From 27ea01d8816278bb3488b73306c2ed81083a6492 Mon Sep 17 00:00:00 2001 From: Eric Udlis Date: Fri, 1 Jan 2021 01:53:55 -0600 Subject: [PATCH 01/40] Added hviox.cpp to cmake --- embedded/peripherals/CMakeLists.txt | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/embedded/peripherals/CMakeLists.txt b/embedded/peripherals/CMakeLists.txt index 1e27d199..159d9f7f 100644 --- a/embedded/peripherals/CMakeLists.txt +++ b/embedded/peripherals/CMakeLists.txt @@ -14,7 +14,8 @@ add_library(peripherals src/batt.c src/imu.c src/mcp23017.c src/proc_iox.c - src/rms.c) + src/rms.c + src/hv_iox.cpp) # Run Autocoder add_dependencies(peripherals autocoder) From 8c0bbc1a661d27fd1e3dd6889e6e7a3dadb5b285 Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Fri, 1 Jan 2021 14:17:52 -0600 Subject: [PATCH 02/40] {first commit plz help} --- embedded/peripherals/src/hv_iox.cpp | 145 ++++++++++++++++++++++++++++ 1 file changed, 145 insertions(+) create mode 100644 embedded/peripherals/src/hv_iox.cpp diff --git a/embedded/peripherals/src/hv_iox.cpp b/embedded/peripherals/src/hv_iox.cpp new file mode 100644 index 00000000..2884ecdf --- /dev/null +++ b/embedded/peripherals/src/hv_iox.cpp @@ -0,0 +1,145 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#define HV_IO_ADDR 0x24 + +#ifdef NOI2C +#define VI2C +#endif + +static i2c_settings iox; +static int setupIox(void); + +/*** + * initHVIox - Meant to be overly pedantic + * even if the values arent changing, + * just to make extremely clear the initial + * state of everything. + * + */ +class HVIox { + HVIox(bool hardStart) { + if (setupMCP(&iox, HV_IO_ADDR) != 0) return -1; + if (hardStart) { + if (clearSettingsMCP(&iox) != 0) return -1; + if (setupIox() != 0) return -1; + } +// static int setupIox() moved into constructor: + setDir(&iox, HV_IND_EN, MCP_DIR_IN); + setDir(&iox, MCU_LATCH, MCP_DIR_OUT); + setDir(&iox, BMS_MULTI_IN, MCP_DIR_IN); + setDir(&iox, IMD_STAT_FDBK, MCP_DIR_IN); + setDir(&iox, INRT_STAT_FDBK, MCP_DIR_IN); + setDir(&iox, HV_EN_FDBK, MCP_DIR_IN); + setDir(&iox, MCU_HV_EN, MCP_DIR_IN); + setDir(&iox, PS_FDBK, MCP_DIR_IN); + setDir(&iox, BMS_STAT_FDBK, MCP_DIR_IN); + setDir(&iox, E_STOP_FDBK, MCP_DIR_IN); + setDir(&iox, MSTR_SW_FDBK, MCP_DIR_IN); + } + + i2c_settings getHVIoxDev() { + return iox; + } + + int isHVIndicatorEnabled() { + #ifdef NOI2C + return 1; + #endif + return getState(&iox, HV_IND_EN); + } + + int setMCULatch(bool val) { + #ifdef NOI2C + return 0; + #endif + return setState(&iox, MCU_LATCH, val); + } + + int getBMSMultiIn() { + #ifdef NOI2C + return 1; + #endif + return getState(&iox, BMS_MULTI_IN); + } + + int getIMDStatus() { + #ifdef NOI2C + return 1; + #endif + return getBmsImdStatus() >= 4;//getState(&iox, IMD_STAT_FDBK); + } + + int getINRTStatus() { + #ifdef NOI2C + return 1; + #endif + return getState(&iox, INRT_STAT_FDBK); + } + + int isHVEnabled() { + #ifdef NOI2C + return 0; + #endif + return getState(&iox, HV_EN_FDBK); + } + + int setMCUHVEnabled(int val) { + #ifdef NOI2C + return 0; + #endif + setDir(&iox, MCU_HV_EN, MCP_DIR_OUT); + return setState(&iox, MCU_HV_EN, val); + } + + int isMCUHVEnabled() { + #ifdef NOI2C + return 1; + #endif + setDir(&iox, MCU_HV_EN, MCP_DIR_IN); + return getState(&iox, MCU_HV_EN); + } + + int emergencyDisableMCU() { + #ifdef NOI2C + return 1; + #endif + setDir(&iox, MCU_HV_EN, MCP_DIR_OUT); + return setState(&iox, MCU_HV_EN, true); + } + + int getPsStatus() { + #ifdef NOI2C + return 1; + #endif + return getState(&iox, PS_FDBK); + } + + int getBMSStatus() { + #ifdef NOI2C + return 1; + #endif + return getState(&iox, BMS_STAT_FDBK); + } + + int isEStopOn() { + #ifdef NOI2C + return 0; + #endif + return getState(&iox, E_STOP_FDBK); + } + + int getMasterSwFeedback() { + #ifdef NOI2C + return 1; + #endif + return getState(&iox, MSTR_SW_FDBK); + } +} From 48c86afaca312fa5a04e993c644ed0f731fb1eeb Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Fri, 1 Jan 2021 18:09:35 -0600 Subject: [PATCH 03/40] Added boolean to replace return -1 --- embedded/peripherals/src/hv_iox.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/embedded/peripherals/src/hv_iox.cpp b/embedded/peripherals/src/hv_iox.cpp index 2884ecdf..d1ef4c43 100644 --- a/embedded/peripherals/src/hv_iox.cpp +++ b/embedded/peripherals/src/hv_iox.cpp @@ -25,11 +25,12 @@ static int setupIox(void); * */ class HVIox { + bool isInit = true; HVIox(bool hardStart) { - if (setupMCP(&iox, HV_IO_ADDR) != 0) return -1; + if (setupMCP(&iox, HV_IO_ADDR) != 0) isInit = false; if (hardStart) { - if (clearSettingsMCP(&iox) != 0) return -1; - if (setupIox() != 0) return -1; + if (clearSettingsMCP(&iox) != 0) isInit = false; + if (setupIox() != 0) isInit = false; } // static int setupIox() moved into constructor: setDir(&iox, HV_IND_EN, MCP_DIR_IN); From 0ed594a59121ae0ef28317e58c8684c3534021fd Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Fri, 1 Jan 2021 18:35:49 -0600 Subject: [PATCH 04/40] added semicolon to end of class definition --- embedded/peripherals/src/hv_iox.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/embedded/peripherals/src/hv_iox.cpp b/embedded/peripherals/src/hv_iox.cpp index d1ef4c43..b8921c45 100644 --- a/embedded/peripherals/src/hv_iox.cpp +++ b/embedded/peripherals/src/hv_iox.cpp @@ -143,4 +143,4 @@ class HVIox { #endif return getState(&iox, MSTR_SW_FDBK); } -} +}; From d5c8b86bf404460611746dcdc2a1f58679fffebe Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Fri, 1 Jan 2021 20:55:13 -0600 Subject: [PATCH 05/40] changed header file for hv_iox.cpp --- embedded/peripherals/include/hv_iox.h | 56 ++++++++++++++------------- 1 file changed, 29 insertions(+), 27 deletions(-) diff --git a/embedded/peripherals/include/hv_iox.h b/embedded/peripherals/include/hv_iox.h index 55553522..a17c8882 100644 --- a/embedded/peripherals/include/hv_iox.h +++ b/embedded/peripherals/include/hv_iox.h @@ -19,32 +19,34 @@ #define MSTR_SW_FDBK MCP_GPIOA_0 -int initHVIox(bool hardStart); - -i2c_settings getHVIoxDev(void); - -int isHVIndicatorEnabled(void); - -int setMCULatch(bool val); - -int getBMSMultiIn(void); - -int getIMDStatus(void); - -int getINRTStatus(void); - -int isHVEnabled(void); - -int isMCUHVEnabled(void); - -int getPsStatus(void); - -int getBMSStatus(void); - -int isEStopOn(void); - -int getMasterSwFeedback(void); - -int setMCUHVEnabled(int val); +class HVIox { + HVIox(bool hardStart); + + i2c_settings getHVIoxDev(void); + + int isHVIndicatorEnabled(void); + + int setMCULatch(bool val); + + int getBMSMultiIn(void); + + int getIMDStatus(void); + + int getINRTStatus(void); + + int isHVEnabled(void); + + int isMCUHVEnabled(void); + + int getPsStatus(void); + + int getBMSStatus(void); + + int isEStopOn(void); + + int getMasterSwFeedback(void); + + int setMCUHVEnabled(int val); +}; #endif From 16b6ffefe3f55f2a7e6deebc770a7f4cbad75ff9 Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Sat, 2 Jan 2021 17:55:19 -0600 Subject: [PATCH 06/40] added extern HVIox and syntax adjustments --- embedded/peripherals/CMakeLists.txt | 1 - embedded/peripherals/include/hv_iox.h | 57 ++++++++++++++------------- embedded/peripherals/src/hv_iox.cpp | 2 + middleware/src/HVTCPSocket.cpp | 8 ++-- 4 files changed, 36 insertions(+), 32 deletions(-) diff --git a/embedded/peripherals/CMakeLists.txt b/embedded/peripherals/CMakeLists.txt index 159d9f7f..4e495316 100644 --- a/embedded/peripherals/CMakeLists.txt +++ b/embedded/peripherals/CMakeLists.txt @@ -4,7 +4,6 @@ project(peripheralslib VERSION 1.0 #Define sources for library add_library(peripherals src/batt.c src/braking.c - src/hv_iox.c src/lv_iox.c src/lv_iox.c src/NCD9830DBR2G.c diff --git a/embedded/peripherals/include/hv_iox.h b/embedded/peripherals/include/hv_iox.h index a17c8882..0507d4cd 100644 --- a/embedded/peripherals/include/hv_iox.h +++ b/embedded/peripherals/include/hv_iox.h @@ -20,33 +20,36 @@ class HVIox { - HVIox(bool hardStart); - - i2c_settings getHVIoxDev(void); - - int isHVIndicatorEnabled(void); - - int setMCULatch(bool val); - - int getBMSMultiIn(void); - - int getIMDStatus(void); - - int getINRTStatus(void); - - int isHVEnabled(void); - - int isMCUHVEnabled(void); - - int getPsStatus(void); - - int getBMSStatus(void); - - int isEStopOn(void); - - int getMasterSwFeedback(void); - - int setMCUHVEnabled(int val); + public: + HVIox(bool hardStart); + + i2c_settings getHVIoxDev(void); + + int isHVIndicatorEnabled(void); + + int setMCULatch(bool val); + + int getBMSMultiIn(void); + + int getIMDStatus(void); + + int getINRTStatus(void); + + int isHVEnabled(void); + + int isMCUHVEnabled(void); + + int getPsStatus(void); + + int getBMSStatus(void); + + int isEStopOn(void); + + int getMasterSwFeedback(void); + + int setMCUHVEnabled(int val); }; +extern HVIox hv_iox; + #endif diff --git a/embedded/peripherals/src/hv_iox.cpp b/embedded/peripherals/src/hv_iox.cpp index b8921c45..fb598c1f 100644 --- a/embedded/peripherals/src/hv_iox.cpp +++ b/embedded/peripherals/src/hv_iox.cpp @@ -144,3 +144,5 @@ class HVIox { return getState(&iox, MSTR_SW_FDBK); } }; + +HVIox hv_iox(true); diff --git a/middleware/src/HVTCPSocket.cpp b/middleware/src/HVTCPSocket.cpp index 54cf02ed..a39c5ed5 100644 --- a/middleware/src/HVTCPSocket.cpp +++ b/middleware/src/HVTCPSocket.cpp @@ -155,10 +155,10 @@ void *TCPLoop(void *arg) setFlagsEmergencyBrake(1); } if (!strncmp(buffer, "mcuLatchOn", MAX_COMMAND_SIZE)) { - setMCULatch(true); + hv_iox.setMCULatch(true); } if (!strncmp(buffer, "mcuLatchOff", MAX_COMMAND_SIZE)) { - setMCULatch(false); + hv_iox.setMCULatch(false); } if (!strncmp(buffer, "enPrecharge", MAX_COMMAND_SIZE)) { /* pthread_create(&hbT, NULL, hbLoop, NULL);*/ @@ -175,12 +175,12 @@ void *TCPLoop(void *arg) if (!strncmp(buffer, "hvEnable", MAX_COMMAND_SIZE)) { /* Lets add a safety check here */ - setMCUHVEnabled(true); + hv_iox.setMCUHVEnabled(true); } if (!strncmp(buffer, "hvDisable", MAX_COMMAND_SIZE)) { - setMCUHVEnabled(false); + hv_iox.setMCUHVEnabled(false); } if(!strncmp(buffer,"override", 8)){ From 082ed091c2d396ca24bcd47eaeee923f2d1f7df6 Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Sat, 2 Jan 2021 20:48:01 -0600 Subject: [PATCH 07/40] Changed function to OO notation in autogenerator --- autocoding/templates/TelemetryLoop.template.cpp | 4 ++-- middleware/src/TelemetryLoop.cpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/autocoding/templates/TelemetryLoop.template.cpp b/autocoding/templates/TelemetryLoop.template.cpp index bc6d89ff..16028bc1 100644 --- a/autocoding/templates/TelemetryLoop.template.cpp +++ b/autocoding/templates/TelemetryLoop.template.cpp @@ -96,7 +96,7 @@ void* TelemetryLoop(void *arg) { addToBuffer(&buffer, &time); // Write 1 byte IMD status - uint8_t imdStatus = getIMDStatus(); + uint8_t imdStatus = hv_iox.getIMDStatus(); addToBuffer(&buffer, &imdStatus); // Write 4 byte primary brake @@ -139,4 +139,4 @@ void* TelemetryLoop(void *arg) { cerr << e.what() << endl; exit(1); } -} \ No newline at end of file +} diff --git a/middleware/src/TelemetryLoop.cpp b/middleware/src/TelemetryLoop.cpp index d2fdb3d3..645285a2 100644 --- a/middleware/src/TelemetryLoop.cpp +++ b/middleware/src/TelemetryLoop.cpp @@ -100,7 +100,7 @@ void* TelemetryLoop(void *arg) { addToBuffer(&buffer, &time); // Write 1 byte IMD status - uint8_t imdStatus = getIMDStatus(); + uint8_t imdStatus = hv_iox.getIMDStatus(); addToBuffer(&buffer, &imdStatus); // Write 4 byte primary brake @@ -225,4 +225,4 @@ void* TelemetryLoop(void *arg) { cerr << e.what() << endl; exit(1); } -} \ No newline at end of file +} From a4e8be7f3359c861afc8e36abf0631e2800c4cb8 Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Sat, 2 Jan 2021 20:58:57 -0600 Subject: [PATCH 08/40] changed syntax to write constructor method --- embedded/peripherals/src/hv_iox.cpp | 230 ++++++++++++++-------------- 1 file changed, 114 insertions(+), 116 deletions(-) diff --git a/embedded/peripherals/src/hv_iox.cpp b/embedded/peripherals/src/hv_iox.cpp index fb598c1f..04588ad9 100644 --- a/embedded/peripherals/src/hv_iox.cpp +++ b/embedded/peripherals/src/hv_iox.cpp @@ -24,125 +24,123 @@ static int setupIox(void); * state of everything. * */ -class HVIox { - bool isInit = true; - HVIox(bool hardStart) { - if (setupMCP(&iox, HV_IO_ADDR) != 0) isInit = false; - if (hardStart) { - if (clearSettingsMCP(&iox) != 0) isInit = false; - if (setupIox() != 0) isInit = false; - } +bool isInit = true; +HVIox::HVIox(bool hardStart) { + if (setupMCP(&iox, HV_IO_ADDR) != 0) isInit = false; + if (hardStart) { + if (clearSettingsMCP(&iox) != 0) isInit = false; + if (setupIox() != 0) isInit = false; + } // static int setupIox() moved into constructor: - setDir(&iox, HV_IND_EN, MCP_DIR_IN); - setDir(&iox, MCU_LATCH, MCP_DIR_OUT); - setDir(&iox, BMS_MULTI_IN, MCP_DIR_IN); - setDir(&iox, IMD_STAT_FDBK, MCP_DIR_IN); - setDir(&iox, INRT_STAT_FDBK, MCP_DIR_IN); - setDir(&iox, HV_EN_FDBK, MCP_DIR_IN); + setDir(&iox, HV_IND_EN, MCP_DIR_IN); + setDir(&iox, MCU_LATCH, MCP_DIR_OUT); + setDir(&iox, BMS_MULTI_IN, MCP_DIR_IN); + setDir(&iox, IMD_STAT_FDBK, MCP_DIR_IN); + setDir(&iox, INRT_STAT_FDBK, MCP_DIR_IN); + setDir(&iox, HV_EN_FDBK, MCP_DIR_IN); + setDir(&iox, MCU_HV_EN, MCP_DIR_IN); + setDir(&iox, PS_FDBK, MCP_DIR_IN); + setDir(&iox, BMS_STAT_FDBK, MCP_DIR_IN); + setDir(&iox, E_STOP_FDBK, MCP_DIR_IN); + setDir(&iox, MSTR_SW_FDBK, MCP_DIR_IN); +} + +i2c_settings getHVIoxDev() { + return iox; +} + +int isHVIndicatorEnabled() { +#ifdef NOI2C + return 1; +#endif + return getState(&iox, HV_IND_EN); +} + +int setMCULatch(bool val) { +#ifdef NOI2C + return 0; +#endif + return setState(&iox, MCU_LATCH, val); +} + +int getBMSMultiIn() { +#ifdef NOI2C + return 1; +#endif + return getState(&iox, BMS_MULTI_IN); +} + +int getIMDStatus() { +#ifdef NOI2C + return 1; +#endif + return getBmsImdStatus() >= 4;//getState(&iox, IMD_STAT_FDBK); +} + +int getINRTStatus() { +#ifdef NOI2C + return 1; +#endif + return getState(&iox, INRT_STAT_FDBK); +} + +int isHVEnabled() { +#ifdef NOI2C + return 0; +#endif + return getState(&iox, HV_EN_FDBK); +} + +int setMCUHVEnabled(int val) { +#ifdef NOI2C + return 0; +#endif + setDir(&iox, MCU_HV_EN, MCP_DIR_OUT); + return setState(&iox, MCU_HV_EN, val); +} + +int isMCUHVEnabled() { +#ifdef NOI2C + return 1; +#endif setDir(&iox, MCU_HV_EN, MCP_DIR_IN); - setDir(&iox, PS_FDBK, MCP_DIR_IN); - setDir(&iox, BMS_STAT_FDBK, MCP_DIR_IN); - setDir(&iox, E_STOP_FDBK, MCP_DIR_IN); - setDir(&iox, MSTR_SW_FDBK, MCP_DIR_IN); - } + return getState(&iox, MCU_HV_EN); +} - i2c_settings getHVIoxDev() { - return iox; - } +int emergencyDisableMCU() { +#ifdef NOI2C + return 1; +#endif + setDir(&iox, MCU_HV_EN, MCP_DIR_OUT); + return setState(&iox, MCU_HV_EN, true); +} - int isHVIndicatorEnabled() { - #ifdef NOI2C - return 1; - #endif - return getState(&iox, HV_IND_EN); - } - - int setMCULatch(bool val) { - #ifdef NOI2C - return 0; - #endif - return setState(&iox, MCU_LATCH, val); - } - - int getBMSMultiIn() { - #ifdef NOI2C - return 