- renamed UV_NO_MCU_PIN to nUV_PRESSED_PIN for accuracy

- added nSAFETY_ACTIVE_MCU input pin to know the state of the safety relay
- added internal safety_relay_active flag in uv_task to keep track of safety relay state
- update safety_relay_active state from the nSAFETY_ACTIVE_MCU gpis whenever uv_task handles irq.
- added safety_relay_active flag to HepaUVStateResponse
- check the safety_relay_active state after turning on the uv light
- send safety_relay_inactive 0x11 error code if the relay is not active
- added ot_utils::freertos_sleep::sleep to cpp-utils to sleep the task for n milliseconds

cpp-utils/include/ot_utils/freertos/freertos_sleep.hpp

@@ -0,0 +1,12 @@
+#pragma once
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+namespace ot_utils {
+namespace freertos_sleep {
+
+static void sleep(uint32_t time_ms) { if (time_ms > 0) vTaskDelay(pdMS_TO_TICKS(time_ms)); }
+
+}  // namespace freertos_sleep
+}  // namespace ot_utils

hepa-uv/firmware/main_rev1.cpp

@@ -114,8 +114,8 @@ static auto gpio_drive_pins = gpio_drive_hardware::GpioDrivePins{
     .uv_push_button =
         gpio::PinConfig{
             // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-            .port = UV_NO_MCU_PORT,
-            .pin = UV_NO_MCU_PIN,
+            .port = nUV_PRESSED_PORT,
+            .pin = nUV_PRESSED_PIN,
         },
     .hepa_on_off =
         gpio::PinConfig{
@@ -127,7 +127,13 @@ static auto gpio_drive_pins = gpio_drive_hardware::GpioDrivePins{
         // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
         .port = UV_ON_OFF_MCU_PORT,
         .pin = UV_ON_OFF_MCU_PIN,
-        .active_setting = UV_ON_OFF_AS}};
+        .active_setting = UV_ON_OFF_AS},
+    .safety_relay_active = gpio::PinConfig{
+        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+        .port = nSAFETY_ACTIVE_MCU_PORT,
+        .pin = nSAFETY_ACTIVE_MCU_PIN,
+        .active_setting = nSAFETY_ACTIVE_AS},
+    };
 
 static auto& hepauv_queues = hepauv_tasks::get_main_queues();
 
@@ -140,7 +146,7 @@ extern "C" void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
         case DOOR_OPEN_MCU_PIN:
         case REED_SW_MCU_PIN:
         case HEPA_NO_MCU_PIN:
-        case UV_NO_MCU_PIN:
+        case nUV_PRESSED_PIN:
             if (hepauv_queues.hepa_queue != nullptr) {
                 static_cast<void>(hepauv_queues.hepa_queue->try_write_isr(
                     GPIOInterruptChanged{.pin = GPIO_Pin}));

hepa-uv/firmware/utility_gpio.c

@@ -94,10 +94,10 @@ void uv_push_button_input_gpio_init(void) {
     __HAL_RCC_GPIOC_CLK_ENABLE();
     /*Configure GPIO pin UV_NO_MCU : PC2 */
     GPIO_InitTypeDef GPIO_InitStruct = {0};
-    GPIO_InitStruct.Pin = UV_NO_MCU_PIN;
+    GPIO_InitStruct.Pin = nUV_PRESSED_PIN;
     GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
-    HAL_GPIO_Init(UV_NO_MCU_PORT, &GPIO_InitStruct);
+    HAL_GPIO_Init(nUV_PRESSED_PORT, &GPIO_InitStruct);
 }
 
 /**
@@ -134,6 +134,22 @@ void uv_on_off_output_init() {
     HAL_GPIO_Init(UV_ON_OFF_MCU_PORT, &GPIO_InitStruct);
 }
 
