feat/can for obstacle detector

.clang-tidy

@@ -1,13 +1,19 @@
 Checks: |
   -*,
+
   bugprone-*,
   clang-analyzer-*,
   cppcoreguidelines-*,
   misc-*,
   readability-*,
-  -readability-identifier-length,
+
+  -clang-analyzer-optin.core.EnumCastOutOfRange,
+  -clang-analyzer-security.insecureAPI.DeprecatedOrUnsafeBufferHandling,
   -cppcoreguidelines-avoid-non-const-global-variables,
-  -clang-analyzer-security.insecureAPI.DeprecatedOrUnsafeBufferHandling
+  -cppcoreguidelines-macro-to-enum,
+  -misc-include-cleaner,
+  -readability-identifier-length
+
 WarningsAsErrors: '*'
 HeaderFilterRegex: '.*, -subprojects'
 FormatStyle: file

.clangd

@@ -1,4 +1,6 @@
 CompileFlags:
   Add:
     - -ferror-limit=0
-    - -Wno-gnu-zero-variadic-macro-arguments # Suppress FFF macro warnings
+    # Suppress FFF macro warnings
+    - -Wno-gnu-zero-variadic-macro-arguments
+    - -Wno-c23-extensions

.github/workflows/ci.yaml

@@ -7,14 +7,10 @@ on:
 
 jobs:
   build:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
 
-      - uses: actions/setup-python@v5
-        with:
-          python-version: '3.11'
-
       - name: Cache python venv
         uses: actions/cache@v4
         with:
@@ -48,6 +44,3 @@ jobs:
 
       - name: Build documentation
         run: meson compile -C build docs
-
-      - name: Build release
-        run: meson compile -C build release

README.md

@@ -8,7 +8,7 @@ Board applications utilize [FreeRTOS](https://www.freertos.org/).
 
 This project is built using [Meson](https://mesonbuild.com/) with the Ninja backend.
 
-Supported OS: Ubuntu 22.04. If you're using Windows, you can utilize the Ubuntu 22.04 [WSL](https://learn.microsoft.com/en-us/windows/wsl/) distribution.
+Supported OS: Ubuntu 24.04. If you're using Windows, you can utilize the Ubuntu 24.04 [WSL](https://learn.microsoft.com/en-us/windows/wsl/) distribution.
 
 ### Build Steps
 

apps/battery-monitor/src/main.c

@@ -3,7 +3,7 @@
 #include "ck-data.h"
 #include "freertos-tasks.h"
 #include "peripherals.h"
-#include "rover.h"
+#include "rover-defs.h"
 
 // CK
 #include "ck-types.h"
@@ -50,7 +50,7 @@ void mayor_init(void) {
   ck_data_init();
   ck_data_t *ck_data = get_ck_data();
 
-  uint32_t city_address = ROVER_BATTERY_MONITOR_ID;
+  uint32_t city_address = ROVER_CITY_BATTERY_MONITOR;
 
   ck_id_t ck_id;
 

apps/battery-monitor/tests/battery-fakes.c

@@ -23,9 +23,9 @@ DEFINE_FAKE_VALUE_FUNC(power_state_t, get_vbat_power_state)
 DEFINE_FAKE_VALUE_FUNC(power_state_t, get_reg_out_power_state)
 DEFINE_FAKE_VALUE_FUNC(int, read_file, file_t *)
 DEFINE_FAKE_VALUE_FUNC(int, write_file_async, const file_t *)
-// NOLINTEND
 
 void reset_fakes(void) {
   FFF_FAKES_LIST(RESET_FAKE);
   FFF_RESET_HISTORY();
 }
+// NOLINTEND

apps/brake/src/ck.c

@@ -5,7 +5,7 @@
 #include "wheel-speed.h"
 
 // Libs
-#include "rover.h"
+#include "rover-defs.h"
 
 // STM32Common
 #include "device-id.h"
@@ -43,7 +43,7 @@ void mayor_init(void) {
   ck_data_init();
   ck_data_t *ck_data = get_ck_data();
 
-  uint32_t city_address = ROVER_WHEEL_FRONT_LEFT_ID;
+  uint32_t city_address = ROVER_CITY_WHEEL_FRONT_LEFT;
 
   ck_id_t ck_id;
 

apps/brake/src/report.c

@@ -70,6 +70,10 @@ void report(void *unused) {
     xTimerChangePeriod(timer, report_period_ms, portMAX_DELAY);
     ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
 
