Refactor: Cleanup TEL FW (#122)

components/tel/Core/Inc/can.h

@@ -1,105 +1,108 @@
-/* USER CODE BEGIN Header */
-/**
-  ******************************************************************************
-  * @file    can.h
-  * @brief   This file contains all the function prototypes for
-  *          the can.c file
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2023 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
-/* USER CODE END Header */
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __CAN_H__
-#define __CAN_H__
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include "main.h"
-
-/* USER CODE BEGIN Includes */
-
-#include "cmsis_os.h"
-
-/* USER CODE END Includes */
-
-extern CAN_HandleTypeDef hcan;
-
-/* USER CODE BEGIN Private defines */
-
-#define CAN_READY (uint32_t) 0x0001
-#define RTC_TIMESTAMP_MSG_ID 0x300
-#define TEL_DIAGNOSTICS_ID 0x750
-#define IMU_X_AXIS 0x752
-#define IMU_Y_AXIS 0x753
-#define IMU_Z_AXIS 0x754
-#define GPS_latitude_ID 0x755
-#define GPS_longitude_ID 0x756
-#define GPS_altitude_hdop_ID 0x757
-#define GPS_side_count_ID 0x758
-#define GET_BYTE_FROM_WORD(i, word) ((word >> (i * 8)) & 0xFF);
-
-#define CAN_DATA_LENGTH 8
-
-extern CAN_TxHeaderTypeDef tel_diagnostics_header;
-extern CAN_TxHeaderTypeDef IMU_x_axis_header;
-extern CAN_TxHeaderTypeDef IMU_y_axis_header;
-extern CAN_TxHeaderTypeDef IMU_z_axis_header;
-extern CAN_TxHeaderTypeDef GPS_latitude_header;
-extern CAN_TxHeaderTypeDef GPS_longitude_header;
-extern CAN_TxHeaderTypeDef GPS_altitude_hdop_header;
-extern CAN_TxHeaderTypeDef GPS_side_count_header;
-
-
-
-
-extern uint32_t can_mailbox;
-
-/* USER CODE END Private defines */
-
-void MX_CAN_Init(void);
-
-/* USER CODE BEGIN Prototypes */
-
-
-typedef union DoubleBytes {
-	double double_value;			/**< Double value member of the union. */
-	uint64_t double_as_int;			/**< 64 bit in member of union. */
-} DoubleBytes;
-
-typedef struct {
-  CAN_RxHeaderTypeDef header;
-  uint8_t data[8];
-  union DoubleBytes timestamp;
-} CAN_msg_t;
-
-typedef struct {
-  CAN_TxHeaderTypeDef header;
-  uint8_t data[8];
-  union DoubleBytes timestamp;
-} CAN_Radio_msg_t;
-
-void CanFilterSetup(void);
-void Can_Init(void);
-
-extern osThreadId readCANTaskHandle;
-
-/* USER CODE END Prototypes */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __CAN_H__ */
-
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    can.h
+  * @brief   This file contains all the function prototypes for
+  *          the can.c file
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2023 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __CAN_H__
+#define __CAN_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+#include "cmsis_os.h"
+#include "utils.h"
+
+/* USER CODE END Includes */
+
+extern CAN_HandleTypeDef hcan;
+
+/* USER CODE BEGIN Private defines */
+
+#define CAN_READY (uint32_t) 0x0001
+#define RTC_TIMESTAMP_MSG_ID 0x300
+#define TEL_DIAGNOSTICS_ID 0x750
+#define IMU_X_AXIS 0x752
+#define IMU_Y_AXIS 0x753
+#define IMU_Z_AXIS 0x754
+#define GPS_latitude_ID 0x755
+#define GPS_longitude_ID 0x756
+#define GPS_altitude_hdop_ID 0x757
+#define GPS_side_count_ID 0x758
+
+#define CAN_DATA_LENGTH 8
+#define CAN_TIMESTAMP_LENGTH 8
+
+/* INITIAL CONSTANTS */
+#define INITIAL_FLAGS                       0x00
+#define FLAG_HIGH                           1
+#define FIRST_DATA_BYTE                     0
+
+extern CAN_TxHeaderTypeDef tel_diagnostics_header;
+extern CAN_TxHeaderTypeDef IMU_x_axis_header;
+extern CAN_TxHeaderTypeDef IMU_y_axis_header;
+extern CAN_TxHeaderTypeDef IMU_z_axis_header;
+extern CAN_TxHeaderTypeDef GPS_latitude_header;
+extern CAN_TxHeaderTypeDef GPS_longitude_header;
+extern CAN_TxHeaderTypeDef GPS_altitude_hdop_header;
+extern CAN_TxHeaderTypeDef GPS_side_count_header;
+
+
+
+
+extern uint32_t can_mailbox;
+
+/* USER CODE END Private defines */
+
+void MX_CAN_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+typedef struct {
+  CAN_RxHeaderTypeDef header;
+  uint8_t data[8];
+  union Utils_DoubleBytes_t timestamp;
+} CAN_msg_t;
+
+typedef struct {
+  CAN_TxHeaderTypeDef header;
+  uint8_t data[8];
+  union Utils_DoubleBytes_t timestamp;
+} CAN_Radio_msg_t;
+
+void CanFilterSetup(void);
+void CAN_Init(void);
+void CAN_radio_and_bus_transmit(CAN_HandleTypeDef* hcan, CAN_Radio_msg_t* tx_CAN_msg, uint32_t* can_mailbox);
+void CAN_rx_to_radio(CAN_msg_t* rx_CAN_msg, CAN_Radio_msg_t* tx_CAN_msg);
+void CAN_diagnostic_msg_tx_radio_bus();
+
+extern osThreadId readCANTaskHandle;
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CAN_H__ */
+

