fixed pins and overrided vehical state machine

Author: songyueli

include/VCR_Constants.h

@@ -87,7 +87,7 @@ constexpr int INV_FAN_CNTRL = 34;
 constexpr int MOTOR_FAN_CNTRL = 35;
 
 /* Watchdog constants */
-constexpr int INVERTER_ENABLE_PIN = 2;
+constexpr int INVERTER_ENABLE_PIN = 5;
 constexpr int FLOWMETER_PIN = 7;
 constexpr int WATCHDOG_PIN = 26;
 constexpr int SOFTWARE_OK_PIN = 27; // Watchdog's !RESET pin

include/VCR_SystemTasks.h

@@ -89,4 +89,6 @@ VehicleState_e evaluate_state_machine(const VCRSystemData_s &system_data,
 
 HT_TASK::TaskResponse run_async_main_task(const unsigned long& sysMicros, const HT_TASK::TaskInfo& taskInfo);
 
+
+
 #endif // __VCR_SYSTEMTASKS_H__

lib/systems/include/DrivetrainSystem.h

@@ -14,9 +14,6 @@
 #include <shared_types.h>
 #include "SystemTimeInterface.h"
 
-
-
-
 /**
  * When user calls evaluate_drivetrain(), this is part of the returned status to
  * indicate if the command was successful or invalid

lib/systems/src/DrivetrainSystem.cpp

@@ -77,7 +77,6 @@ DrivetrainState_e DrivetrainSystem::_evaluate_state_machine(DrivetrainSystem::Cm
         // TODO need to ensure that the inverter outputs CAN messages on idle even not when being sent msgs
         case DrivetrainState_e::NOT_CONNECTED:
         {
-
             // State Outputs
             _set_drivetrain_disabled(); 
             _set_ef_active_pin(false);
@@ -267,9 +266,10 @@ DrivetrainState_e DrivetrainSystem::_evaluate_state_machine(DrivetrainSystem::Cm
             break;
 
         }
-
         default:
+        {
             break;
+        }
     }
 
     return get_state();

src/VCR_InterfaceTasks.cpp

@@ -240,7 +240,7 @@ HT_TASK::TaskResponse read_ioexpander(const unsigned long& sysMicros, const HT_T
     // uint8_t vcr_ok = IOExpanderInstance::instance().digitalRead(10);
     // Serial.println(vcr_ok);
     //Serial.println(portB);
-
+ 
 
     return HT_TASK::TaskResponse::YIELD;
     // NOLINTEND

src/VCR_SystemTasks.cpp

@@ -72,7 +72,7 @@ HT_TASK::TaskResponse run_async_main_task(const unsigned long& sysMicros, const
     auto tc_mux_status = VCRControlsInstance::instance().get_tc_mux_status();
     vcr_data.system_data.tc_mux_status = tc_mux_status;
 
-    vcr_data.system_data.vehicle_state_machine_state = VehicleStateMachineInstance::instance().tick_state_machine(sys_time::hal_millis());
+    // vcr_data.system_data.vehicle_state_machine_state = VehicleStateMachineInstance::instance().tick_state_machine(sys_time::hal_millis());
 
     vcr_data.system_data.drivetrain_state_machine_state = DrivetrainInstance::instance().get_state();
 
@@ -81,5 +81,9 @@ HT_TASK::TaskResponse run_async_main_task(const unsigned long& sysMicros, const
     vcr_data.system_data.db_cntrl_status.drivebrain_is_in_control = VCRControlsInstance::instance().drivebrain_is_in_control();
     vcr_data.system_data.db_cntrl_status.drivebrain_controller_timing_failure = VCRControlsInstance::instance().drivebrain_timing_failure();
 
