changing display modes, can interrupt, updated submod, codegen for CA…

…N RX it, switch monitor task
Northeastern-Electric-Racing · Apr 13, 2024 · 23fbda8 · 23fbda8
1 parent 194c080
commit 23fbda8
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Showing 10 changed files with 72 additions and 29 deletions.
diff --git a/Charger-FW.ioc b/Charger-FW.ioc
@@ -50,6 +50,7 @@ MxCube.Version=6.10.0
 MxDb.Version=DB.6.0.100
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.FDCAN1_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@@ -129,7 +130,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_I2C2_Init-I2C2-false-HAL-true,4-MX_USART2_UART_Init-USART2-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_I2C2_Init-I2C2-false-HAL-true,4-MX_USART2_UART_Init-USART2-false-HAL-true,5-MX_FDCAN1_Init-FDCAN1-false-HAL-true
 RCC.AHBFreq_Value=16000000
 RCC.APB1Freq_Value=16000000
 RCC.APB1TimFreq_Value=16000000

diff --git a/Core/Inc/iroh_tasks.h b/Core/Inc/iroh_tasks.h
@@ -9,8 +9,13 @@ void vDisplayBmsData(void* pv_params);
 extern osThreadId_t send_bms_data_handle;
 extern const osThreadAttr_t send_bms_data_attributes;
 
+void vButtonMonitor(void* pv_params);
+extern osThreadId_t button_monitor_handle;
+extern const osThreadAttr_t button_monitor_attributes;
+
+/* 
 void vSendChargerState(void* pv_params);
 extern osThreadId_t send_charger_state_handle;
-extern const osThreadAttr_t send_charger_state_attributes;
+extern const osThreadAttr_t send_charger_state_attributes; */
 
 #endif
diff --git a/Core/Inc/stm32g4xx_it.h b/Core/Inc/stm32g4xx_it.h
@@ -53,6 +53,7 @@ void BusFault_Handler(void);
 void UsageFault_Handler(void);
 void DebugMon_Handler(void);
 void SysTick_Handler(void);
+void FDCAN1_IT0_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */

diff --git a/Core/Src/can.c b/Core/Src/can.c
@@ -9,14 +9,6 @@
 void receive_msg(FDCAN_HandleTypeDef *hfdcan) 
 {
     iroh_error_t e;
-
-    if (HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO0) != HAL_OK) {
-        e.code = 1;
-        strcpy(e.msg, "No msg Recieved");
-        osMessageQueuePut(error_queue, &e, 0, 2000);
-        return;
-    } 
-
     FDCAN_RxHeaderTypeDef rx_header;
     bms_data_t bms_data;
 

diff --git a/Core/Src/iroh_tasks.c b/Core/Src/iroh_tasks.c
@@ -3,6 +3,7 @@
 #include "iroh_tasks.h"
 #include "queues.h"
 #include "seven_segment.h"
+#include "switch.h"
 
 static I2C_HandleTypeDef *hi2c;
 
@@ -11,6 +12,10 @@ typedef enum
     CURRENT_AND_SOC,
     VOLTAGE,
 } display_state_t;
+int display_state_count = 2;
+display_state_t states[] = {CURRENT_AND_SOC, VOLTAGE};
+int state_idx = 0;
+
 
 osThreadId_t send_bms_data_handle;
 const osThreadAttr_t send_bms_data_attributes = {
@@ -23,28 +28,48 @@ void vDisplayBmsData(void *pv_params)
 
     hi2c = (I2C_HandleTypeDef *)pv_params;
     bms_data_t bms_data;
-    display_state_t state = CURRENT_AND_SOC;
 
     for (;;)
     {
-
-        // testing code
-        // write_current(hi2c, 2);
-        // write_charge(hi2c, 90);
-
         if (osMessageQueueGet(bms_data_queue, &bms_data, NULL, 0U) == osOK)
         {
-            if (state == CURRENT_AND_SOC)
+            if (states[state_idx] == CURRENT_AND_SOC)
             {
                 write_current_and_soc(hi2c, &bms_data);
-            } else if (state == VOLTAGE) {
+            }
+            else if (states[state_idx] == VOLTAGE)
+            {
                 write_voltage(hi2c, &bms_data);
             }
         }
     }
 }
 
-osThreadId_t send_charger_state_handle;
+osThreadId_t button_monitor_handle;
+const osThreadAttr_t button_monitor_attributes = {
+    .name = "DisplayBmsData",
+    .stack_size = 128 * 8,
+    .priority = (osPriority_t)osPriorityAboveNormal4};
+
+void vButtonMonitor(void *pv_params)
+{
+
+    GPIO_TypeDef* gpio = (GPIO_TypeDef*) pv_params;
+
+    for (;;)
+    {
+        if (get_switch(gpio, SWITCH_PIN_1) == 0) {
+            if (state_idx + 1 == display_state_count) {
+                state_idx = 0;
+            } else {
+                state_idx += 1;
+            }
+        }
+        vTaskDelay(50);
+    }
+}
+
+/* osThreadId_t send_charger_state_handle;
 const osThreadAttr_t send_charger_state_attributes = {
     .name = "SendChargerState",
     .stack_size = 128 * 8,
@@ -65,4 +90,4 @@ void vSendChargerState(void *pv_params)
     {
         can_send_msg(can, &penis_msg);
     }
-}
+} */
diff --git a/Core/Src/main.c b/Core/Src/main.c
@@ -49,8 +49,6 @@ I2C_HandleTypeDef hi2c2;
 
