190 CAN consolidation

Core/Inc/bms.h

@@ -10,20 +10,15 @@
 
 typedef struct {
 	osTimerId bms_monitor_timer;
-	uint16_t dcl;
-	uint16_t ccl;
 } bms_t;
 
 extern bms_t *bms;
 
 void bms_init();
 
 /**
- * @brief Task for handling CAN messages received from the AMS.
+ * @brief Callback for when a DCL message is received from the AMS.
  */
-void vAMSCANMonitor(void *pv_params);
-extern osThreadId_t bms_monitor_handle;
-extern const osThreadAttr_t bms_monitor_attributes;
-extern osMessageQueueId_t bms_monitor_queue;
+void handle_dcl_msg();
 
 #endif /*BMS_H*/

Core/Inc/can_handler.h

@@ -16,9 +16,19 @@
 
 #include "can.h"
 #include "cmsis_os.h"
+#include "dti.h"
 
 void can1_callback(CAN_HandleTypeDef *hcan);
 
+/**
+ * @brief Place a CAN message in a queue.
+ * 
+ * @param msg CAN message to be sent.
+ * @return int8_t Error code.
+ */
+int8_t queue_can_msg(can_msg_t msg);
+void init_can1(CAN_HandleTypeDef *hcan);
+
 /**
  * @brief Task for sending CAN messages.
  */
@@ -27,12 +37,12 @@ extern osThreadId_t can_dispatch_handle;
 extern const osThreadAttr_t can_dispatch_attributes;
 
 /**
- * @brief Place a CAN message in a queue.
+ * @brief Task for processing received can messages.
  * 
- * @param msg CAN message to be sent.
- * @return int8_t Error code.
+ * @param pv_params A can_receive_args_t*.
  */
-int8_t queue_can_msg(can_msg_t msg);
-void init_can1(CAN_HandleTypeDef *hcan);
+void vCanReceive(void *pv_params);
+extern osThreadId_t can_receive_thread;
+extern const osThreadAttr_t can_receive_attributes;
 
 #endif

Core/Inc/dti.h

@@ -54,16 +54,18 @@ typedef struct {
 // TODO: Expand GET interface
 int32_t dti_get_rpm(dti_t *dti);
 
+/**
+ * @brief Process DTI ERPM CAN message.
+ * 
+ * @param mc Pointer to struct representing motor controller.
+ * @param msg CAN message to process.
+ */
+void dti_record_rpm(dti_t *mc, can_msg_t msg);
+
 float dti_get_mph(dti_t *dti);
 
 uint16_t dti_get_input_voltage(dti_t *dti);
 
-/* Utilities for Decoding CAN message */
-extern osThreadId_t dti_router_handle;
-extern const osThreadAttr_t dti_router_attributes;
-extern osMessageQueueId_t dti_router_queue;
-void vDTIRouter(void *pv_params);
-
 dti_t *dti_init();
 
 /*

Core/Inc/state_machine.h

@@ -4,8 +4,8 @@
 #include "cmsis_os.h"
 #include "fault.h"
 #include "nero.h"
-#include "dti.h"
 #include "pdu.h"
+#include "dti.h"
 
 /*
  * This is a hierarchical state machine, with "drive modes"

Core/Src/bms.c

@@ -8,10 +8,6 @@
 #include <stdlib.h>
 #include "stdio.h"
 
-#define BMS_QUEUE_SIZE 5
-
-osMessageQueueId_t bms_monitor_queue;
-
 bms_t *bms;
 
 void bms_fault_callback();
@@ -41,22 +37,9 @@ void bms_init()
 	/*TO-DO: specify timer attributes*/
 	bms->bms_monitor_timer =
 		osTimerNew(&bms_fault_callback, osTimerOnce, NULL, NULL);
-
-	bms_monitor_queue =
-		osMessageQueueNew(BMS_QUEUE_SIZE, sizeof(can_msg_t), NULL);
-	assert(bms_monitor_queue);
 }
 
-void vAMSCANMonitor(void *pv_params)
+void handle_dcl_msg()
 {
-	can_msg_t msg_from_queue;
-
 	osTimerStart(bms->bms_monitor_timer, BMS_CAN_MONITOR_DELAY);
-	for (;;) {
-		osThreadFlagsWait(NEW_AMS_MSG_FLAG, osFlagsWaitAny,
-				  osWaitForever);
-		osMessageQueueGet(bms_monitor_queue, &msg_from_queue, NULL,
-				  osWaitForever);
-		osTimerStart(bms->bms_monitor_timer, BMS_CAN_MONITOR_DELAY);
-	}
-}
+}

