Update param freq
This commit is contained in:
Julian Marmier
parent
25da5cde32
commit
ba94373f3e
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@ -21,19 +21,19 @@
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/* Includes ------------------------------------------------------------------*/
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#include "app_azure_rtos.h"
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#include "stm32h7xx.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "app.h"
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#include "app_touchgfx.h"
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#include "leds.h"
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#include "main.h"
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#include "ui.h"
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#include "vehicle.h"
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#include "app_touchgfx.h"
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#include "tx_api.h"
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#include "tx_port.h"
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#include "ui.h"
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#include "vehicle.h"
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/* USER CODE END Includes */
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@ -56,10 +56,11 @@
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#if (USE_STATIC_ALLOCATION == 1)
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/* USER CODE BEGIN TX_Pool_Buffer */
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/* USER CODE END TX_Pool_Buffer */
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#if defined ( __ICCARM__ )
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#pragma data_alignment=4
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#if defined(__ICCARM__)
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#pragma data_alignment = 4
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#endif
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__ALIGN_BEGIN static UCHAR tx_byte_pool_buffer[TX_APP_MEM_POOL_SIZE] __ALIGN_END;
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__ALIGN_BEGIN static UCHAR
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tx_byte_pool_buffer[TX_APP_MEM_POOL_SIZE] __ALIGN_END;
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static TX_BYTE_POOL tx_app_byte_pool;
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#endif
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@ -69,6 +70,7 @@ TX_THREAD app_thread;
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TX_THREAD ui_thread;
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TX_THREAD vehicle_thread;
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TX_THREAD led_thread;
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TX_THREAD params_thread;
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TX_QUEUE gui_button_queue;
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TX_EVENT_FLAGS_GROUP gui_update_events;
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/* USER CODE END PV */
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@ -79,12 +81,11 @@ TX_EVENT_FLAGS_GROUP gui_update_events;
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/* USER CODE END PFP */
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/**
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* @brief Define the initial system.
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* @param first_unused_memory : Pointer to the first unused memory
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* @retval None
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*/
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VOID tx_application_define(VOID *first_unused_memory)
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{
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* @brief Define the initial system.
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* @param first_unused_memory : Pointer to the first unused memory
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* @retval None
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*/
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VOID tx_application_define(VOID *first_unused_memory) {
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/* USER CODE BEGIN tx_application_define_1*/
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/* USER CODE END tx_application_define_1 */
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@ -92,22 +93,20 @@ VOID tx_application_define(VOID *first_unused_memory)
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UINT status = TX_SUCCESS;
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VOID *memory_ptr;
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if (tx_byte_pool_create(&tx_app_byte_pool, "Tx App memory pool", tx_byte_pool_buffer, TX_APP_MEM_POOL_SIZE) != TX_SUCCESS)
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{
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if (tx_byte_pool_create(&tx_app_byte_pool, "Tx App memory pool",
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tx_byte_pool_buffer,
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TX_APP_MEM_POOL_SIZE) != TX_SUCCESS) {
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/* USER CODE BEGIN TX_Byte_Pool_Error */
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/* USER CODE END TX_Byte_Pool_Error */
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}
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else
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{
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} else {
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/* USER CODE BEGIN TX_Byte_Pool_Success */
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/* USER CODE END TX_Byte_Pool_Success */
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memory_ptr = (VOID *)&tx_app_byte_pool;
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status = App_ThreadX_Init(memory_ptr);
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if (status != TX_SUCCESS)
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{
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if (status != TX_SUCCESS) {
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/* USER CODE BEGIN App_ThreadX_Init_Error */
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while (1) {
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}
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@ -117,21 +116,22 @@ VOID tx_application_define(VOID *first_unused_memory)
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/* USER CODE BEGIN App_ThreadX_Init_Success */
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/* USER CODE END App_ThreadX_Init_Success */
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}
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#else
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/*
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* Using dynamic memory allocation requires to apply some changes to the linker file.
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* ThreadX needs to pass a pointer to the first free memory location in RAM to the tx_application_define() function,
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* Using dynamic memory allocation requires to apply some changes to the
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linker file.
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* ThreadX needs to pass a pointer to the first free memory location in RAM to
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the tx_application_define() function,
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* using the "first_unused_memory" argument.
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* This require changes in the linker files to expose this memory location.
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* For EWARM add the following section into the .icf file:
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place in RAM_region { last section FREE_MEM };
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* For MDK-ARM
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- either define the RW_IRAM1 region in the ".sct" file
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- or modify the line below in "tx_initialize_low_level.S to match the memory region being used
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LDR r1, =|Image$$RW_IRAM1$$ZI$$Limit|
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- or modify the line below in "tx_initialize_low_level.S to match the
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memory region being used LDR r1, =|Image$$RW_IRAM1$$ZI$$Limit|
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* For STM32CubeIDE add the following section into the .ld file:
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._threadx_heap :
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@ -141,13 +141,17 @@ VOID tx_application_define(VOID *first_unused_memory)
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. = . + 64K;
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. = ALIGN(8);
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} >RAM_D1 AT> RAM_D1
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* The simplest way to provide memory for ThreadX is to define a new section, see ._threadx_heap above.
