feat(personal-state): Convert personal state to use the work queue

This reduces the power consumption of the system by around .1 mA when the personal state is not active (and dynamic frequency scaling of the system clock is active)

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 +86,75 @@ 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();
 	}
 }