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https://git.intern.spaceteamaachen.de/ALPAKA/cmake-demo.git
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Initial Commit
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CarlWachter
65
App/Src/tasks/arming.cpp
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65
App/Src/tasks/arming.cpp
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/*
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* arming.cpp
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*
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* Created on: Jun 17, 2024
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* Author: carlos
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*/
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#include <tasks/arming.hpp>
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#include <sta/debug/debug.hpp>
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#include "can.h"
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#include <sta/tacos.hpp>
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#include <cmsis_os2.h>
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namespace tasks
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{
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ArmingTask::ArmingTask() : TacosThread("ARMING", osPriorityHigh)
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{
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}
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void ArmingTask::init()
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{
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// Stop shorting the igniters (NC so they are always shorted until high signal is sent)
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HAL_GPIO_WritePin(SHORTING_GROUPA, SHORTING_PIN_A, GPIO_PIN_SET);
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HAL_GPIO_WritePin(SHORTING_GROUPB, SHORTING_PIN_B, GPIO_PIN_SET);
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HAL_GPIO_WritePin(SHORTING_GROUPC, SHORTING_PIN_C, GPIO_PIN_SET);
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HAL_GPIO_WritePin(SHORTING_GROUPD, SHORTING_PIN_D, GPIO_PIN_SET);
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HAL_GPIO_WritePin(SHORTING_GROUPE, SHORTING_PIN_E, GPIO_PIN_SET);
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HAL_GPIO_WritePin(SHORTING_GROUPF, SHORTING_PIN_F, GPIO_PIN_SET);
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this->sleep(500); // 500ms delay
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// Arming the igniters
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HAL_GPIO_WritePin(ARMING_GROUPA, ARMING_PIN_A, GPIO_PIN_SET);
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HAL_GPIO_WritePin(ARMING_GROUPB, ARMING_PIN_B, GPIO_PIN_SET);
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HAL_GPIO_WritePin(ARMING_GROUPC, ARMING_PIN_C, GPIO_PIN_SET);
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HAL_GPIO_WritePin(ARMING_GROUPD, ARMING_PIN_D, GPIO_PIN_SET);
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HAL_GPIO_WritePin(ARMING_GROUPE, ARMING_PIN_E, GPIO_PIN_SET);
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HAL_GPIO_WritePin(ARMING_GROUPF, ARMING_PIN_F, GPIO_PIN_SET);
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#ifdef STA_TACOS_CAN_BUS_ENABLED
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CanSysMsg msg;
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msg.payload[0] = 1; // Send 1 to indicate that the igniters are armed
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msg.header.payloadLength = 1;
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msg.header.sid = ARMING_CAN_ID;
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msg.header.eid = 0;
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msg.header.format = 0;
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sta::tacos::queueCanBusMsg(msg, 0);
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#endif // STA_TACOS_CAN_BUS_ENABLED
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// Terminate the thread until next state
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#ifdef STA_TACOS_WATCHDOG_ENABLED
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this->watchdogIgnore();
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#endif // STA_TACOS_WATCHDOG_ENABLED
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}
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void ArmingTask::func()
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{
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sleep(osWaitForever);
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}
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} // namespace tasks
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131
App/Src/tasks/fire.cpp
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131
App/Src/tasks/fire.cpp
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/*
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* fire.cpp
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*
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* Created on: Jun 17, 2024
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* Author: carlos
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*/
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#include <tasks/fire.hpp>
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#include <sta/debug/debug.hpp>
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#include "can.h"
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#include <sta/tacos.hpp>
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#include <sta/config.hpp>
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#include <shared.hpp>
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#include <cmsis_os2.h>
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namespace tasks
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{
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FireTask::FireTask() : TacosThread("IGNITOR_FIRE", osPriorityHigh)
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{
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}
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void FireTask::init()
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{
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rres::setFired(0);
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}
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void FireTask::func()
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{
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// Firing the igniters
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CanSysMsg msg;
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msg.header.sid = FIRE_CAN_ID;
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msg.header.eid = 0;
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msg.header.format = 0;
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msg.header.payloadLength = 1;
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if (sta::tacos::getState() == stahr::DROGUE)
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{
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// Fire
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HAL_GPIO_WritePin(FIRE_HATCH_GROUP1, FIRE_HATCH_PIN_1, GPIO_PIN_SET);
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HAL_GPIO_WritePin(FIRE_HATCH_GROUP2, FIRE_HATCH_PIN_2, GPIO_PIN_SET);
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// Send out fire information
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msg.payload[0] = 1; // Event 1 = HATCH fired / drogue deployed
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sta::tacos::queueCanBusMsg(msg, 0);
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rres::setFired(1);
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// Only leave on for a second to avoid shorting via the igniter
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this->sleep(1000); // 1 second
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HAL_GPIO_WritePin(FIRE_HATCH_GROUP1, FIRE_HATCH_PIN_1, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(FIRE_HATCH_GROUP2, FIRE_HATCH_PIN_2, GPIO_PIN_RESET);
