190 consolidate TSMS logic, timers for data collection, fix can overf…

…low error

Core/Inc/can_handler.h

@@ -18,6 +18,11 @@
 #include "cmsis_os.h"
 #include "dti.h"
 
+/**
+ * @brief Callback to be called when a message is received on CAN line 1.
+ * 
+ * @param hcan Pointer to struct representing CAN hardware.
+ */
 void can1_callback(CAN_HandleTypeDef *hcan);
 
 /**
@@ -27,10 +32,18 @@ void can1_callback(CAN_HandleTypeDef *hcan);
  * @return int8_t Error code.
  */
 int8_t queue_can_msg(can_msg_t msg);
+
+/**
+ * @brief Initialize CAN line 1.
+ * 
+ * @param hcan Pointer to struct representing CAN hardware.
+ */
 void init_can1(CAN_HandleTypeDef *hcan);
 
 /**
  * @brief Task for sending CAN messages.
+ * 
+ * @param pv_params CAN_HandleTypeDef for the CAN line that messages will be sent out on.
  */
 void vCanDispatch(void *pv_params);
 extern osThreadId_t can_dispatch_handle;

Core/Inc/monitor.h

@@ -14,9 +14,29 @@ typedef struct {
 } pedals_t;
 
 pedals_t get_pedal_data();
+
 bool get_brake_state();
 
-bool get_tsms_reading();
+/**
+ * @brief Read the open cell voltage of the LV batteries and send a CAN message with the result.
+ * 
+ * @param arg Pointer to mpu_t.
+ */
+void read_lv_sense(void *arg);
+
+/**
+ * @brief Read data from the fuse monitor GPIO expander on the PDU.
+ * 
+ * @param pdu Pointer to pdu_t.
+ */
+void read_fuse_data(void *arg);
+
+/**
+ * @brief Get the debounced TSMS reading.
+ * 
+ * @return State of TSMS.
+ */
+bool get_tsms();
 
 /* Defining Temperature Monitor Task */
 void vTempMonitor(void *pv_params);
@@ -45,7 +65,6 @@ extern const osThreadAttr_t shutdown_monitor_attributes;
 
 /* Arguments for the data collection thread */
 typedef struct {
-	mpu_t *mpu;
 	pdu_t *pdu;
 	steeringio_t *wheel;
 } data_collection_args_t;

Core/Inc/processing.h

@@ -33,20 +33,6 @@ void increase_torque_limit();
 */
 void decrease_torque_limit();
 
-/**
- * @brief Get the debounced TSMS reading.
- * 
- * @return State of TSMS.
- */
-bool get_tsms();
-
-/**
- * @brief Task for processing data from the TSMS.
- */
-void vProcessTSMS(void *pv_params);
-extern osThreadId_t process_tsms_thread_id;
-extern const osThreadAttr_t process_tsms_attributes;
-
 typedef struct {
 	dti_t *mc;
 	pdu_t *pdu;

Core/Inc/queues.h

@@ -5,9 +5,7 @@
 #include "cmsis_os.h"
 
 #define ONBOARD_TEMP_QUEUE_SIZE 8
-#define PEDAL_DATA_QUEUE_SIZE	1
 #define IMU_QUEUE_SIZE		8
-#define TSMS_QUEUE_SIZE		1
 
 typedef struct {
 	uint16_t accel_x;
@@ -20,6 +18,4 @@ typedef struct {
 
 extern osMessageQueueId_t imu_queue;
 
-extern osMessageQueueId_t tsms_data_queue;
-
 #endif // QUEUES_H

Core/Src/can_handler.c

@@ -33,9 +33,7 @@ static osMessageQueueId_t can_inbound_queue;
 can_t *can1;
 
 /* Relevant Info for Initializing CAN 1 */
-static uint32_t id_list[] = { DTI_CANID_ERPM,	     DTI_CANID_CURRENTS,
-			      DTI_CANID_TEMPS_FAULT, DTI_CANID_ID_IQ,
-			      DTI_CANID_SIGNALS,     BMS_DCL_MSG };
+static uint32_t id_list[] = { DTI_CANID_ERPM, DTI_CANID_CURRENTS, BMS_DCL_MSG };
 
 void init_can1(CAN_HandleTypeDef *hcan)
 {
@@ -107,12 +105,19 @@ void vCanDispatch(void *pv_params)
 	can_msg_t msg_from_queue;
 	HAL_StatusTypeDef msg_status;
 
+	CAN_HandleTypeDef *hcan = (CAN_HandleTypeDef *)pv_params;
+
 	for (;;) {
 		osThreadFlagsWait(CAN_DISPATCH_FLAG, osFlagsWaitAny,
 				  osWaitForever);
 		/* Send CAN message */
 		while (osMessageQueueGet(can_outbound_queue, &msg_from_queue,
 					 NULL, 0U) == osOK) {
+			/* Wait if CAN outbound queue is full */
+			while (HAL_CAN_GetTxMailboxesFreeLevel(hcan) == 0) {
+				osDelay(1);
+			}
+
 			msg_status = can_send_msg(can1, &msg_from_queue);
 
 			if (msg_status == HAL_ERROR) {
@@ -149,10 +154,6 @@ void vCanReceive(void *pv_params)
 			case DTI_CANID_ERPM:
 				dti_record_rpm(mc, msg);
 				break;
-				// case DTI_CANID_CURRENTS:
-				// case DTI_CANID_TEMPS_FAULT:
-				// case DTI_CANID_ID_IQ:
-				// case DTI_CANID_SIGNALS:
 			case BMS_DCL_MSG:
 				handle_dcl_msg();
 				break;

