Update faultstate

Apps/Inc/ReadTritium.h

@@ -1,5 +1,4 @@
-/**
- * @copyright Copyright (c) 2018-2023 UT Longhorn Racing Solar
+/* Copyright (c) 2021 UT Longhorn Racing Solar
  * @file ReadTritium.h
  * @brief 
  * 
@@ -15,8 +14,6 @@
 #include "common.h"
 #include "Tasks.h"
 
-#define CAR_STOPPED 0
-
 /**
  * Motor Error States
  * Read messages from motor in ReadTritium and trigger appropriate error messages as needed based on bits
@@ -35,16 +32,9 @@ typedef enum{
     T_INIT_FAIL = (1<<9), //motor controller fails to restart or initialize
     T_NONE = 0x00,
 } tritium_error_code_t;
-#define NUM_TRITIUM_ERRORS 9 //9 errors, and 1 entry for no error
-
-/**
- * @brief Returns the current error status of the tritium controller
- */
-tritium_error_code_t MotorController_getTritiumError(void);
 
 float Motor_RPM_Get();
 float Motor_Velocity_Get();
-void MotorController_Restart();
 
 #endif
 

Apps/Inc/Tasks.h

@@ -26,8 +26,7 @@
 
 /**
  * Priority Definitions
- */
-#define TASK_FAULT_STATE_PRIO               1
+ */ 
 #define TASK_INIT_PRIO                      2
 #define TASK_READ_TRITIUM_PRIO              3
 #define TASK_SEND_TRITIUM_PRIO              4
@@ -44,7 +43,6 @@
 #define DEFAULT_STACK_SIZE                  256
 #define WATERMARK_STACK_LIMIT               DEFAULT_STACK_SIZE/2
 
-#define TASK_FAULT_STATE_STACK_SIZE         DEFAULT_STACK_SIZE
 #define TASK_INIT_STACK_SIZE                DEFAULT_STACK_SIZE
 #define TASK_SEND_TRITIUM_STACK_SIZE        DEFAULT_STACK_SIZE
 #define TASK_READ_CAR_CAN_STACK_SIZE        DEFAULT_STACK_SIZE
@@ -55,12 +53,14 @@
 #define TASK_DEBUG_DUMP_STACK_SIZE          DEFAULT_STACK_SIZE
 #define TASK_COMMAND_LINE_STACK_SIZE        DEFAULT_STACK_SIZE
 
+/**
+ * Task error variable type
+*/
+typedef uint16_t error_code_t;
 
 /**
  * Task Prototypes
  */
-void Task_FaultState(void* p_arg);
-
 void Task_Init(void* p_arg);
 
 void Task_SendTritium(void* p_arg);
@@ -79,10 +79,11 @@ void Task_DebugDump(void *p_arg);
 
 void Task_CommandLine(void* p_arg);
 
+
+
 /**
  * TCBs
  */
-extern OS_TCB FaultState_TCB;
 extern OS_TCB Init_TCB;
 extern OS_TCB SendTritium_TCB;
 extern OS_TCB ReadCarCAN_TCB;
@@ -97,7 +98,6 @@ extern OS_TCB CommandLine_TCB;
 /**
  * Stacks
  */
-extern CPU_STK FaultState_Stk[TASK_FAULT_STATE_STACK_SIZE];
 extern CPU_STK Init_Stk[TASK_INIT_STACK_SIZE];
 extern CPU_STK SendTritium_Stk[TASK_SEND_TRITIUM_STACK_SIZE];
 extern CPU_STK ReadCarCAN_Stk[TASK_READ_CAR_CAN_STACK_SIZE];
@@ -113,37 +113,12 @@ extern CPU_STK CommandLine_Stk[TASK_COMMAND_LINE_STACK_SIZE];
  */
 extern OS_Q CANBus_MsgQ;
 
-/**
- * Semaphores
- */
-extern OS_SEM FaultState_Sem4;
-
 /**
  * @brief Initialize the task switch hook
  * Registers the hook with the RTOS
  */
 void TaskSwHook_Init(void);
 
-
-/**
- * Global Variables
- */
-
-/**
- * Fault Enum
- * 
- * Different fault states that need to be handled by the FaultState task
- */
-typedef enum{
-    FAULT_NONE = 0x00,      // No fault
-    FAULT_OS = 0x01,         // for OS faults
-    FAULT_UNREACH = 0x02,    // for unreachable conditions
-    FAULT_TRITIUM = 0x04,      // for errors sent from the tritium
-    FAULT_READBPS = 0x08,    // for unsuccessfully reading from BPS CAN
-    FAULT_DISPLAY = 0x10,    // for display faults
-    FAULT_BPS = 0x20,       // for if BPS trips
-} fault_bitmap_t;
-
 /**
  * Task trace
  * 
@@ -160,10 +135,43 @@ typedef struct {
 
 extern task_trace_t PrevTasks;
 
