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Merged
void-spark merged 2 commits into from
Dec 23, 2025
Merged

heartBeat #13

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0a0e7fe
heartBeat
mooiweertje Dec 17, 2025
e8ac218
heartBeat
mooiweertje Dec 23, 2025
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4 changes: 4 additions & 0 deletions main/Kconfig.projbuild
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Original file line number Diff line number Diff line change
Expand Up @@ -87,4 +87,8 @@ menu "Sparta Ion Config"
int "The actual battery voltage in mv for full (=100%). For example 42000mv for a 10s battery"
default 42000

config ION_KEEPALIVE
bool "Enable keepalive heartbeat. Will reset the ESP32 when main loop is stuck for more than a minute."
default n

endmenu
13 changes: 10 additions & 3 deletions main/main.cpp
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Expand Up @@ -64,8 +64,6 @@ 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 @@ -76,16 +74,21 @@ enum messageHandlingResult {
};

static TimerHandle_t measureBatTimer;
TimerHandle_t healthCheckTimer ;

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

#if CONFIG_ION_KEEPALIVE
volatile bool myTaskAlive = false;
TimerHandle_t healthCheckTimer ;

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


static messageHandlingResult handleMotorMessage(ion_state * state) {
messageType message = {};
Expand Down Expand Up @@ -261,8 +264,10 @@ static void my_task(void *pvParameter) {
measureBatTimer = xTimerCreate("measureBatTimer", (100 / portTICK_PERIOD_MS), pdTRUE, (void *)0, measureBatTimerCallback);
xTimerStart(measureBatTimer, 0);

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

ion_state state = {
.state = IDLE,
Expand All @@ -278,7 +283,9 @@ static void my_task(void *pvParameter) {

while(true) {

#if CONFIG_ION_KEEPALIVE
myTaskAlive = true; // sign of life
#endif

// TODO:
// More use of timeouts
Expand Down
3 changes: 3 additions & 0 deletions sdkconfig.supermini
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Expand Up @@ -42,3 +42,6 @@ CONFIG_ION_ADC_EMPTY_MV=18000

# Consider 25.2V (4.2V/cell for 6s) full
CONFIG_ION_ADC_FULL_MV=25200

# keepalive
CONFIG_ION_KEEPALIVE=y
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