I2c integration

README.md

@@ -44,16 +44,25 @@ This project implements a real-time speed sensor and CAN communication system on
  - FDCAN1_RX -> PB_8 (CAN_RX)
  - FDCAN1_TX -> PB_9 (CAN_TX)
  - TIM1_CH1  -> PA_8 (Sensor speed)
- - I2C3      -> PA_7 (SCL)
- - I2C3      -> PC_1 (SDA)
+ - I2C3 SCL  -> PA_7
+ - I2C3 SDA  -> PC_1
 
 # How to Extend The Project
  - Implement a mechanism to process incoming data and perform the appropriate actions.
- - Integrate new thread to communicate via I2C to motors/servo.
  - Create a Heartbeat mechanism.
  - Integrate Watchdog timer that resets if the system "breaks".
  - Integration tests for CAN.
  - Latency tests
+ - Redefine diferent prioritys for threads.
+
+### Creating new Threads
+ - In app_threadx.h, increase THREAD_COUNT by one, and remember to update the comments above that definition.
+
+ - Don’t forget to add the function prototype in app_threadx.h and to include the new source file in the CMakeLists.txt file.
+
+ - Next, open init_threads.c and initialize your new thread. Follow the existing threads for consistency and simplicity.
+
+ - Finally, implement the functionality of your thread. That’s it, simple as that, you’re now ready to start! Good luck.
 
 # Instructions to Build and Flash to STM32 Microcontroller
 

ThreadX_Os/CMakeLists.txt

@@ -12,7 +12,6 @@ set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_C_EXTENSIONS ON)
 
-
 # Define the build type
 if(NOT CMAKE_BUILD_TYPE)
     set(CMAKE_BUILD_TYPE "Debug")
@@ -47,10 +46,18 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     # Add user sources here
     Core/Src/init/init_can.c
     Core/Src/init/init_threads.c
-    Core/Src/threads/speedSensor.c
-    Core/Src/threads/tx_can.c
-    Core/Src/threads/rx_can.c
-    Core/Src/utils/speed_rpm.c
+    Core/Src/threads/can/rx_can.c
+    Core/Src/threads/can/tx_can.c
+    Core/Src/threads/motors/dc_motors.c
+    Core/Src/threads/motors/emergency_brake.c
+    Core/Src/threads/motors/servo.c
+    Core/Src/threads/battery.c
+    Core/Src/threads/speed_sensor.c
+    Core/Src/utils/debug_utils.c
+    Core/Src/utils/i2c_utils.c
+    Core/Src/utils/speed_rpm_utils.c
+    Core/Src/i2c_ina219.c
+    Core/Src/i2c_pca9685.c
 )
 
 # Add include paths

ThreadX_Os/Core/Inc/app_threadx.h

@@ -35,15 +35,43 @@ extern "C" {
 #include <stdio.h>
 #include <stdint.h>
 #include <utils.h>
+
 /* USER CODE END Includes */
 
 /* Exported types ------------------------------------------------------------*/
 /* USER CODE BEGIN ET */
 
+// Thread with max priority
+#define MAX_PRIO   0
+
+// Thread with medium priority
+#define MEDIUM_PRIO   5
+
+// Thread with low priority
+#define LOW_PRIO   10
+
+// Thread with no priority (lowest)
+#define NONE_PRIO   15
+
+//Queue size (number of messages)
+#define QUEUE_SIZE      8
+
+/*
+Number of threads
+1 -> Speed sensor thread
+2 -> CAN TX thread
+3 -> CAN RX thread
+4 -> dc_motors thread
+5 -> servo thread
+6 -> battery thread
+7 -> emergency brake thread
+*/
+#define THREAD_COUNT    7
+
 // Thread structure
 typedef struct s_threads {
   TX_THREAD thread;
-  uint8_t   stack[1024];
+  UINT      stack[1024];
 } t_threads;
 
 // CAN frames structure
@@ -60,10 +88,14 @@ typedef struct s_canFrames {
 extern FDCAN_HandleTypeDef  hfdcan1;
 extern UART_HandleTypeDef   huart1;
 extern TIM_HandleTypeDef    htim1;
+extern I2C_HandleTypeDef    hi2c3;
 
 extern TX_QUEUE             can_tx_queue;
-extern TX_QUEUE             can_rx_queue;
-extern t_threads            threads[3];
+extern TX_QUEUE             can_emergency_brake_queue;
+extern TX_QUEUE             i2c_dc_motors_queue;
+extern TX_QUEUE             i2c_servo_queue;
+extern TX_MUTEX             i2c_mutex;
+extern t_threads            threads[THREAD_COUNT];
 /* USER CODE END EC */
 
