state rejection reasons #351
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caiodasilva2005
requested changes
Sep 15, 2025
Core/Inc/state_machine.h
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| } nero_menu_t; | ||
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| typedef enum { | ||
| NO_ERROR, |
Contributor
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nitpick: can you change to like START_TRANSITION_OK or thing like that
| ENTER_DRIVE_BREAKS_NOT_ENGAGED, | ||
| ENTER_GAMES_TSMS_ON, | ||
| ENTER_GAMES_WHILE_MOVING | ||
| } state_transition_error_t; |
Contributor
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just so you dont have to it bitshift these in the code later you coulddo it like this:
typedef enum {
ERROR_OK = 0,
REVERSE_DISABLED = 1 << 0,
DRIVE_FROM_FAULT = 1 << 1,
ENTER_DRIVE_DISABLED = 1 << 2,
ENTER_DRIVE_TSMS_OFF = 1 << 3,
ENTER_DRIVE_BREAKS_NOT_ENGAGED = 1 << 4,
ENTER_GAMES_TSMS_ON = 1 << 5,
ENTER_GAMES_WHILE_MOVING = 1 << 6
} state_transition_error_t;
Then you can just OR them together with no bit shift
| case F_REVERSE: | ||
| #ifdef DISABLE_REVERSE | ||
| printf("Reverse is disabled."); | ||
| cerberus_state.transition_error = (1 << REVERSE_DISABLED); |
Contributor
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with the above comment, then just OR REVERSE_DISABLED into the transition_error byte with no bit shift
Core/Src/state_machine.c
Outdated
| cerberus_state.transition_error |= (1 << ENTER_DRIVE_BREAKS_NOT_ENGAGED); | ||
| } | ||
| if (cerberus_state.functional == FAULTED) { | ||
| cerberus_state.transition_error |= (1 << DRIVE_FROM_FAULT); |
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Changes
Added an enum for the different reasons a state change can be rejected. Sends 8 bits over can representing the 8 reasons (bc more than 1 can be true at the same time)
Notes
Wasn't really sure what to put for the sim so I just added the interpretation as if it were a number although obv that doesn't make sense.
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Closes #330