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this->sleep(50); // Delay before disarming igniters
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// Disarm the igniters
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HAL_GPIO_WritePin(ARMING_GROUPE, ARMING_PIN_E, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(ARMING_GROUPF, ARMING_PIN_F , GPIO_PIN_RESET);
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// Short ignitors
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HAL_GPIO_WritePin(SHORTING_GROUPE, SHORTING_PIN_E, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(SHORTING_GROUPF, SHORTING_PIN_F, GPIO_PIN_RESET);
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}
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else if (sta::tacos::getState() == stahr::MAIN)
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{
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HAL_GPIO_WritePin(FIRE_MAIN_GROUP1, FIRE_MAIN_PIN_1, GPIO_PIN_SET);
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HAL_GPIO_WritePin(FIRE_MAIN_GROUP2, FIRE_MAIN_PIN_2, GPIO_PIN_SET);
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// Send out fire information
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msg.payload[0] = 2; // Event 2 = MAIN Parachute
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sta::tacos::queueCanBusMsg(msg, 0);
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rres::setFired(2);
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// Only leave on for a second to avoid shorting via the igniter
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this->sleep(1000); // 1 second
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HAL_GPIO_WritePin(FIRE_MAIN_GROUP1, FIRE_MAIN_PIN_1, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(FIRE_MAIN_GROUP2, FIRE_MAIN_PIN_2, GPIO_PIN_RESET);
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this->sleep(50); // Delay before disarming igniters
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// Disarm the igniters
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HAL_GPIO_WritePin(ARMING_GROUPC, ARMING_PIN_C, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(ARMING_GROUPD, ARMING_PIN_D, GPIO_PIN_RESET);
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// Short ignitors
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HAL_GPIO_WritePin(SHORTING_GROUPC, SHORTING_PIN_C, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(SHORTING_GROUPD, SHORTING_PIN_D, GPIO_PIN_RESET);
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}
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else if (sta::tacos::getState() == stahr::DISREEFING)
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{
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HAL_GPIO_WritePin(FIRE_DEREEFING_GROUP1, FIRE_DEREEFING_PIN_1, GPIO_PIN_SET);
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HAL_GPIO_WritePin(FIRE_DEREEFING_GROUP2, FIRE_DEREEFING_PIN_2, GPIO_PIN_SET);
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// Send out fire information
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msg.payload[0] = 3; // Event 3 = Drogue Parachute
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sta::tacos::queueCanBusMsg(msg, 0);
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rres::setFired(3);
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// Only leave on for a second to avoid shorting via the igniter
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this->sleep(1000); // 1 second
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HAL_GPIO_WritePin(FIRE_DEREEFING_GROUP1, FIRE_DEREEFING_PIN_1, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(FIRE_DEREEFING_GROUP2, FIRE_DEREEFING_PIN_2, GPIO_PIN_RESET);
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this->sleep(50); // Delay before disarming igniters
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// Disarm the igniters
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HAL_GPIO_WritePin(ARMING_GROUPA, ARMING_PIN_A, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(ARMING_GROUPB, ARMING_PIN_B, GPIO_PIN_RESET);
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// Short ignitors
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HAL_GPIO_WritePin(SHORTING_GROUPA, SHORTING_PIN_A, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(SHORTING_GROUPB, SHORTING_PIN_B, GPIO_PIN_RESET);
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}
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// Terminate the thread until next state
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#ifdef STA_TACOS_WATCHDOG_ENABLED
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this->watchdogIgnore();
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#endif // STA_TACOS_WATCHDOG_ENABLED
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this->requestTermination();
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}
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} // namespace tasks
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153
App/Src/tasks/sense.cpp
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153
App/Src/tasks/sense.cpp
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/*
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* sense.cpp
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*
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* Created on: Jun 17, 2024
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* Author: carlos
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*/
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#include <tasks/sense.hpp>
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#include <sta/tacos.hpp>
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#include <sta/rtos/signal.hpp>
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#include <sta/devices/stm32/delay.hpp>
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#include <shared.hpp>
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#include <tim.h>
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#include <adc.h>
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namespace tasks
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{
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/**
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* @brief Signal for the ADC conversion complete interrupt to communicate with the ADCTask.
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*/
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sta::RtosSignal *adcCompleteSignal = nullptr;
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SenseTask::SenseTask(ADC_HandleTypeDef *handle)
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: sta::tacos::TacosThread{"Sense", osPriorityNormal},
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adc_{handle}, result_counter_{0}
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{
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}
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void SenseTask::init()
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{
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adcCompleteSignal = new sta::RtosSignal(1);
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// Init msg_
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msg_.header.payloadLength = 8;
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msg_.header.eid = 0;
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msg_.header.format = 0;
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// Start ADC timer
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HAL_TIM_Base_Start(&htim3);
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adc_.startDMA((uint32_t *)dmaBuffer_, bufferSize_);
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}
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void SenseTask::func()
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{
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STA_ASSERT(adcCompleteSignal != nullptr);
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// Wait for the conversion to be completed.