 UART_HandleTypeDef huart2;
 
-GPIO_InitTypeDef GPIO_InitStruct;
-
 /* Definitions for defaultTask */
 osThreadId_t defaultTaskHandle;
 const osThreadAttr_t defaultTask_attributes = {
@@ -112,7 +110,7 @@ int main(void)
   MX_USART2_UART_Init();
   MX_FDCAN1_Init();
   /* USER CODE BEGIN 2 */
-  can_t* iroh_can = init_iroh_can(&hfdcan1);
+  init_iroh_can(&hfdcan1);
   /* USER CODE END 2 */
 
   /* Init scheduler */
@@ -141,7 +139,7 @@ int main(void)
 
   /* USER CODE BEGIN RTOS_THREADS */
   send_bms_data_handle = osThreadNew(vDisplayBmsData, &hi2c2, &send_bms_data_attributes);
-  send_charger_state_handle = osThreadNew(vSendChargerState, &iroh_can, &send_charger_state_attributes);
+  button_monitor_handle = osThreadNew(vButtonMonitor, GPIOB, &button_monitor_attributes);
   /* USER CODE END RTOS_THREADS */
 
   /* USER CODE BEGIN RTOS_EVENTS */
@@ -349,6 +347,7 @@ static void MX_USART2_UART_Init(void)
   */
 static void MX_GPIO_Init(void)
 {
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
 /* USER CODE BEGIN MX_GPIO_Init_1 */
 /* USER CODE END MX_GPIO_Init_1 */
 

diff --git a/Core/Src/stm32g4xx_hal_msp.c b/Core/Src/stm32g4xx_hal_msp.c
@@ -123,6 +123,9 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* hfdcan)
     GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
+    /* FDCAN1 interrupt Init */
+    HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
   /* USER CODE BEGIN FDCAN1_MspInit 1 */
 
   /* USER CODE END FDCAN1_MspInit 1 */
@@ -152,6 +155,8 @@ void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* hfdcan)
     */
     HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
 
+    /* FDCAN1 interrupt DeInit */
+    HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn);
   /* USER CODE BEGIN FDCAN1_MspDeInit 1 */
 
   /* USER CODE END FDCAN1_MspDeInit 1 */

diff --git a/Core/Src/stm32g4xx_it.c b/Core/Src/stm32g4xx_it.c
@@ -22,6 +22,7 @@
 #include "stm32g4xx_it.h"
 #include "FreeRTOS.h"
 #include "task.h"
+#include "can.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 /* USER CODE END Includes */
@@ -57,7 +58,7 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
-
+extern FDCAN_HandleTypeDef hfdcan1;
 /* USER CODE BEGIN EV */
 
 /* USER CODE END EV */
@@ -182,6 +183,20 @@ void SysTick_Handler(void)
 /* please refer to the startup file (startup_stm32g4xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles FDCAN1 interrupt 0.
+  */
+void FDCAN1_IT0_IRQHandler(void)
+{
+  /* USER CODE BEGIN FDCAN1_IT0_IRQn 0 */
+  receive_msg(&hfdcan1);
+  /* USER CODE END FDCAN1_IT0_IRQn 0 */
+  HAL_FDCAN_IRQHandler(&hfdcan1);
+  /* USER CODE BEGIN FDCAN1_IT0_IRQn 1 */
+
+  /* USER CODE END FDCAN1_IT0_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
diff --git a/Drivers/Embedded-Base b/Drivers/Embedded-Base
diff --git a/Makefile b/Makefile
@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [4.2.0-B44] date: [Sat Feb 03 13:35:20 EST 2024] 
+# File automatically-generated by tool: [projectgenerator] version: [4.2.0-B44] date: [Sat Apr 13 19:34:13 EDT 2024] 
 ##########################################################################################################################
 
 # ------------------------------------------------
@@ -13,7 +13,7 @@
 ######################################
 # target
 ######################################
-TARGET = iroh
+TARGET = Charger-FW
 
 
 ######################################
@@ -75,7 +75,7 @@ Middlewares/Third_Party/FreeRTOS/Source/tasks.c \
 Middlewares/Third_Party/FreeRTOS/Source/timers.c \
 Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c \
 Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c \
-Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c  
+Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
 
 # ASM sources
 ASM_SOURCES =  \
+1 −1		dev/scripts/ody-connect.sh
+1 −1		platforms/stm32f405/include/can.h
+1 −1		platforms/stm32g431/include/fdcan.h