From b489be414848ac68c3ed25f5e42687f4cc5b1c0c Mon Sep 17 00:00:00 2001
From: Cindy Li <cindyli0213@hotmail.com>
Date: Tue, 22 Jun 2021 12:09:00 -0400
Subject: [PATCH 01/12] Create modules skeleton for new app structure (#382)

* Add modules and main.cpp skeleton

* Fix typos
---
 rover-apps/arm/include/AppConfig.h     |  9 ++++
 rover-apps/arm_2021/CMakeLists.txt     |  7 +++
 rover-apps/common/CMakeLists.txt       |  0
 rover-apps/common/include/Module.h     | 10 +++++
 rover-apps/common/src/main.cpp         | 59 ++++++++++++++++++++++++++
 rover-apps/gimbal/include/AppConfig.h  |  9 ++++
 rover-apps/gimbal_2021/CMakeLists.txt  |  7 +++
 rover-apps/science/include/AppConfig.h |  9 ++++
 rover-apps/science_2021/CMakeLists.txt |  7 +++
 9 files changed, 117 insertions(+)
 create mode 100644 rover-apps/arm/include/AppConfig.h
 create mode 100644 rover-apps/common/CMakeLists.txt
 create mode 100644 rover-apps/common/include/Module.h
 create mode 100644 rover-apps/common/src/main.cpp
 create mode 100644 rover-apps/gimbal/include/AppConfig.h
 create mode 100644 rover-apps/science/include/AppConfig.h

diff --git a/rover-apps/arm/include/AppConfig.h b/rover-apps/arm/include/AppConfig.h
new file mode 100644
index 000000000..32f1383b4
--- /dev/null
+++ b/rover-apps/arm/include/AppConfig.h
@@ -0,0 +1,9 @@
+#pragma once
+
+#include <vector>
+
+#include "Module.h"
+
+std::vector<Module*> gModules = {
+    // put modules here
+};
diff --git a/rover-apps/arm_2021/CMakeLists.txt b/rover-apps/arm_2021/CMakeLists.txt
index 376fa47f3..4f56370ee 100644
--- a/rover-apps/arm_2021/CMakeLists.txt
+++ b/rover-apps/arm_2021/CMakeLists.txt
@@ -1,7 +1,14 @@
+<<<<<<< HEAD:rover-apps/arm_2021/CMakeLists.txt
 add_executable(arm_2021)
 target_sources(arm_2021 PRIVATE src/main.cpp)
 target_include_directories(arm_2021 PUBLIC include)
 target_link_libraries(arm_2021
+=======
+add_executable(arm)
+target_sources(arm PRIVATE ../common/src/main.cpp)
+target_include_directories(arm PUBLIC include ../common/include)
+target_link_libraries(arm
+>>>>>>> Create modules skeleton for new app structure (#382):rover-apps/arm/CMakeLists.txt
         PRIVATE
         #Control
         OpenLoopController
diff --git a/rover-apps/common/CMakeLists.txt b/rover-apps/common/CMakeLists.txt
new file mode 100644
index 000000000..e69de29bb
diff --git a/rover-apps/common/include/Module.h b/rover-apps/common/include/Module.h
new file mode 100644
index 000000000..8df2b8cf8
--- /dev/null
+++ b/rover-apps/common/include/Module.h
@@ -0,0 +1,10 @@
+#pragma once
+
+class Module {
+ public:
+  virtual void periodic_10s(void)   = 0;
+  virtual void periodic_1s(void)    = 0;
+  virtual void periodic_100ms(void) = 0;
+  virtual void periodic_10ms(void)  = 0;
+  virtual void periodic_1ms(void)   = 0;
+};
diff --git a/rover-apps/common/src/main.cpp b/rover-apps/common/src/main.cpp
new file mode 100644
index 000000000..c60173cfb
--- /dev/null
+++ b/rover-apps/common/src/main.cpp
@@ -0,0 +1,59 @@
+#include "AppConfig.h"
+#include "mbed.h"
+
+Thread periodic_10s_thread(osPriorityNormal1);
+Thread periodic_1s_thread(osPriorityNormal2);
+Thread periodic_100ms_thread(osPriorityNormal3);
+Thread periodic_10ms_thread(osPriorityNormal4);
+Thread periodic_1ms_thread(osPriorityNormal5);
+
+void periodic_10s(void) {
+  auto startTime = Kernel::Clock::now();
+  for (Module* module : gModules) {
+    module->periodic_10s();
+  }
+  ThisThread::sleep_until(startTime + 10s);
+}
+
+void periodic_1s(void) {
+  auto startTime = Kernel::Clock::now();
+  for (Module* module : gModules) {
+    module->periodic_1s();
+  }
+  ThisThread::sleep_until(startTime + 1s);
+}
+
+void periodic_100ms(void) {
+  auto startTime = Kernel::Clock::now();
+  for (Module* module : gModules) {
+    module->periodic_100ms();
+  }
+  ThisThread::sleep_until(startTime + 100ms);
+}
+
+void periodic_10ms(void) {
+  auto startTime = Kernel::Clock::now();
+  for (Module* module : gModules) {
+    module->periodic_10ms();
+  }
+  ThisThread::sleep_until(startTime + 10ms);
+}
+
+void periodic_1ms(void) {
+  auto startTime = Kernel::Clock::now();
+  for (Module* module : gModules) {
+    module->periodic_1ms();
+  }
+  ThisThread::sleep_until(startTime + 1ms);
+}
+
+int main() {
+  periodic_1ms_thread.start(periodic_1ms);
+  periodic_10ms_thread.start(periodic_10ms);
+  periodic_100ms_thread.start(periodic_100ms);
+  periodic_1s_thread.start(periodic_1s);
+  periodic_10s_thread.start(periodic_10s);
+
+  while (true) {
+  }
+}
diff --git a/rover-apps/gimbal/include/AppConfig.h b/rover-apps/gimbal/include/AppConfig.h
new file mode 100644
index 000000000..32f1383b4
--- /dev/null
+++ b/rover-apps/gimbal/include/AppConfig.h
@@ -0,0 +1,9 @@
+#pragma once
+
+#include <vector>
+
+#include "Module.h"
+
+std::vector<Module*> gModules = {
+    // put modules here
+};
diff --git a/rover-apps/gimbal_2021/CMakeLists.txt b/rover-apps/gimbal_2021/CMakeLists.txt
index 98296ac5c..0827366a2 100644
--- a/rover-apps/gimbal_2021/CMakeLists.txt
+++ b/rover-apps/gimbal_2021/CMakeLists.txt
@@ -1,7 +1,14 @@
+<<<<<<< HEAD:rover-apps/gimbal_2021/CMakeLists.txt
 add_executable(gimbal_2021)
 target_sources(gimbal_2021 PRIVATE src/main.cpp)
 target_include_directories(gimbal_2021 PUBLIC include)
 target_link_libraries(gimbal_2021
+=======
+add_executable(gimbal)
+target_sources(gimbal PRIVATE ../common/src/main.cpp)
+target_include_directories(gimbal PUBLIC include ../common/include)
+target_link_libraries(gimbal
+>>>>>>> Create modules skeleton for new app structure (#382):rover-apps/gimbal/CMakeLists.txt
         PRIVATE
         #Control
         OpenLoopController
diff --git a/rover-apps/science/include/AppConfig.h b/rover-apps/science/include/AppConfig.h
new file mode 100644
index 000000000..32f1383b4
--- /dev/null
+++ b/rover-apps/science/include/AppConfig.h
@@ -0,0 +1,9 @@
+#pragma once
+
+#include <vector>
+
+#include "Module.h"
+
+std::vector<Module*> gModules = {
+    // put modules here
+};
diff --git a/rover-apps/science_2021/CMakeLists.txt b/rover-apps/science_2021/CMakeLists.txt
index 80b5d19b5..b273e1bbf 100644
--- a/rover-apps/science_2021/CMakeLists.txt
+++ b/rover-apps/science_2021/CMakeLists.txt
@@ -1,7 +1,14 @@
+<<<<<<< HEAD:rover-apps/science_2021/CMakeLists.txt
 add_executable(science_2021)
 target_sources(science_2021 PRIVATE src/main.cpp)
 target_include_directories(science_2021 PUBLIC include)
 target_link_libraries(science_2021
+=======
+add_executable(science)
+target_sources(science PRIVATE ../common/src/main.cpp)
+target_include_directories(science PUBLIC include ../common/include)
+target_link_libraries(science
+>>>>>>> Create modules skeleton for new app structure (#382):rover-apps/science/CMakeLists.txt
         PRIVATE
         #Control
         OpenLoopController

From 20010f141d406f60a9b41d5ecb61d99220dd9db2 Mon Sep 17 00:00:00 2001
From: jahnavithota2011 <34670246+jahnavithota2011@users.noreply.github.com>
Date: Wed, 18 Aug 2021 23:17:59 +0400
Subject: [PATCH 02/12] Create watchdog module (#389)

* Watchdog module

* clang fix

* clang fix2

* test-watchdog

* Edited WatchdogWrapper.h

* Fixed pure virtual function errors

* fixed namespace error

* Fixed error2

* Cmake

* Cmake

* Cmake fix

* Top-level Cmake

* Changes made

* clang fix

* Update libs/utility/src/WatchdogWrapper.cpp

Co-authored-by: Cindy Li <cindyli0213@hotmail.com>

* Update test-apps/test-watchdog/src/main.cpp

Co-authored-by: Cindy Li <cindyli0213@hotmail.com>

* cmake

* Changed periodic function name

* watchdogwrapper fix

Co-authored-by: Cindy Li <cindyli0213@hotmail.com>
---
 CMakeLists.txt                             |  1 +
 libs/utility/include/WatchdogWrapper.h     |  9 +++-----
 libs/utility/src/WatchdogWrapper.cpp       | 17 +++++----------
 rover-apps/arm/include/AppConfig.h         |  4 ++++
 rover-apps/arm_2021/CMakeLists.txt         |  2 ++
 rover-apps/common/CMakeLists.txt           |  8 ++++++++
 rover-apps/common/include/WatchdogModule.h | 24 ++++++++++++++++++++++
 rover-apps/common/src/WatchdogModule.cpp   | 16 +++++++++++++++
 rover-apps/gimbal/include/AppConfig.h      |  4 ++++
 rover-apps/gimbal_2021/CMakeLists.txt      |  2 ++
 rover-apps/science/include/AppConfig.h     |  4 ++++
 rover-apps/science_2021/CMakeLists.txt     |  2 ++
 test-apps/test-watchdog/src/main.cpp       | 13 ++++++++++--
 13 files changed, 86 insertions(+), 20 deletions(-)
 create mode 100644 rover-apps/common/include/WatchdogModule.h
 create mode 100644 rover-apps/common/src/WatchdogModule.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 536525d49..b14defa08 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -94,6 +94,7 @@ add_app_subdirectory(${ROVER_APPS_DIR}/gamepad_2021)
 add_app_subdirectory(${ROVER_APPS_DIR}/gimbal_2021)
 add_app_subdirectory(${ROVER_APPS_DIR}/pdb_2021)
 add_app_subdirectory(${ROVER_APPS_DIR}/science_2021)
+add_app_subdirectory(${ROVER_APPS_DIR}/common)
 
