adding inv error to crit screen

can_bus/hexray/CRIT/CRIT_rx.json

@@ -7,6 +7,14 @@
     "DAM_Vitals",
     "VC_GlobalShdnNodeStatus",
     "BMS_LatchStatus",
-    "BMS_TractiveSystem"
+    "BMS_TractiveSystem",
+    "INVFL_FLInverterInfo1",
+    "INVFR_FRInverterInfo1",
+    "INVRL_RLInverterInfo1",
+    "INVRR_RRInverterInfo1",
+    "INVFL_FLInverterInfo2",
+    "INVFR_FRInverterInfo2",
+    "INVRL_RLInverterInfo2",
+    "INVRR_RRInverterInfo2"
   ]
 }

firmware/hexray/CRIT/src/app/screens/app_screen_alert.cpp

@@ -2,37 +2,29 @@
 #include "io_sevenSeg.hpp"
 #include "app_canAlerts.hpp"
 #include "util_retry.hpp"
-
 #include <algorithm>
 #include <cassert>
+#include <cstdio>
 
 static int     alert_index = 0;
 static uint8_t alert_count = 0;
-
-static void update()
+static void    update()
 {
-    std::array<io::seven_seg::digit, io::seven_seg::DIGITS> screen_buf{
-        { io::seven_seg::a, io::seven_seg::l, io::seven_seg::t, io::seven_seg::dot, io::seven_seg::dot,
-          io::seven_seg::dot, io::seven_seg::dot, io::seven_seg::dot, io::seven_seg::dot }
-    };
+    char screen_buf[io::seven_seg::DIGITS];
 
     std::array<app::can_alerts::Alert_Info, 20> buf{};
 
     if (const uint8_t fault_count = app::can_alerts::FaultInfo(buf); fault_count > 0)
     {
-        alert_count   = fault_count;
-        screen_buf[3] = io::seven_seg::f;
-        screen_buf[4] = io::seven_seg::l;
-        screen_buf[5] = io::seven_seg::t;
+        alert_count = fault_count;
+        snprintf(screen_buf, io::seven_seg::DIGITS, "altflt");
         // todo fault code
         goto write;
     }
     if (const uint8_t warning_count = app::can_alerts::WarningInfo(buf); warning_count > 0)
     {
-        alert_count   = warning_count;
-        screen_buf[3] = io::seven_seg::u;
-        screen_buf[4] = io::seven_seg::r;
-        screen_buf[5] = io::seven_seg::n;
+        alert_count = warning_count;
+        snprintf(screen_buf, io::seven_seg::DIGITS, "altwrn");
         // todo warning code
         goto write;
     }

firmware/hexray/CRIT/src/app/screens/app_screen_brightness.cpp

@@ -3,16 +3,17 @@
 #include "io_sevenSeg.hpp"
 
 #include <algorithm>
+#include <array>
 
 void static update()
 { // render brightness
-    std::array<io::seven_seg::digit, io::seven_seg::DIGITS> screen_buf{
-        { io::seven_seg::dot, io::seven_seg::dot, io::seven_seg::dot, io::seven_seg::b, io::seven_seg::r,
-          io::seven_seg::i, io::seven_seg::g, io::seven_seg::h, io::seven_seg::t }
-    };
-    screen_buf[0] = io::seven_seg::digit_to_segment(app::brightness / 100 % 10);
-    screen_buf[1] = io::seven_seg::digit_to_segment(app::brightness / 10 % 10);
-    screen_buf[2] = io::seven_seg::digit_to_segment(app::brightness / 1 % 10);
+    // std::array<char, io::seven_seg::DIGITS> screen_buf{ { ' ', ' ', ' ', 'b', 'r', 'i', 'g', 'h', 't' } };
+    // screen_buf[0] = static_cast<char>('0' + ((app::brightness / 100) % 10));
+    // screen_buf[1] = static_cast<char>('0' + ((app::brightness / 10) % 10));
+    // screen_buf[2] = static_cast<char>('0' + (app::brightness % 10));
+    char screen_buf[io::seven_seg::DIGITS];
+    snprintf(screen_buf, sizeof(screen_buf) + 1, "%3ubright", app::brightness);
+
     LOG_IF_ERR(io::seven_seg::write(screen_buf));
 }
 

firmware/hexray/CRIT/src/app/screens/app_screen_driveModes.cpp

@@ -1,16 +1,10 @@
-// #include <string.h>
-#include <cstdint>
 #include "app_screens.hpp"
 #include "app_canUtils.hpp"
 #include "io_sevenSeg.hpp"
 
+#include <cstdint>
 #include <cstring>
-// #include "app_screen_defines.hpp"
-// #include "app_canTx.h"
-// #include "app_canRx.h"
-// #include "io_shift_register.h"
-// #include "app_canUtils.h"
-//
+
 static auto              drive_mode       = app::can_utils::DriveMode::VANILLA;
 static constexpr uint8_t DRIVE_MODE_COUNT = static_cast<size_t>(app::can_utils::DriveMode::COUNT);
 