+/**
+ * @brief nSAFETY_ACTIVE_MCU GPIO Initialization Function
+ * @param None
+ * @retval None
+*/
+void safety_relay_active_input_init() {
+    /* GPIO Ports Clock Enable */
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /*Configure GPIO pin nSAFETY_ACTIVE_MCU: PB6 */
+    GPIO_InitTypeDef GPIO_InitStruct = {0};
+    GPIO_InitStruct.Pin = nSAFETY_ACTIVE_MCU_PIN;
+    GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(nSAFETY_ACTIVE_MCU_PORT, &GPIO_InitStruct);
+}
+
 /**
  * @brief NVIC EXTI interrupt priority Initialization
  * @param None
@@ -168,4 +184,5 @@ void utility_gpio_init(void) {
     hepa_on_off_output_init();
     uv_push_button_input_gpio_init();
     uv_on_off_output_init();
+    safety_relay_active_input_init();
 }

include/bootloader/core/ids.h

@@ -165,6 +165,7 @@ typedef enum {
     can_errorcode_over_pressure = 0xd,
     can_errorcode_door_open = 0xe,
     can_errorcode_reed_open = 0xf,
+    can_errorcode_safety_relay_inactive = 0x11,
 } CANErrorCode;
 
 /** Tool types detected on Head. */

include/can/core/ids.hpp

@@ -167,6 +167,7 @@ enum class ErrorCode {
     over_pressure = 0xd,
     door_open = 0xe,
     reed_open = 0xf,
+    safety_relay_inactive = 0x11,
 };
 
 /** Error Severity levels. */

include/can/core/messages.hpp

@@ -1712,6 +1712,7 @@ struct GetHepaUVStateResponse
     uint8_t uv_light_on;
     uint32_t remaining_time_s;
     uint16_t uv_current_ma;
+    uint8_t safety_relay_active;
 
     template <bit_utils::ByteIterator Output, typename Limit>
     auto serialize(Output body, Limit limit) const -> uint8_t {
@@ -1720,6 +1721,7 @@ struct GetHepaUVStateResponse
         iter = bit_utils::int_to_bytes(uv_light_on, iter, limit);
         iter = bit_utils::int_to_bytes(remaining_time_s, iter, limit);
         iter = bit_utils::int_to_bytes(uv_current_ma, iter, limit);
+        iter = bit_utils::int_to_bytes(safety_relay_active, iter, limit);
         return iter - body;
     }
 

include/common/core/wtf.hpp

@@ -0,0 +1,6 @@
+#pragma once
+
+#include <stdio.h>
+
+
+void something(uint32_t time_ms) { printf("something %lu", time_ms); }

include/hepa-uv/core/uv_task.hpp

@@ -10,6 +10,7 @@
 #include "hepa-uv/firmware/gpio_drive_hardware.hpp"
 #include "hepa-uv/firmware/uv_control_hardware.hpp"
 #include "ot_utils/freertos/freertos_timer.hpp"
+#include "ot_utils/freertos/freertos_sleep.hpp"
 
 namespace uv_task {
 
@@ -38,6 +39,7 @@ class UVMessageHandler {
         uv_push_button = gpio::is_set(drive_pins.uv_push_button);
         door_closed = gpio::is_set(drive_pins.door_open);
         reed_switch_set = gpio::is_set(drive_pins.reed_switch);
+        safety_relay_active = gpio::is_set(drive_pins.safety_relay_active);
         // turn off UV Ballast
         gpio::reset(drive_pins.uv_on_off);
     }
@@ -76,6 +78,9 @@ class UVMessageHandler {
             reed_switch_set = gpio::is_set(drive_pins.reed_switch);
         }
 
+        // Always update safety relay state
+        safety_relay_active = gpio::is_set(drive_pins.safety_relay_active);
+
         // Drive the UV light
         set_uv_light_state(uv_push_button, uv_off_timeout_s);
     }
@@ -95,7 +100,8 @@ class UVMessageHandler {
             .timeout_s = uv_off_timeout_s,
             .uv_light_on = uv_light_on,
             .remaining_time_s = (_timer.get_remaining_time() / 1000),
-            .uv_current_ma = uv_current_ma};
+            .uv_current_ma = uv_current_ma,
+            .safety_relay_active = safety_relay_active};
         can_client.send_can_message(can::ids::NodeId::host, resp);
     }
 
