchpad\source\sys_vim.d" "halcogen_launchpad\source\system.d" "halcogen_launchpad\source\ti_fee_Info.d" "halcogen_launchpad\source\ti_fee_cancel.d" 
 	-$(RM) "halcogen_launchpad\source\ti_fee_cfg.d" "halcogen_launchpad\source\ti_fee_eraseimmediateblock.d" "halcogen_launchpad\source\ti_fee_format.d" "halcogen_launchpad\source\ti_fee_ini.d" "halcogen_launchpad\source\ti_fee_invalidateblock.d" "halcogen_launchpad\source\ti_fee_main.d" "halcogen_launchpad\source\ti_fee_read.d" "halcogen_launchpad\source\ti_fee_readSync.d" "halcogen_launchpad\source\ti_fee_shutdown.d" "halcogen_launchpad\source\ti_fee_util.d" "halcogen_launchpad\source\ti_fee_writeAsync.d" "halcogen_launchpad\source\ti_fee_writeSync.d" "halcogen_vcu\source\Device_TMS570LS12.d" "halcogen_vcu\source\Fapi_UserDefinedFunctions.d" "halcogen_vcu\source\adc.d" "halcogen_vcu\source\errata_SSWF021_45.d" "halcogen_vcu\source\esm.d" "halcogen_vcu\source\gio.d" "halcogen_vcu\source\het.d" "halcogen_vcu\source\i2c.d" "halcogen_vcu\source\mibspi.d" "halcogen_vcu\source\notification.d" "halcogen_vcu\source\os_croutine.d" "halcogen_vcu\source\os_event_groups.d" "halcogen_vcu\source\os_heap.d" "halcogen_vcu\source\os_list.d" 
 	-$(RM) "halcogen_vcu\source\os_mpu_wrappers.d" "halcogen_vcu\source\os_port.d" "halcogen_vcu\source\os_queue.d" "halcogen_vcu\source\os_tasks.d" "halcogen_vcu\source\os_timer.d" "halcogen_vcu\source\pinmux.d" "halcogen_vcu\source\rti.d" "halcogen_vcu\source\sci.d" "halcogen_vcu\source\sys_dma.d" "halcogen_vcu\source\sys_pcr.d" "halcogen_vcu\source\sys_phantom.d" "halcogen_vcu\source\sys_pmm.d" "halcogen_vcu\source\sys_selftest.d" "halcogen_vcu\source\sys_startup.d" "halcogen_vcu\source\sys_vim.d" "halcogen_vcu\source\system.d" "halcogen_vcu\source\ti_fee_Info.d" "halcogen_vcu\source\ti_fee_cancel.d" "halcogen_vcu\source\ti_fee_cfg.d" "halcogen_vcu\source\ti_fee_eraseimmediateblock.d" "halcogen_vcu\source\ti_fee_format.d" "halcogen_vcu\source\ti_fee_ini.d" "halcogen_vcu\source\ti_fee_invalidateblock.d" "halcogen_vcu\source\ti_fee_main.d" "halcogen_vcu\source\ti_fee_read.d" "halcogen_vcu\source\ti_fee_readSync.d" "halcogen_vcu\source\ti_fee_shutdown.d" "halcogen_vcu\source\ti_fee_util.d" "halcogen_vcu\source\ti_fee_writeAsync.d" 
diff --git a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
index f7e62549..e26273db 100644
--- a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
+++ b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
@@ -27,7 +27,7 @@ static SystemTasks_t system_tasks;
 
 void StateMachineInit(SystemTasks_t tasks)
 {
-	system_tasks.throttleAgent = tasks.throttleAgent;
+	system_tasks.PedalReadings = tasks.PedalReadings;
 	system_tasks.throttleActor = tasks.throttleActor;
 	system_tasks.EventHandler = tasks.EventHandler;
 	system_tasks.Logger = tasks.Logger;
diff --git a/VCU/Phantom/data_structures/vcu_common.h b/VCU/Phantom/data_structures/vcu_common.h
index 0d2bbfb5..e6c56381 100644
--- a/VCU/Phantom/data_structures/vcu_common.h
+++ b/VCU/Phantom/data_structures/vcu_common.h
@@ -14,7 +14,7 @@ bool any(uint8_t num, ...);
 bool all(uint8_t num, ...);
 
 typedef struct SystemTasks_t{
-	TaskHandle_t throttleAgent;
+	TaskHandle_t PedalReadings;
 	TaskHandle_t throttleActor;
 	TaskHandle_t Logger;
 	TaskHandle_t EventHandler;
diff --git a/VCU/Phantom/main.c b/VCU/Phantom/main.c
index 0096e896..83cde1d1 100644
--- a/VCU/Phantom/main.c
+++ b/VCU/Phantom/main.c
@@ -27,7 +27,7 @@
 
 
 #include "task_throttle_actor.h"
-#include "task_throttle_agent.h"
+#include "task_pedal_readings.h"
 #include "task_event_handler.h"
 #include "task_logger.h"
 
@@ -71,12 +71,12 @@ void phantomTasksInit()
         .EventHandler=EventHandlerInit(),
         .Logger=LoggerInit(),
         .throttleActor=ThrottleInit(),
-        .throttleAgent=throttleAgentInit()
+        .PedalReadings=PedalReadingsInit()
     };
 
-    if (!all(4, t.EventHandler, t.Logger, t.throttleActor, t.throttleAgent))
+    if (!all(4, t.EventHandler, t.Logger, t.throttleActor, t.PedalReadings))
     {
-        while(1) UARTprintln("Some tasks not initialized: %d, %d, %d, %d", t.EventHandler, t.Logger, t.throttleActor, t.throttleAgent);
+        while(1) UARTprintln("Some tasks not initialized: %d, %d, %d, %d", t.EventHandler, t.Logger, t.throttleActor, t.PedalReadings);
     }
 
 
diff --git a/VCU/Phantom/tasks/headers/task_pedal_readings.h b/VCU/Phantom/tasks/headers/task_pedal_readings.h
new file mode 100644
index 00000000..eb81bcba
--- /dev/null
+++ b/VCU/Phantom/tasks/headers/task_pedal_readings.h
@@ -0,0 +1,20 @@
+/*
+ * task_throttle_actor.h
+ *
+ *  Created on: July 15, 2022
+ *      Author: josh
+ */
+
+#ifndef PHANTOM_TASKS_task_pedal_readings_H_
+#define PHANTOM_TASKS_task_pedal_readings_H_
+
+#include "vcu_common.h"
+
+
+#define HYSTERESIS      (200U)
+
+TaskHandle_t PedalReadingsInit(void);
+uint8_t ReceivePedalReadings(pedal_reading_t* pdreading, TickType_t wait_time_ms);
+
+
+#endif
diff --git a/VCU/Phantom/tasks/headers/task_throttle_agent.h b/VCU/Phantom/tasks/headers/task_throttle_agent.h
deleted file mode 100644
index cb06eeac..00000000
--- a/VCU/Phantom/tasks/headers/task_throttle_agent.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*
- * task_throttle_actor.h
- *
- *  Created on: July 15, 2022
- *      Author: josh
- */
-
-#ifndef PHANTOM_TASKS_TASK_THROTTLE_AGENT_H_
-#define PHANTOM_TASKS_TASK_THROTTLE_AGENT_H_
-
-#include "vcu_common.h"
-
-
-#define HYSTERESIS      (200U)
-
-TaskHandle_t throttleAgentInit(void);
-uint8_t receivePedalReadings(pedal_reading_t* pdreading, TickType_t wait_time_ms);
-
-
-#endif
diff --git a/VCU/Phantom/tasks/source/task_throttle_agent.c b/VCU/Phantom/tasks/source/task_pedal_readings.c
similarity index 89%
rename from VCU/Phantom/tasks/source/task_throttle_agent.c
rename to VCU/Phantom/tasks/source/task_pedal_readings.c
index d37f3ae1..00b525ee 100644
--- a/VCU/Phantom/tasks/source/task_throttle_agent.c
+++ b/VCU/Phantom/tasks/source/task_pedal_readings.c
@@ -1,11 +1,11 @@
 /*
- *  task_throttle_agent.c
+ *  task_pedal_readings.c
  * 
  *  Created on: July 15, 2022
  *      Author: Joshua Guo
  */
 
-#include "task_throttle_agent.h"
+#include "task_pedal_readings.h"
 #include "task_config.h"
 
 #include "vcu_common.h"
@@ -27,20 +27,20 @@
 
 #define BRAKE_LIGHT BRAKE_LIGHT_PORT, BRAKE_LIGHT_PIN
 
-typedef struct ThrottleAgent_t{
+typedef struct PedalReadings_t{
     PipeTask_t pipeline;
     pedal_reading_t readings;
     pedal_reading_t prevReadings;
-}ThrottleAgent_t;
+}PedalReadings_t;
 
-static ThrottleAgent_t footPedals;
+static PedalReadings_t footPedals;
 
-static void vThrottleAgentTask(void* arg);
+static void vPedalReadingsTask(void* arg);
 
 static pedal_reading_t readPedals();
 
 /* Public API */
-uint8_t receivePedalReadings(pedal_reading_t* pdreading, TickType_t wait_time_ms)
+uint8_t ReceivePedalReadings(pedal_reading_t* pdreading, TickType_t wait_time_ms)
 {
     if (footPedals.pipeline.q)
     {
@@ -54,11 +54,11 @@ uint8_t receivePedalReadings(pedal_reading_t* pdreading, TickType_t wait_time_ms
     }
 }
 
-TaskHandle_t throttleAgentInit(void)
+TaskHandle_t PedalReadingsInit(void)
 {
 	xTaskCreate(
-		vThrottleAgentTask,
-		"ThrottleAgent",
+		vPedalReadingsTask,
+		"PedalReadings",
 		THROTTLE_AGT_STACK_SIZE,
 		NULL,
         1,
@@ -84,7 +84,7 @@ static void SetBrakeLight(uint8_t value)
 }
 
 
-static void vThrottleAgentTask(void* arg)
+static void vPedalReadingsTask(void* arg)
 {
 	Log("Starting thread");
 
diff --git a/VCU/Phantom/tasks/source/task_throttle_actor.c b/VCU/Phantom/tasks/source/task_throttle_actor.c
index 2cfb7d53..c1b217ba 100644
--- a/VCU/Phantom/tasks/source/task_throttle_actor.c
+++ b/VCU/Phantom/tasks/source/task_throttle_actor.c
@@ -21,7 +21,7 @@
 
 #include "task_config.h"
 
-#include "task_throttle_agent.h"    // for access to mailbox
+#include "task_pedal_readings.h"    // for access to mailbox
 #include "task_throttle_actor.h"    // for access to mailbox
 #include "state_machine.h"      // for access to mailbox & queue
 #include "task_logger.h"      
@@ -121,7 +121,7 @@ static void vThrottleActorTask(void* arg)
     { 
         pedal_reading_t pedalReadings;
 
-        if (!receivePedalReadings(&pedalReadings, APPS_SENSOR_TIMEOUT))
+        if (!ReceivePedalReadings(&pedalReadings, APPS_SENSOR_TIMEOUT))
         {
             SuspendThrottle(taskHandle);
 
diff --git a/VCU/Phantom/tasks/task_config.h b/VCU/Phantom/tasks/task_config.h
index 1bb45d99..f1209d0e 100644
--- a/VCU/Phantom/tasks/task_config.h
+++ b/VCU/Phantom/tasks/task_config.h
@@ -23,7 +23,7 @@
 /*********************************************************************************
  *                              TASK PRIORITIES
  *********************************************************************************/
-#define THROTTLE_AGT_PRIORITY           2
+#define PEDAL_READINGS_PRIORITY         2
 #define THROTTLE_ACT_PRIORITY           4
 #define EVENT_HANDLER_PRIORITY          5
 #define LOGGER_PRIORITY                 1

