From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Wed, 6 Dec 2017 06:43:51 +0000 (-0800)
Subject: Recharge caps on exiting fault
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=0e4a8ce87b1bec8c5fda71a2d45792cc72a9fd25;p=bbctrl-firmware

Recharge caps on exiting fault
---

diff --git a/src/pwr/main.c b/src/pwr/main.c
index 25d08e4..05b69b2 100644
--- a/src/pwr/main.c
+++ b/src/pwr/main.c
@@ -352,7 +352,7 @@ static void validate_input_voltage() {
 
 static void charge_caps() {
   TCCR0A |= (1 << COM0A1) | (0 << COM0A0); // Clear on compare match
-  IO_PORT_CLR(MOTOR_PIN); // Motor voltage on
+  IO_PORT_CLR(MOTOR_PIN); // Motor voltage off
   IO_DDR_SET(MOTOR_PIN); // Output
 
   uint64_t now = time;
@@ -367,22 +367,6 @@ static void charge_caps() {
 }
 
 
-static void disable_outputs() {
-  IO_PORT_CLR(MOTOR_PIN);
-  IO_PORT_CLR(LOAD1_PIN);
-  IO_PORT_CLR(LOAD2_PIN);
-  IO_DDR_SET(LOAD1_PIN);
-  IO_DDR_SET(LOAD2_PIN);
-}
-
-
-static void enable_outputs() {
-  IO_PORT_SET(MOTOR_PIN);
-  IO_DDR_CLR(LOAD1_PIN);
-  IO_DDR_CLR(LOAD2_PIN);
-}
-
-
 void init() {
   cli();
 
@@ -450,6 +434,7 @@ int main() {
 
     update_shunt_power(vout, vnom);
 
+    // Check fault conditions
     uint16_t flags = 0;
     if (vin < VOLTAGE_MIN) flags |= UNDER_VOLTAGE_FLAG;
     if (VOLTAGE_MAX < vin) flags |= OVER_VOLTAGE_FLAG;
@@ -457,9 +442,19 @@ int main() {
     regs[FLAGS_REG] = flags;
 
     if (flags) {
-      disable_outputs();
+      // Disable
+      IO_PORT_CLR(MOTOR_PIN);
+      IO_PORT_CLR(LOAD1_PIN);
+      IO_PORT_CLR(LOAD2_PIN);
+      IO_DDR_SET(LOAD1_PIN);
+      IO_DDR_SET(LOAD2_PIN);
+
       delay_ms(FAULT_TIMEOUT);
-      enable_outputs();
+
+      // Reenable
+      charge_caps();
+      IO_DDR_CLR(LOAD1_PIN);
+      IO_DDR_CLR(LOAD2_PIN);
     }
   }