More refactoring for the movement thread

workspace/TS100/Core/BSP/BSP.h

@@ -38,6 +38,8 @@ uint8_t getButtonB();
 // This should toggle the SCL line until SDA goes high to end the current transaction
 void unstick_I2C();
 
+//Reboot the IC when things go seriously wrong
+void reboot();
 #ifdef __cplusplus
 }
 #endif

workspace/TS100/Core/BSP/Miniware/BSP.cpp

@@ -4,11 +4,12 @@
 #include "Setup.h"
 #include "history.hpp"
 #include "Pins.h"
+#include "main.hpp"
 #include "history.hpp"
+#include "FRToSI2C.hpp"
 volatile uint16_t PWMSafetyTimer = 0;
 volatile uint8_t pendingPWM = 0;
 
-
 //2 second filter (ADC is PID_TIM_HZ Hz)
 history<uint16_t, PID_TIM_HZ> rawTempFilter = { { 0 }, 0, 0 };
 void resetWatchdog() {
@@ -210,3 +211,42 @@ uint8_t getButtonB() {
 	return HAL_GPIO_ReadPin(KEY_B_GPIO_Port, KEY_B_Pin) == GPIO_PIN_RESET ?
 			1 : 0;
 }
+
+/*
+ * Catch the IRQ that says that the conversion is done on the temperature
+ * readings coming in Once these have come in we can unblock the PID so that it
+ * runs again
+ */
+void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef *hadc) {
+	BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+	if (hadc == &hadc1) {
+		if (pidTaskNotification) {
+			vTaskNotifyGiveFromISR(pidTaskNotification,
+					&xHigherPriorityTaskWoken);
+			portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
+		}
+	}
+}
+void HAL_I2C_MasterRxCpltCallback(I2C_HandleTypeDef *hi2c __unused) {
+	FRToSI2C::CpltCallback();
+}
+void HAL_I2C_MasterTxCpltCallback(I2C_HandleTypeDef *hi2c __unused) {
+	FRToSI2C::CpltCallback();
+}
+void HAL_I2C_MemTxCpltCallback(I2C_HandleTypeDef *hi2c __unused) {
+	FRToSI2C::CpltCallback();
+}
+void HAL_I2C_ErrorCallback(I2C_HandleTypeDef *hi2c __unused) {
+
+	FRToSI2C::CpltCallback();
+}
+void HAL_I2C_AbortCpltCallback(I2C_HandleTypeDef *hi2c __unused) {
+
+	FRToSI2C::CpltCallback();
+}
+void HAL_I2C_MemRxCpltCallback(I2C_HandleTypeDef *hi2c __unused) {
+	FRToSI2C::CpltCallback();
+}
+void reboot() {
+	NVIC_SystemReset();
+}

workspace/TS100/Core/Inc/main.hpp

@@ -25,7 +25,9 @@ void vApplicationStackOverflowHook(xTaskHandle *pxTask,
 void startGUITask(void const *argument);
 void startPIDTask(void const *argument);
 void startMOVTask(void const *argument);
-extern TaskHandle_t pidTaskNotification ;
+extern TaskHandle_t pidTaskNotification;
+extern uint8_t accelInit;
+extern uint32_t lastMovementTime;
 #ifdef __cplusplus
 }
 #endif

workspace/TS100/Core/Src/FreeRTOSHooks.c

@@ -22,3 +22,11 @@ void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer,
 	*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
 	/* place for user code */
 }
+
+void vApplicationStackOverflowHook(xTaskHandle *pxTask,
+		signed portCHAR *pcTaskName) {
+	(void) pxTask;
+	(void) pcTaskName;
+// We dont have a good way to handle a stack overflow at this point in time
+	reboot();
+}

workspace/TS100/Core/Src/main.cpp

@@ -2,10 +2,10 @@
 
 #include "BSP.h"
 
-#include <MMA8652FC.hpp>
 #include <gui.hpp>
 #include <main.hpp>
 #include "LIS2DH12.hpp"
+#include <MMA8652FC.hpp>
 #include <history.hpp>
 #include <power.hpp>
 #include "Settings.h"
@@ -18,8 +18,6 @@
 uint8_t PCBVersion = 0;
 // File local variables
 uint32_t currentTempTargetDegC = 0; // Current temperature target in C
-uint8_t accelInit = 0;
-uint32_t lastMovementTime = 0;
 
 bool settingsWereReset = false;
 // FreeRTOS variables
@@ -94,92 +92,6 @@ int main(void) {
 	}
 }
 
