Daybreak 2025 Integration #436

krazykrayon · 2025-02-01T21:42:26Z

Quality Assurance Checklist

To make reviews more efficient, please make sure the software feature meets the following standards and check everything off that meets the quality check. Once everything has been checked, the assigned reviewers will begin the review process. Edit this description to check off the list.

There are exceptions with all guidelines. As long as your decisions are justified, then you are good! Contact the reviewers or the leads about any exceptions.

Requirements

[maybe] Followed Coding Style Guide
[yes] Presented/discussed in some capacity with others on the Controls team
[yes] Code Build checks pass
[yes] No merge conflicts
[not yet] Software feature has documentation for it updated in both ReadTheDocs and the comments
[no yet] Software feature has documentation for it updated
Testing
- [not yet] Software feature has test associated with it
- [not yet] Test provides useful information and uses relevant data to accurately represent Controls
- [not yet] Tested on hardware
- NOTE: If test file already exists, use that one
[yes] If applicable, have you added the new feature to main.c?
[i think so?] Tagged appropriate issue ticket on this PR (closes New Pinout #433 )
[uh.... yes given i didnt break anything] Did you have fun?

Things to Consider

[i think so?] Even if the above are checked, is this the best way of writing my code?
- It's possible to write code that works, but are there ways to make code more efficient?

This reverts commit 2064b7b.

This reverts commit 6d4949a.

aidenmadaffri

Overall this is a great pull request. There are several other files that changes would be nice too. The new daybreak_pins.h definitions make the codebase much easier to read so they should be used everywhere possible. Other files that should be changed to take advantage of this are BSP_ADC.c and BSP_UART.c:96.

Apps/Inc/daybreak_pins.h

Drivers/Src/Contactors.c

Drivers/Src/Minions.c

BSP/STM32F413/Src/BSP_CAN.c

BSP/STM32F413/Src/BSP_UART.c

aidenmadaffri · 2025-02-08T17:14:18Z

This probably shouldn't be merged into master? We should have a branch for the new board.

…flect new CAN

* Completed MVP Refactor. Still need to write tests & do the while process for MVP + Cruise. Maintains old coding style from production/M2 (at least for now) in order to not break anything. * Updated MVP FSM. Working on MVP+Cruise FSM * Good working draft of SendTritium MVP & MVP+Cruise * Wrote preliminary MVP test + part of MVP+Cruise test. Need to check some possible concurrency issues & might have to instead adapt previous approach based on feedback. Once done with core test, will fix some dependencies, the makefile, & conduct some testing * Wrote out most of the functionality. Need to decide on some gear fault/state items on the display and accel+brake press protection. Will edit CMake & begin testing soon. * Added some basic error handling (both SendTritium files & Display file), eliminated record velocity, started adding some edits to the task file for error handling & RTOS threads. Will use this as a save point, as I'll now merge all of these SendTritium files (MVP+Cruise will become the new SendTritium & rest will be deleted). * Merged SendTritium files...I think. Need to do some testing. * Yay, it builds! Will test now. * Further edits post reviews. Thanks guys:) * Fixed a few comments * Small miscellaneous changes * Addressed reviews and fixed tests * Fixing build errors * Misc changes * Fixed brake to be analog, added more comments, fixed cruiseSet logic per review * Small change to the SendTritium test * Fixed silly mistake in test * Fixed a few things on the test & changed SendTritium.h & .c accordingly * Initial MVP Commit * Made test & builds * Need to make test & working on semaphore:0 * Added brake pedals range, global bps & motor status micrium flags, & mandatory driver reset to neutral on start up. Still need to fix test * Changed Dash driver, added forced gear reset, more edits to the global bps & motor safety flags * Added prefixes to dash stuff to ensure no name conflicts/confusions with Minions (which will phase into being deprecated) * Minor build error edits * More minor build error edits * Edited display stuff to accomodate SendTritium error (gear fault) * Moved all the flag initialization stuff to Tasks.h/.c & cleaned up ReadCarCAN includes * Reverting unnecessary edit to BSP/STM32F413/Makefile * Changed the last traces of park to neutral, oopsie daisy * Minor edits * python test script * More changes * Basically done merging feature/NewPinout, I think * build fix * Commented out flag stuff where not needed anymore either b/c it's now in throwTaskError * Fixed build errors * Made event flags test * poop and farts * integration go brrr * should've fixed getGear() * the dashboard driver test is back baby * pee * Fixed getGear() stuff hopefully. Lakshay pookie bookie wookie:0 * poop * akshay gaitonde * fix active precharge can timeouts * funny timeout * i forgot what i changed * send iostate msg in fault * fix my silly little contactors_get code for motor * pp * lmao skill diff no balls * some changes for the flags to centralize things * some error assertion logic with the flags * build fix * change modyfy bits to be more intuative with setting vs clearign * addressed comments + change stuff * made seperate test for motor_safe * Error rewrite (#457) * changed error paradigm to send error as a param rather than a global error buffer; also did some formatting (slightly accidentally) * oopsie, build errors * fixed build error * finished error stuff (and touched more files 😈) * some stuff * bug fixes in script and in errmsg + touched hella files * hi roie * goated sendcarcan * ishdeshpa.com * motor go brrrrrrrrrrrrrrrrrrrrrrrrrrrr --------- Co-authored-by: root <root@oscar> Co-authored-by: sodaplayzz <sc.seaofthieves@gmail.com> Co-authored-by: Lakshay Gupta <56173382+Lakshay983@users.noreply.github.com> Co-authored-by: Lakshay983 <lakshay45gupta@gmail.com> Co-authored-by: Akshay G <a.g@utexas.edu> Co-authored-by: guytonde <72145434+guytonde@users.noreply.github.com>

