Freerb/lv comp gpio (#139)

* disables gpio and adds delays to help debug

* updates inverted pin states

* lv debugging - works as expected in this commit

* removes debug delays

firmware/projects/LVController/inc/app.h

@@ -3,6 +3,8 @@
 
 #include <cmath>
 
+#include "bindings.h"
+#include "can_messages.h"
 #include "shared/comms/can/can_bus.h"
 #include "shared/os/mutex.h"
 #include "shared/periph/gpio.h"

firmware/projects/LVController/main.cc

@@ -35,8 +35,11 @@ Subsystem imu_gps{bindings::imu_gps_en};
 Subsystem shutdown_circuit{bindings::shutdown_circuit_en};
 Subsystem inverter{bindings::inverter_switch_en};
 
+auto dcdc_en_inverted =
+    shared::periph::InvertedDigitalOutput(bindings::dcdc_en);
+
 DCDC dcdc{
-    bindings::dcdc_en,
+    dcdc_en_inverted,
     bindings::dcdc_valid,
     bindings::dcdc_led_en,
 };
@@ -65,7 +68,7 @@ void DoPowerupSequence() {
 
     bindings::DelayMS(50);
 
-    raspberry_pi.Enable();
+    // raspberry_pi.Enable();
     state_tx.UpdateState(LvControllerState::RaspiEnabled);
 
     bindings::DelayMS(50);
@@ -75,7 +78,7 @@ void DoPowerupSequence() {
 
     bindings::DelayMS(100);
 
-    speedgoat.Enable();
+    // speedgoat.Enable();
     state_tx.UpdateState(LvControllerState::SpeedgoatEnabled);
 
     bindings::DelayMS(100);
@@ -95,7 +98,7 @@ void DoPowerupSequence() {
 
     bindings::DelayMS(50);
 
-    imu_gps.Enable();
+    // imu_gps.Enable();
     state_tx.UpdateState(LvControllerState::ImuGpsEnabled);
 }
 
@@ -187,6 +190,8 @@ int main(void) {
     // Powerup sequence
     DoPowerupSequence();
 
+    while (true) continue;  // stop after fc enable debug
+
     do {
         state_tx.UpdateState(LvControllerState::WaitingForOpenContactors);
         bindings::DelayMS(50);

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

@@ -227,7 +227,7 @@ PG6.Signal=GPIO_Output
 PG7.GPIOParameters=PinState,GPIO_Label
 PG7.GPIO_Label=MOTOR_CONTROLLER_PRECHARGE_EN
 PG7.Locked=true
-PG7.PinState=GPIO_PIN_SET
+PG7.PinState=GPIO_PIN_RESET
 PG7.Signal=GPIO_Output
 PG8.GPIOParameters=PinState,GPIO_Label
 PG8.GPIO_Label=DCDC_EN