merge conflict resolved

Apps/Inc/common.h

@@ -34,8 +34,12 @@
 #define XSTR(STRING) GENERATE_STRING(STRING)
 #define INDIRECT(VAL) VAL
 
+// Length of array
+#define LENOF(ARR) (sizeof(ARR)/sizeof(ARR[0]))
+
 typedef void (*callback_t)(void);
 
 void print_float(char *str, float f);
+void print_bin(char *str, uint32_t i);
 
 #endif

Apps/Src/SendCarCAN.c

@@ -1,5 +1,9 @@
 #include "common.h"
 #include "os_cfg_app.h"
+
+#include "Tasks.h"
+#include "SendCarCAN.h"
+
 #include "CANbus.h"
 #include "Minions.h"
 #include "Contactors.h"
@@ -11,22 +15,54 @@
 #define FIFO_TYPE CANDATA_t
 #define FIFO_SIZE 256
 #define FIFO_NAME SendCarCAN_Q
-#include "fifo_protected.h"
+#include "fifo.h"
 
 static SendCarCAN_Q_t CANFifo;
 
+static OS_SEM CarCAN_Sem4;
+static OS_MUTEX CarCAN_Mtx;
+
+static OS_SEM CarCAN_Sem4;
+static OS_MUTEX CarCAN_Mtx;
+
 #define IO_STATE_TMR_DLY_MS 250u
 #define IO_STATE_TMR_DLY_TS ((IO_STATE_TMR_DLY_MS * OS_CFG_TMR_TASK_RATE_HZ) / (1000u))
 static OS_TMR IOStateTmr;
 
 static void putIOState(void *p_tmr, void *p_arg);
 
 /**
- * @brief Initialize SendCarCAN
+ * @brief Wrapper to put new message in the CAN queue
 */
-void SendCarCAN_Init(){
+void SendCarCAN_Put(CANDATA_t message){
     OS_ERR err;
+    CPU_TS ticks;
+
+    OSMutexPend(&CarCAN_Mtx, 0, OS_OPT_PEND_BLOCKING, &ticks, &err);
+    assertOSError(OS_SEND_CAN_LOC, err);
 
+    bool success = SendCarCAN_Q_put(&CANFifo, message);
+
+    OSMutexPost(&CarCAN_Mtx, OS_OPT_POST_NONE, &err);
+    assertOSError(OS_SEND_CAN_LOC, err);
+
+    if(success) OSSemPost(&CarCAN_Sem4, OS_OPT_POST_1, &err);
+    assertOSError(OS_SEND_CAN_LOC, err);
+}
+
+/**
+ * @brief Grabs the latest messages from the queue and sends over CarCAN
+*/
+void Task_SendCarCAN(void *p_arg){
+    OS_ERR err;
+    CPU_TS ticks;
+
+    OSMutexCreate(&CarCAN_Mtx, "CarCAN_Mtx", &err);
+    assertOSError(OS_SEND_CAN_LOC, err);
+
+    OSSemCreate(&CarCAN_Sem4, "CarCAN_Sem4", 0, &err);
+    assertOSError(OS_SEND_CAN_LOC, err);
+
     SendCarCAN_Q_renew(&CANFifo);
 
     // Set up timer to put car data message every IO_STATE_TMR_DLY_MS ms
@@ -39,25 +75,27 @@ void SendCarCAN_Init(){
                 NULL,
                 &err
                 );
-}
+    assertOSError(OS_SEND_CAN_LOC, err);
 
-/**
- * @brief Wrapper to put new message in the CAN queue
-*/
-void SendCarCAN_Put(CANDATA_t message){
-    SendCarCAN_Q_put(&CANFifo, message);
-}
+    OSTmrStart(&IOStateTmr, &err);
+    assertOSError(OS_SEND_CAN_LOC, err);
 
-/**
- * @brief Grabs the latest messages from the queue and sends over CarCAN
-*/
-void Task_SendCarCAN(void *p_arg){
     CANDATA_t message;
+    memset(&message, 0, sizeof(CANDATA_t));
 
     while (1) {
-        SendCarCAN_Q_get(&CANFifo, &message);
-        CANbus_Send(message, true, CARCAN);
-
+        OSSemPend(&CarCAN_Sem4, 0, OS_OPT_PEND_BLOCKING, &ticks, &err);
+        assertOSError(OS_SEND_CAN_LOC, err);
+
+        OSMutexPend(&CarCAN_Mtx, 0, OS_OPT_PEND_BLOCKING, &ticks, &err);
+        assertOSError(OS_SEND_CAN_LOC, err);
+
+        bool res = SendCarCAN_Q_get(&CANFifo, &message);
+        assertOSError(OS_SEND_CAN_LOC, err);
+
+        OSMutexPost(&CarCAN_Mtx, OS_OPT_POST_NONE, &err);
+
+        if(res) CANbus_Send(message, true, CARCAN);
     }
 }
 
