190 expand heap and task stack sizes, fix tasks getting from queues, …

…make buttons more responsive, fix stack overflow and malloc fail, fix sending pedal data
Northeastern-Electric-Racing · Aug 7, 2024 · 9d5b002 · 9d5b002
1 parent 941ca77
commit 9d5b002
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Showing 9 changed files with 42 additions and 32 deletions.
diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h
@@ -69,7 +69,7 @@
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
 #define configMAX_PRIORITIES                     ( 56 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
-#define configTOTAL_HEAP_SIZE                    ((size_t)15360)
+#define configTOTAL_HEAP_SIZE                    ((size_t)20000)
 #define configMAX_TASK_NAME_LEN                  ( 16 )
 #define configUSE_TRACE_FACILITY                 1
 #define configUSE_16_BIT_TICKS                   0

diff --git a/Core/Inc/cerberus_conf.h b/Core/Inc/cerberus_conf.h
@@ -44,7 +44,7 @@
 // DEBUGGING: Start with a high debounce period, lower it if it is too slow
 // NOTE: SteeringIOMonitor updates every 25 ms. Previous value of 25 ms doesn't
 // give enough time to differentiate signal from noise.
-#define STEERING_WHEEL_DEBOUNCE 100 /* ms */
+#define STEERING_WHEEL_DEBOUNCE 70 /* ms */
 
 /* Pin Assignments */
 #define FAULT_MCU_Pin	    GPIO_PIN_3

diff --git a/Core/Src/can_handler.c b/Core/Src/can_handler.c
@@ -125,17 +125,17 @@ void vCanDispatch(void *pv_params)
 		osThreadFlagsWait(CAN_NEW_MSG_FLAG, osFlagsWaitAny,
 				  osWaitForever);
 		/* Send CAN message */
-		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";
-			queue_fault(&fault_data);
-		} else if (msg_status == HAL_BUSY) {
-			fault_data.diag = "Outbound mailbox full!";
-			queue_fault(&fault_data);
+		while (osMessageQueueGet(can_outbound_queue, &msg_from_queue,
+					 NULL, 0U) == osOK) {
+			msg_status = can_send_msg(can1, &msg_from_queue);
+
+			if (msg_status == HAL_ERROR) {
+				fault_data.diag = "Failed to send CAN message";
+				queue_fault(&fault_data);
+			} else if (msg_status == HAL_BUSY) {
+				fault_data.diag = "Outbound mailbox full!";
+				queue_fault(&fault_data);
+			}
 		}
 	}
 }
diff --git a/Core/Src/control.c b/Core/Src/control.c
@@ -16,7 +16,7 @@
 osThreadId brakelight_control_thread;
 const osThreadAttr_t brakelight_monitor_attributes = {
 	.name = "BrakelightMonitor",
-	.stack_size = 32 * 8,
+	.stack_size = 32 * 16,
 	.priority = (osPriority_t)osPriorityHigh,
 };
 

diff --git a/Core/Src/monitor.c b/Core/Src/monitor.c
@@ -28,6 +28,9 @@
 #define PEDAL_DIFF_THRESH 30
 #define PEDAL_FAULT_TIME  500 /* ms */
 
+/* 25 ms */
+#define WHEEL_BUTTON_SAMPLE_RATE 10 
+
 static bool brake_state = false;
 
 enum { ACCELPIN_2, ACCELPIN_1, BRAKEPIN_1, BRAKEPIN_2 };
@@ -105,10 +108,17 @@ void pedal_fault_cb(void *arg)
 	queue_fault(&fault_data);
 }
 
+/**
+ * @brief Function to send raw pedal data over CAN.
+ * 
+ * @param arg A pointer to an array of 4 unsigned 32 bit integers.
+ */
 void send_pedal_data(void *arg)
 {
-	// TODO: validate that this works
-	uint32_t *adc_data = (uint32_t *)arg;
+	static const uint8_t adc_data_size = 4;
+	uint32_t adc_data[adc_data_size];
+	/* Copy contents of adc_data to new location in memory because we endian swap them */
+	memcpy(adc_data, (uint32_t *)arg, adc_data_size * sizeof(adc_data[0]));
 
 	can_msg_t accel_pedals_msg = { .id = CANID_PEDALS_ACCEL_MSG,
 				       .len = 8,
@@ -142,7 +152,10 @@ void vPedalsMonitor(void *pv_params)
 	static pedals_t sensor_data;
 	uint32_t adc_data[4];
 	osTimerId_t send_pedal_data_timer =
-		osTimerNew(&send_pedal_data, osTimerOnce, adc_data, NULL);
+		osTimerNew(&send_pedal_data, osTimerPeriodic, adc_data, NULL);
+
+	/* Send CAN messages with raw pedal readings, we do not care if it fails*/
+	osTimerStart(send_pedal_data_timer, 100);
 
