From 73bf55a0b4654fa220b71118cae02d8d43a80ad6 Mon Sep 17 00:00:00 2001
From: dario <dario.vandenboom@rcor.de>
Date: Wed, 27 Sep 2023 09:53:06 +0200
Subject: [PATCH] Changed timer thread priority and fixed lockout and failsafe
 timers

---
 .settings/stm32cubeide.project.prefs |  2 +-
 Core/Inc/FreeRTOSConfig.h            |  2 +-
 TACOS-Demo.ioc                       |  3 ++-
 Tacos/src/statemachine.cpp           | 21 +++++++++------------
 4 files changed, 13 insertions(+), 15 deletions(-)

diff --git a/.settings/stm32cubeide.project.prefs b/.settings/stm32cubeide.project.prefs
index 96364d8..0ad0f8c 100644
--- a/.settings/stm32cubeide.project.prefs
+++ b/.settings/stm32cubeide.project.prefs
@@ -1,5 +1,5 @@
 635E684B79701B039C64EA45C3F84D30=C96BA6CC9F20E1205A6EBDFF40205165
 66BE74F758C12D739921AEA421D593D3=4
 8DF89ED150041C4CBC7CB9A9CAA90856=D6E44E0C9E8538D2672E3627575EB9A7
-DC22A860405A8BF2F2C095E5B6529F12=B7A8998BB86F8064A3F4829332693759
+DC22A860405A8BF2F2C095E5B6529F12=D6E44E0C9E8538D2672E3627575EB9A7
 eclipse.preferences.version=1
diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h
index bf70168..0a78574 100644
--- a/Core/Inc/FreeRTOSConfig.h
+++ b/Core/Inc/FreeRTOSConfig.h
@@ -92,7 +92,7 @@
 
 /* Software timer definitions. */
 #define configUSE_TIMERS                         1
-#define configTIMER_TASK_PRIORITY                ( 2 )
+#define configTIMER_TASK_PRIORITY                ( 48 )
 #define configTIMER_QUEUE_LENGTH                 10
 #define configTIMER_TASK_STACK_DEPTH             256
 
diff --git a/TACOS-Demo.ioc b/TACOS-Demo.ioc
index d7c0de1..78aba71 100644
--- a/TACOS-Demo.ioc
+++ b/TACOS-Demo.ioc
@@ -3,11 +3,12 @@ CAD.formats=
 CAD.pinconfig=
 CAD.provider=
 FREERTOS.FootprintOK=true
-FREERTOS.IPParameters=Tasks01,configUSE_NEWLIB_REENTRANT,configRECORD_STACK_HIGH_ADDRESS,configCHECK_FOR_STACK_OVERFLOW,Mutexes01,FootprintOK
+FREERTOS.IPParameters=Tasks01,configUSE_NEWLIB_REENTRANT,configRECORD_STACK_HIGH_ADDRESS,configCHECK_FOR_STACK_OVERFLOW,Mutexes01,FootprintOK,configTIMER_TASK_PRIORITY
 FREERTOS.Mutexes01=uartMutex,Static,uartMutex_cb
 FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
 FREERTOS.configCHECK_FOR_STACK_OVERFLOW=1
 FREERTOS.configRECORD_STACK_HIGH_ADDRESS=1
+FREERTOS.configTIMER_TASK_PRIORITY=48
 FREERTOS.configUSE_NEWLIB_REENTRANT=1
 File.Version=6
 KeepUserPlacement=false
diff --git a/Tacos/src/statemachine.cpp b/Tacos/src/statemachine.cpp
index a4a5114..7c2ab30 100644
--- a/Tacos/src/statemachine.cpp
+++ b/Tacos/src/statemachine.cpp
@@ -15,7 +15,9 @@ namespace sta
 	namespace tacos
 	{
 		Statemachine::Statemachine()
-			: currentState_{STA_TACOS_INITIAL_STATE}, lockoutTimer_{[](void *){}, NULL}, failsafeTimer_{[](void *){}, NULL}
+			: currentState_{STA_TACOS_INITIAL_STATE},
+			  lockoutTimer_{[](void *){}, nullptr},
+			  failsafeTimer_{[](void *){}, nullptr}
 		{
 			STA_ASSERT(STA_TACOS_INITIAL_STATE < STA_TACOS_NUM_STATES);
 		}
@@ -24,23 +26,18 @@ namespace sta
 		{
 			STA_DEBUG_PRINTLN("INITIALIZING STATEMACHINE");
 
-			/*
-			lockoutTimer_.setCallback([](void *) { STA_DEBUG_PRINTLN("Lockout timer triggered!"); }, NULL);
-			lockoutTimer_.start(1000);
+			lockoutTimer_.setCallback([](void *) { STA_DEBUG_PRINTLN("[LOCKOUT TIMEOUT]"); }, nullptr);
+			lockoutTimer_.start(5000);
 
-			failsafeTimer_.setCallback([](void *) { STA_DEBUG_PRINTLN("Failsafe timer triggered!"); }, NULL);
-			failsafeTimer_.start(2000);
-			*/
+			failsafeTimer_.setCallback([](void *) { STA_DEBUG_PRINTLN("[FAILSAFE TIMEOUT]"); }, nullptr);
+			failsafeTimer_.start(10000);
 		}
 
 		void Statemachine::func()
 		{
-			// STA_DEBUG_PRINTLN("LOOPY LOOP IN STATEMACHINE");
+			STA_DEBUG_PRINTLN("LOOPY LOOP IN STATEMACHINE.");
 
-			STA_DEBUG_PRINT("Failsafe timer is running: ");
-			STA_DEBUG_PRINTLN(failsafeTimer_.isRunning());
-
-			osDelay(1000);
+			osDelay(3000);
 		}
 
 		uint16_t Statemachine::getCurrentState() const