190 no more nero monitor

Northeastern-Electric-Racing · Aug 10, 2024 · 49439a7 · 49439a7
1 parent 2bb96b1
commit 49439a7
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Showing 6 changed files with 8 additions and 35 deletions.
diff --git a/Core/Inc/nero.h b/Core/Inc/nero.h
@@ -5,8 +5,6 @@
 #include "cmsis_os.h"
 #include "stm32f4xx_hal.h"
 
-#define NERO_UPDATE_FLAG 1U
-
 /*
  * Tells NERO the current MPH
 */
@@ -16,13 +14,6 @@ void set_mph(int8_t new_mph);
  * @brief Send NERO information over CAN.
  * 
  */
-void send_mode_status();
-
-/*
-* Emits the state of NERO
-*/
-void vNeroMonitor(void *pv_params);
-extern osThreadId_t nero_monitor_handle;
-extern const osThreadAttr_t nero_monitor_attributes;
+void send_nero_msg();
 
 #endif // NERO_H
diff --git a/Core/Src/fault.c b/Core/Src/fault.c
@@ -19,8 +19,7 @@ int queue_fault(fault_data_t *fault_data)
 	if (!fault_handle_queue)
 		return -1;
 
-	return queue_and_set_flag(fault_handle_queue, fault_data,
-				  fault_handle,
+	return queue_and_set_flag(fault_handle_queue, fault_data, fault_handle,
 				  NEW_FAULT_FLAG);
 }
 

diff --git a/Core/Src/main.c b/Core/Src/main.c
@@ -243,8 +243,6 @@ int main(void)
   assert(can_receive_thread);
   serial_monitor_handle = osThreadNew(vSerialMonitor, NULL, &serial_monitor_attributes);
   assert(serial_monitor_handle);
-  nero_monitor_handle = osThreadNew(vNeroMonitor, NULL, &nero_monitor_attributes);
-  assert(nero_monitor_handle);
 
   /* Control Logic */
   process_pedals_args_t *proc_pedal_args = malloc(sizeof(process_pedals_args_t));
@@ -727,7 +725,7 @@ void StartDefaultTask(void *argument)
     HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_8);
 
     /* Send NERO state data continuously */
-    send_mode_status();
+    send_nero_msg();
     osDelay(500);
     //osDelay(YELLOW_LED_BLINK_DELAY);
   }

diff --git a/Core/Src/nero.c b/Core/Src/nero.c
@@ -13,7 +13,7 @@
 
 static int8_t mph = 0;
 
-void send_mode_status()
+void send_nero_msg()
 {
 	can_msg_t msg = { .id = 0x501,
 			  .len = 4,
@@ -28,21 +28,5 @@ void send_mode_status()
 void set_mph(int8_t new_mph)
 {
 	mph = new_mph;
-	osThreadFlagsSet(nero_monitor_handle, NERO_UPDATE_FLAG);
-}
-
-osThreadId_t nero_monitor_handle;
-const osThreadAttr_t nero_monitor_attributes = {
-	.name = "NeroMonitor",
-	.stack_size = 32 * 32,
-	.priority = (osPriority_t)osPriorityRealtime2,
-};
-
-void vNeroMonitor(void *pv_params)
-{
-	for (;;) {
-		osThreadFlagsWait(NERO_UPDATE_FLAG, osFlagsWaitAny,
-				  osWaitForever);
-		send_mode_status();
-	}
+	send_nero_msg();
 }
diff --git a/Core/Src/processing.c b/Core/Src/processing.c
@@ -55,7 +55,7 @@ void tsms_debounce_cb(void *arg)
 	tsms = *((bool *)arg);
 	osMutexRelease(tsms_mutex);
 	/* Tell NERO allaboutit */
-	osThreadFlagsSet(nero_monitor_handle, NERO_UPDATE_FLAG);
+	send_nero_msg();
 }
 
 osThreadId_t process_tsms_thread_id;

diff --git a/Core/Src/state_machine.c b/Core/Src/state_machine.c
@@ -168,7 +168,7 @@ static int transition_nero_state(nero_state_t new_state, pdu_t *pdu, dti_t *mc)
 
 	cerberus_state.nero = new_state;
 	/* Notify NERO */
-	osThreadFlagsSet(nero_monitor_handle, NERO_UPDATE_FLAG);
+	send_nero_msg();
 
 	return 0;
 }
@@ -178,6 +178,7 @@ static int queue_state_transition(state_req_t new_state)
 	if (!state_trans_queue) {
 		return 1;
 	}
+
 	return queue_and_set_flag(state_trans_queue, &new_state,
 				  sm_director_handle, STATE_TRANSITION_FLAG);
 }