Deprecate old DAQ Variable System (#246)

Author: irvingywang

CMakeLists.txt

@@ -60,7 +60,7 @@ set(COMMON_MODULES
     common/common_defs
     common/log
     common/faults
-    common/daq
+    # common/daq
     common/amk
     common/modules/wheel_speeds
     common/syscalls

common/can_library/canpiler/codegen.py

@@ -120,10 +120,7 @@ def generate_node_header(node: Node, bus_configs: Dict, custom_types: Dict, mapp
             f.write("// System IDs\n")
             for name, val in sorted(node.system_ids.items()):
                 # Determine primary macro name
-                if name.startswith("daq_response"):
-                    bus_name = name.replace("daq_response_", "").upper()
-                    macro_name = f"ID_DAQ_RESPONSE_{node.macro_name}_{bus_name}"
-                elif name == "fault_sync":
+                if name == "fault_sync":
                     macro_name = f"ID_FAULT_SYNC_{node.macro_name}"
                 else:
                     macro_name = f"ID_{name.upper()}_{node.macro_name}"

common/can_library/canpiler/parser.py

@@ -181,15 +181,9 @@ def generate_system_ids(self) -> None:
         # Formula: ((priority - 1) << 26) | (node_id << 21) | (msg_index << 9)
         # Using high message indices (0x700+) for system messages to avoid collisions
 
-        # DAQ Response: Priority 3 (bits 26-28 = 2), Msg Index 0x7E0
-        daq_base = (2 << 26) | (self.node_id << 21) | (0x7E0 << 9)
-        
         # Fault Sync: Priority 1 (bits 26-28 = 0), Msg Index 0x7E1
         self.system_ids["fault_sync"] = (0 << 26) | (self.node_id << 21) | (0x7E1 << 9)
 
-        for bus_name in self.busses:
-            self.system_ids[f"daq_response_{bus_name}"] = daq_base
-
 @dataclass
 class Fault:
     name: str

common/daq/CMakeLists.txt

@@ -1,21 +1,21 @@
-MACRO(MAKE_DAQ_LIB lib_name lib_link hal_name)
-    set(TARGET_NAME ${lib_name})
-    add_library(${TARGET_NAME})
+# MACRO(MAKE_DAQ_LIB lib_name lib_link hal_name)
+#     set(TARGET_NAME ${lib_name})
+#     add_library(${TARGET_NAME})
 
-    # Find all .c sources in project
-    #file(GLOB_RECURSE glob_sources "*.c")
-    target_sources(${TARGET_NAME} PRIVATE "daq_base.c")
+#     # Find all .c sources in project
+#     #file(GLOB_RECURSE glob_sources "*.c")
+#     target_sources(${TARGET_NAME} PRIVATE "daq_base.c")
 
-    # Find directories for '#include'
-    # For libraries, these directories are all referenced to the top level firmware directory, CMAKE_SOURCE_DIR
-    target_include_directories(${TARGET_NAME} PUBLIC ${CMAKE_SOURCE_DIR})
+#     # Find directories for '#include'
+#     # For libraries, these directories are all referenced to the top level firmware directory, CMAKE_SOURCE_DIR
+#     target_include_directories(${TARGET_NAME} PUBLIC ${CMAKE_SOURCE_DIR})
 
-    target_link_libraries(${TARGET_NAME} "QUEUE")
-    target_link_libraries(${TARGET_NAME} ${lib_link})
-    target_link_libraries(${TARGET_NAME} ${hal_name})
+#     target_link_libraries(${TARGET_NAME} "QUEUE")
+#     target_link_libraries(${TARGET_NAME} ${lib_link})
+#     target_link_libraries(${TARGET_NAME} ${hal_name})
 
-ENDMACRO(MAKE_DAQ_LIB)
+# ENDMACRO(MAKE_DAQ_LIB)
 
