Added task stack param and updated brake light function to prv_ function

uw-midsun · Jan 28, 2024 · 4ab697c · 4ab697c
1 parent a758d63
commit 4ab697c
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Showing 7 changed files with 20 additions and 20 deletions.
diff --git a/libraries/ms-common/inc/fsm.h b/libraries/ms-common/inc/fsm.h
@@ -106,12 +106,12 @@ typedef struct Fsm {
 // Creates the FSM structure with the supplied number of states
 // and initializes its associated FSM task
 // num_states must be a defined constant
-#define FSM(name, num_fsm_states)   \
-  Fsm *name##_fsm = &((Fsm){        \
-      .num_states = num_fsm_states, \
-  });                               \
-  TASK(name, TASK_STACK_256) {      \
-    _fsm_task(context);             \
+#define FSM(name, num_fsm_states, stack_size) \
+  Fsm *name##_fsm = &((Fsm){                  \
+      .num_states = num_fsm_states,           \
+  });                                         \
+  TASK(name, stack_size) {                    \
+    _fsm_task(context);                       \
   }
 
 // Creates state with associated id in a state list

diff --git a/projects/centre_console/src/drive_fsm.c b/projects/centre_console/src/drive_fsm.c
@@ -4,7 +4,7 @@
 #include "centre_console_getters.h"
 #include "centre_console_setters.h"
 
-FSM(drive, NUM_DRIVE_STATES);
+FSM(drive, NUM_DRIVE_STATES, TASK_STACK_512);
 
 #define NUM_DRIVE_FSM_BUTTONS 3
 

diff --git a/projects/fsm_demo/src/fsm1.c b/projects/fsm_demo/src/fsm1.c
@@ -6,7 +6,7 @@
 #include "notify.h"
 #include "task.h"
 
-FSM(fsm1, NUM_FSM1_STATES);
+FSM(fsm1, NUM_FSM1_STATES, TASK_STACK_512);
 
 // Input functions are executed each iteration of run_cycle, and
 // Output functions are executed only when a state is transitioned to

diff --git a/projects/fsm_demo/src/fsm2.c b/projects/fsm_demo/src/fsm2.c
@@ -8,7 +8,7 @@
 
 // FSM2 Lags one cycle behind FSM1, so it will transition to state X
 // When FSM1 finishes state X
-FSM(fsm2, NUM_FSM2_STATES);
+FSM(fsm2, NUM_FSM2_STATES, TASK_STACK_512);
 
 static void prv_fsm2_state0_output(void *context) {
   LOG_DEBUG("Transitioned to FSM2 state0\n");

diff --git a/projects/fsm_demo/src/main.c b/projects/fsm_demo/src/main.c
@@ -25,7 +25,6 @@ void run_medium_cycle() {
   wait_tasks(1);
   fsm_run_cycle(fsm2);
   wait_tasks(1);
-  delay_ms(1000);
 }
 
 int main(void) {

diff --git a/projects/power_distribution/src/lights_fsm.c b/projects/power_distribution/src/lights_fsm.c
@@ -4,11 +4,12 @@
 #include "outputs.h"
 #include "power_distribution_getters.h"
 
-#define brake_lights()                                        \
-  if (get_pedal_output_brake_output())                        \
-    pd_set_output_group(OUTPUT_GROUP_BRAKE, OUTPUT_STATE_ON); \
-  else                                                        \
+prv_brake_lights() {
+  if (get_pedal_output_brake_output())
+    pd_set_output_group(OUTPUT_GROUP_BRAKE, OUTPUT_STATE_ON);
+  else
     pd_set_output_group(OUTPUT_GROUP_BRAKE, OUTPUT_STATE_OFF);
+}
 
 // Placeholder GPIO Address, will be updated
 GpioAddress RIGHT_LIGHT_ADDR = { .port = GPIO_PORT_B, .pin = 5 };
@@ -18,7 +19,7 @@ GpioAddress LEFT_LIGHT_ADDR = { .port = GPIO_PORT_A, .pin = 15 };
 static SoftTimer s_timer_single;
 static EELightType light_id_callback;
 
-FSM(lights, NUM_LIGHTS_STATES);
+FSM(lights, NUM_LIGHTS_STATES, TASK_STACK_512);
 static OutputState left_signal_state = OUTPUT_STATE_OFF;
 static OutputState right_signal_state = OUTPUT_STATE_OFF;
 static LightsStateId fsm_prev_state = INIT_STATE;
@@ -61,7 +62,7 @@ static void prv_lights_signal_blinker(SoftTimerId id) {
 }
 
 static void prv_init_state_input(Fsm *fsm, void *context) {
-  brake_lights();
+  prv_brake_lights();
   // can transition to LEFT, RIGHT, HAZARD
   EELightType light_event = get_steering_info_input_lights();
   HazardStatus hazard_status = get_cc_power_control_hazard_enabled();
@@ -82,7 +83,7 @@ static void prv_init_state_output(void *context) {
 }
 
 static void prv_left_signal_input(Fsm *fsm, void *context) {
-  brake_lights();
+  prv_brake_lights();
   // can transition to INIT, RIGHT, HAZARD
   EELightType light_event = get_steering_info_input_lights();
   HazardStatus hazard_status = get_cc_power_control_hazard_enabled();
@@ -107,7 +108,7 @@ static void prv_left_signal_output(void *context) {
 }
 
 static void prv_right_signal_input(Fsm *fsm, void *context) {
-  brake_lights();
+  prv_brake_lights();
   // can transition to INIT, LEFT, HAZARD
   EELightType light_event = get_steering_info_input_lights();
   HazardStatus hazard_status = get_cc_power_control_hazard_enabled();
@@ -132,7 +133,7 @@ static void prv_right_signal_output(void *context) {
 }
 
 static void prv_hazard_input(Fsm *fsm, void *context) {
-  brake_lights();
+  prv_brake_lights();
   // can transition to INIT, BPS_FAULT
   EELightType light_event = get_steering_info_input_lights();
   HazardStatus hazard_status = get_cc_power_control_hazard_enabled();

diff --git a/projects/power_distribution/src/power_seq_fsm.c b/projects/power_distribution/src/power_seq_fsm.c
@@ -12,7 +12,7 @@
     return;                                                                \
   }
 
-FSM(power_seq, NUM_POWER_STATES);
+FSM(power_seq, NUM_POWER_STATES, TASK_STACK_256);
 
 static PowerFsmContext power_context = { 0 };