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safety interlocking and a bunch of other fun stuff

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This commit is contained in:
Thaddeus Hughes
2026-01-05 19:47:51 -06:00
parent 53bea4eb04
commit 15e2145560
19 changed files with 1004 additions and 935 deletions
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33
main/i2c.c
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@@ -28,8 +28,12 @@
#define REPEAT_MS 200
#define REPEAT_START_MS 700
#define SAFETY_MASK 0b00111111
// Static Variables
static bool i2c_initted = false;
static bool safety_ok = false; // Safety interlock
static uint8_t last_relay_request = 0; // Track last relay request
// === I2C LOW-LEVEL ===
static esp_err_t tca_write_word_8(uint8_t reg, uint8_t value) {
@@ -64,12 +68,37 @@ esp_err_t i2c_init(void) {
ESP_ERROR_CHECK(tca_write_word_8(TCA_REG_CONFIG1, 0b00000000));
i2c_initted = true;
safety_ok = false; // Start with safety not OK
last_relay_request = 0;
return ESP_OK;
}
esp_err_t i2c_set_relays(uint8_t states) {
return tca_write_word_8(TCA_REG_OUTPUT1, states);
void i2c_set_safety_status(bool safe) {
safety_ok = safe;
if (!safe) {
// Safety tripped - immediately turn off all relays
ESP_LOGW("I2C", "Safety interlock activated");
tca_write_word_8(TCA_REG_OUTPUT1, last_relay_request & SAFETY_MASK);
} else {
// Safety cleared - restore last requested relay state
ESP_LOGI("I2C", "Safety interlock cleared");
}
}
esp_err_t i2c_set_relays(uint8_t states) {
last_relay_request = states; // Always track the request
if (!safety_ok) {
// Safety interlock active - refuse to energize relays
ESP_LOGW("I2C", "Main relay operation blocked by safety interlock");
return tca_write_word_8(TCA_REG_OUTPUT1, states & SAFETY_MASK);
}
return tca_write_word_8(TCA_REG_OUTPUT1, states);
}
esp_err_t i2c_set_led1(uint8_t state) {
// push 3 LSB to top
return tca_write_word_8(TCA_REG_OUTPUT0, state<<5);