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Refactor: ECU Enter State Function #263

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Refactor: ECU Enter State Function #263

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e959452
Replace all FSM State enters with the new function
CKalitin May 24, 2025
ef722c4
Delete old prints
CKalitin Jun 12, 2025
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26 changes: 25 additions & 1 deletion components/ecu/ecu_firmware/Core/Inc/fsm.h
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Original file line number Diff line number Diff line change
Expand Up @@ -109,12 +109,36 @@ static void (*FSM_state_table[])(void) = {
DRD_on,
MDU_on,
ECU_monitor,
fault};
fault
};

/*============================================================================*/
/* STATE NAME TABLE */

static const char *FSM_state_name_table[] = {
"FSM_RESET",
"BMS_POWERUP",
"BMS_READY",
"HV_CONNECT",
"SWAP_DCDC",
"DISABLE_MDU_DCH",
"CHECK_LLIM",
"PC_Wait",
"LLIM_CLOSED",
"CHECK_HLIM",
"TELEM_ON",
"MEM_ON",
"DRD_ON",
"MDU_ON",
"MONITORING",
"FAULT"
};

/*============================================================================*/
/* FUNCTION PROTOTYPES */

// FSM
void FSM_Enter_State(FSM_state_t state);
void FSM_Init();
void FSM_run();

Expand Down
95 changes: 33 additions & 62 deletions components/ecu/ecu_firmware/Core/Src/fsm.c
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,11 @@ static volatile uint8_t count_awdg_faults = 0;
/*============================================================================*/
/* PRIVATE FUNCTION IMPLEMENTATIONS */

void FSM_Enter_State(FSM_state_t state){
FSM_state = state;
printf("Entering state: %s\r\n", FSM_state_name_table[state]);
}

/**
* @brief Initialization of FSM.
*/
Expand All @@ -54,12 +59,12 @@ void FSM_Init()
__HAL_RCC_CLEAR_RESET_FLAGS();

//IWDG triggered
printf("watchdog-triggered software reset \r\n");
printf("watchdog-triggered software reset \r\n"); // Debug print
ecu_data.status.bits.reset_from_watchdog = 1; //CAN_message now knows watchdog event has occured
FSM_state = FAULT;
FSM_Enter_State(FAULT);
}
else {
FSM_state = FSM_RESET;
FSM_Enter_State(FSM_RESET);
}

return;
Expand All @@ -86,8 +91,6 @@ void FSM_run()
*/
void FSM_reset()
{
printf("Top of FSM reset\r\n");

// Turn fans off
HAL_GPIO_WritePin(PACK_FANS_CTRL_GPIO_Port, PACK_FANS_CTRL_Pin, LOW);
HAL_GPIO_WritePin(MDU_FAN_CTRL_GPIO_Port, MDU_FAN_CTRL_Pin, LOW);
Expand All @@ -102,12 +105,10 @@ void FSM_reset()
// Read supplemental battery
check_supp_voltage();

FSM_state = WAIT_FOR_BMS_POWERUP;
FSM_Enter_State(WAIT_FOR_BMS_POWERUP);

ticks.last_generic_tick = HAL_GetTick();

printf("Bottom of FSM reset \r\n");

return;
}

Expand All @@ -124,16 +125,14 @@ void FSM_reset()
*/
void BMS_powerup()
{
printf("Top of BMS_powerup\r\n");

if (timer_check(BMS_STARTUP_INTERVAL, & (ticks.last_generic_tick) ))
{
FSM_state = FAULT;
FSM_Enter_State(FAULT);
}
else if (HAL_GPIO_ReadPin(FLT_BMS_GPIO_Port, FLT_BMS_Pin) == HIGH)
{
ticks.last_generic_tick = HAL_GetTick();
FSM_state = WAIT_FOR_BMS_READY;
FSM_Enter_State(WAIT_FOR_BMS_READY);
}

return;
Expand All @@ -152,20 +151,16 @@ void BMS_powerup()
*/
void BMS_ready()
{
printf("Top of BMS ready\r\n");

if (timer_check(BMS_STARTUP_INTERVAL, &(ticks.last_generic_tick) ))
{
FSM_state = FAULT;
FSM_Enter_State(FAULT);
}
else if (HAL_GPIO_ReadPin(FLT_BMS_GPIO_Port, FLT_BMS_Pin) == LOW)
{
ticks.last_generic_tick = HAL_GetTick();
FSM_state = HV_CONNECT;
FSM_Enter_State(HV_CONNECT);
}

printf("Bottom of BMS ready\r\n");

return;
}

Expand All @@ -178,8 +173,6 @@ void BMS_ready()
*/
void HV_Connect()
{
printf("Top of HV connect\r\n");

static bool first_delay_tick = false;
static bool second_delay_tick = false;

