2021-01-10 FW Design Meeting

Design Notes:

• Less #defines → for improved gdb and less namespace pollution and use of optimization

Codegen:

• New DBCs

• Larger message space

• Potentially less messages - packing more information

  • can have more debugging information or log can messages

• Packing and unpacking:

  • unpacking/packing will go into a global structure per board

  • Don’t want to unpack message per task → buffered in global structure

  • structure based on ascii file (codegen’d)

• Tasks:

  • Creating global structure → calculate number of bytes

  • Packing

  • Unpacking

  • DBCs → later

  • Logging of messages to minicom for test results(next term)

Testability:

• CAN Testing:

  • With global structs → CAN cycle (rcv/send)

  • Can check structs at each cycle

  • CAN on x86

    • make a rx and tx thread

    • tx thread sends periodically even if nothing

    • rx thread tries to receive

  • Tasks: TBD

• Unit test:

  • CAN → CAN wait statement (ie can_wait(5) waits for cycles to complete)

  • Unity

• Integration (MU - Later)

FSM Library:

• Prioritization of events

• How two different tasks will communicate with an FSM

• Ideally have global event queue → FSMs have to decide if event is for them

  • multiple fsms may want to access same event

• Cycles

  • can push at anytime, but pop only at certain times

  • have tasks running at times you want to run