restore final_sensor_nodes branch - no build errors

sensor_nodes/.project

@@ -29,4 +29,4 @@
 		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
 		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
 	</natures>
-</projectDescription>
+</projectDescription>

sensor_nodes/Core/Inc/FEB_Main.h

@@ -25,7 +25,17 @@
 
 // ******************************** Configuration ********************************
 
-#define IS_FRONT_NODE
+#define IS_FRONT_NODE 1
+
+// For isolating one sensor
+#define SEND_CAN 0
+
+#define WSS 1
+#define TIRETEMP 0
+#define ADCS 0
+#define STEER 0
+#define IMU 0
+#define GPS 0
 
 // ******************************** Functions ********************************
 

sensor_nodes/Core/Inc/FEB_WSS.h

@@ -19,8 +19,6 @@
 
 // **************************************** Configuration ****************************************
 
-#define DEBUG_READ_WSS
-
 // **************************************** Functions ****************************************
 
 void WSS_Init(void);

sensor_nodes/Core/Src/FEB_Main.c

@@ -17,26 +17,38 @@ extern CAN_HandleTypeDef hcan1;
 
 void FEB_Main_Setup(void) {
 
-//	// Start CAN
-	HAL_CAN_Start(&hcan1);
-	if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
-	{
-		Error_Handler();
-	}
 
-	WSS_Init();
+#if SEND_CAN
+		// Start CAN
+		HAL_CAN_Start(&hcan1);
+		if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
+		{
+			Error_Handler();
+		}
+#endif
 
-	// Initialize Steering Encoder
-	Steer_ENC_I2C_Init();
-	Steer_ENC_I2C_Full_Read(); // Do an initial full read
+#if WSS
+	WSS_Init();
+#endif
 
+#if TIRETEMP
 	Tire_Temp_Init();
+#endif
 
-	// I2C_Scan();
+#if ADCS
+	ADC_Init();
+#endif
 
-	BNO08X_Init();
+#if STEER
+		// Initialize Steering Encoder
+		Steer_ENC_I2C_Init();
+		Steer_ENC_I2C_Full_Read(); // Do an initial full read
+#endif
 
-	ADC_Init();
+#if IMU
+		// I2C_Scan();
+		BNO08X_Init();
+#endif
 
 	HAL_TIM_Base_Start_IT(&htim6);  // Start 1 ms timer
 
@@ -48,16 +60,32 @@ void FEB_Main_While(void) {
 
 void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
 	if (htim->Instance == TIM6) {
+#if WSS
 		WSS_Main();
+#endif
+
+#if TIRETEMP
 		Tire_Temp_Main();
+#endif
+
+#if ADCS
 		ADC_Main();
+#endif
+
+#if STEER
+		Steer_ENC_Main();
+#endif
+
+#if SWITCH
+		Coolant_ReedSW_Main();
+#endif
+
+#if IMU
+		IMU_Main();
+#endif
 
-		#ifdef IS_FRONT_NODE
-			Steer_ENC_Main();
-		#else
-			Coolant_ReedSW_Main();
-			IMU_Main();
-			GPS_Main();
-		#endif
+#if GPS
+		GPS_Main();
+#endif
 	}
 }

sensor_nodes/Core/Src/FEB_WSS.c

@@ -108,17 +108,19 @@ void WSS_Main(void)
 	wss_left = (uint8_t) ((float) ticks_left * TIMER_ELAPSED_HZ / TICKS_PER_ROTATION * 60);
 
 	// Send the wheel speed data
-#ifdef DEBUG_READ_WSS
+#if WSS
 	printf("Right: %c%d rpm  %d mph\tLeft: %c%d  %d mph\r\n", direction_right, wss_right, direction_left, wss_left, (int) (wss_right * RPM_to_MPH), (int) (wss_left * RPM_to_MPH));
 #endif
 