-#define MOVFilter 8
-void startMOVTask(void const *argument __unused) {
-	OLED::setRotation(true);
-
-#ifdef MODEL_TS80
-	startQC(systemSettings.voltageDiv);
-	while (pidTaskNotification == 0)
-		osDelay(30);  // To ensure we return after idealQCVoltage/tip resistance
-
-	seekQC((systemSettings.cutoutSetting) ? 120 : 90,
-			systemSettings.voltageDiv); // this will move the QC output to the preferred voltage to start with
-
-#else
-	osDelay(250);  // wait for accelerometer to stabilize
-#endif
-
-	OLED::setRotation(systemSettings.OrientationMode & 1);
-	lastMovementTime = 0;
-	int16_t datax[MOVFilter] = { 0 };
-	int16_t datay[MOVFilter] = { 0 };
-	int16_t dataz[MOVFilter] = { 0 };
-	uint8_t currentPointer = 0;
-	int16_t tx = 0, ty = 0, tz = 0;
-	int32_t avgx = 0, avgy = 0, avgz = 0;
-	if (systemSettings.sensitivity > 9)
-		systemSettings.sensitivity = 9;
-#ifdef ACCELDEBUG
-	uint32_t max = 0;
-#endif
-	Orientation rotation = ORIENTATION_FLAT;
-	for (;;) {
-		int32_t threshold = 1500 + (9 * 200);
-		threshold -= systemSettings.sensitivity * 200;  // 200 is the step size
-
-		if (PCBVersion == 2) {
-			LIS2DH12::getAxisReadings(tx, ty, tz);
-			rotation = LIS2DH12::getOrientation();
-		} else if (PCBVersion == 1) {
-			MMA8652FC::getAxisReadings(tx, ty, tz);
-			rotation = MMA8652FC::getOrientation();
-		}
-		if (systemSettings.OrientationMode == 2) {
-			if (rotation != ORIENTATION_FLAT) {
-				OLED::setRotation(rotation == ORIENTATION_LEFT_HAND); // link the data through
-			}
-		}
-		datax[currentPointer] = (int32_t) tx;
-		datay[currentPointer] = (int32_t) ty;
-		dataz[currentPointer] = (int32_t) tz;
-		if (!accelInit) {
-			for (uint8_t i = currentPointer + 1; i < MOVFilter; i++) {
-				datax[i] = (int32_t) tx;
-				datay[i] = (int32_t) ty;
-				dataz[i] = (int32_t) tz;
-			}
-			accelInit = 1;
-		}
-		currentPointer = (currentPointer + 1) % MOVFilter;
-		avgx = avgy = avgz = 0;
-		// calculate averages
-		for (uint8_t i = 0; i < MOVFilter; i++) {
-			avgx += datax[i];
-			avgy += datay[i];
-			avgz += dataz[i];
-		}
-		avgx /= MOVFilter;
-		avgy /= MOVFilter;
-		avgz /= MOVFilter;
-
-		// Sum the deltas
-		int32_t error = (abs(avgx - tx) + abs(avgy - ty) + abs(avgz - tz));
-		// So now we have averages, we want to look if these are different by more
-		// than the threshold
-
-		// If error has occurred then we update the tick timer
-		if (error > threshold) {
-			lastMovementTime = xTaskGetTickCount();
-		}
-
-		osDelay(100);  // Slow down update rate
-#ifdef MODEL_TS80
-		seekQC((systemSettings.cutoutSetting) ? 120 : 90,
-				systemSettings.voltageDiv); // Run the QC seek again if we have drifted too much
-#endif
-	}
-}
 
 // Second last page of flash set aside for logo image.
 #define FLASH_LOGOADDR (0x8000000 | 0xF800)
@@ -199,44 +111,3 @@ bool showBootLogoIfavailable() {
 	return true;
 }
 
-/*
- * Catch the IRQ that says that the conversion is done on the temperature
- * readings coming in Once these have come in we can unblock the PID so that it
- * runs again
- */
-void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef *hadc) {
-	BaseType_t xHigherPriorityTaskWoken = pdFALSE;
-	if (hadc == &hadc1) {
-		if (pidTaskNotification) {
-			vTaskNotifyGiveFromISR(pidTaskNotification,
-					&xHigherPriorityTaskWoken);
-			portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
-		}
-	}
-}
-void HAL_I2C_MasterRxCpltCallback(I2C_HandleTypeDef *hi2c __unused) {
-	FRToSI2C::CpltCallback();
-}
-void HAL_I2C_MasterTxCpltCallback(I2C_HandleTypeDef *hi2c __unused) {
-	FRToSI2C::CpltCallback();
-}
-void HAL_I2C_MemTxCpltCallback(I2C_HandleTypeDef *hi2c __unused) {
-	FRToSI2C::CpltCallback();
-}
-void HAL_I2C_ErrorCallback(I2C_HandleTypeDef *hi2c __unused) {
-
-	FRToSI2C::CpltCallback();
-}
-void HAL_I2C_AbortCpltCallback(I2C_HandleTypeDef *hi2c __unused) {
-
-	FRToSI2C::CpltCallback();
-}
-void HAL_I2C_MemRxCpltCallback(I2C_HandleTypeDef *hi2c __unused) {
-	FRToSI2C::CpltCallback();
-}
-void vApplicationStackOverflowHook(xTaskHandle *pxTask __unused,
-		signed portCHAR *pcTaskName __unused) {
-
-// We dont have a good way to handle a stack overflow at this point in time
-	NVIC_SystemReset();
-}

