app.c

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#include "app.h"
 
#include "cmsis_os2.h"
#include "emmc_stm32.h"
#include "gnss_task.h"
#include "idle_task.h"
#include "mode.h"
#include "radio_task.h"
#include "sensors_task.h"
#ifdef STAR_BENCH
#include "bench_task.h"
#endif
 
static bool start_emmc(void) {
    static const osThreadAttr_t attr = {
        .name = "emmc",
        .stack_size = 1024, /* emmc_stm32_writer_task: ~1 KB */
        .priority = osPriorityLow,
    };
    if (emmc_stm32_init() != EMMC_OK) {
        return false;
    }
    return osThreadNew(emmc_stm32_writer_task, NULL, &attr) != NULL;
}
 
static void on_radio_command(radio_command_t command) {
    app_command(command == RADIO_CMD_ARM ? MODE_CMD_ARM : MODE_CMD_DISARM);
}
 
bool app_start(void) {
    bool ok = start_emmc();
    ok = sensors_task_start() && ok;
    ok = gnss_task_start() && ok;
    ok = radio_task_start() && ok;
    ok = idle_task_start() && ok;
    radio_task_on_command(on_radio_command);
#ifdef STAR_BENCH
    /* Bench build (pio run -e bench): stay awake in SELF_TEST with the
     * sensors and GPS running, so their readings can be watched over SWD.
     * Not Idle, not ARMED: no sleep, no eMMC recording, no pyro. Never
     * flown. */
    sensors_task_set_active(true);
    gnss_task_set_active(true);
    ok = bench_task_start() && ok;
#else
    /* Every task starts stopped; the state decides what runs (mode_core). */
    app_set_state(FLIGHT_IDLE);
#endif
    return ok;
}