diff --git a/Documentation/overview.rst b/Documentation/overview.rst
index 159d7450b8df682f4c2939ed9af5f4709a9198e8..26e8baa295b63dd80c98b4550a5421c73aaf458a 100644
--- a/Documentation/overview.rst
+++ b/Documentation/overview.rst
@@ -29,8 +29,6 @@ number of tasks that will have been keeping card10 running. These are:
+--------------------+-------------------------------+----------+-------------------------------------------+
| `vInterruptsTask`_ | ``interrupts_task`` (static) | +2 | Interrupt dispatcher worker |
+--------------------+-------------------------------+----------+-------------------------------------------+
-| `vLedTask`_ | -/- | +1 | LED Animations |
-+--------------------+-------------------------------+----------+-------------------------------------------+
| `vMAX30001Task`_ | ``max30001_task_id`` (static) | +1 | `MAX30001`_ ECG driver |
+--------------------+-------------------------------+----------+-------------------------------------------+
| `vBhi160Task`_ | ``bhi160_task_id`` (static) | +1 | `BHI160`_ sensor fusion driver |
diff --git a/epicardium/main.c b/epicardium/main.c
index 44c26255aac1848c2d8b1268b12402e28bb6d105..3f0f291fef2158ae869ee6d077e24376877300db 100644
--- a/epicardium/main.c
+++ b/epicardium/main.c
@@ -172,17 +172,6 @@ int main(void)
}
}
- /* LEDs */
- if (xTaskCreate(
- vLedTask,
- (const char *)"LED",
- configMINIMAL_STACK_SIZE,
- NULL,
- tskIDLE_PRIORITY + 1,
- NULL) != pdPASS) {
- panic("Failed to create %s task!", "LED");
- }
-
/* Lifecycle */
if (xTaskCreate(
vLifecycleTask,
diff --git a/epicardium/modules/personal_state.c b/epicardium/modules/personal_state.c
index 285cb872dd37315bf1bb5fd227e6cab3bd968f74..a2a1730cba4fd4a6b45c1463bad8b7ad8bdfb7f4 100644
--- a/epicardium/modules/personal_state.c
+++ b/epicardium/modules/personal_state.c
@@ -2,20 +2,36 @@
#include "leds.h"
#include "modules.h"
+#include "os/work_queue.h"
+
+#include "FreeRTOS.h"
+#include "timers.h"
+
#include <math.h>
-uint8_t _personal_state_enabled = 0;
-uint8_t personal_state = STATE_NONE;
-uint8_t personal_state_persistent = 0;
+static uint8_t _personal_state_enabled = 0;
+static uint8_t personal_state = STATE_NONE;
+static uint8_t personal_state_persistent = 0;
+
+static int led_animation_ticks = 0;
+static int led_animation_state = 0;
-int led_animation_ticks = 0;
-int led_animation_state = 0;
+static TimerHandle_t led_timer;
+static StaticTimer_t led_timer_buffer;
+static void worktick(void *data);
+
+static const int led_animation_rate = 1000 / 25; /* 25Hz -> 40ms*/
int personal_state_enabled()
{
return _personal_state_enabled;
}
+static void tick(TimerHandle_t xTimer)
+{
+ workqueue_schedule(worktick, NULL);
+}
+
int epic_personal_state_set(uint8_t state, bool persistent)
{
if (state > STATE_CAMP)
@@ -30,7 +46,29 @@ int epic_personal_state_set(uint8_t state, bool persistent)
_personal_state_enabled = (state != STATE_NONE);
personal_state_persistent = persistent;
- if (was_enabled && !_personal_state_enabled) {
+ if (!was_enabled && _personal_state_enabled) {
+ // Activate
+ if (!led_timer) {
+ led_timer = xTimerCreateStatic(
+ "personal state",
+ led_animation_rate / portTICK_PERIOD_MS,
+ pdTRUE,
+ NULL,
+ tick,
+ &led_timer_buffer
+ );
+ // since &poll_timer_buffer is not NULL, xTimerCreateStatic should allways succeed, so
+ // we don't need to check for poll_timer being NULL.
