Issue #26: Multiple fixes and improvements

ULog now sends messages over the wire only if it is connected, correctly
logs messages in KPIRover_Init() and does not cause hardfaults due to
overflowing the message queue.

Default task does not cause HardFault due to overflowing it's stack.

ulStorage is initialized in KPIRover_Init().

ulDatabase metadata order has been corrected.

Author: hasslesstech

Core/Src/main.c

@@ -64,7 +64,7 @@ UART_HandleTypeDef huart3;
 osThreadId_t defaultTaskHandle;
 const osThreadAttr_t defaultTask_attributes = {
   .name = "defaultTask",
-  .stack_size = 128 * 4,
+  .stack_size = 512 * 4,
   .priority = (osPriority_t) osPriorityNormal,
 };
 /* USER CODE BEGIN PV */

KPI_Rover/Database/ulDatabase.h

@@ -17,12 +17,12 @@ enum ulDatabase_ParamType {
 };
 
 enum ulDatabase_ParamId {
+	ENCODER_CONTROL_PERIOD_MS,
+	ENCODER_TICKS_PER_REVOLUTION,
 	MOTOR_FL_RPM,
 	MOTOR_FR_RPM,
 	MOTOR_RL_RPM,
 	MOTOR_RR_RPM,
-	ENCODER_CONTROL_PERIOD_MS,
-	ENCODER_TICKS_PER_REVOLUTION,
 	PARAM_COUNT
 };
 

KPI_Rover/KPIRover.c

@@ -2,18 +2,25 @@
 #include "cmsis_os.h"
 
 #include "Database/ulDatabase.h"
+#include "Database/ulStorage.h"
+#include "Encoders/ulEncoder.h"
 
+#include "ulog.h"
+#include "ul_ulog.h"
 
 static struct ulDatabase_ParamMetadata ulDatabase_params[] = {
+		{0, UINT16, true, 5}, // ENCODER_CONTROL_PERIOD_MS,
+		{0, FLOAT, true, 820.0f}, // ENCODER_TICKS_PER_REVOLUTION,
 		{0, INT32, false, 0}, // MOTOR_FL_RPM,
 		{0, INT32, false, 0}, // MOTOR_FR_RPM,
 		{0, INT32, false, 0}, // MOTOR_RL_RPM,
 		{0, INT32, false, 0}, // MOTOR_RR_RPM,
-		{0, UINT16, true, 5}, // ENCODER_CONTROL_PERIOD_MS,
-		{0, FLOAT, true, 820.0f} // ENCODER_TICKS_PER_REVOLUTION,
 };
 
 void KPIRover_Init(void) {
+	ULOG_INIT();
+	ULOG_SUBSCRIBE(ul_ulog_send, ULOG_DEBUG_LEVEL);
 	ulDatabase_init(ulDatabase_params, sizeof(ulDatabase_params) / sizeof(struct ulDatabase_ParamMetadata));
+	ulStorage_init();
 	ulEncoder_Init();
 }

KPI_Rover/Logger/ul_ulog.c

@@ -46,6 +46,11 @@ static StaticQueue_t xUlogQueueBuffer;
 static uint8_t ucUlogQueueStorage[LOG_QUEUE_LENGTH * MAX_LOG_MESSAGE_SIZE];
 static QueueHandle_t xULogQueue = NULL;
 
+volatile uint32_t ulogUsbIsEstablished;
+osEventFlagsId_t ulogFlags;
+#define ULOG_CDC_TRANSMIT_FINISH_FLAG 0x1
+#define ULOG_DEV_CONNECTED_WAKEUP_FLAG 0x2
+
 static const osThreadAttr_t ulogTask_attributes = {
   .name = "ulogTask",
   .stack_size = 128 * 4,
@@ -68,6 +73,9 @@ void ul_ulog_init()
   {
     Error_Handler();
   }
+
+  ulogFlags = osEventFlagsNew(NULL);
+  ulogUsbIsEstablished = 0;
 }
 
 void ul_ulog_send(ulog_level_t level, const char *filename, char *msg)
@@ -113,24 +121,23 @@ void ul_ulog_send(ulog_level_t level, const char *filename, char *msg)
     logBuffer[sizeof(logBuffer) - 1] = '\0';
   }
 