* poop and balls * shows array timeout fault now + remove minion :) * motor go brrr with pedals * updated some display stuff * whoops, i forgot to push * ESTOP * started adding special funny things about bps fault * remove fake current * show bps fault * pp poo poo powered run go brrrrrrr * add motor limit display stuff * show motor limit on display * fixed pinout * poopooo * no work * show left and right indiactors * new display config * poo poo * a * lmao actual pedals integration * add more motor can messgaes * added back power cmd * Turn Signal Lights (#459) * initial commit -- untested lights without PWM * janktacular * bruh * test main * ts works fr it better ong * hardfault = all leds on :) * balls2 (thanks lakshay) * balls - lakshay (working) * cleanup * test blinky on car and add it in the bps fault handler --------- Co-authored-by: Diya Rajon <diya.rajon@gmail.com> Co-authored-by: Lakshay983 <lakshay45gupta@gmail.com> * require accel to be reset before spinning motor * adjusted thresholds * Canbus receive fault state (#461) * canbus recieve go brrrr * fix build error --------- Co-authored-by: guytonde <72145434+guytonde@users.noreply.github.com> Co-authored-by: Akshay G <a.g@utexas.edu> * debugging can send fault state * half working lights code * lights * laksee * Display fixes (#463) * update display stuff (and some shit) * fixed moco faults not coming * Revert "Display fixes (#463)" This reverts commit 0bebaf1. * display_rewrite * Motor current setpoint scale (#462) * build fix * fixy * brake works --------- Co-authored-by: Akshay G <a.g@utexas.edu> Co-authored-by: guytonde <72145434+guytonde@users.noreply.github.com> * poop --------- Co-authored-by: sodaplayzz <62674929+sodaplayzz@users.noreply.github.com> Co-authored-by: Diya Rajon <diya.rajon@gmail.com> Co-authored-by: guytonde <72145434+guytonde@users.noreply.github.com> Co-authored-by: Akshay G <a.g@utexas.edu> Co-authored-by: Ravi Shah <ravidhruvishshah@gmail.com>

Lakshay983 · 2025-09-16T23:58:50Z

/gemini review

gemini-code-assist

Code Review

This pull request introduces a significant and well-structured refactoring for the Daybreak 2025 integration. The changes include a new centralized error handling system, the use of event flags for better task synchronization, and the replacement of the generic 'Minions' driver with more specific drivers like 'Ignition', 'Dashboard', and 'Lights'. The motor control logic has been simplified and made safer. Overall, these changes greatly improve the modularity, safety, and readability of the codebase. I've identified a few issues, including a critical bug in a printf format string, some typos, and areas with incomplete or unclear logic that need attention.

