Rtos develop (#22)

* big branch of dumb shit

* changed ioc and makefile and fixed dumb stuff

* shame

* minor change

* Created can.c, added receive_msg function, initialed CAN

* idk what changes i made

* Added functionality to receiving CAN IDs (#21)

---------

Co-authored-by: Scott A <[email protected]>
Co-authored-by: caiodasilva2005 <[email protected]>
Co-authored-by: caiodasilva2005 <[email protected]>

.gitignore

@@ -74,4 +74,7 @@ ctrlp.root
 *.html
 
 #DS_Store
-.DS_Store
+.DS_Store
+
+#misc
+scott.txt

Charger-FW.ioc

@@ -2,40 +2,47 @@
 CAD.formats=
 CAD.pinconfig=
 CAD.provider=
+FDCAN1.CalculateBaudRateNominal=200000
+FDCAN1.CalculateTimeBitNominal=5000
+FDCAN1.CalculateTimeQuantumNominal=1000.0
+FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal
 FREERTOS.IPParameters=Tasks01
 FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
 File.Version=6
 GPIO.groupedBy=
 KeepUserPlacement=false
 Mcu.CPN=STM32G431C8T6
 Mcu.Family=STM32G4
-Mcu.IP0=FREERTOS
-Mcu.IP1=I2C2
-Mcu.IP2=NVIC
-Mcu.IP3=RCC
-Mcu.IP4=SYS
-Mcu.IP5=USART2
-Mcu.IPNb=6
+Mcu.IP0=FDCAN1
+Mcu.IP1=FREERTOS
+Mcu.IP2=I2C2
+Mcu.IP3=NVIC
+Mcu.IP4=RCC
+Mcu.IP5=SYS
+Mcu.IP6=USART2
+Mcu.IPNb=7
 Mcu.Name=STM32G431C(6-8-B)Tx
 Mcu.Package=LQFP48
 Mcu.Pin0=PA2
 Mcu.Pin1=PA3
-Mcu.Pin10=PB4
-Mcu.Pin11=PB5
-Mcu.Pin12=PB6
-Mcu.Pin13=PB7
-Mcu.Pin14=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin15=VP_SYS_VS_Systick
-Mcu.Pin16=VP_SYS_VS_DBSignals
+Mcu.Pin10=PA14
+Mcu.Pin11=PB3
+Mcu.Pin12=PB4
+Mcu.Pin13=PB5
+Mcu.Pin14=PB6
+Mcu.Pin15=PB7
+Mcu.Pin16=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin17=VP_SYS_VS_Systick
+Mcu.Pin18=VP_SYS_VS_DBSignals
 Mcu.Pin2=PB0
 Mcu.Pin3=PB11
 Mcu.Pin4=PB12
 Mcu.Pin5=PA8
 Mcu.Pin6=PA9
-Mcu.Pin7=PA13
-Mcu.Pin8=PA14
-Mcu.Pin9=PB3
-Mcu.PinsNb=17
+Mcu.Pin7=PA11
+Mcu.Pin8=PA12
+Mcu.Pin9=PA13
+Mcu.PinsNb=19
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32G431C8Tx
@@ -55,6 +62,10 @@ NVIC.SavedSvcallIrqHandlerGenerated=true
 NVIC.SavedSystickIrqHandlerGenerated=true
 NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:true\:false\:true\:false
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+PA11.Mode=FDCAN_Activate
+PA11.Signal=FDCAN1_RX
+PA12.Mode=FDCAN_Activate
+PA12.Signal=FDCAN1_TX
 PA13.Locked=true
 PA13.Signal=SYS_JTMS-SWDIO
 PA14.Locked=true
@@ -167,3 +178,4 @@ VP_SYS_VS_DBSignals.Signal=SYS_VS_DBSignals
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
 board=custom
+rtos.0.ip=FREERTOS

Core/Inc/can.h

@@ -0,0 +1,5 @@
+#include <stdint.h>
+#include "stm32g4xx_hal.h"
+#include "fdcan.h"
+
+HAL_StatusTypeDef receive_msg(can_t *hcan);