Expand Down Expand Up @@ -209,7 +202,7 @@ void HV_Connect()
if( timer_check(SHORT_INTERVAL, &(ticks.pos_tick)))
{
ticks.last_generic_tick = HAL_GetTick();
FSM_state = SWAP_DCDC;
FSM_Enter_State(SWAP_DCDC);
}
}
}
Expand All @@ -226,14 +219,12 @@ void HV_Connect()
*/
void swap_DCDC()
{
printf("Top of DCDC\r\n");

HAL_GPIO_WritePin(SWAP_CTRL_GPIO_Port, SWAP_CTRL_Pin, HIGH);
HAL_GPIO_WritePin(PACK_FANS_CTRL_GPIO_Port, PACK_FANS_CTRL_Pin, HIGH);
HAL_GPIO_WritePin(DCH_RST_GPIO_Port, DCH_RST_Pin, HIGH);

ticks.last_generic_tick = HAL_GetTick();
FSM_state = DISABLE_MDU_DCH;
FSM_Enter_State(DISABLE_MDU_DCH);

return;
}
Expand All @@ -251,11 +242,9 @@ void disable_MDU_DCH()
{
HAL_GPIO_WritePin(DCH_RST_GPIO_Port, DCH_RST_Pin, LOW);
ticks.last_generic_tick = HAL_GetTick();
FSM_state = CHECK_LLIM;
FSM_Enter_State(CHECK_LLIM);
}

printf("Bottom of MDU dch\r\n");

return;
}

Expand All @@ -275,17 +264,15 @@ void check_LLIM()
if (HAL_GPIO_ReadPin(LLIM_BMS_GPIO_Port, LLIM_BMS_Pin) == REQ_CONTACTOR_OPEN)
{
last_LLIM_status = CONTACTOR_OPEN;
FSM_state = CHECK_HLIM;
FSM_Enter_State(CHECK_HLIM);
}
else if (HAL_GPIO_ReadPin(LLIM_BMS_GPIO_Port, LLIM_BMS_Pin) == REQ_CONTACTOR_CLOSE)
{
HAL_GPIO_WritePin(PC_CTRL_GPIO_Port, PC_CTRL_Pin, CONTACTOR_CLOSED);
ticks.last_generic_tick = HAL_GetTick();
FSM_state = WAIT_FOR_PC;
FSM_Enter_State(WAIT_FOR_PC);
}

printf("Bottom of check LLIM\r\n");

return;
}

Expand All @@ -303,11 +290,9 @@ void PC_wait()
HAL_GPIO_WritePin(LLIM_CTRL_GPIO_Port, LLIM_CTRL_Pin, CONTACTOR_CLOSED);
last_LLIM_status = CONTACTOR_CLOSED;
ticks.last_generic_tick = HAL_GetTick();
FSM_state = LLIM_CLOSED;
FSM_Enter_State(LLIM_CLOSED);
}

printf("Bottom of PC wait\r\n");

return;
}

Expand All @@ -324,7 +309,7 @@ void LLIM_closed()
{
HAL_GPIO_WritePin(PC_CTRL_GPIO_Port, PC_CTRL_Pin, CONTACTOR_OPEN);
ticks.last_generic_tick = HAL_GetTick();
FSM_state = CHECK_HLIM;
FSM_Enter_State(CHECK_HLIM);
}

return;
Expand Down Expand Up @@ -356,16 +341,14 @@ void check_HLIM()
if (LVS_ALREADY_ON == true)
{
ticks.last_generic_tick = HAL_GetTick();
FSM_state = MONITORING;
FSM_Enter_State(MONITORING);
}
else
{
ticks.last_generic_tick = HAL_GetTick();
FSM_state = TELEM_ON;
FSM_Enter_State(TELEM_ON);
}

printf("Bottom of check HLIM\r\n");

return;
}

Expand All @@ -381,11 +364,9 @@ void TELEM_on()
{
HAL_GPIO_WritePin(TEL_CTRL_GPIO_Port, TEL_CTRL_Pin, HIGH);
ticks.last_generic_tick = HAL_GetTick();
FSM_state = MEM_ON;
FSM_Enter_State(MEM_ON);
}