 /* Private defines -----------------------------------------------------------*/
@@ -75,12 +107,6 @@ extern t_threads            threads[3];
 /* Main thread defines -------------------------------------------------------*/
 /* USER CODE BEGIN MTD */
 
-//Thread 0 (Speed Sensor) max priority
-#define THREAD_0_PRIO   1
-
-//Queue size (number of messages)
-#define QUEUE_SIZE      8
-
 /* USER CODE END MTD */
 
 /* Exported macro ------------------------------------------------------------*/
@@ -98,15 +124,22 @@ void MX_ThreadX_Init(void);
 VOID  thread_SensorSpeed(ULONG thread_input);
 VOID  thread_tx_can(ULONG thread_input);
 VOID  thread_rx_can(ULONG thread_input);
-uint8_t rx_receive(t_rx_can_msg *msg);
+VOID  thread_dc_motors(ULONG thread_input);
+VOID  thread_servo(ULONG thread_input);
+VOID  thread_battery(ULONG thread_input);
+VOID  thread_emergency_brake(ULONG thread_input);
 
 //init
 void  initCanFrames(t_canFrames *canFrames);
 UINT  init_threads(VOID);
 UINT  init_queue(VOID);
 
 //utils
-VOID  uart_send(const char *msg);
+VOID                uart_send(const char *msg);
+VOID                uart_send_int(int32_t value);
+VOID                rpm_debug_print(ULONG rpm, 
+                        ULONG cr1_reg, ULONG cnt_reg);
+HAL_StatusTypeDef   i2c_scan_bus(VOID);
 
 /* USER CODE END EFP */
 

ThreadX_Os/Core/Inc/can_protocol.h

@@ -0,0 +1,31 @@
+#ifndef CAN_PROTOCOL_H
+ #define CAN_PROTOCOL_H
+
+#include "app_threadx.h"
+
+// CAN message types
+typedef enum {
+  CAN_MSG_SPEED,
+  CAN_MSG_BATTERY,
+} e_can_msg_type;
+
+// TX CAN message structure (sending)
+typedef struct s_tx_can_message {
+  e_can_msg_type    type;
+  uint8_t           data[8];
+} t_tx_can_msg;
+
+// RX CAN message structure (receiving)
+typedef struct s_rx_can_message {
+  uint32_t   type;
+  uint8_t   data[8];
+  uint8_t   len;
+} t_rx_can_msg;
+
+/* // Steering/throttle CAN message instructions
+typedef struct s_i2c_message {
+    int8_t steering;
+    int8_t throttle;
+} t_i2c_msg; */
+
+#endif

ThreadX_Os/Core/Inc/i2c_ina219.h

@@ -0,0 +1,22 @@
+#ifndef I2C_INA219_H
+# define I2C_INA219_H
+
+#include "app_threadx.h"
+
+#define INA219_ADDR  0x41
+
+#define INA219_REG_CONFIG        0x00
+#define INA219_REG_SHUNT_VOLT    0x01
+#define INA219_REG_BUS_VOLT      0x02
+#define INA219_REG_POWER         0x03
+#define INA219_REG_CURRENT       0x04
+#define INA219_REG_CALIBRATION   0x05
+
+#define INA219_CALIBRATION  4096
+
+HAL_StatusTypeDef   ina219_init(UINT addr);
+HAL_StatusTypeDef   ina219_read_voltage(float* voltage);
+HAL_StatusTypeDef   ina219_read_current(float* current);
+HAL_StatusTypeDef   ina219_read_power(float* power);
+
+#endif

