pwm fixed buzzer works (#279)

* pwm fixed buzzer works

* added pwm response to fault bits

libraries/codegen/boards/power_distribution.yaml

@@ -60,4 +60,4 @@
         fault_bitset:
           length: 8
         bps_persist:
-          length: 8
+          length: 16

libraries/ms-common/src/arm/pwm.c

@@ -116,6 +116,8 @@ StatusCode pwm_set_pulse(PwmTimer timer, uint16_t pulse_width_us) {
     .TIM_Pulse = pulse_width_us,
     .TIM_OutputState = TIM_OutputState_Enable,
     .TIM_OCPolarity = TIM_OCPolarity_High,
+    .TIM_OutputNState = TIM_OutputNState_Enable,
+    .TIM_OCNPolarity = TIM_OCNPolarity_High,
   };
 
   // Enable PWM on all channels.

projects/centre_console/inc/cc_buttons.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "cc_hw_defs.h"
+#include "centre_console_getters.h"
 #include "drive_fsm.h"
 #include "i2c.h"
 #include "pca9555_gpio_expander.h"

projects/centre_console/src/cc_buttons.c

@@ -5,16 +5,15 @@ static GpioAddress buzzer = BUZZER;
 static SoftTimer s_timer;
 static bool beep_flag = true;
 
-// static void prv_buzzer_beep(SoftTimerId id) {
-//   if (beep_flag) {
-//     pwm_set_dc(PWM_TIMER_4, 100);
-//     soft_timer_start(&s_timer);
-//     beep_flag = false;
-//   } else {
-//     pwm_set_dc(PWM_TIMER_4, 0);
-//     beep_flag = true;
-//   }
-// }
+static void prv_buzzer_beep(SoftTimerId id) {
+  if (beep_flag) {
+    soft_timer_start(&s_timer);
+    beep_flag = false;
+  } else {
+    pwm_set_dc(PWM_TIMER_1, 0);
+    beep_flag = true;
+  }
+}
 
 // Notifies drive/power task of button press event
 StatusCode get_button_press(void) {
@@ -25,40 +24,64 @@ StatusCode get_button_press(void) {
   if (pca9555_reg_val == PCA9555_REG_DEFAULT) {  // No button pressed
     return STATUS_CODE_OK;
   }
+
   if ((~(pca9555_reg_val)&REGEN_BTN_MASK) != 0) {
     LOG_DEBUG("REGEN PRESSED\n");
+    if (beep_flag && !get_battery_status_fault() && !get_pd_status_bps_persist()) {
+      pwm_set_dc(PWM_TIMER_1, 5);
+      soft_timer_start(&s_timer);
+    }
     notify(cc_notify_task, REGEN_BUTTON_EVENT);
   }
   if ((~(pca9555_reg_val)&HAZARD_BTN_MASK) != 0) {
     LOG_DEBUG("HAZARD PRESSED\n");
+    if (beep_flag && !get_battery_status_fault() && !get_pd_status_bps_persist()) {
+      pwm_set_dc(PWM_TIMER_1, 5);
+      soft_timer_start(&s_timer);
+    }
     notify(cc_notify_task, HAZARD_BUTTON_EVENT);
   }
   if ((~(pca9555_reg_val)&POWER_BTN_MASK) != 0) {
     LOG_DEBUG("POWER PRESSED\n");
+    if (beep_flag && !get_battery_status_fault() && !get_pd_status_bps_persist()) {
+      pwm_set_dc(PWM_TIMER_1, 5);
+      soft_timer_start(&s_timer);
+    }
     notify(cc_notify_task, POWER_BUTTON_EVENT);
   }
 
   if ((~(pca9555_reg_val)&DRIVE_BTN_MASK) != 0) {
     LOG_DEBUG("DRIVE PRESSED\n");
+    if (beep_flag && !get_battery_status_fault() && !get_pd_status_bps_persist()) {
+      pwm_set_dc(PWM_TIMER_1, 5);
+      soft_timer_start(&s_timer);
+    }
     notify(drive, DRIVE_BUTTON_EVENT);
   }
   if ((~(pca9555_reg_val)&NEUTRAL_BTN_MASK) != 0) {
     LOG_DEBUG("NEUT PRESSED\n");
+    if (beep_flag && !get_battery_status_fault() && !get_pd_status_bps_persist()) {
+      pwm_set_dc(PWM_TIMER_1, 5);
+      soft_timer_start(&s_timer);
+    }
     notify(drive, NEUTRAL_BUTTON_EVENT);
   }
   if ((~(pca9555_reg_val)&REVERSE_BTN_MASK) != 0) {
     LOG_DEBUG("REV PRESSED\n");
+    if (beep_flag && !get_battery_status_fault() && !get_pd_status_bps_persist()) {
+      pwm_set_dc(PWM_TIMER_1, 5);
+      soft_timer_start(&s_timer);
+    }
     notify(drive, REVERSE_BUTTON_EVENT);
   }
-  // soft_timer_start(&s_timer);
   return STATUS_CODE_OK;
 }
 
