Merge pull request #105 from badgerloop-software/devel

Update master

Author: rdaruwala

Makefile

@@ -39,7 +39,7 @@ endif
 GCC	   	:= $(BEAGLE)gcc
 GPP	   	:= $(BEAGLE)g++
 IFLAGS 	:= $(addprefix -I,$(INCLUDE_DIRS))
-WFLAGS	:= -Wall -Wno-deprecated -Wextra -Wno-type-limits -fdiagnostics-color
+WFLAGS	:= -Wall -Wno-deprecated -Wextra -Wno-type-limits -fdiagnostics-color -Wno-unused-parameter
 CFLAGS 	:= -std=gnu11 $(addprefix -D,$(USE_VCAN)) $(addprefix -D, $(DEBUG_MODE)) $(addprefix -D, $(NOI2C)) $(addprefix -D, $(NF))
 CPFLAGS := -std=c++11
 LDFLAGS := -Llib

embedded/README.md

@@ -1,7 +1,7 @@
 # Badgerloop's Embedded Firmware
-*Developers: Rohan Daruwala, Ezra Boley, Ethan Link*
+*Developers: Rohan Daruwala, Ezra Boley*
 
 ## Platform: 
-  BeagleBone Black
-  
-More thorough documentation on how to use the different peripherals and drivers are available in the respective folders.
+  BeagleBone Black
+  
+More thorough documentation on how to use the different peripherals and drivers are available in the respective folders.

embedded/app/src/state_machine.c

@@ -53,26 +53,6 @@ state_t *findState(char *stateName) {
 }
 
 
-/***
- * findFaultState - Looks through a states transitions and finds its
- *  appropriate fault state
- *
- * ARGS state_t *state - The state whose transitions will be searched
- *
- * RETURNS state_t * - A pointer to the fault state
- */
-
-static state_t * findFaultState(state_t *state) {
-    int i = 0;
-    for (i = 0; i < state->numTransitions; i++) {
-        if (strncmp(state->transitions[i]->target->name, FAULT, 5) == 0) {
-            return state->transitions[i]->target;
-        }
-    }
-    fprintf(stderr, "This state has no fault? Needs to be fixed\n");
-    return NULL;    /* This should never happen, every state can fault */
-}
-
 
 /***
  * initState - fills in the fields of the state_t struct.
@@ -263,31 +243,26 @@ void runStateMachine(void) {
     if (strcmp(stateMachine.overrideStateName, BLANK_NAME) != 0) {
         state_t *tempState = findState(stateMachine.overrideStateName);
         if (tempState != NULL) {
-            printf("TEMP STATE NAME: %s\n", tempState->name);
             stateTransition_t *trans = findTransition(stateMachine.currState, stateMachine.overrideStateName);
             if (trans != NULL) {
                 trans->action();
             } else {
-                printf("begin func\n");
                 tempState->begin();
             }
             stateMachine.currState = tempState;
         }
         strcpy(stateMachine.overrideStateName, BLANK_NAME);
-        printf("leaving run\n");
         return;
     }
     /* execute the state and check if we should be transitioning */
 	stateTransition_t *transition = stateMachine.currState->action();
     if (transition != NULL) {
 /*        printf("transAction->%s\n", transition->target->name);*/
         if (transition->action() == 0)  {
-            printf("here we are\n");
             stateMachine.currState = transition->target;
         } else {
-            stateMachine.currState = stateMachine.currState->fault;
+            stateMachine.currState = stateMachine.currState->fault->target;
         }
-        printf("BEGIN!\n");
         if (transition->target->begin != NULL) {
             transition->target->begin();
         }
@@ -333,10 +308,8 @@ void buildStateMachine(void) {
     initPostRun(stateMachine.allStates[7]);
     initSafeToApproach(stateMachine.allStates[8]);
 
-    nonRunFault = stateMachine.allStates[9];
-    runFault = stateMachine.allStates[10];
-
     stateMachine.currState = stateMachine.allStates[0];
+    stateMachine.currState->begin();
 
     stateMachine.overrideStateName = malloc(21); // Longest state name is "readyForPropulsion" -- 18 char
     strcpy(stateMachine.overrideStateName, BLANK_NAME);

embedded/app/src/states.c

@@ -24,7 +24,9 @@
 #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) - \
@@ -37,11 +39,10 @@
 /* Imports/Externs */
 extern int internalCount;
 extern stateMachine_t stateMachine;
-stateTransition_t *runFault, *nonRunFault;
 extern stateTransition_t *findTransition(state_t *currState, char *name);
 int bErrs, pErrs, rErrs;
 int checkNetwork() {
-    static errs = 0;
+    static int errs = 0;
     if(!checkUDPStat() || !checkTCPStat()) {
         if (checkUDPStat() == 0) fprintf(stderr, "UDP ");
         if (checkTCPStat() == 0) fprintf(stderr, "TCP ");
@@ -62,30 +63,23 @@ int checkNetwork() {
  *
  * RETURNS: true if stopped, false if moving
  */
-
+/* DEPRECATED
 static bool checkStopped(void) {
 	return fabs(data->motion->vel) < MAX_STOPPED_VEL &&  (getuSTimestamp() - data->timers->lastRetro) > 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.
  *
  */
-static bool first = true;
 
 stateTransition_t * idleAction() {
     data->state = 1;
 
