BPS Fault Indicator

projects/bms_carrier/inc/bms.h

@@ -43,4 +43,5 @@ typedef enum {
   BMS_FAULT_UNDERVOLTAGE,
   BMS_FAULT_KILLSWITCH,
   BMS_FAULT_RELAY_CLOSE_FAILED,
+  BMS_FAULT_DISCONNECTED
 } BmsFault;

projects/power_distribution/inc/outputs.h

@@ -65,6 +65,7 @@ typedef enum {
   OUTPUT_GROUP_POWER_OFF,
   OUTPUT_GROUP_POWER_DRIVE,
   OUTPUT_GROUP_POWER_FAULT,
+  OUTPUT_GROUP_BPS,
   NUM_OUTPUT_GROUPS,
 } OutputGroup;
 

projects/power_distribution/inc/pd_fault.h

@@ -3,8 +3,11 @@
 #include <stdint.h>
 
 #include "status.h"
+
+#define BPS_FAULT_LIGHT_PERIOD_MS 500  // Signal blink frequency of 1Hz
 /*
  * @brief Checks for PD fault states and updates fault bitset CAN message
  * @return STATUS_CODE_OK on success or appropriate error code
  */
 uint8_t check_pd_fault(void);
+StatusCode init_bps_fault(void);

projects/power_distribution/src/main.c

@@ -10,6 +10,7 @@
 #include "log.h"
 #include "master_task.h"
 #include "output_current_sense.h"
+#include "pd_fault.h"
 #include "pin_defs.h"
 #include "power_seq_fsm.h"
 #include "tasks.h"
@@ -64,6 +65,7 @@ int main() {
   // set_medium_cycle_count(2);   // adjust medium cycle count to run once per 500ms
   init_power_seq();
   init_lights();
+  init_bps_fault();
 
   LOG_DEBUG("Welcome to PD!\n");
   init_master_task();

projects/power_distribution/src/output_config.c

@@ -322,9 +322,11 @@ static OutputGroupDef s_output_group_power_drive = { .num_outputs = 9,
                                                                   DRIVER_FAN, REAR_CAM_LCD } };
 
 static OutputGroupDef s_output_group_power_fault = {
-  .num_outputs = 5, .outputs = { CENTER_CONSOLE, BMS_DCDC, PEDAL, STEERING, BPS_LIGHT }
+  .num_outputs = 4, .outputs = { CENTER_CONSOLE, BMS_DCDC, PEDAL, STEERING }
 };
 
+static OutputGroupDef s_output_group_bps = { .num_outputs = 1, .outputs = { BPS_LIGHT } };
+
 static OutputGroupDef s_output_group_test = { .num_outputs = 2, .outputs = { STEERING, PEDAL } };
 
 const OutputGroupDef *g_output_group_map[NUM_OUTPUT_GROUPS] = {
@@ -336,4 +338,5 @@ const OutputGroupDef *g_output_group_map[NUM_OUTPUT_GROUPS] = {
   [OUTPUT_GROUP_POWER_OFF] = &s_output_group_power_off,
   [OUTPUT_GROUP_POWER_DRIVE] = &s_output_group_power_drive,
   [OUTPUT_GROUP_POWER_FAULT] = &s_output_group_power_fault,
+  [OUTPUT_GROUP_BPS] = &s_output_group_bps,
 };

projects/power_distribution/src/pd_fault.c

@@ -4,10 +4,15 @@
 #include "exported_enums.h"
 #include "gpio.h"
 #include "log.h"
+#include "outputs.h"
 #include "pin_defs.h"
+#include "power_distribution_getters.h"
 #include "power_distribution_setters.h"
+#include "soft_timer.h"
 
 static uint8_t s_fault_bitset = 0;
+static OutputState bps_light_state = OUTPUT_STATE_OFF;
+static SoftTimer bps_timer;
 
 // Fault pin address definitions
 static const GpioAddress aux_valid1 = AUX_VALID1;
@@ -43,9 +48,25 @@ static bool prv_check_dcdc_fault(void) {
   return (dcdc_valid1_state == GPIO_STATE_HIGH || dcdc_valid2_state == GPIO_STATE_HIGH);
 }
 
+static void prv_lights_bps_fault(SoftTimerId id) {
+  if (get_battery_status_fault() || g_tx_struct.pd_status_bps_persist) {
+    bps_light_state ^= 1;
+    pd_set_output_group(OUTPUT_GROUP_BPS, bps_light_state);
+  } else {
+    bps_light_state = 0;
+    pd_set_output_group(OUTPUT_GROUP_BPS, bps_light_state);
+  }
+  soft_timer_start(&bps_timer);
+}
+
 uint8_t check_pd_fault(void) {
   prv_set_fault_bit(EE_PD_STATUS_FAULT_BITSET_AUX_FAULT_MASK, prv_check_aux_fault());
   prv_set_fault_bit(EE_PD_STATUS_FAULT_BITSET_DCDC_FAULT_MASK, prv_check_dcdc_fault());
   set_pd_status_fault_bitset(s_fault_bitset);
   return s_fault_bitset;
 }
+
+StatusCode init_bps_fault(void) {
+  soft_timer_init_and_start(BPS_FAULT_LIGHT_PERIOD_MS, prv_lights_bps_fault, &bps_timer);
+  return STATUS_CODE_OK;
+}

projects/power_distribution/src/power_seq_fsm.c

@@ -93,6 +93,9 @@ static void prv_fault_state_output(void *context) {
   s_bps_storage.fault_bitset = get_battery_status_fault();
   s_bps_storage.vehicle_speed =
       (get_motor_velocity_velocity_l() + get_motor_velocity_velocity_r()) / 2;
+  if (s_bps_storage.fault_bitset == 0) {
+    s_bps_storage.fault_bitset = (1 << 10);  // BMS NOT CONNECTED
+  }
   persist_commit(&s_persist);
   pd_set_active_output_group(OUTPUT_GROUP_POWER_FAULT);
   set_pd_status_bps_persist(s_bps_storage.fault_bitset);