1; - #endif - return getState(&iox, BMS_MULTI_IN); - } - - int getIMDStatus() { - #ifdef NOI2C - return 1; - #endif - return getBmsImdStatus() >= 4;//getState(&iox, IMD_STAT_FDBK); - } - - int getINRTStatus() { - #ifdef NOI2C - return 1; - #endif - return getState(&iox, INRT_STAT_FDBK); - } - - int isHVEnabled() { - #ifdef NOI2C - return 0; - #endif - return getState(&iox, HV_EN_FDBK); - } - - int setMCUHVEnabled(int val) { - #ifdef NOI2C - return 0; - #endif - setDir(&iox, MCU_HV_EN, MCP_DIR_OUT); - return setState(&iox, MCU_HV_EN, val); - } - - int isMCUHVEnabled() { - #ifdef NOI2C - return 1; - #endif - setDir(&iox, MCU_HV_EN, MCP_DIR_IN); - return getState(&iox, MCU_HV_EN); - } - - int emergencyDisableMCU() { - #ifdef NOI2C - return 1; - #endif - setDir(&iox, MCU_HV_EN, MCP_DIR_OUT); - return setState(&iox, MCU_HV_EN, true); - } - - int getPsStatus() { - #ifdef NOI2C - return 1; - #endif - return getState(&iox, PS_FDBK); - } - - int getBMSStatus() { - #ifdef NOI2C - return 1; - #endif - return getState(&iox, BMS_STAT_FDBK); - } - - int isEStopOn() { - #ifdef NOI2C - return 0; - #endif - return getState(&iox, E_STOP_FDBK); - } - - int getMasterSwFeedback() { - #ifdef NOI2C - return 1; - #endif - return getState(&iox, MSTR_SW_FDBK); - } -}; +int getPsStatus() { +#ifdef NOI2C + return 1; +#endif + return getState(&iox, PS_FDBK); +} + +int getBMSStatus() { +#ifdef NOI2C + return 1; +#endif + return getState(&iox, BMS_STAT_FDBK); +} + +int isEStopOn() { +#ifdef NOI2C + return 0; +#endif + return getState(&iox, E_STOP_FDBK); +} + +int getMasterSwFeedback() { +#ifdef NOI2C + return 1; +#endif + return getState(&iox, MSTR_SW_FDBK); +} HVIox hv_iox(true); From a91fb4bf1ff76a41b648d22d2a2d6be570354776 Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Sat, 2 Jan 2021 21:16:58 -0600 Subject: [PATCH 09/40] changing to cpp --- embedded/app/CMakeLists.txt | 2 +- embedded/app/src/states.c | 442 ------------------------------------ 2 files changed, 1 insertion(+), 443 deletions(-) delete mode 100644 embedded/app/src/states.c diff --git a/embedded/app/CMakeLists.txt b/embedded/app/CMakeLists.txt index 38e41b95..080d14e8 100644 --- a/embedded/app/CMakeLists.txt +++ b/embedded/app/CMakeLists.txt @@ -10,7 +10,7 @@ set(dependecies src/bms_fault_checking.c src/state_machine.c src/init.c src/pressure_fault_checking.c - src/states.c + src/states.cpp src/motor.c src/rms_fault_checking.c src/transitions.c) diff --git a/embedded/app/src/states.c b/embedded/app/src/states.c deleted file mode 100644 index 9d2b4cfa..00000000 --- a/embedded/app/src/states.c +++ /dev/null @@ -1,442 +0,0 @@ -/*** - * Filename: states.c - * - * Summary: All of the in-depth functionality of each state. Each state has its - * own actions and transitions and this is where all of the states actions are - * defined. It also has a number of helper functions to simplify the states - * actions. - * - */ - -/* Includes */ -#include -#include -#include -#include - -#include "state_machine.h" -#include "data.h" -#include "states.h" -#include "hv_iox.h" -#include -#include "bms_fault_checking.h" -#include "rms_fault_checking.h" -#include "pressure_fault_checking.h" -#include "rms.h" -#include "connStat.h" -#include "motor.h" -/*#define NO_FAULT*/ - -#define NUM_FAIL 10 -#define LV_BATT_SOC_CALC(x) (pow(-1.1142 * (x), 6) + \ - pow(78.334 * (x), 5) - \ - pow(2280.5 * (x), 4) + \ - pow(35181.0 * (x), 3) - \ - pow(303240.0 * (x), 2) - (1000000.0 * (x))) - -#define MAX_RETRO 3 -#define MAX_PACKET_LOSS 500 -/* Imports/Externs */ -extern int internalCount; -extern stateMachine_t stateMachine; -extern stateTransition_t *findTransition(state_t *currState, char *name); -int bErrs, pErrs, rErrs; -int checkNetwork() { - static int errs = 0; - if(!checkUDPStat() || !checkTCPStat()) { - if (checkUDPStat() == 0) fprintf(stderr, "UDP "); - if (checkTCPStat() == 0) fprintf(stderr, "TCP "); - fprintf(stderr,"CONNECTION DROPPED\n"); - errs += 1; - } else { - errs = 0; - } - - if (errs >= MAX_PACKET_LOSS) { - return -1; - } - return 0; -} - -/*** - * checkStopped - checks a variety of values to make sure the pod is stopped. - * - * RETURNS: true if stopped, false if moving - */ -/* DEPRECATED -static bool checkStopped(void) { - return fabs(getMotionVel()) < MAX_STOPPED_VEL && (getuSTimestamp() - getTimersLastRetro()) > TIME_SINCE_LAST_RETRO; -} -*/ -/*** - * Actions for all the states. - * They perform transition and error condition - * checking and perform the functionality of the state: e.g. brake if in - * braking. - * - */ - -stateTransition_t * idleAction() { - setDataState(1); - - if (getFlagsEmergencyBrake()) { - return findTransition(stateMachine.currState, RUN_FAULT_NAME); - } - - return NULL; -} - -stateTransition_t * pumpdownAction() { - // First check for nominal values? - setDataState(2); - - /* Check IMD status */ - - if (getuSTimestamp() - stateMachine.start > 300000000) - return stateMachine.currState->fault; - - if (getFlagsEmergencyBrake()) { - return findTransition(stateMachine.currState, RUN_FAULT_NAME); - } - - // CHECK PRESSURE - if(!checkPrerunPressures()){ - fprintf(stderr, "Pressure failure\n"); - pErrs += 1; - } else pErrs = 0; - - if(!checkPrerunBattery()){ - fprintf(stderr, "prerun batt fault\n"); - bErrs += 1; - } else bErrs = 0; - - if(!checkPrerunRMS()){ - fprintf(stderr, "prerun rms fault\n"); - rErrs += 1; - } else rErrs = 0; - /* FIXME, need to fix robust failure cases */ - if (pErrs >= NUM_FAIL || bErrs >= NUM_FAIL || rErrs >= NUM_FAIL) - return stateMachine.currState->fault; - - return NULL; -} - -stateTransition_t * propulsionAction() { - setDataState(3); - /* Check IMD status */ - if (getFlagsEmergencyBrake()) { - return findTransition(stateMachine.currState, RUN_FAULT_NAME); - } - - /* Check HV Indicator light */ - - if (checkNetwork() != 0) return stateMachine.currState->fault; - - // CHECK FAULT CRITERIA - // CHECK PRESSURE -- PreRun function still valid here - if (!checkPrerunPressures()) { - fprintf(stderr, "Pressure failing\n"); - pErrs += 1; - } else pErrs = 0; - - if(!checkRunBattery()){ - printf("Failed battery\n"); - bErrs += 1; - } bErrs = 0; - - if(!checkRunRMS()){ - printf("run rms failed\n"); - rErrs += 1; - } rErrs = 0; - - if (getuSTimestamp() - getTimersStartTime() > 30000000/*MAX_RUN_TIME*/){ - fprintf(stderr, "Prop timeout\n"); - return stateMachine.currState->next; - } - - if (getMotionRetroCount() >= MAX_RETRO && getFlagsReadyToBrake()) { - printf("retro transition\n"); - return findTransition(stateMachine.currState, BRAKING_NAME); - } - - // CHECK TRANSITION CRITERIA - if(getFlagsShouldStop()){ - printf("Should Stop\n"); - return stateMachine.currState->next; - } - - if (bErrs >= NUM_FAIL || pErrs >= NUM_FAIL || rErrs >= NUM_FAIL) - return stateMachine.currState->fault; - - return NULL; -} - -stateTransition_t * brakingAction() { - setDataState(4); - // TODO Do we differenciate between primary and secondary braking systems? - // TODO Add logic to handle switches / actuate both - - if (getFlagsEmergencyBrake()) { - printf("EMERG BRAKE\n"); - return findTransition(stateMachine.currState, RUN_FAULT_NAME); - } - if (!getIMDStatus()) { - fprintf(stderr, "getIMDStatus()"); - return stateMachine.currState->fault; - } - - - if (checkNetwork() != 0) { - printf("lost connection\n"); - return stateMachine.currState->fault; - } - - // CHECK FAULT CRITERIA - - if (getuSTimestamp() - stateMachine.start > 5000000) { - if(!checkBrakingPressures()){ - printf("braking==================\n"); - pErrs += 1; - } else pErrs = 0; - } - - if(!checkBrakingBattery()){ - printf("battery bad\n"); - bErrs += 1; - } else bErrs = 0; - - if (getuSTimestamp() - stateMachine.start > 10000000) { - if(!checkBrakingRMS()){ - printf("rms bad\n"); - rErrs += 1; - } else rErrs = 0; - } - - - if ((getuSTimestamp() - stateMachine.start) > 15000000) { - printf("going to stopped\n"); - return findTransition(stateMachine.currState, STOPPED_NAME); - } - - if (pErrs >= NUM_FAIL || bErrs >= NUM_FAIL || rErrs >= NUM_FAIL) { - fprintf(stderr,"NUM FAILS: pErrs - %d | bErrs - %d | rErrs - %d\n", pErrs, bErrs, rErrs); - - return stateMachine.currState->fault; - } - - return NULL; -} - -stateTransition_t * stoppedAction() { - setDataState(5); - /* Check IMD status */ - if (getFlagsEmergencyBrake()) { - return findTransition(stateMachine.currState, RUN_FAULT_NAME); - } - - - - if (checkNetwork() != 0) return stateMachine.currState->fault; - // CHECK FAULT CRITERIA - - if(!checkBrakingPressures()){ // Still unchanged - printf("Pressures failing\n"); - pErrs += 1; - } else pErrs = 0; - - if(!checkBrakingBattery()){ // Still unchanged - fprintf(stderr, "Battery error\n"); - bErrs += 1; - } else bErrs = 0; - - if(!checkStoppedRMS()){ // Still unchanged - printf("failrms\n"); - rErrs += 1; - } else rErrs = 0; - - if (bErrs >= NUM_FAIL || pErrs >= NUM_FAIL || rErrs >= NUM_FAIL) - return stateMachine.currState->fault; - - return NULL; -} - -stateTransition_t * servPrechargeAction() { - setDataState(6); - if (!checkBrakingPressures()) { - fprintf(stderr, "Pressure failed\n"); - return findTransition(stateMachine.currState, RUN_FAULT_NAME); - } else pErrs = 0; - - if (!getIMDStatus()) { - fprintf(stderr, "getIMDStatus()"); - return stateMachine.currState->fault; - } - if (getFlagsEmergencyBrake()) { - return findTransition(stateMachine.currState ,RUN_FAULT_NAME); - } - if (checkNetwork() != 0) return stateMachine.currState->fault; - return NULL; -} - -static int prevRet = 0; - -stateTransition_t * crawlAction() { - setDataState(7); - /* Check IMD status */ - prevRet = getMotionRetroCount(); - if (!getIMDStatus()) { - return stateMachine.currState->fault; - } - - if (checkNetwork() != 0) return stateMachine.currState->fault; - - if (getFlagsEmergencyBrake()) { - return findTransition(stateMachine.currState ,RUN_FAULT_NAME); - } - - if ((getMotionRetroCount() - internalCount) >= 2) { - printf("retro transition\n"); - return findTransition(stateMachine.currState, POST_RUN_NAME); - } - - if(!checkCrawlPostrunPressures()){ - printf("pres fail\n"); - pErrs += 1; - } else pErrs = 0; - - if(!checkCrawlBattery()){ - printf("batt fail\n"); - bErrs += 1; - } else bErrs = 0; - - if(!checkCrawlRMS()){ // Still unchanged - printf("rms fail\n"); - rErrs += 1; - } else rErrs = 0; - - // CHECK TRANSITION CRITERIA - - if (getuSTimestamp() - stateMachine.start > 5000000){ - return findTransition(stateMachine.currState, POST_RUN_NAME ); - } - - if(getFlagsShouldStop()){ - - return findTransition(stateMachine.currState, POST_RUN_NAME); - } - - printf("PRIM LINE: %f\n", getPressurePrimLine()); - if (bErrs >= NUM_FAIL || pErrs >= NUM_FAIL || rErrs >= NUM_FAIL) { - printf("fail\n"); - return stateMachine.currState->fault; - } - - - return NULL; -} - -stateTransition_t * postRunAction() { - setDataState(8); - /* Check IMD status */ - if (getFlagsEmergencyBrake()) { - return findTransition(stateMachine.currState, RUN_FAULT_NAME); - } - // TODO fixme there is a seg fault around here lol - /* Check HV Indicator light */ - printf("FAILURE STATE: %p\n", stateMachine.currState); - - if (checkNetwork() != 0) findTransition(stateMachine.currState, RUN_FAULT_NAME); - - if(!checkPostrunBattery()){ - printf("battfail\n"); - bErrs += 1; - } else bErrs = 0; - - if(!checkPostRMS()){ - printf("rmsfail\n"); - rErrs += 1; - } else rErrs = 0; - - if (bErrs >= NUM_FAIL || rErrs >= NUM_FAIL) { - printf("postFail\n"); - return findTransition(stateMachine.currState, RUN_FAULT_NAME); - } - return NULL; -} - -stateTransition_t * safeToApproachAction() { -/* if (isHVEnabled()) {*/ -/* return stateMachine.currState->fault;*/ -/* } */ - if (getPressurePrimTank() > 30 || getPressurePrimTank() < -15 || - getPressurePrimLine() > 20 || getPressurePrimLine() < -10 || - getPressurePrimAct() > 20 || getPressurePrimAct() < -10 || - getPressureSecTank() > 30 || getPressureSecTank() < -15 || - getPressureSecLine() > 20 || getPressureSecLine() < -10 || - getPressureSecAct() > 20 || getPressureSecAct() < -10 || - getPressurePv() > 20 || getPressurePv() < 13 ){ - fprintf(stderr, "Pressures are out of the safe range\n"); - return findTransition(stateMachine.currState, NON_RUN_FAULT_NAME); - } - - if (checkNetwork() != 0) return findTransition(stateMachine.currState, NON_RUN_FAULT_NAME); - if (getFlagsEmergencyBrake()) { - return findTransition(stateMachine.currState ,NON_RUN_FAULT_NAME); - } - setDataState(9); - return NULL; -} -// -// We're removing pre and post faults and making them non run faults. -// When you change this make 11 the non run fault action. Ty - EU -stateTransition_t * nonRunFaultAction() { - setFlagsEmergencyBrake(false); - fprintf(stderr, "NON RUN FAULT\n"); - static int mcuDisPulse = 0; - if (mcuDisPulse >= 50) { - clrMotorEn(); - usleep(1000); - rmsCmdNoTorque(); - usleep(1000); - rmsDischarge(); - usleep(1000); - rmsInvDis(); - usleep(1000); - setMCUHVEnabled(0); - mcuDisPulse = 0; - } else { - mcuDisPulse += 1; - } - setDataState(10); - return NULL; -} - -stateTransition_t * runFaultAction() { - printf("RUN FAULT\n"); - setFlagsEmergencyBrake(false); - static int mcuDisPulse = 0; - setDataState(11); - if (mcuDisPulse >= 50) { - setMCUHVEnabled(0); - clrMotorEn(); - usleep(1000); - - rmsCmdNoTorque(); - usleep(1000); - rmsDischarge(); - usleep(1000); - rmsInvDis(); - usleep(1000); - mcuDisPulse = 0; - } else { - mcuDisPulse += 1; - } - - return NULL; -} - -stateTransition_t * brakingFault() { - //TODO - setDataState(12); - return NULL; -} From 44cb5af34f91a473808793d784c943e37a04bc19 Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Sat, 2 Jan 2021 21:55:15 -0600 Subject: [PATCH 10/40] messed up states.c --- embedded/app/src/states.c | 442 ++++++++++++++++++++++++++++++++++++ embedded/app/src/states.cpp | 442 ++++++++++++++++++++++++++++++++++++ 2 files changed, 884 insertions(+) create mode 100644 embedded/app/src/states.c create mode 100644 embedded/app/src/states.cpp diff --git a/embedded/app/src/states.c b/embedded/app/src/states.c new file mode 100644 index 00000000..9d2b4cfa --- /dev/null +++ b/embedded/app/src/states.c @@ -0,0 +1,442 @@ +/*** + * Filename: states.c + * + * Summary: All of the in-depth functionality of each state. Each state has its + * own actions and transitions and this is where all of the states actions are + * defined. It also has a number of helper functions to simplify the states + * actions. + * + */ + +/* Includes */ +#include +#include +#include +#include + +#include "state_machine.h" +#include "data.h" +#include "states.h" +#include "hv_iox.h" +#include +#include "bms_fault_checking.h" +#include "rms_fault_checking.h" +#include "pressure_fault_checking.h" +#include "rms.h" +#include "connStat.h" +#include "motor.h" +/*#define NO_FAULT*/ + +#define NUM_FAIL 10 +#define LV_BATT_SOC_CALC(x) (pow(-1.1142 * (x), 6) + \ + pow(78.334 * (x), 5) - \ + pow(2280.5 * (x), 4) + \ + pow(35181.0 * (x), 3) - \ + pow(303240.0 * (x), 