190 brakelight control task, add task notifications to CAN I/O and ro…

…uters

Core/Inc/bms.h

@@ -6,6 +6,7 @@
 
 #define BMS_DCL_MSG 0x156 /*BMS MONITOR WATCHDOG*/
 #define BMS_CURR_LIMIT_MSG 0x176
+#define NEW_AMS_MSG_FLAG 1U
 
 typedef struct {
  osTimerId bms_monitor_timer;

Core/Inc/control.h

@@ -0,0 +1,24 @@
+/**
+ * @file control.h
+ * @author Scott Abramson
+ * @brief Tasks for controlling the car.
+ * @version 0.1
+ * @date 2024-08-04
+ * 
+ * @copyright Copyright (c) 2024
+ * 
+ */
+
+#ifndef CONTROL_H
+#define CONTROL_H
+
+#define BRAKE_STATE_UPDATE_FLAG 0x00000001U
+
+/**
+ * @brief Task for controlling the brakelight.
+ */
+void vBrakelightControl(void *pv_params);
+extern osThreadId brakelight_control_thread;
+extern const osThreadAttr_t brakelight_monitor_attributes;
+
+#endif

Core/Inc/dti.h

@@ -35,6 +35,8 @@
  0x496 /* Throttle signal, Brake signal, IO, Drive enable */
 #define DTI_QUEUE_SIZE 5
 
+#define NEW_DTI_MSG_FLAG 1U
+
 typedef struct {
  int32_t rpm; /* SCALE: 1 UNITS: Rotations per Minute */
  int16_t duty_cycle; /* SCALE: 10 UNITS: Percentage */

Core/Inc/monitor.h

@@ -51,8 +51,4 @@ void vSteeringIOButtonsMonitor(void *pv_params);
 extern osThreadId_t steeringio_buttons_monitor_handle;
 extern const osThreadAttr_t steeringio_buttons_monitor_attributes;
 
-void vBrakelightMonitor(void *pv_params);
-extern osThreadId brakelight_monitor_handle;
-extern const osThreadAttr_t brakelight_monitor_attributes;
-
 #endif // MONITOR_H

Core/Inc/processing.h

@@ -15,6 +15,13 @@
 #include "cmsis_os.h"
 #include "stdbool.h"
 
+#define TSMS_UPDATE_FLAG 0x00000001U
+
+/**
+ * @brief Get the debounced TSMS reading.
+ * 
+ * @return State of TSMS.
+ */
 bool get_tsms();
 
 /**
@@ -23,6 +30,5 @@ bool get_tsms();
 void vProcessTSMS(void *pv_params);
 extern osThreadId_t process_tsms_thread_id;
 extern const osThreadAttr_t process_tsms_attributes;
-#define TSMS_UPDATE_FLAG 0x00000001U
 
 #endif

Core/Inc/queues.h

@@ -10,8 +10,6 @@
 #define IMU_QUEUE_SIZE 8
 #define TSMS_QUEUE_SIZE 1
 
-extern osMessageQueueId_t brakelight_signal;
-
 typedef struct {
  uint16_t accel_x;
  uint16_t accel_y;

Core/Src/bms.c

@@ -53,11 +53,10 @@ void vAMSCANMonitor(void *pv_params)
 
  osTimerStart(bms->bms_monitor_timer, BMS_CAN_MONITOR_DELAY);
  for (;;) {
- if (osOK == osMessageQueueGet(bms_monitor_queue,
- &msg_from_queue, NULL,
- osWaitForever)) {
- osTimerStart(bms->bms_monitor_timer,
- BMS_CAN_MONITOR_DELAY);
- }
+ osThreadFlagsWait(NEW_AMS_MSG_FLAG, osFlagsWaitAny,
+ osWaitForever);
+ osMessageQueueGet(bms_monitor_queue, &msg_from_queue, NULL,
+ osWaitForever);
+ osTimerStart(bms->bms_monitor_timer, BMS_CAN_MONITOR_DELAY);
  }
-}
+}

Core/Src/can_handler.c

@@ -24,6 +24,8 @@
 #include "dti.h"
 
 #define CAN_MSG_QUEUE_SIZE 50 /* messages */
+#define CAN_NEW_MSG_FLAG 1U
+
 static osMessageQueueId_t can_outbound_queue;
 
 can_t *can1;
@@ -82,16 +84,28 @@ void can1_callback(CAN_HandleTypeDef *hcan)
  // case DTI_CANID_ID_IQ:
  // case DTI_CANID_SIGNALS:
  osMessageQueuePut(dti_router_queue, &new_msg, 0U, 0U);
+ osThreadFlagsSet(dti_router_handle, NEW_DTI_MSG_FLAG);
  break;
  case BMS_DCL_MSG:
  //printf("Recieved dcl");
  osMessageQueuePut(bms_monitor_queue, &new_msg, 0U, 0U);
+ osThreadFlagsSet(bms_monitor_handle, NEW_AMS_MSG_FLAG);
  break;
  default:
  break;
  }
 }
 
