Projetos/BrushedPIDDriver
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Firmware: Implemented TelemetryDispatcher skeleton

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This commit is contained in:
Gabriel Lima
2025-12-27 23:54:34 -03:00
parent 3f8480976f
commit 07b38f8701
8 changed files with 92 additions and 37 deletions
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5
Firmware/.cproject
View File

@@ -26,8 +26,8 @@
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.499271190" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32G474RBTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../Drivers/STM32G4xx_HAL_Driver/Inc | ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy | ../Drivers/CMSIS/Device/ST/STM32G4xx/Include | ../Drivers/CMSIS/Include | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Core/ThreadSafe | ../USB_Device/App | ../USB_Device/Target | ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Class/CustomHID/Inc || ../Core/Inc | ../Drivers/STM32G4xx_HAL_Driver/Inc | ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Drivers/CMSIS/Device/ST/STM32G4xx/Include | ../Drivers/CMSIS/Include | ../USB_Device/App | ../USB_Device/Target | ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Class/CustomHID/Inc || || USE_HAL_DRIVER | STM32G474xx | STM32_THREAD_SAFE_STRATEGY=4 || || USB_Device | Core/ThreadSafe | Drivers | Core/Startup | Middlewares | Core || || || ${workspace_loc:/${ProjName}/STM32G474RBTX_FLASH.ld} || true || NonSecure || || secure_nsclib.o || || FreeRTOS_AllowLockFromIRQ || || || " valueType="string"/>
<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.1811138434" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="48" valueType="string"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex.1736150988" name="Convert to Intel Hex file (-O ihex)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex" useByScannerDiscovery="false" value="true" valueType="boolean"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.1821079540" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" value="true" valueType="boolean"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat.557990240" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat" value="true" valueType="boolean"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.1821079540" name="Use float with printf from newlib-nano (-u _printf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat.557990240" name="Use float with scanf from newlib-nano (-u _scanf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.45455421" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
<builder buildPath="${workspace_loc:/BrushedPIDDriver}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.2074713205" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.622430708" name="MCU/MPU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
@@ -99,6 +99,7 @@
<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F"/>
<listOptionValue builtIn="false" value="../Application/Shared/RoboFramework/Inc"/>
<listOptionValue builtIn="false" value="../Application/Shared/RoboFramework_STM32/Inc"/>
<listOptionValue builtIn="false" value="../Application"/>
<listOptionValue builtIn="false" value="../USB_Device/App"/>
<listOptionValue builtIn="false" value="../USB_Device/Target"/>
<listOptionValue builtIn="false" value="../Middlewares/ST/STM32_USB_Device_Library/Core/Inc"/>

35
Firmware/Application/Components/TelemetryDispatcher/TelemetryDispatcher.cpp Normal file
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@@ -0,0 +1,35 @@
/*
* TelemetryDispatcher.cpp
*
* Created on: Dec 27, 2025
* Author: Gabriel
*/
#include "TelemetryDispatcher.hpp"
TelemetryDispatcher::TelemetryDispatcher(Queue<TelemetryPacket>* inQueue, HIDRAW* pHid) :
Executable(Log::Level::Debug, "TelemetryDispatcher"),
inQueue(inQueue),
pHid(pHid)
{
}
TelemetryDispatcher::~TelemetryDispatcher() {
}
int32_t TelemetryDispatcher::init() {
int32_t errors = 0;
log(Log::Level::Informational, "Initalizing");
log(Log::Level::Informational, "Initalzed with %d errors", errors);
return errors;
}
int32_t TelemetryDispatcher::execute() {
log(Log::Level::Informational, "Started execution");
while(true){
vTaskDelay(1);
}
return 0;
}

