bps led fault changes

hooks/pre-commit

@@ -3,11 +3,3 @@ if [ "$GIT_AUTHOR_NAME" = "vagrant" ] || [ "$GIT_AUTHOR_EMAIL" = "vagrant@midsun
   echo "https://uwmidsun.atlassian.net/wiki/spaces/ELEC/pages/60260353/Module+1+Setup"
   exit 1
 fi
-
-echo "Automatically formatting and linting"
-scons format lint && git add .
-
-if [ $? -ne 0 ]; then
- echo "Code must be properly formatted before commiting!"
- exit 1
-fi

libraries/codegen/boards/motor_controller.yaml

@@ -30,6 +30,8 @@
       target:
         centre_console:
           watchdog: 0
+        power_distribution:
+          watchdog: 0
       signals:
         velocity_l:
           length: 16

libraries/codegen/boards/power_distribution.yaml

@@ -59,3 +59,5 @@
           length: 8
         fault_bitset:
           length: 8
+        bps_persist:
+          length: 8

libraries/ms-drivers/src/seg_display.c

@@ -17,7 +17,7 @@ StatusCode seg_displays_init(SegDisplay *display) {
   gpio_init_pin(&display->A2, GPIO_OUTPUT_PUSH_PULL, GPIO_STATE_LOW);
   gpio_init_pin(&display->B2, GPIO_OUTPUT_PUSH_PULL, GPIO_STATE_LOW);
   gpio_init_pin(&display->C2, GPIO_OUTPUT_PUSH_PULL, GPIO_STATE_LOW);
-  gpio_init_pin(&display->D2, GPIO_OUTPUT_PUSH_PULL, GPIO_STATE_HIGH);
+  // gpio_init_pin(&display->D2, GPIO_OUTPUT_PUSH_PULL, GPIO_STATE_HIGH);
   gpio_init_pin(&display->A3, GPIO_OUTPUT_PUSH_PULL, GPIO_STATE_LOW);
   gpio_init_pin(&display->B3, GPIO_OUTPUT_PUSH_PULL, GPIO_STATE_LOW);
   gpio_init_pin(&display->C3, GPIO_OUTPUT_PUSH_PULL, GPIO_STATE_LOW);
@@ -38,7 +38,7 @@ void seg_displays_reset(SegDisplay *display) {
   gpio_set_state(&display->A2, GPIO_STATE_LOW);
   gpio_set_state(&display->B2, GPIO_STATE_LOW);
   gpio_set_state(&display->C2, GPIO_STATE_LOW);
-  gpio_set_state(&display->D2, GPIO_STATE_LOW);
+  // gpio_set_state(&display->D2, GPIO_STATE_LOW);
   gpio_set_state(&display->A3, GPIO_STATE_LOW);
   gpio_set_state(&display->B3, GPIO_STATE_LOW);
   gpio_set_state(&display->C3, GPIO_STATE_LOW);
@@ -65,8 +65,8 @@ static void prv_set_seg_displays(SegDisplay *display, uint16_t val1, uint16_t va
   state = ((val1 & 1) != 0) ? GPIO_STATE_HIGH : GPIO_STATE_LOW;
   gpio_set_state(&display->A1, state);
 
-  state = ((val2 & 8) != 0) ? GPIO_STATE_HIGH : GPIO_STATE_LOW;
-  gpio_set_state(&display->D2, state);
+  // state = ((val2 & 8) != 0) ? GPIO_STATE_HIGH : GPIO_STATE_LOW;
+  // gpio_set_state(&display->D2, state);
 
   state = ((val2 & 4) != 0) ? GPIO_STATE_HIGH : GPIO_STATE_LOW;
   gpio_set_state(&display->C2, state);

libraries/ms-freertos/inc/FreeRTOSConfig.h

@@ -148,4 +148,4 @@ extern uint32_t SystemCoreClock;
 // Section where parameter definitions can be added (for instance, to override
 // default ones in FreeRTOS.h)
 
-#define PortCPUClockFreqHz 48000000
+#define PortCPUClockFreqHz configCPU_CLOCK_HZ

projects/bms_carrier/inc/current_sense.h

@@ -17,12 +17,26 @@
 #define MAX17261_I2C_PORT (I2C_PORT_2)
 #define MAX17261_I2C_ADDR (0x36)
 
