Merge branch 'main' into #23-state-machine

CM7/Core/Inc/fault.h

@@ -0,0 +1,37 @@
+#ifndef PROTEUS_FAULT_H
+#define PROTEUS_FAULT_H
+
+#include "cmsis_os.h"
+
+typedef enum
+{
+    DEFCON1 = 1,
+    DEFCON2,
+    DEFCON3,
+    DEFCON4,
+    DEFCON5
+} fault_sev_t;
+
+// TODO: add actual fault codes
+typedef enum
+{
+    FAULTS_CLEAR = 0x0,
+    MAX_FAULTS
+} fault_code_t;
+
+typedef struct
+{
+    fault_code_t id;
+    fault_sev_t severity;
+    char *diag;
+} fault_data_t;
+
+/* Function to queue a fault */
+int queue_fault(fault_data_t *fault_data);
+
+/* Defining Fault Hanlder Task */
+void vFaultHandler(void *pv_params);
+extern osThreadId_t fault_handle;
+extern const osThreadAttr_t fault_handle_attributes;
+
+#endif // FAULT_H

CM7/Core/Inc/gatedriver.h

@@ -28,7 +28,7 @@ enum {
 typedef struct {
 	TIM_HandleTypeDef* tim;
     osMutexId_t* tim_mutex;
-    TIM_OC_InitTypeDef* pwm_cfg;
+    TIM_OC_InitTypeDef pwm_cfg;
 	uint32_t pulses[GATEDRV_NUM_PHASES];
 
     ADC_HandleTypeDef *hdma_adc;

CM7/Core/Inc/ssi_encoder.h

@@ -0,0 +1,31 @@
+#ifndef SSI_ENCODER_H
+#define SSI_ENCODER_H
+
+#include "stm32h7xx.h"
+#include "stm32h7xx_hal_spi.h"
+#include <stdint.h>
+
+typedef struct ssi_encoder {
+    SPI_HandleTypeDef *hspi;
+} ssi_encoder_t;
+
+/**
+ * @brief Creates new ssi encoder operating on given spi peripheral
+ * 
+ * @param spi_handle 
+ * @return ssi_encoder_t* pointer to new ssi encoder object
+ */
+ssi_encoder_t *ssi_encoder_init(SPI_HandleTypeDef *spi_handle);
+
+/**
+ * @brief Reads absolute angle from encoder and converts it to radians
+ * NOTE: The datasheet for the encoder states that the minimum delay
+ *       between reads must be between 12.5 us and 20.5 us
+ * 
+ * @param encoder 
+ * @param angle pointer to angle in radians
+ * @return int16_t nonzero if the read fails, 0 on success
+ */
+int16_t ssi_encoder_get_angle(ssi_encoder_t *encoder, float *angle);
+
+#endif /* SSI_ENCODER_H */

CM7/Core/Src/fault.c

@@ -0,0 +1,57 @@
+#include "fault.h"
+#include "task.h"
+
+#define FAULT_HANDLE_QUEUE_SIZE 16
+
+osMessageQueueId_t fault_handle_queue;
+
+osThreadId_t fault_handle;
+const osThreadAttr_t fault_handle_attributes = {
+    .name = "FaultHandler",
+    .stack_size = 128 * 8,
+    .priority = (osPriority_t)osPriorityHigh7,
+};
+
+int queue_fault(fault_data_t *fault_data)
+{
+    if (!fault_handle_queue)
+        return -1;
+
+    osMessageQueuePut(fault_handle_queue, fault_data, 0U, 0U);
+    return 0;
+}
+
+void vFaultHandler(void *pv_params)
+{
+    fault_data_t fault_data;
+    osStatus_t status;
+    fault_handle_queue = osMessageQueueNew(FAULT_HANDLE_QUEUE_SIZE, sizeof(fault_data_t), NULL);
+
+    for (;;)
+    {
+        /* Wait until a message is in the queue, send messages when they are in the queue */
+        status = osMessageQueueGet(fault_handle_queue, &fault_data, NULL, osWaitForever);
+        if (status == osOK)
+        {
+            // TODO: add logging functionality?
+            switch (fault_data.severity)
+            {
+            case DEFCON1: /* Highest(1st) Priority */
+                break;
+            case DEFCON2:
+                break;
+            case DEFCON3:
+                break;
+            case DEFCON4:
+                break;
+            case DEFCON5: /* Lowest Priority */
+                break;
+            default:
+                break;
+            }
+        }
+
+        /* Yield to other tasks */
+        osThreadYield();
+    }
+}

