New can (#6)

* fix node destination * mplab changes * enable all the busses * generate code with mplab 6.00 and harmony * remove initialize tasks functions * reset pin * working main * new can config * prevent can init from crashing * initialize stack * new config * reset ld * change NAND timings * fix memory reset crash --------- Co-authored-by: ktsoupos <[email protected]> Co-authored-by: giatats <[email protected]>
PeakSat · Feb 7, 2024 · 6377998 · 6377998
1 parent a818ce8
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diff --git a/AutoGenerated.X/AutoGenerated.mc3 b/AutoGenerated.X/AutoGenerated.mc3
diff --git a/AutoGenerated.X/nbproject/Makefile-default.mk b/AutoGenerated.X/nbproject/Makefile-default.mk
diff --git a/AutoGenerated.X/nbproject/Makefile-genesis.properties b/AutoGenerated.X/nbproject/Makefile-genesis.properties
@@ -1,13 +1,13 @@
 #
-#Wed Mar 22 12:24:15 EET 2023
-default.languagetoolchain.version=10.3.1
+#Mon Jan 29 10:53:11 EET 2024
+default.languagetoolchain.version=12.2.0
 default.com-microchip-mplab-nbide-toolchain-arm-ARMLanguageToolchain.md5=ac2ecfade21354c0103b0a98d2af6ca6
 default.Pack.dfplocation=/opt/microchip/mplabx/v6.05/packs/Microchip/SAMV71_DFP/4.9.117
 conf.ids=default
 default.languagetoolchain.dir=/usr/bin
-host.id=1mvq-owvb-9t
+host.id=3go2-w8lo-ad
 default.platformTool.md5=null
-configurations-xml=8b6056e871b17ef06123623e4b562f2d
-com-microchip-mplab-nbide-embedded-makeproject-MakeProject.md5=bcd6e5453a11ce86aaffd5305e838602
-proj.dir=/home/kchristin/Desktop/obc-eqm-software/firmware/AutoGenerated.X
+configurations-xml=f32e00ef85b76cfe5d7bae356dac67a9
+com-microchip-mplab-nbide-embedded-makeproject-MakeProject.md5=5ac7a99e4b1de1ea64248c04a43532ad
+proj.dir=/home/sourland/Documents/Repositories/PeakSat/OBC-EQM-Software/firmware/AutoGenerated.X
 host.platform=linux
diff --git a/AutoGenerated.X/nbproject/configurations.xml b/AutoGenerated.X/nbproject/configurations.xml
@@ -97,6 +97,7 @@
           <itemPath>../src/config/default/device_vectors.h</itemPath>
           <itemPath>../src/config/default/user.h</itemPath>
           <itemPath>../src/config/default/configuration.h</itemPath>
+          <itemPath>../src/config/default/sys_tasks.h</itemPath>
         </logicalFolder>
       </logicalFolder>
       <logicalFolder name="f2" displayName="packs" projectFiles="true">
@@ -315,33 +316,35 @@
       </logicalFolder>
       <itemPath>../src/main.c</itemPath>
       <itemPath>../src/app.c</itemPath>
+      <itemPath>../src/config/default/pin_configurations.csv</itemPath>
     </logicalFolder>
     <logicalFolder name="ExternalFiles"
                    displayName="Important Files"
                    projectFiles="false">
       <logicalFolder name="f1" displayName="default.mhc" projectFiles="true">
-        <itemPath>../src/config/default/default.mhc/HarmonyCore.yml</itemPath>
-        <itemPath>../src/config/default/default.mhc/project.yml</itemPath>
-        <itemPath>../src/config/default/default.mhc/GraphSettings.yml</itemPath>
+        <itemPath>../src/config/default/default.mhc/settings.yml</itemPath>
         <itemPath>../src/config/default/default.mhc/uart0.yml</itemPath>
+        <itemPath>../src/config/default/default.mhc/afec0.yml</itemPath>
+        <itemPath>../src/config/default/default.mhc/cmsis.yml</itemPath>
         <itemPath>../src/config/default/default.mhc/core.yml</itemPath>
         <itemPath>../src/config/default/default.mhc/mcan1.yml</itemPath>
-        <itemPath>../src/config/default/default.mhc/dfp.yml</itemPath>
-        <itemPath>../src/config/default/default.mhc/sys_time.yml</itemPath>
-        <itemPath>../src/config/default/default.mhc/afec0.yml</itemPath>
-        <itemPath>../src/config/default/default.mhc/rtc.yml</itemPath>
-        <itemPath>../src/config/default/default.mhc/settings.yml</itemPath>
-        <itemPath>../src/config/default/default.mhc/twihs1.yml</itemPath>
+        <itemPath>../src/config/default/default.mhc/HarmonyCore.yml</itemPath>
         <itemPath>../src/config/default/default.mhc/efc.yml</itemPath>
         <itemPath>../src/config/default/default.mhc/smc.yml</itemPath>
         <itemPath>../src/config/default/default.mhc/pwm0.yml</itemPath>
+        <itemPath>../src/config/default/default.mhc/rtc.yml</itemPath>
+        <itemPath>../src/config/default/default.mhc/GraphSettings.yml</itemPath>
+        <itemPath>../src/config/default/default.mhc/dfp.yml</itemPath>
+        <itemPath>../src/config/default/default.mhc/twihs1.yml</itemPath>
+        <itemPath>../src/config/default/default.mhc/sys_time.yml</itemPath>
+        <itemPath>../src/config/default/default.mhc/project.yml</itemPath>
         <itemPath>../src/config/default/default.mhc/mcan0.yml</itemPath>
-        <itemPath>../src/config/default/default.mhc/cmsis.yml</itemPath>
       </logicalFolder>
       <itemPath>Makefile</itemPath>
       <itemPath>../src/config/default/harmony-manifest-success.yml</itemPath>
       <itemPath>../src/config/default/harmony-manifest-failure.yml</itemPath>
       <itemPath>../src/config/default/pin_configurations.csv</itemPath>
+      <itemPath>AutoGenerated.mc3</itemPath>
     </logicalFolder>
   </logicalFolder>
   <sourceRootList>

