pr feedback updates 2

libraries/ms-common/inc/exported_enums.h

@@ -79,6 +79,7 @@ typedef enum {
 // POWER DISTRIBUTION (TODO)
 typedef enum {
   EE_POWER_OFF_STATE = 0,
+  EE_POWER_TRANSMIT_CLOSE_RELAYS,
   EE_POWER_ON_STATE,
   EE_POWER_DRIVE_STATE,
 } PowerDistributionPowerState;

libraries/ms-common/src/fsm.c

@@ -51,7 +51,7 @@ void _fsm_task(void *context) {
       LOG_DEBUG("FSM timeout\n");
     }
     // Indicate that a fsm_cycle is finished
-    send_task_end();  // TODO: should it send task end if fsm times out?
+    send_task_end();
   }
 }
 

projects/fsm_demo/src/main.c

@@ -3,8 +3,8 @@
 #include "fsm1.h"
 #include "fsm2.h"
 #include "log.h"
-#include "tasks.h"
 #include "master_task.h"
+#include "tasks.h"
 
 // TASK(master_task, TASK_STACK_512) {
 //   while (true) {

projects/leds/src/main.c

@@ -22,9 +22,9 @@ TASK(leds_task, TASK_STACK_512) {
   }
 
   while (true) {
-// #ifdef MS_PLATFORM_X86
+    // #ifdef MS_PLATFORM_X86
     LOG_DEBUG("blink\n");
-// #endif
+    // #endif
     for (uint8_t i = 0; i < SIZEOF_ARRAY(leds); i++) {
       gpio_toggle_state(&leds[i]);
       delay_ms(50);

projects/power_distribution/inc/outputs.h

@@ -24,28 +24,28 @@ typedef enum {
   SOLAR_SENSE_2,
   PEDAL,
   STEERING,
-  LEFT_TURN,
-  RIGHT_TURN,
   DRL_LIGHT,
-  BRAKE_LIGHT,
-
   CENTER_CONSOLE,
   BMS_DCDC,
   MCI,
-  BPS_LIGHT,
-
   SPARE_12V_1,
   SPARE_12V_2,
   BMS_AUX,
   DRIVER_FAN,
   REAR_CAM_LCD,
   SPARE_5V_DCDC,
-
   TELEMETRY,
   SPARE_5V_AUX,
+  NUM_POWER_FSM_OUTPUTS,
+} OutputPowerFsm;
 
+typedef enum {
+  BPS_LIGHT = NUM_POWER_FSM_OUTPUTS,
+  RIGHT_TURN,
+  LEFT_TURN,
+  BRAKE_LIGHT,
   NUM_OUTPUTS,
-} Output;
+} OutputLights;
 
 typedef enum {
   OUTPUT_STATE_OFF = 0,
@@ -57,15 +57,14 @@ typedef enum {
 typedef enum {
   OUTPUT_GROUP_ALL = 0,  // Reserved Value
   // Lights
-  OUTPUT_GROUP_LEFT_TURN,
-  OUTPUT_GROUP_RIGHT_TURN,
-  OUTPUT_GROUP_HAZARD,
+  OUTPUT_GROUP_LIGHTS_LEFT_TURN,
+  OUTPUT_GROUP_LIGHTS_RIGHT_TURN,
+  OUTPUT_GROUP_LIGHTS_HAZARD,
   // Power States
-  OUTPUT_GROUP_BMS_RELAYS,
   OUTPUT_GROUP_POWER_OFF,
   OUTPUT_GROUP_POWER_ON,
-  OUTPUT_GROUP_DRIVE,
-  OUTPUT_GROUP_TEST,
+  OUTPUT_GROUP_POWER_DRIVE,
+  OUTPUT_GROUP_POWER_FAULT,
   NUM_OUTPUT_GROUPS,
 } OutputGroup;
 
@@ -75,7 +74,7 @@ typedef struct OutputMeasurementConfig {
 
 typedef struct OutputGroupDef {
   uint8_t num_outputs;
-  Output outputs[];
+  uint8_t outputs[];
 } OutputGroupDef;
 
 extern BtsLoadSwitchOutput g_output_config[NUM_OUTPUTS];

projects/power_distribution/inc/pd_fault.h

@@ -1,9 +1,10 @@
 #pragma once
 
-#include "status.h"
+#include <stdint.h>
 
+#include "status.h"
 /*
  * @brief Checks for PD fault states and updates fault bitset CAN message
  * @return STATUS_CODE_OK on success or appropriate error code
  */
-StatusCode check_pd_fault(void);
+uint8_t check_pd_fault(void);

projects/power_distribution/inc/power_seq_fsm.h

@@ -10,16 +10,6 @@
 #define BMS_RESPONSE_TIMEOUT_MS 10000
 #define MCI_RESPONSE_TIMEOUT_MS 12000
 
