Changed is_shutdown_active() to is_shutdown_closed() (#196)

Author: bjackson312006

Core/Inc/u_shutdown.h

@@ -14,7 +14,7 @@ void update_bms_shutdown(bool new_state);
 void shutdown_process(void);
 
 /**
- * @brief  Indicates if shutdown is active or not.
- * @return The current shutdown state. `false` means that shutdown is NOT active, indicating normal operation. `true` means that shutdown IS active, which is bad.
+ * @brief  Indicates if shutdown is closed or not.
+ * @return `true` if shutdown is closed, or `false` if otherwise. Shutdown has to be closed for us to drive.
  */
-bool is_shutdown_active(void);
+bool is_shutdown_closed(void);

Core/Inc/u_statemachine.h

@@ -134,10 +134,6 @@ int fault();
  */
 void send_carstate_msg(void);
 
-/* BMS-Reported Shutdown! */
-void update_shutdown(bool new_shutdown);
-bool is_shutdown_active(void);
-
 /* Process the state machine */
 void statemachine_process(state_req_t new_state_req);
 int init_statemachine(void);

Core/Src/u_rtds.c

@@ -32,9 +32,9 @@ 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()) {
-        return; // Return early. Never ever have RTDS be high when shutdown is open.
+    /* If shutdown isn't closed, we can't drive. So, make it impossible to sound RTDS. */
+    if(!is_shutdown_closed()) {
+        return; // Return early so RTDS doesn't sound.
     }
 
     HAL_GPIO_WritePin(RTDS_GPIO_GPIO_Port, RTDS_GPIO_Pin, GPIO_PIN_SET); // Turn on RTDS pin.

Core/Src/u_shutdown.c

@@ -10,7 +10,7 @@
 #include "can_messages_tx.h"
 
 /* Bool to track the BMS shutdown state. */
-static _Atomic bool bms_shutdown = false; // We should assume that we are shutdown is open until BMS confirms that shutdown is active.
+static _Atomic bool bms_shutdown = false; // We should assume that we are shutdown is open (`false`) until BMS confirms that shutdown is open (`true`).
 // 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 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
@@ -25,8 +25,11 @@ void update_bms_shutdown(bool new_state) {
     bms_shutdown = new_state;
 }
 
-/* Indicates if shutdown is active. */
-bool is_shutdown_active(void) {
+/* Indicates if shutdown is closed or not.
+ * When shutdown is closed, this function returns `true`. Otherwise, this function returns `false`.
+ * Shutdown has to be closed for us to drive. When shutdown isn't closed, we are not allowed to drive.
+*/
+bool is_shutdown_closed(void) {
     return bms_shutdown;
 }
 

Core/Src/u_statemachine.c

@@ -54,7 +54,7 @@ void send_carstate_msg(void)
 		get_nero_state().home_mode,
 		get_nero_state().nero_index,
 		dti_get_mph(),
-		is_shutdown_active(),
+		is_shutdown_closed(),
 		pedals_getTorqueLimitPercentage(),
 		(cerberus_state.functional != F_REVERSE),
 		pedals_getRegenLimit(),
@@ -128,7 +128,7 @@ static int transition_functional_state(func_state_t new_state)
 
 		brake_state = pedals_getBrakeState();
 #ifdef TSMS_OVERRIDE
-		if (!is_shutdown_active() && (!brake_state || cerberus_state.functional == FAULTED)) { // only enforce brake / fault if tsms is actually on
+		if (!is_shutdown_closed() && (!brake_state || cerberus_state.functional == FAULTED)) { // only enforce brake / fault if tsms is actually on
 			return 3;
 		}
 		printf("Ignoring tsms\n\n");
@@ -143,13 +143,13 @@ static int transition_functional_state(func_state_t new_state)
 			return 3;
 		}
 
-		/* Only turn on motor if brakes engaged and shutdown active */
-		if (!brake_state || !is_shutdown_active()) {
+		/* Only turn on motor if brakes engaged and shutdown is closed */
+		if (!brake_state || !is_shutdown_closed()) {
 			return 3;
 		}
 #endif
 
-		if (is_shutdown_active()) {
+		if (is_shutdown_closed()) {
 			rtds_soundRTDS();
 		}
 
@@ -189,10 +189,10 @@ static int transition_nero_state(nero_state_t new_state)
 			}
 		}
 
-		/* TSMS OFF and MPH = 0 to enter games */
+		/* Shutdown = Open and MPH = 0 to enter games */
 		if (new_state.nero_index == GAMES) {
 #ifndef TSMS_OVERRIDE
-			if (is_shutdown_active() || dti_get_mph() >= 1) {
+			if (is_shutdown_closed() || dti_get_mph() >= 1) {
 				return 1;
 			}
 #endif
@@ -322,21 +322,21 @@ void statemachine_process(state_req_t new_state_req) {
 		else if(new_state_req.id == FUNCTIONAL) { transition_functional_state(new_state_req.state.functional); }
 	}
 
-	if (!is_ts_rising && is_shutdown_active()) {
+	if (!is_ts_rising && is_shutdown_closed()) {
 		is_ts_rising = true;
 
 		/* Restart TS Rising timer. */
 		int status = timer_restart(&ts_rising_timer);
 		if(status != U_SUCCESS) {
-			PRINTLN_ERROR("Failed to restart TS Rising timer (in !ts_rising && !is_shutdown_active()) (Status: %d).", status);
+			PRINTLN_ERROR("Failed to restart TS Rising timer in `if (!ts_rising && !is_shutdown_closed())` (Status: %d).", status);
 			return;
 		}
 
-	} else if (!is_shutdown_active()) {
+	} else if (!is_shutdown_closed()) {
 		/* Stop the TS Rising timer. */
     	int status = timer_stop(&ts_rising_timer);
     	if(status != U_SUCCESS) {
-        	PRINTLN_ERROR("Failed to stop TS Rising timer (in is_shutdown_active()) (Status: %d).", status);
+        	PRINTLN_ERROR("Failed to stop TS Rising timer in `else if (!is_shutdown_closed())` (Status: %d).", status);
         	return;
     	}
 		is_ts_rising = false;