FWXV-214: pd smoke tests (#199)

* updated smoke to use pd output config

* refactoring

* small typo fix

* pd sense working

* rebase

* refactoring

* small typo fix

* fix lint errors

* minor fix

* add comment

* merge front and rear pd projects

* updated smoke to use pd output config

* refactoring

* small typo fix

* pd sense working

* rebase

* refactoring

* small typo fix

* minor fix

* minor fix

SConstruct

@@ -64,15 +64,6 @@ AddOption(
     action='store'
 )
 
-# Only for the power distribution project to specify front or rear PD
-
-AddOption(
-    '--location',
-    dest='location',
-    type='string',
-    action='store',
-    default='front',
-)
 
 # Adding Memory Report Argument to Environment Flags
 # Note platform needs to be explicitly set to arm

libraries/codegen/boards/boards.yaml

@@ -15,8 +15,7 @@
     - charger
     - motor_controller
     - pedal
-    - power_distribution_front
-    - power_distribution_rear
+    - power_distribution
     - power_select
     - solar_5_mppts
     - solar_6_mppts

libraries/codegen/boards/centre_console.yaml

@@ -13,9 +13,7 @@
     set_bms_power:
       id: 4
       target:
-        power_distribution_front:
-          watchdog: 0
-        power_distribution_rear:
+        power_distribution:
           watchdog: 0
       critical: true
       signals:
@@ -25,9 +23,7 @@
     set_power_state:
       id: 5
       target:
-        power_distribution_front:
-          watchdog: 0
-        power_distribution_rear:
+        power_distribution:
           watchdog: 0
       critical: true
       signals:
@@ -59,9 +55,7 @@
           watchdog: 0
         pedal:
           watchdog: 0
-        power_distribution_front:
-          watchdog: 0
-        power_distribution_rear :
+        power_distribution:
           watchdog: 0
       critical: true
       signals:
@@ -75,9 +69,7 @@
           watchdog: 0
         pedal:
           watchdog: 0
-        power_distribution_front:
-          watchdog: 0
-        power_distribution_rear:
+        power_distribution:
           watchdog: 0
       critical: true
       signals:
@@ -91,9 +83,7 @@
           watchdog: 0
         pedal:
           watchdog: 0
-        power_distribution_front:
-          watchdog: 0
-        power_distribution_rear:
+        power_distribution:
           watchdog: 0
       critical: true
       signals:
@@ -187,7 +177,7 @@
     power_info:
       id: 47
       target:
-        power_distribution_front:
+        power_distribution:
           watchdog: 0
       signals:
         hazard_state:

libraries/codegen/boards/power_distribution_front.yaml → libraries/codegen/boards/power_distribution.yaml

@@ -18,8 +18,7 @@
       signals:
         signal1:
           length: 8
-
-    front_current_measurement:
+    current_measurement:
       id: 54
       target:
         centre_console:
@@ -29,8 +28,7 @@
           length: 16
         current:
           length: 16
-
-    front_pd_fault:
+    pd_fault:
       id: 62
       target:
         centre_console:
@@ -50,4 +48,11 @@
           length: 8
         lights_state:
           length: 8
-
+    lights_sync:
+      id: 23
+      target:
+        lights_front:
+          watchdog: 0
+      signals:
+        signal1:
+          length: 8

libraries/codegen/boards/steering.yaml

@@ -13,9 +13,7 @@ Messages:
   steering_info:
     id: 21 # or some number
     target:
-      power_distribution_front:
-        watchdog: 0
-      power_distribution_back:
+      power_distribution:
         watchdog: 0
       motor_controller:
         watchdog: 0

libraries/ms-common/src/arm/adc.c

@@ -200,11 +200,18 @@ StatusCode adc_init(void) {
   while (ADC_GetCalibrationStatus(ADC1)) {
   }
 
+  // Initialize static variables
+  sem_init(&s_adc_status.converting, 1, 0);
+  DMA_ClearITPendingBit(DMA1_IT_TC1);
+  DMA_ClearITPendingBit(DMA1_IT_HT1);
+  DMA_ClearITPendingBit(DMA1_IT_GL1);
+
   // Enable interrupts for the end of each full conversion
   stm32f10x_interrupt_nvic_enable(DMA1_Channel1_IRQn, INTERRUPT_PRIORITY_LOW);
 
-  // Initialize static variables
-  sem_init(&s_adc_status.converting, 1, 0);
+  // goes into ISR after enabling interrupts so sem_wait here to reset semaphore
+  status_ok_or_return(sem_wait(&s_adc_status.converting, ADC_TIMEOUT_MS));
+
   s_adc_status.initialized = true;
 
   return STATUS_CODE_OK;
@@ -262,5 +269,7 @@ void DMA1_Channel1_IRQHandler() {
   BaseType_t higher_prio;
   xSemaphoreGiveFromISR(s_adc_status.converting.handle, &higher_prio);
   DMA_ClearITPendingBit(DMA1_IT_TC1);
+  DMA_ClearITPendingBit(DMA1_IT_HT1);
+  DMA_ClearITPendingBit(DMA1_IT_GL1);
   portYIELD_FROM_ISR(higher_prio);
 }

libraries/ms-drivers/inc/bts_load_switch.h

@@ -51,8 +51,8 @@ StatusCode bts_output_enable_output(BtsLoadSwitchOutput *loadSwitch);
 // Disable output by pulling the IN pin low.
 StatusCode bts_output_disable_output(BtsLoadSwitchOutput *loadSwitch);
 
