UWaterloo-Formula-Electric · aryanGajelli · Nov 29, 2024 · Nov 29, 2024 · Nov 30, 2024 · Nov 30, 2024
diff --git a/README.md b/README.md
@@ -4,21 +4,20 @@ This is the firmware monorepo for the UW Formula Electric team. This repository
 
 # Onboarding Instructions
 
-- [OpenProject Access](#open-project)
+- [Notion Access](#notion)
 - [SSH Key](#ssh-key-set-up)
 - [Vagrant (Windows Only)](#Vagrant-Environment-Set-Up-for-Windows-Users)
 - [Mac OS](#mac-os-set-up)
 - [Linux](#linux-set-up)
 - [Other Resources](#other-resources)
 - [FAQ](#FAQ)
 
-# Open Project
+# Notion
 
-We use Open Project for task management. Steps to get set up:
+We use Notion for task management and documentation. Steps to get set up:
 
-1. Visit http://owenbrake.com/pm
-2. Create an account with your school email
-3. Message your email in the new-members thread under #firmware on Slack, and a lead will add you to the project
+1. Create a Notion account with your school email
+2. Fill out this [form](https://forms.gle/Mz7rk66djoDZY9Fv9) and we will invite you to the team's Notion workspace
 
 # SSH Key Set Up
 
@@ -39,7 +38,7 @@ The repository we use is found [here](https://github.com/UWaterloo-Formula-Elect
 ### Prerequisites
 
 - Install the latest version of [Vagrant](https://developer.hashicorp.com/vagrant/downloads)
-- Install the latest version of [VirtualBox](https://www.virtualbox.org/wiki/Downloads)
+- Install 7.0.18 version of [VirtualBox](https://www.virtualbox.org/wiki/Download_Old_Builds_7_0). DON'T install the latest version, there are compatibility issues with Vagrant.
 - Install the matching [VirtualBox Extension Pack](https://www.virtualbox.org/wiki/Downloads) to get USB data
   After installing the above, verify the Vagrant installation worked by opening a new command prompt or console, and checking that **vagrant** is available.
 

diff --git a/common/Data/2024CAR.dbc b/common/Data/2024CAR.dbc
@@ -35,6 +35,14 @@ BS_:
 
