Quadruna RSM Tests (#1228)

Testing to do heart beat monitor: - [x] missing FSM heart beat caught standalone (can recorded a missing heartbeat when no BMS connected) - [ ] missing FMS heart beat caught with other boards connected - [x] missing VC heart beat caught standalone (can recorded a missing heartbeat when no BMS connected) - [ ] missing VC heart beat caught with other boards connected watchdog timer: - [ ] record a timeout when infinite loop placed in code io/app: - [ ] Coolant temp transfer functions - [ ] Coolant pressure adc voltage readings - [ ] load cell adc voltage readings - [ ] load cell OCSC warning behaving as expected - [ ] suspension adc voltage reading - [ ] suspension OCSC warning behaving as expected --------- Co-authored-by: Edwin <[email protected]>
UBCFormulaElectric · May 13, 2024 · 44a328f · 44a328f
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diff --git a/can_bus/quadruna/RSM/RSM_alerts.json b/can_bus/quadruna/RSM/RSM_alerts.json
@@ -4,67 +4,71 @@
     "warnings_counts_id": 492,
     "faults_counts_id": 493,
     "warnings": {
-        "TxOverflow": {
+        "WatchdogTimeout": {
             "id" :401,
-            "description" : "Example"
+            "description" : "Watchdog timeout"
         },
-        "RxOverflow": {
+        "TxOverflow": {
             "id" :402,
-            "description" : "Example"
+            "description" : "canTX overflow"
         },
-        "StackWaterMarkHighTask1Hz": {
+        "RxOverflow": {
             "id" :403,
-            "description" : "Example"
+            "description" : "canRX overflow"
         },
-        "StackWaterMarkHighTask100Hz": {
+        "StackWaterMarkHighTask1Hz": {
             "id" :404,
-            "description" : "Example"
+            "description" : "Stack Watermark mark failed for 1Hz"
         },
-        "StackWaterMarkHighTask1kHz": {
+        "StackWaterMarkHighTask100Hz": {
             "id" :405,
-            "description" : "Example"
+            "description" : "Stack Watermark mark failed for 100Hz"
         },
-        "StackWaterMarkHighTaskCanRx": {
+        "StackWaterMarkHighTask1kHz": {
             "id" :406,
-            "description" : "Example"
+            "description" : "Stack Watermark mark failed for 1kHz"
         },
-        "StackWaterMarkHighTaskCanTx": {
+        "StackWaterMarkHighTaskCanRx": {
             "id" :407,
-            "description" : "Example"
+            "description" : "Stack Watermark failed on canRx"
         },
-        "FlowRateOutOfRange": {
+        "StackWaterMarkHighTaskCanTx": {
             "id" :408,
-            "description" : "Example"
+            "description" : "Stack Watermark failed on CanTx"
         },
-        "LeftSuspensionOCSC": {
+        "FlowRateOutOfRange": {
             "id" :409,
-            "description" : "Example"
+            "description" : "Coolant flow out of range"
         },
-        "RightSuspensionOCSC": {
+        "LeftSuspensionOCSC": {
             "id" :410,
-            "description" : "Example"
+            "description" : "Rear left suspension open or short circuit"
         },
-        "LoadCell3OCSC": {
+        "RightSuspensionOCSC": {
             "id" :411,
-            "description" : "Example"
+            "description" : "Rear right suspension open or short circuit"
         },
-        "LoadCell4OCSC": {
+        "LoadCell3OCSC": {
             "id" :412,
-            "description" : "Example"
+            "description" : "Load cell 3 open or short circuit"
+        },
+        "LoadCell4OCSC": {
+            "id" :413,
+            "description" : "Load cell 4 open or short circuit"
         }
     },
     "faults": {
         "FlowMeterUnderflow": {
             "id" :451,
-            "description" : "Example"
+            "description" : "Coolant flow meter underflow"
         },
-        "MissingBMSHeartbeat": {
+        "MissingVCHeartbeat": {
             "id" :452,
-            "description" : "Example"
+            "description" : "VC Missing Heart beat"
         },
         "MissingFSMHeartbeat": {
             "id" :453,
-            "description" : "Example"
+            "description" : "FSM Missing Heart beat"
         }
 
     }

diff --git a/can_bus/quadruna/RSM/RSM_tx.json b/can_bus/quadruna/RSM/RSM_tx.json
@@ -1,6 +1,6 @@
 {
 	"AlertsContext": {
-		"msg_id": 401,
+		"msg_id": 414,
 		"cycle_time": 1000,
 		"signals": {
 			"WatchdogTimeoutTaskName": {
@@ -15,7 +15,7 @@
 		}
 	},
 	"Vitals": {
-		"msg_id": 406, 
+		"msg_id": 415, 
 		"cycle_time": 100,
 		"description": "RSM vitals message.",
 		"signals": {
@@ -28,7 +28,7 @@
 		}
 	},
 	"Coolant": {
-		"msg_id": 407,
+		"msg_id": 416,
 		"cycle_time": 1000,
 		"signals": {
 			"CoolantFlowRate": {
@@ -64,7 +64,7 @@
 		}
 	},
 	"Suspension": {
-		"msg_id": 408,
+		"msg_id": 417,
 		"cycle_time": 100,
 		"description": "Suspension travel.",
 		"signals": {
@@ -83,8 +83,8 @@
 		}
 	},
 	"LoadCell":{
-		"msg_id" : 409,
-		"cycle_time": null,
+		"msg_id" : 418,
+		"cycle_time": 100,
 		"description" : "Mechanical load on load cell",
 		"signals" : {
 			"LoadCell3" : {

diff --git a/firmware/quadruna/FSM/src/tasks.c b/firmware/quadruna/FSM/src/tasks.c
@@ -227,6 +227,8 @@ void tasks_init(void)
 
