restore order

Northeastern-Electric-Racing · Sep 5, 2024 · 2583617 · 2583617
1 parent 2042879
commit 2583617
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Showing 5 changed files with 255 additions and 156 deletions.
diff --git a/Core/Src/bms.c b/Core/Src/bms.c
@@ -12,19 +12,23 @@
 
 osMessageQueueId_t bms_monitor_queue;
 
-bms_t* bms;
+bms_t *bms;
 
 void bms_fault_callback();
 
 osThreadId_t bms_monitor_handle;
-const osThreadAttr_t bms_monitor_attributes
-	= { .name = "BMSCANMonitor", .stack_size = 64 * 8, .priority = (osPriority_t)osPriorityHigh2 };
+const osThreadAttr_t bms_monitor_attributes = {
+	.name = "BMSCANMonitor",
+	.stack_size = 64 * 8,
+	.priority = (osPriority_t)osPriorityHigh2
+};
 
 void bms_fault_callback()
 {
 	fault_data_t fault_data
 
-		= { .id = BMS_CAN_MONITOR_FAULT, .severity = DEFCON1 }; /*TO-DO: update severity*/
+		= { .id = BMS_CAN_MONITOR_FAULT,
+		    .severity = DEFCON1 }; /*TO-DO: update severity*/
 	fault_data.diag = "Failing To Receive CAN Messages from Shepherd";
 	osTimerStart(bms->bms_monitor_timer, BMS_CAN_MONITOR_DELAY);
 	queue_fault(&fault_data);
@@ -36,22 +40,28 @@ void bms_init()
 	assert(bms);
 
 	/*TO-DO: specify timer attributes*/
-	bms->bms_monitor_timer = osTimerNew(&bms_fault_callback, osTimerOnce, NULL, NULL);
+	bms->bms_monitor_timer =
+		osTimerNew(&bms_fault_callback, osTimerOnce, NULL, NULL);
 
-	bms_monitor_queue = osMessageQueueNew(CAN_QUEUE_SIZE, sizeof(can_msg_t), NULL);
+	bms_monitor_queue =
+		osMessageQueueNew(CAN_QUEUE_SIZE, sizeof(can_msg_t), NULL);
 	assert(bms_monitor_queue);
 }
 
-void vBMSCANMonitor(void* pv_params)
+void vBMSCANMonitor(void *pv_params)
 {
 	can_msg_t msg_from_queue;
 
 	osTimerStart(bms->bms_monitor_timer, BMS_CAN_MONITOR_DELAY);
 	for (;;) {
-		if (osOK == osMessageQueueGet(bms_monitor_queue, &msg_from_queue, NULL, osWaitForever)) {
+		if (osOK == osMessageQueueGet(bms_monitor_queue,
+					      &msg_from_queue, NULL,
+					      osWaitForever)) {
 			/*TO-DO: fix duration (ticks)*/
-			osTimerStart(bms->bms_monitor_timer, BMS_CAN_MONITOR_DELAY);
-			bms->dcl = (uint16_t)((msg_from_queue.data[1] << 8) & msg_from_queue.data[0]);
+			osTimerStart(bms->bms_monitor_timer,
+				     BMS_CAN_MONITOR_DELAY);
+			bms->dcl = (uint16_t)((msg_from_queue.data[1] << 8) &
+					      msg_from_queue.data[0]);
 			// serial_print("BMS DCL %d", bms->dcl);
 		}
 	}

diff --git a/Core/Src/can_handler.c b/Core/Src/can_handler.c
@@ -25,49 +25,52 @@
 #define CAN_MSG_QUEUE_SIZE 50 /* messages */
 static osMessageQueueId_t can_outbound_queue;
 
-can_t* can1;
+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,
+			      DTI_CANID_TEMPS_FAULT, DTI_CANID_ID_IQ,
+			      DTI_CANID_SIGNALS,     BMS_DCL_MSG };
 
-void init_can1(CAN_HandleTypeDef* hcan)
+void init_can1(CAN_HandleTypeDef *hcan)
 {
 	assert(hcan);
 
 	/* Create PDU struct */
 	can1 = malloc(sizeof(can_t));
 	assert(can1);
 
-	can1->hcan		  = hcan;
-	can1->id_list	  = id_list;
+	can1->hcan = hcan;
+	can1->id_list = id_list;
 	can1->id_list_len = sizeof(id_list) / sizeof(uint32_t);
 
 	assert(!can_init(can1));
 
-	can_outbound_queue = osMessageQueueNew(CAN_MSG_QUEUE_SIZE, sizeof(can_msg_t), NULL);
+	can_outbound_queue =
+		osMessageQueueNew(CAN_MSG_QUEUE_SIZE, sizeof(can_msg_t), NULL);
 }
 
 /* Callback to be called when we get a CAN message */
-void can1_callback(CAN_HandleTypeDef* hcan)
+void can1_callback(CAN_HandleTypeDef *hcan)
 {
 	fault_data_t fault_data = {
-		.id		  = CAN_ROUTING_FAULT,
+		.id = CAN_ROUTING_FAULT,
 		.severity = DEFCON2,
 	};
 