ThreadX_Os/Core/Inc/i2c_pca9685.h

@@ -0,0 +1,64 @@
+#ifndef I2C_PCA9685_H
+# define I2C_PCA9685_H
+
+#include "app_threadx.h"
+
+#define PCA9685_ADDR_SERVO  0x40
+#define PCA9685_ADDR_MOTOR  0x60
+
+// PWM resolution and channel range
+#define PCA9685_PWM_MAX        4095
+
+// PCA9685 channel limits
+#define PCA9685_CHANNEL_MIN  0
+#define PCA9685_CHANNEL_MAX  15
+
+// PCA9685 register addresses
+#define MODE1       0x00
+#define MODE2       0x01
+#define PRE_SCALE   0xFE
+
+// LED0 registers
+#define LED0_ON_L   0x06
+#define LED0_ON_H   0x07
+#define LED0_OFF_L  0x08
+#define LED0_OFF_H  0x09
+
+// PCA9685 mode settings
+#define PCA9685_SLEEP_MODE      0x10
+#define PCA9685_50HZ_PRESCALE   0x79
+#define PCA9685_1KHZ_PRESCALE   0x05
+#define PCA9685_WAKE_AUTOINC    0x20
+
+// Servo pulse limits
+#define SERVO_MIN_PULSE 205
+#define SERVO_MAX_PULSE 410
+#define SERVO_MAX_ANGLE 180
+
+// Motor speed limits
+#define MOTOR_MAX_SPEED 100
+
+#define MOTOR_PWM_MIN   0
+
+typedef struct s_motor_channel {
+    UINT pwm_ch;   // PWM motor channel
+    UINT in1_ch;   // IN1 channel
+    UINT in2_ch;   // IN2 channel
+} t_motor_channel;
+
+// Predefined motor channels
+static const t_motor_channel MOTOR_LEFT  = { 0, 1, 2 };
+static const t_motor_channel MOTOR_RIGHT = { 7, 5, 6 };
+
+HAL_StatusTypeDef   pca9685_init(UINT addr);
+
+HAL_StatusTypeDef   pca9685_set_pwm(UINT channel, 
+    uint16_t on, uint16_t off, UINT addr);
+
+HAL_StatusTypeDef   pca9685_set_servo_angle(UINT channel, UINT angle);
+
+HAL_StatusTypeDef   motor_set(t_motor_channel motor, int8_t speed, uint8_t brake);
+
+HAL_StatusTypeDef   stopMotors(VOID);
+
+#endif

ThreadX_Os/Core/Inc/stm32u5xx_hal_conf.h

@@ -51,7 +51,7 @@ extern "C" {
 /*#define HAL_GTZC_MODULE_ENABLED */
 /*#define HAL_HASH_MODULE_ENABLED */
 /*#define HAL_HCD_MODULE_ENABLED */
-/*#define HAL_I2C_MODULE_ENABLED */
+#define HAL_I2C_MODULE_ENABLED
 #define HAL_ICACHE_MODULE_ENABLED
 /*#define HAL_IRDA_MODULE_ENABLED */
 /*#define HAL_IWDG_MODULE_ENABLED */

ThreadX_Os/Core/Inc/tx_user.h

@@ -246,7 +246,7 @@
 
 /* Define the common timer tick reference for use by other middleware components. */
 
-/*#define TX_TIMER_TICKS_PER_SECOND                100*/
+#define TX_TIMER_TICKS_PER_SECOND                1000
 
 /* Determine if there is a FileX pointer in the thread control block.
    By default, the pointer is there for legacy/backwards compatibility.

ThreadX_Os/Core/Inc/utils.h

@@ -8,40 +8,18 @@
     typedef uint32_t    UINT;
     typedef uint32_t    ULONG;
     typedef void        VOID;
-    #define TX_SUCCESS      0
-    #define TX_QUEUE_ERROR  1
 #endif
 
 // Timer ticks per second definition
 #ifndef TX_TIMER_TICKS_PER_SECOND
   #define TX_TIMER_TICKS_PER_SECOND    1000
 #endif
 
-// CAN message types
-typedef enum {
-  CAN_MSG_SPEED,
-  CAN_MSG_BATTERY,
-  CAN_MSG_HEARTBEAT,
-} e_can_msg_type;
-
-// TX CAN message structure
-typedef struct s_tx_can_message {
-  e_can_msg_type type;
-  uint8_t        data[8];
-} t_tx_can_msg;
-
-// RX CAN message structure
-typedef struct s_rx_can_message {
-  uint32_t       type;
-  uint8_t        data[8];
-  uint8_t        len;
-} t_rx_can_msg;
-
 //Maximum RPM value to prevent overflow
-#define MAX_RPM         5000
+#define MAX_RPM   10000
 
 //Pulses Per Revolution
-#define PPR            20
+#define PPR       40
 
 // RPM calculation state, created for hardware abstraction and testability
 typedef struct s_rpm_state {
@@ -50,10 +28,7 @@ typedef struct s_rpm_state {
     UINT    first_run;
 } t_rpm_state;
 
-UINT    convertValuesRPM(
-    ULONG count, 
-    ULONG ticks, 
-    ULONG period,
-    t_rpm_state *state);
+UINT    convertValuesRPM(ULONG count, ULONG ticks, 
+    ULONG period, t_rpm_state *state);
 
 #endif