2) - (1000000.0 * (x))) + +#define MAX_RETRO 3 +#define MAX_PACKET_LOSS 500 +/* Imports/Externs */ +extern int internalCount; +extern stateMachine_t stateMachine; +extern stateTransition_t *findTransition(state_t *currState, char *name); +int bErrs, pErrs, rErrs; +int checkNetwork() { + static int errs = 0; + if(!checkUDPStat() || !checkTCPStat()) { + if (checkUDPStat() == 0) fprintf(stderr, "UDP "); + if (checkTCPStat() == 0) fprintf(stderr, "TCP "); + fprintf(stderr,"CONNECTION DROPPED\n"); + errs += 1; + } else { + errs = 0; + } + + if (errs >= MAX_PACKET_LOSS) { + return -1; + } + return 0; +} + +/*** + * checkStopped - checks a variety of values to make sure the pod is stopped. + * + * RETURNS: true if stopped, false if moving + */ +/* DEPRECATED +static bool checkStopped(void) { + return fabs(getMotionVel()) < MAX_STOPPED_VEL && (getuSTimestamp() - getTimersLastRetro()) > TIME_SINCE_LAST_RETRO; +} +*/ +/*** + * Actions for all the states. + * They perform transition and error condition + * checking and perform the functionality of the state: e.g. brake if in + * braking. + * + */ + +stateTransition_t * idleAction() { + setDataState(1); + + if (getFlagsEmergencyBrake()) { + return findTransition(stateMachine.currState, RUN_FAULT_NAME); + } + + return NULL; +} + +stateTransition_t * pumpdownAction() { + // First check for nominal values? + setDataState(2); + + /* Check IMD status */ + + if (getuSTimestamp() - stateMachine.start > 300000000) + return stateMachine.currState->fault; + + if (getFlagsEmergencyBrake()) { + return findTransition(stateMachine.currState, RUN_FAULT_NAME); + } + + // CHECK PRESSURE + if(!checkPrerunPressures()){ + fprintf(stderr, "Pressure failure\n"); + pErrs += 1; + } else pErrs = 0; + + if(!checkPrerunBattery()){ + fprintf(stderr, "prerun batt fault\n"); + bErrs += 1; + } else bErrs = 0; + + if(!checkPrerunRMS()){ + fprintf(stderr, "prerun rms fault\n"); + rErrs += 1; + } else rErrs = 0; + /* FIXME, need to fix robust failure cases */ + if (pErrs >= NUM_FAIL || bErrs >= NUM_FAIL || rErrs >= NUM_FAIL) + return stateMachine.currState->fault; + + return NULL; +} + +stateTransition_t * propulsionAction() { + setDataState(3); + /* Check IMD status */ + if (getFlagsEmergencyBrake()) { + return findTransition(stateMachine.currState, RUN_FAULT_NAME); + } + + /* Check HV Indicator light */ + + if (checkNetwork() != 0) return stateMachine.currState->fault; + + // CHECK FAULT CRITERIA + // CHECK PRESSURE -- PreRun function still valid here + if (!checkPrerunPressures()) { + fprintf(stderr, "Pressure failing\n"); + pErrs += 1; + } else pErrs = 0; + + if(!checkRunBattery()){ + printf("Failed battery\n"); + bErrs += 1; + } bErrs = 0; + + if(!checkRunRMS()){ + printf("run rms failed\n"); + rErrs += 1; + } rErrs = 0; + + if (getuSTimestamp() - getTimersStartTime() > 30000000/*MAX_RUN_TIME*/){ + fprintf(stderr, "Prop timeout\n"); + return stateMachine.currState->next; + } + + if (getMotionRetroCount() >= MAX_RETRO && getFlagsReadyToBrake()) { + printf("retro transition\n"); + return findTransition(stateMachine.currState, BRAKING_NAME); + } + + // CHECK TRANSITION CRITERIA + if(getFlagsShouldStop()){ + printf("Should Stop\n"); + return stateMachine.currState->next; + } + + if (bErrs >= NUM_FAIL || pErrs >= NUM_FAIL || rErrs >= NUM_FAIL) + return stateMachine.currState->fault; + + return NULL; +} + +stateTransition_t * brakingAction() { + setDataState(4); + // TODO Do we differenciate between primary and secondary braking systems? + // TODO Add logic to handle switches / actuate both + + if (getFlagsEmergencyBrake()) { + printf("EMERG BRAKE\n"); + return findTransition(stateMachine.currState, RUN_FAULT_NAME); + } + if (!getIMDStatus()) { + fprintf(stderr, "getIMDStatus()"); + return stateMachine.currState->fault; + } + + + if (checkNetwork() != 0) { + printf("lost connection\n"); + return stateMachine.currState->fault; + } + + // CHECK FAULT CRITERIA + + if (getuSTimestamp() - stateMachine.start > 5000000) { + if(!checkBrakingPressures()){ + printf("braking==================\n"); + pErrs += 1; + } else pErrs = 0; + } + + if(!checkBrakingBattery()){ + printf("battery bad\n"); + bErrs += 1; + } else bErrs = 0; + + if (getuSTimestamp() - stateMachine.start > 10000000) { + if(!checkBrakingRMS()){ + printf("rms bad\n"); + rErrs += 1; + } else rErrs = 0; + } + + + if ((getuSTimestamp() - stateMachine.start) > 15000000) { + printf("going to stopped\n"); + return findTransition(stateMachine.currState, STOPPED_NAME); + } + + if (pErrs >= NUM_FAIL || bErrs >= NUM_FAIL || rErrs >= NUM_FAIL) { + fprintf(stderr,"NUM FAILS: pErrs - %d | bErrs - %d | rErrs - %d\n", pErrs, bErrs, rErrs); + + return stateMachine.currState->fault; + } + + return NULL; +} + +stateTransition_t * stoppedAction() { + setDataState(5); + /* Check IMD status */ + if (getFlagsEmergencyBrake()) { + return findTransition(stateMachine.currState, RUN_FAULT_NAME); + } + + + + if (checkNetwork() != 0) return stateMachine.currState->fault; + // CHECK FAULT CRITERIA + + if(!checkBrakingPressures()){ // Still unchanged + printf("Pressures failing\n"); + pErrs += 1; + } else pErrs = 0; + + if(!checkBrakingBattery()){ // Still unchanged + fprintf(stderr, "Battery error\n"); + bErrs += 1; + } else bErrs = 0; + + if(!checkStoppedRMS()){ // Still unchanged + printf("failrms\n"); + rErrs += 1; + } else rErrs = 0; + + if (bErrs >= NUM_FAIL || pErrs >= NUM_FAIL || rErrs >= NUM_FAIL) + return stateMachine.currState->fault; + + return NULL; +} + +stateTransition_t * servPrechargeAction() { + setDataState(6); + if (!checkBrakingPressures()) { + fprintf(stderr, "Pressure failed\n"); + return findTransition(stateMachine.currState, RUN_FAULT_NAME); + } else pErrs = 0; + + if (!getIMDStatus()) { + fprintf(stderr, "getIMDStatus()"); + return stateMachine.currState->fault; + } + if (getFlagsEmergencyBrake()) { + return findTransition(stateMachine.currState ,RUN_FAULT_NAME); + } + if (checkNetwork() != 0) return stateMachine.currState->fault; + return NULL; +} + +static int prevRet = 0; + +stateTransition_t * crawlAction() { + setDataState(7); + /* Check IMD status */ + prevRet = getMotionRetroCount(); + if (!getIMDStatus()) { + return stateMachine.currState->fault; + } + + if (checkNetwork() != 0) return stateMachine.currState->fault; + + if (getFlagsEmergencyBrake()) { + return findTransition(stateMachine.currState ,RUN_FAULT_NAME); + } + + if ((getMotionRetroCount() - internalCount) >= 2) { + printf("retro transition\n"); + return findTransition(stateMachine.currState, POST_RUN_NAME); + } + + if(!checkCrawlPostrunPressures()){ + printf("pres fail\n"); + pErrs += 1; + } else pErrs = 0; + + if(!checkCrawlBattery()){ + printf("batt fail\n"); + bErrs += 1; + } else bErrs = 0; + + if(!checkCrawlRMS()){ // Still unchanged + printf("rms fail\n"); + rErrs += 1; + } else rErrs = 0; + + // CHECK TRANSITION CRITERIA + + if (getuSTimestamp() - stateMachine.start > 5000000){ + return findTransition(stateMachine.currState, POST_RUN_NAME ); + } + + if(getFlagsShouldStop()){ + + return findTransition(stateMachine.currState, POST_RUN_NAME); + } + + printf("PRIM LINE: %f\n", getPressurePrimLine()); + if (bErrs >= NUM_FAIL || pErrs >= NUM_FAIL || rErrs >= NUM_FAIL) { + printf("fail\n"); + return stateMachine.currState->fault; + } + + + return NULL; +} + +stateTransition_t * postRunAction() { + setDataState(8); + /* Check IMD status */ + if (getFlagsEmergencyBrake()) { + return findTransition(stateMachine.currState, RUN_FAULT_NAME); + } + // TODO fixme there is a seg fault around here lol + /* Check HV Indicator light */ + printf("FAILURE STATE: %p\n", stateMachine.currState); + + if (checkNetwork() != 0) findTransition(stateMachine.currState, RUN_FAULT_NAME); + + if(!checkPostrunBattery()){ + printf("battfail\n"); + bErrs += 1; + } else bErrs = 0; + + if(!checkPostRMS()){ + printf("rmsfail\n"); + rErrs += 1; + } else rErrs = 0; + + if (bErrs >= NUM_FAIL || rErrs >= NUM_FAIL) { + printf("postFail\n"); + return findTransition(stateMachine.currState, RUN_FAULT_NAME); + } + return NULL; +} + +stateTransition_t * safeToApproachAction() { +/* if (isHVEnabled()) {*/ +/* return stateMachine.currState->fault;*/ +/* } */ + if (getPressurePrimTank() > 30 || getPressurePrimTank() < -15 || + getPressurePrimLine() > 20 || getPressurePrimLine() < -10 || + getPressurePrimAct() > 20 || getPressurePrimAct() < -10 || + getPressureSecTank() > 30 || getPressureSecTank() < -15 || + getPressureSecLine() > 20 || getPressureSecLine() < -10 || + getPressureSecAct() > 20 || getPressureSecAct() < -10 || + getPressurePv() > 20 || getPressurePv() < 13 ){ + fprintf(stderr, "Pressures are out of the safe range\n"); + return findTransition(stateMachine.currState, NON_RUN_FAULT_NAME); + } + + if (checkNetwork() != 0) return findTransition(stateMachine.currState, NON_RUN_FAULT_NAME); + if (getFlagsEmergencyBrake()) { + return findTransition(stateMachine.currState ,NON_RUN_FAULT_NAME); + } + setDataState(9); + return NULL; +} +// +// We're removing pre and post faults and making them non run faults. +// When you change this make 11 the non run fault action. Ty - EU +stateTransition_t * nonRunFaultAction() { + setFlagsEmergencyBrake(false); + fprintf(stderr, "NON RUN FAULT\n"); + static int mcuDisPulse = 0; + if (mcuDisPulse >= 50) { + clrMotorEn(); + usleep(1000); + rmsCmdNoTorque(); + usleep(1000); + rmsDischarge(); + usleep(1000); + rmsInvDis(); + usleep(1000); + setMCUHVEnabled(0); + mcuDisPulse = 0; + } else { + mcuDisPulse += 1; + } + setDataState(10); + return NULL; +} + +stateTransition_t * runFaultAction() { + printf("RUN FAULT\n"); + setFlagsEmergencyBrake(false); + static int mcuDisPulse = 0; + setDataState(11); + if (mcuDisPulse >= 50) { + setMCUHVEnabled(0); + clrMotorEn(); + usleep(1000); + + rmsCmdNoTorque(); + usleep(1000); + rmsDischarge(); + usleep(1000); + rmsInvDis(); + usleep(1000); + mcuDisPulse = 0; + } else { + mcuDisPulse += 1; + } + + return NULL; +} + +stateTransition_t * brakingFault() { + //TODO + setDataState(12); + return NULL; +} diff --git a/embedded/app/src/states.cpp b/embedded/app/src/states.cpp new file mode 100644 index 00000000..e4826722 --- /dev/null +++ b/embedded/app/src/states.cpp @@ -0,0 +1,442 @@ +/*** + * Filename: states.c + * + * Summary: All of the in-depth functionality of each state. Each state has its + * own actions and transitions and this is where all of the states actions are + * defined. It also has a number of helper functions to simplify the states + * actions. + * + */ + +/* Includes */ +#include +#include +#include +#include + +#include "state_machine.h" +#include "data.h" +#include "states.h" +#include +#include +#include "bms_fault_checking.h" +#include "rms_fault_checking.h" +#include "pressure_fault_checking.h" +#include "rms.h" +#include "connStat.h" +#include "motor.h" +/*#define NO_FAULT*/ + +#define NUM_FAIL 10 +#define LV_BATT_SOC_CALC(x) (pow(-1.1142 * (x), 6) + \ + pow(78.334 * (x), 5) - \ + pow(2280.5 * (x), 4) + \ + pow(35181.0 * (x), 3) - \ + pow(303240.0 * (x), 2) - (1000000.0 * (x))) + +#define MAX_RETRO 3 +#define MAX_PACKET_LOSS 500 +/* Imports/Externs */ +extern int internalCount; +extern stateMachine_t stateMachine; +extern stateTransition_t *findTransition(state_t *currState, char *name); +int bErrs, pErrs, rErrs; +int checkNetwork() { + static int errs = 0; + if(!checkUDPStat() || !checkTCPStat()) { + if (checkUDPStat() == 0) fprintf(stderr, "UDP "); + if (checkTCPStat() == 0) fprintf(stderr, "TCP "); + fprintf(stderr,"CONNECTION DROPPED\n"); + errs += 1; + } else { + errs = 0; + } + + if (errs >= MAX_PACKET_LOSS) { + return -1; + } + return 0; +} + +/*** + * checkStopped - checks a variety of values to make sure the pod is stopped. + * + * RETURNS: true if stopped, false if moving + */ +/* DEPRECATED +static bool checkStopped(void) { + return fabs(getMotionVel()) < MAX_STOPPED_VEL && (getuSTimestamp() - getTimersLastRetro()) > TIME_SINCE_LAST_RETRO; +} +*/ +/*** + * Actions for all the states. + * They perform transition and error condition + * checking and perform the functionality of the state: e.g. brake if in + * braking. + * + */ + +stateTransition_t * idleAction() { + setDataState(1); + + if (getFlagsEmergencyBrake()) { + return findTransition(stateMachine.currState, RUN_FAULT_NAME); + } + + return NULL; +} + +stateTransition_t * pumpdownAction() { + // First check for nominal values? + setDataState(2); + + /* Check IMD status */ + + if (getuSTimestamp() - stateMachine.start > 300000000) + return stateMachine.currState->fault; + + if (getFlagsEmergencyBrake()) { + return findTransition(stateMachine.currState, RUN_FAULT_NAME); + } + + // CHECK PRESSURE + if(!checkPrerunPressures()){ + fprintf(stderr, "Pressure failure\n"); + pErrs += 1; + } else pErrs = 0; + + if(!checkPrerunBattery()){ + fprintf(stderr, "prerun batt fault\n"); + bErrs += 1; + } else bErrs = 0; + + if(!checkPrerunRMS()){ + fprintf(stderr, "prerun rms fault\n"); + rErrs += 1; + } else rErrs = 0; + /* FIXME, need to fix robust failure cases */ + if (pErrs >= NUM_FAIL || bErrs >= NUM_FAIL || rErrs >= NUM_FAIL) + return stateMachine.currState->fault; + + return NULL; +} + +stateTransition_t * propulsionAction() { + setDataState(3); + /* Check IMD status */ + if (getFlagsEmergencyBrake()) { + return findTransition(stateMachine.currState, RUN_FAULT_NAME); + } + + /* Check HV Indicator light */ + + if (checkNetwork() != 0) return stateMachine.currState->fault; + + // CHECK FAULT CRITERIA + // CHECK PRESSURE -- PreRun function still valid here + if (!checkPrerunPressures()) { + fprintf(stderr, "Pressure failing\n"); + pErrs += 1; + } else pErrs = 0; + + if(!checkRunBattery()){ + printf("Failed battery\n"); + bErrs += 1; + } bErrs = 0; + + if(!checkRunRMS()){ + printf("run rms failed\n"); + rErrs += 1; + } rErrs = 0; + + if (getuSTimestamp() - getTimersStartTime() > 30000000/*MAX_RUN_TIME*/){ + fprintf(stderr, "Prop timeout\n"); + return stateMachine.currState->next; + } + + if (getMotionRetroCount() >= MAX_RETRO && getFlagsReadyToBrake()) { + printf("retro transition\n"); + return findTransition(stateMachine.currState, BRAKING_NAME); + } + + // CHECK TRANSITION CRITERIA + if(getFlagsShouldStop()){ + printf("Should Stop\n"); + return stateMachine.currState->next; + } + + if (bErrs >= NUM_FAIL || pErrs >= NUM_FAIL || rErrs >= NUM_FAIL) + return stateMachine.currState->fault; + + return NULL; +} + +stateTransition_t * brakingAction() { + setDataState(4); + // TODO Do we differenciate between primary and secondary braking systems? + // TODO Add logic to handle switches / actuate both + + if (getFlagsEmergencyBrake()) { + printf("EMERG BRAKE\n"); + return findTransition(stateMachine.currState, RUN_FAULT_NAME); + } + if (!getIMDStatus()) { + fprintf(stderr, "getIMDStatus()"); + return stateMachine.currState->fault; + } + + + if (checkNetwork() != 0) { + printf("lost connection\n"); + return