Adding MPU Interface (#120)

* Adding Basic MPU Interface with LED and ADC functionality

* Adding temperature sensor reading to mpu interface

* Making warnings errors in Makefile

* Implementing IMU functionality in MPU

* Updating submodule

* Adding watchdog pet functionality

Core/Inc/cerberus_conf.h

@@ -33,10 +33,6 @@
 #define GPIO_4_GPIO_Port                    GPIOB
 #define WATCHDOG_Pin                        GPIO_PIN_15
 #define WATCHDOG_GPIO_Port                  GPIOB
-#define LED_1_Pin                           GPIO_PIN_8
-#define LED_1_GPIO_Port                     GPIOC
-#define LED_2_Pin                           GPIO_PIN_9
-#define LED_2_GPIO_Port                     GPIOC
 
 #define CANID_TEMP_SENSOR 0xBEEF
 #define CANID_PEDAL_SENSOR 0xDEAD

Core/Inc/monitor.h

@@ -14,13 +14,6 @@ void vWatchdogMonitor(void *pv_params);
 extern osThreadId_t watchdog_monitor_handle;
 extern const osThreadAttr_t watchdog_monitor_attributes;
 
-typedef struct
-{
-    ADC_HandleTypeDef *accel_adc1;
-    ADC_HandleTypeDef *accel_adc2;
-    ADC_HandleTypeDef *brake_adc;
-} pedal_params_t;
-
 /* Parameters for the pedal monitoring task */
 #define MAX_ADC_VAL_12B 4096
 #define PEDAL_DIFF_THRESH   10

Core/Inc/mpu.h

@@ -0,0 +1,48 @@
+#ifndef MPU_H
+#define MPU_H
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "stm32f405xx.h"
+#include "sht30.h"
+#include "lsm6dso.h"
+#include "cmsis_os.h"
+
+typedef struct {
+    I2C_HandleTypeDef *hi2c;
+    ADC_HandleTypeDef *accel_adc1;
+    ADC_HandleTypeDef *accel_adc2;
+    ADC_HandleTypeDef *brake_adc;
+    GPIO_TypeDef* led_gpio;
+    GPIO_TypeDef* watchdog_gpio;
+    sht30_t *temp_sensor;
+    lsm6dso_t *imu;
+    osMutexId_t *adc_mutex;
+    osMutexId_t *i2c_mutex;
+    /* Not including LED Mutexes because not necessary */
+} mpu_t;
+
+mpu_t *init_mpu(I2C_HandleTypeDef *hi2c, ADC_HandleTypeDef *accel_adc1, 
+                ADC_HandleTypeDef *accel_adc2, ADC_HandleTypeDef *brake_adc,
+                GPIO_TypeDef* led_gpio, GPIO_TypeDef* watchdog_gpio);
+
+int8_t write_rled(mpu_t *mpu, bool status);
+
+int8_t toggle_rled(mpu_t *mpu);
+
+int8_t write_yled(mpu_t *mpu, bool status);
+
+int8_t toggle_yled(mpu_t *mpu);
+
+int8_t pet_watchdog(mpu_t *mpu);
+
+/* Note: this should be called from within a thread since it yields to scheduler */
+int8_t read_adc(mpu_t *mpu, uint16_t raw[3]);
+
+int8_t read_temp_sensor(mpu_t *mpu, uint16_t *temp, uint16_t *humidity);
+
+int8_t read_accel(mpu_t *mpu, uint16_t accel[3]);
+
+int8_t read_gyro(mpu_t *mpu, uint16_t gyro[3]);
+
+#endif /* MPU */

Core/Src/can_handler.c

@@ -25,9 +25,9 @@ static osMessageQueueId_t can_inbound_queue;
 /* Relevant Info for Initializing CAN 1 */
 static can_t can1;
 
-static const uint16_t id_list[NUM_INBOUND_CAN_IDS] = {
+static uint16_t id_list[NUM_INBOUND_CAN_IDS] = {
 	//CANID_X,
-	NULL
+	0
 };
 
 /* Relevant Info for Cerberus CAN LUT */
@@ -137,7 +137,6 @@ const osThreadAttr_t can_dispatch_attributes = {
 
 void vCanDispatch(void* pv_params)
 {
-	const uint16_t can_dispatch_delay = 1; //ms
 	fault_data_t fault_data = {
 		.id = CAN_DISPATCH_FAULT,
 		.severity = DEFCON1
@@ -174,4 +173,5 @@ int8_t queue_can_msg(can_msg_t msg)
 		return -1;
 
 	osMessageQueuePut(can_outbound_queue, &msg, 0U, 0U);
+	return 0;
 }

Core/Src/fault.c

@@ -19,6 +19,7 @@ int queue_fault(fault_data_t *fault_data)
 		return -1;
 
     osMessageQueuePut(fault_handle_queue, fault_data, 0U, 0U);
+    return 0;
 }
 
 void vFaultHandler(void* pv_params) 