-MAKE_DAQ_LIB(DAQ CMSIS_L432 PHAL_L432)
-MAKE_DAQ_LIB(DAQ_F407 CMSIS_F407 PHAL_F407)
-MAKE_DAQ_LIB(DAQ_F732 CMSIS_F732 PHAL_F732)
+# MAKE_DAQ_LIB(DAQ CMSIS_L432 PHAL_L432)
+# MAKE_DAQ_LIB(DAQ_F407 CMSIS_F407 PHAL_F407)
+# MAKE_DAQ_LIB(DAQ_F732 CMSIS_F732 PHAL_F732)

source/a_box/CMakeLists.txt

@@ -15,6 +15,6 @@ set_target_properties(${TARGET_NAME} PROPERTIES
     COMPONENT_NAME ${COMPONENT_NAME}
     COMPONENT_DIR  ${CMAKE_CURRENT_LIST_DIR}
     LINKER_SCRIPT  "STM32F407VGTx_FLASH"
-    COMMON_LIBS    "CMSIS_F407;PSCHED_F407;QUEUE;can_node_A_BOX;PHAL_F407;FAULTS_F407;m;BOOTLOADER_COMMON_F407;DAQ_F407"
+    COMMON_LIBS    "CMSIS_F407;PSCHED_F407;QUEUE;can_node_A_BOX;PHAL_F407;FAULTS_F407;m;BOOTLOADER_COMMON_F407"
 )
 COMMON_FIRMWARE_COMPONENT(${TARGET_NAME})

source/a_box/daq/daq.c

@@ -12,7 +12,6 @@
 #include "stm32f407xx.h"
 
 /* Module Includes */
-#include "daq.h"
 #include "main.h"
 #include "orion.h"
 #include "tmu.h"
@@ -89,9 +88,6 @@ extern uint8_t orion_error;
 
 extern uint32_t can_mbx_last_send_time[NUM_CAN_PERIPHERALS][CAN_TX_MAILBOX_CNT];
 
-bool bms_daq_override = false;
-bool bms_daq_stat     = false;
-
 void PHAL_FaultHandler();
 extern void HardFault_Handler();
 
@@ -157,13 +153,6 @@ int main(void) {
     CAN_library_init();
     orionInit();
 
-    bms_daq_override = false;
-    bms_daq_stat     = false;
-
-    if (daqInit(&q_tx_can[CAN1_IDX][CAN_MAILBOX_LOW_PRIO])) {
-        HardFault_Handler();
-    }
-
     /* Module init */
     schedInit(APB1ClockRateHz * 2); // See Datasheet DS11451 Figure. 4 for clock tree
 
@@ -175,7 +164,6 @@ int main(void) {
     taskCreate(orionChargePeriodic, 50);
     taskCreate(heartBeatTask, 100);
     taskCreate(sendhbmsg, 500);
-    taskCreate(daqPeriodic, DAQ_UPDATE_PERIOD);
     taskCreate(readCurrents, 50);
     taskCreateBackground(CAN_tx_update);
     taskCreateBackground(CAN_rx_update);
@@ -270,16 +258,11 @@ void monitorStatus() {
 
     //    PHAL_writeGPIO(BMS_STATUS_GPIO_Port, BMS_STATUS_Pin, !bms_err);
 
-    if (bms_daq_override | tmu_daq_override)
-        PHAL_toggleGPIO(ERROR_LED_GPIO_Port, ERROR_LED_Pin);
-    else
-        PHAL_writeGPIO(ERROR_LED_GPIO_Port, ERROR_LED_Pin, bms_err);
+    PHAL_writeGPIO(ERROR_LED_GPIO_Port, ERROR_LED_Pin, bms_err);
 
     setFault(ID_IMD_FAULT, imd_err);
 
     uint8_t stat = bms_err | tmu_err;
-    if (bms_daq_override)
-        stat = bms_daq_stat;
     PHAL_writeGPIO(BMS_STATUS_GPIO_Port, BMS_STATUS_Pin, stat);
 }
 

source/a_box/daq/daq.h

@@ -5,7 +5,6 @@
 #include "A_BOX.h"
 #include "common/faults/faults.h"
 #include "common_defs.h"
-#include "daq.h"
 
 uint8_t charge_request_user          = false; // Enable charge algo
 uint16_t user_charge_current_request = 0;

source/a_box/main.c

@@ -15,6 +15,6 @@ set_target_properties(${TARGET_NAME} PROPERTIES
     COMPONENT_NAME ${COMPONENT_NAME}
     COMPONENT_DIR  ${CMAKE_CURRENT_LIST_DIR}
     LINKER_SCRIPT  "STM32F407VGTx_FLASH"
-    COMMON_LIBS    "can_node_DAQ;CMSIS_F407;QUEUE;DAQ_F407;FREERTOS_F407"
+    COMMON_LIBS    "can_node_DAQ;CMSIS_F407;PHAL_F407;QUEUE;FREERTOS_F407"
 )
 COMMON_FIRMWARE_COMPONENT(${TARGET_NAME})