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

@@ -2,15 +2,14 @@
 #include "io_sevenSeg.hpp"
 #include "app_canAlerts.hpp"
 #include "util_retry.hpp"
-
 #include <algorithm>
 #include <cassert>
 
 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 }

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

@@ -0,0 +1,89 @@
+#include "app_screens.hpp"
+#include "io_sevenSeg.hpp"
+#include "util_retry.hpp"
+#include "app_canRx.hpp"
+#include <algorithm>
+#include <cassert>
+
+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 }
+};
+
+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 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();
+
+    // 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_inv_error != prev_fr)
+    {
+        screen_buf[0]             = io::seven_seg::f;
+        screen_buf[1]             = io::seven_seg::r;
+        const uint16_t error_code = INVFR_ErrorInfo_get();
+        uint16_t       divisor    = 10000u;
+        for (uint16_t i = 2; i < 7; i++, divisor /= 10u)
+        {
+            screen_buf[i] = io::seven_seg::digit_to_segment(static_cast<uint8_t>((error_code / divisor) % 10u));
+        }
+        prev_fr = error_code;
+    }
+    else if (rr_inv_error && rr_inv_error != prev_rr)
+    {
+        screen_buf[0]             = io::seven_seg::r;
+        screen_buf[1]             = io::seven_seg::r;
+        const uint16_t error_code = INVRR_ErrorInfo_get();
+        uint16_t       divisor    = 10000u;
+        for (uint16_t i = 2; i < 7; i++, divisor /= 10u)
+        {
+            screen_buf[i] = io::seven_seg::digit_to_segment(static_cast<uint8_t>((error_code / divisor) % 10u));
+        }
+        prev_rr = error_code;
+    }
+    else if (fl_inv_error && fl_inv_error != prev_fl)
+    {
+        screen_buf[0]             = io::seven_seg::f;
+        screen_buf[1]             = io::seven_seg::l;
+        const uint16_t error_code = INVFL_ErrorInfo_get();
+        uint16_t       divisor    = 10000u;
+        for (uint16_t i = 2; i < 7; i++, divisor /= 10u)
+        {
+            screen_buf[i] = io::seven_seg::digit_to_segment(static_cast<uint8_t>((error_code / divisor) % 10u));
+        }
+        prev_fl = error_code;
+    }
+    else if (rl_inv_error && rl_inv_error != prev_rl)
+    {
+        screen_buf[0]             = io::seven_seg::r;
+        screen_buf[1]             = io::seven_seg::l;
+        const uint16_t error_code = INVRL_ErrorInfo_get();
+        uint16_t       divisor    = 10000u;
+        for (uint16_t i = 2; i < 7; i++, divisor /= 10u)
+        {
+            screen_buf[i] = io::seven_seg::digit_to_segment(static_cast<uint8_t>((error_code / divisor) % 10u));
+        }
+        prev_rl = error_code;
+    }
+    const auto screen_write_result = util::retry([&] { return io::seven_seg::write(screen_buf); }, 3);
+    assert(screen_write_result.has_value());
+}
+
+constexpr app::screens::Screen app::screens::inv_error_screen = {
+    [] {},
+    [] {},
+    update,
+};

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

@@ -7,16 +7,35 @@
 namespace app::screens
 {
 /************************* Global Variables ***************************/
-inline constexpr size_t NUM_DEVICE_SCREENS = 3u;
+inline constexpr size_t NUM_DEVICE_SCREENS = 4u;
 inline constexpr size_t LV_MAX             = 3u;
 inline constexpr size_t HV_MAX             = 3u;
 static size_t           current_screen     = 0;
 
-static std::array<const Screen *, NUM_DEVICE_SCREENS> drive_screens = { {
-    &shdn_screen,
-    &brightness_screen,
-    &drive_modes_screen,
-} };
+static std::array<const Screen *, NUM_DEVICE_SCREENS> drive_screens = { { &shdn_screen, &brightness_screen,
+                                                                          &drive_modes_screen, &inv_error_screen } };
+
+static size_t screen_count()
+{
+    switch (can_rx::VC_State_get())
+    {
+        case can_utils::VCState::VC_DRIVE_WARNING_STATE:
+        case can_utils::VCState::VC_FAULT_STATE:
+        case can_utils::VCState::VC_INVERTER_FAULT_HANDELER:
+            // disable rotary
+            return 0;
+        case can_utils::VCState::VC_PCM_ON_STATE:
+        case can_utils::VCState::VC_HV_INIT_STATE:
+        case can_utils::VCState::VC_INVERTER_ON_STATE:
+        case can_utils::VCState::VC_BMS_ON_STATE:
+        case can_utils::VCState::VC_INIT_STATE:
+        default:
+            return LV_MAX;
+        case can_utils::VCState::VC_HV_ON_STATE:
+        case can_utils::VCState::VC_DRIVE_STATE:
+            return HV_MAX;
+    }
+}
 
 /*********************** Function Definitions ***************************/
 void init()
@@ -28,26 +47,10 @@ void init()
         []
         {
             // transition to next
-            size_t max_screens;
-            switch (can_rx::VC_State_get())
+            const size_t max_screens = screen_count();
+            if (max_screens == 0)
             {
-                case can_utils::VCState::VC_DRIVE_WARNING_STATE:
-                case can_utils::VCState::VC_FAULT_STATE:
-                case can_utils::VCState::VC_INVERTER_FAULT_HANDELER:
-                    // disable rotary
-                    return;
-                case can_utils::VCState::VC_PCM_ON_STATE:
-                case can_utils::VCState::VC_HV_INIT_STATE:
-                case can_utils::VCState::VC_INVERTER_ON_STATE:
-                case can_utils::VCState::VC_BMS_ON_STATE:
-                case can_utils::VCState::VC_INIT_STATE:
-                default:
-                    max_screens = LV_MAX;
-                    break;
-                case can_utils::VCState::VC_HV_ON_STATE:
-                case can_utils::VCState::VC_DRIVE_STATE:
-                    max_screens = HV_MAX;
-                    break;
+                return;
             }
             current_screen = (current_screen + 1) % max_screens;
         });
@@ -63,9 +66,11 @@ void tick()
     {
         case can_utils::VCState::VC_DRIVE_WARNING_STATE:
         case can_utils::VCState::VC_FAULT_STATE:
-        case can_utils::VCState::VC_INVERTER_FAULT_HANDELER:
             alerts_screen.update();
             return;
+        case can_utils::VCState::VC_INVERTER_FAULT_HANDELER:
+            inv_error_screen.update();
+            return;
         case can_utils::VCState::VC_INIT_STATE:
         case can_utils::VCState::VC_INVERTER_ON_STATE:
         case can_utils::VCState::VC_PCM_ON_STATE:

firmware/hexray/CRIT/src/app/screens/app_screens.hpp

@@ -17,6 +17,7 @@ extern const Screen shdn_screen;
 extern const Screen alerts_screen;
 extern const Screen brightness_screen;
 extern const Screen drive_modes_screen;
+extern const Screen inv_error_screen;
 
 /**
  * @brief Initalize all screens, and starting init screen.