main.c File Reference

The panel application: app_main, the console report and the main loop's hardware glue. More...

#include <inttypes.h>
#include <stdatomic.h>
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include "driver/gpio.h"
#include "driver/temperature_sensor.h"
#include "esp_heap_caps.h"
#include "esp_log.h"
#include "esp_random.h"
#include "esp_system.h"
#include "esp_timer.h"
#include "freertos/FreeRTOS.h"
#include "freertos/queue.h"
#include "freertos/semphr.h"
#include "freertos/task.h"
#include "board.h"
#include "ui_band.h"
#include "board_pins.h"
#include "can_twai.h"
#include "busfault_screen.h"
#include "can_selftest.h"
#include "selftest.h"
#include "display.h"
#include "esc_profile.h"
#include "esc_sim.h"
#include "gfx.h"
#include "arming.h"
#include "art_flash_esp.h"
#include "art_fetch.h"
#include "art_store.h"
#include "heartbeat.h"
#include "bind_link.h"
#include "kst_link.h"
#include "prog_link.h"
#include "hitec_panel.h"
#include "kst_panel.h"
#include "kst_card.h"
#include "kst_files.h"
#include "kst_prog.h"
#include "link_bringup.h"
#include "link_host.h"
#include "link_pages.h"
#include "link_port.h"
#include "link_update_host.h"
#include "log_name.h"
#include "log_select.h"
#include "log_cadence.h"
#include "log_writer.h"
#include "motor_screen.h"
#include "servo_link.h"
#include "servo_page.h"
#include "servo_screen.h"
#include "pdmini.h"
#include "sense_link.h"
#include "sense_page.h"
#include "servo_source.h"
#include "tone_link.h"
#include "supply_link.h"
#include "supply_page.h"
#include "supply_screen.h"
#include "outputs_screen.h"
#include "overview_screen.h"
#include "picker_screen.h"
#include "esc_stick_panel.h"
#include "rcbench_version.h"
#include "flash_gate.h"
#include "safety_gate.h"
#include "settings.h"
#include "settings_screen.h"
#include "settings_sensors.h"
#include "sensors_rows.h"
#include "splash_screen.h"
#include "knob.h"
#include "knob_task.h"
#include "log_viewer_screen.h"
#include "coproc_update_screen.h"
#include "storage.h"
#include "telemetry_sim.h"
#include "touch_loss.h"
#include "outputs.h"
#include "outputs_pages.h"
#include "touch.h"
#include "touch_map.h"
#include "fw_install.h"
#include "fw_ota.h"
#include "fw_release.h"
#include "fw_trial.h"
#include "upd_screen.h"
#include "wifi_access.h"
#include "wifi_screen.h"
#include "ui_cats.h"
#include "ui_screen.h"
#include "ui_card_text.h"
#include "ui_text.h"
#include "ui_theme.h"
#include "panel.h"
#include "panel_main.h"
#include "panel_trial.h"

Macros
#define	TOUCH_Q_LEN   32
#define	CMD_Q_LEN   16
#define	SAMPLE_Q_LEN   8
#define	KST_Q_LEN   4
#define	HITEC_Q_LEN   4
	The Hitec programmer's commands (hitec_prog_cmd_t) the queue holds, as KST_Q_LEN.

Functions
void	publish_throttle_ramp (void)
uint32_t	control_alert_numbered (const char *text)
void	control_alert_withdraw (uint32_t gen)
static void	servo_testing_told (bool running)
void	log_post (log_row_t *row)
static bool	servo_ctx_armed (void *ctx)
static bool	servo_ctx_stopped (void *ctx)
static void	servo_ctx_alert (void *ctx, servo_link_alert_t a)
static void	servo_ctx_disarm (void *ctx, bool link_up)
static uint32_t	servo_ctx_stop_count (void *ctx)
static void	servo_ctx_arm_surfaces (void *ctx)
static log_run_kind_t	log_run_wanted (void)
void	log_follow_runs (void)
static void	task_report (void)
	Every task with its core and priority, once at start-up.
void	app_main (void)

