Precharge/Contactor Drivers

[GavinW-UT]

No description provided.

[gemini-code-assist]

Summary of Changes

Hello @GavinW-UT, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request establishes the initial firmware structure for an STM32G4xx microcontroller. It configures the system clock and essential peripherals such as ADCs, UART, and GPIOs. The changes lay the groundwork for critical functionalities, including the acquisition of motor and battery voltage data and the preliminary logic for a battery precharge sequence, which is vital for safe power-up in high-voltage systems.

Highlights

• Initial STM32G4xx Firmware Setup: The pull request introduces the foundational firmware for an STM32G4xx microcontroller, including comprehensive clock configuration and initialization of essential peripherals like GPIO, ADCs, and UART.
• ADC Voltage Reading Implementation: Functions for reading motor and battery voltages via two Analog-to-Digital Converters (ADC1 and ADC2) have been implemented, converting raw ADC values into floating-point voltage measurements.
• Precharge Logic Outline: Preliminary precharge logic has been outlined, incorporating voltage monitoring, overvoltage detection, and control signals for precharge and main contactors based on voltage ratios and thresholds.

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[gemini-code-assist]

Code Review

This pull request introduces the initial firmware structure, including clock and ADC configuration, an ADC reading function, and precharge logic. The changes are a good start, but there are several critical issues that need to be addressed, including an incorrect file include, syntax errors, macros with trailing semicolons, and a potential division-by-zero error in the precharge logic. There is also a high-severity issue with an unhandled overvoltage condition. I've provided suggestions to fix these critical bugs and improve the code's robustness and safety. Additionally, there are some medium-severity suggestions for future performance improvements.

[Rav4s]

Good start, I left some comments. I think the main thing is to start compartmentalizing stuff into driver files (don't put all this in main) and write tests for each of those drivers. Also make sure to use the BSP ADC instead of the low-level HAL functions. and get all pins defined before continuing to hardcode stuff

[Rav4s]

Check the build output on github when you commit, the code doesn't compile for various reasons. You should be compiling and testing locally before pushing.

I don't see a test for precharge ADC reading, can you add a test that just samples the ADCs and prints the raw value + converted voltages?

Good work addressing the previous comments, I added some more :P

[Rav4s]

you should get the contactor functions written as well, work with @CraigGleason7 on this, i think he has most of that stuff done already for BPS Leader

[Rav4s]

nice job, this is a huge improvement already! left a few more comments, let's start getting the test fleshed out so you can test on hardware soon

[Rav4s]

you need to have a main for anything to execute in a test file. add your init functions for VCU to initialize clock, pins, adcs, leds, anything else you need. cubemx can generate most of these, just copy and paste what you need. also pls build this and test on LSOM once embedded-sharepoint adc is updated