From 82b0e4d474541f243252ed292d3f9c371afa923b Mon Sep 17 00:00:00 2001
From: Will Chaba <60449481+will-chaba@users.noreply.github.com>
Date: Sat, 1 Jun 2024 17:31:44 -0700
Subject: [PATCH] Undo BMS Software Fault Latch for Charging (#1287)

### Changelist
<!-- Give a list of the changes covered in this PR. This will help both
you and the reviewer keep this PR within scope. -->
Undo software fault latch now that hardware latch is functioning
properly

### Testing Done
<!-- Outline the testing that was done to demonstrate the changes are
solid. This could be unit tests, integration tests, testing on the car,
etc. Include relevant code snippets, screenshots, etc as needed. -->

### Resolved Tickets
<!-- Link any tickets that this PR resolves. -->
---
 firmware/quadruna/BMS/src/app/app_globals.c          | 1 -
 firmware/quadruna/BMS/src/app/app_globals.h          | 1 -
 firmware/quadruna/BMS/src/app/states/app_allStates.c | 3 +--
 firmware/quadruna/BMS/src/app/states/app_initState.c | 9 ++-------
 4 files changed, 3 insertions(+), 11 deletions(-)

diff --git a/firmware/quadruna/BMS/src/app/app_globals.c b/firmware/quadruna/BMS/src/app/app_globals.c
index 85759ea727..24afc9cc88 100644
--- a/firmware/quadruna/BMS/src/app/app_globals.c
+++ b/firmware/quadruna/BMS/src/app/app_globals.c
@@ -16,6 +16,5 @@ void app_globals_init(const GlobalsConfig *config)
     globals->ignore_charger_fault_counter = 0;
     globals->charger_exit_counter         = 0;
     globals->precharge_limit_exceeded     = false;
-    globals->fault_encountered            = false;
     globals->broadcast_charger_connected  = true;
 }
diff --git a/firmware/quadruna/BMS/src/app/app_globals.h b/firmware/quadruna/BMS/src/app/app_globals.h
index 7a194a7e7d..f2db72066a 100644
--- a/firmware/quadruna/BMS/src/app/app_globals.h
+++ b/firmware/quadruna/BMS/src/app/app_globals.h
@@ -22,7 +22,6 @@ typedef struct
     uint32_t     cell_monitor_settle_count;
     uint32_t     num_precharge_failures;
     bool         precharge_limit_exceeded;
-    bool         fault_encountered;
     bool         broadcast_charger_connected;
     TimerChannel precharge_lower_bound_timer;
     TimerChannel precharge_upper_bound_timer;
diff --git a/firmware/quadruna/BMS/src/app/states/app_allStates.c b/firmware/quadruna/BMS/src/app/states/app_allStates.c
index 4ba8db0521..6bd650fa0e 100644
--- a/firmware/quadruna/BMS/src/app/states/app_allStates.c
+++ b/firmware/quadruna/BMS/src/app/states/app_allStates.c
@@ -161,8 +161,7 @@ bool app_allStates_runOnTick100Hz(void)
     }
     else if (acc_fault || ts_fault)
     {
-        status                     = false;
-        globals->fault_encountered = true;
+        status = false;
         app_stateMachine_setNextState(app_faultState_get());
     }
 
diff --git a/firmware/quadruna/BMS/src/app/states/app_initState.c b/firmware/quadruna/BMS/src/app/states/app_initState.c
index bf64055185..19b120e086 100644
--- a/firmware/quadruna/BMS/src/app/states/app_initState.c
+++ b/firmware/quadruna/BMS/src/app/states/app_initState.c
@@ -46,7 +46,6 @@ static void initStateRunOnTick100Hz(void)
         const bool air_negative_closed = io_airs_isNegativeClosed();
         const bool ts_discharged       = app_tractiveSystem_getVoltage() < TS_DISCHARGED_THRESHOLD_V;
         const bool missing_hb          = app_heartbeatMonitor_isSendingMissingHeartbeatFault();
-        const bool fault_encountered   = globals->fault_encountered;
 
         if (air_negative_closed && ts_discharged)
         {
@@ -58,12 +57,8 @@ static void initStateRunOnTick100Hz(void)
 
             app_canTx_BMS_ClearLatch_set(clear_brusa_latch);
 
-            // If there was a fault encountered, don't allow charging unless a manual override is sent over CAN.
-            const bool fault_preventing_charging = fault_encountered && !charging_override_fault;
-
-            const bool precharge_for_charging =
-                charger_connected && external_charging_request && !fault_preventing_charging;
-            const bool precharge_for_driving = !charger_connected && !cell_balancing_enabled && !missing_hb;
+            const bool precharge_for_charging = charger_connected && external_charging_request;
+            const bool precharge_for_driving  = !charger_connected && !cell_balancing_enabled && !missing_hb;
 
             if (precharge_for_charging)
             {