Merge pull request #104 from badgerloop-software/pod5_cleanup

Pre Pod5 Cleanup

Author: rdaruwala

.travis.yml

@@ -13,6 +13,7 @@ matrix:
 language: c
 compiler: gcc-6
 sudo: require
+dist: trusty
 python:
   - "3.4"
 

README.md

@@ -1,9 +1,9 @@
-# Badgerloop Pod IV
-[![Build Status](https://travis-ci.org/badgerloop-software/pod.svg?branch=master)](https://travis-ci.org/badgerloop-software/pod)
+# Badgerloop Pod V
+[![Build Status](https://travis-ci.org/badgerloop-software/pod-embedded.svg?branch=master)](https://travis-ci.org/badgerloop-software/pod-embedded)
 
-*Developers: Ezra Boley, Eric Udlis, Rohan Daruwala, Luke Houge, Alex Vesel*
+*Developers: Rohan Daruwala, Ezra Boley*
 
-The master repository for Badgerloop's pod in the Hyperloop Competition
+The embedded repository for Badgerloop's pod in the Hyperloop Competition
 
 ## Beaglebone Make Instructions
 

deploy.sh

@@ -3,7 +3,15 @@
 sudo modprobe vcan
 ./embedded/utils/setupCAN.sh
 make examples VIRTUAL=1
+retVal=$?
+if [ $retVal -ne 0 ]; then
+	exit 1
+fi
 make VIRTUAL=1
+retVal=$?
+if [ $retVal -ne 0 ]; then
+	exit 1
+fi
 python3 ./embedded/examples/sims/rms.py &
 ./out/tests/can_test
 exit 0

embedded/app/main/badgerloop_HV.cpp

@@ -12,10 +12,10 @@
 extern "C" 
 {
     #include "bbgpio.h"
-#include "connStat.h"
-#include <signal.h>
+    #include "connStat.h"
+    #include <signal.h>
     #include <rms.h>
-#include "motor.h"
+    #include "motor.h"
     #include "hv_iox.h"
     #include "motor.h"
     #include "proc_iox.h"

embedded/app/src/bms_fault_checking.c

@@ -28,7 +28,7 @@ bool checkPrerunBattery(void){
 		return false;
 	}
 	if(data->bms->cellMaxVoltage > MAX_CELL_VOLTAGE || data->bms->cellMinVoltage < MIN_CELL_VOLTAGE){
-		printf("Cell Voltage Error: %i, %i\n", data->bms->cellMinVoltage, data->bms->cellMaxVoltage);
+		printf("Cell Voltage Error: %f, %f\n", data->bms->cellMinVoltage, data->bms->cellMaxVoltage);
 		return false;
 	}
 	if(data->bms->packVoltage > MAX_PACK_VOLTAGE || data->bms->packVoltage < MIN_PACK_VOLTAGE_PRERUN){
@@ -53,7 +53,7 @@ bool checkRunBattery(void){
 		return false;
 	}
 	if(data->bms->cellMaxVoltage > MAX_CELL_VOLTAGE || data->bms->cellMinVoltage < MIN_CELL_VOLTAGE){
-		printf("Cell Voltage Error: %i, %i\n", data->bms->cellMinVoltage, data->bms->cellMaxVoltage);
+		printf("Cell Voltage Error: %f, %f\n", data->bms->cellMinVoltage, data->bms->cellMaxVoltage);
 		return false;
 	}
 	if(data->bms->packVoltage > MAX_PACK_VOLTAGE || data->bms->packVoltage < MIN_PACK_VOLTAGE_RUN){
@@ -78,7 +78,7 @@ bool checkBrakingBattery(void){
 		return false;
 	}
 	if(data->bms->cellMaxVoltage > MAX_CELL_VOLTAGE || data->bms->cellMinVoltage < MIN_CELL_VOLTAGE){
-		printf("Cell Voltage Error: %i, %i\n", data->bms->cellMinVoltage, data->bms->cellMaxVoltage);
+		printf("Cell Voltage Error: %f, %f\n", data->bms->cellMinVoltage, data->bms->cellMaxVoltage);
 		return false;
 	}
 	if(data->bms->packVoltage > MAX_PACK_VOLTAGE || data->bms->packVoltage < MIN_PACK_VOLTAGE_RUN){
@@ -103,7 +103,7 @@ bool checkStoppedBattery(void){
 		return false;
 	}
 	if(data->bms->cellMaxVoltage > MAX_CELL_VOLTAGE || data->bms->cellMinVoltage < MIN_CELL_VOLTAGE){
-		printf("Cell Voltage Error: %i, %i\n", data->bms->cellMinVoltage, data->bms->cellMaxVoltage);
+		printf("Cell Voltage Error: %f, %f\n", data->bms->cellMinVoltage, data->bms->cellMaxVoltage);
 		return false;
 	}
 	if(data->bms->packVoltage > MAX_PACK_VOLTAGE || data->bms->packVoltage < MIN_PACK_VOLTAGE_RUN){
@@ -128,7 +128,7 @@ bool checkCrawlBattery(void){
 		return false;
 	}
 	if(data->bms->cellMaxVoltage > MAX_CELL_VOLTAGE || data->bms->cellMinVoltage < MIN_CELL_VOLTAGE){
-		printf("Cell Voltage Error: %i, %i\n", data->bms->cellMinVoltage, data->bms->cellMaxVoltage);
+		printf("Cell Voltage Error: %f, %f\n", data->bms->cellMinVoltage, data->bms->cellMaxVoltage);
 		return false;
 	}
 	if(data->bms->packVoltage > MAX_PACK_VOLTAGE || data->bms->packVoltage < MIN_PACK_VOLTAGE_POSTRUN){
@@ -153,7 +153,7 @@ bool checkPostrunBattery(void){
 		return false;
 	}
 	if(data->bms->cellMaxVoltage > MAX_CELL_VOLTAGE || data->bms->cellMinVoltage < MIN_CELL_VOLTAGE){
-		printf("Cell Voltage Error: %i, %i\n", data->bms->cellMinVoltage, data->bms->cellMaxVoltage);
+		printf("Cell Voltage Error: %f, %f\n", data->bms->cellMinVoltage, data->bms->cellMaxVoltage);
 		return false;
 	}
 	if(data->bms->packVoltage > MAX_PACK_VOLTAGE || data->bms->packVoltage < MIN_PACK_VOLTAGE_POSTRUN){