+// Store error codes that are set in task error assertion functions
+extern error_code_t Error_ReadTritium; 
+extern error_code_t Error_ReadCarCAN;
+extern error_code_t Error_UpdateDisplay;
+
 /**
- * Error variables
- */
-extern fault_bitmap_t FaultBitmap;
+ * Error-handling option enums
+*/
+
+// Scheduler lock parameter option for asserting a task error
+typedef enum {
+    OPT_NO_LOCK_SCHED,
+    OPT_LOCK_SCHED
+} error_scheduler_lock_opt_t;
+
+// Recoverable/nonrecoverable parameter option for asserting a task error
+typedef enum {
+    OPT_RECOV,
+    OPT_NONRECOV
+} error_recov_opt_t;
+
+/**
+ * @brief For use in error handling: opens array and motor precharge bypass contactor
+ * and turns on additional brakelight to signal that a critical error happened.
+*/
+void EmergencyContactorOpen();
+
+/**
+ * @brief Assert a task error by setting the location variable and optionally locking the scheduler, 
+ * displaying a fault screen (if nonrecoverable), jumping to a callback function, and entering an infinite loop. 
+ * Called by task-specific error-assertion functions that are also responsible for setting the error variable.
+ * @param errorCode the enum for the specific error that happened
+ * @param errorCallback a callback function to a handler for that specific error, 
+ * @param lockSched whether or not to lock the scheduler to ensure the error is handled immediately
+ * @param nonrecoverable whether or not to kill the motor, display the fault screen, and enter an infinite while loop
+*/
+void throwTaskError(error_code_t errorCode, callback_t errorCallback, error_scheduler_lock_opt_t lockSched, error_recov_opt_t nonrecoverable);
 
 /**
  * @brief   Assert Error if OS function call fails

Apps/Inc/UpdateDisplay.h

@@ -27,11 +27,11 @@
  * Error types
  */
 typedef enum{
-	UPDATEDISPLAY_ERR_NONE			= 0,
-	UPDATEDISPLAY_ERR_FIFO_PUT		=-1,	// Error putting command in fifo
-	UPDATEDISPLAY_ERR_FIFO_POP		=-2,	// Error popping command from fifo
-	UPDATEDISPLAY_ERR_PARSE_COMP	=-3,	// Error parsing component/val in SetComponent
-	UPDATEDISPLAY_ERR_NO_CHANGE	=-4,		// No change in component value
+	UPDATEDISPLAY_ERR_NONE,
+	UPDATEDISPLAY_ERR_FIFO_PUT,     // Error putting command in fifo
+	UPDATEDISPLAY_ERR_FIFO_POP,     // Error popping command from fifo
+	UPDATEDISPLAY_ERR_PARSE_COMP,   // Error parsing component/val in SetComponent
+	UPDATEDISPLAY_ERR_DRIVER        // Driver call returned an error
 } UpdateDisplayError_t;
 
 /**
@@ -130,6 +130,12 @@ UpdateDisplayError_t UpdateDisplay_SetRegenState(TriState_t state);
  */
 UpdateDisplayError_t UpdateDisplay_SetCruiseState(TriState_t state);
 
-#endif
+/**
+ * @brief Clears the display message queue and sets the message counter semaphore value to 0
+ * @param none
+ * @returns none
+*/
+void UpdateDisplay_ClearQueue(void);
 
+#endif
 /* @} */

Apps/Src/DebugDump.c

@@ -11,8 +11,6 @@
 #include "Tasks.h"
 #include "SendTritium.h"
 
-// global variables
-extern fault_bitmap_t FaultBitmap;
 
 static const char *MINIONPIN_STRING[] = {
     FOREACH_PIN(GENERATE_STRING)
@@ -30,15 +28,6 @@ static const char *GEAR_STRING[] = {
 /*----------------------------------------------*/
 #define FAULT_BITMAP_NUM 6
 
-static const char *FAULT_BITMAP_STRING[] = { 
-    "FAULT_NONE", 
-    "FAULT_OS", 
-    "FAULT_UNREACH", 
-    "FAULT_TRITIUM",
-    "FAULT_READBPS",
-    "FAULT_DISPLAY",
-    "FAULT_BPS"
-};
 /*----------------------------------------------*/
 
 void Task_DebugDump(void* p_arg) {
@@ -76,17 +65,6 @@ void Task_DebugDump(void* p_arg) {
         printf("Current Gear: %s\n\r", GEAR_STRING[get_gear()]);
         print_float("Current Setpoint: ", get_currentSetpoint());
 
-        // fault bitmap
-        printf("Fault Bitmap: ");
-        if(FaultBitmap == FAULT_NONE){
-            printf("%s", FAULT_BITMAP_STRING[0]);
-        }else{
-            for(int i = 0; i < FAULT_BITMAP_NUM; i++){
-                if(FaultBitmap & (1 << i)){
-                    printf("%s ", FAULT_BITMAP_STRING[i]);
-                }
-            }
-        }
         printf("\n\r");
 
         // Delay of 5 seconds