Sensortask 12ms

src/chovy/System.hpp

@@ -48,6 +48,7 @@ class System
     const bool silent = false;
 
     Poster<bool> armed = Poster<bool>(false);
+    Poster<bool> timeExceeded = Poster<bool>(false); // If time between Sensortask exceed 15ms, use var to produce warning sound
 
     class Sensors
     {

src/fc/BuzzerTask.cpp

@@ -4,14 +4,14 @@ BuzzerTask::BuzzerTask(uint8_t priority) : Task(priority, "Buzzer"){};
 
 void BuzzerTask::activity()
 {
-    if(sys.silent){
+    if(sys.silent){ 
         vTaskSuspend(getTaskHandle());
     }
 
-    uint32_t timer = 0;
-    while (true)
+    uint32_t timer = 0; // use for timing delays
+    while (true) // main activity loop
     {
-        vTaskDelayUntil(&timer, 5000);
+        vTaskDelayUntil(&timer, 5000); // a delay of 5 seconds
 
         bool pyroA = sys.pyro.getStatus(Pyro::SquibA);
         bool pyroB = sys.pyro.getStatus(Pyro::SquibB);
@@ -22,9 +22,21 @@ void BuzzerTask::activity()
         sys.buzzer.set(2500);
         vTaskDelay(300);
         sys.buzzer.set(0);
-
         vTaskDelay(500);
 
+        // If time exceeded, scary beep
+        bool timeExceeded;
+        sys.timeExceeded.get(timeExceeded);
+        if (timeExceeded) {
+            for (int i = 0; i< 20; i++) {
+                sys.buzzer.set(3500);
+                vTaskDelay(100);
+                sys.buzzer.set(0);
+                vTaskDelay(100);
+            }
+
+        }
+
         switch (state)
         {
         case Waiting:
@@ -65,7 +77,7 @@ void BuzzerTask::activity()
 
         vTaskDelay(500);
 
-        if (pyroA)
+        if (pyroA) // true if actual pyros connected to board
         {
             sys.buzzer.set(5000);
             vTaskDelay(100);

src/fc/SensorTask.cpp

@@ -5,6 +5,9 @@ SensorTask::SensorTask(uint8_t priority) : Task(priority, "Sensor") {}
 
 void SensorTask::activity()
 {
+
+
+
     if (sys.shitl)
     {
         vTaskSuspend(getTaskHandle());
@@ -114,10 +117,24 @@ void SensorTask::activity()
 
     TickType_t lastSensorTime = xTaskGetTickCount();
 
-    while (true)
+    int prevTickCount = 0;
+    while (true) // Start repeating functions here
     {
+
+        // Throw warning if over 12ms runs Sensortask
+        int curTickCount = xTaskGetTickCount();
+        if (curTickCount - prevTickCount > 12)
+        {
+            sys.tasks.logger.log("You're fucked!");
+            sys.timeExceeded.post(true);
+        } else {
+            sys.timeExceeded.post(false); // not needed?
+        }
+        prevTickCount = curTickCount;
+
         vTaskDelayUntil(&lastSensorTime, 10);
 
+
         digitalWrite(SENSOR_LED, true);
 
         StaticJsonDocument<1024> sensor_json;