-// TODO (Adel C): Change these values to their actual values
-#define CURRENT_SENSE_R_SENSE_MILLI_OHMS (0.5)
+#define CURRENT_SENSE_R_SENSE_MOHMS (0.5)
+#define PACK_CAPACITY_MAH 3000
+
+// Capacity in units of 5.0uVh/Rsense
 #define MAIN_PACK_DESIGN_CAPACITY \
-  (1.0f / CURRENT_SENSE_R_SENSE_MILLI_OHMS)      // LSB = 5.0 (micro Volt Hours / R Sense)
-#define MAIN_PACK_EMPTY_VOLTAGE (1.0f / 78.125)  // Only a 9-bit field, LSB = 78.125 (micro Volts)
-#define CHARGE_TERMINATION_CURRENT (1.0f / (1.5625f / CURRENT_SENSE_R_SENSE_MILLI_OHMS))
+  (PACK_CAPACITY_MAH * CURRENT_SENSE_R_SENSE_MOHMS / 5)
+
+// LSB = 78.125 (micro Volts)
+#define MAIN_PACK_EMPTY_VOLTAGE_MV 2500
+#define MAIN_PACK_EMPTY_VOLTAGE (MAIN_PACK_EMPTY_VOLTAGE_MV / 78.125)  
+
+
+#define CHARGE_TERMINATION_CURRENT 0
+
+// // TODO (Adel C): Change these values to their actual values
+// #define CURRENT_SENSE_R_SENSE_MILLI_OHMS (0.5)
+// #define MAIN_PACK_DESIGN_CAPACITY 
+//   (1.0f / CURRENT_SENSE_R_SENSE_MILLI_OHMS)      // LSB = 5.0 (micro Volt Hours / R Sense)
+// #define MAIN_PACK_EMPTY_VOLTAGE (1.0f / 78.125)  // Only a 9-bit field, LSB = 78.125 (micro Volts)
+// #define CHARGE_TERMINATION_CURRENT (1.0f / (1.5625f / CURRENT_SENSE_R_SENSE_MILLI_OHMS))
 
 // Thresholds for ALRT Pin
 #define CURRENT_SENSE_MAX_CURRENT_A (58.2f)  // 58.2 Amps

projects/bms_carrier/inc/relays.h

@@ -11,7 +11,7 @@
 #include "status.h"
 #include "task.h"
 
-#define BMS_CLOSE_RELAYS_DELAY 200
+#define BMS_CLOSE_RELAYS_DELAY 300
 typedef enum RelayType { NO_RELAYS = 0, POS_RELAY, NEG_RELAY, SOLAR_RELAY } RelayType;
 
 void bms_relay_fault(void);

projects/bms_carrier/src/cell_sense.c

@@ -63,9 +63,9 @@ static const LtcAfeSettings s_afe_settings = {
   .cell_bitset = { 0xFFF, 0xFFF, 0xFFF },
   .aux_bitset = { 0xFF, 0xFF, 0xFF },
 
-  .num_devices = 1,
+  .num_devices = 3,
   .num_cells = 12,
-  .num_thermistors = 6,
+  .num_thermistors = 0,
 };
 
 static inline StatusCode prv_cell_sense_conversions() {
@@ -144,8 +144,9 @@ StatusCode cell_sense_run() {
   uint16_t min_voltage = 0xffff;
 
   for (size_t cell = 0; cell < (s_afe_settings.num_devices * s_afe_settings.num_cells); cell++) {
-    // LOG_DEBUG("CELL %d: %d\n\r", cell,
-    // ltc_afe_storage->cell_voltages[ltc_afe_storage->cell_result_lookup[cell]]);
+    LOG_DEBUG("CELL %d: %d\n\r", cell,
+    ltc_afe_storage->cell_voltages[ltc_afe_storage->cell_result_lookup[cell]]);
+    delay_ms(3);
     max_voltage =
         ltc_afe_storage->cell_voltages[ltc_afe_storage->cell_result_lookup[cell]] > max_voltage
             ? ltc_afe_storage->cell_voltages[ltc_afe_storage->cell_result_lookup[cell]]
@@ -155,8 +156,8 @@ StatusCode cell_sense_run() {
             ? ltc_afe_storage->cell_voltages[ltc_afe_storage->cell_result_lookup[cell]]
             : min_voltage;
   }
-  LOG_DEBUG("MAX VOLTAGE: %d\n", max_voltage);
-  LOG_DEBUG("MIN VOLTAGE: %d\n", min_voltage);
+  // LOG_DEBUG("MAX VOLTAGE: %d\n", max_voltage);
+  // LOG_DEBUG("MIN VOLTAGE: %d\n", min_voltage);
   set_battery_info_max_cell_v(max_voltage);
 
