Firmware changes for Rev 4 PCB

Firmware changes for Rev 4 PCB

src/avr/src/main.c

@@ -50,6 +50,7 @@
 
 #include <stdio.h>
 #include <stdbool.h>
+#include <util/delay.h>
 
 
 // For emu
@@ -61,13 +62,18 @@ int main(int argc, char *argv[]) {
   __argc = argc;
   __argv = argv;
 
-  wdt_enable(WDTO_250MS);
+  
 
   // Init
   cli();                          // disable interrupts
 
   emu_init();                     // Init emulator
   hw_init();                      // hardware setup - must be first
+  
+  _delay_ms(5000);		  //2 seconds to charge capacitor banks, 1 second for shunt test, 2 seconds to recharge banks
+
+  wdt_enable(WDTO_250MS);
+
   outputs_init();                 // output pins
   switch_init();                  // switches
   estop_init();                   // emergency stop handler

src/pwr/config.h

@@ -103,7 +103,7 @@ enum {
 #define VOLTAGE_REF_R2           1000
 #define CURRENT_REF_R2           137
 #define CURRENT_REF_MUL (100.0 * 2700 / CURRENT_REF_R2) // 2700 from datasheet
-#define CAP_PRECHARGE_PERIOD	  50 // ms
+#define CAP_PRECHARGE_PERIOD	  2000 // ms
 
 #define REG_SCALE                100
 #define AVG_SCALE                3

src/pwr/main.c

@@ -369,14 +369,14 @@ static void validate_input_voltage() {
 static void charge_caps() {
   IO_PORT_SET(SHUNT_PIN); // Disable shunt (hi)
   
-  delay(1000);
+  delay(100);
   IO_PORT_SET(PC2_PIN); //Enable pre-charge circuit
   delay(CAP_PRECHARGE_PERIOD); //Wait for Vs caps to charge
   IO_PORT_CLR(PC2_PIN); //Disable pre-charge circuit
-  delay(1);
+  //delay(100);
   
   IO_PORT_SET(MOTOR_PIN); // Motor voltage on
-  delay(CAP_CHARGE_TIME);
+  //delay(CAP_CHARGE_TIME);
 }