Merge remote-tracking branch 'origin/integration' into embedded

src/esw/fw/bdcmc/Core/Src/encoders/absolute_encoder.cpp

@@ -75,4 +75,4 @@ namespace mrover {
         return std::make_optional<EncoderReading>(m_position, m_velocity_filter.get_filtered());
     }
 
-} // namespace mrover
+} // namespace mrover

src/esw/fw/science/.cproject

@@ -37,7 +37,7 @@
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.396546704" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.277478093" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g3" valueType="enumerated"/>
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1828333568" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1828333568" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.os" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.309418606" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="DEBUG"/>
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>

src/esw/fw/science/Core/Inc/science.hpp

@@ -110,7 +110,6 @@ namespace mrover {
         }
 
         void reboot_i2c() {
-        	//m_spectral_sensors.at(0).reboot();
         	m_i2c_bus->reboot();
         }
 
@@ -123,9 +122,7 @@ namespace mrover {
 				spectral_data.error =
 						m_spectral_sensors.at(i).is_error();
 				if (spectral_data.error) {
-
-//					reboot_i2c(); // This causes a crash
-
+//					reboot_i2c(); // Does this still cause crashes? yes
 				}
         		for (int j = 0; j < 6; ++j) {
 					spectral_data.data.at(j) =
@@ -170,4 +167,4 @@ namespace mrover {
 
     };
 
-} // namespace mrover
+} // namespace mrover

src/esw/fw/science/Core/Inc/spectral.hpp

@@ -26,9 +26,10 @@ namespace mrover {
         	READ,
 			WRITE
         };
+
         void poll_status_reg(I2C_OP rw);
 
-    	void update_channel_data(); // updates all of the channels
+    	void update_channel_data();
 
     	float get_channel_data(uint8_t channel);
 
@@ -39,7 +40,7 @@ namespace mrover {
         void init();
 
         void virtual_write(uint8_t virtual_reg, uint8_t data);
-        uint8_t virtual_read(uint8_t virtual_reg);// -> std::optional<uint16_t>;
+        uint8_t virtual_read(uint8_t virtual_reg);
 
         constexpr static std::uint16_t SPECTRAL_7b_ADDRESS = 0x49;
         constexpr static std::uint8_t I2C_AS72XX_SLAVE_STATUS_REG = 0x00;
@@ -59,9 +60,6 @@ namespace mrover {
         uint8_t m_i2c_mux_channel;
         constexpr static std::uint8_t CHANNEL_DATA_LENGTH = 6;
         std::array<float, CHANNEL_DATA_LENGTH> channel_data {};
-        // Sensor Raw Data Registers Start, 6 channels, 2 bytes each.
-        // See pg. 22 of datasheet for more info.
-//        constexpr static std::uint8_t CHANNEL_V_HIGH = 0x08;
         // Sensor Calibrated Data Registers Start (p. 23 on datasheet)
         constexpr static std::uint8_t CHANNEL_V_HIGH = 0x08;
         constexpr static std::uint8_t CHANNEL_V_CAL = 0x14;

src/esw/fw/science/Core/Inc/stm32g4xx_hal_conf.h

@@ -62,7 +62,7 @@
 /*#define HAL_SMBUS_MODULE_ENABLED   */
 /*#define HAL_SPI_MODULE_ENABLED   */
 /*#define HAL_SRAM_MODULE_ENABLED   */
-/*#define HAL_TIM_MODULE_ENABLED   */
+#define HAL_TIM_MODULE_ENABLED
 /*#define HAL_UART_MODULE_ENABLED   */
 /*#define HAL_USART_MODULE_ENABLED   */
 /*#define HAL_WWDG_MODULE_ENABLED   */

src/esw/fw/science/Core/Src/i2c_mux.cpp

@@ -14,10 +14,10 @@ namespace mrover {
     		current_channel = go_to_channel;
     	}
     	else{
+			// Reset mux. Disables all downstream I2C Channels
     		m_reset_pin.write(GPIO_PIN_RESET);
     		osDelay(50);
     		m_reset_pin.write(GPIO_PIN_SET);
-    		// Error handling
     	}
     }
 } // namespace mrover

src/esw/fw/science/Core/Src/main.c

@@ -49,6 +49,8 @@ FDCAN_HandleTypeDef hfdcan1;
 
