Feature/22a hw init (#8)

* inital code changes

Working: LEDs, temp sensor, IMU (need to verify numbers)
Not initing: TOF
Not tested but runs: ADCs

* add ner build env support

* fix prettier violations

* CAN is operational!

* can fixups

* changing msb for imu driver

* annoying blink on hard fault

* validated

* updated submodule

* format

---------

Co-authored-by: Caio <[email protected]>
Co-authored-by: Caio DaSilva <[email protected]>

.gitignore

@@ -7,6 +7,8 @@
 # Build files
 build/
 
+*.nix
+
 # Prerequisites
 *.d
 

Core/Inc/FreeRTOSConfig.h

@@ -59,7 +59,7 @@
 #define configENABLE_FPU                         0
 #define configENABLE_MPU                         0
 
-#define configUSE_PREEMPTION                     1
+#define configUSE_PREEMPTION                     0
 #define configSUPPORT_STATIC_ALLOCATION          1
 #define configSUPPORT_DYNAMIC_ALLOCATION         1
 #define configUSE_IDLE_HOOK                      0
@@ -74,7 +74,9 @@
 #define configUSE_16_BIT_TICKS                   0
 #define configUSE_MUTEXES                        1
 #define configQUEUE_REGISTRY_SIZE                8
+#define configCHECK_FOR_STACK_OVERFLOW           2
 #define configUSE_RECURSIVE_MUTEXES              1
+#define configUSE_MALLOC_FAILED_HOOK             1
 #define configUSE_COUNTING_SEMAPHORES            1
 #define configUSE_PORT_OPTIMISED_TASK_SELECTION  0
 /* USER CODE BEGIN MESSAGE_BUFFER_LENGTH_TYPE */

Core/Inc/msb.h

@@ -7,6 +7,7 @@
 #include "sht30.h"
 #include "stm32f405xx.h"
 #include "vl6180x_api.h"
+#include "vl6180x_platform.h"
 #include "msb_conf.h"
 
 typedef enum {

Core/Inc/msb_conf.h

@@ -13,7 +13,7 @@
 // CONTROLLER
 #define DELAY_DEBUG_LED_REFRESH 250
 
-#define DELAY_CAN_DISPATCH 5
+#define DELAY_CAN_DISPATCH 2
 
 // CAN IDS
 #define CANID_TEMP_SENSOR  0x602
@@ -26,14 +26,17 @@
 
 // Sensors to use, comment out to disable
 
+// internal
+#define CAN_ENABLE
+
 //on central
 #define SENSOR_TEMP
 #define SENSOR_SHOCKPOT
 #define SENSOR_STRAIN
-#define SENSOR_TOF
+//#define SENSOR_TOF
 
-// on knuckle or wheel
 #define SENSOR_IMU
+// on knuckle or /wheel
 //#define SENSOR_WHEEL_TEMP
 
 // VERBOSE LOGGING

Core/Inc/stm32f4xx_it.h

@@ -52,7 +52,6 @@ void MemManage_Handler(void);
 void BusFault_Handler(void);
 void UsageFault_Handler(void);
 void DebugMon_Handler(void);
-void CAN1_RX0_IRQHandler(void);
 void TIM5_IRQHandler(void);
 void DMA2_Stream0_IRQHandler(void);
 /* USER CODE BEGIN EFP */

Core/Src/can_handler.c

@@ -12,7 +12,6 @@
 #include "can_handler.h"
 #include "can.h"
 #include "msb_conf.h"
-#include "serial_monitor.h"
 
 #include "stdio.h"
 #include <assert.h>
@@ -28,12 +27,14 @@ can_t *can1;
 
 void can1_init()
 {
+#ifdef CAN_ENABLE
 	can1 = malloc(sizeof(can_t));
 	assert(can1);
 
 	can1->hcan = &hcan1;
 
 	assert(!can_init(can1));
+#endif
 
 	can_outbound_queue =
 		osMessageQueueNew(CAN_MSG_QUEUE_SIZE, sizeof(can_msg_t), NULL);
@@ -49,28 +50,29 @@ const osThreadAttr_t can_dispatch_attributes = {
 void vCanDispatch(void *pv_params)
 {
 	can_msg_t msg_from_queue;
+#ifdef CAN_ENABLE
 	HAL_StatusTypeDef msg_status;
+#endif
 