-// Returns whether the output is enabled or disabled.
-StatusCode bts_output_get_enabled(BtsLoadSwitchOutput *loadSwitch);
+// Stores the output state of the load in the pin_state variable. 0 for disabled, 1 for enabled
+StatusCode bts_output_get_output_enabled(BtsLoadSwitchOutput *loadSwitch, uint8_t *pin_state);
 
 // Read the latest current input current measurement, in mA.
 StatusCode bts_output_get_current(BtsLoadSwitchOutput *loadSwitch, uint16_t *current);

libraries/ms-drivers/src/bts_load_switch.c

@@ -36,19 +36,23 @@ static StatusCode prv_bts_switch_disable_pin(Bts7xxxPin *pin) {
 }
 
 // Broad function to get whether the pin passed in is enabled.
-static StatusCode prv_bts_switch_get_pin_enabled(Bts7xxxPin *pin) {
+static StatusCode prv_bts_switch_get_pin_enabled(Bts7xxxPin *pin, uint8_t *pin_state) {
   if (pin->pin_type == BTS7XXX_PIN_STM32) {
-    GpioState pin_state;
-    StatusCode status = gpio_get_state(pin->pin_stm32, &pin_state);
-    return (pin_state == GPIO_STATE_HIGH);
+    GpioState gpio_pin_state;
+    status_ok_or_return(gpio_get_state(pin->pin_stm32, &gpio_pin_state));
+    *pin_state = (gpio_pin_state == GPIO_STATE_HIGH);
   } else {
-    Pca9555GpioState pin_state;
-    StatusCode status = pca9555_gpio_get_state(pin->pin_pca9555, &pin_state);
-    return (pin_state == PCA9555_GPIO_STATE_HIGH);
+    Pca9555GpioState pca_pin_state;
+    status_ok_or_return(pca9555_gpio_get_state(pin->pin_pca9555, &pca_pin_state));
+    *pin_state = (pca_pin_state == PCA9555_GPIO_STATE_HIGH);
   }
+  return STATUS_CODE_OK;
 }
 
 static StatusCode prv_bts_switch_select_state(BtsLoadSwitchOutput *load_switch) {
+  if (load_switch->select_pin == NULL) {
+    return STATUS_CODE_OK;  // if bts switch doesn't have select pin
+  }
   switch (load_switch->select_pin->pin_type) {
     case BTS7XXX_PIN_STM32:
       return gpio_set_state(load_switch->select_pin->pin_stm32,
@@ -63,8 +67,9 @@ static StatusCode prv_bts_switch_select_state(BtsLoadSwitchOutput *load_switch)
 }
 
 StatusCode bts_output_init(BtsLoadSwitchOutput *load_switch) {
-  status_ok_or_return(gpio_init_pin(load_switch->sense_pin, GPIO_OUTPUT_PUSH_PULL, GPIO_STATE_LOW));
-  status_ok_or_return(prv_bts_switch_init_pin(load_switch->select_pin));
+  if (load_switch->select_pin != NULL) {
+    status_ok_or_return(prv_bts_switch_init_pin(load_switch->select_pin));
+  }
   return prv_bts_switch_init_pin(load_switch->enable_pin);
 }
 
@@ -76,11 +81,12 @@ StatusCode bts_output_disable_output(BtsLoadSwitchOutput *load_switch) {
   return prv_bts_switch_disable_pin(load_switch->enable_pin);
 }
 
-StatusCode bts_output_get_output_enabled(BtsLoadSwitchOutput *load_switch) {
-  return prv_bts_switch_get_pin_enabled(load_switch->enable_pin);
+StatusCode bts_output_get_output_enabled(BtsLoadSwitchOutput *load_switch, uint8_t *pin_state) {
+  return prv_bts_switch_get_pin_enabled(load_switch->enable_pin, pin_state);
 }
 
 StatusCode bts_output_get_current(BtsLoadSwitchOutput *load_switch, uint16_t *current) {
   status_ok_or_return(prv_bts_switch_select_state(load_switch));
+  status_ok_or_return(adc_run());
   return adc_read_converted(*(load_switch->sense_pin), current);
 }

projects/centre_console/inc/power_fsm_can_data.h

@@ -6,8 +6,7 @@
 #define AUX_FAULT_BITS 0xE0
 
 // PD messages (Todo)
-#define PD_FRONT_FAULT 0x00
-#define PD_REAR_FAULT 0x00
+#define PD_FAULT 0x00
 
