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Merge pull request #52 from LexxPluss/HWDEV-2285-fix-wrong-led-indicator
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HWDEV-2285 fix wrong led indicator in power down sequence
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@ar90n
ar90n committed Sep 10, 2024
2 parents 8cf7b53 + 9de8b26 commit 66e4d14
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Showing 3 changed files with 27 additions and 10 deletions.
22 changes: 16 additions & 6 deletions lexxpluss_apps/src/board_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1081,8 +1081,16 @@ class fan_driver { // Variables Implemented
class boardstate_controller { // No pins declared
public:
void init() {
reset();
k_msgq_init(&msgq_board_pb_rx, msgq_board_pb_rx_buffer, sizeof (msg_rcv_pb), 8);
}
void reset() {
heartbeat_detect = false;
ros_heartbeat_timeout = false;
emergency_stop = true;
power_off = false;
wheel_poweroff = false;
}
void poll() {
msg_rcv_pb msg;
if (k_msgq_get(&msgq_board_pb_rx, &msg, K_NO_WAIT) == 0) {
Expand Down Expand Up @@ -1335,7 +1343,7 @@ class state_controller { // Variables Implemented

switch (state) {
case POWER_STATE::OFF:
if (ksw.is_maintenance()) {
if (ksw.is_maintenance() || is_lockdown) {
// empty here
} else if(psw.get_state() == power_switch::STATE::RELEASED){
set_new_state(POWER_STATE::WAIT_SW);
Expand Down Expand Up @@ -1616,13 +1624,14 @@ class state_controller { // Variables Implemented
case POWER_STATE::OFF: {
LOG_INF("enter OFF\n");
poweron_by_switch = false;
mbd.reset();
psw.set_led(false);
rsw.set_led(false);
bsw.request_reset();
dcdc.set_enable(false);

// Set LED OFF
led_controller::msg const msg_led{led_controller::msg::NONE, 0};
led_controller::msg const msg_led{led_controller::msg::NONE, 0, 1};
while (k_msgq_put(&led_controller::msgq, &msg_led, K_NO_WAIT) != 0)
k_msgq_purge(&led_controller::msgq);
} break;
Expand Down Expand Up @@ -1718,6 +1727,7 @@ class state_controller { // Variables Implemented
} break;
case POWER_STATE::LOCKDOWN: {
LOG_INF("enter LOCKDOWN\n");
is_lockdown = true;
wsw.set_disable(true);
gpio_dt_spec gpio_dev = GET_GPIO(v_wheel);
if (!gpio_is_ready_dt(&gpio_dev)) {
Expand All @@ -1728,22 +1738,22 @@ class state_controller { // Variables Implemented
ac.set_enable(false);

// Set LED
led_controller::msg const msg_led{led_controller::msg::LOCKDOWN, 1000000000};
led_controller::msg const msg_led{led_controller::msg::LOCKDOWN, 1000000000, 10};
while (k_msgq_put(&led_controller::msgq, &msg_led, K_NO_WAIT) != 0)
k_msgq_purge(&led_controller::msgq);
} break;
case POWER_STATE::OFF_WAIT: {
LOG_INF("enter OFF_WAIT\n");
timer_shutdown = k_uptime_get(); // timer reset
if (psw.get_state() == power_switch::STATE::PUSHED)
if (psw.get_state() == power_switch::STATE::PUSHED || ksw.is_maintenance())
shutdown_reason = SHUTDOWN_REASON::SWITCH;
if (mbd.power_off_from_ros())
shutdown_reason = SHUTDOWN_REASON::ROS;
if (!bmu.is_ok())
shutdown_reason = SHUTDOWN_REASON::BMU;

// Set LED
led_controller::msg const msg_led{led_controller::msg::SHOWTIME, 0};
led_controller::msg const msg_led{led_controller::msg::SHOWTIME, 60000};
while (k_msgq_put(&led_controller::msgq, &msg_led, K_NO_WAIT) != 0)
k_msgq_purge(&led_controller::msgq);
} break;
Expand Down Expand Up @@ -1832,7 +1842,7 @@ class state_controller { // Variables Implemented
k_timer current_check_timeout, charge_guard_timeout;
const device *dev_wdi{nullptr};
bool poweron_by_switch{false}, current_check_enable{false}, charge_guard_asserted{false},
last_wheel_poweroff{false};
last_wheel_poweroff{false}, is_lockdown{false};
} impl;

int cmd_power_on(const shell *shell, size_t argc, char **argv)
Expand Down
10 changes: 8 additions & 2 deletions lexxpluss_apps/src/led_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,14 +49,20 @@ class led_message_receiver {
bool get_message(msg &output) {
bool updated{false};
if (msg message_new; k_msgq_get(&msgq, &message_new, K_MSEC(DELAY_MS)) == 0) {
if (message.interrupt_ms > 0) {
if (message.priority < message_new.priority) {
LOG_INF("interrupted pattern %u %ums %dpri", message_new.pattern, message_new.interrupt_ms, message_new.priority);
message_interrupted = message;
cycle_interrupted = k_cycle_get_32();
message = message_new;
updated = true;
} else if (message.interrupt_ms > 0) {
if (message_new.interrupt_ms == 0) {
message_interrupted = message_new;
}
} else {
if (is_new_message(message_new)) {
if (message_new.interrupt_ms > 0) {
LOG_INF("interrupted pattern %u %ums", message_new.pattern, message_new.interrupt_ms);
LOG_INF("interrupted pattern %u %ums %dpri", message_new.pattern, message_new.interrupt_ms, message_new.priority);
message_interrupted = message;
cycle_interrupted = k_cycle_get_32();
}
Expand Down
5 changes: 3 additions & 2 deletions lexxpluss_apps/src/led_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,8 +39,8 @@ struct can_format {

struct msg {
msg() : pattern(NONE), interrupt_ms(0) {}
msg(uint32_t pattern, uint32_t interrupt_ms) :
pattern(pattern), interrupt_ms(interrupt_ms) {}
msg(uint32_t pattern, uint32_t interrupt_ms, uint8_t priority=0) :
pattern(pattern), interrupt_ms(interrupt_ms), priority(priority) {}
msg(can_format frame) : pattern(frame.pattern), cpm(frame.count_per_minutes), rgb{frame.rgb[0],frame.rgb[1],frame.rgb[2]} {}

msg(const char *str) {
Expand Down Expand Up @@ -104,6 +104,7 @@ struct msg {
uint8_t pattern{NONE};
uint32_t interrupt_ms{0}, cpm{0};
uint8_t rgb[3]{0, 0, 0};
uint8_t priority{0};
static constexpr uint8_t NONE{0};
static constexpr uint8_t EMERGENCY_STOP{1};
static constexpr uint8_t AMR_MODE{2};
Expand Down

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