add adcs and can id conversion

Northeastern-Electric-Racing · May 24, 2024 · 0809e47 · 0809e47
1 parent c4d9c00
commit 0809e47
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Showing 22 changed files with 566 additions and 179 deletions.
diff --git a/.mxproject b/.mxproject
diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h
@@ -51,7 +51,6 @@
 #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
   #include <stdint.h>
   extern uint32_t SystemCoreClock;
-  void xPortSysTickHandler(void);
 #endif
 #ifndef CMSIS_device_header
 #define CMSIS_device_header "stm32f4xx.h"
@@ -162,7 +161,7 @@ standard names. */
 
 /* IMPORTANT: After 10.3.1 update, Systick_Handler comes from NVIC (if SYS timebase = systick), otherwise from cmsis_os2.c */
 
-#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 1
+#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 0
 
 /* USER CODE BEGIN Defines */
 /* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */

diff --git a/Core/Inc/can_handler.h b/Core/Inc/can_handler.h
@@ -17,13 +17,13 @@
 #include "can.h"
 #include "cmsis_os.h"
 
-void can1_callback(CAN_HandleTypeDef* hcan);
+void can1_callback(CAN_HandleTypeDef *hcan);
 
-void vCanDispatch(void* pv_params);
+void vCanDispatch(void *pv_params);
 extern osThreadId_t can_dispatch_handle;
 extern const osThreadAttr_t can_dispatch_attributes;
 
 int8_t queue_can_msg(can_msg_t msg);
-void init_can1(CAN_HandleTypeDef* hcan);
+void init_can1(CAN_HandleTypeDef *hcan);
 
 #endif
diff --git a/Core/Inc/controller.h b/Core/Inc/controller.h
@@ -0,0 +1,10 @@
+#ifndef CONTROL_MSB
+#define CONTROL_MSB
+
+#include "cmsis_os.h"
+
+void vLedController(void *pv_params);
+extern osThreadId_t led_controller_handle;
+extern const osThreadAttr_t led_controller_attributes;
+
+#endif
diff --git a/Core/Inc/main.h b/Core/Inc/main.h
@@ -53,12 +53,13 @@ extern "C" {
 void Error_Handler(void);
 
 /* USER CODE BEGIN EFP */
-
 /* USER CODE END EFP */
 
 /* Private defines -----------------------------------------------------------*/
 #define VCC5_En_Pin GPIO_PIN_2
 #define VCC5_En_GPIO_Port GPIOC
+#define Shockpot_Pin GPIO_PIN_0
+#define Shockpot_GPIO_Port GPIOA
 #define Strain1_Pin GPIO_PIN_5
 #define Strain1_GPIO_Port GPIOA
 #define Strain2_Pin GPIO_PIN_6

diff --git a/Core/Inc/monitor.h b/Core/Inc/monitor.h
@@ -5,13 +5,21 @@
 #include "stm32f4xx_hal.h"
 
 /* Defining Temperature Monitor Task */
-void vTempMonitor(void* pv_params);
+void vTempMonitor(void *pv_params);
 extern osThreadId_t temp_monitor_handle;
 extern const osThreadAttr_t temp_monitor_attributes;
 
 /* Task for Monitoring the IMU */
-void vIMUMonitor(void* pv_params);
+void vIMUMonitor(void *pv_params);
 extern osThreadId_t imu_monitor_handle;
 extern const osThreadAttr_t imu_monitor_attributes;
 
+void vShockpotMonitor(void *pv_params);
+extern osThreadId_t shockpot_monitor_handle;
+extern const osThreadAttr_t shockpot_monitor_attributes;
+
+void vStrainMonitor(void *pv_params);
+extern osThreadId_t strain_monitor_handle;
+extern const osThreadAttr_t strain_monitor_attributes;
+
 #endif
diff --git a/Core/Inc/msb.h b/Core/Inc/msb.h
@@ -21,25 +21,17 @@ typedef struct
     sht30_t *temp_sensor;
     lsm6dso_t *imu;
     ADC_HandleTypeDef *adc1;
+    uint32_t adc1_buf[3];
     GPIO_TypeDef *debug_led1_gpio;
     uint16_t *debug_led1_pin;
     GPIO_TypeDef *debug_led2_gpio;
     uint16_t *debug_led2_pin;
     device_loc_t *device_loc;
-    osMutexId_t *adc_mutex;
     osMutexId_t *i2c_mutex;
 } msb_t;
 
