Merge branch 'embedded' of github.com:umrover/mrover-ros into embedded

umrover · Oct 7, 2023 · 208c767 · 208c767
2 parents 78e4360 + 86997f2
commit 208c767
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Showing 3 changed files with 32 additions and 17 deletions.
diff --git a/src/esw/fw/pdb/Core/Inc/main.h b/src/esw/fw/pdb/Core/Inc/main.h
@@ -68,6 +68,10 @@ void Error_Handler(void);
 #define CURR_2_GPIO_Port GPIOA
 #define CURR_3_Pin GPIO_PIN_3
 #define CURR_3_GPIO_Port GPIOA
+#define RA_LASER_Pin GPIO_PIN_5
+#define RA_LASER_GPIO_Port GPIOA
+#define UV_BULB_Pin GPIO_PIN_6
+#define UV_BULB_GPIO_Port GPIOA
 #define RED_LED_Pin GPIO_PIN_7
 #define RED_LED_GPIO_Port GPIOA
 #define GREEN_LED_Pin GPIO_PIN_4

diff --git a/src/esw/fw/pdb/Core/Src/main.c b/src/esw/fw/pdb/Core/Src/main.c
@@ -398,20 +398,20 @@ static void MX_GPIO_Init(void)
   __HAL_RCC_GPIOB_CLK_ENABLE();
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(RED_LED_GPIO_Port, RED_LED_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOA, RA_LASER_Pin|UV_BULB_Pin|RED_LED_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GREEN_LED_GPIO_Port, GREEN_LED_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(BLUE_LED_GPIO_Port, BLUE_LED_Pin, GPIO_PIN_RESET);
 
-  /*Configure GPIO pin : RED_LED_Pin */
-  GPIO_InitStruct.Pin = RED_LED_Pin;
+  /*Configure GPIO pins : RA_LASER_Pin UV_BULB_Pin RED_LED_Pin */
+  GPIO_InitStruct.Pin = RA_LASER_Pin|UV_BULB_Pin|RED_LED_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(RED_LED_GPIO_Port, &GPIO_InitStruct);
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
   /*Configure GPIO pin : GREEN_LED_Pin */
   GPIO_InitStruct.Pin = GREEN_LED_Pin;

diff --git a/src/esw/fw/pdb/pdb.ioc b/src/esw/fw/pdb/pdb.ioc
@@ -52,6 +52,7 @@ FDCAN1.CalculateTimeBitNominal=5000
 FDCAN1.CalculateTimeQuantumNominal=1000.0
 FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal
 File.Version=6
+GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
 Mcu.CPN=STM32G431CBU3
 Mcu.Family=STM32G4
@@ -65,22 +66,24 @@ Mcu.Name=STM32G431C(6-8-B)Ux
 Mcu.Package=UFQFPN48
 Mcu.Pin0=PF0-OSC_IN
 Mcu.Pin1=PA0
-Mcu.Pin10=PB11
-Mcu.Pin11=PB12
-Mcu.Pin12=PB14
-Mcu.Pin13=PA11
-Mcu.Pin14=PA12
-Mcu.Pin15=PA13
-Mcu.Pin16=PA14
+Mcu.Pin10=PB1
+Mcu.Pin11=PB2
+Mcu.Pin12=PB11
+Mcu.Pin13=PB12
+Mcu.Pin14=PB14
+Mcu.Pin15=PA11
+Mcu.Pin16=PA12
+Mcu.Pin17=PA13
+Mcu.Pin18=PA14
 Mcu.Pin2=PA1
 Mcu.Pin3=PA2
 Mcu.Pin4=PA3
-Mcu.Pin5=PA7
-Mcu.Pin6=PC4
-Mcu.Pin7=PB0
-Mcu.Pin8=PB1
-Mcu.Pin9=PB2
-Mcu.PinsNb=17
+Mcu.Pin5=PA5
+Mcu.Pin6=PA6
+Mcu.Pin7=PA7
+Mcu.Pin8=PC4
+Mcu.Pin9=PB0
+Mcu.PinsNb=19
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32G431CBUx
@@ -121,6 +124,14 @@ PA3.GPIOParameters=GPIO_Label
 PA3.GPIO_Label=CURR 3
 PA3.Mode=IN4-Single-Ended
 PA3.Signal=ADC1_IN4
+PA5.GPIOParameters=GPIO_Label
+PA5.GPIO_Label=RA LASER
+PA5.Locked=true
+PA5.Signal=GPIO_Output
+PA6.GPIOParameters=GPIO_Label
+PA6.GPIO_Label=UV BULB
+PA6.Locked=true
+PA6.Signal=GPIO_Output
 PA7.GPIOParameters=GPIO_Label
 PA7.GPIO_Label=RED LED
 PA7.Locked=true