 	/* oc = Open Circuit */
 	osTimerId_t oc_fault_timer = osTimerNew(
@@ -211,10 +224,6 @@ void vPedalsMonitor(void *pv_params)
 			queue_fault(&fault_data);
 		}
 
-		/* Send CAN messages with raw pedal readings, we do not care if it fails*/
-		if (!osTimerIsRunning(send_pedal_data_timer))
-			osTimerStart(send_pedal_data_timer, 100);
-
 		osDelay(PEDALS_SAMPLE_DELAY);
 	}
 }
@@ -301,7 +310,7 @@ void vIMUMonitor(void *pv_params)
 osThreadId_t tsms_monitor_handle;
 const osThreadAttr_t tsms_monitor_attributes = {
 	.name = "TsmsMonitor",
-	.stack_size = 32 * 8,
+	.stack_size = 32 * 16,
 	.priority = (osPriority_t)osPriorityHigh,
 };
 
@@ -311,7 +320,7 @@ void vTsmsMonitor(void *pv_params)
 				    .severity = DEFCON5 };
 	pdu_t *pdu = (pdu_t *)pv_params;
 	bool tsms_status = false;
-	/* ms */
+	/* 100 ms */
 	static const uint8_t TSMS_SENSE_SAMPLE_RATE = 100;
 
 	for (;;) {
@@ -439,7 +448,7 @@ void vShutdownMonitor(void *pv_params)
 osThreadId steeringio_buttons_monitor_handle;
 const osThreadAttr_t steeringio_buttons_monitor_attributes = {
 	.name = "SteeringIOButtonsMonitor",
-	.stack_size = 400,
+	.stack_size = 800,
 	.priority = (osPriority_t)osPriorityNormal,
 };
 
@@ -475,7 +484,7 @@ void vSteeringIOButtonsMonitor(void *pv_params)
 			queue_fault(&fault_data);
 		}
 
-		osDelay(25);
+		osDelay(WHEEL_BUTTON_SAMPLE_RATE);
 	}
 }
 

diff --git a/Core/Src/nero.c b/Core/Src/nero.c
@@ -34,7 +34,7 @@ void set_mph(int8_t new_mph)
 osThreadId_t nero_monitor_handle;
 const osThreadAttr_t nero_monitor_attributes = {
 	.name = "NeroMonitor",
-	.stack_size = 32 * 8,
+	.stack_size = 32 * 32,
 	.priority = (osPriority_t)osPriorityNormal,
 };
 

diff --git a/Core/Src/serial_monitor.c b/Core/Src/serial_monitor.c
@@ -61,12 +61,12 @@ void vSerialMonitor(void *pv_params)
 		/* Get message to print */
 		status = osMessageQueueGet(printf_queue, &message, NULL,
 					   osWaitForever);
-
-		if (status != osOK) {
-			// TODO: Trigger fault ?
-		} else {
+		while (status == osOK) {
 			printf(message);
 			free(message);
+			status = osMessageQueueGet(printf_queue, &message, NULL,
+					   0U);
 		}
+
 	}
 }
diff --git a/Makefile b/Makefile
@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [4.2.0-B44] date: [Sun Aug 04 16:29:12 EDT 2024] 
+# File automatically-generated by tool: [projectgenerator] version: [4.2.0-B44] date: [Wed Aug 07 10:51:47 EDT 2024] 
 ##########################################################################################################################
 
 # ------------------------------------------------

diff --git a/cerberus.ioc b/cerberus.ioc
@@ -66,9 +66,10 @@ Dma.ADC3.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlign
 Dma.Request0=ADC3
 Dma.Request1=ADC1
 Dma.RequestsNb=2
-FREERTOS.IPParameters=Tasks01,configUSE_PREEMPTION,configUSE_MALLOC_FAILED_HOOK,configCHECK_FOR_STACK_OVERFLOW
+FREERTOS.IPParameters=Tasks01,configUSE_PREEMPTION,configUSE_MALLOC_FAILED_HOOK,configCHECK_FOR_STACK_OVERFLOW,configTOTAL_HEAP_SIZE
 FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
 FREERTOS.configCHECK_FOR_STACK_OVERFLOW=1
+FREERTOS.configTOTAL_HEAP_SIZE=20000
 FREERTOS.configUSE_MALLOC_FAILED_HOOK=1
 FREERTOS.configUSE_PREEMPTION=0
 File.Version=6