Restructured VCU FSM to separate individual cases in EM_Fault(). #91
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vcu/Src/drive_by_wire.c
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| sendCAN_VCU_Throttle_Failure(); | ||
| int currentState = fsmGetState(&VCUFsmHandle); | ||
| DEBUG_PRINT("Throttle read failure, trans to fatal failure\n"); | ||
| sendDTC_FATAL_VCU_F7_EV_FATAL(); |
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Let's send DTC 30 before invoking VCU FATAL DTC. Without it, the fatal DTC doesn't tell us anything about the root cause.
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They are called before you call that function pretty sure.
common/Data/2024CAR.dbc
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| SG_ ChannelCurrentMCRight : 0|16@1+ (0.01,0) [0|0] "Amps" Vector__XXX | ||
| SG_ ChannelCurrentAUX : 0|16@1+ (0.01,0) [0|0] "" Vector__XXX | ||
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| BO_ 2287668226 VCU_Toggle_EM_Off: 8 VCU_F7 |
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You can put this all in one message and have distinct signals
vcu/Src/drive_by_wire.c
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| { STATE_EM_Enable, EV_EM_Toggle, &ToggleMotorsOff }, | ||
| { STATE_Failure_Fatal, EV_ANY, &fatalTransition }, | ||
| { STATE_ANY, EV_CAN_Receive_HV, &processHvState}, // From DCU. Check HV toggle response from the BMU | ||
| // { STATE_ANY, EV_CAN_Receive_EM, &processEmState}, // From DCU. Happens locally now so remove it |
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Remove any events nots used, especially stuff commented out
vcu/Src/drive_by_wire.c
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| { STATE_ANY, EV_BTN_HV_Toggle, &sendHvToggle}, // From DCU | ||
| { STATE_ANY, EV_BTN_EM_Toggle, &sendEmToggle}, // From DCU | ||
| { STATE_EM_Enable, EV_BTN_TC_Toggle, &toggleTC}, // From DCU | ||
| // { STATE_EM_Enable, EV_BTN_Endurance_Mode_Toggle, &toggleEnduranceMode}, // From DCU |
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Endurance mode not in use, remove for now as we don't even have a working endurance mode
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Remove debounce timer, I can't comment on it since it wasn't modified, see line 156
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On second thought keep the transition and add a note endurance mode not currently in use, also remove everything that says "from DCU"
| { | ||
| sendDTC_WARNING_Throttle_Failure(3); | ||
| return EM_Fault(EV_Throttle_Failure); | ||
| return Throttle_Shutdown(EV_Throttle_Failure); |
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Remove comments on lines 216 and 217
| VCU_States_t state = shutDownMotors(STATE_HV_Disable); | ||
| return state; | ||
| } | ||
| uint32_t Generic_EM_Fault(uint32_t event){ |
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change all function return types to be VCU_States_t instead as necessary
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its supposed to be uint32_t but I think I messed up by declaring it as VCU_States_t in the function
common/Data/2024CAR.dbc
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| BO_ 2287668226 VCU_Toggle_EM_Off: 8 VCU_F7 | ||
| SG_ EMFaultEvent : 0|8@1+ (1,0) [0|255] "" Vector__XXX | ||
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| BO_ 2287733762 VCU_HV_Disable_Twice: 8 VCU_F7 |
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Its for disableRedundancy, tbh idk why I didn't keep it the same name
vcu/Src/drive_by_wire.c
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| uint32_t EM_Fault(uint32_t event) | ||
| { | ||
| int newState = STATE_Failure_Fatal; | ||
| uint32_t BPS_Failure_Shutdown(uint32_t event){ |
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BPS is brake pressure sensor. you have redundant transitions
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I was just copying the transitions from how it was initially lol
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My suggestion is when working on something, don't assume what was previously done is perfect. Investigate what it is you're working on and find ways to improve it outside of what was just asked of you. It's some good feedback one of my previous employers gave me to improve as an engineer. For example in this case the VCU state machine isn't perfect and could use some optimization
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Yeah I found out that BPS_Failure wasn't implemented out so I removed it
vcu/Src/drive_by_wire.c
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| { STATE_EM_Enable, EV_EM_Toggle, &EM_Fault }, | ||
| { STATE_HV_Enable, EV_Hv_Disable, & DisablingHV}, | ||
| { STATE_EM_Enable, EV_Bps_Fail, &BPS_Failure_Shutdown }, | ||
| { STATE_EM_Enable, EV_Hv_Disable, & DisablingHV}, |
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remove extra space between & and DisablingHV
vcu/Src/drive_by_wire.c
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| sendCAN_VCU_Toggle_EM_Off(); | ||
| DEBUG_PRINT("EM Toggle, trans to EM Disabled\n"); | ||
| //disable TC | ||
| disableRegen(); |
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I would move disableRegen and disable_TC to MotorStop
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