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PCM stuff #2121

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3b8afa4
simple
rijwal Jul 13, 2026
07cd735
undo testing stuff
rijwal Jul 13, 2026
893da4b
done
rijwal Jul 14, 2026
80727f7
bruh
rijwal Aug 24, 2026
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482 changes: 39 additions & 443 deletions .vscode/launch.json
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143 changes: 9 additions & 134 deletions .vscode/tasks.json
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Original file line number Diff line number Diff line change
Expand Up @@ -32,22 +32,6 @@
"command": "configure",
"preset": "${command:cmake.activeConfigurePresetName}"
},
{
"label": "Build Embedded Quintuna",
"detail": "CMake Generate step",
"group": "build",
"type": "cmake",
"command": "build",
"targets": [
"quintuna_BMS.hex",
"quintuna_VC.hex",
"quintuna_CRIT.hex",
"quintuna_RSM.hex",
"quintuna_FSM.hex",
"quintuna_DAM.hex",
"can_bus_load_quintuna"
]
},
{
"label": "Build Embedded Hexray",
"detail": "CMake Generate step",
Expand All @@ -69,88 +53,6 @@
"command": "clean",
"preset": "${command:cmake.activeBuildPresetName}"
},
{
"label": "Build Embedded: VCR (Quintuna)",
"group": "build",
"type": "cmake",
"command": "build",
"targets": [
"quintuna_VCR_app.elf",
]
},
{
"label": "Build Embedded: BMS (Quintuna)",
"group": "build",
"type": "cmake",
"command": "build",
"targets": [
"quintuna_BMS.hex",
]
},
{
"label": "Run Tests: BMS (Quintuna)",
"type": "shell",
"command": "${workspaceFolder}/build_fw_test/firmware/quintuna/BMS/quintuna_BMS_test",
"group": "test",
"presentation": {
"reveal": "always"
},
"problemMatcher": []
},
{
"label": "Build Embedded: VC (Quintuna)",
"group": "build",
"type": "cmake",
"command": "build",
"targets": [
"quintuna_VC.hex",
]
},
{
"label": "Build Embedded: CRIT (Quintuna)",
"group": "build",
"type": "cmake",
"command": "build",
"targets": [
"quintuna_CRIT.hex",
]
},
{
"label": "Build Embedded: DAM (Quintuna)",
"group": "build",
"type": "cmake",
"command": "build",
"targets": [
"quintuna_DAM.hex",
]
},
{
"label": "Build Embedded: RSM (Quintuna)",
"group": "build",
"type": "cmake",
"command": "build",
"targets": [
"quintuna_RSM.hex",
]
},
{
"label": "Build Embedded: FSM (Quintuna)",
"group": "build",
"type": "cmake",
"command": "build",
"targets": [
"quintuna_FSM.hex",
]
},
{
"label": "Build Embedded: PCM (Quintuna)",

@Jugveer-Sandher Jugveer-Sandher Jul 15, 2026

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nit: Similarly here wna delete all quintuna configs?