 # Include Test Apps
 add_app_subdirectory(${TEST_APPS_DIR}/test-actuator-controller)
diff --git a/libs/utility/include/WatchdogWrapper.h b/libs/utility/include/WatchdogWrapper.h
index f9034813f..723786ca9 100644
--- a/libs/utility/include/WatchdogWrapper.h
+++ b/libs/utility/include/WatchdogWrapper.h
@@ -5,11 +5,8 @@ namespace Utility {
 
 class WatchdogWrapper {
  public:
-  static void startWatchdog(std::chrono::milliseconds countdown_ms = 5000ms, std::chrono::milliseconds pet_ms = 1000ms);
-  static void logResetReason();
-
- private:
-  static void petWatchdog(std::chrono::milliseconds *pet_ms);
-  static Thread pet_thread;
+  static void startWatchdog(std::chrono::milliseconds countdown_ms);
+  static void logResetReason(void);
+  static void petWatchdog(void);
 };
 }  // namespace Utility
\ No newline at end of file
diff --git a/libs/utility/src/WatchdogWrapper.cpp b/libs/utility/src/WatchdogWrapper.cpp
index b3328074d..5e4b5b7c3 100644
--- a/libs/utility/src/WatchdogWrapper.cpp
+++ b/libs/utility/src/WatchdogWrapper.cpp
@@ -6,17 +6,13 @@
 
 namespace Utility {
 
-Thread WatchdogWrapper::pet_thread;
-
-void WatchdogWrapper::startWatchdog(std::chrono::milliseconds countdown_ms /*= 5000ms*/,
-                                    std::chrono::milliseconds pet_ms /*= 1000ms*/) {
+void WatchdogWrapper::startWatchdog(std::chrono::milliseconds countdown_ms) {
   uint32_t countdown_uint32 = countdown_ms.count();
   Watchdog &watchdog        = Watchdog::get_instance();
   watchdog.start(countdown_uint32);
-  pet_thread.start(callback(WatchdogWrapper::petWatchdog, &pet_ms));
 }
 
-void WatchdogWrapper::logResetReason() {
+void WatchdogWrapper::logResetReason(void) {
   const reset_reason_t reason = ResetReason::get();
   if (reason == RESET_REASON_WATCHDOG) {
     time_t seconds = time(NULL);
@@ -26,10 +22,7 @@ void WatchdogWrapper::logResetReason() {
   }
 }
 
-void WatchdogWrapper::petWatchdog(std::chrono::milliseconds *pet_ms) {
-  while (1) {
-    Watchdog::get_instance().kick();
-    ThisThread::sleep_for(*pet_ms);
-  }
+void WatchdogWrapper::petWatchdog(void) {
+  Watchdog::get_instance().kick();
 }
-}  // namespace Utility
\ No newline at end of file
+}  // namespace Utility
diff --git a/rover-apps/arm/include/AppConfig.h b/rover-apps/arm/include/AppConfig.h
index 32f1383b4..877d41d7e 100644
--- a/rover-apps/arm/include/AppConfig.h
+++ b/rover-apps/arm/include/AppConfig.h
@@ -3,7 +3,11 @@
 #include <vector>
 
 #include "Module.h"
+#include "WatchdogModule.h"
+
+WatchdogModule arm_watchdog;
 
 std::vector<Module*> gModules = {
     // put modules here
+    &arm_watchdog,
 };
diff --git a/rover-apps/arm_2021/CMakeLists.txt b/rover-apps/arm_2021/CMakeLists.txt
index 4f56370ee..b5e87df0d 100644
--- a/rover-apps/arm_2021/CMakeLists.txt
+++ b/rover-apps/arm_2021/CMakeLists.txt
@@ -28,6 +28,8 @@ target_link_libraries(arm
         CANMsg
         #Sensor
         CurrentSensor
+        #common-modules
+        WatchdogModule
         #Other
         uwrt-mars-rover-hw-bridge
         Logger
diff --git a/rover-apps/common/CMakeLists.txt b/rover-apps/common/CMakeLists.txt
index e69de29bb..6da4a69b8 100644
--- a/rover-apps/common/CMakeLists.txt
+++ b/rover-apps/common/CMakeLists.txt
@@ -0,0 +1,8 @@
+add_library(WatchdogModule STATIC)
+target_sources(WatchdogModule PRIVATE src/WatchdogModule.cpp)
+target_include_directories(WatchdogModule PUBLIC include)
+target_link_libraries(WatchdogModule
+        PRIVATE
+        WatchdogWrapper
+        mbed-os
+        )
\ No newline at end of file
diff --git a/rover-apps/common/include/WatchdogModule.h b/rover-apps/common/include/WatchdogModule.h
new file mode 100644
index 000000000..3dbdfb423
--- /dev/null
+++ b/rover-apps/common/include/WatchdogModule.h
@@ -0,0 +1,24 @@
+#pragma once
+
+#include "Module.h"
+#include "mbed.h"
+
+class WatchdogModule final : public Module {
+ public:
+  /* Initiates the watchdog with a countdown
+   * @param countdown - max timeout of the watchdog
+   * */
+  WatchdogModule();
+
+  /* Periodic function to kick the watchdog and restart its timer every 1s
+   * */
+  void periodic_1s(void) override;
+
+  void periodic_10s(void) override {}
+  void periodic_100ms(void) override {}
+  void periodic_10ms(void) override {}
+  void periodic_1ms(void) override {}
+
+ private:
+  static const std::chrono::milliseconds WATCHDOG_DEFAULT_COUNTDOWN;
+};
diff --git a/rover-apps/common/src/WatchdogModule.cpp b/rover-apps/common/src/WatchdogModule.cpp
new file mode 100644
index 000000000..14cac732c
--- /dev/null
+++ b/rover-apps/common/src/WatchdogModule.cpp
@@ -0,0 +1,16 @@
+#include "WatchdogModule.h"
+
+#include "Module.h"
+#include "WatchdogWrapper.h"
+#include "mbed.h"
+
+const std::chrono::milliseconds WatchdogModule::WATCHDOG_DEFAULT_COUNTDOWN = 5000ms;
+
+WatchdogModule::WatchdogModule() {
+  Utility::WatchdogWrapper::logResetReason();
+  Utility::WatchdogWrapper::startWatchdog(WATCHDOG_DEFAULT_COUNTDOWN);
+}
+
+void WatchdogModule::periodic_1s(void) {
+  Utility::WatchdogWrapper::petWatchdog();
+}
diff --git a/rover-apps/gimbal/include/AppConfig.h b/rover-apps/gimbal/include/AppConfig.h
index 32f1383b4..35955ba8f 100644
--- a/rover-apps/gimbal/include/AppConfig.h
+++ b/rover-apps/gimbal/include/AppConfig.h
@@ -3,7 +3,11 @@
 #include <vector>
 
 #include "Module.h"
+#include "WatchdogModule.h"
+
+WatchdogModule gimbal_watchdog;
 
 std::vector<Module*> gModules = {
     // put modules here
+    &gimbal_watchdog,
 };
diff --git a/rover-apps/gimbal_2021/CMakeLists.txt b/rover-apps/gimbal_2021/CMakeLists.txt
index 0827366a2..756a260c5 100644
--- a/rover-apps/gimbal_2021/CMakeLists.txt
+++ b/rover-apps/gimbal_2021/CMakeLists.txt
@@ -26,6 +26,8 @@ target_link_libraries(gimbal
         CANMsg
         #Sensor
         CurrentSensor
+        #common-modules
+        WatchdogModule
         #Other
         Logger
         uwrt-mars-rover-hw-bridge
diff --git a/rover-apps/science/include/AppConfig.h b/rover-apps/science/include/AppConfig.h
index 32f1383b4..d196cd0bd 100644
--- a/rover-apps/science/include/AppConfig.h
+++ b/rover-apps/science/include/AppConfig.h
@@ -3,7 +3,11 @@
 #include <vector>
 
 #include "Module.h"
+#include "WatchdogModule.h"
+
+WatchdogModule science_watchdog;
 
 std::vector<Module*> gModules = {
     // put modules here
+    &science_watchdog,
 };
diff --git a/rover-apps/science_2021/CMakeLists.txt b/rover-apps/science_2021/CMakeLists.txt
index b273e1bbf..1f307a2ed 100644
--- a/rover-apps/science_2021/CMakeLists.txt
+++ b/rover-apps/science_2021/CMakeLists.txt
@@ -29,6 +29,8 @@ target_link_libraries(science
         #Sensor
         CurrentSensor
         AdafruitSTEMMA
+        #common-modules
+        WatchdogModule
         #Other
         uwrt-mars-rover-hw-bridge
         Logger
diff --git a/test-apps/test-watchdog/src/main.cpp b/test-apps/test-watchdog/src/main.cpp
index d6815ddbf..bcd5b38d8 100644
--- a/test-apps/test-watchdog/src/main.cpp
+++ b/test-apps/test-watchdog/src/main.cpp
@@ -1,12 +1,21 @@
 #include "WatchdogWrapper.h"
 #include "mbed.h"
 
+Thread pet_thread;
 std::chrono::milliseconds countdown_ms = 1000ms;
 std::chrono::milliseconds pet_ms       = 200ms;
 
+void pet_dog_task(std::chrono::milliseconds *pet_ms) {
+  while (1) {
+    Utility::WatchdogWrapper::petWatchdog();
+    ThisThread::sleep_for(*pet_ms);
+  }
+}
+
 int main() {
   Utility::WatchdogWrapper::logResetReason();
-  Utility::WatchdogWrapper::startWatchdog(countdown_ms, pet_ms);
+  Utility::WatchdogWrapper::startWatchdog(countdown_ms);
+  pet_thread.start(callback(pet_dog_task, &pet_ms));
   ThisThread::sleep_for(2000ms);
   MBED_ASSERT(false);
-}
\ No newline at end of file
+}

From 1a488c7456321dea556f1cada98d1f8917042a5c Mon Sep 17 00:00:00 2001
From: jahnavithota2011 <34670246+jahnavithota2011@users.noreply.github.com>
Date: Fri, 27 Aug 2021 01:05:36 +0400
Subject: [PATCH 03/12] Create PDB monitoring module (#392)

