Merge branch 'main' into feature/Aaron/ProjectTemplate

Author: AarC10

app/backplane/deployment_module/.idea/deployment.xml

@@ -11,7 +11,7 @@ CONFIG_CBPRINTF_FP_SUPPORT=y
 
 # OS
 CONFIG_POLL=y
-CONFIG_MAIN_STACK_SIZE=1024
+CONFIG_MAIN_STACK_SIZE=4096
 CONFIG_STACK_USAGE=y
 
 CONFIG_TIMESLICING=y

app/backplane/deployment_module/.idea/editor.xml

@@ -39,14 +39,14 @@ class CDeploymentModule : public CProjectConfiguration {
     // Devices
     CRtc rtc{*DEVICE_DT_GET(DT_ALIAS(rtc))};
 
-    std::string ipAddrStr = CREATE_IP_ADDR(NNetworkDefs::DEPLOYMENT_MODULE_IP_ADDR_BASE, 1, CONFIG_MODULE_ID);
+    std::string ipAddrStr = "10.4.1.1";
     const char* sntpServerAddr = "10.2.1.1"; // TODO: Maybe we should look into hostnames? Also, still need to fix the create ip addr bug...
 
     // Tenants
     CUdpAlertTenant alertTenant{"Alert Tenant", ipAddrStr.c_str(), NNetworkDefs::ALERT_PORT};
 
     // Tasks
-    CTask networkTask{"Networking Task", 15, 1024, 0};
+    CTask networkTask{"Networking Task", 15, 2048, 0};
 
     // Observers
     CPyroControlObserver pyroControlObserver;

app/backplane/deployment_module/core.conf

@@ -40,7 +40,7 @@ class CPyroControlObserver : public CObserver {
         CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio3), gpios))
     };
 
-    CFlightLog flightLog{"flight.log"};
+    // CFlightLog flightLog{"flight.log"};
     CSoftTimer chargeDisableTimer;
 
     std::array<PyroTrio, 4> pyroTrios{

app/backplane/deployment_module/include/c_deployment_module.h

@@ -1,5 +1,7 @@
 #include "c_pyro_control_observer.h"
 
+#include "f_core/os/n_rtos.h"
+
 #include <cstdio>
 #include <f_core/n_alerts.h>
 #include <zephyr/logging/log.h>
@@ -9,51 +11,59 @@ LOG_MODULE_REGISTER(CPyroControlObserver);
 
 static void chargeDisableTimerCallback(k_timer* timer) {
     auto* observer = static_cast<CPyroControlObserver*>(timer->user_data);
+
     observer->DisableCallback();
+    NRtos::ResumeTask("Networking Task");
 }
 
 CPyroControlObserver::CPyroControlObserver() {
-    flightLog.Write("Pyro Controller Observer initialized");
+    // flightLog.Write("Pyro Controller Observer initialized");
     chargeDisableTimer = CSoftTimer(chargeDisableTimerCallback);
     chargeDisableTimer.SetUserData(this);
 }
 
 
 void CPyroControlObserver::Notify(void* ctx) {
     uint8_t pyroCount = 0;
+    LOG_INF("Notified");
 
     switch (*static_cast<NAlerts::AlertType*>(ctx)) {
         case NAlerts::NOSEOVER:
             LOG_INF("Noseover detected. Deploying charges in one second.");
-            flightLog.Write("Noseover detected. Deploying charges in one second.");
+            // flightLog.Write("Noseover detected. Deploying charges in one second.");
             // TODO: Settings library for handling deployment timing
             k_sleep(K_SECONDS(1));
 
             for (auto& [sense, ctrl, led] : pyroTrios) {
-                if (sense.GetPin() == 1) {
+                // if (sense.GetPin() == 1) {
                     ctrl.SetPin(1);
                     led.SetPin(1);
                     LOG_INF("Deployed charge %d", pyroCount);
-                }
+                // }
                 pyroCount++;
             }
-            flightLog.Write("Finished deploying charges");
+            // flightLog.Write("Finished deploying charges");
             chargeDisableTimer.StartTimer(3000);
+            // Must suspend the networking task. If we get a new event, process after we
+            // process the last one. Otherwise, we can fault during interrupt handling
+            NRtos::SuspendCurrentTask();
             break;
         default:
             break;
     }
 
-    flightLog.Sync();
+
+    // flightLog.Sync();
 }
 
 void CPyroControlObserver::DisableCallback() {
+    chargeDisableTimer.StopTimer();
     int pyroCount = 0;
     for (auto& [sense, ctrl, led] : pyroTrios) {
         ctrl.SetPin(0);
         led.SetPin(0);
         LOG_INF("Disabled charge %d", pyroCount);
         pyroCount++;
     }
-    flightLog.Write("Finished disabling charges");
+    // flightLog.Write("Finished disabling charges");
 }

app/backplane/deployment_module/include/c_pyro_control_observer.h

@@ -7,11 +7,14 @@
 
 #include <f_core/os/n_rtos.h>
 
+LOG_MODULE_REGISTER(main);
+
 int main() {
     static CDeploymentModule deploymentModule{};
 
     deploymentModule.AddTenantsToTasks();
     deploymentModule.AddTasksToRtos();
+    deploymentModule.SetupCallbacks();
 
     NRtos::StartRtos();
 

app/backplane/deployment_module/src/c_pyro_control_observer.cpp

@@ -79,8 +79,8 @@ class CPowerModule : public CProjectConfiguration {
     static constexpr int ina219SampleTimeMillis = 69; // 68.1 ms based on our devicetree configuration, and we don't need to sample that quickly
 
     CTask networkTask{"Networking Task", 15, 3072, 0};
-    CTask sensingTask{"Sensing Task", 15, 1024, ina219SampleTimeMillis};
-    CTask dataLoggingTask{"Data Logging Task", 15, 1500, 0};
+    CTask sensingTask{"Sensing Task", 15, 2048, ina219SampleTimeMillis};
+    CTask dataLoggingTask{"Data Logging Task", 15, 2048, 0};
 };
 
 

app/backplane/deployment_module/src/main.cpp

@@ -86,6 +86,7 @@ void CSensingTenant::Run() {
 
     if (timer.IsExpired()) {
         dataToLog.Send(timestampedData, K_MSEC(5));
+        NRtos::ResumeTask("Data Logging Task");
     }
 }
 

app/backplane/power_module/include/c_power_module.h

@@ -10,6 +10,7 @@ CONFIG_F_CORE=y
 CONFIG_F_CORE_DEVICE=y
 CONFIG_F_CORE_NET=y
 CONFIG_F_CORE_RADIO=y
+CONFIG_F_CORE_STATE_MACHINE=y
 CONFIG_F_CORE_OS=y
 CONFIG_F_CORE_UTILS=y