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Making warnings errors in Makefile
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@nwdepatie
nwdepatie committed Dec 30, 2023
1 parent 52b80e1 commit e77dc35
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Showing 7 changed files with 79 additions and 89 deletions.
6 changes: 3 additions & 3 deletions Core/Src/can_handler.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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 */
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -174,4 +173,5 @@ int8_t queue_can_msg(can_msg_t msg)
return -1;

osMessageQueuePut(can_outbound_queue, &msg, 0U, 0U);
return 0;
}
1 change: 1 addition & 0 deletions Core/Src/fault.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand Down
4 changes: 2 additions & 2 deletions Core/Src/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -741,8 +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 */
Expand Down
152 changes: 70 additions & 82 deletions Core/Src/monitor.c
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Original file line number Diff line number Diff line change
Expand Up @@ -24,39 +24,38 @@ const osThreadAttr_t temp_monitor_attributes = {
void vTempMonitor(void* pv_params)
{
const uint8_t num_samples = 10;
const uint16_t temp_sensor_sample_delay = TEMP_SENS_SAMPLE_DELAY;
const uint8_t can_msg_len = 4; /* bytes */
static onboard_temp_t sensor_data;
fault_data_t fault_data = { .id = ONBOARD_TEMP_FAULT, .severity = DEFCON4 };
can_msg_t temp_msg
= { .id = CANID_TEMP_SENSOR, .len = can_msg_len, .data = { 0 } };
= { .id = CANID_TEMP_SENSOR, .len = 4, .data = { 0 } };

mpu_t *mpu = (mpu_t *)pv_params;

for (;;) {
/* Take measurement */
//serial_print("Temp Sensor Task\r\n");
//if (sht30_get_temp_humid(&temp_sensor)) {
// fault_data.diag = "Failed to get temp";
// queue_fault(&fault_data);
//}
uint16_t temp, humidity;
if (read_temp_sensor(mpu, &temp, &humidity)) {
fault_data.diag = "Failed to get temp";
queue_fault(&fault_data);
}

/* Run values through LPF of sample size */
//sensor_data.temperature = (sensor_data.temperature + temp_sensor.temp) / num_samples;
//sensor_data.humidity = (sensor_data.humidity + temp_sensor.humidity) / num_samples;
sensor_data.temperature = (sensor_data.temperature + temp) / num_samples;
sensor_data.humidity = (sensor_data.humidity + humidity) / num_samples;

/* Publish to Onboard Temp Queue */
//osMessageQueuePut(onboard_temp_queue, &sensor_data, 0U, 0U);
osMessageQueuePut(onboard_temp_queue, &sensor_data, 0U, 0U);

/* Send CAN message */
//memcpy(temp_msg.data, &sensor_data, can_msg_len);
//if (queue_can_msg(temp_msg)) {
// fault_data.diag = "Failed to send CAN message";
// queue_fault(&fault_data);
//}
memcpy(temp_msg.data, &sensor_data, temp_msg.len);
if (queue_can_msg(temp_msg)) {
fault_data.diag = "Failed to send CAN message";
queue_fault(&fault_data);
}

/* Yield to other tasks */
osDelay(temp_sensor_sample_delay);
osDelay(TEMP_SENS_SAMPLE_DELAY);
}
}

Expand Down Expand Up @@ -91,21 +90,18 @@ const osThreadAttr_t pedals_monitor_attributes = {

void vPedalsMonitor(void* pv_params)
{
const uint8_t num_samples = 10;
//const uint8_t num_samples = 10;
enum { ACCELPIN_1, ACCELPIN_2, BRAKEPIN_1, BRAKEPIN_2 };
const uint16_t delay_time = PEDALS_SAMPLE_DELAY;
const uint16_t adc_sample_time = 2; /* ms */
const uint8_t can_msg_len = 4; /* bytes */

nertimer_t diff_timer;
nertimer_t sc_timer;
nertimer_t oc_timer;
//nertimer_t diff_timer;
//nertimer_t sc_timer;
//nertimer_t oc_timer;

static pedals_t sensor_data;
fault_data_t fault_data = { .id = ONBOARD_PEDAL_FAULT, .severity = DEFCON1 };

can_msg_t pedal_msg
= { .id = CANID_PEDAL_SENSOR, .len = can_msg_len, .data = { 0 } };
//can_msg_t pedal_msg
// = { .id = CANID_PEDAL_SENSOR, .len = 4, .data = { 0 } };

/* Handle ADC Data for two input accelerator value and two input brake value*/
mpu_t *mpu = (mpu_t *)pv_params;
Expand Down Expand Up @@ -167,7 +163,8 @@ void vPedalsMonitor(void* pv_params)
// fault_data.diag = "Failed to send CAN message";
// queue_fault(&fault_data);
//}
}
osDelay(PEDALS_SAMPLE_DELAY);
}
}

osThreadId_t imu_monitor_handle;
Expand All @@ -180,80 +177,71 @@ const osThreadAttr_t imu_monitor_attributes = {
void vIMUMonitor(void *pv_params)
{
const uint8_t num_samples = 10;
const uint16_t imu_sample_delay = IMU_SAMPLE_DELAY;
const uint8_t accel_msg_len = 6; /* bytes */
const uint8_t gyro_msg_len = 6; /* bytes */
static imu_data_t sensor_data;
fault_data_t fault_data = {
.id = IMU_FAULT,
.severity = DEFCON3
};
lsm6dso_t imu;
can_msg_t imu_accel_msg = {
.id = CANID_IMU,
.len = accel_msg_len,
.len = 6,
.data = {0}
};
can_msg_t imu_gyro_msg = {
.id = CANID_IMU,
.len = gyro_msg_len,
.len = 6,
.data = {0}
};

