Merged functionality of SendCarCAN into Telemetry and removed SendCar…

…CAN remnants

Apps/Inc/Tasks.h

@@ -62,8 +62,6 @@ void Task_UpdateDisplay(void* p_arg);
 
 void Task_ReadTritium(void* p_arg);
 
-void Task_SendCarCAN(void* p_arg);
-
 void Task_Telemetry(void* p_arg);
 
 void Task_DebugDump(void *p_arg);
@@ -79,7 +77,6 @@ extern OS_TCB SendTritium_TCB;
 extern OS_TCB ReadCarCAN_TCB;
 extern OS_TCB UpdateDisplay_TCB;
 extern OS_TCB ReadTritium_TCB;
-extern OS_TCB SendCarCAN_TCB;
 extern OS_TCB Telemetry_TCB;
 extern OS_TCB DebugDump_TCB;
 extern OS_TCB CommandLine_TCB;
@@ -94,7 +91,6 @@ extern CPU_STK SendTritium_Stk[TASK_SEND_TRITIUM_STACK_SIZE];
 extern CPU_STK ReadCarCAN_Stk[TASK_READ_CAR_CAN_STACK_SIZE];
 extern CPU_STK UpdateDisplay_Stk[TASK_UPDATE_DISPLAY_STACK_SIZE];
 extern CPU_STK ReadTritium_Stk[TASK_READ_TRITIUM_STACK_SIZE];
-extern CPU_STK SendCarCAN_Stk[TASK_SEND_CAR_CAN_STACK_SIZE];
 extern CPU_STK Telemetry_Stk[TASK_TELEMETRY_STACK_SIZE];
 extern CPU_STK DebugDump_Stk[TASK_DEBUG_DUMP_STACK_SIZE];
 extern CPU_STK CommandLine_Stk[TASK_COMMAND_LINE_STACK_SIZE];

Apps/Src/ReadTritium.c

@@ -51,7 +51,7 @@ Objective 1:
 	- if error
 		- assertOSError
 - determine information important to telementry
-	- SendCarCAN
+	- Telemetry
 - determine information important for storage
 	- acquire mutex on Storage Array
 	- Store information in Storage Array (based on index) 

Apps/Src/Tasks.c

@@ -18,7 +18,6 @@ OS_TCB SendTritium_TCB;
 OS_TCB ReadCarCAN_TCB;
 OS_TCB UpdateDisplay_TCB;
 OS_TCB ReadTritium_TCB;
-OS_TCB SendCarCAN_TCB;
 OS_TCB Telemetry_TCB;
 OS_TCB DebugDump_TCB;
 OS_TCB CommandLine_TCB;
@@ -34,7 +33,6 @@ CPU_STK SendTritium_Stk[TASK_SEND_TRITIUM_STACK_SIZE];
 CPU_STK ReadCarCAN_Stk[TASK_READ_CAR_CAN_STACK_SIZE];
 CPU_STK UpdateDisplay_Stk[TASK_UPDATE_DISPLAY_STACK_SIZE];
 CPU_STK ReadTritium_Stk[TASK_READ_TRITIUM_STACK_SIZE];
-CPU_STK SendCarCAN_Stk[TASK_SEND_CAR_CAN_STACK_SIZE];
 CPU_STK Telemetry_Stk[TASK_TELEMETRY_STACK_SIZE];
 CPU_STK DebugDump_Stk[TASK_DEBUG_DUMP_STACK_SIZE];
 CPU_STK CommandLine_Stk[TASK_COMMAND_LINE_STACK_SIZE];

Apps/Src/Telemetry.c

@@ -10,7 +10,8 @@
 // Make sure updated to the CarData_t and carMSGID are reflected in the CAN Bus IDs excel sheet
 
