random changes i found on my laptop
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@ -48,6 +48,15 @@ typedef enum {
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M_MANUAL = 7
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} mission_t;
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typedef enum {
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AS_OFF = 0,
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AS_MANUAL = 1,
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AS_READY = 2,
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AS_DRIVING = 3,
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AS_FINISHED = 4,
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AS_EMERGENCY = 5,
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} as_state_t;
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/*
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* BO_ 15 SDCL_rx: 3 ABX
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* SG_ as_close_sdc : 0|1@1+ (1,0) [0|1] "" SDCL
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@ -112,6 +121,7 @@ typedef union {
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#define CAN_ID_RX 0x00F
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#define CAN_ID_TX 0x010
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#define CAN_ID_JETSON_RX 0x0E0
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// Defined in DBC?
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#define TX_UPDATE_PERIOD 100
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@ -140,6 +150,7 @@ const uint16_t mission2led[] = {0 , AMI_ACCEL_Pin , AMI_SKIDPAD_Pin , AMI_AUTO
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const mission_t mission2next[] = {M_MANUAL , M_SKIDPAD , M_AUTOX , M_EBSTEST , M_INSPECTION , M_MANUAL , M_TRACKDRIVE , M_ACCEL };
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mission_t mission = M_NONE;
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as_state_t state = AS_OFF;
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bool setup_done = false;
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@ -228,7 +239,11 @@ int main(void)
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canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;
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canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;
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canfilterconfig.SlaveStartFilterBank = 14;
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if (HAL_CAN_ConfigFilter(&hcan, &canfilterconfig) != HAL_OK) {
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Error_Handler();
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}
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canfilterconfig.FilterBank = 1;
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canfilterconfig.FilterIdHigh = CAN_ID_JETSON_RX << (16 -11);
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if (HAL_CAN_ConfigFilter(&hcan, &canfilterconfig) != HAL_OK) {
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Error_Handler();
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}
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@ -271,6 +286,7 @@ int main(void)
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}
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setup_done = true;
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uint32_t last_msg = 0;
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while (true) {
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@ -289,48 +305,53 @@ int main(void)
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bool CLOSED = HAL_GPIO_ReadPin(CLOSED_GPIO_Port, CLOSED_Pin) == GPIO_PIN_RESET;
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bool REOPENED = HAL_GPIO_ReadPin(REOPENED_GPIO_Port, REOPENED_Pin) == GPIO_PIN_RESET;
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bool AMC = HAL_GPIO_ReadPin(AMC_GPIO_Port, AMC_Pin) == GPIO_PIN_SET;
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// On signal edge. Debouncing usually not needed at these polling rates (10Hz)
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if (AMC < pAMC) {
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if (HAL_GetTick() - last_msg >= TX_UPDATE_PERIOD) {
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last_msg = HAL_GetTick();
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bool AMC = HAL_GPIO_ReadPin(AMC_GPIO_Port, AMC_Pin) == GPIO_PIN_SET;
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// On signal edge. Debouncing usually not needed at these polling rates (10Hz)
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if (AMC < pAMC) {
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// Reset LED to indicate transaction / mission change in progress
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setMissionLED(mission, GPIO_PIN_RESET);
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// Reset LED to indicate transaction / mission change in progress
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setMissionLED(mission, GPIO_PIN_RESET);
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new_mission = mission2next[mission];
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// New LED will be set once response from ABX is received
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new_mission = mission2next[mission];
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// New LED will be set once response from ABX is received
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}
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// TEMP: Only enable WD if in autonomous mode because EMI currently messes it up during R2D
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if (ASMS > pASMS) {
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MX_IWDG_Init();
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WD_initialized = true;
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}
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txData = (tx_data_t) {
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.signals = {
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.asms_state = ASMS,
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.sdc_state_1 = LV_SENSE_1,
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.sdc_state_2 = LV_SENSE_2,
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.sdc_state_3 = SDC_in_3V3,
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.heartbeat_ok = WD_OK,
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.sdc_ready = SDC_is_ready,
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.ts_start_muxed = TS_activate_MUXed,
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.latch_init_open = INITIAL_OPEN,
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.latch_closed = CLOSED,
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.latch_reopened = REOPENED,
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.as_mission = new_mission
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}
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};
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if (HAL_CAN_AddTxMessage(&hcan, &txHeader, txData.raw, &txMailbox) != HAL_OK)
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Error_Handler();
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// TEMP: Only enable WD if in autonomous mode because EMI currently messes it up during R2D
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if (ASMS > pASMS) {
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MX_IWDG_Init();
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WD_initialized = true;
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}
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// Store previous button value to detect signal edges
