add a heartbeat task

Author: ryanthecoder

stm32-modules/flex-stacker/firmware/CMakeLists.txt

@@ -7,6 +7,7 @@ add_STM32G4_freertos(${TARGET_MODULE_NAME})
 add_STM32G4_usb(${TARGET_MODULE_NAME})
 
 set(SYSTEM_DIR "${CMAKE_CURRENT_SOURCE_DIR}/system")
+set(UI_DIR "${CMAKE_CURRENT_SOURCE_DIR}/ui")
 set(COMMS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/host_comms_task")
 set(MOTOR_CONTROL_DIR "${CMAKE_CURRENT_SOURCE_DIR}/motor_control")
 set(COMMON_MCU_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../../common/STM32G491")
@@ -17,6 +18,7 @@ set(GDBINIT_PATH "${CMAKE_CURRENT_BINARY_DIR}/../../common/STM32G491/gdbinit")
 set(${TARGET_MODULE_NAME}_FW_LINTABLE_SRCS
     ${CMAKE_CURRENT_SOURCE_DIR}/main.cpp
     ${SYSTEM_DIR}/freertos_idle_timer_task.cpp
+    ${UI_DIR}/freertos_ui_task.cpp
     ${MOTOR_CONTROL_DIR}/freertos_motor_task.cpp
     ${MOTOR_CONTROL_DIR}/freertos_motor_driver_task.cpp
     ${MOTOR_CONTROL_DIR}/motor_driver_policy.cpp
@@ -27,6 +29,8 @@ set(${TARGET_MODULE_NAME}_FW_NONLINTABLE_SRCS
     ${SYSTEM_DIR}/stm32g4xx_hal_msp.c
     ${SYSTEM_DIR}/stm32g4xx_it.c
     ${SYSTEM_DIR}/system_stm32g4xx.c
+    ${SYSTEM_DIR}/hal_tick.c
+    ${UI_DIR}/ui_hardware.c
     ${COMMS_DIR}/usbd_conf.c
     ${COMMS_DIR}/usbd_desc.c
     ${COMMS_DIR}/usb_hardware.c

stm32-modules/flex-stacker/firmware/main.cpp

@@ -11,7 +11,8 @@ using EntryPoint = std::function<void(tasks::FirmwareTasks::QueueAggregator *)>;
 static auto motor_driver_task_entry = EntryPoint(motor_driver_task::run);
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 static auto motor_task_entry = EntryPoint(motor_control_task::run);
-
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
+static auto ui_task_entry = EntryPoint(ui_control_task::run);
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 static auto aggregator = tasks::FirmwareTasks::QueueAggregator();
 
@@ -23,13 +24,18 @@ static auto driver_task =
 static auto motor_task =
     ot_utils::freertos_task::FreeRTOSTask<tasks::MOTOR_STACK_SIZE, EntryPoint>(
         motor_task_entry);
-
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
+static auto ui_task =
+    ot_utils::freertos_task::FreeRTOSTask<tasks::UI_STACK_SIZE, EntryPoint>(
+        ui_task_entry);
 auto main() -> int {
     HardwareInit();
+
     driver_task.start(tasks::MOTOR_DRIVER_TASK_PRIORITY, "Motor Driver",
                       &aggregator);
     motor_task.start(tasks::MOTOR_TASK_PRIORITY, "Motor", &aggregator);
 
+    ui_task.start(tasks::UI_TASK_PRIORITY, "UI", &aggregator);
     vTaskStartScheduler();
     return 0;
 }

stm32-modules/flex-stacker/firmware/ui/freertos_ui_task.cpp

@@ -0,0 +1,16 @@
+#include "firmware/freertos_tasks.hpp"
+
+#include "firmware/ui_hardware.h"
+
+namespace ui_control_task {
+
+auto run(tasks::FirmwareTasks::QueueAggregator* aggregator) -> void {
+    while (true) {
+        ui_hardware_set_heartbeat_led(true);
+        vTaskDelay(500);
+        ui_hardware_set_heartbeat_led(false);
+        vTaskDelay(500);
+    }
+}
+
+};  // namespace ui_control_task

stm32-modules/flex-stacker/firmware/ui/ui_hardware.c

@@ -0,0 +1,15 @@
+#include "main.h"
+
+#include <stdbool.h>
+
+#include "stm32g4xx_hal.h"
+
+
+#define nSTATUS_LED_Pin GPIO_PIN_10
+#define nSTATUS_LED_GPIO_Port GPIOC
+
+void ui_hardware_set_heartbeat_led(bool setting) {
+    //NOLINTNEXTLINE(performance-no-int-to-ptr)
+    HAL_GPIO_WritePin(nSTATUS_LED_GPIO_Port, nSTATUS_LED_Pin,
+        setting ? GPIO_PIN_SET : GPIO_PIN_RESET);
+}

stm32-modules/include/flex-stacker/firmware/firmware_tasks.hpp

@@ -24,4 +24,7 @@ constexpr uint8_t MOTOR_TASK_PRIORITY = 1;
 constexpr size_t MOTOR_DRIVER_STACK_SIZE = 256;
 constexpr uint8_t MOTOR_DRIVER_TASK_PRIORITY = 1;
 
+constexpr size_t UI_STACK_SIZE = 256;
+constexpr uint8_t UI_TASK_PRIORITY = 1;
+
 };  // namespace tasks

stm32-modules/include/flex-stacker/firmware/freertos_tasks.hpp

@@ -18,3 +18,9 @@ namespace motor_control_task {
 auto run(tasks::FirmwareTasks::QueueAggregator* aggregator) -> void;
 
 }  // namespace motor_control_task
+
+namespace ui_control_task {
+
+// Actual function that runs in the task
+auto run(tasks::FirmwareTasks::QueueAggregator* aggregator) -> void;
+}  // namespace ui_control_task

stm32-modules/include/flex-stacker/firmware/ui_hardware.h

@@ -0,0 +1,17 @@
+#ifndef UI_HARDWARE_H__
+#define UI_HARDWARE_H__
+#ifdef __cplusplus
+extern "C" {
+#endif  // __cplusplus
+
+#include <stdbool.h>
+
+/**
+ * @brief Enter the bootloader. This function never returns.
+ */
+void ui_hardware_set_heartbeat_led(bool setting);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif  // __cplusplus
+#endif  // _UI_HARDWARE_H__