First spin fixups (#195)

Co-authored-by: Caio DaSilva <dasilva.cai@northeastern.edu>
Co-authored-by: Caio DaSilva <145620095+caiodasilva2005@users.noreply.github.com>

Author: jr1221

.mxproject

@@ -94,13 +94,13 @@ ETH.IPParameters=MediaInterface
 ETH.MediaInterface=HAL_ETH_RMII_MODE
 FDCAN2.CalculateBaudRateNominal=500000
 FDCAN2.CalculateTimeBitNominal=2000
-FDCAN2.CalculateTimeQuantumNominal=200.0
+FDCAN2.CalculateTimeQuantumNominal=125.0
 FDCAN2.ExtFiltersNbr=8
 FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,Mode,StdFiltersNbr,ExtFiltersNbr
 FDCAN2.Mode=FDCAN_MODE_NORMAL
-FDCAN2.NominalPrescaler=5
-FDCAN2.NominalTimeSeg1=1
-FDCAN2.NominalTimeSeg2=8
+FDCAN2.NominalPrescaler=8
+FDCAN2.NominalTimeSeg1=11
+FDCAN2.NominalTimeSeg2=4
 FDCAN2.StdFiltersNbr=12
 File.Version=6
 GPDMA1.CIRCULARMODE_GPDMACH4=ENABLE
@@ -752,7 +752,7 @@ ProjectManager.RegisterCallBack=
 ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=CMake
 ProjectManager.ToolChainLocation=
-ProjectManager.UAScriptAfterPath=
+ProjectManager.UAScriptAfterPath=post_cubemx.sh
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
 ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPDMA1_Init-GPDMA1-false-HAL-true,3-MX_GPIO_Init-GPIO-false-HAL-true,4-MX_ICACHE_Init-ICACHE-false-HAL-true,5-MX_NetXDuo_Init-NETXDUO-false-HAL-false,6-MX_ADC1_Init-ADC1-false-HAL-true,7-MX_ADC2_Init-ADC2-false-HAL-true,8-MX_FDCAN2_Init-FDCAN2-false-HAL-true,9-MX_ETH_Init-ETH-false-HAL-true,10-MX_I2C2_Init-I2C2-false-HAL-true,11-MX_LPUART1_UART_Init-LPUART1-false-HAL-true,12-MX_SPI2_Init-SPI2-false-HAL-true,13-MX_UART7_Init-UART7-false-HAL-true,14-MX_DCACHE1_Init-DCACHE1-false-HAL-true,15-MX_IWDG_Init-IWDG-false-HAL-true,0-MX_CORTEX_M33_NS_Init-CORTEX_M33_NS-false-HAL-true,0-MX_PWR_Init-PWR-false-HAL-true
@@ -773,7 +773,8 @@ RCC.DACFreq_Value=32768
 RCC.EPOD_VALUE=25000000
 RCC.ETHFreq_Value=175000000
 RCC.FCLKCortexFreq_Value=175000000
-RCC.FDCANFreq_Value=25000000
+RCC.FDCANClockSelection=RCC_FDCANCLKSOURCE_PLL2Q
+RCC.FDCANFreq_Value=64000000
 RCC.FamilyName=M
 RCC.HCLKFreq_Value=175000000
 RCC.HSE_VALUE=25000000
@@ -784,7 +785,7 @@ RCC.I2C2Freq_Value=175000000
 RCC.I2C3Freq_Value=175000000
 RCC.I2C4Freq_Value=175000000
 RCC.I3C1Freq_Value=175000000
-RCC.IPParameters=ADCFreq_Value,AHBFreq_Value,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,APB3Freq_Value,CECFreq_Value,CKPERFreq_Value,CRSFreq_Value,CSI_VALUE,CortexFreq_Value,DACFreq_Value,EPOD_VALUE,ETHFreq_Value,FCLKCortexFreq_Value,FDCANFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI48_VALUE,HSI_VALUE,I2C1Freq_Value,I2C2Freq_Value,I2C3Freq_Value,I2C4Freq_Value,I3C1Freq_Value,LPTIM1Freq_Value