49 dispatch task (#85)

* created CAN dispatch queue --------- Co-authored-by: Scott A <[email protected]>
Northeastern-Electric-Racing · Nov 3, 2023 · 41c0045 · 41c0045
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commit 41c0045
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diff --git a/Core/Inc/can_handler.h b/Core/Inc/can_handler.h
@@ -20,4 +20,8 @@ void vRouteCanIncoming(void* pv_params);
 extern osThreadId_t route_can_incoming_handle;
 extern const osThreadAttr_t route_can_incoming_attributes;
 
+void vCanDispatch(void* pv_params);
+extern osThreadId_t can_dispatch_handle;
+extern const osThreadAttr_t can_dispatch_attributes;
+
 #endif
diff --git a/Core/Inc/cerberus_conf.h b/Core/Inc/cerberus_conf.h
@@ -2,3 +2,5 @@
 #define CANID_PEDAL_SENSOR 0xDEAD
 //TODO: GET CORRECT CAN ID
 #define CANID_IMU 0xDEAD
+#define CANID_TEMP_SENSOR 0xBEEF
+#define CANID_OUTBOUND_MSG 0xA55
diff --git a/Core/Src/can_handler.c b/Core/Src/can_handler.c
@@ -13,17 +13,19 @@
 #include "can.h"
 #include "can_config.h"
 #include <stdlib.h>
+#include "fault.h"
+#include <string.h>
+#include "cerberus_conf.h"
 
 #define CAN_MSG_QUEUE_SIZE 25 /* messages */
 #define NUM_CALLBACKS 5 // Update when adding new callbacks
 
 static osMessageQueueId_t can_inbound_queue;
-static osMessageQueueId_t can_outbound_queue;
 osThreadId_t route_can_incoming_handle;
 const osThreadAttr_t route_can_incoming_attributes = {
-    .name = "RouteCanIncoming",
-    .stack_size = 128 * 8,
-    .priority = (osPriority_t)osPriorityAboveNormal4
+	.name = "RouteCanIncoming",
+	.stack_size = 128 * 8,
+	.priority = (osPriority_t)osPriorityAboveNormal4
 };
 
 static CAN_HandleTypeDef* hcan1;
@@ -33,71 +35,117 @@ typedef void (*callback_t)(can_msg_t);
 /* Struct to couple function with message IDs */
 typedef struct
 {
-    uint8_t id;
-    callback_t function;
+	uint8_t id;
+	callback_t function;
 } function_info_t;
 
 // TODO: Evaluate memory usage here
 static function_info_t can_callbacks[] = {
-    // TODO: Implement MC_Update and other callbacks
-    //{ .id = 0x2010, .function = (*MC_update)(can_msg_t) },
-    //{ .id = 0x2110, .function = (*MC_update)(can_msg_t) },
-    //{ .id = 0x2210, .function = (*MC_update)(can_msg_t) },
-    //{ .id = 0x2310, .function = (*MC_update)(can_msg_t) },
-    //{ .id = 0x2410, .function = (*MC_update)(can_msg_t) }
+	// TODO: Implement MC_Update and other callbacks
+	//{ .id = 0x2010, .function = (*MC_update)(can_msg_t) },
+	//{ .id = 0x2110, .function = (*MC_update)(can_msg_t) },
+	//{ .id = 0x2210, .function = (*MC_update)(can_msg_t) },
+	//{ .id = 0x2310, .function = (*MC_update)(can_msg_t) },
+	//{ .id = 0x2410, .function = (*MC_update)(can_msg_t) }
 };
 
 static callback_t getFunction(uint8_t id)
 {
-    int i;
+	int i;
 
-    for (i = 0; i < NUM_CALLBACKS; i++) {
-        if (can_callbacks[i].id == id)
-            return can_callbacks[i].function;
-    }
-    return NULL;
+	for (i = 0; i < NUM_CALLBACKS; i++) {
+		if (can_callbacks[i].id == id)
+			return can_callbacks[i].function;
+	}
+	return NULL;
 }
 
 void can1_isr()
 {
-    // TODO: Wrap this HAL function into a "get_message" function in the CAN driver
-    CAN_RxHeaderTypeDef rx_header;
-    can_msg_t new_msg;
-    new_msg.line = CAN_LINE_1;
-    HAL_CAN_GetRxMessage(hcan1, CAN_RX_FIFO1, &rx_header, new_msg.data);
-    new_msg.len = rx_header.DLC;
-    new_msg.id = rx_header.StdId;
-
-    /* Publish to Onboard Temp Queue */
-    osMessageQueuePut(can_inbound_queue, &new_msg, 0U, 0U);
+	// TODO: Wrap this HAL function into a "get_message" function in the CAN driver
+	CAN_RxHeaderTypeDef rx_header;
+	can_msg_t new_msg;
+	new_msg.line = CAN_LINE_1;
+	HAL_CAN_GetRxMessage(hcan1, CAN_RX_FIFO1, &rx_header, new_msg.data);
+	new_msg.len = rx_header.DLC;
+	new_msg.id = rx_header.StdId;
+
+	/* Publish to Onboard Temp Queue */
+	osMessageQueuePut(can_inbound_queue, &new_msg, 0U, 0U);
 }
 
