UCSolarCarTeam · Heinzino · Oct 30, 2024 · Nov 1, 2024 · Nov 1, 2024 · Nov 1, 2024
diff --git a/.mxproject b/.mxproject
diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
@@ -2,21 +2,21 @@
 <project>
 	<configuration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1910886301" name="Debug">
 		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
-			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
+			<provider-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="985175499654131366" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1488038463076734800" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
 		</extension>
 	</configuration>
 	<configuration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.783339558" name="Release">
 		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
-			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
+			<provider-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="985173715110890335" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1488036678533493769" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

diff --git a/.settings/stm32cubeide.project.prefs b/.settings/stm32cubeide.project.prefs
@@ -1,5 +1,6 @@
+2F62501ED4689FB349E356AB974DBE57=2CE54FD71E149B997073596C6B0E9512
 635E684B79701B039C64EA45C3F84D30=06D51718D4F3D877E4CF008AE59E16BB
 66BE74F758C12D739921AEA421D593D3=2
-8DF89ED150041C4CBC7CB9A9CAA90856=05328855C4E51ECDCD46876FE3491C71
-DC22A860405A8BF2F2C095E5B6529F12=05328855C4E51ECDCD46876FE3491C71
+8DF89ED150041C4CBC7CB9A9CAA90856=2CE54FD71E149B997073596C6B0E9512
+DC22A860405A8BF2F2C095E5B6529F12=D7B61603071EE7338842D45EDC3395F0
 eclipse.preferences.version=1
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -2,6 +2,13 @@
     "files.associations": {
         "cstring": "cpp",
         "__config": "cpp",
-        "typeinfo": "cpp"
+        "typeinfo": "cpp",
+        "array": "cpp",
+        "xstring": "cpp",
+        "xlocinfo": "cpp",
+        "algorithm": "cpp",
+        "list": "cpp",
+        "xutility": "cpp",
+        "runinterface.hpp": "c"
     }
 }
diff --git a/B3 Reference.md b/B3 Reference.md
@@ -0,0 +1,67 @@
+# B3 Board Reference
+
+
+## Task Diagram
+
+```mermaid
+classDiagram
+    class CANRxTask {
+        +InitTask()
+        +GetCAN_RX_QUEUE() : Queue*
+        -Run(void* pvParams)
+        -HandleCommand(Command& cm)
+    }
+
+    class CANTxTask {
+        +InitTask()
+        -Run(void* pvParams)
+        -HandleCommand(Command& cm)
+    }
+
+    class DebugTask {
+        +InitTask()
+        -Run(void* pvParams)
+        -HandleDebugMessage(const char* msg)
+        -ReceiveData() : bool
+        -InterruptRxData(uint8_t errors)
+    }
+
+    class GPIOTask {
+        +InitTask()
+        +LightsInputsBase() : uint8_t
+        +DriverBase() : uint8_t
+        +LightStatus() : uint8_t
+        -Run(void* pvParams)
+    }
+
+    class SPI_Task {
+        +InitTask()
+        +readAccelerationPedal_P() : uint16_t
+        +readBrakingPedal_P() : uint16_t
+        +getAccelerationReading_P() : uint16_t
+        +getBrakingReading_P() : uint16_t
+        +calculatePedalPosition(uint16_t) : float
+        +getAccelerationPedalPercent() : float
+        +getBrakePedalPercent() : float
+        -Run(void* pvParams)
+    }
+
+    class MCP2510
+
+    DebugTask --> CANTxTask : Sends CAN commands
+    DebugTask --> IOExpander : Uses IO driver
+    MCP2510 --> CANRxTask : ISR to Queue
+
+    CANTxTask --> GPIOTask : Queries GPIO status
+    CANTxTask --> SPI_Task : Queries pedal data
+    CANTxTask --> CAN : Uses CAN driver
+
+    CANRxTask --> CAN : Uses CAN driver
+
+    GPIOTask --> IOExpander
+```
+
+
+## Task Descriptions
+
+
diff --git a/BCubed.ioc b/BCubed.ioc
@@ -9,7 +9,7 @@ FREERTOS.configTOTAL_HEAP_SIZE=65536
