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Output relevant signals during a severe fault scenario #44 #71

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Output relevant signals during a severe fault scenario #44 #71

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997f107
Added VCU_FLT signal upon severe fault.
Jul 10, 2024
823bbaa
Added test case to generate a severe fault. Added the turn off for VC…
Jul 13, 2024
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18 changes: 18 additions & 0 deletions VCU/Phantom/Drivers/STATE_MACHINE/state_machine.c
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@
#include "task_event_handler.h"
#include "task_throttle.h"
#include "task_logger.h"
#include "board_hardware.h"

static void UpdateStateMachine(void* data);
static State VariousStates(State state, eCarEvents event);
Expand All @@ -25,6 +26,14 @@ static State SevereFault(eCarEvents event);

static SystemTasks_t system_tasks;

void VCU_FLT_Set(int value)
{
//Toggles VCU_FLT pin defined in hardware file.

gioSetBit(SHUTDOWN_CIRCUIT_PORT,BSPD_FAULT_PIN,value);//Check pin since no VCU_FLT pin is defined in the hardware file. We assumed no latch is available thus fault must stay until car reset.

return;
}

/* Public API */

Expand Down Expand Up @@ -138,6 +147,10 @@ static State VariousStates(State state, eCarEvents event)
if (faults && state != SEVERE_FAULT)
{
SuspendThrottle(system_tasks.Throttle);

VCU_FLT_Set(1);//Sets VCU_FLT to 1

LogColor(RED, "Setting VCU_FLT signal.");

LogColor(RED, "Moving to SevereFault state");

Expand Down Expand Up @@ -190,6 +203,11 @@ static State SevereFault(eCarEvents event)
if (event == EVENT_RESET_CAR)
{
LogColor(CYN, "Moving from SevereFault to TractiveOff");

VCU_FLT_Set(0); //Clearing VCU FLT --> Assuming the reset car event triggers.

LogColor(CYN, "Clearing VCU_FLT signal");

return TRACTIVE_OFF;
}

Expand Down
7 changes: 7 additions & 0 deletions VCU/Phantom/Drivers/UART/Phantom_sci.c
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@ enum eCommands{
RESET_CAR='r',
START_ENGINE='s',
TURN_TRACTIVE_ON='o',
SEVERE_FAULT_TEST='f',
};

static volatile uint8_t messageCounter = 0;
Expand Down Expand Up @@ -228,6 +229,12 @@ void sciReceiveCallback(sciBASE_t *sci, uint32 flags, uint8 data)

break;
}
case SEVERE_FAULT_TEST:
{
NotifyStateMachineFromISR(EVENT_UNRESPONSIVE_APPS);

break;
}
default:
{
LogFromISR(UWHT, "Unknown: ");
Expand Down