+int8_t queue_can_msg(can_msg_t msg)
+{
+ if (!can_outbound_queue)
+ return -1;
+
+ osMessageQueuePut(can_outbound_queue, &msg, 0U, 0U);
+ osThreadFlagsSet(can_dispatch_handle, CAN_NEW_MSG_FLAG);
+ return 0;
+}
+
 osThreadId_t can_dispatch_handle;
 const osThreadAttr_t can_dispatch_attributes = {
  .name = "CanDispatch",
@@ -108,29 +122,20 @@ void vCanDispatch(void *pv_params)
  HAL_StatusTypeDef msg_status;
 
  for (;;) {
+ osThreadFlagsWait(CAN_NEW_MSG_FLAG, osFlagsWaitAny,
+ osWaitForever);
  /* Send CAN message */
- 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";
- queue_fault(&fault_data);
- } else if (msg_status == HAL_BUSY) {
- fault_data.diag = "Outbound mailbox full!";
- queue_fault(&fault_data);
- }
- }
+ osMessageQueueGet(can_outbound_queue, &msg_from_queue, NULL,
+ osWaitForever);
 
- osDelay(CAN_DISPATCH_DELAY);
- }
-}
+ msg_status = can_send_msg(can1, &msg_from_queue);
 
-int8_t queue_can_msg(can_msg_t msg)
-{
- if (!can_outbound_queue)
- return -1;
-
- osMessageQueuePut(can_outbound_queue, &msg, 0U, 0U);
- return 0;
+ if (msg_status == HAL_ERROR) {
+ fault_data.diag = "Failed to send CAN message";
+ queue_fault(&fault_data);
+ } else if (msg_status == HAL_BUSY) {
+ fault_data.diag = "Outbound mailbox full!";
+ queue_fault(&fault_data);
+ }
+ }
 }

Core/Src/control.c

@@ -0,0 +1,32 @@
+/**
+ * @file control.c
+ * @author Scott Abramson
+ * @brief Tasks for controlling the car.
+ * @version 0.1
+ * @date 2024-08-04
+ * 
+ * @copyright Copyright (c) 2024
+ * 
+ */
+
+#include "pdu.h"
+#include "queues.h"
+#include "control.h"
+
+osThreadId brakelight_control_thread;
+const osThreadAttr_t brakelight_monitor_attributes = {
+ .name = "BrakelightMonitor",
+ .stack_size = 32 * 8,
+ .priority = (osPriority_t)osPriorityHigh,
+};
+
+void vBrakelightControl(void *pv_params)
+{
+ pdu_t *pdu = (pdu_t *)pv_params;
+
+ for (;;) {
+ osThreadFlagsWait(BRAKE_STATE_UPDATE_FLAG, osFlagsWaitAny,
+ osWaitForever);
+ write_brakelight(pdu, get_brake_state());
+ }
+}

Core/Src/dti.c

@@ -295,7 +295,9 @@ void vDTIRouter(void *pv_params)
  dti_t *mc = (dti_t *)pv_params;
 
  for (;;) {
- /* Wait until new CAN message comes into queue */
+ osThreadFlagsWait(NEW_DTI_MSG_FLAG, osFlagsWaitAny,
+ osWaitForever);
+
  status = osMessageQueueGet(dti_router_queue, &message, NULL,
  osWaitForever);
  if (status == osOK) {

Core/Src/main.c

@@ -41,6 +41,7 @@
 #include "dti.h"
 #include "steeringio.h"
 #include "processing.h"
+#include "control.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -81,7 +82,6 @@ const osThreadAttr_t defaultTask_attributes = {
  .priority = (osPriority_t) osPriorityNormal,
 };
 /* USER CODE BEGIN PV */
-osMessageQueueId_t brakelight_signal;
 osMessageQueueId_t pedal_data_queue;
 osMessageQueueId_t imu_queue;
 osMessageQueueId_t dti_router_queue;
@@ -202,8 +202,6 @@ int main(void)
  /* USER CODE END RTOS_TIMERS */
 
  /* USER CODE BEGIN RTOS_QUEUES */
- brakelight_signal = osMessageQueueNew(BRAKELIGHT_QUEUE_SIZE, sizeof(bool), NULL);
- assert(brakelight_signal);
  imu_queue = osMessageQueueNew(IMU_QUEUE_SIZE, sizeof(imu_data_t), NULL);
  assert(imu_queue);
  pedal_data_queue = osMessageQueueNew(PEDAL_DATA_QUEUE_SIZE, sizeof(pedals_t), NULL);
@@ -261,8 +259,8 @@ int main(void)
  assert(fault_handle);
  sm_director_handle = osThreadNew(vStateMachineDirector, pdu, &sm_director_attributes);
  assert(sm_director_handle);
- brakelight_monitor_handle = osThreadNew(vBrakelightMonitor, pdu, &brakelight_monitor_attributes);;
- assert(brakelight_monitor_handle);
+ brakelight_control_thread = osThreadNew(vBrakelightControl, pdu, &brakelight_monitor_attributes);;
+ assert(brakelight_control_thread);
 