printf("Bottom of TELEM on\r\n");

return;
}

Expand All @@ -401,11 +382,9 @@ void MEM_on()
{
HAL_GPIO_WritePin(SPAR1_CTRL_GPIO_Port, SPAR1_CTRL_Pin, HIGH);
ticks.last_generic_tick = HAL_GetTick();
FSM_state = DRD_ON;
FSM_Enter_State(DRD_ON);
}

printf("Bottom of MEM on\r\n");

return;
}

Expand All @@ -422,11 +401,9 @@ void DRD_on()
{
HAL_GPIO_WritePin(DRD_CTRL_GPIO_Port, DRD_CTRL_Pin, HIGH);
ticks.last_generic_tick = HAL_GetTick();
FSM_state = MDU_ON;
FSM_Enter_State(MDU_ON);
}

printf("Bottom of DRD on\r\n");

return;
}

Expand All @@ -440,20 +417,18 @@ void MDU_on()
{
// Don't turn on MDU if ESTOP pressed
if(ecu_data.status.bits.estop == true){
FSM_state = MONITORING;
FSM_Enter_State(MONITORING);
return;
}

if (timer_check(LVS_INTERVAL, &(ticks.last_generic_tick) ))
{
HAL_GPIO_WritePin(MDU_CTRL_GPIO_Port, MDU_CTRL_Pin, HIGH);
ticks.last_generic_tick = HAL_GetTick();
FSM_state = MONITORING;
FSM_Enter_State(MONITORING);
LVS_ALREADY_ON = true; // The last LVS board has been powered
}

printf("Bottom of MDU on\r\n");

return;
}

Expand All @@ -466,13 +441,11 @@ void MDU_on()
*/
void ECU_monitor()
{
printf("Top of Monitoring\r\n");

startup_complete = true; // Indicates all LV boards are up

// Additional ESTOP check to catch case where ESTOP is pressed during startup (see note in fault state)
if(ecu_data.status.bits.estop == true){
FSM_state = FAULT;
FSM_Enter_State(FAULT);
return;
}

Expand All @@ -495,7 +468,7 @@ void ECU_monitor()
**************************/
if (HAL_GPIO_ReadPin(FLT_BMS_GPIO_Port, FLT_BMS_Pin) == HIGH && HAL_GPIO_ReadPin(BAL_BMS_GPIO_Port, BAL_BMS_Pin) == LOW)
{
FSM_state = FAULT;
FSM_Enter_State(FAULT);
return;
}

Expand All @@ -516,7 +489,7 @@ void ECU_monitor()
{
HAL_GPIO_WritePin(PC_CTRL_GPIO_Port, PC_CTRL_Pin, CONTACTOR_CLOSED);
ticks.last_generic_tick = HAL_GetTick();
FSM_state = WAIT_FOR_PC;
FSM_Enter_State(WAIT_FOR_PC);
return;
}
else if (HAL_GPIO_ReadPin(LLIM_BMS_GPIO_Port, LLIM_BMS_Pin) == REQ_CONTACTOR_OPEN && last_LLIM_status == CONTACTOR_CLOSED)
Expand Down Expand Up @@ -557,8 +530,6 @@ void ECU_monitor()
*/
void fault()
{
printf("Top of Fault\r\n");

/*************************
Put Pack in Safe State
**************************/
Expand All @@ -571,7 +542,7 @@ void fault()

// If ESTOP pressed during startup, start all LV boards
if(!startup_complete){
FSM_state = TELEM_ON;
FSM_Enter_State(TELEM_ON);
return;
}

Expand Down Expand Up @@ -611,7 +582,7 @@ void FSM_ADC_WindowedAWDGCallback(){

HAL_GPIO_WritePin(DOC_COC_LED_GPIO_Port, DOC_COC_LED_Pin, HIGH);

FSM_state = FAULT;
FSM_Enter_State(FAULT);
FSM_run(); // Immediately transition to fault state
}

Expand All @@ -629,7 +600,7 @@ void FSM_ESTOPActivedCallback()
ecu_data.status.bits.estop = true;
HAL_GPIO_WritePin(ESTOP_LED_GPIO_Port, ESTOP_LED_Pin, HIGH);

FSM_state = FAULT;
FSM_Enter_State(FAULT);
FSM_run(); // Immediately transition to fault state
}

Expand Down