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* The simplest way to provide memory for ThreadX is to define a new
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section, see ._threadx_heap above.
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* In the example above the ThreadX heap size is set to 64KBytes.
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* The ._threadx_heap must be located between the .bss and the ._user_heap_stack sections in the linker script.
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* Caution: Make sure that ThreadX does not need more than the provided heap memory (64KBytes in this example).
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* The ._threadx_heap must be located between the .bss and the
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._user_heap_stack sections in the linker script.
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* Caution: Make sure that ThreadX does not need more than the provided
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heap memory (64KBytes in this example).
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* Read more in STM32CubeIDE User Guide, chapter: "Linker script".
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* The "tx_initialize_low_level.S" should be also modified to enable the "USE_DYNAMIC_MEMORY_ALLOCATION" flag.
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* The "tx_initialize_low_level.S" should be also modified to enable the
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"USE_DYNAMIC_MEMORY_ALLOCATION" flag.
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*/
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/* USER CODE BEGIN DYNAMIC_MEM_ALLOC */
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@ -208,6 +212,15 @@ VOID tx_application_define(VOID *first_unused_memory)
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Error_Handler();
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}
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void *params_thread_stack = mem;
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mem += THREAD_STACK_SIZE;
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if (tx_thread_create(¶ms_thread, "Params Thread", params_thread_entry, 0,
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params_thread_stack, THREAD_STACK_SIZE,
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THREAD_PRIO_PARAMS, THREAD_PRIO_UI, TX_NO_TIME_SLICE,
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TX_AUTO_START) != TX_SUCCESS) {
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Error_Handler();
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}
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if (MX_TouchGFX_Init(mem) != TX_SUCCESS) {
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Error_Handler();
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}
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@ -215,5 +228,4 @@ VOID tx_application_define(VOID *first_unused_memory)
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mem += 4096;
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/* USER CODE END DYNAMIC_MEM_ALLOC */
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#endif
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}
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@ -27,7 +27,6 @@ extern "C" {
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/* Includes ------------------------------------------------------------------*/
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#include "app_azure_rtos_config.h"
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#include "app_threadx.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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@ -44,6 +43,7 @@ extern "C" {
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#define THREAD_STACK_SIZE 4096
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#define THREAD_PRIO_APP 10
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#define THREAD_PRIO_PARAMS 8
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#define THREAD_PRIO_UI 6
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#define THREAD_PRIO_VEHICLE 7
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#define THREAD_PRIO_LED 11
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@ -7,18 +7,20 @@ extern "C" {
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#include <stddef.h>
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#include <stdint.h>
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#include <tx_port.h>
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#include "util.h"
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CountedEnum(ParamType, size_t, PF_PLIM, PF_TLIM, PF_SLIM, PF_TVEC, PF_PG, PF_REKU);
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CountedEnum(ParamType, size_t, PF_PLIM, PF_TLIM, PF_SLIM, PF_TVEC, PF_PG,
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PF_REKU);
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typedef struct {
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unsigned plim; //< Power limit
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unsigned tlim; //< Torque limit
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unsigned slim; //< Speed limit
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unsigned tvec; //< Torque vectoring
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unsigned pg; //< Power ground
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unsigned reku; //< Rekuperation
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unsigned plim; //< Power limit
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unsigned tlim; //< Torque limit
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unsigned slim; //< Speed limit
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unsigned tvec; //< Torque vectoring
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unsigned pg; //< Power ground
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unsigned reku; //< Rekuperation
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} Params;
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extern Params params;
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@ -28,8 +30,13 @@ void params_inc(ParamType param);
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void params_dec(ParamType param);
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void params_broadcast(ParamType param);
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/** FT24 only
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* Broadcasts the current registered params to the CAN bus every second
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*/
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void params_thread_entry(ULONG _);
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#ifdef __cplusplus
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}
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#endif
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#endif // INC_PARAMS_H
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#endif // INC_PARAMS_H
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@ -1,19 +1,29 @@
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#include "params.h"
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#include <tx_api.h>
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#include "can-halal.h"
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#include "leds.h"
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#include "vehicle.h"
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/**
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* Decrements the given value if it is above the minimum allowed value
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*/
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// TODO these functions take into account that the parameters are unsigned, it's definitely better to have them
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// signed but would need to be tested with the autobox
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#define DEC_IF_ABOVE(param_val, min_val, decr_amt) ((param_val) = (((int)(param_val) - (int)(decr_amt)) > (int)(min_val)) ? ((param_val) - (decr_amt)) : (min_val))
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#define INC_IF_BELOW(param_val, max_val, incr_amt) ((param_val) = (((param_val) + (incr_amt)) < (max_val)) ? ((param_val) + (incr_amt)) : (max_val))
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// TODO these functions take into account that the parameters are unsigned, it's
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// definitely better to have them signed but would need to be tested with the
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// autobox
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#define DEC_IF_ABOVE(param_val, min_val, decr_amt) \
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((param_val) = (((int)(param_val) - (int)(decr_amt)) > (int)(min_val)) \
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? ((param_val) - (decr_amt)) \
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: (min_val))
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#define INC_IF_BELOW(param_val, max_val, incr_amt) \
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((param_val) = (((param_val) + (incr_amt)) < (max_val)) \
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? ((param_val) + (incr_amt)) \
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: (max_val))
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Params params = {0};
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void params_init()
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{
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void params_init() {
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// Default values
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params.plim = 20;
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params.tlim = 1400;
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@ -23,81 +33,89 @@ void params_init()
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params.reku = 0;
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}
