Update PR comments, remove pedal/steering projects

SConstruct

@@ -189,8 +189,8 @@ if PLATFORM == 'arm' and TARGET:
     # flash the MCU using openocd
     def flash_run_target(target, source, env):
         serialData = flash_run(project_bin)
-        while True:
-            line: str = serialData.readline().decode("utf-8")
-            print(line, end='')
+        #while True:
+        #    line: str = serialData.readline().decode("utf-8")
+        #    print(line, end='')
 
-    AlwaysBuild(Command('#/flash', project_bin, flash_run_target))
+    AlwaysBuild(Command('#/flash', project_bin, flash_run_target))

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);

projects/bms_carrier/inc/fault_bps.h

@@ -14,3 +14,5 @@ StatusCode fault_bps_init(BpsStorage *storage);
 StatusCode fault_bps_set(uint8_t fault_bitmask);
 
 StatusCode fault_bps_clear(uint8_t fault_bitmask);
+
+uint8_t fault_bps_get(void);

projects/bms_carrier/inc/relays.h

@@ -11,9 +11,19 @@
 #include "status.h"
 #include "task.h"
 
-#define BMS_CLOSE_RELAYS_DELAY 300
-typedef enum RelayType { NO_RELAYS = 0, POS_RELAY, NEG_RELAY, SOLAR_RELAY } RelayType;
+#define BMS_CLOSE_RELAYS_DELAY_MS 300
 
-void bms_relay_fault(void);
+// Enumerated set of relays to be closed
+typedef enum RelayType {
+  NO_RELAYS = 0,
+  POS_RELAY,
+  NEG_RELAY,
+  SOLAR_RELAY,
+  RELAY_CHECK,
+} RelayType;
 
+// Closes relays in sequence
 StatusCode init_bms_relays(void);
+
+// Turns off GPIOs to open relays
+void bms_relay_fault(void);

projects/bms_carrier/src/fault_bps.c

@@ -7,11 +7,10 @@ StatusCode fault_bps_init(BpsStorage *storage) {
   return STATUS_CODE_OK;
 }
 
-// TODO: These faulting mechanism will be changing substantially
 // Fault BPS and open relays
 StatusCode fault_bps_set(uint8_t fault_bitmask) {
+  // NOTE(Mitch): adding log statements in this function may cause hardfault
   s_bps_storage->fault_bitset |= (1 << fault_bitmask);
-  LOG_DEBUG("FAULT_BITMASK: %d\n", fault_bitmask);
   if (s_bps_storage->fault_bitset & 0x7) {
     s_bps_storage->fault_bitset |= (1 << 15);
   } else {
@@ -27,3 +26,7 @@ StatusCode fault_bps_clear(uint8_t fault_bitmask) {
   s_bps_storage->fault_bitset &= ~(1 << fault_bitmask);
   return STATUS_CODE_OK;
 }
+
+uint8_t fault_bps_get(void) {
+  return s_bps_storage->fault_bitset;
+}

projects/bms_carrier/src/main.c

@@ -66,6 +66,10 @@ void run_medium_cycle() {
 
 void run_slow_cycle() {
   cell_discharge(&bms_storage.ltc_afe_storage);
+
+  if (fault_bps_get()) {
+    LOG_DEBUG("FAULT_BITMASK: %d\n", fault_bps_get());
+  }
 }
 
 int main() {

projects/bms_carrier/src/relays.c

@@ -1,17 +1,24 @@
 #include "relays.h"
 
+#include "bms.h"
+
 static RelayType relay_toggle = NO_RELAYS;
 static SoftTimer relays_timer;
 
 static const GpioAddress pos_relay_en = { .port = GPIO_PORT_B, .pin = 8 };
-static const GpioAddress pos_relay_sense = { .port = GPIO_PORT_B, .pin = 5 };
+// TODO(mitch) below address does not match schematic but is set when pos relay is on
+static const GpioAddress pos_relay_sense = { .port = GPIO_PORT_B, .pin = 7 };
 
 static const GpioAddress neg_relay_en = { .port = GPIO_PORT_B, .pin = 4 };
 static const GpioAddress neg_relay_sense = { .port = GPIO_PORT_B, .pin = 3 };
 
 static const GpioAddress solar_relay_en = { .port = GPIO_PORT_C, .pin = 13 };
 static const GpioAddress solar_relay_sense = { .port = GPIO_PORT_B, .pin = 9 };
 
