Add IFDEFs and extern all structs

Core/Inc/can_handler.h

@@ -17,13 +17,13 @@
 #include "can.h"
 #include "cmsis_os.h"
 
-void can1_callback(CAN_HandleTypeDef *hcan);
+//void can1_callback(CAN_HandleTypeDef *hcan);
 
 void vCanDispatch(void *pv_params);
 extern osThreadId_t can_dispatch_handle;
 extern const osThreadAttr_t can_dispatch_attributes;
 
 int8_t queue_can_msg(can_msg_t msg);
-void init_can1(CAN_HandleTypeDef *hcan);
+void can1_init();
 
 #endif

Core/Inc/monitor.h

@@ -3,27 +3,38 @@
 
 #include "cmsis_os.h"
 #include "stm32f4xx_hal.h"
+#include "msb_conf.h"
 
+#ifdef SENSOR_TEMP
 /* Defining Temperature Monitor Task */
 void vTempMonitor(void *pv_params);
 extern osThreadId_t temp_monitor_handle;
 extern const osThreadAttr_t temp_monitor_attributes;
+#endif
 
+#ifdef SENSOR_IMU
 /* Task for Monitoring the IMU */
 void vIMUMonitor(void *pv_params);
 extern osThreadId_t imu_monitor_handle;
 extern const osThreadAttr_t imu_monitor_attributes;
+#endif
 
+#ifdef SENSOR_TOF
 void vTOFMonitor(void *pv_params);
 extern osThreadId_t tof_monitor_handle;
 extern const osThreadAttr_t tof_monitor_attributes;
+#endif
 
+#ifdef SENSOR_SHOCKPOT
 void vShockpotMonitor(void *pv_params);
 extern osThreadId_t shockpot_monitor_handle;
 extern const osThreadAttr_t shockpot_monitor_attributes;
+#endif
 
+#ifdef SENSOR_STRAIN
 void vStrainMonitor(void *pv_params);
 extern osThreadId_t strain_monitor_handle;
 extern const osThreadAttr_t strain_monitor_attributes;
+#endif
 
 #endif

Core/Inc/msb.h

@@ -7,6 +7,7 @@
 #include "sht30.h"
 #include "stm32f405xx.h"
 #include "vl6180x_api.h"
+#include "msb_conf.h"
 
 typedef enum {
 	DEVICE_FRONT_LEFT,
@@ -15,40 +16,35 @@ typedef enum {
 	DEVICE_BACK_LEFT,
 } device_loc_t;
 
-typedef struct {
-	I2C_HandleTypeDef *hi2c;
-	sht30_t *temp_sensor;
-	lsm6dso_t *imu;
-	VL6180xDev_t tof;
-	ADC_HandleTypeDef *adc1;
-	uint32_t adc1_buf[3];
-	GPIO_TypeDef *debug_led1_gpio;
-	uint16_t *debug_led1_pin;
-	GPIO_TypeDef *debug_led2_gpio;
-	uint16_t *debug_led2_pin;
-	device_loc_t *device_loc;
-	osMutexId_t *i2c_mutex;
-} msb_t;
+int8_t msb_init();
 
-msb_t *init_msb(I2C_HandleTypeDef *hi2c, ADC_HandleTypeDef *adc1,
-		GPIO_TypeDef *debug_led1_gpio, uint16_t *debug_led1_pin,
-		GPIO_TypeDef *debug_led2_gpio, uint16_t *debug_led2_pin,
-		device_loc_t *device_loc);
+#ifdef SENSOR_TEMP
+int8_t central_temp_measure(uint16_t *temp, uint16_t *humidity);
+#endif
+
+#ifdef SENSOR_IMU
+int8_t accel_read(uint16_t accel[3]);
 
-int8_t measure_central_temp(msb_t *msb, uint16_t *temp, uint16_t *humidity);
+int8_t gyro_read(uint16_t gyro[3]);
+#endif
 
-int8_t read_accel(msb_t *msb, uint16_t accel[3]);
+#ifdef SENSOR_TOF
+int8_t distance_read(int32_t *range_mm);
+#endif
 
-int8_t read_gyro(msb_t *msb, uint16_t gyro[3]);
+int8_t debug1_write(bool status);
 