 	for (;;) {
 		/* Send CAN message */
 		if (osOK == osMessageQueueGet(can_outbound_queue,
 					      &msg_from_queue, NULL,
 					      osWaitForever)) {
+#ifdef CAN_ENABLE
 			msg_status = can_send_msg(can1, &msg_from_queue);
-			if (msg_status == HAL_ERROR) {
-				serial_print("Failed to send CAN message");
+			if (msg_status != HAL_OK) {
+				printf("Failed to send CAN message");
 			} else if (msg_status == HAL_BUSY) {
-				serial_print("Outbound mailbox full!");
+				printf("Outbound mailbox full!");
 			}
+#endif
 #ifdef LOG_VERBOSE
-			else {
-				printf("Message sent: %lX\r\n",
-				       msg_from_queue.id);
-			}
+			printf("Message sent att: %lX\r\n", msg_from_queue.id);
 #endif
 		}
 
-		osDelay(DELAY_CAN_DISPATCH);
+		//osDelay(DELAY_CAN_DISPATCH);
 	}
 }
 

Core/Src/controller.c

@@ -13,26 +13,49 @@ const osThreadAttr_t led_controller_attributes = {
 
 void vLedController(void *pv_params)
 {
-	switch (device_loc) {
-	case DEVICE_FRONT_LEFT:
-		debug1_write(true);
-		debug2_write(true);
-		break;
-	case DEVICE_FRONT_RIGHT:
-		debug1_write(true);
-		debug2_write(false);
-		break;
-	case DEVICE_BACK_LEFT:
-		debug1_write(false);
-		debug2_write(true);
-		break;
-	case DEVICE_BACK_RIGHT:
-		debug1_write(false);
-		debug2_write(false);
-		break;
-	}
-
+	uint8_t i = 0;
 	for (;;) {
+		if (i % 8 == 0) {
+			// occassionally oposing blink
+			switch (device_loc) {
+			case DEVICE_FRONT_LEFT:
+				debug1_write(false);
+				debug2_write(false);
+				break;
+			case DEVICE_FRONT_RIGHT:
+				debug1_write(false);
+				debug2_write(true);
+				break;
+			case DEVICE_BACK_LEFT:
+				debug1_write(true);
+				debug2_write(false);
+				break;
+			case DEVICE_BACK_RIGHT:
+				debug1_write(true);
+				debug2_write(true);
+				break;
+			}
+		} else {
+			switch (device_loc) {
+			case DEVICE_FRONT_LEFT:
+				debug1_write(true);
+				debug2_write(true);
+				break;
+			case DEVICE_FRONT_RIGHT:
+				debug1_write(true);
+				debug2_write(false);
+				break;
+			case DEVICE_BACK_LEFT:
+				debug1_write(false);
+				debug2_write(true);
+				break;
+			case DEVICE_BACK_RIGHT:
+				debug1_write(false);
+				debug2_write(false);
+				break;
+			}
+		}
+		i++;
 		osDelay(DELAY_DEBUG_LED_REFRESH);
 	}
 }

Core/Src/freertos.c

@@ -24,7 +24,7 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-
+#include <stdio.h>
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -52,6 +52,39 @@
 
 /* USER CODE END FunctionPrototypes */
 
+/* Hook prototypes */
+void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName);
+void vApplicationMallocFailedHook(void);
+
+/* USER CODE BEGIN 4 */
+void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName)
+{
+   /* Run time stack overflow checking is performed if
+   configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
+   called if a stack overflow is detected. */
+   printf("ERROR: STACK OVERFLOW in ");
+	printf((char *)pcTaskName);
+	printf("\r\n");
+}
+/* USER CODE END 4 */
+
+/* USER CODE BEGIN 5 */
+void vApplicationMallocFailedHook(void)
+{
+   /* vApplicationMallocFailedHook() will only be called if
+   configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
+   function that will get called if a call to pvPortMalloc() fails.
+   pvPortMalloc() is called internally by the kernel whenever a task, queue,
+   timer or semaphore is created. It is also called by various parts of the
+   demo application. If heap_1.c or heap_2.c are used, then the size of the
+   heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
+   FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
+   to query the size of free heap space that remains (although it does not
+   provide information on how the remaining heap might be fragmented). */
+   printf("ERROR: MALLOC FAILED\r\n");
+}
+/* USER CODE END 5 */
+
 /* Private application code --------------------------------------------------*/
 /* USER CODE BEGIN Application */
 

