Merge branch 'develop' into regen-braking-jack

Core/Inc/nero.h

@@ -5,50 +5,11 @@
 #include "cmsis_os.h"
 #include "stm32f4xx_hal.h"
 
-typedef enum {
- OFF,
- PIT,
- PERFORMANCE,
- EFFICIENCY,
- DEBUG,
- CONFIGURATION,
- FLAPPY_BIRD,
- EXIT,
- MAX_NERO_STATES
-} nero_menu_t;
-
-typedef struct {
- nero_menu_t nero_index;
- bool home_mode;
-} nero_state_t;
-
-/*
- * Attempts to increment the nero index and handles any exceptions
-*/
-void increment_nero_index();
-
-/*
- * Attempts to decrement the nero index and handles any exceptions
-*/
-void decrement_nero_index();
-
-/*
- * Tells the statemachine to track up and down movements
-*/
-void set_home_mode();
-
-/*
- * Tells NERO to select the current index if in home mode
-*/
-void select_nero_index();
-
 /*
  * Tells NERO the current MPH
 */
 void set_mph(int8_t new_mph);
 
-void set_nero_home_mode();
-
 /*
 * Emits the state of NERO
 */

Core/Inc/queues.h

@@ -28,8 +28,6 @@ typedef struct {
 
 extern osMessageQueueId_t pedal_data_queue;
 
-extern osMessageQueueId_t break_state_queue;
-
 bool get_brake_state();
 
 #endif // QUEUES_H

Core/Inc/state_machine.h

@@ -10,6 +10,7 @@
  * being sub states of the ACTIVE functional state
  */
 typedef enum { BOOT, READY, ACTIVE, FAULTED, MAX_FUNC_STATES } func_state_t;
+
 typedef enum {
  NOT_DRIVING,
  REVERSE,
@@ -19,21 +20,33 @@ typedef enum {
  MAX_DRIVE_STATES
 } drive_state_t;
 
-extern osThreadId_t sm_director_handle;
-extern const osThreadAttr_t sm_director_attributes;
+typedef enum {
+ OFF,
+ PIT,
+ PERFORMANCE,
+ EFFICIENCY,
+ DEBUG,
+ CONFIGURATION,
+ FLAPPY_BIRD,
+ EXIT,
+ MAX_NERO_STATES
+} nero_menu_t;
 
 typedef struct {
- enum { FUNCTIONAL, DRIVE } id;
+ nero_menu_t nero_index;
+ bool home_mode;
+} nero_state_t;
 
- union {
-  func_state_t functional;
-  drive_state_t drive;
- } state;
-} state_req_t;
+typedef struct {
+ func_state_t functional;
+ drive_state_t drive;
+ nero_state_t nero;
+} state_t;
 
-void vStateMachineDirector(void *pv_params);
+extern osThreadId_t sm_director_handle;
+extern const osThreadAttr_t sm_director_attributes;
 
-int queue_state_transition(state_req_t request);
+void vStateMachineDirector(void *pv_params);
 
 /* Retrieves the current functional state */
 func_state_t get_func_state();
@@ -44,4 +57,36 @@ func_state_t get_func_state();
  */
 drive_state_t get_drive_state();
 
+/*
+ * Retrieves the current nero state
+ */
+nero_state_t get_nero_state();
+
+/**
+ * Increments the nero index in the order of nero_menu_t which will be used to select a drive mode
+ */
+int increment_nero_index();
+
+/**
+ * Decrements the nero index int the order of nero_menu_t which will be used to select a drive mode
+ */
+int decrement_nero_index();
+
+/**
+ * Transitions out of home mode, therefore into a drive mode based on the
+ * current nero index and mapped using the map_nero_index_to_drive_state function
+ * Wil set the functional state to active
+ */
+int select_nero_index();
+
+/**
+ * Sets the home mode to be true, which will turn off the car and set the functional state to ready
+ */
+int set_home_mode();
+
+/**
+ * Handles a fault, setting the functional state to FAULTED
+ */
+int fault();
+
 #endif

Core/Src/fault.c

@@ -24,16 +24,13 @@ int queue_fault(fault_data_t *fault_data)
  if (!fault_handle_queue)
  return -1;
 
- osMessageQueuePut(fault_handle_queue, fault_data, 0U, 0U);
- return 0;
+ return osMessageQueuePut(fault_handle_queue, fault_data, 0U, 0U);
 }
 
 void vFaultHandler(void *pv_params)
 {
  fault_data_t fault_data;
  osStatus_t status;
- const state_req_t fault_request = { .id = FUNCTIONAL,
- .state.functional = FAULTED };
  fault_handle_queue = osMessageQueueNew(FAULT_HANDLE_QUEUE_SIZE,
  sizeof(fault_data_t), NULL);
 