 I2C_HandleTypeDef hi2c1;
 
+TIM_HandleTypeDef htim16;
+
 /* Definitions for defaultTask */
 osThreadId_t defaultTaskHandle;
 const osThreadAttr_t defaultTask_attributes = {
@@ -81,6 +83,7 @@ static void MX_DMA_Init(void);
 static void MX_FDCAN1_Init(void);
 static void MX_I2C1_Init(void);
 static void MX_ADC1_Init(void);
+static void MX_TIM16_Init(void);
 void StartDefaultTask(void *argument);
 
 /* USER CODE BEGIN PFP */
@@ -156,6 +159,7 @@ int main(void)
   MX_FDCAN1_Init();
   MX_I2C1_Init();
   MX_ADC1_Init();
+  MX_TIM16_Init();
   /* USER CODE BEGIN 2 */
 
   init();
@@ -183,11 +187,10 @@ int main(void)
 
   /* Create the thread(s) */
   /* creation of defaultTask */
-//  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
+  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
 
   /* USER CODE BEGIN RTOS_THREADS */
 
-  // TODO - Using spectral causes a hardfault!!!
   SpectralTaskHandle = osThreadNew(SpectralTask, NULL, &SpectralTask_attributes);
   ThermistorAndAutoShutoffTaskHandle = osThreadNew(ThermistorAndAutoShutoffTask, NULL, &ThermistorAndAutoShutoffTask_attributes);
 
@@ -464,6 +467,38 @@ static void MX_I2C1_Init(void)
 
 }
 
+/**
+  * @brief TIM16 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM16_Init(void)
+{
+
+  /* USER CODE BEGIN TIM16_Init 0 */
+
+  /* USER CODE END TIM16_Init 0 */
+
+  /* USER CODE BEGIN TIM16_Init 1 */
+
+  /* USER CODE END TIM16_Init 1 */
+  htim16.Instance = TIM16;
+  htim16.Init.Prescaler = 0;
+  htim16.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim16.Init.Period = 65535;
+  htim16.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim16.Init.RepetitionCounter = 0;
+  htim16.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim16) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM16_Init 2 */
+
+  /* USER CODE END TIM16_Init 2 */
+
+}
+
 /**
   * Enable DMA controller clock
   */
@@ -546,12 +581,11 @@ void SpectralTask(void *argument) {
 	for(;;) {
 		tick = osKernelGetTickCount() + osKernelGetTickFreq(); // 1 Hz
 
-		// finish
-//		poll_spectral_status();
 		update_and_send_spectral();
 		osDelayUntil(tick);
 	}
 }
+
 void ThermistorAndAutoShutoffTask(void *argument) {
 	uint32_t tick = osKernelGetTickCount();
 	for(;;) {
@@ -614,4 +648,4 @@ void assert_failed(uint8_t *file, uint32_t line)
      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
   /* USER CODE END 6 */
 }
-#endif /* USE_FULL_ASSERT */
+#endif /* USE_FULL_ASSERT */

src/esw/fw/science/Core/Src/spectral.cpp

@@ -21,7 +21,6 @@ namespace mrover {
     }
 
     void Spectral::poll_status_reg(I2C_OP rw){
-    	m_i2c_mux->set_channel(m_i2c_mux_channel);
     	for(int i = 0; i < 100; ++i){
 			auto status = m_i2c_bus->blocking_transact(SPECTRAL_7b_ADDRESS, I2C_AS72XX_SLAVE_STATUS_REG);
 
