Heartbeat: Implements Chibi thread for Heartbeat system.

This commit implements the Chibi thread for the heartbeat system, blinking the light on the Teensy Bottom Shell periodically while it receives power. It also fixes some errors with documentation comments in the light system.

Author: HilbertCurve

platformio.ini

@@ -22,7 +22,7 @@ build_flags =
     ;-Isrc/battery
     -Isrc/common
     ;-Isrc/gps
-    ;-Isrc/heartbeat
+    -Isrc/heartbeat
     ;-Isrc/inputs
     ;-Isrc/logging
     ;-Isrc/misc

src/heartbeat/heartbeat.cpp

@@ -0,0 +1,29 @@
+
+#include "heartbeat.h"
+#include "common.h"
+
+// TODO: this was defined in params.h; should we move this there?
+#define THREAD_STACK_SIZE_HEARTBEAT 512
+#define THREAD_PRIORITY_HEARTBEAT LOWPRIO
+
+static THD_WORKING_AREA(wa_heartbeat, THREAD_STACK_SIZE_HEARTBEAT);
+/**
+ * @brief Construct a new thd function object to handle sending telemetry data back to pit/base station
+ *
+ */
+static THD_FUNCTION(heartbeat, arg) {
+    (void) arg;
+    while (true){
+        digitalWrite(LED_BUILTIN, HIGH);
+        chThdSleepMilliseconds(1000);
+        digitalWrite(LED_BUILTIN, LOW);
+        chThdSleepMilliseconds(1000);
+    }
+}
+/**
+ * @brief One-time call function to set up the heartbeat thread
+ *
+ */
+void heartbeatSetup() {
+    chThdCreateStatic(wa_heartbeat, sizeof(wa_heartbeat),THREAD_PRIORITY_HEARTBEAT, heartbeat, NULL);
+}

src/heartbeat/heartbeat.h

@@ -0,0 +1,11 @@
+#ifndef HEARTBEAT_H
+#define HEARTBEAT_H
+
+/**
+ * @brief Function that sets up basic heartbeat thread. This thread blinks a
+ * light on and off with a period of two seconds. Mainly a debug to ensure the
+ * car isn't dead yet.
+ */
+void heartbeatSetup();
+
+#endif

src/light/light.h

@@ -30,7 +30,6 @@ extern struct {
 /**
  * @brief Function called in the "setup" phase. Initializes light threads and establishes light state.
  * Combination of `lightSetup` and `routerSetup` from TBS.
- * @param msg Input CAN message. Assumes correct ID and layout.
  */
 void lightSetup();
 
@@ -52,7 +51,7 @@ void updateRightLight(CAN_message_t msg);
 void updateHeadlights(CAN_message_t msg);
 /**
  * @brief Function to update brake lights based on an already parsed can message. Called in response to a change in the brakes.
- * @param msg Input CAN message. Assumes correct ID and layout.
+ * @param msg Input bool.
  */
 void updateBrakeLights(bool msg);
 
@@ -63,7 +62,7 @@ void updateBrakeLights(bool msg);
 void updateBPSLight(CAN_message_t msg);
 
 /**
- * @brief
+ * @brief TODO
  */
 void updateYButtonLong(CAN_message_t msg);
 

src/main.cpp

@@ -1,5 +1,6 @@
 #include "common.h"
 #include "light.h"
+#include "heartbeat.h"
 
 // Initalize CAN ports. See can_setup.h for more info.
 typedef FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> can0;
@@ -9,6 +10,7 @@ can1 MotorCan;
 
 void main_setup(){
     lightSetup();
+    heartbeatSetup();
 }
 
 void setup(){