Apps.c File Reference

#include "../../../Inc/Systems/Controller/Apps.h"
#include "../../../Inc/Utils/Common.h"
#include <math.h>

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Functions
void	checkAppsLimit (Apps *apps)
	Checks App limits for faults. More...
void	initApps (Apps *apps, int hz, int channel1, int channel2)
	Initializes the APPs with the given frequency and channel. More...
void	updateApps (void *apps)
	Updates the APPS based on both sensor outputs. More...
float	getAppsPosition (Apps *apps)
	Averages app sensors to get pedal position. More...
int	appsSafetyCheck (void *apps)
	Checks the safety of Apps. More...

Function Documentation

appsSafetyCheck()

int appsSafetyCheck

(

void *

apps

)

Checks the safety of Apps.

Parameters

apps	A pointer to the APPs controller.

Definition at line 74 of file Apps.c.

                                {
    Apps* appsPtr = (Apps*)apps;
    if(appsPtr->base.num_monitors == 0) {
        printf("No monitors set for Apps\n");
        return FAILURE;
    }
    else if (appsPtr->status != APPS_OK) {
        printf("Apps is not in a safe state\n");
        return FAILURE;
    }
    return SUCCESS;
}

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checkAppsLimit()

void checkAppsLimit

(

Apps *

apps

)

Checks App limits for faults.

Checks if apps are more than 10% out of sync and if the values are reasonable. Position is in % of pedal travel.

Parameters

apps	A pointer to the APPs structure.

Definition at line 14 of file Apps.c.

                                {
    float pos1 = getAppPosition(apps->app[0]);
    float pos2 = getAppPosition(apps->app[1]);
 
    // Resonable Value check
    if (pos1 > 100 || pos1 < 0 || pos2 > 100 || pos2 < 0) {
        apps->status = APPS_FAULT;
    }
 
    // In sync check
    float difference = fabs(pos1 - pos2);
    if (difference > APPS_DIFFERENCE * 100) {
        apps->status = APPS_FAULT;
    }
}

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getAppsPosition()

float getAppsPosition

(

Apps *

apps

)

Averages app sensors to get pedal position.

Parameters

apps	Pointer to the APPS controller.

Definition at line 66 of file Apps.c.

                                  {
    checkAppsLimit(apps);
    if (apps->status != APPS_OK) return 0.0f;
    float pos1 = getAppPosition(apps->app[0]);
    float pos2 = getAppPosition(apps->app[1]);
    return fabs(pos1 + pos2) / 2;
}

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initApps()

void initApps	(	Apps *	apps,
		int	hz,
		int	channel1,
		int	channel2
	)

Initializes the APPs with the given frequency and channel.

Parameters

apps	Pointer to the Apps structure to initialize.
hz	The frequency in Hertz at which the APP operates.
channel1	The analog channel the first APP is connected to.
channel2	The analog channel the second APP is connected to.

Definition at line 30 of file Apps.c.

                                                              {
    // Allocate memory for the app instances
    apps->app[0] = (App*)malloc(sizeof(App));
    apps->app[1] = (App*)malloc(sizeof(App));
 
    // Check if memory allocation was successful
    if (apps->app[0] == NULL || apps->app[1] == NULL) {
        return;
    }
 
    // System setup
    MonitorSystem monitor;
    initMonitorSystem(&monitor, "APPs Monitor", 200, m_APPS, VEHICLE_SHUTDOWN);
    initControllerSystem(&apps->base, "APPS", hz, c_APPS);
    defaultAddMonitor(&apps->base, &monitor);
 
    // Controller setup
    apps->base.system.updateable.update = updateApps;
    apps->base.safety = appsSafetyCheck;
    apps->status = APPS_OK;
    initApp(apps->app[0], hz, channel1);
    initApp(apps->app[1], hz, channel2);
}

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updateApps()

void updateApps

(

void *

apps

)

Updates the APPS based on both sensor outputs.

Parameters

apps	A pointer to the APPs structure.

Definition at line 54 of file Apps.c.

                            {
    Apps* appsPtr = (Apps*) apps;
    updateApp(&appsPtr->app[0]);
    updateApp(&appsPtr->app[1]);
    if (appsPtr->base.safety(apps) == FAILURE) {
        printf("APPs is not in a safe state\n");
        return;
    }
    checkAppsLimit(appsPtr);
    if (appsPtr->status != APPS_OK) return;
}

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