* PDB Module added

* CMake

* rename include

* Fixed Errors

* clang fix

* Changes made

* Made pins config private members

* clang
---
 rover-apps/pdb/CMakeLists.txt                 |  25 ++++
 rover-apps/pdb/include/AppConfig.h            |  13 ++
 rover-apps/pdb/include/PDBMonitoring.h        |  78 +++++++++++
 rover-apps/pdb/src/PDBMonitoring.cpp          | 132 ++++++++++++++++++
 rover-apps/pdb_2021/CMakeLists.txt            |  14 ++
 .../TARGET_PDB_REV2_2021/include/PinNames.h   |  23 +++
 6 files changed, 285 insertions(+)
 create mode 100644 rover-apps/pdb/CMakeLists.txt
 create mode 100644 rover-apps/pdb/include/AppConfig.h
 create mode 100644 rover-apps/pdb/include/PDBMonitoring.h
 create mode 100644 rover-apps/pdb/src/PDBMonitoring.cpp

diff --git a/rover-apps/pdb/CMakeLists.txt b/rover-apps/pdb/CMakeLists.txt
new file mode 100644
index 000000000..9d6d12523
--- /dev/null
+++ b/rover-apps/pdb/CMakeLists.txt
@@ -0,0 +1,25 @@
+add_library(PDB_Monitoring STATIC)
+target_sources(PDB_Monitoring PRIVATE src/PDBMonitoring.cpp)
+target_include_directories(PDB_Monitoring PUBLIC
+        include
+        ../common/include
+        )
+target_link_libraries(PDB_Monitoring
+        PRIVATE
+        Logger
+        mbed-os
+        )
+
+add_executable(pdb)
+target_sources(pdb PRIVATE ../common/src/main.cpp)
+target_include_directories(pdb PUBLIC ../common/include)
+target_link_libraries(pdb
+        PRIVATE
+        CANBus
+        CANMsg
+        Logger
+        uwrt-mars-rover-hw-bridge
+        #Modules
+        PDB_Monitoring
+        )
+mbed_set_post_build(pdb)
diff --git a/rover-apps/pdb/include/AppConfig.h b/rover-apps/pdb/include/AppConfig.h
new file mode 100644
index 000000000..17885fb14
--- /dev/null
+++ b/rover-apps/pdb/include/AppConfig.h
@@ -0,0 +1,13 @@
+#pragma once
+
+#include <vector>
+
+#include "Module.h"
+#include "PDBMonitoring.h"
+
+PDBMonitoring PDB;
+
+std::vector<Module*> gModules = {
+    // put modules here
+    &PDB,
+};
diff --git a/rover-apps/pdb/include/PDBMonitoring.h b/rover-apps/pdb/include/PDBMonitoring.h
new file mode 100644
index 000000000..fc97ce0ba
--- /dev/null
+++ b/rover-apps/pdb/include/PDBMonitoring.h
@@ -0,0 +1,78 @@
+#pragma once
+
+#include "Module.h"
+#include "mbed.h"
+
+/*This PDB module is for load, rail and temperature monitoring.*/
+
+class PDBMonitoring final : public Module {
+ public:
+  /* Sets the Load DIAG_EN pins */
+  PDBMonitoring();
+
+  void periodic_1s(void) override;
+  void periodic_10s(void) override {}
+  void periodic_100ms(void) override {}
+  void periodic_10ms(void) override {}
+  void periodic_1ms(void) override;
+
+ private:
+  void load_monitoring();
+  void rail_monitoring();
+  void temperature_monitoring();
+
+  static const float PDB_VBAT_RAIL_NOMINAL_VOLTAGE;
+  static const float PDB_VBAT_RAIL_MIN_THRESHOLD;
+  static const float PDB_VBAT_RAIL_MAX_THRESHOLD;
+
+  static const float PDB_24V_RAIL_NOMINAL_VOLTAGE;
+  static const float PDB_24V_RAIL_MIN_THRESHOLD;
+  static const float PDB_24V_RAIL_MAX_THRESHOLD;
+
+  static const float PDB_17V_RAIL_NOMINAL_VOLTAGE;
+  static const float PDB_17V_RAIL_MIN_THRESHOLD;
+  static const float PDB_17V_RAIL_MAX_THRESHOLD;
+
+  static const float PDB_5V_RAIL_NOMINAL_VOLTAGE;
+  static const float PDB_5V_RAIL_MIN_THRESHOLD;
+  static const float PDB_5V_RAIL_MAX_THRESHOLD;
+
+  static const float PDB_TEMPERATURE_MIN_THRESHOLD;
+  static const float PDB_TEMPERATURE_MAX_THRESHOLD;
+
+  static const bool PDB_5V_LOAD1_DIAG_EN;
+  static const bool PDB_5V_LOAD2_DIAG_EN;
+  static const bool PDB_5V_LOAD3_DIAG_EN;
+  static const bool PDB_5V_LOAD4_DIAG_EN;
+  static const bool PDB_5V_LOAD5_DIAG_EN;
+  static const bool PDB_17V_LOAD_DIAG_EN;
+
+  /* Pins configuration for Load Monitoring */
+  DigitalOut load1_5V_diag_en;
+  DigitalIn load1_5V_fault_n;
+
+  DigitalOut load2_5V_diag_en;
+  DigitalIn load2_5V_fault_n;
+
+  DigitalOut load3_5V_diag_en;
+  DigitalIn load3_5V_fault_n;
+
+  DigitalOut load4_5V_diag_en;
+  DigitalIn load4_5V_fault_n;
+
+  DigitalOut load5_5V_diag_en;
+  DigitalIn load5_5V_fault_n;
+
+  DigitalOut load_17V_diag_en;
+  DigitalIn load_17V_fault_n;
+
+  /* Pins configuration for Rail Monitoring */
+  AnalogIn railBattery;
+  AnalogIn rail5V;
+  AnalogIn rail17V;
+  AnalogIn rail24V;
+  DigitalIn rail24V_pgood_n;
+
+  /* Pins configuration for Temperature Monitoring */
+  AnalogIn temperatureADC;
+};
\ No newline at end of file
diff --git a/rover-apps/pdb/src/PDBMonitoring.cpp b/rover-apps/pdb/src/PDBMonitoring.cpp
new file mode 100644
index 000000000..21fc5a824
--- /dev/null
+++ b/rover-apps/pdb/src/PDBMonitoring.cpp
@@ -0,0 +1,132 @@
+#include "PDBMonitoring.h"
+
+#include <cmath>
+
+#include "Logger.h"
+
+const float PDBMonitoring::PDB_VBAT_RAIL_NOMINAL_VOLTAGE = 24.0;
+const float PDBMonitoring::PDB_VBAT_RAIL_MIN_THRESHOLD   = 18.0;
+const float PDBMonitoring::PDB_VBAT_RAIL_MAX_THRESHOLD   = 25.2;
+
+const float PDBMonitoring::PDB_24V_RAIL_NOMINAL_VOLTAGE = 24.0;
+const float PDBMonitoring::PDB_24V_RAIL_MIN_THRESHOLD   = 22.0;
+const float PDBMonitoring::PDB_24V_RAIL_MAX_THRESHOLD   = 26.0;
+
+const float PDBMonitoring::PDB_17V_RAIL_NOMINAL_VOLTAGE = 17.0;
+const float PDBMonitoring::PDB_17V_RAIL_MIN_THRESHOLD   = 16.0;
+const float PDBMonitoring::PDB_17V_RAIL_MAX_THRESHOLD   = 18.0;
+
+const float PDBMonitoring::PDB_5V_RAIL_NOMINAL_VOLTAGE = 5.0;
+const float PDBMonitoring::PDB_5V_RAIL_MIN_THRESHOLD   = 4.8;
+const float PDBMonitoring::PDB_5V_RAIL_MAX_THRESHOLD   = 6.0;
+
+const float PDBMonitoring::PDB_TEMPERATURE_MIN_THRESHOLD = 10.0;
+const float PDBMonitoring::PDB_TEMPERATURE_MAX_THRESHOLD = 50.0;
+
+const bool PDBMonitoring::PDB_5V_LOAD1_DIAG_EN = 1;
+const bool PDBMonitoring::PDB_5V_LOAD2_DIAG_EN = 0;
+const bool PDBMonitoring::PDB_5V_LOAD3_DIAG_EN = 0;
+const bool PDBMonitoring::PDB_5V_LOAD4_DIAG_EN = 0;
+const bool PDBMonitoring::PDB_5V_LOAD5_DIAG_EN = 0;
+const bool PDBMonitoring::PDB_17V_LOAD_DIAG_EN = 1;
+
+PDBMonitoring::PDBMonitoring()
+    : load1_5V_diag_en(LOAD1_5V_DIAG_EN),
+      load1_5V_fault_n(LOAD1_5V_FAULT),
+      load2_5V_diag_en(LOAD2_5V_DIAG_EN),
+      load2_5V_fault_n(LOAD2_5V_FAULT),
+      load3_5V_diag_en(LOAD3_5V_DIAG_EN),
+      load3_5V_fault_n(LOAD3_5V_FAULT),
+      load4_5V_diag_en(LOAD4_5V_DIAG_EN),
+      load4_5V_fault_n(LOAD4_5V_FAULT),
+      load5_5V_diag_en(LOAD5_5V_DIAG_EN),
+      load5_5V_fault_n(LOAD5_5V_FAULT),
+      load_17V_diag_en(LOAD_17V_DIAG_EN),
+      load_17V_fault_n(LOAD_17V_FAULT),
+      railBattery(RAIL_BATTERY_ANLG_IN),
+      rail5V(RAIL_5V_ANLG_IN),
+      rail17V(RAIL_17V_ANLG_IN),
+      rail24V(RAIL_24V_ANLG_IN),
+      rail24V_pgood_n(RAIL_24V_PGOOD_N),
+      temperatureADC(TEMPERATURE_ADC_IN) {
+  load1_5V_diag_en = PDB_5V_LOAD1_DIAG_EN;
+  load2_5V_diag_en = PDB_5V_LOAD2_DIAG_EN;
+  load3_5V_diag_en = PDB_5V_LOAD3_DIAG_EN;
+  load4_5V_diag_en = PDB_5V_LOAD4_DIAG_EN;
+  load5_5V_diag_en = PDB_5V_LOAD5_DIAG_EN;
+  load_17V_diag_en = PDB_17V_LOAD_DIAG_EN;
+}
+
+/*TODO:Replace the logger statements with CAN logs
+ * after CAN Module is ready */
+
+void PDBMonitoring::load_monitoring() {
+  if (load1_5V_diag_en && !load1_5V_fault_n) {
+    Utility::logger << "Fault on 5V load 1\n";
+  }
+  if (load2_5V_diag_en && !load2_5V_fault_n) {
+    Utility::logger << "Fault on 5V load 2\n";
+  }
+  if (load3_5V_diag_en && !load3_5V_fault_n) {
+    Utility::logger << "Fault on 5V load 3\n";
+  }
+  if (load4_5V_diag_en && !load4_5V_fault_n) {
+    Utility::logger << "Fault on 5V load 4\n";
+  }
+  if (load5_5V_diag_en && !load5_5V_fault_n) {
+    Utility::logger << "Fault on 5V load 5\n";
+  }
+  if (load_17V_diag_en && !load_17V_fault_n) {
+    Utility::logger << "Fault on 17V load\n";
+  }
+}
+
+void PDBMonitoring::rail_monitoring() {
+  float rail_vbat_voltage = railBattery.read_voltage() / 3 * PDB_VBAT_RAIL_NOMINAL_VOLTAGE;
+  float rail_24V_voltage  = rail24V.read_voltage() / 3 * PDB_24V_RAIL_NOMINAL_VOLTAGE;
+  float rail_17V_voltage  = rail17V.read_voltage() / 3 * PDB_17V_RAIL_NOMINAL_VOLTAGE;
+  float rail_5V_voltage   = rail5V.read_voltage() / 3 * PDB_5V_RAIL_NOMINAL_VOLTAGE;
+
+  if (rail_vbat_voltage < PDB_VBAT_RAIL_MIN_THRESHOLD || rail_vbat_voltage > PDB_VBAT_RAIL_MAX_THRESHOLD) {
+    Utility::logger << "!!! VBAT RAIL VOLTAGE: %.3fV !!!\n", rail_vbat_voltage;
+  }
+  if (rail_24V_voltage < PDB_24V_RAIL_MIN_THRESHOLD || rail_24V_voltage > PDB_24V_RAIL_MAX_THRESHOLD) {
+    Utility::logger << "!!! 24V RAIL VOLTAGE: %.3fV !!!\n", rail_24V_voltage;
+  }
+  if (rail_17V_voltage < PDB_17V_RAIL_MIN_THRESHOLD || rail_17V_voltage > PDB_17V_RAIL_MAX_THRESHOLD) {
+    Utility::logger << "!!! 17V RAIL VOLTAGE: %.3fV !!!\n", rail_17V_voltage;
+  }
+  if (rail_5V_voltage < PDB_5V_RAIL_MIN_THRESHOLD || rail_5V_voltage > PDB_5V_RAIL_MAX_THRESHOLD) {
+    Utility::logger << "!!! 5V RAIL VOLTAGE: %.3fV !!!\n", rail_5V_voltage;
+  }
+}
+
+/*https://www.ti.com/lit/ds/symlink/lmt87-q1.pdf?ts=1627158177761&ref_url=https%253A%252F%252Fwww.google.com%252F*/
+
+void PDBMonitoring::temperature_monitoring() {
+  float temperature_celsius =
+      (13.582 - sqrt(pow(-13.582, 2) + 4 * 0.00433 * (2230.8 - temperatureADC.read_voltage() * 1000))) /
+          (2 * (-0.00433)) +
+      30;
+
+  if (temperature_celsius < PDB_TEMPERATURE_MIN_THRESHOLD || temperature_celsius > PDB_TEMPERATURE_MAX_THRESHOLD) {
+    Utility::logger << "!!! TEMPERATURE FAULT:" << temperature_celsius << "degrees Celsius\n";
+  }
+}
+
+void PDBMonitoring::periodic_1s() {
+  temperature_monitoring();
+  load_monitoring();
+}
+
+void PDBMonitoring::periodic_1ms() {
+  /*Monitoring Period = 500ms*/
+  int rail_counter = 0;
+
+  if (rail_counter % 5 == 0) {
+    rail_monitoring();
+    rail_counter = 0;
+  }
+
+  rail_counter++;
+}
diff --git a/rover-apps/pdb_2021/CMakeLists.txt b/rover-apps/pdb_2021/CMakeLists.txt
index 27d4cca70..4fde6c619 100644
--- a/rover-apps/pdb_2021/CMakeLists.txt
+++ b/rover-apps/pdb_2021/CMakeLists.txt
@@ -1,3 +1,15 @@
+add_library(PDB_Monitoring STATIC)
+target_sources(PDB_Monitoring PRIVATE src/PDBMonitoring.cpp)
+target_include_directories(PDB_Monitoring PUBLIC
+        include
+        ../common/include
+        )
+target_link_libraries(PDB_Monitoring
+        PRIVATE
+        Logger
+        mbed-os
+        )
+
 add_executable(pdb_2021)
 target_sources(pdb_2021 PRIVATE src/main.cpp)
 target_include_directories(pdb_2021 PUBLIC include)
@@ -7,5 +19,7 @@ target_link_libraries(pdb_2021
         CANMsg
         Logger
         uwrt-mars-rover-hw-bridge
+        #Modules
+        PDB_Monitoring
         )
 mbed_set_post_build(pdb_2021)
diff --git a/targets/TARGET_PDB_REV2_2021/include/PinNames.h b/targets/TARGET_PDB_REV2_2021/include/PinNames.h
index ab8f8232d..94e25d908 100644
--- a/targets/TARGET_PDB_REV2_2021/include/PinNames.h
+++ b/targets/TARGET_PDB_REV2_2021/include/PinNames.h
@@ -171,6 +171,29 @@ typedef enum {
   RAIL_17V_ANLG_IN     = PA_5,
   RAIL_24V_ANLG_IN     = PB_0,
   RAIL_BATTERY_ANLG_IN = PB_1,
+  RAIL_24V_PGOOD_N     = PC_6,
+
+  /**** Temperature Sensor ****/
+  TEMPERATURE_ADC_IN = PA_3,
+
+  /**** Load Monitor ****/
+  LOAD1_5V_DIAG_EN = PA_6,
+  LOAD1_5V_FAULT   = PA_7,
+
+  LOAD2_5V_DIAG_EN = PC_2,
+  LOAD2_5V_FAULT   = PC_3,
+
+  LOAD3_5V_DIAG_EN = PC_0,
+  LOAD3_5V_FAULT   = PC_1,
+
+  LOAD4_5V_DIAG_EN = PC_13,
+  LOAD4_5V_FAULT   = PC_14,
+
+  LOAD5_5V_DIAG_EN = PB_8,
+  LOAD5_5V_FAULT   = PB_9,
+
+  LOAD_17V_DIAG_EN = PC_4,
+  LOAD_17V_FAULT   = PC_5,
 