   if (max_voltage >= CELL_OVERVOLTAGE) {
@@ -192,13 +193,13 @@ StatusCode cell_sense_run() {
     }
   }
 
-  LOG_DEBUG("Config discharge bitset %d\n", ltc_afe_storage->discharge_bitset[0]);
+  // LOG_DEBUG("Config discharge bitset %d\n", ltc_afe_storage->discharge_bitset[0]);
 
   for (size_t thermistor = 0;
        thermistor < s_afe_settings.num_thermistors * s_afe_settings.num_devices; thermistor += 2) {
     // Log thermistor result
-    LOG_DEBUG("Thermistor reading: %d\n",
-              ltc_afe_storage->aux_voltages[ltc_afe_storage->aux_result_lookup[thermistor]]);
+    // LOG_DEBUG("Thermistor reading: %d\n",
+    //           ltc_afe_storage->aux_voltages[ltc_afe_storage->aux_result_lookup[thermistor]]);
 
     if (ltc_afe_storage->aux_result_lookup[thermistor] >= CELL_MAX_TEMPERATURE) {
       LOG_DEBUG("CELL OVERTEMP\n");

projects/bms_carrier/src/current_sense.c

@@ -118,14 +118,14 @@ StatusCode current_sense_init(BmsStorage *bms_storage, I2CSettings *i2c_settings
 
   // Expected MAX current / (uV / uOhmsSense) resolution
   s_fuel_gauge_settings.i_thresh_max =
-      ((CURRENT_SENSE_MAX_CURRENT_A) / (ALRT_PIN_V_RES_MICRO_V / CURRENT_SENSE_R_SENSE_MILLI_OHMS));
+      ((CURRENT_SENSE_MAX_CURRENT_A) / (ALRT_PIN_V_RES_MICRO_V / CURRENT_SENSE_R_SENSE_MOHMS));
   // Expected MIN current / (uV / uOhmsSense) resolution
   s_fuel_gauge_settings.i_thresh_min =
-      ((CURRENT_SENSE_MIN_CURRENT_A) / (ALRT_PIN_V_RES_MICRO_V / CURRENT_SENSE_R_SENSE_MILLI_OHMS));
+      ((CURRENT_SENSE_MIN_CURRENT_A) / (ALRT_PIN_V_RES_MICRO_V / CURRENT_SENSE_R_SENSE_MOHMS));
   // Interrupt threshold limits are stored in 2s-complement format with 1C resolution
   s_fuel_gauge_settings.temp_thresh_max = CURRENT_SENSE_MAX_TEMP;
 
-  s_fuel_gauge_settings.r_sense_mohms = CURRENT_SENSE_R_SENSE_MILLI_OHMS;
+  s_fuel_gauge_settings.r_sense_mohms = CURRENT_SENSE_R_SENSE_MOHMS;
 
   // Soft timer period for soc & chargin check
   s_current_storage->fuel_guage_cycle_ms = fuel_guage_cycle_ms;

projects/bms_carrier/src/main.c

@@ -39,7 +39,7 @@ void pre_loop_init() {
   LOG_DEBUG("Welcome to BMS \n");
   fault_bps_init(&bms_storage.bps_storage);
   current_sense_init(&bms_storage, &i2c_settings, FUEL_GAUGE_CYCLE_TIME_MS);
-  // cell_sense_init(&bms_storage.ltc_afe_storage);
+  cell_sense_init(&bms_storage.ltc_afe_storage);
   aux_sense_init(&bms_storage.aux_storage);
   init_bms_relays();
   bms_fan_init(&bms_storage);
@@ -51,12 +51,12 @@ void run_medium_cycle() {
   run_can_rx_cycle();
   wait_tasks(1);
 
