Pd cc bms mci changes (new boards + new fsm)

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))

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/centre_console.yaml

@@ -9,33 +9,47 @@
 # - 30-63: Data messages (usually not actionable by an onboard device)
 
 ---
-  Messages:
-    cc_power_control:
-      id: 8
-      target:
-        power_distribution:
-          watchdog: 0
-      critical: true
-      signals:
-        power_event: # (POWER_EV_NONE | POWER_EV_BTN | POWER_EV_BTN_AND_BRAKE)
-          length: 8
-        hazard_enabled:
-          length: 8
-
-    drive_output: 
-      id: 9
-      target:
-        motor_controller:
-          watchdog: 0
-      critical: true
-      signals:
-        target_velocity:
-          length: 32
-        drive_state:
-          length: 8
-        cruise_control:
-          length: 8
-        regen_braking:
-          length: 8
-        precharge:
-          length: 8
+Messages:
+  cc_info: 
+    id: 9
+    target:
+      motor_controller:
+        watchdog: 3
+      power_distribution:
+        watchdog: 3
+    critical: true
+    signals:
+      target_velocity:
+        length: 32
+      drive_state:
+        length: 8
+      cruise_control:
+        length: 8
+      regen_braking:
+        length: 8
+      hazard_enabled:
+        length: 8
+  cc_pedal:
+    id: 18
+    target:
+      motor_controller:
+        watchdog: 0
+      power_distribution:
+        watchdog: 0
+    signals:
+      throttle_output:
+        length: 32
+      brake_output:
+        length: 8
+  cc_steering:
+    id: 21
+    target:
+      power_distribution:
+        watchdog: 0
+      motor_controller:
+        watchdog: 0
+    signals:
+      input_cc:
+        length: 8 # (cc_toggle | cc_increse | cc_decrease)
+      input_lights:
+        length: 8 

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/new_can.yaml

@@ -13,8 +13,6 @@
     transmit_msg1:
       id: 0
       target:
-        centre_console:
-          watchdog: 3
         new_can:
           watchdog: 3
       critical: true
@@ -25,8 +23,6 @@
     transmit_msg2:
       id: 1
       target:
-        centre_console:
-          watchdog: 0
         new_can:
           watchdog: 0
       critical: true

libraries/codegen/boards/power_distribution.yaml

@@ -10,14 +10,6 @@
 
 ---
   Messages:
-    uv_cutoff_notification:
-      id: 45
-      target:
-        telemetry:
-          watchdog: 0
-      signals:
-        signal1:
-          length: 8
     current_measurement:
       id: 54
       target:
@@ -56,30 +48,16 @@
       signals:
         signal1:
           length: 8
-    power_info:
-      id: 3
+    pd_status:
+      id: 1
       target:
         centre_console:
-          watchdog: 0
+          watchdog: 3
       critical: true
       signals:
         power_state:
           length: 8
-        pd_fault:
-          length: 8
-    pd_status:
-      id: 1
-      target:
-        centre_console:
-          watchdog: 0
-      signals:
         fault_bitset:
           length: 8
-    bms_relays:
-      id: 10
-      target:
-        bms_carrier:
-          watchdog: 0
-      signals:
-        relays_state:
+        bps_persist:
           length: 8

libraries/ms-common/inc/exported_enums.h

@@ -17,8 +17,7 @@
 
 // Common Defines
 typedef enum {
-  EE_RELAY_STATE_OPEN = 0,
-  EE_RELAY_STATE_CLOSE,
+  EE_RELAY_STATE_CLOSE = 0,
   EE_RELAY_STATE_FAULT,
   NUM_EE_RELAY_STATES,
 } EERelayState;
@@ -44,14 +43,6 @@ typedef enum SteeringInfoDigitalMask {
 #define EE_STEERING_CC_TOGGLE_MASK (1 << EE_STEERING_CC_TOGGLE_BIT)
 
 // CENTRE CONSOLE SIGNALS
-// Drive Output
-typedef enum {
-  EE_CC_PWR_CTL_EVENT_NONE = 0,
-  EE_CC_PWR_CTL_EVENT_BTN,
-  EE_CC_PWR_CTL_EVENT_BTN_AND_BRAKE,
-  NUM_EE_CC_PWR_CTL_EVENTS,
-} CentreConsoleCCPwrEvent;
-
 typedef enum {
   EE_DRIVE_OUTPUT_CC_OFF_STATE = 0,  // Cruise control enabled,
   EE_DRIVE_OUTPUT_CC_ON_STATE,       // Cruise control disabled
@@ -80,8 +71,9 @@ typedef enum {
 // POWER DISTRIBUTION (TODO)
 typedef enum {
   EE_POWER_OFF_STATE = 0,
-  EE_POWER_ON_STATE,
+  EE_POWER_PRECHARGE_STATE,
   EE_POWER_DRIVE_STATE,
+  EE_POWER_FAULT_STATE
 } PowerDistributionPowerState;
 
 typedef enum {

libraries/ms-drivers/inc/ltc6811.h

@@ -74,17 +74,17 @@ static_assert(sizeof(LtcAfeConfigRegisterData) == 6, "LtcAfeConfigRegisterData m
 
 // COMM Register, refer to LTC6803 datasheet page 31, Table 15
 typedef struct {
-  uint16_t icom0 : 4;
-  uint16_t d0 : 8;
-  uint16_t fcom0 : 4;
+  uint8_t icom0 : 4;
+  uint8_t d0 : 8;
+  uint8_t fcom0 : 4;
 