gemini-code-assist · 2025-09-17T00:02:02Z

Apps/Src/DebugDump.c

+        printf("Pedal Accel Percent: %u\n\r", get_accelPedalPercent());
        printf("Current Gear: %s\n\r", GEAR_STRING[get_gear()]);
        print_float("Current Setpoint: ", get_currentSetpoint());
+        print_float("Velocity Setpoint: %s\n\r", get_velocitySetpoint()); // velocitySetpoint 


The format specifier %s is used here for get_velocitySetpoint(), which returns a float. This will lead to incorrect output or a crash. The print_float function likely takes a string prefix and a float, not a format string.

Suggested change

print_float("Velocity Setpoint: %s\n\r", get_velocitySetpoint()); // velocitySetpoint

print_float("Velocity Setpoint: ", get_velocitySetpoint()); // velocitySetpoint

gemini-code-assist · 2025-09-17T00:02:02Z

Apps/Src/ReadTritium.c

+        case C_ERR_RTR_MOTOR_WDOG_TRIP:
+            // Try to restart the motor a few times and then fail out
+            if (++motor_fault_cnt > RESTART_THRESHOLD) {
+                // throwTaskError(m_err, !EVAC_NEEDED, NULL, OPT_LOCK_SCHED, OPT_NONRECOV, CAN_NONE_BPS);
+            } else {
+                // throwTaskError(m_err, !EVAC_NEEDED, handler_ReadTritium_HallError, OPT_NO_LOCK_SCHED, OPT_NONRECOV, CAN_NONE_BPS);
+            }
+            break;


The error handling for C_ERR_RTR_MOTOR_WDOG_TRIP appears to be incomplete, as the throwTaskError calls are commented out. This means a motor watchdog trip will not be handled, which is a significant safety risk. Please implement the intended logic or remove the case if it's not meant to be handled here.

gemini-code-assist · 2025-09-17T00:02:02Z

BSP/STM32F413/Src/BSP_UART.c

+// (TODO) This should be UART4 IRQ Handler???? IDK BSP HELPPPPP
+// This was USART3_IRQHandler... I tried some stuff, likely to be wrong
+void UART4_IRQHandler(void) {


The TODO comment here indicates uncertainty about the correct IRQ handler for UART4. This is a critical piece of functionality for the display. Please verify that UART4_IRQHandler is the correct handler and that it is properly registered in the interrupt vector table. Once confirmed, this comment should be removed.

gemini-code-assist · 2025-09-17T00:02:02Z

Apps/Inc/SendTritium.h

+
+#define GEAR_FAULT_THRESHOLD 3 // number of times gear fault can occur before it is considered a fault
+
+#define ACCCEL_PEDAL_RESET_THRESHOLD 20


There is a typo in this macro name. It should be ACCEL_PEDAL_RESET_THRESHOLD.

Suggested change

#define ACCCEL_PEDAL_RESET_THRESHOLD 20

#define ACCEL_PEDAL_RESET_THRESHOLD 20

gemini-code-assist · 2025-09-17T00:02:02Z

Apps/Inc/daybreak_pins.h

+// don't ask me why BRAKE_LIGHT_PIN is a diff naming convention
+#define BRAKE_LIGHT_PORT        PORTC
+#define BRAKE_LIGHT_PIN         GPIO_Pin_6


The comment on line 31 mentions an inconsistent naming convention. To improve consistency across the file, consider renaming BRAKE_LIGHT_PIN to BRAKE_LIGHT.

