From 90cb9c64e7d499e54d4dbc4c3e33c16a98a7bb48 Mon Sep 17 00:00:00 2001
From: Madeleine Lee <madeleinercflee@gmail.com>
Date: Fri, 20 Oct 2023 02:50:50 +0000
Subject: [PATCH] Deleted most putIOStateTimer thigns, added a macro and
 counter in the sendCarCAN loop to send the IO message at approximately the
 same frequency as before (250 ms), but this time using loops, delays, and
 counters. It won't be as accurate, but it should still be at a relatively
 similar frequency.

---
 Apps/Src/SendCarCAN.c | 51 +++++++++++++------------------------------
 1 file changed, 15 insertions(+), 36 deletions(-)

diff --git a/Apps/Src/SendCarCAN.c b/Apps/Src/SendCarCAN.c
index cdc5bd063..477ffae46 100644
--- a/Apps/Src/SendCarCAN.c
+++ b/Apps/Src/SendCarCAN.c
@@ -1,15 +1,17 @@
 #include "common.h"
 #include "os_cfg_app.h"
-
-#include "Tasks.h"
-#include "SendCarCAN.h"
-
 #include "CANbus.h"
 #include "Minions.h"
 #include "Contactors.h"
 #include "Pedals.h"
 #include "Tasks.h"
 #include "SendCarCAN.h"
+#include "SendTritium.h"
+
+#define IO_STATE_DLY_MS 250u 
+#define SENDCARCAN_LOOP_DLY_MS 50u // How often we should check the CAN queue (in ms delay). Must send faster than queue messages get put in
+#define IO_STATE_DLY_COUNT (IO_STATE_DLY_MS / SENDCARCAN_LOOP_DLY_MS) // The number of periods to wait before sending IO state message
+#define IO_STATE_TMR_DLY_TS ((IO_STATE_TMR_DLY_MS * OS_CFG_TMR_TASK_RATE_HZ) / (1000u))// **** delete?
 
 // fifo
 #define FIFO_TYPE CANDATA_t
@@ -17,18 +19,15 @@
 #define FIFO_NAME SendCarCAN_Q
 #include "fifo.h"
 
-#define SENDCARCAN_QUEUE_CHECK_MS 50 // How often we should check the CAN queue (in ms delay). Must send faster than queue messages get put in
 static SendCarCAN_Q_t CANFifo;
 
 static OS_SEM CarCAN_Sem4;
 static OS_MUTEX CarCAN_Mtx;
-static OS_SEM PutIOTimerAlert_Sem4;
 
-#define IO_STATE_TMR_DLY_MS 250u
-#define IO_STATE_TMR_DLY_TS ((IO_STATE_TMR_DLY_MS * OS_CFG_TMR_TASK_RATE_HZ) / (1000u))
-static OS_TMR IOStateTmr;
+static uint8_t IOStateDlyCounter = 0;
+
+
 
-static void putIOStateTimerAlert(void *p_tmr, void *p_arg);
 static void putIOState(void);
 
 /**
@@ -63,36 +62,23 @@ void Task_SendCarCAN(void *p_arg){
     OSSemCreate(&CarCAN_Sem4, "CarCAN_Sem4", 0, &err);
     assertOSError(OS_SEND_CAN_LOC, err);
 
-    OSSemCreate(&PutIOTimerAlert_Sem4, "PutIOTimerAlert_Sem4", 0, &err);
-    assertOSError(OS_SEND_CAN_LOC, err);
-
     SendCarCAN_Q_renew(&CANFifo);
     
-    // Set up timer to put car data message every IO_STATE_TMR_DLY_MS ms
-    OSTmrCreate(&IOStateTmr,
-                "IO State CAN Message Timer",
-                0,
-                IO_STATE_TMR_DLY_TS,
-                OS_OPT_TMR_PERIODIC,
-                putIOStateTimerAlert,
-                NULL,
-                &err
-                );
-    assertOSError(OS_SEND_CAN_LOC, err);
+    // Set up timer to put car data message every IO_STATE_TMR_DLY_MS ms //***************
 
-    OSTmrStart(&IOStateTmr, &err);
-    assertOSError(OS_SEND_CAN_LOC, err);
 
     CANDATA_t message;
     memset(&message, 0, sizeof(CANDATA_t));
 
     while (1) {
         
-        OSSemPend(&PutIOTimerAlert_Sem4, 0, OS_OPT_PEND_NON_BLOCKING, &ticks, &err);
-        if (err != OS_ERR_PEND_WOULD_BLOCK) { // The timer fired; it's time to send an IO state message
+  
+        if (++IOStateDlyCounter >= IO_STATE_DLY_COUNT) { // Send IO State message approximately every IO_STATE_DLY_MS
+            IOStateDlyCounter = 0;
             putIOState();
         }
         
+        
         // Check if there's something to send in the queue (either IOState or Car state from sendTritium)
         OSSemPend(&CarCAN_Sem4, 0, OS_OPT_PEND_NON_BLOCKING, &ticks, &err);
         if (err != OS_ERR_PEND_WOULD_BLOCK) { // We have a message in the queue to send
@@ -109,7 +95,7 @@ void Task_SendCarCAN(void *p_arg){
             if(res) CANbus_Send(message, true, CARCAN);
         }
             
-        OSTimeDlyHMSM(0, 0, 0, SENDCARCAN_QUEUE_CHECK_MS, OS_OPT_TIME_HMSM_STRICT, &err);
+        OSTimeDlyHMSM(0, 0, 0, SENDCARCAN_LOOP_DLY_MS, OS_OPT_TIME_HMSM_STRICT, &err);
         assertOSError(OS_SEND_CAN_LOC, err);
         
     }
@@ -140,10 +126,3 @@ static void putIOState(void){
 
     SendCarCAN_Put(message);
 }
-
-// Callback function for the putIOState timer
-static void putIOStateTimerAlert(void *p_tmr, void *p_arg){
-    OS_ERR err;
-    OSSemPost(&PutIOTimerAlert_Sem4, OS_OPT_POST_1, &err);
-    assertOSError(OS_SEND_CAN_LOC, err);
-}
\ No newline at end of file