Moved mutex, semaphore creation and fifo renewal to a new SendCarCAN_…

…Init function so that other tasks can put things into the queue before SendCarCAN is ready. Additionally, created a new static task in SendCarCAN.c called PutIOState which periodically sends messages over CarCAN.
lhr-solar · Nov 11, 2023 · ce1d74a · ce1d74a
1 parent 9043b7b
commit ce1d74a
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Showing 4 changed files with 64 additions and 107 deletions.
diff --git a/Apps/Src/CAN_Queue.c b/Apps/Src/CAN_Queue.c
diff --git a/Apps/Src/SendCarCAN.c b/Apps/Src/SendCarCAN.c
@@ -19,9 +19,13 @@
 #include "SendTritium.h"
 
 #define IO_STATE_DLY_MS 250u 
-#define SENDCARCAN_LOOP_DLY_MS 50u // How often we should check the CAN queue (in ms delay). Must send faster than queue messages get put in
+#define SENDCARCAN_LOOP_DLY_MS 5u // 50How often we should check the CAN queue (in ms delay). Must send faster than queue messages get put in
 #define IO_STATE_DLY_COUNT (IO_STATE_DLY_MS / SENDCARCAN_LOOP_DLY_MS) // The number of periods to wait before sending IO state message
 
+// Task_PutIOState
+OS_TCB putIOState_TCB;
+CPU_STK putIOState_Stk[TASK_SEND_CAR_CAN_STACK_SIZE];
+
 //fifo
 #define FIFO_TYPE CANDATA_t
 #define FIFO_SIZE 256
@@ -33,10 +37,7 @@ static SendCarCAN_Q_t CANFifo;
 static OS_SEM CarCAN_Sem4;
 static OS_MUTEX CarCAN_Mtx;
 
-static uint8_t IOStateDlyCounter = 0;
-
-
-static void putIOState(void);
+static void Task_PutIOState(void *p_arg);
 
 /**
  * @brief print SendCarCAN_Q put/get for debug purposes
@@ -68,11 +69,10 @@ void SendCarCAN_Put(CANDATA_t message){
 }
 
 /**
- * @brief Grabs the latest messages from the queue and sends over CarCAN
+ * @brief Initialize SendCarCAN
 */
-void Task_SendCarCAN(void *p_arg){
+void SendCarCAN_Init(void) {
     OS_ERR err;
-    CPU_TS ticks;
 
     OSMutexCreate(&CarCAN_Mtx, "CarCAN_Mtx", &err);
     assertOSError(err);
@@ -81,37 +81,52 @@ void Task_SendCarCAN(void *p_arg){
     assertOSError(err);
 
     SendCarCAN_Q_renew(&CANFifo);
+}
+
+/**
+ * @brief Grabs the latest messages from the queue and sends over CarCAN
+*/
+void Task_SendCarCAN(void *p_arg){
+    OS_ERR err;
+    CPU_TS ticks;
 
     CANDATA_t message;
     memset(&message, 0, sizeof(CANDATA_t));
 
+    // PutIOState
+    OSTaskCreate(
+        (OS_TCB*)&putIOState_TCB,
+        (CPU_CHAR*)"PutIOState",
+        (OS_TASK_PTR)Task_PutIOState,
+        (void*)NULL,
+        (OS_PRIO)TASK_SEND_CAR_CAN_PRIO,
+        (CPU_STK*)putIOState_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(err);
+
     while (1) {
-
-
-        if (++IOStateDlyCounter >= IO_STATE_DLY_COUNT) { // Send IO State message approximately every IO_STATE_DLY_MS
-            IOStateDlyCounter = 0;
-            putIOState();
-        }
-
-
+
         // Check if there's something to send in the queue (either IOState or Car state from sendTritium)
-        OSSemPend(&CarCAN_Sem4, 0, OS_OPT_PEND_NON_BLOCKING, &ticks, &err);
-        if (err != OS_ERR_PEND_WOULD_BLOCK) { // We have a message in the queue to send
-            assertOSError(err);
-
-            OSMutexPend(&CarCAN_Mtx, 0, OS_OPT_PEND_BLOCKING, &ticks, &err);
-            assertOSError(err);
-
-            bool res = SendCarCAN_Q_get(&CANFifo, &message);
-            assertOSError(err);
+        OSSemPend(&CarCAN_Sem4, 0, OS_OPT_PEND_BLOCKING, &ticks, &err);
+        assertOSError(err);
 