+#if IS_FRONT_NODE & SEND_CAN
+	CAN_Transmit(CAN_ID_WSS_FRONT, WSS_Data);
+#elseif SEND_CAN
+	CAN_Transmit(CAN_ID_WSS_REAR, WSS_Data);
+#endif
+
 	Fill_WSS_Data();
 
-#ifdef IS_FRONT_NODE
-		CAN_Transmit(CAN_ID_WSS_FRONT, WSS_Data);
-#else
-		CAN_Transmit(CAN_ID_WSS_REAR, WSS_Data);
-#endif
+
 
 }
 

sensor_nodes/Core/Src/syscalls.c

@@ -0,0 +1,176 @@
+/**
+ ******************************************************************************
+ * @file      syscalls.c
+ * @author    Auto-generated by STM32CubeIDE
+ * @brief     STM32CubeIDE Minimal System calls file
+ *
+ *            For more information about which c-functions
+ *            need which of these lowlevel functions
+ *            please consult the Newlib libc-manual
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2020-2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+/* Includes */
+#include <sys/stat.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <stdio.h>
+#include <signal.h>
+#include <time.h>
+#include <sys/time.h>
+#include <sys/times.h>
+
+
+/* Variables */
+extern int __io_putchar(int ch) __attribute__((weak));
+extern int __io_getchar(void) __attribute__((weak));
+
+
+char *__env[1] = { 0 };
+char **environ = __env;
+
+
+/* Functions */
+void initialise_monitor_handles()
+{
+}
+
+int _getpid(void)
+{
+  return 1;
+}
+
+int _kill(int pid, int sig)
+{
+  (void)pid;
+  (void)sig;
+  errno = EINVAL;
+  return -1;
+}
+
+void _exit (int status)
+{
+  _kill(status, -1);
+  while (1) {}    /* Make sure we hang here */
+}
+
+__attribute__((weak)) int _read(int file, char *ptr, int len)
+{
+  (void)file;
+  int DataIdx;
+
+  for (DataIdx = 0; DataIdx < len; DataIdx++)
+  {
+    *ptr++ = __io_getchar();
+  }
+
+  return len;
+}
+
+__attribute__((weak)) int _write(int file, char *ptr, int len)
+{
+  (void)file;
+  int DataIdx;
+
+  for (DataIdx = 0; DataIdx < len; DataIdx++)
+  {
+    __io_putchar(*ptr++);
+  }
+  return len;
+}
+
+int _close(int file)
+{
+  (void)file;
+  return -1;
+}
+
+
+int _fstat(int file, struct stat *st)
+{
+  (void)file;
+  st->st_mode = S_IFCHR;
+  return 0;
+}
+
+int _isatty(int file)
+{
+  (void)file;
+  return 1;
+}
+
+int _lseek(int file, int ptr, int dir)
+{
+  (void)file;
+  (void)ptr;
+  (void)dir;
+  return 0;
+}
+
+int _open(char *path, int flags, ...)
+{
+  (void)path;
+  (void)flags;
+  /* Pretend like we always fail */
+  return -1;
+}
+
+int _wait(int *status)
+{
+  (void)status;
+  errno = ECHILD;
+  return -1;
+}
+
+int _unlink(char *name)
+{
+  (void)name;
+  errno = ENOENT;
+  return -1;
+}
+
+int _times(struct tms *buf)
+{
+  (void)buf;
+  return -1;
+}
+
+int _stat(char *file, struct stat *st)
+{
+  (void)file;
+  st->st_mode = S_IFCHR;
+  return 0;
+}
+
+int _link(char *old, char *new)
+{
+  (void)old;
+  (void)new;
+  errno = EMLINK;
+  return -1;
+}
+
+int _fork(void)
+{
+  errno = EAGAIN;
+  return -1;
+}
+
+int _execve(char *name, char **argv, char **env)
+{
+  (void)name;
+  (void)argv;
+  (void)env;
+  errno = ENOMEM;
+  return -1;
+}