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void params_inc(ParamType param)
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{
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switch (param)
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{
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case PF_PLIM:
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INC_IF_BELOW(params.plim, 80, 1);
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break;
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case PF_TLIM:
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INC_IF_BELOW(params.tlim, 1500, 100);
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break;
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case PF_SLIM:
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INC_IF_BELOW(params.slim, 100, 1);
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break;
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case PF_TVEC:
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INC_IF_BELOW(params.tvec, 100, 1);
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break;
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case PF_PG:
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INC_IF_BELOW(params.pg, 100, 1);
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break;
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case PF_REKU:
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INC_IF_BELOW(params.reku, 100, 1);
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break;
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void params_inc(ParamType param) {
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switch (param) {
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case PF_PLIM:
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INC_IF_BELOW(params.plim, 80, 1);
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break;
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case PF_TLIM:
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INC_IF_BELOW(params.tlim, 1500, 100);
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break;
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case PF_SLIM:
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INC_IF_BELOW(params.slim, 100, 1);
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break;
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case PF_TVEC:
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INC_IF_BELOW(params.tvec, 100, 1);
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break;
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case PF_PG:
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INC_IF_BELOW(params.pg, 100, 1);
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break;
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case PF_REKU:
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INC_IF_BELOW(params.reku, 100, 1);
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break;
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}
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}
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void params_dec(ParamType param)
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{
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switch (param)
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{
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case PF_PLIM:
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DEC_IF_ABOVE(params.plim, 0, 1);
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break;
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case PF_TLIM:
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DEC_IF_ABOVE(params.tlim, 0, 100);
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break;
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case PF_SLIM:
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DEC_IF_ABOVE(params.slim, 0, 1);
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break;
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case PF_TVEC:
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DEC_IF_ABOVE(params.tvec, 0, 1);
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break;
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case PF_PG:
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DEC_IF_ABOVE(params.pg, 0, 1);
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break;
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case PF_REKU:
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DEC_IF_ABOVE(params.reku, 0, 1);
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break;
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void params_dec(ParamType param) {
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switch (param) {
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case PF_PLIM:
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DEC_IF_ABOVE(params.plim, 0, 1);
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break;
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case PF_TLIM:
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DEC_IF_ABOVE(params.tlim, 0, 100);
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break;
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case PF_SLIM:
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DEC_IF_ABOVE(params.slim, 0, 1);
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break;
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case PF_TVEC:
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DEC_IF_ABOVE(params.tvec, 0, 1);
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break;
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case PF_PG:
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DEC_IF_ABOVE(params.pg, 0, 1);
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break;
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case PF_REKU:
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DEC_IF_ABOVE(params.reku, 0, 1);
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break;
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}
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}
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void params_broadcast(ParamType param)
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{
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void params_broadcast(ParamType param) {
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int32_t value;
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switch (param)
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{
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case PF_PLIM:
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value = params.plim;
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break;
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case PF_TLIM:
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value = params.tlim;
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break;
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case PF_SLIM:
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value = params.slim;
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break;
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case PF_TVEC:
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value = params.tvec;
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break;
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case PF_PG:
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value = params.pg;
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break;
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case PF_REKU:
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value = params.reku;
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break;
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default:
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return;
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switch (param) {
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case PF_PLIM:
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value = params.plim;
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break;
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case PF_TLIM:
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value = params.tlim;
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break;
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case PF_SLIM:
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value = params.slim;
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break;
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case PF_TVEC:
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value = params.tvec;
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break;
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case PF_PG:
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value = params.pg;
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break;
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case PF_REKU:
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value = params.reku;
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break;
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default:
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return;
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}
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vehicle_broadcast_param(param, value);
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}
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void params_thread_entry(ULONG _) {
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tx_thread_sleep(TX_TIMER_TICKS_PER_SECOND);
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while (1) {
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for (size_t i = 0; i < ParamType_COUNT; i++) {
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led_set(1, 0, 255, 0);
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params_broadcast(i);
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}
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// Wait one second
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tx_thread_sleep(TX_TIMER_TICKS_PER_SECOND);
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}
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}
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