Core/Src/main.c

@@ -34,6 +34,7 @@
 #include "state_machine.h"
 #include "torque.h"
 #include "pdu.h"
+#include "mpu.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -161,13 +162,17 @@ int main(void)
   MX_ADC3_Init();
   /* USER CODE BEGIN 2 */
 
-  HAL_GPIO_TogglePin(GPIOC, LED_2_Pin); // Toggle on LED2
+  /* Create Interfaces to Represent Relevant Hardware */
+  mpu_t *mpu = init_mpu(&hi2c1, &hadc1, &hadc2, &hadc3, GPIOC, GPIOB);
+  pdu_t *pdu = init_pdu(&hi2c2);
+
+  toggle_yled(mpu); // Toggle on LED2
   HAL_Delay(500);
-  HAL_GPIO_TogglePin(GPIOC, LED_2_Pin); // Toggle on LED2
+  toggle_yled(mpu); // Toggle on LED2
   HAL_Delay(500);
-  HAL_GPIO_TogglePin(GPIOC, LED_2_Pin); // Toggle on LED2
+  toggle_yled(mpu); // Toggle on LED2
   HAL_Delay(500);
-  HAL_GPIO_TogglePin(GPIOC, LED_2_Pin); // Toggle on LED2
+  toggle_yled(mpu); // Toggle on LED2
 
   /* USER CODE END 2 */
 
@@ -189,15 +194,6 @@ int main(void)
   /* USER CODE BEGIN RTOS_QUEUES */
   onboard_temp_queue = osMessageQueueNew(ONBOARD_TEMP_QUEUE_SIZE, sizeof(onboard_temp_t), NULL);
   imu_queue = osMessageQueueNew(IMU_QUEUE_SIZE, sizeof(imu_data_t), NULL);
-
-  // A bit sloppy since I don't free this, but it will be allocated for lifetime
-  pedal_params_t *pedal_params = malloc(sizeof(pedal_params_t));
-  pedal_params->accel_adc1 = &hadc1;
-  pedal_params->accel_adc2 = &hadc2;
-  pedal_params->brake_adc = &hadc3;
-
-  pdu_t *pdu = init_pdu(&hi2c1);
-
   pedal_data_queue = osMessageQueueNew(PEDAL_DATA_QUEUE_SIZE, sizeof(pedals_t), NULL);
   /* USER CODE END RTOS_QUEUES */
 
@@ -207,10 +203,10 @@ int main(void)
 
   /* USER CODE BEGIN RTOS_THREADS */
   /* Monitors */
-  temp_monitor_handle = osThreadNew(vTempMonitor, &hi2c1, &temp_monitor_attributes);
+  temp_monitor_handle = osThreadNew(vTempMonitor, mpu, &temp_monitor_attributes);
   watchdog_monitor_handle = osThreadNew(vWatchdogMonitor, GPIOB, &watchdog_monitor_attributes);
-  imu_monitor_handle = osThreadNew(vIMUMonitor, &hi2c1, &imu_monitor_attributes);
-  pedals_monitor_handle = osThreadNew(vPedalsMonitor, pedal_params, &pedals_monitor_attributes);
+  imu_monitor_handle = osThreadNew(vIMUMonitor, mpu, &imu_monitor_attributes);
+  pedals_monitor_handle = osThreadNew(vPedalsMonitor, mpu, &pedals_monitor_attributes);
   fusing_monitor_handle = osThreadNew(vFusingMonitor, pdu, &fusing_monitor_attributes);
   shutdown_monitor_handle = osThreadNew(vShutdownMonitor, pdu, &shutdown_monitor_attributes);
 
@@ -745,8 +741,8 @@ void StartDefaultTask(void *argument)
 {
   /* USER CODE BEGIN 5 */
   int i = 0;
-  uint8_t data;
-  HAL_StatusTypeDef err;
+  //uint8_t data;
+  //HAL_StatusTypeDef err;
   /* Infinite loop */
   for(;;) {
     /* Testing getting data from I2C devices */
@@ -766,9 +762,9 @@ void StartDefaultTask(void *argument)
     //HAL_StatusTypeDef err = HAL_ADC_PollForConversion(&hadc1, HAL_MAX_DELAY);
     //if (!err)
     //  serial_print("%d\r\n", HAL_ADC_GetValue(&hadc1));
-      
+
     /* Toggle LED at certain frequency */
-    HAL_GPIO_TogglePin(GPIOC, LED_1_Pin); // Toggle on LED2
+    HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_8); // I am not using MPU interface because I'm lazy 
     i++;
 
     if (i % 2 == 1)