-    if (checkUDPStat() && first) {
-        genIdle();
-        first = false;
-    }
-
     if (data->flags->emergencyBrake) {
-        printf("run fault: %p\n", runFault);
         return findTransition(stateMachine.currState, RUN_FAULT_NAME);
     }
 
@@ -115,14 +109,12 @@ stateTransition_t * pumpdownAction() {
         fprintf(stderr, "prerun batt fault\n");
         bErrs += 1;
     } else bErrs = 0;
-    
-/*    if ((data->rms->faultCode1 << 8) &  )*/
 
     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;
 
@@ -227,7 +219,7 @@ stateTransition_t * brakingAction() {
     }
 
     if (pErrs >= NUM_FAIL || bErrs >= NUM_FAIL || rErrs >= NUM_FAIL) {
-        printf("NUM FAILS: pErrs - %d | bErrs - %d | rErrs - %d\n");
+        fprintf(stderr,"NUM FAILS: pErrs - %d | bErrs - %d | rErrs - %d\n", pErrs, bErrs, rErrs);
 
         return stateMachine.currState->fault;
     }

embedded/peripherals/src/bms.c

@@ -149,7 +149,7 @@ int bmsParseMsg(uint32_t id, uint8_t *msg) {
         case 0x36:
             if (msg[0] >= 0 && msg[0] < 72)
                 cells[msg[0]] = (msg[2] | (msg[1] << 8)) / 10000.0;
-             
+            break; 
 
         default:
 			return 0;

embedded/peripherals/src/retro.c

@@ -35,7 +35,7 @@ static bool blockInts  = true;
 static int onTapeStrip (int retroNum);
 static void * waitForStrip (void * retroNum);
 static int getPin(int retroNum);
-static void * blockSpuriousInts(int timeout);
+static void * blockSpuriousInts(void *unused);
 
 
 /***
@@ -54,7 +54,7 @@ int initRetros() {
 			return -1;
 	}
 
-    if (pthread_create(&spuriousThread, NULL, blockSpuriousInts, SPURIOUS_BLOCK_TIMEOUT) != 0)
+    if (pthread_create(&spuriousThread, NULL, blockSpuriousInts, NULL) != 0)
         return -1;
 
     return 0;
@@ -192,9 +192,9 @@ static int getPin(int retroNum) {
 	return -1;	/* Will never get here */
 }
 
-static void *blockSpuriousInts(int timeout) {
-	blockInts = true;
-    usleep(timeout);
+static void *blockSpuriousInts(void *null) {
+    blockInts = true;
+    usleep(SPURIOUS_BLOCK_TIMEOUT);
     blockInts = false;
     return NULL;
 }

middleware/src/data_dump.cpp

@@ -70,7 +70,7 @@ void *DataLoop(void *arg){
 		fprintf(fp, "%f,%f,%f,%i,", data->motion->pos, data->motion->vel, data->motion->accel, data->motion->retroCount);
 
 		// BMS
-		fprintf(fp, "%f,%f,%hu,%hx,%hu,%hu,%f,%hu,%hu,%f,%hu,%hu,%hu,%hu,%hu,%hu,%f,%f,%hu,", data->bms->packCurrent, data->bms->packVoltage, data->bms->packDCL, data->bms->packCCL, data->bms->packResistance, data->bms->packHealth, data->bms->packOpenVoltage, data->bms->packCycles, data->bms->packAh, data->bms->inputVoltage, data->bms->Soc, data->bms->relayStatus, data->bms->highTemp, data->bms->lowTemp, data->bms->cellMaxVoltage, data->bms->cellMinVoltage, data->bms->cellAvgVoltage, data->bms->maxCells, data->bms->numCells);
+		fprintf(fp, "%f,%f,%hu,%hx,%hu,%hu,%f,%hu,%hu,%f,%hu,%hu,%hu,%hu,%f,%f,%hu,%hu,%hu,", data->bms->packCurrent, data->bms->packVoltage, data->bms->packDCL, data->bms->packCCL, data->bms->packResistance, data->bms->packHealth, data->bms->packOpenVoltage, data->bms->packCycles, data->bms->packAh, data->bms->inputVoltage, data->bms->Soc, data->bms->relayStatus, data->bms->highTemp, data->bms->lowTemp, data->bms->cellMaxVoltage, data->bms->cellMinVoltage, data->bms->cellAvgVoltage, data->bms->maxCells, data->bms->numCells);
 
 		// RMS
 		fprintf(fp, "%hu,%hu,%hu,%hu,%hu,%hu,%hu,%hu,%hu,%hu,%lu,%lu,%lu,%lu,%hu,%hu,%hu,%hu,%hu,%hu\n", data->rms->igbtTemp, data->rms->gateDriverBoardTemp, data->rms->controlBoardTemp, data->rms->motorTemp, data->rms->motorSpeed, data->rms->phaseACurrent, data->rms->phaseBCurrent, data->rms->phaseCCurrent, data->rms->dcBusVoltage, data->rms->lvVoltage, data->rms->canCode1, data->rms->canCode2, data->rms->faultCode1, data->rms->faultCode2, data->rms->commandedTorque, data->rms->actualTorque, data->rms->relayState, data->rms->electricalFreq, data->rms->dcBusCurrent, data->rms->outputVoltageLn);