 FREERTOS.configUSE_NEWLIB_REENTRANT=1
 FREERTOS.configUSE_TIMERS=1
 File.Version=6
-GPIO.groupedBy=
+GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
 Mcu.CPN=STM32L152RET6
 Mcu.Family=STM32L1
@@ -75,6 +75,7 @@ MxCube.Version=6.10.0
 MxDb.Version=DB.6.0.100
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.EXTI9_5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@@ -208,26 +209,29 @@ PC3.GPIOParameters=GPIO_Label
 PC3.GPIO_Label=LED GREEN
 PC3.Locked=true
 PC3.Signal=GPIO_Output
-PC6.GPIOParameters=GPIO_Label
+PC6.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
 PC6.GPIO_Label=CAN_RX1BF
+PC6.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
 PC6.Locked=true
 PC6.Signal=GPXTI6
-PC7.GPIOParameters=GPIO_Label
+PC7.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
 PC7.GPIO_Label=CAN_RX0BF
+PC7.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
 PC7.Locked=true
 PC7.Signal=GPXTI7
 PC8.GPIOParameters=GPIO_Label
 PC8.GPIO_Label=CS_CAN_N
 PC8.Locked=true
 PC8.Signal=GPIO_Output
-PC9.GPIOParameters=GPIO_Label
+PC9.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
 PC9.GPIO_Label=CAN_INT
+PC9.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
 PC9.Locked=true
 PC9.Signal=GPXTI9
 PD2.GPIOParameters=GPIO_Label
 PD2.GPIO_Label=Board_SLCT_0
 PD2.Locked=true
-PD2.Signal=GPXTI2
+PD2.Signal=GPIO_Output
 PH0-OSC_IN.Locked=true
 PH0-OSC_IN.Mode=HSE-External-Oscillator
 PH0-OSC_IN.Signal=RCC_OSC_IN
@@ -298,22 +302,20 @@ SH.GPXTI0.0=GPIO_EXTI0
 SH.GPXTI0.ConfNb=1
 SH.GPXTI13.0=GPIO_EXTI13
 SH.GPXTI13.ConfNb=1
-SH.GPXTI2.0=GPIO_EXTI2
-SH.GPXTI2.ConfNb=1
 SH.GPXTI6.0=GPIO_EXTI6
 SH.GPXTI6.ConfNb=1
 SH.GPXTI7.0=GPIO_EXTI7
 SH.GPXTI7.ConfNb=1
 SH.GPXTI9.0=GPIO_EXTI9
 SH.GPXTI9.ConfNb=1
-SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_2
-SPI1.CalculateBaudRate=16.0 MBits/s
+SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_32
+SPI1.CalculateBaudRate=1000.0 KBits/s
 SPI1.Direction=SPI_DIRECTION_2LINES
 SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
 SPI1.Mode=SPI_MODE_MASTER
 SPI1.VirtualType=VM_MASTER
-SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_2
-SPI2.CalculateBaudRate=16.0 MBits/s
+SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_16
+SPI2.CalculateBaudRate=2.0 MBits/s
 SPI2.Direction=SPI_DIRECTION_2LINES
 SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
 SPI2.Mode=SPI_MODE_MASTER
@@ -330,4 +332,3 @@ VP_SYS_VS_tim2.Mode=TIM2
 VP_SYS_VS_tim2.Signal=SYS_VS_tim2
 board=custom
 rtos.0.ip=FREERTOS
-isbadioc=false
diff --git a/BCubed.launch b/BCubed.launch
@@ -40,7 +40,7 @@
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value=""/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkenable_rtos" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Software system reset&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Software system reset&quot;,&quot;fLaunchAttribute&quot;:&quot;system_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Hardware reset&quot;,&quot;fLaunchAttribute&quot;:&quot;hardware_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset hardware\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Core reset&quot;,&quot;fLaunchAttribute&quot;:&quot;core_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset core\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;no_reset&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[&quot;-g&quot;]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Software system reset&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Software system reset&quot;,&quot;fLaunchAttribute&quot;:&quot;system_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Hardware reset&quot;,&quot;fLaunchAttribute&quot;:&quot;hardware_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset hardware\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Core reset&quot;,&quot;fLaunchAttribute&quot;:&quot;core_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset core\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;no_reset&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[&quot;-g&quot;]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.enableRtosProxy" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyCustomProperties" value=""/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriver" value="threadx"/>

