main.c File Reference

"Driveline" node source code More...

#include "can_library/generated/DRIVELINE.h"
#include "common/rtos/rtos.h"
#include "common/heartbeat/heartbeat.h"
#include "common/phal_G4/adc/adc.h"
#include "common/phal_G4/fdcan/fdcan.h"
#include "common/phal_G4/gpio/gpio.h"
#include "common/phal_G4/rcc/rcc.h"
#include "common/phal_G4/pin_defs/g474ret6.h"
#include "common/utils/countof.h"
#include "common/watchdog/watchdog.h"
#include "config.h"
#include "oil_temps_table.h"
#include "pin_defs.h"

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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	shockpots_periodic ()
void	oil_temps_periodic ()
	DEFINE_CAN_TASKS ()
	RTOS_DEFINE_TASK (shockpots_periodic, FRONT_SHOCKPOTS_PERIOD_MS, TASK_PRIORITY_NORMAL, STACK_512)
	RTOS_DEFINE_TASK (oil_temps_periodic, FRONT_OIL_TEMPS_PERIOD_MS, TASK_PRIORITY_NORMAL, STACK_512)
	DEFINE_WATCHDOG_TASK ()
	DEFINE_HEARTBEAT_TASK (nullptr)
int	main (void)

Variables
PHAL_GPIO_InitConfig_t	gpio_config []
static const PHAL_ADC_ChannelConfig_t	adc1_channels []
static const PHAL_ADC_Config_t	adc1_config
volatile raw_adc1_values_t	raw_adc1_values
static PHAL_ADC_Handle_t	adc1_handle
static const PHAL_ADC_ChannelConfig_t	adc2_channels []
static const PHAL_ADC_Config_t	adc2_config
volatile raw_adc2_values_t	raw_adc2_values
static PHAL_ADC_Handle_t	adc2_handle
static const PHAL_ADC_ChannelConfig_t	adc3_channels []
static const PHAL_ADC_Config_t	adc3_config
volatile raw_adc3_values_t	raw_adc3_values
static PHAL_ADC_Handle_t	adc3_handle
static const PHAL_ADC_ChannelConfig_t	adc4_channels []
static const PHAL_ADC_Config_t	adc4_config
volatile raw_adc4_values_t	raw_adc4_values
static PHAL_ADC_Handle_t	adc4_handle
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)

Function Documentation

DEFINE_CAN_TASKS()

DEFINE_CAN_TASKS

(

)

DEFINE_HEARTBEAT_TASK()

DEFINE_HEARTBEAT_TASK

(

nullptr

)

DEFINE_WATCHDOG_TASK()

DEFINE_WATCHDOG_TASK

(

)

HardFault_Handler()

void HardFault_Handler ( void )

extern

main()

int main

(

void

)

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oil_temps_periodic()

void oil_temps_periodic

(

)

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RTOS_DEFINE_TASK() [1/2]

RTOS_DEFINE_TASK	(	oil_temps_periodic	,
		FRONT_OIL_TEMPS_PERIOD_MS	,
		TASK_PRIORITY_NORMAL	,
		STACK_512	)

RTOS_DEFINE_TASK() [2/2]

RTOS_DEFINE_TASK	(	shockpots_periodic	,
		FRONT_SHOCKPOTS_PERIOD_MS	,
		TASK_PRIORITY_NORMAL	,
		STACK_512	)

shockpots_periodic()

void shockpots_periodic

(

)

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Variable Documentation

adc1_channels

const PHAL_ADC_ChannelConfig_t adc1_channels[]

static

Initial value:

= {
    {.channel = OIL_TEMP_L_ADC_CH},
}

adc1_config

const PHAL_ADC_Config_t adc1_config

static

Initial value:

= {
    .instance      = ADC1,
    .channels      = adc1_channels,
    .channel_count = sizeof(adc1_channels) / sizeof(adc1_channels[0]),
}

adc1_handle

PHAL_ADC_Handle_t adc1_handle

static

adc2_channels

const PHAL_ADC_ChannelConfig_t adc2_channels[]

static

Initial value:

= {
    {.channel = OIL_TEMP_R_ADC_CH},
}

adc2_config

const PHAL_ADC_Config_t adc2_config

static

Initial value:

= {
    .instance      = ADC2,
    .channels      = adc2_channels,
    .channel_count = sizeof(adc2_channels) / sizeof(adc2_channels[0]),
}

adc2_handle

PHAL_ADC_Handle_t adc2_handle

static

adc3_channels

const PHAL_ADC_ChannelConfig_t adc3_channels[]

static

Initial value:

= {
    {.channel = SHOCKPOT_LEFT_ADC_CHNL},
}

adc3_config

const PHAL_ADC_Config_t adc3_config

static

Initial value:

= {
    .instance      = ADC3,
    .channels      = adc3_channels,
    .channel_count = sizeof(adc3_channels) / sizeof(adc3_channels[0]),
}

adc3_handle

PHAL_ADC_Handle_t adc3_handle

static

adc4_channels

const PHAL_ADC_ChannelConfig_t adc4_channels[]

static

Initial value:

= {
    {.channel = SHOCKPOT_RIGHT_ADC_CHNL},
}

adc4_config

const PHAL_ADC_Config_t adc4_config

static

Initial value:

= {
    .instance      = ADC4,
    .channels      = adc4_channels,
    .channel_count = sizeof(adc4_channels) / sizeof(adc4_channels[0]),
}

adc4_handle

PHAL_ADC_Handle_t adc4_handle

static

gpio_config

PHAL_GPIO_InitConfig_t gpio_config[]

Initial value:

= {
    
    PHAL_GPIO_INIT_OUTPUT(HEARTBEAT_LED_PORT, HEARTBEAT_LED_PIN, GPIO_OUTPUT_LOW_SPEED),
    PHAL_GPIO_INIT_OUTPUT(ERROR_LED_PORT, ERROR_LED_PIN, GPIO_OUTPUT_LOW_SPEED),
    PHAL_GPIO_INIT_OUTPUT(CONNECTION_LED_PORT, CONNECTION_LED_PIN, GPIO_OUTPUT_LOW_SPEED),
 
    
    PHAL_PIN_DEFS_FDCAN2_RX_PB5,
    PHAL_PIN_DEFS_FDCAN2_TX_PB6,
 
    
    PHAL_GPIO_INIT_ANALOG(SHOCKPOT_LEFT_GPIO_PORT , SHOCKPOT_LEFT_GPIO_PIN),
    PHAL_GPIO_INIT_ANALOG(SHOCKPOT_RIGHT_GPIO_PORT, SHOCKPOT_RIGHT_GPIO_PIN),
 
    
    PHAL_GPIO_INIT_ANALOG(OIL_TEMP_L_GPIO_Port, OIL_TEMP_L_Pin),
    PHAL_GPIO_INIT_ANALOG(OIL_TEMP_R_GPIO_Port, OIL_TEMP_R_Pin),
 
}

left_celsius_scaled

int16_t left_celsius_scaled = 0

left_length_scaled

uint16_t left_length_scaled = 0

raw_adc1_values

volatile raw_adc1_values_t raw_adc1_values

raw_adc2_values

volatile raw_adc2_values_t raw_adc2_values

raw_adc3_values

volatile raw_adc3_values_t raw_adc3_values

raw_adc4_values

volatile raw_adc4_values_t raw_adc4_values

right_celsius_scaled

int16_t right_celsius_scaled = 0

right_length_scaled

uint16_t right_length_scaled = 0