   /**** LED Matrix ****/
   LED_MATRIX_R_CHANNEL = PB_4,

From 4de2cffcc52d14cdd4899f3162a696ae0a07511f Mon Sep 17 00:00:00 2001
From: Cindy Li <cindyli0213@hotmail.com>
Date: Sun, 17 Oct 2021 11:30:40 -0700
Subject: [PATCH 04/12] fix folder structure

---
 rover-apps/arm_2021/CMakeLists.txt            | 11 ++------
 .../{arm => arm_2021}/include/AppConfig.h     |  0
 rover-apps/gimbal_2021/CMakeLists.txt         | 11 ++------
 .../include/AppConfig.h                       |  0
 rover-apps/pdb/CMakeLists.txt                 | 25 -------------------
 rover-apps/pdb_2021/CMakeLists.txt            |  4 +--
 .../{pdb => pdb_2021}/include/AppConfig.h     |  4 +--
 .../{pdb => pdb_2021}/include/PDBMonitoring.h |  0
 .../{pdb => pdb_2021}/src/PDBMonitoring.cpp   |  0
 rover-apps/science_2021/CMakeLists.txt        | 11 ++------
 .../include/AppConfig.h                       |  0
 11 files changed, 10 insertions(+), 56 deletions(-)
 rename rover-apps/{arm => arm_2021}/include/AppConfig.h (100%)
 rename rover-apps/{gimbal => gimbal_2021}/include/AppConfig.h (100%)
 delete mode 100644 rover-apps/pdb/CMakeLists.txt
 rename rover-apps/{pdb => pdb_2021}/include/AppConfig.h (73%)
 rename rover-apps/{pdb => pdb_2021}/include/PDBMonitoring.h (100%)
 rename rover-apps/{pdb => pdb_2021}/src/PDBMonitoring.cpp (100%)
 rename rover-apps/{science => science_2021}/include/AppConfig.h (100%)

diff --git a/rover-apps/arm_2021/CMakeLists.txt b/rover-apps/arm_2021/CMakeLists.txt
index b5e87df0d..223a5681f 100644
--- a/rover-apps/arm_2021/CMakeLists.txt
+++ b/rover-apps/arm_2021/CMakeLists.txt
@@ -1,14 +1,7 @@
-<<<<<<< HEAD:rover-apps/arm_2021/CMakeLists.txt
 add_executable(arm_2021)
-target_sources(arm_2021 PRIVATE src/main.cpp)
-target_include_directories(arm_2021 PUBLIC include)
+target_sources(arm_2021 PRIVATE ../common/src/main.cpp)
+target_include_directories(arm_2021 PUBLIC include ../common/include)
 target_link_libraries(arm_2021
-=======
-add_executable(arm)
-target_sources(arm PRIVATE ../common/src/main.cpp)
-target_include_directories(arm PUBLIC include ../common/include)
-target_link_libraries(arm
->>>>>>> Create modules skeleton for new app structure (#382):rover-apps/arm/CMakeLists.txt
         PRIVATE
         #Control
         OpenLoopController
diff --git a/rover-apps/arm/include/AppConfig.h b/rover-apps/arm_2021/include/AppConfig.h
similarity index 100%
rename from rover-apps/arm/include/AppConfig.h
rename to rover-apps/arm_2021/include/AppConfig.h
diff --git a/rover-apps/gimbal_2021/CMakeLists.txt b/rover-apps/gimbal_2021/CMakeLists.txt
index 756a260c5..f03ee9221 100644
--- a/rover-apps/gimbal_2021/CMakeLists.txt
+++ b/rover-apps/gimbal_2021/CMakeLists.txt
@@ -1,14 +1,7 @@
-<<<<<<< HEAD:rover-apps/gimbal_2021/CMakeLists.txt
 add_executable(gimbal_2021)
-target_sources(gimbal_2021 PRIVATE src/main.cpp)
-target_include_directories(gimbal_2021 PUBLIC include)
+target_sources(gimbal_2021 PRIVATE ../common/src/main.cpp)
+target_include_directories(gimbal_2021 PUBLIC include ../common/include)
 target_link_libraries(gimbal_2021
-=======
-add_executable(gimbal)
-target_sources(gimbal PRIVATE ../common/src/main.cpp)
-target_include_directories(gimbal PUBLIC include ../common/include)
-target_link_libraries(gimbal
->>>>>>> Create modules skeleton for new app structure (#382):rover-apps/gimbal/CMakeLists.txt
         PRIVATE
         #Control
         OpenLoopController
diff --git a/rover-apps/gimbal/include/AppConfig.h b/rover-apps/gimbal_2021/include/AppConfig.h
similarity index 100%
rename from rover-apps/gimbal/include/AppConfig.h
rename to rover-apps/gimbal_2021/include/AppConfig.h
diff --git a/rover-apps/pdb/CMakeLists.txt b/rover-apps/pdb/CMakeLists.txt
deleted file mode 100644
index 9d6d12523..000000000
--- a/rover-apps/pdb/CMakeLists.txt
+++ /dev/null
@@ -1,25 +0,0 @@
-add_library(PDB_Monitoring STATIC)
-target_sources(PDB_Monitoring PRIVATE src/PDBMonitoring.cpp)
-target_include_directories(PDB_Monitoring PUBLIC
-        include
-        ../common/include
-        )
-target_link_libraries(PDB_Monitoring
-        PRIVATE
-        Logger
-        mbed-os
-        )
-
-add_executable(pdb)
-target_sources(pdb PRIVATE ../common/src/main.cpp)
-target_include_directories(pdb PUBLIC ../common/include)
-target_link_libraries(pdb
-        PRIVATE
-        CANBus
-        CANMsg
-        Logger
-        uwrt-mars-rover-hw-bridge
-        #Modules
-        PDB_Monitoring
-        )
-mbed_set_post_build(pdb)
diff --git a/rover-apps/pdb_2021/CMakeLists.txt b/rover-apps/pdb_2021/CMakeLists.txt
index 4fde6c619..241157b60 100644
--- a/rover-apps/pdb_2021/CMakeLists.txt
+++ b/rover-apps/pdb_2021/CMakeLists.txt
@@ -11,8 +11,8 @@ target_link_libraries(PDB_Monitoring
         )
 
