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Revert "flash task, pressure sensor offset" #34

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Revert "flash task, pressure sensor offset" #34

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10 changes: 3 additions & 7 deletions components/cli/console_commands.c
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,6 @@
#include "brake_servo.h"
#include "recovery_servo.h"
#include "flash_nvs.h"
#include "flash.h"
#include "rtos_tasks.h"
#include "nvs.h"

Expand Down Expand Up @@ -295,10 +294,12 @@ int CLI_flash_read(int argc, char **argv) {
return -1;
}

data_to_memory_task_t data;
rocket_data_t rocket_data;
char data_buffer[200];
while (fread(&rocket_data, sizeof(rocket_data), 1, file)) {
create_data_csv(&rocket_data, data_buffer, sizeof(data_buffer));
data.data = rocket_data;
create_data_csv(&data, data_buffer, sizeof(data_buffer));
printf("%s", data_buffer);
}
fclose(file);
Expand All @@ -309,11 +310,6 @@ int CLI_flash_read(int argc, char **argv) {
return 0;
}

int CLI_flash_format(int argcc, char **argv) {
FLASH_format();
return 0;
}

int CLI_print_settings(int argc, char **argv) {
settings_t* settings = SETI_get_settings();
ESP_LOGI(TAG, "Brake open angle: %d", settings->brake_open_angle);
Expand Down
1 change: 0 additions & 1 deletion components/cli/console_commands.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,5 @@ int CLI_set_brake_open_time(int argc, char **argv);
int CLI_set_safety_trigger_time(int argc, char **argv);
int CLI_set_recovery_open_time(int argc, char **argv);
int CLI_flash_read(int argc, char **argv);
int CLI_flash_format(int argcc, char **argv);

#endif
2 changes: 1 addition & 1 deletion components/memory/flash.c
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Original file line number Diff line number Diff line change
Expand Up @@ -135,7 +135,7 @@ bool FLASH_is_memory_available(void) {
if (err != ESP_OK) {
return 0;
}
return fl.used_size < (fl.total_size * 4 / 10) ? true : false;
return fl.used_size < (fl.total_size / 2) ? true : false;
}

FlashResult FLASH_format(void) {
Expand Down
74 changes: 0 additions & 74 deletions components/rtos/rtos_flas_task.c
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This file was deleted.

34 changes: 2 additions & 32 deletions components/rtos/rtos_init.c
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Original file line number Diff line number Diff line change
Expand Up @@ -68,8 +68,7 @@ state_config_t states_conf[] = {
};

bool rtos_init(void) {
rtos.data_to_memory = xQueueCreate(RTOS_SD_QUEUE_SIZE, sizeof(rocket_data_t));
rtos.data_to_flash = xQueueCreate(RTOS_FLASH_QUEUE_SIZE, sizeof(rocket_data_t));
rtos.data_to_memory = xQueueCreate(30, sizeof(data_to_memory_task_t));

if (rtos.data_to_memory == NULL) {
return false;
Expand All @@ -81,11 +80,9 @@ bool rtos_init(void) {
TASK_PRIORITY_HIGH, &rtos.main_task, PRO_CPU_NUM);
xTaskCreatePinnedToCore(memory_task, "memory_task", 8000, NULL,
TASK_PRIORITY_MID, &rtos.memory_task, APP_CPU_NUM);
xTaskCreatePinnedToCore(flash_task, "flash_task", 8000, NULL,
TASK_PRIORITY_HIGH, &rtos.flash_task, APP_CPU_NUM);

if (rtos.sensor_task == NULL || rtos.main_task == NULL ||
rtos.memory_task == NULL || rtos.flash_task == NULL) {
rtos.memory_task == NULL) {
if (rtos.sensor_task != NULL) {
vTaskDelete(rtos.sensor_task);
}
Expand All @@ -94,10 +91,6 @@ bool rtos_init(void) {
vTaskDelete(rtos.memory_task);
}

if (rtos.flash_task != NULL) {
vTaskDelete(rtos.memory_task);
}

if (rtos.main_task != NULL) {
vTaskDelete(rtos.main_task);
}
Expand Down Expand Up @@ -206,27 +199,6 @@ static bool read_settings_from_flash(void) {
return res == NVS_OK ? true : false;
}

static void format_flash_on_boot_button(void) {
gpio_set_direction(0, GPIO_MODE_INPUT);
if (gpio_get_level(0) == 0) {
ESP_LOGI(TAG, "FLASH FORMATING ....");
for (int i = 0; i < 2; ++i) {
BUZZER_set_level(1);
vTaskDelay(pdMS_TO_TICKS(250));
BUZZER_set_level(0);
vTaskDelay(pdMS_TO_TICKS(250));
}
FLASH_format();

for (int i = 0; i < 4; ++i) {
BUZZER_set_level(1);
vTaskDelay(pdMS_TO_TICKS(200));
BUZZER_set_level(0);
vTaskDelay(pdMS_TO_TICKS(200));
}
}
}

