Merge branch 'master' into feature/unit-testing-framework-394

lhr-solar · Mar 10, 2024 · 28cc35d · 28cc35d
2 parents a61bd83 + 1b2611a
commit 28cc35d
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Showing 5 changed files with 11 additions and 5 deletions.
diff --git a/Apps/Src/DebugDump.c b/Apps/Src/DebugDump.c
@@ -34,9 +34,8 @@ void TaskDebugDump(void *p_arg) {
         // Get minion information
         for (Pin pin = 0; pin < kNumPins; pin++) {
             bool pin_state = MinionsRead(pin);
-            // Ignition pins are negative logic, special-case them
             printf("%s: %s\n\r", minionpin_string[pin],
-                   pin_state ^ (pin == kIgn1 || pin == kIgn2) ? "on" : "off");
+                   pin_state ? "on" : "off");
         }
 
         // Get contactor info

diff --git a/Apps/Src/ReadCarCan.c b/Apps/Src/ReadCarCan.c
@@ -295,8 +295,8 @@ void TurnMotorControllerPbcOff(void) {
  * @param None
  */
 void UpdatePrechargeContactors(void) {
-    arr_ign_status = (!MinionsRead(kIgn1));
-    mc_ign_status = (!MinionsRead(kIgn2));
+    arr_ign_status = MinionsRead(kIgn1);
+    mc_ign_status = MinionsRead(kIgn2);
 
     // Logic helper in cases both are off or (impossible) on
     bool both_status_off = !mc_ign_status && !arr_ign_status;

diff --git a/Apps/Src/SendCarCan.c b/Apps/Src/SendCarCan.c
@@ -161,7 +161,7 @@ static void putIOState(void) {
     }
 
     // Tell BPS if the array contactor should be on
-    message.data[3] |= (!MinionsRead(kIgn1) || !MinionsRead(kIgn2)) << 2;
+    message.data[3] |= (MinionsRead(kIgn1) || MinionsRead(kIgn2)) << 2;
 
     CanBusSend(message, true, CARCAN);
 }

diff --git a/Apps/Src/Tasks.c b/Apps/Src/Tasks.c
@@ -56,7 +56,9 @@ extern const PinInfo
  * Error assertion-related functions
  */
 void AssertOsError(volatile OS_ERR err) {
+    OS_ERR err2 = 0;
     if (err != OS_ERR_NONE) {
+        OSSchedLock(&err2);
         EmergencyContactorOpen();  // Turn off contactors and turn on the
                                    // brakelight to indicate an emergency
         DisplayFault(err);         // Display the location and error code

diff --git a/Drivers/Src/Minions.c b/Drivers/Src/Minions.c
@@ -22,6 +22,11 @@ void MinionsInit(void) {
 
 bool MinionsRead(Pin pin) {
     if ((kPininfoLut[pin].direction == kInput)) {
+        // Ignition pins are negative logic, special-case them
+        if (pin == kIgn1 || pin == kIgn2) {
+            return !((bool)BspGpioReadPin(kPininfoLut[pin].port,
+                                          kPininfoLut[pin].pin_mask));
+        }
         return (bool)BspGpioReadPin(kPininfoLut[pin].port,
                                     kPininfoLut[pin].pin_mask);
     }