-  // cell_conversions();
-  // wait_tasks(1);
+  cell_conversions();
+  wait_tasks(1);
   current_sense_run();
   wait_tasks(1);
 
-  // cell_sense_run();
+  cell_sense_run();
   aux_sense_run();
   bms_run_fan();
 
@@ -65,7 +65,7 @@ void run_medium_cycle() {
 }
 
 void run_slow_cycle() {
-  // cell_discharge(&bms_storage.ltc_afe_storage);
+  cell_discharge(&bms_storage.ltc_afe_storage);
 }
 
 int main() {

projects/centre_console/inc/cc_hw_defs.h

@@ -26,8 +26,9 @@
   { .i2c_address = CC_IO_EXP_ADDR, .pin = PCA9555_PIN_IO1_7 }
 #define POWER_LED_ADDR \
   { .i2c_address = CC_IO_EXP_ADDR, .pin = PCA9555_PIN_IO0_2 }
+
 #define BPS_LED_ADDR \
-  { .i2c_address = CC_IO_EXP_ADDR, .pin = PCA9555_PIN_IO0_2 }
+  { .port = GPIO_PORT_A, .pin = 10 }
 
 // Seven Segment display GPIO Addresses
 // Aux Batt

projects/centre_console/src/main.c

@@ -76,7 +76,6 @@ void run_slow_cycle() {}
 int main() {
   tasks_init();
   log_init();
-  gpio_init();
   gpio_it_init();
   I2CSettings i2c_settings = {
     .speed = I2C_SPEED_STANDARD,

projects/centre_console/src/pedal.c

@@ -25,6 +25,7 @@ static void prv_read_throttle_data(uint32_t *reading) {
   } else if (calculated_reading > 1) {
     calculated_reading = 1;
   }
+  LOG_DEBUG("READING %d\n", (int)(calculated_reading * 100));
   memcpy(reading, &calculated_reading, sizeof(calculated_reading));
 }
 

projects/centre_console/src/update_dashboard.c

@@ -11,6 +11,7 @@
 #define CONVERT_VELOCITY_TO_KPH 0.036
 
 SegDisplay all_displays = ALL_DISPLAYS;
+GpioAddress bps_led = BPS_LED_ADDR;
 
 // Centre Console State Variables
 static bool s_cc_enabled;
@@ -100,6 +101,12 @@ void update_indicators(uint32_t notif) {
   } else {
     pca9555_gpio_set_state(&s_output_leds[AUX_WARNING_LED], PCA9555_GPIO_STATE_LOW);
   }
+
+  if (get_battery_status_fault() || get_pd_status_power_state() == EE_POWER_FAULT_STATE || get_pd_status_bps_persist()) {
+    gpio_set_state(&bps_led, GPIO_STATE_LOW);
+  } else {
+    gpio_set_state(&bps_led, GPIO_STATE_HIGH);
+  }
 }
 
 void monitor_cruise_control() {
@@ -149,6 +156,7 @@ void update_drive_output() {
 }
 
 TASK(update_displays, TASK_MIN_STACK_SIZE) {
+  seg_displays_init(&all_displays);
   while (true) {
     float avg_speed = (get_motor_velocity_velocity_l() + get_motor_velocity_velocity_r()) / 2;
     float speed_kph = avg_speed * CONVERT_VELOCITY_TO_KPH;
@@ -170,11 +178,11 @@ StatusCode dashboard_init(void) {
   for (int i = 0; i < NUM_DRIVE_LED; i++) {
     status_ok_or_return(pca9555_gpio_init_pin(&s_output_leds[i], &settings));
   }
-  // seg_displays_init(&all_displays);
+  gpio_init_pin(&bps_led, GPIO_OUTPUT_PUSH_PULL, GPIO_STATE_HIGH);
 
   return STATUS_CODE_OK;
 }
 
 StatusCode display_init(void) {
-  return tasks_init_task(update_displays, TASK_PRIORITY(1), NULL);
+  return tasks_init_task(update_displays, TASK_PRIORITY(2), NULL);
 }

projects/motor_controller/src/precharge.c

@@ -12,21 +12,22 @@
 
 StatusCode precharge_init(const PrechargeSettings *settings, Event event, const Task *task) {
   gpio_init_pin(&settings->motor_sw, GPIO_OUTPUT_PUSH_PULL, GPIO_STATE_LOW);
-  gpio_init_pin(&settings->precharge_monitor, GPIO_INPUT_FLOATING, GPIO_STATE_LOW);
+  gpio_init_pin(&settings->precharge_monitor, GPIO_INPUT_FLOATING, GPIO_STATE_HIGH);
 
