S24: Team Zero - Revision history

243 user4: /* Software Design */

2024-05-29T23:49:23Z

‎Software Design

243 user4: /* Software Design */

2024-05-29T23:48:44Z

‎Software Design

243 user4: /* Software Design */

2024-05-29T23:35:30Z

‎Software Design

243 user4: /* Software Design */

2024-05-29T23:31:44Z

‎Software Design

243 user4: /* Software Design */

2024-05-29T22:55:32Z

‎Software Design

243 user4: /* Software Design */

2024-05-29T22:51:29Z

‎Software Design

243 user4: /* Software Design */

2024-05-29T22:49:31Z

‎Software Design

243 user4: /* Software Design */

2024-05-29T22:47:23Z

‎Software Design

243 user4: /* Software Design */

2024-05-29T22:37:49Z

‎Software Design

243 user4: /* Software Design */

2024-05-29T22:05:19Z

‎Software Design

@@ Line 837: / Line 837: @@
 void periodic_callbacks__initialize(void); ///< Invoked once by periodic_scheduler__initialize()
 void periodic_callbacks__1Hz(uint32_t callback_count);
 void periodic_callbacks__10Hz(uint32_t callback_count);
 void periodic_callbacks__100Hz(uint32_t callback_count);
 void periodic_callbacks__1000Hz(uint32_t callback_count);
    </syntaxhighlight>

@@ Line 830: / Line 830: @@
 *8. Periodic Callbacks
+The periodic callbacks are used to periodically call functions from all geo controller modules. The functions that are used are the periodic_callbacks__initialize, periodic_callbacks__1Hz and periodic_callbacks__10Hz. The periodic_callbacks__initialize is called once and initializes the CAN, compass and GPS modules. The periodic_callbacks__1Hz is called periodically and writes the geo readings to the LCD screen. This callback uses a callback counter to determine which geo readings to print because there is limited space on the LCD screen. The periodic_callbacks__10Hz calls all of the geo logic functions and the CAN receive and transmit functions.
 periodic_callbacks.h

@@ Line 656: / Line 656: @@
 *6. Line buffer
 *7. LCD
@@ Line 824: / Line 825: @@
 void lcd__print_distance_to_destination(dbc_GEO_READINGS_s geo_readings, dbc_BRIDGE_DATA_TRANSFER_s bridge_data);
    </syntaxhighlight>
 <br>

