Update main.c

.github/workflows/c-cpp.yml

@@ -11,13 +11,13 @@ jobs:
 
     steps:
     - uses: actions/checkout@v2
+    - name: Initialize Submodules
+      run: git submodule update --init --recursive
     - name: Install tools
       run: |
+        ./Embedded-Sharepoint/Scripts/install.sh -i
         sudo apt -y update
-        sudo apt -y install gcc-arm-none-eabi
-    - name: Initialize Submodules
-      run: git submodule update --init --recursive
     - name: clean
       run: make clean
-    - name: make stm32f413
-      run: make stm32f413
+    - name: make leader
+      run: make leader

Apps/Inc/SendTritium.h

@@ -12,10 +12,10 @@
 
 #include "common.h"
 
-#define SENDTRITIUM_PRINT_MES
+//#define SENDTRITIUM_PRINT_MES
 
-#define MOTOR_MSG_PERIOD 100
-#define FSM_PERIOD 100
+#define MOTOR_MSG_PERIOD 100 // in ms
+#define FSM_PERIOD 100 // in ms
 #define DEBOUNCE_PERIOD 2 // in units of FSM_PERIOD
 #define MOTOR_MSG_COUNTER_THRESHOLD (MOTOR_MSG_PERIOD)/(FSM_PERIOD)
 

Apps/Inc/Tasks.h

@@ -31,10 +31,11 @@
 #define TASK_READ_TRITIUM_PRIO              3
 #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              7
-#define TASK_DEBUG_DUMP_PRIO                8
-#define TASK_COMMAND_LINE_PRIO              9
+#define TASK_SEND_CAR_CAN_PRIO              6
+#define TASK_PUT_IOSTATE_PRIO               7
+#define TASK_UPDATE_DISPLAY_PRIO            8
+#define TASK_DEBUG_DUMP_PRIO                9
+#define TASK_COMMAND_LINE_PRIO              10
 
 /**
  * Stack Sizes

Apps/Src/ReadCarCAN.c

@@ -235,9 +235,9 @@ static void updateHVPlusMinusSaturation(int8_t messageState){
 */
  void attemptTurnMotorControllerPBCOn(void){
     if(mcPBCComplete){
-            Contactors_Set(MOTOR_CONTROLLER_PRECHARGE_BYPASS_CONTACTOR, ON, true);
-            UpdateDisplay_SetMotor(true);  
-        }
+        Contactors_Set(MOTOR_CONTROLLER_PRECHARGE_BYPASS_CONTACTOR, ON, true);
+        UpdateDisplay_SetMotor(true);  
+    }
  }
 
 /**

Apps/Src/ReadTritium.c

@@ -36,41 +36,26 @@ static void motorWatchdog(void *tmr, void *p_arg) {
 }
 
 
-/* OBJECTIVES:
-Objective 1:
-- Receive motor status message from MotorController (18.4.2)
-- interpret error status
-	- if error
-		- assertOSError
-- determine information important to telementry
-	- Telemetry
-- determine information important for storage
-	- acquire mutex on Storage Array
-	- Store information in Storage Array (based on index) 
-	- release mutex on Storage Array
-
-Objective 2:
-- create function able to read data from Storage Array
-	- pend on Storage Array mutex
-	- acquire Storage Array mutex
-	- read information of array index 
-	- release Storage Array mutex
-*/
-
 void Task_ReadTritium(void *p_arg){
 	OS_ERR err;
 	CANDATA_t dataBuf = {0};
 
