Merge branch 'develop' into 133-adbms-integration

.github/ISSUE_TEMPLATE/bug-form.yml

@@ -2,33 +2,20 @@ name: Bug
 description: For any issue related to a bug
 title: '[Area] - Short Description'
 labels: [bug]
+projects: ["Northeastern-Electric-Racing/20"]
 body:
   - type: textarea
     id: observed-behavior
     attributes:
       label: Observed Behavior
-      description: What happened?
-    validations:
-      required: true
-  - type: textarea
-    id: expected-behavior
-    attributes:
-      label: Expected Behavior
-      description: What should have happened?
+      description: What happened? What should of happened?
     validations:
       required: true
   - type: textarea
     id: steps-to-reproduce
     attributes:
       label: Steps to Reproduce
-      description: How could someone reproduce this bug?
+      description: How could someone reproduce this bug? Include versions of code or PCBs as applicable.
       value: "1. \n2. \n3. "
     validations:
       required: true
-  - type: textarea
-    id: screenshots
-    attributes:
-      label: Screenshots (as needed)
-      description: Add screenshots of the bug if applicable
-    validations:
-      required: false

.github/ISSUE_TEMPLATE/config.yml

@@ -1 +1 @@
-blank_issues_enabled: true
+blank_issues_enabled: false

.github/ISSUE_TEMPLATE/task.yml

@@ -1,19 +1,20 @@
-name: Task
-description: Create a task that a developer can complete.
+name: Feature
+description: Describe a feature that a developer can add.
 title: '[Area] - Short Description'
+projects: ["Northeastern-Electric-Racing/20"]
 body:
   - type: textarea
     id: description
     attributes:
       label: Description
-      description: Provide a brief summary of this issue
+      description: Provide a brief summary of the current shortcoming or new improvement
     validations:
       required: true
   - type: textarea
     id: acceptance-criteria
     attributes:
       label: Acceptance Criteria
-      description: What are the conditions that need to be satisified to complete this task?
+      description: What are the test conditions that need to be satisified to complete this task?
     validations:
       required: true
   - type: textarea

.github/pull_request_template.md

@@ -25,7 +25,6 @@ It can be helpful to check the `Checks` and `Files changed` tabs.
 Please reach out to your Project Lead if anything is unclear.
 Please request reviewers and ping on slack only after you've gone through this whole checklist.
 
-- [ ] All commits are tagged with the ticket number
 - [ ] No merge conflicts
 - [ ] All checks passing
 - [ ] Remove any non-applicable sections of this template

.github/workflows/build-check.yml

@@ -3,18 +3,17 @@ on: [push]
 jobs:
   run-build:
     runs-on: ubuntu-latest
-    container:
-        image: ghcr.io/northeastern-electric-racing/embedded-base:main
     timeout-minutes: 10
     steps:
       - name: Checkout code
         uses: actions/checkout@v4
         with:
             submodules: recursive
             token: ${{ secrets.PAT_TOKEN }}
+            fetch-depth: 0
       - name: Execute Make
         run: |
-            if ! make; then
+            if ! docker compose run --rm ner-gcc-arm make -j `nproc`; then
             echo "The application has failed to build."
             exit 1  # This will cause the workflow to fail
-            fi
+            fi

Core/Inc/can_handler.h

@@ -13,18 +13,33 @@
 #define NUM_INBOUND_CAN2_IDS 1
 
 #define CHARGE_CANID	    0x176
+#define CHARGE_SIZE	    8
 #define DISCHARGE_CANID	    0x156
+#define DISCHARGE_SIZE	    8
 #define ACC_STATUS_CANID    0x80
+#define ACC_STATUS_SIZE	    8
 #define BMS_STATUS_CANID    0x81
+#define BMS_STATUS_SIZE	    4
+#define FAULT_STATUS_CANID  0x89
+#define FAULT_STATUS_SIZE   8
 #define SHUTDOWN_CTRL_CANID 0x82
+#define SHUTDOWN_CTRL_SIZE  1
 #define CELL_DATA_CANID	    0x83
+#define CELL_DATA_SIZE	    8
 #define CELL_VOLTAGE_CANID  0x87
+#define CELL_VOLTAGE_SIZE   8
 #define CURRENT_CANID	    0x86
+#define CURRENT_SIZE	    6
 #define CELL_TEMP_CANID	    0x84
+#define CELL_TEMP_SIZE	    8
 #define SEGMENT_TEMP_CANID  0x85
-#define FAULT_CANID	    0x703
+#define SEGMENT_TEMP_SIZE   6
+#define FAULT_CANID	    0x703 // TODO: cleanup
+#define FAULT_SIZE	    5
 #define NOISE_CANID	    0x88
+#define NOISE_SIZE	    6
 #define DEBUG_CANID	    0x702
+
 #define ALPHA_CELL_CANID    0x6FA
 #define BETA_CELL_CANID	    0x6FB
 #define CELL_MSG_SIZE	    7
@@ -59,6 +74,10 @@ typedef enum {
 	RL_MSG_COUNT
 } rate_lim_t;
 