 add_executable(pdb_2021)
-target_sources(pdb_2021 PRIVATE src/main.cpp)
-target_include_directories(pdb_2021 PUBLIC include)
+target_sources(pdb_2021 PRIVATE ../common/src/main.cpp)
+target_include_directories(pdb_2021 PUBLIC include ../common/include)
 target_link_libraries(pdb_2021
         PRIVATE
         CANBus
diff --git a/rover-apps/pdb/include/AppConfig.h b/rover-apps/pdb_2021/include/AppConfig.h
similarity index 73%
rename from rover-apps/pdb/include/AppConfig.h
rename to rover-apps/pdb_2021/include/AppConfig.h
index 17885fb14..b2e56f21f 100644
--- a/rover-apps/pdb/include/AppConfig.h
+++ b/rover-apps/pdb_2021/include/AppConfig.h
@@ -5,9 +5,9 @@
 #include "Module.h"
 #include "PDBMonitoring.h"
 
-PDBMonitoring PDB;
+PDBMonitoring PDB_monitoring;
 
 std::vector<Module*> gModules = {
     // put modules here
-    &PDB,
+    &PDB_monitoring,
 };
diff --git a/rover-apps/pdb/include/PDBMonitoring.h b/rover-apps/pdb_2021/include/PDBMonitoring.h
similarity index 100%
rename from rover-apps/pdb/include/PDBMonitoring.h
rename to rover-apps/pdb_2021/include/PDBMonitoring.h
diff --git a/rover-apps/pdb/src/PDBMonitoring.cpp b/rover-apps/pdb_2021/src/PDBMonitoring.cpp
similarity index 100%
rename from rover-apps/pdb/src/PDBMonitoring.cpp
rename to rover-apps/pdb_2021/src/PDBMonitoring.cpp
diff --git a/rover-apps/science_2021/CMakeLists.txt b/rover-apps/science_2021/CMakeLists.txt
index 1f307a2ed..08f066f30 100644
--- a/rover-apps/science_2021/CMakeLists.txt
+++ b/rover-apps/science_2021/CMakeLists.txt
@@ -1,14 +1,7 @@
-<<<<<<< HEAD:rover-apps/science_2021/CMakeLists.txt
 add_executable(science_2021)
-target_sources(science_2021 PRIVATE src/main.cpp)
-target_include_directories(science_2021 PUBLIC include)
+target_sources(science_2021 PRIVATE ../common/src/main.cpp)
+target_include_directories(science_2021 PUBLIC include ../common/include)
 target_link_libraries(science_2021
-=======
-add_executable(science)
-target_sources(science PRIVATE ../common/src/main.cpp)
-target_include_directories(science PUBLIC include ../common/include)
-target_link_libraries(science
->>>>>>> Create modules skeleton for new app structure (#382):rover-apps/science/CMakeLists.txt
         PRIVATE
         #Control
         OpenLoopController
diff --git a/rover-apps/science/include/AppConfig.h b/rover-apps/science_2021/include/AppConfig.h
similarity index 100%
rename from rover-apps/science/include/AppConfig.h
rename to rover-apps/science_2021/include/AppConfig.h

From 3f052b13b7bdf6831ea89d061d3c6dbbcd84b567 Mon Sep 17 00:00:00 2001
From: Cindy Li <cindyli0213@hotmail.com>
Date: Sun, 17 Oct 2021 12:01:03 -0700
Subject: [PATCH 05/12] fix common modules not found

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index b14defa08..0a747dc23 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -89,12 +89,12 @@ function(add_app_subdirectory APP_SUBDIRECTORY)
 endfunction()
 
 ## Include Rover Apps
+add_subdirectory(${ROVER_APPS_DIR}/common)
 add_app_subdirectory(${ROVER_APPS_DIR}/arm_2021)
 add_app_subdirectory(${ROVER_APPS_DIR}/gamepad_2021)
 add_app_subdirectory(${ROVER_APPS_DIR}/gimbal_2021)
 add_app_subdirectory(${ROVER_APPS_DIR}/pdb_2021)
 add_app_subdirectory(${ROVER_APPS_DIR}/science_2021)
-add_app_subdirectory(${ROVER_APPS_DIR}/common)
 
 # Include Test Apps
 add_app_subdirectory(${TEST_APPS_DIR}/test-actuator-controller)

From d1c8689cf10bc8954630c11f84e8f50c9b3bfc4a Mon Sep 17 00:00:00 2001
From: upadhyaydhruv <dmupadhyay12@gmail.com>
Date: Sat, 15 Jan 2022 16:35:34 -0500
Subject: [PATCH 06/12] created CANModule and fixed txProcessor function

---
 libs/can/include/CANInterface.h       |  2 +-
 libs/can/include/CANModule.h          | 18 +++++++
 libs/can/src/CANInterface.cpp         | 78 +++++++++++++--------------
 rover-apps/common/include/CANModule.h | 17 ++++++
 rover-apps/common/src/CANModule.cpp   | 21 ++++++++
 5 files changed, 94 insertions(+), 42 deletions(-)
 create mode 100644 libs/can/include/CANModule.h
 create mode 100644 rover-apps/common/include/CANModule.h
 create mode 100644 rover-apps/common/src/CANModule.cpp

diff --git a/libs/can/include/CANInterface.h b/libs/can/include/CANInterface.h
index 0c0bf4f41..104915083 100644
--- a/libs/can/include/CANInterface.h
+++ b/libs/can/include/CANInterface.h
@@ -36,7 +36,7 @@ class CANInterface {
   bool getRXSignalValue(HWBRIDGE::CANID msgID, HWBRIDGE::CANSIGNAL signalName, HWBRIDGE::CANSignalValue_t &signalValue);
 
   // Switch CAN bus
-  bool switchCANBus(HWBRIDGE::CANBUSID canBusID);
+  bool switchCANBus(HWBRIDGE::CANBUSID canBusID); // TODO: Unnecessary
 
   // Set CAN bus hw filter
   bool setFilter(HWBRIDGE::CANFILTER filter, CANFormat format = CANStandard,
diff --git a/libs/can/include/CANModule.h b/libs/can/include/CANModule.h
new file mode 100644
index 000000000..2e0b42923
--- /dev/null
+++ b/libs/can/include/CANModule.h
@@ -0,0 +1,18 @@
+#pragma onceusing 
+
+#include "Module.h"
+#include "mbed.h"
+#include "CANInterface.h"
+
+class CANModule final : public Module {
+    public:
+
+    CANModule();
+
+    void periodic_1ms(void) override {}
+    void periodic_10ms(void) override {}
+
+
+    private:
+    CANInterface 
+}
\ No newline at end of file
diff --git a/libs/can/src/CANInterface.cpp b/libs/can/src/CANInterface.cpp
index 685413383..45cc8f115 100644
--- a/libs/can/src/CANInterface.cpp
+++ b/libs/can/src/CANInterface.cpp
@@ -59,8 +59,8 @@ void CANInterface::rxClient(void) {
     // Wait for a message to arrive
     do {
       mail = m_rxMailbox.try_get();  // using try_get() because try_get_for() was crashing
-      ThisThread::sleep_for(1ms);
-    } while (mail == nullptr);
+      ThisThread::sleep_for(1ms); // TODO: Check for object in mailbox every ms
+    } while (mail == nullptr); 
 
     MBED_ASSERT(mail != nullptr);
 
@@ -112,51 +112,47 @@ void CANInterface::rxClient(void) {
 }
 
 void CANInterface::txProcessor(void) {
-  while (true) {
-    auto startTime = Kernel::Clock::now();
+  auto startTime = Kernel::Clock::now();
 
-    CANMsg *mail = nullptr;
+  CANMsg *mail = nullptr;
 
-    // Send all one-shot messages that were queued
-    while ((mail = m_txMailboxOneShot.try_get()) != nullptr) {
-      if (!m_activeCANBus->write(*mail)) {
-        MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_WRITE_FAILED), "CAN TX write failed");
-        m_numCANTXFaults++;
-      }
-      MBED_ASSERT(m_txMailboxOneShot.free(mail) == osOK);
-      ThisThread::sleep_for(TX_INTERDELAY);
+  // Send all one-shot messages that were queued
+  while ((mail = m_txMailboxOneShot.try_get()) != nullptr) {
+    if (!m_activeCANBus->write(*mail)) {
+      MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_WRITE_FAILED), "CAN TX write failed");
+      m_numCANTXFaults++;
     }
+    MBED_ASSERT(m_txMailboxOneShot.free(mail) == osOK);
+    ThisThread::sleep_for(TX_INTERDELAY);
+  }
 
