From e232bfd1f77ebc28bd357895757330a1ae3a3a84 Mon Sep 17 00:00:00 2001
From: Megan Lai <lai.me@northeastern.edu>
Date: Sun, 19 Nov 2023 12:36:26 -0500
Subject: [PATCH] locked and unlocked mutex when taking measurements

---
 Core/Src/main.c    | 14 ++++++++------
 Core/Src/monitor.c | 17 +++++++++++++----
 2 files changed, 21 insertions(+), 10 deletions(-)

diff --git a/Core/Src/main.c b/Core/Src/main.c
index 9f03eb7e..c7c061d9 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -56,7 +56,7 @@ osMutexId_t mutex_id;
 osMutexAttr_t mutex;
 
 struct {
-  osMutexAttr_t mut;
+  osMutexId_t mut;
   I2C_HandleTypeDef i2c;
 } mutI2Cbus;
 
@@ -94,8 +94,9 @@ void StartDefaultTask(void *argument);
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
 
-void CreateMutex() {
+osMutexId_t CreateMutex() {
     mutex_id = osMutexNew(&mutex);
+  return *mutex_id;
 }
 /* USER CODE END 0 */
 
@@ -115,8 +116,9 @@ int main(void)
   HAL_Init();
 
   /* USER CODE BEGIN Init */
-
-  mutI2Cbus.mut = mutex;
+  
+  CreateMutex();
+  mutI2Cbus.mut = mutex_id;
   mutI2Cbus.i2c = hi2c1;
 
   /* USER CODE END Init */
@@ -168,9 +170,9 @@ int main(void)
   defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
 
   /* USER CODE BEGIN RTOS_THREADS */
-  temp_monitor_handle = osThreadNew(vTempMonitor, &hi2c1, &temp_monitor_attributes);
+  temp_monitor_handle = osThreadNew(vTempMonitor, &mutI2Cbus, &temp_monitor_attributes); // replace with structs
   watchdog_monitor_handle = osThreadNew(vWatchdogMonitor, GPIOB, &watchdog_monitor_attributes);
-  imu_monitor_handle = osThreadNew(vIMUMonitor, &hi2c1, &imu_monitor_attributes);
+  imu_monitor_handle = osThreadNew(vIMUMonitor, &mutI2Cbus, &imu_monitor_attributes);
 
   //TODO: Get correct ADC/GPIO value
   pedals_monitor_handle = osThreadNew(vPedalsMonitor, &hadc1, &pedals_monitor_attributes);
diff --git a/Core/Src/monitor.c b/Core/Src/monitor.c
index 0e88603c..83eefcd7 100644
--- a/Core/Src/monitor.c
+++ b/Core/Src/monitor.c
@@ -24,24 +24,31 @@ void vTempMonitor(void* pv_params)
 	static onboard_temp_t sensor_data;
 	fault_data_t fault_data = { .id = ONBOARD_TEMP_FAULT, .severity = DEFCON4 };
 	sht30_t temp_sensor;
-	I2C_HandleTypeDef* hi2c1;
+	osMutexId_t* i2c_mut;
 	can_msg_t temp_msg
 		= { .id = CANID_TEMP_SENSOR, .len = can_msg_len, .line = CAN_LINE_1, .data = { 0 } };
 
-	hi2c1				   = (I2C_HandleTypeDef*)pv_params;
-	temp_sensor.i2c_handle = hi2c1;
-
+	//hi2c1				   = (I2C_HandleTypeDef*)pv_params;
+	//temp_sensor.i2c_handle = hi2c1;
+	
+	osMutexAcquire(pv_params.mutex_id, NULL); // lock
+	
 	if (sht30_init(&temp_sensor)) {
 		fault_data.diag = "Init Failed";
 		osMessageQueuePut(fault_handle_queue, &fault_data, 0U, 0U);
 	}
+	
+	osMutexRelease(pv_params.mutex_id); // unlock
 
 	for (;;) {
+		osMutexAcquire(pv_params.mutex_id, NULL); // lock
+
 		/* Take measurement */
 		if (sht30_get_temp_humid(&temp_sensor)) {
 			fault_data.diag = "Failed to get temp";
 			osMessageQueuePut(fault_handle_queue, &fault_data, 0U, 0U);
 		}
+		osMutexRelease(pv_params.mutex_id); // unlock
 
 		/* Run values through LPF of sample size  */
 		sensor_data.temperature = (sensor_data.temperature + temp_sensor.temp) / num_samples;
@@ -194,6 +201,7 @@ void vIMUMonitor(void *pv_params)
 	}
 
 	for(;;) {
+		osMutexAcquire(pv_params.mutex_id, NULL); // lock
 		/* Take measurement */
 		if (lsm6dso_read_accel(&imu)) {
 			fault_data.diag = "Failed to get IMU acceleration";
@@ -204,6 +212,7 @@ void vIMUMonitor(void *pv_params)
 			fault_data.diag = "Failed to get IMU gyroscope";
 			osMessageQueuePut(fault_handle_queue, &fault_data , 0U, 0U);
 		}
+		osMutexRelease(pv_params.mutex_id); // unlock
 
 		/* Run values through LPF of sample size  */
 		sensor_data.accel_x = (sensor_data.accel_x + imu.accel_data[0])