feat: add e-foc-harware support by gabrielfrasantos · Pull Request #205 · embedded-pro/e-foc

gabrielfrasantos · 2026-06-30T20:53:56Z

Replace the array-based Leds() with three discrete GPIO accessors (OperationalLed, WarningLed, FailureLed), add BoardId() for 3-bit active-low CAN node identification (PK0-2 on TM4C1294XL), and PowerStatus() for the LM5164 open-drain PG signal (PC6).

Add e-foc-hardware motor board definition and reference submodule. EK-TM4C123GXL gains capability flags (hasBoardIdPins=false, hasPowerStatusPin=false) and placeholder LED pins that avoid conflicts with CAN TX (PF3) and hall sensor inputs.

…PlatformFactory Replace the array-based Leds() with three discrete GPIO accessors (OperationalLed, WarningLed, FailureLed), add BoardId() for 3-bit active-low CAN node identification (PK0-2 on TM4C1294XL), and PowerStatus() for the LM5164 open-drain PG signal (PC6). Add e-foc-hardware motor board definition and reference submodule. EK-TM4C123GXL gains capability flags (hasBoardIdPins=false, hasPowerStatusPin=false) and placeholder LED pins that avoid conflicts with CAN TX (PF3) and hall sensor inputs. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

EK-TM4C1294XL now targets E-FOC-HARDWARE as its primary motor board. EK-TM4C1294XL-FRDM added for builds against the FRDM-MC-LVPMSM shield. Removes the intermediate EK-TM4C1294XL-efoc preset. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

gabrielfrasantos · 2026-06-30T20:56:32Z

✅⚠️MegaLinter analysis: Success with warnings

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
✅ ACTION	actionlint	8		0	0	0.24s
✅ CPP	clang-format	232	11	0	0	2.41s
✅ DOCKERFILE	hadolint	1		0	0	0.1s
✅ JSON	jsonlint	14		0	0	0.37s
✅ JSON	prettier	14	9	0	0	0.86s
⚠️ MARKDOWN	markdownlint	36	4	105	0	3.18s
✅ MARKDOWN	markdown-table-formatter	36	11	0	0	0.52s
✅ REPOSITORY	betterleaks	yes		no	no	1.2s
✅ REPOSITORY	checkov	yes		no	no	29.58s
✅ REPOSITORY	git_diff	yes		no	no	0.07s
✅ REPOSITORY	grype	yes		no	no	68.22s
✅ REPOSITORY	ls-lint	yes		no	no	0.01s
✅ REPOSITORY	osv-scanner	yes		no	no	11.24s
✅ REPOSITORY	secretlint	yes		no	no	3.65s
✅ REPOSITORY	syft	yes		no	no	2.2s
✅ REPOSITORY	trivy	yes		no	no	16.89s
✅ REPOSITORY	trivy-sbom	yes		no	no	0.27s
✅ REPOSITORY	trufflehog	yes		no	no	10.6s
⚠️ SPELL	lychee	139		4	0	1.07s
✅ YAML	prettier	22	4	0	0	1.03s
✅ YAML	v8r	22		0	0	7.99s
✅ YAML	yamllint	22		0	0	1.0s

Detailed Issues

⚠️ SPELL / lychee - 4 errors

📝 Summary
---------------------
🔍 Total...........81
🔗 Unique..........43
✅ Successful......63
⏳ Timeouts.........0
🔀 Redirected.......2
👻 Excluded........14
❓ Unknown..........0
🚫 Errors...........4
⛔ Unsupported......4

Errors in .github/agents/orchestrator.agent.md
[ERROR] file://numerical-toolbox/.github/copilot-instructions.md (at 57:33) | File not found. Check if file exists and path is correct

Errors in .github/workflows/static-analysis.yml
[403] https://binaries.sonarsource.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-$ (at 39:21) | Rejected status code: 403 Forbidden

Errors in README.md
[ERROR] file://infra/embedded-infra-lib/README.md (at 234:3) | File not found. Check if file exists and path is correct
[ERROR] file://infra/numerical-toolbox/README.md (at 235:3) | File not found. Check if file exists and path is correct

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⚠️ MARKDOWN / markdownlint - 105 errors

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Pull request overview

This PR updates the platform abstraction layer (PAL) to support richer board integration by replacing the prior LED array accessor with three explicit status LED GPIO accessors, and by adding optional board-identity and power-good signals. It also introduces an E-FOC-HARDWARE motor board definition and wiring via CMake presets/submodule.