@@ Line 661: / Line 661: @@
 *1. GPS
-This module is used to parse the NMEA string, sent over UART, and stores the data into a line buffer. The longitude and latitude data is then extracted, converted and stored into the gps_coordinates_t structure and returned. The gps__init() function is used to initialize UART, line buffer, GPIO ports and pins, and the rx and tx queues. The gps__run_once() is used to call two static functions. The first one is gps__transfer_data_from_uart_driver_to_line_buffer() and this function is used to extract each byte over UART and store it in the line buffer. The second function is gps__parse_coordinates_from_line() and this function is used to parse the longitude and latitude in GPGGA format and convert it to degrees only and return the gps_coordinates_t structure.
+This module is used to parse the NMEA string, sent over UART, and stores the data into a line buffer. The longitude and latitude data is then extracted, converted and stored into the gps_coordinates_t structure and returned. The gps__init function is used to initialize UART, line buffer, GPIO ports and pins, and the rx and tx queues. The gps__run_once is used to call two static functions. The first one is gps__transfer_data_from_uart_driver_to_line_buffer and this function is used to extract each byte over UART and store it in the line buffer. The second function is gps__parse_coordinates_from_line and this function is used to parse the longitude and latitude in GPGGA format and convert it to degrees only and return the gps_coordinates_t structure.
 gps.h
@@ Line 682: / Line 682: @@
 *2. Compass
-The purpose of the compass software module is to act as a driver for the compass hardware and to perform calculations with raw magnetometer data. The compass_init() function is responsible for configuring I2C parameters, setting the control register values and writing those values to the corresponding register addresses. The get_current_compass_heading() calls 2 static function which read the magnetometer values via I2C and uses those values to calculate the compass heading. The calculate_bearing(Coordinates point1, Coordinates point2) function takes two structures, each of which contain longitude and latitude data, and uses the initial bearing formula to calculate the vehicle's bearing. The calculate_distance(Coordinates point1, Coordinates point2) function takes two points with longitude and latitude and uses the haversine formula to calculate the vehicle's distance to destination.
+The purpose of the compass software module is to act as a driver for the compass hardware and to perform calculations with raw magnetometer data. The compass_init function is responsible for configuring I2C parameters, setting the control register values and writing those values to the corresponding register addresses. The get_current_compass_heading calls 2 static function which read the magnetometer values via I2C and uses those values to calculate the compass heading. The calculate_bearing function takes two structures, each of which contain longitude and latitude data, and uses the initial bearing formula to calculate the vehicle's bearing. The calculate_distance function takes two points with longitude and latitude and uses the haversine formula to calculate the vehicle's distance to destination.
 compass.h
@@ Line 711: / Line 711: @@
 *3. Waypoints
-This software module is used to get the closest waypoint along the vehicle's path to its destination. The purpose of the waypoints is to help the vehicle navigate in difficult environments (e.g. parking garage with multiple ramps). The waypoints__find_next_waypoint(gps_coordinates_t origin, gps_coordinates_t destination) function takes the current coordinates and the destination coordinates and iterates through a waypoint array to find a waypoint that is both closest to the vehicle's current position and the final destination. This function then returns the coordinates of the waypoint that meets those conditions or it will return the final destination coordinates. The waypoints__calculate_distance(gps_coordinates_t point1, gps_coordinates_t point2) function takes two sets of coordinates and calls the compass module's calculate_distance(Coordinates point1, Coordinates point2) function. The purpose of this function is to make distance calculations when trying to find the next waypoint. The last function waypoints__update_current_bearing(gps_coordinates_t point1, gps_coordinates_t point2) takes two sets of coordinates and calls the compass module's calculate_bearing(Coordinates point1, Coordinates point2) to update the vehicles's bearing.
+This software module is used to get the closest waypoint along the vehicle's path to its destination. The purpose of the waypoints is to help the vehicle navigate in difficult environments (e.g. parking garage with multiple ramps). The waypoints__find_next_waypoint function takes the current coordinates and the destination coordinates and iterates through a waypoint array to find a waypoint that is both closest to the vehicle's current position and the final destination. This function then returns the coordinates of the waypoint that meets those conditions or it will return the final destination coordinates. The waypoints__calculate_distance function takes two sets of coordinates and calls the compass module's calculate_distance function. The purpose of this function is to make distance calculations when trying to find the next waypoint. The last function waypoints__update_current_bearing takes two sets of coordinates and calls the compass module's calculate_bearing to update the vehicles's bearing.
 waypoints.h
@@ Line 725: / Line 725: @@
 *4. Geo logic
-The purpose of this software module is to encode and decode dbc messages and calculate and print geo readings. The geo_logic__get_gps_readings(void) function calls the gps__run_once() and the gps__get_coordinates() from the gps.h module in order to retrieve the vehicle's current coordinates. The geo_logic__get_navigation_data(void) function calls waypoints__find_next_waypoint(current_coordinates, destination), waypoints__update_current_bearing(current_coordinates, waypoint_destination), get_current_compass_heading() and waypoints__calculate_distance(current_coordinates, waypoint_destination) in order to set the dbc message GEO_READINGS.
+The purpose of this software module is to encode and decode dbc messages and calculate and print geo readings. The geo_logic__get_gps_readings function calls the gps__run_once and the gps__get_coordinates from the gps.h module in order to retrieve the vehicle's current coordinates. The geo_logic__get_navigation_data function calls waypoints__find_next_waypoint, waypoints__update_current_bearing, get_current_compass_heading and waypoints__calculate_distance in order to set the dbc message GEO_READINGS.
 geo_logic.h
@@ Line 766: / Line 766: @@
 *5. CAN handler
-This code module uses can_handler__init(void) to initialize the CAN pins with a baud rate of 100 kbps and a rx and tx queue size of 10. In addition, the can_handler__manage_mia_10hz(void) logic is used to increase the MIA counter by 100 ms if the message was indeed MIA. The function can_handler__handle_all_incoming_messages(void) checks for any CAN messages that were sent to the geo node and decodes them. The can_handler__transmit_messages_10hz(uint32_t callback_count) function encodes and transmits all CAN messages. In case the CAN bus encounters multiple errors and is switched off, the can_bus_reset_on_is_off(void) function will reset the CAN bus.
+This code module uses can_handler__init to initialize the CAN pins with a baud rate of 100 kbps and a rx and tx queue size of 10. In addition, the can_handler__manage_mia_10hz logic is used to increase the MIA counter by 100 ms if the message was indeed MIA. The function can_handler__handle_all_incoming_messages checks for any CAN messages that were sent to the geo node and decodes them. The can_handler__transmit_messages_10hz function encodes and transmits all CAN messages. In case the CAN bus encounters multiple errors and is switched off, the can_bus_reset_on_is_off function will reset the CAN bus.
 can_handlers.h
@@ Line 784: / Line 784: @@
 *6. Line Buffer
+The purpose of this code module is to store data that is received from the GPS via UART. The line_buffer__init is used to initialize a line_buffer_s structure. The function line_buffer__add_byte adds a byte to the buffer. The line_buffer__remove_line empties the entire buffer into a char pointer.
 line_buffer.h
@@ Line 797: / Line 797: @@
 void line_buffer__init(line_buffer_s *buffer, void *memory, size_t size);
 bool line_buffer__remove_line(line_buffer_s *buffer, char *line, size_t line_max_size);
@@ Line 803: / Line 805: @@
 <br>
 *7. LCD
 lcd.h
 <syntaxhighlight lang="cpp">

@@ Line 788: / Line 788: @@
 line_buffer.h
 <syntaxhighlight lang="cpp">
 typedef struct {
    void *memory;
@@ Line 798: / Line 796: @@
 } line_buffer_s;
 void line_buffer__init(line_buffer_s *buffer, void *memory, size_t size);
 bool line_buffer__remove_line(line_buffer_s *buffer, char *line, size_t line_max_size);