embedded/app/src/motor.c

@@ -16,13 +16,8 @@
 
 
 /* Thread management variables */
-static pthread_mutex_t torqueLock, motorLock;
-static sem_t hbSem;
-static pthread_t hbLoop;
-static bool JOIN_HB_THREAD = false;
-
-static void *motorHeartbeatLoop(void *);
 extern int rmsInvEnNoTorque();
+
 /* Create the semaphores and mutexes for thread sensitive operations
  *  and creates the HB loop that just waits for the motor to be started 
 */
@@ -31,7 +26,7 @@ extern int rmsInvEnNoTorque();
 static pthread_t hbThread;
 static bool motorEnabled = false;
 static bool lowTorqueMode = false;
-static void motorHbLoop();
+static void *motorHbLoop(void *arg);
 
 void setMotorEn() {
     motorEnabled = true;
@@ -53,7 +48,8 @@ void SetupMotor() {
     pthread_create(&hbThread, NULL, (motorHbLoop), NULL);
 }
 
-static void motorHbLoop() {
+static void *motorHbLoop(void *arg) {
+    (void) arg;
     while(1) {
         if (motorEnabled)
             rmsSendHbMsg(2);
@@ -63,5 +59,7 @@ static void motorHbLoop() {
             rmsIdleHb();
         usleep(10000);
     }
+    
+    return NULL;
 }
 

embedded/app/src/nav.c

@@ -146,6 +146,8 @@ void resetNav() {
  *      2. Are we going in X or Y plane
  */
 void navLoop(void *unused) {
+    (void) unused;
+    
     int lastRetroCount = 0;
     data->motion->missedRetro = 0;
     csvFormatHeader();

embedded/peripherals/src/imu.c

@@ -69,8 +69,9 @@ void *IMULoop(void *arg){
 	unsigned char res1[4];
 	uint32_t tempx, tempy, tempz;
 	int i;
-    uint64_t curr, prev, delt;
-    prev = getuSTimestamp();
+    //uint64_t curr, prev;
+	// uint64_t delt;
+    //prev = getuSTimestamp();
 	while (1){
 		i = 0;
 		// Information on data registers can be found @ https://www.xsens.com/download/pdf/documentation/mti-1/mti-1-series_datasheet.pdf
@@ -86,7 +87,7 @@ void *IMULoop(void *arg){
 		unsigned char dataBuffer[messageSize];
 		read_i2c(i2c, dataBuffer, messageSize);
         i = 0;
-        curr = getuSTimestamp();
+        //curr = getuSTimestamp();
 		while(i < messageSize){
 			//Check delta velocity
 
@@ -120,7 +121,7 @@ void *IMULoop(void *arg){
                 data->accelY = * ((float *) &tempy);
                 data->accelZ = * ((float *) &tempz);
 
-                delt = curr - prev;
+                //delt = curr - prev;
 
                 data->velX = data->velX + (data->accelX * .025);
                 data->velY = data->velY + (data->accelY * .025);
@@ -142,7 +143,7 @@ void *IMULoop(void *arg){
         data->posY += data->velY * .025;
 		data->posZ += data->velZ * .025;
         sem_post(&data->mutex);
-        prev = curr;
+        //prev = curr;
         usleep(10000);
 
 	}

embedded/peripherals/src/retro.c

@@ -35,7 +35,7 @@ static bool blockInts  = true;
 static int onTapeStrip (int retroNum);
 static void * waitForStrip (void * retroNum);
 static int getPin(int retroNum);
-static void * blockSpuriousInts(uint64_t timeout);
+static void * blockSpuriousInts(int timeout);
 
