compare app vs raw

firmware/projects/LVIocheckout/inc/app.h

@@ -0,0 +1,24 @@
+#include "shared/periph/gpio.h"
+
+class Subsystem {
+public:
+    /**
+     * @brief Construct a new Subsystem object
+     *
+     * @param enable_output Digital Output which enables the subsystem.
+     * enabled).
+     */
+    Subsystem(shared::periph::DigitalOutput& enable_output)
+        : enable_output_(enable_output) {}
+
+    inline virtual void Enable() const {
+        enable_output_.SetHigh();
+    }
+
+    inline virtual void Disable() const {
+        enable_output_.SetLow();
+    }
+
+private:
+    shared::periph::DigitalOutput& enable_output_;
+};

firmware/projects/LVIocheckout/main.cc

@@ -4,46 +4,64 @@
 #include <cstdint>
 #include <regex>
 
+#include "app.h"
 #include "bindings.h"
-#include "inc/bindings.h"
 #include "shared/periph/gpio.h"
 #include "shared/periph/pwm.h"
 #include "shared/util/mappers/identity.h"
 #include "shared/util/mappers/mapper.h"
 
+Subsystem front_controller{bindings::front_controller_en};
+
 int main(void) {
     bindings::Initialize();
 
     while (true) {
         // bool dcdc_valid = bindings::dcdc_valid.Read();
         // TODO: set a digital out to this value.
-        bindings::accumulator_en.SetHigh();
-        bindings::dcdc_en.SetHigh();
-        bindings::tsal_en.SetHigh();
-        bindings::raspberry_pi_en.SetHigh();
-        bindings::front_controller_en.SetHigh();
-        bindings::speedgoat_en.SetHigh();
-        bindings::motor_ctrl_precharge_en.SetHigh();
-        bindings::motor_ctrl_en.SetHigh();
-        bindings::imu_gps_en.SetHigh();
-        bindings::shutdown_circuit_en.SetHigh();
-        bindings::inverter_en.SetHigh();
+        // bindings::accumulator_en.SetHigh();
+        // bindings::dcdc_en.SetHigh();
+        // bindings::tsal_en.SetHigh();
+        // bindings::raspberry_pi_en.SetHigh();
+        // bindings::front_controller_en.SetHigh();
 
-        bindings::DelayMS(1000);
+        for (int i = 0; i < 4; i++) {
+            front_controller.Enable();
+            bindings::DelayMS(500);
+            front_controller.Disable();
+            bindings::DelayMS(500);
+        }
 
-        bindings::accumulator_en.SetLow();
-        bindings::dcdc_en.SetLow();
-        bindings::tsal_en.SetLow();
-        bindings::raspberry_pi_en.SetLow();
-        bindings::front_controller_en.SetLow();
-        bindings::speedgoat_en.SetLow();
-        bindings::motor_ctrl_precharge_en.SetLow();
-        bindings::motor_ctrl_en.SetLow();
-        bindings::imu_gps_en.SetLow();
-        bindings::shutdown_circuit_en.SetLow();
-        bindings::inverter_en.SetLow();
+        bindings::DelayMS(1000);
 
+        for (int i = 0; i < 2; i++) {
+            bindings::front_controller_en.SetHigh();
+            bindings::DelayMS(1000);
+            bindings::front_controller_en.SetLow();
+            bindings::DelayMS(1000);
+        }
         bindings::DelayMS(1000);
+
+        // bindings::speedgoat_en.SetHigh();
+        // bindings::motor_ctrl_precharge_en.SetHigh();
+        // bindings::motor_ctrl_en.SetHigh();
+        // bindings::imu_gps_en.SetHigh();
+        // bindings::shutdown_circuit_en.SetHigh();
+        // bindings::inverter_en.SetHigh();
+
+        // bindings::accumulator_en.SetLow();
+        // bindings::dcdc_en.SetLow();
+        // bindings::tsal_en.SetLow();
+        // bindings::raspberry_pi_en.SetLow();
+
+        // bindings::speedgoat_en.SetLow();
+        // bindings::motor_ctrl_precharge_en.SetLow();
+        // bindings::motor_ctrl_en.SetLow();
+        // bindings::imu_gps_en.SetLow();
+        // bindings::shutdown_circuit_en.SetLow();
+        // bindings::inverter_en.SetLow();
+
+        // bindings::DelayMS(1000);
     }
 
     return 0;

firmware/projects/LVIocheckout/platforms/stm32f767/cubemx/board_config.ioc

@@ -246,7 +246,7 @@ ProjectManager.FreePins=false
 ProjectManager.HalAssertFull=false
 ProjectManager.HeapSize=0x200
 ProjectManager.KeepUserCode=false
-ProjectManager.LastFirmware=true
+ProjectManager.LastFirmware=false
 ProjectManager.LibraryCopy=1
 ProjectManager.MainLocation=Src
 ProjectManager.NoMain=true