workspace/TS100/Core/Threads/MOVThread.cpp

@@ -0,0 +1,109 @@
+/*
+ * MOVThread.cpp
+ *
+ *  Created on: 29 May 2020
+ *      Author: Ralim
+ */
+
+#include "main.hpp"
+#include "BSP.h"
+#include "power.hpp"
+#include "history.hpp"
+#include "TipThermoModel.h"
+#include "cmsis_os.h"
+#include "FreeRTOS.h"
+#include "task.h"
+#include "Settings.h"
+#include "FRToSI2C.hpp"
+#include "stdlib.h"
+#include "LIS2DH12.hpp"
+#include <MMA8652FC.hpp>
+
+#define MOVFilter 8
+uint8_t accelInit = 0;
+uint32_t lastMovementTime = 0;
+void startMOVTask(void const *argument __unused) {
+	OLED::setRotation(true);
+
+#ifdef MODEL_TS80
+	startQC(systemSettings.voltageDiv);
+	while (pidTaskNotification == 0)
+		osDelay(30);  // To ensure we return after idealQCVoltage/tip resistance
+
+	seekQC((systemSettings.cutoutSetting) ? 120 : 90,
+			systemSettings.voltageDiv); // this will move the QC output to the preferred voltage to start with
+
+#else
+	osDelay(250);  // wait for accelerometer to stabilize
+#endif
+
+	OLED::setRotation(systemSettings.OrientationMode & 1);
+	lastMovementTime = 0;
+	int16_t datax[MOVFilter] = { 0 };
+	int16_t datay[MOVFilter] = { 0 };
+	int16_t dataz[MOVFilter] = { 0 };
+	uint8_t currentPointer = 0;
+	int16_t tx = 0, ty = 0, tz = 0;
+	int32_t avgx = 0, avgy = 0, avgz = 0;
+	if (systemSettings.sensitivity > 9)
+		systemSettings.sensitivity = 9;
+#ifdef ACCELDEBUG
+	uint32_t max = 0;
+#endif
+	Orientation rotation = ORIENTATION_FLAT;
+	for (;;) {
+		int32_t threshold = 1500 + (9 * 200);
+		threshold -= systemSettings.sensitivity * 200;  // 200 is the step size
+
+		if (PCBVersion == 2) {
+			LIS2DH12::getAxisReadings(tx, ty, tz);
+			rotation = LIS2DH12::getOrientation();
+		} else if (PCBVersion == 1) {
+			MMA8652FC::getAxisReadings(tx, ty, tz);
+			rotation = MMA8652FC::getOrientation();
+		}
+		if (systemSettings.OrientationMode == 2) {
+			if (rotation != ORIENTATION_FLAT) {
+				OLED::setRotation(rotation == ORIENTATION_LEFT_HAND); // link the data through
+			}
+		}
+		datax[currentPointer] = (int32_t) tx;
+		datay[currentPointer] = (int32_t) ty;
+		dataz[currentPointer] = (int32_t) tz;
+		if (!accelInit) {
+			for (uint8_t i = currentPointer + 1; i < MOVFilter; i++) {
+				datax[i] = (int32_t) tx;
+				datay[i] = (int32_t) ty;
+				dataz[i] = (int32_t) tz;
+			}
+			accelInit = 1;
+		}
+		currentPointer = (currentPointer + 1) % MOVFilter;
+		avgx = avgy = avgz = 0;
+		// calculate averages
+		for (uint8_t i = 0; i < MOVFilter; i++) {
+			avgx += datax[i];
+			avgy += datay[i];
+			avgz += dataz[i];
+		}
+		avgx /= MOVFilter;
+		avgy /= MOVFilter;
+		avgz /= MOVFilter;
+
+		// Sum the deltas
+		int32_t error = (abs(avgx - tx) + abs(avgy - ty) + abs(avgz - tz));
+		// So now we have averages, we want to look if these are different by more
+		// than the threshold
+
+		// If error has occurred then we update the tick timer
+		if (error > threshold) {
+			lastMovementTime = xTaskGetTickCount();
+		}
+
+		osDelay(100);  // Slow down update rate
+#ifdef MODEL_TS80
+		seekQC((systemSettings.cutoutSetting) ? 120 : 90,
+				systemSettings.voltageDiv); // Run the QC seek again if we have drifted too much
+#endif
+	}
+}