main.c File Reference

"Driveline" node source code More...

#include "can_library/generated/DRIVELINE.h"
#include "common/phal/can.h"
#include "common/phal/gpio.h"
#include "common/phal/rcc.h"
#include "common/phal/adc.h"
#include "common/phal/dma.h"
#include "common/freertos/freertos.h"
#include "common/heartbeat/heartbeat.h"
#include "common/utils/countof.h"
#include "common/watchdog/watchdog.h"
#include "config.h"
#include "pin_defs.h"
#include "oil_temps_table.h"

Classes
struct	raw_adc1_values_t
struct	raw_adc2_values_t
struct	raw_adc3_values_t
struct	raw_adc4_values_t

Functions
void	HardFault_Handler ()
void	shockpot_thread ()
void	oil_temps_thread ()
	DEFINE_CAN_TASKS ()
	DEFINE_TASK (shockpot_thread, FRONT_SHOCKPOTS_PERIOD_MS, osPriorityNormal, STACK_512)
	DEFINE_TASK (oil_temps_thread, FRONT_OIL_TEMPS_PERIOD_MS, osPriorityNormal, STACK_512)
	DEFINE_WATCHDOG_TASK ()
	DEFINE_HEARTBEAT_TASK (nullptr)
int	main (void)

Variables
GPIOInitConfig_t	gpio_config []
ClockRateConfig_t	clock_config
ADCInitConfig_t	adc1_config
ADCChannelConfig_t	adc1_channel_config []
volatile raw_adc1_values_t	raw_adc1_values
dma_init_t	adc1_dma_config = ADC1_DMA_CONT_CONFIG((uint32_t)&raw_adc1_values, sizeof(raw_adc1_values) / sizeof(uint16_t), 0b01)
ADCInitConfig_t	adc2_config
ADCChannelConfig_t	adc2_channel_config []
volatile raw_adc2_values_t	raw_adc2_values
dma_init_t	adc2_dma_config = ADC2_DMA_CONT_CONFIG((uint32_t)&raw_adc2_values, sizeof(raw_adc2_values) / sizeof(uint16_t), 0b01)
ADCInitConfig_t	adc3_config
ADCChannelConfig_t	adc3_channel_config []
volatile raw_adc3_values_t	raw_adc3_values
dma_init_t	adc3_dma_config = ADC3_DMA_CONT_CONFIG((uint32_t)&raw_adc3_values, sizeof(raw_adc3_values) / sizeof(uint16_t), 0b01)
ADCInitConfig_t	adc4_config
ADCChannelConfig_t	adc4_channel_config []
volatile raw_adc4_values_t	raw_adc4_values
dma_init_t	adc4_dma_config = ADC4_DMA_CONT_CONFIG((uint32_t)&raw_adc4_values, sizeof(raw_adc4_values) / sizeof(uint16_t), 0b01)
uint32_t	APB1ClockRateHz
uint32_t	APB2ClockRateHz
uint32_t	AHBClockRateHz
uint32_t	PLLClockRateHz
uint16_t	left_length_scaled = 0
uint16_t	right_length_scaled = 0
int16_t	left_celsius_scaled = 0
int16_t	right_celsius_scaled = 0

Detailed Description

"Driveline" node source code

Author

Irving Wang (irvin.nosp@m.gw@p.nosp@m.urdue.nosp@m..edu)

Anya Pokrovskaya (apokr.nosp@m.ovs@.nosp@m.purdu.nosp@m.e.ed.nosp@m.u)

Variable Documentation

adc1_channel_config

ADCChannelConfig_t adc1_channel_config[]

Initial value:

= {
 {.channel = OIL_TEMP_L_ADC_CH, .rank = 1, .sampling_time = ADC_CHN_SMP_CYCLES_480},
}

adc1_config

ADCInitConfig_t adc1_config

Initial value:

