From 65695c6ec9712ffdb7f8c2ff521a7155cd723db4 Mon Sep 17 00:00:00 2001
From: Blake Freer <59676067+BlakeFreer@users.noreply.github.com>
Date: Tue, 16 Jul 2024 00:32:33 -0400
Subject: [PATCH] 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            |  2 ++
 firmware/projects/LVController/main.cc              | 13 +++++++++----
 .../platforms/stm32f767/cubemx/board_config.ioc     |  2 +-
 3 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/firmware/projects/LVController/inc/app.h b/firmware/projects/LVController/inc/app.h
index 8851b46cd..51f466137 100644
--- a/firmware/projects/LVController/inc/app.h
+++ b/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"
diff --git a/firmware/projects/LVController/main.cc b/firmware/projects/LVController/main.cc
index 3431ca56d..24652fbc6 100644
--- a/firmware/projects/LVController/main.cc
+++ b/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);
diff --git a/firmware/projects/LVController/platforms/stm32f767/cubemx/board_config.ioc b/firmware/projects/LVController/platforms/stm32f767/cubemx/board_config.ioc
index 790563095..6a2da2f13 100644
--- a/firmware/projects/LVController/platforms/stm32f767/cubemx/board_config.ioc
+++ b/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