-typedef struct
-{
-    int8_t channel_0;
-    int8_t channel_1;
-    int8_t channel_2;
-    int8_t channel_3;
-} adc_channels;
-
-msb_t *init_msb(I2C_HandleTypeDef *hi2c, ADC_HandleTypeDef *adc1, GPIO_TypeDef *debug_led1_gpio, 
-uint16_t *debug_led1_pin, GPIO_TypeDef *debug_led2_gpio, uint16_t *debug_led2_pin,
+msb_t *init_msb(I2C_HandleTypeDef *hi2c, ADC_HandleTypeDef *adc1, GPIO_TypeDef *debug_led1_gpio,
+                uint16_t *debug_led1_pin, GPIO_TypeDef *debug_led2_gpio, uint16_t *debug_led2_pin,
                 device_loc_t *device_loc);
 
 int8_t measure_central_temp(msb_t *msb, uint16_t *temp, uint16_t *humidity);
@@ -48,9 +40,12 @@ int8_t read_accel(msb_t *msb, uint16_t accel[3]);
 
 int8_t read_gyro(msb_t *msb, uint16_t gyro[3]);
 
-int8_t write_debug1(msb_t* msb, bool status);
+int8_t write_debug1(msb_t *msb, bool status);
 
-int8_t write_debug2(msb_t* msb, bool status);
+int8_t write_debug2(msb_t *msb, bool status);
 
+void read_shockpot(msb_t *msb, uint32_t shockpot_sense);
+void read_strain1(msb_t *msb, uint32_t strain1);
+void read_strain2(msb_t *msb, uint32_t strain2);
 
 #endif
diff --git a/Core/Inc/msb_conf.h b/Core/Inc/msb_conf.h
@@ -4,10 +4,18 @@
 #define DELAY_CAN_DISPATCH 5
 #define DELAY_TEMP_SENSOR_REFRESH 500
 #define DELAY_IMU_REFRESH 500
+#define DELAY_SHOCKPOT_REFRESH 500
+#define DELAY_STRAIN_REFRESH 500
+#define DELAY_TOF_REFRESH 500
+#define DELAY_WHEEL_TEMP_REFRESH 500
+
+#define DELAY_DEBUG_LED_REFRESH 250
 
 // CAN IDS
 #define CANID_TEMP_SENSOR 0x602
 #define CANID_IMU_ACCEL 0x603
 #define CANID_IMU_GYRO 0x604
-
-
+#define CANID_STRAIN_SENSE 0x605
+#define CANID_SHOCK_SENSE 0x606
+#define CANID_TOF 0x607
+#define CANID_WHEEL_TEMP 0x608
diff --git a/Core/Inc/serial_monitor.h b/Core/Inc/serial_monitor.h
@@ -4,10 +4,10 @@
 #include "cmsis_os.h"
 
 /* Function to queue a message to be sent on the UART stream */
-int serial_print(const char* format, ...);
+int serial_print(const char *format, ...);
 
 /* Defining Temperature Monitor Task */
-void vSerialMonitor(void* pv_params);
+void vSerialMonitor(void *pv_params);
 
 extern osThreadId_t serial_monitor_handle;
 extern const osThreadAttr_t serial_monitor_attributes;

diff --git a/Core/Inc/stm32f4xx_hal_conf.h b/Core/Inc/stm32f4xx_hal_conf.h
@@ -63,7 +63,7 @@
 /* #define HAL_SD_MODULE_ENABLED */
 /* #define HAL_MMC_MODULE_ENABLED */
 #define HAL_SPI_MODULE_ENABLED
-/* #define HAL_TIM_MODULE_ENABLED */
+#define HAL_TIM_MODULE_ENABLED
 #define HAL_UART_MODULE_ENABLED
 /* #define HAL_USART_MODULE_ENABLED */
 /* #define HAL_IRDA_MODULE_ENABLED */

