Refactored header files

include/apps.h

@@ -1,4 +1,23 @@
 #pragma once
-
+//APPS = Accelerator Pedal Position Sensor
+//-----------------------CONSTANTS------------------------
 extern const double PEDAL_MIN;
-extern const double PEDAL_MAX;
+extern const double PEDAL_MAX;
+
+// APPS Pins
+const int APPS_1_PIN = A6;
+const int APPS_2_PIN = A7;
+
+// APPS_PLAUSIBILITY_THRESHOLDS
+// Brake Sensor
+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)
+
+// TIMEOUTS
+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)
+
+//-----------------------FUNCTION PROTOTYPES------------------------
+double get_apps_reading(); // Returns pedal position (%) or -1.0 on implausibility

include/bpps.h

@@ -0,0 +1,49 @@
+#ifndef BPPS_H
+#define BPPS_H
+/**
+ * @file bpps.h
+ * @brief Handles reading brake pressure sensors, MPU6050 tilt sensor, and controls brake light
+ * @author Muhammad Ibrahim Mansoor (UCD Formula Student)
+ * @date 2025-10-9
+ */
+
+//BPPS = Brake Pedal Position Sensor
+//----------------- CONSTANTS ------------------
+//PINS
+// Analog Pins (INPUT)
+const int BRAKE_PRESSURE_SENSOR_PIN_FRONT = A0;
+const int BRAKE_PRESSURE_SENSOR_PIN_REAR = A1;
+
+// Digital Pins (OUTPUT)
+const int BRAKE_LIGHT_PIN = 7;
+
+//GYRO
+extern bool mpuInitialized;
+const float TILT_THRESHOLD_DEG = 5.8; // For MPU6050 brake light activation
+
+// Brake Light calibration constants
+const int BRAKE_LIGHT_THRESHOLD = 109; // Calibrated
+const int BRAKE_LIGHT_HYSTERESIS = 2; // Calibrated
+
+//--------------- GLOBAL VARIABLES --------------------
+
+//BRAKE PRESSURE VARIABLES
+extern int brakePressureFront;
+extern int brakePressureRear;
+extern int brakePressureCombined;
+//BRAKE IDLE VALUES
+extern int brakeIdleValueFront;
+extern int brakeIdleValueRear;
+extern int brakeIdleValueCombined;
+
+extern int dynamicBrakeThreshold;
+extern bool brakeInitialized;
+
+//------------ GLOBAL OBJECTS ---------------
+extern Adafruit_MPU6050 mpu;
+#endif // BPPS_H
+
+//------------ FUNCTION PROTOTYPES -----------
+bool initializeMPU(); // Initialize MPU6050 sensor
+void brake_light(); // Reads brake pressure, MPU, controls brake light
+void recalibrate_brake_idle(); // Recalibrate brake idle values

include/dashboard.h

@@ -0,0 +1,9 @@
+#ifndef DASHBOARD_H
+#define DASHBOARD_H
+
+// ------------ FUNCTION PROTOTYPES ------------
+void dash_setup();           // Setup for Nextion display
+void dash_loop();            // Update loop for Nextion display
+void sendPlottableData(); // Send data for plotting
+
+#endif // DASHBOARD_H

include/error_monitor.h

@@ -0,0 +1,23 @@
+#ifndef ERROR_MONITOR_H
+#define ERROR_MONITOR_H
+// ------------ CONSTANTS ------------
+// --- 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.
+const bool BENCH_TESTING_MODE = true;
+
+// --- Pins ---
+const int ERROR_PIN_START = 22; // Start pin for error monitoring
+const int ERROR_PIN_END = 37;   // End pin for error monitoring
+
+// ------------ FUNCTION PROTOTYPES ------------
+void monitor_errors_setup(); // Setup error monitoring
+void monitor_errors_loop();  // Error monitoring loop
+void checkCriticalSystems(); // Check critical systems and update warnings
+const char* getErrorString(int errorCode); // Get error string from error code
+
+
+
+#endif // ERROR_MONITOR_H

include/header.h

@@ -1,6 +1,6 @@
 /**
  * @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(2025 update: central header file that also contains error checking and logging stuff)
  * @author Shane Whelan (UCD Formula Student)
  * @date 2025-04-27
 */
@@ -39,79 +39,21 @@
 #include "apps.h"        // APPS reading constants/functions
 #include "bamocar-due.h" // Bamocar motor controller library
 #include "simple_can.h"  // For standardising a central module for CAN comms
+#include "bpps.h"      // Brake pedal position sensor
+#include "dashboard.h"   // Dashboard display functions
+#include "error_monitor.h" // Error monitoring functions
 
-// ------------ CONSTANTS ------------
-// --- General ---
-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.
-const bool BENCH_TESTING_MODE = true;
-
-// --- Pins ---
-// 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
-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)
-
-// 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)
-
-// ------------ GLOBAL OBJECT INSTANCES (declared extern here) ------------
-extern Adafruit_MPU6050 mpu;
-
-// ------------ GLOBAL VARIABLES ------------
-extern int brakePressureFront;
-extern int brakePressureRear;
-extern int brakePressureCombined;
-extern int brakeIdleValueFront;
-extern int brakeIdleValueRear;
-extern int brakeIdleValueCombined;
-extern int dynamicBrakeThreshold;
-extern bool brakeInitialized;
+// ------------ GLOBAL VARIABLES ------------ Add to bamocar-due.h?
 extern int vehicleSpeed;
 extern int motorRPM;
 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
-
-// --- 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
-
-// --- Utility Functions ---
-bool initializeMPU(); // Initialize MPU6050 sensor
+void motor_control_update(); // Handle motor control logic including safety checks // add to bamocar-due.h?
 
 #endif // HEADER_H
+

src/apps.cpp

@@ -11,6 +11,7 @@
 
 // Define pedal calibration constants - UPDATED based on actual measurements
 // These are RAW ADC values (not voltages), since values DECREASE when pressed
+//add to apps.h?
 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%)

src/brake_light.cpp

@@ -18,9 +18,9 @@ int brakeIdleValueRear = 0;
 int brakeIdleValueCombined = 0;
 int dynamicBrakeThreshold = 0;
 bool brakeInitialized = false;
-const int BRAKE_THRESHOLD_DELTA = 10; // Threshold above idle value
+const int BRAKE_THRESHOLD_DELTA = 10; // Threshold above idle value //add to bpps.h?
 
-extern Adafruit_MPU6050 mpu;
+extern Adafruit_MPU6050 mpu; 
 extern bool mpuInitialized;
 
 bool initializeMPU() {

src/dashboard.cpp

@@ -23,8 +23,8 @@ bool systemAlert = false;
 bool systemWarning = false;
 char alertMessageStr[50] = "";
 char warningMessageStr[50] = "";
-int motorTempWarningThreshold = 80;
-float batteryVoltageMinThreshold = 20.0;
+int motorTempWarningThreshold = 80;         //add to header?
+float batteryVoltageMinThreshold = 20.0;    //add to header?
 int systemErrorCode = 0;
 
 // Define Nextion objects for page 2