Suggested change

// don't ask me why BRAKE_LIGHT_PIN is a diff naming convention

#define BRAKE_LIGHT_PORT PORTC

#define BRAKE_LIGHT_PIN GPIO_Pin_6

#define BRAKE_LIGHT_PORT PORTC

#define BRAKE_LIGHT GPIO_Pin_6

gemini-code-assist · 2025-09-17T00:02:03Z

Apps/Inc/daybreak_pins.h

+#define RIGHT_INDICATOR_PORT    PORTA
+#define RIGHT_INDICATOR         GPIO_Pin_15

-// #define PA8_PORT                PORTA
-// #define PA8                     GPIO_Pin_8
+#define LEFT_INDICATOR_PORT    PORTC
+#define LEFT_INDICATOR         GPIO_Pin_10

-// #define MOTOR_C_SENSE_PORT      PORTA
-// #define MOTOR_C_SENSE           GPIO_Pin_9
+#define OS_FAULT_PORT           PORTA
+#define OS_FAULT                GPIO_Pin_5

-// #define MOTOR_CONTACTOR_PORT    PORTA
-// #define MOTOR_CONTACTOR         GPIO_Pin_10
+#define BPS_HAZARD_PORT         PORTA
+#define BPS_HAZARD              GPIO_Pin_6

-// #define PA15_PORT               PORTA
-// #define PA15                    GPIO_Pin_15
+#define CRUISE_SET_PORT         PORTA
+#define CRUISE_SET              GPIO_Pin_7

-// #define BPS_FAULT_PORT          PORTB
-// #define BPS_FAULT               GPIO_Pin_0
+#define MOTOR_C_SENSE_PORT      PORTA
+#define MOTOR_C_SENSE           GPIO_Pin_9

-// #define IG1_PORT                PORTB
-// #define IG1                     GPIO_Pin_1
+#define MOTOR_CONTACTOR_PORT    PORTA
+#define MOTOR_CONTACTOR         GPIO_Pin_10

-// #define FORWARD_PORT            PORTB
-// #define FORWARD                 GPIO_Pin_2
+#define RIGHT_IND_PORT          PORTA
+#define RIGHT_IND               GPIO_Pin_15

-// #define PB7_PORT                PORTB
-// #define PB7                     GPIO_Pin_7
+#define BPS_FAULT_PORT          PORTB
+#define BPS_FAULT               GPIO_Pin_0

-// #define ARRAY_PBC_SENSE_PORT    PORTB
-// #define ARRAY_PBC_SENSE         GPIO_Pin_8
+#define IG1_PORT                PORTB
+#define IG1                     GPIO_Pin_1

-// #define MOTOR_PBC_SENSE_PORT    PORTB
-// #define MOTOR_PBC_SENSE         GPIO_Pin_9
+#define FORWARD_PORT            PORTB
+#define FORWARD                 GPIO_Pin_2

-// #define IG2_PORT                PORTB
-// #define IG2                     GPIO_Pin_10
+#define IG2_PORT                PORTB
+#define IG2                     GPIO_Pin_10

-// #define MOTOR_CTRL_FAULT_PORT   PORTB
-// #define MOTOR_CTRL_FAULT        GPIO_Pin_14
+#define MOTOR_CTRL_FAULT_PORT   PORTB
+#define MOTOR_CTRL_FAULT        GPIO_Pin_14

-// #define REVERSE_PORT            PORTB
-// #define REVERSE                 GPIO_Pin_15
+#define REVERSE_PORT            PORTB
+#define REVERSE                 GPIO_Pin_15

-// #define CONTROLS_FAULT_PORT     PORTC
-// #define CONTROLS_FAULT          GPIO_Pin_4
+#define CONTROLS_FAULT_PORT     PORTC
+#define CONTROLS_FAULT          GPIO_Pin_4

-// #define CRUISE_ENABLE_PORT      PORTC
-// #define CRUISE_ENABLE           GPIO_Pin_5
+#define CRUISE_ENABLE_PORT      PORTC
+#define CRUISE_ENABLE           GPIO_Pin_5

-// #define TIMER_CLK_PORT          PORTC
-// #define TIMER_CLK               GPIO_Pin_6
+#define HEARTBEAT_PORT          PORTC
+#define HEARTBEAT_PIN           GPIO_Pin_7

-// #define HEARTBEAT_PORT          PORTC
-// #define HEARTBEAT               GPIO_Pin_7
+#define CRUISE_IND_PORT         PORTC
+#define CRUISE_IND              GPIO_Pin_8

-// #define CRUISE_IND_PORT         PORTC
-// #define CRUISE_IND              GPIO_Pin_8
+#define LEFT_IND_PORT           PORTC
+#define LEFT_IND                GPIO_Pin_10


There appear to be duplicate definitions for the indicator light pins, which could lead to confusion.