27
Firmware/Application/Components/TelemetryDispatcher/TelemetryDispatcher.hpp Normal file
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@@ -0,0 +1,27 @@
/*
* TelemetryDispatcher.hpp
*
* Created on: Dec 27, 2025
* Author: Gabriel
*/
#ifndef COMPONENTS_TELEMETRYDISPATCHER_TELEMETRYDISPATCHER_HPP_
#define COMPONENTS_TELEMETRYDISPATCHER_TELEMETRYDISPATCHER_HPP_
#include "Executable.hpp"
#include "HIDRAW.hpp"
#include "Queue.hpp"
#include "TelemetryPacket.hpp"
class TelemetryDispatcher : public Executable {
public:
TelemetryDispatcher(Queue<TelemetryPacket>* inQueue, HIDRAW* pHid);
virtual ~TelemetryDispatcher();
int32_t init();
int32_t execute();
private:
Queue<TelemetryPacket>* inQueue;
HIDRAW* pHid;
};
#endif /* COMPONENTS_TELEMETRYDISPATCHER_TELEMETRYDISPATCHER_HPP_ */

0
Firmware/Application/Components/TelemetryPacket.hpp → Firmware/Application/TelemetryPacket.hpp
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42
Firmware/Application/start.cpp
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@@ -8,21 +8,16 @@
#include "start.h"
#include <cstdio>
#include "FreeRTOS.h"
#include "GPIO_Pin_STM32.hpp"
#include "LogDriver.hpp"
#include "GPIO_Pin_STM32.hpp"
#include "PWM_Pin_STM32.hpp"
#include "Queue_STM32.hpp"
#include "CDC_STM32.hpp"
#include "Encoder_STM32.hpp"
#include "SoftTimer_STM32.hpp"
#include "Components/TelemetryPacket.hpp"
#include "HIDRAW_STM32.hpp"
#include "main.h"
#include "usb_device.h"
#include "usbd_customhid.h"
extern USBD_HandleTypeDef hUsbDeviceFS;
#include <Components/TelemetryDispatcher/TelemetryDispatcher.hpp>
Queue_STM32<TelemetryPacket, 1> telemetryQueue("telemetryQueue");
TelemetryDispatcher componentTelemetryDispatcher(&telemetryQueue, HIDRAW_STM32::getInstance());
void executableDispatch(void* _executable){
Executable* executable = static_cast<Executable*>(_executable);
@@ -48,27 +43,20 @@ void start(){
// Init log facility
LogDriver::getInstance()->init();
TaskHandle_t hTaskLogDriver;
xTaskCreate(executableDispatch, "LogDriver", 256, LogDriver::getInstance(), 5, &hTaskLogDriver);
xTaskCreate(executableDispatch, "LogDriver", 512, LogDriver::getInstance(), 5, &hTaskLogDriver);
// Init queues
telemetryQueue.init();
// Init shared resources
HIDRAW_STM32::getInstance()->init();
//Init components
pkt.counter = 0;
for(uint32_t i=0; i<32; i++){
pkt.message[i] = 33 + i;
}
for(uint32_t i=0; i<23; i++){
pkt.padding[i] = 0;
}
while(true){
pkt.counter++;
pkt.timestamp_ms = xTaskGetTickCount();
uint8_t result = USBD_CUSTOM_HID_SendReport(&hUsbDeviceFS, reinterpret_cast<uint8_t*>(&pkt), 64);
vTaskDelay(1000);
}
// Init components
componentTelemetryDispatcher.init();
// Init tasks
TaskHandle_t hTaskTelemetryDispatcher;
xTaskCreate(executableDispatch, "TelemetryDispatcher", 512, &componentTelemetryDispatcher, 20, &hTaskTelemetryDispatcher);
//Init tasks
vTaskDelete(nullptr);
}

