main.c File Reference

"Torque Vector" node source code More...

#include "main.h"
#include "can_library/generated/TORQUE_VECTOR.h"
#include "common/rtos/rtos.h"
#include "common/heartbeat/heartbeat.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/usart/usart.h"
#include "common/phal_G4/pin_defs/g474ret6.h"
#include "common/utils/countof.h"
#include "common/watchdog/watchdog.h"
#include "control_loop.h"
#include "sensors.h"
#include "telemetry.h"

Include dependency graph for main.c:

Functions
void	HardFault_Handler (void)
	DEFINE_CAN_TASKS ()
	RTOS_DEFINE_TASK (control_loop, CONTROL_LOOP_PERIOD_MS, TASK_PRIORITY_NORMAL, STACK_4096)
	RTOS_DEFINE_TASK (gps_periodic, GPS_THREAD_PERIOD_MS, TASK_PRIORITY_LOW, STACK_1024)
	RTOS_DEFINE_TASK (report_telemetry_25hz, TELEMETRY_25HZ_PERIOD_MS, TASK_PRIORITY_LOW, STACK_512)
	RTOS_DEFINE_TASK (report_telemetry_1hz, TELEMETRY_1HZ_PERIOD_MS, TASK_PRIORITY_LOW, STACK_512)
	DEFINE_WATCHDOG_TASK ()
	DEFINE_HEARTBEAT_TASK (nullptr)
int	main (void)

Variables
PHAL_GPIO_InitConfig_t	gpio_config []
static constexpr uint32_t	GPS_BAUD_RATE = 460'800
static constexpr PHAL_USART_Idx_t	GPS_USART = USART3_IDX

Detailed Description

"Torque Vector" node source code

Author

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

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

)

Here is the call graph for this function:

RTOS_DEFINE_TASK() [1/4]

RTOS_DEFINE_TASK	(	control_loop	,
		CONTROL_LOOP_PERIOD_MS	,
		TASK_PRIORITY_NORMAL	,
		STACK_4096	)

RTOS_DEFINE_TASK() [2/4]

RTOS_DEFINE_TASK	(	gps_periodic	,
		GPS_THREAD_PERIOD_MS	,
		TASK_PRIORITY_LOW	,
		STACK_1024	)

RTOS_DEFINE_TASK() [3/4]

RTOS_DEFINE_TASK	(	report_telemetry_1hz	,
		TELEMETRY_1HZ_PERIOD_MS	,
		TASK_PRIORITY_LOW	,
		STACK_512	)

RTOS_DEFINE_TASK() [4/4]

RTOS_DEFINE_TASK	(	report_telemetry_25hz	,
		TELEMETRY_25HZ_PERIOD_MS	,
		TASK_PRIORITY_LOW	,
		STACK_512	)

Variable Documentation

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_TX_PB13, 
    PHAL_PIN_DEFS_FDCAN2_RX_PB12,
 
    
    
    
    
 
    
    PHAL_PIN_DEFS_USART3_RX_PB11,
    PHAL_PIN_DEFS_USART3_TX_PB10,
    PHAL_GPIO_INIT_OUTPUT(ROVER_RESET_PORT, ROVER_RESET_PIN, GPIO_OUTPUT_LOW_SPEED),
 
    
    PHAL_PIN_DEFS_USART1_RX_PA10,
    PHAL_PIN_DEFS_USART1_TX_PA9,
    PHAL_GPIO_INIT_OUTPUT(BASE_RESET_PORT, BASE_RESET_PIN, GPIO_OUTPUT_LOW_SPEED),
}

GPS_BAUD_RATE

uint32_t GPS_BAUD_RATE = 460'800

staticconstexpr

GPS_USART

PHAL_USART_Idx_t GPS_USART = USART3_IDX

staticconstexpr