Feature/FanControlSystem

Core/Inc/control.h

@@ -0,0 +1,16 @@
+#ifndef CONTROL_H
+#define CONTROL_H
+
+#include "pdu.h"
+#include "can.h"
+
+#define CONTROL_CANID_FANBATTBOX 0x4A1
+
+extern osThreadId_t control_handle;
+extern const osThreadAttr_t control_attributes;
+
+void vControl(void *param);
+
+void control_fanbattbox_record(can_msg_t args);
+
+#endif

Core/Src/can_handler.c

@@ -9,6 +9,7 @@
 #include "dti.h"
 #include "fault.h"
 #include "steeringio.h"
+#include "control.h"
 
 #define CAN_MSG_QUEUE_SIZE 50 /* messages */
 
@@ -153,6 +154,9 @@ void vCanReceive(void *pv_params)
 			case STEERING_CANID_IO:
 				steeringio_update(msg);
 				break;
+			case CONTROL_CANID_FANBATTBOX:
+				control_fanbattbox_record(msg);
+				break;
 			default:
 				break;
 			}

Core/Src/control.c

@@ -0,0 +1,31 @@
+#include "control.h"
+#include "pdu.h"
+
+osThreadId_t control_handle;
+const osThreadAttr_t control_attributes = {
+	.name = "Control",
+	.stack_size = 128 * 8,
+	.priority = (osPriority_t)osPriorityRealtime,
+};
+
+static int fanBattBoxState = 0;
+
+void vControl(void *param)
+{
+	pdu_t *pdu = (pdu_t *)param;
+
+	for (;;) {
+		write_fan_battbox(pdu, fanBattBoxState);
+
+		osDelay(1000);
+	}
+}
+
+void control_fanbattbox_record(can_msg_t msg)
+{
+	if (msg.data[0] > 0) {
+		fanBattBoxState = 1;
+	} else {
+		fanBattBoxState = 0;
+	}
+}

Core/Src/main.c

@@ -37,6 +37,7 @@
 #include "dti.h"
 #include "steeringio.h"
 #include "pedals.h"
+#include "control.h"
 #include "monitor.h"
 #include "state_machine.h"
 /* USER CODE END Includes */
@@ -248,6 +249,11 @@ int main(void)
   sm_args->mpu = mpu;
   sm_director_handle = osThreadNew(vStateMachineDirector, sm_args, &sm_director_attributes);
   assert(sm_director_handle);
+
+  /* Control File Thread */
+  control_handle = osThreadNew(vControl, pdu, &control_attributes);
+  assert(control_handle);
+
   /* USER CODE END RTOS_THREADS */
 
   /* USER CODE BEGIN RTOS_EVENTS */
@@ -764,7 +770,7 @@ void StartDefaultTask(void *argument)
     // refresh the external watchdog so the car doesnt fault
     pet_watchdog(mpu);
 
-    
+	
     /* Send NERO state data continuously */
     send_git_version_message();
     osDelay(500);

Makefile

@@ -82,6 +82,7 @@ Core/Src/state_machine.c \
 Core/Src/bms.c \
 Core/Src/pdu.c \
 Core/Src/mpu.c \
+Core/Src/control.c \
 Core/Src/steeringio.c \
 Core/Src/pedals.c \
 Core/Src/cerb_utils.c \