= {
    .prescaler      = ADC_CLK_PRESC_2,
    .resolution     = ADC_RES_12_BIT,
    .data_align     = ADC_DATA_ALIGN_RIGHT,
    .cont_conv_mode = true,
    .dma_mode       = ADC_DMA_CIRCULAR,
    .periph         = ADC1,
}

adc2_channel_config

ADCChannelConfig_t adc2_channel_config[]

Initial value:

= {
{.channel = OIL_TEMP_R_ADC_CH, .rank = 1, .sampling_time = ADC_CHN_SMP_CYCLES_480},
}

adc2_config

ADCInitConfig_t adc2_config

Initial value:

= {
    .prescaler      = ADC_CLK_PRESC_2,
    .resolution     = ADC_RES_12_BIT,
    .data_align     = ADC_DATA_ALIGN_RIGHT,
    .cont_conv_mode = true,
    .dma_mode       = ADC_DMA_CIRCULAR,
    .periph         = ADC2,
}

adc3_channel_config

ADCChannelConfig_t adc3_channel_config[]

Initial value:

= {
    {.channel = SHOCKPOT_LEFT_ADC_CHNL, .rank = 1, .sampling_time = ADC_CHN_SMP_CYCLES_480},
}

adc3_config

ADCInitConfig_t adc3_config

Initial value:

= {
    .prescaler      = ADC_CLK_PRESC_2,
    .resolution     = ADC_RES_12_BIT,
    .data_align     = ADC_DATA_ALIGN_RIGHT,
    .cont_conv_mode = true,
    .dma_mode       = ADC_DMA_CIRCULAR,
    .periph         = ADC3,
}

adc4_channel_config

ADCChannelConfig_t adc4_channel_config[]

Initial value:

= {
    {.channel = SHOCKPOT_RIGHT_ADC_CHNL, .rank = 1, .sampling_time = ADC_CHN_SMP_CYCLES_480},
}

adc4_config

ADCInitConfig_t adc4_config

Initial value:

= {
    .prescaler      = ADC_CLK_PRESC_2,
    .resolution     = ADC_RES_12_BIT,
    .data_align     = ADC_DATA_ALIGN_RIGHT,
    .cont_conv_mode = true,
    .dma_mode       = ADC_DMA_CIRCULAR,
    .periph         = ADC4,
}

clock_config

ClockRateConfig_t clock_config

Initial value:

= {
    .clock_source           = CLOCK_SOURCE_HSI, 
    .use_pll                = false,
    .system_clock_target_hz = TargetCoreClockrateHz,
    .ahb_clock_target_hz    = (TargetCoreClockrateHz / 1),
    .apb1_clock_target_hz   = (TargetCoreClockrateHz / (1)),
    .apb2_clock_target_hz   = (TargetCoreClockrateHz / (1)),
}

gpio_config

GPIOInitConfig_t gpio_config[]

Initial value:

= {
    
    GPIO_INIT_OUTPUT(HEARTBEAT_LED_PORT, HEARTBEAT_LED_PIN, GPIO_OUTPUT_LOW_SPEED),
    GPIO_INIT_OUTPUT(ERROR_LED_PORT, ERROR_LED_PIN, GPIO_OUTPUT_LOW_SPEED),
    GPIO_INIT_OUTPUT(CONNECTION_LED_PORT, CONNECTION_LED_PIN, GPIO_OUTPUT_LOW_SPEED),
 
    
    GPIO_INIT_FDCAN2TX_PB6,
    GPIO_INIT_FDCAN2RX_PB5,
 
    
    GPIO_INIT_ANALOG(SHOCKPOT_LEFT_GPIO_PORT , SHOCKPOT_LEFT_GPIO_PIN),
    GPIO_INIT_ANALOG(SHOCKPOT_RIGHT_GPIO_PORT, SHOCKPOT_RIGHT_GPIO_PIN),
 
    
    GPIO_INIT_ANALOG(OIL_TEMP_L_GPIO_Port, OIL_TEMP_L_Pin),
    GPIO_INIT_ANALOG(OIL_TEMP_R_GPIO_Port, OIL_TEMP_R_Pin),
 
}