Merge branch 'devel'

CONTRIBUTING.md

@@ -76,6 +76,11 @@ Below is a sample of how additional vehicle directories should be created.
 
 - Code should conform to the [coding standard](#oscc-coding-standard)
 - Push your changes to a topic branch in your branch of the repository
+- Ideally, your commits would also be [GPG signed](https://help.github.com/articles/signing-commits-using-gpg/)
+  - `git config --global commit.gpgSign true`
+  - `git config --global gpg.program gpg2`
+  - `git config --global push.gpgSign if-asked`
+  - `git config --global user.signingKey <Your Public Key ID>`
 - Submit a pull request to the repository in the PolySync organization
 - Update your github issue to mark that you have submitted code and are ready for it to be reviewed (Status: Ready for Merge)
   - Include a link to the pull request in the ticket
@@ -197,6 +202,12 @@ Any changes to the OSCC modules must undergo a series of tests that conclude wit
     4. The regression test suite completes successfully
     5. The [system acceptance tests](#system-acceptance-testing) completes successfully (system acceptance test listed below, some parts automated)
   - Once all the status checks have passed, resolve any merge conflicts and merge the changed branch with devel
+    1. The merge commit will need to be signed, which means local, command-line
+       merge rather than GitHub UI.
+    2. The [hub](https://hub.github.com/) tool can help with this.
+    3. `git checkout devel`
+    4. `hub merge --no-ff https://github.com/PolySync/oscc/pull/169`
+    5. `git push origin devel`
 
 ## System Acceptance Testing
 

Jenkinsfile

@@ -10,24 +10,32 @@ node('arduino') {
       ])
     }
     stage('Build') {
-      parallel 'kia soul firmware': {
-        sh 'cd firmware && mkdir build && cd build && cmake .. -DKIA_SOUL=ON -DCMAKE_BUILD_TYPE=Release && make'
+      parallel 'kia soul petrol firmware': {
+        sh 'cd firmware && mkdir build_kia_soul_petrol && cd build_kia_soul_petrol && cmake .. -DKIA_SOUL=ON -DCMAKE_BUILD_TYPE=Release && make'
+      }, 'kia soul EV firmware': {
+        sh 'cd firmware && mkdir build_kia_soul_ev && cd build_kia_soul_ev && cmake .. -DKIA_SOUL_EV=ON -DCMAKE_BUILD_TYPE=Release && make'
       }
       echo 'Build Complete!'
     }
-    stage('Test') {
-      parallel 'unit tests': {
-        sh 'cd firmware && mkdir build_unit_tests && cd build_unit_tests && cmake .. -DKIA_SOUL=ON -DTESTS=ON -DCMAKE_BUILD_TYPE=Release && make run-unit-tests'
-        echo 'Unit Tests Complete!'
-      }, 'property-based tests': {
-        sh 'cd firmware && mkdir build_property_tests && cd build_property_tests && cmake .. -DKIA_SOUL=ON -DTESTS=ON -DCMAKE_BUILD_TYPE=Release && make run-property-tests'
-        echo 'Property-Based Tests Complete!'
-      }, 'acceptance tests': {
-        echo 'Acceptance Tests Complete!'
+    stage('Kia Soul Petrol Tests') {
+      parallel 'kia soul petrol unit tests': {
+        sh 'cd firmware && mkdir build_kia_soul_petrol_unit_tests && cd build_kia_soul_petrol_unit_tests && cmake .. -DKIA_SOUL=ON -DTESTS=ON -DCMAKE_BUILD_TYPE=Release && make run-unit-tests'
+        echo 'Kia Soul Petrol Unit Tests Complete!'
+      }, 'kia soul petrol property-based tests': {
+        sh 'cd firmware && mkdir build_kia_soul_petrol_property_tests && cd build_kia_soul_petrol_property_tests && cmake .. -DKIA_SOUL=ON -DTESTS=ON -DCMAKE_BUILD_TYPE=Release && make run-property-tests'
+        echo 'Kia Soul Petrol Property-Based Tests Complete!'
       }
+      echo 'Kia Soul Petrol Tests Complete!'
     }
-    stage('Release') {
-      echo 'Release Package Created!'
+    stage('Kia Soul EV Tests') {
+      parallel 'kia soul ev unit tests': {
+        sh 'cd firmware && mkdir build_kia_soul_ev_unit_tests && cd build_kia_soul_ev_unit_tests && cmake .. -DKIA_SOUL_EV=ON -DTESTS=ON -DCMAKE_BUILD_TYPE=Release && make run-unit-tests'
+        echo 'Kia Soul EV Unit Tests Complete!'
+      }, 'kia soul ev property-based tests': {
+        sh 'cd firmware && mkdir build_kia_soul_ev_property_tests && cd build_kia_soul_ev_property_tests && cmake .. -DKIA_SOUL_EV=ON -DTESTS=ON -DCMAKE_BUILD_TYPE=Release && make run-property-tests'
+        echo 'Kia Soul EV Property-Based Tests Complete!'
+      }
+      echo 'Kia Soul EV Tests Complete!'
     }
   }
   catch(Exception e) {

