Fault/Contactor Logic #8
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| void contactorTask(void *pvParamters) { | ||
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| for (int i = 0; i < 10; i++){ //initialize system to be faultless | ||
| fault[i] = NO_FAULT; |
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just curious, why do this here rather than when fault is defined
| #include "contactor.h" | ||
| #include "statusLEDs.h" | ||
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| // structs to manage contactor states |
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imo contactor.c should be a set of drivers for interacting with the Contactors, not smth containing all your logic. The logic should be in the task.
Look at how other code bases do Contactors, you should have a contactor enum for each contactor.
Since you have a struct for it you can make it an array that you index into via the enum.
Then have functions for enabling and disabling the Contactors given a contactor enum
Nucleo-Code/Drivers/Inc/contactor.h
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| typedef struct prechargeContactor { | ||
| contactor_state_t state; // open, closed | ||
| contactor_state_t pre_ready; // Precharge ready signal | ||
| contactor_state_t sense; | ||
| contactor_state_t enable_out; // GPIO pin to control the contactor | ||
| uint32_t start_time; | ||
| } prechargeContactor; |
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why diff type?
Can just have a boolean for precharge vs not precharge
Nucleo-Code/Drivers/Src/contactor.c
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| // trigger LEDs for all faults (and send fault message?) | ||
| bool contactors_fault_handler(void) { | ||
| if ((contactor_fault[0] | contactor_fault[1] | contactor_fault[2] | contactor_fault[3] | contactor_fault[4] | contactor_fault[5] | contactor_fault[6] | contactor_fault[7] | contactor_fault[8] | contactor_fault[9] | CAN_fault) == FAULT) { |
Nucleo-Code/Drivers/Src/contactor.c
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| prechargeContactor arrayPre = { OPEN, OPEN, OPEN, OPEN, 0 }; | ||
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| uint32_t time; // HAL tick value (ms) | ||
| uint8_t contactor_fault[10] = { 0 }; // TODO: handle this better, change to fault bitmap |
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yeah you should make bitmap
if you keep it in an array just make the faults represented by enum
| // handles all contactor and precharge logic | ||
| void contactors_handler(void) { | ||
| while (true) { | ||
| time = HAL_GetTick(); |
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Given that you're in a task you could just use a FreeRTOS timer with a callback function that is called when there's a precharge timeout. That'll save u some extra logic.
| arrayPre.pre_ready = array_precharge_ready(); | ||
| arrayPre.sense = array_precharge_sense(); | ||
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| if (!contactors_fault_handler()) { |
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consider making this a while(1) loop and then when a fault is detected manually enter the fault instead of checking for every fault every iteration.
motor logic tested and fully functional 4/29/2025, need to test array