Convert Shepherd to an RTOS

Core/Inc/FreeRTOSConfig.h

@@ -0,0 +1,173 @@
+/* USER CODE BEGIN Header */
+/*
+ * FreeRTOS Kernel V10.3.1
+ * Portion Copyright (C) 2017 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Portion Copyright (C) 2019 StMicroelectronics, Inc.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+/* USER CODE END Header */
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * These parameters and more are described within the 'configuration' section of the
+ * FreeRTOS API documentation available on the FreeRTOS.org web site.
+ *
+ * See http://www.freertos.org/a00110.html
+ *----------------------------------------------------------*/
+
+/* USER CODE BEGIN Includes */
+/* Section where include file can be added */
+/* USER CODE END Includes */
+
+/* Ensure definitions are only used by the compiler, and not by the assembler. */
+#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
+  #include <stdint.h>
+  extern uint32_t SystemCoreClock;
+  void xPortSysTickHandler(void);
+#endif
+#ifndef CMSIS_device_header
+#define CMSIS_device_header "stm32f4xx.h"
+#endif /* CMSIS_device_header */
+
+#define configENABLE_FPU                         0
+#define configENABLE_MPU                         0
+
+#define configUSE_PREEMPTION                     0
+#define configSUPPORT_STATIC_ALLOCATION          1
+#define configSUPPORT_DYNAMIC_ALLOCATION         1
+#define configUSE_IDLE_HOOK                      0
+#define configUSE_TICK_HOOK                      0
+#define configCPU_CLOCK_HZ                       ( SystemCoreClock )
+#define configTICK_RATE_HZ                       ((TickType_t)1000)
+#define configMAX_PRIORITIES                     ( 56 )
+#define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
+#define configTOTAL_HEAP_SIZE                    ((size_t)30000)
+#define configMAX_TASK_NAME_LEN                  ( 16 )
+#define configUSE_TRACE_FACILITY                 1
+#define configUSE_16_BIT_TICKS                   0
+#define configUSE_MUTEXES                        1
+#define configQUEUE_REGISTRY_SIZE                8
+#define configCHECK_FOR_STACK_OVERFLOW           2
+#define configUSE_RECURSIVE_MUTEXES              1
+#define configUSE_MALLOC_FAILED_HOOK             1
+#define configUSE_COUNTING_SEMAPHORES            1
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION  0
+/* USER CODE BEGIN MESSAGE_BUFFER_LENGTH_TYPE */
+/* Defaults to size_t for backward compatibility, but can be changed
+   if lengths will always be less than the number of bytes in a size_t. */
+#define configMESSAGE_BUFFER_LENGTH_TYPE         size_t
+/* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES                    0
+#define configMAX_CO_ROUTINE_PRIORITIES          ( 2 )
+
+/* Software timer definitions. */
+#define configUSE_TIMERS                         1
+#define configTIMER_TASK_PRIORITY                ( 2 )
+#define configTIMER_QUEUE_LENGTH                 10
+#define configTIMER_TASK_STACK_DEPTH             256
+
+/* CMSIS-RTOS V2 flags */
+#define configUSE_OS2_THREAD_SUSPEND_RESUME  1
+#define configUSE_OS2_THREAD_ENUMERATE       1
+#define configUSE_OS2_EVENTFLAGS_FROM_ISR    1
+#define configUSE_OS2_THREAD_FLAGS           1
+#define configUSE_OS2_TIMER                  1
+#define configUSE_OS2_MUTEX                  1
+
+/* Set the following definitions to 1 to include the API function, or zero
+to exclude the API function. */
+#define INCLUDE_vTaskPrioritySet             1
+#define INCLUDE_uxTaskPriorityGet            1
+#define INCLUDE_vTaskDelete                  1
+#define INCLUDE_vTaskCleanUpResources        0
+#define INCLUDE_vTaskSuspend                 1
+#define INCLUDE_vTaskDelayUntil              1
+#define INCLUDE_vTaskDelay                   1
+#define INCLUDE_xTaskGetSchedulerState       1
+#define INCLUDE_xTimerPendFunctionCall       1
+#define INCLUDE_xQueueGetMutexHolder         1
+#define INCLUDE_uxTaskGetStackHighWaterMark  1
+#define INCLUDE_xTaskGetCurrentTaskHandle    1
+#define INCLUDE_eTaskGetState                1
+
+/*
+ * The CMSIS-RTOS V2 FreeRTOS wrapper is dependent on the heap implementation used
+ * by the application thus the correct define need to be enabled below
+ */
+#define USE_FreeRTOS_HEAP_4
+
+/* Cortex-M specific definitions. */
+#ifdef __NVIC_PRIO_BITS
+ /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
+ #define configPRIO_BITS         __NVIC_PRIO_BITS
+#else
+ #define configPRIO_BITS         4
+#endif
+
+/* The lowest interrupt priority that can be used in a call to a "set priority"
+function. */
+#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY   15
+
+/* The highest interrupt priority that can be used by any interrupt service
+routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
+INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
+PRIORITY THAN THIS! (higher priorities are lower numeric values. */
+#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
+
+/* Interrupt priorities used by the kernel port layer itself.  These are generic
+to all Cortex-M ports, and do not rely on any particular library functions. */
+#define configKERNEL_INTERRUPT_PRIORITY 		( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
+See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+
+/* Normal assert() semantics without relying on the provision of an assert.h
+header file. */
+/* USER CODE BEGIN 1 */
+#define configASSERT( x ) if ((x) == 0) {taskDISABLE_INTERRUPTS(); for( ;; );}
+/* USER CODE END 1 */
+
+/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
+standard names. */
+#define vPortSVCHandler    SVC_Handler
+#define xPortPendSVHandler PendSV_Handler
+
+/* IMPORTANT: After 10.3.1 update, Systick_Handler comes from NVIC (if SYS timebase = systick), otherwise from cmsis_os2.c */
+
+#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 1
+
+/* USER CODE BEGIN Defines */
+/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
+/* USER CODE END Defines */
+
+#endif /* FREERTOS_CONFIG_H */

