Implement Support for External Equipment / Emergency Button on Battery Emulator

Software/Software.ino

@@ -135,6 +135,14 @@ unsigned long negativeStartTime = 0;
 unsigned long timeSpentInFaultedMode = 0;
 #endif
 
+#ifdef EQUIPMENT_STOP_BUTTON
+volatile unsigned long equipment_button_press_time = 0;           // Time when button is pressed
+const unsigned long equipment_button_long_press_duration = 5000;  // 5 seconds for long press
+int equipment_button_lastState = LOW;                             // the previous state from the input pin
+int equipment_button_currentState;                                // the current reading from the input pin
+unsigned long equipment_button_pressedTime = 0;
+unsigned long equipment_button_releasedTime = 0;
+#endif
 TaskHandle_t main_loop_task;
 TaskHandle_t connectivity_loop_task;
 
@@ -163,6 +171,9 @@ void setup() {
 
   init_battery();
 
+#ifdef EQUIPMENT_STOP_BUTTON
+  init_equipment_stop_button();
+#endif
   // BOOT button at runtime is used as an input for various things
   pinMode(0, INPUT_PULLUP);
 
@@ -235,6 +246,8 @@ void core_loop(void* task_time_us) {
   while (true) {
     START_TIME_MEASUREMENT(all);
     START_TIME_MEASUREMENT(comm);
+    monitor_equipment_stop_button();
+
     // Input, Runs as fast as possible
     receive_can_native();  // Receive CAN messages from native CAN port
 #ifdef CAN_FD
@@ -546,6 +559,40 @@ void init_battery() {
 #endif
 }
 
+#ifdef EQUIPMENT_STOP_BUTTON
+
+void monitor_equipment_stop_button() {
+  // read the state of the switch/button:
+  equipment_button_currentState = digitalRead(EQUIPMENT_STOP_PIN);
+
+  if (equipment_button_lastState == LOW && equipment_button_currentState == HIGH)  // button is pressed
+    equipment_button_pressedTime = millis();
+  else if (equipment_button_lastState == HIGH && equipment_button_currentState == LOW) {  // button is released
+    equipment_button_releasedTime = millis();
+
+    long pressDuration = equipment_button_releasedTime - equipment_button_pressedTime;
+
+    if (pressDuration < equipment_button_long_press_duration) {
+      // Short press detected, trigger emergency stop
+      setBatteryPause(true, true, true);
+    } else {
+      // Long press detected, reset equipment stop state
+      setBatteryPause(false, false, false);
+    }
+  }
+
+  // save the the last state
+  equipment_button_lastState = equipment_button_currentState;
+}
+
+void init_equipment_stop_button() {
+
+  //using external pulldown resistors
+  pinMode(EQUIPMENT_STOP_PIN, INPUT);
+}
+
+#endif
+
 #ifdef CAN_FD
 // Functions
 #ifdef DEBUG_CANFD_DATA

Software/USER_SETTINGS.h

@@ -65,6 +65,7 @@
 #define MDNSRESPONDER  //Enable this line to enable MDNS, allows battery monitor te be found by .local address. Requires WEBSERVER to be enabled.
 #define LOAD_SAVED_SETTINGS_ON_BOOT  //Enable this line to read settings stored via the webserver on boot (overrides Wifi/battery settings set below)
 //#define FUNCTION_TIME_MEASUREMENT  // Enable this to record execution times and present them in the web UI (WARNING, raises CPU load, do not use for production)
+//#define EQUIPMENT_STOP_BUTTON      // Enable this to have a emergengy/equipment stop button connected to board
 
 /* MQTT options */
 // #define MQTT  // Enable this line to enable MQTT

Software/src/devboard/hal/hw_lilygo.h

@@ -65,6 +65,9 @@
 #define LED_PIN 4
 #define LED_MAX_BRIGHTNESS 40
 
+// Equipment stop pin
+#define EQUIPMENT_STOP_PIN 35
+
 /* ----- Error checks below, don't change (can't be moved to separate file) ----- */
 #ifndef HW_CONFIGURED
 #define HW_CONFIGURED
@@ -78,6 +81,18 @@
 #endif
 #endif
 
+#ifdef EQUIPMENT_STOP_BUTTON
+#ifdef DUAL_CAN
+#error EQUIPMENT_STOP_BUTTON and DUAL_CAN cannot coexist due to overlapping GPIO pin usage
+#endif
+#ifdef CAN_FD
+#error EQUIPMENT_STOP_BUTTON and CAN_FD cannot coexist due to overlapping GPIO pin usage
+#endif
+#ifdef CHADEMO_BATTERY
+#error EQUIPMENT_STOP_BUTTON and CHADEMO_BATTERY cannot coexist due to overlapping GPIO pin usage
+#endif
+#endif
+
 #ifdef BMW_I3_BATTERY
 #ifdef CONTACTOR_CONTROL
 #error GPIO PIN 25 cannot be used for both BMWi3 Wakeup and contactor control. Disable CONTACTOR_CONTROL

Software/src/devboard/hal/hw_stark.h

@@ -58,6 +58,9 @@ GPIOs on extra header
 #define LED_PIN 4
 #define LED_MAX_BRIGHTNESS 40
 
+// Equipment stop pin
+#define EQUIPMENT_STOP_PIN 2
+
 /* ----- Error checks below, don't change (can't be moved to separate file) ----- */
 #ifndef HW_CONFIGURED
 #define HW_CONFIGURED

Software/src/devboard/safety/safety.cpp

@@ -239,6 +239,7 @@ void setBatteryPause(bool pause_battery, bool pause_CAN, bool emergency_stop) {
 /// @brief handle emulator pause status
 /// @return true if CAN messages should be sent to battery, false if not
 void emulator_pause_state_send_CAN_battery() {
+  bool previous_allowed_to_send_CAN = allowed_to_send_CAN;
 
   if (emulator_pause_status == NORMAL) {
     allowed_to_send_CAN = true;
@@ -256,6 +257,14 @@ void emulator_pause_state_send_CAN_battery() {
   }
 
   allowed_to_send_CAN = (!emulator_pause_CAN_send_ON || emulator_pause_status == NORMAL);
+
+  if (previous_allowed_to_send_CAN && !allowed_to_send_CAN) {
+    //completely force stop the CAN communication
+    ESP32Can.CANStop();
+  } else if (!previous_allowed_to_send_CAN && allowed_to_send_CAN) {
+    //resume CAN communication
+    ESP32Can.CANInit();
+  }
 }
 
 std::string get_emulator_pause_status() {

Software/src/devboard/safety/safety.h

@@ -2,6 +2,7 @@
 #define SAFETY_H
 #include <Arduino.h>
 #include <string>
+#include "../../lib/miwagner-ESP32-Arduino-CAN/ESP32CAN.h"
 
 #define MAX_CAN_FAILURES 50
 

Software/src/devboard/webserver/webserver.cpp

@@ -933,9 +933,6 @@ void onOTAStart() {
   clear_event(EVENT_OTA_UPDATE_TIMEOUT);
   ota_active = true;
 
-  //completely force stop the CAN communication
-  ESP32Can.CANStop();
-
   ota_timeout_timer.reset();
 }
 
@@ -968,8 +965,6 @@ void onOTAEnd(bool success) {
 #endif  // DEBUG_VIA_USB
     //try to Resume the battery pause and CAN communication
     setBatteryPause(false, false);
-    //resume CAN communication
-    ESP32Can.CANInit();
   }
 }