Core/Src/can_handler.c

@@ -10,9 +10,7 @@
  */
 
 #include "can_handler.h"
-#include "can.h"
 #include "cerberus_conf.h"
-#include "dti.h"
 #include "fault.h"
 #include "steeringio.h"
 #include "serial_monitor.h"
@@ -21,12 +19,15 @@
 #include <stdlib.h>
 #include "stdio.h"
 #include <string.h>
-#include "dti.h"
 
 #define CAN_MSG_QUEUE_SIZE 50 /* messages */
-#define CAN_NEW_MSG_FLAG   1U
+
+#define CAN_DISPATCH_FLAG 1U
+
+#define NEW_CAN_MSG_FLAG 1U
 
 static osMessageQueueId_t can_outbound_queue;
+static osMessageQueueId_t can_inbound_queue;
 
 can_t *can1;
 
@@ -51,6 +52,8 @@ void init_can1(CAN_HandleTypeDef *hcan)
 
 	can_outbound_queue =
 		osMessageQueueNew(CAN_MSG_QUEUE_SIZE, sizeof(can_msg_t), NULL);
+	can_inbound_queue =
+		osMessageQueueNew(CAN_MSG_QUEUE_SIZE, sizeof(can_msg_t), NULL);
 }
 
 /* Callback to be called when we get a CAN message */
@@ -75,25 +78,8 @@ void can1_callback(CAN_HandleTypeDef *hcan)
 	new_msg.len = rx_header.DLC;
 	new_msg.id = rx_header.StdId;
 
-	// TODO: Switch to hash map
-	switch (new_msg.id) {
-	/* Messages Relevant to Motor Controller */
-	case DTI_CANID_ERPM:
-		// case DTI_CANID_CURRENTS:
-		// case DTI_CANID_TEMPS_FAULT:
-		// case DTI_CANID_ID_IQ:
-		// case DTI_CANID_SIGNALS:
-		osMessageQueuePut(dti_router_queue, &new_msg, 0U, 0U);
-		osThreadFlagsSet(dti_router_handle, NEW_DTI_MSG_FLAG);
-		break;
-	case BMS_DCL_MSG:
-		//printf("Recieved dcl");
-		osMessageQueuePut(bms_monitor_queue, &new_msg, 0U, 0U);
-		osThreadFlagsSet(bms_monitor_handle, NEW_AMS_MSG_FLAG);
-		break;
-	default:
-		break;
-	}
+	osMessageQueuePut(can_inbound_queue, &new_msg, 0U, 0U);
+	osThreadFlagsSet(can_receive_thread, NEW_CAN_MSG_FLAG);
 }
 
 int8_t queue_can_msg(can_msg_t msg)
@@ -102,7 +88,7 @@ int8_t queue_can_msg(can_msg_t msg)
 		return -1;
 
 	osMessageQueuePut(can_outbound_queue, &msg, 0U, 0U);
-	osThreadFlagsSet(can_dispatch_handle, CAN_NEW_MSG_FLAG);
+	osThreadFlagsSet(can_dispatch_handle, CAN_DISPATCH_FLAG);
 	return 0;
 }
 
@@ -122,7 +108,7 @@ void vCanDispatch(void *pv_params)
 	HAL_StatusTypeDef msg_status;
 
 	for (;;) {
-		osThreadFlagsWait(CAN_NEW_MSG_FLAG, osFlagsWaitAny,
+		osThreadFlagsWait(CAN_DISPATCH_FLAG, osFlagsWaitAny,
 				  osWaitForever);
 		/* Send CAN message */
 		while (osMessageQueueGet(can_outbound_queue, &msg_from_queue,
@@ -139,3 +125,40 @@ void vCanDispatch(void *pv_params)
 		}
 	}
 }
+
+osThreadId_t can_receive_thread;
+const osThreadAttr_t can_receive_attributes = {
+	.name = "CanProcessing",
+	.stack_size = 128 * 8,
+	.priority = (osPriority_t)osPriorityRealtime,
+};
+
+void vCanReceive(void *pv_params)
+{
+	dti_t *mc = (dti_t *)pv_params;
+
+	can_msg_t msg;
+
+	for (;;) {
+		osThreadFlagsWait(NEW_CAN_MSG_FLAG, osFlagsWaitAny,
+				  osWaitForever);
+		while (osOK ==
+		       osMessageQueueGet(can_inbound_queue, &msg, 0U, 0U)) {
+			switch (msg.id) {
+			/* Messages Relevant to Motor Controller */
+			case DTI_CANID_ERPM:
+				dti_record_rpm(mc, msg);
+				break;
+				// case DTI_CANID_CURRENTS:
+				// case DTI_CANID_TEMPS_FAULT:
+				// case DTI_CANID_ID_IQ:
+				// case DTI_CANID_SIGNALS:
+			case BMS_DCL_MSG:
+				handle_dcl_msg();
+				break;
+			default:
+				break;
+			}
+		}
+	}
+}