Core/Inc/analyzer.h

@@ -45,25 +45,83 @@ extern const uint8_t POPULATED_THERM_LIST_H[NUM_THERMS_PER_CHIP];
 //#define MAX_SIZE_OF_HIST_QUEUE  300000U //bytes
 
 /**
- * @brief Pushes in a new data point if we have waited long enough
+ * @brief Calculate thermistor values and cell temps using thermistors.
+ * 
+ */
+void calc_cell_temps(acc_data_t *bmsdata);
+
+/**
+ * @brief Calculates pack temp, and avg, min, and max cell temperatures.
+ * 
+ */
+void calc_pack_temps(acc_data_t *bmsdata);
+
+/**
+ * @brief Calculate statistics about pack voltage, such as min and max cell volt, pack and avg voltage, pack and avg OCV, and deltas.
+ * 
+ */
+void calc_pack_voltage_stats(acc_data_t *bmsdata);
+
+/**
+ * @brief Calculate open cell voltages based on cell voltages and previous open cell voltages.
+ * 
+ */
+void calc_open_cell_voltage(acc_data_t *bmsdata);
+
+/**
+ * @brief Calculate cell resistances using cell temperatures and a cell temp to resistance lookup table.
+ * 
+ */
+void calc_cell_resistances(acc_data_t *bmsdata);
+
+/**
+ * @brief Calculate the discharge current limit based on OCV and cell resistance, and ensure that it is stable while driving.
+ * 
+ */
+void calc_dcl(acc_data_t *bmsdata);
+
+/**
+ * @brief Calculate the continuous discharge current limit based on cell temperatures and a cell temp to DCL lookup table.
+ * 
+ */
+void calc_cont_dcl(acc_data_t *bmsdata);
+
+/**
+ * @brief Calculate the continuous charging current limit based on cell temperatures and a cell temp to CCL lookup table.
+ * 
+ */
+void calc_cont_ccl(acc_data_t *bmsdata);
+
+/**
+ * @brief Disable unreliable thermistors.
+ * 
+ */
+void disable_therms(acc_data_t *bmsdata);
+
+/**
+ * @brief Calcuate state of charge by interpolation using an OCV to SOC lookup table.
+ * 
+ */
+void calc_state_of_charge(acc_data_t *bmsdata);
+
+/**
+ * @brief Calculate the percent of voltage readings that are noisy.
+ * 
+ */
+void calc_noise_volt_percent(acc_data_t *bmsdata);
+
+/**
+ * @brief Pushes in a new data point if we have waited long enough.
  *
  * @param data
  */
 void analyzer_push(acc_data_t *data);
 
