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mcgalliardmcgalliard
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trials
1 parent dc60d02 commit e88b8e9

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+56
-56
lines changed

3 files changed

+56
-56
lines changed

‎source/torque_vector/bmi/bmi088.c‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -218,15 +218,15 @@ bool BMI088_readAccel(BMI088_Handle_t *bmi, vector_3d_t *v)
218218
static inline void BMI088_selectGyro(BMI088_Handle_t *bmi)
219219
{
220220
PHAL_writeGPIO(SPI_CS_ACEL_GPIO_Port, SPI_CS_ACEL_Pin, 1);
221-
PHAL_writeGPIO(SPI_CS_MAG_GPIO_Port, SPI_CS_MAG_Pin, 1);
221+
//PHAL_writeGPIO(SPI_CS_MAG_GPIO_Port, SPI_CS_MAG_Pin, 1);
222222
bmi->spi->nss_gpio_port = bmi->gyro_csb_gpio_port;
223223
bmi->spi->nss_gpio_pin = bmi->gyro_csb_pin;
224224
}
225225

226226
static inline void BMI088_selectAccel(BMI088_Handle_t *bmi)
227227
{
228228
PHAL_writeGPIO(SPI_CS_GYRO_GPIO_Port, SPI_CS_GYRO_Pin, 1);
229-
PHAL_writeGPIO(SPI_CS_MAG_GPIO_Port, SPI_CS_MAG_Pin, 1);
229+
//PHAL_writeGPIO(SPI_CS_MAG_GPIO_Port, SPI_CS_MAG_Pin, 1);
230230
bmi->spi->nss_gpio_port = bmi->accel_csb_gpio_port;
231231
bmi->spi->nss_gpio_pin = bmi->accel_csb_pin;
232232
}

‎source/torque_vector/main.c‎

Lines changed: 42 additions & 42 deletions
Original file line numberDiff line numberDiff line change
@@ -56,22 +56,22 @@ GPIOInitConfig_t gpio_config[] = {
5656
GPIO_INIT_AF(SPI_MISO_GPIO_Port, SPI_MISO_Pin, 5, GPIO_OUTPUT_HIGH_SPEED, GPIO_OUTPUT_OPEN_DRAIN, GPIO_INPUT_OPEN_DRAIN),
5757
GPIO_INIT_OUTPUT(SPI_CS_ACEL_GPIO_Port, SPI_CS_ACEL_Pin, GPIO_OUTPUT_HIGH_SPEED),
5858
GPIO_INIT_OUTPUT(SPI_CS_GYRO_GPIO_Port, SPI_CS_GYRO_Pin, GPIO_OUTPUT_HIGH_SPEED),
59-
GPIO_INIT_OUTPUT(SPI_CS_MAG_GPIO_Port, SPI_CS_MAG_Pin, GPIO_OUTPUT_HIGH_SPEED),
59+
//GPIO_INIT_OUTPUT(SPI_CS_MAG_GPIO_Port, SPI_CS_MAG_Pin, GPIO_OUTPUT_HIGH_SPEED),
6060

6161
// GPS USART
62-
GPIO_INIT_UART4RX_PA1,
63-
GPIO_INIT_UART4TX_PA0,
62+
// GPIO_INIT_UART4RX_PA1,
63+
// GPIO_INIT_UART4TX_PA0,
6464

6565
// GPS Auxillary pins
66-
GPIO_INIT_OUTPUT(GPS_RESET_GPIO_Port, GPS_RESET_Pin, GPIO_OUTPUT_LOW_SPEED),
66+
//GPIO_INIT_OUTPUT(GPS_RESET_GPIO_Port, GPS_RESET_Pin, GPIO_OUTPUT_LOW_SPEED),
6767

6868
// EEPROM
69-
GPIO_INIT_OUTPUT(NAV_EEPROM_CS_GPIO_PORT, NAV_EEPROM_CS_PIN, GPIO_OUTPUT_HIGH_SPEED),
70-
GPIO_INIT_OUTPUT(NAV_WP_GPIO_PORT, NAV_WP_PIN, GPIO_OUTPUT_HIGH_SPEED),
69+
//GPIO_INIT_OUTPUT(NAV_EEPROM_CS_GPIO_PORT, NAV_EEPROM_CS_PIN, GPIO_OUTPUT_HIGH_SPEED),
70+
//GPIO_INIT_OUTPUT(NAV_WP_GPIO_PORT, NAV_WP_PIN, GPIO_OUTPUT_HIGH_SPEED),
7171