RIGHT_INDICATOR_PORT and RIGHT_INDICATOR (lines 35-36) are duplicates of RIGHT_IND_PORT and RIGHT_IND (lines 56-57).

LEFT_INDICATOR_PORT and LEFT_INDICATOR (lines 38-39) are duplicates of LEFT_IND_PORT and LEFT_IND (lines 89-90).

Please remove the duplicate definitions. I'd recommend keeping the more descriptive names (e.g., RIGHT_INDICATOR_PORT).

gemini-code-assist · 2025-09-17T00:02:03Z

Apps/Inc/Tasks.h

+inline void delay_ms(uint32_t ms) {
+    // Adjusted loop count per ms based on empirical timing
+    // Originally: 20,000 per ms (80,000 cycles / 4 cycles/iter)
+    // Observed: ~3.77× slower → need ~5300 iterations per ms
+    uint32_t count = ms * 5300;
+
+    __asm__ volatile(
+        "1: \n"       
+        "subs %[cnt], %[cnt], #1 \n"
+        "bne 1b \n"
+        : [cnt] "+r"(count)
+        :
+        : "cc"
+    );
+}


The delay_ms function uses a magic number 5300 for loop iterations per millisecond, which was derived empirically. This approach is brittle and highly dependent on the specific hardware and compiler settings, making it prone to breaking with future changes.

For better portability and reliability, please consider using OS-provided delay functions like OSTimeDlyHMSM. If a busy-wait is absolutely necessary for very short, precise delays, please add detailed comments explaining the calibration environment (e.g., compiler version, optimization flags, and hardware specs).

gemini-code-assist · 2025-09-17T00:02:03Z

Apps/Src/ReadTritium.c

+
+                    float Car_Velocity = Motor_Velocity * MPH_CONVERSION; // Car vel is in mph
+                    // Display can't take negative values, and reverse puts Car_Velocity in the negative
+                    Car_Velocity = (Car_Velocity < 0) ? -Car_Velocity : Car_Velocity; 


For clarity and to follow standard library usage, consider using fabsf() from <math.h> to get the absolute value of the float. You will need to add #include <math.h> at the top of the file.

Suggested change

Car_Velocity = (Car_Velocity < 0) ? -Car_Velocity : Car_Velocity;

Car_Velocity = fabsf(Car_Velocity);

guytonde · 2025-09-17T00:16:52Z

/gemini help

gemini-code-assist · 2025-09-17T00:16:55Z

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Lakshay983 · 2025-11-12T03:09:50Z

/gemini review

gemini-code-assist

Code Review

This pull request introduces a significant integration for "Daybreak 2025", involving a large-scale refactoring of the codebase. Key changes include a new centralized error handling system, updated drivers for new hardware, and a rewrite of several application tasks. While the new architecture appears to be an improvement, I've identified several critical and high-severity issues. These include a printf format string bug that could lead to a crash, disabled safety features like CAN watchdogs and BPS trip handlers, and the use of inefficient busy-wait delays. There are also numerous instances of commented-out code that should be cleaned up to improve maintainability.

gemini-code-assist · 2025-11-12T03:13:50Z

Apps/Src/DebugDump.c

+        printf("Pedal Accel Percent: %u\n\r", get_accelPedalPercent());
        printf("Current Gear: %s\n\r", GEAR_STRING[get_gear()]);
        print_float("Current Setpoint: ", get_currentSetpoint());
+        print_float("Velocity Setpoint: %s\n\r", get_velocitySetpoint()); // velocitySetpoint 


There is a format specifier mismatch in this print_float call. The format string includes %s, which is for a string, but get_velocitySetpoint() returns a float. This will result in undefined behavior and likely crash the program. Assuming print_float handles the formatting, the format specifier should be removed from the string literal.

