lv debugging - works as expected in this commit

firmware/projects/LVController/inc/app.h

@@ -43,14 +43,12 @@ class Subsystem {
         : enable_output_(enable_output) {}
 
     inline virtual void Enable() const {
-        bindings::DelayMS(1000);
+        bindings::DelayMS(10000);
 
-        return;  // disable gpio
         enable_output_.SetHigh();
     }
 
     inline virtual void Disable() const {
-        return;  // disable gpio
         enable_output_.SetLow();
     }
 
@@ -63,17 +61,14 @@ class Indicator {
     Indicator(shared::periph::DigitalOutput& output) : output_(output) {}
 
     inline void TurnOn() {
-        return;  // dsiable gpio
         output_.SetHigh();
     }
 
     inline void TurnOff() {
-        return;  // dsiable gpio
         output_.SetLow();
     }
 
     inline void SetState(bool value) {
-        return;  // dsiable gpio
         output_.Set(value);
     }
 
@@ -146,7 +141,6 @@ class Fan : public Subsystem {
     float duty_per_second_ = 0.0f;
 
     void SetPower(float power) const {
-        return;  // disable gpio
         pwm_output_.SetDutyCycle(power_to_duty_.Evaluate(power));
     }
 };
@@ -161,7 +155,6 @@ class DCDC : public Subsystem {
           led_(led_output){};
 
     bool CheckValid() {
-        return false;  // disable gpio
         bool is_valid = valid_input_.Read();
         led_.SetState(is_valid);
         return is_valid;

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);
 }
 
@@ -177,6 +180,8 @@ void DoInverterSwitchCheck() {
 int main(void) {
     bindings::Initialize();
 
+    bindings::DelayMS(10000);  // initial
+
     state_tx.UpdateState(LvControllerState::Startup);
 
     // Ensure all subsystems are disabled to start.
@@ -187,6 +192,8 @@ int main(void) {
     // Powerup sequence
     DoPowerupSequence();
 
+    while (true) continue;  // stop after fc enable debug
+
     do {
         state_tx.UpdateState(LvControllerState::WaitingForOpenContactors);
         bindings::DelayMS(50);