I2C_HandleTypeDef *hi2c1 = (I2C_HandleTypeDef *)pv_params;
imu.i2c_handle = hi2c1;

/* Initialize IMU */
//if (lsm6dso_init(&imu, hi2c1)) {
// fault_data.diag = "IMU Monitor Init Failed";
// queue_fault(&fault_data);
//}
mpu_t *mpu = (mpu_t *)pv_params;

for(;;) {
//serial_print("IMU Task\r\n");
/* Take measurement */
//if (lsm6dso_read_accel(&imu)) {
// fault_data.diag = "Failed to get IMU acceleration";
// queue_fault(&fault_data);
//}
uint16_t accel_data[3];
uint16_t gyro_data[3];
if (read_accel(mpu,accel_data)) {
fault_data.diag = "Failed to get IMU acceleration";
queue_fault(&fault_data);
}

//if (lsm6dso_read_gyro(&imu)) {
// fault_data.diag = "Failed to get IMU gyroscope";
// queue_fault(&fault_data);
//}
if (read_gyro(mpu, gyro_data)) {
fault_data.diag = "Failed to get IMU gyroscope";
queue_fault(&fault_data);
}

/* Run values through LPF of sample size */
//sensor_data.accel_x = (sensor_data.accel_x + imu.accel_data[0])
// / num_samples;
//sensor_data.accel_y = (sensor_data.accel_y + imu.accel_data[1])
// / num_samples;
//sensor_data.accel_z = (sensor_data.accel_z + imu.accel_data[2])
// / num_samples;
//sensor_data.gyro_x = (sensor_data.gyro_x + imu.gyro_data[0])
// / num_samples;
//sensor_data.gyro_y = (sensor_data.gyro_y + imu.gyro_data[1])
// / num_samples;
//sensor_data.gyro_z = (sensor_data.gyro_z + imu.gyro_data[2])
// / num_samples;
sensor_data.accel_x = (sensor_data.accel_x + accel_data[0])
/ num_samples;
sensor_data.accel_y = (sensor_data.accel_y + accel_data[1])
/ num_samples;
sensor_data.accel_z = (sensor_data.accel_z + accel_data[2])
/ num_samples;
sensor_data.gyro_x = (sensor_data.gyro_x + gyro_data[0])
/ num_samples;
sensor_data.gyro_y = (sensor_data.gyro_y + gyro_data[1])
/ num_samples;
sensor_data.gyro_z = (sensor_data.gyro_z + gyro_data[2])
/ num_samples;

/* Publish to IMU Queue */
//osMessageQueuePut(imu_queue, &sensor_data, 0U, 0U);
osMessageQueuePut(imu_queue, &sensor_data, 0U, 0U);

/* Send CAN message */
//memcpy(imu_accel_msg.data, &sensor_data, accel_msg_len);
//if (queue_can_msg(imu_accel_msg)) {
// fault_data.diag = "Failed to send CAN message";
// queue_fault(&fault_data);
//}
memcpy(imu_accel_msg.data, &sensor_data, imu_accel_msg.len);
if (queue_can_msg(imu_accel_msg)) {
fault_data.diag = "Failed to send CAN message";
queue_fault(&fault_data);
}

//memcpy(imu_gyro_msg.data, &sensor_data, gyro_msg_len);
//if (queue_can_msg(imu_gyro_msg)) {
// fault_data.diag = "Failed to send CAN message";
// queue_fault(&fault_data);
//}
memcpy(imu_gyro_msg.data, &sensor_data, imu_gyro_msg.len);
if (queue_can_msg(imu_gyro_msg)) {
fault_data.diag = "Failed to send CAN message";
queue_fault(&fault_data);
}

/* Yield to other tasks */
osDelay(imu_sample_delay);
osDelay(IMU_SAMPLE_DELAY);
}
}

Expand Down Expand Up @@ -305,16 +293,16 @@ const osThreadAttr_t shutdown_monitor_attributes = {

void vShutdownMonitor(void *pv_params)
{
fault_data_t fault_data = {
.id = SHUTDOWN_MONITOR_FAULT,
.severity = DEFCON2
};

can_msg_t shutdown_msg = {
.id = CANID_SHUTDOWN_LOOP,
.len = 8,
.data = { 0 }
};
//fault_data_t fault_data = {
// .id = SHUTDOWN_MONITOR_FAULT,
// .severity = DEFCON2
//};

//can_msg_t shutdown_msg = {
// .id = CANID_SHUTDOWN_LOOP,
// .len = 8,
// .data = { 0 }
//};

pdu_t *pdu = (pdu_t *)pv_params;

Expand Down
1 change: 1 addition & 0 deletions Core/Src/serial_monitor.c
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@
#include <stdarg.h>
#include <stdio.h>
#include <string.h>
#include <stdlib.h>

#define PRINTF_QUEUE_SIZE 16 /* Strings */
#define PRINTF_BUFFER_LEN 128 /* Characters */
Expand Down
2 changes: 1 addition & 1 deletion Core/Src/torque.c
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@ void vCalcTorque(void* pv_params) {
assert(delay_time < MAX_COMMAND_DELAY);

pedals_t pedal_data;
uint16_t torque;
uint16_t torque = 0;
osStatus_t stat;
dti_t mc;

Expand Down
2 changes: 1 addition & 1 deletion Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -166,7 +166,7 @@ C_INCLUDES = \
# compile gcc flags
ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections

CFLAGS += $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
CFLAGS += $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections -Werror

ifeq ($(DEBUG), 1)
CFLAGS += -g -gdwarf-2
Expand Down

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