-   BaseType_t xHigherPriorityTaskWoken = pdFALSE;
-   if (xPortIsInsideInterrupt()) {
-       xQueueSendFromISR(xULogQueue, logBuffer, &xHigherPriorityTaskWoken);
-       portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
-   } else {
-       xQueueSend(xULogQueue, logBuffer, pdMS_TO_TICKS(10));
-   }
+  BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+  if (uxQueueSpacesAvailable(xULogQueue))
+  {
+    if (xPortIsInsideInterrupt())
+    {
+      xQueueSendFromISR(xULogQueue, logBuffer, &xHigherPriorityTaskWoken);
+      portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
+    }
+    else
+    {
+      xQueueSend(xULogQueue, logBuffer, pdMS_TO_TICKS(10));
+    }
+  }
 }
 
 static void ulogTask(void *argument)
 {
-  // TODO: Try to get rid of this delay
-  // Wait a bit for USB to initialize before starting logging
-  osDelay(2000);
-
-  ULOG_INIT();
-  ULOG_SUBSCRIBE(ul_ulog_send, ULOG_DEBUG_LEVEL);
-
   for (;;)
   {
     char logMessage[MAX_LOG_MESSAGE_SIZE];
@@ -139,7 +146,15 @@ static void ulogTask(void *argument)
     if (result == pdTRUE)
     {
       logMessage[MAX_LOG_MESSAGE_SIZE - 1] = '\0';
+
+      while (ulogUsbIsEstablished != 1)
+      {
+        osEventFlagsWait(ulogFlags, ULOG_DEV_CONNECTED_WAKEUP_FLAG, 0, osWaitForever);
+        osDelay(2000);
+      }
+
       CDC_Transmit_FS((uint8_t *)logMessage, strlen(logMessage));
+      osEventFlagsWait(ulogFlags, ULOG_CDC_TRANSMIT_FINISH_FLAG, 0, 100);
     }
   }
 }

Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c

@@ -978,6 +978,11 @@ USBD_StatusTypeDef USBD_LL_IsoOUTIncomplete(USBD_HandleTypeDef *pdev,
   return USBD_OK;
 }
 
+#include "cmsis_os2.h"
+extern volatile uint32_t ulogUsbIsEstablished;
+extern osEventFlagsId_t ulogFlags;
+#define ULOG_DEV_CONNECTED_WAKEUP_FLAG 0x2
+
 /**
   * @brief  USBD_LL_DevConnected
   *         Handle device connection event
@@ -989,6 +994,9 @@ USBD_StatusTypeDef USBD_LL_DevConnected(USBD_HandleTypeDef *pdev)
   /* Prevent unused argument compilation warning */
   UNUSED(pdev);
 
+  ulogUsbIsEstablished = 1;
+  osEventFlagsSet(ulogFlags, ULOG_DEV_CONNECTED_WAKEUP_FLAG);
+
   return USBD_OK;
 }
 
@@ -1002,6 +1010,9 @@ USBD_StatusTypeDef USBD_LL_DevDisconnected(USBD_HandleTypeDef *pdev)
 {
   USBD_StatusTypeDef   ret = USBD_OK;
 
+  ulogUsbIsEstablished = 0;
+  osEventFlagsClear(ulogFlags, ULOG_DEV_CONNECTED_WAKEUP_FLAG);
+
   /* Free Class Resources */
   pdev->dev_state = USBD_STATE_DEFAULT;
 

USB_DEVICE/App/usbd_cdc_if.c

@@ -22,7 +22,7 @@
 #include "usbd_cdc_if.h"
 
 /* USER CODE BEGIN INCLUDE */
-
+#include "cmsis_os2.h"
 /* USER CODE END INCLUDE */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -62,6 +62,7 @@
   */
 
 /* USER CODE BEGIN PRIVATE_DEFINES */
+#define ULOG_CDC_TRANSMIT_FINISH_FLAG 0x1
 /* USER CODE END PRIVATE_DEFINES */
 
 /**
@@ -109,7 +110,7 @@ uint8_t UserTxBufferFS[APP_TX_DATA_SIZE];
 extern USBD_HandleTypeDef hUsbDeviceFS;
 
 /* USER CODE BEGIN EXPORTED_VARIABLES */
-
+extern osEventFlagsId_t ulogFlags;
 /* USER CODE END EXPORTED_VARIABLES */
 
 /**
@@ -311,6 +312,8 @@ static int8_t CDC_TransmitCplt_FS(uint8_t *Buf, uint32_t *Len, uint8_t epnum)
   UNUSED(Buf);
   UNUSED(Len);
   UNUSED(epnum);
+
+  osEventFlagsSet(ulogFlags, ULOG_CDC_TRANSMIT_FINISH_FLAG);
   /* USER CODE END 13 */
   return result;
 }