,LPTIM2Freq_Value,LPTIM3Freq_Value,LPTIM4Freq_Value,LPTIM5Freq_Value,LPTIM6Freq_Value,LPUART1Freq_Value,LSCOPinFreq_Value,LSIRC_VALUE,MCO1PinFreq_Value,MCO2PinFreq_Value,OCTOSPIMFreq_Value,PLL2FRACN,PLL2M,PLL2N,PLL2P,PLL2PoutputFreq_Value,PLL2Q,PLL2QoutputFreq_Value,PLL2RoutputFreq_Value,PLL2Source,PLL3PoutputFreq_Value,PLL3QoutputFreq_Value,PLL3RoutputFreq_Value,PLLFRACN,PLLM,PLLN,PLLPoutputFreq_Value,PLLQoutputFreq_Value,PLLSourceVirtual,PWRFreq_Value,RNGFreq_Value,SAI1Freq_Value,SAI2Freq_Value,SDMMC1Freq_Value,SDMMC2Freq_Value,SPI1Freq_Value,SPI2CLockSelection,SPI2Freq_Value,SPI3Freq_Value,SPI4Freq_Value,SPI5Freq_Value,SPI6Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,UART12Freq_Value,UART4Freq_Value,UART5Freq_Value,UART7Freq_Value,UART8Freq_Value,UART9Freq_Value,UCPD1outputFreq_Value,USART10Freq_Value,USART11Freq_Value,USART1Freq_Value,USART2Freq_Value,USART3Freq_Value,USART6Freq_Value,USBFreq_Value,VCOInput2Freq_Value,VCOInput3Freq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VCOPLL2OutputFreq_Value,VCOPLL3OutputFreq_Value
+RCC.IPParameters=ADCFreq_Value,AHBFreq_Value,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,APB3Freq_Value,CECFreq_Value,CKPERFreq_Value,CRSFreq_Value,CSI_VALUE,CortexFreq_Value,DACFreq_Value,EPOD_VALUE,ETHFreq_Value,FCLKCortexFreq_Value,FDCANClockSelection,FDCANFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI48_VALUE,HSI_VALUE,I2C1Freq_Value,I2C2Freq_Value,I2C3Freq_Value,I2C4Freq_Value,I3C1Freq_Value,LPTIM1Freq_Value,LPTIM2Freq_Value,LPTIM3Freq_Value,LPTIM4Freq_Value,LPTIM5Freq_Value,LPTIM6Freq_Value,LPUART1Freq_Value,LSCOPinFreq_Value,LSIRC_VALUE,MCO1PinFreq_Value,MCO2PinFreq_Value,OCTOSPIMFreq_Value,PLL2FRACN,PLL2M,PLL2N,PLL2P,PLL2PoutputFreq_Value,PLL2Q,PLL2QoutputFreq_Value,PLL2RoutputFreq_Value,PLL2Source,PLL3PoutputFreq_Value,PLL3QoutputFreq_Value,PLL3RoutputFreq_Value,PLLFRACN,PLLM,PLLN,PLLPoutputFreq_Value,PLLQoutputFreq_Value,PLLSourceVirtual,PWRFreq_Value,RNGFreq_Value,SAI1Freq_Value,SAI2Freq_Value,SDMMC1Freq_Value,SDMMC2Freq_Value,SPI1Freq_Value,SPI2CLockSelection,SPI2Freq_Value,SPI3Freq_Value,SPI4Freq_Value,SPI5Freq_Value,SPI6Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,UART12Freq_Value,UART4Freq_Value,UART5Freq_Value,UART7Freq_Value,UART8Freq_Value,UART9Freq_Value,UCPD1outputFreq_Value,USART10Freq_Value,USART11Freq_Value,USART1Freq_Value,USART2Freq_Value,USART3Freq_Value,USART6Freq_Value,USBFreq_Value,VCOInput2Freq_Value,VCOInput3Freq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VCOPLL2OutputFreq_Value,VCOPLL3OutputFreq_Value
 RCC.LPTIM1Freq_Value=175000000
 RCC.LPTIM2Freq_Value=175000000
 RCC.LPTIM3Freq_Value=175000000