From b533f5616122f2f93d8806481fa67a77ea8736db Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Wed, 22 Feb 2023 15:54:46 -0800
Subject: [PATCH 39/58] rename throttle actor to throttle

---
 VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c    | 12 ++++++------
 VCU/Phantom/data_structures/vcu_common.h             |  2 +-
 VCU/Phantom/main.c                                   |  8 ++++----
 VCU/Phantom/tasks/headers/task_pedal_readings.h      |  2 +-
 .../{task_throttle_actor.h => task_throttle.h}       |  6 +++---
 VCU/Phantom/tasks/source/task_pedal_readings.c       |  2 +-
 .../{task_throttle_actor.c => task_throttle.c}       | 12 ++++++------
 7 files changed, 22 insertions(+), 22 deletions(-)
 rename VCU/Phantom/tasks/headers/{task_throttle_actor.h => task_throttle.h} (55%)
 rename VCU/Phantom/tasks/source/{task_throttle_actor.c => task_throttle.c} (97%)

diff --git a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
index e26273db..dce3fed6 100644
--- a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
+++ b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
@@ -8,7 +8,7 @@
 #include "state_machine.h"
 
 #include "task_event_handler.h"
-#include "task_throttle_actor.h"
+#include "task_throttle.h"
 #include "task_logger.h"
 #include "ansi_colors.h"
 
@@ -28,7 +28,7 @@ static SystemTasks_t system_tasks;
 void StateMachineInit(SystemTasks_t tasks)
 {
 	system_tasks.PedalReadings = tasks.PedalReadings;
-	system_tasks.throttleActor = tasks.throttleActor;
+	system_tasks.Throttle = tasks.Throttle;
 	system_tasks.EventHandler = tasks.EventHandler;
 	system_tasks.Logger = tasks.Logger;
 }
@@ -126,8 +126,8 @@ static State VariousStates(State state, eCarEvents event)
 
 	if (faults)
 	{
-		LogColor(RED, "Suspending throttle actor.");
-		SuspendThrottle(system_tasks.throttleActor);
+		LogColor(RED, "Suspending throttle task.");
+		SuspendThrottle(system_tasks.Throttle);
 		
 		LogColor(RED, "Moving to SevereFault state");
 		return SEVERE_FAULT;
@@ -158,8 +158,8 @@ static State TractiveOn(eCarEvents event)
 	{
 		LogColor(GRN, "Moving from TractiveOn to Running");
 
-		LogColor(GRN, "Resuming throttle actor.");
-		vTaskResume(system_tasks.throttleActor);
+		LogColor(GRN, "Resuming throttle task.");
+		vTaskResume(system_tasks.Throttle);
 
 		return RUNNING;
 	}
diff --git a/VCU/Phantom/data_structures/vcu_common.h b/VCU/Phantom/data_structures/vcu_common.h
index e6c56381..5dd422da 100644
--- a/VCU/Phantom/data_structures/vcu_common.h
+++ b/VCU/Phantom/data_structures/vcu_common.h
@@ -15,7 +15,7 @@ bool all(uint8_t num, ...);
 
 typedef struct SystemTasks_t{
 	TaskHandle_t PedalReadings;
-	TaskHandle_t throttleActor;
+	TaskHandle_t Throttle;
 	TaskHandle_t Logger;
 	TaskHandle_t EventHandler;
 }SystemTasks_t;
diff --git a/VCU/Phantom/main.c b/VCU/Phantom/main.c
index 83cde1d1..fa08c2e3 100644
--- a/VCU/Phantom/main.c
+++ b/VCU/Phantom/main.c
@@ -26,7 +26,7 @@
 #include "execution_timer.h"
 
 
-#include "task_throttle_actor.h"
+#include "task_throttle.h"
 #include "task_pedal_readings.h"
 #include "task_event_handler.h"
 #include "task_logger.h"
@@ -70,13 +70,13 @@ void phantomTasksInit()
     SystemTasks_t t = {
         .EventHandler=EventHandlerInit(),
         .Logger=LoggerInit(),
-        .throttleActor=ThrottleInit(),
+        .Throttle=ThrottleInit(),
         .PedalReadings=PedalReadingsInit()
     };
 
-    if (!all(4, t.EventHandler, t.Logger, t.throttleActor, t.PedalReadings))
+    if (!all(4, t.EventHandler, t.Logger, t.Throttle, t.PedalReadings))
     {
-        while(1) UARTprintln("Some tasks not initialized: %d, %d, %d, %d", t.EventHandler, t.Logger, t.throttleActor, t.PedalReadings);
+        while(1) UARTprintln("Some tasks not initialized: %d, %d, %d, %d", t.EventHandler, t.Logger, t.Throttle, t.PedalReadings);
     }
 
 
diff --git a/VCU/Phantom/tasks/headers/task_pedal_readings.h b/VCU/Phantom/tasks/headers/task_pedal_readings.h
index eb81bcba..119f99a6 100644
--- a/VCU/Phantom/tasks/headers/task_pedal_readings.h
+++ b/VCU/Phantom/tasks/headers/task_pedal_readings.h
@@ -1,5 +1,5 @@
 /*
- * task_throttle_actor.h
+ * task_throttle.h
  *
  *  Created on: July 15, 2022
  *      Author: josh
diff --git a/VCU/Phantom/tasks/headers/task_throttle_actor.h b/VCU/Phantom/tasks/headers/task_throttle.h
similarity index 55%
rename from VCU/Phantom/tasks/headers/task_throttle_actor.h
rename to VCU/Phantom/tasks/headers/task_throttle.h
index 175d38c8..60814321 100644
--- a/VCU/Phantom/tasks/headers/task_throttle_actor.h
+++ b/VCU/Phantom/tasks/headers/task_throttle.h
@@ -1,12 +1,12 @@
 /*
- * task_throttle_actor.h
+ * task_throttle.h
  *
  *  Created on: July 15, 2022
  *      Author: josh
  */
 
-#ifndef PHANTOM_TASKS_TASK_THROTTLE_ACTOR_H_
-#define PHANTOM_TASKS_TASK_THROTTLE_ACTOR_H_
+#ifndef PHANTOM_TASKS_throttle_H_
+#define PHANTOM_TASKS_throttle_H_
 
 TaskHandle_t ThrottleInit(void);
 
diff --git a/VCU/Phantom/tasks/source/task_pedal_readings.c b/VCU/Phantom/tasks/source/task_pedal_readings.c
index 00b525ee..722fa2f3 100644
--- a/VCU/Phantom/tasks/source/task_pedal_readings.c
+++ b/VCU/Phantom/tasks/source/task_pedal_readings.c
@@ -109,7 +109,7 @@ static void vPedalReadingsTask(void* arg)
             SetBrakeLight(brakelight_value);
         }
         
-        // send filtered values to mailbox (task_throttle_actor.c)
+        // send filtered values to mailbox (task_throttle.c)
         xQueueSend(footPedals.pipeline.q, &footPedals.readings, 1);
     }
 }
diff --git a/VCU/Phantom/tasks/source/task_throttle_actor.c b/VCU/Phantom/tasks/source/task_throttle.c
similarity index 97%
rename from VCU/Phantom/tasks/source/task_throttle_actor.c
rename to VCU/Phantom/tasks/source/task_throttle.c
index c1b217ba..b0379fd8 100644
--- a/VCU/Phantom/tasks/source/task_throttle_actor.c
+++ b/VCU/Phantom/tasks/source/task_throttle.c
@@ -1,5 +1,5 @@
 /*
- *  task_throttle.c 
+ *  task_task_throttle.c 
  *  refactored for 2022
  * 
  *  Created on: Sept 18, 2021
@@ -22,7 +22,7 @@
 #include "task_config.h"
 
 #include "task_pedal_readings.h"    // for access to mailbox
-#include "task_throttle_actor.h"    // for access to mailbox
+#include "task_throttle.h"    // for access to mailbox
 #include "state_machine.h"      // for access to mailbox & queue
 #include "task_logger.h"      
 
@@ -53,7 +53,7 @@ static FaultTimers_t faultTimers;
 #define PADDED_APPS2_MIN_VALUE  (APPS2_MIN_VALUE * (1U + PADDING_PERCENT))
 #define PADDED_APPS2_MAX_VALUE  (APPS2_MAX_VALUE * (1U - PADDING_PERCENT))
 
-static void vThrottleActorTask(void* arg);
+static void vThrottleTask(void* arg);
 
 static float calculatePedalPercent(uint32_t pedalValue, float minValue, float maxValue);
 static void UpdatePedalRangeFaultTimer(uint32_t pedalValue, uint32_t minValue, uint32_t maxValue, TimerHandle_t faultTimer);
@@ -94,8 +94,8 @@ static void CheckFaultConditions(const pedal_reading_t* pedalReadings, float app
 TaskHandle_t ThrottleInit(void)
 {
     xTaskCreate(
-		vThrottleActorTask,
-		"ThrottleActor",
+		vThrottleTask,
+		"Throttle",
 		THROTTLE_ACT_STACK_SIZE,
 		0,
         THROTTLE_ACT_PRIORITY,
@@ -113,7 +113,7 @@ TaskHandle_t ThrottleInit(void)
     return taskHandle;
 }
 
-static void vThrottleActorTask(void* arg)
+static void vThrottleTask(void* arg)
 {
     SuspendThrottle(taskHandle);
 

From 65179f3f8367e57a708d9a1033299332d98ae053 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Wed, 22 Feb 2023 16:03:04 -0800
Subject: [PATCH 40/58] check return of task and queue creation

---
 VCU/Phantom/main.c                             | 1 -
 VCU/Phantom/tasks/source/task_event_handler.c  | 4 ++--
 VCU/Phantom/tasks/source/task_logger.c         | 4 ++--
 VCU/Phantom/tasks/source/task_pedal_readings.c | 4 ++--
 VCU/Phantom/tasks/source/task_throttle.c       | 4 ++--
 5 files changed, 8 insertions(+), 9 deletions(-)

diff --git a/VCU/Phantom/main.c b/VCU/Phantom/main.c
index fa08c2e3..26963fcb 100644
--- a/VCU/Phantom/main.c
+++ b/VCU/Phantom/main.c
@@ -79,7 +79,6 @@ void phantomTasksInit()
         while(1) UARTprintln("Some tasks not initialized: %d, %d, %d, %d", t.EventHandler, t.Logger, t.Throttle, t.PedalReadings);
     }
 
-
     StateMachineInit(t);
 }
 
diff --git a/VCU/Phantom/tasks/source/task_event_handler.c b/VCU/Phantom/tasks/source/task_event_handler.c
index 7669b045..cb4db87c 100644
--- a/VCU/Phantom/tasks/source/task_event_handler.c
+++ b/VCU/Phantom/tasks/source/task_event_handler.c
@@ -35,7 +35,7 @@ static uint8_t QueueEvent(event_t event, eSource source, ePriority priority);
 
 TaskHandle_t EventHandlerInit()
 {
-	xTaskCreate(
+	BaseType_t ret = xTaskCreate(
 		ThreadEventHandler,
 		"EventHandler",
 		EVENT_HANDLER_STACK_SIZE,
@@ -46,7 +46,7 @@ TaskHandle_t EventHandlerInit()
 
     rtos_handles.q = xQueueCreate(16, sizeof(event_t));
 
-	return rtos_handles.taskHandle;
+	return ret == pdPASS && !rtos_handles.q ? rtos_handles.taskHandle : NULL;
 }
 
 void HandleToFront(event_handler_t callback, uint16_t data, eSource source)
diff --git a/VCU/Phantom/tasks/source/task_logger.c b/VCU/Phantom/tasks/source/task_logger.c
index d9edd4ef..3be182fe 100644
--- a/VCU/Phantom/tasks/source/task_logger.c
+++ b/VCU/Phantom/tasks/source/task_logger.c
@@ -27,7 +27,7 @@ static uint8_t AsyncPrint(eSource source, const char* str);
 
