SendCarCAN Restructure

Apps/Inc/SendCarCAN.h

@@ -0,0 +1,21 @@
+#ifndef __SENDCARCAN_H
+#define __SENDCARCAN_H
+
+#include "CANbus.h"
+
+/**
+ * @brief Initialize SendCarCAN
+*/
+void SendCarCAN_Init();
+
+/**
+ * @brief Wrapper to put new message in the CAN queue
+*/
+void SendCarCAN_Put(CANDATA_t message);
+
+/**
+ * @brief print SendCarCAN_Q put/get for debug purposes
+*/
+void print_SendCarCAN_Q(void);
+
+#endif

Apps/Inc/SendTritium.h

@@ -12,17 +12,17 @@
 
 #include "common.h"
 
-// #define SENDTRITIUM_PRINT_MES
+#define SENDTRITIUM_PRINT_MES
 
 #define MOTOR_MSG_PERIOD 100
 #define FSM_PERIOD 100
 #define DEBOUNCE_PERIOD 2 // in units of FSM_PERIOD
 #define MOTOR_MSG_COUNTER_THRESHOLD (MOTOR_MSG_PERIOD)/(FSM_PERIOD)
 
 #define FOREACH_Gear(GEAR) \
-        GEAR(FORWARD_GEAR)   \
-        GEAR(NEUTRAL_GEAR)  \
-        GEAR(REVERSE_GEAR)   \
+        GEAR(FORWARD_GEAR),   \
+        GEAR(NEUTRAL_GEAR),  \
+        GEAR(REVERSE_GEAR),   \
 
 typedef enum GEAR_ENUM {
     FOREACH_Gear(GENERATE_ENUM)
@@ -49,6 +49,23 @@ typedef struct TritiumState{
     void (*stateDecider)(void);
 } TritiumState_t;
 
+#ifdef SENDTRITIUM_EXPOSE_VARS
+// Inputs
+extern bool cruiseEnable;
+extern bool cruiseSet;
+extern bool onePedalEnable;
+extern bool regenEnable;
+
+extern uint8_t brakePedalPercent;
+extern uint8_t accelPedalPercent;
+
+extern Gear_t gear;
+
+extern TritiumState_t state;
+extern float velocityObserved;
+extern float cruiseVelSetpoint;
+#endif
+
 // Getter functions for local variables in SendTritium.c
 EXPOSE_GETTER(bool, cruiseEnable)
 EXPOSE_GETTER(bool, cruiseSet)

Apps/Inc/Tasks.h

@@ -33,7 +33,6 @@
 #define TASK_READ_CAR_CAN_PRIO              5
 #define TASK_UPDATE_DISPLAY_PRIO            6
 #define TASK_SEND_CAR_CAN_PRIO              8
-#define TASK_TELEMETRY_PRIO                 9
 #define TASK_DEBUG_DUMP_PRIO                10
 #define TASK_COMMAND_LINE_PRIO              11
 
@@ -49,7 +48,6 @@
 #define TASK_UPDATE_DISPLAY_STACK_SIZE      DEFAULT_STACK_SIZE
 #define TASK_READ_TRITIUM_STACK_SIZE        DEFAULT_STACK_SIZE
 #define TASK_SEND_CAR_CAN_STACK_SIZE        DEFAULT_STACK_SIZE
-#define TASK_TELEMETRY_STACK_SIZE           DEFAULT_STACK_SIZE
 #define TASK_DEBUG_DUMP_STACK_SIZE          DEFAULT_STACK_SIZE
 #define TASK_COMMAND_LINE_STACK_SIZE        DEFAULT_STACK_SIZE
 
@@ -73,8 +71,6 @@ void Task_ReadTritium(void* p_arg);
 
 void Task_SendCarCAN(void* p_arg);
 
-void Task_Telemetry(void* p_arg);
-
 void Task_DebugDump(void *p_arg);
 
 void Task_CommandLine(void* p_arg);
@@ -90,7 +86,6 @@ 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;
 
@@ -104,7 +99,6 @@ 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/Inc/common.h

@@ -21,8 +21,8 @@
 #include "config.h"
 
 /* Used for generating ENUMS */
-#define GENERATE_ENUM(ENUM) ENUM,
-#define GENERATE_STRING(STRING) #STRING,
+#define GENERATE_ENUM(ENUM) ENUM
+#define GENERATE_STRING(STRING) #STRING
 
 /**
  * Used for creating getter functions (returns the value based on given inputs) 

Apps/Inc/fifo.h

@@ -42,6 +42,8 @@
 #ifndef __FIFO_H
 #define __FIFO_H
 #include <stdbool.h>
+#include <string.h>
+#include "common.h"
 #endif
 
 // The type of the fifo

Apps/Src/DebugDump.c

@@ -2,7 +2,6 @@
 #include "Tasks.h"
 #include "bsp.h"
 #include "CANbus.h"
-#include "CAN_Queue.h"
 #include "Pedals.h"
 #include "Minions.h"
 #include "Contactors.h"

Apps/Src/ReadTritium.c

@@ -6,9 +6,9 @@
  */
 
 #include "ReadTritium.h"
-#include "CAN_Queue.h"
 #include "CANbus.h"
 #include "UpdateDisplay.h"
+#include "SendCarCAN.h"
 #include <string.h>
 
 //status limit flag masks
@@ -29,7 +29,7 @@ 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) 
@@ -82,8 +82,8 @@ void Task_ReadTritium(void *p_arg){
 				}
 
 			}
-
-
+            
+            SendCarCAN_Put(dataBuf); // Forward message on CarCAN for telemetry
 		}
 
 		OSTimeDlyHMSM(0, 0, 0, 10, OS_OPT_TIME_HMSM_NON_STRICT, &err);