Suggested change

print_float("Velocity Setpoint: %s\n\r", get_velocitySetpoint()); // velocitySetpoint

print_float("Velocity Setpoint: ", get_velocitySetpoint()); // velocitySetpoint

gemini-code-assist · 2025-11-12T03:13:51Z

Apps/Src/ReadTritium.c

+            if (++motor_fault_cnt > RESTART_THRESHOLD) {
+                // throwTaskError(m_err, !EVAC_NEEDED, NULL, OPT_LOCK_SCHED, OPT_NONRECOV, CAN_NONE_BPS);
+            } else {
+                // throwTaskError(m_err, !EVAC_NEEDED, handler_ReadTritium_HallError, OPT_NO_LOCK_SCHED, OPT_NONRECOV, CAN_NONE_BPS);
+            }


The error handling for a motor watchdog trip is commented out. A watchdog trip indicates a serious problem with the motor controller, and failing to handle it is a critical safety risk. This logic should be uncommented and fully implemented to ensure the system responds correctly to this fault.

gemini-code-assist · 2025-11-12T03:13:51Z

Apps/Src/ReadCarCAN.c

+                // BPS has a fault and we need to enter fault state
+                if (dataBuf.data[0] == BPS_TRIP_MESSAGE) {
+                    // kill motor contactor and enter a nonrecoverable fault
+                    //assertReadCarCANError(C_ERR_RCC_BPS_TRIP);


The BPS trip handler is commented out. A BPS trip is a critical fault that must be handled immediately to ensure the safety of the vehicle and its driver. This line should be uncommented to ensure the system enters a non-recoverable fault state as intended.

Suggested change

//assertReadCarCANError(C_ERR_RCC_BPS_TRIP);

assertReadCarCANError(C_ERR_RCC_BPS_TRIP);

gemini-code-assist · 2025-11-12T03:13:51Z

Apps/Src/ReadCarCAN.c

+// #define BPS_CAN_WATCHDOG
+// #define PRECHARGE_CAN_WATCHDOG


The CAN watchdogs for BPS and Precharge messages are disabled via #ifdef. These are critical safety features that ensure the system is receiving timely updates from these components. If they are intended to be active, they should be enabled by default to prevent running in an unsafe state.

gemini-code-assist · 2025-11-12T03:13:51Z

Apps/Inc/Tasks.h

+inline void delay_ms(uint32_t ms) {
+    // Adjusted loop count per ms based on empirical timing
+    // Originally: 20,000 per ms (80,000 cycles / 4 cycles/iter)
+    // Observed: ~3.77× slower → need ~5300 iterations per ms
+    uint32_t count = ms * 5300;
+
+    __asm__ volatile(
+        "1: \n"       
+        "subs %[cnt], %[cnt], #1 \n"
+        "bne 1b \n"
+        : [cnt] "+r"(count)
+        :
+        : "cc"
+    );
+}


This delay_ms function uses a busy-wait loop, which is inefficient in an RTOS environment as it consumes CPU cycles without yielding to other tasks. The timing is also dependent on CPU clock speed and compiler optimizations, making it unreliable. It's recommended to use RTOS-provided delay functions like OSTimeDlyHMSM() for predictable and efficient delays.

gemini-code-assist · 2025-11-12T03:13:52Z

Apps/Inc/UpdateDisplay.h

+// /**
+//  * Error types
+//  */
+// typedef enum {
+// 	UPDATEDISPLAY_ERR_NONE,
+// 	// UPDATEDISPLAY_ERR_FIFO_PUT,     // Error putting command in fifo
+// 	// UPDATEDISPLAY_ERR_FIFO_POP,     // Error popping command from fifo
+// 	UPDATEDISPLAY_ERR_PARSE_COMP,   // Error parsing component/val in SetComponent
+// 	UPDATEDISPLAY_ERR_DRIVER        // Driver call returned an error
+// } controls_error_e;


The old error enum for UpdateDisplay is commented out. This should be removed to avoid clutter and confusion, especially since a new centralized error handling system is in place.

gemini-code-assist · 2025-11-12T03:13:52Z

Apps/Inc/SendTritium.h

+
+#define GEAR_FAULT_THRESHOLD 3 // number of times gear fault can occur before it is considered a fault
+
+#define ACCCEL_PEDAL_RESET_THRESHOLD 20


There is a typo in the macro name. It should be ACCEL_PEDAL_RESET_THRESHOLD.