-            OSMutexPost(&CarCAN_Mtx, OS_OPT_POST_NONE, &err);
+        OSMutexPend(&CarCAN_Mtx, 0, OS_OPT_PEND_BLOCKING, &ticks, &err);
+        assertOSError(err);
+
+        bool res = SendCarCAN_Q_get(&CANFifo, &message);
+        assertOSError(err);
 
-            if(res) CANbus_Send(message, true, CARCAN);
-        }
-
-        OSTimeDlyHMSM(0, 0, 0, SENDCARCAN_LOOP_DLY_MS, OS_OPT_TIME_HMSM_STRICT, &err);
+        OSMutexPost(&CarCAN_Mtx, OS_OPT_POST_NONE, &err);
         assertOSError(err);
+
+        if(res) CANbus_Send(message, true, CARCAN);
 
     }
 }
@@ -141,3 +156,12 @@ static void putIOState(void){
 
     SendCarCAN_Put(message);
 }
+
+/**
+ * @brief sends IO information over CarCAN every IO_STATE_DLY_MS
+*/
+static void Task_PutIOState(void *p_arg) {
+    OS_ERR err;
+    putIOState();
+    OSTimeDlyHMSM(0, 0, 0, IO_STATE_DLY_MS, OS_OPT_TIME_HMSM_STRICT, &err);
+}
diff --git a/Apps/Src/main.c b/Apps/Src/main.c
@@ -83,6 +83,7 @@ void Task_Init(void *p_arg){
 
     // Initialize applications
     UpdateDisplay_Init();
+    SendCarCAN_Init();
 
     // Initialize SendTritium
     OSTaskCreate(

diff --git a/Tests/Test_App_SendCarCAN.c b/Tests/Test_App_SendCarCAN.c
@@ -86,17 +86,17 @@ void Task1(void *arg)
 {
     OS_ERR err;
 
+    OS_CPU_SysTickInit(SystemCoreClock / (CPU_INT32U)OSCfg_TickRate_Hz);
     CPU_Init();
     BSP_UART_Init(UART_2);
     Pedals_Init();
     CANbus_Init(CARCAN, (CANId_t*)carCANFilterList, NUM_CARCAN_FILTERS); // Set filter list to NULL to receive all messages
     CANbus_Init(MOTORCAN, NULL, NUM_MOTORCAN_FILTERS);
+    SendCarCAN_Init();
     Minions_Init();
     Display_Init();
     UpdateDisplay_Init();
 
-    OS_CPU_SysTickInit(SystemCoreClock / (CPU_INT32U)OSCfg_TickRate_Hz);
-
   // Initialize SendCarCAN
     OSTaskCreate(
         (OS_TCB*)&SendCarCAN_TCB,
@@ -113,7 +113,7 @@ void Task1(void *arg)
         (OS_OPT)(OS_OPT_TASK_STK_CLR),
         (OS_ERR*)&err
     );
-    assertOSError(OS_MAIN_LOC, err);
+    assertOSError(err);
 
     // Initialize SendTritium
     OSTaskCreate(
@@ -131,7 +131,7 @@ void Task1(void *arg)
         (OS_OPT)(OS_OPT_TASK_STK_CLR),
         (OS_ERR*)&err
     );
-    assertOSError(OS_MAIN_LOC, err);
+    assertOSError(err);
 
     // Initialize ReadTritium
     OSTaskCreate(
@@ -149,7 +149,7 @@ void Task1(void *arg)
         (OS_OPT)(OS_OPT_TASK_STK_CLR),
         (OS_ERR*)&err
     );
-    assertOSError(OS_MAIN_LOC, err);
+    assertOSError(err);
 
     // Create task to read CANbus
       OSTaskCreate(
@@ -167,7 +167,7 @@ void Task1(void *arg)
         (OS_OPT)(OS_OPT_TASK_STK_CLR),
         (OS_ERR*)&err
     );
-    assertOSError(OS_MAIN_LOC, err);
+    assertOSError(err);
 
     // Initialize UpdateDisplay
     OSTaskCreate(
@@ -185,7 +185,7 @@ void Task1(void *arg)
         (OS_OPT)(OS_OPT_TASK_STK_CLR),
         (OS_ERR*)&err
     );
-    assertOSError(OS_MAIN_LOC, err);
+    assertOSError(err);
 
 
     while (1) {
@@ -237,8 +237,8 @@ int main(void)
         (OS_OPT)(OS_OPT_TASK_STK_CLR), 
         (OS_ERR *)&err
     );
-    assertOSError(OS_MAIN_LOC, err);
+    assertOSError(err);
 
     OSStart(&err);
-    assertOSError(OS_MAIN_LOC, err);
+    assertOSError(err);
 }