Initial Commit

App/Src/tasks/fire.cpp

@@ -0,0 +1,131 @@
+/*
+ * fire.cpp
+ *
+ *  Created on: Jun 17, 2024
+ *      Author: carlos
+ */
+
+#include <tasks/fire.hpp>
+#include <sta/debug/debug.hpp>
+#include "can.h"
+#include <sta/tacos.hpp>
+#include <sta/config.hpp>
+#include <shared.hpp>
+
+#include <cmsis_os2.h>
+
+namespace tasks
+{
+    FireTask::FireTask() : TacosThread("IGNITOR_FIRE", osPriorityHigh)
+    {
+    }
+
+    void FireTask::init()
+    {
+        rres::setFired(0);
+    }
+
+    void FireTask::func()
+    {
+
+        // Firing the igniters
+
+        CanSysMsg msg;
+
+        msg.header.sid = FIRE_CAN_ID;
+        msg.header.eid = 0;
+        msg.header.format = 0;
+        msg.header.payloadLength = 1;
+
+        if (sta::tacos::getState() == stahr::DROGUE)
+        {
+            // Fire
+            HAL_GPIO_WritePin(FIRE_HATCH_GROUP1, FIRE_HATCH_PIN_1, GPIO_PIN_SET);
+            HAL_GPIO_WritePin(FIRE_HATCH_GROUP2, FIRE_HATCH_PIN_2, GPIO_PIN_SET);
+
+            // Send out fire information
+            msg.payload[0] = 1; // Event 1 = HATCH fired / drogue deployed
+            sta::tacos::queueCanBusMsg(msg, 0);
+
+            rres::setFired(1);
+
+            // Only leave on for a second to avoid shorting via the igniter
+            this->sleep(1000); // 1 second
+
+            HAL_GPIO_WritePin(FIRE_HATCH_GROUP1, FIRE_HATCH_PIN_1, GPIO_PIN_RESET);
+            HAL_GPIO_WritePin(FIRE_HATCH_GROUP2, FIRE_HATCH_PIN_2, GPIO_PIN_RESET);
+
+            this->sleep(50); // Delay before disarming igniters
+
+            // Disarm the igniters
+            HAL_GPIO_WritePin(ARMING_GROUPE, ARMING_PIN_E, GPIO_PIN_RESET);
+            HAL_GPIO_WritePin(ARMING_GROUPF, ARMING_PIN_F , GPIO_PIN_RESET);
+
+            // Short ignitors
+            HAL_GPIO_WritePin(SHORTING_GROUPE, SHORTING_PIN_E, GPIO_PIN_RESET);
+            HAL_GPIO_WritePin(SHORTING_GROUPF, SHORTING_PIN_F, GPIO_PIN_RESET);
+        }
+        else if (sta::tacos::getState() == stahr::MAIN)
+        {
+            HAL_GPIO_WritePin(FIRE_MAIN_GROUP1, FIRE_MAIN_PIN_1, GPIO_PIN_SET);
+            HAL_GPIO_WritePin(FIRE_MAIN_GROUP2, FIRE_MAIN_PIN_2, GPIO_PIN_SET);
+
+            // Send out fire information
+            msg.payload[0] = 2; // Event 2 = MAIN Parachute
+            sta::tacos::queueCanBusMsg(msg, 0);
+
+            rres::setFired(2);
+
+            // Only leave on for a second to avoid shorting via the igniter
+            this->sleep(1000); // 1 second
+
+            HAL_GPIO_WritePin(FIRE_MAIN_GROUP1, FIRE_MAIN_PIN_1, GPIO_PIN_RESET);
+            HAL_GPIO_WritePin(FIRE_MAIN_GROUP2, FIRE_MAIN_PIN_2, GPIO_PIN_RESET);
+
+            this->sleep(50); // Delay before disarming igniters
+
+            // Disarm the igniters
+            HAL_GPIO_WritePin(ARMING_GROUPC, ARMING_PIN_C, GPIO_PIN_RESET);
+            HAL_GPIO_WritePin(ARMING_GROUPD, ARMING_PIN_D, GPIO_PIN_RESET);
+
+            // Short ignitors
+            HAL_GPIO_WritePin(SHORTING_GROUPC, SHORTING_PIN_C, GPIO_PIN_RESET);
+            HAL_GPIO_WritePin(SHORTING_GROUPD, SHORTING_PIN_D, GPIO_PIN_RESET);
+        }
+        else if (sta::tacos::getState() == stahr::DISREEFING)
+        {
+            HAL_GPIO_WritePin(FIRE_DEREEFING_GROUP1, FIRE_DEREEFING_PIN_1, GPIO_PIN_SET);
+            HAL_GPIO_WritePin(FIRE_DEREEFING_GROUP2, FIRE_DEREEFING_PIN_2, GPIO_PIN_SET);
+
+            // Send out fire information
+            msg.payload[0] = 3; // Event 3 = Drogue Parachute
+            sta::tacos::queueCanBusMsg(msg, 0);
+
+            rres::setFired(3);
+
+            // Only leave on for a second to avoid shorting via the igniter
+            this->sleep(1000); // 1 second
+
+            HAL_GPIO_WritePin(FIRE_DEREEFING_GROUP1, FIRE_DEREEFING_PIN_1, GPIO_PIN_RESET);
+            HAL_GPIO_WritePin(FIRE_DEREEFING_GROUP2, FIRE_DEREEFING_PIN_2, GPIO_PIN_RESET);
+
+            this->sleep(50); // Delay before disarming igniters
+
+            // Disarm the igniters
+            HAL_GPIO_WritePin(ARMING_GROUPA, ARMING_PIN_A, GPIO_PIN_RESET);
+            HAL_GPIO_WritePin(ARMING_GROUPB, ARMING_PIN_B, GPIO_PIN_RESET);
+
+            // Short ignitors
+            HAL_GPIO_WritePin(SHORTING_GROUPA, SHORTING_PIN_A, GPIO_PIN_RESET);
+            HAL_GPIO_WritePin(SHORTING_GROUPB, SHORTING_PIN_B, GPIO_PIN_RESET);
+        }
+
+        // Terminate the thread until next state
+#ifdef STA_TACOS_WATCHDOG_ENABLED
+        this->watchdogIgnore();
+#endif // STA_TACOS_WATCHDOG_ENABLED
+
+        this->requestTermination();
+    }
+
+} // namespace tasks