Publish state changes can (#69)

UWaterloo-Formula-Electric · Jan 18, 2025 · 3c207f2 · 3c207f2
2 parents 2f3a0f6 + 37b4bd9
commit 3c207f2
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diff --git a/common/Data/2024CAR.dbc b/common/Data/2024CAR.dbc
@@ -63,6 +63,46 @@ BO_ 3221225472 VECTOR__INDEPENDENT_SIG_MSG: 0 Vector__XXX
  SG_ INV_Diag_Run_Faults_Lo : 0|16@1+ (1,0) [0|65535] "" Vector__XXX
  SG_ INV_Diag_Run_Faults_Hi : 0|16@1+ (1,0) [0|65535] "" Vector__XXX
 
+BO_ 2281705227 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_ 2281705226 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_ 2281705225 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_ 2281705224 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_ 2281705223 DCU_State_Change: 8 DCU
+ 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_ 2281705219 PDU_State_Change: 8 PDU
+ 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_ 2281705218 VCU_State_Change: 8 VCU_F7
+ 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_ 2281705217 BMU_State_Change: 3 BMU
+ 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_ 2292911106 VCU_INV_Power: 3 VCU_F7
  SG_ INV_Peak_Tractive_Power_kW : 16|8@1- (1,0) [0|0] ""  VCU_BeagleBone
  SG_ INV_Tractive_Power_kW : 0|16@1- (0.01,0) [-327.68|327.67] ""  VCU_BeagleBone

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 = event;
+                        StateMachineNewState = newState;
+                        StateMachineState = current_state;
+                        sendCAN_BMU_State_Change();
+                    #elif BOARD_ID  == ID_DCU
+                        StateMachineEvent = event;
+                        StateMachineNewState = newState;
+                        StateMachineState = current_state;
+                        sendCAN_DCU_State_Change();
+                    #elif BOARD_ID  == ID_VCU_F7
+                        StateMachineEvent = event;
+                        StateMachineNewState = newState;
+                        StateMachineState = current_state;
+                        sendCAN_VCU_State_Change();
+                    #elif BOARD_ID  == ID_PDU
+                        StateMachineEvent = event;
+                        StateMachineNewState = newState;
+                        StateMachineState = 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;
                 }