Changes:

Replace Leds() with OperationalLed(), WarningLed(), and FailureLed() across targets, platform implementations, and mocks.
Add PAL accessors BoardId() const (3-bit active-low) and PowerStatus() const (power-good input), implemented for TI and stubbed for Host/ST.
Add E-FOC-HARDWARE motor board characteristics + build preset and register the infra/e-foc-hardware submodule.

Reviewed changes

Copilot reviewed 19 out of 19 changed files in this pull request and generated 3 comments.

Show a summary per file

File	Description
targets/sync_foc_sensored/main/instantiations/Logic.cpp	Switch debug LED wiring to `OperationalLed()`
targets/hardware_test/instantiations/Logic.cpp	Switch debug LED wiring to `OperationalLed()`
core/platform_abstraction/PlatformFactory.hpp	PAL API change: three LED accessors + `BoardId()` + `PowerStatus()`
documentation/architecture/system.md	Document new PAL LEDs / board ID / power status responsibilities
targets/platform_implementations/ti/implementation/PlatformFactoryImpl.hpp	Add new PAL method overrides (TI)
targets/platform_implementations/ti/implementation/PlatformFactoryImpl.cpp	Implement new LED/BoardId/PowerStatus accessors (TI)
targets/platform_implementations/ti/EK-TM4C1294XL/PinsAndPeripherals.hpp	Define discrete LED pins + board-id pins + power-good pin + capability flags
targets/platform_implementations/ti/EK-TM4C123GXL/PinsAndPeripherals.hpp	Define discrete LED pins + capability flags disabling board-id/power-good
targets/platform_implementations/st/implementation/PlatformFactoryImpl.hpp	Add new PAL method overrides (ST)
targets/platform_implementations/st/implementation/PlatformFactoryImpl.cpp	Stub new LED/BoardId/PowerStatus accessors (ST)
targets/platform_implementations/host/implementation/PlatformFactoryImpl.hpp	Add new PAL method overrides (Host)
targets/platform_implementations/host/implementation/PlatformFactoryImpl.cpp	Stub new LED/BoardId/PowerStatus accessors (Host)
targets/hardware_test/components/test/TestTerminal.cpp	Update PlatformFactory mock to new PAL API
integration_tests/software_in_the_loop/support/PlatformFactoryMock.hpp	Update PlatformFactory mock to new PAL API
targets/platform_implementations/motor_boards/E-FOC-HARDWARE/CMakeLists.txt	Add new motor board interface target + header define
targets/platform_implementations/motor_boards/E-FOC-HARDWARE/BoardCharacteristics.hpp	Add E-FOC-HARDWARE analog scaling + thresholds
CMakePresets.json	Add EK-TM4C1294XL + E-FOC-HARDWARE build presets
.gitmodules	Add `infra/e-foc-hardware` submodule

github-actions · 2026-06-30T21:00:11Z

SIL Integration Test Results

1 files ±0 1 suites ±0 0s ⏱️ ±0s
104 tests ±0 104 ✅ ±0 0 💤 ±0 0 ❌ ±0
107 runs ±0 107 ✅ ±0 0 💤 ±0 0 ❌ ±0

Results for commit 8867f02. ± Comparison against base commit 79c2559.

♻️ This comment has been updated with latest results.

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>

github-actions · 2026-07-02T18:12:45Z

🏎️ Cycle Analysis Results

Worst case (position) | EK-TM4C1294XL

CPU Utilization Budget

Loop Rate	Available Cycles	Min Usage	Max Usage	Status
1 kHz	120000	1806 (1.5%)	2272 (1.9%)	🟢 OK
10 kHz	12000	1806 (15.0%)	2272 (18.9%)	🟢 OK
20 kHz	6000	1806 (30.1%)	2272 (37.9%)	🟢 OK

Click to expand full details

Cycle Estimation Report

Target: EK-TM4C1294XL | Build: RelWithDebInfo | Clock: 120 MHz
Path: ADC ISR → FOC Position (worst case: inner + outer loop + all estimators) → PWM Output

