merged develop

.github/workflows/build-check.yml

@@ -3,18 +3,16 @@ on: [push]
 jobs:
   run-build:
     runs-on: ubuntu-latest
-    container:
-        image: ghcr.io/northeastern-electric-racing/embedded-base:main
     timeout-minutes: 10
     steps:
       - name: Checkout code
         uses: actions/checkout@v4
         with:
             submodules: recursive
-
+            fetch-depth: 0
       - name: Execute Make
         run: |
-            if ! make; then
+            if ! docker compose run --rm ner-gcc-arm make -j `nproc`; then
             echo "The application has failed to build."
             exit 1  # This will cause the workflow to fail
-            fi
+            fi

Core/Inc/dti.h

@@ -27,7 +27,7 @@
 	0x496 /* Throttle signal, Brake signal, IO, Drive enable */
 
 #define TIRE_DIAMETER 16 /* inches */
-#define GEAR_RATIO    47 / 13.0 /* unitless */
+#define GEAR_RATIO    43 / 13.0 /* unitless */
 #define POLE_PAIRS    10 /* unitless */
 
 typedef struct {

Core/Inc/emrax.h

@@ -18,7 +18,7 @@
 #define EMRAX_NOMINAL_VOLTAGE  520 /* V */
 #define EMRAX_PEAK_EFFICIENCY  90 /* % */
 #define EMRAX_PEAK_POWER       124 /* kW, at 5500 RPM */
-#define EMRAX_PEAK_TORQUE      230 /* Nm */
+#define EMRAX_PEAK_TORQUE      220 /* Nm */
 #define EMRAX_CONT_TORQUE      112 /* Nm */
 #define EMRAX_LIMITING_SPEED   6500 /* RPM */
 #define EMRAX_KV	       15.53

Core/Src/main.c

@@ -39,6 +39,7 @@
 #include "dti.h"
 #include "steeringio.h"
 #include "pedals.h"
+#include "string.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -708,7 +709,35 @@ static void MX_GPIO_Init(void)
 }
 
 /* USER CODE BEGIN 4 */
-
+struct __attribute__((__packed__)) git_version_data {
+		uint8_t git_major_version;
+		uint8_t git_minor_version;
+		uint8_t git_patch_version;
+		bool git_is_upstream_clean;
+		bool git_is_local_clean;
+	} git_version_data;
+
+  struct __attribute__((__packed__)) git_hash_data {
+    uint32_t git_shorthash;
+    uint32_t git_authorhash;
+  } git_hash_data;
+
+/**
+ * @brief Sends git version infomation as a can message
+ */
+void send_git_version_message() {
+  const struct git_hash_data git_hash_data2 = {GIT_SHORTHASH , GIT_AUTHORHASH};
+  const struct git_version_data git_version_data2 = {GIT_MAJOR_VERSION , GIT_MINOR_VERSION, GIT_PATCH_VERSION, GIT_IS_UPSTREAM_CLEAN, GIT_IS_LOCAL_CLEAN};
+  can_msg_t msg1 = { .id = 0x698, .len = sizeof(git_version_data2)};
+  can_msg_t msg2 = { .id = 0x699, .len = sizeof(git_hash_data2)};
+
+  memcpy(&msg1.data, &git_version_data2, sizeof(git_version_data2));
+  memcpy(&msg2.data, &git_hash_data2, sizeof(git_hash_data2));
+
+  queue_can_msg(msg1);
+  //queue_can_msg(msg2);
+
+}
 /* USER CODE END 4 */
 
 /* USER CODE BEGIN Header_StartDefaultTask */
@@ -739,6 +768,7 @@ void StartDefaultTask(void *argument)
 
     /* Send NERO state data continuously */
     send_nero_msg();
+    send_git_version_message();
     osDelay(500);
     //osDelay(YELLOW_LED_BLINK_DELAY);
   }

Core/Src/pedals.c

@@ -197,6 +197,7 @@ bool calc_bspd_prefault(float accel_val, float brake_val)
 	return motor_disabled;
 }
 