diff --git a/inc/FreeRTOSTasks/CANGatekeeperTask.hpp b/inc/FreeRTOSTasks/CANGatekeeperTask.hpp
@@ -4,7 +4,8 @@
 #include "CAN/Frame.hpp"
 #include "Task.hpp"
 #include "queue.h"
-#include "Peripheral_Definitions.hpp"
+#include "Platform/Peripheral_Definitions.hpp"
+#include "CAN/TPProtocol.hpp"
 #ifdef OBC_EQM_LCL
 #include "LCLDefinitions.hpp"
 #endif
@@ -41,21 +42,40 @@ class CANGatekeeperTask : public Task {
     /**
      * A freeRTOS queue to handle incoming frames part of a CAN-TP message, since they need to be parsed as a whole.
      */
-    QueueHandle_t incomingQueue;
+    QueueHandle_t incomingSFQueue;
 
     /**
      * The variable used to hold the queue's data structure.
      */
-    static inline StaticQueue_t incomingQueueBuffer;
+    static inline StaticQueue_t incomingSFQueueBuffer;
 
     /**
      * Storage area given to freeRTOS to manage the queue items.
      */
-    static inline uint8_t incomingQueueStorageArea[CAN::FrameQueueSize * sizeof(CAN::Frame)];
+    static inline uint8_t incomingSFQueueStorageArea[CAN::FrameQueueSize * sizeof(CAN::Frame)];
+
+    /**
+     * A freeRTOS queue to handle incoming frames part of a CAN-TP message, since they need to be parsed as a whole.
+     */
+    QueueHandle_t incomingMFQueue;
+
+    /**
+     * The variable used to hold the queue's data structure.
+     */
+    static inline StaticQueue_t incomingMFQueueBuffer;
+
+    /**
+     * Storage area given to freeRTOS to manage the queue items.
+     */
+    static inline uint8_t incomingMFQueueStorageArea[CAN::FrameQueueSize * sizeof(CAN::Frame)];
+
+
 
     const static inline uint16_t TaskStackDepth = 1300;
 
