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heartBeat #10

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Merged
void-spark merged 1 commit into from
Nov 16, 2025
Merged

heartBeat #10

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16 changes: 15 additions & 1 deletion main/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,8 @@ static const int MEASURE_BAT_BIT = BIT7;

static EventGroupHandle_t controlEventGroup;

volatile bool myTaskAlive = false;

enum messageHandlingResult {
// We got a handoff back, so we get to send the next message
CONTROL_TO_US,
Expand All @@ -74,9 +76,17 @@ enum messageHandlingResult {
};

static TimerHandle_t measureBatTimer;
TimerHandle_t healthCheckTimer ;

static void measureBatTimerCallback(TimerHandle_t xTimer) { xEventGroupSetBits(controlEventGroup, MEASURE_BAT_BIT); }

static void checkMyTaskHealth(TimerHandle_t xTimer) {
if (!myTaskAlive) {
esp_restart();
}
myTaskAlive = false; // Reset voor volgende check
}

static messageHandlingResult handleMotorMessage(ion_state * state) {
messageType message = {};
readResult result;
Expand Down Expand Up @@ -249,8 +259,10 @@ static void my_task(void *pvParameter) {
initMotor();

measureBatTimer = xTimerCreate("measureBatTimer", (100 / portTICK_PERIOD_MS), pdTRUE, (void *)0, measureBatTimerCallback);

xTimerStart(measureBatTimer, 0);

healthCheckTimer = xTimerCreate("healthCheckTimer", 60000 / portTICK_PERIOD_MS, pdTRUE, NULL, checkMyTaskHealth);
xTimerStart(healthCheckTimer, 0);

ion_state state = {
.state = IDLE,
Expand All @@ -266,6 +278,8 @@ static void my_task(void *pvParameter) {

while(true) {

myTaskAlive = true; // sign of life

// TODO:
// More use of timeouts
// See if we really need 8k stack (copying message structure a lot I guess)
Expand Down