main.c File Reference

"Torque Vector" node source code More...

#include "main.h"
#include <stdint.h>
#include "can_library/generated/TORQUE_VECTOR.h"
#include "common/freertos/freertos.h"
#include "common/heartbeat/heartbeat.h"
#include "common/phal/can.h"
#include "common/phal/gpio.h"
#include "common/phal/rcc.h"
#include "common/phal/usart.h"
#include "common/ublox/nav_pvt.h"
#include "common/ublox/nav_relposned.h"
#include "common/utils/countof.h"
#include "common/watchdog/watchdog.h"
#include "control_loop.h"
#include "sensors.h"
#include "telemetry.h"

Functions
void	HardFault_Handler (void)
	DEFINE_CAN_TASKS ()
	DEFINE_TASK (control_loop, CONTROL_LOOP_PERIOD_MS, osPriorityNormal, STACK_4096)
	DEFINE_TASK (gps_periodic, GPS_THREAD_PERIOD_MS, osPriorityLow, STACK_1024)
	DEFINE_TASK (report_telemetry_100hz, TELEMETRY_100HZ_PERIOD_MS, osPriorityLow, STACK_512)
	DEFINE_TASK (report_telemetry_1hz, TELEMETRY_1HZ_PERIOD_MS, osPriorityLow, STACK_512)
	DEFINE_WATCHDOG_TASK ()
	DEFINE_HEARTBEAT_TASK (nullptr)
int	main (void)

Variables
GPIOInitConfig_t	gpio_config []
ClockRateConfig_t	clock_config
uint32_t	APB1ClockRateHz
uint32_t	APB2ClockRateHz
uint32_t	AHBClockRateHz
uint32_t	PLLClockRateHz
dma_init_t	rover_tx_dma_config = USART3_TXDMA_CONT_CONFIG(NULL, 2)
dma_init_t	rover_rx_dma_config = USART3_RXDMA_CONT_CONFIG(NULL, 1)
usart_init_t	usart3

Detailed Description

"Torque Vector" node source code

Author

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

Variable Documentation

clock_config

ClockRateConfig_t clock_config

Initial value:

= {
    .clock_source           = CLOCK_SOURCE_HSE,
    .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_PB13, 
    GPIO_INIT_FDCAN2RX_PB12,
 
    
    
    
    
 
    
    GPIO_INIT_USART3RX_PB11,
    GPIO_INIT_USART3TX_PB10,
    GPIO_INIT_OUTPUT(ROVER_RESET_PORT, ROVER_RESET_PIN, GPIO_OUTPUT_LOW_SPEED),
 
    
    GPIO_INIT_USART1TX_PA9,
    GPIO_INIT_USART1RX_PA10,
    GPIO_INIT_OUTPUT(BASE_RESET_PORT, BASE_RESET_PIN, GPIO_OUTPUT_LOW_SPEED),
}

usart3

usart_init_t usart3

Initial value:

= {
    .baud_rate        = GPS_BAUD_RATE,
    .word_length      = WORD_8,
    .stop_bits        = SB_ONE,
    .parity           = PT_NONE,
    .hw_flow_ctl      = HW_DISABLE,
    .ovsample         = OV_16,
    .obsample         = OB_DISABLE,
    .periph           = USART3,
    .wake_addr        = false,
    .usart_active_num = USART3_ACTIVE_IDX,
    .tx_dma_cfg       = &rover_tx_dma_config,
    .rx_dma_cfg       = &rover_rx_dma_config,
}