 BU_: IMD IVT VCU_BeagleBone DCU PDU BMU VCU_F7 WSBFL WSBFR WSBRL WSBRR ChargeCart INV
 VAL_TABLE_ BMU_Interlock_State 512 "FSM_STATE_FAILED" 256 "HW_CHECK_FAILED" 128 "TSMS_FAILED" 64 "CBRB_FAILED" 32 "IMD_FAILED" 16 "AMS_FAILED" 8 "HVD_FAILED" 4 "BSPD_FAILED" 2 "EBOX_FAILED" 1 "BOTS_FAILED" 0 "No Fault" ;
+VAL_TABLE_ DCU_Events 8 "EV_ANY" 7 "EV_Fatal" 6 "EV_CAN_Receive_EM" 5 "EV_CAN_Receive_HV" 4 "EV_BTN_Endurance_Lap" 3 "EV_BTN_Endurance_Mode_Toggle" 2 "EV_BTN_TC_Toggle" 1 "EV_BTN_EM_Toggle" 0 "EV_BTN_HV_Toggle" ;
+VAL_TABLE_ VCU_Events 13 "EV_ANY" 12 "EV_Inverter_Fault" 11 "EV_Fatal" 10 "EV_Throttle_Failure" 9 "EV_Brake_Pressure_Fault" 8 "EV_BTN_Endurance_Mode_Toggle" 7 "EV_CAN_Receive_HV" 6 "EV_BTN_TC_Toggle" 5 "EV_BTN_EM_Toggle" 4 "EV_BTN_HV_Toggle" 3 "EV_Hv_Disable" 2 "EV_Bps_Fail" 1 "EV_EM_Toggle" 0 "EV_Init" ;
+VAL_TABLE_ PDU_Events 6 "EV_ANY" 5 "EV_Cycle_MC" 4 "EV_EM_Disable" 3 "EV_EM_Enable" 2 "EV_CriticalDelayElapsed" 1 "EV_HV_CriticalFailure" 0 "EV_Init" ;
+VAL_TABLE_ BMU_Events 17 "EV_ANY" 16 "EV_Balance_Stop" 15 "EV_Balance_Start" 14 "EV_Cockpit_BRB_Unpressed" 13 "EV_Cockpit_BRB_Pressed" 12 "EV_Notification_Stop" 11 "EV_Charge_Error" 10 "EV_Notification_Done" 9 "EV_Charge_Start" 8 "EV_Enter_Charge_Mode" 7 "EV_FaultMonitorReady" 6 "EV_IMD_Ready" 5 "EV_HV_Fault" 4 "EV_PrechargeDischarge_Fail" 3 "EV_Discharge_Finished" 2 "EV_Precharge_Finished" 1 "EV_HV_Toggle" 0 "EV_Init" ;
+VAL_TABLE_ PDU_States 5 "STATE_ANY" 4 "STATE_Critical_Failure" 3 "STATE_Warning_Critical" 2 "STATE_Motors_On" 1 "STATE_Boards_On" 0 "STATE_Boards_Off" ;
+VAL_TABLE_ VCU_States 5 "STATE_ANY" 4 "STATE_Failure_Fatal" 3 "STATE_EM_Enable" 2 "STATE_HV_Enable" 1 "STATE_HV_Disable" 0 "STATE_Self_Check" ;
+VAL_TABLE_ DCU_States 4 "STATE_ANY" 3 "STATE_Failure_Fatal" 2 "STATE_EM_Enable" 1 "STATE_HV_Enable" 0 "STATE_HV_Disable" ;
+VAL_TABLE_ BMU_States 11 "STATE_ANY" 10 "STATE_Balancing" 9 "STATE_Failure_CBRB_Enabled" 8 "STATE_Failure_CBRB_Disabled" 7 "STATE_Failure_Fatal" 6 "STATE_Charging" 5 "STATE_Discharge" 4 "STATE_Precharge" 3 "STATE_HV_Enable" 2 "STATE_HV_Disable" 1 "STATE_Wait_System_Up" 0 "STATE_Self_Check" ;
 VAL_TABLE_ BMS_State 7 "Failure_Fatal" 6 "Charging" 5 "Discharge" 4 "Precharge" 3 "HV_Enable" 2 "HV_Disable" 1 "Wait_System_Up" 0 "Self_Check" ;
 VAL_TABLE_ Contactor 4 "CONTACTOR_FAULT_CLOSED" 3 "CONTACTOR_FAULT_OPEN" 2 "CONTACTOR_CLOSED" 1 "CONTACTOR_OPEN" 0 "INVALID" ;
 VAL_TABLE_ DCDC_State 3 "Error" 2 "On" 1 "Off" 0 "Invalid" ;
@@ -67,6 +75,46 @@ BO_ 3221225472 VECTOR__INDEPENDENT_SIG_MSG: 0 Vector__XXX
  SG_ ChannelCurrentMCRight : 0|16@1+ (0.01,0) [0|0] "Amps" Vector__XXX
  SG_ ChannelCurrentAUX : 0|16@1+ (0.01,0) [0|0] "" Vector__XXX
 
+BO_ 2298478347 WSBRR_State_Change: 8 WSBRR
+ SG_ StateMachineState : 16|8@1- (1,0) [0|0] "" Vector__XXX
+ SG_ StateMachineNewState : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ StateMachineEvent : 0|8@1- (1,0) [0|0] "" Vector__XXX
+
+BO_ 2298478346 WSBRL_State_Change: 8 WSBRL
+ SG_ StateMachineState : 16|8@1- (1,0) [0|0] "" Vector__XXX
+ SG_ StateMachineNewState : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ StateMachineEvent : 0|8@1- (1,0) [0|0] "" Vector__XXX
+
+BO_ 2298478345 WSBFR_State_Change: 8 WSBFR
+ SG_ StateMachineState : 16|8@1- (1,0) [0|0] "" Vector__XXX
+ SG_ StateMachineNewState : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ StateMachineEvent : 0|8@1- (1,0) [0|0] "" Vector__XXX
+
+BO_ 2298478344 WSBFL_State_Change: 8 WSBFL
+ SG_ StateMachineState : 16|8@1- (1,0) [0|0] "" Vector__XXX
+ SG_ StateMachineNewState : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ StateMachineEvent : 0|8@1- (1,0) [0|0] "" Vector__XXX
+
+BO_ 2298478343 DCU_State_Change: 8 DCU
+ SG_ StateMachineState_DCU : 16|8@1- (1,0) [0|0] "" Vector__XXX
+ SG_ StateMachineNewState_DCU : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ StateMachineEvent_DCU : 0|8@1- (1,0) [0|0] "" Vector__XXX
+
+BO_ 2298478339 PDU_State_Change: 8 PDU
+ SG_ StateMachineState_PDU : 16|8@1- (1,0) [0|0] "" Vector__XXX
+ SG_ StateMachineNewState_PDU : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ StateMachineEvent_PDU : 0|8@1- (1,0) [0|0] "" Vector__XXX
+
+BO_ 2298478338 VCU_State_Change: 8 VCU_F7
+ SG_ StateMachineState_VCU : 16|8@1- (1,0) [0|0] "" Vector__XXX
+ SG_ StateMachineNewState_VCU : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ StateMachineEvent_VCU : 0|8@1- (1,0) [0|0] "" Vector__XXX
+
+BO_ 2298478337 BMU_State_Change: 8 BMU
+ SG_ StateMachineState_BMU : 16|8@1- (1,0) [0|0] "" Vector__XXX
+ SG_ StateMachineNewState_BMU : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ StateMachineEvent_BMU : 0|8@1- (1,0) [0|0] "" Vector__XXX
+
 BO_ 2282621955 PDU_Charging_Lipo_Status: 1 PDU
  SG_ Charging_Lipo_Status : 0|4@1+ (1,0) [0|0] "" Vector__XXX
 
