merge failures fixed

Core/Inc/cerberus_conf.h

@@ -75,5 +75,5 @@
 #define CANID_LV_MONITOR       0x503
 #define CANID_PEDALS_ACCEL_MSG 0x504
 #define CANID_PEDALS_BRAKE_MSG 0x505
-#define CANID_EXTRA_MSG \
-	0x701 // Reserved for MPU debug message, see yaml for format
+// Reserved for MPU debug message, see yaml for format
+#define CANID_EXTRA_MSG 0x701

Core/Inc/dti.h

@@ -27,10 +27,10 @@
 	0x496 /* Throttle signal, Brake signal, IO, Drive enable */
 #define DTI_QUEUE_SIZE 5
 
-#define TIRE_DIAMETER 16 /* inches */
-#define GEAR_RATIO    47 / 13.0 /* unitless */
-#define POLE_PAIRS    10 /* unitless */
-#define DTI_CANID_ID_IQ	      0x476 /* Id, Iq values */
+#define TIRE_DIAMETER	16 /* inches */
+#define GEAR_RATIO	47 / 13.0 /* unitless */
+#define POLE_PAIRS	10 /* unitless */
+#define DTI_CANID_ID_IQ 0x476 /* Id, Iq values */
 #define DTI_CANID_SIGNALS \
 	0x496 /* Throttle signal, Brake signal, IO, Drive enable */
 #define DTI_QUEUE_SIZE 5
@@ -39,15 +39,6 @@
 #define GEAR_RATIO    47 / 13.0 /* unitless */
 #define POLE_PAIRS    10 /* unitless */
 
-typedef struct {
-	int32_t rpm; /* SCALE: 1         UNITS: Rotations per Minute   */
-	int16_t duty_cycle; /* SCALE: 10        UNITS: Percentage             */
-	int16_t input_voltage; /* SCALE: 1         UNITS: Volts                  */
-	int16_t ac_current; /* SCALE: 10        UNITS: Amps                   */
-	int16_t dc_current; /* SCALE: 10        UNITS: Amps                   */
-	int16_t contr_temp; /* SCALE: 10        UNITS: Degrees Celsius        */
-	int16_t motor_temp; /* SCALE: 10        UNITS: Degrees Celsius        */
-	uint8_t fault_code; /* SCALE: 1         UNITS: No units just a number */
 typedef struct {
 	int32_t rpm; /* SCALE: 1         UNITS: Rotations per Minute   */
 	int16_t duty_cycle; /* SCALE: 10        UNITS: Percentage             */

Core/Src/monitor.c

@@ -239,7 +239,6 @@ void vPedalsMonitor(void *pv_params)
 	mpu_t *mpu = (mpu_t *)pv_params;
 
 	uint8_t counter = 0;
-	static int index = 0;
 
 	for (;;) {
 		read_pedals(mpu, adc_data);
@@ -269,41 +268,20 @@ void vPedalsMonitor(void *pv_params)
 		// printf("Brake 1: %ld\r\n", adc_data[BRAKEPIN_1]);
 		// printf("Brake 2: %ld\r\n", adc_data[BRAKEPIN_2]);
 
-		static float buffer[10] = { 0 };
-
-		uint16_t brake_avg =
-			(adc_data[BRAKEPIN_1] + adc_data[BRAKEPIN_2]) / 2;
-		// Add the new value to the buffer
-		buffer[index] = brake_avg;
-
-		// Increment the index, wrapping around if necessary
-		index = (index + 1) % buffer_size;
-
-		// Calculate the average of the buffer
-		float sum = 0.0;
-		for (int i = 0; i < buffer_size; ++i) {
-			sum += buffer[i];
-		}
-		float average_brake = sum / buffer_size;
-
-		is_braking = average_brake > PEDAL_BRAKE_THRESH;
+		is_braking = (adc_data[BRAKEPIN_1] + adc_data[BRAKEPIN_2]) / 2;
 		brake_state = is_braking;
 
 		osMessageQueuePut(brakelight_signal, &is_braking, 0U, 0U);
 		//osMessageQueueReset(break_state_queue);
 		//osMessageQueuePut(break_state_queue, &is_braking, 0U, 0U);
 
-		uint16_t brake1_adj = adjust_pedal_val(
-			adc_data[BRAKEPIN_1], BRAKE1_OFFSET, BRAKE1_MAX_VAL);
-		uint16_t brake2_adj = adjust_pedal_val(
-			adc_data[BRAKEPIN_2], BRAKE2_OFFSET, BRAKE2_MAX_VAL);
-
 		/* Low Pass Filter */
 		sensor_data.accelerator_value =
 			(sensor_data.accelerator_value + (accel_val)) / 2;
-		sensor_data.brake_value = (sensor_data.brake_value +
-					   (brake1_adj + brake2_adj) / 2) /
-					  num_samples;
+		sensor_data.brake_value =
+			(sensor_data.brake_value +
+			 (adc_data[BRAKEPIN_1] + adc_data[BRAKEPIN_2]) / 2) /
+			num_samples;
 
 		/* Publish to Onboard Pedals Queue */
 		//printf("Accel pedal queue %d",  sensor_data.accelerator_value);

Core/Src/state_machine.c

@@ -33,20 +33,14 @@ static const bool valid_trans_to_from[MAX_FUNC_STATES][MAX_FUNC_STATES] = {
 	{ true, true, false, true }, /* BOOT */
 	{ false, true, true, true }, /* READY */
 	{ false, true, true, true }, /* DRIVING */
-	{ true, true, false, true }, /* BOOT */
-	{ false, true, true, true }, /* READY */
-	{ false, true, true, true }, /* DRIVING */
 	{ false, true, false, true } /* FAULTED */
 };
 
 osThreadId_t sm_director_handle;
-const osThreadAttr_t sm_director_attributes = {
-	.name = "State Machine Director",
 const osThreadAttr_t sm_director_attributes = {
 	.name = "State Machine Director",
 	.stack_size = 128 * 8,
 	.priority = (osPriority_t)osPriorityRealtime2,
-	.priority = (osPriority_t)osPriorityRealtime2,
 };
 
 static osMessageQueueId_t state_trans_queue;