Executive Summary

Metric	Value
Estimated Cycles (min)	1806
Estimated Cycles (max)	2272
Total Instructions	1239
Total Code Size	4216 bytes
FPU Operations	309
Path Stages	9

CPU Utilization Budget

Loop Rate	Available Cycles	Min Usage	Max Usage	Status
1 kHz	120000	1806 (1.5%)	2272 (1.9%)	🟢 OK
10 kHz	12000	1806 (15.0%)	2272 (18.9%)	🟢 OK
20 kHz	6000	1806 (30.1%)	2272 (37.9%)	🟢 OK

Path Breakdown

  ISR Entry (exception overhead)       █░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░    12–29   cycles (  1.3%)
                                       │
  ADC ISR + Callback Dispatch          ██░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░    93–150  cycles (  6.6%)
                                       │
  Encoder Read                         ███░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░   138–182  cycles (  8.0%)
                                       │
  FOC Inner Loop (Calculate)           █░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░     5–8    cycles (  0.4%)
                                       │
  FOC Outer Loop (LowPriorityHandler)  ██████░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░   248–344  cycles ( 15.1%)
                                       │
  Online Mechanical Estimator (RLS)    ██████████████░░░░░░░░░░░░░░░░░░░░░░░░░░   726–838  cycles ( 36.9%)
                                       │
  Online Electrical Estimator (RLS)    ███████░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░   383–421  cycles ( 18.5%)
                                       │
  PWM Output                           ████░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░   189–271  cycles ( 11.9%)
                                       │
  ISR Exit (exception return)          █░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░    12–29   cycles (  1.3%)

Stage	Min Cycles	Max Cycles	Instructions	Code Size	FPU Ops	Functions
ISR Entry (exception overhead) (hw overhead)	12	29	0	0 B	0	0
ADC ISR + Callback Dispatch	93	150	72	196 B	0	6
Encoder Read	138	182	88	292 B	21	5
FOC Inner Loop (Calculate)	5	8	5	12 B	0	1
FOC Outer Loop (LowPriorityHandler)	248	344	173	612 B	49	3
Online Mechanical Estimator (RLS)	726	838	511	1772 B	147	7
Online Electrical Estimator (RLS)	383	421	246	912 B	92	4
PWM Output	189	271	144	420 B	0	7
ISR Exit (exception return) (hw overhead)	12	29	0	0 B	0	0
TOTAL	1806	2272	1239	4216 B	309

Per-Function Detail — FOC Inner Loop (Calculate)

Function	Calls	Min Cycles	Max Cycles	FPU	Load/Store	Branch	ALU
`foc::FocPositionImpl::Calculate(foc::PhaseCurrents const&, i...`	1x	5	8	0	0	1	4

Instruction Mix

  FPU          ████████████░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░  309 ( 24.9%)
  Load/Store   ████████████████████░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░  509 ( 41.1%)
  Branch       ████░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░  114 (  9.2%)
  ALU          ████████████░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░  303 ( 24.5%)
  Mul/Div      ░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░░    4 (  0.3%)

Optimization Quality Indicators

⚠️ Moderate FPU utilization (25%) — some overhead from non-FPU ops
❌ High load/store ratio (41%) — register spilling or poor data locality
✅ FMA instructions detected — fused multiply-add in use
⚠️ vsqrt/vdiv detected — 14 cycles each; consider LUT approximations

github-actions · 2026-07-02T18:12:48Z

📦 Memory budget (multi-mode)

Unified binary

📦 Memory budget

EK-TM4C1294XL (M4, RelWithDebInfo) — flash 105.85 KiB · static RAM 25.64 KiB · stack 0 B · heap 0 B

Region	Used	Free	Total	%
`FLASH`	105.84 KiB	918.16 KiB	1.00 MiB	10.3%
`RAM`	25.64 KiB	230.36 KiB	256.00 KiB	10.0%