stateMachine.currState->fault; + } + + // CHECK FAULT CRITERIA + + if (getuSTimestamp() - stateMachine.start > 5000000) { + if(!checkBrakingPressures()){ + printf("braking==================\n"); + pErrs += 1; + } else pErrs = 0; + } + + if(!checkBrakingBattery()){ + printf("battery bad\n"); + bErrs += 1; + } else bErrs = 0; + + if (getuSTimestamp() - stateMachine.start > 10000000) { + if(!checkBrakingRMS()){ + printf("rms bad\n"); + rErrs += 1; + } else rErrs = 0; + } + + + if ((getuSTimestamp() - stateMachine.start) > 15000000) { + printf("going to stopped\n"); + return findTransition(stateMachine.currState, STOPPED_NAME); + } + + if (pErrs >= NUM_FAIL || bErrs >= NUM_FAIL || rErrs >= NUM_FAIL) { + fprintf(stderr,"NUM FAILS: pErrs - %d | bErrs - %d | rErrs - %d\n", pErrs, bErrs, rErrs); + + return stateMachine.currState->fault; + } + + return NULL; +} + +stateTransition_t * stoppedAction() { + setDataState(5); + /* Check IMD status */ + if (getFlagsEmergencyBrake()) { + return findTransition(stateMachine.currState, RUN_FAULT_NAME); + } + + + + if (checkNetwork() != 0) return stateMachine.currState->fault; + // CHECK FAULT CRITERIA + + if(!checkBrakingPressures()){ // Still unchanged + printf("Pressures failing\n"); + pErrs += 1; + } else pErrs = 0; + + if(!checkBrakingBattery()){ // Still unchanged + fprintf(stderr, "Battery error\n"); + bErrs += 1; + } else bErrs = 0; + + if(!checkStoppedRMS()){ // Still unchanged + printf("failrms\n"); + rErrs += 1; + } else rErrs = 0; + + if (bErrs >= NUM_FAIL || pErrs >= NUM_FAIL || rErrs >= NUM_FAIL) + return stateMachine.currState->fault; + + return NULL; +} + +stateTransition_t * servPrechargeAction() { + setDataState(6); + if (!checkBrakingPressures()) { + fprintf(stderr, "Pressure failed\n"); + return findTransition(stateMachine.currState, RUN_FAULT_NAME); + } else pErrs = 0; + + if (!getIMDStatus()) { + fprintf(stderr, "getIMDStatus()"); + return stateMachine.currState->fault; + } + if (getFlagsEmergencyBrake()) { + return findTransition(stateMachine.currState ,RUN_FAULT_NAME); + } + if (checkNetwork() != 0) return stateMachine.currState->fault; + return NULL; +} + +static int prevRet = 0; + +stateTransition_t * crawlAction() { + setDataState(7); + /* Check IMD status */ + prevRet = getMotionRetroCount(); + if (!getIMDStatus()) { + return stateMachine.currState->fault; + } + + if (checkNetwork() != 0) return stateMachine.currState->fault; + + if (getFlagsEmergencyBrake()) { + return findTransition(stateMachine.currState ,RUN_FAULT_NAME); + } + + if ((getMotionRetroCount() - internalCount) >= 2) { + printf("retro transition\n"); + return findTransition(stateMachine.currState, POST_RUN_NAME); + } + + if(!checkCrawlPostrunPressures()){ + printf("pres fail\n"); + pErrs += 1; + } else pErrs = 0; + + if(!checkCrawlBattery()){ + printf("batt fail\n"); + bErrs += 1; + } else bErrs = 0; + + if(!checkCrawlRMS()){ // Still unchanged + printf("rms fail\n"); + rErrs += 1; + } else rErrs = 0; + + // CHECK TRANSITION CRITERIA + + if (getuSTimestamp() - stateMachine.start > 5000000){ + return findTransition(stateMachine.currState, POST_RUN_NAME ); + } + + if(getFlagsShouldStop()){ + + return findTransition(stateMachine.currState, POST_RUN_NAME); + } + + printf("PRIM LINE: %f\n", getPressurePrimLine()); + if (bErrs >= NUM_FAIL || pErrs >= NUM_FAIL || rErrs >= NUM_FAIL) { + printf("fail\n"); + return stateMachine.currState->fault; + } + + + return NULL; +} + +stateTransition_t * postRunAction() { + setDataState(8); + /* Check IMD status */ + if (getFlagsEmergencyBrake()) { + return findTransition(stateMachine.currState, RUN_FAULT_NAME); + } + // TODO fixme there is a seg fault around here lol + /* Check HV Indicator light */ + printf("FAILURE STATE: %p\n", stateMachine.currState); + + if (checkNetwork() != 0) findTransition(stateMachine.currState, RUN_FAULT_NAME); + + if(!checkPostrunBattery()){ + printf("battfail\n"); + bErrs += 1; + } else bErrs = 0; + + if(!checkPostRMS()){ + printf("rmsfail\n"); + rErrs += 1; + } else rErrs = 0; + + if (bErrs >= NUM_FAIL || rErrs >= NUM_FAIL) { + printf("postFail\n"); + return findTransition(stateMachine.currState, RUN_FAULT_NAME); + } + return NULL; +} + +stateTransition_t * safeToApproachAction() { +/* if (isHVEnabled()) {*/ +/* return stateMachine.currState->fault;*/ +/* } */ + if (getPressurePrimTank() > 30 || getPressurePrimTank() < -15 || + getPressurePrimLine() > 20 || getPressurePrimLine() < -10 || + getPressurePrimAct() > 20 || getPressurePrimAct() < -10 || + getPressureSecTank() > 30 || getPressureSecTank() < -15 || + getPressureSecLine() > 20 || getPressureSecLine() < -10 || + getPressureSecAct() > 20 || getPressureSecAct() < -10 || + getPressurePv() > 20 || getPressurePv() < 13 ){ + fprintf(stderr, "Pressures are out of the safe range\n"); + return findTransition(stateMachine.currState, NON_RUN_FAULT_NAME); + } + + if (checkNetwork() != 0) return findTransition(stateMachine.currState, NON_RUN_FAULT_NAME); + if (getFlagsEmergencyBrake()) { + return findTransition(stateMachine.currState ,NON_RUN_FAULT_NAME); + } + setDataState(9); + return NULL; +} +// +// We're removing pre and post faults and making them non run faults. +// When you change this make 11 the non run fault action. Ty - EU +stateTransition_t * nonRunFaultAction() { + setFlagsEmergencyBrake(false); + fprintf(stderr, "NON RUN FAULT\n"); + static int mcuDisPulse = 0; + if (mcuDisPulse >= 50) { + clrMotorEn(); + usleep(1000); + rmsCmdNoTorque(); + usleep(1000); + rmsDischarge(); + usleep(1000); + rmsInvDis(); + usleep(1000); + setMCUHVEnabled(0); + mcuDisPulse = 0; + } else { + mcuDisPulse += 1; + } + setDataState(10); + return NULL; +} + +stateTransition_t * runFaultAction() { + printf("RUN FAULT\n"); + setFlagsEmergencyBrake(false); + static int mcuDisPulse = 0; + setDataState(11); + if (mcuDisPulse >= 50) { + setMCUHVEnabled(0); + clrMotorEn(); + usleep(1000); + + rmsCmdNoTorque(); + usleep(1000); + rmsDischarge(); + usleep(1000); + rmsInvDis(); + usleep(1000); + mcuDisPulse = 0; + } else { + mcuDisPulse += 1; + } + + return NULL; +} + +stateTransition_t * brakingFault() { + //TODO + setDataState(12); + return NULL; +} From 685e1f6840b83192ab5a949d33f5d3ea84640d9a Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Sat, 2 Jan 2021 21:59:40 -0600 Subject: [PATCH 11/40] forgot to do git add states.cpp ooops --- embedded/app/src/states.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/embedded/app/src/states.cpp b/embedded/app/src/states.cpp index e4826722..1cc883b6 100644 --- a/embedded/app/src/states.cpp +++ b/embedded/app/src/states.cpp @@ -180,7 +180,7 @@ stateTransition_t * brakingAction() { printf("EMERG BRAKE\n"); return findTransition(stateMachine.currState, RUN_FAULT_NAME); } - if (!getIMDStatus()) { + if (!hv_iox.getIMDStatus()) { fprintf(stderr, "getIMDStatus()"); return stateMachine.currState->fault; } @@ -267,7 +267,7 @@ stateTransition_t * servPrechargeAction() { return findTransition(stateMachine.currState, RUN_FAULT_NAME); } else pErrs = 0; - if (!getIMDStatus()) { + if (!hv_iox.getIMDStatus()) { fprintf(stderr, "getIMDStatus()"); return stateMachine.currState->fault; } @@ -284,7 +284,7 @@ stateTransition_t * crawlAction() { setDataState(7); /* Check IMD status */ prevRet = getMotionRetroCount(); - if (!getIMDStatus()) { + if (!hv_iox.getIMDStatus()) { return stateMachine.currState->fault; } @@ -402,7 +402,7 @@ stateTransition_t * nonRunFaultAction() { usleep(1000); rmsInvDis(); usleep(1000); - setMCUHVEnabled(0); + hv_iox.setMCUHVEnabled(0); mcuDisPulse = 0; } else { mcuDisPulse += 1; @@ -417,7 +417,7 @@ stateTransition_t * runFaultAction() { static int mcuDisPulse = 0; setDataState(11); if (mcuDisPulse >= 50) { - setMCUHVEnabled(0); + hv_iox.setMCUHVEnabled(0); clrMotorEn(); usleep(1000); From 65c7e3057fc1a1158ae22d806c115a340057b111 Mon Sep 17 00:00:00 2001 From: Eric Udlis Date: Sat, 2 Jan 2021 21:56:10 -0600 Subject: [PATCH 12/40] Updating references --- .../templates/TelemetryLoop.template.cpp | 2 +- embedded/app/CMakeLists.txt | 4 +- embedded/app/main/badgerloop.cpp | 8 +- embedded/app/src/{motor.c => motor.cpp} | 0 embedded/app/src/states.cpp | 10 +- .../src/{transitions.c => transitions.cpp} | 114 +++++++++++------- embedded/peripherals/CMakeLists.txt | 1 - embedded/peripherals/include/hv_iox.h | 14 ++- embedded/peripherals/src/hv_iox.cpp | 2 - middleware/src/HVTCPSocket.cpp | 8 +- middleware/src/TelemetryLoop.cpp | 2 +- 11 files changed, 98 insertions(+), 67 deletions(-) rename embedded/app/src/{motor.c => motor.cpp} (100%) rename embedded/app/src/{transitions.c => transitions.cpp} (61%) diff --git a/autocoding/templates/TelemetryLoop.template.cpp b/autocoding/templates/TelemetryLoop.template.cpp index 16028bc1..650f372f 100644 --- a/autocoding/templates/TelemetryLoop.template.cpp +++ b/autocoding/templates/TelemetryLoop.template.cpp @@ -96,7 +96,7 @@ void* TelemetryLoop(void *arg) { addToBuffer(&buffer, &time); // Write 1 byte IMD status - uint8_t imdStatus = hv_iox.getIMDStatus(); + uint8_t imdStatus = hv_iox->getIMDStatus(); addToBuffer(&buffer, &imdStatus); // Write 4 byte primary brake diff --git a/embedded/app/CMakeLists.txt b/embedded/app/CMakeLists.txt index 624d2714..3161589c 100644 --- a/embedded/app/CMakeLists.txt +++ b/embedded/app/CMakeLists.txt @@ -11,9 +11,9 @@ set(dependecies src/bms_fault_checking.c src/init.c src/pressure_fault_checking.c src/states.cpp - src/motor.c + src/motor.cpp src/rms_fault_checking.c - src/transitions.c) + src/transitions.cpp) #required libraries for the main pod executables set(libraries middleware diff --git a/embedded/app/main/badgerloop.cpp b/embedded/app/main/badgerloop.cpp index 5df4116b..a4402665 100644 --- a/embedded/app/main/badgerloop.cpp +++ b/embedded/app/main/badgerloop.cpp @@ -6,6 +6,7 @@ #include #include "HVTCPSocket.h" #include "data_dump.h" +#include "hv_iox.h" // Temp #include @@ -19,7 +20,6 @@ extern "C" #include #include #include "motor.h" - #include "hv_iox.h" #include "motor.h" #include "proc_iox.h" #include "data.h" @@ -28,9 +28,11 @@ extern "C" #include "NCD9830DBR2G.h" } + +HVIox *hv_iox; void emergQuitter(int sig, siginfo_t* inf, void *nul) { printf("shutdown\n"); - setMCUHVEnabled(false); + hv_iox->setMCUHVEnabled(false); rmsCmdNoTorque(); sleep(1); rmsDischarge(); @@ -46,7 +48,7 @@ int init() { /* Init all drivers */ SetupCANDevices(); initProcIox(true); - initHVIox(true); + *hv_iox = new HVIox(true); SetupMotor(); diff --git a/embedded/app/src/motor.c b/embedded/app/src/motor.cpp similarity index 100% rename from embedded/app/src/motor.c rename to embedded/app/src/motor.cpp diff --git a/embedded/app/src/states.cpp b/embedded/app/src/states.cpp index 1cc883b6..1a02193e 100644 --- a/embedded/app/src/states.cpp +++ b/embedded/app/src/states.cpp @@ -180,7 +180,7 @@ stateTransition_t * brakingAction() { printf("EMERG BRAKE\n"); return findTransition(stateMachine.currState, RUN_FAULT_NAME); } - if (!hv_iox.getIMDStatus()) { + if (!hv_iox->getIMDStatus()) { fprintf(stderr, "getIMDStatus()"); return stateMachine.currState->fault; } @@ -267,7 +267,7 @@ stateTransition_t * servPrechargeAction() { return findTransition(stateMachine.currState, RUN_FAULT_NAME); } else pErrs = 0; - if (!hv_iox.getIMDStatus()) { + if (!hv_iox->getIMDStatus()) { fprintf(stderr, "getIMDStatus()"); return stateMachine.currState->fault; } @@ -284,7 +284,7 @@ stateTransition_t * crawlAction() { setDataState(7); /* Check IMD status */ prevRet = getMotionRetroCount(); - if (!hv_iox.getIMDStatus()) { + if (!hv_iox->getIMDStatus()) { return stateMachine.currState->fault; } @@ -402,7 +402,7 @@ stateTransition_t * nonRunFaultAction() { usleep(1000); rmsInvDis(); usleep(1000); - hv_iox.setMCUHVEnabled(0); + hv_iox->setMCUHVEnabled(0); mcuDisPulse = 0; } else { mcuDisPulse += 1; @@ -417,7 +417,7 @@ stateTransition_t * runFaultAction() { static int mcuDisPulse = 0; setDataState(11); if (mcuDisPulse >= 50) { - hv_iox.setMCUHVEnabled(0); + hv_iox->setMCUHVEnabled(0); clrMotorEn(); usleep(1000); diff --git a/embedded/app/src/transitions.c b/embedded/app/src/transitions.cpp similarity index 61% rename from embedded/app/src/transitions.c rename to embedded/app/src/transitions.cpp index aaf54f5d..c1b69790 100644 --- a/embedded/app/src/transitions.c +++ b/embedded/app/src/transitions.cpp @@ -1,53 +1,66 @@ -#include #include #include +#include +extern "C" +{ #include #include #include #include #include #include +} extern stateMachine_t stateMachine; int internalCount = 0; /* If there is nothing special to do */ -int genTranAction() { +int genTranAction() +{ return 0; } /* Gen == general */ -int genIdle() { +int genIdle() +{ setFlagsBrakeInit(true); - if (rmsCmdNoTorque() != 0) fprintf(stderr, "Failed in genIdle, 1\n"); + if (rmsCmdNoTorque() != 0) + fprintf(stderr, "Failed in genIdle, 1\n"); usleep(50000); - if (rmsDischarge() != 0) fprintf(stderr, "Failed in genIdle, 2\n"); + if (rmsDischarge() != 0) + fprintf(stderr, "Failed in genIdle, 2\n"); usleep(50000); - if (rmsInvDis() != 0) fprintf(stderr, "Failed in genIdle, 3\n"); - setMCUHVEnabled(false); + if (rmsInvDis() != 0) + fprintf(stderr, "Failed in genIdle, 3\n"); + hv_iox->setMCUHVEnabled(false); return 0; } -int genPumpdown() { +int genPumpdown() +{ usleep(10000); - setMCULatch(true); + hv_iox->setMCULatch(true); usleep(10000); - setMCULatch(false); + hv_iox->setMCULatch(false); usleep(10000); - setMCUHVEnabled(true); + hv_iox->setMCUHVEnabled(true); sleep(1); - if(rmsEnHeartbeat() != 0) printf("EEERR0\n"); - if (rmsClrFaults() != 0) printf("eeE1\n"); - if(rmsInvDis() != 0) printf("EEERR2\n"); + if (rmsEnHeartbeat() != 0) + printf("EEERR0\n"); + if (rmsClrFaults() != 0) + printf("eeE1\n"); + if (rmsInvDis() != 0) + printf("EEERR2\n"); stateMachine.start = getuSTimestamp(); return 0; } -int genPropulsion() { +int genPropulsion() +{ uint64_t timestamp = getuSTimestamp(); setTimersStartTime(timestamp); stateMachine.start = timestamp; setFlagsClrMotionData(true); setMotorEn(); - /* FIXME I need a way to tell if this was successful */ + /* FIXME I need a way to tell if this was successful */ // // Wait for a timeout to see success? // @@ -55,11 +68,12 @@ int genPropulsion() { return 0; } - -int genBraking() { +int genBraking() +{ printf("BRAKING!