-    // Send all streamed messages
-    if (m_txMsgMap != nullptr) {
-      for (auto it = m_txMsgMap->begin(); it != m_txMsgMap->end(); it++) {
-        HWBRIDGE::CANID msgID          = it->first;
-        HWBRIDGE::CANMsgData_t msgData = {0};
-        size_t len                     = 0;
-
-        m_txMutex.lock();
-        bool msgPacked = HWBRIDGE::packCANMsg(msgData.raw, msgID, m_txMsgMap, len);
-        m_txMutex.unlock();
-
-        if (msgPacked) {
-          // Send message
-          CANMsg msg;
-          msg.setID(msgID);
-          msg.setPayload(msgData, len);
-          m_activeCANBus->write(msg);
-
-          m_numStreamedMsgsSent++;
-
-          ThisThread::sleep_for(TX_INTERDELAY);
-        } else {
-          MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_INVALID_DATA_DETECTED),
-                       "CAN TX message packing failed");
-          m_numCANTXFaults++;
-        }
+  // Send all streamed messages
+  if (m_txMsgMap != nullptr) {
+    for (auto it = m_txMsgMap->begin(); it != m_txMsgMap->end(); it++) {
+      HWBRIDGE::CANID msgID          = it->first;
+      HWBRIDGE::CANMsgData_t msgData = {0};
+      size_t len                     = 0;
+
+      m_txMutex.lock();
+      bool msgPacked = HWBRIDGE::packCANMsg(msgData.raw, msgID, m_txMsgMap, len);
+      m_txMutex.unlock();
+
+      if (msgPacked) {
+        // Send message
+        CANMsg msg;
+        msg.setID(msgID);
+        msg.setPayload(msgData, len);
+        m_activeCANBus->write(msg);
+
+        m_numStreamedMsgsSent++;
+
+        ThisThread::sleep_for(TX_INTERDELAY);
+      } else {
+        MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_INVALID_DATA_DETECTED),
+                      "CAN TX message packing failed");
+        m_numCANTXFaults++;
       }
     }
-
-    ThisThread::sleep_until(startTime + TX_PERIOD);
   }
 }
 
diff --git a/rover-apps/common/include/CANModule.h b/rover-apps/common/include/CANModule.h
new file mode 100644
index 000000000..081b5be26
--- /dev/null
+++ b/rover-apps/common/include/CANModule.h
@@ -0,0 +1,17 @@
+#pragma onceusing
+
+#include "CANInterface.h"
+#include "Module.h"
+#include "mbed.h"
+
+class CANModule final : public Module {
+ public:
+  CANModule(const Config &config);
+
+  void periodic_1ms(void) override {}
+  void periodic_10ms(void) override {}
+
+ private:
+  CANInterface interface;
+
+};
\ No newline at end of file
diff --git a/rover-apps/common/src/CANModule.cpp b/rover-apps/common/src/CANModule.cpp
new file mode 100644
index 000000000..09c6ffe8b
--- /dev/null
+++ b/rover-apps/common/src/CANModule.cpp
@@ -0,0 +1,21 @@
+#include "CANModule.h"
+
+#include "Module.h"
+#include "mbed.h"
+
+// Using initializer lists to construct CANInterface object will attach ISRs and other required tasks
+CANModule::CANModule(const Config &config) : interface(config) {
+    // Nothing should be required here
+}
+
+void CANModule::periodic_1ms(void) {
+
+    // These functions need to be called at 1 kHz, or every 1ms
+    interface.rxClient();
+}
+
+void CANModule::periodic_10ms(void) {
+
+    // These functions need to be called every 100 Hz (10ms)
+    interface.txProcessor();
+}
\ No newline at end of file

From 5de8de916d48e52de07aa3ed81a63be17285984a Mon Sep 17 00:00:00 2001
From: upadhyaydhruv <dmupadhyay12@gmail.com>
Date: Sat, 15 Jan 2022 16:37:35 -0500
Subject: [PATCH 07/12] fixed rxClient function for modular use

---
 libs/can/src/CANInterface.cpp | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/libs/can/src/CANInterface.cpp b/libs/can/src/CANInterface.cpp
index 45cc8f115..1340b73b8 100644
--- a/libs/can/src/CANInterface.cpp
+++ b/libs/can/src/CANInterface.cpp
@@ -55,12 +55,8 @@ void CANInterface::rxPostman(void) {
 void CANInterface::rxClient(void) {
   while (true) {
     CANMsg *mail = nullptr;
-
-    // Wait for a message to arrive
-    do {
-      mail = m_rxMailbox.try_get();  // using try_get() because try_get_for() was crashing
-      ThisThread::sleep_for(1ms); // TODO: Check for object in mailbox every ms
-    } while (mail == nullptr); 
+    // Check if a message has arrived:
+    mail = m_rxMailbox.try_get(); 
 
     MBED_ASSERT(mail != nullptr);
 

From 2c23625e1efcfa173eb1b63b2b8bb9f6cc7d8679 Mon Sep 17 00:00:00 2001
From: upadhyaydhruv <dmupadhyay12@gmail.com>
Date: Sat, 15 Jan 2022 16:53:20 -0500
Subject: [PATCH 08/12] made CMake linking changes for CANModule

---
 rover-apps/common/CMakeLists.txt | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/rover-apps/common/CMakeLists.txt b/rover-apps/common/CMakeLists.txt
index 6da4a69b8..49758775e 100644
--- a/rover-apps/common/CMakeLists.txt
+++ b/rover-apps/common/CMakeLists.txt
@@ -5,4 +5,14 @@ target_link_libraries(WatchdogModule
         PRIVATE
         WatchdogWrapper
         mbed-os
-        )
\ No newline at end of file
+        )
+
+add_library(CANModule)
+target_sources(CANModule PRIVATE src/CANModule.cpp)
+target_include_directories(CANModule PUBLIC include)
+target_link_libraries(CANModule
+        PRIVATE
+        CANInterface
+        mbed-os    
+        )
+

From 541583dba2602c4c19d18a47c445f36b0def3c1d Mon Sep 17 00:00:00 2001
From: upadhyaydhruv <dmupadhyay12@gmail.com>
Date: Wed, 2 Feb 2022 22:12:20 -0500
Subject: [PATCH 09/12] implemented most changes as requested by Melvion and
 Cindy

---
 libs/can/include/CANInterface.h               |  6 +-
 libs/can/src/CANInterface.cpp                 | 89 +++++++++----------
 rover-apps/common/CMakeLists.txt              |  8 +-
 .../{CANModule.h => CANDriverModule.h}        |  0
 .../{CANModule.cpp => CANDriverModule.cpp}    |  0
 5 files changed, 46 insertions(+), 57 deletions(-)
 rename rover-apps/common/include/{CANModule.h => CANDriverModule.h} (100%)
 rename rover-apps/common/src/{CANModule.cpp => CANDriverModule.cpp} (100%)

diff --git a/libs/can/include/CANInterface.h b/libs/can/include/CANInterface.h
index 104915083..ce8f90529 100644
--- a/libs/can/include/CANInterface.h
+++ b/libs/can/include/CANInterface.h
@@ -60,16 +60,14 @@ class CANInterface {
 
   void rxISR(void);
   void rxPostman(void);
-  void rxClient(void);
-  void txProcessor(void);
+  void rxClientPeriodic(void);
+  void txProcessorPeriodic(void);
 
   CANBus m_CANBus1;
   CANBus m_CANBus2;
   CANBus *m_activeCANBus;
 
   Thread m_rxPostmanThread;
-  Thread m_rxClientThread;
-  Thread m_txProcessorThread;
 
   Mutex m_rxMutex;
   Mutex m_txMutex;
diff --git a/libs/can/src/CANInterface.cpp b/libs/can/src/CANInterface.cpp
index 1340b73b8..3c4246e7d 100644
--- a/libs/can/src/CANInterface.cpp
+++ b/libs/can/src/CANInterface.cpp
@@ -5,8 +5,6 @@ CANInterface::CANInterface(const Config &config)
       m_CANBus2(config.can2_RX, config.can2_TX, config.frequency_hz),
       m_activeCANBus(&m_CANBus1),
       m_rxPostmanThread(RX_POSTMAN_THREAD_PRIORITY),
-      m_rxClientThread(RX_CLIENT_THREAD_PRIORITY),
-      m_txProcessorThread(TX_PROCESSOR_THREAD_PRIORITY),
       m_rxMsgMap(config.rxMsgMap),
       m_txMsgMap(config.txMsgMap),
       m_rxOneShotMsgHandler(config.rxOneShotMsgHandler),
@@ -22,8 +20,6 @@ CANInterface::CANInterface(const Config &config)
 
   // Processing threads
   m_rxPostmanThread.start(callback(&m_rxEventQueue, &EventQueue::dispatch_forever));
-  m_rxClientThread.start(callback(this, &CANInterface::rxClient));
-  m_txProcessorThread.start(callback(this, &CANInterface::txProcessor));
 
   // RX ISR
   m_CANBus1.attach(callback(this, &CANInterface::rxISR), CAN::RxIrq);
@@ -52,63 +48,60 @@ void CANInterface::rxPostman(void) {
   can_irq_set(m_activeCANBus->getHandle(), IRQ_RX, true);
 }
 
-void CANInterface::rxClient(void) {
-  while (true) {
-    CANMsg *mail = nullptr;
-    // Check if a message has arrived:
-    mail = m_rxMailbox.try_get(); 
+void CANInterface::rxClientPeriodic(void) {
+  CANMsg *mail = nullptr;
+  // Check if a message has arrived:
+  mail = m_rxMailbox.try_get(); 
+
+  MBED_ASSERT(mail != nullptr);
 
-    MBED_ASSERT(mail != nullptr);
+  // Extract message
+  CANMsg msg = *mail;
+  MBED_ASSERT(m_rxMailbox.free(mail) == osOK);
 
-    // Extract message
-    CANMsg msg = *mail;
-    MBED_ASSERT(m_rxMailbox.free(mail) == osOK);
+  // Check if message is intended to be received by this node
+  m_rxMutex.lock();
+  bool validMsgReceived = (m_rxMsgMap != nullptr) && m_rxMsgMap->contains(msg.getID());
+  m_rxMutex.unlock();
 
-    // Check if message is intended to be received by this node
+  if (validMsgReceived) {
+    HWBRIDGE::CANMsgData_t msgData;
+    msg.getPayload(msgData);
+
+    // Extract message signals and put into RX message map
     m_rxMutex.lock();
-    bool validMsgReceived = (m_rxMsgMap != nullptr) && m_rxMsgMap->contains(msg.getID());
+    bool msgUnpacked = HWBRIDGE::unpackCANMsg(msgData.raw, msg.getID(), m_rxMsgMap);
     m_rxMutex.unlock();
 
