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fault handler attempt #93

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merged 7 commits into from
Nov 10, 2023
Merged

fault handler attempt #93

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7221a70
fault handler attempt
Rand-Sai Nov 6, 2023
16f0718
fault handler attempt 2
Rand-Sai Nov 8, 2023
b9e62be
fault handler attempt 3
Rand-Sai Nov 10, 2023
9721436
attempt 4
Rand-Sai Nov 10, 2023
9fdee2e
attempt 5
Rand-Sai Nov 10, 2023
954aeaf
it builds!
Rand-Sai Nov 10, 2023
7bd32bf
Merge branch 'main' into 83-fault-handler
nwdepatie Nov 10, 2023
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42 changes: 42 additions & 0 deletions Core/Src/fault.c
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Original file line number Diff line number Diff line change
@@ -1,3 +1,45 @@
#include "fault.h"

osMessageQueueId_t fault_handle_queue;

//Function to determine priority base on severity
void priority(void) {
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So this should be the main "task" which we will assign a priority and tell the kernel to schedule on boot. For references on other tasks, check the functions that start with vSomething in monitor.c. These have a thread attribute struct associated with them that we use to initialize in main.c

osThreadId_t id;
MSGQUEUE_OBJ_t msg;
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So the type of the message that we receive depends on what we are actually queuing, in this case I believe the type is FaultStatus_t or something I forgot exactly what it is

osStatus_t status;
// Wait until a message is in the queue, send messages when they are in the queue
for(;;) {
status = osMessageQueueGet(fault_handle_queue, &msg, NULL, 0U); // wait for message
id = osThreadGetId(); // Obtain ID of current running thread
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You shouldn't need to get the ID each time

if (status == osOK) {

// process data
switch (fault_sev_t) {
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You want to access the severity field of the fault_t or whatever data type you get from the queue. The idea is that we are popping off a fault and then routing to a case for the severity

case 'DEFCON1': //Higest(1st) Priority
osThreadSetPriority(id, osPriorityHigh);
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I don't think we need to set the priority here, tbh I would just leave this blank for now apart from the break;'s and we will handle faults in a later ticket

osThreadSetPriority(id, osPriorityHigh);
break;
case 'DEFCON2': //2nd Highest Priority
osThreadSetPriority(id, osPriorityAboveNormal);
osThreadSetPriority(id, osPriorityAboveNormal);
break;
case 'DEFCON3': //3rd Highest Priority
osThreadSetPriority(id, osPriorityNormal);
osThreadSetPriority(id, osPriorityNormal);
break;
case 'DEFCON4': //Slight Above Lowest Priority
osThreadSetPriority(id, osPriorityBelowNormal);
osThreadSetPriority(id, osPriorityBelowNormal);
break;
case 'DEFCON5': //Lowest Priority
osThreadSetPriority(id, osPriorityLow);
osThreadSetPriority(id, osPriorityLow);
break;
default: //Unable To Identify 'fault_sev_t'
osThreadSetPriority(id, osPriorityIdle);
osThreadSetPriority(id, osPriorityIdle);
break;
}
}
}
}
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