@@ -81,7 +119,7 @@ static void putIOState(void *p_tmr, void *p_arg){
     // Get contactor info
     message.data[3] = 0;
     for(contactor_t contactor = 0; contactor < NUM_CONTACTORS; contactor++){
-        bool contactorState = Contactors_Get(contactor) == ON ? true : false;
+        bool contactorState = (Contactors_Get(contactor) == ON) ? true : false;
         message.data[3] |= contactorState << contactor;
     }
 

Apps/Src/common.c

@@ -9,3 +9,11 @@ void print_float(char * str, float f) {
     int32_t d = (f<0)?-f:f;
     printf("%d.%02d\n\r", (int)n, (int)d);
 }
+
+void print_bin(char * str, uint32_t i){
+    if(str) printf(str);
+
+    for(uint32_t mask=0x80000000L; mask > 0L; mask >>= 1){
+        printf("%d",(mask & i)?1:0);
+    }
+}

Apps/Src/main.c

@@ -79,11 +79,10 @@ void Task_Init(void *p_arg){
     CANbus_Init(MOTORCAN, NULL, NUM_MOTORCAN_FILTERS);
     Contactors_Init();
     Display_Init();
-    Minion_Init();
+    Minions_Init();
 
     // Initialize applications
     UpdateDisplay_Init();
-    SendCarCAN_Init();
 
     // Initialize FaultState
     OSTaskCreate(

Drivers/Inc/CANConfig.h

@@ -2,13 +2,10 @@
 #define CAN_CONFIG
 #include "CANbus.h"
 
-
-
-
 /**
  * Filter Lists for CarCAN and MotorCAN
 */
-#define NUM_CARCAN_FILTERS 4
+#define NUM_CARCAN_FILTERS 6
 #define NUM_MOTORCAN_FILTERS 0
 extern  CANId_t carCANFilterList[NUM_CARCAN_FILTERS];
 extern  CANId_t motorCANFilterList[NUM_MOTORCAN_FILTERS];

Drivers/Inc/Minions.h

@@ -6,7 +6,7 @@
 
 // used to index into lookup table
 // if changed, PINS_LOOKARR should be changed in Minions.c
-#define FOREACH_MinionPin(PIN) \
+#define FOREACH_PIN(PIN) \
         PIN(IGN_1),   \
         PIN(IGN_2),  \
         PIN(REGEN_SW),   \

Drivers/Src/CANConfig.c

@@ -31,8 +31,8 @@ const CANLUT_T CANLUT[NUM_CAN_IDS] = {
 	[MOTOR_POWER]					= {NOIDX, DOUBLE}, /**     MOTOR_POWER                     **/
 	[MOTOR_RESET] 					= {NOIDX, DOUBLE}, /**     MOTOR_RESET                     **/
 	[MOTOR_STATUS] 					= {NOIDX, DOUBLE}, /**     MOTOR_STATUS                    **/
-	[CONTROL_MODE] 				    = {NOIDX, DOUBLE}, /**     IO_STATE			               **/
-    [IO_STATE]                      = {NOIDX, BYTE  }, /**     CONTROL_MODE			           **/
+	[IO_STATE] 				        = {NOIDX, DOUBLE}, /**     IO_STATE			               **/
+    [CONTROL_MODE]                  = {NOIDX, BYTE  }, /**     CONTROL_MODE			           **/
 };
 
 /**
@@ -43,6 +43,8 @@ CANId_t carCANFilterList[NUM_CARCAN_FILTERS] = {
     BPS_TRIP, 
     STATE_OF_CHARGE,
     SUPPLEMENTAL_VOLTAGE,
-    CHARGE_ENABLE
+    CHARGE_ENABLE,
+    IO_STATE,
+    CONTROL_MODE
 };
 CANId_t motorCANFilterList[NUM_MOTORCAN_FILTERS] = {};