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pAMC = AMC;
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pASMS = ASMS;
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txData = (tx_data_t) {
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.signals = {
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.asms_state = ASMS,
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.sdc_state_1 = LV_SENSE_1,
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.sdc_state_2 = LV_SENSE_2,
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.sdc_state_3 = SDC_in_3V3,
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.heartbeat_ok = WD_OK,
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.sdc_ready = SDC_is_ready,
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.ts_start_muxed = TS_activate_MUXed,
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.latch_init_open = INITIAL_OPEN,
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.latch_closed = CLOSED,
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.latch_reopened = REOPENED,
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.as_mission = new_mission
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}
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};
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HAL_Delay(TX_UPDATE_PERIOD);
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if (HAL_CAN_AddTxMessage(&hcan, &txHeader, txData.raw, &txMailbox) != HAL_OK)
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Error_Handler();
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// Store previous button value to detect signal edges
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pAMC = AMC;
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pASMS = ASMS;
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}
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if (state != AS_OFF && state != AS_MANUAL && WD_initialized) {
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HAL_IWDG_Refresh(&hiwdg);
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WD_OK = true;
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}
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/* USER CODE END WHILE */
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@ -512,43 +533,46 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
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Error_Handler();
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// Discard if it's not for us (shouldn't happen thanks to filter, but just to be sure)
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if (rxHeader.StdId != CAN_ID_RX)
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return;
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if (rxHeader.StdId == CAN_ID_RX) {
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// return;
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#ifdef WATCHDOG_STM
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if (rxData.signals.heartbeat != pHeartbeat) {
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if (WD_initialized)
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HAL_IWDG_Refresh(&hiwdg);
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if (heartbeat_received) {
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WD_OK = true;
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if (rxData.signals.heartbeat != pHeartbeat) {
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if (WD_initialized)
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HAL_IWDG_Refresh(&hiwdg);
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if (heartbeat_received) {
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WD_OK = true;
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}
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heartbeat_received = true;
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//HAL_GPIO_WritePin(Watchdog_GPIO_Port, Watchdog_Pin, GPIO_PIN_SET);
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}
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heartbeat_received = true;
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//HAL_GPIO_WritePin(Watchdog_GPIO_Port, Watchdog_Pin, GPIO_PIN_SET);
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pHeartbeat = rxData.signals.heartbeat;
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bool close_sdc = setup_done && rxData.signals.as_close_sdc && WD_OK;
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#endif
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#ifdef WATCHDOG_UCC
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HAL_GPIO_WritePin(Watchdog_GPIO_Port, Watchdog_Pin, rxData.signals.heartbeat);
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bool close_sdc = rxData.signals.as_close_sdc;
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#endif
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// Set whether to close the relay. The port is inverted due to multiple bodges
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GPIO_PinState close_sdc_val = close_sdc ? GPIO_PIN_RESET : GPIO_PIN_SET;
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HAL_GPIO_WritePin(AS_close_SDC_GPIO_Port, AS_close_SDC_Pin, close_sdc_val);
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// Reset old mission LED
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setMissionLED(mission, GPIO_PIN_RESET);
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mission = rxData.signals.as_mission;
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setMissionLED(mission, GPIO_PIN_SET);
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// Set ASB Error status
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HAL_GPIO_WritePin(ASB_Error_GPIO_Port, ASB_Error_Pin, rxData.signals.asb_error);
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} else if (rxHeader.StdId == CAN_ID_JETSON_RX) {
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state = (rxData.raw[0] >> 3) & 0b111;
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}
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pHeartbeat = rxData.signals.heartbeat;
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bool close_sdc = setup_done && rxData.signals.as_close_sdc && WD_OK;
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#endif
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#ifdef WATCHDOG_UCC
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HAL_GPIO_WritePin(Watchdog_GPIO_Port, Watchdog_Pin, rxData.signals.heartbeat);
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bool close_sdc = rxData.signals.as_close_sdc;
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#endif
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// Set whether to close the relay. The port is inverted due to multiple bodges
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GPIO_PinState close_sdc_val = close_sdc ? GPIO_PIN_RESET : GPIO_PIN_SET;
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HAL_GPIO_WritePin(AS_close_SDC_GPIO_Port, AS_close_SDC_Pin, close_sdc_val);
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// Reset old mission LED
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setMissionLED(mission, GPIO_PIN_RESET);
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mission = rxData.signals.as_mission;
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setMissionLED(mission, GPIO_PIN_SET);
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// Set ASB Error status
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HAL_GPIO_WritePin(ASB_Error_GPIO_Port, ASB_Error_Pin, rxData.signals.asb_error);
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}
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