From 13435d0ceaec08128fddc13cfc6e96382af3396c Mon Sep 17 00:00:00 2001
From: Oskar <oskar@winkels.berlin>
Date: Wed, 24 May 2023 13:10:42 +0200
Subject: [PATCH] Adapt code to purged PCB version. Also wait 5s for discharge

---
 sdcl-firmware/Core/Src/main.c | 53 +++++++++++++++--------------------
 1 file changed, 22 insertions(+), 31 deletions(-)

diff --git a/sdcl-firmware/Core/Src/main.c b/sdcl-firmware/Core/Src/main.c
index ecd257a..e0f4967 100644
--- a/sdcl-firmware/Core/Src/main.c
+++ b/sdcl-firmware/Core/Src/main.c
@@ -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 */