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adcCompleteSignal->wait();
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// Determine wether to send the data or not
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uint16_t state = sta::tacos::getState();
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bool logging = !(state == stahr::CALIBRATING || state == stahr::READY_ON_PAD);
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bool send = result_counter_++ % 4 == 0;
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// Sending the first 4 ADC values (limited by the CAN message size of 8 bytes)
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for (size_t i = 0; i < 4; ++i)
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{
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// Send the MSB first.
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msg_.payload[2 * i] = (uint8_t)(dmaBuffer_[i] >> 8);
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// ... LSB second
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msg_.payload[2 * i + 1] = (uint8_t)dmaBuffer_[i];
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}
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// Save the first 4 ADC values for logging
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for (size_t i = 0; i < 4; i++)
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{
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result_[i] = msg_.payload[2 * i] << 8 | msg_.payload[2 * i + 1];
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STA_DEBUG_PRINTF("> ADC[%d]: %d", i, result_[i]);
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}
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if (send)
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{
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// Send it out while on the pad. Otherwise we only log the data.
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msg_.header.payloadLength = 8;
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msg_.header.sid = SENSE_CAN_ID;
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sta::tacos::queueCanBusMsg(msg_, 0);
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}
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// Send the last 2 ADC values (limited by the CAN message size of 8 bytes)
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for (size_t i = 4; i < bufferSize_; ++i)
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{
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// Send the MSB first.
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msg_.payload[2 * (i - 4)] = (uint8_t)(dmaBuffer_[i] >> 8);
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// ... LSB second
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msg_.payload[2 * (i - 4) + 1] = (uint8_t)dmaBuffer_[i];
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}
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// Save the last 2 ADC values for logging
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for (size_t i = 4; i < 6; i++)
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{
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result_[i] = msg_.payload[2 * (i - 4)] << 8 | msg_.payload[2 * (i - 4) + 1];
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STA_DEBUG_PRINTF("> ADC[%d]: %d", i, result_[i]);
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}
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// Get the sense pins on the fire output
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uint8_t sense_fire = 0;
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uint8_t sense_fire_1 = HAL_GPIO_ReadPin(SENSE_FIRE_GROUP1, SENSE_FIRE_PIN_1);
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uint8_t sense_fire_2 = HAL_GPIO_ReadPin(SENSE_FIRE_GROUP2, SENSE_FIRE_PIN_2);
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uint8_t sense_fire_3 = HAL_GPIO_ReadPin(SENSE_FIRE_GROUP3, SENSE_FIRE_PIN_3);
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uint8_t sense_fire_4 = HAL_GPIO_ReadPin(SENSE_FIRE_GROUP4, SENSE_FIRE_PIN_4);
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uint8_t sense_fire_5 = HAL_GPIO_ReadPin(SENSE_FIRE_GROUP5, SENSE_FIRE_PIN_5);
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uint8_t sense_fire_6 = HAL_GPIO_ReadPin(SENSE_FIRE_GROUP6, SENSE_FIRE_PIN_6);
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sense_fire = sense_fire_1 | (sense_fire_2 << 1) | (sense_fire_3 << 2) | (sense_fire_4 << 3) | (sense_fire_5 << 4) | (sense_fire_6 << 5);
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STA_DEBUG_PRINTF("> Sense Fired pins: %d", sense_fire);
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if (send)
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{
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msg_.payload[4] = sense_fire; // Send the sense pins on the fire output
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// Send second half of the ADC values, via another CAN ID (+1)
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msg_.header.sid = SENSE_CAN_ID_2;
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msg_.header.payloadLength = 5;
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// Send it out while on the pad. Otherwise we only log the data.
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sta::tacos::queueCanBusMsg(msg_, 0);
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HAL_GPIO_TogglePin(GPIOD, GPIO_PIN_10);
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}
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else
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{
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HAL_GPIO_TogglePin(GPIOD, GPIO_PIN_9);
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}
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if (logging)
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{
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// Log the ADC values and the sense pins on the fire output
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rres::setSenseFire(sense_fire);
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rres::setSenseADC(result_);
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HAL_GPIO_TogglePin(GPIOD, GPIO_PIN_8);
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}
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adc_.startDMA((uint32_t *)dmaBuffer_, bufferSize_);
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}
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} // namespace tasks
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// Callback for HAL ADC
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void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef *hadc)
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{
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if (tasks::adcCompleteSignal != nullptr && hadc == &hadc1)
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{
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tasks::adcCompleteSignal->notify();
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}
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}
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