Core/Src/main.c

@@ -24,11 +24,11 @@
 /* USER CODE BEGIN Includes */
 #include "can_handler.h"
 #include "controller.h"
-#include "serial_monitor.h"
 #include "monitor.h"
 #include "msb.h"
 #include "msb_conf.h"
 #include "assert.h"
+#include <stdio.h>
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -150,6 +150,7 @@ int main(void)
   MX_SPI2_Init();
   MX_USART2_UART_Init();
   /* USER CODE BEGIN 2 */
+  printf("INIT MSB... FINDING ID");
   // determine MSB location
   bool loc1 = HAL_GPIO_ReadPin(Addr0_GPIO_Port, Addr0_Pin);
   bool loc2 = HAL_GPIO_ReadPin(Addr1_GPIO_Port, Addr1_Pin);
@@ -176,6 +177,7 @@ int main(void)
     device_loc = DEVICE_FRONT_LEFT;
   }
 
+
   /* USER CODE END 2 */
 
   /* Init scheduler */
@@ -203,8 +205,6 @@ int main(void)
   /* add queues, ... */
   can_dispatch_handle = osThreadNew(vCanDispatch, NULL, &can_dispatch_attributes);
   assert(can_dispatch_handle);
-  serial_monitor_handle = osThreadNew(vSerialMonitor, NULL, &serial_monitor_attributes);
-  assert(serial_monitor_handle);
   /* USER CODE END RTOS_QUEUES */
 
   /* Create the thread(s) */
@@ -224,17 +224,17 @@ int main(void)
   #endif
 
   #ifdef SENSOR_TOF
-  tof_monitor_handle = osThreadNew(vIMUMonitor, NULL, &tof_monitor_attributes);
+  tof_monitor_handle = osThreadNew(vTOFMonitor, NULL, &tof_monitor_attributes);
   assert(tof_monitor_handle);
   #endif
 
   #ifdef SENSOR_SHOCKPOT
-  shockpot_monitor_handle = osThreadNew(vIMUMonitor, NULL, &shockpot_monitor_attributes);
+  shockpot_monitor_handle = osThreadNew(vShockpotMonitor, NULL, &shockpot_monitor_attributes);
   assert(shockpot_monitor_handle);
   #endif
 
   #ifdef SENSOR_STRAIN
-  strain_monitor_handle = osThreadNew(vIMUMonitor, NULL, &strain_monitor_attributes);
+  strain_monitor_handle = osThreadNew(vStrainMonitor, NULL, &strain_monitor_attributes);
   assert(strain_monitor_handle);
   #endif
 
@@ -398,7 +398,7 @@ static void MX_CAN1_Init(void)
 
   /* USER CODE END CAN1_Init 1 */
   hcan1.Instance = CAN1;
-  hcan1.Init.Prescaler = 1;
+  hcan1.Init.Prescaler = 2;
   hcan1.Init.Mode = CAN_MODE_NORMAL;
   hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
   hcan1.Init.TimeSeg1 = CAN_BS1_13TQ;
@@ -414,7 +414,6 @@ static void MX_CAN1_Init(void)
     Error_Handler();
   }
   /* USER CODE BEGIN CAN1_Init 2 */
-  can1_init(&hcan1);
 
   /* USER CODE END CAN1_Init 2 */
 
@@ -620,11 +619,19 @@ static void MX_GPIO_Init(void)
 void StartDefaultTask(void *argument)
 {
   /* USER CODE BEGIN 5 */
+  uint8_t i = 0;
+  printf("Init MSB default task...\r\n");
   /* Infinite loop */
   for (;;)
   {
     /* Pet watchdog, will reset after 4ish seconds */
     HAL_IWDG_Refresh(&hiwdg);
+    if (i % 2 == 0) {
+          printf("MSB TYPE: %d\r\n", device_loc);
+    } else {
+        printf("..\r\n");
+    }
+    i++;
     osDelay(500);
   }
   /* USER CODE END 5 */
@@ -662,6 +669,7 @@ void Error_Handler(void)
   __disable_irq();
   while (1)
   {
+    printf("Error Hanlder HIT!\r\n");
   }
   /* USER CODE END Error_Handler_Debug */
 }
@@ -677,8 +685,8 @@ void Error_Handler(void)
 void assert_failed(uint8_t *file, uint32_t line)
 {
   /* USER CODE BEGIN 6 */
-  /* User can add his own implementation to report the file name and line number,
-     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
+  /* User can add his own implementation to report the file name and line number, */
+  printf("Param Assert failed: file %s on line %ld\r\n", file, line);
   /* USER CODE END 6 */
 }
 #endif /* USE_FULL_ASSERT */