@@ -83,7 +82,6 @@ namespace mrover {
     void Spectral::update_channel_data() {
     	if (!m_initialized) {
     		init();
-    		// If it is still not initialized, just return.
 			if (!m_initialized) {
 				return;
 			}
@@ -115,7 +113,7 @@ namespace mrover {
     	return channel_data.at(channel);
     }
 
-    void Spectral::virtual_write(uint8_t virtual_reg, uint8_t data){
+    void Spectral::virtual_write(uint8_t virtual_reg, uint8_t data) {
 		poll_status_reg(I2C_OP::WRITE);
 		uint8_t buf[2];
 		buf[0] = I2C_AS72XX_WRITE_REG;
@@ -125,20 +123,22 @@ namespace mrover {
     	HAL_I2C_Master_Transmit(&hi2c1, SPECTRAL_7b_ADDRESS << 1, buf, sizeof(buf), 100);
 
 		poll_status_reg(I2C_OP::WRITE);
-		buf[0] = I2C_AS72XX_WRITE_REG;
 		buf[1] = data;
 //		m_i2c_bus->blocking_transmit(SPECTRAL_7b_ADDRESS, buf[0]);
 
 		HAL_I2C_Master_Transmit(&hi2c1, SPECTRAL_7b_ADDRESS << 1, buf, sizeof(buf), 100);
 
     }
 
-    uint8_t Spectral::virtual_read(uint8_t virtual_reg){// -> std::optional<uint16_t>{
-    	// Read status register may not work quite how it is described in the datasheet
-
+    uint8_t Spectral::virtual_read(uint8_t virtual_reg) {
+		// *IMPORTANT*
+		// This is necessary to clear the READ register.
+		// Otherwise the status bit will not change properly to 
+		// indicate new data is available
     	auto status = m_i2c_bus->blocking_transact(SPECTRAL_7b_ADDRESS, I2C_AS72XX_SLAVE_STATUS_REG);
 
     	if (status.has_value()) {
+
 			if ((status.value() & I2C_AS72XX_SLAVE_RX_VALID) != 0) {
 				auto not_used = m_i2c_bus->blocking_transact(SPECTRAL_7b_ADDRESS, I2C_AS72XX_READ_REG);
 			}
@@ -148,6 +148,7 @@ namespace mrover {
     		m_initialized = false;
     		return 0;
     	}
+		// *IMPORTANT*
 
     	poll_status_reg(I2C_OP::WRITE);
 
@@ -183,4 +184,4 @@ namespace mrover {
     bool Spectral::is_error() {
     	return m_error;
     }
-} // namespace mrover
+} // namespace mrover

src/esw/fw/science/Core/Src/stm32g4xx_hal_msp.c

@@ -360,6 +360,50 @@ void HAL_I2C_MspDeInit(I2C_HandleTypeDef* hi2c)
 
 }
 
+/**
+* @brief TIM_Base MSP Initialization
+* This function configures the hardware resources used in this example
+* @param htim_base: TIM_Base handle pointer
+* @retval None
+*/
+void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
+{
+  if(htim_base->Instance==TIM16)
+  {
+  /* USER CODE BEGIN TIM16_MspInit 0 */
+
+  /* USER CODE END TIM16_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM16_CLK_ENABLE();
+  /* USER CODE BEGIN TIM16_MspInit 1 */
+
+  /* USER CODE END TIM16_MspInit 1 */
+  }
+
+}
+
+/**
+* @brief TIM_Base MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param htim_base: TIM_Base handle pointer
+* @retval None
+*/
+void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
+{
+  if(htim_base->Instance==TIM16)
+  {
+  /* USER CODE BEGIN TIM16_MspDeInit 0 */
+
+  /* USER CODE END TIM16_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM16_CLK_DISABLE();
+  /* USER CODE BEGIN TIM16_MspDeInit 1 */
+
+  /* USER CODE END TIM16_MspDeInit 1 */
+  }
+
+}
+
 /* USER CODE BEGIN 1 */
 
-/* USER CODE END 1 */
+/* USER CODE END 1 */