190 more notificaitons, check mph before drive state transition, peda…

…ls processing task, malloc and stack overflow hooks

Core/Inc/FreeRTOSConfig.h

@@ -75,7 +75,9 @@
 #define configUSE_16_BIT_TICKS                   0
 #define configUSE_MUTEXES                        1
 #define configQUEUE_REGISTRY_SIZE                8
+#define configCHECK_FOR_STACK_OVERFLOW           1
 #define configUSE_RECURSIVE_MUTEXES              1
+#define configUSE_MALLOC_FAILED_HOOK             1
 #define configUSE_COUNTING_SEMAPHORES            1
 #define configUSE_PORT_OPTIMISED_TASK_SELECTION  0
 /* USER CODE BEGIN MESSAGE_BUFFER_LENGTH_TYPE */

Core/Inc/nero.h

@@ -5,6 +5,8 @@
 #include "cmsis_os.h"
 #include "stm32f4xx_hal.h"
 
+#define NERO_UPDATE_FLAG 1U
+
 /*
  * Tells NERO the current MPH
 */

Core/Inc/processing.h

@@ -15,7 +15,21 @@
 #include "cmsis_os.h"
 #include "stdbool.h"
 
-#define TSMS_UPDATE_FLAG 0x00000001U
+#define TSMS_UPDATE_FLAG 1U
+#define PEDAL_DATA_FLAG	 1U
+
+#define PIT_MAX_SPEED	 5.0 /* mph */
+#define ACCUMULATOR_SIZE 10 /* size of the accumulator for averaging */
+
+/*
+ * Increases the torque limit by 10%
+*/
+void increase_torque_limit();
+
+/*
+ * Decreases the torque limit by 10%
+*/
+void decrease_torque_limit();
 
 /**
  * @brief Get the debounced TSMS reading.
@@ -31,4 +45,11 @@ void vProcessTSMS(void *pv_params);
 extern osThreadId_t process_tsms_thread_id;
 extern const osThreadAttr_t process_tsms_attributes;
 
+/**
+ * @brief Task for processing pedal data.
+ */
+void vProcessPedals(void *pv_params);
+extern osThreadId_t process_pedals_thread;
+extern const osThreadAttr_t torque_calc_attributes;
+
 #endif

Core/Inc/queues.h

@@ -22,8 +22,8 @@ typedef struct {
 extern osMessageQueueId_t imu_queue;
 
 typedef struct {
-	uint16_t brake_value; /* 0-1 */
-	uint16_t accelerator_value; /* 0-1 */
+	uint16_t brake_value;
+	uint16_t accelerator_value; /* 0-100 */
 } pedals_t;
 
 extern osMessageQueueId_t pedal_data_queue;

Core/Inc/stm32f4xx_hal_conf.h

@@ -214,7 +214,7 @@
 #define MAC_ADDR5   0U
 
 /* Definition of the Ethernet driver buffers size and count */
-#define ETH_RX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for receive               */
+#define ETH_RX_BUF_SIZE                 /* buffer size for receive               */
 #define ETH_TX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for transmit              */
 #define ETH_RXBUFNB                    4U       /* 4 Rx buffers of size ETH_RX_BUF_SIZE  */
 #define ETH_TXBUFNB                    4U       /* 4 Tx buffers of size ETH_TX_BUF_SIZE  */

Core/Src/dti.c

@@ -21,6 +21,7 @@
 #include <stdio.h>
 #include "bms.h"
 #include "serial_monitor.h"
+#include "nero.h"
 
 #define CAN_QUEUE_SIZE 5 /* messages */
 #define SAMPLES	       20
@@ -284,6 +285,7 @@ static void dti_record_rpm(dti_t *mc, can_msg_t msg)
 	osMutexAcquire(*mc->mutex, osWaitForever);
 	mc->rpm = rpm;
 	osMutexRelease(*mc->mutex);
+	set_mph(dti_get_mph(mc));
 }
 
 void vDTIRouter(void *pv_params)

