Merge pull request #82 from delft-hyperloop/scrutineering

Scrutineering Days

app/Cargo.toml

@@ -55,6 +55,7 @@ features = ["defmt"]
 
 # Only for build.rs
 [build-dependencies]
+anyhow = "1.0.86"
 regex = "1.10.3"
 serde = { version = "1.0.197", features = ["derive"] }
 toml = "0.8.11"

app/build.rs

@@ -5,7 +5,7 @@ extern crate serde;
 use std::env;
 use std::fs;
 use std::path::Path;
-
+use anyhow::Result;
 use goose_utils::check_ids;
 use goose_utils::ip::configure_gs_ip;
 use serde::Deserialize;
@@ -68,31 +68,31 @@ pub const DATATYPES_PATH: &str = "../config/datatypes.toml";
 pub const COMMANDS_PATH: &str = "../config/commands.toml";
 pub const EVENTS_PATH: &str = "../config/events.toml";
 
-fn main() {
+fn main() -> Result<()> {
     // if cfg!(debug_assertions) {
     //     env::set_var("DEFMT_LOG", "trace");
     // } else {
     //     env::set_var("DEFMT_LOG", "off");
     // }
 
-    let out_dir = env::var("OUT_DIR").unwrap();
+    let out_dir = env::var("OUT_DIR")?;
     let dest_path = Path::new(&out_dir).join("config.rs");
 
-    let ip_file = fs::read_to_string(CONFIG_PATH).unwrap();
-    let config: Config = toml::from_str(&ip_file).unwrap();
+    let ip_file = fs::read_to_string(CONFIG_PATH)?;
+    let config: Config = toml::from_str(&ip_file)?;
 
     let mut content = String::from("//@generated\n");
 
     let _ = check_ids(DATATYPES_PATH, COMMANDS_PATH, EVENTS_PATH);
 
     content.push_str(&configure_ip(&config));
-    content.push_str(&configure_gs_ip(config.gs.ip, config.gs.port, config.gs.force));
+    content.push_str(&configure_gs_ip(config.gs.ip, config.gs.port, config.gs.force)?);
     content.push_str(&configure_pod(&config));
     content.push_str(&configure_internal(&config));
-    content.push_str(&goose_utils::commands::generate_commands(COMMANDS_PATH, true));
-    content.push_str(&goose_utils::datatypes::generate_datatypes(DATATYPES_PATH, false));
-    content.push_str(&goose_utils::events::generate_events(EVENTS_PATH, true));
-    content.push_str(&goose_utils::info::generate_info(CONFIG_PATH, false));
+    content.push_str(&goose_utils::commands::generate_commands(COMMANDS_PATH, true)?);
+    content.push_str(&goose_utils::datatypes::generate_datatypes(DATATYPES_PATH, false)?);
+    content.push_str(&goose_utils::events::generate_events(EVENTS_PATH, true)?);
+    content.push_str(&goose_utils::info::generate_info(CONFIG_PATH, false)?);
     // content.push_str(&*can::main(&id_list));
 
     fs::write(dest_path.clone(), content).unwrap_or_else(|e| {
@@ -107,6 +107,8 @@ fn main() {
     println!("cargo:rustc-link-arg-bins=--nmagic");
     println!("cargo:rustc-link-arg-bins=-Tlink.x");
     println!("cargo:rustc-link-arg-bins=-Tdefmt.x");
+
+    Ok(())
 }
 
 fn configure_ip(config: &Config) -> String {

app/src/core/communication/can.rs

@@ -61,7 +61,13 @@ pub async fn can_receiving_handler(
                 // frame.header().format();
                 let id = id_as_value(frame.id());
                 #[cfg(debug_assertions)]
-                data_sender.send(Datapoint::new(Datatype::ReceivedCan, id as u64, bytes_to_u64(frame.data()))).await;
+                data_sender
+                    .send(Datapoint::new(
+                        Datatype::ReceivedCan,
+                        id as u64,
+                        bytes_to_u64(frame.data()),
+                    ))
+                    .await;
                 #[cfg(debug_assertions)]
                 info!("[CAN ({})] received frame: id={:?} data={:?}", bus_nr, id, frame.data());
                 if DATA_IDS.contains(&id) {
@@ -90,7 +96,7 @@ pub async fn can_receiving_handler(
                                     timestamp.as_ticks(),
                                 )
                                 .await;
-                            } else if gfd_counter > 2 {
+                            } else if gfd_counter > 2 && frame.data()[2] == 0xFE {
                                 gfd_counter = 0;
                                 can_sender
                                     .send(