@@ -27,30 +21,17 @@ static void drive_mode_cw()
 
 static void drive_mode_update()
 {
-    // const uint8_t max_cell_temp                      = static_cast<uint8_t>(app_canRx_BMS_MaxCellTemp_get());
-    // uint8_t data_buffer[DIG] = { 0 };
-    std::array<io::seven_seg::digit, io::seven_seg::DIGITS> data_buffer{};
-    // memset(&data_buffer[0], SEG_PATTERN_DP, (sizeof(uint8_t) * SEVEN_SEG_DATA_LENGTH));
-
-    // data_buffer[3] = digit_to_segment(max_cell_temp / 100);
-    // data_buffer[4] = digit_to_segment((max_cell_temp / 10) % 10);
-    // data_buffer[5] = digit_to_segment(max_cell_temp % 10);
-
+    char data_buffer[io::seven_seg::DIGITS];
     switch (drive_mode)
     {
         case app::can_utils::DriveMode::VANILLA:
-            data_buffer[0] = io::seven_seg::v;
-            data_buffer[1] = io::seven_seg::a;
-            data_buffer[2] = io::seven_seg::n;
+            snprintf(data_buffer, io::seven_seg::DIGITS + 1, "van");
             break;
         case app::can_utils::DriveMode::LAUNCH:
-            data_buffer[0] = io::seven_seg::l;
-            data_buffer[1] = io::seven_seg::a;
-            data_buffer[2] = io::seven_seg::u;
+            snprintf(data_buffer, io::seven_seg::DIGITS + 1, "lau");
             break;
         case app::can_utils::DriveMode::TV:
-            data_buffer[0] = io::seven_seg::t;
-            data_buffer[1] = io::seven_seg::v;
+            snprintf(data_buffer, io::seven_seg::DIGITS + 1, "tv");
             break;
         case app::can_utils::DriveMode::COUNT:
         default:

firmware/hexray/CRIT/src/app/screens/app_screen_invError.cpp

@@ -0,0 +1,78 @@
+#include "app_screens.hpp"
+#include "io_sevenSeg.hpp"
+#include "util_retry.hpp"
+#include "app_canRx.hpp"
+#include <cassert>
+
+using namespace app::can_rx;
+
+static char screen_buf[io::seven_seg::DIGITS + 1];
+
+static uint16_t prev_fr = 0u;
+static uint16_t prev_rr = 0u;
+static uint16_t prev_fl = 0u;
+static uint16_t prev_rl = 0u;
+
+static void write_error_code(const char pos1, const char pos2, const uint16_t error_code)
+{
+    screen_buf[0] = pos1;
+    screen_buf[1] = pos2;
+
+    snprintf(&screen_buf[2], 6, "%05u", static_cast<unsigned>(error_code));
+    screen_buf[7] = '\0';
+    screen_buf[8] = '\0';
+}
+
+static void update()
+{
+    const bool     fl_inv_error  = INVFL_bError_get();
+    const bool     fr_inv_error  = INVFR_bError_get();
+    const bool     rl_inv_error  = INVRL_bError_get();
+    const bool     rr_inv_error  = INVRR_bError_get();
+    const uint16_t fr_error_code = INVFR_ErrorInfo_get();
+    const uint16_t rr_error_code = INVRR_ErrorInfo_get();
+    const uint16_t fl_error_code = INVFL_ErrorInfo_get();
+    const uint16_t rl_error_code = INVRL_ErrorInfo_get();
+
+    // priority of error codes is based on which wheels travel longer dist:
+    // 1. fr
+    // 2. rr
+    // 3. fl
+    // 4. rl
+    // If higher priority error code is on we'll just keep that on first two segs are the
+    // inverter last 5 the code from CAN
+
+    if (fr_inv_error && fr_error_code != prev_fr)
+    {
+        write_error_code('f', 'r', fr_error_code);
+        prev_fr = fr_error_code;
+    }
+    else if (rr_inv_error && rr_error_code != prev_rr)
+    {
+        write_error_code('r', 'r', rr_error_code);
+        prev_rr = rr_error_code;
+    }
+    else if (fl_inv_error && fl_error_code != prev_fl)
+    {
+        write_error_code('f', 'l', fl_error_code);
+        prev_fl = fl_error_code;
+    }
+    else if (rl_inv_error && rl_error_code != prev_rl)
+    {
+        write_error_code('r', 'l', rl_error_code);
+        prev_rl = rl_error_code;
+    }
+
+    const auto screen_write_result = util::retry(
+        []() -> result<void> {
+            return io::seven_seg::write(std::span<char, io::seven_seg::DIGITS>{ screen_buf, 9 });
+        },
+        3);
+    assert(screen_write_result.has_value());
+}
+
+constexpr app::screens::Screen app::screens::inv_error_screen = {
+    [] {},
+    [] {},
+    update,
+};