From 0c40f21ffc56320ed3f9661d08722328b68eafe0 Mon Sep 17 00:00:00 2001
From: Alex Bashara <alexbashara2002@gmail.com>
Date: Wed, 11 Sep 2024 22:19:00 -0500
Subject: [PATCH] Setup tasks

---
 Core/Inc/main.h | 28 +++++++++++++++++++
 Core/Src/can.c  |  1 +
 Core/Src/main.c | 73 +++++++++++++++++++++++++++++++++++++++++++++++++
 3 files changed, 102 insertions(+)

diff --git a/Core/Inc/main.h b/Core/Inc/main.h
index 5a53834..4b57b9b 100644
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@@ -73,6 +73,34 @@ void Status_LED(void *argument);
  */
 void CAN_Task(void *argument);
 
+/**
+ * @brief Update the values on the driver display
+ * 
+ * @param argument 
+ */
+void Display_Update(void *argument);
+
+/**
+ * @brief Update GPS Values
+ * 
+ * @param argument 
+ */
+void GPS_Update(void *argument);
+
+/**
+ * @brief Send the Telemetry Data over Lora
+ * 
+ * @param argument 
+ */
+void Lora_Send(void *argument);
+
+/**
+ * @brief Update ADC values
+ * 
+ * @param argument 
+ */
+void ADC_Update(void *argument);
+
 /**
  * @brief Main Function to start FreeRTOS and initialize peripherals
  * 
diff --git a/Core/Src/can.c b/Core/Src/can.c
index ba285d4..473e908 100644
--- a/Core/Src/can.c
+++ b/Core/Src/can.c
@@ -76,6 +76,7 @@ CAN_Status CAN_Filters_Init() {
 
     CAN1->FA1R |= CAN_FA1R_FACT_Msk; // Enable Filter 0
     CAN1->FMR &= ~CAN_FMR_FINIT; // Exit Filter Initialization Mode
+    return CAN_OK;
 }
 
 CAN_Status CAN_Start() {
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 15fba3e..7c4d34a 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -10,6 +10,7 @@
 
 /* Global Variables ---------------------------------------------------------*/
 Telemetry telemetry;
+uint16_t adc_value[16];
 
 /* Thread Attributes --------------------------------------------------------*/
 osThreadId_t StatusLED;
@@ -26,12 +27,44 @@ const osThreadAttr_t CANTask_attr = {
   .stack_size = 128
 };
 
+osThreadId_t DisplayTask;
+const osThreadAttr_t DisplayTask_attr = {
+  .name = "Display_Task",
+  .priority = osPriorityNormal,
+  .stack_size = 128
+};
+
+osThreadId_t GPSTask;
+const osThreadAttr_t GPSTask_attr = {
+  .name = "GPS_Task",
+  .priority = osPriorityNormal,
+  .stack_size = 128
+};
+
+osThreadId_t LoraTask;
+const osThreadAttr_t LoraTask_attr = {
+  .name = "Lora_Task",
+  .priority = osPriorityNormal,
+  .stack_size = 128
+};
+
+osThreadId_t ADCTask;
+const osThreadAttr_t ADC_Task_attr = {
+  .name = "ADC_Task",
+  .priority = osPriorityNormal,
+  .stack_size = 128
+};
+
 void main() {
   osKernelInitialize(); // Initialize FreeRTOS
 
   // Initialize Peripherals
   Sysclk_168();
+  DMA_ADC1_Init(&adc_value);
   LED_Init();
+  USART3_Init();
+  I2C1_Init();
+  SPI2_Init();
   CAN1_Init();
   CAN_Filters_Init();
   CAN_Start();
@@ -39,6 +72,10 @@ void main() {
   // Create FreeRTOS Threads
   StatusLED = osThreadNew(Status_LED, NULL, &StatusLED_attr);
   CANTask = osThreadNew(CAN_Task, NULL, &CANTask_attr);
+  DisplayTask = osThreadNew(Display_Update, NULL, &DisplayTask_attr);
+  GPSTask = osThreadNew(GPS_Update, NULL, &GPSTask_attr);
+  LoraTask = osThreadNew(Lora_Send, NULL, &LoraTask_attr);
+  ADCTask = osThreadNew(ADC_Update, NULL, &ADC_Task_attr);
 
   osKernelStart(); // Start FreeRTOS
   while(1);
@@ -63,4 +100,40 @@ void CAN_Task(void *argument) {
     }
     osDelay(1000);
   }
+}
+
+void Display_Update(void *argument) {
+  uint8_t message[64];
+
+  while(1) {
+    sprintf(message, "RPM: %d\n", telemetry.RPM);
+    send_String(USART3, message);
+    osDelay(1000);
+  }
+}
+
+void GPS_Update(void *argument) {
+  uint8_t message[64];
+
+  while(1) {
+    // TODO: Implement GPS Task
+  }
+}
+
+void Lora_Send(void *argument) {
+
+  while(1) {
+    // TODO: Implement Lora Task
+  }
+}
+
+void ADC_Update(void *argument) {
+
+  while(1) {
+    // TODO: Set update rates
+    telemetry.TPS = adc_value[0];
+    telemetry.FOT = adc_value[1];
+    telemetry.IA = adc_value[2];
+    osDelay(1000);
+  }
 }
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