-#define DCDC_VALID \
-  { GPIO_PORT_A, 15 }
-
-#define check_pd_fault(fsm)                 \
-  power_context.fault = prv_fault_check();  
-  // if (power_context.fault != NO_ERROR) {    
-  //   fsm_transition(fsm, POWER_STATE_FAULT); 
-  //   return;                                 
-  // }
-
 #define NUM_POWER_STATES 6
 
 DECLARE_FSM(power_seq);
@@ -36,7 +26,7 @@ typedef struct {
   PowerSeqStateId target_state;
   PowerSeqStateId latest_state;
   TickType_t timer_start_ticks;
-  GlobalErrorCode fault;
+  uint8_t fault;
 } PowerFsmContext;
 
 StatusCode init_power_seq(void);

projects/power_distribution/src/lights_fsm.c

@@ -21,19 +21,19 @@ static void prv_lights_signal_blinker(SoftTimerId id) {
   switch (light_id_callback) {
     case EE_LIGHT_TYPE_SIGNAL_LEFT:
       left_signal_state ^= 1;
-      pd_set_output_group(OUTPUT_GROUP_LEFT_TURN, left_signal_state);
+      pd_set_output_group(OUTPUT_GROUP_LIGHTS_LEFT_TURN, left_signal_state);
       if (right_signal_state == OUTPUT_STATE_ON) {
         right_signal_state = OUTPUT_STATE_OFF;
-        pd_set_output_group(OUTPUT_GROUP_RIGHT_TURN, right_signal_state);
+        pd_set_output_group(OUTPUT_GROUP_LIGHTS_RIGHT_TURN, right_signal_state);
       }
       soft_timer_start(&s_timer_single);
       break;
     case EE_LIGHT_TYPE_SIGNAL_RIGHT:
       right_signal_state ^= 1;
-      pd_set_output_group(OUTPUT_GROUP_RIGHT_TURN, right_signal_state);
+      pd_set_output_group(OUTPUT_GROUP_LIGHTS_RIGHT_TURN, right_signal_state);
       if (left_signal_state == OUTPUT_STATE_ON) {
         left_signal_state = OUTPUT_STATE_OFF;
-        pd_set_output_group(OUTPUT_GROUP_LEFT_TURN, left_signal_state);
+        pd_set_output_group(OUTPUT_GROUP_LIGHTS_LEFT_TURN, left_signal_state);
       }
       soft_timer_start(&s_timer_single);
       break;
@@ -44,13 +44,13 @@ static void prv_lights_signal_blinker(SoftTimerId id) {
       }
       left_signal_state ^= 1;
       right_signal_state ^= 1;
-      pd_set_output_group(OUTPUT_GROUP_HAZARD, left_signal_state);
+      pd_set_output_group(OUTPUT_GROUP_LIGHTS_HAZARD, left_signal_state);
       soft_timer_start(&s_timer_single);
       break;
     default:
       left_signal_state = OUTPUT_STATE_OFF;
       right_signal_state = OUTPUT_STATE_OFF;
-      pd_set_output_group(OUTPUT_GROUP_HAZARD, left_signal_state);
+      pd_set_output_group(OUTPUT_GROUP_LIGHTS_HAZARD, left_signal_state);
   }
 }
 

projects/power_distribution/src/main.c

@@ -34,18 +34,18 @@ void pre_loop_init() {
   pd_output_init();
   pd_sense_init();
   adc_init();
+  pd_set_active_output_group(OUTPUT_GROUP_POWER_OFF);
 }
 
 void run_fast_cycle() {}
 void run_medium_cycle() {
   run_can_rx_cycle();
   wait_tasks(1);
 