 // BMS send power notification (Todo)
 #define SET_BMS_POWER_NOTIFY 0x01

projects/centre_console/src/power_fsm_sequence.c

@@ -63,13 +63,11 @@ void power_fsm_send_pd_bms_output(void *context) {
 
 void power_fsm_send_pd_bms_input(Fsm *fsm, void *context) {
   //  = (PowerFsmContext *)context;
-  FSM_CHECK_DATA_RECV(fsm, power_context, get_received_rear_pd_fault());
-  FSM_CHECK_DATA_RECV(fsm, power_context, get_received_front_pd_fault());
+  FSM_CHECK_DATA_RECV(fsm, power_context, get_received_pd_fault());
 
-  uint8_t rear_fault = get_rear_pd_fault_fault_data();
-  uint8_t front_fault = get_front_pd_fault_fault_data();
+  uint8_t pd_fault = get_pd_fault_fault_data();
 
-  if (rear_fault == PD_REAR_FAULT && front_fault == PD_FRONT_FAULT) {
+  if (pd_fault == PD_FAULT) {
     // Reset cycle counter
     s_cycle_timeout = CYCLES_TIMEOUT;
     // Transition to next state

projects/centre_console/test/test_power_fsm.c

@@ -45,10 +45,8 @@ void test_off_to_main(void) {
   TEST_ASSERT_EQUAL(power_fsm->curr_state, POWER_FSM_SEND_PD_BMS);
 
   // Transition to POWER_FSM_CONFIRM_BATTERY_STATUS
-  g_rx_struct.rear_pd_fault_fault_data = PD_REAR_FAULT;
-  g_rx_struct.front_pd_fault_fault_data = PD_FRONT_FAULT;
-  g_rx_struct.received_rear_pd_fault = true;
-  g_rx_struct.received_front_pd_fault = true;
+  g_rx_struct.pd_fault_fault_data = PD_FAULT;
+  g_rx_struct.received_pd_fault = true;
   fsm_run_cycle(power);
   wait_tasks(1);
   TEST_ASSERT_EQUAL(power_fsm->curr_state, POWER_FSM_CONFIRM_BATTERY_STATUS);

projects/power_distribution_front/README.md → projects/power_distribution/README.md

@@ -14,7 +14,5 @@
 -->
 # power_distribution
 
-The power distribution project consists of two different boards, front and rear. 
-## Power Distribution Front
+## Power Distribution
 
-## Power Distribution Rear

projects/power_distribution_front/inc/outputs.h → projects/power_distribution/inc/outputs.h

@@ -51,6 +51,8 @@ typedef enum {
   REAR_OUTPUT_SOLAR_SENSE,
   REAR_OUTPUT_BPS_STROBE_LIGHT,
   REAR_OUTPUT_FAN_1,
+  LEFT_REAR_CAMERA,
+  RIGHT_CAMERA,
   // REAR_OUTPUT_FAN_2,
   // REAR_OUTPUT_LEFT_REAR_TURN_LIGHT,
   // REAR_OUTPUT_RIGHT_REAR_TURN_LIGHT,
@@ -87,6 +89,7 @@ typedef enum {
   OUTPUT_GROUP_LEFT_TURN,
   OUTPUT_GROUP_RIGHT_TURN,
   OUTPUT_GROUP_HAZARD,
+  OUTPUT_GROUP_TEST,
   NUM_OUTPUT_GROUPS,
 } OutputGroup;
 
@@ -99,7 +102,7 @@ typedef struct OutputGroupDef {
   Output outputs[];
 } OutputGroupDef;
 
-extern const BtsLoadSwitchOutput g_output_config[NUM_OUTPUTS];
+extern BtsLoadSwitchOutput g_output_config[NUM_OUTPUTS];
 extern const OutputGroupDef *g_output_group_map[NUM_OUTPUT_GROUPS];
 
 // Initializes all outputs

projects/power_distribution_front/inc/pin_defs.h → projects/power_distribution/inc/pin_defs.h

@@ -5,6 +5,10 @@
 #define PD_I2C_PORT I2C_PORT_1
 #define PD_PCA9555_I2C_ADDRESS_0 0x24
 #define PD_PCA9555_I2C_ADDRESS_1 0x26
+#define PD_I2C_SDA \
+  { GPIO_PORT_B, 9 }
+#define PD_I2C_SCL \
+  { GPIO_PORT_B, 8 }
 #define PCA9555_IO_INT1 \
   { GPIO_PORT_B, 14 }
 #define PCA9555_IO_INT2 \
@@ -118,3 +122,12 @@
 
 #define REAR_PIN_FAN_1_2_DSEL \
   { PD_PCA9555_I2C_ADDRESS_1, PCA9555_PIN_IO0_6 }
+
+#define LEFT_REAR_CAMERA_EN \
+  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO1_6 }
+
+#define RIGHT_CAMERA_EN \
+  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_7 }
+
+#define REAR_RIGHT_CAMERA_DSEL \
+  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO1_7 }

projects/power_distribution_front/src/lights_fsm.c → projects/power_distribution/src/lights_fsm.c

@@ -1,6 +1,6 @@
 #include "lights_fsm.h"
 
-#include "power_distribution_front_getters.h"
+#include "power_distribution_getters.h"
 
 // Placeholder GPIO Address, will be updated
 GpioAddress RIGHT_LIGHT_ADDR = { .port = GPIO_PORT_A, .pin = 11 };