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nathanaschbachernathanaschbacher
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Merge pull request #168 from PolySync/maint/reorganize-software-stack
Reorganize software stack
2 parents 13b1af5 + 8c993d7 commit 1171726

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Lines changed: 6756 additions & 10869 deletions

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‎Jenkinsfile‎

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@@ -11,20 +11,16 @@ node('arduino') {
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}
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stage('Build') {
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parallel 'kia soul firmware': {
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sh 'cd platforms && mkdir build && cd build && cmake .. -DBUILD_KIA_SOUL=ON -DCMAKE_BUILD_TYPE=Release && make'
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}, 'joystick commander': {
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sh 'cd utils/joystick_commander && mkdir build && cd build && cmake .. && make'
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}, 'diagnostics tool': {
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sh 'cd utils/diagnostics_tool && mkdir build && cd build && cmake .. && make'
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sh 'cd firmware && mkdir build && cd build && cmake .. -DKIA_SOUL=ON -DCMAKE_BUILD_TYPE=Release && make'
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}
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echo 'Build Complete!'
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}
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stage('Test') {
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parallel 'unit tests': {
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sh 'cd platforms && mkdir build_unit_tests && cd build_unit_tests && cmake .. -DTESTS=ON -DCMAKE_BUILD_TYPE=Release && make run-unit-tests'
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sh 'cd firmware && mkdir build_unit_tests && cd build_unit_tests && cmake .. -DKIA_SOUL=ON -DTESTS=ON -DCMAKE_BUILD_TYPE=Release && make run-unit-tests'
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echo 'Unit Tests Complete!'
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}, 'property-based tests': {
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sh 'cd platforms && mkdir build_property_tests && cd build_property_tests && cmake .. -DTESTS=ON -DCMAKE_BUILD_TYPE=Release && make run-property-tests'
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sh 'cd firmware && mkdir build_property_tests && cd build_property_tests && cmake .. -DKIA_SOUL=ON -DTESTS=ON -DCMAKE_BUILD_TYPE=Release && make run-property-tests'
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echo 'Property-Based Tests Complete!'
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}, 'acceptance tests': {
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echo 'Acceptance Tests Complete!'

‎README.md‎

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‎api/include/can_protocols/brake_can_protocol.h‎

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/**
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* @file brake_can_protocol.h
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* @brief Brake CAN Protocol.
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*
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*/
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#ifndef _OSCC_BRAKE_CAN_PROTOCOL_H_
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#define _OSCC_BRAKE_CAN_PROTOCOL_H_
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#include <stdint.h>
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#include "magic.h"
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/*
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* @brief Brake command message (CAN frame) ID.
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*
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*/
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#define OSCC_BRAKE_COMMAND_CAN_ID (0x60)
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/*
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* @brief Brake report message (CAN frame) ID.
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*
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*/
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#define OSCC_BRAKE_REPORT_CAN_ID (0x61)
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/*
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* @brief Brake report message (CAN frame) length.
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*
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*/
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#define OSCC_BRAKE_REPORT_CAN_DLC (8)
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/*
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* @brief Brake report message publishing frequency. [Hz]
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*
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*/
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#define OSCC_BRAKE_REPORT_PUBLISH_FREQ_IN_HZ (50)
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/*
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* @brief Brake DTC bitfield position indicating an invalid sensor value.
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*
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*/
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#define OSCC_BRAKE_DTC_INVALID_SENSOR_VAL (0x0)
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#pragma pack(push)
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#pragma pack(1)
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/**
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* @brief Brake command message data.
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*
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* CAN frame ID: \ref OSCC_BRAKE_COMMAND_CAN_ID
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*
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*/
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typedef struct
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{
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uint8_t magic[2]; /* Magic number identifying CAN frame as from OSCC.
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Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
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Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
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uint16_t pedal_command; /*!< Pedal command. [65535 == 100%] */
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uint8_t enable; /*!< Command to enable or disable steering control.
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* Zero value means disable.
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* Non-zero value means enable. */
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uint8_t reserved[3]; /*!< Reserved. */
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} oscc_brake_command_s;
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/**
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* @brief Brake report message data.
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*
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* CAN frame ID: \ref OSCC_BRAKE_REPORT_CAN_ID
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*
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*/
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typedef struct
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{
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uint8_t magic[2]; /* Magic number identifying CAN frame as from OSCC.
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Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
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Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
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uint8_t enabled; /*!< Braking controls enabled state.
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* Zero value means disabled (commands are ignored).
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* Non-zero value means enabled (no timeouts or overrides have occured). */
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uint8_t operator_override; /*!< Driver override state.
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* Zero value means there has been no operator override.
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* Non-zero value means an operator has physically overridden
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* the system. */
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uint8_t dtcs; /* Bitfield of DTCs present in the module. */
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uint8_t reserved[3]; /*!< Reserved. */
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} oscc_brake_report_s;
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#pragma pack(pop)
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#endif /* _OSCC_BRAKE_CAN_PROTOCOL_H_ */