 _Noreturn void tasks_run1Hz(void)
 {
+    io_chimera_sleepTaskIfEnabled();
+
     static const TickType_t period_ms = 1000U;
     WatchdogHandle         *watchdog  = hw_watchdog_allocateWatchdog();
     hw_watchdog_initWatchdog(watchdog, RTOS_TASK_1HZ, period_ms);

diff --git a/firmware/quadruna/RSM/CMakeLists.txt b/firmware/quadruna/RSM/CMakeLists.txt
@@ -140,25 +140,36 @@ if("${TARGET}" STREQUAL "deploy")
     )
 
 elseif("${TARGET}" STREQUAL "test")
-set(HEADERS_TO_FAKE
-    "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_brakeLight.h"
-    "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_coolant.h"
-    "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_load.h"
-    "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_suspension.h"
-)
+    jsoncan_sources(
+        "RSM"
+        "${CMAKE_CURRENT_BINARY_DIR}"
+        FALSE
+        "quadruna"
+    )
 
-create_fake_library(
-    "quadruna_RSM_fakes"
-    "${HEADERS_TO_FAKE}"
-)
+    add_library(quadruna_RSM_can STATIC "${CAN_SRCS}")
+    target_include_directories(quadruna_RSM_can PUBLIC "${CAN_INCLUDE_DIRS}")  
+
+    set(HEADERS_TO_FAKE
+        "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_coolant.h"
+        "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_loadCell.h"
+        "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_suspension.h"
+        "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_fan.h"
+        "${CMAKE_CURRENT_SOURCE_DIR}/src/io/io_brake_light.h"
+    )
 
-set(SRCS ${APP_SRCS} ${TEST_SRCS})
-set(INCLUDE_DIRS ${APP_INCLUDE_DIRS} ${IO_INCLUDE_DIRS} ${TEST_INCLUDE_DIRS})
-compile_gtest_executable(
-    "quadruna_RSM_test"
-    "${SRCS}"
-    "${INCLUDE_DIRS}"
-)
-target_link_libraries("quadruna_RSM_test" "quadruna_RSM_can" "quadruna_RSM_fakes" "shared_fakes" "m")
+    create_fake_library(
+        "quadruna_RSM_fakes"
+        "${HEADERS_TO_FAKE}"
+    )
+
+    set(SRCS ${APP_SRCS} ${TEST_SRCS})
+    set(INCLUDE_DIRS ${APP_INCLUDE_DIRS} ${IO_INCLUDE_DIRS} ${TEST_INCLUDE_DIRS})
+    compile_gtest_executable(
+        "quadruna_RSM_test"
+        "${SRCS}"
+        "${INCLUDE_DIRS}"
+    )
+    target_link_libraries("quadruna_RSM_test" "quadruna_RSM_can" "quadruna_RSM_fakes" "shared_fakes" "m")
 
 endif()
diff --git a/firmware/quadruna/RSM/src/app/app_globals.c b/firmware/quadruna/RSM/src/app/app_globals.c
diff --git a/firmware/quadruna/RSM/src/app/app_globals.h b/firmware/quadruna/RSM/src/app/app_globals.h
diff --git a/firmware/quadruna/RSM/src/app/app_loadCell.c b/firmware/quadruna/RSM/src/app/app_loadCell.c
@@ -9,6 +9,6 @@ void app_loadcell_broadcast()
 {
     app_canTx_RSM_LoadCell3_set(io_loadCell_getMechanicalLoad3());
     app_canTx_RSM_LoadCell4_set(io_loadCell_getMechanicalLoad4());
-    app_canAlerts_RSM_Warning_LoadCell3OCSC_set(io_loadCell3_OCSC());
-    app_canAlerts_RSM_Warning_LoadCell3OCSC_set(io_loadCell4_OCSC());
+    app_canAlerts_RSM_Warning_LoadCell3OCSC_set(io_loadCell_sensor3OCSC());
+    app_canAlerts_RSM_Warning_LoadCell4OCSC_set(io_loadCell_sensor4OCSC());
 }
diff --git a/firmware/quadruna/RSM/src/app/app_mainState.c b/firmware/quadruna/RSM/src/app/app_mainState.c
@@ -1,12 +1,12 @@
 #include <stddef.h>
-#include "io_led.h"
+#include "io_fan.h"
+#include "io_brake_light.h"
+#include "app_canTx.h"
 #include "app_mainState.h"
 #include "app_canRx.h"
 #include "app_coolant.h"
 #include "app_loadCell.h"
 #include "app_suspension.h"
-#include "app_globals.h"
-
 #include "app_heartbeatMonitor.h"
 
 void mainStateRunOnTick100Hz(void)
@@ -18,14 +18,10 @@ void mainStateRunOnTick100Hz(void)
     app_heartbeatMonitor_tick();
     app_heartbeatMonitor_broadcastFaults();
 