Top symbols

Show top symbols

#	Symbol	Section	Size	Source
1	`main::hardware`	`.bss`	16.54 KiB	`—`
2	`main::logic`	`.bss`	4.11 KiB	`—`
3	`foc::detail::sineLUT`	`.data`	2.00 KiB	`—`
4	`__kernel_rem_pio2f`	`.text`	1.65 KiB	`—`
5	`application::PlatformFactoryImpl::Peripherals::Peripherals()`	`.text`	1.10 KiB	`/__w/e-foc/e-foc/targets/platform_implementations/ti/implementation/../../../../targets/platform_implementations/ti/implementation/PlatformFactoryImpl.hpp`
6	`application::PlatformFactoryImpl::Peripherals::Peripherals()`	`.text`	1.10 KiB	`/__w/e-foc/e-foc/targets/platform_implementations/ti/implementation/../../../../targets/platform_implementations/ti/implementation/PlatformFactoryImpl.hpp`
7	`application::PlatformFactoryImpl::PlatformFactoryImpl(infra::Function<void (), 8u> const&)`	`.text`	1.07 KiB	`/__w/e-foc/e-foc/targets/platform_implementations/ti/implementation/PlatformFactoryImpl.cpp`
8	`application::PlatformFactoryImpl::PlatformFactoryImpl(infra::Function<void (), 8u> const&)`	`.text`	1.07 KiB	`/__w/e-foc/e-foc/targets/platform_implementations/ti/implementation/PlatformFactoryImpl.cpp`
9	`application::Logic::~Logic()`	`.text`	1.07 KiB	`/__w/e-foc/e-foc/targets/platform_implementations/ti/implementation/../../../../targets/sync_foc_sensored/main/instantiations/Logic.hpp`
10	`application::Logic::~Logic()`	`.text`	1.07 KiB	`/__w/e-foc/e-foc/targets/platform_implementations/ti/implementation/../../../../targets/sync_foc_sensored/main/instantiations/Logic.hpp`

Copilot

Pull request overview

Copilot reviewed 20 out of 20 changed files in this pull request and generated 3 comments.

TM4C123 silicon lacks PWM FLTSRC1 digital comparator routing, making hardware fault protection impossible on that board. EK-TM4C1294XL is the only supported TI target going forward. - Delete EK-TM4C123GXL platform implementation - Collapse all hasFaultComparators branches in PlatformFactoryImpl to the async (fault-comparator) path unconditionally - Remove SyncPwmConfig, syncPwm optional, and related includes - Remove syncPwmPhases stubs and hasFaultComparators from EK-TM4C1294XL - Remove EK-TM4C123GXL from CMake presets and CI build matrices - Update CLAUDE.md and architecture doc to reflect single supported board Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

- Host/ST: return distinct operationalPin/warningPin/failurePin stubs from OperationalLed(), WarningLed(), FailureLed() so callers cannot accidentally observe interference between the three signals - TI: restore hardware overvoltage protection via DCMP1 — step 4 (powerSupplyVoltage) is redirected to digital comparator 1 which feeds PWM FLTSRC1 bit 1 and tristates all motor PWM outputs instantly when the overvoltage threshold is exceeded; also expand currentPhaseAnalogPins array from 4 to 5 elements accordingly - TI: restore SynchronousQuadratureEncoder.hpp include dropped in c9485ae (refactor), fixing EK-TM4C1294XL build failure - scripts/install-caveman.sh: guard Node.js /usr/local extraction with an early root check so non-root users get a clear error

…ent ADC Overvoltage is monitored by AdcForPowerSupplyMeasurementImpl (synchronous ADC1, sequencer 0) via Pins::powerSupplyVoltage. Adding that pin as step 4 of the phase-current ADC sequencer with a digital comparator was wrong: - DCMP1 (Peripheral::OvervoltageComparatorIndex) was not needed there - It caused Pins::powerSupplyVoltage to be passed to hal::tiva::AnalogPin twice (also in powerSupplyAnalogPins), configuring the GPIO twice Revert digitalComparators and currentPhaseAnalogPins to 4 entries each (steps 0–2: phase currents to FIFO; step 3: currentTotal → DCMP0 overcurrent).

GDB 17.1 has debuginfod enabled and MIEngine turns it on at debug start. The container's default DEBUGINFOD_URLS points at debuginfod.ubuntu.com, which is unreachable offline, so GDB blocks during shared-library loading and the debug session stalls (GUI never appears, Pause/Stop do nothing). Clear GDB's debuginfod URL list via miDebuggerArgs (-iex "set debuginfod urls") in each cppdbg config, and empty DEBUGINFOD_URLS in the devcontainer containerEnv as the root-cause fix for all container tooling.

Add list_can_interfaces.py to discover CAN adapters via python-can, candle_driver, and serial ports, with table/JSON output. Wire a --list-can (and --json) flag into bridge_server.py, and add unit tests.