Core/Src/freertos.c

@@ -24,7 +24,7 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-
+#include <stdio.h>
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -52,8 +52,40 @@
 
 /* USER CODE END FunctionPrototypes */
 
+/* Hook prototypes */
+void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName);
+void vApplicationMallocFailedHook(void);
+
+/* USER CODE BEGIN 4 */
+void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName)
+{
+	/* Run time stack overflow checking is performed if
+   configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
+   called if a stack overflow is detected. */
+	printf("ERROR: STACK OVERFLOW in ");
+	printf((char *)pcTaskName);
+	printf("\r\n");
+}
+/* USER CODE END 4 */
+
+/* USER CODE BEGIN 5 */
+void vApplicationMallocFailedHook(void)
+{
+	/* vApplicationMallocFailedHook() will only be called if
+   configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
+   function that will get called if a call to pvPortMalloc() fails.
+   pvPortMalloc() is called internally by the kernel whenever a task, queue,
+   timer or semaphore is created. It is also called by various parts of the
+   demo application. If heap_1.c or heap_2.c are used, then the size of the
+   heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
+   FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
+   to query the size of free heap space that remains (although it does not
+   provide information on how the remaining heap might be fragmented). */
+	printf("ERROR: MALLOC FAILED\r\n");
+}
+/* USER CODE END 5 */
+
 /* Private application code --------------------------------------------------*/
 /* USER CODE BEGIN Application */
 
 /* USER CODE END Application */
-

Core/Src/main.c

@@ -34,7 +34,6 @@
 #include "serial_monitor.h"
 #include "state_machine.h"
 #include "bms.h"
-#include "torque.h"
 #include "pdu.h"
 #include "nero.h"
 #include "mpu.h"
@@ -138,7 +137,6 @@ int _write(int file, char* ptr, int len) {
   */
 int main(void)
 {
-
   /* USER CODE BEGIN 1 */
   printf("BOOT\r\n");
   /* USER CODE END 1 */
@@ -253,11 +251,11 @@ int main(void)
   assert(nero_monitor_handle);
 
   /* Control Logic */
-  torque_calc_handle = osThreadNew(vCalcTorque, mc, &torque_calc_attributes);
-  assert(torque_calc_handle);
+  process_pedals_thread = osThreadNew(vProcessPedals, mc, &torque_calc_attributes);
+  assert(process_pedals_thread);
   fault_handle = osThreadNew(vFaultHandler, NULL, &fault_handle_attributes);
   assert(fault_handle);
-  sm_director_handle = osThreadNew(vStateMachineDirector, pdu, &sm_director_attributes);
+  sm_director_handle = osThreadNew(vStateMachineDirector, mc, &sm_director_attributes);
   assert(sm_director_handle);
   brakelight_control_thread = osThreadNew(vBrakelightControl, pdu, &brakelight_monitor_attributes);;
   assert(brakelight_control_thread);
@@ -272,7 +270,6 @@ int main(void)
   osKernelStart();
 
   /* We should never get here as control is now taken by the scheduler */
-
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
   while (1)

Core/Src/monitor.c

@@ -204,6 +204,7 @@ void vPedalsMonitor(void *pv_params)
 		/* Publish to Onboard Pedals Queue */
 		osStatus_t check = osMessageQueuePut(pedal_data_queue,
 						     &sensor_data, 0U, 0U);
+		osThreadFlagsSet(process_pedals_thread, PEDAL_DATA_FLAG);
 
 		if (check != 0) {
 			fault_data.diag = "Failed to push pedal data to queue";

Core/Src/nero.c

@@ -28,6 +28,7 @@ static 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;
@@ -40,8 +41,8 @@ const osThreadAttr_t nero_monitor_attributes = {
 void vNeroMonitor(void *pv_params)
 {
 	for (;;) {
+		osThreadFlagsWait(NERO_UPDATE_FLAG, osFlagsWaitAny,
+				  osWaitForever);
 		send_mode_status();
-
-		osDelay(NERO_DELAY_TIME);
 	}
 }