/**************************** ERRORS ***************************/

static void err_handling(char *name) {
Expand Down Expand Up @@ -263,7 +235,6 @@ void init_task(void *arg) {
ERR_CHECK_BOOL(SM_run() == SM_OK ? true : false, "State machine run");

ERR_CHECK_STATUS(FLASH_init(1), "FLASH");
format_flash_on_boot_button();
ERR_CHECK_STATUS(NVS_init(), "NVS");
ERR_CHECK_BOOL(read_settings_from_flash(), "NVS read");
ERR_CHECK_BOOL(SD_init(&sd_card, sd_spi.spi_host, PCB_SD_CS, MOUNT_POINT), "SD_init");
Expand All @@ -286,7 +257,6 @@ void init_task(void *arg) {
"LSM6DSA3 gyro scale");
ERR_CHECK_STATUS(LPS25HInit(&press_sensor, I2C_NUM_1, LPS25H_I2C_ADDR_SA0_H), "LPS25H");
ERR_CHECK_STATUS(LPS25HStdConf(&press_sensor), "LPS25HB conf");
ERR_CHECK_STATUS(LPS25HCalibrate(&press_sensor), "LPS25HB calibration");
ERR_CHECK_STATUS(console_init(), "CLI");
ERR_CHECK_STATUS(console_register_commands(console_commands,
sizeof(console_commands)/sizeof(console_commands[0])), "CLI register");
Expand Down
43 changes: 16 additions & 27 deletions components/rtos/rtos_main_task.c
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,18 @@ static esp_event_loop_handle_t event_handle;

ESP_EVENT_DEFINE_BASE(TASK_EVENTS);

static data_to_memory_task_t create_data_to_memory_struct(void) {
data_to_memory_task_t data_to_mem;
data_to_mem.data = main_data;
if (main_data.state < ASCENT) {
data_to_mem.save_option = SAVE_TO_SD;
} else if (main_data.state < GROUND) {
data_to_mem.save_option = SAVE_TO_BOTH;
}

return data_to_mem;
}

static void update_data(void) {
main_data.state = SM_get_current_state();
main_data.up_time = get_time_ms();
Expand All @@ -19,18 +31,14 @@ static void update_data(void) {

/********************** EVENTS ************************/

static void wakeup_flash_task(void) {
xTaskNotifyGive(rtos.flash_task);
}

static void sensors_high_acc_event(void *h_arg, esp_event_base_t, int32_t id,
void *data) {
ESP_LOGD(TAG, "HIGH ACCELERATION");
if (SM_change_state(ASCENT) != SM_OK) {
ESP_LOGE(TAG, "UNABLE TO CHANGE STATE TO ASCENT");
return;
}
wakeup_flash_task();

FLIGHT_TIME_start(get_time_ms());
BUZZER_set_level(1);
TIMER_start(BRAKE_TIMER, SETI_get_settings()->brake_open_time,
Expand Down Expand Up @@ -89,38 +97,19 @@ static void touchdown_event(void *h_arg, esp_event_base_t, int32_t id, void *dat
TIMER_start(BUZZER_TIMER, 1000, TIMER_PERIODIC, TIMER_CB_buzzer_change, NULL);
}

static void flash_keep_previous_data_on_queue(rocket_data_t *main_data) {
if (uxQueueMessagesWaiting(rtos.data_to_flash) > RTOS_FLASH_QUEUE_DATA_TO_STASH) {
rocket_data_t data;
if (xQueueReceive(rtos.data_to_flash, (void*)&data, 0) != pdTRUE) {
ESP_LOGE(TAG, "Unable to send to back");
}
}

if (xQueueSend(rtos.data_to_flash, (void *)main_data, 0) == pdFALSE) {
ESP_LOGE(TAG, "UNABLE TO SEND DATA TO FLASH TASK ON LAUNCHPAD");
}
}

static void sensors_new_data_event(void *h_arg, esp_event_base_t, int32_t id,
void *data) {
// ESP_LOGI(TAG, "NEW DATA EVENT");
main_data.sensors = *(sensors_t*)data;
update_data();

if (main_data.state < GROUND) {
if (xQueueSend(rtos.data_to_memory, (void *)&main_data, 0) == pdFALSE) {
data_to_memory_task_t data_to_memory = create_data_to_memory_struct();
if (xQueueSend(rtos.data_to_memory, (void *)&data_to_memory, 0) ==
pdFALSE) {
ESP_LOGE(TAG, "UNABLE TO SEND DATA TO MEMORY TASK");
}
}

if (main_data.state > LAUNCHPAD && main_data.state < GROUND) {
if (xQueueSend(rtos.data_to_flash, (void *)&main_data, 0) == pdFALSE) {
ESP_LOGE(TAG, "UNABLE TO SEND DATA TO FLASH TASK");
}
} else if (main_data.state == LAUNCHPAD) {
flash_keep_previous_data_on_queue(&main_data);
}
// set brejk
}

Expand Down
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