Enhance board and PSU control structures; update connector state handling and stop button logic. Adjust LED color cycles for better visual feedback. Refactor serial communication to improve state management and error handling.

Core/Src/main.c

@@ -97,6 +97,7 @@ void ED_Delay(uint32_t Delay)
 
   while ((HAL_GetTick() - tickstart) < wait){
     CCS_SerialLoop();
+    StopButtonControl();
     CP_Loop();
     CONN_Task();
     LED_Task();
@@ -105,12 +106,44 @@ void ED_Delay(uint32_t Delay)
 }
 
 void StopButtonControl(){
+	static uint32_t tick;
+	static uint32_t hold_time;
+	static uint8_t stop_btn_fault = 1;
+	uint32_t now = HAL_GetTick();
 
-	//Charging do nothing
-	if(!IN_ReadInput(IN_ESTOP)){
-		CONN.connControl = CMD_STOP;
+	/* Run no faster than once per 10 ms. */
+	if((now - tick) < 10){
+		return;
+	}
+	tick = now;
+
+	uint8_t pressed = !IN_ReadInput(IN_ESTOP);
+	if(!pressed){
+		stop_btn_fault = 0;
 	}
 
+	if(stop_btn_fault){
+		return;
+	}
+
+	if(pressed){
+		if(hold_time == 0){
+			CONN.connControl = CMD_STOP;
+		}
+		hold_time += 10;
+		if(hold_time == 5000){
+			CONN.connControl = CMD_FORCE_UNLOCK;
+		}
+		if(hold_time > 40000){
+			SC_SendPacket(NULL, 0, RESP_SUCCESS);
+			while(huart2.gState == HAL_UART_STATE_BUSY_TX);
+			HAL_Delay(10);
+			NVIC_SystemReset();
+		}
+	}
+	else{
+		hold_time = 0;
+	}
 }
 
 uint8_t temp0, temp1;
@@ -205,8 +238,6 @@ int main(void)
     CONN_Loop();
     LED_Write();
     ED_Delay(10);
-    StopButtonControl();
-    ED_Delay(50);
 
   }
   /* USER CODE END 3 */