+    VCRControlsInstance::instance().handle_drivetrain_command(true, true);
+
     return HT_TASK::TaskResponse::YIELD;
-}
+}
+
+

src/controls.cpp

@@ -25,21 +25,23 @@ void VCRControls::handle_drivetrain_command(bool wanting_ready_to_drive, bool re
     if(_dt_system != nullptr)
     {
         ControllerMode_e mode = vcr_data.interface_data.dash_input_state.dial_state;
+        DrivetrainStatus_s drivetrain_status;
 
         if (ready_to_drive) {
-            auto dt_command = _tc_mux.get_drivetrain_command(mode, _torque_limit, vcr_data);
-            _debug_dt_command = dt_command;
-            _dt_system->evaluate_drivetrain(dt_command);
+            DrivetrainCommand_s def = {.desired_speeds = {500.0f, 500.0f, 500.0f, 500.0f}, .torque_limits = {6.0f, 6.0f, 6.0f, 6.0f}};
+            auto dt_command = def; // _tc_mux.get_drivetrain_command(mode, _torque_limit, vcr_data);
+            // _debug_dt_command = dt_command;
+            drivetrain_status = _dt_system->evaluate_drivetrain(dt_command);
         } else if (wanting_ready_to_drive) {
             DrivetrainInit_s dt_command = {
                 .init_drivetrain = INIT_DRIVE_MODE
             };
-            _dt_system->evaluate_drivetrain(dt_command);
+            drivetrain_status = _dt_system->evaluate_drivetrain(dt_command);
         } else {
             DrivetrainInit_s dt_command = {
                 .init_drivetrain = UNINITIALIZED
             };
-            _dt_system->evaluate_drivetrain(dt_command);
+            drivetrain_status = _dt_system->evaluate_drivetrain(dt_command);
         }
     }
 }

src/main.cpp

@@ -185,7 +185,7 @@ HT_TASK::TaskResponse debug_print(const unsigned long& sysMicros, const HT_TASK:
         // Serial.println(vcr_data.interface_data.shutdown_sensing_data.imd_is_ok);
         // Serial.println("Linked Data");
         // Serial.println(vcr_data.interface_data.ethernet_is_linked.acu_link);
-    // Serial.println(vcr_data.interface_data.ethernet_is_linked.drivebrain_link);
+        // Serial.println(vcr_data.interface_data.ethernet_is_linked.drivebrain_link);
         // Serial.println(vcr_data.interface_data.ethernet_is_linked.vcf_link);
         // Serial.println(vcr_data.interface_data.ethernet_is_linked.teensy_link);
         // Serial.println(vcr_data.interface_data.ethernet_is_linked.debug_link);
@@ -388,29 +388,38 @@ void setup() {
     );
 
 
-    scheduler.schedule(adc_0_sample_task);
-    scheduler.schedule(adc_1_sample_task);
+    // scheduler.schedule(adc_0_sample_task);
+    // scheduler.schedule(adc_1_sample_task);
+
     scheduler.schedule(kick_watchdog_task);
+
     //scheduler.schedule(ams_system_task); // Commented out to test VCR without ACU otherwise SOFTWARE_OK never goes high
-    scheduler.schedule(enqueue_suspension_CAN_task);
-    scheduler.schedule(enqueue_dashboard_CAN_task);
+    // scheduler.schedule(enqueue_suspension_CAN_task);
+    // scheduler.schedule(enqueue_dashboard_CAN_task); 
+
     scheduler.schedule(send_CAN_task);
-    scheduler.schedule(vcr_data_ethernet_send);
+
+    // scheduler.schedule(vcr_data_ethernet_send);
+
     scheduler.schedule(enqueue_inverter_CAN_task);
-    scheduler.schedule(enqueue_coolant_temp_CAN_task);
+
+    // scheduler.schedule(enqueue_coolant_temp_CAN_task);
+
     scheduler.schedule(async_main_task);
-    scheduler.schedule(enqueue_controls_CAN_task);
+
+    // scheduler.schedule(enqueue_controls_CAN_task);
+
     scheduler.schedule(debug_state_print_task);
-    scheduler.schedule(update_brakelight_task);
-    scheduler.schedule(update_sample_flowmeter);
-    scheduler.schedule(IOExpander_read_task);
+    
+    // scheduler.schedule(update_brakelight_task);
+    // scheduler.schedule(update_sample_flowmeter);
+    // scheduler.schedule(IOExpander_read_task);
 
     // scheduler.schedule(run_enable_fans);
     // scheduler.schedule(run_enable_pumps);
 
 }
 
 void loop() {
-    
     scheduler.run();
 }