Merge branch 'embedded-statemachine-dev' of https://github.com/badgerloop-software/pod into embedded-statemachine-dev

Author: Ezra Boley

.gitignore

@@ -257,3 +257,6 @@ $RECYCLE.BIN/
 #Dashboard Assets
 **/public/fonts
 **/public/images
+
+/.vscode
+.vscode/

embedded/app/src/init.c

@@ -59,13 +59,13 @@ int initData() {
 }
 
 int initMetaData() {
-    if ((data = (data_t *) malloc(sizeof(data_t)))                      == NULL) { return 1; }
-	if ((data->pressure = (pressure_t *) malloc(sizeof(pressure_t)))    == NULL) { return 1; }
-	if ((data->motion = (motion_t *)malloc(sizeof(motion_t)))           == NULL) { return 1; }
-	if ((data->bms = (bms_t *) malloc(sizeof(bms_t)))     	          	== NULL) { return 1; }
-	if ((data->rms = (rms_t *) malloc(sizeof(rms_t)))      		       	== NULL) { return 1; }
-	if ((data->flags = (flags_t *) malloc(sizeof(flags_t)))             == NULL) { return 1; }
-	if ((data->timers = (timers_t *) malloc(sizeof(timers_t)))          == NULL) { return 1; }
+    if ((data = (data_t *) malloc(sizeof(data_t)))                 == NULL) { return 1; }
+	if ((data->pressure = (pressure_t *) malloc(sizeof(pressure_t))) == NULL) { return 1; }
+	if ((data->motion = (motion_t *)malloc(sizeof(motion_t)))        == NULL) { return 1; }
+	if ((data->bms = (bms_t *) malloc(sizeof(bms_t)))     	         == NULL) { return 1; }
+	if ((data->rms = (rms_t *) malloc(sizeof(rms_t)))      		       == NULL) { return 1; }
+	if ((data->flags = (flags_t *) malloc(sizeof(flags_t)))          == NULL) { return 1; }
+	if ((data->timers = (timers_t *) malloc(sizeof(timers_t)))       == NULL) { return 1; }
     data->state = 0;
     return 0;
 }

embedded/app/src/states.c

@@ -437,7 +437,9 @@ stateTransition_t * safeToApproachAction() {
     data->state = 10;
 	return NULL;
 }
-
+// 
+//  We're removing pre and post faults and making them non run faults. 
+// When you change this make 11 the non run fault action. Ty - EU
 stateTransition_t * preFaultAction() {
     //TODO
     data->state = 11;

embedded/drivers/src/i2c.c

@@ -12,12 +12,13 @@ int i2c_begin(i2c_settings *i2c) {
 	i2c->fd = open(filename, i2c->openMode);
 	if (i2c->fd < 0) {
 		fprintf(stderr, "Error - Could not open file\n");
-		return -1;
+		// Commenting out the returns allows the tests to proceed on my laptop where I do not have an I2C driver
+		// return -1; // Uncomment this when doing Bone Dev - EU
 	}
 
 	if (ioctl(i2c->fd, I2C_SLAVE, i2c->deviceAddress) < 0) {
 		fprintf(stderr, "Error - Could not set I2C Address\n");
-		return -1;
+		// return -1; // Uncomment this when doing Bone Dev - EU
 	}
 	return 0;
 }
@@ -48,4 +49,4 @@ int read_i2c(i2c_settings *i2c, unsigned char *readBuffer, int bufferSize) {
 		return 1;
 	}
 	return 0;
-}
+}

embedded/examples/dashTest.cpp

@@ -0,0 +1,27 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <signal.h>
+#include <HVTelemetry_Loop.h>
+#include <LVTelemetry_Loop.h>
+extern "C" 
+{
+    #include "motor.h"
+    #include "hv_iox.h"
+    #include "motor.h"
+    #include "proc_iox.h"
+    #include "data.h"
+    #include "can_devices.h"
+    #include "state_machine.h"
+}
+
+
+
+int init() {
+  initData();
+  SetupHVTelemetry((char *) "127.0.0.1", 33333);  
+  SetupLVTelemetry((char *) "127.0.0.1", 33333);
+}
+int main() {
+init();
+while (1);
+}

embedded/examples/navTest.c

@@ -0,0 +1,30 @@
+extern "C"
+{
+#include <stdio.h>
+#include <data.h>
+#include <retro.h>
+#include <imu.h>
+#include <string.h>
+#include <nav.h>
+}
+#include <LVTelemetry_Loop.h>
+
+#define ROLL "roll"
+#define EXP "exp"
+#define RAW "raw"
+
+extern void initNav();
+
+int main(int argc, char *argv[])
+{
+  initData();
+  SetupIMU();
+  initRetros();
+  initNav();
+  
+  joinRetroThreads();
+
+
+  SetupLVTelemetry((char *)"127.0.0.1", 33333);
+  while(1);
+}

embedded/examples/navTest.cpp

@@ -31,3 +31,11 @@ void showPressures(void);
 
 int joinPressureMonitor(void);
 
+void brakePrimary(void);
+
+void brakeSecondary(void);
+
+void brakePrimaryRelease(void);
+
+void brakeSecondaryRelease(void);
+

embedded/peripherals/include/braking.h

@@ -45,4 +45,6 @@ int isEStopOn(void);
 
 int getMasterSwFeedback(void);
 
+int setMCUHVEnabled(int val);
+
 #endif