PD power seq implementation (#249)

* pd power seq implementation * pr feedback changes * pr feedback updates 2 * add bms relay state can msg
uw-midsun · Jan 13, 2024 · 704016f · 704016f
1 parent dd2d000
commit 704016f
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Showing 21 changed files with 336 additions and 126 deletions.
diff --git a/can/src/can.c b/can/src/can.c
@@ -40,7 +40,7 @@ TASK(CAN_TX, TASK_STACK_256)
     LOG_DEBUG("can_tx called: %d!\n", counter);
     counter++;
 
-    check_can_watchdogs();
+    check_can_watchdogs(); // TODO: handle STATUS_CODE_TIMEOUT here
 
     can_tx_all();
 

diff --git a/libraries/codegen/boards/bms_carrier.yaml b/libraries/codegen/boards/bms_carrier.yaml
@@ -15,6 +15,8 @@
       target:
         centre_console:
           watchdog: 0
+        power_distribution:
+          watchdog: 3
       critical: true
       signals:
         batt_perc:
@@ -74,18 +76,11 @@
         fan_8:
           length: 8
 
-    battery_relay_state:
+    battery_relay_info:
       id: 58
       target:
-        bms_carrier:
-          watchdog: 0
-        centre_console:
+        power_distribution:
           watchdog: 0
       signals:
-        hv:
-          length: 8
-        gnd:
+        state:
           length: 8
-
-
-
diff --git a/libraries/codegen/boards/motor_controller.yaml b/libraries/codegen/boards/motor_controller.yaml
@@ -78,6 +78,8 @@
       target:
         centre_console:
           watchdog: 0
+        power_distribution:
+          watchdog: 0
       signals:
         limit_bitset_l:
           length: 8

diff --git a/libraries/codegen/boards/power_distribution.yaml b/libraries/codegen/boards/power_distribution.yaml
@@ -75,3 +75,11 @@
       signals:
         fault_bitset:
           length: 8
+    bms_relays:
+      id: 10
+      target:
+        bms_carrier:
+          watchdog: 0
+      signals:
+        relays_state:
+          length: 8
diff --git a/libraries/codegen/templates/_rx_all.c.jinja b/libraries/codegen/templates/_rx_all.c.jinja
@@ -7,7 +7,7 @@
 
 {% for message, message_data in messages.items() %}
     {%- if message_data["target"][board]["watchdog"] != 0 %}
-static CanWatchDog s_{{message}}_msg_watchdog = {0, {{message_data["target"][board]["watchdog"] | lower}}, 0};
+CanWatchDog s_{{message}}_msg_watchdog = {0, {{message_data["target"][board]["watchdog"] | lower}}, 0};
     {%- endif %}
 {%- endfor %}
 
@@ -45,6 +45,7 @@ void clear_rx_received() {
 }
 
 StatusCode check_can_watchdogs() {
+    StatusCode status = STATUS_CODE_OK;
 {%- for message, message_data in messages.items() %}
     {%- if message_data["target"][board]["watchdog"] != 0 %}
     if (!g_rx_struct.received_{{message}}) {
@@ -53,11 +54,14 @@ StatusCode check_can_watchdogs() {
             LOG_CRITICAL("DID NOT RECEIVE CAN MESSAGE: %u IN MAX CYCLES : %u\n", SYSTEM_CAN_MESSAGE_{{message_data["src"] | upper}}_{{message | upper}},
                             s_{{message}}_msg_watchdog.max_cycles);
             s_{{message}}_msg_watchdog.missed = 1;
-        } else {
-            s_{{message}}_msg_watchdog.missed = 0;
+            status = STATUS_CODE_TIMEOUT;
         }
+    } else {
+        s_{{message}}_msg_watchdog.cycles_over = 0;
+        s_{{message}}_msg_watchdog.missed = 0;
     }
     {%- endif %}
 {%- endfor %}
-    return STATUS_CODE_OK;
+    return status;
 }
+
diff --git a/libraries/codegen/templates/_rx_structs.h.jinja b/libraries/codegen/templates/_rx_structs.h.jinja
@@ -4,6 +4,14 @@
 {%- set messages = data["Messages"] %}
 #include <stdint.h>
 #include <stdbool.h>
+#include "can_watchdog.h"
+
+{% for message, message_data in messages.items() %}
+  {%- if message_data["target"][board]["watchdog"] != 0 %}
+#define check_{{message}}_msg_watchdog() \
+    s_{{message}}_msg_watchdog.missed
+  {%- endif %}
+{%- endfor %}
 
 typedef struct
 {
@@ -16,3 +24,9 @@ typedef struct
     bool received_{{message}};
 {%- endfor %}
 } {{board}}_rx_struct;
+
+{%- for message, message_data in messages.items() %}
+  {% if message_data["target"][board]["watchdog"] != 0 %}
+extern CanWatchDog s_{{message}}_msg_watchdog;
+  {%- endif %}
+{%- endfor %}
diff --git a/libraries/ms-common/inc/exported_enums.h b/libraries/ms-common/inc/exported_enums.h
@@ -201,7 +201,7 @@ typedef enum EESolarRelayOpenErrorReason {
   NUM_EE_SOLAR_RELAY_OPEN_ERROR_REASON
 } EESolarRelayOpenErrorReason;
 