 StatusCode init_cc_buttons(Task *task) {
   cc_notify_task = task;
-  // gpio_init_pin(&buzzer, GPIO_ALTFN_PUSH_PULL, GPIO_STATE_LOW);
-  // pwm_init(PWM_TIMER_1, BUZZER_MICROSECONDS);
-  // pwm_set_dc(PWM_TIMER_1, 5);
-  // soft_timer_init(BEEP_MS, prv_buzzer_beep, &s_timer);
+  gpio_init_pin(&buzzer, GPIO_ALTFN_PUSH_PULL, GPIO_STATE_LOW);
+  pwm_init(PWM_TIMER_1, BUZZER_MICROSECONDS);
+  pwm_set_dc(PWM_TIMER_1, 0);
+  soft_timer_init(BEEP_MS, prv_buzzer_beep, &s_timer);
   return STATUS_CODE_OK;
 }

projects/centre_console/src/pedal.c

@@ -25,7 +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));
+  // LOG_DEBUG("READING %d\n", (int)(calculated_reading * 100));
   memcpy(reading, &calculated_reading, sizeof(calculated_reading));
 }
 
@@ -38,12 +38,10 @@ void pedal_run() {
   // Sending messages
   if (brake_state == GPIO_STATE_LOW) {
     // Brake is pressed - Send brake data with throttle as 1
-    LOG_DEBUG("BRAKES PRESSED\n");
     set_cc_pedal_brake_output(1);
     set_cc_pedal_throttle_output(0);
   } else {
     // Brake is not pressed
-    LOG_DEBUG("BRAKES NOT PRESSED\n");
     set_cc_pedal_brake_output(0);
     set_cc_pedal_throttle_output(throttle_position);
   }

projects/centre_console/src/update_dashboard.c

@@ -5,6 +5,7 @@
 #include "centre_console_setters.h"
 #include "drive_fsm.h"
 #include "pca9555_gpio_expander.h"
+#include "pwm.h"
 #include "seg_display.h"
 
 // Multiplication factor to convert CAN drive output velocity (cm/s) to kph
@@ -97,15 +98,22 @@ void update_indicators(uint32_t notif) {
 
   // Update Aux warning LED
   if (get_pd_status_fault_bitset()) {
+    pwm_set_dc(PWM_TIMER_1, 50);
     pca9555_gpio_set_state(&s_output_leds[AUX_WARNING_LED], PCA9555_GPIO_STATE_HIGH);
   } else {
+    // PWM will not stop, driver will pull over and diagnose issue
     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()) {
+  if (get_battery_status_fault() & get_pd_status_bps_persist() & (1 << 15)) {
+    pwm_set_dc(PWM_TIMER_1, 100);
+    gpio_set_state(&bps_led, GPIO_STATE_LOW);
+  } else if ((get_battery_status_fault() & get_pd_status_bps_persist() & (1 << 14)) ||
+             get_pd_status_power_state() == EE_POWER_FAULT_STATE) {
+    pwm_set_dc(PWM_TIMER_1, 10);
     gpio_set_state(&bps_led, GPIO_STATE_LOW);
   } else {
+    // PWM will not stop, driver will pull over and diagnose issue
     gpio_set_state(&bps_led, GPIO_STATE_HIGH);
   }
 }