@@ -58,13 +55,13 @@ void vFaultHandler(void *pv_params)
  fault_data.diag);
  switch (fault_data.severity) {
  case DEFCON1: /* Highest(1st) Priority */
- queue_state_transition(fault_request);
+ fault();
  break;
  case DEFCON2:
- queue_state_transition(fault_request);
+ fault();
  break;
  case DEFCON3:
- queue_state_transition(fault_request);
+ fault();
  break;
  case DEFCON4:
  break;

Core/Src/nero.c

@@ -10,131 +10,26 @@
 #include "cerberus_conf.h"
 #include "monitor.h"
 
-static nero_state_t nero_state = { .nero_index = 0, .home_mode = true };
 static int8_t mph = 0;
 
 static void send_mode_status()
 {
  can_msg_t msg = { .id = 0x501,
  .len = 4,
- .data = { nero_state.home_mode, nero_state.nero_index,
- mph, get_tsms() } };
+ .data = { get_nero_state().home_mode,
+ get_nero_state().nero_index, mph,
+ get_tsms() } };
 
  /* Send CAN message */
  queue_can_msg(msg);
 }
 
-static drive_state_t map_nero_index_to_drive_state(nero_menu_t nero_index)
-{
- switch (nero_index) {
- case OFF:
- return NOT_DRIVING;
- case PIT:
- return SPEED_LIMITED;
- case PERFORMANCE:
- return AUTOCROSS;
- case EFFICIENCY:
- return ENDURANCE;
- default:
- return OFF;
- }
-}
-
-void increment_nero_index()
-{
- if (!nero_state.home_mode) {
- // Do Nothing because we are not in home mode and therefore not tracking the nero index
- return;
- }
-
- if (nero_state.nero_index + 1 < MAX_NERO_STATES) {
- nero_state.nero_index += 1;
- } else {
- // Do Nothing because theres no additional states or we dont care about the additional states;
- }
-}
-
 void set_mph(int8_t new_mph)
 {
  //printf("mph %d", new_mph);
  mph = new_mph;
 }
 
-void decrement_nero_index()
-{
- serial_print("decrementing with mode, %d", nero_state.home_mode);
- if (!nero_state.home_mode) {
- // Do Nothing because we are not in home mode and therefore not tracking the nero index
- return;
- }
-
- if (nero_state.nero_index - 1 >= 0) {
- nero_state.nero_index -= 1;
- } else {
- // Do Nothing because theres no negative states
- }
-}
-
-void select_nero_index()
-{
- state_req_t state_request;
-
- if (!nero_state.home_mode) {
- // Only Check if we are in pit mode to toggle direction
- if (nero_state.nero_index == PIT) {
- if (get_drive_state() == REVERSE) {
- state_request.id = DRIVE;
- state_request.state.drive = SPEED_LIMITED;
- queue_state_transition(state_request);
- } else {
- state_request.id = DRIVE;
- state_request.state.drive = REVERSE;
- queue_state_transition(state_request);
- }
- }
- return;
- }
-
- uint8_t max_drive_states =
- MAX_DRIVE_STATES -
- 1; // Account for reverse and pit being the same screen
-
- if (nero_state.nero_index > 0 &&
- nero_state.nero_index < max_drive_states && get_tsms() &&
- get_brake_state()) {
- state_request.id = FUNCTIONAL;
- state_request.state.functional = ACTIVE;
- queue_state_transition(state_request);
- state_request.id = DRIVE;
- state_request.state.drive =
- map_nero_index_to_drive_state(nero_state.nero_index);
- queue_state_transition(state_request);
- nero_state.home_mode = false;
- } else if (nero_state.nero_index == OFF) {
- state_request.id = FUNCTIONAL;
- state_request.state.functional = READY;
- queue_state_transition(state_request);
- nero_state.home_mode = false;
- } else if (nero_state.nero_index >= max_drive_states) {
- nero_state.home_mode = false;
- }
-}
-
-void set_nero_home_mode()
-{
- nero_state.home_mode = true;
-}
-
-void set_home_mode()
-{
- state_req_t state_request = { .id = FUNCTIONAL,
- .state.functional = READY };
- if (!get_tsms()) {
- nero_state.home_mode = true;
- queue_state_transition(state_request);
- }
-}
-
 osThreadId_t nero_monitor_handle;
 const osThreadAttr_t nero_monitor_attributes = {
  .name = "NeroMonitor",