app/src/core/communication/tcp.rs

@@ -6,6 +6,7 @@ use embassy_net::Stack;
 use embassy_stm32::eth::generic_smi::GenericSMI;
 use embassy_stm32::eth::Ethernet;
 use embassy_stm32::peripherals::ETH;
+use embassy_time::Instant;
 use embassy_time::Timer;
 use embedded_io_async::Write;
 use heapless::Deque;
@@ -15,9 +16,13 @@ use crate::core::communication::Datapoint;
 use crate::pconfig::embassy_socket_from_config;
 use crate::Command;
 use crate::DataReceiver;
+use crate::DataSender;
 use crate::Datatype;
 use crate::Event;
 use crate::EventSender;
+use crate::COMMAND_HASH;
+use crate::DATA_HASH;
+use crate::EVENTS_HASH;
 use crate::GS_IP_ADDRESS;
 use crate::IP_TIMEOUT;
 use crate::NETWORK_BUFFER_SIZE;
@@ -32,6 +37,7 @@ pub async fn tcp_connection_handler(
     stack: &'static Stack<Ethernet<'static, ETH, GenericSMI>>,
     event_sender: EventSender,
     data_receiver: DataReceiver,
+    data_sender: DataSender,
 ) -> ! {
     let mut last_valid_timestamp = embassy_time::Instant::now().as_millis();
     // info!("------------------------------------------------ TCP Connection Handler Started! ------------------------------------------");
@@ -69,6 +75,15 @@ pub async fn tcp_connection_handler(
             },
         }
         event_sender.send(Event::ConnectionEstablishedEvent).await;
+        data_sender
+            .send(Datapoint::new(Datatype::CommandHash, COMMAND_HASH, Instant::now().as_ticks()))
+            .await;
+        data_sender
+            .send(Datapoint::new(Datatype::DataHash, DATA_HASH, Instant::now().as_ticks()))
+            .await;
+        data_sender
+            .send(Datapoint::new(Datatype::EventsHash, EVENTS_HASH, Instant::now().as_ticks()))
+            .await;
         // let mut connection = client.connect(gs_addr).await.unwrap();
         // info!("----------------------------------------------------------------Connected to ground station==========================");
 
@@ -203,6 +218,11 @@ pub async fn tcp_connection_handler(
                                     info!("[tcp] Start Run command received");
                                     event_sender.send(Event::RunStarting).await;
                                 },
+                                Command::ContinueRun(_) => {
+                                    #[cfg(debug_assertions)]
+                                    info!("[tcp] Start Run command received");
+                                    event_sender.send(Event::ContinueRunEvent).await;
+                                },
                                 Command::Shutdown(_) => {
                                     #[cfg(debug_assertions)]
                                     info!("[tcp] Shutdown command received");
@@ -219,6 +239,16 @@ pub async fn tcp_connection_handler(
                                     event_sender.send(Event::TurnOffHVCommand).await;
                                     // TODO: no turn off HV exists??
                                 },
+                                Command::DcOn(_) => {
+                                    #[cfg(debug_assertions)]
+                                    info!("[tcp] DcOn command received");
+                                    event_sender.send(Event::DcOn).await;
+                                },
+                                Command::DcOff(_) => {
+                                    #[cfg(debug_assertions)]
+                                    info!("[tcp] DcOff command received");
+                                    event_sender.send(Event::DcOff).await;
+                                },
                                 Command::EmitEvent(e) => {
                                     #[cfg(debug_assertions)]
                                     info!("[tcp] EmitEvent command received");