\n"); clrMotorEn(); - if (getRmsDcBusVoltage() > 60) { + if (getRmsDcBusVoltage() > 60) + { usleep(50000); rmsCmdNoTorque(); usleep(50000); @@ -67,16 +81,18 @@ int genBraking() { usleep(50000); rmsInvDis(); usleep(50000); - } - setMCUHVEnabled(false); - + } + hv_iox->setMCUHVEnabled(false); + brakeHV(); stateMachine.start = getuSTimestamp(); return 0; } -int genStopped() { - if (getRmsDcBusVoltage() > 60) { +int genStopped() +{ + if (getRmsDcBusVoltage() > 60) + { rmsCmdNoTorque(); rmsDischarge(); rmsInvDis(); @@ -86,20 +102,21 @@ int genStopped() { return 0; } - - -int genCrawl() { +int genCrawl() +{ printf("gen crawl\n"); - setMotorCrawl(); + setMotorCrawl(); internalCount = getMotionRetroCount(); setTimersCrawlTimer(getuSTimestamp()); - stateMachine.start = getuSTimestamp(); + stateMachine.start = getuSTimestamp(); return 0; } -int genPostRun() { +int genPostRun() +{ clrMotorEn(); - if (getRmsDcBusVoltage() > 60) { + if (getRmsDcBusVoltage() > 60) + { usleep(1000); rmsCmdNoTorque(); usleep(1000); @@ -108,27 +125,31 @@ int genPostRun() { rmsInvDis(); usleep(1000); } - setMCUHVEnabled(0); + hv_iox->setMCUHVEnabled(0); brakeHV(); - + return 0; } -int genServPrecharge() { +int genServPrecharge() +{ printf("PRE CHARGE\n"); - setMCULatch(true); + hv_iox->setMCULatch(true); usleep(10000); - setMCULatch(false); - setMCUHVEnabled(true); + hv_iox->setMCULatch(false); + hv_iox->setMCUHVEnabled(true); sleep(1); - if(rmsEnHeartbeat() != 0) printf("EEERR0\n"); - if (rmsClrFaults() != 0) printf("eeE1\n"); - if(rmsInvDis() != 0) printf("EEERR2\n"); + if (rmsEnHeartbeat() != 0) + printf("EEERR0\n"); + if (rmsClrFaults() != 0) + printf("eeE1\n"); + if (rmsInvDis() != 0) + printf("EEERR2\n"); return 0; } - -int genRunFault() { +int genRunFault() +{ printf("Entering here\n"); clrMotorEn(); usleep(1000); @@ -140,15 +161,16 @@ int genRunFault() { usleep(1000); rmsInvDis(); usleep(1000); - - setMCUHVEnabled(0); + + hv_iox->setMCUHVEnabled(0); printf("Entering here4\n"); brakeHV(); printf("Entering here\n"); return 0; } -int genNonRunFault() { +int genNonRunFault() +{ printf("non run0\n"); clrMotorEn(); printf("non run0\n"); @@ -161,7 +183,7 @@ int genNonRunFault() { usleep(1000); rmsInvDis(); usleep(1000); - setMCUHVEnabled(0); + hv_iox->setMCUHVEnabled(0); printf("non run0\n"); return 0; } diff --git a/embedded/peripherals/CMakeLists.txt b/embedded/peripherals/CMakeLists.txt index 4e495316..876ce309 100644 --- a/embedded/peripherals/CMakeLists.txt +++ b/embedded/peripherals/CMakeLists.txt @@ -5,7 +5,6 @@ project(peripheralslib VERSION 1.0 add_library(peripherals src/batt.c src/braking.c src/lv_iox.c - src/lv_iox.c src/NCD9830DBR2G.c src/retro.c src/bms.c diff --git a/embedded/peripherals/include/hv_iox.h b/embedded/peripherals/include/hv_iox.h index 0507d4cd..d980e415 100644 --- a/embedded/peripherals/include/hv_iox.h +++ b/embedded/peripherals/include/hv_iox.h @@ -19,6 +19,7 @@ #define MSTR_SW_FDBK MCP_GPIOA_0 +#ifdef __cplusplus class HVIox { public: HVIox(bool hardStart); @@ -49,7 +50,16 @@ class HVIox { int setMCUHVEnabled(int val); }; +extern HVIox *hv_iox; +#else + typedef struct HVIox hv_iox; + extern HVIox hv_iox; + #endif +#ifdef __cplusplus +extern "C" { +#endif -extern HVIox hv_iox; - +#ifdef __cplusplus +} +#endif #endif diff --git a/embedded/peripherals/src/hv_iox.cpp b/embedded/peripherals/src/hv_iox.cpp index 04588ad9..36e7bcf9 100644 --- a/embedded/peripherals/src/hv_iox.cpp +++ b/embedded/peripherals/src/hv_iox.cpp @@ -142,5 +142,3 @@ int getMasterSwFeedback() { #endif return getState(&iox, MSTR_SW_FDBK); } - -HVIox hv_iox(true); diff --git a/middleware/src/HVTCPSocket.cpp b/middleware/src/HVTCPSocket.cpp index a39c5ed5..a6ae8701 100644 --- a/middleware/src/HVTCPSocket.cpp +++ b/middleware/src/HVTCPSocket.cpp @@ -155,10 +155,10 @@ void *TCPLoop(void *arg) setFlagsEmergencyBrake(1); } if (!strncmp(buffer, "mcuLatchOn", MAX_COMMAND_SIZE)) { - hv_iox.setMCULatch(true); + hv_iox->setMCULatch(true); } if (!strncmp(buffer, "mcuLatchOff", MAX_COMMAND_SIZE)) { - hv_iox.setMCULatch(false); + hv_iox->setMCULatch(false); } if (!strncmp(buffer, "enPrecharge", MAX_COMMAND_SIZE)) { /* pthread_create(&hbT, NULL, hbLoop, NULL);*/ @@ -175,12 +175,12 @@ void *TCPLoop(void *arg) if (!strncmp(buffer, "hvEnable", MAX_COMMAND_SIZE)) { /* Lets add a safety check here */ - hv_iox.setMCUHVEnabled(true); + hv_iox->setMCUHVEnabled(true); } if (!strncmp(buffer, "hvDisable", MAX_COMMAND_SIZE)) { - hv_iox.setMCUHVEnabled(false); + hv_iox->setMCUHVEnabled(false); } if(!strncmp(buffer,"override", 8)){ diff --git a/middleware/src/TelemetryLoop.cpp b/middleware/src/TelemetryLoop.cpp index 645285a2..6aaa3814 100644 --- a/middleware/src/TelemetryLoop.cpp +++ b/middleware/src/TelemetryLoop.cpp @@ -100,7 +100,7 @@ void* TelemetryLoop(void *arg) { addToBuffer(&buffer, &time); // Write 1 byte IMD status - uint8_t imdStatus = hv_iox.getIMDStatus(); + uint8_t imdStatus = hv_iox->getIMDStatus(); addToBuffer(&buffer, &imdStatus); // Write 4 byte primary brake From 0cad59b3cd1aaa3ab2bb684875b60934fd9bc2af Mon Sep 17 00:00:00 2001 From: Eric Udlis Date: Sat, 2 Jan 2021 22:22:05 -0600 Subject: [PATCH 13/40] Changed to static mem allocation --- .../templates/TelemetryLoop.template.cpp | 2 +- embedded/app/main/badgerloop.cpp | 118 ++++++++++-------- embedded/app/src/states.cpp | 10 +- embedded/app/src/transitions.cpp | 22 ++-- embedded/peripherals/include/hv_iox.h | 6 +- embedded/peripherals/src/hv_iox.cpp | 109 +++++++++------- middleware/src/HVTCPSocket.cpp | 8 +- middleware/src/TelemetryLoop.cpp | 2 +- 8 files changed, 158 insertions(+), 119 deletions(-) diff --git a/autocoding/templates/TelemetryLoop.template.cpp b/autocoding/templates/TelemetryLoop.template.cpp index 650f372f..16028bc1 100644 --- a/autocoding/templates/TelemetryLoop.template.cpp +++ b/autocoding/templates/TelemetryLoop.template.cpp @@ -96,7 +96,7 @@ void* TelemetryLoop(void *arg) { addToBuffer(&buffer, &time); // Write 1 byte IMD status - uint8_t imdStatus = hv_iox->getIMDStatus(); + uint8_t imdStatus = hv_iox.getIMDStatus(); addToBuffer(&buffer, &imdStatus); // Write 4 byte primary brake diff --git a/embedded/app/main/badgerloop.cpp b/embedded/app/main/badgerloop.cpp index a4402665..9f4f824a 100644 --- a/embedded/app/main/badgerloop.cpp +++ b/embedded/app/main/badgerloop.cpp @@ -13,26 +13,28 @@ #include #include -extern "C" +extern "C" { - #include "bbgpio.h" - #include "connStat.h" - #include - #include - #include "motor.h" - #include "motor.h" - #include "proc_iox.h" - #include "data.h" - #include "can_devices.h" - #include "state_machine.h" - #include "NCD9830DBR2G.h" - +#include "bbgpio.h" +#include "connStat.h" +#include +#include +#include "motor.h" +#include "motor.h" +#include "proc_iox.h" +#include "data.h" +#include "can_devices.h" +#include "state_machine.h" +#include "NCD9830DBR2G.h" } -HVIox *hv_iox; -void emergQuitter(int sig, siginfo_t* inf, void *nul) { +HVIox hv_iox; + + +void emergQuitter(int sig, siginfo_t *inf, void *nul) +{ printf("shutdown\n"); - hv_iox->setMCUHVEnabled(false); + hv_iox.setMCUHVEnabled(false); rmsCmdNoTorque(); sleep(1); rmsDischarge(); @@ -41,14 +43,15 @@ void emergQuitter(int sig, siginfo_t* inf, void *nul) { exit(0); } -int init() { +int init() +{ /* Init Data struct */ initData(); /* Init all drivers */ SetupCANDevices(); initProcIox(true); - *hv_iox = new HVIox(true); + hv_iox.init(true); SetupMotor(); @@ -56,68 +59,77 @@ int init() { /* initPressureSensors();*/ /* Allocate needed memory for state machine and create graph */ - buildStateMachine(); + buildStateMachine(); /* Init telemetry */ - SetupTelemetry((char *) DASHBOARD_IP, DASHBOARD_PORT); - SetupHVTCPServer(); + SetupTelemetry((char *)DASHBOARD_IP, DASHBOARD_PORT); + SetupHVTCPServer(); - struct sigaction sig; + struct sigaction sig; sig.sa_sigaction = emergQuitter; sigaction(SIGINT, &sig, NULL); /* Start 'black box' data saving */ -/* SetupDataDump();*/ - - return 0; + /* SetupDataDump();*/ + + return 0; } -int main() { - /* Create the big data structures to house pod data */ - int i = 0; - char buffer[100]; - - if (init() == 1) { - fprintf(stderr, "Error in initialization! Exiting...\r\n"); - exit(1); - } - - while(1) { - - runStateMachine(); - -/* printf("CONN STAT: TCP - %d | UDP - %d\n", */ -/* checkTCPStat(),*/ -/* checkUDPStat());*/ - - if (getFlagsShouldBrake()) { +int main() +{ + /* Create the big data structures to house pod data */ + int i = 0; + char buffer[100]; + + if (init() == 1) + { + fprintf(stderr, "Error in initialization! Exiting...\r\n"); + exit(1); + } + + while (1) + { + + runStateMachine(); + + /* printf("CONN STAT: TCP - %d | UDP - %d\n", */ + /* checkTCPStat(),*/ + /* checkUDPStat());*/ + + if (getFlagsShouldBrake()) + { printf("signalling\n"); signalLV((char *)"brake"); setFlagsShouldBrake(false); printf("signallingDone\n"); } - if (getFlagsBrakeInit()) { + if (getFlagsBrakeInit()) + { printf("Cancelling brake\n"); signalLV((char *)"primBrakeOff"); usleep(1000); signalLV((char *)"secBrakeOff"); setFlagsBrakeInit(false); } - if (getFlagsClrMotionData()) { + if (getFlagsClrMotionData()) + { printf("signal clear\n"); - signalLV((char *) "clrMotion"); + signalLV((char *)"clrMotion"); setFlagsClrMotionData(false); } - - if (i >= 50) { + + if (i >= 50) + { sprintf(buffer, "state%d\n", getDataState() == 1); - signalLV((char *) buffer); + signalLV((char *)buffer); i = 0; - } else { + } + else + { i += 1; } - // fprintf(stderr, "%d,%d,%d\n", getRmsActualTorque(), getRmsMotorSpeed(), getuSTimestamp()); + // fprintf(stderr, "%d,%d,%d\n", getRmsActualTorque(), getRmsMotorSpeed(), getuSTimestamp()); usleep(10000); - } + } return 0; } diff --git a/embedded/app/src/states.cpp b/embedded/app/src/states.cpp index 1a02193e..1cc883b6 100644 --- a/embedded/app/src/states.cpp +++ b/embedded/app/src/states.cpp @@ -180,7 +180,7 @@ stateTransition_t * brakingAction() { printf("EMERG BRAKE\n"); return findTransition(stateMachine.currState, RUN_FAULT_NAME); } - if (!hv_iox->getIMDStatus()) { + if (!hv_iox.getIMDStatus()) { fprintf(stderr, "getIMDStatus()"); return stateMachine.currState->fault; } @@ -267,7 +267,7 @@ stateTransition_t * servPrechargeAction() { return findTransition(stateMachine.currState, RUN_FAULT_NAME); } else pErrs = 0; - if (!hv_iox->getIMDStatus()) { + if (!hv_iox.getIMDStatus()) { fprintf(stderr, "getIMDStatus()"); return stateMachine.currState->fault; } @@ -284,7 +284,7 @@ stateTransition_t * crawlAction() { setDataState(7); /* Check IMD status */ prevRet = getMotionRetroCount(); - if (!hv_iox->getIMDStatus()) { + if (!hv_iox.getIMDStatus()) { return stateMachine.currState->fault; } @@ -402,7 +402,7 @@ stateTransition_t * nonRunFaultAction() { usleep(1000); rmsInvDis(); usleep(1000); - hv_iox->setMCUHVEnabled(0); + hv_iox.setMCUHVEnabled(0); mcuDisPulse = 0; } else { mcuDisPulse += 1; @@ -417,7 +417,7 @@ stateTransition_t * runFaultAction() { static int mcuDisPulse = 0; setDataState(11); if (mcuDisPulse >= 50) { - hv_iox->setMCUHVEnabled(0); + hv_iox.setMCUHVEnabled(0); clrMotorEn(); usleep(1000); diff --git a/embedded/app/src/transitions.cpp b/embedded/app/src/transitions.cpp index c1b69790..14d7acf0 100644 --- a/embedded/app/src/transitions.cpp +++ b/embedded/app/src/transitions.cpp @@ -30,18 +30,18 @@ int genIdle() usleep(50000); if (rmsInvDis() != 0) fprintf(stderr, "Failed in genIdle, 3\n"); - hv_iox->setMCUHVEnabled(false); + hv_iox.setMCUHVEnabled(false); return 0; } int genPumpdown() { usleep(10000); - hv_iox->setMCULatch(true); + hv_iox.setMCULatch(true); usleep(10000); - hv_iox->setMCULatch(false); + hv_iox.setMCULatch(false); usleep(10000); - hv_iox->setMCUHVEnabled(true); + hv_iox.setMCUHVEnabled(true); sleep(1); if (rmsEnHeartbeat() != 0) printf("EEERR0\n"); @@ -82,7 +82,7 @@ int genBraking() rmsInvDis(); usleep(50000); } - hv_iox->setMCUHVEnabled(false); + hv_iox.setMCUHVEnabled(false); brakeHV(); stateMachine.start = getuSTimestamp(); @@ -125,7 +125,7 @@ int genPostRun() rmsInvDis(); usleep(1000); } - hv_iox->setMCUHVEnabled(0); + hv_iox.setMCUHVEnabled(0); brakeHV(); return 0; @@ -134,10 +134,10 @@ int genPostRun() int genServPrecharge() { printf("PRE CHARGE\n"); - hv_iox->setMCULatch(true); + hv_iox.setMCULatch(true); usleep(10000); - hv_iox->setMCULatch(false); - hv_iox->setMCUHVEnabled(true); + hv_iox.setMCULatch(false); + hv_iox.setMCUHVEnabled(true); sleep(1); if (rmsEnHeartbeat() != 0) printf("EEERR0\n"); @@ -162,7 +162,7 @@ int genRunFault() rmsInvDis(); usleep(1000); - hv_iox->setMCUHVEnabled(0); + hv_iox.setMCUHVEnabled(0); printf("Entering here4\n"); brakeHV(); printf("Entering here\n"); @@ -183,7 +183,7 @@ int genNonRunFault() usleep(1000); rmsInvDis(); usleep(1000); - hv_iox->setMCUHVEnabled(0); + hv_iox.setMCUHVEnabled(0); printf("non run0\n"); return 0; } diff --git a/embedded/peripherals/include/hv_iox.h b/embedded/peripherals/include/hv_iox.h index d980e415..f6cbedc9 100644 --- a/embedded/peripherals/include/hv_iox.h +++ b/embedded/peripherals/include/hv_iox.h @@ -22,7 +22,9 @@ #ifdef __cplusplus class HVIox { public: - HVIox(bool hardStart); + HVIox(void); + + int init(bool); i2c_settings getHVIoxDev(void); @@ -50,7 +52,7 @@ class HVIox { int setMCUHVEnabled(int val); }; -extern HVIox *hv_iox; +extern HVIox hv_iox; #else typedef struct HVIox hv_iox; extern HVIox hv_iox; diff --git a/embedded/peripherals/src/hv_iox.cpp b/embedded/peripherals/src/hv_iox.cpp index 36e7bcf9..78c1336a 100644 --- a/embedded/peripherals/src/hv_iox.cpp +++ b/embedded/peripherals/src/hv_iox.cpp @@ -8,10 +8,10 @@ #include #include -#define HV_IO_ADDR 0x24 +#define HV_IO_ADDR 0x24 #ifdef NOI2C -#define VI2C +#define VI2C #endif static i2c_settings iox; @@ -25,81 +25,101 @@ static int setupIox(void); * */ bool isInit = true; -HVIox::HVIox(bool hardStart) { - if (setupMCP(&iox, HV_IO_ADDR) != 0) isInit = false; - if (hardStart) { - if (clearSettingsMCP(&iox) != 0) isInit = false; - if (setupIox() != 0) isInit = false; - } -// static int setupIox() moved into constructor: - setDir(&iox, HV_IND_EN, MCP_DIR_IN); - setDir(&iox, MCU_LATCH, MCP_DIR_OUT); - setDir(&iox, BMS_MULTI_IN, MCP_DIR_IN); - setDir(&iox, IMD_STAT_FDBK, MCP_DIR_IN); - setDir(&iox, INRT_STAT_FDBK, MCP_DIR_IN); - setDir(&iox, HV_EN_FDBK, MCP_DIR_IN); - setDir(&iox, MCU_HV_EN, MCP_DIR_IN); - setDir(&iox, PS_FDBK, MCP_DIR_IN); - setDir(&iox, BMS_STAT_FDBK, MCP_DIR_IN); - setDir(&iox, E_STOP_FDBK, MCP_DIR_IN); - setDir(&iox, MSTR_SW_FDBK, MCP_DIR_IN); -} - -i2c_settings getHVIoxDev() { - return iox; -} - -int isHVIndicatorEnabled() { +HVIox::HVIox() +{ +} + +int init(bool hardStart) +{ + if (setupMCP(&iox, HV_IO_ADDR) != 0) + isInit = false; + if (hardStart) + { + if (clearSettingsMCP(&iox) != 0) + isInit = false; + if (setupIox() != 0) + isInit = false; + } + // static int setupIox() moved into constructor: + setDir(&iox, HV_IND_EN, MCP_DIR_IN); + setDir(&iox, MCU_LATCH, MCP_DIR_OUT); + setDir(&iox, BMS_MULTI_IN, MCP_DIR_IN); + setDir(&iox, IMD_STAT_FDBK, MCP_DIR_IN); + setDir(&iox, INRT_STAT_FDBK, MCP_DIR_IN); + setDir(&iox, HV_EN_FDBK, MCP_DIR_IN); + setDir(&iox, MCU_HV_EN, MCP_DIR_IN); + setDir(&iox, PS_FDBK, MCP_DIR_IN); + setDir(&iox, BMS_STAT_FDBK, MCP_DIR_IN); + setDir(&iox, E_STOP_FDBK, MCP_DIR_IN); + setDir(&iox, MSTR_SW_FDBK, MCP_DIR_IN); + + return 0; +} + +i2c_settings getHVIoxDev() +{ + return iox; +} + +int isHVIndicatorEnabled() +{ #ifdef NOI2C return 1; #endif return getState(&iox, HV_IND_EN); } -int setMCULatch(bool val) { +int setMCULatch(bool val) +{ #ifdef NOI2C return 0; #endif return setState(&iox, MCU_LATCH, val); } -int getBMSMultiIn() { +int getBMSMultiIn() +{ #ifdef NOI2C return 