-  fsm_run_cycle(power_seq);
-  // fsm_run_cycle(lights);
-  wait_tasks(1);
-
   adc_run();
+  fsm_run_cycle(power_seq);
+  fsm_run_cycle(lights);
+  wait_tasks(2);
 
   run_can_tx_cycle();
   wait_tasks(1);
@@ -56,15 +56,15 @@ void run_slow_cycle() {}
 int main() {
   tasks_init();
   log_init();
-  gpio_init();
   interrupt_init();
+  gpio_init();
   i2c_init(I2C_PORT_1, &i2c_settings);
   pca9555_gpio_init(I2C_PORT_1);
   can_init(&s_can_storage, &can_settings);
-  set_master_cycle_time(250);  // Give it enough time to run an entire medium cycle
-  set_medium_cycle_count(2);   // adjust medium cycle count to run once per 500ms
+  // set_master_cycle_time(250);  // Give it enough time to run an entire medium cycle
+  // set_medium_cycle_count(2);   // adjust medium cycle count to run once per 500ms
   init_power_seq();
-  // init_lights();
+  init_lights();
 
   LOG_DEBUG("Welcome to PD!\n");
   init_master_task();

projects/power_distribution/src/output_config.c

@@ -310,12 +310,29 @@ static OutputGroupDef s_output_group_hazards = {
   .outputs = { LEFT_TURN, RIGHT_TURN },
 };
 
+static OutputGroupDef s_output_group_power_off = { .num_outputs = 2,
+                                                   .outputs = { CENTER_CONSOLE, BMS_DCDC } };
+
+static OutputGroupDef s_output_group_power_on = {
+  .num_outputs = 7,
+  .outputs = { CENTER_CONSOLE, BMS_DCDC, BMS_AUX, PEDAL, STEERING, SOLAR_SENSE_1, SOLAR_SENSE_2 }
+};
+
+static OutputGroupDef s_output_group_power_drive = {
+  .num_outputs = 13,
+  .outputs = { CENTER_CONSOLE, BMS_DCDC, BMS_AUX, PEDAL, STEERING, SOLAR_SENSE_1, SOLAR_SENSE_2,
+               MCI, DRL_LIGHT, DRIVER_FAN, TELEMETRY, REAR_CAM_LCD, SPARE_5V_DCDC }
+};
+
+static OutputGroupDef s_output_group_power_fault = {
+  .num_outputs = 4, .outputs = { CENTER_CONSOLE, BMS_DCDC, PEDAL, STEERING }
+};
+
 static OutputGroupDef s_output_group_test = { .num_outputs = 2, .outputs = { STEERING, PEDAL } };
 
 const OutputGroupDef *g_output_group_map[NUM_OUTPUT_GROUPS] = {
   [OUTPUT_GROUP_ALL] = NULL,  // Special case
-  [OUTPUT_GROUP_LEFT_TURN] = &s_output_group_left_signal,
-  [OUTPUT_GROUP_RIGHT_TURN] = &s_output_group_right_signal,
-  [OUTPUT_GROUP_HAZARD] = &s_output_group_hazards,
-  [OUTPUT_GROUP_TEST] = &s_output_group_test,
+  [OUTPUT_GROUP_LIGHTS_LEFT_TURN] = &s_output_group_left_signal,
+  [OUTPUT_GROUP_LIGHTS_RIGHT_TURN] = &s_output_group_right_signal,
+  [OUTPUT_GROUP_LIGHTS_HAZARD] = &s_output_group_hazards,
 };

projects/power_distribution/src/output_current_sense.c

@@ -53,7 +53,7 @@ StatusCode pd_sense_output_group(OutputGroup group) {
     }
 
     for (uint8_t out = 0; out < grp->num_outputs; out++) {
-      Output output = grp->outputs[out];
+      uint8_t output = grp->outputs[out];
       status_ok_or_return(prv_set_sense_mux(g_output_config[output].mux_val));
       status_ok_or_return(
           bts_output_get_current(&g_output_config[output], &(g_output_config[output].reading_out)));

projects/power_distribution/src/outputs.c

@@ -34,7 +34,7 @@ StatusCode pd_set_output_group(OutputGroup group, OutputState state) {
     }
 