-    StackType_t taskStack[TaskStackDepth];
+    StackType_t taskStack[TaskStackDepth]{};
+
+    CAN::Driver::ActiveBus ActiveBus = CAN::Driver::ActiveBus::Main;
 
 public:
     TickType_t lastTransmissionTime = 0;
@@ -109,10 +129,29 @@ class CANGatekeeperTask : public Task {
      *
      * @param message The incoming CAN::Frame.
      */
-    inline void addToIncoming(const CAN::Frame &message) {
+    inline void addSFToIncoming(const CAN::Frame &message) {
+        BaseType_t taskShouldYield = pdFALSE;
+
+        xQueueSendToBackFromISR(incomingSFQueue, &message, &taskShouldYield);
+
+        if (taskShouldYield) {
+            taskYIELD();
+        }
+    }
+
+    /**
+     * Adds a CAN::Frame to the incomingQueue.
+     * If the queue is full the message is lost.
+     *
+     * @note This function is designed to be used from within the ISR of a CAN Message Receipt. Thus, it uses
+     * freeRTOS's ISR-Specific functions.
+     *
+     * @param message The incoming CAN::Frame.
+     */
+    inline void addMFToIncoming(const CAN::Frame &message) {
         BaseType_t taskShouldYield = pdFALSE;
 
-        xQueueSendToBackFromISR(incomingQueue, &message, &taskShouldYield);
+        xQueueSendToBackFromISR(incomingMFQueue, &message, &taskShouldYield);
 
         if (taskShouldYield) {
             taskYIELD();
@@ -123,8 +162,16 @@ class CANGatekeeperTask : public Task {
      * An abstraction layer over the freeRTOS queue API to get the number of messages in the incoming queue.
      * @return The number of messages in the queue.
      */
-    inline uint8_t getIncomingMessagesCount() {
-        return uxQueueMessagesWaiting(incomingQueue);
+    inline uint8_t getIncomingSFMessagesCount() {
+        return uxQueueMessagesWaiting(incomingSFQueue);
+    }
+
+    /**
+     * An abstraction layer over the freeRTOS queue API to get the number of messages in the incoming queue.
+     * @return The number of messages in the queue.
+     */
+    inline uint8_t getIncomingMFMessagesCount() {
+        return uxQueueMessagesWaiting(incomingMFQueue);
     }
 
     /**
@@ -136,23 +183,41 @@ class CANGatekeeperTask : public Task {
      *
      * If the queue is empty, the returned message is empty.
      */
-    inline CAN::Frame getFromQueue() {
+    inline CAN::Frame getFromSFQueue() {
+        CAN::Frame message;
+        xQueueReceive(incomingSFQueue, &message, 0);
+        return message;
+    }
+
+    inline void switchActiveBus(CAN::Driver::ActiveBus activeBus){
+        this->ActiveBus = activeBus;
+    }
+
+
+    /**
+     * Deletes all items present in the incoming queue.
+     */
+    void emptyIncomingSFQueue() {
+        xQueueReset(incomingSFQueue);
+    }
+
+    inline CAN::Frame getFromMFQueue() {
         CAN::Frame message;
-        xQueueReceive(incomingQueue, &message, 0);
+        xQueueReceive(incomingMFQueue, &message, 0);
         return message;
     }
 