api/OsccConfig.cmake

@@ -0,0 +1,7 @@
+if(KIA_SOUL)
+    add_definitions(-DKIA_SOUL)
+elseif(KIA_SOUL_EV)
+    add_definitions(-DKIA_SOUL_EV)
+else()
+    message(FATAL_ERROR "No platform selected")
+endif()

api/include/can_protocols/brake_can_protocol.h

@@ -13,6 +13,18 @@
 #include "magic.h"
 
 
+/*
+ * @brief Brake enable message (CAN frame) ID.
+ *
+ */
+#define OSCC_BRAKE_ENABLE_CAN_ID (0x50)
+
+/*
+ * @brief Brake disable message (CAN frame) ID.
+ *
+ */
+#define OSCC_BRAKE_DISABLE_CAN_ID (0x51)
+
 /*
  * @brief Brake command message (CAN frame) ID.
  *
@@ -43,10 +55,48 @@
  */
 #define OSCC_BRAKE_DTC_INVALID_SENSOR_VAL (0x0)
 
+/*
+ * @brief Brake DTC bitfield position indicating an operator override.
+ *
+ */
+#define OSCC_BRAKE_DTC_OPERATOR_OVERRIDE (0x1)
+
 
 #pragma pack(push)
 #pragma pack(1)
 
+/**
+ * @brief Brake enable message.
+ *
+ * CAN frame ID: \ref OSCC_BRAKE_ENABLE_CAN_ID
+ *
+ */
+typedef struct
+{
+    uint8_t magic[2]; /*!< Magic number identifying CAN frame as from OSCC.
+                       *   Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
+                       *   Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
+
+    uint8_t reserved[6]; /*!< Reserved. */
+} oscc_brake_enable_s;
+
+
+/**
+ * @brief Brake disable message.
+ *
+ * CAN frame ID: \ref OSCC_BRAKE_DISABLE_CAN_ID
+ *
+ */
+typedef struct
+{
+    uint8_t magic[2]; /*!< Magic number identifying CAN frame as from OSCC.
+                       *   Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
+                       *   Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
+
+    uint8_t reserved[6]; /*!< Reserved. */
+} oscc_brake_disable_s;
+
+
 /**
  * @brief Brake command message data.
  *
@@ -55,17 +105,21 @@
  */
 typedef struct
 {
-    uint8_t magic[2]; /* Magic number identifying CAN frame as from OSCC.
-                         Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
-                         Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
+    uint8_t magic[2]; /*!< Magic number identifying CAN frame as from OSCC.
+                       *   Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
+                       *   Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
 
+#if defined(KIA_SOUL)
     uint16_t pedal_command; /*!< Pedal command. [65535 == 100%] */
 
-    uint8_t enable; /*!< Command to enable or disable steering control.
-                     * Zero value means disable.
-                     * Non-zero value means enable. */
+    uint8_t reserved[4]; /*!< Reserved. */
+#elif defined(KIA_SOUL_EV)
+    uint16_t spoof_value_low; /*!< Value to be sent on the low spoof signal. */
 
-    uint8_t reserved[3]; /*!< Reserved. */
+    uint16_t spoof_value_high; /*!< Value to be sent on the high spoof signal. */
+
+    uint8_t reserved[2]; /*!< Reserved. */
+#endif
 } oscc_brake_command_s;
 
 
@@ -77,9 +131,9 @@ typedef struct
  */
 typedef struct
 {
-    uint8_t magic[2]; /* Magic number identifying CAN frame as from OSCC.
-                         Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
-                         Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
+    uint8_t magic[2]; /*!< Magic number identifying CAN frame as from OSCC.
+                       *   Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
+                       *   Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
 
     uint8_t enabled; /*!< Braking controls enabled state.
                       * Zero value means disabled (commands are ignored).
@@ -90,7 +144,7 @@ typedef struct
                                 * Non-zero value means an operator has physically overridden
                                 * the system. */
 
