190 structs for task arguments

Northeastern-Electric-Racing · Aug 9, 2024 · f3f5415 · f3f5415
1 parent 435be9c
commit f3f5415
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Showing 4 changed files with 17 additions and 10 deletions.
diff --git a/Core/Inc/state_machine.h b/Core/Inc/state_machine.h
@@ -4,6 +4,8 @@
 #include "cmsis_os.h"
 #include "fault.h"
 #include "nero.h"
+#include "dti.h"
+#include "pdu.h"
 
 /*
  * This is a hierarchical state machine, with "drive modes"
@@ -45,6 +47,11 @@ typedef struct {
 extern osThreadId_t sm_director_handle;
 extern const osThreadAttr_t sm_director_attributes;
 
+typedef struct {
+	pdu_t *pdu;
+	dti_t *mc;
+} sm_director_args_t;
+
 void vStateMachineDirector(void *pv_params);
 
 /* Retrieves the current functional state */

diff --git a/Core/Src/main.c b/Core/Src/main.c
@@ -255,13 +255,11 @@ int main(void)
   fault_handle = osThreadNew(vFaultHandler, NULL, &fault_handle_attributes);
   assert(fault_handle);
 
-  uint32_t *state_machine_args = malloc(sizeof(uint32_t) * 2);
-
-  state_machine_args[0] = (uint32_t) pdu;
-  state_machine_args[1] = (uint32_t) mc;
-  sm_director_handle = osThreadNew(vStateMachineDirector, state_machine_args, &sm_director_attributes);
+  sm_director_args_t *sm_args = malloc(sizeof(sm_director_args_t));
+  sm_args->pdu = pdu;
+  sm_args->mc = mc;
+  sm_director_handle = osThreadNew(vStateMachineDirector, sm_args, &sm_director_attributes);
   assert(sm_director_handle);
-  free(state_machine_args);
   brakelight_control_thread = osThreadNew(vBrakelightControl, pdu, &brakelight_monitor_attributes);;
   assert(brakelight_control_thread);
   /* USER CODE END RTOS_THREADS */

diff --git a/Core/Src/monitor.c b/Core/Src/monitor.c
@@ -332,6 +332,7 @@ void vDataCollection(void *pv_params)
 	mpu_t *mpu = args->mpu;
 	pdu_t *pdu = args->pdu;
 	steeringio_t *wheel = args->wheel;
+	free(args);
 	static const uint8_t delay = 20;
 
 	tsms_reading_mutex = osMutexNew(NULL);

diff --git a/Core/Src/state_machine.c b/Core/Src/state_machine.c
@@ -2,16 +2,15 @@
 #include "can_handler.h"
 #include "fault.h"
 #include "nero.h"
-#include "pdu.h"
 #include "queues.h"
 #include "monitor.h"
 #include "serial_monitor.h"
 #include "nero.h"
 #include "queues.h"
 #include "processing.h"
-#include "dti.h"
 #include <stdbool.h>
 #include <stdio.h>
+#include <stdlib.h>
 
 #define STATE_TRANS_QUEUE_SIZE 4
 #define STATE_TRANSITION_FLAG  1U
@@ -259,8 +258,10 @@ void vStateMachineDirector(void *pv_params)
 
 	state_req_t new_state_req;
 
-	pdu_t *pdu = (pdu_t *)((uint32_t *)pv_params)[0];
-	dti_t *mc = (dti_t *)((uint32_t *)pv_params)[1];
+	sm_director_args_t *args = (sm_director_args_t *)pv_params;
+	pdu_t *pdu = args->pdu;
+	dti_t *mc = args->mc;
+	free(args);
 
 	for (;;) {
 		osThreadFlagsWait(STATE_TRANSITION_FLAG, osFlagsWaitAny,