  /* USER CODE END RTOS_THREADS */
 

Core/Src/monitor.c

@@ -15,6 +15,7 @@
 #include "task.h"
 #include "timer.h"
 #include "processing.h"
+#include "control.h"
 #include <stdbool.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -210,8 +211,8 @@ void vPedalsMonitor(void *pv_params)
  is_braking = ((adc_data[BRAKEPIN_1] + adc_data[BRAKEPIN_2]) /
  2) > PEDAL_BRAKE_THRESH;
  brake_state = is_braking;
-
- osMessageQueuePut(brakelight_signal, &is_braking, 0U, 0U);
+ osThreadFlagsSet(brakelight_control_thread,
+  BRAKE_STATE_UPDATE_FLAG);
 
  /* Low Pass Filter */
  sensor_data.accelerator_value =
@@ -347,7 +348,8 @@ void vTsmsMonitor(void *pv_params)
  .severity = DEFCON5 };
  pdu_t *pdu = (pdu_t *)pv_params;
  bool tsms_status = false;
- static const uint8_t TSMS_SENSE_DELAY = 100;
+ /* ms */
+ static const uint8_t TSMS_SENSE_SAMPLE_RATE = 100;
 
  for (;;) {
  /* If the TSMS reading throws an error, queue TSMS fault */
@@ -359,7 +361,7 @@ void vTsmsMonitor(void *pv_params)
  osThreadFlagsSet(process_tsms_thread_id,
  TSMS_UPDATE_FLAG);
  }
- osDelay(TSMS_SENSE_DELAY);
+ osDelay(TSMS_SENSE_SAMPLE_RATE);
  }
 }
 
@@ -411,11 +413,6 @@ void vFusingMonitor(void *pv_params)
  queue_fault(&fault_data);
  }
 
- /* If the TSMS is off, the car should no longer be active. */
- if (!get_tsms() && get_func_state() == ACTIVE) {
- set_home_mode();
- }
-
  osDelay(FUSES_SAMPLE_DELAY);
  }
 }
@@ -529,29 +526,6 @@ void vSteeringIOButtonsMonitor(void *pv_params)
  }
 }
 
-osThreadId brakelight_monitor_handle;
-const osThreadAttr_t brakelight_monitor_attributes = {
- .name = "BrakelightMonitor",
- .stack_size = 32 * 8,
- .priority = (osPriority_t)osPriorityHigh,
-};
-
-void vBrakelightMonitor(void *pv_params)
-{
- pdu_t *pdu = (pdu_t *)pv_params;
-
- bool state;
- osStatus_t status;
-
- for (;;) {
- status = osMessageQueueGet(brakelight_signal, &state, NULL,
- osWaitForever);
- if (!status) {
- write_brakelight(pdu, state);
- }
- }
-}
-
 osThreadId_t temp_monitor_handle;
 const osThreadAttr_t temp_monitor_attributes = {
  .name = "TempMonitor",

Core/Src/processing.c

@@ -35,7 +35,6 @@ void vProcessTSMS(void *pv_params)
  nertimer_t tsms_debounce_timer = { .active = false };
 
  for (;;) {
- /* Wait until this flag is set by TSMS data collection task */
  osThreadFlagsWait(TSMS_UPDATE_FLAG, osFlagsWaitAny,
  osWaitForever);
 
@@ -66,3 +65,4 @@ void vProcessTSMS(void *pv_params)
  }
  }
 }
+

Core/Src/serial_monitor.c

@@ -6,6 +6,7 @@
 
 #define PRINTF_QUEUE_SIZE 25 /* Strings */
 #define PRINTF_BUFFER_LEN 128 /* Characters */
+#define NEW_MESSAGE_FLAG 0x00000001U
 
 osMessageQueueId_t printf_queue;
 osThreadId_t serial_monitor_handle;
@@ -40,6 +41,8 @@ int serial_print(const char *format, ...)
  return -3;
  }
 
+ osThreadFlagsSet(serial_monitor_handle, NEW_MESSAGE_FLAG);
+
  return 0;
 }
 
@@ -52,9 +55,13 @@ void vSerialMonitor(void *pv_params)
  osMessageQueueNew(PRINTF_QUEUE_SIZE, sizeof(char *), NULL);
 
  for (;;) {
- /* Wait until new printf message comes into queue */
+ osThreadFlagsWait(NEW_MESSAGE_FLAG, osFlagsWaitAny,
+ osWaitForever);
+
+ /* Get message to print */
  status = osMessageQueueGet(printf_queue, &message, NULL,
  osWaitForever);
+
  if (status != osOK) {
  // TODO: Trigger fault ?
  } else {

Makefile

@@ -59,6 +59,7 @@ Core/Src/pdu.c \
 Core/Src/mpu.c \
 Core/Src/steeringio.c \
 Core/Src/processing.c \
+Core/Src/control.c \
 Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c \
 Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c \
 Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c \