@@ -153,15 +159,40 @@ class UVMessageHandler {
             if (_timer.is_running()) _timer.stop();
         }
 
-        // Update the voltage usage of the uv light
+        // wait 10ms for safety relay, then update the states
+        ot_utils::freertos_sleep::sleep(10);
+        safety_relay_active = gpio::is_set(drive_pins.safety_relay_active);
         uv_current_ma = uv_hardware.get_uv_light_current();
+        if (!safety_relay_active) {
+            // we tried to set the uv light, but the relay is not active
+            if (_timer.is_running()) {
+                gpio::reset(drive_pins.uv_on_off);
+                _timer.stop();
+                led_control_client.send_led_control_message(
+                    led_control_task_messages::PushButtonLED(UV_BUTTON, 0, 0,
+                                                             50, 0));
+            }
+            // send error
+            auto msg = can::messages::ErrorMessage{
+                .message_index = 0,
+                .severity = can::ids::ErrorSeverity::warning,
+                .error_code = can::ids::ErrorCode::safety_relay_inactive,
+            };
+            can_client.send_can_message(can::ids::NodeId::host, msg);
+
+            uv_push_button = false;
+            uv_light_on = false;
+            uv_current_ma = 0;
+            return;
+        }
 
         // TODO: send state change CAN message to host
     }
 
     // state tracking variables
     bool door_closed = false;
     bool reed_switch_set = false;
+    bool safety_relay_active = false;
     bool uv_push_button = false;
     bool uv_light_on = false;
     uint32_t uv_off_timeout_s = DELAY_S;

include/hepa-uv/firmware/gpio_drive_hardware.hpp

@@ -11,6 +11,7 @@ struct GpioDrivePins {
     gpio::PinConfig uv_push_button;
     gpio::PinConfig hepa_on_off;
     gpio::PinConfig uv_on_off;
+    gpio::PinConfig safety_relay_active;
 };
 
 }  // namespace gpio_drive_hardware

include/hepa-uv/firmware/utility_gpio.h

@@ -88,12 +88,9 @@ void utility_gpio_init();
 #define UV_ON_OFF_MCU_PORT GPIOA
 #define UV_ON_OFF_MCU_PIN GPIO_PIN_4
 #define UV_ON_OFF_AS GPIO_PIN_RESET
-// UV_NO_MCU PC2
-#define UV_NO_MCU_PORT GPIOC
-#define UV_NO_MCU_PIN GPIO_PIN_2
-// UV_ADC PA3
-#define UV_ADC_PORT GPIOC
-#define UV_ADC_PIN GPIO_PIN_3
+// nUV_PRESSED PC2
+#define nUV_PRESSED_PORT GPIOC
+#define nUV_PRESSED_PIN GPIO_PIN_2
 // UV_B_CTRL PC5
 #define UV_B_CTRL_PORT GPIOC
 #define UV_B_CTRL_PIN GPIO_PIN_5
@@ -105,4 +102,8 @@ void utility_gpio_init();
 #define UV_R_CTRL_PIN GPIO_PIN_1
 // UV_W_CTRL PB2
 #define UV_W_CTRL_PORT GPIOB
-#define UV_W_CTRL_PIN GPIO_PIN_2
+#define UV_W_CTRL_PIN GPIO_PIN_2
+// nSAFETY_ACTIVE_MCU PB6
+#define nSAFETY_ACTIVE_MCU_PORT GPIOB
+#define nSAFETY_ACTIVE_MCU_PIN GPIO_PIN_6
+#define nSAFETY_ACTIVE_AS GPIO_PIN_RESET