Added loadDevice to LoadContainer for FSM

Author: BobSaidHi

include/LoadContainer.hpp

@@ -4,6 +4,7 @@
 
 #include "LoadConfig.hpp"
 #include "LoadTasks.hpp"
+#include "MCP23008T.hpp"
 
 /**
  * @brief Class to manage the container for load data
@@ -51,7 +52,7 @@ class LoadContainer {
         TID_LOG
     };
 
-    LoadContainer() = default;
+    LoadContainer(MCP23008T &loadDevice) : loadDevice(loadDevice) {}
     ~LoadContainer() = default;
 
     inline bool getSafetyFlag() const { return safetyFlag; }
@@ -66,10 +67,13 @@ class LoadContainer {
     inline void updatePowerPositive(bool powerPositive) {
         this->powerPositive = powerPositive;
     }
+    inline void setLoadGPIO(uint_fast8_t value) {
+        loadDevice.setGPIO((uint32_t)value);
+    }
 
   private:
     // INA260&
-    // loa&
+    MCP23008T &loadDevice;
 
     bool safetyFlag = false; // todo
     bool powerPositive = false;

include/LoadFSM.hpp

@@ -78,7 +78,7 @@ class LoadFSM {
             vTaskSuspend(load.mainTaskDescriptions
                              [LoadContainer::TASK_IDS::TID_ADJUST_LOAD]
                                  .pxHandle);
-            // todo: turn off load
+            load.setLoadGPIO(0b0000'0000); // todo: one inverted?
 
             return UPDATE_RESULT::STATE_CHANGED;
         } else if ((currentState == FSMCommon::States::sESTOP) &&
@@ -97,7 +97,7 @@ class LoadFSM {
             vTaskSuspend(load.mainTaskDescriptions
                              [LoadContainer::TASK_IDS::TID_ADJUST_LOAD]
                                  .pxHandle);
-            // todo: turn off load (possibly a second time)
+            load.setLoadGPIO(0b0000'0000); // todo: one inverted?
 
             return UPDATE_RESULT::STATE_CHANGED;
         } else if ((currentState == FSMCommon::States::sRST) &&
@@ -123,8 +123,7 @@ class LoadFSM {
             currentState = FSMCommon::States::sRunLoad;
 
             // Nacelle can detect this on it's own
-            // TODO: enable load
-            vTaskResume(
+            vTaskResume( // todo: check load logic
                 load.mainTaskDescriptions
                     [LoadContainer::TASK_IDS::TID_ADJUST_LOAD]
                         .pxHandle); // todo: better way to signal load task?

src/main.cpp

@@ -42,14 +42,15 @@ AdapterWLAN adapterWLAN;
 AdapterESPNow adapterESPNow;
 // SyncedClock netClock = SyncedClock(adapterESPNow); // todo
 SyncedClock netClock(adapterESPNow); // todo
-LoadContainer load;
-LoadFSM loadFSM(load);
 
 Adafruit_NeoPixel leds(1, UM_PROS3::LED_DATA_PIN, NEO_GRB + NEO_KHZ800);
 MCP23008T loadDevice(static_cast<MCP23008T::I2C_ADDRESS>(LOAD::I2C_ADDRESS),
                      &Wire);
 bool loadConfigured = false;
 
+LoadContainer load(loadDevice);
+LoadFSM loadFSM(load);
+
 // todo: move
 bool configureLoad() {
     if (!loadDevice.begin()) {