"group": "build",
"type": "cmake",
"command": "build",
"targets": [
"quintuna_PCM_app.elf",
]
},
{
"label": "Build Embedded: h7dev",
"group": "build",
Expand Down Expand Up @@ -178,33 +80,6 @@
"ssm.hex"
]
},
{
"label": "Build Tests: CRIT (Quintuna)",
"group": "build",
"type": "cmake",
"command": "build",
"targets": [
"quintuna_CRIT_test"
]
},
{
"label": "Build Tests: VC (Quintuna)",
"group": "build",
"type": "cmake",
"command": "build",
"targets": [
"quintuna_VC_test"
]
},
{
"label": "Build Tests: BMS (Quintuna)",
"group": "build",
"type": "cmake",
"command": "build",
"targets": [
"quintuna_BMS_test"
]
},
{
"label": "Build Embedded: BMS (Hexray)",
"group": "build",
Expand Down Expand Up @@ -313,6 +188,15 @@
"hexray_FSM_chimera.elf"
]
},
{
"label": "Build Embedded: PCM (Hexray)",
"group": "build",
"type": "cmake",
"command": "build",
"targets": [
"hexray_PCM_app.elf",
]
},
{
"label": "Build Embedded: RSM (Hexray)",
"group": "build",
Expand Down Expand Up @@ -386,15 +270,6 @@
"jsoncan_test"
]
},
{
"label": "CAN Bus Load: Quintuna",
"group": "build",
"type": "cmake",
"command": "build",
"targets": [
"can_bus_load_quintuna"
]
},
{
"label": "Run Telem Backend",
"type": "shell",
Expand Down
1 change: 1 addition & 0 deletions firmware/hexray/PCM/src/cubemx/Inc/main.h
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Original file line number Diff line number Diff line change
Expand Up @@ -70,6 +70,7 @@ extern "C"
#define SWO_GPIO_Port GPIOB
#define PCM_EN_Pin GPIO_PIN_5
#define PCM_EN_GPIO_Port GPIOB
#define PCM_EN_EXTI_IRQn EXTI9_5_IRQn
#define VICOR_SMBUS_SCL_Pin GPIO_PIN_6
#define VICOR_SMBUS_SCL_GPIO_Port GPIOB
#define VICOR_SMBUS_SDA_Pin GPIO_PIN_7
Expand Down
1 change: 1 addition & 0 deletions firmware/hexray/PCM/src/cubemx/Inc/stm32f4xx_it.h
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,7 @@ extern "C"
void UsageFault_Handler(void);
void DebugMon_Handler(void);
void SysTick_Handler(void);
void EXTI9_5_IRQHandler(void);
void I2C1_EV_IRQHandler(void);
void I2C1_ER_IRQHandler(void);
/* USER CODE BEGIN EFP */
Expand Down
17 changes: 8 additions & 9 deletions firmware/hexray/PCM/src/cubemx/PCM.ioc
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Original file line number Diff line number Diff line change
Expand Up @@ -24,14 +24,14 @@ Mcu.Pin6=PB6
Mcu.Pin7=PB7
Mcu.Pin8=VP_SYS_VS_Systick
Mcu.PinsNb=9
Mcu.ThirdParty0=STMicroelectronics.X-CUBE-SMBUS.2.1.0
Mcu.ThirdPartyNb=1
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F412RGTx
MxCube.Version=6.15.0
MxDb.Version=DB.6.0.150
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.EXTI9_5_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.I2C1_ER_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true
Expand Down Expand Up @@ -62,10 +62,12 @@ PB3.GPIO_Label=SWO
PB3.Locked=true
PB3.Mode=Trace_Asynchronous_SW
PB3.Signal=SYS_JTDO-SWO
PB5.GPIOParameters=GPIO_Label
PB5.GPIOParameters=GPIO_Label,GPIO_ITMode,GPIO_ModeDefaultEXTI
PB5.GPIO_ITMode=Interrupt_Rising_Falling_Edge
PB5.GPIO_Label=PCM_EN
PB5.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_RISING_FALLING
PB5.Locked=true
PB5.Signal=GPIO_Input
PB5.Signal=GPXTI5
PB6.GPIOParameters=GPIO_Label
PB6.GPIO_Label=VICOR_SMBUS_SCL
PB6.Locked=true
Expand Down Expand Up @@ -144,11 +146,8 @@ RCC.VCOI2SInputFreq_Value=1000000
RCC.VCOI2SOutputFreq_Value=192000000
RCC.VCOInputFreq_Value=1000000
RCC.VCOOutputFreq_Value=192000000
STMicroelectronics.X-CUBE-SMBUS.2.1.0.ApplicationJjApplication_Checked=false
STMicroelectronics.X-CUBE-SMBUS.2.1.0.IPParameters=SMB_master
STMicroelectronics.X-CUBE-SMBUS.2.1.0.SMB_master=1
STMicroelectronics.X-CUBE-SMBUS.2.1.0.SMbusJjSMBusIiPMBusIiStack_Checked=false
STMicroelectronics.X-CUBE-SMBUS.2.1.0_SwParameter=ApplicationCcApplicationJjApplication\:true;SMBusIiPMBusIiStackCcSMbusJjSMBus\:true;
SH.GPXTI5.0=GPIO_EXTI5
SH.GPXTI5.ConfNb=1
VP_SYS_VS_Systick.Mode=SysTick
VP_SYS_VS_Systick.Signal=SYS_VS_Systick
board=custom
2 changes: 1 addition & 1 deletion firmware/hexray/PCM/src/cubemx/PCM.ioc.md5
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@@ -1 +1 @@
9075300837875b8e54de77a35ad094c7
6c152407cb5a0d57cb1ccdd44010ea4c
6 changes: 5 additions & 1 deletion firmware/hexray/PCM/src/cubemx/Src/main.c
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Expand Up @@ -220,10 +220,14 @@ static void MX_GPIO_Init(void)