Core/Src/dti.c

@@ -266,15 +266,7 @@ float dti_get_mph(dti_t *mc)
 	       (TIRE_DIAMETER / 63360.0) * M_PI;
 }
 
-/* Inbound Task-specific Info */
-osThreadId_t dti_router_handle;
-const osThreadAttr_t dti_router_attributes = {
-	.name = "DTIRouter",
-	.stack_size = 64 * 8,
-	.priority = (osPriority_t)osPriorityHigh
-};
-
-static void dti_record_rpm(dti_t *mc, can_msg_t msg)
+void dti_record_rpm(dti_t *mc, can_msg_t msg)
 {
 	/* ERPM is first four bytes of can message in big endian format */
 	int32_t erpm = (msg.data[0] << 24) + (msg.data[1] << 16) +
@@ -287,37 +279,3 @@ static void dti_record_rpm(dti_t *mc, can_msg_t msg)
 	osMutexRelease(*mc->mutex);
 	set_mph(dti_get_mph(mc));
 }
-
-void vDTIRouter(void *pv_params)
-{
-	can_msg_t message;
-	osStatus_t status;
-	// fault_data_t fault_data = { .id = DTI_ROUTING_FAULT, .severity = DEFCON2 };
-
-	dti_t *mc = (dti_t *)pv_params;
-
-	for (;;) {
-		osThreadFlagsWait(NEW_DTI_MSG_FLAG, osFlagsWaitAny,
-				  osWaitForever);
-
-		status = osMessageQueueGet(dti_router_queue, &message, NULL,
-					   osWaitForever);
-		if (status == osOK) {
-			switch (message.id) {
-			case DTI_CANID_ERPM:
-				dti_record_rpm(mc, message);
-				break;
-			case DTI_CANID_CURRENTS:
-				break;
-			case DTI_CANID_TEMPS_FAULT:
-				break;
-			case DTI_CANID_ID_IQ:
-				break;
-			case DTI_CANID_SIGNALS:
-				break;
-			default:
-				break;
-			}
-		}
-	}
-}

Core/Src/main.c

@@ -238,12 +238,10 @@ int main(void)
   assert(process_tsms_thread_id);
 
   /* Messaging */
-  dti_router_handle = osThreadNew(vDTIRouter, mc, &dti_router_attributes);
-  assert(dti_router_handle);
   can_dispatch_handle = osThreadNew(vCanDispatch, NULL, &can_dispatch_attributes);
   assert(can_dispatch_handle);
-  bms_monitor_handle = osThreadNew(vAMSCANMonitor, NULL, &bms_monitor_attributes);
-  assert(bms_monitor_handle);
+  can_receive_thread = osThreadNew(vCanReceive, mc, &can_receive_attributes);
+  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);

Core/Src/state_machine.c

@@ -30,14 +30,6 @@ typedef struct {
 	} state;
 } state_req_t;
 
-/* State Transition Map */
-// static const bool valid_trans_to_from[MAX_FUNC_STATES][MAX_FUNC_STATES] = {
-// 	/*READY DRIVING FAULTED*/
-// 	{ true, true, true }, /* READY */
-// 	{ true, true, true }, /* PERFORMANCE */
-// 	{ true, false, true } /* FAULTED */
-// };
-
 osThreadId_t sm_director_handle;
 const osThreadAttr_t sm_director_attributes = {
 	.name = "State Machine Director",
@@ -67,11 +59,6 @@ nero_state_t get_nero_state()
 static int transition_functional_state(func_state_t new_state, pdu_t *pdu,
 				       dti_t *mc)
 {
-	// if (!valid_trans_to_from[cerberus_state.functional][new_state]) {
-	// 	printf("Invalid State transition");
-	// 	return -1;
-	// }
-
 	/* Catching state transitions */
 	switch (new_state) {
 	case READY:
@@ -120,7 +107,7 @@ static int transition_functional_state(func_state_t new_state, pdu_t *pdu,
 		osTimerStart(fault_timer, 5000);
 		HAL_IWDG_Refresh(&hiwdg);
 		cerberus_state.nero =
-			(nero_state_t){ .nero_index = OFF, .home_mode = true };
+			(nero_state_t){ .nero_index = OFF, .home_mode = false };
 		serial_print("FAULTED\r\n");
 		break;
 	default:
@@ -200,7 +187,7 @@ static int queue_state_transition(state_req_t new_state)
 int increment_nero_index()
 {
 	/* Wrap around if end of menu reached */
-	if (get_nero_state().nero_index + 1 == MAX_NERO_STATES) {
+	if (get_nero_state().nero_index + 1 >= MAX_NERO_STATES) {
 		return queue_state_transition((state_req_t){
 			.id = NERO,
 			.state.nero = (nero_state_t){