idle_task.c File Reference

#include "idle_task.h"
#include "board_bringup.h"
#include "board_sleep.h"
#include "bringup_task.h"
#include "cmsis_os2.h"
#include "main.h"
#include "mode.h"
#include "radio_task.h"

Include dependency graph for idle_task.c:

Go to the source code of this file.

Macros
#define	EV_MODE   (1U << 0)
#define	EV_CMD   (1U << 1)
#define	FRAME_HEARTBEAT   0x01U /* src/radio/frame.h FrameType::Heartbeat */

Functions
static self_test_battery_t	read_battery (void *ctx, uint32_t now_ms, uint32_t budget_ms)
static bool	on_usb (void *ctx)
static self_test_reply_t	send_heartbeat (void *ctx, const idle_heartbeat_t *hb, uint32_t budget_ms)
static idle_command_t	poll_command (void *ctx)
static bool	work_waiting (void)
static void	led1 (bool on)
static void	idle_task (void *argument)
bool	idle_task_start (void)
void	idle_task_set_active (bool on)
void	idle_task_command (mode_command_t command)
const idle_t *	idle_task_state (void)

Variables
static const idle_config_t	config
static idle_t	idle
static osThreadId_t	thread
static osMessageQueueId_t	commands
static volatile bool	want_active

Macro Definition Documentation

EV_CMD

#define EV_CMD   (1U << 1)

Definition at line 12 of file idle_task.c.

Referenced by idle_task(), and idle_task_command().

EV_MODE

#define EV_MODE   (1U << 0)

Definition at line 11 of file idle_task.c.

FRAME_HEARTBEAT

#define FRAME_HEARTBEAT   0x01U /* src/radio/frame.h FrameType::Heartbeat */

Definition at line 13 of file idle_task.c.

Referenced by send_heartbeat().

Function Documentation

idle_task()

void idle_task ( void * argument )

static

Definition at line 83 of file idle_task.c.

References app_set_state(), board_sleep(), board_sleep_init(), config, EV_CMD, EV_MODE, FLIGHT_EV_ARM, FLIGHT_IDLE, flight_state_next(), idle, idle_enter(), IDLE_EVENT_ARM_REQUESTED, IDLE_EVENT_SLEEP, idle_init(), idle_on_wake(), led1(), NULL, on_usb(), osFlagsWaitAny, osKernelGetTickCount(), osThreadFlagsWait(), osWaitForever, poll_command(), port, r, read_battery(), send_heartbeat(), want_active, and work_waiting().

Referenced by idle_task_start().

idle_task_command()

void idle_task_command

(

mode_command_t

command

)

Definition at line 131 of file idle_task.c.

References commands, EV_CMD, osMessageQueuePut(), osOK, osThreadFlagsSet(), and thread.

Referenced by app_command().

idle_task_set_active()

void idle_task_set_active

(

bool

on

)

Definition at line 124 of file idle_task.c.

References EV_MODE, osThreadFlagsSet(), thread, and want_active.

Referenced by app_set_state().

idle_task_start()

bool idle_task_start

(

void

)

Definition at line 113 of file idle_task.c.

References commands, idle_task(), NULL, osMessageQueueNew(), osPriorityBelowNormal, osThreadNew(), and thread.

Referenced by app_start().

idle_task_state()

const idle_t * idle_task_state

(

void

)

Definition at line 138 of file idle_task.c.

References idle.

led1()

void led1 ( bool on )

static

Definition at line 78 of file idle_task.c.

References GPIO_PIN_RESET, GPIO_PIN_SET, HAL_GPIO_WritePin(), LED1_GPIO_Port, and LED1_Pin.

Referenced by idle_task().

on_usb()

bool on_usb ( void * ctx )

static

Definition at line 37 of file idle_task.c.

References board_bringup_on_usb().

Referenced by battery_assess(), and idle_task().

poll_command()

idle_command_t poll_command ( void * ctx )

static

Definition at line 64 of file idle_task.c.

References commands, IDLE_CMD_ARM, IDLE_CMD_DISARM, IDLE_CMD_NONE, MODE_CMD_ARM, NULL, osMessageQueueGet(), and osOK.

