From 72ec7772fc346b7186eeb47b020230d57aab8b29 Mon Sep 17 00:00:00 2001
From: Armaan Sengupta <senguptaarmaan@gmail.com>
Date: Thu, 4 Jul 2024 20:08:10 -0400
Subject: [PATCH] Merged main

It builds now
---
 STM32Cube/.cproject          |  1 -
 STM32Cube/Core/Src/main.c    | 13 +++++++------
 STM32Cube/Tasks/vn_handler.c |  4 ++--
 STM32Cube/canlib             |  2 +-
 4 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/STM32Cube/.cproject b/STM32Cube/.cproject
index ba75663..3a9e58e 100644
--- a/STM32Cube/.cproject
+++ b/STM32Cube/.cproject
@@ -47,7 +47,6 @@
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1681767496" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.2001593663" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="DEBUG"/>
-									<listOptionValue builtIn="false" value="TEST_MODE"/>
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
 									<listOptionValue builtIn="false" value="STM32_THREAD_SAFE_STRATEGY=4"/>
 									<listOptionValue builtIn="false" value="BOARD_UNIQUE_ID=0x08"/>
diff --git a/STM32Cube/Core/Src/main.c b/STM32Cube/Core/Src/main.c
index 109403f..f31b428 100644
--- a/STM32Cube/Core/Src/main.c
+++ b/STM32Cube/Core/Src/main.c
@@ -38,6 +38,7 @@
 #include "can_handler.h"
 #include "otits.h"
 #include "sdmmc.h"
+#include "vn_handler.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -227,12 +228,12 @@ int main(void)
   BaseType_t xReturned = pdPASS;
 
   //dunno if casting from CMSIS priorities is valid
-  //xReturned &= xTaskCreate(vnIMUHandler, "VN Task", 2000, NULL, (UBaseType_t) osPriorityNormal, &VNTaskHandle);
-  xReturned &= xTaskCreate(canHandlerTask, "CAN handler", 2000, NULL, (UBaseType_t) osPriorityNormal, &canhandlerhandle);
-  xReturned &= xTaskCreate(stateEstTask, "StateEst", 512, NULL, (UBaseType_t) osPriorityNormal, &stateEstTaskHandle);
-  xReturned &= xTaskCreate(trajectory_task, "traj", 512, NULL, (UBaseType_t) osPriorityNormal, &trajectoryTaskHandle);
-  xReturned &= xTaskCreate(logTask, "Logging", 1024, NULL, (UBaseType_t) osPriorityBelowNormal, &logTaskhandle);
-  xReturned &= xTaskCreate(healthCheckTask, "health checks", 512, NULL, (UBaseType_t) osPriorityNormal, &healthChecksTaskHandle);
+  xReturned &= xTaskCreate(vnIMUHandler, "VN Task", 2000, NULL, (UBaseType_t) osPriorityNormal, &VNTaskHandle);
+  //xReturned &= xTaskCreate(canHandlerTask, "CAN handler", 2000, NULL, (UBaseType_t) osPriorityNormal, &canhandlerhandle);
+  //xReturned &= xTaskCreate(stateEstTask, "StateEst", 512, NULL, (UBaseType_t) osPriorityNormal, &stateEstTaskHandle);
+  //xReturned &= xTaskCreate(trajectory_task, "traj", 512, NULL, (UBaseType_t) osPriorityNormal, &trajectoryTaskHandle);
+  //xReturned &= xTaskCreate(logTask, "Logging", 1024, NULL, (UBaseType_t) osPriorityBelowNormal, &logTaskhandle);
+  //xReturned &= xTaskCreate(healthCheckTask, "health checks", 512, NULL, (UBaseType_t) osPriorityNormal, &healthChecksTaskHandle);
   //xReturned &= xTaskCreate(controlTask, "Controller", 2000, NULL, (UBaseType_t) osPriorityBelowNormal, &controllerHandle);
   //xReturned &= xTaskCreate(flightPhaseTask, "Flight Phase", 2000, NULL, (UBaseType_t) osPriorityAboveNormal, &controllerHandle);
 #ifdef TEST_MODE
diff --git a/STM32Cube/Tasks/vn_handler.c b/STM32Cube/Tasks/vn_handler.c
index 30017c9..98ba6c8 100644
--- a/STM32Cube/Tasks/vn_handler.c
+++ b/STM32Cube/Tasks/vn_handler.c
@@ -91,7 +91,7 @@ void vnIMUHandler(void *argument)
 		if(status != HAL_OK)
 		{
 			//logError(SOURCE_SENSOR, "Failed to begin UART read");
-			//printf_("Failed to begin UART read\n");
+			printf_("Failed to begin UART read\n");
 		}
 		else
 		{
@@ -240,7 +240,7 @@ void vnIMUHandler(void *argument)
 					}
 
 					else {
-						//printf_("Not a valid binary packet\n");
+						printf_("Not a valid binary packet\n");
 						//logError(SOURCE_SENSOR, "Non Binary Packet received");
 					}
 			}
diff --git a/STM32Cube/canlib b/STM32Cube/canlib
index a160942..7e21078 160000
--- a/STM32Cube/canlib
+++ b/STM32Cube/canlib
@@ -1 +1 @@
-Subproject commit a160942acb1060942c8b66219a32bdf38ad0d6e3
+Subproject commit 7e21078a48e968cd5d98a951111c19dbe43a7c9f