1; #endif return getState(&iox, BMS_MULTI_IN); } -int getIMDStatus() { +int getIMDStatus() +{ #ifdef NOI2C return 1; #endif - return getBmsImdStatus() >= 4;//getState(&iox, IMD_STAT_FDBK); + return getBmsImdStatus() >= 4; //getState(&iox, IMD_STAT_FDBK); } -int getINRTStatus() { +int getINRTStatus() +{ #ifdef NOI2C return 1; #endif return getState(&iox, INRT_STAT_FDBK); } -int isHVEnabled() { +int isHVEnabled() +{ #ifdef NOI2C return 0; #endif return getState(&iox, HV_EN_FDBK); } -int setMCUHVEnabled(int val) { +int setMCUHVEnabled(int val) +{ #ifdef NOI2C return 0; #endif - setDir(&iox, MCU_HV_EN, MCP_DIR_OUT); - return setState(&iox, MCU_HV_EN, val); + setDir(&iox, MCU_HV_EN, MCP_DIR_OUT); + return setState(&iox, MCU_HV_EN, val); } -int isMCUHVEnabled() { +int isMCUHVEnabled() +{ #ifdef NOI2C return 1; #endif @@ -107,7 +127,8 @@ int isMCUHVEnabled() { return getState(&iox, MCU_HV_EN); } -int emergencyDisableMCU() { +int emergencyDisableMCU() +{ #ifdef NOI2C return 1; #endif @@ -115,28 +136,32 @@ int emergencyDisableMCU() { return setState(&iox, MCU_HV_EN, true); } -int getPsStatus() { +int getPsStatus() +{ #ifdef NOI2C return 1; #endif return getState(&iox, PS_FDBK); } -int getBMSStatus() { +int getBMSStatus() +{ #ifdef NOI2C return 1; #endif return getState(&iox, BMS_STAT_FDBK); } -int isEStopOn() { +int isEStopOn() +{ #ifdef NOI2C return 0; #endif return getState(&iox, E_STOP_FDBK); } -int getMasterSwFeedback() { +int getMasterSwFeedback() +{ #ifdef NOI2C return 1; #endif diff --git a/middleware/src/HVTCPSocket.cpp b/middleware/src/HVTCPSocket.cpp index a6ae8701..a39c5ed5 100644 --- a/middleware/src/HVTCPSocket.cpp +++ b/middleware/src/HVTCPSocket.cpp @@ -155,10 +155,10 @@ void *TCPLoop(void *arg) setFlagsEmergencyBrake(1); } if (!strncmp(buffer, "mcuLatchOn", MAX_COMMAND_SIZE)) { - hv_iox->setMCULatch(true); + hv_iox.setMCULatch(true); } if (!strncmp(buffer, "mcuLatchOff", MAX_COMMAND_SIZE)) { - hv_iox->setMCULatch(false); + hv_iox.setMCULatch(false); } if (!strncmp(buffer, "enPrecharge", MAX_COMMAND_SIZE)) { /* pthread_create(&hbT, NULL, hbLoop, NULL);*/ @@ -175,12 +175,12 @@ void *TCPLoop(void *arg) if (!strncmp(buffer, "hvEnable", MAX_COMMAND_SIZE)) { /* Lets add a safety check here */ - hv_iox->setMCUHVEnabled(true); + hv_iox.setMCUHVEnabled(true); } if (!strncmp(buffer, "hvDisable", MAX_COMMAND_SIZE)) { - hv_iox->setMCUHVEnabled(false); + hv_iox.setMCUHVEnabled(false); } if(!strncmp(buffer,"override", 8)){ diff --git a/middleware/src/TelemetryLoop.cpp b/middleware/src/TelemetryLoop.cpp index 6aaa3814..645285a2 100644 --- a/middleware/src/TelemetryLoop.cpp +++ b/middleware/src/TelemetryLoop.cpp @@ -100,7 +100,7 @@ void* TelemetryLoop(void *arg) { addToBuffer(&buffer, &time); // Write 1 byte IMD status - uint8_t imdStatus = hv_iox->getIMDStatus(); + uint8_t imdStatus = hv_iox.getIMDStatus(); addToBuffer(&buffer, &imdStatus); // Write 4 byte primary brake From 79e48f10157b28c943ffd094bf0c311263567d78 Mon Sep 17 00:00:00 2001 From: Eric Udlis Date: Sat, 2 Jan 2021 23:49:30 -0600 Subject: [PATCH 14/40] Fixed EVERY reference to the HV iox --- .../templates/TelemetryLoop.template.cpp | 2 +- embedded/app/CMakeLists.txt | 2 +- embedded/app/main/badgerloop.cpp | 5 +- embedded/app/src/motor.cpp | 5 +- .../{state_machine.c => state_machine.cpp} | 12 ++--- embedded/app/src/states.cpp | 10 ++-- embedded/app/src/transitions.cpp | 6 +-- embedded/examples/CMakeLists.txt | 4 +- embedded/examples/bmsDisplay.cpp | 4 +- embedded/examples/brakingTest.cpp | 3 ++ embedded/examples/dashTest.cpp | 31 +++++++------ .../examples/{gpioHvTest.c => gpioHvTest.cpp} | 8 +++- embedded/examples/navTest.cpp | 3 +- .../examples/{stateTest.c => stateTest.cpp} | 9 +++- embedded/peripherals/include/hv_iox.h | 11 ++++- .../src/{hv_iox.c => hv_iox.c.deprecated} | 0 embedded/peripherals/src/hv_iox.cpp | 46 +++++++++++-------- middleware/examples/TelemetryLoopTest.cpp | 3 ++ middleware/src/HVTCPSocket.cpp | 4 +- middleware/src/TelemetryLoop.cpp | 2 +- 20 files changed, 107 insertions(+), 63 deletions(-) rename embedded/app/src/{state_machine.c => state_machine.cpp} (95%) rename embedded/examples/{gpioHvTest.c => gpioHvTest.cpp} (83%) rename embedded/examples/{stateTest.c => stateTest.cpp} (98%) rename embedded/peripherals/src/{hv_iox.c => hv_iox.c.deprecated} (100%) diff --git a/autocoding/templates/TelemetryLoop.template.cpp b/autocoding/templates/TelemetryLoop.template.cpp index 16028bc1..77ea50a1 100644 --- a/autocoding/templates/TelemetryLoop.template.cpp +++ b/autocoding/templates/TelemetryLoop.template.cpp @@ -11,9 +11,9 @@ #include #include #include +#include extern "C" { -#include #include #include } diff --git a/embedded/app/CMakeLists.txt b/embedded/app/CMakeLists.txt index 3161589c..a9e75000 100644 --- a/embedded/app/CMakeLists.txt +++ b/embedded/app/CMakeLists.txt @@ -7,7 +7,7 @@ project(applib VERSION 1.0 #and it's SUPER discouraged. set(dependecies src/bms_fault_checking.c src/nav.c - src/state_machine.c + src/state_machine.cpp src/init.c src/pressure_fault_checking.c src/states.cpp diff --git a/embedded/app/main/badgerloop.cpp b/embedded/app/main/badgerloop.cpp index 9f4f824a..8f93e52d 100644 --- a/embedded/app/main/badgerloop.cpp +++ b/embedded/app/main/badgerloop.cpp @@ -7,6 +7,8 @@ #include "HVTCPSocket.h" #include "data_dump.h" #include "hv_iox.h" +#include "motor.h" +#include "state_machine.h" // Temp #include @@ -19,12 +21,9 @@ extern "C" #include "connStat.h" #include #include -#include "motor.h" -#include "motor.h" #include "proc_iox.h" #include "data.h" #include "can_devices.h" -#include "state_machine.h" #include "NCD9830DBR2G.h" } diff --git a/embedded/app/src/motor.cpp b/embedded/app/src/motor.cpp index de5deb19..05755c19 100644 --- a/embedded/app/src/motor.cpp +++ b/embedded/app/src/motor.cpp @@ -1,13 +1,16 @@ #include #include #include -#include #include #include #include #include #include + +extern "C" { #include +#include +} /*** * The high level interface for the motor */ diff --git a/embedded/app/src/state_machine.c b/embedded/app/src/state_machine.cpp similarity index 95% rename from embedded/app/src/state_machine.c rename to embedded/app/src/state_machine.cpp index 7ce81462..f7e21068 100644 --- a/embedded/app/src/state_machine.c +++ b/embedded/app/src/state_machine.cpp @@ -71,14 +71,14 @@ static void initState(state_t* state, char* name, stateTransition_t *(*action)() STATE_ERROR(); } - state->name = malloc(1 + (strlen(name) * sizeof(char))); + state->name = (char*)malloc(1 + (strlen(name) * sizeof(char))); strcpy(state->name, name); state->action = action; state->transitionCounter = 0; state->numTransitions = numTransitions; - state->transitions = malloc(numTransitions * (sizeof(stateTransition_t *))); + state->transitions = (stateTransition_t**)malloc(numTransitions * (sizeof(stateTransition_t *))); for (i = 0; i < numTransitions; i++) { - state->transitions[i] = malloc(sizeof(stateTransition_t)); + state->transitions[i] = (stateTransition_t*)malloc(sizeof(stateTransition_t)); } stateMachine.allStates[indexInAllStates++] = state; } @@ -280,10 +280,10 @@ void runStateMachine(void) { void buildStateMachine(void) { /* Create all of the states*/ - stateMachine.allStates = malloc(sizeof(state_t *) * NUM_STATES); + stateMachine.allStates = (state_t**)malloc(sizeof(state_t *) * NUM_STATES); for (int i = 0; i < NUM_STATES; i++) { - stateMachine.allStates[i] = malloc(sizeof(state_t)); + stateMachine.allStates[i] = (state_t*)malloc(sizeof(state_t)); } initState(stateMachine.allStates[0], IDLE_NAME, idleAction, 1); @@ -311,7 +311,7 @@ void buildStateMachine(void) { stateMachine.currState = stateMachine.allStates[0]; stateMachine.currState->begin(); - stateMachine.overrideStateName = malloc(21); // Longest state name is "readyForPropulsion" -- 18 char + stateMachine.overrideStateName = (char*)malloc(21); // Longest state name is "readyForPropulsion" -- 18 char strcpy(stateMachine.overrideStateName, BLANK_NAME); if(stateMachine.overrideStateName == NULL) { fprintf(stderr, "Malloc error -- state machine override state machine name\n"); diff --git a/embedded/app/src/states.cpp b/embedded/app/src/states.cpp index 1cc883b6..37e9b631 100644 --- a/embedded/app/src/states.cpp +++ b/embedded/app/src/states.cpp @@ -15,16 +15,20 @@ #include #include "state_machine.h" -#include "data.h" #include "states.h" #include #include +#include "motor.h" + +extern "C" { +#include "rms.h" #include "bms_fault_checking.h" #include "rms_fault_checking.h" #include "pressure_fault_checking.h" -#include "rms.h" +#include "data.h" #include "connStat.h" -#include "motor.h" + +} /*#define NO_FAULT*/ #define NUM_FAIL 10 diff --git a/embedded/app/src/transitions.cpp b/embedded/app/src/transitions.cpp index 14d7acf0..925cbf54 100644 --- a/embedded/app/src/transitions.cpp +++ b/embedded/app/src/transitions.cpp @@ -1,12 +1,12 @@ #include #include #include +#include +#include +#include extern "C" { -#include #include -#include -#include #include #include } diff --git a/embedded/examples/CMakeLists.txt b/embedded/examples/CMakeLists.txt index 023e55b4..ef8a4fc4 100644 --- a/embedded/examples/CMakeLists.txt +++ b/embedded/examples/CMakeLists.txt @@ -4,10 +4,10 @@ add_executable(dashTest dashTest.cpp) add_executable(navTest navTest.cpp) add_executable(solenoidTest solenoidTest.c) add_executable(brakingTest brakingTest.cpp) -add_executable(gpioHvTest gpioHvTest.c) +add_executable(gpioHvTest gpioHvTest.cpp) add_executable(oldMotorTest oldMotorTest.c) add_executable(retroTest retroTest.c) -add_executable(stateTest stateTest.c) +add_executable(stateTest stateTest.cpp) add_executable(can_test can_test.c) add_executable(imu_test imu_test.c) add_executable(presTest presTest.c) diff --git a/embedded/examples/bmsDisplay.cpp b/embedded/examples/bmsDisplay.cpp index f3ac72da..c1de63c8 100644 --- a/embedded/examples/bmsDisplay.cpp +++ b/embedded/examples/bmsDisplay.cpp @@ -2,15 +2,17 @@ #include #include #include +#include extern "C" { #include "data.h" -#include "NCD9830DBR2G.h" + #include "NCD9830DBR2G.h" #include "imu.h" #include "can_devices.h" #include "bms.h" extern pthread_t CANThread; } +HVIox hv_iox; int main() { initData(); initPressureSensors(); diff --git a/embedded/examples/brakingTest.cpp b/embedded/examples/brakingTest.cpp index 7b2967b6..25085947 100644 --- a/embedded/examples/brakingTest.cpp +++ b/embedded/examples/brakingTest.cpp @@ -3,6 +3,7 @@ #include #include #include "connStat.h" +#include extern "C" { #include "imu.h" #include "braking.h" @@ -12,6 +13,8 @@ extern "C" { #define NUM_LIM_SWITCHES 2 /* In test */ #define FOREVER while(1) +HVIox hv_iox; + void showBrakingInfo() { int i = 0; //showPressures(); diff --git a/embedded/examples/dashTest.cpp b/embedded/examples/dashTest.cpp index 80877544..3dd17d6f 100644 --- a/embedded/examples/dashTest.cpp +++ b/embedded/examples/dashTest.cpp @@ -2,24 +2,27 @@ #include #include #include -extern "C" +#include "hv_iox.h" +extern "C" { - #include "motor.h" - #include "hv_iox.h" - #include "motor.h" - #include "proc_iox.h" - #include "data.h" - #include "can_devices.h" - #include "state_machine.h" +#include "motor.h" +#include "motor.h" +#include "proc_iox.h" +#include "data.h" +#include "can_devices.h" +#include "state_machine.h" } +HVIox hv_iox; - -int init() { +int init() +{ initData(); - SetupTelemetry((char *) "127.0.0.1", 33333); + SetupTelemetry((char *)"127.0.0.1", 33333); } -int main() { -init(); -while (1); +int main() +{ + init(); + while (1) + ; } diff --git a/embedded/examples/gpioHvTest.c b/embedded/examples/gpioHvTest.cpp similarity index 83% rename from embedded/examples/gpioHvTest.c rename to embedded/examples/gpioHvTest.cpp index bef8efa6..db34ddc2 100644 --- a/embedded/examples/gpioHvTest.c +++ b/embedded/examples/gpioHvTest.cpp @@ -1,14 +1,18 @@ #include #include + +extern "C" { #include #include #include #include +} +HVIox hv_iox; int main() { initData(); - initHVIox(false); - i2c_settings iox = getHVIoxDev(); + hv_iox.init(false); + i2c_settings iox = hv_iox.getHVIoxDev(); printf("---Showing HV IOX---\n"); for (int i = 0; i < 16; i++) { printf("PIN: %d, VAL: %d, DIR: %d\n", i, getState(&iox, i), getDir(&iox, i)); diff --git a/embedded/examples/navTest.cpp b/embedded/examples/navTest.cpp index bc5538b3..72d3d4fc 100644 --- a/embedded/examples/navTest.cpp +++ b/embedded/examples/navTest.cpp @@ -7,6 +7,7 @@ extern "C" #include #include } +#include #include #include "connStat.h" #define ROLL "roll" @@ -14,7 +15,7 @@ extern "C" #define RAW "raw" extern void initNav(); - +HVIox hv_iox; int main(int argc, char *argv[]) { initData(); diff --git a/embedded/examples/stateTest.c b/embedded/examples/stateTest.cpp similarity index 98% rename from embedded/examples/stateTest.c rename to embedded/examples/stateTest.cpp index bbb4cddc..d9b4861c 100644 --- a/embedded/examples/stateTest.c +++ b/embedded/examples/stateTest.cpp @@ -1,11 +1,15 @@ #include -#include #include #include #include #include #include #include +#include + +extern "C" { +#include +} #define PASS 0 #define FAIL 1 @@ -30,6 +34,7 @@ static pthread_t smThread; static sem_t smSem; +HVIox hv_iox; static void genericInit(char *name); static void goToState(char *name); @@ -234,7 +239,7 @@ int main() { if (sem_init(&smSem, 0, 1) != 0) { return -1; } - if (pthread_create(&smThread, NULL, stateMachineLoop, NULL) != 0) + if (pthread_create(&smThread, NULL, (void* (*)(void*))stateMachineLoop, NULL) != 0) return -1; WAIT(.5); RUN_TEST(crawlTimerTest); diff --git a/embedded/peripherals/include/hv_iox.h b/embedded/peripherals/include/hv_iox.h index f6cbedc9..0f9bfb46 100644 --- a/embedded/peripherals/include/hv_iox.h +++ b/embedded/peripherals/include/hv_iox.h @@ -2,8 +2,13 @@ #define __HV_IOX_H__ #include -#include + +extern "C" { +#include +#include #include +#include +} #define HV_IND_EN MCP_GPIOB_0 #define MCU_LATCH MCP_GPIOB_1 @@ -25,6 +30,8 @@ class HVIox { HVIox(void); int init(bool); + + int setupIox(void); i2c_settings getHVIoxDev(void); @@ -51,6 +58,8 @@ class HVIox { int getMasterSwFeedback(void); int setMCUHVEnabled(int val); + + int emergencyDisableMCU(void); }; extern HVIox hv_iox; #else diff --git a/embedded/peripherals/src/hv_iox.c b/embedded/peripherals/src/hv_iox.c.deprecated similarity index 100% rename from embedded/peripherals/src/hv_iox.c rename to embedded/peripherals/src/hv_iox.c.deprecated diff --git a/embedded/peripherals/src/hv_iox.cpp b/embedded/peripherals/src/hv_iox.cpp index 78c1336a..76d1c32c 100644 --- a/embedded/peripherals/src/hv_iox.cpp +++ b/embedded/peripherals/src/hv_iox.cpp @@ -2,11 +2,15 @@ #include #include #include +#include + +extern "C" +{ +#include #include #include #include -#include -#include +} #define HV_IO_ADDR 0x24 @@ -29,7 +33,7 @@ HVIox::HVIox() { } -int init(bool hardStart) +int HVIox::init(bool hardStart) { if (setupMCP(&iox, HV_IO_ADDR) != 0) isInit = false; @@ -37,9 +41,13 @@ int init(bool hardStart) { if (clearSettingsMCP(&iox) != 