-	// Timer doesn't seem to trigger without initial delay? Might be an RTOS bug
-	OSTmrCreate(&MotorWatchdog, "Motor watchdog", MOTOR_TIMEOUT_TICKS, MOTOR_TIMEOUT_TICKS, OS_OPT_TMR_PERIODIC, motorWatchdog, NULL, &err);
-	assertOSError(err);
-	OSTmrStart(&MotorWatchdog, &err);
-	assertOSError(err);
+	static bool watchdogCreated = false;
 
 	while (1){
 		ErrorStatus status = CANbus_Read(&dataBuf, true, MOTORCAN);
 
 		if (status == SUCCESS){
+            if(!watchdogCreated){    // Timer doesn't seem to trigger without initial delay? Might be an RTOS bug
+                OSTmrCreate(&MotorWatchdog, "Motor watchdog", MOTOR_TIMEOUT_TICKS, MOTOR_TIMEOUT_TICKS, OS_OPT_TMR_PERIODIC, motorWatchdog, NULL, &err);
+                assertOSError(err);
+
+                OSTmrStart(&MotorWatchdog, &err);
+                assertOSError(err);
+
+                watchdogCreated = true;
+            }
+
 			switch(dataBuf.ID){
 				case MOTOR_STATUS:{
 					// motor status error flags is in bytes 4-5
@@ -107,9 +92,6 @@ 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);
-		assertOSError(err);
 	}
 }
 

Apps/Src/SendCarCAN.c

@@ -20,13 +20,15 @@
 
 #define IO_STATE_DLY_MS 250u 
 
+#define SENDCARCAN_MSG_SKIP_CTR 3
+
 // 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 16
+#define FIFO_SIZE 50
 #define FIFO_NAME SendCarCAN_Q
 #include "fifo.h"
 
@@ -48,19 +50,27 @@ uint8_t get_SendCarCAN_Q_Space(void) {
 
 /**
  * @brief Wrapper to put new message in the CAN queue
- * @param message the CAN message to put in SendCarCAN Queue
 */
 void SendCarCAN_Put(CANDATA_t message){
-    OS_ERR err;
+    OS_ERR err = OS_ERR_NONE;
     CPU_TS ticks;
-
-    OSMutexPend(&CarCAN_Mtx, 0, OS_OPT_PEND_BLOCKING, &ticks, &err);
-    assertOSError(err);
+    bool success = false;
+
+    static uint8_t carcan_ctr = 0;
 
-    bool success = SendCarCAN_Q_put(&CANFifo, message);
+    if(carcan_ctr > SENDCARCAN_MSG_SKIP_CTR){
+        OSMutexPend(&CarCAN_Mtx, 0, OS_OPT_PEND_BLOCKING, &ticks, &err);
+        assertOSError(err);
+
+        success = SendCarCAN_Q_put(&CANFifo, message);
+
+        OSMutexPost(&CarCAN_Mtx, OS_OPT_POST_NONE, &err);
+        assertOSError(err);
+
+        carcan_ctr = 0;
+    }
+    carcan_ctr++;
 
-    OSMutexPost(&CarCAN_Mtx, OS_OPT_POST_NONE, &err);
-    assertOSError(err);
 
     if(success) OSSemPost(&CarCAN_Sem4, OS_OPT_POST_1, &err);
     assertOSError(err);
@@ -97,7 +107,7 @@ void Task_SendCarCAN(void *p_arg){
         (CPU_CHAR*)"PutIOState",
         (OS_TASK_PTR)Task_PutIOState,
         (void*)NULL,
-        (OS_PRIO)TASK_SEND_CAR_CAN_PRIO, // Round-robin with SendCarCAN task
+        (OS_PRIO)TASK_PUT_IOSTATE_PRIO,
         (CPU_STK*)putIOState_Stk,
         (CPU_STK_SIZE)WATERMARK_STACK_LIMIT,
         (CPU_STK_SIZE)TASK_SEND_CAR_CAN_STACK_SIZE,
@@ -119,13 +129,11 @@ void Task_SendCarCAN(void *p_arg){
         assertOSError(err);
 
         bool res = SendCarCAN_Q_get(&CANFifo, &message);
-        assertOSError(err);
 