Cerberus-2.0.ioc

@@ -32,6 +32,7 @@
 #include "u_queues.h"
 #include "u_debug.h"
 #include "u_lightning.h"
+#include "u_tx_debug.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -85,6 +86,7 @@ SPI_HandleTypeDef hspi2;
 
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);
+void PeriphCommonClock_Config(void);
 static void MX_GPDMA1_Init(void);
 static void MX_GPIO_Init(void);
 static void MX_ICACHE_Init(void);
@@ -158,7 +160,36 @@ void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorSt
 
     if (protocol_status.BusOff != 0)  // If Bus-Off error occurred
     {
+        PRINTLN_ERROR("CAN ENCOUNTERED BUS OFF STATE");
         CLEAR_BIT(hfdcan->Instance->CCCR, FDCAN_CCCR_INIT);  // Clear INIT bit to recover from Bus-Off
+        /* get the FDCAN hal errors. */
+        uint8_t status = HAL_FDCAN_GetError(can1.hcan);
+        printf("can - HAL_FDCAN_GetError() status: %d\n", status);
+
+        FDCAN_ProtocolStatusTypeDef statt = { 0 };
+        status = HAL_FDCAN_GetProtocolStatus(can1.hcan, &statt);
+        printf("can - HAL_FDCAN_GetProtocolStatus() status: %d\n", status);
+
+        /* Big statt */
+        printf("can - HAL_FDCAN_GetProtocolStatus() - LastErrorCode=%ld\n", statt.LastErrorCode);
+        printf("can - HAL_FDCAN_GetProtocolStatus() - DataLastErrorCode=%ld\n", statt.DataLastErrorCode);
+        printf("can - HAL_FDCAN_GetProtocolStatus() - Activity=%ld\n", statt.Activity);
+        printf("can - HAL_FDCAN_GetProtocolStatus() - ErrorPassive=%ld\n", statt.ErrorPassive);
+        printf("can - HAL_FDCAN_GetProtocolStatus() - Warning=%ld\n", statt.Warning);
+        printf("can - HAL_FDCAN_GetProtocolStatus() - BusOff=%ld\n", statt.BusOff);
+        printf("can - HAL_FDCAN_GetProtocolStatus() - RxESIflag=%ld\n", statt.RxESIflag);
+        printf("can - HAL_FDCAN_GetProtocolStatus() - RxBRSflag=%ld\n", statt.RxBRSflag);
+        printf("can - HAL_FDCAN_GetProtocolStatus() - RxFDFflag=%ld\n", statt.RxFDFflag);
+        printf("can - HAL_FDCAN_GetProtocolStatus() - ProtocolException=%ld\n", statt.ProtocolException);
+        printf("can - HAL_FDCAN_GetProtocolStatus() - TDCvalue=%ld\n", statt.TDCvalue);
+
+        FDCAN_ErrorCountersTypeDef statt2 = { 0 };
+        status = HAL_FDCAN_GetErrorCounters(can1.hcan, &statt2);
+        printf("can - HAL_FDCAN_GetErrorCounters() status: %d\n", status);
+        printf("can - HAL_FDCAN_GetErrorCounters() - TxErrorCnt: %ld\n", statt2.TxErrorCnt);
+        printf("can - HAL_FDCAN_GetErrorCounters() - RxErrorCnt: %ld\n", statt2.RxErrorCnt);
+        printf("can - HAL_FDCAN_GetErrorCounters() - RxErrorPassive: %ld\n", statt2.RxErrorPassive);
+        printf("can - HAL_FDCAN_GetErrorCounters() - ErrorLogging: %ld\n", statt2.ErrorLogging);
     }
 }
 
@@ -187,6 +218,9 @@ int main(void)
   /* Configure the system clock */
   SystemClock_Config();
 
+  /* Configure the peripherals common clocks */
+  PeriphCommonClock_Config();
+
   /* USER CODE BEGIN SysInit */
   //HAL_Delay(10000);
   /* USER CODE END SysInit */
@@ -285,6 +319,36 @@ void SystemClock_Config(void)
   __HAL_FLASH_SET_PROGRAM_DELAY(FLASH_PROGRAMMING_DELAY_2);
 }
 