-    if (validMsgReceived) {
-      HWBRIDGE::CANMsgData_t msgData;
-      msg.getPayload(msgData);
-
-      // Extract message signals and put into RX message map
-      m_rxMutex.lock();
-      bool msgUnpacked = HWBRIDGE::unpackCANMsg(msgData.raw, msg.getID(), m_rxMsgMap);
-      m_rxMutex.unlock();
-
-      if (msgUnpacked) {
-        // If message is one-shot, process message
-        if ((m_rxOneShotMsgHandler != nullptr) && m_rxOneShotMsgHandler->contains(msg.getID())) {
-          if (m_rxOneShotMsgHandler->at(msg.getID())() != MBED_SUCCESS) {
-            MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_FAILED_OPERATION),
-                         "Failed to process CAN message");
-          }
-          m_numOneShotMsgsReceived++;
-        }
-        // Otherwise message is streamed
-        else {
-          m_numStreamedMsgsReceived++;
+    if (msgUnpacked) {
+      // If message is one-shot, process message
+      if ((m_rxOneShotMsgHandler != nullptr) && m_rxOneShotMsgHandler->contains(msg.getID())) {
+        if (m_rxOneShotMsgHandler->at(msg.getID())() != MBED_SUCCESS) {
+          MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_FAILED_OPERATION),
+                        "Failed to process CAN message");
         }
-      } else {
-        MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_INVALID_DATA_DETECTED),
-                     "CAN RX message unpacking failed");
-        m_numCANRXFaults++;
+        m_numOneShotMsgsReceived++;
       }
-    }
-
-    // Otherwise invalid message was received
-    else {
+      // Otherwise message is streamed
+      else {
+        m_numStreamedMsgsReceived++;
+      }
+    } else {
       MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_INVALID_DATA_DETECTED),
-                   "Invalid CAN message received");
+                    "CAN RX message unpacking failed");
       m_numCANRXFaults++;
     }
   }
+
+  // Otherwise invalid message was received
+  else {
+    MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_INVALID_DATA_DETECTED),
+                  "Invalid CAN message received");
+    m_numCANRXFaults++;
+  }
 }
 
-void CANInterface::txProcessor(void) {
-  auto startTime = Kernel::Clock::now();
+void CANInterface::txProcessorPeriodic(void) {
 
   CANMsg *mail = nullptr;
 
@@ -119,7 +112,6 @@ void CANInterface::txProcessor(void) {
       m_numCANTXFaults++;
     }
     MBED_ASSERT(m_txMailboxOneShot.free(mail) == osOK);
-    ThisThread::sleep_for(TX_INTERDELAY);
   }
 
   // Send all streamed messages
@@ -142,7 +134,6 @@ void CANInterface::txProcessor(void) {
 
         m_numStreamedMsgsSent++;
 
-        ThisThread::sleep_for(TX_INTERDELAY);
       } else {
         MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_INVALID_DATA_DETECTED),
                       "CAN TX message packing failed");
diff --git a/rover-apps/common/CMakeLists.txt b/rover-apps/common/CMakeLists.txt
index 49758775e..e7d6dde16 100644
--- a/rover-apps/common/CMakeLists.txt
+++ b/rover-apps/common/CMakeLists.txt
@@ -7,10 +7,10 @@ target_link_libraries(WatchdogModule
         mbed-os
         )
 
-add_library(CANModule)
-target_sources(CANModule PRIVATE src/CANModule.cpp)
-target_include_directories(CANModule PUBLIC include)
-target_link_libraries(CANModule
+add_library(CANDriverModule)
+target_sources(CANDriverModule PRIVATE src/CANDriverModule.cpp)
+target_include_directories(CANDriverModule PUBLIC include)
+target_link_libraries(CANDriverModule
         PRIVATE
         CANInterface
         mbed-os    
diff --git a/rover-apps/common/include/CANModule.h b/rover-apps/common/include/CANDriverModule.h
similarity index 100%
rename from rover-apps/common/include/CANModule.h
rename to rover-apps/common/include/CANDriverModule.h
diff --git a/rover-apps/common/src/CANModule.cpp b/rover-apps/common/src/CANDriverModule.cpp
similarity index 100%
rename from rover-apps/common/src/CANModule.cpp
rename to rover-apps/common/src/CANDriverModule.cpp

From 6947dd6f63bf0399a849dfa7b028bf7c8d3d424a Mon Sep 17 00:00:00 2001
From: upadhyaydhruv <dmupadhyay12@gmail.com>
Date: Thu, 3 Feb 2022 19:27:48 -0500
Subject: [PATCH 10/12] added all changes requested, hw bridge issue persists

---
 libs/can/src/CANInterface.cpp | 72 +++++++++++++++++------------------
 1 file changed, 36 insertions(+), 36 deletions(-)

diff --git a/libs/can/src/CANInterface.cpp b/libs/can/src/CANInterface.cpp
index 3c4246e7d..e6b949b68 100644
--- a/libs/can/src/CANInterface.cpp
+++ b/libs/can/src/CANInterface.cpp
@@ -53,52 +53,52 @@ void CANInterface::rxClientPeriodic(void) {
   // Check if a message has arrived:
   mail = m_rxMailbox.try_get(); 
 
-  MBED_ASSERT(mail != nullptr);
+  if (mail != nullptr) {
+    // Extract message
+    CANMsg msg = *mail;
+    MBED_ASSERT(m_rxMailbox.free(mail) == osOK);
 
-  // Extract message
-  CANMsg msg = *mail;
-  MBED_ASSERT(m_rxMailbox.free(mail) == osOK);
-
-  // Check if message is intended to be received by this node
-  m_rxMutex.lock();
-  bool validMsgReceived = (m_rxMsgMap != nullptr) && m_rxMsgMap->contains(msg.getID());
-  m_rxMutex.unlock();
-
-  if (validMsgReceived) {
-    HWBRIDGE::CANMsgData_t msgData;
-    msg.getPayload(msgData);
-
-    // Extract message signals and put into RX message map
+    // Check if message is intended to be received by this node
     m_rxMutex.lock();
-    bool msgUnpacked = HWBRIDGE::unpackCANMsg(msgData.raw, msg.getID(), m_rxMsgMap);
+    bool validMsgReceived = (m_rxMsgMap != nullptr) && m_rxMsgMap->contains(msg.getID());
     m_rxMutex.unlock();
 
-    if (msgUnpacked) {
-      // If message is one-shot, process message
-      if ((m_rxOneShotMsgHandler != nullptr) && m_rxOneShotMsgHandler->contains(msg.getID())) {
-        if (m_rxOneShotMsgHandler->at(msg.getID())() != MBED_SUCCESS) {
-          MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_FAILED_OPERATION),
-                        "Failed to process CAN message");
+    if (validMsgReceived) {
+      HWBRIDGE::CANMsgData_t msgData;
+      msg.getPayload(msgData);
+
+      // Extract message signals and put into RX message map
+      m_rxMutex.lock();
+      bool msgUnpacked = HWBRIDGE::unpackCANMsg(msgData.raw, msg.getID(), m_rxMsgMap);
+      m_rxMutex.unlock();
+
+      if (msgUnpacked) {
+        // If message is one-shot, process message
+        if ((m_rxOneShotMsgHandler != nullptr) && m_rxOneShotMsgHandler->contains(msg.getID())) {
+          if (m_rxOneShotMsgHandler->at(msg.getID())() != MBED_SUCCESS) {
+            MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_FAILED_OPERATION),
+                         "Failed to process CAN message");
+          }
+          m_numOneShotMsgsReceived++;
         }
-        m_numOneShotMsgsReceived++;
-      }
-      // Otherwise message is streamed
-      else {
-        m_numStreamedMsgsReceived++;
+        // Otherwise message is streamed
+        else {
+          m_numStreamedMsgsReceived++;
+        }
+      } else {
+        MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_INVALID_DATA_DETECTED),
+                     "CAN RX message unpacking failed");
+        m_numCANRXFaults++;
       }
-    } else {
+    }
+
+    // Otherwise invalid message was received
+    else {
       MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_INVALID_DATA_DETECTED),
-                    "CAN RX message unpacking failed");
+                   "Invalid CAN message received");
       m_numCANRXFaults++;
     }
   }
-
-  // Otherwise invalid message was received
-  else {
-    MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_INVALID_DATA_DETECTED),
-                  "Invalid CAN message received");
-    m_numCANRXFaults++;
-  }
 }
 
 void CANInterface::txProcessorPeriodic(void) {

From a667ffacd3f607c580001539a7a4dfece5d1d616 Mon Sep 17 00:00:00 2001
From: upadhyaydhruv <dmupadhyay12@gmail.com>
Date: Thu, 10 Feb 2022 17:59:38 -0500
Subject: [PATCH 11/12] fixed issues preventing compilation

---
 libs/can/CMakeLists.txt                     |  1 -
 libs/can/include/CANInterface.h             |  5 +++--
 libs/can/include/CANModule.h                | 18 ------------------
 rover-apps/common/CMakeLists.txt            |  4 ++--
 rover-apps/common/include/CANDriverModule.h | 20 +++++++++++++-------
 rover-apps/common/src/CANDriverModule.cpp   | 16 ++++++++--------
 rover-apps/science_2021/CMakeLists.txt      |  1 +
 rover-apps/science_2021/include/AppConfig.h |  1 +
 8 files changed, 28 insertions(+), 38 deletions(-)
 delete mode 100644 libs/can/include/CANModule.h

diff --git a/libs/can/CMakeLists.txt b/libs/can/CMakeLists.txt
index 472dca768..c77449f0e 100644
--- a/libs/can/CMakeLists.txt
+++ b/libs/can/CMakeLists.txt
@@ -33,7 +33,6 @@ target_link_libraries(CANInterface
         PUBLIC
         mbed-os
         mbed-events
-        PRIVATE
         uwrt-mars-rover-hw-bridge
         CANBus
         CANMsg
diff --git a/libs/can/include/CANInterface.h b/libs/can/include/CANInterface.h
index ce8f90529..ebb3202be 100644
--- a/libs/can/include/CANInterface.h
+++ b/libs/can/include/CANInterface.h
@@ -51,6 +51,9 @@ class CANInterface {
   uint16_t getNumCANRXFaults(void);
   uint16_t getNumCANTXFaults(void);
 
+  void rxClientPeriodic(void);
+  void txProcessorPeriodic(void);
+
  private:
   static constexpr osPriority RX_POSTMAN_THREAD_PRIORITY   = osPriorityRealtime;
   static constexpr osPriority RX_CLIENT_THREAD_PRIORITY    = osPriorityAboveNormal;
@@ -60,8 +63,6 @@ class CANInterface {
 
   void rxISR(void);
   void rxPostman(void);
-  void rxClientPeriodic(void);
-  void txProcessorPeriodic(void);
 
   CANBus m_CANBus1;
   CANBus m_CANBus2;
diff --git a/libs/can/include/CANModule.h b/libs/can/include/CANModule.h
deleted file mode 100644
index 2e0b42923..000000000
--- a/libs/can/include/CANModule.h
+++ /dev/null
@@ -1,18 +0,0 @@
-#pragma onceusing 
-
-#include "Module.h"
-#include "mbed.h"
-#include "CANInterface.h"
-
-class CANModule final : public Module {
-    public:
-
-    CANModule();
-
-    void periodic_1ms(void) override {}
-    void periodic_10ms(void) override {}
-
-
-    private:
-    CANInterface 
-}
\ No newline at end of file
diff --git a/rover-apps/common/CMakeLists.txt b/rover-apps/common/CMakeLists.txt
index e7d6dde16..b3a746144 100644
--- a/rover-apps/common/CMakeLists.txt
+++ b/rover-apps/common/CMakeLists.txt
@@ -7,12 +7,12 @@ target_link_libraries(WatchdogModule
         mbed-os
         )
 