 
 /***
@@ -50,7 +50,7 @@ int initRetros() {
 		if (bbGpioExport(getPin(i)) != 0) return -1;
 		if (bbGpioSetDir(getPin(i), IN_DIR) != 0) return -1;
 		if (bbGpioSetEdge(getPin(i), RISING_EDGE) != 0) return -1;
-		if (pthread_create(&retroThreads[i], NULL, waitForStrip, (void *) i) != 0)
+		if (pthread_create(&retroThreads[i], NULL, waitForStrip, (void *)(intptr_t) i) != 0)
 			return -1;
 	}
 
@@ -139,7 +139,7 @@ static int onTapeStrip(int retroNum) {
   *		void *num - an identifier for which retro is running the thread
   ***/
 static void *waitForStrip(void *num) {
-	int retroNum = (int) num;
+	int retroNum = (intptr_t) num;
 	int gpioFd = bbGpioFdOpen(getPin(retroNum));
 	struct pollfd fds[1];
 	int nfds = 1;
@@ -192,7 +192,7 @@ static int getPin(int retroNum) {
 	return -1;	/* Will never get here */
 }
 
-static void *blockSpuriousInts(uint64_t timeout) {
+static void *blockSpuriousInts(int timeout) {
 	blockInts = true;
     usleep(timeout);
     blockInts = false;

embedded/peripherals/src/rms.c

@@ -168,7 +168,7 @@ int rms_parser(uint32_t id, uint8_t *rmsData, uint32_t filter){
         return 1;
     }
     uint16_t val;
-    uint16_t val2;
+    //uint16_t val2;
     int16_t temp;
 	switch(id){
            case (0xa0):

middleware/src/HVTCPSocket.cpp

@@ -32,6 +32,9 @@ bool motorIsEnabled, noTorqueMode;
 pthread_t hbT;
 extern stateMachine_t stateMachine;
 void *hbLoop(void *nul) {
+	
+	(void) nul;
+	
 	while (1) {
 		if (motorIsEnabled) {
 			rmsInvEn();
@@ -182,7 +185,7 @@ void *TCPLoop(void *arg)
 
 		if(!strncmp(buffer,"override", 8)){
 			fprintf(stderr, "Override received for state: %s\n", buffer+9);
-		  sprintf(stateMachine.overrideStateName, "%s\0", buffer+9);
+		  sprintf(stateMachine.overrideStateName, "%s%c", buffer+9, '\0');
         }
 
 		// HEARTBEAT

middleware/src/data_dump.cpp

@@ -70,7 +70,7 @@ void *DataLoop(void *arg){
 		fprintf(fp, "%f,%f,%f,%i,", data->motion->pos, data->motion->vel, data->motion->accel, data->motion->retroCount);
 
 		// BMS
-		fprintf(fp, "%f,%f,%hu,%hx,%hu,%hu,%f,%hu,%hu,%f,%hu,%hu,%hu,%hu,%hu,%hu,%hu,%hu,%hu,", data->bms->packCurrent, data->bms->packVoltage, data->bms->packDCL, data->bms->packCCL, data->bms->packResistance, data->bms->packHealth, data->bms->packOpenVoltage, data->bms->packCycles, data->bms->packAh, data->bms->inputVoltage, data->bms->Soc, data->bms->relayStatus, data->bms->highTemp, data->bms->lowTemp, data->bms->cellMaxVoltage, data->bms->cellMinVoltage, data->bms->cellAvgVoltage, data->bms->maxCells, data->bms->numCells);
+		fprintf(fp, "%f,%f,%hu,%hx,%hu,%hu,%f,%hu,%hu,%f,%hu,%hu,%hu,%hu,%hu,%hu,%f,%f,%hu,", data->bms->packCurrent, data->bms->packVoltage, data->bms->packDCL, data->bms->packCCL, data->bms->packResistance, data->bms->packHealth, data->bms->packOpenVoltage, data->bms->packCycles, data->bms->packAh, data->bms->inputVoltage, data->bms->Soc, data->bms->relayStatus, data->bms->highTemp, data->bms->lowTemp, data->bms->cellMaxVoltage, data->bms->cellMinVoltage, data->bms->cellAvgVoltage, data->bms->maxCells, data->bms->numCells);
 
 		// RMS
 		fprintf(fp, "%hu,%hu,%hu,%hu,%hu,%hu,%hu,%hu,%hu,%hu,%lu,%lu,%lu,%lu,%hu,%hu,%hu,%hu,%hu,%hu\n", data->rms->igbtTemp, data->rms->gateDriverBoardTemp, data->rms->controlBoardTemp, data->rms->motorTemp, data->rms->motorSpeed, data->rms->phaseACurrent, data->rms->phaseBCurrent, data->rms->phaseCCurrent, data->rms->dcBusVoltage, data->rms->lvVoltage, data->rms->canCode1, data->rms->canCode2, data->rms->faultCode1, data->rms->faultCode2, data->rms->commandedTorque, data->rms->actualTorque, data->rms->relayState, data->rms->electricalFreq, data->rms->dcBusCurrent, data->rms->outputVoltageLn);