Variables
atomic_uint	s_throttle_ramp
static const char *	TAG = "rcbench"
link_host_t	s_host
atomic_uint	s_capabilities
link_bringup_t	s_bring
atomic_uint	s_link_lost_ms
bool	s_link_lost_shown
uint32_t	s_recoveries
uint32_t	s_recoveries_total
atomic_int	s_outputs_result
bind_reading_t	s_outputs_read
bool	s_outputs_read_fresh
bind_read_t	s_bind_read = BIND_READ_NONE
uint16_t	s_far_minor
uint16_t	s_board
QueueHandle_t	s_touch_q
QueueHandle_t	s_cmd_q
QueueHandle_t	s_kst_q
QueueHandle_t	s_sample_q
QueueHandle_t	s_supply_q
QueueHandle_t	s_enc_q
QueueHandle_t	s_win_q
SemaphoreHandle_t	s_snap_lock
panel_snap_t	s_snap
outputs_t	s_out
arming_t	s_arm
uint16_t	s_throttle_hundredths
atomic_bool	s_stop_request
atomic_uint	s_stop_counted
atomic_bool	s_disarm_request
atomic_uint	s_lets_go
atomic_bool	s_supply_off_request
atomic_uint	s_supply_offs
atomic_uint	s_supply_set_mv
atomic_uint	s_supply_set_ma
atomic_uint	s_supply_vmax_mv
atomic_uint	s_supply_imax_ma
atomic_uint	s_supply_trip_ma
atomic_uint	s_supply_trip_mv
atomic_uint	s_supply_trip_ms
atomic_uint	s_supply_ack
atomic_bool	s_supply_live
atomic_uint	s_supply_ons_sent
atomic_uint	s_supply_ons_taken
atomic_uint	s_pdmini_wiring
atomic_uint	s_pdmini_edits
atomic_bool	s_supply_real
atomic_uint	s_supply_vin_mv
atomic_uint	s_supply_baud
atomic_uint	s_drv_gaps
atomic_uint	s_tq_published
uint32_t	s_lost_notice_seq
atomic_uint	s_loss_gen
atomic_uint	s_arm_ack
atomic_uint	s_render_progress
	The render loop's progress: moved once a pass of panel_frame_loop() and once per card read the loop makes on LOGS (panel_card.c), read by the control task's watchdog (frame_watch.h, control_pump()).
uint32_t	s_arm_take_gen
uint32_t	s_arm_take_drv
uint32_t	s_arm_gen
arm_watch_t	s_arm_watch
atomic_bool	s_poles_owed
atomic_uint	s_poles_value
bool	s_pump_live
log_cadence_t	s_log_cad
static uint32_t	s_log_run_ctr
log_run_kind_t	s_log_kind
float	s_log_t
atomic_bool	s_servo_testing
atomic_ullong	s_servo_pins
atomic_bool	s_servo_pins_known
atomic_bool	s_enc_held
static const servo_link_ctx_t	k_servo_ctx

Detailed Description

The panel application: app_main, the console report and the main loop's hardware glue.

Brings the board up, reports each step to the splash as it happens, then runs the router at the panel's refresh rate.

This file is glue. What the screens decide, what the link carries, what the numbers mean and when the bench fails safe are pure C in shared/, tested on the host; this file holds the parts that need the hardware.

SPDX-License-Identifier: MIT

Function Documentation

task_report()

void task_report ( void )

static

Every task with its core and priority, once at start-up.

A task created through xTaskCreate() or xTaskCreatePinnedToCore() without a core runs on core 0 (wifi_radio.c); core 1 belongs to the control task and the tasks pinned there. "any" would be a task that escaped that rule, such as one made with xTaskCreateStatic() without a core.

Variable Documentation

k_servo_ctx

const servo_link_ctx_t k_servo_ctx

static

Initial value:

                                          = {
    .host         = &s_host,
    .port         = &k_port,
    .prog         = &s_prog_link,
    .ctx          = NULL,
    .armed        = servo_ctx_armed,
    .stopped      = servo_ctx_stopped,
    .alert        = servo_ctx_alert,
    .disarm       = servo_ctx_disarm,
    .stop_count   = servo_ctx_stop_count,
    .arm_surfaces = servo_ctx_arm_surfaces,
}

s_cmd_q

QueueHandle_t s_cmd_q

app_main -> control task

s_enc_q

QueueHandle_t s_enc_q

control task -> app_main

s_kst_q

QueueHandle_t s_kst_q

app_main -> control task

s_render_progress

atomic_uint s_render_progress

The render loop's progress: moved once a pass of panel_frame_loop() and once per card read the loop makes on LOGS (panel_card.c), read by the control task's watchdog (frame_watch.h, control_pump()).

The render loop's progress, for the control task's watchdog; see frame_watch.h and main.c.

The render loop's progress: moved once a pass of panel_frame_loop() and once per card read the loop makes on LOGS (panel_card.c), read by the control task's watchdog (frame_watch.h, control_pump()).

s_sample_q

QueueHandle_t s_sample_q

control task -> app_main

s_stop_counted

atomic_uint s_stop_counted

s_touch_q number of a counted STOP, 0 none

s_supply_q

QueueHandle_t s_supply_q

control task -> app_main

s_touch_q

QueueHandle_t s_touch_q

control task -> app_main

s_win_q

QueueHandle_t s_win_q

control task -> app_main