Initial Commit

App/Inc/shared.hpp

@@ -0,0 +1,94 @@
+#ifndef INC_SHARED_HPP_
+#define INC_SHARED_HPP_
+
+#include <cmsis_os2.h>
+#include <states.hpp>
+
+namespace rres
+{
+	struct LoggingData
+	{
+		uint32_t hash;
+		uint32_t timestamp;
+
+		uint8_t state;
+		uint8_t sense_fire;
+		uint16_t sense_adc[6];
+		uint8_t fired;
+	};
+
+	enum Event
+	{
+		TICK_10HZ 		= 1 << 0,
+		TOCK_10HZ 		= 1 << 1,
+		START_LOGGING 	= 1 << 2,
+		DUMP_FLASH 		= 1 << 3,
+		CLEAR_FLASH 	= 1 << 4,
+		FLASH_EVENT 	= DUMP_FLASH | CLEAR_FLASH
+	};
+
+	void init();
+
+	/**
+	 * @brief Wait for any of the provided flags to be set.
+	 *
+	 * @note Example usage: waitForAny(GYRO | TICK_20HZ); to either wait for the 20Hz tick or new gyro data.
+	 *
+	 * @param event An integer with every bit representing a specific event.
+	 * @param timeout An optional timeout for additional safety.
+	 * @return uint32_t Returns the flags that were set.
+	 */
+	uint32_t waitForAny(uint32_t event, uint32_t timeout = osWaitForever);
+
+	/**
+	 * @brief Wait for all of the provided flags to be set.
+	 *
+	 * @note Example usage: waitForAny(GYRO | TICK_20HZ); to wait for both the 20Hz tick as well as new gyro data.
+	 *
+	 * @param event An integer with every bit representing a specific event.
+	 * @param timeout An optional timeout for additional safety.
+	 * @return uint32_t Returns the flags that were set.
+	 */
+	uint32_t waitForAll(uint32_t event, uint32_t timeout = osWaitForever);
+
+	LoggingData getData();
+
+	/**
+	 * @brief Set the sensed fire bits.
+	 *
+	 * @param sense_fire The sensed fire bits.
+	 */
+	void setSenseFire(uint8_t sense_fire);
+
+	/**
+	 * @brief Set Capacitor Voltages.
+	 *
+	 * @param sense_adc The sensed ADC values.
+	 */
+	void setSenseADC(uint16_t sense_adc[6]);
+
+	/**
+	 * @brief Set fired event.
+	 *
+	 * @param fired The fired event.
+	 */
+	void setFired(uint8_t fired);
+
+	/**
+	 * @brief Start logging data to the flash memory.
+	 */
+	void startLogging();
+
+	/**
+	 * @brief Dump the flash memory to the console.
+	 */
+	void dumpFlash();
+
+	/**
+	 * @brief Clear the flash memory.
+	 */
+	void clearFlash();
+
+} // namespace grsm
+
+#endif /* INC_SHARED_HPP_ */