0) isInit = false; - if (setupIox() != 0) + if (this->setupIox() != 0) isInit = false; } +} + +int HVIox::setupIox() +{ // static int setupIox() moved into constructor: setDir(&iox, HV_IND_EN, MCP_DIR_IN); setDir(&iox, MCU_LATCH, MCP_DIR_OUT); @@ -52,16 +60,16 @@ int init(bool hardStart) setDir(&iox, BMS_STAT_FDBK, MCP_DIR_IN); setDir(&iox, E_STOP_FDBK, MCP_DIR_IN); setDir(&iox, MSTR_SW_FDBK, MCP_DIR_IN); - + return 0; } -i2c_settings getHVIoxDev() +i2c_settings HVIox::getHVIoxDev() { return iox; } -int isHVIndicatorEnabled() +int HVIox::isHVIndicatorEnabled() { #ifdef NOI2C return 1; @@ -69,7 +77,7 @@ int isHVIndicatorEnabled() return getState(&iox, HV_IND_EN); } -int setMCULatch(bool val) +int HVIox::setMCULatch(bool val) { #ifdef NOI2C return 0; @@ -77,7 +85,7 @@ int setMCULatch(bool val) return setState(&iox, MCU_LATCH, val); } -int getBMSMultiIn() +int HVIox::getBMSMultiIn() { #ifdef NOI2C return 1; @@ -85,7 +93,7 @@ int getBMSMultiIn() return getState(&iox, BMS_MULTI_IN); } -int getIMDStatus() +int HVIox::getIMDStatus() { #ifdef NOI2C return 1; @@ -93,7 +101,7 @@ int getIMDStatus() return getBmsImdStatus() >= 4; //getState(&iox, IMD_STAT_FDBK); } -int getINRTStatus() +int HVIox::getINRTStatus() { #ifdef NOI2C return 1; @@ -101,7 +109,7 @@ int getINRTStatus() return getState(&iox, INRT_STAT_FDBK); } -int isHVEnabled() +int HVIox::isHVEnabled() { #ifdef NOI2C return 0; @@ -109,7 +117,7 @@ int isHVEnabled() return getState(&iox, HV_EN_FDBK); } -int setMCUHVEnabled(int val) +int HVIox::setMCUHVEnabled(int val) { #ifdef NOI2C return 0; @@ -118,7 +126,7 @@ int setMCUHVEnabled(int val) return setState(&iox, MCU_HV_EN, val); } -int isMCUHVEnabled() +int HVIox::isMCUHVEnabled() { #ifdef NOI2C return 1; @@ -127,7 +135,7 @@ int isMCUHVEnabled() return getState(&iox, MCU_HV_EN); } -int emergencyDisableMCU() +int HVIox::emergencyDisableMCU() { #ifdef NOI2C return 1; @@ -136,7 +144,7 @@ int emergencyDisableMCU() return setState(&iox, MCU_HV_EN, true); } -int getPsStatus() +int HVIox::getPsStatus() { #ifdef NOI2C return 1; @@ -144,7 +152,7 @@ int getPsStatus() return getState(&iox, PS_FDBK); } -int getBMSStatus() +int HVIox::getBMSStatus() { #ifdef NOI2C return 1; @@ -152,7 +160,7 @@ int getBMSStatus() return getState(&iox, BMS_STAT_FDBK); } -int isEStopOn() +int HVIox::isEStopOn() { #ifdef NOI2C return 0; @@ -160,7 +168,7 @@ int isEStopOn() return getState(&iox, E_STOP_FDBK); } -int getMasterSwFeedback() +int HVIox::getMasterSwFeedback() { #ifdef NOI2C return 1; diff --git a/middleware/examples/TelemetryLoopTest.cpp b/middleware/examples/TelemetryLoopTest.cpp index b30ed499..8d216267 100644 --- a/middleware/examples/TelemetryLoopTest.cpp +++ b/middleware/examples/TelemetryLoopTest.cpp @@ -1,5 +1,6 @@ #include #include "TelemetryLoop.h" +#include #define LOCALHOST (char *) "0.0.0.0" @@ -7,6 +8,8 @@ extern "C" { #include "data.h" } +HVIox hv_iox; + int main() { initData(); diff --git a/middleware/src/HVTCPSocket.cpp b/middleware/src/HVTCPSocket.cpp index a39c5ed5..4779a3f1 100644 --- a/middleware/src/HVTCPSocket.cpp +++ b/middleware/src/HVTCPSocket.cpp @@ -10,15 +10,15 @@ #include "HVTCPSocket.h" #include #include +#include "motor.h" +#include "state_machine.h" #define SA struct sockaddr extern "C" { -#include "motor.h" #include "connStat.h" #include "rms.h" #include "data.h" -#include "state_machine.h" #include "hv_iox.h" #include "braking.h" } diff --git a/middleware/src/TelemetryLoop.cpp b/middleware/src/TelemetryLoop.cpp index 645285a2..6c4296dc 100644 --- a/middleware/src/TelemetryLoop.cpp +++ b/middleware/src/TelemetryLoop.cpp @@ -15,9 +15,9 @@ #include #include #include +#include extern "C" { -#include #include #include } From cd6d25abd37a6e57dd7d2554fa27bab7491bdadd Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Tue, 5 Jan 2021 20:30:30 +0000 Subject: [PATCH 15/40] adding test --- Test/CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/Test/CMakeLists.txt b/Test/CMakeLists.txt index c88050c1..d779987c 100644 --- a/Test/CMakeLists.txt +++ b/Test/CMakeLists.txt @@ -4,6 +4,7 @@ project(testlib VERSION 1.0 # Define sources set(dependencies example/Test_GTest.cpp) +set(dependencies Test_embedded.cpp) set(libraries middleware data From fcfff646819141b2c48d3b80516433a50fc33e5b Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Tue, 5 Jan 2021 20:33:15 +0000 Subject: [PATCH 16/40] created test file --- Test/Test_embedded.cpp | 7 +++++++ 1 file changed, 7 insertions(+) create mode 100644 Test/Test_embedded.cpp diff --git a/Test/Test_embedded.cpp b/Test/Test_embedded.cpp new file mode 100644 index 00000000..b9bcea4a --- /dev/null +++ b/Test/Test_embedded.cpp @@ -0,0 +1,7 @@ +// Author: Marco +// just to learn + #include + + TEST(EmbeddedTest, VerifyHVIox) { + + } \ No newline at end of file From e4b2349a17204ab897239ac1446fc344ce8b9780 Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Sun, 10 Jan 2021 02:59:52 +0000 Subject: [PATCH 17/40] adding test methods --- Test/Test_embedded.cpp | 7 ------- 1 file changed, 7 deletions(-) delete mode 100644 Test/Test_embedded.cpp diff --git a/Test/Test_embedded.cpp b/Test/Test_embedded.cpp deleted file mode 100644 index b9bcea4a..00000000 --- a/Test/Test_embedded.cpp +++ /dev/null @@ -1,7 +0,0 @@ -// Author: Marco -// just to learn - #include - - TEST(EmbeddedTest, VerifyHVIox) { - - } \ No newline at end of file From 817b62b5c414910e27cebc0742d52f2966e40029 Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Sun, 10 Jan 2021 03:03:20 +0000 Subject: [PATCH 18/40] adding test methods --- Test/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Test/CMakeLists.txt b/Test/CMakeLists.txt index d779987c..a3957d14 100644 --- a/Test/CMakeLists.txt +++ b/Test/CMakeLists.txt @@ -4,7 +4,7 @@ project(testlib VERSION 1.0 # Define sources set(dependencies example/Test_GTest.cpp) -set(dependencies Test_embedded.cpp) +set(dependencies Test_components.cpp) set(libraries middleware data From 37d87660db4ed3a55ba923a65f4155f026497f8c Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Sun, 10 Jan 2021 03:17:43 +0000 Subject: [PATCH 19/40] forgot git add --- Test/Test_components.cpp | 9 +++++++++ 1 file changed, 9 insertions(+) create mode 100644 Test/Test_components.cpp diff --git a/Test/Test_components.cpp b/Test/Test_components.cpp new file mode 100644 index 00000000..3655bde3 --- /dev/null +++ b/Test/Test_components.cpp @@ -0,0 +1,9 @@ +// Author: Marco +// just to learn +#include +#include + +TEST(ComponentTests, VerifyHVIox) { + hv_iox.init(true); + EXPECT_EQ(hv_iox.setupIox(), 0); +} \ No newline at end of file From 2f9ea432135d21cc2f6e6710742df21095502d6c Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Sun, 10 Jan 2021 03:30:06 +0000 Subject: [PATCH 20/40] no clue what I'm doing --- Test/Test_components.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/Test/Test_components.cpp b/Test/Test_components.cpp index 3655bde3..92895d33 100644 --- a/Test/Test_components.cpp +++ b/Test/Test_components.cpp @@ -4,6 +4,7 @@ #include TEST(ComponentTests, VerifyHVIox) { + HVIox hv_iox; hv_iox.init(true); EXPECT_EQ(hv_iox.setupIox(), 0); } \ No newline at end of file From 5a9336a487eff77d63df68aecf866ec46097f47e Mon Sep 17 00:00:00 2001 From: Eric Udlis Date: Sun, 10 Jan 2021 09:46:36 -0600 Subject: [PATCH 21/40] Gtest template --- Test/CMakeLists.txt | 2 +- Test/{Test_components.cpp => components/HV_Iox/Test_HV_Iox.cpp} | 0 2 files changed, 1 insertion(+), 1 deletion(-) rename Test/{Test_components.cpp => components/HV_Iox/Test_HV_Iox.cpp} (100%) diff --git a/Test/CMakeLists.txt b/Test/CMakeLists.txt index a3957d14..1d56375d 100644 --- a/Test/CMakeLists.txt +++ b/Test/CMakeLists.txt @@ -4,7 +4,7 @@ project(testlib VERSION 1.0 # Define sources set(dependencies example/Test_GTest.cpp) -set(dependencies Test_components.cpp) +set(dependencies components/HV_Iox/Test_HV_Iox.cpp) set(libraries middleware data diff --git a/Test/Test_components.cpp b/Test/components/HV_Iox/Test_HV_Iox.cpp similarity index 100% rename from Test/Test_components.cpp rename to Test/components/HV_Iox/Test_HV_Iox.cpp From c3dd9cb35579c71a8b15d31bb0c30dcc5c662a70 Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Sun, 10 Jan 2021 17:58:56 +0000 Subject: [PATCH 22/40] added setMCULatch and isHVIndicatorEnabled testers with #ifdef NOI2C --- Test/components/HV_Iox/Test_HV_Iox.cpp | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/Test/components/HV_Iox/Test_HV_Iox.cpp b/Test/components/HV_Iox/Test_HV_Iox.cpp index 92895d33..297e3747 100644 --- a/Test/components/HV_Iox/Test_HV_Iox.cpp +++ b/Test/components/HV_Iox/Test_HV_Iox.cpp @@ -7,4 +7,12 @@ TEST(ComponentTests, VerifyHVIox) { HVIox hv_iox; hv_iox.init(true); EXPECT_EQ(hv_iox.setupIox(), 0); + #ifdef NOI2C + EXPECT_EQ(hv_iox.setMCULatch(true), 0); + EXPECT_EQ(hv_iox.isHVIndicatorEnabled(), 1); + #endif + hv_iox.setMCUHVEnabled(false); + EXPECT_EQ(hv_iox.setMCULatch(true), 1); + EXPECT_EQ(hv_iox.setMCULatch(false), 1); + EXPECT_NE(hv_iox.isHVIndicatorEnabled(), -1); } \ No newline at end of file From dec6856e159ca16ff89ae0133b0fb38479b1c9a6 Mon Sep 17 00:00:00 2001 From: Eric Udlis Date: Sun, 10 Jan 2021 13:42:18 -0600 Subject: [PATCH 23/40] Fixed data references in tests --- Test/components/HV_Iox/Test_HV_Iox.cpp | 9 +++++++-- Test/run_all_tests.cpp | 5 +++++ 2 files changed, 12 insertions(+), 2 deletions(-) diff --git a/Test/components/HV_Iox/Test_HV_Iox.cpp b/Test/components/HV_Iox/Test_HV_Iox.cpp index 297e3747..01c56f35 100644 --- a/Test/components/HV_Iox/Test_HV_Iox.cpp +++ b/Test/components/HV_Iox/Test_HV_Iox.cpp @@ -3,7 +3,7 @@ #include #include -TEST(ComponentTests, VerifyHVIox) { +TEST(HV_IOX, VerifyHVIox) { HVIox hv_iox; hv_iox.init(true); EXPECT_EQ(hv_iox.setupIox(), 0); @@ -12,7 +12,12 @@ TEST(ComponentTests, VerifyHVIox) { EXPECT_EQ(hv_iox.isHVIndicatorEnabled(), 1); #endif hv_iox.setMCUHVEnabled(false); + EXPECT_NE(hv_iox.isHVIndicatorEnabled(), -1); +} + +TEST(HV_IOX, HVIOX_MCU_LATCH) { + HVIox hv_iox; + hv_iox.init(true); EXPECT_EQ(hv_iox.setMCULatch(true), 1); EXPECT_EQ(hv_iox.setMCULatch(false), 1); - EXPECT_NE(hv_iox.isHVIndicatorEnabled(), -1); } \ No newline at end of file diff --git a/Test/run_all_tests.cpp b/Test/run_all_tests.cpp index a122dabb..bdae99a8 100644 --- a/Test/run_all_tests.cpp +++ b/Test/run_all_tests.cpp @@ -1,7 +1,12 @@ #include +extern "C" { +#include +} + // Run all GTest Tests int main(int argc, char **argv) { + initData(); testing::InitGoogleTest(&argc, argv); return RUN_ALL_TESTS(); } \ No newline at end of file From d88710d566a44c32c9a037d4df63f0060fa6da74 Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Sun, 10 Jan 2021 23:41:39 +0000 Subject: [PATCH 24/40] added #else for NOI2C --- Test/components/HV_Iox/Test_HV_Iox.cpp | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/Test/components/HV_Iox/Test_HV_Iox.cpp b/Test/components/HV_Iox/Test_HV_Iox.cpp index 01c56f35..cc6c57cc 100644 --- a/Test/components/HV_Iox/Test_HV_Iox.cpp +++ b/Test/components/HV_Iox/Test_HV_Iox.cpp @@ -8,16 +8,21 @@ TEST(HV_IOX, VerifyHVIox) { hv_iox.init(true); EXPECT_EQ(hv_iox.setupIox(), 0); #ifdef NOI2C - EXPECT_EQ(hv_iox.setMCULatch(true), 0); EXPECT_EQ(hv_iox.isHVIndicatorEnabled(), 1); + #else + hv_iox.setMCUHVEnabled(false); + EXPECT_NE(hv_iox.isHVIndicatorEnabled(), -1); #endif - hv_iox.setMCUHVEnabled(false); - EXPECT_NE(hv_iox.isHVIndicatorEnabled(), -1); } TEST(HV_IOX, HVIOX_MCU_LATCH) { HVIox hv_iox; hv_iox.init(true); - EXPECT_EQ(hv_iox.setMCULatch(true), 1); - EXPECT_EQ(hv_iox.setMCULatch(false), 1); + #ifdef NOI2C + EXPECT_EQ(hv_iox.setMCULatch(true), 0); + EXPECT_EQ(hv_iox.setMCULatch(false), 0); + #else + EXPECT_EQ(hv_iox.setMCULatch(true), 1); + EXPECT_EQ(hv_iox.setMCULatch(false), 1); + #endif } \ No newline at end of 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-I/data/middleware/libs -I/data/embedded/data/include -I/data/embedded/peripherals/include -I/data/embedded/drivers/include -I/data/embedded/app/include -I/data/Test/include -std=gnu++11 -o CMakeFiles/middleware.dir/libs/PracticalSocket/PracticalSocket.cpp.o -c /data/middleware/libs/PracticalSocket/PracticalSocket.cpp", + "file": "/data/middleware/libs/PracticalSocket/PracticalSocket.cpp" +}, +{ + "directory": "/data/middleware", + "command": "/usr/bin/c++ -I/data/middleware/include -I/data/middleware/libs -I/data/embedded/data/include -I/data/embedded/peripherals/include -I/data/embedded/drivers/include -I/data/embedded/app/include -I/data/Test/include -std=gnu++11 -o CMakeFiles/middleware.dir/src/TelemetryLoop.cpp.o -c /data/middleware/src/TelemetryLoop.cpp", + "file": "/data/middleware/src/TelemetryLoop.cpp" +}, +{ + "directory": "/data/Test", + "command": "/usr/bin/c++ -I/data/middleware/include -I/data/middleware/libs -I/data/embedded/data/include -I/data/embedded/peripherals/include -I/data/embedded/drivers/include -std=gnu++11 -o CMakeFiles/run_all_tests.dir/run_all_tests.cpp.o -c /data/Test/run_all_tests.cpp", + "file": "/data/Test/run_all_tests.cpp" +}, +{ + "directory": "/data/Test", + "command": "/usr/bin/c++ -I/data/middleware/include -I/data/middleware/libs -I/data/embedded/data/include -I/data/embedded/peripherals/include -I/data/embedded/drivers/include -std=gnu++11 -o CMakeFiles/run_all_tests.dir/components/HV_Iox/Test_HV_Iox.cpp.o -c /data/Test/components/HV_Iox/Test_HV_Iox.cpp", + "file": "/data/Test/components/HV_Iox/Test_HV_Iox.cpp" +}, +{ + "directory": "/data/Test", + "command": "/usr/bin/c++ -I/data/middleware/include -I/data/middleware/libs -I/data/embedded/data/include -I/data/embedded/peripherals/include -I/data/embedded/drivers/include -std=gnu++11 -o CMakeFiles/tests.dir/components/HV_Iox/Test_HV_Iox.cpp.o -c /data/Test/components/HV_Iox/Test_HV_Iox.cpp", + "file": "/data/Test/components/HV_Iox/Test_HV_Iox.cpp" +} +] \ No newline at end of file From e72e1e4629dbbc37ccdcbae9e7bd3ebf189ec199 Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Mon, 11 Jan 2021 14:24:13 -0600 Subject: [PATCH 26/40] added tests plz correct if wrong so I don't keep going --- Test/components/HV_Iox/Test_HV_Iox.cpp | 44 +++++++++++++++++--------- 1 file changed, 29 insertions(+), 15 deletions(-) diff --git a/Test/components/HV_Iox/Test_HV_Iox.cpp b/Test/components/HV_Iox/Test_HV_Iox.cpp index cc6c57cc..37b199fb 100644 --- a/Test/components/HV_Iox/Test_HV_Iox.cpp +++ b/Test/components/HV_Iox/Test_HV_Iox.cpp @@ -1,5 +1,4 @@ // Author: Marco -// just to learn #include #include @@ -7,22 +6,37 @@ TEST(HV_IOX, VerifyHVIox) { HVIox hv_iox; hv_iox.init(true); EXPECT_EQ(hv_iox.setupIox(), 0); - #ifdef NOI2C - EXPECT_EQ(hv_iox.isHVIndicatorEnabled(), 1); - #else - hv_iox.setMCUHVEnabled(false); - EXPECT_NE(hv_iox.isHVIndicatorEnabled(), -1); - #endif +#ifdef NOI2C + EXPECT_EQ(hv_iox.isHVIndicatorEnabled(), 1); +#else + hv_iox.setMCUHVEnabled(false); + EXPECT_NE(hv_iox.isHVIndicatorEnabled(), -1); +#endif } TEST(HV_IOX, HVIOX_MCU_LATCH) { HVIox hv_iox; hv_iox.init(true); - #ifdef