-    const bool brake_actuated = app_canRx_FSM_BrakeActuated_get();
-    io_led_enable(globals->config->brake_light, brake_actuated);
-
+    io_brake_light_set(app_canRx_FSM_BrakeActuated_get());
     const bool hv_on = app_canRx_BMS_State_get() == BMS_DRIVE_STATE;
-    hw_gpio_writePin(globals->config->acc_fan, hv_on);
-    hw_gpio_writePin(globals->config->rad_fan, hv_on);
-
-    bool missing_hb = app_heartbeatMonitor_checkFaults();
+    io_acc_fan_set(hv_on);
+    io_rad_fan_set(hv_on);
 }
 
 const State *app_mainState_get(void)

diff --git a/firmware/quadruna/RSM/src/hw/hw_watchdogConfig.c b/firmware/quadruna/RSM/src/hw/hw_watchdogConfig.c
@@ -0,0 +1,24 @@
+#include "hw_watchdogConfig.h"
+#include "hw_hal.h"
+#include <string.h>
+#include "app_canAlerts.h"
+#include "app_canTx.h"
+#include "io_canTx.h"
+#include "hw_utils.h"
+
+// TODO: Re-enable watchdog.
+// extern IWDG_HandleTypeDef hiwdg;
+
+void hw_watchdogConfig_refresh(void)
+{
+    // HAL_IWDG_Refresh(&hiwdg);
+}
+
+void hw_watchdogConfig_timeoutCallback(WatchdogHandle *watchdog)
+{
+    BREAK_IF_DEBUGGER_CONNECTED();
+
+    const uint8_t watchdog_id = hw_watchdog_getTaskId(watchdog);
+    app_canAlerts_RSM_Warning_WatchdogTimeout_set(true);
+    app_canTx_RSM_WatchdogTimeoutTaskName_set((RtosTaskName)watchdog_id);
+}
diff --git a/firmware/quadruna/RSM/src/hw/hw_watchdogConfig.h b/firmware/quadruna/RSM/src/hw/hw_watchdogConfig.h
@@ -0,0 +1,6 @@
+#pragma once
+
+#include "hw_watchdog.h"
+
+void hw_watchdogConfig_refresh(void);
+void hw_watchdogConfig_timeoutCallback(WatchdogHandle *watchdog);
diff --git a/firmware/quadruna/RSM/src/io/io_brake_light.c b/firmware/quadruna/RSM/src/io/io_brake_light.c
@@ -0,0 +1,13 @@
+#include "io_brake_light.h"
+
+static const BinaryLed *brake_light = NULL;
+
+void io_brake_light_init(const BinaryLed *brake_light_in)
+{
+    brake_light = brake_light_in;
+}
+
+void io_brake_light_set(bool val)
+{
+    io_led_enable(brake_light, val);
+}
diff --git a/firmware/quadruna/RSM/src/io/io_brake_light.h b/firmware/quadruna/RSM/src/io/io_brake_light.h
@@ -0,0 +1,8 @@
+#pragma once
+
+#ifdef TARGET_EMBEDDED
+#include "io_led.h"
+void io_brake_light_init(const BinaryLed *brake_light);
+#endif
+
+void io_brake_light_set(bool val);
diff --git a/firmware/quadruna/RSM/src/io/io_fan.c b/firmware/quadruna/RSM/src/io/io_fan.c
@@ -0,0 +1,20 @@
+#include "io_fan.h"
+
+static const Gpio *acc_fan = NULL;
+static const Gpio *rad_fan = NULL;
+
+void io_fan_init(const Gpio *acc_fan_in, const Gpio *rad_fan_in)
+{
+    acc_fan = acc_fan_in;
+    rad_fan = rad_fan_in;
+}
+
+void io_acc_fan_set(bool on)
+{
+    hw_gpio_writePin(acc_fan, on);
+}
+
+void io_rad_fan_set(bool on)
+{
+    hw_gpio_writePin(rad_fan, on);
+}
diff --git a/firmware/quadruna/RSM/src/io/io_fan.h b/firmware/quadruna/RSM/src/io/io_fan.h
@@ -0,0 +1,13 @@
+#pragma once
+
+#include <stdbool.h>
+#include "app_utils.h"
+
+#ifdef TARGET_EMBEDDED
+#include "hw_gpio.h"
+void io_fan_init(const Gpio *acc_fan_in, const Gpio *rad_fan_in);
+#endif
+
+void io_acc_fan_set(bool on);
+
+void io_rad_fan_set(bool on);