can fixes, other bugs

Northeastern-Electric-Racing · Jan 7, 2024 · 8689e43 · 8689e43
1 parent 2ba8961
commit 8689e43
Show file tree

Hide file tree

Showing 10 changed files with 753 additions and 732 deletions.
diff --git a/Core/Inc/can_handler.h b/Core/Inc/can_handler.h
@@ -9,8 +9,11 @@
 #define NUM_INBOUND_CAN1_IDS 1
 #define NUM_INBOUND_CAN2_IDS 1
 
-ringbuffer_t* can1_rx_queue;
-ringbuffer_t* can2_rx_queue;
+extern CAN_HandleTypeDef hcan1;
+extern CAN_HandleTypeDef hcan2;
+
+extern ringbuffer_t* can1_rx_queue;
+extern ringbuffer_t* can2_rx_queue;
 
 static const uint16_t can1_id_list[NUM_INBOUND_CAN1_IDS] = {
 	//CANID_X,
@@ -26,9 +29,9 @@ static const uint16_t can2_id_list[NUM_INBOUND_CAN2_IDS] = {
 void can_receive_callback(CAN_HandleTypeDef *hcan);
 
 /* for 1st CAN bus */
-int8_t get_can1_msg(can_msg_t* msg);
+int8_t get_can1_msg();
 
 /* for 2nd CAN bus */
-int8_t get_can2_msg(can_msg_t* msg);
+int8_t get_can2_msg();
 