+/**
+  * @brief Peripherals Common Clock Configuration
+  * @retval None
+  */
+void PeriphCommonClock_Config(void)
+{
+  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
+
+  /** Initializes the peripherals clock
+  */
+  PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_ADCDAC|RCC_PERIPHCLK_FDCAN
+                              |RCC_PERIPHCLK_SPI2;
+  PeriphClkInitStruct.PLL2.PLL2Source = RCC_PLL2_SOURCE_HSE;
+  PeriphClkInitStruct.PLL2.PLL2M = 5;
+  PeriphClkInitStruct.PLL2.PLL2N = 64;
+  PeriphClkInitStruct.PLL2.PLL2P = 5;
+  PeriphClkInitStruct.PLL2.PLL2Q = 5;
+  PeriphClkInitStruct.PLL2.PLL2R = 2;
+  PeriphClkInitStruct.PLL2.PLL2RGE = RCC_PLL2_VCIRANGE_2;
+  PeriphClkInitStruct.PLL2.PLL2VCOSEL = RCC_PLL2_VCORANGE_WIDE;
+  PeriphClkInitStruct.PLL2.PLL2FRACN = 0;
+  PeriphClkInitStruct.PLL2.PLL2ClockOut = RCC_PLL2_DIVP|RCC_PLL2_DIVQ;
+  PeriphClkInitStruct.FdcanClockSelection = RCC_FDCANCLKSOURCE_PLL2Q;
+  PeriphClkInitStruct.Spi2ClockSelection = RCC_SPI2CLKSOURCE_PLL2P;
+  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
 /**
   * @brief ADC1 Initialization Function
   * @param None
@@ -596,10 +660,10 @@ static void MX_FDCAN2_Init(void)
   hfdcan2.Init.AutoRetransmission = DISABLE;
   hfdcan2.Init.TransmitPause = DISABLE;
   hfdcan2.Init.ProtocolException = DISABLE;
-  hfdcan2.Init.NominalPrescaler = 5;
+  hfdcan2.Init.NominalPrescaler = 8;
   hfdcan2.Init.NominalSyncJumpWidth = 1;
-  hfdcan2.Init.NominalTimeSeg1 = 1;
-  hfdcan2.Init.NominalTimeSeg2 = 8;
+  hfdcan2.Init.NominalTimeSeg1 = 11;
+  hfdcan2.Init.NominalTimeSeg2 = 4;
   hfdcan2.Init.DataPrescaler = 1;
   hfdcan2.Init.DataSyncJumpWidth = 1;
   hfdcan2.Init.DataTimeSeg1 = 1;

Core/Src/main.c

@@ -592,22 +592,11 @@ void HAL_ETH_MspDeInit(ETH_HandleTypeDef* heth)
 void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* hfdcan)
 {
   GPIO_InitTypeDef GPIO_InitStruct = {0};
-  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
   if(hfdcan->Instance==FDCAN2)
   {
     /* USER CODE BEGIN FDCAN2_MspInit 0 */
 
     /* USER CODE END FDCAN2_MspInit 0 */
-
-  /** Initializes the peripherals clock
-  */
-    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
-    PeriphClkInitStruct.FdcanClockSelection = RCC_FDCANCLKSOURCE_HSE;
-    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
-    {
-      Error_Handler();
-    }
-
     /* Peripheral clock enable */
     __HAL_RCC_FDCAN_CLK_ENABLE();
 
@@ -919,32 +908,11 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
 void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi)
 {
   GPIO_InitTypeDef GPIO_InitStruct = {0};
-  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
   if(hspi->Instance==SPI2)
   {
     /* USER CODE BEGIN SPI2_MspInit 0 */
 
     /* USER CODE END SPI2_MspInit 0 */
-
-  /** Initializes the peripherals clock
-  */
-    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_SPI2;
-    PeriphClkInitStruct.PLL2.PLL2Source = RCC_PLL2_SOURCE_HSE;
-    PeriphClkInitStruct.PLL2.PLL2M = 5;
-    PeriphClkInitStruct.PLL2.PLL2N = 64;
-    PeriphClkInitStruct.PLL2.PLL2P = 5;
-    PeriphClkInitStruct.PLL2.PLL2Q = 5;
-    PeriphClkInitStruct.PLL2.PLL2R = 2;
-    PeriphClkInitStruct.PLL2.PLL2RGE = RCC_PLL2_VCIRANGE_2;
-    PeriphClkInitStruct.PLL2.PLL2VCOSEL = RCC_PLL2_VCORANGE_WIDE;
-    PeriphClkInitStruct.PLL2.PLL2FRACN = 0;
-    PeriphClkInitStruct.PLL2.PLL2ClockOut = RCC_PLL2_DIVP;
-    PeriphClkInitStruct.Spi2ClockSelection = RCC_SPI2CLKSOURCE_PLL2P;
-    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
-    {
-      Error_Handler();
-    }
-
     /* Peripheral clock enable */
     __HAL_RCC_SPI2_CLK_ENABLE();
 

Core/Src/stm32h5xx_hal_msp.c

@@ -204,12 +204,12 @@ lfiu_adc_t adc_getLfiuData(void) {
     sensors.raw[LFIU_1] = _mux_buffer[SEL2_HIGH];
     sensors.raw[LFIU_2] = _mux_buffer[SEL2_LOW];
 