diff --git a/Core/Inc/stm32f4xx_it.h b/Core/Inc/stm32f4xx_it.h
@@ -52,8 +52,8 @@ void MemManage_Handler(void);
 void BusFault_Handler(void);
 void UsageFault_Handler(void);
 void DebugMon_Handler(void);
-void SysTick_Handler(void);
 void CAN1_RX0_IRQHandler(void);
+void TIM5_IRQHandler(void);
 void DMA2_Stream0_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 

diff --git a/Core/Src/can_handler.c b/Core/Src/can_handler.c
@@ -24,14 +24,14 @@ static osMessageQueueId_t can_outbound_queue;
 
 can_t *can1;
 
-void init_can1(CAN_HandleTypeDef* hcan)
+void init_can1(CAN_HandleTypeDef *hcan)
 {
 	assert(hcan);
 
 	can1 = malloc(sizeof(can_t));
 	assert(can1);
 
-	can1->hcan		  = hcan;
+	can1->hcan = hcan;
 
 	assert(!can_init(can1));
 
@@ -40,19 +40,21 @@ void init_can1(CAN_HandleTypeDef* hcan)
 
 osThreadId_t can_dispatch_handle;
 const osThreadAttr_t can_dispatch_attributes = {
-	.name		= "CanDispatch",
+	.name = "CanDispatch",
 	.stack_size = 128 * 8,
-	.priority	= (osPriority_t)osPriorityRealtime5,
+	.priority = (osPriority_t)osPriorityRealtime5,
 };
 
-void vCanDispatch(void* pv_params)
+void vCanDispatch(void *pv_params)
 {
 	can_msg_t msg_from_queue;
 	HAL_StatusTypeDef msg_status;
 
-	for (;;) {
+	for (;;)
+	{
 		/* Send CAN message */
-		if (osOK == osMessageQueueGet(can_outbound_queue, &msg_from_queue, NULL, osWaitForever)) {
+		if (osOK == osMessageQueueGet(can_outbound_queue, &msg_from_queue, NULL, osWaitForever))
+		{
 			msg_status = can_send_msg(can1, &msg_from_queue);
 			if (msg_status == HAL_ERROR)
 			{
@@ -62,12 +64,12 @@ void vCanDispatch(void* pv_params)
 			{
 				serial_print("Outbound mailbox full!");
 			}
-			#ifdef LOG_VERBOSE
+#ifdef LOG_VERBOSE
 			else
 			{
 				printf("Message sent: %lX\r\n", msg_from_queue.id);
 			}
-			#endif
+#endif
 		}
 
 		osDelay(DELAY_CAN_DISPATCH);
@@ -82,4 +84,3 @@ int8_t queue_can_msg(can_msg_t msg)
 	osMessageQueuePut(can_outbound_queue, &msg, 0U, 0U);
 	return 0;
 }
-
diff --git a/Core/Src/controller.c b/Core/Src/controller.c
@@ -0,0 +1,42 @@
+#include "controller.h"
+#include "msb_conf.h"
+#include "msb.h"
+
+osThreadId_t led_controller_handle;
+const osThreadAttr_t led_controller_attributes = {
+    .name = "LedController",
+    .stack_size = 32 * 8,
+    .priority = (osPriority_t)osPriorityBelowNormal1,
+};
+
+void vLedController(void *pv_params)
+{
+
+    msb_t *msb = (msb_t *)pv_params;
+
+    switch (*msb->device_loc)
+    {
+    case DEVICE_FRONT_LEFT:
+        write_debug1(msb, true);
+        write_debug2(msb, true);
+        break;
+    case DEVICE_FRONT_RIGHT:
+        write_debug1(msb, true);
+        write_debug2(msb, false);
+        break;
+    case DEVICE_BACK_LEFT:
+        write_debug1(msb, false);
+        write_debug2(msb, true);
+        break;
+    case DEVICE_BACK_RIGHT:
+        write_debug1(msb, false);
+        write_debug2(msb, false);
+        break;
+    }
+
+    for (;;)
+    {
+
+        osDelay(DELAY_DEBUG_LED_REFRESH);
+    }
+}