diff --git a/Components/CANRx/CanRxTask.cpp b/Components/CANRx/CanRxTask.cpp
@@ -0,0 +1,143 @@
+/**
+ ******************************************************************************
+ * File Name          : CANRxTask.cpp
+ * Description        : Task for receiving CAN messages
+ ******************************************************************************
+ */
+
+#include "CanRxTask.hpp"
+
+// Maybe add a header file
+CANPeripheral peripheral2 = {
+    .CS_PORT = CS_CAN_N_GPIO_Port,
+    .CS_PIN = CS_CAN_N_Pin,
+    .hspi = SystemHandles::CAN_SPI};
+
+/**
+ * @brief Constructor for CANTxTask
+ */
+CANRxTask::CANRxTask() : Task(CAN_TX_TASK_QUEUE_DEPTH_OBJS)
+{
+}
+
+/**
+ * @brief Initialize the CANTxTask
+ */
+void CANRxTask::InitTask()
+{
+    // Make sure the task is not already initialized
+    CUBE_ASSERT(rtTaskHandle == nullptr, "Cannot initialize CAN RX task twice");
+
+    BaseType_t rtValue =
+        xTaskCreate((TaskFunction_t)CANRxTask::RunTask,
+                    (const char *)"CANRxTask",
+                    (uint16_t)CAN_RX_TASK_STACK_DEPTH_WORDS,
+                    (void *)this,
+                    (UBaseType_t)CAN_RX_TASK_PRIORITY,
+                    (TaskHandle_t *)&rtTaskHandle);
+
+    CUBE_ASSERT(rtValue == pdPASS, "CANRxTask::InitTask() - xTaskCreate() failed");
+}
+
+void CANRxTask::Run(void *pvParams)
+{
+    ConfigureCANSPI(&peripheral2);
+
+    while (1)
+    {
+        /***
+         * MCP2510: https://usw.365.altium.com/librarycomponentsapi/api/v1/References/79FC5B82-F317-4482-BD19-9D6F8666BE78
+         * Plan:
+         * On buffer interrupt add to queue
+         * While(1) Task processes Queue
+         * Later Optimization: Add Mutex to
+         *
+         * 1. Detect RX Interrupt RXBUFF
+         *      - Set interrupts RXBuff pg 21
+         *      - RXBUFF0 and RXBUFF1 .
+         * 2. Queue buffer contents
+         *      - CAN_RX_QUEUE.SendFromISR()
+         *      - Parse data into command
+         *            receiveCANMessage()
+         * 3. Mutex the SPI Peripheral
+         *      Mutex
+         * 4. Handle buffer
+         */
+
+        //  Wait forever for a command on interrupt
+        Command cm;
+        qEvtQueue->ReceiveWait(cm);
+
+        // Process the command
+        HandleCommand(cm);
+
+        cm.Reset();
+    }
+}
+
+void CANRxTask::HandleCommand(Command &cm)
+{
+    uint32_t id = 0;
+    uint8_t dlc = 0;
+    uint8_t data[8] = {0};
+
+    switch (static_cast<CAN_RX_COMMANDS>(cm.GetTaskCommand()))
+    {
+    case CAN_INTERRUPT_HAPPENED:
+        CUBE_PRINT("Received a CAN RX Message by interrupt\n");
+        break;
+    case CAN_RX0_INTERRUPT_HAPPENED:
+        receiveCANMessage(0, &id, &dlc, data, &peripheral2);
+        CUBE_PRINT("CAN RX0 Message:\n");
+        CUBE_PRINT_CAN_MESSAGE(id, dlc, data);
+        break;
+    case CAN_RX1_INTERRUPT_HAPPENED:
+        receiveCANMessage(1, &id, &dlc, data, &peripheral2);
+        CUBE_PRINT("CAN RX1 Message:\n");
+        CUBE_PRINT_CAN_MESSAGE(id, dlc, data);
+        break;
+    default:
+        CUBE_PRINT("CANRXTask - Received unsupported command: %d\n", cm.GetCommand());
+        break;
+    }
+}
+
+// Handle CAN_INT Callback here ?