     for (uint8_t out = 0; out < grp->num_outputs; out++) {
-      Output output = grp->outputs[out];
+      uint8_t output = grp->outputs[out];
       if (state == OUTPUT_STATE_ON) {
         status_ok_or_return(bts_output_enable_output(&g_output_config[output]));
       } else {
@@ -57,7 +57,7 @@ StatusCode pd_set_active_output_group(OutputGroup group) {
   if (grp == NULL) {
     return STATUS_CODE_UNINITIALIZED;
   }
-  for (Output output = 0; output < NUM_OUTPUTS; output++) {
+  for (OutputPowerFsm output = 0; output < NUM_POWER_FSM_OUTPUTS; output++) {
     bool found = false;
     for (OutputGroup i = 0; i < grp->num_outputs; i++) {
       if (grp->outputs[i] == output) {
@@ -67,7 +67,7 @@ StatusCode pd_set_active_output_group(OutputGroup group) {
       }
     }
     if (!found) {
-      status_ok_or_return(bts_output_enable_output(&g_output_config[output]));
+      status_ok_or_return(bts_output_disable_output(&g_output_config[output]));
     }
   }
   return STATUS_CODE_OK;

projects/power_distribution/src/pd_fault.c

@@ -23,38 +23,33 @@ static void prv_set_fault_bit(uint8_t mask, bool condition) {
   }
 }
 
-static StatusCode prv_check_aux_fault(void) {
+static bool prv_check_aux_fault(void) {
   GpioState aux_gpio_1_state;
   GpioState aux_gpio_2_state;
-  status_ok_or_return(gpio_get_state(&aux_fault_gpio_1, &aux_gpio_1_state));
-  status_ok_or_return(gpio_get_state(&aux_fault_gpio_2, &aux_gpio_2_state));
-
-  bool aux_fault = (aux_gpio_1_state == GPIO_STATE_LOW || aux_gpio_2_state == GPIO_STATE_LOW);
-  prv_set_fault_bit(EE_PD_STATUS_FAULT_BITSET_AUX_FAULT_MASK, aux_fault);
-
-  return STATUS_CODE_OK;
+  if (!status_ok(gpio_get_state(&aux_fault_gpio_1, &aux_gpio_1_state)) ||
+      !status_ok(gpio_get_state(&aux_fault_gpio_2, &aux_gpio_2_state))) {
+    return true;
+  }
+  return (aux_gpio_1_state == GPIO_STATE_LOW || aux_gpio_2_state == GPIO_STATE_LOW);
 }
 
-static StatusCode prv_check_dcdc_fault(void) {
+static bool prv_check_dcdc_fault(void) {
   GpioState dcdc_gpio_1_state;
   GpioState dcdc_gpio_2_state;
   GpioState dcdc_gpio_3_state;
-  status_ok_or_return(gpio_get_state(&dcdc_fault_gpio_1, &dcdc_gpio_1_state));
-  status_ok_or_return(gpio_get_state(&dcdc_fault_gpio_2, &dcdc_gpio_2_state));
-  status_ok_or_return(gpio_get_state(&dcdc_fault_gpio_3, &dcdc_gpio_3_state));
-
-  bool dcdc_fault = (dcdc_gpio_1_state == GPIO_STATE_LOW || dcdc_gpio_2_state == GPIO_STATE_LOW ||
-                     dcdc_gpio_3_state == GPIO_STATE_HIGH);
-  prv_set_fault_bit(EE_PD_STATUS_FAULT_BITSET_DCDC_FAULT_MASK, dcdc_fault);
+  if (!status_ok(gpio_get_state(&dcdc_fault_gpio_1, &dcdc_gpio_1_state)) ||
+      !status_ok(gpio_get_state(&dcdc_fault_gpio_2, &dcdc_gpio_2_state)) ||
+      !status_ok(gpio_get_state(&dcdc_fault_gpio_3, &dcdc_gpio_3_state))) {
+    return true;
+  }
 
-  return STATUS_CODE_OK;
+  return (dcdc_gpio_1_state == GPIO_STATE_LOW || dcdc_gpio_2_state == GPIO_STATE_LOW ||
+          dcdc_gpio_3_state == GPIO_STATE_HIGH);
 }
 
-StatusCode check_pd_fault() {
-  status_ok_or_return(prv_check_aux_fault());
-  status_ok_or_return(prv_check_dcdc_fault());
-
+uint8_t check_pd_fault(void) {
+  prv_set_fault_bit(EE_PD_STATUS_FAULT_BITSET_AUX_FAULT_MASK, prv_check_aux_fault());
+  prv_set_fault_bit(EE_PD_STATUS_FAULT_BITSET_DCDC_FAULT_MASK, prv_check_dcdc_fault());
   set_pd_status_fault_bitset(s_fault_bitset);
-
-  return STATUS_CODE_OK;
+  return s_fault_bitset;
 }