-  uint16_t icom1 : 4;
-  uint16_t d1 : 8;
-  uint16_t fcom1 : 4;
+  uint8_t icom1 : 4;
+  uint8_t d1 : 8;
+  uint8_t fcom1 : 4;
 
-  uint16_t icom2 : 4;
-  uint16_t d2 : 8;
-  uint16_t fcom2 : 4;
+  uint8_t icom2 : 4;
+  uint8_t d2 : 8;
+  uint8_t fcom2 : 4;
 } _PACKED LtcAfeCommRegisterData;
 static_assert(sizeof(LtcAfeCommRegisterData) == 6, "LtcAfeCommRegisterData must be 6 bytes");
 
@@ -116,7 +116,7 @@ typedef struct {
   LtcAfeWriteDeviceConfigPacket devices[LTC_AFE_MAX_CELLS_PER_DEVICE];
 } _PACKED LtcAfeWriteConfigPacket;
 #define SIZEOF_LTC_AFE_WRITE_CONFIG_PACKET(devices) \
-  (LTC6811_CMD_SIZE + (devices) * sizeof(LtcAfeWriteConfigPacket))
+  (LTC6811_CMD_SIZE + (devices) * sizeof(LtcAfeWriteDeviceConfigPacket))
 
 typedef union {
   uint16_t voltages[3];
@@ -187,6 +187,10 @@ static_assert(sizeof(LtcAfeAuxRegisterGroupPacket) == 8,
 
 #define LTC6811_STCOMM_RESERVED (1 << 0) | (1 << 1) | (1 << 5) | (1 << 8) | (1 << 9) | (1 << 10)
 
+#define LTC6811_WRPWM_RESERVED (1 << 5)
+
+#define LTC6811_RDPWM_RESERVED (1 << 5) | (1 << 2)
+
 // command bits
 // see Table 40 (p. 62)
 #define LTC6811_GPIO1_PD_ON (0 << 3)
@@ -216,6 +220,7 @@ static_assert(sizeof(LtcAfeAuxRegisterGroupPacket) == 8,
 #define LTC6811_SWTRD (1 << 1)
 
 #define LTC6811_ADAX_GPIO1 0x01
+#define LTC6811_ADAX_GPIO4 0x04
 #define LTC6811_ADAX_MODE_FAST (0 << 8) | (1 << 7)
 
 #define LTC6811_ICOM_CSBM_LOW (1 << 3)
@@ -224,3 +229,6 @@ static_assert(sizeof(LtcAfeAuxRegisterGroupPacket) == 8,
 
 #define LTC6811_FCOM_CSBM_LOW (0 << 0)
 #define LTC6811_FCOM_CSBM_HIGH (1 << 3) | (1 << 0)
+
+// see Table 17 (p. 38)
+#define LTC6811_PWMC_DC_100 (0xF)

libraries/ms-drivers/inc/ltc_afe.h

@@ -21,11 +21,12 @@
 #include "status.h"
 
 // This is an arbitrary limitation, can be increased/decreased if needed
-#define LTC_AFE_MAX_DEVICES 5
+#define LTC_AFE_MAX_DEVICES 3
 // This is a device limitation
 #define LTC_AFE_MAX_CELLS_PER_DEVICE 12
+#define LTC_AFE_MAX_THERMISTORS_PER_DEVICE 8
 #define LTC_AFE_MAX_CELLS (LTC_AFE_MAX_DEVICES * LTC_AFE_MAX_CELLS_PER_DEVICE)
-#define LTC_AFE_MAX_THERMISTORS LTC_AFE_MAX_CELLS
+#define LTC_AFE_MAX_THERMISTORS (LTC_AFE_MAX_DEVICES * LTC_AFE_MAX_THERMISTORS_PER_DEVICE)
 
 #if defined(__GNUC__)
 #define _PACKED __attribute__((packed))
@@ -76,7 +77,6 @@ typedef struct LtcAfeStorage {
   uint16_t aux_index;
   uint16_t retry_count;
   uint16_t device_cell;
-  uint32_t timer_start;
 
   uint16_t cell_voltages[LTC_AFE_MAX_CELLS];
   uint16_t aux_voltages[LTC_AFE_MAX_THERMISTORS];

libraries/ms-drivers/inc/ltc_afe_impl.h

@@ -17,6 +17,9 @@
 // represent whether we should monitor the cell input for the given device.
 StatusCode ltc_afe_impl_init(LtcAfeStorage *afe, const LtcAfeSettings *settings);
 
+// Write an LTC config based on the given storage settings
+StatusCode ltc_afe_impl_write_config(LtcAfeStorage *afe);
+
 // Triggers a conversion. Note that we need to wait for the conversions to complete before the
 // readback will be valid.
 StatusCode ltc_afe_impl_trigger_cell_conv(LtcAfeStorage *afe);
@@ -25,7 +28,9 @@ StatusCode ltc_afe_impl_trigger_aux_conv(LtcAfeStorage *afe, uint8_t device_cell
 // Reads converted voltages from the AFE into the storage result arrays.
 StatusCode ltc_afe_impl_read_cells(LtcAfeStorage *afe);
 StatusCode ltc_afe_impl_read_aux(LtcAfeStorage *afe, uint8_t device_cell);
-
 // Mark cell for discharging (takes effect after config is re-written)
 // |cell| should be [0, LTC_AFE_MAX_CELLS)
 StatusCode ltc_afe_impl_toggle_cell_discharge(LtcAfeStorage *afe, uint16_t cell, bool discharge);
+
+// Sets the duty cycle to the same value for all cells on all afes
+StatusCode ltc_afe_impl_set_discharge_pwm_cycle(LtcAfeStorage *afe, uint8_t duty_cycle);