Board Support Package

CAN BSP: Chase Block & Sijin Woo

Purpose: The purpose of this code is to send and recieve CAN messages.
Usage: Function usage is declared in the BSP_CAN.h file. When using these functions in the RTOS, pend and post must occur before and after the functions are called. The resources used for pend and post can be seen in the CANBus.c driver documentation.
Additional Considerations: It also contains a queue for messages that are received on the CAN bus that has a depth of 10. This queue cannot be accessed outside the file. If the queue exceeds it’s limit, we will lose messages.

I2C BSP: Manthan Upadhyaya

Purpose: The I2C driver is based on polling and is used to communicate with the EEPROM to log data. It requires pins PA8(SCL) and PC9(SDA) for the I2C3.
Usage: There are multiple definitions of the same functions within this library. They are split into 2 categories, one for the RTOS and one for the Bare-Metal version of the BPS. There are #define that encompass these functions that are set when compiled. The default #define is “RTOS” but it can be changed to compile the Bare-Metal code if necessary. The BSP_I2C.h file has more information on how to use each function. The same function declarations are used regardless of whether it is RTOS or Bare-Metal.
Additional Considerations: None

Lights BSP: Manthan Upadhyaya

Purpose

This code is used to control the LED lights that are on the master board and are used for debugging. These lights mean the following:

RUN - The BPS has power and is running.

UVOLT - The BPS is reading an undervoltage condition.

OVOLT - The BPS is reading an overvoltage condition.

OTEMP - The BPS is reading an overtemperature condition.

OCURR - The BPS is reading an overcurrent condition.

WDOG - The BPS watchdog has tripped.

CAN - The BPS is sending a CAN message.

EXTRA - Extra usage

WIRE - The BPS sees an open wire between the battery modules.

STROBE - A fault condition has tripped the BPS.

Usage

In order to use it, call BSP_Lights_Init() to initialize all the GPIO’s. Then you can call any of the functions in BSP_Lights.h whenever needed.

Additional Considerations

Although all of the lights are meant for debugging, the fault LED light is connected directly to the strobe light. This means if the fault LED turns on, so will the strobe light on the car. It doesn’t mean that the fault LED will turn on if the strobe light turns on.

OS Header file: Sijin Woo

Purpose

The BSP is meant to be compatible with the Baremetal and RTOS version of the BPS. In order to accomplish this, BSP_OS.h was written in order to separate the two code bases in our library.

Usage

The struct of type bsp_os_t must be defined and both pend and post functions must be created for both versions of the BPS. The RTOS version of the BPS will have the pend and post functions initialized to pend and post the shared resource of that library. The baremetal version will have the pend and post functions remain empty. There are multiple ways these can be used. Then #ifdef will surround both initializations of this struct. If we compile with RTOS, then the RTOS functions will be used. If we compile with BAREMETAL, then the baremetal functions will be used. For example,

// LTC6811.c
bsp_os_t spi_os;
OS_SEM MinionsIO_Sem4;
void LTC6811_Pend(void) {
    RTOS_BPS_SemPend(&MinionsIO_Sem4, 0, OS_OPT_PEND_BLOCKING, &ts, &err);
}
void LTC6811_Post(void) {
    RTOS_BPS_SemPost(&MinionsIO_Sem4, OS_OPT_POST_1, &err);
}
void LTC6811_Init(void) {
    spi_os.pend = LTC6811_Pend;
    spi_os.post = LTC6811_Post;
    BSP_SPI_Init(&spi_os);
}

Additional Considerations

There are other ways you can also use this library. The struct can be passed in to the initialization function of the init function. You could even choose to not use this struct and just #ifdef everything in the library. This is up to the programmer’s judgement to make the code look as neat as possible.

PLL BSP: Sijin Woo

Purpose: The PLL is used to increase the clock speed of the STM32F413’s clock. Right now, it is set to change it from 16 MHz to 80 MHz.
Usage: Calling the init function automatically sets the clock speed to 80 Mhz. In order to verify that it worked, you can call BSP_PLL_GetSystemClock().
Additional Considerations: Increasing the clock speed does take more power. Although this is minor considering how much the entire BPS takes, it is worth noting. It should also be initialized before anything else that is dependent on the clock speed (e.g UART).

PWM BSP: Champers Fu

Purpose

The PWM library is used to generate PWM signals to drive the fans and contactors. Right now, it is set to a period of 4000 clock cycles.

