restore order

Northeastern-Electric-Racing · Sep 5, 2024 · 2583617 · 2583617
1 parent 2042879
commit 2583617
Show file tree

Hide file tree

Showing 5 changed files with 255 additions and 156 deletions.
diff --git a/Core/Src/bms.c b/Core/Src/bms.c
@@ -12,19 +12,23 @@
 
 osMessageQueueId_t bms_monitor_queue;
 
-bms_t* bms;
+bms_t *bms;
 
 void bms_fault_callback();
 
 osThreadId_t bms_monitor_handle;
-const osThreadAttr_t bms_monitor_attributes
- = { .name = "BMSCANMonitor", .stack_size = 64 * 8, .priority = (osPriority_t)osPriorityHigh2 };
+const osThreadAttr_t bms_monitor_attributes = {
+ .name = "BMSCANMonitor",
+ .stack_size = 64 * 8,
+ .priority = (osPriority_t)osPriorityHigh2
+};
 
 void bms_fault_callback()
 {
  fault_data_t fault_data
 
- = { .id = BMS_CAN_MONITOR_FAULT, .severity = DEFCON1 }; /*TO-DO: update severity*/
+ = { .id = BMS_CAN_MONITOR_FAULT,
+ .severity = DEFCON1 }; /*TO-DO: update severity*/
  fault_data.diag = "Failing To Receive CAN Messages from Shepherd";
  osTimerStart(bms->bms_monitor_timer, BMS_CAN_MONITOR_DELAY);
  queue_fault(&fault_data);
@@ -36,22 +40,28 @@ void bms_init()
  assert(bms);
 
  /*TO-DO: specify timer attributes*/
- bms->bms_monitor_timer = osTimerNew(&bms_fault_callback, osTimerOnce, NULL, NULL);
+ bms->bms_monitor_timer =
+ osTimerNew(&bms_fault_callback, osTimerOnce, NULL, NULL);
 
- bms_monitor_queue = osMessageQueueNew(CAN_QUEUE_SIZE, sizeof(can_msg_t), NULL);
+ bms_monitor_queue =
+ osMessageQueueNew(CAN_QUEUE_SIZE, sizeof(can_msg_t), NULL);
  assert(bms_monitor_queue);
 }
 
-void vBMSCANMonitor(void* pv_params)
+void vBMSCANMonitor(void *pv_params)
 {
  can_msg_t msg_from_queue;
 
  osTimerStart(bms->bms_monitor_timer, BMS_CAN_MONITOR_DELAY);
  for (;;) {
- if (osOK == osMessageQueueGet(bms_monitor_queue, &msg_from_queue, NULL, osWaitForever)) {
+ if (osOK == osMessageQueueGet(bms_monitor_queue,
+ &msg_from_queue, NULL,
+ osWaitForever)) {
  /*TO-DO: fix duration (ticks)*/
- osTimerStart(bms->bms_monitor_timer, BMS_CAN_MONITOR_DELAY);
- bms->dcl = (uint16_t)((msg_from_queue.data[1] << 8) & msg_from_queue.data[0]);
+ osTimerStart(bms->bms_monitor_timer,
+ BMS_CAN_MONITOR_DELAY);
+ bms->dcl = (uint16_t)((msg_from_queue.data[1] << 8) &
+ msg_from_queue.data[0]);
  // serial_print("BMS DCL %d", bms->dcl);
  }
  }

diff --git a/Core/Src/can_handler.c b/Core/Src/can_handler.c
@@ -25,49 +25,52 @@
 #define CAN_MSG_QUEUE_SIZE 50 /* messages */
 static osMessageQueueId_t can_outbound_queue;
 
-can_t* can1;
+can_t *can1;
 
 /* Relevant Info for Initializing CAN 1 */
-static uint32_t id_list[] = { DTI_CANID_ERPM, DTI_CANID_CURRENTS, DTI_CANID_TEMPS_FAULT,
- DTI_CANID_ID_IQ, DTI_CANID_SIGNALS, BMS_DCL_MSG };
+static uint32_t id_list[] = { DTI_CANID_ERPM, DTI_CANID_CURRENTS,
+ DTI_CANID_TEMPS_FAULT, DTI_CANID_ID_IQ,
+ DTI_CANID_SIGNALS, BMS_DCL_MSG };
 
-void init_can1(CAN_HandleTypeDef* hcan)
+void init_can1(CAN_HandleTypeDef *hcan)
 {
  assert(hcan);
 
  /* Create PDU struct */
  can1 = malloc(sizeof(can_t));
  assert(can1);
 
