Updates from hardware testing: added counter array to reduce frequenc…

…y at which we forwared motor messages onto CarCAN, moved init functions in test file, added Renode independent watchdog fix.
lhr-solar · Nov 11, 2023 · ff4bf0a · ff4bf0a
1 parent 77dbc2a
commit ff4bf0a
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Showing 3 changed files with 32 additions and 12 deletions.
diff --git a/Apps/Src/SendCarCAN.c b/Apps/Src/SendCarCAN.c
@@ -19,8 +19,6 @@
 #include "SendTritium.h"
 
 #define IO_STATE_DLY_MS 250u 
-#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;
@@ -32,11 +30,19 @@ CPU_STK putIOState_Stk[TASK_SEND_CAR_CAN_STACK_SIZE];
 #define FIFO_NAME SendCarCAN_Q
 #include "fifo.h"
 
+// Motor message
+#define NUM_MOTOR_MSGS 15 // Messages received from the motor controller
+#define MOTOR_MSG_BASE_ADDRESS 0x240
+
 static SendCarCAN_Q_t CANFifo; 
 
 static OS_SEM CarCAN_Sem4;
 static OS_MUTEX CarCAN_Mtx;
 
+// Counter array to reduce the frequency at which we send out messages
+static uint8_t motorMsgCount[NUM_MOTOR_MSGS] = {0};
+static uint8_t motorMsgThreshold[NUM_MOTOR_MSGS] = {5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5};
+
 static void Task_PutIOState(void *p_arg);
 
 /**
@@ -55,6 +61,17 @@ void print_SendCarCAN_Q(void) {
 void SendCarCAN_Put(CANDATA_t message){
     OS_ERR err;
     CPU_TS ticks;
+
+    // Reduce the frequency at which we forward motor messages to CarCAN
+    uint8_t msgIdx = message.ID - MOTOR_MSG_BASE_ADDRESS;
+
+    if (msgIdx >= 0 && msgIdx < NUM_MOTOR_MSGS) {  // Check if the message is from the motor controller
+        if (++motorMsgCount[msgIdx] < motorMsgThreshold[msgIdx]) {
+            return;  
+        } else {
+            motorMsgCount[msgIdx] = 0; // Reset counter and continue sending
+        }     
+    }
 
     OSMutexPend(&CarCAN_Mtx, 0, OS_OPT_PEND_BLOCKING, &ticks, &err);
     assertOSError(err);

diff --git a/Simulator/stm32f413.repl b/Simulator/stm32f413.repl
@@ -148,7 +148,7 @@ spi2i2s2: SPI.STM32SPI @ sysbus 0x40003800
 
 i2s2ext: SPI.STM32SPI @ sysbus 0x40003400
 
-iwdg: Timers.STM32F4_IndependentWatchdog @ sysbus 0x40003000
+iwdg: Timers.STM32_IndependentWatchdog @ sysbus 0x40003000
     frequency: 32000
     // windowOption: false
     // defaultPrescaler: 0x4

diff --git a/Tests/Test_App_SendCarCAN.c b/Tests/Test_App_SendCarCAN.c
@@ -86,15 +86,6 @@ 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();
 
   // Initialize SendCarCAN
@@ -222,6 +213,18 @@ int main(void)
     OS_ERR err;
     OSInit(&err);
 
+    OS_CPU_SysTickInit(SystemCoreClock / (CPU_INT32U)OSCfg_TickRate_Hz);
+
+    CPU_Init();
+    BSP_UART_Init(UART_2);
+    Pedals_Init();
+    CANbus_Init(CARCAN, NULL, NUM_CARCAN_FILTERS); // Set filter list to (CANId_t*)carCANFilterList to receive filtered messages
+    CANbus_Init(MOTORCAN, NULL, NUM_MOTORCAN_FILTERS);
+    SendCarCAN_Init();
+    Minions_Init();
+    Display_Init();
+    TaskSwHook_Init();
+
     OSTaskCreate(
         (OS_TCB *)&Task1TCB,
         (CPU_CHAR *)"Task 1",