Making task build

Core/Inc/monitor.h

@@ -8,9 +8,9 @@ void vTempMonitor(void *pv_params);
 
 osThreadId_t temp_monitor_handle;
 const osThreadAttr_t temp_monitor_attributes = {
-  .name = "TempMonitor",
-  .stack_size = 128 * 4,
-  .priority = (osPriority_t) osPriorityBelowNormal3,
+	.name = "TempMonitor",
+	.stack_size = 128 * 4,
+	.priority = (osPriority_t) osPriorityBelowNormal3,
 };
 
 #endif // MONITOR_H

Core/Src/monitor.c

@@ -1,52 +1,56 @@
 #include <sht30.h>
 #include <FreeRTOS.h>
+#include <string.h>
 #include "cerberus_conf.h"
 #include "task.h"
 #include "can.h"
 
 void vTempMonitor(void *pv_params)
 {
-    static const uint8_t num_samples = 10;
-
-    sht30_t temp_sensor;
-    I2C_HandleTypeDef *hi2c1;
-    can_msg_t temp_msg = {
-        .id = CANID_TEMP_SENSOR,
-        .len = 4, /* bytes */
-        .line = CAN_LINE_1
-    };
-    struct {
-        uint16_t temperature;
-        uint16_t humidity;
-    } sensor_data;
-
-
-    hi2c1 = (I2C_HandleTypeDef *)pv_params;
-
-    if (sht30_init(&temp_sensor, &hi2c1)) {
-        //TODO: Handle error
-    }
-
-    for(;;) {
-
-        /* Take measurement */
-        if (sht30_get_temp_humid(&temp_sensor)) {
-            //TODO: Handler error
-        }
-
-        /* Run values through LPF of sample size  */
-        sensor_data.temperature = (sensor_data.temperature + temp_sensor.temp) 
-                                  / num_samples;
-        sensor_data.humidity = (sensor_data.humidity + temp_sensor.humidity) 
-                               / num_samples;
-
-        /* Send CAN message */
-        temp_msg.data = (uint8_t *) sensor_data;
-        if (can_send_message(temp_msg)) {
-            //TODO: Handle error
-        }
-
-        /* Yield to other tasks */
-        taskYIELD();
-    }
+	static const uint8_t num_samples = 10;
+	static const uint8_t temp_sensor_sample_delay = 500; /* ms */
+	static const uint8_t can_msg_len = 4; /* bytes */
+
+	sht30_t temp_sensor;
+	I2C_HandleTypeDef *hi2c1;
+	can_msg_t temp_msg = {
+		.id = CANID_TEMP_SENSOR,
+		.len = can_msg_len,
+		.line = CAN_LINE_1,
+		.data = {0}
+	};
+
+	struct {
+		uint16_t temperature;
+		uint16_t humidity;
+	} sensor_data;
+
+	hi2c1 = (I2C_HandleTypeDef *)pv_params;
+
+	if (sht30_init(&temp_sensor, &hi2c1)) {
+		//TODO: Handle error
+	}
+
+	for(;;) {
+
+		/* Take measurement */
+		if (sht30_get_temp_humid(&temp_sensor)) {
+			//TODO: Handler error
+		}
+
+		/* Run values through LPF of sample size  */
+		sensor_data.temperature = (sensor_data.temperature + temp_sensor.temp)
+								  / num_samples;
+		sensor_data.humidity = (sensor_data.humidity + temp_sensor.humidity)
+							   / num_samples;
+
+		/* Send CAN message */
+		memcpy(temp_msg.data, &sensor_data, can_msg_len);
+		if (can_send_message(temp_msg)) {
+			//TODO: Handle error
+		}
+
+		/* Yield to other tasks */
+		osDelayUntil();
+	}
 }

Drivers/NER/include/can.h

@@ -35,9 +35,9 @@ typedef struct
 } can_msg_t;
 
 /* These are the queues for each CAN line */
-struct msg_queue* can1_incoming;
-struct msg_queue* can2_incoming;
-// msg_queue* can3_incoming;
+extern struct msg_queue* can1_incoming;
+extern struct msg_queue* can2_incoming;
+// extern struct msg_queue* can3_incoming;
 
 
 /* Use this when referencing CAN lines when sending a message */

Drivers/NER/src/can.c

@@ -18,6 +18,11 @@ CAN_HandleTypeDef* can1;
 CAN_HandleTypeDef* can2;
 // CAN_HandleTypeDef* can3;
 
+/* These are the queues for each CAN line */
+struct msg_queue* can1_incoming;
+struct msg_queue* can2_incoming;
+// msg_queue* can3_incoming;
+
 /* Used in the Queue implementation - you probably dont need to worry about it */
 struct node
 {