 TaskHandle_t LoggerInit()
 {
-	xTaskCreate(
+	BaseType_t ret = xTaskCreate(
 		LoggerThread,
 		"LoggerThread",
 		LOGGER_STACK_SIZE,
@@ -38,7 +38,7 @@ TaskHandle_t LoggerInit()
 
     rtos_handles.q = xQueueCreate(128, sizeof(segment_t)); 
 
-	return rtos_handles.taskHandle;
+	return ret == pdPASS && !rtos_handles.q ? rtos_handles.taskHandle : NULL;
 }
  
 void FlushLogger(uint16_t waitms)
diff --git a/VCU/Phantom/tasks/source/task_pedal_readings.c b/VCU/Phantom/tasks/source/task_pedal_readings.c
index 722fa2f3..c0ccc966 100644
--- a/VCU/Phantom/tasks/source/task_pedal_readings.c
+++ b/VCU/Phantom/tasks/source/task_pedal_readings.c
@@ -56,7 +56,7 @@ uint8_t ReceivePedalReadings(pedal_reading_t* pdreading, TickType_t wait_time_ms
 
 TaskHandle_t PedalReadingsInit(void)
 {
-	xTaskCreate(
+	BaseType_t ret = xTaskCreate(
 		vPedalReadingsTask,
 		"PedalReadings",
 		THROTTLE_AGT_STACK_SIZE,
@@ -69,7 +69,7 @@ TaskHandle_t PedalReadingsInit(void)
 
     footPedals.prevReadings = (pedal_reading_t) {0, 0 ,0};
 
-	return footPedals.pipeline.taskHandle;
+	return ret == pdPASS && !footPedals.pipeline.q ? footPedals.pipeline.taskHandle : NULL;
 }
 
 /* Internal Implementation */
diff --git a/VCU/Phantom/tasks/source/task_throttle.c b/VCU/Phantom/tasks/source/task_throttle.c
index b0379fd8..b12f2c0d 100644
--- a/VCU/Phantom/tasks/source/task_throttle.c
+++ b/VCU/Phantom/tasks/source/task_throttle.c
@@ -93,7 +93,7 @@ static void CheckFaultConditions(const pedal_reading_t* pedalReadings, float app
 
 TaskHandle_t ThrottleInit(void)
 {
-    xTaskCreate(
+    BaseType_t ret = xTaskCreate(
 		vThrottleTask,
 		"Throttle",
 		THROTTLE_ACT_STACK_SIZE,
@@ -110,7 +110,7 @@ TaskHandle_t ThrottleInit(void)
 
     MCP48FV_Init();
 
-    return taskHandle;
+    return ret == pdPASS ? taskHandle : NULL;
 }
 
 static void vThrottleTask(void* arg)

From 71cf74facad62b15e4315d24326a0ed135fac9e0 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Wed, 22 Feb 2023 16:58:57 -0800
Subject: [PATCH 41/58] clean pedal readings

---
 .../tasks/headers/task_pedal_readings.h       |  4 +-
 .../tasks/source/task_pedal_readings.c        | 82 +++++++++----------
 2 files changed, 41 insertions(+), 45 deletions(-)

diff --git a/VCU/Phantom/tasks/headers/task_pedal_readings.h b/VCU/Phantom/tasks/headers/task_pedal_readings.h
index 119f99a6..3bb1d229 100644
--- a/VCU/Phantom/tasks/headers/task_pedal_readings.h
+++ b/VCU/Phantom/tasks/headers/task_pedal_readings.h
@@ -10,11 +10,9 @@
 
 #include "vcu_common.h"
 
-
-#define HYSTERESIS      (200U)
+#define HYSTERESIS 200U
 
 TaskHandle_t PedalReadingsInit(void);
 uint8_t ReceivePedalReadings(pedal_reading_t* pdreading, TickType_t wait_time_ms);
 
-
 #endif
diff --git a/VCU/Phantom/tasks/source/task_pedal_readings.c b/VCU/Phantom/tasks/source/task_pedal_readings.c
index c0ccc966..02a537f0 100644
--- a/VCU/Phantom/tasks/source/task_pedal_readings.c
+++ b/VCU/Phantom/tasks/source/task_pedal_readings.c
@@ -5,27 +5,29 @@
  *      Author: Joshua Guo
  */
 
-#include "task_pedal_readings.h"
-#include "task_config.h"
-
 #include "vcu_common.h"
-#include "board_hardware.h"
-#include "adc.h"
-#include "gio.h"
 
-#include "Phantom_sci.h"
-
-#include <stdlib.h>
-#include "sys_common.h"
+/* C standard libs */
+#include "stdlib.h"
 #include "string.h"
 #include "sci.h"
 #include "stdio.h"
 #include "math.h"
 
+/* Halcogen drivers */
+#include "sys_common.h"
+#include "adc.h"
+#include "gio.h"
+
+/* Phantom modules */
+#include "Phantom_sci.h"
+#include "board_hardware.h"
+
+/* Phantom tasks */
+#include "task_pedal_readings.h"
 #include "task_logger.h"
 #include "task_event_handler.h"
 
-#define BRAKE_LIGHT BRAKE_LIGHT_PORT, BRAKE_LIGHT_PIN
 
 typedef struct PedalReadings_t{
     PipeTask_t pipeline;
@@ -36,8 +38,8 @@ typedef struct PedalReadings_t{
 static PedalReadings_t footPedals;
 
 static void vPedalReadingsTask(void* arg);
-
-static pedal_reading_t readPedals();
+static pedal_reading_t ReadPedals();
+static void SetBrakeLight(uint8_t value);
 
 /* Public API */
 uint8_t ReceivePedalReadings(pedal_reading_t* pdreading, TickType_t wait_time_ms)
@@ -48,8 +50,6 @@ uint8_t ReceivePedalReadings(pedal_reading_t* pdreading, TickType_t wait_time_ms
     }
     else
     {
-        vTaskDelay(pdMS_TO_TICKS(1000));
-
         return 0;
     }
 }
@@ -74,51 +74,37 @@ TaskHandle_t PedalReadingsInit(void)
 
 /* Internal Implementation */
 
-static void SetBrakeLight(uint8_t value)
-{
-    char buffer[32];
-    sprintf(buffer, "Setting brakelight: %d", value);
-    Log(buffer);
-
-    gioSetBit(BRAKE_LIGHT, value);
-}
-
-
 static void vPedalReadingsTask(void* arg)
 {
 	Log("Starting thread");
 
     while(true)
     {
-        footPedals.readings = readPedals();
+        footPedals.readings = ReadPedals();
 
         // apply a low pass filter with ALPHA of 0.5
-        footPedals.readings.bse = (footPedals.readings.bse + footPedals.prevReadings.bse) >> 1;
         footPedals.readings.fp1 = (footPedals.readings.fp1 + footPedals.prevReadings.fp1) >> 1;
         footPedals.readings.fp2 = (footPedals.readings.fp2 + footPedals.prevReadings.fp2) >> 1;
+        footPedals.readings.bse = (footPedals.readings.bse + footPedals.prevReadings.bse) >> 1;
 
-        // update prev filtered values
-        footPedals.prevReadings =  footPedals.readings;
-
-        uint32_t BSESensorSum = footPedals.readings.bse; 
-
-        uint8_t brakelight_value = BSESensorSum > (BRAKING_THRESHOLD + HYSTERESIS);
-
-        if (gioGetBit(BRAKE_LIGHT) != brakelight_value)
-        {
-            SetBrakeLight(brakelight_value);
-        }
-        
-        // send filtered values to mailbox (task_throttle.c)
+        uint8_t brakelight_value = footPedals.readings.bse  > (BRAKING_THRESHOLD + HYSTERESIS);
+        SetBrakeLight(brakelight_value);
+       
+        // send to throttle 
         xQueueSend(footPedals.pipeline.q, &footPedals.readings, 1);
+
+        footPedals.prevReadings =  footPedals.readings;
     }
 }
 
-static pedal_reading_t readPedals()
+
+static pedal_reading_t ReadPedals()
 {
-    vTaskDelay(pdMS_TO_TICKS(20));
 
     #ifndef VCU_SIM_MODE 
+    // delay must occur here because sim mode has no delay (frequency determined by incoming serial data)
+    vTaskDelay(pdMS_TO_TICKS(20)); 
+
     // Get pedal readings from ADC
     adcData_t FP_data[3];
     adcStartConversion(adcREG1, adcGROUP1);
@@ -146,3 +132,15 @@ static pedal_reading_t readPedals()
     return throttleData;
     #endif
 }
+
+static void SetBrakeLight(uint8_t value)
+{
+    if (gioGetBit(BRAKE_LIGHT) != value)
+    {
+        char buffer[32];
+        sprintf(buffer, "Setting brakelight: %d", value);
+        Log(buffer);
+
+        gioSetBit(BRAKE_LIGHT, value);
+    }
+}
\ No newline at end of file

From c7371e76e7f871769ad7fe93ce1f82ea96aa3f59 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Wed, 22 Feb 2023 16:59:10 -0800
Subject: [PATCH 42/58] clean throttle

---
 VCU/Phantom/tasks/headers/task_throttle.h |   1 -
 VCU/Phantom/tasks/source/task_throttle.c  | 191 +++++++++++-----------
 2 files changed, 98 insertions(+), 94 deletions(-)

diff --git a/VCU/Phantom/tasks/headers/task_throttle.h b/VCU/Phantom/tasks/headers/task_throttle.h
index 60814321..0c3cd12a 100644
--- a/VCU/Phantom/tasks/headers/task_throttle.h
+++ b/VCU/Phantom/tasks/headers/task_throttle.h
@@ -9,7 +9,6 @@
 #define PHANTOM_TASKS_throttle_H_
 
 TaskHandle_t ThrottleInit(void);
-
 void SuspendThrottle(TaskHandle_t);
 
 #endif
diff --git a/VCU/Phantom/tasks/source/task_throttle.c b/VCU/Phantom/tasks/source/task_throttle.c
index b12f2c0d..8d87a209 100644
--- a/VCU/Phantom/tasks/source/task_throttle.c
+++ b/VCU/Phantom/tasks/source/task_throttle.c
@@ -6,33 +6,45 @@
  *      Author: jaypacamarra, Joshua Guo
  */
 
-#include "phantom_timer.h"
+#include "vcu_common.h"
 
-#include <math.h>           // for fabsf function
+/* C standard libs */
+#include "math.h"           
+
+/* Halcogen drivers */
 #include "hal_stdtypes.h"
 #include "gio.h"
-#include <adc.h>
-#include "MCP48FV_DAC_SPI.h"
+#include "adc.h"
 
-// #include "vcu_data.h"       // deprecated
-#include "vcu_common.h"
+/* Phantom modules*/
 #include "board_hardware.h"
+#include "MCP48FV_DAC_SPI.h"
+#include "phantom_timer.h"
 #include "Phantom_sci.h"
 
-#include "task_config.h"
-
-#include "task_pedal_readings.h"    // for access to mailbox
-#include "task_throttle.h"    // for access to mailbox
-#include "state_machine.h"      // for access to mailbox & queue
+/* Phantom tasks */
+#include "task_pedal_readings.h"    
+#include "task_throttle.h"    
+#include "state_machine.h"    
 #include "task_logger.h"      
 