-int8_t read_distance(msb_t *msb, int32_t *range_mm);
+int8_t debug2_write(bool status);
 
-int8_t write_debug1(msb_t *msb, bool status);
+int8_t vcc5_en_write(bool status);
 
-int8_t write_debug2(msb_t *msb, bool status);
+#ifdef SENSOR_SHOCKPOT
+void shockpot_read(uint32_t shockpot_sense);
+#endif
 
-void read_shockpot(msb_t *msb, uint32_t shockpot_sense);
-void read_strain1(msb_t *msb, uint32_t strain1);
-void read_strain2(msb_t *msb, uint32_t strain2);
+#ifdef SENSOR_STRAIN
+void strain1_read(uint32_t strain1);
+void strain2_read(uint32_t strain2);
+#endif
 
 #endif

Core/Inc/msb_conf.h

@@ -1,16 +1,20 @@
 /// All commonly changed settings and constants that could effect multiple factors, esp. in telemetry
 
 // DELAYS
-#define DELAY_CAN_DISPATCH	  5
+
+// MONITOR
 #define DELAY_TEMP_SENSOR_REFRESH 500
 #define DELAY_IMU_REFRESH	  500
 #define DELAY_SHOCKPOT_REFRESH	  500
 #define DELAY_STRAIN_REFRESH	  500
 #define DELAY_TOF_REFRESH	  500
 #define DELAY_WHEEL_TEMP_REFRESH  500
 
+// CONTROLLER
 #define DELAY_DEBUG_LED_REFRESH 250
 
+#define DELAY_CAN_DISPATCH 5
+
 // CAN IDS
 #define CANID_TEMP_SENSOR  0x602
 #define CANID_IMU_ACCEL	   0x603
@@ -19,3 +23,18 @@
 #define CANID_SHOCK_SENSE  0x606
 #define CANID_TOF	   0x607
 #define CANID_WHEEL_TEMP   0x608
+
+// Sensors to use, comment out to disable
+
+//on central
+#define SENSOR_TEMP
+#define SENSOR_SHOCKPOT
+#define SENSOR_STRAIN
+#define SENSOR_TOF
+
+// on knuckle or wheel
+#define SENSOR_IMU
+//#define SENSOR_WHEEL_TEMP
+
+// VERBOSE LOGGING
+#define LOG_VERBOSE

Core/Src/can_handler.c

@@ -22,16 +22,16 @@
 #define CAN_MSG_QUEUE_SIZE 25 /* messages */
 static osMessageQueueId_t can_outbound_queue;
 
+extern CAN_HandleTypeDef hcan1;
+
 can_t *can1;
 
-void init_can1(CAN_HandleTypeDef *hcan)
+void can1_init()
 {
-	assert(hcan);
-
 	can1 = malloc(sizeof(can_t));
 	assert(can1);
 
-	can1->hcan = hcan;
+	can1->hcan = &hcan1;
 
 	assert(!can_init(can1));
 

Core/Src/controller.c

@@ -2,6 +2,8 @@
 #include "msb.h"
 #include "msb_conf.h"
 
+extern device_loc_t device_loc;
+
 osThreadId_t led_controller_handle;
 const osThreadAttr_t led_controller_attributes = {
 	.name = "LedController",
@@ -11,24 +13,22 @@ const osThreadAttr_t led_controller_attributes = {
 
 void vLedController(void *pv_params)
 {
-	msb_t *msb = (msb_t *)pv_params;
-
-	switch (*msb->device_loc) {
+	switch (device_loc) {
 	case DEVICE_FRONT_LEFT:
-		write_debug1(msb, true);
-		write_debug2(msb, true);
+		debug1_write(true);
+		debug2_write(true);
 		break;
 	case DEVICE_FRONT_RIGHT:
-		write_debug1(msb, true);
-		write_debug2(msb, false);
+		debug1_write(true);
+		debug2_write(false);
 		break;
 	case DEVICE_BACK_LEFT:
-		write_debug1(msb, false);
-		write_debug2(msb, true);
+		debug1_write(false);
+		debug2_write(true);
 		break;
 	case DEVICE_BACK_RIGHT:
-		write_debug1(msb, false);
-		write_debug2(msb, false);
+		debug1_write(false);
+		debug2_write(false);
 		break;
 	}