Adding in dequeue wrapper and adding to makefile

Northeastern-Electric-Racing · Mar 13, 2024 · 447ac00 · 447ac00
1 parent 528a37d
commit 447ac00
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Showing 3 changed files with 13 additions and 6 deletions.
diff --git a/CM7/Core/Inc/foc_ctrl.h b/CM7/Core/Inc/foc_ctrl.h
@@ -14,10 +14,13 @@ typedef struct {
     osMessageQueueId_t command_queue;
 } foc_ctrl_t;
 
-foc_ctrl_t *init_foc_ctrl();
+foc_ctrl_t *foc_ctrl_init();
 
 /* Enqueue a single frame of controller observation */
-int8_t queue_frame(foc_ctrl_t *controller, int16_t phase_currents[3]);
+osStatus_t foc_queue_frame(foc_ctrl_t *controller, int16_t phase_currents[3]);
+
+/* Wait for a command to be sent from the controller */
+osStatus_t foc_retrieve_cmd(foc_ctrl_t *controller, int16_t duty_cycles[3]);
 
 const osThreadAttr_t foc_ctrl_attributes = {
 	.name		= "FOC Controller",

diff --git a/CM7/Core/Src/foc_ctrl.c b/CM7/Core/Src/foc_ctrl.c
@@ -2,7 +2,7 @@
 
 #define INBOUND_QUEUE_SIZE  15
 
-foc_ctrl_t *init_foc_ctrl()
+foc_ctrl_t *foc_ctrl_init()
 {
     /* Create FOC struct */
 	foc_ctrl_t* controller = malloc(sizeof(foc_ctrl_t));
@@ -13,14 +13,17 @@ foc_ctrl_t *init_foc_ctrl()
     return controller;
 }
 
-int8_t queue_frame(foc_ctrl_t *controller, int16_t phase_currents[3])
+osStatus_t foc_queue_frame(foc_ctrl_t *controller, int16_t phase_currents[3])
 {
     if (!controller->data_queue)
 		return -1;
 
-	osMessageQueuePut(controller->data_queue, phase_currents, 0U, 0U);
+	return osMessageQueuePut(controller->data_queue, phase_currents, 0U, 0U);
+}
 
-	return 0;
+osStatus_t foc_retrieve_cmd(foc_ctrl_t *controller, int16_t duty_cycles[3])
+{
+    return osMessageQueueGet(controller->command_queue, duty_cycles, NULL, osWaitForever);
 }
 
 void vFOCctrl(void* pv_params)

diff --git a/Makefile/CM7/Makefile b/Makefile/CM7/Makefile
@@ -41,6 +41,7 @@ C_SOURCES =  \
 ../../CM7/Core/Src/stm32h7xx_it.c \
 ../../CM7/Core/Src/stm32h7xx_hal_msp.c \
 ../../CM7/Core/Src/gatedriver.c \
+../../CM7/Core/Src/foc_ctrl.c \
 ../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c \
 ../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c \
 ../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c \