Suggested change

#define ACCCEL_PEDAL_RESET_THRESHOLD 20

#define ACCEL_PEDAL_RESET_THRESHOLD 20

gemini-code-assist · 2025-11-12T03:13:52Z

Apps/Inc/IOState.h

+// typedef enum {
+//     IOSTATE_ERR_NONE  = 0x0000,         // No error
+//     IOSTATE_ERROR = 0xFFFF,             // More than one state is high at a time
+// } IOState_error_code_t;


This IOState_error_code_t enum is commented out. If it's no longer needed due to the new centralized error handling system, it should be removed to improve code clarity and reduce clutter.

gemini-code-assist · 2025-11-12T03:13:52Z

Apps/Inc/ReadTritium.h

+// typedef enum{
+//     T_HARDWARE_OVER_CURRENT_ERR = (1<<0),
+//     T_SOFTWARE_OVER_CURRENT_ERR = (1<<1),
+//     T_DC_BUS_OVERVOLT_ERR = (1<<2),
+//     T_HALL_SENSOR_ERR = (1<<3),
+//     T_WATCHDOG_LAST_RESET_ERR = (1<<4),
+//     T_CONFIG_READ_ERR = (1<<5),
+//     T_UNDER_VOLTAGE_LOCKOUT_ERR = (1<<6),
+//     T_DESAT_FAULT_ERR = (1<<7),
+//     T_MOTOR_OVER_SPEED_ERR = (1<<8),
+//     T_INIT_FAIL = (1<<9), //motor controller fails to restart or initialize
+//     T_MOTOR_WATCHDOG_TRIP = (1 << 15),
+//     T_NONE = 0x00,
+// } tritium_error_code_t;


The tritium_error_code_t enum is commented out. With the new centralized error handling, this is likely obsolete and should be removed to improve code clarity.

gemini-code-assist · 2025-11-12T03:13:52Z

Apps/Inc/ReadCarCAN.h

+// /**
+//  * Error types
+//  */
+// typedef enum
+// {
+// 	READCARCAN_ERR_NONE = 0x0000,
+// 	//READCARCAN_ERR_CHARGE_DISABLE = 0xAAAA,		    // Received a charge disable msg
+// 	READCARCAN_ERR_BPS_MISSED_MSG = 0xBBBB,			    // Didn't receive a BPS charge msg in time
+// 	READCARCAN_ERR_PCHG_MISSED_MSG = 0xCCCC,			    // Didn't receive a precharge msg in time
+// 	//READCARCAN_ERR_DISABLE_CONTACTORS_MSG = 0xCCCC, // Ignition is turned to neither (off due to LV) or both at the same time (impossible) are on at
+// 	READCARCAN_ERR_BPS_TRIP = 0xDDDD,				// Received a BPS trip msg (0 or 1)
+// 	READCARCAN_ERR_ACTIVE_PRECHARGE_FAULT = 0xEEEE,  // Active precharge sent a fault message
+// } ReadCarCAN_error_code_t;


The old ReadCarCAN_error_code_t enum is commented out. Since a new centralized error enum controls_error_e has been introduced, this old definition should be removed to avoid confusion and keep the codebase clean.

…o feature/NewPinout

This reverts commit 2877c95.

This reverts commit 0cb899f.

krazykrayon added 20 commits January 25, 2025 13:47

Test Commit

c73472c

added gpios to a pinout header file

8e51b42

Updated UART pins for display (hopefully correctly)

ba0d304

Updated CAN pins in BSP files (hopefully correctly)

3224fc2

Fixed alternate function for UART4

b844371

Fix build error?