@@ -1270,6 +1318,18 @@ BA_ "GenMsgCycleTime" BO_ 2365563393 100;
 BA_ "GenMsgCycleTime" BO_ 2365563137 100;
 BA_ "GenMsgCycleTime" BO_ 2365562881 100;
 BA_ "GenMsgCycleTime" BO_ 2365566977 3;
+VAL_ 2298478343 StateMachineState_DCU 4 "STATE_ANY" 3 "STATE_Failure_Fatal" 2 "STATE_EM_Enable" 1 "STATE_HV_Enable" 0 "STATE_HV_Disable" ;
+VAL_ 2298478343 StateMachineNewState_DCU 4 "STATE_ANY" 3 "STATE_Failure_Fatal" 2 "STATE_EM_Enable" 1 "STATE_HV_Enable" 0 "STATE_HV_Disable" ;
+VAL_ 2298478343 StateMachineEvent_DCU 8 "EV_ANY" 7 "EV_Fatal" 6 "EV_CAN_Receive_EM" 5 "EV_CAN_Receive_HV" 4 "EV_BTN_Endurance_Lap" 3 "EV_BTN_Endurance_Mode_Toggle" 2 "EV_BTN_TC_Toggle" 1 "EV_BTN_EM_Toggle" 0 "EV_BTN_HV_Toggle" ;
+VAL_ 2298478339 StateMachineState_PDU 5 "STATE_ANY" 4 "STATE_Critical_Failure" 3 "STATE_Warning_Critical" 2 "STATE_Motors_On" 1 "STATE_Boards_On" 0 "STATE_Boards_Off" ;
+VAL_ 2298478339 StateMachineNewState_PDU 5 "STATE_ANY" 4 "STATE_Critical_Failure" 3 "STATE_Warning_Critical" 2 "STATE_Motors_On" 1 "STATE_Boards_On" 0 "STATE_Boards_Off" ;
+VAL_ 2298478339 StateMachineEvent_PDU 6 "EV_ANY" 5 "EV_Cycle_MC" 4 "EV_EM_Disable" 3 "EV_EM_Enable" 2 "EV_CriticalDelayElapsed" 1 "EV_HV_CriticalFailure" 0 "EV_Init" ;
+VAL_ 2298478338 StateMachineState_VCU 5 "STATE_ANY" 4 "STATE_Failure_Fatal" 3 "STATE_EM_Enable" 2 "STATE_HV_Enable" 1 "STATE_HV_Disable" 0 "STATE_Self_Check" ;
+VAL_ 2298478338 StateMachineNewState_VCU 5 "STATE_ANY" 4 "STATE_Failure_Fatal" 3 "STATE_EM_Enable" 2 "STATE_HV_Enable" 1 "STATE_HV_Disable" 0 "STATE_Self_Check" ;
+VAL_ 2298478338 StateMachineEvent_VCU 13 "EV_ANY" 12 "EV_Inverter_Fault" 11 "EV_Fatal" 10 "EV_Throttle_Failure" 9 "EV_Brake_Pressure_Fault" 8 "EV_BTN_Endurance_Mode_Toggle" 7 "EV_CAN_Receive_HV" 6 "EV_BTN_TC_Toggle" 5 "EV_BTN_EM_Toggle" 4 "EV_BTN_HV_Toggle" 3 "EV_Hv_Disable" 2 "EV_Bps_Fail" 1 "EV_EM_Toggle" 0 "EV_Init" ;
+VAL_ 2298478337 StateMachineState_BMU 11 "STATE_ANY" 10 "STATE_Balancing" 9 "STATE_Failure_CBRB_Enabled" 8 "STATE_Failure_CBRB_Disabled" 7 "STATE_Failure_Fatal" 6 "STATE_Charging" 5 "STATE_Discharge" 4 "STATE_Precharge" 3 "STATE_HV_Enable" 2 "STATE_HV_Disable" 1 "STATE_Wait_System_Up" 0 "STATE_Self_Check" ;
+VAL_ 2298478337 StateMachineNewState_BMU 11 "STATE_ANY" 10 "STATE_Balancing" 9 "STATE_Failure_CBRB_Enabled" 8 "STATE_Failure_CBRB_Disabled" 7 "STATE_Failure_Fatal" 6 "STATE_Charging" 5 "STATE_Discharge" 4 "STATE_Precharge" 3 "STATE_HV_Enable" 2 "STATE_HV_Disable" 1 "STATE_Wait_System_Up" 0 "STATE_Self_Check" ;
+VAL_ 2298478337 StateMachineEvent_BMU 17 "EV_ANY" 16 "EV_Balance_Stop" 15 "EV_Balance_Start" 14 "EV_Cockpit_BRB_Unpressed" 13 "EV_Cockpit_BRB_Pressed" 12 "EV_Notification_Stop" 11 "EV_Charge_Error" 10 "EV_Notification_Done" 9 "EV_Charge_Start" 8 "EV_Enter_Charge_Mode" 7 "EV_FaultMonitorReady" 6 "EV_IMD_Ready" 5 "EV_HV_Fault" 4 "EV_PrechargeDischarge_Fail" 3 "EV_Discharge_Finished" 2 "EV_Precharge_Finished" 1 "EV_HV_Toggle" 0 "EV_Init" ;
 VAL_ 2147483648 StateContactorPositive 0 "INVALID" 1 "CONTACTOR_OPEN" 2 "CONTACTOR_CLOSED" 3 "CONTACTOR_FAULT_OPEN" 4 "CONTACTOR_FAULT_CLOSED" ;
 VAL_ 2147483648 StateContactorNegative 0 "INVALID" 1 "CONTACTOR_OPEN" 2 "CONTACTOR_CLOSED" 3 "CONTACTOR_FAULT_OPEN" 4 "CONTACTOR_FAULT_CLOSED" ;
 VAL_ 2297236481 BMU_checkFailed 512 "FSM_STATE_FAILED" 256 "HW_CHECK_FAILED" 128 "TSMS_FAILED" 64 "CBRB_FAILED" 32 "IMD_FAILED" 16 "AMS_FAILED" 8 "HVD_FAILED" 4 "BSPD_FAILED" 2 "EBOX_FAILED" 1 "BOTS_FAILED" 0 "No Fault" ;