 /**
- * @brief Sends pedal, switch, light, and contactor information to be read by telemetry
+ * @brief Sends pedal, switch, light, and contactor information, as well as the 
+ * feedback from the motor controller to be read by telemetry
  * 
  * @param p_arg 
  */
@@ -21,10 +22,15 @@ void Task_Telemetry(void *p_arg){
         carMsg.data[i] = 0;
     }
     OS_ERR err;
-
+    CANDATA_t motorMsg;
     Minion_Error_t Merr;
 
     while (1) {
+
+        // Send motor msg
+        CAN_Queue_Pend(&motorMsg);
+        CANbus_Send(motorMsg, true, CARCAN);
+
         // Get pedal information
         carMsg.data[0] = Pedals_Read(ACCELERATOR);
         carMsg.data[1] = Pedals_Read(BRAKE);

Apps/Src/main.c

@@ -175,24 +175,6 @@ void Task_Init(void *p_arg){
     );
     assertOSError(OS_MAIN_LOC, err);
 
-    // Initialize SendCarCAN
-    OSTaskCreate(
-        (OS_TCB*)&SendCarCAN_TCB,
-        (CPU_CHAR*)"SendCarCAN",
-        (OS_TASK_PTR)Task_SendCarCAN,
-        (void*)NULL,
-        (OS_PRIO)TASK_SEND_CAR_CAN_PRIO,
-        (CPU_STK*)SendCarCAN_Stk,
-        (CPU_STK_SIZE)WATERMARK_STACK_LIMIT,
-        (CPU_STK_SIZE)TASK_SEND_CAR_CAN_STACK_SIZE,
-        (OS_MSG_QTY)0,
-        (OS_TICK)0,
-        (void*)NULL,
-        (OS_OPT)(OS_OPT_TASK_STK_CLR),
-        (OS_ERR*)&err
-    );
-    assertOSError(OS_MAIN_LOC, err);
-
 
     Minion_Error_t merr;
     while(1){

Docs/source/Apps/ExtraFiles.rst

@@ -10,15 +10,15 @@ Some files in the Apps folder don't contain any task code, but instead contain h
 CAN Queue
 =========
 
-Multiple tasks need to send messages over the car CAN bus. Sending is rather slow, so a queue is employed to absorbed the bursty nature of sending CAN messages. This way, multiple tasks can just post can messages to the queue, and another task (SendCarCAN) takes care to consume and send them to the CAN bus.
+Multiple tasks need to send messages over the car CAN bus. Sending is rather slow, so a queue is employed to absorbed the bursty nature of sending CAN messages. This way, multiple tasks can just post can messages to the queue, and another task (Telemetry) takes care to consume and send them to the CAN bus.
 
 The public interface of the file includes:
 
 ``void CAN_Queue_Init(void)`` — Initialize the queue and its associated mutex.
 
 ``ErrorStatus CAN_Queue_Post(CANDATA_t message)`` — Used by tasks that want to post CAN messages. The messages are held in a FIFO queue.
 
-``ErrorStatus CAN_Queue_Pend(CANDATA_t *message)`` — Used by SendCarCAN to consume the queue. This function blocks the caller until the queue contains at least one message, at which point it will return message and remove it from the queue.
+``ErrorStatus CAN_Queue_Pend(CANDATA_t *message)`` — Used by Telemetry to consume the queue. This function blocks the caller until the queue contains at least one message, at which point it will return message and remove it from the queue.
 
 ================
 Pedal to Percent

Docs/source/Apps/ReadTritium.rst

@@ -2,4 +2,4 @@
 Read Tritium Task
 *****************
 
-In its current iteration, the Read Tritium task forwards all incoming messages from motor CAN to car CAN. It does this using :ref:`can-queue`: The task posts messages to the queue, which are then read out by the SendCarCAN task.
+In its current iteration, the Read Tritium task forwards all incoming messages from motor CAN to car CAN. It does this using :ref:`can-queue`: The task posts messages to the queue, which are then read out by the Telemetry task.