Usage

The timers will count up to number defined in the PWM header file as PWM_PERIOD. It is set to 4000 right now.

The init function is called during initialization of the contactors Contactor_Init(). Calling the init function sets up the timers for fans and contactors. The PWM library abstracts the GPIO pins of the microcontroller used for fans/contactors to pins 0 through 4. Pins 0-3 are for the fans, and pin 4 is for the contactor. The actual hardware pins that are used are listed in the comments of BSP_PWM.c To set the duty cycle of a pin, call BSP_PWM_Set(uint8_t pin, uint32_t speed), where the speed is a number between 0 and 4000, with 4000 being the max speed. To read the duty cycle of a pin, call BSP_PWM_Get(uint8_t pin)

Additional Considerations Changing the PWM_PERIOD will alter the frequency, but it may also alter the duty cycle of certain things if you’re not careful. Be sure to adjust preset values match the new period if period is ever changed.

SPI BSP: Clark Poon, Sijin Woo, and Sugam Arora

Purpose: SPI is used for communication between the uC and the minion LTC6811s as well as communication between the uC and the LTC2315 current sensor.
Usage: Our car uses the SPI1 and SPI3 buses. The SPI1 bus is for communication with the LTC6811s and the SPI3 bus is for communication with the LTC2315 current sensor. When calling the init function, you must specify which port you intend to use (via the spi_port_t enum). The user can read/write on whichever bus they have chosen. This BSP includes IRQ Handlers for both buses that post the MinionsASIC_Mutex. The BSP_SPI_Init() function contains a boolean for using interrupt based or busy-wait verion of SPI. BSP_SPISetClock() is used to change the clock to a lower speed of peripherals that cannot handle higher speeds.
Additional Considerations: The SPI1 and SPI3 IRQs are only included in the RTOS version of the code. If additonal SPI buses are needed, the user must modify the spi_port_t enum. SPI interrupts (preemption priority level 0) have the highest priority amongst all NVIC interrupts. SPI1 has a higher subpriority than SPI3.

Timer BSP: Sijin Woo

Purpose: The purpose of this timer is to calculate the state of charge of the battery pack. This driver uses Timer 2 as a countdown timer with a period of 0xFFFF-1 that reloads when it reaches 0.
Usage: In order to use the timer, first you must call BSP_Timer_Init() and then call BSP_Timer_Start() to start it. BSP_Timer_GetRunFreq() is used to find the frequency of the timer. You can use this alongside BSP_Timer_GetTicksElapsed() to see how much real time has passed since BSP_Timer_GetTicksElapsed() was called.
Additional Considerations: If we need another timer for another driver or application, we will need to have input parameters for the functions BSP_Timer_Start()``(to select which timer to start), ``BSP_Timer_GetRunFreq() (to find the frequency of a given timer), & BSP_Timer_GetTicksElapsed(). We could also change the function names for each timer. Another thing to note is that one timer should not be used for multiple resources because if BSP_Timer_GetTicksElapsed() is called for one resource, it will interfere with the time passed for the second resource.

UART BSP: Manthan Upadhyaya

Purpose: The UART driver is interrupt driven and initializes 2 serial transmission lines(UART 2 and 3). USART 2 is for the Bluetooth module and uses pins PA2 and PA3. USART3 is for the USB and uses pins PC5 and PB10.
Usage: This driver is also split into two sections just like the I2C driver. One is for RTOS and the other is for Bare-Metal. The BSP_UART.h file has more information on how to use each function.
Additional Considerations: Since the BPS cannot be changed during the race according to ASC regulations(5.2.E.9), the BLE module must be disabled before the race is started if it is able to change the code. This can be done through software by not initializing the USART2 module or through hardware with a switch to turn off power to the BLE module, or just removing it all together.

Watchdog Timer BSP: Sijin Woo

Purpose: The purpose of this timer is to make sure that the BPS has not stalled while running. If we are in the Bare-Metal version of our code, that means the BPS is stuck in a loop somewhere and is not able to check the data given to it. If we are in the RTOS version of our code, that means the BPS is stuck in a thread (in deadlock).
Usage: First you must initialize and start the timer by calling BSP_WDTimer_Init() and BSP_WDTimer_Start(). After the timer is started, it must be reset before it finishes counting down or else it will reset the system. In the Bare-Metal version of our system, the timer is reset once every time the entire while loop runs through. In the RTOS version, each thread sets a bit and when every bit is set, the timer resets.
Additional Considerations: None