diff --git a/common/Src/state_machine.c b/common/Src/state_machine.c
@@ -127,6 +127,47 @@ HAL_StatusTypeDef fsmProcessEvent(FSM_Handle_Struct *handle, uint32_t event)
                     ERROR_PRINT("FSM: New state out of range\n");
                     return HAL_ERROR;
                 } else {
+                    #if BOARD_ID == ID_BMU
+                        StateMachineEvent_BMU = event;
+                        StateMachineNewState_BMU = newState;
+                        StateMachineState_BMU = current_state;
+                        sendCAN_BMU_State_Change();
+                    #elif BOARD_ID  == ID_DCU
+                        StateMachineEvent_DCU = event;
+                        StateMachineNewState_DCU = newState;
+                        StateMachineState_DCU = current_state;
+                        sendCAN_DCU_State_Change();
+                    #elif BOARD_ID  == ID_VCU_F7
+                        StateMachineEvent_VCU = event;
+                        StateMachineNewState_VCU = newState;
+                        StateMachineState_VCU = current_state;
+                        sendCAN_VCU_State_Change();
+                    #elif BOARD_ID  == ID_PDU
+                        StateMachineEvent_PDU = event;
+                        StateMachineNewState_PDU = newState;
+                        StateMachineState_PDU = current_state;
+                        sendCAN_PDU_State_Change();
+                    #elif BOARD_ID  == ID_WSBFL
+                        StateMachineEvent = event;
+                        StateMachineNewState = newState;
+                        StateMachineState = current_state;
+                        sendCAN_WSBFL_State_Change();
+                    #elif BOARD_ID  == ID_WSBFR
+                        StateMachineEvent = event;
+                        StateMachineNewState = newState;
+                        StateMachineState = current_state;
+                        sendCAN_WSBFR_State_Change();
+                    #elif BOARD_ID  == ID_WSBRL
+                        StateMachineEvent = event;
+                        StateMachineNewState = newState;
+                        StateMachineState = current_state;
+                        sendCAN_WSBRL_State_Change();
+                    #elif BOARD_ID  == ID_WSBRR
+                        StateMachineEvent = event;
+                        StateMachineNewState = newState;
+                        StateMachineState = current_state;
+                        sendCAN_WSBRR_State_Change();
+                    #endif
                     handle->state = newState;
                     break;
                 }