7272
// CAN
73-
GPIO_INIT_CANRX_PA11,
74-
GPIO_INIT_CANTX_PA12
73+
// GPIO_INIT_CANRX_PA11,
74+
// GPIO_INIT_CANTX_PA12
7575
};
7676

7777
// GPS USART Configuration
@@ -201,15 +201,15 @@ int main(void)
201201
schedInit(APB1ClockRateHz);
202202
configureAnim(preflightAnimation, preflightChecks, 74, 1000);
203203

204-
taskCreateBackground(canTxUpdate);
205-
taskCreateBackground(canRxUpdate);
204+
// taskCreateBackground(canTxUpdate);
205+
// taskCreateBackground(canRxUpdate);
206206

207207
taskCreate(heartBeatLED, 500);
208-
taskCreate(heartBeatTask, 100);
208+
//taskCreate(heartBeatTask, 100);
209209

210-
taskCreate(parseIMU, 20);
211-
taskCreate(pollIMU, 20);
212-
taskCreate(VCU_MAIN, 15);
210+
// taskCreate(parseIMU, 20);
211+
// taskCreate(pollIMU, 20);
212+
// taskCreate(VCU_MAIN, 15);
213213

214214
/* No Way Home */
215215
schedStart();
@@ -224,26 +224,26 @@ void preflightChecks(void)
224224
switch (state++)
225225
{
226226
case 0:
227-
if (!PHAL_initCAN(CAN1, false, VCAN_BPS))
228-
{
229-
HardFault_Handler();
230-
}
231-
NVIC_EnableIRQ(CAN1_RX0_IRQn);
227+
// if (!PHAL_initCAN(CAN1, false, VCAN_BPS))
228+
// {
229+
// HardFault_Handler();
230+
// }
231+
// NVIC_EnableIRQ(CAN1_RX0_IRQn);
232232
break;
233233
case 2:
234234
/* USART initialization */
235-
if (!PHAL_initUSART(&huart_gps, APB1ClockRateHz))
236-
{
237-
HardFault_Handler();
238-
}
235+
// if (!PHAL_initUSART(&huart_gps, APB1ClockRateHz))
236+
// {
237+
// HardFault_Handler();
238+
// }
239239
break;
240240
case 3:
241241
// GPS Initialization
242-
PHAL_writeGPIO(GPS_RESET_GPIO_Port, GPS_RESET_Pin, 1);
243-
PHAL_usartRxDma(&huart_gps, (uint16_t *)GPSHandle.raw_message, 100, 1);
242+
// PHAL_writeGPIO(GPS_RESET_GPIO_Port, GPS_RESET_Pin, 1);
243+
// PHAL_usartRxDma(&huart_gps, (uint16_t *)GPSHandle.raw_message, 100, 1);
244244
break;
245245
case 5:
246-
initFaultLibrary(FAULT_NODE_NAME, &q_tx_can1_s[0], ID_FAULT_SYNC_TORQUE_VECTOR);
246+
//initFaultLibrary(FAULT_NODE_NAME, &q_tx_can1_s[0], ID_FAULT_SYNC_TORQUE_VECTOR);
247247
break;
248248
case 1:
249249
/* SPI initialization */
@@ -255,7 +255,7 @@ void preflightChecks(void)
255255

256256
PHAL_writeGPIO(SPI_CS_ACEL_GPIO_Port, SPI_CS_ACEL_Pin, 1);
257257
PHAL_writeGPIO(SPI_CS_GYRO_GPIO_Port, SPI_CS_GYRO_Pin, 1);
258-
PHAL_writeGPIO(SPI_CS_MAG_GPIO_Port, SPI_CS_MAG_Pin, 1);
258+
//PHAL_writeGPIO(SPI_CS_MAG_GPIO_Port, SPI_CS_MAG_Pin, 1);
259259
break;
260260
case 4:
261261
if (!BMI088_init(&bmi_config))
@@ -271,26 +271,26 @@ void preflightChecks(void)
271271
HardFault_Handler();
272272
break;
273273
case 700:
274-
/* Pack torque vectoring data into rtM_tv */
275-
rtM_tv->dwork = &rtDW_tv;
274+
// /* Pack torque vectoring data into rtM_tv */
275+
// rtM_tv->dwork = &rtDW_tv;
276276

