Uncommented TSMS override

Core/Inc/u_rtds.h

@@ -4,7 +4,7 @@
 #include <stdbool.h>
 
 /* Config: */
-#define RTDS_DURATION 5000 /* RTDS duration (in ticks). */
+#define RTDS_DURATION 1500 /* RTDS duration (in ticks). */
 
 /* API */
 int rtds_init(void);                // Initializes the RTDS timer.

Core/Inc/u_statemachine.h

@@ -1,7 +1,7 @@
 #ifndef STATE_MACHINE_H
 #define STATE_MACHINE_H
 
-// #define TSMS_OVERRIDE //Uncomment to remove all checks for state machine
+#define TSMS_OVERRIDE //Uncomment to remove all checks for state machine
 // #define IGNORE_FAULT
 
 #include "u_dti.h"

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_rtds.c

@@ -95,26 +95,6 @@ int rtds_init(void) {
         return U_SUCCESS;
 }
 
-/* Sounds the RTDS (Ready-to-drive sound). */
-int rtds_soundRTDS(void) {
-
-    /* Stop the reverse sound if active. */
-    rtds_stopReverseSound();
-
-    /* Trigger the RTDS sound. */
-    _set_rtds_pin();
-
-    /* Restart RTDS timer. */
-    int status = timer_restart(&rtds_timer);
-    if(status != U_SUCCESS) {
-        PRINTLN_ERROR("Failed to restart RTDS timer (Status: %d).", status);
-        queue_send(&faults, &(fault_t){RTDS_FAULT}, TX_NO_WAIT);
-        return U_ERROR;
-    }
-
-    return U_SUCCESS;
-}
-
 /* Cancels the RTDS sound. The RTDS sound already stops automatically once it's over, but this function lets you cancel it prematurely. */
 int rtds_cancelRTDS(void) {
     /* Stop the RTDS sound. */
@@ -148,23 +128,6 @@ int rtds_startReverseSound(void) {
     return U_SUCCESS;
 }
 
-/* Stops the reverse sound. */
-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;
-}
-
 /* Reads the status of the RTDS pin (true = RTDS pin is active, false = RTDS pin is not active). */
 /* Useful for debugging. */
 bool rtds_readRTDS(void) {
@@ -212,3 +175,41 @@ int rtds_isInSounding(bool* state) {
 
     return U_SUCCESS;
 }
+
+/* Stops the reverse sound. */
+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;
+}
+
+/* Sounds the RTDS (Ready-to-drive sound). */
+int rtds_soundRTDS(void) {
+
+    /* Stop the reverse sound if active. */
+    rtds_stopReverseSound();
+
+    /* Trigger the RTDS sound. */
+    _set_rtds_pin();
+
+    /* Restart RTDS timer. */
+    int status = timer_restart(&rtds_timer);
+    if(status != U_SUCCESS) {
+        PRINTLN_ERROR("Failed to restart RTDS timer (Status: %d).", status);
+        queue_send(&faults, &(fault_t){RTDS_FAULT}, TX_NO_WAIT);
+        return U_ERROR;
+    }
+
+    return U_SUCCESS;
+}

Core/Src/u_shutdown.c

@@ -9,8 +9,8 @@
 #include "debounce.h"
 #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 (`false`) until BMS confirms that shutdown is open (`true`).
+/* Bool to track the BMS shutdown state. */ // u_TODO - make sure this is 'false' again!!
+static _Atomic bool bms_shutdown = true; // We should assume that we are shutdown is open (`false`) until BMS confirms that shutdown is closed (`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

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 */
@@ -111,7 +117,11 @@ static int transition_functional_state(func_state_t new_state)
 
 	/* Make sure wheels are not spinning before changing modes */
 	bool brake_state;
-	rtds_stopReverseSound();
+
+	/* If we're actively in the reverse state, stop the reverse sound before doing any state changes. */
+	if(cerberus_state.functional == F_REVERSE) {
+		rtds_stopReverseSound();
+	}
 
 	/* Catching state transitions */
 	switch (new_state) {
@@ -214,7 +224,6 @@ static int transition_nero_state(nero_state_t new_state)
 
 	cerberus_state.nero = new_state;
 	PRINTLN_INFO("ran transition_nero_state()");
-
 	return 0;
 }
 

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.
         }
     }