-    serial_monitor("lfiu", "adc1_inp15", "%d", _adc1_buffer[ADC1_CHANNEL15]);
-    serial_monitor("lfiu", "_mux_buffer[SEL2_HIGH]", "%d", _mux_buffer[SEL2_HIGH]);
-    serial_monitor("lfiu", "_mux_buffer[SEL2_LOW]", "%d", _mux_buffer[SEL2_LOW]);
-    serial_monitor("lfiu", "sensors.raw[LFIU_1]", "%d", sensors.raw[LFIU_1]);
-    serial_monitor("lfiu", "sensors.raw[LFIU_2]", "%d", sensors.raw[LFIU_2]);
-    serial_monitor("lfiu", "mux_state (0=HIGH, 1=LOW)", "%d", mux_state_debug);
+    // serial_monitor("lfiu", "adc1_inp15", "%d", _adc1_buffer[ADC1_CHANNEL15]);
+    // serial_monitor("lfiu", "_mux_buffer[SEL2_HIGH]", "%d", _mux_buffer[SEL2_HIGH]);
+    // serial_monitor("lfiu", "_mux_buffer[SEL2_LOW]", "%d", _mux_buffer[SEL2_LOW]);
+    // serial_monitor("lfiu", "sensors.raw[LFIU_1]", "%d", sensors.raw[LFIU_1]);
+    // serial_monitor("lfiu", "sensors.raw[LFIU_2]", "%d", sensors.raw[LFIU_2]);
+    // serial_monitor("lfiu", "mux_state (0=HIGH, 1=LOW)", "%d", mux_state_debug);
 
     /* Calculate the ADC voltage. */
     const float V_REF = 3.3f;
@@ -270,6 +270,6 @@ lvread_adc_t adc_getLVData_2(void) {
     /* Convert the raw ADC reading directly to the full LV Voltage. */
     // Based on a linear fit computed via experimental data from VCU 001, we have: f(x) = 0.008988x - 0.89151  V, where f(x) is the full LV Voltage and x is the raw ADC reading.
     data.voltage = (data.raw*0.008988) - 0.89151;
-    
+
     return data;
 }

Core/Src/u_adc.c

@@ -44,7 +44,7 @@ int lightning_init(void) {
 
 /* Restarts the lightning fault timer. */
 int lightning_handleIMUMessage(void) {
-    
+
     int status = timer_restart(&lightning_fault_timer);
     if (status != U_SUCCESS) {
         PRINTLN_ERROR("Failed to restart lightning Fault timer (Status: %d).", status);
@@ -68,8 +68,7 @@ void update_lightning_board_status(bool bms_gpio, bool imd_gpio) {
         }
         else
         {
-            status = LIGHT_GREEN; 
+            status = LIGHT_GREEN;
         }
         send_lightning_board_status(status);
 }
-

Core/Src/u_lightning.c

@@ -236,9 +236,9 @@ static void _calculate_accel_faults(float voltage_accel1, float voltage_accel2,
         _drive_lock_unset(ACCEL_SC);
     }
 
-	serial_monitor("sc", "voltage_accel1", "%f", voltage_accel1);
-	serial_monitor("sc", "voltage_accel2", "%f", voltage_accel2);
-	serial_monitor("sc", "drive lock sc state", "%d", _get_drive_lock_state(ACCEL_SC));
+	// serial_monitor("sc", "voltage_accel1", "%f", voltage_accel1);
+	// serial_monitor("sc", "voltage_accel2", "%f", voltage_accel2);
+	// serial_monitor("sc", "drive lock sc state", "%d", _get_drive_lock_state(ACCEL_SC));
 
     /* Pedal Difference Fault */
     /* Detects if the two accelerator pedal sensors give readings that differ by more than PEDAL_DIFF_THRESH. */

Core/Src/u_pedals.c

@@ -47,19 +47,19 @@ queue_t state_transition_queue = {
     .capacity = 10                         /* Number of messages the queue can hold. */
 };
 
-/* Initializes all ThreadX queues. 
+/* Initializes all ThreadX queues.
 *  Calls to _create_queue() should go in here
 */
 uint8_t queues_init(TX_BYTE_POOL *byte_pool) {
 