…r removal The board-identity refactor removed PlatformAdapter and switched to the async hal::tiva::Pwm driver, so the cycle-analysis PWM Output stage matched no functions and the analysis failed. Update the PWM Output patterns to PlatformFactoryImpl::ThreePhasePwmOutput and hal::tiva::Pwm::{Start,SetComparator,Sync}, and the Encoder Read pattern to PlatformFactoryImpl::Read. Verified all required stages match against the RelWithDebInfo ELF.

Replace the verbose fully-qualified hal::Percent (infra::Quantity<...>) triple signature with a readable Quantity-based wildcard that matches the 3-phase Start overload using only basic regex (engine-agnostic).

…nd integral method Replace the single-point V/I resistance and 63.2%-threshold inductance estimation, which baked dead-time, switch-drop and current-sensor offsets into the result and quantised tau to one sample. - Resistance: multi-point differential fit (V_j = R*I_ss_j + V_err) via numerical LinearRegression; slope is offset-immune, intercept exports the inverter voltage error as diagnostic data. - Inductance: integral method over the probe transient (offset cancels in the integrand, sub-sample resolution). - Auto-scale excitation levels to target current fractions of the drive maximum using a coarse pre-probe, with a fit-quality residual gate. - Apply the Delta winding correction (1.5x) to both R and L. - Return a single ResistanceInductanceResult struct (R, L, V_err, quality) instead of two optionals; propagate the new callback through the state machine, SIL fixtures, simulator wiring and mocks. - Remove the redundant TerminalElectricalParametersIdentification helper. - Update the theory and integration-testing documentation to match.

…irs in foc - Add "ident" command to run electrical parameter identification (R, L and pole pairs) with an optional winding type and tunable config, storing the result for later use. - Add "align" command that reuses the identified pole pairs and fails fast when identification has not been run. - Make pole pairs a mandatory argument of the "foc" simulation command and remove the now-redundant "motor" command. - Wire the electrical identification and alignment services into the target, raise the terminal command capacity, and update the HIL cycle-budget step.

Update voltageToVolts from 18.433 to 21.25 and drop the two bring-up threshold static_asserts that no longer match the recalibrated scaling.

- Orchestrator: convert to triage advisor (no Agent tool, model→sonnet); subagents cannot spawn subagents so routing was broken - Planner/executor: remove clarifying-questions instructions; subagents have no interactive channel — state assumptions and proceed instead - Planner: add Write tool, write plan to .claude/plans/<task>.md for executor handoff; strip duplicated constraints checklist (→ CLAUDE.md ref) - Executor: strip all constraint sections duplicated from CLAUDE.md; add Grep/Glob tools; add plan-file reading step - Reviewer: model→sonnet; add Grep/Glob; diff-first approach; slim 15-section checklist to 10 by referencing CLAUDE.md; merge duplicate heap/real-time items from §1+§2 - CLAUDE.md: fix Clarke label power-invariant→amplitude-invariant (2/3 scaling is amplitude-invariant; power-invariant uses √(2/3)); add agent workflow note about clarifying before dispatch Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

…x current at 3A Remove the step-3 currentTotal -> DCMP0 overcurrent redirect and the currentTotal ADC channel (4 -> 3 phase channels) while investigating current-measurement bias; the hardware overcurrent trip via the ADC digital comparator is off in this configuration. Source MaxCurrentSupported() from BoardCharacteristics::maxCurrentAmps instead of a hardcoded 15 A, and lower maxCurrentAmps/overcurrentThresholdAmps from 15/12 A to 3/3 A.

…amp) Replace the DC-step resistance/inductance estimation, which drove torque into a free rotor and let back-EMF corrupt the result, with high-frequency alpha-axis sinusoidal injection plus synchronous demodulation. Zero-mean AC produces no net torque and the demod rejects the low-frequency back-EMF, so no rotor clamp is needed; R and Ls fall out in one shot from the current amplitude and phase. - Guards: peak-current abort below MaxCurrentSupported, invalid-frequency and min-current return nullopt, duty clamped to keep the low-side shunt window samplable. - Compensate the PWM->ADC pipeline lag via voltageToCurrentDelaySamples. - CLI: ident <wye|delta> [inj_freq_hz] [inj_v%] ...; docs and tests updated. Pole-pair estimation is unchanged.

