190 brakelight control task, add task notifications to CAN I/O and ro…

…uters

Core/Inc/bms.h

@@ -6,6 +6,7 @@
 
 #define BMS_DCL_MSG	   0x156 /*BMS MONITOR WATCHDOG*/
 #define BMS_CURR_LIMIT_MSG 0x176
+#define NEW_AMS_MSG_FLAG   1U
 
 typedef struct {
 	osTimerId bms_monitor_timer;

Core/Inc/control.h

@@ -0,0 +1,24 @@
+/**
+ * @file control.h
+ * @author Scott Abramson
+ * @brief Tasks for controlling the car.
+ * @version 0.1
+ * @date 2024-08-04
+ * 
+ * @copyright Copyright (c) 2024
+ * 
+ */
+
+#ifndef CONTROL_H
+#define CONTROL_H
+
+#define BRAKE_STATE_UPDATE_FLAG 0x00000001U
+
+/**
+ * @brief Task for controlling the brakelight.
+ */
+void vBrakelightControl(void *pv_params);
+extern osThreadId brakelight_control_thread;
+extern const osThreadAttr_t brakelight_monitor_attributes;
+
+#endif

Core/Inc/dti.h

@@ -35,6 +35,8 @@
 	0x496 /* Throttle signal, Brake signal, IO, Drive enable */
 #define DTI_QUEUE_SIZE 5
 
+#define NEW_DTI_MSG_FLAG 1U
+
 typedef struct {
 	int32_t rpm; /* SCALE: 1         UNITS: Rotations per Minute   */
 	int16_t duty_cycle; /* SCALE: 10        UNITS: Percentage             */

Core/Inc/monitor.h

@@ -51,8 +51,4 @@ void vSteeringIOButtonsMonitor(void *pv_params);
 extern osThreadId_t steeringio_buttons_monitor_handle;
 extern const osThreadAttr_t steeringio_buttons_monitor_attributes;
 
-void vBrakelightMonitor(void *pv_params);
-extern osThreadId brakelight_monitor_handle;
-extern const osThreadAttr_t brakelight_monitor_attributes;
-
 #endif // MONITOR_H

Core/Inc/processing.h

@@ -15,6 +15,13 @@
 #include "cmsis_os.h"
 #include "stdbool.h"
 
+#define TSMS_UPDATE_FLAG 0x00000001U
+
+/**
+ * @brief Get the debounced TSMS reading.
+ * 
+ * @return State of TSMS.
+ */
 bool get_tsms();
 
 /**
@@ -23,6 +30,5 @@ bool get_tsms();
 void vProcessTSMS(void *pv_params);
 extern osThreadId_t process_tsms_thread_id;
 extern const osThreadAttr_t process_tsms_attributes;
-#define TSMS_UPDATE_FLAG 0x00000001U
 
 #endif

Core/Inc/queues.h

@@ -10,8 +10,6 @@
 #define IMU_QUEUE_SIZE		8
 #define TSMS_QUEUE_SIZE		1
 
-extern osMessageQueueId_t brakelight_signal;
-
 typedef struct {
 	uint16_t accel_x;
 	uint16_t accel_y;

Core/Src/bms.c

@@ -53,11 +53,10 @@ void vAMSCANMonitor(void *pv_params)
 
 	osTimerStart(bms->bms_monitor_timer, BMS_CAN_MONITOR_DELAY);
 	for (;;) {
-		if (osOK == osMessageQueueGet(bms_monitor_queue,
-					      &msg_from_queue, NULL,
-					      osWaitForever)) {
-			osTimerStart(bms->bms_monitor_timer,
-				     BMS_CAN_MONITOR_DELAY);
-		}
+		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

@@ -24,6 +24,8 @@
 #include "dti.h"
 
 #define CAN_MSG_QUEUE_SIZE 50 /* messages */
+#define CAN_NEW_MSG_FLAG   1U
+
 static osMessageQueueId_t can_outbound_queue;
 
 can_t *can1;
@@ -82,16 +84,28 @@ void can1_callback(CAN_HandleTypeDef *hcan)
 		// 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;
 	}
 }
 
+int8_t queue_can_msg(can_msg_t msg)
+{
+	if (!can_outbound_queue)
+		return -1;
+
+	osMessageQueuePut(can_outbound_queue, &msg, 0U, 0U);
+	osThreadFlagsSet(can_dispatch_handle, CAN_NEW_MSG_FLAG);
+	return 0;
+}
+
 osThreadId_t can_dispatch_handle;
 const osThreadAttr_t can_dispatch_attributes = {
 	.name = "CanDispatch",
@@ -108,29 +122,20 @@ void vCanDispatch(void *pv_params)
 	HAL_StatusTypeDef msg_status;
 
 	for (;;) {
+		osThreadFlagsWait(CAN_NEW_MSG_FLAG, osFlagsWaitAny,
+				  osWaitForever);
 		/* Send CAN message */
-		if (osOK == 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);
-			}
-		}
+		osMessageQueueGet(can_outbound_queue, &msg_from_queue, NULL,
+				  osWaitForever);
 
