Initial Commit

App/Src/tasks/arming.cpp

@@ -0,0 +1,65 @@
+/*
+ * arming.cpp
+ *
+ *  Created on: Jun 17, 2024
+ *      Author: carlos
+ */
+
+#include <tasks/arming.hpp>
+#include <sta/debug/debug.hpp>
+#include "can.h"
+#include <sta/tacos.hpp>
+
+#include <cmsis_os2.h>
+
+namespace tasks
+{
+	ArmingTask::ArmingTask() : TacosThread("ARMING", osPriorityHigh)
+	{
+	}
+
+	void ArmingTask::init()
+	{
+		// Stop shorting the igniters (NC so they are always shorted until high signal is sent)
+		HAL_GPIO_WritePin(SHORTING_GROUPA, SHORTING_PIN_A, GPIO_PIN_SET);
+		HAL_GPIO_WritePin(SHORTING_GROUPB, SHORTING_PIN_B, GPIO_PIN_SET);
+		HAL_GPIO_WritePin(SHORTING_GROUPC, SHORTING_PIN_C, GPIO_PIN_SET);
+		HAL_GPIO_WritePin(SHORTING_GROUPD, SHORTING_PIN_D, GPIO_PIN_SET);
+		HAL_GPIO_WritePin(SHORTING_GROUPE, SHORTING_PIN_E, GPIO_PIN_SET);
+		HAL_GPIO_WritePin(SHORTING_GROUPF, SHORTING_PIN_F, GPIO_PIN_SET);
+
+		this->sleep(500); // 500ms delay
+
+		// Arming the igniters
+		HAL_GPIO_WritePin(ARMING_GROUPA, ARMING_PIN_A, GPIO_PIN_SET);
+		HAL_GPIO_WritePin(ARMING_GROUPB, ARMING_PIN_B, GPIO_PIN_SET);
+		HAL_GPIO_WritePin(ARMING_GROUPC, ARMING_PIN_C, GPIO_PIN_SET);
+		HAL_GPIO_WritePin(ARMING_GROUPD, ARMING_PIN_D, GPIO_PIN_SET);
+		HAL_GPIO_WritePin(ARMING_GROUPE, ARMING_PIN_E, GPIO_PIN_SET);
+		HAL_GPIO_WritePin(ARMING_GROUPF, ARMING_PIN_F, GPIO_PIN_SET);
+
+#ifdef STA_TACOS_CAN_BUS_ENABLED
+		CanSysMsg msg;
+
+		msg.payload[0] = 1; // Send 1 to indicate that the igniters are armed
+
+		msg.header.payloadLength = 1;
+		msg.header.sid = ARMING_CAN_ID;
+		msg.header.eid = 0;
+		msg.header.format = 0;
+
+		sta::tacos::queueCanBusMsg(msg, 0);
+#endif // STA_TACOS_CAN_BUS_ENABLED
+
+// Terminate the thread until next state
+#ifdef STA_TACOS_WATCHDOG_ENABLED
+		this->watchdogIgnore();
+#endif // STA_TACOS_WATCHDOG_ENABLED
+	}
+
+	void ArmingTask::func()
+	{
+		sleep(osWaitForever);
+	}
+
+} // namespace tasks