+#define NUM_BMS_RELAYS 3
+static const GpioAddress s_relays_sense[NUM_BMS_RELAYS] = { pos_relay_sense, neg_relay_sense,
+                                                            solar_relay_sense };
+
 static void prv_close_relays(SoftTimerId id) {
   // 200 MS GAP BETWEEN EACH RELAY BC OF CURRENT DRAW
   switch (relay_toggle) {
@@ -30,14 +37,29 @@ static void prv_close_relays(SoftTimerId id) {
     case NEG_RELAY: {
       gpio_set_state(&solar_relay_en, GPIO_STATE_HIGH);
       relay_toggle = SOLAR_RELAY;
+      soft_timer_start(&relays_timer);
       break;
     }
     case SOLAR_RELAY: {
       GpioState sense_state;
       gpio_get_state(&pos_relay_sense, &sense_state);
       gpio_get_state(&neg_relay_sense, &sense_state);
       gpio_get_state(&solar_relay_sense, &sense_state);
+      relay_toggle = RELAY_CHECK;
+      soft_timer_start(&relays_timer);
+      break;
     }
+    case RELAY_CHECK: {
+      GpioState sense_state;
+      for (uint8_t i = 0; i < NUM_BMS_RELAYS; i++) {
+        gpio_get_state(&s_relays_sense[i], &sense_state);
+        if (sense_state != GPIO_STATE_HIGH) {
+          fault_bps_set(BMS_FAULT_RELAY_CLOSE_FAILED);
+        }
+      }
+      break;
+    }
+
     default:
       // FAULT? SHOULD NEVER BE DEFAULT
       break;
@@ -62,7 +84,7 @@ StatusCode init_bms_relays() {
   gpio_init_pin(&neg_relay_sense, GPIO_INPUT_FLOATING, GPIO_STATE_LOW);
   gpio_init_pin(&solar_relay_sense, GPIO_INPUT_FLOATING, GPIO_STATE_LOW);
 
-  soft_timer_init(BMS_CLOSE_RELAYS_DELAY, prv_close_relays, &relays_timer);
+  soft_timer_init(BMS_CLOSE_RELAYS_DELAY_MS, prv_close_relays, &relays_timer);
   set_battery_relay_info_state(EE_RELAY_STATE_CLOSE);
   soft_timer_start(&relays_timer);
   return STATUS_CODE_OK;

projects/centre_console/inc/cc_hw_defs.h

@@ -26,10 +26,23 @@
   { .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 \
   { .port = GPIO_PORT_A, .pin = 10 }
 
+// Steering GPIOs
+#define TURN_SIGNAL_GPIO \
+  { .port = GPIO_PORT_A, .pin = 6 }
+#define CC_CHANGE_GPIO \
+  { .port = GPIO_PORT_A, .pin = 7 }
+#define CC_TOGGLE_GPIO \
+  { .port = GPIO_PORT_B, .pin = 12 }
+
+// Pedal GPIOs
+#define BRAKE_LIMIT_SWITCH \
+  { .port = GPIO_PORT_B, .pin = 13 }
+#define ADC_HALL_SENSOR \
+  { .port = GPIO_PORT_A, .pin = 0 }
+
 // Seven Segment display GPIO Addresses
 // Aux Batt
 #define AUX_DISP1 \

projects/centre_console/inc/pedal.h

@@ -8,17 +8,15 @@
 
 #include "adc.h"
 #include "calib.h"
+#include "cc_hw_defs.h"
 #include "interrupt.h"
 #include "log.h"
 #include "pedal_calib.h"
 #include "status.h"
 
-#define BRAKE_LIMIT_SWITCH \
-  { .port = GPIO_PORT_B, .pin = 13 }
-
-#define ADC_HALL_SENSOR \
-  { .port = GPIO_PORT_A, .pin = 0 }
-
+// Runs a pedal cycle to update throttle and brake values
 void pedal_run();
 
+// Initializes pedal peripherals
+// Must be called before adc_init
 StatusCode pedal_init(PedalCalibBlob *calib_blob);

projects/centre_console/inc/steering.h

@@ -2,6 +2,7 @@
 
 #include "adc.h"
 #include "can.h"
+#include "cc_hw_defs.h"
 #include "gpio.h"
 #include "gpio_it.h"
 #include "gpio_mcu.h"
@@ -18,15 +19,6 @@
 #define CRUISE_CONTROl_STALK_SPEED_DECREASE_VOLTAGE_MV 775
 #define CRUISE_CONTROl_STALK_NEUTRAL_VOLTAGE_MV 3300
 
-#define TURN_SIGNAL_GPIO \
-  { .port = GPIO_PORT_A, .pin = 6 }
-
-#define CC_CHANGE_GPIO \
-  { .port = GPIO_PORT_A, .pin = 7 }
-
-#define CC_TOGGLE_GPIO \
-  { .port = GPIO_PORT_B, .pin = 12 }
-
 #define CC_TOGGLE_EVENT 0x0
 
 // TurnSignal Values for each state
@@ -42,9 +34,11 @@ typedef enum {
   CC_INCREASE_MASK = 0x02,
   CC_TOGGLE_MASK = 0x04,
 } CruiseControlMask;
+
 // Initializes the ADC input for the ctrl stalk as well as the gpio interrupt for the toggle
 // Must be called before adc_init()
 StatusCode steering_init();
+
 // Reads the analog input, determines a light state, and sets the requisite value in the can message
 // Also reads the toggle notification state and sets the requisite value in the can message
 void steering_input();

projects/centre_console/src/main.c

@@ -88,8 +88,9 @@ int main() {
   LOG_DEBUG("Welcome to TEST! \n");
 
   init_master_task();
-  // display_init();
+  // display_ini();
   tasks_start();
+  display_init();
 
   LOG_DEBUG("exiting main? \n");
   return 0;