Copilot

Pull request overview

Copilot reviewed 68 out of 68 changed files in this pull request and generated 9 comments.

+        const auto injectionHz = rlConfig.injectionFrequency.Value();
+        if (injectionHz == 0 || samplingFrequencyHz % injectionHz != 0)
+        {
+            onResistanceAndInductanceDone(std::nullopt);
+            return;


            "externalConsole": false,
            "MIMode": "gdb",
            "miDebuggerPath": "/usr/bin/gdb",
+            "miDebuggerArgs": "-iex \"set debuginfod urls\"",


            "externalConsole": false,
            "MIMode": "gdb",
            "miDebuggerPath": "/usr/bin/gdb",
+            "miDebuggerArgs": "-iex \"set debuginfod urls\"",


            "externalConsole": false,
            "MIMode": "gdb",
            "miDebuggerPath": "/usr/bin/gdb",
+            "miDebuggerArgs": "-iex \"set debuginfod urls\"",


            "externalConsole": false,
            "MIMode": "gdb",
            "miDebuggerPath": "/usr/bin/gdb",
+            "miDebuggerArgs": "-iex \"set debuginfod urls\"",


            "externalConsole": false,
            "MIMode": "gdb",
            "miDebuggerPath": "/usr/bin/gdb",
+            "miDebuggerArgs": "-iex \"set debuginfod urls\"",


+            // Steps 0-2 (phase currents A/B/C) go to the ADC FIFO.
+            // NOTE: the step-3 currentTotal -> DCMP0 overcurrent redirect is temporarily
+            // disabled while investigating current-measurement bias — hardware overcurrent
+            // trip via the ADC digital comparator is OFF in this configuration.



Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

…dent TerminalMotorAlignment and TerminalMechanicalParametersIdentification were standalone CLI wrappers wired into no target; the application drives the MotorAlignment and MechanicalParametersIdentification services directly. Delete both classes and their unit tests and drop the CMake source/test entries. The underlying services are unchanged.

The prior change disabled the step-3 currentTotal -> DCMP0 overcurrent redirect, leaving the hardware overcurrent protection (ADC -> PWM fault path) off by default, which is unsafe for a motor drive (raised in review). Restore the digital-comparator config, the currentTotal ADC channel, and the ConfigureAdcAndPwm assignment. Decouple the ADC/comparator full-scale (maxCurrentAmps, 15 A) from the application limit: add ratedCurrentAmps (3 A) returned by MaxCurrentSupported(), and set the overcurrent trip to 12 A (80% of full-scale) so it sits above the rated current with real headroom instead of at ADC saturation.

sonarqubecloud · 2026-08-10T17:00:39Z

Quality Gate passed

Issues
1 New issue
0 Accepted issues

Measures
0 Security Hotspots
93.5% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud

Copilot AI review requested due to automatic review settings June 30, 2026 20:53

Copilot started reviewing on behalf of gabrielfrasantos June 30, 2026 20:54 View session

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Comment thread targets/platform_implementations/host/implementation/PlatformFactoryImpl.cpp

Comment thread targets/platform_implementations/st/implementation/PlatformFactoryImpl.cpp

Comment thread targets/platform_implementations/ti/EK-TM4C123GXL/PinsAndPeripherals.hpp Outdated

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Comment thread documentation/architecture/system.md

gabrielfrasantos and others added 2 commits July 2, 2026 18:05

bring up done successfully

6d7dbbe

Apply suggestions from code review

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Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>

gabrielfrasantos requested a review from Copilot July 2, 2026 18:07

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Comment thread targets/platform_implementations/ti/implementation/PlatformFactoryImpl.hpp Outdated

Comment thread targets/platform_implementations/ti/implementation/PlatformFactoryImpl.hpp

Comment thread scripts/install-caveman.sh

gabrielfrasantos and others added 2 commits July 5, 2026 16:54

update agents

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Comment thread .github/workflows/ci.yml

gabrielfrasantos added 4 commits July 10, 2026 19:21

feat(hardware_bridge): list available CAN interfaces and channels

7215ec3

Add list_can_interfaces.py to discover CAN adapters via python-can, candle_driver, and serial ports, with table/JSON output. Wire a --list-can (and --json) flag into bridge_server.py, and add unit tests.