-add_library(CANDriverModule)
+add_library(CANDriverModule STATIC)
 target_sources(CANDriverModule PRIVATE src/CANDriverModule.cpp)
 target_include_directories(CANDriverModule PUBLIC include)
 target_link_libraries(CANDriverModule
         PRIVATE
         CANInterface
-        mbed-os    
+        mbed-os
         )
 
diff --git a/rover-apps/common/include/CANDriverModule.h b/rover-apps/common/include/CANDriverModule.h
index 081b5be26..2bf32c350 100644
--- a/rover-apps/common/include/CANDriverModule.h
+++ b/rover-apps/common/include/CANDriverModule.h
@@ -1,17 +1,23 @@
-#pragma onceusing
+#pragma once
 
 #include "CANInterface.h"
 #include "Module.h"
 #include "mbed.h"
+#include "CANBus.h"
+#include "CANMsg.h"
+#include "hw_bridge.h"
+#include "mbed.h"
 
-class CANModule final : public Module {
+class CANDriverModule final : public Module {
  public:
-  CANModule(const Config &config);
+  CANDriverModule(const CANInterface::Config &config);
+  void periodic_1s(void) override;
 
-  void periodic_1ms(void) override {}
-  void periodic_10ms(void) override {}
+  void periodic_10s(void) override;
+  void periodic_100ms(void) override;
+  void periodic_10ms(void) override;
+  void periodic_1ms(void) override;
 
  private:
   CANInterface interface;
-
-};
\ No newline at end of file
+};
diff --git a/rover-apps/common/src/CANDriverModule.cpp b/rover-apps/common/src/CANDriverModule.cpp
index 09c6ffe8b..78adfe853 100644
--- a/rover-apps/common/src/CANDriverModule.cpp
+++ b/rover-apps/common/src/CANDriverModule.cpp
@@ -1,21 +1,21 @@
-#include "CANModule.h"
-
+#include "CANDriverModule.h"
+#include "CANInterface.h"
 #include "Module.h"
 #include "mbed.h"
 
 // Using initializer lists to construct CANInterface object will attach ISRs and other required tasks
-CANModule::CANModule(const Config &config) : interface(config) {
-    // Nothing should be required here
+CANDriverModule::CANDriverModule(const CANInterface::Config &config) : interface(config) {
+  // Nothing should be required here
 }
 
-void CANModule::periodic_1ms(void) {
+void CANDriverModule::periodic_1ms(void) {
 
     // These functions need to be called at 1 kHz, or every 1ms
-    interface.rxClient();
+    interface.rxClientPeriodic();
 }
 
-void CANModule::periodic_10ms(void) {
+void CANDriverModule::periodic_10ms(void) {
 
     // These functions need to be called every 100 Hz (10ms)
-    interface.txProcessor();
+    interface.txProcessorPeriodic();
 }
\ No newline at end of file
diff --git a/rover-apps/science_2021/CMakeLists.txt b/rover-apps/science_2021/CMakeLists.txt
index 08f066f30..91fcf7109 100644
--- a/rover-apps/science_2021/CMakeLists.txt
+++ b/rover-apps/science_2021/CMakeLists.txt
@@ -24,6 +24,7 @@ target_link_libraries(science_2021
         AdafruitSTEMMA
         #common-modules
         WatchdogModule
+        CANDriverModule
         #Other
         uwrt-mars-rover-hw-bridge
         Logger
diff --git a/rover-apps/science_2021/include/AppConfig.h b/rover-apps/science_2021/include/AppConfig.h
index d196cd0bd..b8f123544 100644
--- a/rover-apps/science_2021/include/AppConfig.h
+++ b/rover-apps/science_2021/include/AppConfig.h
@@ -4,6 +4,7 @@
 
 #include "Module.h"
 #include "WatchdogModule.h"
+#include "CANDriverModule.h"
 
 WatchdogModule science_watchdog;
 

From a0d658b097df214ab50e7c404375c809acef9718 Mon Sep 17 00:00:00 2001
From: upadhyaydhruv <dmupadhyay12@gmail.com>
Date: Sun, 13 Feb 2022 21:20:48 -0500
Subject: [PATCH 12/12] added wrapper for other CANInterface functions

---
 rover-apps/arm_2021/CMakeLists.txt          |  1 +
 rover-apps/arm_2021/include/AppConfig.h     |  4 ++
 rover-apps/common/CMakeLists.txt            |  1 +
 rover-apps/common/include/CANDriverModule.h | 21 +++++++++
 rover-apps/common/src/CANDriverModule.cpp   | 50 ++++++++++++++++++++-
 5 files changed, 76 insertions(+), 1 deletion(-)

diff --git a/rover-apps/arm_2021/CMakeLists.txt b/rover-apps/arm_2021/CMakeLists.txt
index 223a5681f..f969f8adf 100644
--- a/rover-apps/arm_2021/CMakeLists.txt
+++ b/rover-apps/arm_2021/CMakeLists.txt
@@ -23,6 +23,7 @@ target_link_libraries(arm_2021
         CurrentSensor
         #common-modules
         WatchdogModule
+        CANDriverModule
         #Other
         uwrt-mars-rover-hw-bridge
         Logger
diff --git a/rover-apps/arm_2021/include/AppConfig.h b/rover-apps/arm_2021/include/AppConfig.h
index 877d41d7e..954df3039 100644
--- a/rover-apps/arm_2021/include/AppConfig.h
+++ b/rover-apps/arm_2021/include/AppConfig.h
@@ -4,6 +4,10 @@
 
 #include "Module.h"
 #include "WatchdogModule.h"
+#include "CANDriverModule.h"
+#include "CANConfig.h"
+#include "hw_bridge.h"
+#include "CANInterface.h"
 
 WatchdogModule arm_watchdog;
 
diff --git a/rover-apps/common/CMakeLists.txt b/rover-apps/common/CMakeLists.txt
index b3a746144..02a84ee4b 100644
--- a/rover-apps/common/CMakeLists.txt
+++ b/rover-apps/common/CMakeLists.txt
@@ -13,6 +13,7 @@ target_include_directories(CANDriverModule PUBLIC include)
 target_link_libraries(CANDriverModule
         PRIVATE
         CANInterface
+        CANMsg
         mbed-os
         )
 
diff --git a/rover-apps/common/include/CANDriverModule.h b/rover-apps/common/include/CANDriverModule.h
index 2bf32c350..1ef3b2e73 100644
--- a/rover-apps/common/include/CANDriverModule.h
+++ b/rover-apps/common/include/CANDriverModule.h
@@ -17,6 +17,27 @@ class CANDriverModule final : public Module {
   void periodic_100ms(void) override;
   void periodic_10ms(void) override;
   void periodic_1ms(void) override;
+  void rxPostman(void);
+  bool sendOneShotMessage(CANMsg &msg, Kernel::Clock::duration_u32 timeout);
+
+  // Update a TX CAN signal
+  bool setTXSignalValue(HWBRIDGE::CANID msgID, HWBRIDGE::CANSIGNAL signalName, HWBRIDGE::CANSignalValue_t signalValue);
+
+  // Read a RX CAN signal
+  bool getRXSignalValue(HWBRIDGE::CANID msgID, HWBRIDGE::CANSIGNAL signalName, HWBRIDGE::CANSignalValue_t &signalValue);
+
+  // Set CAN bus hw filter
+  bool setFilter(HWBRIDGE::CANFILTER filter, CANFormat format = CANStandard,
+                 uint16_t mask = HWBRIDGE::ROVER_CANID_FILTER_MASK, int handle = 0);
+
+  // For diagnostic purposes
+  uint32_t getNumStreamedMsgsReceived(void);
+  uint32_t getNumOneShotMsgsReceived(void);
+  uint32_t getNumStreamedMsgsSent(void);
+  uint32_t getNumOneShotMsgsSent(void);
+
+  uint16_t getNumCANRXFaults(void);
+  uint16_t getNumCANTXFaults(void);
 
  private:
   CANInterface interface;
diff --git a/rover-apps/common/src/CANDriverModule.cpp b/rover-apps/common/src/CANDriverModule.cpp
index 78adfe853..d31424f52 100644
--- a/rover-apps/common/src/CANDriverModule.cpp
+++ b/rover-apps/common/src/CANDriverModule.cpp
@@ -18,4 +18,52 @@ void CANDriverModule::periodic_10ms(void) {
 
     // These functions need to be called every 100 Hz (10ms)
     interface.txProcessorPeriodic();
-}
\ No newline at end of file
+}
+
+void CANDriverModule::rxPostman(void) {
+  interface.rxPostman();
+}
+
+bool CANDriverModule::sendOneShotMessage(CANMsg &msg, Kernel::Clock::duration_u32 timeout) {
+  return interface.sendOneShotMessage(msg, timeout);
+}
+
+bool CANDriverModule::setTXSignalValue(HWBRIDGE::CANID msgID, HWBRIDGE::CANSIGNAL signalName,
+                                       HWBRIDGE::CANSignalValue_t signalValue) {
+    return interface.setTXSignalValue(msgID, signalName, signalValue);
+}
+
+bool CANDriverModule::getRXSignalValue(HWBRIDGE::CANID msgID, HWBRIDGE::CANSIGNAL signalName, HWBRIDGE::CANSignalValue_t &signalValue) {
+  return interface.getRXSignalValue(msgID, signalName, signalValue);  
+}
+
+bool CANDriverModule::setFilter(HWBRIDGE::CANFILTER filter, CANFormat format = CANStandard,
+                                uint16_t mask = HWBRIDGE::ROVER_CANID_FILTER_MASK, int handle = 0) {
+  return interface.setFilter(filter, format, mask, handle);
+}
+
+uint32_t CANDriverModule::getNumStreamedMsgsReceived(void) {
+  return interface.getNumStreamedMsgsReceived();
+}
+
+uint32_t CANDriverModule::getNumOneShotMsgsReceived(void) {
+  return interface.getNumOneShotMsgsReceived();
+}
+
+uint32_t CANDriverModule::getNumStreamedMsgsSent(void) {
+  return interface.getNumStreamedMsgsSent();
+}
+
+uint32_t CANDriverModule::getNumOneShotMsgsSent(void) {
+  return interface.getNumOneShotMsgsSent();
+}
+
+uint16_t CANDriverModule::getNumCANRXFaults(void) {
+  return interface.getNumCANRXFaults();
+}
+
+uint16_t CANDriverModule::getNumCANTXFaults(void) {
+  return interface.getNumCANTXFaults();
+}
+
+