app/src/core/controllers/breaking_controller.rs

@@ -152,7 +152,7 @@ impl BrakingController {
         pf12: peripherals::PF12,
         adc: Adc<'static, ADC1>,
         _pb0: peripherals::PB0,
-        _pd5: peripherals::PD5,
+        pd5: peripherals::PD5,
         _ptime: TIM16,
     ) -> Self {
         info!("breaking controller started");
@@ -181,6 +181,9 @@ impl BrakingController {
         let braking_signal = Output::new(pb8, Level::High, Speed::Low);
         // pwm.enable(Channel::Ch1);
 
+        // VGA ground
+        let _ = Output::new(pd5, Level::Low, Speed::Low);
+
         try_spawn!(
             braking_sender,
             x.spawn(control_braking_heartbeat(braking_sender, data_sender, braking_signal,))

app/src/core/controllers/ethernet_controller.rs

@@ -17,6 +17,7 @@ use static_cell::StaticCell;
 use crate::core::communication::tcp::tcp_connection_handler;
 use crate::try_spawn;
 use crate::DataReceiver;
+use crate::DataSender;
 use crate::EventSender;
 use crate::Irqs;
 use crate::POD_MAC_ADDRESS;
@@ -47,6 +48,7 @@ impl EthernetController {
         x: Spawner,
         sender: EventSender,
         receiver: DataReceiver,
+        data_sender: DataSender,
         pins: EthernetPins,
     ) -> Self {
         let mut rng = Rng::new(pins.p_rng, Irqs);
@@ -100,7 +102,10 @@ impl EthernetController {
 
         try_spawn!(sender, x.spawn(net_task(stack)));
 
-        try_spawn!(sender, x.spawn(tcp_connection_handler(x, stack, sender, receiver)));
+        try_spawn!(
+            sender,
+            x.spawn(tcp_connection_handler(x, stack, sender, receiver, data_sender))
+        );
         // unwrap!(x.spawn(udp_connection_handler(stack)));
 
         ethernet_controller

app/src/core/controllers/finite_state_machine_peripherals.rs

@@ -1,8 +1,10 @@
 use defmt::debug;
 use embassy_executor::Spawner;
 use embassy_stm32::adc::Adc;
+use embassy_stm32::gpio::Input;
 use embassy_stm32::gpio::Level;
 use embassy_stm32::gpio::Output;
+use embassy_stm32::gpio::Pull;
 use embassy_stm32::gpio::Speed;
 use embassy_stm32::Peripherals;
 
@@ -33,8 +35,8 @@ pub struct FSMPeripherals {
 impl FSMPeripherals {
     // pub fn new(p : Peripherals, x: &Spawner, q : &PriorityChannel<NoopRawMutex, Event, Max, 16>) -> Self {
     pub async fn new(p: Peripherals, x: &Spawner, i: InternalMessaging) -> Self {
-        // let mut init = PInit{p,x,q};
-        // let (braking_controller, init) = BrakingController::new(init);
+        // set to high impedance, since there's a 24V signal being given and this would fry the PCB
+        let _ = Input::new(p.PD4, Pull::None);
 
         // The braking controller is responsible for rearming the braked
         let braking_controller = BrakingController::new(
@@ -65,6 +67,7 @@ impl FSMPeripherals {
             *x,
             i.event_sender,
             i.data_receiver,
+            i.data_sender,
             EthernetPins {
                 p_rng: p.RNG,
                 eth_pin: p.ETH,
@@ -130,6 +133,7 @@ impl FSMPeripherals {
                 pin_4: Output::new(p.PD3, Level::Low, Speed::Low),
                 pin_6: Output::new(p.PG9, Level::Low, Speed::Low),
                 pin_7: Output::new(p.PG10, Level::Low, Speed::Low),
+                dc_dc: Output::new(p.PD2, Level::Low, Speed::Low),
             },
             red_led: Output::new(p.PB14, Level::Low, Speed::High),
             propulsion_controller: PropulsionController::new(

app/src/core/controllers/hv_controller.rs

@@ -6,6 +6,7 @@ pub struct HVPeripherals {
     pub pin_4: Output<'static>,
     pub pin_6: Output<'static>,
     pub pin_7: Output<'static>,
+    pub dc_dc: Output<'static>,
 }
 
 impl HVPeripherals {

app/src/core/data/mod.rs

@@ -4,12 +4,14 @@
 //! This module is the middle man between the data producers and the ground station.
 