+    if (ck_get_action_mode() == CK_ACTION_MODE_FREEZE) {
+      continue;
+    }
+
     if (ck_send_document(ck_data->wheel_speed_folder->folder_no) != CK_OK) {
       printf("failed to send doc.\r\n");
     }

apps/obstacle-detector/include/adc.h

@@ -8,7 +8,7 @@ extern "C" {
 #include <stdint.h>
 
 #define ADC1_NUM_CHANNELS 4
-#define ADC_NUM_SAMPLES 10
+#define ADC_NUM_SAMPLES 100
 
 typedef struct {
   uint16_t adc1_buf[ADC1_NUM_CHANNELS];

apps/obstacle-detector/include/ck-data.h

@@ -0,0 +1,45 @@
+#ifndef CK_DATA_H
+#define CK_DATA_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "ck-types.h"
+
+#define CK_DATA_TX_PAGE_COUNT 1
+#define CK_DATA_TX_DOC_COUNT 1
+#define CK_DATA_LIST_COUNT 2
+#define CK_DATA_TX_FOLDER_COUNT 1
+#define CK_DATA_RX_FOLDER_COUNT 1
+#define CK_DATA_FOLDER_COUNT \
+  (2 + CK_DATA_TX_FOLDER_COUNT + CK_DATA_RX_FOLDER_COUNT)
+
+typedef struct {
+  ck_page_t pages[CK_DATA_TX_PAGE_COUNT];
+  ck_document_t docs[CK_DATA_TX_DOC_COUNT];
+  ck_list_t lists[CK_DATA_LIST_COUNT];
+  ck_folder_t folders[CK_DATA_FOLDER_COUNT];
+
+  // Convenience pointers
+  ck_list_t *tx_list;
+  ck_list_t *rx_list;
+
+  ck_page_t *object_distance_page;
+
+  // Transmit
+  ck_folder_t *object_distance_folder;
+
+  // Receive
+  ck_folder_t *set_report_freq_folder;
+
+} ck_data_t;
+
+void ck_data_init(void);
+ck_data_t *get_ck_data(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CK_DATA_H */

apps/obstacle-detector/include/ck.h

@@ -0,0 +1,16 @@
+#ifndef CK_H
+#define CK_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+
+void init_ck_task(uint8_t priority);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* end of include guard: CK_H */

apps/obstacle-detector/include/obstacle-detector.h

@@ -0,0 +1,16 @@
+#ifndef OBSTACLE_DETECTOR_H
+#define OBSTACLE_DETECTOR_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+
+void init_obstacle_detector_task(uint8_t priority);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* end of include guard: OBSTACLE_DETECTOR_H */

apps/obstacle-detector/include/report.h

@@ -0,0 +1,19 @@
+#ifndef REPORT_H
+#define REPORT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+
+#include "ck-types.h"
+
+void init_report_task(uint8_t priority);
+int process_report_freq_letter(const ck_letter_t *letter);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /* end of include guard: REPORT_H */

apps/obstacle-detector/meson.build

@@ -2,9 +2,13 @@ obstacle_detector_inc = include_directories('include')
 
 obstacle_detector_src = files(
     'src' / 'adc.c',
+    'src' / 'ck.c',
+    'src' / 'ck-data.c',
     'src' / 'interrupts.c',
     'src' / 'main.c',
+    'src' / 'obstacle-detector.c',
     'src' / 'peripherals.c',
+    'src' / 'report.c',
 )
 
 obstacle_detector_elf = executable(

apps/obstacle-detector/src/adc.c

@@ -10,18 +10,21 @@ void adc_average_samples(adc_reading_t *average,
     sum_adc1[i % ADC1_NUM_CHANNELS] += samples->adc1_buf[i];
   }
 
-  for (uint8_t j = 0; j < ADC1_NUM_CHANNELS; j++) {
-    average->adc1_buf[j] = sum_adc1[j] / ADC_NUM_SAMPLES;
+  for (uint32_t i = 0; i < ADC1_NUM_CHANNELS; i++) {
+    average->adc1_buf[i] = sum_adc1[i] / ADC_NUM_SAMPLES;
   }
 }
 
 // Datasheet says multiply by 6 for 10-bit ADC.
-// Since we have 12 bit ADC, we divide by 4 as well.
+// Since we have 12 bit ADC, we divide by 4 to convert to 10 bit.
 float adc_value_to_distance(uint16_t adc_value) {
   const float scale_factor = 6 / 4.0F;
   const float offset = -300.0F;
 
-  float distance = scale_factor * (float)adc_value + offset;
+  float distance = (scale_factor * (float)adc_value) + offset;
+  if (distance < 0) {
+    distance = 0;
+  }
 
   return distance;
 }