-    uint8_t dtcs; /* Bitfield of DTCs present in the module. */
+    uint8_t dtcs; /*!< Bitfield of DTCs present in the module. */
 
     uint8_t reserved[3]; /*!< Reserved. */
 } oscc_brake_report_s;

api/include/can_protocols/fault_can_protocol.h

@@ -44,13 +44,15 @@ typedef enum
  */
 typedef struct
 {
-    uint8_t magic[2]; /* Magic number identifying CAN frame as from OSCC.
-                         Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
-                         Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
+    uint8_t magic[2]; /*!< Magic number identifying CAN frame as from OSCC.
+                       *   Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
+                       *   Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
 
-    uint32_t fault_origin_id; /* ID of the module that is sending out the fault. */
+    uint32_t fault_origin_id; /*!< ID of the module that is sending out the fault. */
 
-    uint8_t reserved[2]; /* Reserved */
+    uint8_t dtcs; /*!< DTC bitfield of the module that is sending out the fault. */
+
+    uint8_t reserved; /*!< Reserved */
 } oscc_fault_report_s;
 
 #pragma pack(pop)

api/include/can_protocols/steering_can_protocol.h

@@ -13,6 +13,18 @@
 #include "magic.h"
 
 
+/*
+ * @brief Steering enable message (CAN frame) ID.
+ *
+ */
+#define OSCC_STEERING_ENABLE_CAN_ID (0x54)
+
+/*
+ * @brief Steering disable message (CAN frame) ID.
+ *
+ */
+#define OSCC_STEERING_DISABLE_CAN_ID (0x55)
+
 /*
  * @brief Steering command message (CAN frame) ID.
  *
@@ -43,10 +55,48 @@
  */
 #define OSCC_STEERING_DTC_INVALID_SENSOR_VAL (0x0)
 
+/*
+ * @brief Steering DTC bitfield position indicating an operator override.
+ *
+ */
+#define OSCC_STEERING_DTC_OPERATOR_OVERRIDE (0x1)
+
 
 #pragma pack(push)
 #pragma pack(1)
 
+/**
+ * @brief Steering enable message.
+ *
+ * CAN frame ID: \ref OSCC_STEERING_ENABLE_CAN_ID
+ *
+ */
+typedef struct
+{
+    uint8_t magic[2]; /*!< Magic number identifying CAN frame as from OSCC.
+                       *   Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
+                       *   Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
+
+     uint8_t reserved[6]; /*!< Reserved. */
+} oscc_steering_enable_s;
+
+
+/**
+ * @brief Steering disable message.
+ *
+ * CAN frame ID: \ref OSCC_STEERING_DISABLE_CAN_ID
+ *
+ */
+typedef struct
+{
+    uint8_t magic[2]; /*!< Magic number identifying CAN frame as from OSCC.
+                       *   Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
+                       *   Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
+
+    uint8_t reserved[6]; /*!< Reserved. */
+} oscc_steering_disable_s;
+
+
 /**
  * @brief Steering command message data.
  *
@@ -55,19 +105,15 @@
  */
 typedef struct
 {
-    uint8_t magic[2]; /* Magic number identifying CAN frame as from OSCC.
-                         Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
-                         Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
+    uint8_t magic[2]; /*!< Magic number identifying CAN frame as from OSCC.
+                       *   Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
+                       *   Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
 
     uint16_t spoof_value_low; /*!< Value to be sent on the low spoof signal. */
 
     uint16_t spoof_value_high; /*!< Value to be sent on the high spoof signal. */
 
-    uint8_t enable;    /*!< Command to enable or disable steering control.
-                         * Zero value means disable.
-                         * Non-zero value means enable. */
-
-    uint8_t reserved; /*!< Reserved. */
+    uint8_t reserved[2]; /*!< Reserved. */
 } oscc_steering_command_s;
 
 
@@ -79,9 +125,9 @@ typedef struct
  */
 typedef struct
 {
-    uint8_t magic[2]; /* Magic number identifying CAN frame as from OSCC.
-                         Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
-                         Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
+    uint8_t magic[2]; /*!< Magic number identifying CAN frame as from OSCC.
+                       *   Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
+                       *   Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
 
     uint8_t enabled; /*!< Steering controls enabled state.
                       * Zero value means disabled (commands are ignored).
@@ -92,7 +138,7 @@ typedef struct
                                 * Non-zero value means an operator has physically overridden
                                 * the system. */
 
-    uint8_t dtcs; /* Bitfield of DTCs present in the module. */
+    uint8_t dtcs; /*!< Bitfield of DTCs present in the module. */
 
     uint8_t reserved[3]; /*!< Reserved. */
 } oscc_steering_report_s;