 /**
- * @brief Calculates the PWM required to drive the fans at the current moment in time
+ * @brief Calculates the PWM required to drive the fans at the current moment in time.
  *
- * @param bmsdata
- * @return uint8_t
+ * @return uint8_t PWM duty cycle from 0-255
  */
 uint8_t analyzer_calc_fan_pwm();
 
-/**
- * @brief Pointer to the address of the most recent data point
- */
-extern acc_data_t *bmsdata;
-
-extern acc_data_t *prevbmsdata;
-
 #endif

Core/Inc/bmsConfig.h

@@ -60,4 +60,8 @@
 
 #define CAN_MESSAGE_WAIT 5
 
+#define CAN_DISPATCH_DELAY 5
+
+// #define CHARGING
+
 #endif

Core/Inc/can_handler.h

@@ -5,6 +5,7 @@
 #include "stm32f4xx_hal.h"
 #include <stdint.h>
 #include "ringbuffer.h"
+#include "cmsis_os2.h"
 
 #define NUM_INBOUND_CAN1_IDS 1
 #define NUM_INBOUND_CAN2_IDS 1
@@ -15,6 +16,9 @@ extern CAN_HandleTypeDef hcan2;
 extern ringbuffer_t *can1_rx_queue;
 extern ringbuffer_t *can2_rx_queue;
 
+#define CAN_MSG_QUEUE_SIZE 50 /* messages */
+extern osMessageQueueId_t can_outbound_queue;
+
 static const uint32_t can1_id_list[NUM_INBOUND_CAN1_IDS] = {
 	//CANID_X,
 	0x0000
@@ -33,4 +37,12 @@ int8_t get_can1_msg();
 /* for 2nd CAN bus */
 int8_t get_can2_msg();
 
+/**
+ * @brief Push a CAN message into the outbound CAN queue.
+ * 
+ * @param msg The CAN message to queue
+ * @return osStatus_t Result of queueing message
+ */
+osStatus_t queue_can_msg(can_msg_t msg);
+
 #endif // CAN_HANDLER_H

Core/Inc/compute.h

@@ -4,6 +4,7 @@
 #include "datastructs.h"
 #include "stateMachine.h"
 #include "ringbuffer.h"
+#include "can.h"
 
 #define CURRENT_SENSOR_PIN_L A1
 #define CURRENT_SENSOR_PIN_H A0
@@ -17,6 +18,9 @@
 
 typedef enum { FAN1, FAN2, FAN3, FAN4, FAN5, FAN6, FANMAX } fan_select_t;
 
+extern can_t can1; // main can bus, used by most peripherals
+extern can_t can2; // p2p can bus with charger
+
 /**
  * @brief inits the compute interface
  */

Core/Inc/datastructs.h

@@ -5,6 +5,7 @@
 #include <stdint.h>
 #include "bmsConfig.h"
 #include "timer.h"
+#include "cmsis_os2.h"
 
 /**
  * @brief Individual chip data
@@ -127,6 +128,8 @@ typedef struct {
 	uint16_t boost_setting;
 
 	bool is_charger_connected;
+
+	osMutexId_t mutex;
 } acc_data_t;
 
 /**

Core/Inc/segment.h

@@ -14,8 +14,6 @@ void segment_init();
  * @brief Pulls all cell data from the segments and returns all cell data
  *
  * @todo make sure that retrieving cell data doesn't block code too much
- *
- * @return int*
  */
 void segment_retrieve_data(chipdata_t databuf[NUM_CHIPS]);