‎api/include/can_protocols/fault_can_protocol.h‎

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/**
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* @file fault_can_protocol.h
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* @brief Fault CAN Protocol.
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*
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*/
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#ifndef _OSCC_FAULT_CAN_PROTOCOL_H_
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#define _OSCC_FAULT_CAN_PROTOCOL_H_
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#include <stdint.h>
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#include "magic.h"
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/*
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* @brief Fault report message (CAN frame) ID.
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*
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*/
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#define OSCC_FAULT_REPORT_CAN_ID (0x99)
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/*
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* @brief Fault report message (CAN frame) length.
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*
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*/
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#define OSCC_FAULT_REPORT_CAN_DLC (8)
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typedef enum
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{
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FAULT_ORIGIN_BRAKE,
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FAULT_ORIGIN_STEERING,
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FAULT_ORIGIN_THROTTLE
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} fault_origin_id_t;
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#pragma pack(push)
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#pragma pack(1)
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/**
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* @brief Fault report message data.
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*
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* Message size (CAN frame DLC): \ref OSCC_FAULT_REPORT_CAN_DLC
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*
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*/
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typedef struct
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{
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uint8_t magic[2]; /* Magic number identifying CAN frame as from OSCC.
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Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
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Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
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uint32_t fault_origin_id; /* ID of the module that is sending out the fault. */
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uint8_t reserved[2]; /* Reserved */
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} oscc_fault_report_s;
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#pragma pack(pop)
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#endif /* _OSCC_FAULT_CAN_PROTOCOL_H_ */

‎api/include/can_protocols/magic.h‎

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/**
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* @file magic.h
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* @brief Definitions of the magic bytes identifying messages as from OSCC.
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*
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*/
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#ifndef _OSCC_MAGIC_H_
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#define _OSCC_MAGIC_H_
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/*
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* @brief First magic byte used in commands and reports to distinguish CAN
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* frame as coming from OSCC (and not OBD).
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*
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*/
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#define OSCC_MAGIC_BYTE_0 ( 0x05 )
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/*
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* @brief Second magic byte used in commands and reports to distinguish CAN
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* frame as coming from OSCC (and not OBD).
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*
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*/
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#define OSCC_MAGIC_BYTE_1 ( 0xCC )
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#endif /* _OSCC_MAGIC_H_ */

‎api/include/can_protocols/steering_can_protocol.h‎

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/**
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* @file steering_can_protocol.h
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* @brief Steering CAN Protocol.
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*
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*/
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#ifndef _OSCC_STEERING_CAN_PROTOCOL_H_
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#define _OSCC_STEERING_CAN_PROTOCOL_H_
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#include <stdint.h>
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#include "magic.h"
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/*
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* @brief Steering command message (CAN frame) ID.
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*
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*/
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#define OSCC_STEERING_COMMAND_CAN_ID (0x64)
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/*
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* @brief Steering report message (CAN frame) ID.
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*
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*/
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#define OSCC_STEERING_REPORT_CAN_ID (0x65)
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/*
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* @brief Steering report message (CAN frame) length.
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*
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*/
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#define OSCC_STEERING_REPORT_CAN_DLC (8)
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/*
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* @brief Steering report message publishing frequency. [Hz]
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*
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*/
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#define OSCC_REPORT_STEERING_PUBLISH_FREQ_IN_HZ (50)
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/*
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* @brief Steering DTC bitfield position indicating an invalid sensor value.
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*
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*/
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#define OSCC_STEERING_DTC_INVALID_SENSOR_VAL (0x0)
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#pragma pack(push)
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#pragma pack(1)
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/**
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* @brief Steering command message data.
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*
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* CAN frame ID: \ref OSCC_STEERING_COMMAND_CAN_ID
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*
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*/
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typedef struct
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{
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uint8_t magic[2]; /* Magic number identifying CAN frame as from OSCC.
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Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
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Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
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uint16_t spoof_value_low; /*!< Value to be sent on the low spoof signal. */
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uint16_t spoof_value_high; /*!< Value to be sent on the high spoof signal. */
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uint8_t enable; /*!< Command to enable or disable steering control.
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* Zero value means disable.
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* Non-zero value means enable. */
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uint8_t reserved; /*!< Reserved. */
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} oscc_steering_command_s;
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/**
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* @brief Steering report message data.
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*
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* CAN frame ID: \ref OSCC_STEERING_REPORT_CAN_ID
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*
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*/
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typedef struct
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{
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uint8_t magic[2]; /* Magic number identifying CAN frame as from OSCC.
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Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
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Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
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uint8_t enabled; /*!< Steering controls enabled state.
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* Zero value means disabled (commands are ignored).
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* Non-zero value means enabled (no timeouts or overrides have occured). */
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uint8_t operator_override; /*!< Driver override state.
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* Zero value means there has been no operator override.
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* Non-zero value means an operator has physically overridden
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* the system. */
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uint8_t dtcs; /* Bitfield of DTCs present in the module. */
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uint8_t reserved[3]; /*!< Reserved. */
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} oscc_steering_report_s;
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#pragma pack(pop)
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#endif /* _OSCC_STEERING_CAN_PROTOCOL_H_ */

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