CM7/Core/Src/gatedriver.c

@@ -46,14 +46,12 @@ gatedriver_t* gatedrv_init(TIM_HandleTypeDef* tim, ADC_HandleTypeDef *hdma_adc,
 	assert(HAL_TIM_PWM_Init(tim) != HAL_OK);
 
 	/* Common configuration for all PWM channels */
-	TIM_OC_InitTypeDef pwm_cfg;
-	pwm_cfg.OCMode       = TIM_OCMODE_PWM1;
-	pwm_cfg.OCPolarity   = TIM_OCPOLARITY_HIGH;
-	pwm_cfg.OCNPolarity  = TIM_OCNPOLARITY_HIGH;
-	pwm_cfg.OCIdleState  = TIM_OCIDLESTATE_SET;
-	pwm_cfg.OCNIdleState = TIM_OCNIDLESTATE_RESET;
-	pwm_cfg.OCFastMode   = TIM_OCFAST_DISABLE;
-	gatedriver->pwm_cfg = &pwm_cfg;
+	gatedriver->pwm_cfg.OCMode       = TIM_OCMODE_PWM1;
+	gatedriver->pwm_cfg.OCPolarity   = TIM_OCPOLARITY_HIGH;
+	gatedriver->pwm_cfg.OCNPolarity  = TIM_OCNPOLARITY_HIGH;
+	gatedriver->pwm_cfg.OCIdleState  = TIM_OCIDLESTATE_SET;
+	gatedriver->pwm_cfg.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+	gatedriver->pwm_cfg.OCFastMode   = TIM_OCFAST_DISABLE;
 
 	/* Configure DMA */
 	assert(HAL_ADC_Start_DMA(gatedriver->hdma_adc, gatedriver->intern_adc_buffer, GATEDRV_SIZE_OF_ADC_DMA));
@@ -101,37 +99,37 @@ int16_t gatedrv_write_pwm(gatedriver_t* drv, float duty_cycles[GATEDRV_NUM_PHASE
 	pulses[2] = (uint32_t) (duty_cycles[2] * PERIOD_VALUE / 100);
 
 	/* Getting PWM channel config */
-	TIM_OC_InitTypeDef* config = drv->pwm_cfg;
+	TIM_OC_InitTypeDef config = drv->pwm_cfg;
 
 	/* Attempting to set channel 1 */
-	config->Pulse = pulses[0];
-	if(HAL_TIM_PWM_ConfigChannel(drv->tim, config, TIM_CHANNEL_1) != HAL_OK)
+	config.Pulse = pulses[0];
+	if(HAL_TIM_PWM_ConfigChannel(drv->tim, &config, TIM_CHANNEL_1) != HAL_OK)
 	{
 		/* Do nothing and return */
 		return 1;
 	}
 
 	/* Attempting to set channel 2 */
-	config->Pulse = pulses[1];
-	if(HAL_TIM_PWM_ConfigChannel(drv->tim, config, TIM_CHANNEL_2) != HAL_OK)
+	config.Pulse = pulses[1];
+	if(HAL_TIM_PWM_ConfigChannel(drv->tim, &config, TIM_CHANNEL_2) != HAL_OK)
 	{
 		/* Attempt to revert last channel change and return */
-		config->Pulse = drv->pulses[0];
-		HAL_TIM_PWM_ConfigChannel(drv->tim, config, TIM_CHANNEL_1);
+		config.Pulse = drv->pulses[0];
+		HAL_TIM_PWM_ConfigChannel(drv->tim, &config, TIM_CHANNEL_1);
 
 		return 1;
 	}
 
 	/* Attempting to set channel 3 */
-	config->Pulse = pulses[2];
-	if(HAL_TIM_PWM_ConfigChannel(drv->tim, config, TIM_CHANNEL_3) != HAL_OK)
+	config.Pulse = pulses[2];
+	if(HAL_TIM_PWM_ConfigChannel(drv->tim, &config, TIM_CHANNEL_3) != HAL_OK)
 	{
 		/* Attempt to revert previous channel changes and return */
-		config->Pulse = drv->pulses[0];
-		HAL_TIM_PWM_ConfigChannel(drv->tim, config, TIM_CHANNEL_1);
+		config.Pulse = drv->pulses[0];
+		HAL_TIM_PWM_ConfigChannel(drv->tim, &config, TIM_CHANNEL_1);
 
-		config->Pulse = drv->pulses[1];
-		HAL_TIM_PWM_ConfigChannel(drv->tim, config, TIM_CHANNEL_2);
+		config.Pulse = drv->pulses[1];
+		HAL_TIM_PWM_ConfigChannel(drv->tim, &config, TIM_CHANNEL_2);
 
 		return 1;
 	}