 #endif // CAN_HANDLER_H
diff --git a/Core/Inc/main.h b/Core/Inc/main.h
@@ -1,121 +1,121 @@
-/* USER CODE BEGIN Header */
-/**
-  ******************************************************************************
-  * @file           : main.h
-  * @brief          : Header for main.c file.
-  *                   This file contains the common defines of the application.
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2023 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
-/* USER CODE END Header */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __MAIN_H
-#define __MAIN_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include "stm32f4xx_hal.h"
-
-/* Private includes ----------------------------------------------------------*/
-/* USER CODE BEGIN Includes */
-#include <stdlib.h>
-/* USER CODE END Includes */
-
-/* Exported types ------------------------------------------------------------*/
-/* USER CODE BEGIN ET */
-
-/* USER CODE END ET */
-
-/* Exported constants --------------------------------------------------------*/
-/* USER CODE BEGIN EC */
-
-/* USER CODE END EC */
-
-/* Exported macro ------------------------------------------------------------*/
-/* USER CODE BEGIN EM */
-
-/* USER CODE END EM */
-
-/* Exported functions prototypes ---------------------------------------------*/
-void Error_Handler(void);
-
-/* USER CODE BEGIN EFP */
-
-/* USER CODE END EFP */
-
-/* Private defines -----------------------------------------------------------*/
-#define FPGA_Reset_Pin GPIO_PIN_13
-#define FPGA_Reset_GPIO_Port GPIOC
-#define Communication_GPIO_Pin GPIO_PIN_14
-#define Communication_GPIO_GPIO_Port GPIOC
-#define Communication_GPIOC15_Pin GPIO_PIN_15
-#define Communication_GPIOC15_GPIO_Port GPIOC
-#define Communication_GPIOC0_Pin GPIO_PIN_0
-#define Communication_GPIOC0_GPIO_Port GPIOC
-#define SPI_2_CS_Pin GPIO_PIN_1
-#define SPI_2_CS_GPIO_Port GPIOC
-#define Interlock_Read_Pin GPIO_PIN_2
-#define Interlock_Read_GPIO_Port GPIOA
-#define Fault_Output_Pin GPIO_PIN_3
-#define Fault_Output_GPIO_Port GPIOA
-#define SPI_1_CS_Pin GPIO_PIN_4
-#define SPI_1_CS_GPIO_Port GPIOA
-#define Debug_LED_Pin GPIO_PIN_4
-#define Debug_LED_GPIO_Port GPIOC
-#define I_Sense_Pin GPIO_PIN_5
-#define I_Sense_GPIO_Port GPIOC
-#define I_SenseB0_Pin GPIO_PIN_0
-#define I_SenseB0_GPIO_Port GPIOB
-#define I_SenseB1_Pin GPIO_PIN_1
-#define I_SenseB1_GPIO_Port GPIOB
-#define I_SenseB2_Pin GPIO_PIN_2
-#define I_SenseB2_GPIO_Port GPIOB
-#define Debug_LEDB11_Pin GPIO_PIN_11
-#define Debug_LEDB11_GPIO_Port GPIOB
-#define Watchdog_Out_Pin GPIO_PIN_14
-#define Watchdog_Out_GPIO_Port GPIOB
-#define Fan_PWM_Pin GPIO_PIN_6
-#define Fan_PWM_GPIO_Port GPIOC
-#define Fan_PWMC7_Pin GPIO_PIN_7
-#define Fan_PWMC7_GPIO_Port GPIOC
-#define Fan_PWMC8_Pin GPIO_PIN_8
-#define Fan_PWMC8_GPIO_Port GPIOC
-#define Fan_PWMC9_Pin GPIO_PIN_9
-#define Fan_PWMC9_GPIO_Port GPIOC
-#define Fan_PWMA8_Pin GPIO_PIN_8
-#define Fan_PWMA8_GPIO_Port GPIOA
-#define Fan_PWMA10_Pin GPIO_PIN_10
-#define Fan_PWMA10_GPIO_Port GPIOA
-#define SPI_3_CS_Pin GPIO_PIN_15
-#define SPI_3_CS_GPIO_Port GPIOA
-#define External_GPIO_Pin GPIO_PIN_2
-#define External_GPIO_GPIO_Port GPIOD
-#define External_GPIOB3_Pin GPIO_PIN_3
-#define External_GPIOB3_GPIO_Port GPIOB
-#define External_GPIOB4_Pin GPIO_PIN_4
-#define External_GPIOB4_GPIO_Port GPIOB
-#define External_GPIOB5_Pin GPIO_PIN_5
-#define External_GPIOB5_GPIO_Port GPIOB
-
-/* USER CODE BEGIN Private defines */
-
-/* USER CODE END Private defines */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __MAIN_H */
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : main.h
+  * @brief          : Header for main.c file.
+  *                   This file contains the common defines of the application.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2023 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __MAIN_H
+#define __MAIN_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hal.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+#include <stdlib.h>
+/* USER CODE END Includes */
+
+/* Exported types ------------------------------------------------------------*/
+/* USER CODE BEGIN ET */
+
+/* USER CODE END ET */
+
+/* Exported constants --------------------------------------------------------*/
+/* USER CODE BEGIN EC */
+
+/* USER CODE END EC */
+
+/* Exported macro ------------------------------------------------------------*/
+/* USER CODE BEGIN EM */
+
+/* USER CODE END EM */
+
+/* Exported functions prototypes ---------------------------------------------*/
+void Error_Handler(void);
+
+/* USER CODE BEGIN EFP */
+
+/* USER CODE END EFP */
+
+/* Private defines -----------------------------------------------------------*/
+#define FPGA_Reset_Pin GPIO_PIN_13
+#define FPGA_Reset_GPIO_Port GPIOC
+#define Communication_GPIO_Pin GPIO_PIN_14
+#define Communication_GPIO_GPIO_Port GPIOC
+#define Communication_GPIOC15_Pin GPIO_PIN_15
+#define Communication_GPIOC15_GPIO_Port GPIOC
+#define Communication_GPIOC0_Pin GPIO_PIN_0
+#define Communication_GPIOC0_GPIO_Port GPIOC
+#define SPI_2_CS_Pin GPIO_PIN_1
+#define SPI_2_CS_GPIO_Port GPIOC
+#define Interlock_Read_Pin GPIO_PIN_2
+#define Interlock_Read_GPIO_Port GPIOA
+#define Fault_Output_Pin GPIO_PIN_3
+#define Fault_Output_GPIO_Port GPIOA
+#define SPI_1_CS_Pin GPIO_PIN_4
+#define SPI_1_CS_GPIO_Port GPIOA
+#define Debug_LED_Pin GPIO_PIN_4
+#define Debug_LED_GPIO_Port GPIOC
+#define I_Sense_Pin GPIO_PIN_5
+#define I_Sense_GPIO_Port GPIOC
+#define I_SenseB0_Pin GPIO_PIN_0
+#define I_SenseB0_GPIO_Port GPIOB
+#define I_SenseB1_Pin GPIO_PIN_1
+#define I_SenseB1_GPIO_Port GPIOB
+#define I_SenseB2_Pin GPIO_PIN_2
+#define I_SenseB2_GPIO_Port GPIOB
+#define Debug_LEDB11_Pin GPIO_PIN_11
+#define Debug_LEDB11_GPIO_Port GPIOB
+#define Watchdog_Out_Pin GPIO_PIN_14
+#define Watchdog_Out_GPIO_Port GPIOB
+#define Fan_PWM_Pin GPIO_PIN_6
+#define Fan_PWM_GPIO_Port GPIOC
+#define Fan_PWMC7_Pin GPIO_PIN_7
+#define Fan_PWMC7_GPIO_Port GPIOC
+#define Fan_PWMC8_Pin GPIO_PIN_8
+#define Fan_PWMC8_GPIO_Port GPIOC
+#define Fan_PWMC9_Pin GPIO_PIN_9
+#define Fan_PWMC9_GPIO_Port GPIOC
+#define Fan_PWMA8_Pin GPIO_PIN_8
+#define Fan_PWMA8_GPIO_Port GPIOA
+#define Fan_PWMA10_Pin GPIO_PIN_10
+#define Fan_PWMA10_GPIO_Port GPIOA
+#define SPI_3_CS_Pin GPIO_PIN_15
+#define SPI_3_CS_GPIO_Port GPIOA
+#define External_GPIO_Pin GPIO_PIN_2
+#define External_GPIO_GPIO_Port GPIOD
+#define External_GPIOB3_Pin GPIO_PIN_3
+#define External_GPIOB3_GPIO_Port GPIOB
+#define External_GPIOB4_Pin GPIO_PIN_4
+#define External_GPIOB4_GPIO_Port GPIOB
+#define External_GPIOB5_Pin GPIO_PIN_5
+#define External_GPIOB5_GPIO_Port GPIOB
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __MAIN_H */
diff --git a/Core/Inc/stateMachine.h b/Core/Inc/stateMachine.h
@@ -43,7 +43,7 @@ uint32_t sm_fault_return(acc_data_t *accData);
  * @param index
  * @return fault_code
  */
-uint32_t sm_fault_eval(fault_eval_t index);
+uint32_t sm_fault_eval(fault_eval_t* index);
 
 /**
  * @brief handles the state machine, calls the appropriate handler function and runs every loop functions