-		osDelay(CAN_DISPATCH_DELAY);
-	}
-}
+		msg_status = can_send_msg(can1, &msg_from_queue);
 
-int8_t queue_can_msg(can_msg_t msg)
-{
-	if (!can_outbound_queue)
-		return -1;
-
-	osMessageQueuePut(can_outbound_queue, &msg, 0U, 0U);
-	return 0;
+		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);
+		}
+	}
 }

Core/Src/control.c

@@ -0,0 +1,32 @@
+/**
+ * @file control.c
+ * @author Scott Abramson
+ * @brief Tasks for controlling the car.
+ * @version 0.1
+ * @date 2024-08-04
+ * 
+ * @copyright Copyright (c) 2024
+ * 
+ */
+
+#include "pdu.h"
+#include "queues.h"
+#include "control.h"
+
+osThreadId brakelight_control_thread;
+const osThreadAttr_t brakelight_monitor_attributes = {
+	.name = "BrakelightMonitor",
+	.stack_size = 32 * 8,
+	.priority = (osPriority_t)osPriorityHigh,
+};
+
+void vBrakelightControl(void *pv_params)
+{
+	pdu_t *pdu = (pdu_t *)pv_params;
+
+	for (;;) {
+		osThreadFlagsWait(BRAKE_STATE_UPDATE_FLAG, osFlagsWaitAny,
+				  osWaitForever);
+		write_brakelight(pdu, get_brake_state());
+	}
+}

Core/Src/dti.c

@@ -295,7 +295,9 @@ void vDTIRouter(void *pv_params)
 	dti_t *mc = (dti_t *)pv_params;
 
 	for (;;) {
-		/* Wait until new CAN message comes into queue */
+		osThreadFlagsWait(NEW_DTI_MSG_FLAG, osFlagsWaitAny,
+				  osWaitForever);
+
 		status = osMessageQueueGet(dti_router_queue, &message, NULL,
 					   osWaitForever);
 		if (status == osOK) {

Core/Src/main.c

@@ -41,6 +41,7 @@
 #include "dti.h"
 #include "steeringio.h"
 #include "processing.h"
+#include "control.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -81,7 +82,6 @@ const osThreadAttr_t defaultTask_attributes = {
   .priority = (osPriority_t) osPriorityNormal,
 };
 /* USER CODE BEGIN PV */
-osMessageQueueId_t brakelight_signal;
 osMessageQueueId_t pedal_data_queue;
 osMessageQueueId_t imu_queue;
 osMessageQueueId_t dti_router_queue;
@@ -202,8 +202,6 @@ int main(void)
   /* USER CODE END RTOS_TIMERS */
 
   /* USER CODE BEGIN RTOS_QUEUES */
-  brakelight_signal = osMessageQueueNew(BRAKELIGHT_QUEUE_SIZE, sizeof(bool), NULL);
-  assert(brakelight_signal);
   imu_queue = osMessageQueueNew(IMU_QUEUE_SIZE, sizeof(imu_data_t), NULL);
   assert(imu_queue);
   pedal_data_queue = osMessageQueueNew(PEDAL_DATA_QUEUE_SIZE, sizeof(pedals_t), NULL);
@@ -261,8 +259,8 @@ int main(void)
   assert(fault_handle);
   sm_director_handle = osThreadNew(vStateMachineDirector, pdu, &sm_director_attributes);
   assert(sm_director_handle);
-  brakelight_monitor_handle = osThreadNew(vBrakelightMonitor, pdu, &brakelight_monitor_attributes);;
-  assert(brakelight_monitor_handle);
+  brakelight_control_thread = osThreadNew(vBrakelightControl, pdu, &brakelight_monitor_attributes);;
+  assert(brakelight_control_thread);
 
   /* USER CODE END RTOS_THREADS */
 

Core/Src/monitor.c

@@ -15,6 +15,7 @@
 #include "task.h"
 #include "timer.h"
 #include "processing.h"
+#include "control.h"
 #include <stdbool.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -210,8 +211,8 @@ void vPedalsMonitor(void *pv_params)
 		is_braking = ((adc_data[BRAKEPIN_1] + adc_data[BRAKEPIN_2]) /
 			      2) > PEDAL_BRAKE_THRESH;
 		brake_state = is_braking;
-
-		osMessageQueuePut(brakelight_signal, &is_braking, 0U, 0U);
+		osThreadFlagsSet(brakelight_control_thread,
+				 BRAKE_STATE_UPDATE_FLAG);
 
