89 lines
1.8 KiB
C
89 lines
1.8 KiB
C
/*
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* lock.c
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*
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* Created on: Jul 31, 2024
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* Author: colorbass
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*/
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#include "lock.h"
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uint8_t LOCK_POLARITY = 1;
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uint8_t LOCK_MOTOR_POLARITY = 1;
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uint8_t LOCK_DELAY = 50;
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GBT_LockState_t GBT_LockState;
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void GBT_ForceLock(uint8_t state){
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if(LOCK_MOTOR_POLARITY){
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if(state){//LOCK
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HAL_GPIO_WritePin(LOCK_B_GPIO_Port, LOCK_B_Pin, 1);
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HAL_Delay(LOCK_DELAY);
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HAL_GPIO_WritePin(LOCK_B_GPIO_Port, LOCK_B_Pin, 0);
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}else{ //UNLOCK
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HAL_GPIO_WritePin(LOCK_A_GPIO_Port, LOCK_A_Pin, 1);
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HAL_Delay(LOCK_DELAY);
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HAL_GPIO_WritePin(LOCK_A_GPIO_Port, LOCK_A_Pin, 0);
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}
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}else{
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if(state){//LOCK
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HAL_GPIO_WritePin(LOCK_A_GPIO_Port, LOCK_A_Pin, 1);
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HAL_Delay(LOCK_DELAY);
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HAL_GPIO_WritePin(LOCK_A_GPIO_Port, LOCK_A_Pin, 0);
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}else{ //UNLOCK
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HAL_GPIO_WritePin(LOCK_B_GPIO_Port, LOCK_B_Pin, 1);
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HAL_Delay(LOCK_DELAY);
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HAL_GPIO_WritePin(LOCK_B_GPIO_Port, LOCK_B_Pin, 0);
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}
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}
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}
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uint8_t GBT_LockGetState(){
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//1 = locked
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//0 = unlocked
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if(LOCK_POLARITY){
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return HAL_GPIO_ReadPin(LOCK_FB_GPIO_Port, LOCK_FB_Pin);
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}else{
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return !HAL_GPIO_ReadPin(LOCK_FB_GPIO_Port, LOCK_FB_Pin);
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}
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}
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void GBT_Lock(uint8_t state){
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GBT_LockState.demand = state;
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}
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void GBT_ManageLock(){
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uint8_t MAX_RETRIES = 5;
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if (GBT_LockState.error) {
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return;
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}
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bool lock_is_open = GBT_LockGetState() == 0;
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bool lock_should_be_open = GBT_LockState.demand == 0;
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uint8_t retry_count = 0;
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if (lock_is_open != lock_should_be_open) {
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while (retry_count < MAX_RETRIES) {
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if (lock_should_be_open) {
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GBT_ForceLock(0);
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} else {
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GBT_ForceLock(1);
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}
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lock_is_open = GBT_LockGetState() == 0;
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if (lock_is_open == lock_should_be_open) {
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break;
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}
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retry_count++;
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}
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if (retry_count >= MAX_RETRIES) {
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GBT_LockState.error = 1;
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GBT_ForceLock(0);
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printf ("Lock error\n");
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}
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}
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}
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