fault.cpp

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/* This file has been prepared for Doxygen automatic documentation generation.*/
 
// Include fault header
#include "fault.h"

void EnableOverCurrentLED(void)
{
  PORTB &= ~((1 << FAULT_PIN_3) | (1 << FAULT_PIN_2));
  PORTD |= (1 << FAULT_PIN_1);
}

void EnableMotorStoppedLED(void)
{
  PORTB &= ~(1 << FAULT_PIN_3);
  PORTB |= (1 << FAULT_PIN_2);
  PORTD &= ~(1 << FAULT_PIN_1);
}

void EnableReverseRotationLED(void)
{
  PORTB &= ~(1 << FAULT_PIN_3);
  PORTB |= (1 << FAULT_PIN_2);
  PORTD |= (1 << FAULT_PIN_1);
}

void EnableU3(void)
{
  PORTB |= (1 << FAULT_PIN_3);
  PORTB &= ~(1 << FAULT_PIN_2);
  PORTD &= ~(1 << FAULT_PIN_1);
}

void EnableU2(void)
{
  PORTB |= (1 << FAULT_PIN_3);
  PORTB &= ~(1 << FAULT_PIN_2);
  PORTD |= (1 << FAULT_PIN_1);
}

void EnableU1(void)
{
  PORTB |= (1 << FAULT_PIN_3) | (1 << FAULT_PIN_2);
  PORTD &= ~(1 << FAULT_PIN_1);
}

void EnableNoHallConnectionsLED(void)
{
  PORTB |= (1 << FAULT_PIN_3) | (1 << FAULT_PIN_2);
  PORTD |= (1 << FAULT_PIN_1);
}

void DisableFaultLEDs(void)
{
  PORTB &= ~((1 << FAULT_PIN_3) | (1 << FAULT_PIN_2));
  PORTD &= ~(1 << FAULT_PIN_1);
}

void SweepLEDsBlocking(void)
{
  EnableU3();
  _delay_ms(100);
 
  EnableU2();
  _delay_ms(100);
 
  EnableU1();
  _delay_ms(100);
 
  EnableNoHallConnectionsLED();
  _delay_ms(100);
 
  EnableOverCurrentLED();
  _delay_ms(100);
 
  EnableMotorStoppedLED();
  _delay_ms(100);
 
  EnableReverseRotationLED();
  _delay_ms(100);
}

void faultSequentialStateMachine(volatile faultflags_t *faultFlags, volatile motorflags_t *motorFlags)
{
  static uint8_t state = 1;
 
  switch (state)
  {
  case 1:
    if (faultFlags->motorStopped == TRUE && motorFlags->enable == TRUE)
    {
      EnableMotorStoppedLED();
    }
    else
    {
      DisableFaultLEDs();
    }
    state = 2;
    break;
  case 2:
    if (faultFlags->reverseDirection == TRUE && faultFlags->motorStopped == FALSE)
    {
      EnableReverseRotationLED();
    }
    else
    {
      DisableFaultLEDs();
    }
    state = 3;
    break;
  case 3:
    if (faultFlags->noHallConnections == TRUE)
    {
      EnableNoHallConnectionsLED();
    }
    else
    {
      DisableFaultLEDs();
    }
    state = 4;
    break;
  case 4:
    if (faultFlags->overCurrent == TRUE)
    {
      EnableOverCurrentLED();
    }
    else
    {
      DisableFaultLEDs();
    }
    state = 5;
    break;
  case 5:
    if (faultFlags->userFlag1 == TRUE)
    {
      EnableU1();
    }
    else
    {
      DisableFaultLEDs();
    }
    state = 6;
    break;
  case 6:
    if (faultFlags->userFlag2 == TRUE)
    {
      EnableU2();
    }
    else
    {
      DisableFaultLEDs();
    }
    state = 7;
    break;
  case 7:
    if (faultFlags->userFlag3 == TRUE)
    {
      EnableU3();
    }
    else
    {
      DisableFaultLEDs();
    }
    state = 8;
    break;
  default:
    // No active fault flags; disable all LEDs or indicators.
    DisableFaultLEDs();
    state = 1;
  }
}