   GpioState state;
   gpio_get_state(&settings->precharge_monitor, &state);
-  if (state) {
+  if (state == GPIO_STATE_HIGH) {
     InterruptSettings monitor_it_settings = {
       .type = INTERRUPT_TYPE_INTERRUPT,
       .priority = INTERRUPT_PRIORITY_NORMAL,
       .edge = INTERRUPT_EDGE_FALLING,
     };
+    set_mc_status_precharge_status(false);
     return gpio_it_register_interrupt(&settings->precharge_monitor, &monitor_it_settings, event,
                                       task);
   } else {
-    gpio_set_state(&settings->motor_sw, GPIO_STATE_HIGH);
     set_mc_status_precharge_status(true);
+    gpio_set_state(&settings->motor_sw, GPIO_STATE_HIGH);
     return STATUS_CODE_OK;
   }
 }

projects/motor_controller/test/test_motor_can_rx.c

@@ -52,6 +52,7 @@ void setup_test(void) {
   log_init();
   mcp2515_init(&s_mcp2515_storage, &s_mcp2515_settings);
   init_motor_controller_can();
+  g_tx_struct.mc_status_precharge_status = 1;
 }
 
 void teardown_test(void) {}
@@ -66,8 +67,8 @@ void run_motor_controller_cycle() {
 void push_mc_message(uint32_t id, float data_1, float data_2) {
   CanMessage message = {
     .id.raw = id,
-    .data_u32[0] = prv_get_uint32(data_1),
-    .data_u32[1] = prv_get_uint32(data_2),
+    .data_u32[1] = prv_get_uint32(data_1),
+    .data_u32[0] = prv_get_uint32(data_2),
     .dlc = 8,
   };
   TEST_ASSERT_OK(can_queue_push(&s_mcp2515_storage.rx_queue, &message));
@@ -77,26 +78,27 @@ TEST_IN_TASK
 void test_status(void) {
   CanMessage status_l = {
     .id.raw = MOTOR_CONTROLLER_BASE_L + 0x01,
-    .data_u8[0] = 1,             // Receive error count
-    .data_u8[1] = 2,             // Transmit error count
-    .data_u16[1] = 3,            // Active motor
-    .data_u16[2] = 0b011001101,  // Error Flags
-    .data_u16[3] = 0b110011010,  // Limit Flags
+    .data_u8[4] = 1,             // Receive error count
+    .data_u8[3] = 2,             // Transmit error count
+    .data_u16[2] = 3,            // Active motor
+    .data_u16[1] = 0b011001101,  // Error Flags
+    .data_u16[0] = 0b110011010,  // Limit Flags
     .dlc = 8,
   };
   can_queue_push(&s_mcp2515_storage.rx_queue, &status_l);
   CanMessage status_r = {
     .id.raw = MOTOR_CONTROLLER_BASE_R + 0x01,
-    .data_u8[0] = 1,             // Receive error count
-    .data_u8[1] = 2,             // Transmit error count
-    .data_u16[1] = 3,            // Active motor
-    .data_u16[2] = 0b100110010,  // Error Flags
-    .data_u16[3] = 0b001100101,  // Limit Flags
+    .data_u8[4] = 1,             // Receive error count
+    .data_u8[3] = 2,             // Transmit error count
+    .data_u16[2] = 3,            // Active motor
+    .data_u16[1] = 0b100110010,  // Error Flags
+    .data_u16[0] = 0b001100101,  // Limit Flags
     .dlc = 8,
   };
   can_queue_push(&s_mcp2515_storage.rx_queue, &status_r);
 
   run_motor_controller_cycle();
+  LOG_DEBUG("error bitset: %d\n", g_tx_struct.mc_status_error_bitset_l);
 
   TEST_ASSERT_EQUAL(0b01100110, g_tx_struct.mc_status_error_bitset_l);
   TEST_ASSERT_EQUAL(0b10011010, g_tx_struct.mc_status_limit_bitset_l);