Read sensor data

Core/Src/main.c

@@ -23,6 +23,7 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "../../MSB/api/msb_main.h"
+#include "../../MSB/api/monitor_msb.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -110,8 +111,11 @@ int main(void)
   MX_FDCAN1_Init();
   MX_I2C3_Init();
   MX_USART2_UART_Init();
-  /* USER CODE BEGIN 2 */
 
+  /* USER CODE BEGIN 2 */
+  msb_temp_t *temp_data;
+  msb_knuckle_t *knuckle_data;
+  msb_central_t *central_data;
   /* USER CODE END 2 */
 
   /* Init scheduler */
@@ -138,7 +142,9 @@ int main(void)
   defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
 
   /* USER CODE BEGIN RTOS_THREADS */
-  /* add threads, ... */
+  osThreadId_t tempThread = osThreadNew(monitor_temp_msb, temp_data, NULL); 
+  osThreadId_t imuThread = osThreadNew(monitor_knuckle_msb, knuckle_data, NULL); 
+  osThreadId_t centralThread = osThreadNew(monitor_central_msb, central_data, NULL);
   /* USER CODE END RTOS_THREADS */
 
   /* USER CODE BEGIN RTOS_EVENTS */

MSB/api/monitor_msb.h

@@ -0,0 +1,12 @@
+#ifndef READ_MSB_DATA
+#define READ_MSB_DATA
+
+#include "msb_temp.h"
+#include "msb_knuckle.h"
+#include "msb_central.h"
+
+void monitor_temp_msb(void* arg);
+void monitor_knuckle_msb(void* arg);
+void monitor_central_msb(void* arg);
+
+#endif

MSB/api/msb_central.h

@@ -2,14 +2,21 @@
 #ifndef MSB_CENTRAL_H
 #define MSB_CENTRAL_H
 
-#include "api/msb_common.h"
+#include "msb_common.h"
 
 typedef struct msb_central {
     const short id;
 } msb_central_t;
 
-void monitor_strain_gauge(msb_central_t* msb);
-void monitor_potentiometer(msb_central_t* msb);
-void monitor_tof(msb_central_t* msb);
+typedef struct central_data {
+    const int strain;
+    const int potentiometer;
+    const int tof;
+} central_data_t;
+
+
+int measure_strain_gauge(central_data_t* out);
+int measure_potentiometer(central_data_t* out);
+int measure_tof(central_data_t* out);
 
 #endif

MSB/api/msb_knuckle.h

@@ -2,12 +2,19 @@
 #ifndef MSB_KNUCKLE_H
 #define MSB_KNUCKLE_H
 
-#include "api/msb_common.h"
+#include "msb_common.h"
 
 typedef struct msb_knuckle {
     const short id;
 } msb_knuckle_t;
 
-void monitor_imu(msb_knuckle_t* msb);
+typedef struct msb_data {
+    int acceleration;
+    int x_angle;
+    int y_angle;
+    int z_angle;
+} knuckle_data_t;
+
+int measure_imu(knuckle_data_t* out);
 
 #endif

MSB/api/msb_temp.h

@@ -2,12 +2,18 @@
 #ifndef MSB_TEMP_H
 #define MSB_TEMP_H
 
-#include "api/msb_common.h"
+#include "msb_common.h"
 
 typedef struct msb_temp {
     const short id;
 } msb_temp_t;
 
-void monitor_temp(msb_temp_t* msb);
+typedef struct temp_data {
+    int data;
+    char unit;
+} temp_data_t;
+
+int measure_temp(temp_data_t* out);
 
 #endif
+

MSB/measure_msb.c

@@ -0,0 +1,24 @@
+
+#include "api/msb_central.h"
+#include "api/msb_knuckle.h"
+#include "api/msb_temp.h"
+
+int measure_strain_gauge(central_data_t* out) {
+    return 0; // TODO
+}
+
+int measure_potentiometer(central_data_t* out) {
+    return 0; // TODO
+}
+
+int measure_tof(central_data_t* out) {
+    return 0; // TODO
+}
+
+int measure_imu(knuckle_data_t* out) {
+    return 0; // TODO
+}
+
+int measure_temp(temp_data_t* out) {
+    return 0; // TODO
+}

MSB/monitor_msb.c

@@ -0,0 +1,71 @@
+#include "cmsis_os.h"
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "api/monitor_msb.h"
+
+void monitor_temp_msb(void* arg) {
+
+    msb_temp_t* msb = (msb_temp_t*) arg;
+
+    temp_data_t* out = malloc(sizeof(temp_data_t));
+
+    char status[100];
+    for (;;) {
+        int ret = measure_temp(out);
+        if (ret) {
+            return; //handle error 
+        }
+        sprintf(status, "{\"id\": %d, \"data\": %d, \"unit\": \"%c\"}", msb->id, out->data, out->unit);
+        push_can_queue(status);
+        osDelay(500);
+    }
+}
+
+void monitor_knuckle_msb(void* arg) {
+
+    msb_knuckle_t* msb = (msb_knuckle_t*) arg;
+
+    knuckle_data_t* out = malloc(sizeof(knuckle_data_t));
+
+    char status[100];
+    for (;;) {
+        int ret = measure_imu(out);
+        if (ret) {
+            return; // handle error
+        }
+        sprintf(status, "{\"id\": %d, \"acceleration\": %d, \"x_angle\": %d, \"y-angle\": %d, \"z-angle\": %d}", 
+            msb->id, out->acceleration, out->x_angle, out->y_angle, out->z_angle);
+        push_can_queue(status);
+        osDelay(500);
+    }
+}
+
+void monitor_central_msb(void* arg) {
+
+    msb_central_t* msb = (msb_central_t*) arg;
+
+    central_data_t* out = malloc(sizeof(msb_central_t));
+
+    char status[100];
+    for (;;) {
+        int potentiometer_ret = measure_potentiometer(out);
+        int strain_ret = measure_strain_gauge(out);
+        int tof_ret = measure_tof(out);
+        if (potentiometer_ret) {
+            return; //handle error
+        }
+        if (strain_ret) {
+            return; //handle error
+        }
+        if (tof_ret) {
+            return; //handle error
+        }
+        sprintf(status, "{\"id\": %d, \"potentiometer\": %d, \"strain\": %d, \"ToF\": %d}",
+            msb->id, out->potentiometer, out->strain, out->tof);
+        push_can_queue(status);
+        osDelay(500);
+    }
+}
+
+

Makefile

@@ -75,7 +75,9 @@ Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c \
 Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c \
 Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c \
 MSB/msb_main.c \
-MSB/msb_can.c
+MSB/msb_can.c \
+MSB/monitor_msb.c \
+MSB/measure_msb.c
 
 # ASM sources
 ASM_SOURCES =  \