Initial sync implementation

Implemented system sync with crank and cam state and simple error
handling

STM32/CM7/Core/Src/tasks/crank.c

@@ -4,22 +4,63 @@
 // SPDX-License-Identifier: GPL-3.0-or-later
 
 #include "cmsis_os2.h"
+#include "macros.h"
 #include "main.h"
 #include "ring_buffer.h"
 #include "tasks.h"
-#ifdef DEBUG
-#include "SEGGER_RTT.h"
-#endif
 
 void crankHandler(void *argument) {
   for (;;) {
     osThreadFlagsWait(0x01, osFlagsWaitAny, osWaitForever);
-#ifdef DEBUG
-    SEGGER_RTT_printf(0, "Crank pulse detected at: %lu\n\r",
-                      ringBufferRead(&state_g.crank_RB, 0));
-#endif /* ifdef DEBUG */
-    if (state_g.sync == SYNC_OK) {
-      // TODO complete algorithm for scheduling spark
+    DEBUG_LOG("Crank pulse detected at: %lu\n\r",
+              ringBufferRead(&state_g.crank_RB, 0));
+    // FILTER
+
+    // INCREMENT SWITCH
+    switch (state_g.crank_state) {
+    case CYCLE_COMPRESSION: {
+      if (state_g.cam_state != CAM_TRIGD) {
+        DEBUG_LOG("Cam miss detected, sync dynamite incoming\n\r");
+        state_g.cam_miss_ctr++;
+        if (state_g.cam_miss_ctr > MAX_CAM_MISS) {
+          state_g.sync_state = SYNC_NOT_OK;
+          state_g.crank_state = CYCLE_UNKNOWN;
+          break;
+        }
+      }
+      state_g.crank_state = CYCLE_COMBUSTION;
+      DEBUG_LOG("Crank state incremented\n\r");
+      state_g.cam_state = CAM_IDLE;
+      break;
+    }
+    case CYCLE_COMBUSTION:
+    case CYCLE_EXHAUST:
+    case CYCLE_INTAKE: {
+      if (state_g.cam_state == CAM_TRIGD) {
+        state_g.sync_state = SYNC_NOT_OK;
+        state_g.crank_state = CYCLE_UNKNOWN;
+        state_g.cam_state = CAM_IDLE;
+        break;
+      }
+      state_g.crank_state++;
+      DEBUG_LOG("Crank state incremented\n\r");
+      break;
+    }
+    case CYCLE_UNKNOWN: {
+      if (state_g.sync_state == SYNC_PENDING &&
+          state_g.cam_state == CAM_TRIGD) {
+        state_g.crank_state = CYCLE_COMBUSTION;
+        state_g.cam_state = CAM_IDLE;
+      }
+      break;
+    }
+    }
+
+    // SPARK SCHEDULE
+    if (state_g.crank_state == CYCLE_COMPRESSION &&
+        state_g.sync_state == SYNC_OK) {
+      DEBUG_LOG("Spark schedule reached, congrats\n\r");
+      // TODO: schedule spark
     }
   }
 }