PedalsRead returning signed int

Apps/Src/DebugDump.c

@@ -25,10 +25,10 @@ void TaskDebugDump(void *p_arg) {
 
     while (1) {
         // Get pedal information
-        int8_t accel_pedal = PedalsRead(kAccelerator);
+        uint8_t accel_pedal = PedalsRead(kAccelerator);
         printf("kAccelerator: %d\n\r", accel_pedal);
 
-        int8_t brake_pedal = PedalsRead(kBrake);
+        uint8_t brake_pedal = PedalsRead(kBrake);
         printf("kBrake: %d\n\r", brake_pedal);
 
         // Get minion information

BSP/Inc/BSP_ADC.h

@@ -29,15 +29,15 @@ void BspAdcInit(void);
  * @param   hardwareDevice pedal enum that represents the specific device
  * @return  Raw ADC value without conversion
  */
-int16_t BspAdcGetValue(Adc hardware_device);
+uint16_t BspAdcGetValue(Adc hardware_device);
 
 /**
  * @brief   Provides the ADC value in millivolts of the channel at the specified
  * index
  * @param   hardwareDevice pedal enum that represents the specific device
  * @return  ADC value in millivolts
  */
-int16_t BspAdcGetMillivoltage(Adc hardware_device);
+uint16_t BspAdcGetMillivoltage(Adc hardware_device);
 
 #endif
 

BSP/STM32F413/Src/BSP_ADC.c

@@ -108,22 +108,22 @@ void BspAdcInit(void) {
  * @param   None
  * @return  millivoltage value ADC measurement
  */
-int16_t BspAdcGetValue(Adc hardware_device) {
+uint16_t BspAdcGetValue(Adc hardware_device) {
     // Get ADC raw data
     uint16_t data = adc_results[hardware_device];
 
-    return (int16_t)data;
+    return data;
 }
 
 /**
  * @brief   Gets converted ADC value in units of mV.
  * @param   None
  * @return  millivoltage value ADC measurement
  */
-int16_t BspAdcGetMillivoltage(Adc hardware_device) {
+uint16_t BspAdcGetMillivoltage(Adc hardware_device) {
     // Get ADC raw data
-    int16_t data = (int16_t)adc_results[hardware_device];
+    uint16_t data = adc_results[hardware_device];
 
     // Convert to millivoltage
-    return (int16_t)((ADC_RANGE_MILLIVOLTS * data) >> BSP_ADC_PRECISION_BITS);
+    return (uint16_t)((ADC_RANGE_MILLIVOLTS * data) >> BSP_ADC_PRECISION_BITS);
 }

Drivers/Inc/Pedals.h

@@ -32,7 +32,7 @@ void PedalsInit(void);
  * @param   pedal_t pedal, ACCELERATOR or BRAKE as defined in enum
  * @return  distance the pedal has been pressed in percentage
  */
-int8_t PedalsRead(Pedal pedal);
+uint8_t PedalsRead(Pedal pedal);
 
 #endif
 

Drivers/Src/Pedals.c

@@ -37,26 +37,24 @@ void PedalsInit() { BspAdcInit(); }
  * @param   Pedal, ACCELERATOR or BRAKE as defined in enum
  * @return  percent amount the pedal has been pressed in percentage
  */
-int8_t PedalsRead(Pedal pedal) {
+uint8_t PedalsRead(Pedal pedal) {
     if (pedal >= kNumberOfPedals) {
         return 0;
     }
-    int16_t millivolts_pedal =
-        (int16_t)BspAdcGetMillivoltage((pedal == kAccelerator) ? kCh10 : kCh11);
 
-    int8_t percentage = 0;
+    uint16_t millivolts_pedal =
+        BspAdcGetMillivoltage((pedal == kAccelerator) ? kCh10 : kCh11);
 
-    if (millivolts_pedal >= kLowerBound[pedal]) {
-        percentage = (int8_t)((int32_t)(millivolts_pedal - kLowerBound[pedal]) *
-                              100 / (kUpperBound[pedal] - kLowerBound[pedal]));
-    }
-
-    if (percentage > 100) {
+    // Handle case if above bound
+    if (millivolts_pedal >= kUpperBound[pedal]) {
         return 100;
     }
-    if (percentage < 0) {
-        return 0;
-    }
+
+    uint8_t percentage = 0;
+
+    // Converts from millivolts to percent using pedal bounds
+    percentage = (uint8_t)(((millivolts_pedal - kLowerBound[pedal]) * 100) /
+                           (kUpperBound[pedal] - kLowerBound[pedal]));
 
     return percentage;
 }