-enum GlobalErrorCode {
+typedef enum {
   NO_ERROR = 0,
   PEDAL_OFFLINE,
   MCI_CAN_FAULT,

diff --git a/libraries/ms-common/inc/fsm.h b/libraries/ms-common/inc/fsm.h
@@ -63,7 +63,7 @@
 #include "status.h"
 #include "tasks.h"
 
-#define FSM_PRIORITY 1
+#define FSM_PRIORITY 2
 // TODO(mitchellostler): make user defined
 #define FSM_TASK_STACK TASK_STACK_1024
 #define FSM_TIMEOUT_MS 1000

diff --git a/projects/fsm_demo/src/main.c b/projects/fsm_demo/src/main.c
@@ -3,24 +3,38 @@
 #include "fsm1.h"
 #include "fsm2.h"
 #include "log.h"
+#include "master_task.h"
 #include "tasks.h"
 
-TASK(master_task, TASK_STACK_512) {
-  while (true) {
-    fsm_run_cycle(fsm1);
-    wait_tasks(1);
-    fsm_run_cycle(fsm2);
-    wait_tasks(1);
-    delay_ms(1000);
-  }
+// TASK(master_task, TASK_STACK_512) {
+//   while (true) {
+//     fsm_run_cycle(fsm1);
+//     wait_tasks(1);
+//     fsm_run_cycle(fsm2);
+//     wait_tasks(1);
+//     delay_ms(1000);
+//   }
+// }
+
+void pre_loop_init() {}
+void run_slow_cycle() {}
+void run_fast_cycle() {}
+
+void run_medium_cycle() {
+  fsm_run_cycle(fsm1);
+  wait_tasks(1);
+  fsm_run_cycle(fsm2);
+  wait_tasks(1);
+  delay_ms(1000);
 }
 
 int main(void) {
   log_init();
   tasks_init();
   init_fsm1();
   init_fsm2();
-  tasks_init_task(master_task, TASK_PRIORITY(3), NULL);
+  init_master_task();
+  // tasks_init_task(master_task, TASK_PRIORITY(2), NULL);
 
   LOG_DEBUG("FSM Demo...\n");
   tasks_start();

diff --git a/projects/leds/src/main.c b/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);

diff --git a/projects/power_distribution/inc/outputs.h b/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,
@@ -57,10 +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_TEST,
+  OUTPUT_GROUP_LIGHTS_LEFT_TURN,
+  OUTPUT_GROUP_LIGHTS_RIGHT_TURN,
+  OUTPUT_GROUP_LIGHTS_HAZARD,
+  // Power States
+  OUTPUT_GROUP_POWER_OFF,
+  OUTPUT_GROUP_POWER_ON,
+  OUTPUT_GROUP_POWER_DRIVE,
+  OUTPUT_GROUP_POWER_FAULT,
   NUM_OUTPUT_GROUPS,
 } OutputGroup;
 
@@ -70,7 +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];
@@ -81,3 +85,5 @@ StatusCode pd_output_init(void);
 
 // Sets an output group to an output state
 StatusCode pd_set_output_group(OutputGroup group, OutputState state);
+
+StatusCode pd_set_active_output_group(OutputGroup group);
diff --git a/projects/power_distribution/inc/pd_fault.h b/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);
diff --git a/projects/power_distribution/inc/power_seq_fsm.h b/projects/power_distribution/inc/power_seq_fsm.h
@@ -1,20 +1,32 @@
 #pragma once
 
 #include "can.h"
+#include "exported_enums.h"
 #include "fsm.h"
 #include "log.h"
 #include "task.h"
 
-#define NUM_POWER_SEQ_STATES 5
-#define NUM_POWER_SEQ_TRANSITIONS 9
+// TODO: figure out actual values for timeout
+#define BMS_RESPONSE_TIMEOUT_MS 10000
+#define MCI_RESPONSE_TIMEOUT_MS 12000
+
+#define NUM_POWER_STATES 6
 
 DECLARE_FSM(power_seq);
 typedef enum PowerSeqStateId {
-  POWER_SEQ_INIT_STATE = 0,
-  POWER_SEQ_EVERYTHING_ON,
-  POWER_SEQ_DRIVER_CONTROLS,
-  POWER_SEQ_MAIN_OPERATION,
-  POWER_SEQ_AUX_POWER
+  POWER_STATE_OFF = 0,
+  TRANSMIT_BMS_CLOSE_RELAYS,
+  POWER_STATE_ON,
+  TURN_ON_DRIVE_OUTPUTS,
+  POWER_STATE_DRIVE,
+  POWER_STATE_FAULT,
 } PowerSeqStateId;
 
+typedef struct {
+  PowerSeqStateId target_state;
+  PowerSeqStateId latest_state;
+  TickType_t timer_start_ticks;
+  uint8_t fault;
+} PowerFsmContext;
+
 StatusCode init_power_seq(void);
diff --git a/projects/power_distribution/src/lights_fsm.c b/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);
   }
 }