 	CAN_RxHeaderTypeDef rx_header;
 	can_msg_t new_msg;
 
 	/* Read in CAN message */
-	if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, new_msg.data) != HAL_OK) {
+	if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header,
+				 new_msg.data) != HAL_OK) {
 		fault_data.diag = "Failed to read CAN Msg";
 		queue_fault(&fault_data);
 		return;
 	}
 
 	new_msg.len = rx_header.DLC;
-	new_msg.id	= rx_header.StdId;
+	new_msg.id = rx_header.StdId;
 
 	// TODO: Switch to hash map
 	switch (new_msg.id) {
@@ -90,21 +93,24 @@ void can1_callback(CAN_HandleTypeDef* hcan)
 
 osThreadId_t can_dispatch_handle;
 const osThreadAttr_t can_dispatch_attributes = {
-	.name		= "CanDispatch",
+	.name = "CanDispatch",
 	.stack_size = 128 * 8,
-	.priority	= (osPriority_t)osPriorityRealtime5,
+	.priority = (osPriority_t)osPriorityRealtime5,
 };
 
-void vCanDispatch(void* pv_params)
+void vCanDispatch(void *pv_params)
 {
-	fault_data_t fault_data = { .id = CAN_DISPATCH_FAULT, .severity = DEFCON1 };
+	fault_data_t fault_data = { .id = CAN_DISPATCH_FAULT,
+				    .severity = DEFCON1 };
 
 	can_msg_t msg_from_queue;
 	HAL_StatusTypeDef msg_status;
 
 	for (;;) {
 		/* Send CAN message */
-		if (osOK == osMessageQueueGet(can_outbound_queue, &msg_from_queue, NULL, osWaitForever)) {
+		if (osOK == osMessageQueueGet(can_outbound_queue,
+					      &msg_from_queue, NULL,
+					      osWaitForever)) {
 			msg_status = can_send_msg(can1, &msg_from_queue);
 			if (msg_status == HAL_ERROR) {
 				fault_data.diag = "Failed to send CAN message";

diff --git a/Core/Src/fault.c b/Core/Src/fault.c
@@ -14,12 +14,12 @@ osMessageQueueId_t fault_handle_queue;
 
 osThreadId_t fault_handle;
 const osThreadAttr_t fault_handle_attributes = {
-	.name		= "FaultHandler",
+	.name = "FaultHandler",
 	.stack_size = 52 * 8,
-	.priority	= (osPriority_t)osPriorityRealtime1,
+	.priority = (osPriority_t)osPriorityRealtime1,
 };
 
-int queue_fault(fault_data_t* fault_data)
+int queue_fault(fault_data_t *fault_data)
 {
 	if (!fault_handle_queue)
 		return -1;
@@ -28,30 +28,34 @@ int queue_fault(fault_data_t* fault_data)
 	return 0;
 }
 
-void vFaultHandler(void* pv_params)
+void vFaultHandler(void *pv_params)
 {
 	fault_data_t fault_data;
 	osStatus_t status;
-	const state_req_t fault_request = { .id = FUNCTIONAL, .state.functional = FAULTED };
-	fault_handle_queue = osMessageQueueNew(FAULT_HANDLE_QUEUE_SIZE, sizeof(fault_data_t), NULL);
+	const state_req_t fault_request = { .id = FUNCTIONAL,
+					    .state.functional = FAULTED };
+	fault_handle_queue = osMessageQueueNew(FAULT_HANDLE_QUEUE_SIZE,
+					       sizeof(fault_data_t), NULL);
 
 	for (;;) {
 		/* Wait until a message is in the queue, send messages when they are in the queue */
-		status = osMessageQueueGet(fault_handle_queue, &fault_data, NULL, osWaitForever);
+		status = osMessageQueueGet(fault_handle_queue, &fault_data,
+					   NULL, osWaitForever);
 		if (status == osOK) {
 			uint32_t fault_id = (uint32_t)fault_data.id;
 			endian_swap(&fault_id, 4);
 			uint8_t defcon = (uint8_t)fault_data.severity;
 
 			can_msg_t msg;
-			msg.id	= CANID_FAULT_MSG;
+			msg.id = CANID_FAULT_MSG;
 			msg.len = 8;
 			uint8_t msg_data[8];
 			memcpy(msg_data, &fault_id, 4);
 			memcpy(msg_data + 4, &defcon, 1);
 			memcpy(msg.data, msg_data, msg.len);
 			queue_can_msg(msg);
-			printf("\r\nFault Handler! Diagnostic Info:\t%s\r\n\r\n", fault_data.diag);
+			printf("\r\nFault Handler! Diagnostic Info:\t%s\r\n\r\n",
+			       fault_data.diag);
 			switch (fault_data.severity) {
 			case DEFCON1: /* Highest(1st) Priority */
 				queue_state_transition(fault_request);