 void vRouteCanIncoming(void* pv_params)
 {
-    can_msg_t* message;
-    osStatus_t status;
-    callback_t callback;
-
-    hcan1 = (CAN_HandleTypeDef*)pv_params;
-
-    // TODO: Initialize CAN here? Or at least initialize it somewhere
-
-    can_inbound_queue = osMessageQueueNew(CAN_MSG_QUEUE_SIZE, sizeof(can_msg_t), NULL);
-
-    // TODO: Link CAN1_ISR via hcan1, future ticket needs to enable CAN driver to pass in devoloper ISR
-
-    for (;;) {
-        /* Wait until new CAN message comes into queue */
-        status = osMessageQueueGet(can_inbound_queue, &message, NULL, 0U);
-        if (status != osOK) {
-            // TODO: Trigger fault ?
-        } else {
-            callback = getFunction(message->id);
-            if (callback == NULL) {
-                // TODO: Trigger low priority error
-            } else {
-                callback(*message);
-            }
-        }
-    }
+	can_msg_t* message;
+	osStatus_t status;
+	callback_t callback;
+
+	hcan1 = (CAN_HandleTypeDef*)pv_params;
+
+	// TODO: Initialize CAN here? Or at least initialize it somewhere
+
+	can_inbound_queue = osMessageQueueNew(CAN_MSG_QUEUE_SIZE, sizeof(can_msg_t), NULL);
+
+	// TODO: Link CAN1_ISR via hcan1, future ticket needs to enable CAN driver to pass in devoloper ISR
+
+	for (;;) {
+		/* Wait until new CAN message comes into queue */
+		status = osMessageQueueGet(can_inbound_queue, &message, NULL, 0U);
+		if (status != osOK) {
+			// TODO: Trigger fault ?
+		} else {
+			callback = getFunction(message->id);
+			if (callback == NULL) {
+				// TODO: Trigger low priority error
+			} else {
+				callback(*message);
+			}
+		}
+	}
 }
+
+static osMessageQueueId_t can_outbound_queue;
+osThreadId_t can_dispatch_handle;
+const osThreadAttr_t can_dispatch_attributes = {
+	.name = "CanDispatch",
+	.stack_size = 128 * 8,
+	.priority = (osPriority_t) osPriorityAboveNormal4,
+};
+
+void vCanDispatch(void* pv_params) {
+
+	const uint16_t can_dispatch_delay = 100; //ms
+		fault_data_t fault_data = {
+		.id = 1, /* this is arbitrary */
+		.severity = DEFCON2
+	};
+
+	can_outbound_queue = osMessageQueueNew(CAN_MSG_QUEUE_SIZE, sizeof(can_msg_t), NULL);
+
+	const uint8_t can_msg_len = 4; /* bytes */
+	can_msg_t msg_data = {
+		.id = 1,  /* this is arbitrary */
+		.len = can_msg_len,
+		.line = CAN_LINE_1,
+		.data = {0}
+	};
+
+
+	can_msg_t* msg_from_queue;
+
+	// Wait until a message is in the queue, send messages when they are in the queue
+	for(;;) {
+		// "borrowed" from temp sensor CAN code (PR 58)
+		/* Send CAN message */         //queue id        buffer to put data     timeout
+		if (osOK == osMessageQueueGet(can_outbound_queue, &msg_from_queue, NULL, 50)) {
+			memcpy(msg_data.data, &msg_from_queue, can_msg_len);
+			if (can_send_message(msg_data)) {
+				fault_data.diag = "Failed to send CAN message";
+				osMessageQueuePut(fault_handle_queue, &fault_data , 0U, 0U);
+			}
+		}
+
+		/* Yield to other tasks */
+		osDelayUntil(can_dispatch_delay);
+	}
+}
diff --git a/Drivers/Embedded-Base b/Drivers/Embedded-Base
+0 −25		.github/workflows/build_cerberus.yml
+2 −2		general/include/lsm6dso.h
+1 −0		general/include/m24c32.h
+7 −0		general/include/pi4ioe.h
+2 −2		general/src/lsm6dso.c
+63 −23		general/src/m24c32.c
+3 −22		general/src/pi4ioe.c
+0 −58		middleware/include/eepromdirectory.h
+0 −90		middleware/src/eepromdirectory.c