projects/power_distribution/src/power_seq_fsm.c

@@ -95,7 +95,7 @@ static void prv_fault_state_output(void *context) {
       (get_motor_velocity_velocity_l() + get_motor_velocity_velocity_r()) / 2;
   persist_commit(&s_persist);
   pd_set_active_output_group(OUTPUT_GROUP_POWER_FAULT);
-  set_pd_status_bps_persist(true);
+  set_pd_status_bps_persist(s_bps_storage.fault_bitset);
   set_pd_status_power_state(EE_POWER_FAULT_STATE);
   // TODO(devAdhiraj): start bps strobe
 }
@@ -124,7 +124,7 @@ StatusCode init_power_seq(void) {
   memset(&s_bps_storage, 0, sizeof(s_bps_storage));
   persist_init(&s_persist, BPS_FAULT_FLASH_PAGE, &s_bps_storage, sizeof(s_bps_storage), true);
   persist_ctrl_periodic(&s_persist, false);
-  if (s_bps_storage.fault_bitset) set_pd_status_bps_persist(true);
+  if (s_bps_storage.fault_bitset) set_pd_status_bps_persist(s_bps_storage.fault_bitset);
 
   fsm_init(power_seq, s_power_seq_state_list, s_power_seq_transitions, POWER_STATE_OFF, NULL);
   return STATUS_CODE_OK;

smoke/pwm/src/main.c

@@ -0,0 +1,71 @@
+#include "gpio.h"
+#include "log.h"
+#include "pwm.h"
+#include "stm32f10x.h"
+#include "stm32f10x_rcc.h"
+#include "stm32f10x_tim.h"
+
+// TIM 1
+static const GpioAddress pwm_tim_1[] = {
+  { .port = GPIO_PORT_A, .pin = 8 },
+  { .port = GPIO_PORT_A, .pin = 9 },
+  { .port = GPIO_PORT_A, .pin = 10 },
+  { .port = GPIO_PORT_A, .pin = 11 },
+};
+
+// TIM 1N
+static const GpioAddress pwm_tim_1n[] = {
+  { .port = GPIO_PORT_B, .pin = 13 },
+  { .port = GPIO_PORT_B, .pin = 14 },
+  { .port = GPIO_PORT_B, .pin = 15 },
+};
+
+// TIM 3
+static const GpioAddress pwm_tim_3[] = {
+  { .port = GPIO_PORT_A, .pin = 6 },
+  { .port = GPIO_PORT_A, .pin = 7 },
+  { .port = GPIO_PORT_B, .pin = 0 },
+  { .port = GPIO_PORT_B, .pin = 1 },
+};
+
+// TIM 4
+static const GpioAddress pwm_tim_4[] = {
+  { .port = GPIO_PORT_B, .pin = 6 },
+  { .port = GPIO_PORT_B, .pin = 7 },
+  { .port = GPIO_PORT_B, .pin = 8 },
+  { .port = GPIO_PORT_A, .pin = 9 },
+};
+
+int main(void) {
+  gpio_init();
+  log_init();
+
+  // Initialize PWM pins for TIM1
+  for (uint8_t i = 0; i < SIZEOF_ARRAY(pwm_tim_1); i++) {
+    gpio_init_pin(&pwm_tim_1[i], GPIO_ALTFN_PUSH_PULL, GPIO_STATE_LOW);
+  }
+  // Initialize PWM pins for TIM1_N
+  for (uint8_t i = 0; i < SIZEOF_ARRAY(pwm_tim_1n); i++) {
+    gpio_init_pin(&pwm_tim_1n[i], GPIO_ALTFN_PUSH_PULL, GPIO_STATE_LOW);
+  }
+  pwm_init(PWM_TIMER_1, 250);
+  pwm_set_dc(PWM_TIMER_1, 50);
+
+  // Initialize PWM pins for TIM3
+  for (uint8_t i = 0; i < SIZEOF_ARRAY(pwm_tim_3); i++) {
+    gpio_init_pin(&pwm_tim_3[i], GPIO_ALTFN_PUSH_PULL, GPIO_STATE_LOW);
+  }
+  pwm_init(PWM_TIMER_3, 250);
+  pwm_set_dc(PWM_TIMER_3, 50);
+
+  // Initialize PWM pins for TIM4
+  for (uint8_t i = 0; i < SIZEOF_ARRAY(pwm_tim_4); i++) {
+    gpio_init_pin(&pwm_tim_4[i], GPIO_ALTFN_PUSH_PULL, GPIO_STATE_LOW);
+  }
+  pwm_init(PWM_TIMER_4, 250);
+  pwm_set_dc(PWM_TIMER_4, 50);
+
+  while (1) {
+    // Main loop
+  }
+}