99ba1d4

Fix build error (again)?

bdeb293

Inserted correct pins for all BSP_GPIO_Init

85f0638

GPIO pins done (I think)

2064b7b

Changed UART enum

6d4949a

Revert "GPIO pins done (I think)"

57c7f46

This reverts commit 2064b7b.

Revert "Changed UART enum"

9dceea9

This reverts commit 6d4949a.

Redid all GPIO functions pins

489bc1c

Changed Minions.h (i think this is causing build error?)

980227c

Please build (changed contactors.h)

cd76208

Added in pinout header file to Tasks and ReadCarCan

92919f3

All BSP function calls have the correct pins now (I think...)

a965754

Changed BSP for new pins

868ae25

made a #define oopsie

217c6aa

USART3->UART4 (idk if I changed the BSP correctly)

c79091e

aidenmadaffri self-requested a review February 8, 2025 15:53

aidenmadaffri mentioned this pull request Feb 8, 2025

BSP_SPI is no longer used #437

Open

aidenmadaffri suggested changes Feb 8, 2025

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krazykrayon and others added 6 commits February 8, 2025 12:38

Merge branch 'master' into feature/NewPinout

12ae35f

fixed the contactor pins

ba2378c

Removed pin definitions in contactors code + changed CAN prints to re…

d4f190a

…flect new CAN

Updated Minions.h

e526294

Used daybreak_pins.h for BSP_CAN

9991937

Fixed CommandLine.C with new defines

102a239

Lakshay983 changed the title ~~Feature/new pinout~~ Daybreak 2025 Integration May 24, 2025

OscarPortillo37 and others added 2 commits June 6, 2025 23:52

gemini-code-assist bot reviewed Sep 17, 2025

View reviewed changes

Lakshay983 and others added 7 commits November 2, 2025 21:10

add nix file and add venv to gitignore

58d47ef

add SWOC LIMIT define

7f13da1

Theoretically works without faults

0cb899f

multiple swoc thresholds

f64a5b3

multiple swoc thresholds

0e40b62

updated thresholds as of 11/10

840a1b5

updated thresholds as of 11/10

3ff7103

gemini-code-assist bot reviewed Nov 12, 2025

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ParthivS20 and others added 14 commits November 12, 2025 18:49

lakshay wrote this

e957ed3

lakshay wrote this

a50f126

max 29, starting tuning for max accell and speed

3a6406b

updated power limits and turn brake light on in fault

388f942

reset when swoc

8e667b1

reset when swoc

efc9a6b

swoc reset flag

d3ec9cd

display restart msg in display limit field

aa25cd6

faults + FSM still need watchdogs

2877c95

Merge branch 'feature/NewPinout' of github.com:lhr-solar/Controls int…

b9b5201

…o feature/NewPinout

Revert "faults + FSM still need watchdogs"

d8f611c

This reverts commit 2877c95.

Revert "Theoretically works without faults"

3314dc4

This reverts commit 0cb899f.

ending revert

59a5615

ending revert

f23933f

	print_float("Velocity Setpoint: %s\n\r", get_velocitySetpoint()); // velocitySetpoint
	print_float("Velocity Setpoint: ", get_velocitySetpoint()); // velocitySetpoint


		#define GEAR_FAULT_THRESHOLD 3 // number of times gear fault can occur before it is considered a fault

		#define ACCCEL_PEDAL_RESET_THRESHOLD 20

	#define ACCCEL_PEDAL_RESET_THRESHOLD 20
	#define ACCEL_PEDAL_RESET_THRESHOLD 20

	Car_Velocity = (Car_Velocity < 0) ? -Car_Velocity : Car_Velocity;
	Car_Velocity = fabsf(Car_Velocity);

	//assertReadCarCANError(C_ERR_RCC_BPS_TRIP);
	assertReadCarCANError(C_ERR_RCC_BPS_TRIP);

		// #define BPS_CAN_WATCHDOG
		// #define PRECHARGE_CAN_WATCHDOG

Daybreak 2025 Integration #436

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Daybreak 2025 Integration #436

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krazykrayon commented Feb 1, 2025

Quality Assurance Checklist

Requirements

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