brake is read

Core/Inc/pdu.h

@@ -88,4 +88,13 @@ void vRTDS(void *arg);
 extern osThreadId_t rtds_thread;
 extern const osThreadAttr_t rtds_attributes;
 
+/**
+ * @brief Read the status of brakes
+ * 
+ * @param pdu Pointer to struct representing the PDU
+ * @param status Buffer that fuse data will be written to
+ * @return int8_t Error code.
+ */
+int8_t read_brake_state(pdu_t *pdu, bool *status);
+
 #endif /* PDU_H */

Core/Inc/pedals.h

@@ -43,14 +43,6 @@ void increase_torque_limit();
 */
 void decrease_torque_limit();
 
-/**
- * @brief Get state of brakes
- * 
- * @return true Brakes engaged
- * @return false Brakes not engaged
- */
-bool get_brake_state();
-
 /**
  * @brief Get the current torque limit percentage
  * 

Core/Src/pdu.c

@@ -17,6 +17,8 @@
 #define CTRL_ADDR     PCA_I2C_ADDR_2
 #define RTDS_DURATION 1750 /* ms at 1kHz tick rate */
 
+#define BRAKE_STATE false
+
 static osMutexAttr_t pdu_mutex_attributes;
 
 //hi2c2 variable to pass to the function wrappers (defined in main.c)
@@ -368,3 +370,26 @@ int8_t read_shutdown(pdu_t *pdu, bool status[MAX_SHUTDOWN_STAGES])
 	osMutexRelease(pdu->mutex);
 	return 0;
 }
+
+int8_t read_brake_state(pdu_t *pdu, bool *status)
+{
+	if (!pdu)
+		return -1;
+
+	osStatus_t stat = osMutexAcquire(pdu->mutex, MUTEX_TIMEOUT);
+	if (stat)
+		return stat;
+
+	/* read pin over i2c */
+	uint8_t config = 0;
+	HAL_StatusTypeDef error = pca9539_read_pin(
+		pdu->ctrl_expander, PCA_INPUT_1_REG, BRKLIGHT_CTRL, &config);
+	if (error != HAL_OK) {
+		osMutexRelease(pdu->mutex);
+		return error;
+	}
+	*status = config;
+
+	osMutexRelease(pdu->mutex);
+	return 0;
+}

Core/Src/pedals.c

@@ -37,9 +37,6 @@ float torque_limit_percentage = 1.0;
 #define PEDAL_DIFF_THRESH 30
 #define PEDAL_FAULT_TIME  500 /* ms */
 
-static bool brake_state = false;
-osMutexId_t brake_mutex;
-
 enum { ACCELPIN_2, ACCELPIN_1, BRAKEPIN_1, BRAKEPIN_2 };
 
 void increase_torque_limit()
@@ -60,22 +57,6 @@ void decrease_torque_limit()
 	}
 }
 
-void set_brake_state(bool new_brake_state)
-{
-	osMutexAcquire(brake_mutex, osWaitForever);
-	brake_state = new_brake_state;
-	osMutexRelease(brake_mutex);
-}
-
-bool get_brake_state()
-{
-	bool temp;
-	osMutexAcquire(brake_mutex, osWaitForever);
-	temp = brake_state;
-	osMutexRelease(brake_mutex);
-	return temp;
-}
-
 float get_torque_limit_percentage()
 {
 	return torque_limit_percentage;
@@ -413,9 +394,6 @@ void vProcessPedals(void *pv_params)
 	/* Send CAN messages with raw pedal readings, we do not care if it fails*/
 	osTimerStart(send_pedal_data_timer, 100);
 
-	/* Mutexes for setting and getting pedal values and brake state */
-	brake_mutex = osMutexNew(NULL);
-
 	const uint16_t delay_time = 10; /* ms */
 	/* End application if we try to update motor at freq below this value */
 	assert(delay_time < MAX_COMMAND_DELAY);
@@ -441,7 +419,6 @@ void vProcessPedals(void *pv_params)
 
 		/* Turn brakelight on or off */
 		write_brakelight(pdu, brake_val > PEDAL_BRAKE_THRESH);
-		set_brake_state(brake_val > PEDAL_BRAKE_THRESH);
 
 		/* 0.0 - 1.0 */
 		float accelerator_value = (float)accel_val / 100.0;

Core/Src/state_machine.c

@@ -79,12 +79,16 @@ static int transition_functional_state(func_state_t new_state, pdu_t *pdu,
 				return 2;
 			}
 			/* Only turn on motor if brakes engaged and tsms is on */
+			bool brake_state;
+			if (!read_brake_state(pdu, &brake_state)) {
+				return 2;
+			}
 #ifdef TSMS_OVERRIDE
-			if (!get_brake_state()) {
+			if (!brake_state) {
 				return 3;
 			}
 #else
-			if (!get_brake_state() || !get_tsms()) {
+			if (!brake_state || !get_tsms()) {
 				return 3;
 			}
 #endif