App/Inc/sta/config.hpp

@@ -0,0 +1,126 @@
+/*
+ * Configuration file for STA-Core.
+ *
+ *  Created on: Aug 30, 2023
+ *      Author: Dario
+ */
+
+#ifndef INC_STA_CONFIG_HPP_
+#define INC_STA_CONFIG_HPP_
+
+#define STA_STM32_ASEAG
+#include <sta/devices/stm32/mcu/STM32F407xx.hpp>
+
+// Doesn't really do too much right now. Has to be added for successful compilation.
+#define STA_PRINTF_USE_STDLIB
+
+#define STA_MCU_LITTLE_ENDIAN
+#define STA_PLATFORM_STM32
+
+// Enable debug serial output and assertions.
+//#define STA_ASSERT_FORCE
+#define STA_DEBUGGING_ENABLED
+
+// Activate the timer for microsecond delays.
+// #define STA_STM32_DELAY_ENABLE
+// #define STA_STM32_DELAY_US_TIM htim1
+
+// Settings for the rtos-utils
+#define STA_RTOS_SYSTEM_EVENTS_ENABLE
+// #define STA_RTOS_SYSTEM_WATCHDOG_ENABLE
+#define STA_TACOS_CAN_BUS_ENABLED
+#define STA_CAN_BUS_ENABLE
+
+// Uses the default configuration for TACOS.
+#include <sta/tacos/configs/default.hpp>
+#include <states.hpp>
+#include <can_ids.hpp>
+#include <modules.hpp>
+
+// Pin Definitions:
+// Arming pins
+    // Hatch arming
+#define ARMING_GROUPA 			GPIOE
+#define ARMING_PIN_A 			GPIO_PIN_15
+
+#define ARMING_GROUPB 			GPIOG
+#define ARMING_PIN_B 			GPIO_PIN_0
+
+    // Main arming
+#define ARMING_GROUPC 			GPIOA
+#define ARMING_PIN_C 			GPIO_PIN_6
+
+#define ARMING_GROUPD 			GPIOE
+#define ARMING_PIN_D 			GPIO_PIN_0
+
+    // Main dereefing
+#define ARMING_GROUPE 			GPIOB
+#define ARMING_PIN_E 			GPIO_PIN_6
+
+#define ARMING_GROUPF 			GPIOG
+#define ARMING_PIN_F 			GPIO_PIN_11
+
+// Shorting pins
+    // Hatch shorting
+#define SHORTING_GROUPA 		GPIOE
+#define SHORTING_PIN_A 			GPIO_PIN_13
+
+#define SHORTING_GROUPB 		GPIOC
+#define SHORTING_PIN_B 			GPIO_PIN_5
+
+    // Main shorting
+#define SHORTING_GROUPC 		GPIOA
+#define SHORTING_PIN_C			GPIO_PIN_4
+
+#define SHORTING_GROUPD 		GPIOB
+#define SHORTING_PIN_D 			GPIO_PIN_8
+
+    // Main dereefing
+#define SHORTING_GROUPE 		GPIOB
+#define SHORTING_PIN_E 			GPIO_PIN_4
+
+#define SHORTING_GROUPF 		GPIOG
+#define SHORTING_PIN_F 			GPIO_PIN_9
+
+// Fire pins
+    // Hatch fire
+#define FIRE_DEREEFING_GROUP1 		GPIOB
+#define FIRE_DEREEFING_PIN_1 		GPIO_PIN_10
+
+#define FIRE_DEREEFING_GROUP2 		GPIOE
+#define FIRE_DEREEFING_PIN_2 		GPIO_PIN_7
+
+    // Main fire
+#define FIRE_MAIN_GROUP1 		GPIOA
+#define FIRE_MAIN_PIN_1 		GPIO_PIN_7
+
+#define FIRE_MAIN_GROUP2 		GPIOE
+#define FIRE_MAIN_PIN_2 		GPIO_PIN_1
+
+    // Main dereefing
+#define FIRE_HATCH_GROUP1 	GPIOB
+#define FIRE_HATCH_PIN_1 	GPIO_PIN_7
+
+#define FIRE_HATCH_GROUP2 	GPIOG
+#define FIRE_HATCH_PIN_2 	GPIO_PIN_12
+
+// Sense fire pins
+#define SENSE_FIRE_GROUP1 		GPIOE
+#define SENSE_FIRE_PIN_1 		GPIO_PIN_14
+
+#define SENSE_FIRE_GROUP2 		GPIOF
+#define SENSE_FIRE_PIN_2 		GPIO_PIN_15
+
+#define SENSE_FIRE_GROUP3 		GPIOA
+#define SENSE_FIRE_PIN_3 		GPIO_PIN_5
+
+#define SENSE_FIRE_GROUP4 		GPIOB
+#define SENSE_FIRE_PIN_4 		GPIO_PIN_9
+
+#define SENSE_FIRE_GROUP5 		GPIOB
+#define SENSE_FIRE_PIN_5 		GPIO_PIN_5
+
+#define SENSE_FIRE_GROUP6 		GPIOG
+#define SENSE_FIRE_PIN_6 		GPIO_PIN_10
+
+#endif /* INC_STA_CONFIG_HPP_ */

App/Inc/tasks/arming.hpp

@@ -0,0 +1,26 @@
+/*
+ * arming.hpp
+ *
+ *  Created on: Jun 17, 2024
+ *      Author: carlos
+ */
+
+#ifndef INC_TASKS_ARMING_HPP_
+#define INC_TASKS_ARMING_HPP_
+
+#include <sta/tacos.hpp>
+
+namespace tasks
+{
+	class ArmingTask : public sta::tacos::TacosThread
+	{
+	public:
+		ArmingTask();
+
+		void init() override;
+
+		void func() override;
+	};
+} // namespace tasks
+
+#endif /* INC_TASKS_ARMING_HPP_ */

App/Inc/tasks/fire.hpp

@@ -0,0 +1,27 @@
+/*
+ * fire.hpp
+ *
+ *  Created on: Jun 17, 2024
+ *      Author: carlos
+ */
+
+#ifndef INC_TASKS_FIRE_HPP_
+#define INC_TASKS_FIRE_HPP_
+
+#include <sta/tacos.hpp>
+#include <sta/devices/stm32/can.hpp>
+
+namespace tasks
+{
+	class FireTask : public sta::tacos::TacosThread
+	{
+	public:
+		FireTask();
+
+		void init() override;
+
+		void func() override;
+	};
+} // namespace tasks
+
+#endif /* INC_TASKS_FIRE_HPP_ */

App/Inc/tasks/sense.hpp

@@ -0,0 +1,37 @@
+/*
+ * sense.hpp
+ *
+ *  Created on: Jun 17, 2024
+ *      Author: carlos
+ */
+
+#ifndef INC_TASKS_SENSE_HPP_
+#define INC_TASKS_SENSE_HPP_
+
+#include <sta/tacos.hpp>
+#include <sta/devices/stm32/adc.hpp>
+#include <sta/devices/stm32/bus/spi.hpp>
+
+namespace tasks
+{
+	class SenseTask : public sta::tacos::TacosThread
+	{
+	public:
+		SenseTask(ADC_HandleTypeDef *handle);
+
+		void init() override;
+
+		void func() override;
+
+	private:
+		sta::STM32ADC adc_;
+		uint16_t dmaBuffer_[6];
+		size_t bufferSize_ = 6;
+		uint16_t result_[6];
+
+		CanSysMsg msg_;
+		uint16_t result_counter_ = 0;
+	};
+} // namespace tasks
+
+#endif /* INC_TASKS_SENSE_HPP_ */