     /**
      * Deletes all items present in the incoming queue.
      */
-    void emptyIncomingQueue() {
-        xQueueReset(incomingQueue);
+    void emptyIncomingMFQueue() {
+        xQueueReset(incomingMFQueue);
     }
 
     void createTask() {
-        xTaskCreateStatic(vClassTask < CANGatekeeperTask > , this->TaskName, CANGatekeeperTask::TaskStackDepth, this,
-                          tskIDLE_PRIORITY + 2, this->taskStack, &(this->taskBuffer));
+        taskHandle = xTaskCreateStatic(vClassTask < CANGatekeeperTask > , this->TaskName, CANGatekeeperTask::TaskStackDepth, this,
+                                       tskIDLE_PRIORITY + 2, this->taskStack, &(this->taskBuffer));
     }
 };
 
-inline std::optional<CANGatekeeperTask> canGatekeeperTask;
+inline std::optional<CANGatekeeperTask> canGatekeeperTask;
diff --git a/inc/FreeRTOSTasks/MRAMTask.hpp b/inc/FreeRTOSTasks/MRAMTask.hpp
@@ -6,7 +6,7 @@
 
 class MRAMTask : public Task {
 private:
-    const uint16_t DelayMs = 2000;
+    const uint16_t DelayMs = 30000;
 
     const static inline uint16_t TaskStackDepth = 1000;
 

diff --git a/inc/FreeRTOSTasks/NANDTask.hpp b/inc/FreeRTOSTasks/NANDTask.hpp
@@ -6,7 +6,7 @@
 
 class NANDTask : public Task {
 private:
-    const uint16_t DelayMs = 500;
+    const uint16_t DelayMs = 20000;
 
     const static inline uint16_t TaskStackDepth = 1000;
 

diff --git a/inc/FreeRTOSTasks/TCHandlingTask.hpp b/inc/FreeRTOSTasks/TCHandlingTask.hpp
@@ -47,7 +47,7 @@ class TCHandlingTask : public Task {
      * The stack depth of each FreeRTOS task, defined as the number of words the stack can hold. For example, in an
      * architecture with 4 byte stack, assigning 100 to the usStackDepth argument, will allocate 4x100=400 bytes.
      */
-    const static inline uint16_t TaskStackDepth = 6000;
+    const static inline uint16_t TaskStackDepth = 3000;
 
     StackType_t taskStack[TaskStackDepth];
 

diff --git a/src/FreeRTOSTasks/CANGatekeeperTask.cpp b/src/FreeRTOSTasks/CANGatekeeperTask.cpp
@@ -8,10 +8,17 @@ CANGatekeeperTask::CANGatekeeperTask() : Task("CANGatekeeperTask") {
     outgoingQueue = xQueueCreateStatic(CAN::FrameQueueSize, sizeof(CAN::Frame), outgoingQueueStorageArea,
                                        &outgoingQueueBuffer);
     vQueueAddToRegistry(outgoingQueue, "CAN Outgoing");
+    configASSERT(outgoingQueue);
 
-    incomingQueue = xQueueCreateStatic(CAN::FrameQueueSize, sizeof(CAN::Frame), incomingQueueStorageArea,
-                                       &incomingQueueBuffer);
-    vQueueAddToRegistry(incomingQueue, "CAN Incoming");
+    incomingSFQueue = xQueueCreateStatic(CAN::FrameQueueSize, sizeof(CAN::Frame), incomingSFQueueStorageArea,
+                                         &incomingSFQueueBuffer);
+    vQueueAddToRegistry(incomingSFQueue, "CAN Incoming SF");
+    configASSERT(incomingSFQueue);
+
+    incomingMFQueue = xQueueCreateStatic(CAN::FrameQueueSize, sizeof(CAN::Frame), incomingSFQueueStorageArea,
+                                         &incomingMFQueueBuffer);
+    vQueueAddToRegistry(incomingSFQueue, "CAN Incoming MF");
+    configASSERT(incomingMFQueue);
 }
 
 void CANGatekeeperTask::execute() {
@@ -23,18 +30,31 @@ void CANGatekeeperTask::execute() {
     PIO_PinWrite(CAN::CAN_SILENT_1, false);
     PIO_PinWrite(CAN::CAN_SILENT_2, false);
 
