APPS

.gitignore

@@ -3,3 +3,4 @@
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 .vscode/ipch
+.cache/*

include/apps.h

@@ -1,4 +1,44 @@
 #pragma once
 
+/* Accelerator Pedal Position Sensor
+ See T.11.8 and T.11.9 for more info
+Requirments:
+- Detect implausibility where there is a 10% difference or more between the two
+sensors
+- Shut down main motors when implausibility exists for 100ms or more
+- Fail safe (shut down main motors) when short to ground or supply, open,
+mechanicaly impossible, or otherwise broken
+- Fail safe within 500ms of detecting a failure
+
+*/
+
+#include <Arduino.h>
+#include <SPI.h>
+#include <Wire.h>
+
+// ------------ EXTERNAL LIBRARIES ------------
+#include <Adafruit_MPU6050.h>
+#include <Adafruit_Sensor.h>
+#include <Nextion.h>
+#include <due_can.h>
+
+namespace APPS {
+
+double
+get_apps_reading(); // Returns pedal position (%) or -1.0 on implausibility
+
 extern const double PEDAL_MIN;
-extern const double PEDAL_MAX;
+extern const double PEDAL_MAX;
+constexpr int APPS_1_PIN = A6;
+constexpr int APPS_2_PIN = A7;
+
+// Define pedal calibration constants - UPDATED based on actual measurements
+// These are RAW ADC values (not voltages), since values DECREASE when pressed
+constexpr int APPS1_RAW_MIN = 477; // Value when pedal is fully pressed (100%)
+constexpr int APPS1_RAW_MAX = 702; // Value when pedal is released (0%)
+constexpr int APPS2_RAW_MIN = 478; // Value when pedal is fully pressed (100%)
+constexpr int APPS2_RAW_MAX = 701; // Value when pedal is released (0%)
+
+// APPS
+constexpr float APPS_PLAUSIBILITY_THRESHOLD = 10.0f; // T11.8.9
+} // namespace APPS

include/header.h

@@ -1,9 +1,10 @@
 /**
  * @file header.h
- * @brief Central header file including libraries, constants, pin definitions, and function prototypes
+ * @brief Central header file including libraries, constants, pin definitions,
+ * and function prototypes
  * @author Shane Whelan (UCD Formula Student)
  * @date 2025-04-27
-*/
+ */
 
 // TODO: calibration below
 //   consider using deceleration directly from MPU if required by rules
@@ -23,7 +24,8 @@
 #include <SPI.h>
 #include <Wire.h>
 
-// Undefine Arduino's min/max macros to avoid conflicts with C++ standard library
+// Undefine Arduino's min/max macros to avoid conflicts with C++ standard
+// library
 #undef max
 #undef min
 
@@ -42,7 +44,8 @@
 
 // ------------ CONSTANTS ------------
 // --- General ---
-const int DEBUG_MODE = 4; // 0=Off, 1=Essential, 2=Verbose, 3=Very Verbose, 4=Max Debug
+const int DEBUG_MODE =
+    4; // 0=Off, 1=Essential, 2=Verbose, 3=Very Verbose, 4=Max Debug
 