         OSMutexPost(&CarCAN_Mtx, OS_OPT_POST_NONE, &err);
         assertOSError(err);
 
         if(res) CANbus_Send(message, true, CARCAN);
-
     }
 }
 
@@ -141,7 +149,6 @@ static void putIOState(void){
     // Get minion information
     for(pin_t pin = 0; pin < NUM_PINS; pin++){
         bool pinState = Minions_Read(pin);
-        if(pin == IGN_1 || pin == IGN_2) pinState = !pinState;
         message.data[2] |= pinState << pin;
     }
 
@@ -150,6 +157,7 @@ static void putIOState(void){
         bool contactorState = (Contactors_Get(contactor) == ON) ? true : false;
         message.data[3] |= contactorState << contactor;
     }
+
     // Tell BPS if the array contactor should be on
     message.data[3] |= (!Minions_Read(IGN_1) || !Minions_Read(IGN_2)) << 2;
 
@@ -164,6 +172,5 @@ static void Task_PutIOState(void *p_arg) {
     while (1) {
         putIOState();
         OSTimeDlyHMSM(0, 0, 0, IO_STATE_DLY_MS, OS_OPT_TIME_HMSM_STRICT, &err);
-    }
-
+    }  
 }

Apps/Src/SendTritium.c

@@ -32,7 +32,7 @@
 #define MIN_CRUISE_VELOCITY mpsToRpm(20.0f) // rpm
 #define MAX_GEARSWITCH_VELOCITY mpsToRpm(8.0f) // rpm
 
-#define BRAKE_PEDAL_THRESHOLD 15  // percent
+#define BRAKE_PEDAL_THRESHOLD 50  // percent
 #define ACCEL_PEDAL_THRESHOLD 10 // percent
 
 #define ONEPEDAL_BRAKE_THRESHOLD 25 // percent
@@ -62,13 +62,10 @@ float velocitySetpoint = 0;
 float cruiseVelSetpoint = 0;
 
 // Current observed velocity
-
-#ifndef SENDTRITIUM_EXPOSE_VARS
 static float velocityObserved = 0;
 
 // Counter for sending setpoints to motor
 static uint8_t motorMsgCounter = 0;
-#endif
 
 // Debouncing counters
 static uint8_t onePedalCounter = 0;
@@ -668,6 +665,10 @@ void Task_SendTritium(void *p_arg){
         #endif
         state.stateDecider();    // decide what the next state is
 
+        // Disable velocity controlled mode by always overwriting velocity to the maximum
+        // in the appropriate direction.
+        velocitySetpoint = (velocitySetpoint>0)?MAX_VELOCITY:-MAX_VELOCITY;
+
         // Drive
         #ifdef SENDTRITIUM_PRINT_MES
         dumpInfo();

Apps/Src/Tasks.c

@@ -103,17 +103,17 @@ void throwTaskError(error_code_t errorCode, callback_t errorCallback, error_sche
 
             #if DEBUG == 1
                // Print the error that caused this fault
-                printf("\n\rCurrent Error Code: 0x%04x\n\r", errorCode);
+                // printf("\n\rCurrent Error Code: 0x%04x\n\r", errorCode);
 
-                // Print the errors for each applications with error data
-                printf("\n\rAll application errors:\n\r");
-                printf("Error_ReadCarCAN: 0x%04x\n\r", Error_ReadCarCAN);
-                printf("Error_ReadTritium: 0x%04x\n\r", Error_ReadTritium);
-                printf("Error_UpdateDisplay: 0x%04x\n\r", Error_UpdateDisplay);
+                // // Print the errors for each applications with error data
+                // printf("\n\rAll application errors:\n\r");
+                // printf("Error_ReadCarCAN: 0x%04x\n\r", Error_ReadCarCAN);
+                // printf("Error_ReadTritium: 0x%04x\n\r", Error_ReadTritium);
+                // printf("Error_UpdateDisplay: 0x%04x\n\r", Error_UpdateDisplay);
 
-                // Delay so that we're not constantly printing
-                for (int i = 0; i < 9999999; i++) {
-                } 
+                // // Delay so that we're not constantly printing
+                // for (int i = 0; i < 9999999; i++) {
+                // } 
             #endif
 
         }