+#define DEBUG_SIZE	    8
+#define FAULT_TIMER_CANID   0x6FF
+#define FAULT_TIMER_SIZE    4
+
 void can_receive_callback(CAN_HandleTypeDef *hcan);
 
 /**

Core/Inc/compute.h

@@ -109,6 +109,14 @@ void compute_set_fault(int fault_state);
  */
 void compute_send_acc_status_message(acc_data_t *bmsdata);
 
+/**
+ * @brief sends fault status message
+ *
+ * @param bms_state
+ *
+ */
+void compute_send_fault_status_message(acc_data_t *bmsdata);
+
 /**
  * @brief sends BMS status message
  *
@@ -170,6 +178,9 @@ void compute_send_segment_temp_message(acc_data_t *bmsdata);
 
 void compute_send_fault_message(uint8_t status, int16_t curr, int16_t in_dcl);
 
+void compute_send_fault_timer_message(uint8_t start_stop, uint32_t fault_code,
+				      uint16_t data_1);
+
 /**
  * @brief Send CAN message for debugging the car on the fly.
  * 

Core/Inc/datastructs.h

@@ -40,10 +40,10 @@ typedef struct {
  *          to set or get the error codes
  */
 // clang-format off
-typedef enum {
+enum {
 	FAULTS_CLEAR = 0x0,
 
-	/* Orion BMS faults */
+	/* Shepherd BMS faults */
 	CELLS_NOT_BALANCING		            = 0x1,
 	CELL_VOLTAGE_TOO_HIGH	            = 0x4,
 	CELL_VOLTAGE_TOO_LOW	            = 0x2,
@@ -64,7 +64,8 @@ typedef enum {
 	CHARGE_LIMIT_ENFORCEMENT_FAULT	    = 0x20000,
 
 	MAX_FAULTS = 0x80000000 /* Maximum allowable fault code */
-} bms_fault_t;
+};
+
 // clang-format on
 
 /**
@@ -93,6 +94,7 @@ typedef struct {
 	cell_asic chips[NUM_CHIPS];
 
 	int fault_status;
+	int fault_status; // FIXME: this field is unused
 
 	int16_t pack_current; /* this value is multiplied by 10 to account for decimal precision */
 	uint16_t pack_voltage;
@@ -111,7 +113,9 @@ typedef struct {
 	/**
 	 * @brief Note that this is a 32 bit integer, so there are 32 max possible fault codes
 	 */
-	uint32_t fault_code;
+	// uint32_t fault_code;
+	uint32_t fault_code_crit;
+	uint32_t fault_code_noncrit;
 
 	/* Max, min, and avg thermistor readings */
 	crit_cellval_t max_temp;
@@ -186,7 +190,8 @@ typedef struct {
 	int data_2;
 	int lim_2;
 
-	bool is_faulted;
+	bool is_critical;
+	// bool is_faulted; /* note: unused field */
 } fault_eval_t;
 
 #endif

Core/Inc/stateMachine.h

@@ -38,18 +38,18 @@ bool sm_charging_check(acc_data_t *bmsdata);
  * @note Should be bitwise OR'ed with the current fault status
  *
  * @param accData
- * @return uint32_t
+ * @return uint64_t to be cast to a bms_fault_t
  */
-uint32_t sm_fault_return(acc_data_t *accData);
+uint64_t sm_fault_return(acc_data_t *accData);
 
 /**
  * @brief Used in parellel to faultReturn(), calculates each fault to append the
  * fault status
  *
- * @param index
- * @return fault_code
+ * @param fault_item
+ * @return fault_status
  */
-uint32_t sm_fault_eval(fault_eval_t *index);
+bool sm_fault_eval(fault_eval_t *fault_item);
 
 /**
  * @brief handles the state machine, calls the appropriate handler function and