FTASK Module (Task Configuration)

Source: docs.foxbms.org — FTASK Files: src/app/task/ftask/ftask.c, ftask.h, ftask_freertos.c, ftask_cfg.c, ftask_cfg.h

Task Structure (7 Tasks)

Task	Period	Priority	Creator	User Code Function
Engine	Event-driven	Highest	`FTSK_CreateTaskEngine`	`FTSK_RunUserCodeEngine`
1ms Cyclic	1ms	High	`FTSK_CreateTaskCyclic1ms`	`FTSK_RunUserCodeCyclic1ms`
AFE	Non-cyclic	Above-normal	`FTSK_CreateTaskAfe`	`FTSK_RunUserCodeAfe`
10ms Cyclic	10ms	Normal	`FTSK_CreateTaskCyclic10ms`	`FTSK_RunUserCodeCyclic10ms`
100ms Cyclic	100ms	Below-normal	`FTSK_CreateTaskCyclic100ms`	`FTSK_RunUserCodeCyclic100ms`
I2C	Non-cyclic	Low	`FTSK_CreateTaskI2c`	`FTSK_RunUserCodeI2c`
100ms Algorithm	100ms	Lowest	`FTSK_CreateTaskCyclicAlgorithm100ms`	`FTSK_RunUserCodeCyclicAlgorithm100ms`

What Runs Where

Engine Task (DO NOT MODIFY)

DATA_Task() — copies queue data into database variables
SYSM_CheckNotifications() — system monitoring
Triggered by database queue events

1ms Task

FTSK_RunUserCodeCyclic1ms()
OS timer tick
DIAG flag evaluation
CAN RX buffer processing (CAN_ReadRxBuffer())

10ms Task

FTSK_RunUserCodeCyclic10ms()
SYS_Trigger() — system state machine
BMS_Trigger() — BMS state machine
CAN_MainFunction() — CAN periodic TX

100ms Task

FTSK_RunUserCodeCyclic100ms()
Balancing, LED, SPS contactor control

100ms Algorithm Task

FTSK_RunUserCodeCyclicAlgorithm100ms()
SOC/SOE/SOF estimation
Lower priority than 100ms task

AFE Task

FTSK_RunUserCodeAfe()
MEAS_Control() — triggers AFE measurement cycle
Non-cyclic, must yield CPU

I2C Task

FTSK_RunUserCodeI2c()
PEX, RTC, humidity sensor communication

Initialization Sequence

1. FTSK_InitializeUserCodeEngine()    → DATA_Initialize(), etc.
   os_boot = OS_ENGINE_RUNNING

2. FTSK_InitializeUserCodePreCyclicTasks()  → CAN_Initialize(), SPI_Initialize(), etc.
   os_boot = OS_PRE_CYCLIC_INIT_DONE

3. Cyclic tasks start running

POSIX Port Mapping

Production Task	POSIX Equivalent
Engine task (event-driven)	Called in 1ms loop: `FTSK_RunUserCodeEngine()`
1ms cyclic	`if (now - last_1ms >= 1000)`
10ms cyclic	`if (now - last_10ms >= 10000)`
100ms cyclic	`if (now - last_100ms >= 100000)`
100ms algorithm	Called after 100ms cyclic
AFE task	`MEAS_Control()` called in 1ms loop
I2C task	Not needed (no I2C hardware)

Key difference: All tasks run sequentially in one thread. No preemption. No priority. No concurrent database access. This is GAP-ANALYSIS GA-02 (accepted).

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