FaSTTUBe/SDCL
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FaSTTUBe:main
FaSTTUBe:bodgy-mcbodgeface-jasper
FaSTTUBe:bodgy-mcbodgeface
FaSTTUBe:bodgy-mcbodgefaceV1.2
FaSTTUBe:SDCLv2-bodge1
FaSTTUBe:full-feature-complete
FaSTTUBe:v1-FT22
FaSTTUBe:igrid
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compare: FaSTTUBe:SDCLv2-bodge1
Branches Tags
FaSTTUBe:bodgy-mcbodgeface-jasper
FaSTTUBe:bodgy-mcbodgeface
FaSTTUBe:bodgy-mcbodgefaceV1.2
FaSTTUBe:main
FaSTTUBe:SDCLv2-bodge1
FaSTTUBe:full-feature-complete
FaSTTUBe:v1-FT22
FaSTTUBe:igrid

5 Commits
main ... SDCLv2-bod

Author SHA1 Message Date
Oskar
18d02abf9d
Fix bug where WDG wouldn't initialize if ASMS is turned on after SDCL bootup 2023-07-31 01:27:56 +02:00
Oskar
3fedb7117b
Disable Watchdog in manual mode 2023-05-31 16:42:07 +02:00
Oskar
f9256860e8
Update bodge with actual wiring (was easier, AScSDC now inverted) 2023-05-28 12:59:18 +02:00
Oskar
460578e359
Only close SDC once conditions are met 
- Watchdog is initialized
- Potential discharge is completed (5s)
- Flag is set by ABX
 2023-05-24 13:29:38 +02:00
Oskar
1bc02e7f02
Add bodged PCB version with adapted code 
- No SDC latching
- No TSOn needed to close SDC
 2023-05-24 12:54:30 +02:00
4 changed files with 55 additions and 172 deletions
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47
sdcl-firmware/Core/Src/main.c
View File

@ -141,6 +141,8 @@ const mission_t mission2next[] = {M_MANUAL , M_SKIDPAD , M_AUTOX , M_EBSTEST
mission_t mission = M_NONE;
bool setup_done = false;
#ifdef WATCHDOG_STM
bool pHeartbeat = false;
bool WD_OK = false;
@ -208,6 +210,8 @@ int main(void)
// Ensure we start with SDC disabled
HAL_GPIO_WritePin(Watchdog_GPIO_Port, Watchdog_Pin, GPIO_PIN_RESET);
// Due to bodge, AScSDC is inverted, so it is set by default
HAL_GPIO_WritePin(AS_close_SDC_GPIO_Port, AS_close_SDC_Pin, GPIO_PIN_SET);
if (HAL_CAN_Start(&hcan) != HAL_OK)
Error_Handler();
@ -250,24 +254,28 @@ int main(void)
/* USER CODE BEGIN WHILE */
bool pAMC = false;
bool pASMS = false;
mission_t new_mission = mission; // By default, don't change mission
// Wait 1s to prevent bus error state while ABX is starting up
// Wait at least 1s to prevent bus error state while ABX is starting up
// Wait at least 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);
while (HAL_GetTick() < 5000) {
setMissionLED(M_MANUAL, GPIO_PIN_SET);
HAL_Delay(150);
setMissionLED(m, GPIO_PIN_RESET);
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();
WD_initialized = true;
setup_done = true;
while (true) {
// Compare with RESET for signals obtained via inverting buffer
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
@ -294,6 +302,12 @@ int main(void)
}
// TEMP: Only enable WD if in autonomous mode because EMI currently messes it up during R2D
if (ASMS > pASMS) {
MX_IWDG_Init();
WD_initialized = true;
}
txData = (tx_data_t) {
.signals = {
.asms_state = ASMS,
@ -315,6 +329,7 @@ int main(void)
// Store previous button value to detect signal edges
pAMC = AMC;
pASMS = ASMS;
HAL_Delay(TX_UPDATE_PERIOD);
@ -498,9 +513,6 @@ 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 (rxData.signals.heartbeat != pHeartbeat) {
@ -511,17 +523,28 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
}
pHeartbeat = rxData.signals.heartbeat;
bool close_sdc = setup_done && rxData.signals.as_close_sdc;
#endif
#ifdef WATCHDOG_UCC
HAL_GPIO_WritePin(Watchdog_GPIO_Port, Watchdog_Pin, rxData.signals.heartbeat);
bool close_sdc = rxData.signals.as_close_sdc;
#endif
// Set whether to close the relay
// Inverted because the NAND was bodged out
HAL_GPIO_WritePin(AS_close_SDC_GPIO_Port, AS_close_SDC_Pin, !close_sdc);
// 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 */

2
sdcl-firmware/sdcl-firmware Debug.launch
View File

@ -38,7 +38,7 @@
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<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/>
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<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Software system reset&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Software system reset&quot;,&quot;fLaunchAttribute&quot;:&quot;system_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Hardware reset&quot;,&quot;fLaunchAttribute&quot;:&quot;hardware_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset hardware\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Core reset&quot;,&quot;fLaunchAttribute&quot;:&quot;core_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset core\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;no_reset&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[&quot;-g&quot;]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.enableRtosProxy" value="false"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyCustomProperties" value=""/>
<stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriver" value="threadx"/>

4
sdcl-hardware/SDCL.kicad_pcb
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@ -12232,6 +12232,10 @@
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174
sdcl-hardware/npl.kicad_sch
View File

@ -516,125 +516,6 @@
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(effects (font (size 1.27 1.27)) hide)
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(effects (font (size 1.27 1.27)) hide)
)
(property "ki_keywords" "nand" (at 0 0 0)
(effects (font (size 1.27 1.27)) hide)
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