Core/Inc/iroh_tasks.h

@@ -0,0 +1,12 @@
+#ifndef IROH_TASKS_H
+#define IROH_TASKS_H
+
+#include "cmsis_os.h"
+#include "seven_segment.h"
+#include "fdcan.h"
+
+void vSendBmsData(void* pv_params);
+extern osThreadId_t send_bms_data_handle;
+extern const osThreadAttr_t send_bms_data_attributes;
+
+#endif

Core/Inc/queues.h

@@ -0,0 +1,15 @@
+#ifndef QUEUES_H
+#define QUEUES_H
+
+#include "cmsis_os.h"
+
+#define BMS_DATA_QUEUE_SIZE 8
+
+typedef struct {
+	uint8_t SoC;
+	uint8_t current;
+} bms_data_t;
+
+extern osMessageQueueId_t bms_data_queue;
+
+#endif

Core/Inc/seven_segment.h

@@ -5,6 +5,10 @@
 
 #include "stm32g4xx_hal.h"
 #include "stm32g4xx_hal_i2c.h"
+#include "cmsis_os.h"
+#include "seven_segment.h"
+#include "fdcan.h"
+#include "queues.h"
 
 typedef struct {
 	uint16_t mem_address;	//internal memory address

Core/Inc/switch.h

@@ -10,6 +10,6 @@
 #define SWITCH_3_PIN GPIO_PIN_6
 #define SWITCH_4_PIN GPIO_PIN_7
 
-bool get_switch(GPIO_InitTypeDef, uint8_t);
+bool get_switch(GPIO_InitTypeDef *init, uint8_t pin);
 
 #endif

Core/Src/can.c

@@ -0,0 +1,43 @@
+#include "can.h"
+#include "queues.h"
+
+//Arbitrary CAN IDs
+#define CAN_ID 0x69
+
+bms_data_t bms_data;
+
+
+void init_iroh_can(FDCAN_HandleTypeDef *hcan) {
+    can_t fdcan;
+    fdcan.callback = receive_msg;
+    fdcan.id_list = 0;
+    fdcan.id_list_len = 0;
+    fdcan.hcan = hcan;
+
+    can_init(&fdcan);
+}    
+
+HAL_StatusTypeDef receive_msg(can_t *can) 
+{
+
+    FDCAN_RxHeaderTypeDef rx_header;
+    uint8_t rx_data[8]; //array of 8 bytes
+
+    if (HAL_FDCAN_GetRxFifoFillLevel(can->hcan, FDCAN_RX_FIFO0) > 0) { //Check if messages are available
+        if (HAL_FDCAN_GetRxMessage(can->hcan,FDCAN_RX_FIFO0,&rx_header,rx_data) == HAL_OK) {
+            uint32_t message_id = rx_header.Identifier;
+            if (message_id == CAN_ID) {
+                bms_data.SoC = (uint8_t) rx_data[0];
+                bms_data.current = (uint8_t) rx_data[1];
+                if (osStatus_t osMessageQueuePut(bms_data_queue *bms_data, 0, 2000) == osOK) //timeout is 2000 ms
+                    return HAL_OK;
+                else
+                    return HAL_ERROR
+			}
+        }
+		return HAL_ERROR;
+    } 
+	return HAL_BUSY;
+}
+
+

Core/Src/iroh_tasks.c

@@ -0,0 +1,27 @@
+/* All RTOS tasks are defined here */
+
+#include "iroh_tasks.h"
+#include "queues.h"
+#include "seven_segment.h"
+
+static I2C_HandleTypeDef* hi2c;
+
+osThreadId_t send_bms_data_handle;
+const osThreadAttr_t send_bms_data_attributes = {
+	.name = "SendBmsData",
+	.stack_size = 128 * 8,
+	.priority = (osPriority_t)osPriorityAboveNormal4
+};
+
+void vSendBmsData(void* pv_params) {
+
+	hi2c = (I2C_HandleTypeDef*)pv_params;
+	bms_data_t bms_data;
+
+	for (;;) {
+		if (osMessageQueueGet(bms_data_queue, &bms_data, NULL, 0U)) {
+			write_current(hi2c, bms_data.current);
+			write_charge(hi2c, bms_data.SoC);
+		}
+	}
+}