+#ifndef POWER_REGRESSION_PEDAL_TORQUE_TRANSFER
 static void linear_accel_to_torque(float accel)
 {
 	/* Sometimes, the pedal travel jumps to 1% even if it is not pressed. */
@@ -209,6 +210,22 @@ static void linear_accel_to_torque(float accel)
 	dti_set_torque(torque);
 }
 
+#else
+static void power_regression_accel_to_torque(float accel)
+{
+	/* Sometimes, the pedal travel jumps to 1% even if it is not pressed. */
+	if (fabs(accel - 0.01) < 0.001) {
+		accel = 0;
+	}
+	/*  map acceleration to torque */
+	int16_t torque =
+		(int16_t)(0.137609 * powf(accel, 1.43068) * MAX_TORQUE);
+	/* These values came from creating a power regression function intersecting three points: (0,0) (20,10) & (100,100)*/
+
+	dti_set_torque(torque);
+}
+#endif
+
 /**
  * @brief Derate torque target to keep car below the maximum pit/reverse mode speed.
  * 
@@ -440,7 +457,11 @@ void vProcessPedals(void *pv_params)
 			handle_endurance(mc, mph, accelerator_value, brake_val);
 			break;
 		case F_PERFORMANCE:
+#ifndef POWER_REGRESSION_PEDAL_TORQUE_TRANSFER
 			linear_accel_to_torque(accelerator_value);
+#else
+			power_regression_accel_to_torque(accelerator_value);
+#endif
 			break;
 		case F_PIT:
 			handle_pit(mph, accelerator_value);

Makefile

@@ -22,6 +22,34 @@ $(info \     \___\  ___/|  | \/ \_\ \  ___/|  | \/  |  /\___ \ )
 $(info .\______  /\___  >__|  |___  /\___  >__|  |____//____  >)
 $(info ........\/     \/          \/     \/                 \/ )
 
+
+######################################
+# git
+######################################
+GIT_MAJOR_VERSION := $(shell git describe --tags --abbrev=0 | cut -c2- | cut -d'.' -f1)
+GIT_MINOR_VERSION := $(shell git describe --tags --abbrev=0 | cut -c2- | cut -d'.' -f2)
+GIT_PATCH_VERSION := $(shell git describe --tags --abbrev=0 | cut -c2- | cut -d'.' -f3)
+GIT_IS_UPSTREAM_CLEAN := $(shell bash -c 'git merge-base --is-ancestor HEAD @{u} && echo 0 || echo 1')
+GIT_IS_LOCAL_CLEAN := $(shell bash -c 'test -z "$$(git status --porcelain)" && echo 0 || echo 1')
+GIT_SHORTHASH := $(shell git rev-parse --short=8 HEAD)
+GIT_AUTHORHASH := $(shell bash -c 'git log -n 1 --format=%h --author=$(git config --get user.name)')
+
+
+all:
+	@echo "VERSION: $(GIT_MAJOR_VERSION).$(GIT_MINOR_VERSION).$(GIT_PATCH_VERSION)"
+	@echo "UNPUSHED CHANGES: $(GIT_IS_UPSTREAM_CLEAN)"
+	@echo "UNCOMMITTED CHANGES: $(GIT_IS_LOCAL_CLEAN)"
+	@echo "COMMIT HASH: $(GIT_SHORTHASH)"
+	@echo "AUTHOR HASH: $(GIT_AUTHORHASH)"
+
+CFLAGS += -DGIT_MAJOR_VERSION=$(GIT_MAJOR_VERSION) \
+		  -DGIT_MINOR_VERSION=$(GIT_MINOR_VERSION) \
+		  -DGIT_PATCH_VERSION=$(GIT_PATCH_VERSION) \
+		  -DGIT_IS_UPSTREAM_CLEAN=$(GIT_IS_UPSTREAM_CLEAN) \
+		  -DGIT_IS_LOCAL_CLEAN=$(GIT_IS_LOCAL_CLEAN) \
+		  -DGIT_SHORTHASH=0x$(GIT_SHORTHASH) \
+		  -DGIT_AUTHORHASH=0x$(GIT_AUTHORHASH)
+
 ######################################
 # building variables
 ######################################