-#define APPS_SENSOR_TIMEOUT 1000
 
-static TaskHandle_t taskHandle;
+/* For calculating throttle padding */
+/* Padding will eliminate unintended range faults at 0% or 100% pedal presses */
+#define PADDING_PERCENT         (0.08f) // Must be between 0.0 and 1.0
+#define PADDED_BSE_MIN_VALUE    (BSE_MIN_VALUE * (1U + PADDING_PERCENT))
+#define PADDED_BSE_MAX_VALUE    (BSE_MAX_VALUE * (1U - PADDING_PERCENT))
+#define PADDED_APPS1_MIN_VALUE  (APPS1_MIN_VALUE * (1U + PADDING_PERCENT))
+#define PADDED_APPS1_MAX_VALUE  (APPS1_MAX_VALUE * (1U - PADDING_PERCENT))
+#define PADDED_APPS2_MIN_VALUE  (APPS2_MIN_VALUE * (1U + PADDING_PERCENT))
+#define PADDED_APPS2_MAX_VALUE  (APPS2_MAX_VALUE * (1U - PADDING_PERCENT))
+
+#define APPS_SENSOR_TIMEOUT 1000
 
 // ^ this equation may need to be modified for the curtis voltage lower limit and upper limit
 // i.e. map from 0.6V (60) to 4.5V (450) or something like that, instead of 0->500 (0V -> 5V)
 #define MAP_PERCENT_TO_VOLTAGE(x) 390 * apps_percent_avg + 60  // equation mapping the averaged signals to 0->500 for the DAC driver
+
 typedef struct FaultTimers_t{
     TimerHandle_t APPS1Range;
     TimerHandle_t APPS2Range;
@@ -42,54 +54,18 @@ typedef struct FaultTimers_t{
 } FaultTimers_t;
 
 static FaultTimers_t faultTimers;
+static TaskHandle_t taskHandle;
 
-/* For calculating throttle padding */
-/* Padding will eliminate unintended range faults at 0% or 100% pedal presses */
-#define PADDING_PERCENT         (0.08f) // Must be between 0.0 and 1.0
-#define PADDED_BSE_MIN_VALUE    (BSE_MIN_VALUE * (1U + PADDING_PERCENT))
-#define PADDED_BSE_MAX_VALUE    (BSE_MAX_VALUE * (1U - PADDING_PERCENT))
-#define PADDED_APPS1_MIN_VALUE  (APPS1_MIN_VALUE * (1U + PADDING_PERCENT))
-#define PADDED_APPS1_MAX_VALUE  (APPS1_MAX_VALUE * (1U - PADDING_PERCENT))
-#define PADDED_APPS2_MIN_VALUE  (APPS2_MIN_VALUE * (1U + PADDING_PERCENT))
-#define PADDED_APPS2_MAX_VALUE  (APPS2_MAX_VALUE * (1U - PADDING_PERCENT))
 
 static void vThrottleTask(void* arg);
-
-static float calculatePedalPercent(uint32_t pedalValue, float minValue, float maxValue);
-static void UpdatePedalRangeFaultTimer(uint32_t pedalValue, uint32_t minValue, uint32_t maxValue, TimerHandle_t faultTimer);
-static void UpdateAPPS10PercentFaultTimer(float Percent_APPS1_Pressed, float Percent_APPS2_Pressed);
+static void CheckFaultConditions(const pedal_reading_t* pedalReadings, float apps1_percent, float apps2_percent);
+static float CalculatePedalPercent(uint32_t pedalValue, float minValue, float maxValue);
+static bool UpdatePedalRangeFaultTimer(uint32_t pedalValue, uint32_t minValue, uint32_t maxValue, TimerHandle_t faultTimer);
+static bool UpdateAPPS10PercentFaultTimer(float Percent_APPS1_Pressed, float Percent_APPS2_Pressed);
 static void CheckBrakePlausibility(uint32_t BSE_sensor_sum, float Percent_APPS1_Pressed, float Percent_APPS2_Pressed);
 
-void SuspendThrottle(TaskHandle_t self)
-{
-    #ifndef VCU_SIM_MODE
-    if (self == taskHandle)
-    {
-        MCP48FV_Set_Value(0); // send throttle value to DAC driver
-        LogColor(RED, "Turning off throttle");
 
-        vTaskSuspend(self);
-    }
-    #else
-    LogColor(GRN, "Cannot suspend throttle in VCU Sim Mode.");
-    #endif
-}
-
-static void CheckFaultConditions(const pedal_reading_t* pedalReadings, float apps1_percent, float apps2_percent)
-{
-    // check for short to GND/VCC on APPS sensor 1
-    UpdatePedalRangeFaultTimer(pedalReadings->fp1, APPS1_MIN_VALUE, APPS1_MAX_VALUE, faultTimers.APPS1Range);
-
-    // TODO: Add range fault checks
-    // check for short to GND/VCC on APPS sensor 2
-    UpdatePedalRangeFaultTimer(pedalReadings->fp2, APPS2_MIN_VALUE, APPS2_MAX_VALUE, faultTimers.APPS2Range);
-    // check for short to GND/VCC on BSE
-    UpdatePedalRangeFaultTimer(pedalReadings->bse, BSE_MIN_VALUE, BSE_MAX_VALUE, faultTimers.BSERange);
-    // Check if APPS1 and APPS2 are within 10% of each other
-    UpdateAPPS10PercentFaultTimer(apps1_percent, apps2_percent);
-    // Check if brakes are pressed and accelerator pedal is pressed greater than or equal to 25%
-    CheckBrakePlausibility(pedalReadings->bse, apps1_percent, apps2_percent);
-}
+/* Public API*/
 
 TaskHandle_t ThrottleInit(void)
 {
@@ -113,14 +89,34 @@ TaskHandle_t ThrottleInit(void)
     return ret == pdPASS ? taskHandle : NULL;
 }
 
+
+void SuspendThrottle(TaskHandle_t self)
+{
+    #ifndef VCU_SIM_MODE
+    if (self == taskHandle)
+    {
+        MCP48FV_Set_Value(0); // send throttle value to DAC driver
+        LogColor(RED, "Turning off throttle");
+
+        vTaskSuspend(self);
+    }
+    #else
+    LogColor(GRN, "Cannot suspend throttle in VCU Sim Mode.");
+    #endif
+}
+
+
+/* Internal implementation */
+
 static void vThrottleTask(void* arg)
 {
+    // suspend on startup
     SuspendThrottle(taskHandle);
 
+    static pedal_reading_t pedalReadings;
+
     while(true)
     { 
-        pedal_reading_t pedalReadings;
-
         if (!ReceivePedalReadings(&pedalReadings, APPS_SENSOR_TIMEOUT))
         {
             SuspendThrottle(taskHandle);
@@ -128,16 +124,15 @@ static void vThrottleTask(void* arg)
             continue; 
         }
 
-		/* Get pedal percentages */
-        float apps1PedalPercent = calculatePedalPercent(pedalReadings.fp1, PADDED_APPS1_MIN_VALUE, PADDED_APPS2_MAX_VALUE);
-        float apps2PedalPercent = calculatePedalPercent(pedalReadings.fp2, PADDED_APPS2_MIN_VALUE, PADDED_APPS2_MAX_VALUE);
+        float apps1PedalPercent = CalculatePedalPercent(pedalReadings.fp1, PADDED_APPS1_MIN_VALUE, PADDED_APPS2_MAX_VALUE);
+        float apps2PedalPercent = CalculatePedalPercent(pedalReadings.fp2, PADDED_APPS2_MIN_VALUE, PADDED_APPS2_MAX_VALUE);
 
         CheckFaultConditions(&pedalReadings, apps1PedalPercent, apps2PedalPercent);
 
-        float apps_percent_avg = (apps1PedalPercent + apps2PedalPercent) / 2;
-
         /* Set throttle voltage value */ 
+        float apps_percent_avg = (apps1PedalPercent + apps2PedalPercent) / 2;
         int16_t throttle = MAP_PERCENT_TO_VOLTAGE(apps_percent_avg);
+
         MCP48FV_Set_Value(throttle); 
 
         #ifdef VCU_SIM_MODE
@@ -148,13 +143,27 @@ static void vThrottleTask(void* arg)
     }
 }
 
-/** @fn void calculatePedalPercents(void)
-*   @brief Calculates the percent pressed of the brake pedal
-*          and the accelerator pedal
-*   @Return This function does not return anything, it only
-*           updates the VCU data structure
-*/
-static float calculatePedalPercent(uint32_t pedalValue, float minValue, float maxValue) {
+
+static void CheckFaultConditions(const pedal_reading_t* pedalReadings, float apps1_percent, float apps2_percent)
+{
+    // check for short to GND/VCC on APPS sensor 1
+    UpdatePedalRangeFaultTimer(pedalReadings->fp1, APPS1_MIN_VALUE, APPS1_MAX_VALUE, faultTimers.APPS1Range);
+
+    // check for short to GND/VCC on APPS sensor 2
+    UpdatePedalRangeFaultTimer(pedalReadings->fp2, APPS2_MIN_VALUE, APPS2_MAX_VALUE, faultTimers.APPS2Range);
+
+    // check for short to GND/VCC on BSE
+    UpdatePedalRangeFaultTimer(pedalReadings->bse, BSE_MIN_VALUE, BSE_MAX_VALUE, faultTimers.BSERange);
+
+    // check if APPS1 and APPS2 are within 10% of each other
+    UpdateAPPS10PercentFaultTimer(apps1_percent, apps2_percent);
+
+    // check if brakes are pressed and accelerator pedal is pressed greater than or equal to 25%
+    CheckBrakePlausibility(pedalReadings->bse, apps1_percent, apps2_percent);
+}
+
+
+static float CalculatePedalPercent(uint32_t pedalValue, float minValue, float maxValue) {
     if (pedalValue < minValue)
         return 0.0F;
     else if (pedalValue > maxValue)
@@ -163,57 +172,53 @@ static float calculatePedalPercent(uint32_t pedalValue, float minValue, float ma
         return (pedalValue - minValue) / (maxValue - minValue);
 }
 
-/** @fn bool UpdatePedalRangeFaultTimer(void)
-*   @brief Checks if the Pedal is in the right voltage range
-*   @Return This function returns:
-*           True -> Fault
-*           False -> No Fault
-*/
-static void UpdatePedalRangeFaultTimer(uint32_t pedalValue, uint32_t minValue, uint32_t maxValue, TimerHandle_t faultTimer) {
+
+static bool UpdatePedalRangeFaultTimer(uint32_t pedalValue, uint32_t minValue, uint32_t maxValue, TimerHandle_t faultTimer) {
+
+	bool ret = false;
 
     if (pedalValue < minValue || pedalValue > maxValue) // BSE assumed shorted to GND or shorted to VCC
     {
         Phantom_startTimer(faultTimer, 50); // start software timer for bse range fault
+
+        ret = true;
     }
     else
     {
-        Phantom_stopTimer(faultTimer, portMAX_DELAY);
+        Phantom_stopTimer(faultTimer, 50);
     }
+
+    return ret;
 }
 
-/** @fn bool check10PercentAPPS(void)
-*   @brief Checks if APPS1 and APPS2 are within 10% of each other.
-*          A fault means they are not within 10% of each other.
-*   @Return This function returns:
-*           True -> Fault
-*           False -> No Fault
-*/
-static void UpdateAPPS10PercentFaultTimer(float Percent_APPS1_Pressed, float Percent_APPS2_Pressed) {
 
-    float FP_sensor_diff = fabsf(Percent_APPS2_Pressed - Percent_APPS1_Pressed); // Calculate absolute difference between APPS1 and APPS2 readings
+static bool UpdateAPPS10PercentFaultTimer(float Percent_APPS1_Pressed, float Percent_APPS2_Pressed) {
+
+	bool ret = false;
+
+    float FP_sensor_diff = fabsf(Percent_APPS2_Pressed - Percent_APPS1_Pressed); 
 
     if (FP_sensor_diff > 0.10)
     {
         Phantom_startTimer(faultTimers.FPDiff, 50); 
+
+        ret = true;
     }
     else
     {
         Phantom_stopTimer(faultTimers.FPDiff, portMAX_DELAY);
     }
+
+    return ret;
 }
 
