Update main.c

Apps/Inc/Tasks.h

@@ -32,10 +32,10 @@
 #define TASK_SEND_TRITIUM_PRIO              4
 #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
+#define TASK_SEND_CAR_CAN_PRIO              7
+#define TASK_TELEMETRY_PRIO                 8
+#define TASK_DEBUG_DUMP_PRIO                9
+#define TASK_COMMAND_LINE_PRIO              10
 
 /**
  * Stack Sizes

Apps/Src/main.c

@@ -18,8 +18,6 @@
 #include "CAN_Queue.h"
 #include "UpdateDisplay.h"
 
-#define IGN_CONT_PERIOD 100
-
 int main(void) {
     // Disable interrupts
     __disable_irq();
@@ -65,15 +63,9 @@ void Task_Init(void *p_arg){
 
     // Start systick    
     OS_CPU_SysTickInit(SystemCoreClock / (CPU_INT32U) OSCfg_TickRate_Hz);
-
-    OSTimeDlyHMSM(0,0,5,0,OS_OPT_TIME_HMSM_STRICT,&err);
-
-    assertOSError(err);
 
     // Initialize drivers
     Pedals_Init();
-    OSTimeDlyHMSM(0,0,5,0,OS_OPT_TIME_HMSM_STRICT,&err);
-    OSTimeDlyHMSM(0,0,10,0,OS_OPT_TIME_HMSM_STRICT,&err);
     BSP_UART_Init(UART_2);
     CANbus_Init(CARCAN, (CANId_t*)carCANFilterList, NUM_CARCAN_FILTERS);
     CANbus_Init(MOTORCAN, NULL, NUM_MOTORCAN_FILTERS);
@@ -85,6 +77,24 @@ void Task_Init(void *p_arg){
     // Initialize applications
     UpdateDisplay_Init();
 
+    // Initialize ReadTritium
+    OSTaskCreate(
+        (OS_TCB*)&ReadTritium_TCB,
+        (CPU_CHAR*)"ReadTritium",
+        (OS_TASK_PTR)Task_ReadTritium,
+        (void*)NULL,
+        (OS_PRIO)TASK_READ_TRITIUM_PRIO,
+        (CPU_STK*)ReadTritium_Stk,
+        (CPU_STK_SIZE)WATERMARK_STACK_LIMIT,
+        (CPU_STK_SIZE)TASK_READ_TRITIUM_STACK_SIZE,
+        (OS_MSG_QTY)0,
+        (OS_TICK)0,
+        (void*)NULL,
+        (OS_OPT)(OS_OPT_TASK_STK_CLR),
+        (OS_ERR*)&err
+    );
+    assertOSError(err);
+
     // Initialize SendTritium
     OSTaskCreate(
         (OS_TCB*)&SendTritium_TCB,
@@ -139,16 +149,16 @@ void Task_Init(void *p_arg){
     );
     assertOSError(err);
 
-    // Initialize ReadTritium
+    // Initialize SendCarCAN
     OSTaskCreate(
-        (OS_TCB*)&ReadTritium_TCB,
-        (CPU_CHAR*)"ReadTritium",
-        (OS_TASK_PTR)Task_ReadTritium,
+        (OS_TCB*)&SendCarCAN_TCB,
+        (CPU_CHAR*)"SendCarCAN",
+        (OS_TASK_PTR)Task_SendCarCAN,
         (void*)NULL,
-        (OS_PRIO)TASK_READ_TRITIUM_PRIO,
-        (CPU_STK*)ReadTritium_Stk,
+        (OS_PRIO)TASK_SEND_CAR_CAN_PRIO,
+        (CPU_STK*)SendCarCAN_Stk,
         (CPU_STK_SIZE)WATERMARK_STACK_LIMIT,
-        (CPU_STK_SIZE)TASK_READ_TRITIUM_STACK_SIZE,
+        (CPU_STK_SIZE)TASK_SEND_CAR_CAN_STACK_SIZE,
         (OS_MSG_QTY)0,
         (OS_TICK)0,
         (void*)NULL,
@@ -157,16 +167,16 @@ void Task_Init(void *p_arg){
     );
     assertOSError(err);
 
-    // Initialize SendCarCAN
+    // Initialize CommandLine
     OSTaskCreate(
-        (OS_TCB*)&SendCarCAN_TCB,
-        (CPU_CHAR*)"SendCarCAN",
-        (OS_TASK_PTR)Task_SendCarCAN,
+        (OS_TCB*)&CommandLine_TCB,
+        (CPU_CHAR*)"CommandLine",
+        (OS_TASK_PTR)Task_CommandLine,
         (void*)NULL,
-        (OS_PRIO)TASK_SEND_CAR_CAN_PRIO,
-        (CPU_STK*)SendCarCAN_Stk,
+        (OS_PRIO)TASK_COMMAND_LINE_PRIO,
+        (CPU_STK*)CommandLine_Stk,
         (CPU_STK_SIZE)WATERMARK_STACK_LIMIT,
-        (CPU_STK_SIZE)TASK_SEND_CAR_CAN_STACK_SIZE,
+        (CPU_STK_SIZE)TASK_COMMAND_LINE_STACK_SIZE,
         (OS_MSG_QTY)0,
         (OS_TICK)0,
         (void*)NULL,
@@ -175,10 +185,5 @@ void Task_Init(void *p_arg){
     );
     assertOSError(err);
 
-
-    while(1){
-        Contactors_Set(MOTOR_CONTACTOR, Minions_Read(IGN_2), true); //turn on the contactor if the ign switch lets us
-        assertOSError(err);
-        OSTimeDlyHMSM(0, 0, 0, IGN_CONT_PERIOD, OS_OPT_TIME_HMSM_NON_STRICT, &err);
-    }
+    OSTaskDel(NULL, &err);
 }