Update param freq

AZURE_RTOS/App/app_azure_rtos.c

@@ -21,19 +21,19 @@
 /* Includes ------------------------------------------------------------------*/
 
 #include "app_azure_rtos.h"
+
 #include "stm32h7xx.h"
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "app.h"
+#include "app_touchgfx.h"
 #include "leds.h"
 #include "main.h"
-#include "ui.h"
-#include "vehicle.h"
-
-#include "app_touchgfx.h"
 #include "tx_api.h"
 #include "tx_port.h"
+#include "ui.h"
+#include "vehicle.h"
 
 /* USER CODE END Includes */
 
@@ -56,10 +56,11 @@
 #if (USE_STATIC_ALLOCATION == 1)
 /* USER CODE BEGIN TX_Pool_Buffer */
 /* USER CODE END TX_Pool_Buffer */
-#if defined ( __ICCARM__ )
+#if defined(__ICCARM__)
-#pragma data_alignment=4
+#pragma data_alignment = 4
 #endif
-__ALIGN_BEGIN static UCHAR tx_byte_pool_buffer[TX_APP_MEM_POOL_SIZE] __ALIGN_END;
+__ALIGN_BEGIN static UCHAR
+    tx_byte_pool_buffer[TX_APP_MEM_POOL_SIZE] __ALIGN_END;
 static TX_BYTE_POOL tx_app_byte_pool;
 
 #endif
@@ -69,6 +70,7 @@ TX_THREAD app_thread;
 TX_THREAD ui_thread;
 TX_THREAD vehicle_thread;
 TX_THREAD led_thread;
+TX_THREAD params_thread;
 TX_QUEUE gui_button_queue;
 TX_EVENT_FLAGS_GROUP gui_update_events;
 /* USER CODE END PV */
@@ -79,12 +81,11 @@ TX_EVENT_FLAGS_GROUP gui_update_events;
 /* USER CODE END PFP */
 
 /**
-  * @brief  Define the initial system.
+ * @brief  Define the initial system.
-  * @param  first_unused_memory : Pointer to the first unused memory
+ * @param  first_unused_memory : Pointer to the first unused memory
-  * @retval None
+ * @retval None
-  */
+ */
-VOID tx_application_define(VOID *first_unused_memory)
+VOID tx_application_define(VOID *first_unused_memory) {
-{
   /* USER CODE BEGIN  tx_application_define_1*/
 
   /* USER CODE END  tx_application_define_1 */
@@ -92,22 +93,20 @@ VOID tx_application_define(VOID *first_unused_memory)
   UINT status = TX_SUCCESS;
   VOID *memory_ptr;
 
-  if (tx_byte_pool_create(&tx_app_byte_pool, "Tx App memory pool", tx_byte_pool_buffer, TX_APP_MEM_POOL_SIZE) != TX_SUCCESS)
+  if (tx_byte_pool_create(&tx_app_byte_pool, "Tx App memory pool",
-  {
+                          tx_byte_pool_buffer,
+                          TX_APP_MEM_POOL_SIZE) != TX_SUCCESS) {
     /* USER CODE BEGIN TX_Byte_Pool_Error */
 
     /* USER CODE END TX_Byte_Pool_Error */
-  }
+  } else {
-  else
-  {
     /* USER CODE BEGIN TX_Byte_Pool_Success */
 
     /* USER CODE END TX_Byte_Pool_Success */
 
     memory_ptr = (VOID *)&tx_app_byte_pool;
     status = App_ThreadX_Init(memory_ptr);
-    if (status != TX_SUCCESS)
+    if (status != TX_SUCCESS) {
-    {
       /* USER CODE BEGIN  App_ThreadX_Init_Error */
       while (1) {
       }
@@ -117,21 +116,22 @@ VOID tx_application_define(VOID *first_unused_memory)
     /* USER CODE BEGIN  App_ThreadX_Init_Success */
 
     /* USER CODE END  App_ThreadX_Init_Success */
-
   }
 
 #else
   /*
-   * Using dynamic memory allocation requires to apply some changes to the linker file.
+   * Using dynamic memory allocation requires to apply some changes to the
-   * ThreadX needs to pass a pointer to the first free memory location in RAM to the tx_application_define() function,
+   linker file.
+   * ThreadX needs to pass a pointer to the first free memory location in RAM to
+   the tx_application_define() function,
    * using the "first_unused_memory" argument.
    * This require changes in the linker files to expose this memory location.
    * For EWARM add the following section into the .icf file:
        place in RAM_region    { last section FREE_MEM };
    * For MDK-ARM
        - either define the RW_IRAM1 region in the ".sct" file
-       - or modify the line below in "tx_initialize_low_level.S to match the memory region being used
+       - or modify the line below in "tx_initialize_low_level.S to match the
-          LDR r1, =|Image$$RW_IRAM1$$ZI$$Limit|
+   memory region being used LDR r1, =|Image$$RW_IRAM1$$ZI$$Limit|
 