-/** @fn bool CheckBrakePlausibility(void)
-*   @brief Checks if the brakes and accelerator are pressed at the same time.
-*          A fault means the brake is pressed and the APPS reads 25% or higher.
-*   @Return This function returns:
-*           True -> Fault
-*           False -> No Fault
-*/
+
 static void CheckBrakePlausibility(uint32_t BSE_sensor_sum, float Percent_APPS1_Pressed, float Percent_APPS2_Pressed) {
 
     if (BSE_sensor_sum >= BRAKING_THRESHOLD + HYSTERESIS &&
         Percent_APPS1_Pressed >= 0.25 && Percent_APPS2_Pressed >= 0.25)
     {
+        // brakes and accelerator are both pressed
         NotifyStateMachine(EVENT_BRAKE_PLAUSIBILITY_FAULT);
     }
     else if (Percent_APPS1_Pressed < 0.05 && Percent_APPS2_Pressed < 0.05)

From 73e3f1b4a5e4ee6d463747e3fa65e989e96e5c1b Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Wed, 22 Feb 2023 16:59:23 -0800
Subject: [PATCH 43/58] clean logger

---
 VCU/Phantom/tasks/headers/task_logger.h |  7 +++-
 VCU/Phantom/tasks/source/task_logger.c  | 49 ++++++++++++++++---------
 2 files changed, 37 insertions(+), 19 deletions(-)

diff --git a/VCU/Phantom/tasks/headers/task_logger.h b/VCU/Phantom/tasks/headers/task_logger.h
index ebb9e9bb..c8fb1387 100644
--- a/VCU/Phantom/tasks/headers/task_logger.h
+++ b/VCU/Phantom/tasks/headers/task_logger.h
@@ -9,17 +9,20 @@
 #define PHANTOM_TASKS_HEADERS_TASK_LOGGER_H_
 
 #include "vcu_common.h"
+
+// all modules that use logger WILL need these
 #include "string.h"
 #include "stdio.h"
 #include "ansi_colors.h"
 
-
 TaskHandle_t LoggerInit();
+
 uint8_t Log(const char* str);
 uint8_t LogColor(const char* color, const char* str);
 uint8_t LogFromISR(const char* color, const char* str);
-void GetLogHeader(eSource source, const char* color, char* str);
+
 void FlushLogger(uint16_t waitms);
+void GetLogHeader(eSource source, const char* color, char* str);
 
 
 #endif /* PHANTOM_TASKS_HEADERS_TASK_LOGGER_H_ */
diff --git a/VCU/Phantom/tasks/source/task_logger.c b/VCU/Phantom/tasks/source/task_logger.c
index 3be182fe..ad87531d 100644
--- a/VCU/Phantom/tasks/source/task_logger.c
+++ b/VCU/Phantom/tasks/source/task_logger.c
@@ -6,25 +6,27 @@
  */
 
 #include "task_logger.h"
-#include "Phantom_sci.h"
-
-#include "task_config.h"
 
-#include "stdio.h"
-#include <string.h>
+/* C standard libs */
+#include "math.h"
 
-static PipeTask_t rtos_handles;
+/* Phantom modules */
+#include "Phantom_sci.h"
 
-static void LoggerThread(void* pvParams);
-#include <math.h>
 
 typedef uint64_t segment_t;
 #define SEGMENT_SIZE sizeof(segment_t)
 
+static PipeTask_t rtos_handles;
+
+static void LoggerThread(void* pvParams);
 static uint8_t LogMessage(const char* color, const char* str, eSource source);
 static uint8_t LogSegment(eSource source, uint8_t* data);
 static uint8_t AsyncPrint(eSource source, const char* str);
 
+
+/* Public API */
+
 TaskHandle_t LoggerInit()
 {
 	BaseType_t ret = xTaskCreate(
@@ -41,28 +43,35 @@ TaskHandle_t LoggerInit()
 	return ret == pdPASS && !rtos_handles.q ? rtos_handles.taskHandle : NULL;
 }
  
-void FlushLogger(uint16_t waitms)
+
+uint8_t Log(const char* str)
 {
-	vTaskPrioritySet(rtos_handles.taskHandle, configMAX_PRIORITIES-1);
-	vTaskDelay(pdMS_TO_TICKS(waitms)); 
-	vTaskPrioritySet(rtos_handles.taskHandle, 0);
+	return LogMessage(WHT, str, FROM_SCHEDULER);
 }
 
+
 uint8_t LogColor(const char* color, const char* str)
 {
 	return LogMessage(color, str, FROM_SCHEDULER);
 }
 
-uint8_t Log(const char* str)
-{
-	return LogMessage(WHT, str, FROM_SCHEDULER);
-}
 
 uint8_t LogFromISR(const char* color, const char* str)
 {
 	return LogMessage(color, str, FROM_ISR);
 }
 
+
+void FlushLogger(uint16_t waitms)
+{
+	vTaskPrioritySet(rtos_handles.taskHandle, configMAX_PRIORITIES-1);
+
+	vTaskDelay(pdMS_TO_TICKS(waitms)); 
+
+	vTaskPrioritySet(rtos_handles.taskHandle, 0);
+}
+
+
 void GetLogHeader(eSource source, const char* color, char* str)
 {
 	switch (source)
@@ -80,11 +89,12 @@ void GetLogHeader(eSource source, const char* color, char* str)
 	}
 }
 
+
 /* Internal Implementation*/
 
 static void LoggerThread(void* pvParams)
 {
-	segment_t segment;
+	static segment_t segment;
 
 	Log("Starting thread");
 
@@ -101,12 +111,15 @@ static void LoggerThread(void* pvParams)
 
 static uint8_t LogMessage(const char* color, const char* str, eSource source)
 {
+	// prepare timestamp 
 	char header[64];
 	GetLogHeader(source, color, header);
 	AsyncPrint(source, header);
 
+	// queue user string 
 	AsyncPrint(source, str);
 	
+	// queue strings to reset console position and format
 	char buffer[16];
 	sprintf(buffer, "%s\r\n", reset);
 
@@ -123,6 +136,7 @@ uint8_t QueueSegment(eSource source, segment_t segment)
 		case FROM_ISR:
 		{
 			BaseType_t xHigherPriorityTaskWoken;
+
 			ret = xQueueSendToBackFromISR(rtos_handles.q, &segment, &xHigherPriorityTaskWoken) == pdPASS;
 
 			break;
@@ -164,6 +178,7 @@ uint8_t AsyncPrint(eSource source, const char* str)
 
 	uint16_t bytes_left = total_num_bytes - (segment_index*SEGMENT_SIZE);
 	
+	/* Queue remaining segments */
 	if (bytes_left != 0) 
 	{
 		memset(&tmp, '\0', SEGMENT_SIZE);

From 8a918898b482b5d92b8c31867272a79d7e82dbbd Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Wed, 22 Feb 2023 16:59:45 -0800
Subject: [PATCH 44/58] clean event handler and state machine

---
 .../Drivers/STATE_MACHINE/state_machine.c     | 68 +++++++++++--------
 .../Drivers/STATE_MACHINE/state_machine.h     |  5 --
 .../tasks/headers/task_event_handler.h        |  4 +-
 VCU/Phantom/tasks/source/task_event_handler.c | 60 ++++------------
 4 files changed, 54 insertions(+), 83 deletions(-)

diff --git a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
index dce3fed6..b2548e9f 100644
--- a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
+++ b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
@@ -7,19 +7,22 @@
 
 #include "state_machine.h"
 
+/* Phantom modules */
+#include "ansi_colors.h"
+
+/* Phantom tasks */
 #include "task_event_handler.h"
 #include "task_throttle.h"
 #include "task_logger.h"
-#include "ansi_colors.h"
 
 static void UpdateStateMachine(void* data);
-
 static State VariousStates(State state, eCarEvents event);
 static State TractiveOff(eCarEvents event);
 static State TractiveOn(eCarEvents event);
 static State Running(eCarEvents event);
 static State SevereFault(eCarEvents event);
 
+
 static SystemTasks_t system_tasks;
 
 
@@ -39,7 +42,7 @@ void NotifyStateMachine(eCarEvents event)
 	sprintf(buffer, "Event occurred: %d", event);
 	Log(buffer);
 
-	HandleToFront(UpdateStateMachine, event, FROM_SCHEDULER);
+	HandleEvent(UpdateStateMachine, event);
 }
 
 void NotifyStateMachineFromISR(eCarEvents event)
@@ -48,7 +51,7 @@ void NotifyStateMachineFromISR(eCarEvents event)
 	sprintf(buffer, "Event occurred: %d", event);
 	LogFromISR(UWHT, buffer);
 
-	HandleToFront(UpdateStateMachine, event, FROM_ISR);
+	HandleEventFromISR(UpdateStateMachine, event);
 }
 
 void NotifyStateMachineFromTimer(TimerHandle_t timer)
@@ -59,11 +62,13 @@ void NotifyStateMachineFromTimer(TimerHandle_t timer)
 	snprintf(buffer, 64, "(%s:%d): Expired after %dms", pcTimerGetTimerName(timer), event, xTimerGetPeriod(timer));
 	LogColor(YEL, buffer);
 
-	HandleToFront(UpdateStateMachine, event, FROM_SCHEDULER);
+	HandleEvent(UpdateStateMachine, event);
 }
 
 
-/* Event Handler */
+/* Internal implementation */
+
+/* Event callback */
 static void UpdateStateMachine(void* data)
 {
     #ifdef VCU_SIM_MODE
@@ -76,38 +81,46 @@ static void UpdateStateMachine(void* data)
 
 	eCarEvents event = *(uint16_t*) data;
 
-	/* Events that change state from multiple states */
-	state = VariousStates(state, event);
-	
-	switch(state)
+	/* Events that have an effect on multiple states */
+	State new_state = VariousStates(state, event);
+
+	// no state change occurred; let's try normal state specific events
+	if (new_state == state)
 	{
-		case TRACTIVE_OFF:
+		switch(state)
+		{
+			case TRACTIVE_OFF:
 
-			state = TractiveOff(event);
+				new_state = TractiveOff(event);
 
-			break;
+				break;
 
-		case TRACTIVE_ON:
+			case TRACTIVE_ON:
 
-			state = TractiveOn(event);
+				new_state = TractiveOn(event);
 
-			break;
+				break;
 
-		case RUNNING:
+			case RUNNING:
 
-			state = Running(event);
+				new_state = Running(event);
 
-			break;
+				break;
 
-		case SEVERE_FAULT:
-		 
-			state = SevereFault(event);
+			case SEVERE_FAULT:
+			
+				new_state = SevereFault(event);
+
+				break;
+			
+			default:
+				break;
+		}
 
-			break;
-		
-		default:
-			break;
 	}
+
+	// update state
+	state = new_state;
 }
 
 
@@ -148,7 +161,6 @@ static State TractiveOff(eCarEvents event)
 		Log("Event is irrelevant. Staying at TractiveOff");
 	}
 
-
 	return TRACTIVE_OFF;
 }
 
@@ -176,7 +188,7 @@ static State Running(eCarEvents event)
 	
 	if (false)
 	{
-
+		// ...
 	}
 	else
 	{
diff --git a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.h b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.h
index ce1bebd2..9bd16f89 100644
--- a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.h
+++ b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.h
@@ -16,12 +16,7 @@ void StateMachineInit(SystemTasks_t tasks);
 
 void NotifyStateMachine(eCarEvents event);
 void NotifyStateMachineFromISR(eCarEvents event);
-
 void NotifyStateMachineFromTimer(TimerHandle_t timer);
 
 
-
-
-
-
 #endif /* PHANTOM_DRIVERS_STATE_MACHINE_STATE_MACHINE_H_ */
diff --git a/VCU/Phantom/tasks/headers/task_event_handler.h b/VCU/Phantom/tasks/headers/task_event_handler.h
index 34184f3e..db47a591 100644
--- a/VCU/Phantom/tasks/headers/task_event_handler.h
+++ b/VCU/Phantom/tasks/headers/task_event_handler.h
@@ -14,7 +14,7 @@ typedef void (*event_handler_t)(void*);
 