NOI2C - EXPECT_EQ(hv_iox.setMCULatch(true), 0); - EXPECT_EQ(hv_iox.setMCULatch(false), 0); - #else - EXPECT_EQ(hv_iox.setMCULatch(true), 1); - EXPECT_EQ(hv_iox.setMCULatch(false), 1); - #endif -} \ No newline at end of file +#ifdef NOI2C + EXPECT_EQ(hv_iox.setMCULatch(true), 0); + EXPECT_EQ(hv_iox.setMCULatch(false), 0); +#else + EXPECT_EQ(hv_iox.setMCULatch(true), 1); + EXPECT_EQ(hv_iox.setMCULatch(false), 1); +#endif +} + +TEST(HV_IOX, HVIOX_STATES) { + HVIox hv_iox; + hv_iox.init(true); +#ifdef NOI2C + EXPECT_EQ(hv_iox.getBMSMultiIn(), 1); + EXPECT_EQ(hv_iox.getIMDStatus(), 1); + EXPECT_EQ(hv_iox.getINRTStatus(), 1); +#else + EXPECT_NE(hv_iox.getBMSMultiIn(), -1); +// Not sure what the expected behavior should be... is it just a true bool? +// EXPECT_EQ(hv_iox.getIMDStatus(), -1); + EXPECT_EQ(hv_iox.getINRTStatus(), -1); +#endif +} From 8d65e709ee28277008f2375b491d89c67dbde8e3 Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Wed, 13 Jan 2021 17:16:14 -0600 Subject: [PATCH 27/40] hv_iox test methods --- Test/components/HV_Iox/Test_HV_Iox.cpp | 22 +++++++++++++++++++--- 1 file changed, 19 insertions(+), 3 deletions(-) diff --git a/Test/components/HV_Iox/Test_HV_Iox.cpp b/Test/components/HV_Iox/Test_HV_Iox.cpp index 37b199fb..a13e5950 100644 --- a/Test/components/HV_Iox/Test_HV_Iox.cpp +++ b/Test/components/HV_Iox/Test_HV_Iox.cpp @@ -33,10 +33,26 @@ TEST(HV_IOX, HVIOX_STATES) { EXPECT_EQ(hv_iox.getBMSMultiIn(), 1); EXPECT_EQ(hv_iox.getIMDStatus(), 1); EXPECT_EQ(hv_iox.getINRTStatus(), 1); + EXPECT_EQ(hv_iox.isHVEnabled(), 0); #else EXPECT_NE(hv_iox.getBMSMultiIn(), -1); -// Not sure what the expected behavior should be... is it just a true bool? -// EXPECT_EQ(hv_iox.getIMDStatus(), -1); - EXPECT_EQ(hv_iox.getINRTStatus(), -1); + EXPECT_EQ(hv_iox.getIMDStatus(), true); + EXPECT_NE(hv_iox.getINRTStatus(), -1); + EXPECT_NE(hv_iox.isHVEnabled(), -1); #endif } + +TEST(HV_IOX, HVIOX_MCUHV) { + HVIox hv_iox; + hv_iox.init(true); +#ifdef NOI2C + EXPECT_EQ(hv_iox.setMCUHVEnabled(true), 1); + EXPECT_EQ(hv_iox.isMCUHVEnabled(), 1); + EXPECT_EQ(hv_iox.emergencyDisableMCU(), 1); +#else + EXPECT_NE(hv_iox.setMCUHVEnabled(true), -1); + EXPECT_NE(hv_iox.isMCUHVEnabled(), -1); + EXPECT_NE(hv_iox.emergencyDisableMCU(), -1); +#endif +} + From 5820e14d78d82cce4310b77770adc5ce410ff71a Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Wed, 13 Jan 2021 23:03:49 -0600 Subject: [PATCH 28/40] changed my directory because I made a new docker container --- compile_commands.json | 384 +++++++++++++++++++++--------------------- 1 file changed, 192 insertions(+), 192 deletions(-) diff --git a/compile_commands.json b/compile_commands.json index eae0e25e..4782325c 100644 --- a/compile_commands.json +++ b/compile_commands.json @@ 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{ - "directory": "/data/Test", - "command": "/usr/bin/c++ -I/data/middleware/include -I/data/middleware/libs -I/data/embedded/data/include -I/data/embedded/peripherals/include -I/data/embedded/drivers/include -std=gnu++11 -o CMakeFiles/tests.dir/components/HV_Iox/Test_HV_Iox.cpp.o -c /data/Test/components/HV_Iox/Test_HV_Iox.cpp", - "file": "/data/Test/components/HV_Iox/Test_HV_Iox.cpp" + "directory": "/data/pod-embedded/Test", + "command": "/usr/bin/c++ -I/data/pod-embedded/middleware/include -I/data/pod-embedded/middleware/libs -I/data/pod-embedded/embedded/data/include -I/data/pod-embedded/embedded/peripherals/include -I/data/pod-embedded/embedded/drivers/include -std=gnu++11 -o CMakeFiles/tests.dir/components/HV_Iox/Test_HV_Iox.cpp.o -c /data/pod-embedded/Test/components/HV_Iox/Test_HV_Iox.cpp", + "file": "/data/pod-embedded/Test/components/HV_Iox/Test_HV_Iox.cpp" } ] \ No newline at end of file From 75f7e519037a114da313d0a686beecdb103b7964 Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Thu, 14 Jan 2021 12:12:54 -0600 Subject: [PATCH 29/40] messing w docker ignore --- compile_commands.json | 384 +++++++++++++++++++++--------------------- gen_compile_commands | 3 + 2 files changed, 195 insertions(+), 192 deletions(-) create mode 100755 gen_compile_commands diff --git a/compile_commands.json b/compile_commands.json index 4782325c..eb5bc1b4 100644 --- a/compile_commands.json +++ b/compile_commands.json @@ -1,322 +1,322 @@ [ { - "directory": "/data/pod-embedded/embedded/app", - "command": "/usr/bin/c++ -I/data/pod-embedded/embedded/app/include -I/data/pod-embedded/middleware/include -I/data/pod-embedded/middleware/libs -I/data/pod-embedded/embedded/data/include -I/data/pod-embedded/embedded/peripherals/include -I/data/pod-embedded/embedded/drivers/include -std=gnu++11 -o CMakeFiles/badgerloop.dir/main/badgerloop.cpp.o -c /data/pod-embedded/embedded/app/main/badgerloop.cpp", - "file": "/data/pod-embedded/embedded/app/main/badgerloop.cpp" + "directory": 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-I/home/dev/cs420/pod-embedded/middleware/include -I/home/dev/cs420/pod-embedded/middleware/libs -I/home/dev/cs420/pod-embedded/embedded/data/include -I/home/dev/cs420/pod-embedded/embedded/peripherals/include -I/home/dev/cs420/pod-embedded/embedded/drivers/include -I/home/dev/cs420/pod-embedded/embedded/app/include -I/home/dev/cs420/pod-embedded/Test/include -std=gnu++11 -o CMakeFiles/middleware.dir/src/TelemetryLoop.cpp.o -c /home/dev/cs420/pod-embedded/middleware/src/TelemetryLoop.cpp", - "file": "/home/dev/cs420/pod-embedded/middleware/src/TelemetryLoop.cpp" -}, -{ - "directory": "/home/dev/cs420/pod-embedded/Test", - "command": "/usr/bin/c++ -I/home/dev/cs420/pod-embedded/middleware/include -I/home/dev/cs420/pod-embedded/middleware/libs -I/home/dev/cs420/pod-embedded/embedded/data/include -I/home/dev/cs420/pod-embedded/embedded/peripherals/include -I/home/dev/cs420/pod-embedded/embedded/drivers/include -std=gnu++11 -o CMakeFiles/run_all_tests.dir/run_all_tests.cpp.o -c /home/dev/cs420/pod-embedded/Test/run_all_tests.cpp", - "file": "/home/dev/cs420/pod-embedded/Test/run_all_tests.cpp" -}, -{ - "directory": "/home/dev/cs420/pod-embedded/Test", - "command": "/usr/bin/c++ -I/home/dev/cs420/pod-embedded/middleware/include -I/home/dev/cs420/pod-embedded/middleware/libs -I/home/dev/cs420/pod-embedded/embedded/data/include -I/home/dev/cs420/pod-embedded/embedded/peripherals/include -I/home/dev/cs420/pod-embedded/embedded/drivers/include -std=gnu++11 -o CMakeFiles/run_all_tests.dir/components/HV_Iox/Test_HV_Iox.cpp.o -c /home/dev/cs420/pod-embedded/Test/components/HV_Iox/Test_HV_Iox.cpp", - "file": "/home/dev/cs420/pod-embedded/Test/components/HV_Iox/Test_HV_Iox.cpp" -}, -{ - "directory": "/home/dev/cs420/pod-embedded/Test", - "command": "/usr/bin/c++ -I/home/dev/cs420/pod-embedded/middleware/include -I/home/dev/cs420/pod-embedded/middleware/libs -I/home/dev/cs420/pod-embedded/embedded/data/include -I/home/dev/cs420/pod-embedded/embedded/peripherals/include -I/home/dev/cs420/pod-embedded/embedded/drivers/include -std=gnu++11 -o CMakeFiles/tests.dir/components/HV_Iox/Test_HV_Iox.cpp.o -c /home/dev/cs420/pod-embedded/Test/components/HV_Iox/Test_HV_Iox.cpp", - "file": "/home/dev/cs420/pod-embedded/Test/components/HV_Iox/Test_HV_Iox.cpp" -} -] \ No newline at end of file From db4524b0d98df811a80f2bf30bc63196bcddaa23 Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Thu, 14 Jan 2021 15:45:41 -0600 Subject: [PATCH 31/40] added compile_comands.json to .gitignore --- .gitignore | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.gitignore b/.gitignore index 970a7701..76574b52 100644 --- a/.gitignore +++ b/.gitignore @@ -267,3 +267,6 @@ cmake-build-debug/ # Autocoder Python *.pyc + +# Compile Commands for ccls +compile_commands.json From f4fa450d325b37517050c097a78507bf1d7fd0b0 Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Thu, 14 Jan 2021 20:47:18 -0600 Subject: [PATCH 32/40] finished test methods for hv_iox --- Test/components/HV_Iox/Test_HV_Iox.cpp | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/Test/components/HV_Iox/Test_HV_Iox.cpp b/Test/components/HV_Iox/Test_HV_Iox.cpp index a13e5950..57f4a453 100644 --- a/Test/components/HV_Iox/Test_HV_Iox.cpp +++ b/Test/components/HV_Iox/Test_HV_Iox.cpp @@ -34,11 +34,19 @@ TEST(HV_IOX, HVIOX_STATES) { EXPECT_EQ(hv_iox.getIMDStatus(), 1); EXPECT_EQ(hv_iox.getINRTStatus(), 1); EXPECT_EQ(hv_iox.isHVEnabled(), 0); + EXPECT_EQ(hv_iox.getPsStatus(), 1); + EXPECT_EQ(hv_iox.getBMSStatus(), 1); + EXPECT_EQ(hv_iox.isEStopOn(), 0); + EXPECT_EQ(hv_iox.getMasterSwFeedback(), 1); #else EXPECT_NE(hv_iox.getBMSMultiIn(), -1); EXPECT_EQ(hv_iox.getIMDStatus(), true); EXPECT_NE(hv_iox.getINRTStatus(), -1); EXPECT_NE(hv_iox.isHVEnabled(), -1); + EXPECT_NE(hv_iox.getPsStatus(), -1); + EXPECT_NE(hv_iox.getBMSStatus(), -1); + EXPECT_NE(hv_iox.isEStopOn(), -1); + EXPECT_NE(hv_iox.getMasterSwFeedback(), -1); #endif } From 225660646e4bea72b4b9b3069915bb4670fa29f9 Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Thu, 14 Jan 2021 21:55:00 -0600 Subject: [PATCH 33/40] added git clean cuz there were build errors ugh idk what I'm doing --- gen_compile_commands | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/gen_compile_commands b/gen_compile_commands index 70151aed..afb32bc4 100755 --- a/gen_compile_commands +++ b/gen_compile_commands @@ -1,3 +1,5 @@ -echo making compile commands... +echo "making compile commands..." cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON . +echo "cleaning git tree..." +git clean -fxd echo done From 27e9b5b414e2d69eb8dfd0e6f999ca8857fbcb19 Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Fri, 15 Jan 2021 13:50:46 -0600 Subject: [PATCH 34/40] Update gen_compile_commands --- gen_compile_commands | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/gen_compile_commands b/gen_compile_commands index afb32bc4..97a4ae45 100755 --- a/gen_compile_commands +++ b/gen_compile_commands @@ -1,5 +1,8 @@ +echo "WARNING THIS WILL DELETE ALL UNTRACKED FILES!!!" +read -n 1 -s -r -p "Press any key to continue or ctrl-c to quit..." echo "making compile commands..." cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON . +echo "done!" echo "cleaning git tree..." git clean -fxd -echo done +echo "done!" From b786037f7732932d7f5609557155de6390df6bcc Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Fri, 15 Jan 2021 13:59:10 -0600 Subject: [PATCH 35/40] .gitignore not workingggg --- .gitignore | 2 +- gen_compile_commands | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/.gitignore b/.gitignore index 76574b52..52902cb0 100644 --- a/.gitignore +++ b/.gitignore @@ -268,5 +268,5 @@ cmake-build-debug/ # Autocoder Python *.pyc -# Compile Commands for ccls +# c compile json compile_commands.json diff --git a/gen_compile_commands b/gen_compile_commands index 97a4ae45..cbc20102 100755 --- a/gen_compile_commands +++ b/gen_compile_commands @@ -1,3 +1,5 @@ +#!/bin/bash + echo "WARNING THIS WILL DELETE ALL UNTRACKED FILES!!!" read -n 1 -s -r -p "Press any key to continue or ctrl-c to quit..." echo "making compile commands..." From d28238e0451455daba95d6c83938d85d4823d0c7 Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Fri, 15 Jan 2021 14:03:30 -0600 Subject: [PATCH 36/40] solved just needed to remove -x flag --- gen_compile_commands | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gen_compile_commands b/gen_compile_commands index cbc20102..84e8f100 100755 --- a/gen_compile_commands +++ b/gen_compile_commands @@ -6,5 +6,5 @@ echo "making compile commands..." cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON . echo "done!" echo "cleaning git tree..." -git clean -fxd +git clean -fd echo "done!" From 9df7262ad011387fd10f75afca993ea52d7a8fcd Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Fri, 15 Jan 2021 14:14:25 -0600 Subject: [PATCH 37/40] return int for init method --- embedded/peripherals/src/hv_iox.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/embedded/peripherals/src/hv_iox.cpp b/embedded/peripherals/src/hv_iox.cpp index 76d1c32c..0df81a0b 100644 --- a/embedded/peripherals/src/hv_iox.cpp +++ b/embedded/peripherals/src/hv_iox.cpp @@ -44,6 +44,9 @@ int HVIox::init(bool hardStart) if (this->setupIox() != 0) isInit = false; } + if (isInit) + return 0; + return -1; } int HVIox::setupIox() From 9ec7bffea969a1a8e04b19c8f27567921067644a Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Sun, 17 Jan 2021 11:10:13 -0600 Subject: [PATCH 38/40] added else statements and comments to test --- Test/components/HV_Iox/Test_HV_Iox.cpp | 8 ++++++++ embedded/peripherals/src/hv_iox.cpp | 14 ++++++-------- 2 files changed, 14 insertions(+), 8 deletions(-) diff --git a/Test/components/HV_Iox/Test_HV_Iox.cpp b/Test/components/HV_Iox/Test_HV_Iox.cpp index 84f98d68..d89636e8 100644 --- a/Test/components/HV_Iox/Test_HV_Iox.cpp +++ b/Test/components/HV_Iox/Test_HV_Iox.cpp @@ -7,9 +7,17 @@ TEST(HV_IOX, VerifyHVIox) HVIox hv_iox; hv_iox.init(true); EXPECT_EQ(hv_iox.setupIox(), 0); +// The expected output of the functions is generic +// when not connected to the I2C bus #ifdef NOI2C + // expected to equal 1 EXPECT_EQ(hv_iox.isHVIndicatorEnabled(), 1); +// The expected output of the functions is +// != -1 because the function returns +// the getState method when connected +// to the I2C bus #else + // expected to not equal -1 hv_iox.setMCUHVEnabled(false); EXPECT_NE(hv_iox.isHVIndicatorEnabled(), -1); #endif diff --git a/embedded/peripherals/src/hv_iox.cpp b/embedded/peripherals/src/hv_iox.cpp index 0fdafa43..d836b3e6 100644 --- a/embedded/peripherals/src/hv_iox.cpp +++ b/embedded/peripherals/src/hv_iox.cpp @@ -34,16 +34,14 @@ HVIox::HVIox() int HVIox::init(bool hardStart) { if (setupMCP(&iox, HV_IO_ADDR) != 0) - isInit = false; - if (hardStart) { + return -1; + else if (hardStart) { if (clearSettingsMCP(&iox) != 0) - isInit = false; - if (this->setupIox() != 0) - isInit = false; + return -1; + else if (this->setupIox() != 0) + return -1; } - if (isInit) - return 0; - return -1; + return 0; } int HVIox::setupIox() From d81371ea74c04d0ad5cbc3d9f9835637e9a7cda2 Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Sun, 17 Jan 2021 11:13:27 -0600 Subject: [PATCH 39/40] forgot to remove isInit --- embedded/peripherals/src/hv_iox.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/embedded/peripherals/src/hv_iox.cpp b/embedded/peripherals/src/hv_iox.cpp index d836b3e6..d191b26a 100644 --- a/embedded/peripherals/src/hv_iox.cpp +++ b/embedded/peripherals/src/hv_iox.cpp @@ -26,7 +26,6 @@ static int setupIox(void); * state of everything. * */ -bool isInit = true; HVIox::HVIox() { } From 5a3ef55d59867727d789fc582b5edc4728258e76 Mon Sep 17 00:00:00 2001 From: Marco Kurzynski Date: Sun, 17 Jan 2021 11:17:11 -0600 Subject: [PATCH 40/40] not needed my b --- .ccls | 6 ------ 1 file changed, 6 deletions(-) delete mode 100644 .ccls diff --git a/.ccls b/.ccls deleted file mode 100644 index a25db067..00000000 --- a/.ccls +++ /dev/null @@ -1,6 +0,0 @@ -%compile_commands.json -%c -std=c11 -%cpp -std=c++14 -%c %cpp -pthread -%h %hpp --include=Global.h --Iinc