11
Firmware/BrushedPIDDriver.ioc
View File

@@ -39,6 +39,7 @@ FDCAN1.CalculateBaudRateNominal=1000000
FDCAN1.CalculateTimeBitNominal=1000
FDCAN1.CalculateTimeQuantumNominal=333.3333333333333
FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal
FREERTOS.FootprintOK=true
FREERTOS.INCLUDE_pcTaskGetTaskName=1
FREERTOS.INCLUDE_uxTaskGetStackHighWaterMark=1
FREERTOS.INCLUDE_uxTaskGetStackHighWaterMark2=0
@@ -49,11 +50,13 @@ FREERTOS.INCLUDE_xEventGroupSetBitFromISR=1
FREERTOS.INCLUDE_xSemaphoreGetMutexHolder=1
FREERTOS.INCLUDE_xTaskGetHandle=1
FREERTOS.INCLUDE_xTaskResumeFromISR=0
FREERTOS.IPParameters=Tasks01,configUSE_APPLICATION_TASK_TAG,configTOTAL_HEAP_SIZE,configTIMER_TASK_PRIORITY,INCLUDE_xSemaphoreGetMutexHolder,INCLUDE_pcTaskGetTaskName,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_xTaskGetHandle,INCLUDE_uxTaskGetStackHighWaterMark2,configUSE_NEWLIB_REENTRANT,INCLUDE_uxTaskGetStackHighWaterMark,INCLUDE_uxTaskPriorityGet,INCLUDE_vTaskPrioritySet,INCLUDE_xTaskResumeFromISR,INCLUDE_vTaskSuspend,configENABLE_FPU
FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
FREERTOS.IPParameters=Tasks01,configUSE_APPLICATION_TASK_TAG,configTOTAL_HEAP_SIZE,configTIMER_TASK_PRIORITY,INCLUDE_xSemaphoreGetMutexHolder,INCLUDE_pcTaskGetTaskName,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_xTaskGetHandle,INCLUDE_uxTaskGetStackHighWaterMark2,configUSE_NEWLIB_REENTRANT,INCLUDE_uxTaskGetStackHighWaterMark,INCLUDE_uxTaskPriorityGet,INCLUDE_vTaskPrioritySet,INCLUDE_xTaskResumeFromISR,INCLUDE_vTaskSuspend,configENABLE_FPU,configRECORD_STACK_HIGH_ADDRESS,FootprintOK,configMAX_TASK_NAME_LEN
FREERTOS.Tasks01=defaultTask,24,256,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
FREERTOS.configENABLE_FPU=1
FREERTOS.configTIMER_TASK_PRIORITY=2
FREERTOS.configTOTAL_HEAP_SIZE=8192
FREERTOS.configMAX_TASK_NAME_LEN=32
FREERTOS.configRECORD_STACK_HIGH_ADDRESS=1
FREERTOS.configTIMER_TASK_PRIORITY=48
FREERTOS.configTOTAL_HEAP_SIZE=32768
FREERTOS.configUSE_APPLICATION_TASK_TAG=1
FREERTOS.configUSE_NEWLIB_REENTRANT=1
File.Version=6

7
Firmware/Core/Inc/FreeRTOSConfig.h
View File

@@ -69,8 +69,8 @@
#define configTICK_RATE_HZ ((TickType_t)1000)
#define configMAX_PRIORITIES ( 56 )
#define configMINIMAL_STACK_SIZE ((uint16_t)128)
#define configTOTAL_HEAP_SIZE ((size_t)8192)
#define configMAX_TASK_NAME_LEN ( 16 )
#define configTOTAL_HEAP_SIZE ((size_t)32768)
#define configMAX_TASK_NAME_LEN ( 32 )
#define configUSE_TRACE_FACILITY 1
#define configUSE_16_BIT_TICKS 0
#define configUSE_MUTEXES 1
@@ -79,6 +79,7 @@
#define configUSE_APPLICATION_TASK_TAG 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
#define configRECORD_STACK_HIGH_ADDRESS 1
/* USER CODE BEGIN MESSAGE_BUFFER_LENGTH_TYPE */
/* Defaults to size_t for backward compatibility, but can be changed
if lengths will always be less than the number of bytes in a size_t. */
@@ -91,7 +92,7 @@
/* Software timer definitions. */
#define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY ( 2 )
#define configTIMER_TASK_PRIORITY ( 48 )
#define configTIMER_QUEUE_LENGTH 10
#define configTIMER_TASK_STACK_DEPTH 256

2
Firmware/Core/Src/app_freertos.c
View File

@@ -54,7 +54,7 @@ osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
.name = "defaultTask",
.priority = (osPriority_t) osPriorityNormal,
.stack_size = 128 * 4
.stack_size = 256 * 4
};
/* Private function prototypes -----------------------------------------------*/