Docs/source/index.rst

@@ -37,7 +37,6 @@ Keep the docs clear and readible. Reach out to more experienced team members wit
    Apps/Main
    Apps/ReadCarCAN
    Apps/ReadTritium
-   Apps/SendCarCAN
    Apps/UpdateDisplay
    Apps/SendTritium
    Apps/ExtraFiles

Tests/Test_DebugDump.c

@@ -175,24 +175,6 @@ void Task_Init(void *p_arg){
     );
     assertOSError(OS_MAIN_LOC, err);
 
-    // Initialize SendCarCAN
-    OSTaskCreate(
-        (OS_TCB*)&SendCarCAN_TCB,
-        (CPU_CHAR*)"SendCarCAN",
-        (OS_TASK_PTR)Task_SendCarCAN,
-        (void*)NULL,
-        (OS_PRIO)TASK_SEND_CAR_CAN_PRIO,
-        (CPU_STK*)SendCarCAN_Stk,
-        (CPU_STK_SIZE)WATERMARK_STACK_LIMIT,
-        (CPU_STK_SIZE)TASK_SEND_CAR_CAN_STACK_SIZE,
-        (OS_MSG_QTY)0,
-        (OS_TICK)0,
-        (void*)NULL,
-        (OS_OPT)(OS_OPT_TASK_STK_CLR),
-        (OS_ERR*)&err
-    );
-    assertOSError(OS_MAIN_LOC, err);
-
     // Initialize DebugDump
     OSTaskCreate(
         (OS_TCB*)&DebugDump_TCB,

Tests/Test_ReadandSendCarCAN.c

@@ -88,23 +88,6 @@ int main(void) {
         (OS_ERR*)&err
     );
 
-    //spawn can send task
-    OSTaskCreate(
-        (OS_TCB*)&SendCarCAN_TCB,
-        (CPU_CHAR*)"SendCarCan",
-        (OS_TASK_PTR)Task_SendCarCAN,
-        (void*)NULL,
-        (OS_PRIO)3,
-        (CPU_STK*)SendCarCAN_Stk,
-        (CPU_STK_SIZE)DEFAULT_STACK_SIZE/10,
-        (CPU_STK_SIZE)DEFAULT_STACK_SIZE,
-        (OS_MSG_QTY)0,
-        (OS_TICK)NULL,
-        (void*)NULL,
-        (OS_OPT)(OS_OPT_TASK_STK_CLR|OS_OPT_TASK_STK_CHK),
-        (OS_ERR*)&err
-    );
-
     // Task not created
     if (err != OS_ERR_NONE) {
         printf("Task error code %d\n", err);

Tests/Test_Telemetry.c

@@ -16,7 +16,7 @@ void Task1(void *arg)
 {   
     CPU_Init();
 
-    CANbus_Init(CARCAN);
+    CANbus_Init(CARCAN, NULL, 0);
     CAN_Queue_Init();
     // BSP_UART_Init(UART_2);
     Pedals_Init();
@@ -50,6 +50,16 @@ void Task1(void *arg)
     State contactorState = OFF;
 
     CANDATA_t msg;
+    msg.ID = MOTOR_STATUS;
+    msg.idx = 0;
+    msg.data[0] = 0x12;
+    msg.data[1] = 0x34;
+    msg.data[2] = 0x56;
+    msg.data[3] = 0x78;
+    msg.data[4] = 0x9A;
+    msg.data[5] = 0xBC;
+    msg.data[6] = 0xDE;
+    msg.data[7] = 0xF0;
 
     while (1){
         // Switches can be modified through hardware
@@ -63,6 +73,12 @@ void Task1(void *arg)
         Contactors_Set(MOTOR_CONTACTOR, contactorState, true);
         Contactors_Set(ARRAY_CONTACTOR, contactorState, true);
 
+        (msg.ID)++;
+        if(msg.ID > 0x24F){
+            msg.ID = MOTOR_STATUS;
+        }
+        CAN_Queue_Post(msg);
+
         CANbus_Read(&msg, CAN_BLOCKING, CARCAN);
 
         OSTimeDlyHMSM(0, 0, 0, 500, OS_OPT_TIME_HMSM_STRICT, &err);