+ }
+
+ if (xTimerIsTimerActive(led_timer) == pdFALSE) {
+ xTimerStart(led_timer, 0);
+ }
+
+ } else if (was_enabled && !_personal_state_enabled) {
+ // Deactivate
+ xTimerStop(led_timer, 0);
+ // TODO: we might need a lock here to avoid a race condition
leds_prep(PERSONAL_STATE_LED, 0, 0, 0);
epic_leds_update();
}
@@ -48,80 +86,68 @@ int epic_personal_state_is_persistent()
return personal_state_persistent;
}
-void vLedTask(void *pvParameters)
+static void worktick(void *data)
{
- const int led_animation_rate = 1000 / 25; /* 25Hz -> 40ms*/
- while (1) {
- if (_personal_state_enabled) {
- led_animation_ticks++;
- if (personal_state == STATE_NO_CONTACT) {
- leds_prep(PERSONAL_STATE_LED, 255, 0, 0);
- } else if (personal_state == STATE_CHAOS) {
- if (led_animation_state == 0) {
- leds_prep(
- PERSONAL_STATE_LED, 0, 0, 255
- );
- if (led_animation_ticks >
- (200 / led_animation_rate)) {
- led_animation_ticks = 0;
- led_animation_state = 1;
- }
- } else if (led_animation_state == 1) {
- leds_prep(PERSONAL_STATE_LED, 0, 0, 0);
- if (led_animation_ticks >
- (300 / led_animation_rate)) {
- led_animation_ticks = 0;
- led_animation_state = 2;
- }
- } else if (led_animation_state == 2) {
- leds_prep(
- PERSONAL_STATE_LED, 0, 0, 255
- );
- if (led_animation_ticks >
- (1000 / led_animation_rate)) {
- led_animation_ticks = 0;
- led_animation_state = 3;
- }
- } else if (led_animation_state == 3) {
- leds_prep(PERSONAL_STATE_LED, 0, 0, 0);
- if (led_animation_ticks >
- (300 / led_animation_rate)) {
- led_animation_ticks = 0;
- led_animation_state = 0;
- }
+ if (_personal_state_enabled) {
+ led_animation_ticks++;
+ if (personal_state == STATE_NO_CONTACT) {
+ leds_prep(PERSONAL_STATE_LED, 255, 0, 0);
+ } else if (personal_state == STATE_CHAOS) {
+ if (led_animation_state == 0) {
+ leds_prep(PERSONAL_STATE_LED, 0, 0, 255);
+ if (led_animation_ticks >
+ (200 / led_animation_rate)) {
+ led_animation_ticks = 0;
+ led_animation_state = 1;
+ }
+ } else if (led_animation_state == 1) {
+ leds_prep(PERSONAL_STATE_LED, 0, 0, 0);
+ if (led_animation_ticks >
+ (300 / led_animation_rate)) {
+ led_animation_ticks = 0;
+ led_animation_state = 2;
}
- } else if (personal_state == STATE_COMMUNICATION) {
- if (led_animation_state == 0) {
- leds_prep(
- PERSONAL_STATE_LED, 255, 255, 0
- );
- if (led_animation_ticks >
- (1000 / led_animation_rate)) {
- led_animation_ticks = 0;
- led_animation_state = 1;
- }
- } else if (led_animation_state == 1) {
- leds_prep(PERSONAL_STATE_LED, 0, 0, 0);
- if (led_animation_ticks >
- (300 / led_animation_rate)) {
- led_animation_ticks = 0;
- led_animation_state = 0;
- }
+ } else if (led_animation_state == 2) {
+ leds_prep(PERSONAL_STATE_LED, 0, 0, 255);
+ if (led_animation_ticks >
+ (1000 / led_animation_rate)) {
+ led_animation_ticks = 0;
+ led_animation_state = 3;
+ }
+ } else if (led_animation_state == 3) {
+ leds_prep(PERSONAL_STATE_LED, 0, 0, 0);
+ if (led_animation_ticks >
+ (300 / led_animation_rate)) {
+ led_animation_ticks = 0;
+ led_animation_state = 0;
}
- } else if (personal_state == STATE_CAMP) {
- leds_prep_hsv(
- PERSONAL_STATE_LED,
- 120.0f,
- 1.0f,
- fabs(sin(
- led_animation_ticks /
- (float)(1000 /
- led_animation_rate))));
}
-
- epic_leds_update();
+ } else if (personal_state == STATE_COMMUNICATION) {
+ if (led_animation_state == 0) {
+ leds_prep(PERSONAL_STATE_LED, 255, 255, 0);
+ if (led_animation_ticks >
+ (1000 / led_animation_rate)) {
+ led_animation_ticks = 0;
+ led_animation_state = 1;
+ }
+ } else if (led_animation_state == 1) {
+ leds_prep(PERSONAL_STATE_LED, 0, 0, 0);
+ if (led_animation_ticks >
+ (300 / led_animation_rate)) {
+ led_animation_ticks = 0;
+ led_animation_state = 0;
+ }
+ }
+ } else if (personal_state == STATE_CAMP) {
+ leds_prep_hsv(
+ PERSONAL_STATE_LED,
+ 120.0f,
+ 1.0f,
+ fabs(sin(
+ led_animation_ticks /
+ (float)(1000 / led_animation_rate))));
}
- vTaskDelay(led_animation_rate / portTICK_PERIOD_MS);
+ epic_leds_update();
}
}