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Adapt code to purged PCB version. Also wait 5s for discharge

This commit is contained in:
Oskar Winkels 2023-05-24 13:10:42 +02:00
parent d84d1b6eb0
commit 13435d0cea
Signed by: o.winkels
GPG Key ID: E7484A06E99DAEF1
1 changed files with 22 additions and 31 deletions
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53
sdcl-firmware/Core/Src/main.c
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@ -118,9 +118,6 @@ typedef union {
#define AMI_GPIO_Port GPIOB
//#define WATCHDOG_UCC
#define WATCHDOG_STM
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
@ -141,11 +138,9 @@ const mission_t mission2next[] = {M_MANUAL , M_SKIDPAD , M_AUTOX , M_EBSTEST
mission_t mission = M_NONE;
#ifdef WATCHDOG_STM
bool pHeartbeat = false;
bool WD_OK = false;
bool WD_initialized = false;
#endif
/* USER CODE END PV */
@ -206,9 +201,6 @@ int main(void)
// Freeze WDG when debugging
__HAL_DBGMCU_FREEZE_IWDG();
// Ensure we start with SDC disabled
HAL_GPIO_WritePin(Watchdog_GPIO_Port, Watchdog_Pin, GPIO_PIN_RESET);
if (HAL_CAN_Start(&hcan) != HAL_OK)
Error_Handler();
@ -253,14 +245,17 @@ int main(void)
mission_t new_mission = mission; // By default, don't change mission
// Wait 1s to prevent bus error state while ABX is starting up
// Wait 5s for the discharge of the DC link (so AMS can't restart)
// During that time, show loading animation to show LEDs work
setMissionLED(M_MANUAL, GPIO_PIN_SET);
HAL_Delay(150);
setMissionLED(M_MANUAL, GPIO_PIN_RESET);
for (mission_t m = M_ACCEL; m != M_MANUAL; m = mission2next[m]) {
setMissionLED(m, GPIO_PIN_SET);
HAL_Delay(150);
setMissionLED(m, GPIO_PIN_RESET);
while (HAL_GetTick() < 5000) {
setMissionLED(M_MANUAL, GPIO_PIN_SET);
HAL_Delay(150);
setMissionLED(M_MANUAL, GPIO_PIN_RESET);
for (mission_t m = M_ACCEL; m != M_MANUAL; m = mission2next[m]) {
setMissionLED(m, GPIO_PIN_SET);
HAL_Delay(150);
setMissionLED(m, GPIO_PIN_RESET);
}
}
MX_IWDG_Init();
@ -270,9 +265,6 @@ int main(void)
bool TS_activate_MUXed = HAL_GPIO_ReadPin(TS_activate_MUXed_GPIO_Port, TS_activate_MUXed_Pin) == GPIO_PIN_RESET;
bool ASMS = HAL_GPIO_ReadPin(ASMS_GPIO_Port, ASMS_Pin) == GPIO_PIN_RESET;
#ifdef WATCHDOG_UCC
bool WD_OK = HAL_GPIO_ReadPin(WD_OK_GPIO_Port, WD_OK_Pin) == GPIO_PIN_RESET;
#endif
bool SDC_is_ready = HAL_GPIO_ReadPin(SDC_is_ready_GPIO_Port, SDC_is_ready_Pin) == GPIO_PIN_SET;
bool SDC_in_3V3 = HAL_GPIO_ReadPin(SDC_in_3V3_GPIO_Port, SDC_in_3V3_Pin) == GPIO_PIN_SET;
bool LV_SENSE_1 = HAL_GPIO_ReadPin(LV_SENSE_1_GPIO_Port, LV_SENSE_1_Pin) == GPIO_PIN_SET;
@ -498,30 +490,29 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
if (rxHeader.StdId != CAN_ID_RX)
return;
HAL_GPIO_WritePin(ASB_Error_GPIO_Port, ASB_Error_Pin, rxData.signals.asb_error);
HAL_GPIO_WritePin(AS_close_SDC_GPIO_Port, AS_close_SDC_Pin, rxData.signals.as_close_sdc);
#ifdef WATCHDOG_STM
if (WD_initialized && rxData.signals.heartbeat != pHeartbeat) {
// Pet watchdog
HAL_IWDG_Refresh(&hiwdg);
// Set whether to close the relay
HAL_GPIO_WritePin(AS_close_SDC_GPIO_Port, AS_close_SDC_Pin, rxData.signals.as_close_sdc);
WD_OK = true;
if (rxData.signals.heartbeat != pHeartbeat) {
if (WD_initialized)
HAL_IWDG_Refresh(&hiwdg);
WD_OK = true;
HAL_GPIO_WritePin(Watchdog_GPIO_Port, Watchdog_Pin, GPIO_PIN_SET);
}
pHeartbeat = rxData.signals.heartbeat;
#endif
#ifdef WATCHDOG_UCC
HAL_GPIO_WritePin(Watchdog_GPIO_Port, Watchdog_Pin, rxData.signals.heartbeat);
#endif
// Reset old mission LED
setMissionLED(mission, GPIO_PIN_RESET);
mission = rxData.signals.as_mission;
setMissionLED(mission, GPIO_PIN_SET);
// Set ASB Error status
HAL_GPIO_WritePin(ASB_Error_GPIO_Port, ASB_Error_Pin, rxData.signals.asb_error);
}
/* USER CODE END 4 */