 		/* Low Pass Filter */
 		sensor_data.accelerator_value =
@@ -347,7 +348,8 @@ void vTsmsMonitor(void *pv_params)
 				    .severity = DEFCON5 };
 	pdu_t *pdu = (pdu_t *)pv_params;
 	bool tsms_status = false;
-	static const uint8_t TSMS_SENSE_DELAY = 100;
+	/* ms */
+	static const uint8_t TSMS_SENSE_SAMPLE_RATE = 100;
 
 	for (;;) {
 		/* If the TSMS reading throws an error, queue TSMS fault */
@@ -359,7 +361,7 @@ void vTsmsMonitor(void *pv_params)
 			osThreadFlagsSet(process_tsms_thread_id,
 					 TSMS_UPDATE_FLAG);
 		}
-		osDelay(TSMS_SENSE_DELAY);
+		osDelay(TSMS_SENSE_SAMPLE_RATE);
 	}
 }
 
@@ -411,11 +413,6 @@ void vFusingMonitor(void *pv_params)
 			queue_fault(&fault_data);
 		}
 
-		/* If the TSMS is off, the car should no longer be active. */
-		if (!get_tsms() && get_func_state() == ACTIVE) {
-			set_home_mode();
-		}
-
 		osDelay(FUSES_SAMPLE_DELAY);
 	}
 }
@@ -529,29 +526,6 @@ void vSteeringIOButtonsMonitor(void *pv_params)
 	}
 }
 
-osThreadId brakelight_monitor_handle;
-const osThreadAttr_t brakelight_monitor_attributes = {
-	.name = "BrakelightMonitor",
-	.stack_size = 32 * 8,
-	.priority = (osPriority_t)osPriorityHigh,
-};
-
-void vBrakelightMonitor(void *pv_params)
-{
-	pdu_t *pdu = (pdu_t *)pv_params;
-
-	bool state;
-	osStatus_t status;
-
-	for (;;) {
-		status = osMessageQueueGet(brakelight_signal, &state, NULL,
-					   osWaitForever);
-		if (!status) {
-			write_brakelight(pdu, state);
-		}
-	}
-}
-
 osThreadId_t temp_monitor_handle;
 const osThreadAttr_t temp_monitor_attributes = {
 	.name = "TempMonitor",

Core/Src/processing.c

@@ -35,7 +35,6 @@ void vProcessTSMS(void *pv_params)
 	nertimer_t tsms_debounce_timer = { .active = false };
 
 	for (;;) {
-		/* Wait until this flag is set by TSMS data collection task */
 		osThreadFlagsWait(TSMS_UPDATE_FLAG, osFlagsWaitAny,
 				  osWaitForever);
 
@@ -66,3 +65,4 @@ void vProcessTSMS(void *pv_params)
 		}
 	}
 }
+

Core/Src/serial_monitor.c

@@ -6,6 +6,7 @@
 
 #define PRINTF_QUEUE_SIZE 25 /* Strings */
 #define PRINTF_BUFFER_LEN 128 /* Characters */
+#define NEW_MESSAGE_FLAG  0x00000001U
 
 osMessageQueueId_t printf_queue;
 osThreadId_t serial_monitor_handle;
@@ -40,6 +41,8 @@ int serial_print(const char *format, ...)
 		return -3;
 	}
 
+	osThreadFlagsSet(serial_monitor_handle, NEW_MESSAGE_FLAG);
+
 	return 0;
 }
 
@@ -52,9 +55,13 @@ void vSerialMonitor(void *pv_params)
 		osMessageQueueNew(PRINTF_QUEUE_SIZE, sizeof(char *), NULL);
 
 	for (;;) {
-		/* Wait until new printf message comes into queue */
+		osThreadFlagsWait(NEW_MESSAGE_FLAG, osFlagsWaitAny,
+				  osWaitForever);
+
+		/* Get message to print */
 		status = osMessageQueueGet(printf_queue, &message, NULL,
 					   osWaitForever);
+
 		if (status != osOK) {
 			// TODO: Trigger fault ?
 		} else {

Makefile

@@ -59,6 +59,7 @@ Core/Src/pdu.c \
 Core/Src/mpu.c \
 Core/Src/steeringio.c \
 Core/Src/processing.c \
+Core/Src/control.c \
 Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c \
 Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c \
 Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c \