 TaskHandle_t EventHandlerInit();
 
-void HandleToBack(event_handler_t callback, uint16_t data, eSource source);
-void HandleToFront(event_handler_t callback, uint16_t data, eSource source);
+bool HandleEvent(event_handler_t callback, uint16_t data);
+bool HandleEventFromISR(event_handler_t callback, uint16_t data);
 
 #endif /* PHANTOM_TASKS_HEADERS_TASK_EVENT_HANDLER_H_ */
diff --git a/VCU/Phantom/tasks/source/task_event_handler.c b/VCU/Phantom/tasks/source/task_event_handler.c
index cb4db87c..cda1e957 100644
--- a/VCU/Phantom/tasks/source/task_event_handler.c
+++ b/VCU/Phantom/tasks/source/task_event_handler.c
@@ -5,10 +5,9 @@
  *      Author: rafgu
  */
 
-
 #include "task_event_handler.h"
-#include "Phantom_sci.h"
 
+/* Phantom tasks */
 #include "task_config.h"
 #include "task_logger.h"
 
@@ -18,17 +17,10 @@ typedef struct event_t
 	uint16_t data;
 }event_t;
 
-typedef enum ePriority{
-	CRITICAL,
-	BACKGROUND
-}ePriority;
 
 static PipeTask_t rtos_handles;
 
-
 static void ThreadEventHandler(void* pvParams);
-static uint8_t QueueEvent(event_t event, eSource source, ePriority priority);
-
 
 
 /* Public API */
@@ -49,29 +41,34 @@ TaskHandle_t EventHandlerInit()
 	return ret == pdPASS && !rtos_handles.q ? rtos_handles.taskHandle : NULL;
 }
 
-void HandleToFront(event_handler_t callback, uint16_t data, eSource source)
+
+bool HandleEvent(event_handler_t callback, uint16_t data)
 {	
 	event_t event;
 	event.callback = callback;
 	event.data = data;
 
-	QueueEvent(event, source, CRITICAL);
+	xQueueSendToBack(rtos_handles.q, &event, 1) == pdPASS;
 }
 
-void HandleToBack(event_handler_t callback, uint16_t data, eSource source)
+
+bool  HandleEventFromISR(event_handler_t callback, uint16_t data)
 {
+	BaseType_t xHigherPriorityTaskWoken;
+
 	event_t event;
 	event.callback = callback;
 	event.data = data;
 
-	QueueEvent(event, source, BACKGROUND);
+	return xQueueSendToBackFromISR(rtos_handles.q, &event, &xHigherPriorityTaskWoken) == pdPASS;
 }
 
-/* Internal Implementation*/
+
+/* Internal Implementation */
 
 static void ThreadEventHandler(void* pvParams)
 {
-	event_t event;
+	static event_t event;
 
 	Log("Starting thread");
 
@@ -85,36 +82,3 @@ static void ThreadEventHandler(void* pvParams)
 		event.callback(&event.data);
 	}
 }
-
-
-uint8_t QueueEvent(event_t event, eSource source, ePriority priority)
-{	
-	uint8_t ret;
-	BaseType_t xHigherPriorityTaskWoken;
-
-	if (priority == BACKGROUND && source == FROM_SCHEDULER)
-	{
-		ret = xQueueSendToBack(rtos_handles.q, &event, 1) == pdPASS;
-	}
-	else if (priority == BACKGROUND && source == FROM_ISR)
-	{
-		ret = xQueueSendToBackFromISR(rtos_handles.q, &event, &xHigherPriorityTaskWoken) == pdPASS;
-
-	}
-	else if (priority == CRITICAL && source == FROM_SCHEDULER){
-
-		ret = xQueueSendToFront(rtos_handles.q, &event, 1) == pdPASS;
-
-	} else if (priority == CRITICAL && source == FROM_ISR)
-	{
-		BaseType_t xHigherPriorityTaskWoken;
-
-		ret = xQueueSendToFrontFromISR(rtos_handles.q, &event, &xHigherPriorityTaskWoken) == pdPASS;
-	}
-	else
-	{
-		ret = 0; 
-	}
-
-	return ret;
-}

From 16c7beec8857ee0f357741e49ee2257ffc8b87a1 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Wed, 22 Feb 2023 17:00:17 -0800
Subject: [PATCH 45/58] fix misc compiler errors

---
 VCU/Phantom/Drivers/UART/Phantom_sci.c             | 2 +-
 VCU/Phantom/Drivers/UART/Phantom_sci.h             | 3 ---
 VCU/Phantom/data_structures/vcu_common.h           | 1 +
 VCU/Phantom/hardware/launchpad_hw/board_hardware.h | 1 +
 VCU/Phantom/hardware/vcu_hw/board_hardware.h       | 1 +
 5 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/VCU/Phantom/Drivers/UART/Phantom_sci.c b/VCU/Phantom/Drivers/UART/Phantom_sci.c
index 8786eb1e..1dd85f2c 100644
--- a/VCU/Phantom/Drivers/UART/Phantom_sci.c
+++ b/VCU/Phantom/Drivers/UART/Phantom_sci.c
@@ -138,7 +138,7 @@ void sciReceiveCallback(sciBASE_t *sci, uint32 flags, uint8 data)
     switch(data){
 
         case TASK_LIST:
-        	HandleToBack(GetRuntimeStatistics, 0, FROM_ISR);
+        	HandleEventFromISR(GetRuntimeStatistics, 0);
             break;
 
         case ECHO_THROTTLE:
diff --git a/VCU/Phantom/Drivers/UART/Phantom_sci.h b/VCU/Phantom/Drivers/UART/Phantom_sci.h
index 9ed78f92..6a83ebc0 100644
--- a/VCU/Phantom/Drivers/UART/Phantom_sci.h
+++ b/VCU/Phantom/Drivers/UART/Phantom_sci.h
@@ -14,9 +14,6 @@
 extern "C" {
 #endif
 
-#define START_SIM_DATA 's'
-#define END_SIM_DATA '\n'
-
 void UARTInit(sciBASE_t *sci, uint32 baud);
 void UARTSend(sciBASE_t *sci, char data[]);
 void UARTprintf(const char *_format, ...);
diff --git a/VCU/Phantom/data_structures/vcu_common.h b/VCU/Phantom/data_structures/vcu_common.h
index 5dd422da..d27cf31f 100644
--- a/VCU/Phantom/data_structures/vcu_common.h
+++ b/VCU/Phantom/data_structures/vcu_common.h
@@ -5,6 +5,7 @@
 #include "FreeRTOSConfig.h"
 #include "os_queue.h"
 #include "os_task.h"
+#include "task_config.h"
 
 #include "stdarg.h"
 #include "hal_stdtypes.h"
diff --git a/VCU/Phantom/hardware/launchpad_hw/board_hardware.h b/VCU/Phantom/hardware/launchpad_hw/board_hardware.h
index 1e0ca888..eaaa6d90 100644
--- a/VCU/Phantom/hardware/launchpad_hw/board_hardware.h
+++ b/VCU/Phantom/hardware/launchpad_hw/board_hardware.h
@@ -55,6 +55,7 @@
 #define BRAKING_THRESHOLD     1500 // threshold for turning on brake light
 #define BRAKE_LIGHT_PORT      hetPORT1
 #define BRAKE_LIGHT_PIN       12
+#define BRAKE_LIGHT BRAKE_LIGHT_PORT, BRAKE_LIGHT_PIN
 
 /*********   UART PORTS   ****************/
 #define PC_UART               scilinREG
diff --git a/VCU/Phantom/hardware/vcu_hw/board_hardware.h b/VCU/Phantom/hardware/vcu_hw/board_hardware.h
index 5afa08a3..7d0052fe 100644
--- a/VCU/Phantom/hardware/vcu_hw/board_hardware.h
+++ b/VCU/Phantom/hardware/vcu_hw/board_hardware.h
@@ -54,6 +54,7 @@
 #define BRAKING_THRESHOLD     2000 // threshold for turning on brake light
 #define BRAKE_LIGHT_PORT      hetPORT1
 #define BRAKE_LIGHT_PIN       12
+#define BRAKE_LIGHT BRAKE_LIGHT_PORT, BRAKE_LIGHT_PIN
 
 /*********   UART PORTS   ****************/
 #define PC_UART               sciREG

From fbe3b98260432a439a8b9fecc636a53326e5cb3f Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Wed, 22 Feb 2023 17:00:34 -0800
Subject: [PATCH 46/58] ignore debug folder

---
 VCU/.gitignore | 1 +
 1 file changed, 1 insertion(+)

diff --git a/VCU/.gitignore b/VCU/.gitignore
index 2627492f..b3a4ed01 100644
--- a/VCU/.gitignore
+++ b/VCU/.gitignore
@@ -9,3 +9,4 @@
 RemoteSystemsTempFiles/
 BuildConfig_*/
 /SIM_MODE_VCU_REV2/
+/Debug/

From 4bc47ef3508faae6651849151b54b7201b8c55bf Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Wed, 22 Feb 2023 17:29:07 -0800
Subject: [PATCH 47/58] cleanup misc

---
 VCU/Phantom/Drivers/STATE_MACHINE/state_machine.h | 1 +
 VCU/Phantom/tasks/task_config.h                   | 6 ------
 VCU/halcogen_vcu/include/FreeRTOSConfig.h         | 2 +-
 3 files changed, 2 insertions(+), 7 deletions(-)

diff --git a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.h b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.h
index 9bd16f89..73878e59 100644
--- a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.h
+++ b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.h
@@ -20,3 +20,4 @@ void NotifyStateMachineFromTimer(TimerHandle_t timer);
 
 
 #endif /* PHANTOM_DRIVERS_STATE_MACHINE_STATE_MACHINE_H_ */
+
diff --git a/VCU/Phantom/tasks/task_config.h b/VCU/Phantom/tasks/task_config.h
index f1209d0e..c8c1b2d2 100644
--- a/VCU/Phantom/tasks/task_config.h
+++ b/VCU/Phantom/tasks/task_config.h
@@ -30,11 +30,7 @@
 
 // #define EEPROM_TASK_PRIORITY            0
 // #define WATCHDOG_TASK_PRIORITY          0    // same as idle task
-// #define TEST_TASK_PRIORITY              1
 
-// there may also be interrupt/ISR priorities for:
-// CAN messages
-// GPIOs (ready to drive, shutdown circuit GPIOs..)
 
 /*********************************************************************************
  *                              TASK STACK SIZES
@@ -46,7 +42,5 @@
 // #define EEPROM_TASK_STACK_SIZE          750
 // #define WATCHDOG_TASK_STACK_SIZE        750    // same as idle task
 
-#define TEST_TASK_STACK_SIZE            150
-
 
 #endif /* TASKS_PRIORITIES_H_ */
diff --git a/VCU/halcogen_vcu/include/FreeRTOSConfig.h b/VCU/halcogen_vcu/include/FreeRTOSConfig.h
index cb80b739..11c03c50 100644
--- a/VCU/halcogen_vcu/include/FreeRTOSConfig.h
+++ b/VCU/halcogen_vcu/include/FreeRTOSConfig.h
@@ -136,7 +136,7 @@
 
 /* Timers */
 #define configUSE_TIMERS                1
-#define configTIMER_TASK_PRIORITY       (2)
+#define configTIMER_TASK_PRIORITY       (3)
 #define configTIMER_QUEUE_LENGTH        10         // We have two timer tasks - added by jjkhan
 #define configTIMER_TASK_STACK_DEPTH    (configMINIMAL_STACK_SIZE*2)   // Fixed by jjkhan -> Without Task Stack Depth, no task will be created.
 

