Summary

This should be the last big PR for this repo. It adds many generic implementations of tasks and functions to support future features.

An accompanying design document will be added or a meeting should be held to discuss the design and implementation of the new architecture and modules before this is merged.

Notable Files

Use this PR File Filter to help narrow down things and remove the misc project and deleted files.

There are a lot of changes made in this PR. Here are the most important of folders/files that need review:

• Architecture and timing diagrams
• Everything in tasks folder https://github.com/sfuphantom/vcu-fw/tree/Finalize-VCU-Infrastructure/VCU/Phantom/tasks
• State machine
• UART callback

Major functional changes:

• Finalized FreeRTOS priority hierarchy
• Standardized logging
  • Logger task
• Generic event handler task
  • State machine and ready-to-drive procedure
  • Inject events to state machine for testing
• Fault timers reenabled and fixed

Cleanup

• Add diagrams
• Remove all irrelevant tasks and modules
• Add VCU common functions and constants