components/tel/Core/Inc/gps.h

@@ -0,0 +1,32 @@
+/**
+ *  @file gps.h
+ *  @brief header file for gps.c. Define buffer lengths
+ *
+ *  @date 2023/03/18
+ *  @author Diego Armstrong
+ */
+
+#include "radio.h"
+#include "i2c.h"
+#include "nmea_parse.h"
+#include "rtc.h"
+#include "rtos_tasks.h"
+
+#define DOUBLE_LAST_BYTE_IDX                7
+#define FLOAT_LAST_BYTE_IDX                 3
+#define LATSIDE_MSG_IDX                     0
+#define LONSIDE_MSG_IDX                     1
+#define GPS_RCV_BUFFER_SIZE                 512             // 512 bytes to receive GPS data from I2C
+#define UNINITIALIZED                       0
+#define INDEX_6                             6
+#define INDEX_7                             7
+#define NUM_BYTES_FLOAT                     4   
+#define GPS_SIDE_AND_COUNT_DATA_END_INDEX   5
+#define GOT_FIX                             1
+#define GPS_SINGLE_MSG_DELAY                2000            // 2 second delay
+#define GPS_NEXT_MSG_DELAY                  4000            // 4 second delay
+#define GPS_SYNC_TIMEOUT                    2 * 60 * 1000   // 2 minute timeout
+#define SAT_COUNT_START_INDEX               2
+
+void GPS_delayed_rx_and_tx_as_CAN();
+void GPS_wait_for_fix(); 

components/tel/Core/Inc/i2c.h

@@ -65,6 +65,10 @@ extern I2C_HandleTypeDef hi2c2;
 #define NUM_ACCEL_BYTES 6
 #define NUM_GYRO_BYTES 6
 
+#define READ_TIMEOUT 1000
+#define GPS_TRIALS    1
+
+
 /* USER CODE END Private defines */
 
 void MX_I2C1_Init(void);

components/tel/Core/Inc/imu.h

@@ -1,14 +1,26 @@
 #include <stdint.h>
+#include <time.h>
+#include "i2c.h"
+#include "usart.h"
+#include "sd_logger.h"
+#include "rtos_tasks.h"
+#include "rtc.h"
+#include "can.h"
 
-#define IMU_MESSAGE_LEN 17
-
-#define TIMESTAMP_BYTE(i, timestamp) ((timestamp >> (i * 8)) & 0xFF);
+#define IMU_MESSAGE_LEN             17
+#define ACCEL_SENSITIVITY           16384.0
+#define GYRO_SENSITIVITY            131.0
+#define MEM_ADDRESS_SIZE            1
+#define NUM_BITS_IN_BYTE_SHIFT      8
+#define RAW_X_START_BYTE            0
+#define RAW_Y_START_BYTE            2
+#define RAW_Z_START_BYTE            4  
+#define GYRO_DATA_START_BYTE        4
 
 typedef struct {
   uint8_t imu_type;
   uint8_t dimension;
   uint8_t data[4];
 } IMU_msg_t;
 
-
-void transmit_imu_data(uint64_t current_timestamp, uint8_t* imu_data, char imu_type, char dimension);
+void IMU_send_as_CAN_msg_single_delay();

components/tel/Core/Inc/iwdg.h

@@ -30,6 +30,9 @@ extern "C" {
 
 /* USER CODE BEGIN Includes */
 
+#include "rtos_tasks.h"
+#include "cmsis_os.h"
+
 /* USER CODE END Includes */
 
 extern IWDG_HandleTypeDef hiwdg;
@@ -42,6 +45,9 @@ void MX_IWDG_Init(void);
 
 /* USER CODE BEGIN Prototypes */
 
+void IWDG_refresh();
+void IWDG_inf_refresh_with_delay();
+
 /* USER CODE END Prototypes */
 
 #ifdef __cplusplus

components/tel/Core/Inc/radio.h

@@ -0,0 +1,48 @@
+
+/**
+ *  @file radio.h
+ *  @brief header file for radio.c. Define buffer lengths
+ *
+ *  @date 2023/03/18
+ *  @author Aarjav Jain
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __RADIO_TRANSNIT_H__
+#define __RADIO_TRANSNIT_H__
+
+#include "can.h"
+#include "usart.h"
+#include "rtc.h"
+
+/* RADIO BUFFER BYTE LENGTHS */
+#define CAN_BUFFER_LEN                      24
+#define GPS_MESSAGE_LEN                     200
+
+/* CAN BUFFER INDECIES */
+#define TIMESTAMP_INDEX_START               0
+#define TIMESTAMP_INDEX_END                 7
+#define CAN_MESSAGE_IDENTIFIER_INDEX        8
+#define CAN_ID_INDEX_END                    12
+#define CAN_DATA_INDEX_START                13
+#define CAN_DATA_INDEX_END                  20
+#define CAN_DATA_LENGTH_INDEX               21
+#define CAN_CARRIAGE_RETURN_INDEX           CAN_BUFFER_LEN - 2
+#define CAN_NEW_LINE_INDEX                  CAN_BUFFER_LEN - 1
+
+/* BYTE LOGIC and LENGTHS */
+#define BITS_IN_BYTE                        8
+#define NUM_STD_ID_BYTES                    2
+#define NUM_EXT_ID_BYTES                    4
+#define MASK_8_BITS                         0xFF
+#define MASK_4_BITS                         0xF
+
+/* MSG CONSTANTS */
+#define CAN_MESSAGE_IDENTIFIER              '#'
+
+/* TIMING CONSTANTS */
+#define CAN_TRANSMIT_TIMEOUT                1000                // 1 second timeout
+
+void RADIO_tx_CAN_msg(CAN_Radio_msg_t *tx_CAN_msg);
+
+#endif /* __RADIO_H__ */