    * For STM32CubeIDE add the following section into the .ld file:
        ._threadx_heap :
@@ -141,13 +141,17 @@ VOID tx_application_define(VOID *first_unused_memory)
             . = . + 64K;
             . = ALIGN(8);
           } >RAM_D1 AT> RAM_D1
-      * The simplest way to provide memory for ThreadX is to define a new section, see ._threadx_heap above.
+      * The simplest way to provide memory for ThreadX is to define a new
+   section, see ._threadx_heap above.
       * In the example above the ThreadX heap size is set to 64KBytes.
-      * The ._threadx_heap must be located between the .bss and the ._user_heap_stack sections in the linker script.
+      * The ._threadx_heap must be located between the .bss and the
-      * Caution: Make sure that ThreadX does not need more than the provided heap memory (64KBytes in this example).
+   ._user_heap_stack sections in the linker script.
+      * Caution: Make sure that ThreadX does not need more than the provided
+   heap memory (64KBytes in this example).
       * Read more in STM32CubeIDE User Guide, chapter: "Linker script".
 
-   * The "tx_initialize_low_level.S" should be also modified to enable the "USE_DYNAMIC_MEMORY_ALLOCATION" flag.
+   * The "tx_initialize_low_level.S" should be also modified to enable the
+   "USE_DYNAMIC_MEMORY_ALLOCATION" flag.
    */
 
   /* USER CODE BEGIN DYNAMIC_MEM_ALLOC */
@@ -208,6 +212,15 @@ VOID tx_application_define(VOID *first_unused_memory)
     Error_Handler();
   }
 
+  void *params_thread_stack = mem;
+  mem += THREAD_STACK_SIZE;
+  if (tx_thread_create(&params_thread, "Params Thread", params_thread_entry, 0,
+                       params_thread_stack, THREAD_STACK_SIZE,
+                       THREAD_PRIO_PARAMS, THREAD_PRIO_UI, TX_NO_TIME_SLICE,
+                       TX_AUTO_START) != TX_SUCCESS) {
+    Error_Handler();
+  }
+
   if (MX_TouchGFX_Init(mem) != TX_SUCCESS) {
     Error_Handler();
   }
@@ -215,5 +228,4 @@ VOID tx_application_define(VOID *first_unused_memory)
   mem += 4096;
   /* USER CODE END DYNAMIC_MEM_ALLOC */
 #endif
-
 }

AZURE_RTOS/App/app_azure_rtos.h

@@ -27,7 +27,6 @@ extern "C" {
 
 /* Includes ------------------------------------------------------------------*/
 #include "app_azure_rtos_config.h"
-
 #include "app_threadx.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
@@ -44,6 +43,7 @@ extern "C" {
 #define THREAD_STACK_SIZE 4096
 
 #define THREAD_PRIO_APP 10
+#define THREAD_PRIO_PARAMS 8
 #define THREAD_PRIO_UI 6
 #define THREAD_PRIO_VEHICLE 7
 #define THREAD_PRIO_LED 11

Core/Inc/params.h

@@ -7,18 +7,20 @@ extern "C" {
 
 #include <stddef.h>
 #include <stdint.h>
+#include <tx_port.h>
 
 #include "util.h"
 
-CountedEnum(ParamType, size_t, PF_PLIM, PF_TLIM, PF_SLIM, PF_TVEC, PF_PG, PF_REKU);
+CountedEnum(ParamType, size_t, PF_PLIM, PF_TLIM, PF_SLIM, PF_TVEC, PF_PG,
+            PF_REKU);
 
 typedef struct {
-  unsigned plim; //< Power limit
+  unsigned plim;  //< Power limit
-  unsigned tlim; //< Torque limit
+  unsigned tlim;  //< Torque limit
-  unsigned slim; //< Speed limit
+  unsigned slim;  //< Speed limit
-  unsigned tvec; //< Torque vectoring
+  unsigned tvec;  //< Torque vectoring
-  unsigned pg;   //< Power ground
+  unsigned pg;    //< Power ground
-  unsigned reku; //< Rekuperation
+  unsigned reku;  //< Rekuperation
 } Params;
 
 extern Params params;
@@ -28,8 +30,13 @@ void params_inc(ParamType param);
 void params_dec(ParamType param);
 void params_broadcast(ParamType param);
 
+/** FT24 only
+ * Broadcasts the current registered params to the CAN bus every second
+ */
+void params_thread_entry(ULONG _);
+
 #ifdef __cplusplus
 }
 #endif
 
-#endif // INC_PARAMS_H
+#endif  // INC_PARAMS_H

Core/Src/params.c

@@ -1,19 +1,29 @@
 #include "params.h"
+
+#include <tx_api.h>
+
 #include "can-halal.h"
+#include "leds.h"
 #include "vehicle.h"
 