 mod batteries;
-
+mod sources;
+use crate::Datatype;
+use crate::ValueCheckResult;
 use crate::DataReceiver;
 use crate::DataSender;
 use crate::Event;
 use crate::EventSender;
-
+use crate::Datapoint;
 /// ## Individual handling of datapoints
 /// A lot of the subsystems on the pod use their own "encoding" for data.
 /// In order to make a reasonable matching between semantic meaning of
@@ -24,11 +26,33 @@ pub async fn data_middle_step(
         let data = incoming.receive().await;
 
         // 1. check thresholds
-        if data.datatype.check_bounds(data.value) {
-            event_sender.send(Event::ValueOutOfBounds).await;
+        match data.datatype.check_bounds(data.value) {
+            ValueCheckResult::Fine => {},
+            ValueCheckResult::Warn => {
+                outgoing.send(value_warning(data.datatype, data.value)).await;
+            }
+            ValueCheckResult::Error => {
+                outgoing.send(value_error(data.datatype, data.value)).await;
+            }
+            ValueCheckResult::BrakeNow => {
+                event_sender.send(Event::ValueOutOfBounds).await;
+                outgoing.send(value_critical(data.datatype, data.value)).await;
+            }
         }
         // 2. check specific data types
 
         outgoing.send(data).await;
     }
 }
+
+fn value_warning(dt: Datatype, v: u64) -> Datapoint {
+    Datapoint::new(Datatype::ValueWarning, dt.to_id() as u64, v)
+}
+
+fn value_error(dt: Datatype, v: u64) -> Datapoint {
+    Datapoint::new(Datatype::ValueError, dt.to_id() as u64, v)
+}
+
+fn value_critical(dt: Datatype, v: u64) -> Datapoint {
+    Datapoint::new(Datatype::ValueCausedBraking, dt.to_id() as u64, v)
+}

app/src/core/data/sources.rs

@@ -0,0 +1,43 @@
+#![allow(unused)]
+
+use crate::Datatype;
+
+pub enum Subsystems {
+    GroundStation,
+    SensorHub,
+    Propulsion,
+    Batteries,
+    Levitation,
+}
+
+pub const GROUND_STATION_DATA: [Datatype; 1] = [Datatype::ResponseHeartbeat];
+
+pub const SENSOR_HUB_DATA: [Datatype; 9] = [
+    Datatype::Acceleration,
+    Datatype::Velocity,
+    Datatype::Localisation,
+    Datatype::AccelerationX,
+    Datatype::AccelerationY,
+    Datatype::AccelerationZ,
+    Datatype::GyroscopeX,
+    Datatype::GyroscopeY,
+    Datatype::GyroscopeZ,
+];
+
+pub const PROPULSION_DATA: [Datatype; 3] =
+    [Datatype::PropulsionSpeed, Datatype::PropulsionVoltage, Datatype::PropulsionCurrent];
+
+pub const HV_BMS_DATA: [Datatype; 3] = [
+    Datatype::BatteryBalanceHigh,
+    Datatype::BatteryCurrentHigh,
+    Datatype::BatteryEstimatedChargeHigh,
+];
+
+pub const LV_BMS_DATA: [Datatype; 6] = [
+    Datatype::BatteryBalanceLow,
+    Datatype::BatteryCurrentLow,
+    Datatype::BatteryEstimatedChargeLow,
+    Datatype::BatteryVoltageLow,
+    Datatype::BatteryTemperatureLow,
+    Datatype::ChargeStateLow,
+];