bypassing requesting init

Author: songyueli

lib/interfaces/src/InverterInterface.cpp

@@ -95,7 +95,7 @@ void InverterInterface::receive_INV_DYNAMICS(const CAN_message_t &can_msg, unsig
     _feedback_data.motor_mechanics.new_data = true;
     _feedback_data.motor_mechanics.last_recv_millis = curr_millis;
 
-    Serial.println(unpacked_msg.actual_power_w);
+    // Serial.println(unpacked_msg.actual_power_w);
 }
 
 void InverterInterface::receive_INV_POWER(const CAN_message_t &can_msg, unsigned long curr_millis) 

lib/interfaces/src/VCRCANInterfaceImpl.cpp

@@ -29,16 +29,16 @@ void on_inverter_can_receive(const CAN_message_t &msg) {
     memmove(buf, &msg, sizeof(msg));
     inverter_can_rx_buffer.push_back(buf, sizeof(CAN_message_t));
 
-    Serial.println("msg recvd");
-    Serial.print("MB: "); Serial.print(msg.mb);
-    Serial.print("  ID: 0x"); Serial.print(msg.id, HEX);
-    Serial.print("  EXT: "); Serial.print(msg.flags.extended);
-    Serial.print("  LEN: "); Serial.print(msg.len);
-    Serial.print(" DATA: ");
-    for ( uint8_t i = 0; i < 8; i++ ) {
-      Serial.print(msg.buf[i]); Serial.print(" ");
-    }
-    Serial.print("  TS: "); Serial.println(msg.timestamp);
+    // Serial.println("msg recvd");
+    // Serial.print("MB: "); Serial.print(msg.mb);
+    // Serial.print("  ID: 0x"); Serial.print(msg.id, HEX);
+    // Serial.print("  EXT: "); Serial.print(msg.flags.extended);
+    // Serial.print("  LEN: "); Serial.print(msg.len);
+    // Serial.print(" DATA: ");
+    // for ( uint8_t i = 0; i < 8; i++ ) {
+    //   Serial.print(msg.buf[i]); Serial.print(" ");
+    // }
+    // Serial.print("  TS: "); Serial.println(msg.timestamp);
 
 }
 

lib/systems/src/DrivetrainSystem.cpp

@@ -87,7 +87,7 @@ DrivetrainState_e DrivetrainSystem::_evaluate_state_machine(DrivetrainSystem::Cm
 
             bool connected_hv_present = false;
             connected_hv_present = (_check_inverter_flags(_check_inverter_connected_flag) && _check_inverter_flags(_check_inverter_hv_present_flag)); 
-            
+
             if (connected_no_hv_present) {
                 _set_state(DrivetrainState_e::NOT_ENABLED_NO_HV_PRESENT);
             } else if (connected_hv_present) {
@@ -137,10 +137,12 @@ DrivetrainState_e DrivetrainSystem::_evaluate_state_machine(DrivetrainSystem::Cm
             // State Transitions
             bool inverter_error_present = false;
             inverter_error_present = !_check_inverter_flags(_check_inverter_no_errors_present);
-            
+
             bool requesting_init = false;
             requesting_init = etl::holds_alternative<DrivetrainInit_s>(cmd) && (etl::get<DrivetrainInit_s>(cmd).init_drivetrain != DrivetrainModeRequest_e::UNINITIALIZED);
 
+            requesting_init = true; 
+
             bool inverters_ready = false;
             inverters_ready = _check_inverter_flags(_check_inverter_ready_flag);
 

src/main.cpp

@@ -93,7 +93,7 @@ DrivetrainSystem::InverterFuncts rr_inverter_functs = {
     .get_motor_mechanics = []() { return rr_inverter_int.get_motor_mechanics(); }
 };
 
-veh_vec<DrivetrainSystem::InverterFuncts> inverter_functs(fl_inverter_functs, fr_inverter_functs, rl_inverter_functs, rr_inverter_functs);
+veh_vec<DrivetrainSystem::InverterFuncts> inverter_functs(fl_inverter_functs, fr_inverter_functs, fr_inverter_functs, rr_inverter_functs);
 
 etl::delegate<void(bool)> set_ef_pin_active = etl::delegate<void(bool)>::create([](bool set_active) { digitalWrite(INVERTER_ENABLE_PIN, static_cast<int>(set_active)); });