- can1->hcan  = hcan;
- can1->id_list  = id_list;
+ can1->hcan = hcan;
+ can1->id_list = id_list;
  can1->id_list_len = sizeof(id_list) / sizeof(uint32_t);
 
  assert(!can_init(can1));
 
- can_outbound_queue = osMessageQueueNew(CAN_MSG_QUEUE_SIZE, sizeof(can_msg_t), NULL);
+ can_outbound_queue =
+ osMessageQueueNew(CAN_MSG_QUEUE_SIZE, sizeof(can_msg_t), NULL);
 }
 
 /* Callback to be called when we get a CAN message */
-void can1_callback(CAN_HandleTypeDef* hcan)
+void can1_callback(CAN_HandleTypeDef *hcan)
 {
  fault_data_t fault_data = {
- .id  = CAN_ROUTING_FAULT,
+ .id = CAN_ROUTING_FAULT,
  .severity = DEFCON2,
  };
 
  CAN_RxHeaderTypeDef rx_header;
  can_msg_t new_msg;
 
  /* Read in CAN message */
- if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, new_msg.data) != HAL_OK) {
+ if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header,
+ new_msg.data) != HAL_OK) {
  fault_data.diag = "Failed to read CAN Msg";
  queue_fault(&fault_data);
  return;
  }
 
  new_msg.len = rx_header.DLC;
- new_msg.id = rx_header.StdId;
+ new_msg.id = rx_header.StdId;
 
  // TODO: Switch to hash map
  switch (new_msg.id) {
@@ -90,21 +93,24 @@ void can1_callback(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)
 {
- fault_data_t fault_data = { .id = CAN_DISPATCH_FAULT, .severity = DEFCON1 };
+ fault_data_t fault_data = { .id = CAN_DISPATCH_FAULT,
+ .severity = DEFCON1 };
 
  can_msg_t msg_from_queue;
  HAL_StatusTypeDef msg_status;
 
  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) {
  fault_data.diag = "Failed to send CAN message";

diff --git a/Core/Src/fault.c b/Core/Src/fault.c
@@ -14,12 +14,12 @@ osMessageQueueId_t fault_handle_queue;
 
 osThreadId_t fault_handle;
 const osThreadAttr_t fault_handle_attributes = {
- .name = "FaultHandler",
+ .name = "FaultHandler",
  .stack_size = 52 * 8,
- .priority = (osPriority_t)osPriorityRealtime1,
+ .priority = (osPriority_t)osPriorityRealtime1,
 };
 
-int queue_fault(fault_data_t* fault_data)
+int queue_fault(fault_data_t *fault_data)
 {
  if (!fault_handle_queue)
  return -1;
@@ -28,30 +28,34 @@ int queue_fault(fault_data_t* fault_data)
  return 0;
 }
 
-void vFaultHandler(void* pv_params)
+void vFaultHandler(void *pv_params)
 {
  fault_data_t fault_data;
  osStatus_t status;
- const state_req_t fault_request = { .id = FUNCTIONAL, .state.functional = FAULTED };
- fault_handle_queue = osMessageQueueNew(FAULT_HANDLE_QUEUE_SIZE, sizeof(fault_data_t), NULL);
+ const state_req_t fault_request = { .id = FUNCTIONAL,
+ .state.functional = FAULTED };
+ fault_handle_queue = osMessageQueueNew(FAULT_HANDLE_QUEUE_SIZE,
+ sizeof(fault_data_t), NULL);
 
  for (;;) {
  /* Wait until a message is in the queue, send messages when they are in the queue */
- status = osMessageQueueGet(fault_handle_queue, &fault_data, NULL, osWaitForever);
+ status = osMessageQueueGet(fault_handle_queue, &fault_data,
+ NULL, osWaitForever);
  if (status == osOK) {
  uint32_t fault_id = (uint32_t)fault_data.id;
  endian_swap(&fault_id, 4);
  uint8_t defcon = (uint8_t)fault_data.severity;
 
  can_msg_t msg;
- msg.id = CANID_FAULT_MSG;
+ msg.id = CANID_FAULT_MSG;
  msg.len = 8;
  uint8_t msg_data[8];
  memcpy(msg_data, &fault_id, 4);
  memcpy(msg_data + 4, &defcon, 1);
  memcpy(msg.data, msg_data, msg.len);
  queue_can_msg(msg);
- printf("\r\nFault Handler! Diagnostic Info:\t%s\r\n\r\n", fault_data.diag);
+ printf("\r\nFault Handler! Diagnostic Info:\t%s\r\n\r\n",
+ fault_data.diag);
  switch (fault_data.severity) {
  case DEFCON1: /* Highest(1st) Priority */
  queue_state_transition(fault_request);