 /**
  * Decrements the given value if it is above the minimum allowed value
  */
-// TODO these functions take into account that the parameters are unsigned, it's definitely better to have them
+// TODO these functions take into account that the parameters are unsigned, it's
-// signed but would need to be tested with the autobox 
+// definitely better to have them signed but would need to be tested with the
-#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))
+// autobox
-#define INC_IF_BELOW(param_val, max_val, incr_amt) ((param_val) = (((param_val) + (incr_amt)) < (max_val)) ? ((param_val) + (incr_amt)) : (max_val))
+#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))
+#define INC_IF_BELOW(param_val, max_val, incr_amt)        \
+  ((param_val) = (((param_val) + (incr_amt)) < (max_val)) \
+                     ? ((param_val) + (incr_amt))         \
+                     : (max_val))
 
 Params params = {0};
 
-void params_init()
+void params_init() {
-{
   // Default values
   params.plim = 20;
   params.tlim = 1400;
@@ -23,81 +33,89 @@ void params_init()
   params.reku = 0;
 }
 
-void params_inc(ParamType param)
+void params_inc(ParamType param) {
-{
+  switch (param) {
-  switch (param)
+    case PF_PLIM:
-  {
+      INC_IF_BELOW(params.plim, 80, 1);
-  case PF_PLIM:
+      break;
-    INC_IF_BELOW(params.plim, 80, 1);
+    case PF_TLIM:
-    break;
+      INC_IF_BELOW(params.tlim, 1500, 100);
-  case PF_TLIM:
+      break;
-    INC_IF_BELOW(params.tlim, 1500, 100);
+    case PF_SLIM:
-    break;
+      INC_IF_BELOW(params.slim, 100, 1);
-  case PF_SLIM:
+      break;
-    INC_IF_BELOW(params.slim, 100, 1);
+    case PF_TVEC:
-    break;
+      INC_IF_BELOW(params.tvec, 100, 1);
-  case PF_TVEC:
+      break;
-    INC_IF_BELOW(params.tvec, 100, 1);
+    case PF_PG:
-    break;
+      INC_IF_BELOW(params.pg, 100, 1);
-  case PF_PG:
+      break;
-    INC_IF_BELOW(params.pg, 100, 1);
+    case PF_REKU:
-    break;
+      INC_IF_BELOW(params.reku, 100, 1);
-  case PF_REKU:
+      break;
-    INC_IF_BELOW(params.reku, 100, 1);
-    break;
   }
 }
 
-void params_dec(ParamType param)
+void params_dec(ParamType param) {
-{
+  switch (param) {
-  switch (param)
+    case PF_PLIM:
-  {
+      DEC_IF_ABOVE(params.plim, 0, 1);
-  case PF_PLIM:
+      break;
-    DEC_IF_ABOVE(params.plim, 0, 1);
+    case PF_TLIM:
-    break;
+      DEC_IF_ABOVE(params.tlim, 0, 100);
-  case PF_TLIM:
+      break;
-    DEC_IF_ABOVE(params.tlim, 0, 100);
+    case PF_SLIM:
-    break;
+      DEC_IF_ABOVE(params.slim, 0, 1);
-  case PF_SLIM:
+      break;
-    DEC_IF_ABOVE(params.slim, 0, 1);
+    case PF_TVEC:
-    break;
+      DEC_IF_ABOVE(params.tvec, 0, 1);
-  case PF_TVEC:
+      break;
-    DEC_IF_ABOVE(params.tvec, 0, 1);
+    case PF_PG:
-    break;
+      DEC_IF_ABOVE(params.pg, 0, 1);
-  case PF_PG:
+      break;
-    DEC_IF_ABOVE(params.pg, 0, 1);
+    case PF_REKU:
-    break;
+      DEC_IF_ABOVE(params.reku, 0, 1);
-  case PF_REKU:
+      break;
-    DEC_IF_ABOVE(params.reku, 0, 1);
-    break;
   }
 }
 
-void params_broadcast(ParamType param)
+void params_broadcast(ParamType param) {
-{
   int32_t value;
-  switch (param)
+  switch (param) {
-  {
+    case PF_PLIM:
-  case PF_PLIM:
+      value = params.plim;
-    value = params.plim;
+      break;
-    break;
+    case PF_TLIM:
-  case PF_TLIM:
+      value = params.tlim;
-    value = params.tlim;
+      break;
-    break;
+    case PF_SLIM:
-  case PF_SLIM:
+      value = params.slim;
-    value = params.slim;
+      break;
-    break;
+    case PF_TVEC:
-  case PF_TVEC:
+      value = params.tvec;
-    value = params.tvec;
+      break;
-    break;
+    case PF_PG:
-  case PF_PG:
+      value = params.pg;
-    value = params.pg;
+      break;
-    break;
+    case PF_REKU:
-  case PF_REKU:
+      value = params.reku;
-    value = params.reku;
+      break;
-    break;
+    default:
-  default:
+      return;
-    return;
   }
   vehicle_broadcast_param(param, value);
 }
+
+void params_thread_entry(ULONG _) {
+  tx_thread_sleep(TX_TIMER_TICKS_PER_SECOND);
+
+  while (1) {
+    for (size_t i = 0; i < ParamType_COUNT; i++) {
+      led_set(1, 0, 255, 0);
+      params_broadcast(i);
+    }
+
+    // Wait one second
+    tx_thread_sleep(TX_TIMER_TICKS_PER_SECOND);
+  }
+}