Dual motor shutdown fix

Author: vedderb

comm_can.c

@@ -68,6 +68,7 @@ static thread_t *process_tp = 0;
 static thread_t *ping_tp = 0;
 static volatile HW_TYPE ping_hw_last = HW_TYPE_VESC;
 static volatile int ping_hw_last_id = -1;
+static volatile bool init_done = false;
 #endif
 
 // Variables
@@ -151,6 +152,8 @@ void comm_can_init(void) {
 			NORMALPRIO, cancom_status_internal_thread, NULL);
 #endif
 
+	init_done = true;
+
 #endif
 }
 
@@ -186,6 +189,10 @@ void comm_can_set_baud(CAN_BAUD baud) {
  * on single motor hardware.
  */
 void comm_can_transmit_eid_replace(uint32_t id, const uint8_t *data, uint8_t len, bool replace) {
+	if (!init_done) {
+		return;
+	}
+
 	if (len > 8) {
 		len = 8;
 	}
@@ -228,6 +235,10 @@ void comm_can_transmit_eid(uint32_t id, const uint8_t *data, uint8_t len) {
 }
 
 void comm_can_transmit_sid(uint32_t id, uint8_t *data, uint8_t len) {
+	if (!init_done) {
+		return;
+	}
+
 	if (len > 8) {
 		len = 8;
 	}

conf_general.h

@@ -24,7 +24,7 @@
 #define FW_VERSION_MAJOR			5
 #define FW_VERSION_MINOR			03
 // Set to 0 for building a release and iterate during beta test builds
-#define FW_TEST_VERSION_NUMBER		47
+#define FW_TEST_VERSION_NUMBER		48
 
 #include "datatypes.h"
 
@@ -351,4 +351,5 @@ int conf_general_detect_apply_all_foc(float max_power_loss,
 int conf_general_detect_apply_all_foc_can(bool detect_can, float max_power_loss,
 		float min_current_in, float max_current_in, float openloop_rpm, float sl_erpm);
 
+
 #endif /* CONF_GENERAL_H_ */

hwconf/hw_stormcore_100d.c

@@ -23,6 +23,7 @@
 #include "mc_interface.h"
 #include "ledpwm.h"
 #include "utils.h"
+#include "main.h"
 
 typedef enum {
 	SWITCH_BOOTED = 0,
@@ -533,7 +534,9 @@ static THD_FUNCTION(smart_switch_thread, arg) {
 			mc_interface_select_motor_thread(1);
 			mc_interface_unlock();
 			//Wait for other systems to boot up before proceeding
-			chThdSleepMilliseconds(2000);
+			while (!main_init_done()) {
+				chThdSleepMilliseconds(200);
+			}
 			break;
 		case SWITCH_HELD_AFTER_TURN_ON:
 			if(smart_switch_is_pressed()){

hwconf/hw_stormcore_100s.c

@@ -24,7 +24,6 @@
 #include "ledpwm.h"
 #include "drv8323s.h"
 
-
 #if defined (HW_VER_IS_100S_V2)
 static THD_WORKING_AREA(switch_color_thread_wa, 128);
 static THD_FUNCTION(switch_color_thread, arg);

hwconf/hw_stormcore_60d.c

@@ -23,6 +23,7 @@
 #include "mc_interface.h"
 #include "ledpwm.h"
 #include "utils.h"
+#include "main.h"
 
 typedef enum {
 	SWITCH_BOOTED = 0,
@@ -522,7 +523,9 @@ static THD_FUNCTION(smart_switch_thread, arg) {
 			mc_interface_select_motor_thread(1);
 			mc_interface_unlock();
 			//Wait for other systems to boot up before proceeding
-			chThdSleepMilliseconds(2000);
+			while (!main_init_done()) {
+				chThdSleepMilliseconds(200);
+			}
 			break;
 		case SWITCH_HELD_AFTER_TURN_ON:
 			if(smart_switch_is_pressed()){

hwconf/hw_unity.c

@@ -23,6 +23,7 @@
 #include "mc_interface.h"
 #include "ledpwm.h"
 #include "utils.h"
+#include "main.h"
 
 typedef enum {
 	SWITCH_BOOTED = 0,
@@ -373,7 +374,9 @@ static THD_FUNCTION(smart_switch_thread, arg) {
 			smart_switch_keep_on();
 			ledpwm_set_intensity(LED_HW1, 1.0);
 			//Wait for other systems to boot up before proceeding
-			chThdSleepMilliseconds(3000);
+			while (!main_init_done()) {
+				chThdSleepMilliseconds(200);
+			}
 			break;
 		case SWITCH_HELD_AFTER_TURN_ON:
 			if(smart_switch_is_pressed()){

main.c

@@ -54,6 +54,7 @@
 #include "shutdown.h"
 #include "mempools.h"
 #include "events.h"
+#include "main.h"
 
 /*
  * HW resources used:
@@ -77,6 +78,7 @@
 // Private variables
 static THD_WORKING_AREA(periodic_thread_wa, 1024);
 static THD_WORKING_AREA(flash_integrity_check_thread_wa, 256);
+static bool m_init_done = false;
 
 static THD_FUNCTION(flash_integrity_check_thread, arg) {
 	(void)arg;
@@ -186,6 +188,10 @@ void assert_failed(uint8_t* file, uint32_t line) {
 	}
 }
 
+bool main_init_done(void) {
+	return m_init_done;
+}
+
 int main(void) {
 	halInit();
 	chSysInit();
@@ -285,6 +291,8 @@ int main(void) {
 	palSetPad(BOOT_OK_GPIO, BOOT_OK_PIN);
 #endif
 
+	m_init_done = true;
+
 	for(;;) {
 		chThdSleepMilliseconds(10);
 	}

main.h

@@ -0,0 +1,25 @@
+/*
+	Copyright 2021 Benjamin Vedder	[email protected]
+
+	This file is part of the VESC firmware.
+
+	The VESC firmware is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    The VESC firmware is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef MAIN_H_
+#define MAIN_H_
+
+bool main_init_done(void);
+
+#endif /* MAIN_H_ */