From ff84302ed62566c3c5b7ee0bc265079b6622b6a0 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Wed, 22 Feb 2023 17:29:55 -0800
Subject: [PATCH 48/58] update documentation

---
 Diagrams/Threads/task_architecture.png | Bin 0 -> 109196 bytes
 Diagrams/Threads/task_timing.png       | Bin 0 -> 112000 bytes
 Diagrams/Threads/tasks.drawio          | 562 +++++++++++++++++++++++++
 Diagrams/Threads/threads.drawio.png    | Bin 72254 -> 0 bytes
 Diagrams/Threads/threads.svg           |   1 -
 5 files changed, 562 insertions(+), 1 deletion(-)
 create mode 100644 Diagrams/Threads/task_architecture.png
 create mode 100644 Diagrams/Threads/task_timing.png
 create mode 100644 Diagrams/Threads/tasks.drawio
 delete mode 100644 Diagrams/Threads/threads.drawio.png
 delete mode 100644 Diagrams/Threads/threads.svg

diff --git a/Diagrams/Threads/task_architecture.png b/Diagrams/Threads/task_architecture.png
new file mode 100644
index 0000000000000000000000000000000000000000..048174de2352c46bb9486a31571f2b6708d3bfed
GIT binary patch
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diff --git a/Diagrams/Threads/tasks.drawio b/Diagrams/Threads/tasks.drawio
new file mode 100644
index 00000000..0a595f19
--- /dev/null
+++ b/Diagrams/Threads/tasks.drawio
@@ -0,0 +1,562 @@
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text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 541px; margin-left: 259px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"><font style="font-size: 10px;" color="#0000ee">#segment_t</font></div></div></div></foreignObject><text x="259" y="544" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">#segment_t</text></switch></g><rect x="170" y="540" width="50" height="20" rx="3" ry="3" fill="rgb(255, 255, 255)" stroke="#000000" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 48px; height: 1px; padding-top: 550px; margin-left: 171px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">System</div></div></div></foreignObject><text x="195" y="554" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">System</text></switch></g><path d="M 100 140 L 100 610" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 580 140 L 580 610" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><rect x="110" y="145" width="30" height="20" fill="#bac8d3" stroke="#ffffff" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 28px; height: 1px; padding-top: 155px; margin-left: 111px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">5</div></div></div></foreignObject><text x="125" y="159" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">5</text></switch></g><rect x="110" y="400" width="30" height="20" fill="#bac8d3" stroke="#ffffff" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 28px; height: 1px; padding-top: 410px; margin-left: 111px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">1</div></div></div></foreignObject><text x="125" y="414" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">1</text></switch></g><rect x="110" y="500" width="30" height="20" fill="#bac8d3" stroke="#ffffff" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 28px; height: 1px; padding-top: 510px; margin-left: 111px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">0</div></div></div></foreignObject><text x="125" y="514" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">0</text></switch></g><rect x="350" y="165" width="10" height="10" fill="#bac8d3" stroke="#ffffff" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 8px; height: 1px; padding-top: 170px; margin-left: 351px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"><font style="font-size: 10px;">2</font></div></div></div></foreignObject><text x="355" y="174" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">2</text></switch></g><path d="M 200 221.87 Q 210 80 284.68 30.99" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 289.07 28.11 L 285.13 34.88 L 284.68 30.99 L 281.29 29.03 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 71px; margin-left: 211px;"><div data-drawio-colors="color: #0000EE; background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 10px; font-family: Helvetica; color: rgb(0, 0, 238); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">#eCarEvents</div></div></div></foreignObject><text x="211" y="74" fill="#0000EE" font-family="Helvetica" font-size="10px" text-anchor="middle">#eCarEvents</text></switch></g><rect x="10" y="251.87" width="60" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 58px; height: 1px; padding-top: 262px; margin-left: 11px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">Interrupts</div></div></div></foreignObject><text x="40" y="265" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Interrupts</text></switch></g><path d="M 70 261.87 L 153.63 261.87" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 158.88 261.87 L 151.88 265.37 L 153.63 261.87 L 151.88 258.37 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 272px; margin-left: 126px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 10px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"><font style="" color="#0000ee" size="1">#event_t</font></div></div></div></foreignObject><text x="126" y="275" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="10px" text-anchor="middle">#event_t</text></switch></g><path d="M 340 45 L 340 83.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" stroke-dasharray="3 3" pointer-events="stroke"/><path d="M 340 88.88 L 336.5 81.88 L 340 83.63 L 343.5 81.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><rect x="305" y="90" width="70" height="20" fill="url(#mx-gradient-f8cecc-1-ea6b66-1-s-0)" stroke="#b85450" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 68px; height: 1px; padding-top: 100px; margin-left: 306px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 10px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"><b>Task Control</b></div></div></div></foreignObject><text x="340" y="103" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="10px" text-anchor="middle">Task Control</text></switch></g><path d="M 431.82 336.82 Q 450 350 483.63 350" fill="none" stroke="#b85450" stroke-miterlimit="10" stroke-dasharray="3 3" pointer-events="stroke"/><path d="M 488.88 350 L 481.88 353.5 L 483.63 350 L 481.88 346.5 Z" fill="#b85450" stroke="#b85450" stroke-miterlimit="10" pointer-events="all"/><path d="M 520 340 Q 510 305 601.76 305" fill="none" stroke="rgb(0, 0, 0)" stroke-width="2" stroke-miterlimit="10" stroke-dasharray="6 6" pointer-events="stroke"/><path d="M 607.76 305 L 599.76 309 L 601.76 305 L 599.76 301 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-width="2" stroke-miterlimit="10" pointer-events="all"/><rect x="357.5" y="395" width="80" height="5" fill="none" stroke="none" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 398px; margin-left: 359px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"><span style="color: rgb(0, 0, 238); font-size: 10px; background-color: rgb(255, 255, 255);">#pedal_reading_t </span></div></div></div></foreignObject><text x="398" y="401" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">#pedal_readin...</text></switch></g><rect x="490" y="340" width="60" height="20" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 58px; height: 1px; padding-top: 350px; margin-left: 491px;"><div data-drawio-colors="color: #000000; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 8px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">TurnOffThrottle</div></div></div></foreignObject><text x="520" y="352" fill="#000000" font-family="Helvetica" font-size="8px" text-anchor="middle">TurnOffThrottle</text></switch></g><rect x="430" y="350" width="50" height="10" fill="none" stroke="none" transform="rotate(15,455,355)" pointer-events="all"/><g transform="translate(-0.5 -0.5)rotate(15 455 355)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 48px; height: 1px; padding-top: 355px; margin-left: 431px;"><div data-drawio-colors="color: #000000; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 8px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"><font style="font-size: 8px;"><b style="">AgentWatchdog</b></font></div></div></div></foreignObject><text x="455" y="357" fill="#000000" font-family="Helvetica" font-size="8px" text-anchor="middle">AgentWatchdog</text></switch></g></g><switch><g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/><a transform="translate(0,-5)" xlink:href="https://www.diagrams.net/doc/faq/svg-export-text-problems" target="_blank"><text text-anchor="middle" font-size="10px" x="50%" y="100%">Text is not SVG - cannot display</text></a></switch></svg>
\ No newline at end of file

From 29a1cc1e89178d98e005ebc15da49ab5be3ef627 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Wed, 22 Feb 2023 17:30:04 -0800
Subject: [PATCH 49/58] remove readme

---
 VCU/Phantom/tasks/readme.md | 6 ------
 1 file changed, 6 deletions(-)
 delete mode 100644 VCU/Phantom/tasks/readme.md

diff --git a/VCU/Phantom/tasks/readme.md b/VCU/Phantom/tasks/readme.md
deleted file mode 100644
index eb23039a..00000000
--- a/VCU/Phantom/tasks/readme.md
+++ /dev/null
@@ -1,6 +0,0 @@
-
-
-[threads.drawio](../../../Diagrams/Threads/threads.drawio.png)
-
-![](../../../Diagrams/Threads/threads.svg)
-

From 09a6439adce7c0383fecc1f80f78a213f637692d Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Thu, 2 Mar 2023 18:48:21 -0800
Subject: [PATCH 50/58] minimize logging

---
 .../Drivers/STATE_MACHINE/state_machine.c     | 23 +------------------
 1 file changed, 1 insertion(+), 22 deletions(-)

diff --git a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
index b2548e9f..f15c3248 100644
--- a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
+++ b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
@@ -38,10 +38,6 @@ void StateMachineInit(SystemTasks_t tasks)
 
 void NotifyStateMachine(eCarEvents event)
 {
- 	char buffer[32];
-	sprintf(buffer, "Event occurred: %d", event);
-	Log(buffer);
-
 	HandleEvent(UpdateStateMachine, event);
 }
 
@@ -156,10 +152,6 @@ static State TractiveOff(eCarEvents event)
 		LogColor(BLU, "Moving from TractiveOff to TractiveOn");
 		return TRACTIVE_ON;
 	}
-	else
-	{
-		Log("Event is irrelevant. Staying at TractiveOff");
-	}
 
 	return TRACTIVE_OFF;
 }
@@ -175,26 +167,17 @@ static State TractiveOn(eCarEvents event)
 
 		return RUNNING;
 	}
-	else
-	{
-		Log("Event is irrelevant. Staying at TractiveOn");
-	}
 
 	return TRACTIVE_ON;
 }
 
 static State Running(eCarEvents event)
 {
-	
 	if (false)
 	{
 		// ...
 	}
-	else
-	{
-		Log("Event is irrelevant. Staying at Running");
-	}
-
+	
 	return RUNNING;
 }
 
@@ -205,10 +188,6 @@ static State SevereFault(eCarEvents event)
 		LogColor(CYN, "Moving from SevereFault to TractiveOff");
 		return TRACTIVE_OFF;
 	}
-	else
-	{
-		Log("Event is irrelevant. Staying at SevereFault");
-	}
 
 	return SEVERE_FAULT;
 }

From e9b34589f7fdb233ed737b7435754e57a6771178 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Thu, 2 Mar 2023 19:06:24 -0800
Subject: [PATCH 51/58] fix initialization return values

---
 VCU/Phantom/tasks/source/task_event_handler.c  | 4 ++--
 VCU/Phantom/tasks/source/task_logger.c         | 4 ++--
 VCU/Phantom/tasks/source/task_pedal_readings.c | 4 ++--
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/VCU/Phantom/tasks/source/task_event_handler.c b/VCU/Phantom/tasks/source/task_event_handler.c
index cda1e957..f67929fb 100644
--- a/VCU/Phantom/tasks/source/task_event_handler.c
+++ b/VCU/Phantom/tasks/source/task_event_handler.c
@@ -38,7 +38,7 @@ TaskHandle_t EventHandlerInit()
 
     rtos_handles.q = xQueueCreate(16, sizeof(event_t));
 
-	return ret == pdPASS && !rtos_handles.q ? rtos_handles.taskHandle : NULL;
+	return ret == pdPASS && rtos_handles.q ? rtos_handles.taskHandle : NULL;
 }
 
 
@@ -48,7 +48,7 @@ bool HandleEvent(event_handler_t callback, uint16_t data)
 	event.callback = callback;
 	event.data = data;
 
-	xQueueSendToBack(rtos_handles.q, &event, 1) == pdPASS;
+	return xQueueSendToBack(rtos_handles.q, &event, 1) == pdPASS;
 }
 
 
diff --git a/VCU/Phantom/tasks/source/task_logger.c b/VCU/Phantom/tasks/source/task_logger.c
index ad87531d..142a4c9a 100644
--- a/VCU/Phantom/tasks/source/task_logger.c
+++ b/VCU/Phantom/tasks/source/task_logger.c
@@ -38,9 +38,9 @@ TaskHandle_t LoggerInit()
 		&rtos_handles.taskHandle
 	);
 