 // VCU-HACK: Set to true to bypass BMS checks for bench testing without a BMS.
 // TODO: MUST BE FALSE FOR VEHICLE OPERATION.
@@ -52,8 +55,7 @@ const bool BENCH_TESTING_MODE = true;
 // Analog Pins
 const int BRAKE_PRESSURE_SENSOR_PIN_FRONT = A0;
 const int BRAKE_PRESSURE_SENSOR_PIN_REAR = A1;
-const int APPS_1_PIN = A6;
-const int APPS_2_PIN = A7;
+
 // Digital Pins
 const int BRAKE_LIGHT_PIN = 7;
 const int ERROR_PIN_START = 22; // Start pin for error monitoring
@@ -62,16 +64,14 @@ const int ERROR_PIN_END = 37;   // End pin for error monitoring
 // --- Thresholds & Parameters ---
 // Brake System
 const int BRAKE_LIGHT_THRESHOLD = 109; // Calibrated
-const int BRAKE_LIGHT_HYSTERESIS = 2; // Calibrated
-const float TILT_THRESHOLD_DEG = 5.8; // For MPU6050 brake light activation
-const int APPS_BRAKE_PLAUSIBILITY_THRESHOLD = 25; // % APPS request threshold for brake plausibility check (Rule EV.5.7)
-
-// APPS
-const float APPS_PLAUSIBILITY_THRESHOLD = 10.0f; // % difference threshold (Rule EV.5.6)
+const int BRAKE_LIGHT_HYSTERESIS = 2;  // Calibrated
+const float TILT_THRESHOLD_DEG = 5.8;  // For MPU6050 brake light activation
 
 // Timing
-const unsigned long APPS_PLAUSIBILITY_TIMEOUT_MS = 100; // Max time for APPS implausibility (Rule EV.5.6.3)
-const unsigned long APPS_BRAKE_PLAUSIBILITY_TIMEOUT_MS = 500; // Max time for APPS/Brake implausibility (Rule EV.2.3.1)
+const unsigned long APPS_PLAUSIBILITY_TIMEOUT_MS =
+    100; // Max time for APPS implausibility (Rule EV.5.6.3)
+const unsigned long APPS_BRAKE_PLAUSIBILITY_TIMEOUT_MS =
+    500; // Max time for APPS/Brake implausibility (Rule EV.2.3.1)
 
 // ------------ GLOBAL OBJECT INSTANCES (declared extern here) ------------
 extern Adafruit_MPU6050 mpu;
@@ -91,25 +91,24 @@ extern float batteryVoltage;
 extern int motorTemperature;
 extern bool mpuInitialized;
 
-
 // ------------ FUNCTION PROTOTYPES ------------
 
 // --- Sensor/Input Modules ---
-double get_apps_reading(); // Returns pedal position (%) or -1.0 on implausibility
 void brake_light(); // Reads brake pressure, MPU, controls brake light
 void recalibrate_brake_idle(); // Recalibrate brake idle values
 
 // --- Actuator/Control Modules ---
-void motor_control_update(); // Handle motor control logic including safety checks
+void motor_control_update(); // Handle motor control logic including safety
+                             // checks
 
 // --- Monitoring/Dashboard Modules ---
 void monitor_errors_setup(); // Setup error monitoring
 void monitor_errors_loop();  // Error monitoring loop
 void dash_setup();           // Setup for Nextion display
 void dash_loop();            // Update loop for Nextion display
 void checkCriticalSystems(); // Check critical systems and update warnings
-const char* getErrorString(int errorCode); // Get error string from error code
-void sendPlottableData(); // Send data for plotting
+const char *getErrorString(int errorCode); // Get error string from error code
+void sendPlottableData();                  // Send data for plotting
 
 // --- Utility Functions ---
 bool initializeMPU(); // Initialize MPU6050 sensor

src/apps.cpp

@@ -1,42 +1,41 @@
 /**
  * @file apps_sensor_reader.cpp
- * @brief Handles reading and validating Accelerator Pedal Position Sensors (APPS)
+ * @brief Handles reading and validating Accelerator Pedal Position Sensors
+ * (APPS)
  * @author Shane Whelan (UCD Formula Student)
  * @date 2025-07-17
  */
 
+#include "apps.h"
 #include "header.h"
+#include "variant.h"
 #include <cmath>  // For std::fabs
 #include <limits> // For std::numeric_limits
-
-// Define pedal calibration constants - UPDATED based on actual measurements
-// These are RAW ADC values (not voltages), since values DECREASE when pressed
-const int APPS1_RAW_MIN = 477;  // Value when pedal is fully pressed (100%)
-const int APPS1_RAW_MAX = 702;  // Value when pedal is released (0%)
-const int APPS2_RAW_MIN = 478;  // Value when pedal is fully pressed (100%)
-const int APPS2_RAW_MAX = 701;  // Value when pedal is released (0%)
+using namespace APPS;
 