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
+{
+    // NOTE: Can Implement Call back on RXBUF0 and RXBUF1 and decode the message accordingly.
+    if (GPIO_Pin == CAN_INT_Pin)
+    {
+        // Handle or Event Flag into CPP Task
+        Command canInterruptHappenedCommandFlag = Command(TASK_SPECIFIC_COMMAND, CAN_INTERRUPT_HAPPENED);
+        CANRxTask::Inst()
+            .GetCAN_RX_QUEUE()
+            ->SendFromISR(canInterruptHappenedCommandFlag);
+    }
+    else if (GPIO_Pin == CAN_RX0BF_Pin)
+    {
+        Command canInterruptHappenedCommandFlag = Command(TASK_SPECIFIC_COMMAND, CAN_RX0_INTERRUPT_HAPPENED);
+        CANRxTask::Inst()
+            .GetCAN_RX_QUEUE()
+            ->SendFromISR(canInterruptHappenedCommandFlag);
+    }
+    else if (GPIO_Pin == CAN_RX1BF_Pin)
+    {
+        Command canInterruptHappenedCommandFlag = Command(TASK_SPECIFIC_COMMAND, CAN_RX1_INTERRUPT_HAPPENED);
+        CANRxTask::Inst()
+            .GetCAN_RX_QUEUE()
+            ->SendFromISR(canInterruptHappenedCommandFlag);
+    }
+}
+
+//Helper function to print CAN message
+void CUBE_PRINT_CAN_MESSAGE(uint32_t id, uint8_t dlc, uint8_t *data)
+{
+    CUBE_PRINT("  ID: 0x%08X\n", id);
+    CUBE_PRINT("  DLC: %u\n", dlc);
+    CUBE_PRINT("  Data: ");
+    for (uint8_t i = 0; i < dlc; ++i)
+    {
+        CUBE_PRINT("%02X ", data[i]);
+    }
+}
diff --git a/Components/CANRx/CanRxTask.hpp b/Components/CANRx/CanRxTask.hpp
@@ -0,0 +1,41 @@
+/**
+ ******************************************************************************
+ * File Name          : CANTxTask.hpp
+ * Description        :
+ ******************************************************************************
+*/
+#include "Task.hpp"
+#include "main.h"
+#include "Queue.hpp"
+#include "Mutex.hpp"
+#include "CAN.h"
+
+enum CAN_RX_COMMANDS {
+    CAN_INTERRUPT_HAPPENED, //Task specific command queued on CAN_INT ISR
+    CAN_RX0_INTERRUPT_HAPPENED, //Task specific command queued on CAN_RX0BF ISR
+    CAN_RX1_INTERRUPT_HAPPENED, //Task specific command queued on CAN_RX1BF ISR
+};
+class CANRxTask : public Task
+{
+public:
+    static CANRxTask& Inst() {
+        static CANRxTask inst;
+        return inst;
+    }
+
+    void InitTask();
+    Queue* GetCAN_RX_QUEUE() const { return qEvtQueue; }
+
+protected:
+    static void RunTask(void* pvParams) { CANRxTask::Inst().Run(pvParams); } // Static Task Interface, passes control to the instance Run();
+    void Run(void * pvParams); // Main run code
+    void HandleCommand(Command& cm);
+
+private:
+    CANRxTask();        // Private constructor
+    CANRxTask(const CANRxTask&);                        // Prevent copy-construction
+    CANRxTask& operator=(const CANRxTask&);            // Prevent assignment
+};
+
+//Helper function to print CAN message
+void CUBE_PRINT_CAN_MESSAGE(uint32_t id, uint8_t dlc, uint8_t *data);