Core/Src/cerb_utils.c

@@ -25,6 +25,7 @@ void debounce(bool input, osTimerAttr_t *timer, uint32_t period)
 osStatus_t queue_and_set_flag(osMessageQueueId_t queue, const void *msg_ptr,
 			      osThreadId_t thread_id, uint32_t flags)
 {
+	osStatus_t status = osMessageQueuePut(queue, msg_ptr, 0U, 0U);
 	osThreadFlagsSet(thread_id, flags);
-	return osMessageQueuePut(queue, msg_ptr, 0U, 0U);
+	return status;
 }

Core/Src/main.c

@@ -50,6 +50,8 @@
 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */
 
+/* One second with a tick rate of 1000 Hz */
+#define ONE_SECOND 1000
 /* USER CODE END PD */
 
 /* Private macro -------------------------------------------------------------*/
@@ -81,9 +83,9 @@ const osThreadAttr_t defaultTask_attributes = {
 };
 /* USER CODE BEGIN PV */
 osMessageQueueId_t imu_queue;
-osMessageQueueId_t dti_router_queue;
-osMessageQueueId_t tsms_data_queue;
 
+osTimerId_t lv_sense_timer;
+osTimerId_t fuse_timer;
 
 /* USER CODE END PV */
 
@@ -201,12 +203,6 @@ int main(void)
   /* USER CODE END RTOS_TIMERS */
 
   /* USER CODE BEGIN RTOS_QUEUES */
-  imu_queue = osMessageQueueNew(IMU_QUEUE_SIZE, sizeof(imu_data_t), NULL);
-  assert(imu_queue);
-	dti_router_queue = osMessageQueueNew(DTI_QUEUE_SIZE, sizeof(can_msg_t), NULL);
-	assert(dti_router_queue);
-  tsms_data_queue = osMessageQueueNew(TSMS_QUEUE_SIZE, sizeof(bool), NULL);
-  assert(tsms_data_queue);
   /* USER CODE END RTOS_QUEUES */
 
   /* Create the thread(s) */
@@ -218,40 +214,41 @@ int main(void)
   /* Monitors */
   pedals_monitor_handle = osThreadNew(vPedalsMonitor, mpu, &pedals_monitor_attributes);
   assert(pedals_monitor_handle);
-  // temp_monitor_handle = osThreadNew(vTempMonitor, mpu, &temp_monitor_attributes);
-  // assert(temp_monitor_handle);
-  //imu_monitor_handle = osThreadNew(vIMUMonitor, mpu, &imu_monitor_attributes);
-  //assert(imu_monitor_handle);
-  // shutdown_monitor_handle = osThreadNew(vShutdownMonitor, pdu, &shutdown_monitor_attributes);
-  // assert(shutdown_monitor_handle);
+
+  lv_sense_timer = osTimerNew(&read_lv_sense, osTimerPeriodic, mpu, NULL);
+  osTimerStart(lv_sense_timer, ONE_SECOND);
+  fuse_timer = osTimerNew(&read_fuse_data, osTimerPeriodic, pdu, NULL);
+  osTimerStart(fuse_timer, ONE_SECOND);
 
   data_collection_args_t* data_args = malloc(sizeof(data_collection_args_t));
-  data_args->mpu = mpu;
   data_args->pdu = pdu;
   data_args->wheel = wheel;
   data_collection_thread = osThreadNew(vDataCollection, data_args, &data_collection_attributes);
   assert(data_collection_thread);
-
-  /* Data Processing */
-  process_tsms_thread_id = osThreadNew(vProcessTSMS, NULL, &process_tsms_attributes);
-  assert(process_tsms_thread_id);
+  // temp_monitor_handle = osThreadNew(vTempMonitor, mpu, &temp_monitor_attributes);
+  // assert(temp_monitor_handle);
+  //imu_monitor_handle = osThreadNew(vIMUMonitor, mpu, &imu_monitor_attributes);
+  //assert(imu_monitor_handle);
+  // shutdown_monitor_handle = osThreadNew(vShutdownMonitor, pdu, &shutdown_monitor_attributes);
+  // assert(shutdown_monitor_handle);
 
   /* Messaging */
-  can_dispatch_handle = osThreadNew(vCanDispatch, NULL, &can_dispatch_attributes);
+  can_dispatch_handle = osThreadNew(vCanDispatch, &hcan1, &can_dispatch_attributes);
   assert(can_dispatch_handle);
   can_receive_thread = osThreadNew(vCanReceive, mc, &can_receive_attributes);
   assert(can_receive_thread);
   serial_monitor_handle = osThreadNew(vSerialMonitor, NULL, &serial_monitor_attributes);
   assert(serial_monitor_handle);
 
   /* Control Logic */
+  fault_handle = osThreadNew(vFaultHandler, NULL, &fault_handle_attributes);
+  assert(fault_handle);
+
   process_pedals_args_t *proc_pedal_args = malloc(sizeof(process_pedals_args_t));
   proc_pedal_args->mc = mc;
   proc_pedal_args->pdu = pdu;
   process_pedals_thread = osThreadNew(vProcessPedals, proc_pedal_args, &torque_calc_attributes);
   assert(process_pedals_thread);
-  fault_handle = osThreadNew(vFaultHandler, NULL, &fault_handle_attributes);
-  assert(fault_handle);
 
   sm_director_args_t *sm_args = malloc(sizeof(sm_director_args_t));
   sm_args->pdu = pdu;