/*Configure GPIO pin : PCM_EN_Pin */
GPIO_InitStruct.Pin = PCM_EN_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(PCM_EN_GPIO_Port, &GPIO_InitStruct);

/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI9_5_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);

/* USER CODE BEGIN MX_GPIO_Init_2 */

/* USER CODE END MX_GPIO_Init_2 */
Expand Down
14 changes: 14 additions & 0 deletions firmware/hexray/PCM/src/cubemx/Src/stm32f4xx_it.c
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Expand Up @@ -173,6 +173,20 @@ void SysTick_Handler(void)
/* please refer to the startup file (startup_stm32f4xx.s). */
/******************************************************************************/

/**
* @brief This function handles EXTI line[9:5] interrupts.
*/
void EXTI9_5_IRQHandler(void)
{
/* USER CODE BEGIN EXTI9_5_IRQn 0 */

/* USER CODE END EXTI9_5_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(PCM_EN_Pin);
/* USER CODE BEGIN EXTI9_5_IRQn 1 */

/* USER CODE END EXTI9_5_IRQn 1 */
}

/**
* @brief This function handles I2C1 event interrupt.
*/
Expand Down
17 changes: 13 additions & 4 deletions firmware/hexray/PCM/src/tasks.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,12 +33,21 @@ static const hw::gpio pcm_en_in{ PCM_EN_GPIO_Port, PCM_EN_Pin };
static const hw::gpio lv_buck_en_out{ LV_BUCK_EN_GPIO_Port, LV_BUCK_EN_Pin };
static const hw::gpio led_out{ LED_GPIO_Port, LED_Pin };

static auto state = PcmState::OFF;
static auto state = PcmState::OFF;
static volatile bool pcm_en_state = false;

#ifdef PCM_DEBUG
static char debug_buf[1024];
#endif

void HAL_GPIO_EXTI_Callback(const uint16_t GPIO_Pin)

@Jugveer-Sandher Jugveer-Sandher Jul 15, 2026

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Curious, why does this need to be an interrupt instead of the polling we had?

{
if (GPIO_Pin == pcm_en_in.getPin())
{
pcm_en_state = pcm_en_in.readPin();

@Lucien950 Lucien950 Jul 15, 2026

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🗿

}
}

[[noreturn]] static void tasks_tick(void *arg)
{
forever
Expand Down Expand Up @@ -143,7 +152,7 @@ static char debug_buf[1024];
{
case PcmState::OFF:
{
if (pcm_en_in.readPin())
if (pcm_en_state)
{
LOG_INFO("trying to clear faults and turn on");
if (vicor::clearFaults().has_value() and vicor::operation(true).has_value())
Expand All @@ -161,7 +170,7 @@ static char debug_buf[1024];
}
case PcmState::VICOR_ONLY:
{
if (not pcm_en_in.readPin() and vicor::operation(false).has_value())
if (not pcm_en_state and vicor::operation(false).has_value())
{
LOG_INFO("Going to OFF state");
state = PcmState::OFF;
Expand All @@ -181,7 +190,7 @@ static char debug_buf[1024];
}
case PcmState::ON: // everything on
{
if (not pcm_en_in.readPin())
if (not pcm_en_state)
{
lv_buck_en_out.writePin(false);

Expand Down
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