Referenced by idle_task().

read_battery()

self_test_battery_t read_battery ( void * ctx, uint32_t now_ms, uint32_t budget_ms )

static

Definition at line 31 of file idle_task.c.

References board_bringup_read_battery(), and bringup_task_board().

send_heartbeat()

self_test_reply_t send_heartbeat ( void * ctx, const idle_heartbeat_t * hb, uint32_t budget_ms )

static

Definition at line 42 of file idle_task.c.

References idle_heartbeat_t::battery, FLIGHT_IDLE, FRAME_HEARTBEAT, IDLE_BATT_FAIL, IDLE_BATT_OK, IDLE_BATT_WARN, RADIO_SEND_OK, RADIO_SEND_TIMEOUT, radio_task_send_frame(), SELF_TEST_FAIL, SELF_TEST_PASS, SELF_TEST_TIMEOUT, idle_heartbeat_t::supply_mv, and idle_heartbeat_t::uptime_ms.

work_waiting()

bool work_waiting ( void )

static

Definition at line 74 of file idle_task.c.

References commands, osMessageQueueGetCount(), and want_active.

Referenced by idle_task().

Variable Documentation

commands

osMessageQueueId_t commands

static

Definition at line 28 of file idle_task.c.

Referenced by daq::create_actuator_command_packet(), daq::create_pwm_actuator_packet(), idle_task_command(), idle_task_start(), loop(), poll_command(), processActuatorCommand(), processActuatorCommands(), processActuatorCommands(), processIncomingPacket(), processIncomingPacket(), processPWMActuatorCommand(), processPWMActuatorCommand(), fsw::control::PressureStateMachine::sendActuatorCommandUDP(), and work_waiting().

config

const idle_config_t config

static

Initial value:

= {
    .heartbeat_interval_ms = 10000,
    .wake_tolerance_ms = 500,
    .callback_budget_ms = 500,
    .battery_warn_mv = 7000,
    .battery_fail_mv = 6600,
    .battery_hysteresis_mv = 100,
}

Definition at line 17 of file idle_task.c.

Referenced by board_adc_read(), bringup_task(), configureADC(), smart_calibration_gui.SmartCalibrationGUI::confirm_human_input(), smart_calibration_gui.SmartCalibrationGUI::connect(), daq::create_actuator_config_packet(), smart_calibration_gui.SmartCalibrationGUI::create_human_input_request(), smart_calibration_gui.SmartCalibrationGUI::disconnect(), emmc_log_init(), emmc_stm32_init(), EthernetInit(), formatter::formatter(), h3lis_init(), idle_init(), idle_task(), ism330_init(), main(), main(), mount(), on_valset(), daq::parse_actuator_config_packet(), printResults(), self_test_init(), QwDevISM330DHCX::setHubWriteMode(), smart_calibration_gui.SmartCalibrationGUI::skip_human_input(), smart_calibration_gui.SmartCalibrationGUI::start_learning(), smart_calibration_gui.SmartCalibrationGUI::stop_learning(), and smart_calibration_gui.SmartCalibrationGUI::toggle_autonomous_mode().

idle

idle_t idle

static

Definition at line 26 of file idle_task.c.

Referenced by idle_enter(), idle_init(), idle_last_heartbeat(), idle_on_wake(), idle_task(), idle_task_state(), main(), read_battery(), send_heartbeat(), setup(), test_arm_requested_without_heartbeat(), test_battery_read_before_transmit(), test_clock_and_sequence_wraparound(), test_command_drain_is_bounded(), test_disarm_stays_idle(), test_disarm_then_arm_in_one_wake(), test_early_lsi_wake_within_tolerance(), test_failure_count_saturates(), test_first_wake_sends_heartbeat(), test_hysteresis(), test_init_rejects_bad_input(), test_invalid_battery_still_sends(), test_long_gap_sends_one_heartbeat(), test_radio_wake_does_not_delay_heartbeat(), test_send_failure_counted_and_sleep_continues(), test_sixty_seconds_gives_six_heartbeats(), test_thresholds(), test_usb_is_never_battery_health(), and test_wake_before_enter_is_error().

thread

osThreadId_t thread

static

Definition at line 27 of file idle_task.c.

want_active

volatile bool want_active

static

Definition at line 29 of file idle_task.c.