 /**
- * @brief Reads APPS sensors, checks for plausibility, and returns average pedal position
- * @return Pedal position (0.0 to 100.0) if sensors are plausible, -1.0 if implausible
+ * @brief Reads APPS sensors, checks for plausibility, and returns average pedal
+ * position
+ * @return Pedal position (0.0 to 100.0) if sensors are plausible, -1.0 if
+ * implausible
  */
-double get_apps_reading() {
+double APPS::get_apps_reading() {
   int apps_1_raw = analogRead(APPS_1_PIN);
   int apps_2_raw = analogRead(APPS_2_PIN);
 
   // Convert raw ADC values directly to percentage (0-100) - INVERTED values
   // Note: values decrease as pedal is pressed, so we invert the calculation
-  double apps_1_percent = 100.0 * (APPS1_RAW_MAX - apps_1_raw) / 
-                                  (APPS1_RAW_MAX - APPS1_RAW_MIN);
-  double apps_2_percent = 100.0 * (APPS2_RAW_MAX - apps_2_raw) / 
-                                  (APPS2_RAW_MAX - APPS2_RAW_MIN);
+  double apps_1_percent =
+      100.0 * (APPS1_RAW_MAX - apps_1_raw) / (APPS1_RAW_MAX - APPS1_RAW_MIN);
+  double apps_2_percent =
+      100.0 * (APPS2_RAW_MAX - apps_2_raw) / (APPS2_RAW_MAX - APPS2_RAW_MIN);
 
   // Clamp values to 0-100 range
   apps_1_percent = constrain(apps_1_percent, 0.0, 100.0);
   apps_2_percent = constrain(apps_2_percent, 0.0, 100.0);
 
-  // Check for implausibility (FSUK EV.5.6: deviation > 10%)
-  if (std::fabs(apps_1_percent - apps_2_percent) > 
+  // Check for implausibility (FSUK T11.8.9: deviation > 10%)
+  if (std::fabs(apps_1_percent - apps_2_percent) >
       APPS_PLAUSIBILITY_THRESHOLD) {
     if (DEBUG_MODE) {
       Serial.print("APPS Implausibility Detected! APPS1: ");
@@ -48,6 +47,31 @@ double get_apps_reading() {
     return -1.0; // Indicate implausibility
   }
 
+  // Verify electrical plausiblity as per T11.9.2
+  if (apps_1_raw > APPS1_RAW_MAX || apps_1_raw < APPS1_RAW_MIN ||
+      apps_2_raw > APPS2_RAW_MAX || apps_2_raw < APPS2_RAW_MIN) {
+    if (DEBUG_MODE) {
+      Serial.print("APP Output Exceeds Limits!");
+      Serial.print("APPS1 Raw: ");
+      Serial.print(apps_1_raw);
+      Serial.print(", APPS1 Max: ");
+      Serial.print(APPS1_RAW_MAX);
+      Serial.print(", APPS1 Min: ");
+      Serial.print(APPS1_RAW_MIN);
+
+      Serial.print(", APPS2 Raw: ");
+      Serial.print(apps_2_raw);
+      Serial.print(", APPS2 Max: ");
+      Serial.print(APPS2_RAW_MAX);
+      Serial.print(", APPS2 Min: ");
+      Serial.println(APPS2_RAW_MIN);
+    }
+    return -1.0;
+    // It should be acceptable to treat this the same as an implausibility as
+    // the requirements for implausibilites are more strict than those for SCS
+    // faults
+  }
+
   // Return the average percentage if plausible
   double average_percent = (apps_1_percent + apps_2_percent) / 2.0;
 
@@ -69,4 +93,4 @@ double get_apps_reading() {
   }
 
   return average_percent;
-}
+}