     /* Create Queues */
-    CATCH_ERROR(create_queue(byte_pool, &eth_incoming), U_SUCCESS); // Create Incoming Ethernet Queue
-    CATCH_ERROR(create_queue(byte_pool, &eth_outgoing), U_SUCCESS); // Create Outgoing Ethernet Queue
+    // CATCH_ERROR(create_queue(byte_pool, &eth_incoming), U_SUCCESS); // Create Incoming Ethernet Queue
+    // CATCH_ERROR(create_queue(byte_pool, &eth_outgoing), U_SUCCESS); // Create Outgoing Ethernet Queue
     CATCH_ERROR(create_queue(byte_pool, &can_incoming), U_SUCCESS); // Create Incoming CAN Queue
     CATCH_ERROR(create_queue(byte_pool, &can_outgoing), U_SUCCESS); // Create Outgoing CAN Queue
     CATCH_ERROR(create_queue(byte_pool, &faults), U_SUCCESS);       // Create Faults Queue
     CATCH_ERROR(create_queue(byte_pool, &state_transition_queue), U_SUCCESS); // Create state transition queue.
 
     PRINTLN_INFO("Ran queues_init().");
     return U_SUCCESS;
-}
+}

Core/Src/u_queues.c

@@ -33,8 +33,8 @@ static timer_t reverse_sound_timer = {
 /* Sets (i.e. turns on) the RTDS pin. */
 static void _set_rtds_pin(void) {
     /* If shutdown is active, make it impossible to sound RTDS. */
-    if(is_shutdown_active() == true) {
-        return; // Return early. Never ever have RTDS be high when shutdown is active.
+    if(!is_shutdown_active()) {
+        return; // Return early. Never ever have RTDS be high when shutdown is open.
     }
 
     HAL_GPIO_WritePin(RTDS_GPIO_GPIO_Port, RTDS_GPIO_Pin, GPIO_PIN_SET); // Turn on RTDS pin.
@@ -135,15 +135,15 @@ int rtds_cancelRTDS(void) {
 int rtds_startReverseSound(void) {
     /* Stop the Reverse Sound if it's already active. */
     rtds_stopReverseSound();
-    
+
     /* Activate the reverse sound timer to start periodic beeping */
     int status = timer_start(&reverse_sound_timer);
     if(status != U_SUCCESS) {
         PRINTLN_ERROR("Failed to activate reverse sound timer (Status: %d).", status);
         queue_send(&faults, &(fault_t){RTDS_FAULT}, TX_NO_WAIT);
         return U_ERROR;
     }
-    
+
     PRINTLN_INFO("Started reverse sound.");
     return U_SUCCESS;
 }
@@ -152,15 +152,15 @@ int rtds_startReverseSound(void) {
 int rtds_stopReverseSound(void) {
     /* Turn off the RTDS sound */
     _clear_rtds_pin();
-    
+
     /* Deactivate the reverse sound timer */
     int status = timer_stop(&reverse_sound_timer);
     if(status != U_SUCCESS) {
         PRINTLN_ERROR("Failed to deactivate reverse sound timer (Status: %d).", status);
         queue_send(&faults, &(fault_t){RTDS_FAULT}, TX_NO_WAIT);
         return U_ERROR;
     }
-    
+
     PRINTLN_INFO("Stopped reverse sound.");
     return U_SUCCESS;
 }
@@ -211,4 +211,4 @@ int rtds_isInSounding(bool* state) {
     }
 
     return U_SUCCESS;
-}
+}

Core/Src/u_rtds.c

@@ -10,10 +10,10 @@
 #include "can_messages_tx.h"
 
 /* Bool to track the BMS shutdown state. */
-static _Atomic bool bms_shutdown = true; // We should assume that we are shut down until BMS confirms that we aren't shut down.
+static _Atomic bool bms_shutdown = false; // We should assume that we are shutdown is open until BMS confirms that shutdown is active.
 // BMS periodically sends out a CAN message reporting the shutdown state. That state is tracked here.
-// When this bool is `false`, BMS is indicating that shutdown is NOT active, meaning that we are in normal operation and everything is good.
-// When this bool is `true`, BMS is indicating that shutdown IS active, which is bad.get_shutdown
+// When this bool is `false`, BMS is indicating that shutdown is open, which is bad.
+// When this bool is `true`, BMS is indicating that shutdown is closed, meaning that we are in normal operation and everything is good
 
 // callback for when either bms or imd indicates a fault - sets flag via arg
 static void _lightning_board_status_callback(void *arg) {