Fixed Imports and small changes

CR-Formula · Sep 14, 2024 · 36baf9b · 36baf9b
1 parent 215d4d9
commit 36baf9b
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Showing 9 changed files with 37 additions and 15 deletions.
diff --git a/Core/Inc/adc.h b/Core/Inc/adc.h
@@ -6,7 +6,7 @@
 * @brief   ADC Function Prototypes
 ***********************************************/
 
-#include "stm32f407xx.h"
+#include "stm32f415xx.h"
 
 /**
  * @brief Initialize ADC1

diff --git a/Core/Inc/i2c.h b/Core/Inc/i2c.h
@@ -6,7 +6,7 @@
 * @brief   Prototype Functions for I2C Driver
 ***********************************************/
 
-#include "stm32f407xx.h"
+#include "stm32f415xx.h"
 
 /**
  * @brief Initialize I2C1

diff --git a/Core/Inc/main.h b/Core/Inc/main.h
@@ -33,6 +33,12 @@ extern "C" {
 
 #include "gpio.h"
 #include "can.h"
+#include "i2c.h"
+
+/* Macros  ------------------------------------------------------------------*/
+#define STATUS_LED_PIN         13
+#define GPS_ADDR              0x42
+
 /* Data Structures  ---------------------------------------------------------*/
 typedef struct {
   uint16_t RPM;           // RPM
@@ -63,15 +69,23 @@ void Error_Handler(void);
  * 
  * @param argument 
  */
-void Status_LED(void *argument);
+void Status_LED();
 
 /**
  * @brief Thread for handling CAN communication
  * @note TODO: Implement CAN Task
  * 
  * @param argument 
  */
-void CAN_Task(void *argument);
+void CAN_Task();
+
+/**
+ * @brief Thread for handling GPS communication
+ * @note TODO: Implement GPS Task
+ * 
+ * @param argument 
+ */
+void GPS_Task();
 
 /**
  * @brief Main Function to start FreeRTOS and initialize peripherals

diff --git a/Core/Inc/spi.h b/Core/Inc/spi.h
@@ -6,7 +6,7 @@
 * @brief   Prototype Functions for SPI Driver
 ***********************************************/
 
-#include "stm32f407xx.h"
+#include "stm32f415xx.h"
 
 /**
  * @brief Initialize SPI2

diff --git a/Core/Inc/sysclk.h b/Core/Inc/sysclk.h
@@ -6,7 +6,7 @@
 * @brief   Clock Configuration Prototypes
 ***********************************************/
 
-#include "stm32f407xx.h"
+#include "stm32f415xx.h"
 
 /**
  * @brief Configure the System Clock to 168MHz

diff --git a/Core/Inc/timer.h b/Core/Inc/timer.h
@@ -6,7 +6,7 @@
 * @brief   Timer Function Prototypes
 ***********************************************/
 
-#include "stm32f407xx.h"
+#include "stm32f415xx.h"
 
 /**
  * @brief Initialize and start Timer 2

diff --git a/Core/Inc/uart.h b/Core/Inc/uart.h
@@ -6,7 +6,7 @@
 * @brief   UART Function Prototypes
 ***********************************************/
 
-#include "stm32f407xx.h"
+#include "stm32f415xx.h"
 
 /**
  * @brief Initialize USART2

diff --git a/Core/Src/i2c.c b/Core/Src/i2c.c
@@ -55,7 +55,6 @@ void I2C1_Init() {
     GPIOB->AFR[0] |= (0x4 << GPIO_AFRL_AFSEL6_Pos) | (0x4 << GPIO_AFRL_AFSEL7_Pos); // Set PB6 and PB7 to AF4 (I2C)
 
     // Configure I2C1
-    I2C1->CR1 |= I2C_CR1_ACK; // Enable Acknowledge
     I2C1->CR2 = (42u << I2C_CR2_FREQ_Pos); // Set peripheral clock frequency (42 MHz)
 
     // Configure clock control register for 400kHz I2C speed
@@ -70,6 +69,7 @@ void I2C1_Init() {
 
     // Enable I2C
     I2C1->CR1 |= I2C_CR1_PE;
+    I2C1->CR1 |= I2C_CR1_ACK; // Enable ACK
 }
 
 /**

diff --git a/Core/Src/main.c b/Core/Src/main.c
@@ -16,14 +16,14 @@ osThreadId_t StatusLED;
 const osThreadAttr_t StatusLED_attr = {
   .name = "Status_Task",
   .priority = osPriorityBelowNormal,
-  .stack_size = 128
+  .stack_size = 128 * 4
 };
 
 osThreadId_t CANTask;
 const osThreadAttr_t CANTask_attr = {
   .name = "CAN_Task",
   .priority = osPriorityNormal,
-  .stack_size = 128
+  .stack_size = 128 * 4
 };
 
 void main() {
@@ -32,6 +32,7 @@ void main() {
   // Initialize Peripherals
   Sysclk_168();
   LED_Init();
+  I2C1_Init();
   CAN1_Init();
   CAN_Filters_Init();
   CAN_Start();
@@ -44,18 +45,25 @@ void main() {
   while(1);
 }
 
-void Status_LED(void *argument) {
+void Status_LED() {
   while(1) {
     osDelay(100);
-    Toggle_Pin(GPIOC, 13);
+    Toggle_Pin(GPIOC, STATUS_LED_PIN);
   }
 }
 
-void CAN_Task(void *argument) {
-  volatile CAN_Frame rFrame;
+void CAN_Task() {
+  volatile CAN_Frame rFrame = {
+    .id = 0x123,
+    .data = {8, 6, 5, 3, 2, 4, 1, 5},
+    .dlc = 8,
+    .rtr = CAN_RTR_Data
+  };
+  volatile CAN_Frame tFrame;
   volatile CAN_Status Receive;
 
   while(1) {
+    CAN_Transmit(CAN1, &tFrame);
     Receive = CAN_Receive(CAN1, &rFrame);
     if (Receive == CAN_OK) {
       telemetry.RPM = rFrame.data[0] << 8 | rFrame.data[1];