277-
/* Initialize Torque Vectoring */
278-
tv_initialize(rtM_tv);
277+
// /* Initialize Torque Vectoring */
278+
// tv_initialize(rtM_tv);
279279

280-
/* Initialize TV IO */
281-
tv_IO_initialize(&rtU_tv);
280+
// /* Initialize TV IO */
281+
// tv_IO_initialize(&rtU_tv);
282282

283-
/* Pack Engine map data into rtM_em */
284-
rtM_em->dwork = &rtDW_em;
283+
// /* Pack Engine map data into rtM_em */
284+
// rtM_em->dwork = &rtDW_em;
285285

286-
/* Initialize Engine Map */
287-
em_initialize(rtM_em);
286+
// /* Initialize Engine Map */
287+
// em_initialize(rtM_em);
288288
default:
289289
if (state > 750)
290290
{
291291
if (!imu_init(&imu_h))
292292
HardFault_Handler();
293-
initCANParse();
293+
// initCANParse();
294294
registerPreflightComplete(1);
295295
state = 750; // prevent wrap around
296296
}
@@ -332,10 +332,10 @@ void heartBeatLED(void)
332332
else PHAL_writeGPIO(CONN_LED_GPIO_Port, CONN_LED_Pin, 1);
333333

334334

335-
static uint8_t trig;
336-
if (trig) SEND_TV_CAN_STATS(can_stats.tx_of, can_stats.tx_fail,
337-
can_stats.rx_of, can_stats.rx_overrun);
338-
trig = !trig;
335+
// static uint8_t trig;
336+
// if (trig) SEND_TV_CAN_STATS(can_stats.tx_of, can_stats.tx_fail,
337+
// can_stats.rx_of, can_stats.rx_overrun);
338+
// trig = !trig;
339339
}
340340

341341
void pollIMU(void)

‎source/torque_vector/main.h‎

Lines changed: 12 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -40,23 +40,23 @@
4040
#define SPI_CS_ACEL_Pin (3)
4141
#define SPI_CS_GYRO_GPIO_Port (GPIOA)
4242
#define SPI_CS_GYRO_Pin (2)
43-
#define SPI_CS_MAG_GPIO_Port (GPIOB)
44-
#define SPI_CS_MAG_Pin (0)
43+
// #define SPI_CS_MAG_GPIO_Port (GPIOB)
44+
// #define SPI_CS_MAG_Pin (0)
4545

4646
// USART GPS
47-
#define GPS_RX_GPIO_Port (GPIOC)
48-
#define GPS_RX_Pin (5)
49-
#define GPS_TX_GPIO_Port (GPIOC)
50-
#define GPS_TX_Pin (4)
47+
// #define GPS_RX_GPIO_Port (GPIOC)
48+
// #define GPS_RX_Pin (5)
49+
// #define GPS_TX_GPIO_Port (GPIOC)
50+
// #define GPS_TX_Pin (4)
5151

52-
#define GPS_RESET_GPIO_Port (GPIOC)
53-
#define GPS_RESET_Pin (9)
52+
// #define GPS_RESET_GPIO_Port (GPIOC)
53+
// #define GPS_RESET_Pin (9)
5454

5555
// EEPROM
56-
#define NAV_EEPROM_CS_GPIO_PORT (GPIOB)
57-
#define NAV_EEPROM_CS_PIN (12)
58-
#define NAV_WP_GPIO_PORT (GPIOB)
59-
#define NAV_WP_PIN (13)
56+
// #define NAV_EEPROM_CS_GPIO_PORT (GPIOB)
57+
// #define NAV_EEPROM_CS_PIN (12)
58+
// #define NAV_WP_GPIO_PORT (GPIOB)
59+
// #define NAV_WP_PIN (13)
6060

6161
void canTxSendToBack(CanMsgTypeDef_t *msg);
6262

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