other test stuff

Author: bjackson312006

Core/Src/u_bms.c

@@ -11,7 +11,7 @@
 
 /* Globals. */
 static _Atomic float battbox_temp;
-static _Atomic bool precharge = false; // Default to false until BMS confirms precharge is complete
+static _Atomic bool precharge = true; // u_TODO - set this back to false once testing done!!! // Default to false until BMS confirms precharge is complete
 
 static void _bms_fault_callback(ULONG args); // Forward declaration
 

Core/Src/u_dti.c

@@ -20,6 +20,7 @@
 #include "c_utils.h"
 #include "u_bms.h"
 #include "u_can.h"
+#include "serial.h"
 #include "u_emrax.h"
 #include "u_queues.h"
 #include "u_mutexes.h"
@@ -122,9 +123,15 @@ void dti_set_regen(uint16_t current_target)
 
 void dti_set_current(int16_t current)
 {
-	if (!bms_getPrecharge()) {
-		return;
-	}
+	static uint32_t count = 0;
+	serial_monitor("dti_current", "current", "%d", current);
+	serial_monitor("dti_current", "count", "%ld", count);
+	count++;
+
+	// u_TODO - uncomment this when done testing
+	// if (!bms_getPrecharge()) {
+	// 	return;
+	// }
 	can_msg_t msg = { .id = 0x036, .len = 2, .data = { 0 } };
 
 #ifdef TSMS_OVERRIDE

Core/Src/u_faults.c

@@ -102,6 +102,8 @@ int faults_init(void) {
 /* Triggers a fault. */
 /* If the fault is already triggered, this just resets the fault's timer. */
 int trigger_fault(fault_t fault_id) {
+    return U_SUCCESS; // u_TODO - remove this once testing done!!!
+
     /* Set the relevant fault bit in the fault flags list. */
     atomic_fetch_or(&fault_flags, (uint32_t)(1 << fault_id)); // This is the _Atomic version of: fault_flags |= (uint32_t)(1 << fault_id);
 

Core/Src/u_statemachine.c

@@ -72,6 +72,11 @@ int init_statemachine(void) {
 		return U_ERROR;
 	}
 
+	// u_TODO - Remove this when done tesgin!! default the state to functional
+	cerberus_state.functional = F_PERFORMANCE;
+	cerberus_state.nero.home_mode = false;
+	cerberus_state.nero.nero_index = PERFORMANCE;
+
 	PRINTLN_INFO("Ran init_statemachine().");
 	return U_SUCCESS;
 }
@@ -96,6 +101,7 @@ nero_state_t get_nero_state()
 
 static int transition_functional_state(func_state_t new_state)
 {
+
 	/* Special case: should be able to fault no matter what conditions */
 	if (new_state == FAULTED) {
 		/* Turn off high power peripherals */

Core/Src/u_threads.c

@@ -230,6 +230,13 @@ void vCANOutgoing(ULONG thread_input) {
                 queue_send(&faults, &(fault_t){CAN_OUTGOING_FAULT}, TX_NO_WAIT);
 
             }
+
+            // u_TODO - when done testing, comment this out
+            if(message.id == 0x036) {
+                static uint32_t count = 0;
+                serial_monitor("dti_current", "sent_count", "%ld", count);
+                count++;
+            }
             tx_thread_sleep(1); // This is needed, or else the queue will try to send messages too fast and outpace the HAL.
         }
     }
@@ -929,7 +936,7 @@ uint8_t threads_init(TX_BYTE_POOL *byte_pool) {
     CATCH_ERROR(create_thread(byte_pool, &faults_queue_thread), U_SUCCESS);      // Create Faults Queue thread.
     CATCH_ERROR(create_thread(byte_pool, &faults_thread), U_SUCCESS);            // Create Faults thread.
     CATCH_ERROR(create_thread(byte_pool, &shutdown_thread), U_SUCCESS);          // Create Shutdown thread.
-    CATCH_ERROR(create_thread(byte_pool, &statemachine_thread), U_SUCCESS);      // Create State Machine thread.
+    //CATCH_ERROR(create_thread(byte_pool, &statemachine_thread), U_SUCCESS);      // Create State Machine thread.
     CATCH_ERROR(create_thread(byte_pool, &pedals_thread), U_SUCCESS);            // Create Pedals thread.
     CATCH_ERROR(create_thread(byte_pool, &efuses_thread), U_SUCCESS);              // Create eFuses thread.
     CATCH_ERROR(create_thread(byte_pool, &mux_thread), U_SUCCESS);               // Create Mux thread.