190 debounce function, cerb_utils, fault handler task notis

Core/Inc/cerb_utils.h

@@ -0,0 +1,27 @@
+/**
+ * @file cerb_utils.h
+ * @author Scott Abramson
+ * @brief Utility functions for Cerberus.
+ * @version 0.1
+ * @date 2024-08-04
+ * 
+ * @copyright Copyright (c) 2024
+ * 
+ */
+
+#ifndef CERB_UTILS_H
+#define CERB_UTILS_H
+
+#include "cmsis_os.h"
+#include "stdbool.h"
+
+/**
+ * @brief Function to debounce an input with an RTOS timer. Debounce is started and maintained by a high signal, and it is interrupted by a low signal.
+ * 
+ * @param input Input to debounce.
+ * @param timer RTOS timer with callback to be called at end of debounce period.
+ * @param period The period of time, in milliseconds, to debounce the input for.
+ */
+void debounce(bool input, osTimerAttr_t *timer, uint32_t period);
+
+#endif

Core/Inc/steeringio.h

@@ -22,10 +22,6 @@ typedef enum {
  MAX_STEERING_BUTTONS
 } steeringio_button_t;
 
-typedef struct {
- uint8_t data[8];
-} button_data_t;
-
 typedef struct {
  osMutexId_t *
  button_mutex; /* Necessary to allow multiple threads to access same data */
@@ -41,6 +37,6 @@ steeringio_t *steeringio_init();
 
 bool get_steeringio_button(steeringio_t *wheel, steeringio_button_t button);
 
-void steeringio_update(steeringio_t *wheel, uint8_t button_data[]);
+void steeringio_update(steeringio_t *wheel, uint8_t button_data);
 
 #endif /* STEERING_H */

Core/Src/cerb_utils.c

@@ -0,0 +1,23 @@
+/**
+ * @file cerb_utils.c
+ * @author Scott Abramson
+ * @brief Utility functions for Cerberus.
+ * @version 0.1
+ * @date 2024-08-04
+ * 
+ * @copyright Copyright (c) 2024
+ * 
+ */
+
+#include "cerb_utils.h"
+
+void debounce(bool input, osTimerAttr_t *timer, uint32_t period)
+{
+ if (input && !osTimerIsRunning(timer)) {
+ /* Start timer if a button has been pressed */
+ osTimerStart(timer, period);
+ } else if (!input && osTimerIsRunning(timer)) {
+ /* Button stopped being pressed. Kill timer. */
+ osTimerStop(timer);
+ }
+}

Core/Src/fault.c

@@ -9,6 +9,7 @@
 #include "c_utils.h"
 
 #define FAULT_HANDLE_QUEUE_SIZE 16
+#define NEW_FAULT_FLAG 1U
 
 osMessageQueueId_t fault_handle_queue;
 
@@ -17,7 +18,10 @@ int queue_fault(fault_data_t *fault_data)
  if (!fault_handle_queue)
  return -1;
 
- return osMessageQueuePut(fault_handle_queue, fault_data, 0U, 0U);
+ osStatus_t error =
+ osMessageQueuePut(fault_handle_queue, fault_data, 0U, 0U);
+ osThreadFlagsSet(fault_handle, NEW_FAULT_FLAG);
+ return error;
 }
 
 osThreadId_t fault_handle;
@@ -30,47 +34,46 @@ const osThreadAttr_t fault_handle_attributes = {
 void vFaultHandler(void *pv_params)
 {
  fault_data_t fault_data;
- osStatus_t status;
  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);
- if (status == osOK) {
- uint32_t fault_id = (uint32_t)fault_data.id;
- endian_swap(&fault_id, sizeof(fault_id));
- uint8_t defcon = (uint8_t)fault_data.severity;
+ osThreadFlagsWait(NEW_FAULT_FLAG, osFlagsWaitAny,
+ osWaitForever);
 
- can_msg_t msg;
- msg.id = CANID_FAULT_MSG;
- msg.len = 8;
- uint8_t msg_data[8];
- memcpy(msg_data, &fault_id, sizeof(fault_id));
- memcpy(msg_data + sizeof(fault_id), &defcon,
- sizeof(defcon));
- 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);
- switch (fault_data.severity) {
- case DEFCON1: /* Highest(1st) Priority */
- fault();
- break;
- case DEFCON2:
- fault();
- break;
- case DEFCON3:
- fault();
- break;
- case DEFCON4:
- break;
- case DEFCON5: /* Lowest Priority */
- break;
- default:
- break;
- }
+ osMessageQueueGet(fault_handle_queue, &fault_data, NULL,
+ osWaitForever);
+
+ uint32_t fault_id = (uint32_t)fault_data.id;
+ endian_swap(&fault_id, sizeof(fault_id));
+ uint8_t defcon = (uint8_t)fault_data.severity;
+
+ can_msg_t msg;
+ msg.id = CANID_FAULT_MSG;
+ msg.len = 8;
+ uint8_t msg_data[8];
+ memcpy(msg_data, &fault_id, sizeof(fault_id));
+ memcpy(msg_data + sizeof(fault_id), &defcon, sizeof(defcon));
+ 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);
+ switch (fault_data.severity) {
+ case DEFCON1: /* Highest(1st) Priority */
+ fault();
+ break;
+ case DEFCON2:
+ fault();
+ break;
+ case DEFCON3:
+ fault();
+ break;
+ case DEFCON4:
+ break;
+ case DEFCON5: /* Lowest Priority */
+ break;
+ default:
+ break;
  }
  }
 }