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Fixed some minor issues #222

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merged 3 commits into from
Oct 21, 2023
Merged

Fixed some minor issues #222

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20b61a2
Fixed some minor issues
Kyle02 Oct 14, 2023
935cd65
adding type casts to test
Kyle02 Oct 14, 2023
2081d56
adding fixes
Kyle02 Oct 15, 2023
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4 changes: 2 additions & 2 deletions can/src/can.c
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,7 @@ StatusCode run_can_tx_cycle()
return STATUS_CODE_OK;
}

TASK(CAN_RX, TASK_STACK_512)
TASK(CAN_RX, TASK_MIN_STACK_SIZE)
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Are these changes to reduce the memory usage? I'm guessing that's what we're running into on hardware?

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Yea, after we fixed the changes in power, we were still running into issues when running all the tasks together. This was causing it to fail.

{
int counter = 0;
while (true)
Expand All @@ -59,7 +59,7 @@ TASK(CAN_RX, TASK_STACK_512)
}
}

TASK(CAN_TX, TASK_STACK_512)
TASK(CAN_TX, TASK_MIN_STACK_SIZE)
{
int counter = 0;
while (true)
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2 changes: 1 addition & 1 deletion projects/centre_console/inc/power_fsm.h
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Expand Up @@ -9,7 +9,7 @@
#include "task.h"

#define NUM_POWER_STATES 14
#define NUM_POWER_TRANSITIONS 40
#define NUM_POWER_TRANSITIONS 36

#define START_BUTTON_EVENT 0

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2 changes: 1 addition & 1 deletion projects/centre_console/src/drive_fsm.c
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Expand Up @@ -5,7 +5,7 @@
#include "fsm_shared_mem.h"
#include "power_fsm.h"

FSM(drive, NUM_DRIVE_TRANSITIONS);
FSM(drive, NUM_DRIVE_STATES);

#define NUM_DRIVE_FSM_BUTTONS 3

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2 changes: 1 addition & 1 deletion projects/centre_console/src/power_fsm.c
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Expand Up @@ -187,7 +187,7 @@ StatusCode init_power_fsm(PowerFsmStateId inital_state) {
.num_transitions = NUM_POWER_TRANSITIONS,
.initial_state = inital_state,
};
fsm_shared_mem_init();
// fsm_shared_mem_init();
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Is this commented out because it'll just be initialized once in main?

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It should be getting initialized in line 48 in main.c. I ran the tests, but if theres an error with it later, it should present itself

power_context.latest_state = 0;
power_context.target_state = 0;
fsm_init(power, settings, NULL);
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9 changes: 5 additions & 4 deletions projects/centre_console/test/test_drive_fsm.c
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Expand Up @@ -158,8 +158,8 @@ void test_neutral_to_reverse() {
LOG_DEBUG("T2.1: (Neutral->DoPrecharge->Reverse)\n");
notify(drive, REVERSE_BUTTON_EVENT);
fsm_shared_mem_set_power_state(POWER_FSM_STATE_MAIN);
g_rx_struct.motor_velocity_velocity_l = -1;
g_rx_struct.motor_velocity_velocity_r = -1;
g_rx_struct.motor_velocity_velocity_l = (uint16_t)-1;
g_rx_struct.motor_velocity_velocity_r = (uint16_t)-1;
g_rx_struct.mc_status_precharge_status = 1; // precharge status is not complete
neutral_to_precharge();
precharge_to_reverse();
Expand All @@ -177,8 +177,9 @@ void test_neutral_to_reverse() {
LOG_DEBUG("T2.4: (Neutral->Reverse) (no precharge)\n");
notify(drive, REVERSE_BUTTON_EVENT);
fsm_shared_mem_set_power_state(POWER_FSM_STATE_MAIN);
g_rx_struct.motor_velocity_velocity_l = -1;
g_rx_struct.motor_velocity_velocity_r = -1;
g_rx_struct.motor_velocity_velocity_l = (uint16_t)-1;
g_rx_struct.motor_velocity_velocity_l = (uint16_t)-1;
g_rx_struct.motor_velocity_velocity_r = (uint16_t)-1;
g_rx_struct.mc_status_precharge_status = 2; // precharge status is not complete
neutral_to_reverse();

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