Merge test branch into production M2

.vscode/c_cpp_properties.json

@@ -25,7 +25,6 @@
                 "STM32F413_423xx",
                 "USE_STDPERIPH_DRIVER"
             ],
-            "compilerPath": "/usr/bin/gcc",
             "cStandard": "c11",
             "intelliSenseMode": "clang-x64"
         }

Apps/Inc/SendTritium.h

@@ -13,6 +13,7 @@
 #include "common.h"
 
 //#define SENDTRITIUM_PRINT_MES
+//#define SENDTRITIUM_EXPOSE_VARS
 
 #define MOTOR_MSG_PERIOD 100 // in ms
 #define FSM_PERIOD 100 // in ms
@@ -49,22 +50,22 @@ typedef struct TritiumState{
     void (*stateDecider)(void);
 } TritiumState_t;
 
-#ifdef SENDTRITIUM_EXPOSE_VARS
-// Inputs
-extern bool cruiseEnable;
-extern bool cruiseSet;
-extern bool onePedalEnable;
-extern bool regenEnable;
+// #ifdef SENDTRITIUM_EXPOSE_VARS
+// // Inputs
+// extern bool cruiseEnable;
+// extern bool cruiseSet;
+// extern bool onePedalEnable;
+// extern bool regenEnable;
 
-extern uint8_t brakePedalPercent;
-extern uint8_t accelPedalPercent;
+// extern uint8_t brakePedalPercent;
+// extern uint8_t accelPedalPercent;
 
-extern Gear_t gear;
+// extern Gear_t gear;
 
-extern TritiumState_t state;
-extern float velocityObserved;
-extern float cruiseVelSetpoint;
-#endif
+// extern TritiumState_t state;
+// extern float velocityObserved;
+// extern float cruiseVelSetpoint;
+// #endif
 
 // Getter functions for local variables in SendTritium.c
 EXPOSE_GETTER(bool, cruiseEnable)

Apps/Src/ReadCarCAN.c

@@ -401,7 +401,7 @@ static void handler_ReadCarCAN_chargeDisable(void) {
     updateHVArraySaturation(DISABLE_SATURATION_MSG);
 
     // Kill contactor using a direct write to avoid blocking calls when the scheduler is locked
-    BSP_GPIO_Write_Pin(CONTACTORS_PORT, ARRAY_PRECHARGE_BYPASS_PIN, false);
+    BSP_GPIO_Write_Pin(ARRAY_CONTACTOR_PORT, ARRAY_PRECHARGE_BYPASS_PIN, false);
 
     // Check that the contactor was successfully turned off
     bool ret = (bool)Contactors_Get(ARRAY_PRECHARGE_BYPASS_CONTACTOR);
@@ -423,8 +423,8 @@ static void handler_ReadCarCAN_contactorsDisable(void) {
     updateHVPlusMinusSaturation(DISABLE_SATURATION_MSG);
 
     // Kill contactor using a direct write to avoid blocking calls when the scheduler is locked
-    BSP_GPIO_Write_Pin(CONTACTORS_PORT, ARRAY_PRECHARGE_BYPASS_PIN, false);
-    BSP_GPIO_Write_Pin(CONTACTORS_PORT, MOTOR_CONTROLLER_PRECHARGE_BYPASS_PIN, false);
+    BSP_GPIO_Write_Pin(ARRAY_CONTACTOR_PORT, ARRAY_PRECHARGE_BYPASS_PIN, false);
+    BSP_GPIO_Write_Pin(MCONT_CONTACTOR_PORT, MOTOR_CONTROLLER_PRECHARGE_BYPASS_PIN, false);
 
     // Fills buffers with disable messages
     memset(HVArrayChargeMsgBuffer, DISABLE_SATURATION_MSG, sizeof(HVArrayChargeMsgBuffer));

Apps/Src/SendTritium.c

@@ -63,7 +63,7 @@ float cruiseVelSetpoint = 0;
 
 // Current observed velocity
 static float velocityObserved = 0;
-
+#ifndef SENDTRITIUM_EXPOSE_VARS
 // Counter for sending setpoints to motor
 static uint8_t motorMsgCounter = 0;
 
@@ -78,7 +78,7 @@ static bool onePedalPrevious = false;
 
 static bool cruiseEnableButton = false;
 static bool cruiseEnablePrevious = false;
-
+#endif
 // FSM
 static TritiumState_t prevState; // Previous state
 static TritiumState_t state; // Current state
@@ -323,6 +323,7 @@ static uint8_t map(uint8_t input, uint8_t in_min, uint8_t in_max, uint8_t out_mi
  * @brief Put the CONTROL_MODE message onto the CarCAN bus, detailing
  * the current mode of control.
 */
+#ifndef SENDTRITIUM_EXPOSE_VARS
 static void putControlModeCAN(){
     CANDATA_t message;
     memset(&message, 0, sizeof(message));
@@ -331,6 +332,7 @@ static void putControlModeCAN(){
 
     SendCarCAN_Put(message);
 }
+#endif
 
 // State Handlers & Deciders
 
@@ -682,9 +684,12 @@ void Task_SendTritium(void *p_arg){
         }else{
             motorMsgCounter++;
         }
+
+        putControlModeCAN();   
+
         #endif
 