-    rtos_handles.q = xQueueCreate(128, sizeof(segment_t)); 
+    rtos_handles.q = xQueueCreate(128, sizeof(segment_t));
 
-	return ret == pdPASS && !rtos_handles.q ? rtos_handles.taskHandle : NULL;
+	return ret == pdPASS && rtos_handles.q ? rtos_handles.taskHandle : NULL;
 }
  
 
diff --git a/VCU/Phantom/tasks/source/task_pedal_readings.c b/VCU/Phantom/tasks/source/task_pedal_readings.c
index 02a537f0..8794014a 100644
--- a/VCU/Phantom/tasks/source/task_pedal_readings.c
+++ b/VCU/Phantom/tasks/source/task_pedal_readings.c
@@ -69,7 +69,7 @@ TaskHandle_t PedalReadingsInit(void)
 
     footPedals.prevReadings = (pedal_reading_t) {0, 0 ,0};
 
-	return ret == pdPASS && !footPedals.pipeline.q ? footPedals.pipeline.taskHandle : NULL;
+	return ret == pdPASS && footPedals.pipeline.q ? footPedals.pipeline.taskHandle : NULL;
 }
 
 /* Internal Implementation */
@@ -143,4 +143,4 @@ static void SetBrakeLight(uint8_t value)
 
         gioSetBit(BRAKE_LIGHT, value);
     }
-}
\ No newline at end of file
+}

From 5511a0719686ba51733b866fa89483bb47a4231e Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Thu, 2 Mar 2023 19:10:12 -0800
Subject: [PATCH 52/58] cleanup logger output

---
 VCU/Phantom/tasks/source/task_logger.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/VCU/Phantom/tasks/source/task_logger.c b/VCU/Phantom/tasks/source/task_logger.c
index 142a4c9a..30648d38 100644
--- a/VCU/Phantom/tasks/source/task_logger.c
+++ b/VCU/Phantom/tasks/source/task_logger.c
@@ -13,6 +13,7 @@
 /* Phantom modules */
 #include "Phantom_sci.h"
 
+#include "task_event_handler.h"
 
 typedef uint64_t segment_t;
 #define SEGMENT_SIZE sizeof(segment_t)
@@ -21,7 +22,6 @@ static PipeTask_t rtos_handles;
 
 static void LoggerThread(void* pvParams);
 static uint8_t LogMessage(const char* color, const char* str, eSource source);
-static uint8_t LogSegment(eSource source, uint8_t* data);
 static uint8_t AsyncPrint(eSource source, const char* str);
 
 
@@ -121,7 +121,7 @@ static uint8_t LogMessage(const char* color, const char* str, eSource source)
 	
 	// queue strings to reset console position and format
 	char buffer[16];
-	sprintf(buffer, "%s\r\n", reset);
+	sprintf(buffer, "%s\n", reset);
 
 	return AsyncPrint(source, buffer);
 }
@@ -161,7 +161,7 @@ uint8_t AsyncPrint(eSource source, const char* str)
 {
 	/* Initialize tmp to copy segments into */
 	segment_t tmp;
-	memset(&tmp, '\0', SEGMENT_SIZE);
+	memset(&tmp, ' ', SEGMENT_SIZE);
 
 	uint16_t total_num_bytes = strlen(str);
 	uint8_t num_segments = total_num_bytes/SEGMENT_SIZE; 
@@ -181,7 +181,7 @@ uint8_t AsyncPrint(eSource source, const char* str)
 	/* Queue remaining segments */
 	if (bytes_left != 0) 
 	{
-		memset(&tmp, '\0', SEGMENT_SIZE);
+		memset(&tmp, ' ', SEGMENT_SIZE);
 		memcpy(&tmp, str + (segment_index*SEGMENT_SIZE), bytes_left);
 		
 		QueueSegment(source, tmp);

From 5f7635389ceb56a9ca47d71baee137ebed6b2af6 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Thu, 2 Mar 2023 19:10:30 -0800
Subject: [PATCH 53/58] temporarily raise logger priority

---
 VCU/Phantom/tasks/source/task_logger.c | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/VCU/Phantom/tasks/source/task_logger.c b/VCU/Phantom/tasks/source/task_logger.c
index 30648d38..ef200281 100644
--- a/VCU/Phantom/tasks/source/task_logger.c
+++ b/VCU/Phantom/tasks/source/task_logger.c
@@ -68,7 +68,7 @@ void FlushLogger(uint16_t waitms)
 
 	vTaskDelay(pdMS_TO_TICKS(waitms)); 
 
-	vTaskPrioritySet(rtos_handles.taskHandle, 0);
+	vTaskPrioritySet(rtos_handles.taskHandle, LOGGER_PRIORITY);
 }
 
 
@@ -105,7 +105,11 @@ static void LoggerThread(void* pvParams)
 			continue;	
 		}
 
+		vTaskPrioritySet(rtos_handles.taskHandle, configMAX_PRIORITIES-1);
+
 		UARTprintf((char*)&segment);
+
+		vTaskPrioritySet(rtos_handles.taskHandle, LOGGER_PRIORITY);
 	}
 }
 

From 2b676c9b065403228bdd3e7905d651e0a1b9808f Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Thu, 2 Mar 2023 19:25:24 -0800
Subject: [PATCH 54/58] don't make it static so characters don't persist and
 mess up the output

---
 VCU/Phantom/tasks/source/task_logger.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/VCU/Phantom/tasks/source/task_logger.c b/VCU/Phantom/tasks/source/task_logger.c
index ef200281..e6c88b68 100644
--- a/VCU/Phantom/tasks/source/task_logger.c
+++ b/VCU/Phantom/tasks/source/task_logger.c
@@ -94,7 +94,7 @@ void GetLogHeader(eSource source, const char* color, char* str)
 
 static void LoggerThread(void* pvParams)
 {
-	static segment_t segment;
+	segment_t segment;
 
 	Log("Starting thread");
 

From 309159638431ba308a0962f5df4539bdfb615855 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Thu, 2 Mar 2023 19:26:20 -0800
Subject: [PATCH 55/58] don't transition to severe fault if we are already
 severe fault

---
 VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
index f15c3248..663078b3 100644
--- a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
+++ b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
@@ -112,7 +112,6 @@ static void UpdateStateMachine(void* data)
 			default:
 				break;
 		}
-
 	}
 
 	// update state
@@ -133,12 +132,14 @@ static State VariousStates(State state, eCarEvents event)
 		event == EVENT_UNRESPONSIVE_APPS
 	);
 
-	if (faults)
+	if (faults && state != SEVERE_FAULT)
 	{
-		LogColor(RED, "Suspending throttle task.");
 		SuspendThrottle(system_tasks.Throttle);
 		
 		LogColor(RED, "Moving to SevereFault state");
+
+		FlushLogger(20); // highly likely a lot of events happened. No rush since we 've already done everything. Let's log
+
 		return SEVERE_FAULT;
 	}
 

From 144bf837d0b3f890e9707431e07e10028e065473 Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Thu, 2 Mar 2023 19:26:43 -0800
Subject: [PATCH 56/58] add logging for suspended throttle

---
 VCU/Phantom/tasks/source/task_throttle.c | 1 +
 1 file changed, 1 insertion(+)

diff --git a/VCU/Phantom/tasks/source/task_throttle.c b/VCU/Phantom/tasks/source/task_throttle.c
index 8d87a209..84524809 100644
--- a/VCU/Phantom/tasks/source/task_throttle.c
+++ b/VCU/Phantom/tasks/source/task_throttle.c
@@ -98,6 +98,7 @@ void SuspendThrottle(TaskHandle_t self)
         MCP48FV_Set_Value(0); // send throttle value to DAC driver
         LogColor(RED, "Turning off throttle");
 
+		LogColor(RED, "Suspending throttle task.");
         vTaskSuspend(self);
     }
     #else

From f0a580366c1cc6a4eff2c0a3a4de32cfe927ebfc Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Thu, 2 Mar 2023 19:27:13 -0800
Subject: [PATCH 57/58] remove diagrams folder

---
 Diagrams/Threads/task_architecture.png | Bin 109196 -> 0 bytes
 Diagrams/Threads/task_timing.png       | Bin 112000 -> 0 bytes
 Diagrams/Threads/tasks.drawio          | 562 -------------------------
 3 files changed, 562 deletions(-)
 delete mode 100644 Diagrams/Threads/task_architecture.png
 delete mode 100644 Diagrams/Threads/task_timing.png
 delete mode 100644 Diagrams/Threads/tasks.drawio

diff --git a/Diagrams/Threads/task_architecture.png b/Diagrams/Threads/task_architecture.png
deleted file mode 100644
index 048174de2352c46bb9486a31571f2b6708d3bfed..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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\ No newline at end of file

From 50ef1376ff8b2ebeb015c576103293046a7852df Mon Sep 17 00:00:00 2001
From: rafguevara <rafguevara14@gmail.com>
Date: Thu, 2 Mar 2023 22:01:28 -0800
Subject: [PATCH 58/58] cleanup serial output

---
 VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c | 4 ----
 VCU/Phantom/Drivers/UART/Phantom_sci.c            | 1 +
 VCU/Phantom/tasks/source/task_logger.c            | 6 +++---
 3 files changed, 4 insertions(+), 7 deletions(-)

diff --git a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
index 663078b3..841bee66 100644
--- a/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
+++ b/VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
@@ -43,10 +43,6 @@ void NotifyStateMachine(eCarEvents event)
 
 void NotifyStateMachineFromISR(eCarEvents event)
 {
- 	char buffer[32];
-	sprintf(buffer, "Event occurred: %d", event);
-	LogFromISR(UWHT, buffer);
-
 	HandleEventFromISR(UpdateStateMachine, event);
 }
 
diff --git a/VCU/Phantom/Drivers/UART/Phantom_sci.c b/VCU/Phantom/Drivers/UART/Phantom_sci.c
index 1dd85f2c..4798b574 100644
--- a/VCU/Phantom/Drivers/UART/Phantom_sci.c
+++ b/VCU/Phantom/Drivers/UART/Phantom_sci.c
@@ -117,6 +117,7 @@ void GetRuntimeStatistics(void* x)
     char ptrTaskList[TASK_LIST_SIZE];
     vTaskList(ptrTaskList);
 
+    UARTprintln("\n");
     UARTSend(PC_UART, ptrTaskList);
     UARTprintln("\r");
 }
diff --git a/VCU/Phantom/tasks/source/task_logger.c b/VCU/Phantom/tasks/source/task_logger.c
index e6c88b68..7431cd11 100644
--- a/VCU/Phantom/tasks/source/task_logger.c
+++ b/VCU/Phantom/tasks/source/task_logger.c
@@ -125,7 +125,7 @@ static uint8_t LogMessage(const char* color, const char* str, eSource source)
 	
 	// queue strings to reset console position and format
 	char buffer[16];
-	sprintf(buffer, "%s\n", reset);
+	sprintf(buffer, "%s\n\r", reset);
 
 	return AsyncPrint(source, buffer);
 }
@@ -165,7 +165,7 @@ uint8_t AsyncPrint(eSource source, const char* str)
 {
 	/* Initialize tmp to copy segments into */
 	segment_t tmp;
-	memset(&tmp, ' ', SEGMENT_SIZE);
+	memset(&tmp, '\0', SEGMENT_SIZE);
 
 	uint16_t total_num_bytes = strlen(str);
 	uint8_t num_segments = total_num_bytes/SEGMENT_SIZE; 
@@ -185,7 +185,7 @@ uint8_t AsyncPrint(eSource source, const char* str)
 	/* Queue remaining segments */
 	if (bytes_left != 0) 
 	{
-		memset(&tmp, ' ', SEGMENT_SIZE);
+		memset(&tmp, '\0', SEGMENT_SIZE);
 		memcpy(&tmp, str + (segment_index*SEGMENT_SIZE), bytes_left);
 		
 		QueueSegment(source, tmp);