-    CAN::Frame message = {};
+    CAN::Frame out_message = {};
+    CAN::Frame in_message = {};
+
+    uint32_t ulNotifiedValue;
 
     while (true) {
-        if(xTaskGetTickCount() - lastTransmissionTime > 8000) {
+        xTaskNotifyWait(0, 0, &ulNotifiedValue, portMAX_DELAY);
+
+        if (xTaskGetTickCount() - lastTransmissionTime > 8000) {
             LOG_ERROR << "Resetting CAN LCLs";
             LCLDefinitions::lclArray[LCLDefinitions::CAN1].enableLCL();
             LCLDefinitions::lclArray[LCLDefinitions::CAN2].enableLCL();
             MCAN0_Initialize();
             MCAN1_Initialize();
         }
-        xQueueReceive(outgoingQueue, &message, portMAX_DELAY);
 
-        CAN::Driver::send(message);
+        if (getIncomingSFMessagesCount()) {
+            xQueueReceive(incomingSFQueue, &in_message, portMAX_DELAY);
+            CAN::TPProtocol::processSingleFrame(in_message);
+        }
+        CAN::TPProtocol::processMultipleFrames();
+
+        if (uxQueueMessagesWaiting(outgoingQueue)) {
+            xQueueReceive(outgoingQueue, &out_message, portMAX_DELAY);
+            CAN::Driver::send(out_message);
+        }
     }
 }
diff --git a/src/FreeRTOSTasks/CANTestTask.cpp b/src/FreeRTOSTasks/CANTestTask.cpp
@@ -7,10 +7,18 @@ void CANTestTask::execute() {
         frame.data.at(i) = i;
     }
 
-    String<ECSSMaxMessageSize> testPayload("WHO LIVES IN A PINEAPPLE UNDER THE SEA?");
+    String<ECSSMaxMessageSize> testPayload1("WHO LIVES IN A PINEAPPLE UNDER THE SEA?");
+
+    String<ECSSMaxMessageSize> testPayload2("Giati?");
+
     while (true) {
-        CAN::Application::createLogMessage(CAN::NodeIDs::OBC, false, testPayload.data(), false);
-        xTaskNotify(canGatekeeperTask->taskHandle, 0, eNoAction);
+        AcubeSATParameters::obcCANBUSActive.setValue(CAN::Driver::ActiveBus::Main);
+        CAN::Application::createLogMessage(CAN::NodeIDs::COMMS, false, testPayload1.data(), false);
+
+        AcubeSATParameters::obcCANBUSActive.setValue(CAN::Driver::ActiveBus::Redundant);
+        CAN::Application::createLogMessage(CAN::NodeIDs::COMMS, false, testPayload2.data(), false);
+
+//        xTaskNotify(canGatekeeperTask->taskHandle, 0, eNoAction);
         vTaskDelay(pdMS_TO_TICKS(1000));
     }
 }
diff --git a/src/FreeRTOSTasks/MCUTemperatureTask.cpp b/src/FreeRTOSTasks/MCUTemperatureTask.cpp
@@ -1,7 +1,6 @@
 #include "MCUTemperatureTask.hpp"
 
 void MCUTemperatureTask::execute() {
-    AFEC0_ConversionStart();
     while (true) {
         AFEC0_ConversionStart();
         vTaskDelay(pdMS_TO_TICKS(1));

diff --git a/src/FreeRTOSTasks/NANDTask.cpp b/src/FreeRTOSTasks/NANDTask.cpp
@@ -115,7 +115,7 @@ void NANDTask::execute() {
         }
         /* ERASE */
         for (failedTries = 0; failedTries < 3;) {
-            uint8_t success = blabla.eraseBlock(0, BLOCK);
+            uint8_t success = blabla.eraseBlock(1, BLOCK);
             if (!success) {
                 LOG_ERROR << "Failed to erase NAND block";
                 failedTries++;