-        putControlModeCAN();        
+
 
         // Delay of MOTOR_MSG_PERIOD ms
         OSTimeDlyHMSM(0, 0, 0, MOTOR_MSG_PERIOD, OS_OPT_TIME_HMSM_STRICT, &err);

Apps/Src/Tasks.c

@@ -135,8 +135,8 @@ void throwTaskError(error_code_t errorCode, callback_t errorCallback, error_sche
 */
 void EmergencyContactorOpen() {
     // Array motor kill
-    BSP_GPIO_Write_Pin(CONTACTORS_PORT, MOTOR_CONTROLLER_PRECHARGE_BYPASS_PIN, OFF);
-    BSP_GPIO_Write_Pin(CONTACTORS_PORT, ARRAY_PRECHARGE_BYPASS_PIN, OFF);
+    BSP_GPIO_Write_Pin(MCONT_CONTACTOR_PORT, MOTOR_CONTROLLER_PRECHARGE_BYPASS_PIN, OFF);
+    BSP_GPIO_Write_Pin(ARRAY_CONTACTOR_PORT, ARRAY_PRECHARGE_BYPASS_PIN, OFF);
 
     // Turn additional brakelight on to indicate critical error
     BSP_GPIO_Write_Pin(PININFO_LUT[BRAKELIGHT].port, PININFO_LUT[BRAKELIGHT].pinMask, true);

BSP/STM32F413/Src/retarget.c

@@ -16,9 +16,9 @@ int _write(int fd, char *buffer, unsigned int len) {
 
 int _read(int const fd, char *buffer, unsigned const len) {
     if(buffer != NULL) {
-
+        BSP_UART_Read(UART_2, buffer);
     }
-    return 1;
+    return len;
 }
 
 int _close(int file)

Drivers/Inc/Contactors.h

@@ -17,9 +17,11 @@
 #include "stm32f4xx_gpio.h"
 
 
-#define CONTACTORS_PORT                                 PORTC
-#define ARRAY_PRECHARGE_BYPASS_PIN                      GPIO_Pin_10
-#define MOTOR_CONTROLLER_PRECHARGE_BYPASS_PIN           GPIO_Pin_12     
+#define ARRAY_CONTACTOR_PORT                                 PORTC
+#define MCONT_CONTACTOR_PORT                                 PORTD
+
+#define ARRAY_PRECHARGE_BYPASS_PIN                      GPIO_Pin_11
+#define MOTOR_CONTROLLER_PRECHARGE_BYPASS_PIN           GPIO_Pin_2     
 
 #define FOREACH_contactor(contactor) \
         contactor(ARRAY_PRECHARGE_BYPASS_CONTACTOR),  \

Drivers/Src/Contactors.c

@@ -22,10 +22,10 @@ static OS_MUTEX contactorsMutex;
 static void setContactor(contactor_t contactor, bool state) {
     switch (contactor) {
         case ARRAY_PRECHARGE_BYPASS_CONTACTOR :
-            BSP_GPIO_Write_Pin(CONTACTORS_PORT, ARRAY_PRECHARGE_BYPASS_PIN, state);
+            BSP_GPIO_Write_Pin(ARRAY_CONTACTOR_PORT, ARRAY_PRECHARGE_BYPASS_PIN, state);
             break;
         case MOTOR_CONTROLLER_PRECHARGE_BYPASS_CONTACTOR :
-            BSP_GPIO_Write_Pin(CONTACTORS_PORT, MOTOR_CONTROLLER_PRECHARGE_BYPASS_PIN, state);
+            BSP_GPIO_Write_Pin(MCONT_CONTACTOR_PORT, MOTOR_CONTROLLER_PRECHARGE_BYPASS_PIN, state);
             break;
         default:
             break;
@@ -38,8 +38,11 @@ static void setContactor(contactor_t contactor, bool state) {
  * @return  None
  */ 
 void Contactors_Init() {
-    BSP_GPIO_Init(CONTACTORS_PORT,  
-                 (ARRAY_PRECHARGE_BYPASS_PIN) |
+    BSP_GPIO_Init(ARRAY_CONTACTOR_PORT,  
+                 (ARRAY_PRECHARGE_BYPASS_PIN), 
+                  1);
+
+    BSP_GPIO_Init(MCONT_CONTACTOR_PORT,  
                  (MOTOR_CONTROLLER_PRECHARGE_BYPASS_PIN), 
                   1);
 
@@ -66,10 +69,10 @@ bool Contactors_Get(contactor_t contactor) {
     switch (contactor) {
 
         case ARRAY_PRECHARGE_BYPASS_CONTACTOR :
-            state = BSP_GPIO_Get_State(CONTACTORS_PORT, ARRAY_PRECHARGE_BYPASS_PIN);
+            state = BSP_GPIO_Get_State(ARRAY_CONTACTOR_PORT, ARRAY_PRECHARGE_BYPASS_PIN);
             break;
         case MOTOR_CONTROLLER_PRECHARGE_BYPASS_CONTACTOR :
-            state = BSP_GPIO_Get_State(CONTACTORS_PORT, MOTOR_CONTROLLER_PRECHARGE_BYPASS_PIN);
+            state = BSP_GPIO_Get_State(MCONT_CONTACTOR_PORT, MOTOR_CONTROLLER_PRECHARGE_BYPASS_PIN);
             break;
         default:
             break;