diff options
| -rw-r--r-- | robot/errcatch.c | 2 | ||||
| -rw-r--r-- | robot/modes.c | 30 | ||||
| -rw-r--r-- | robot/modes.h | 11 | ||||
| -rw-r--r-- | robot/sercomm.c | 2 | ||||
| -rw-r--r-- | robot/setup.c | 3 | ||||
| -rw-r--r-- | shared/consts.h | 2 | ||||
| -rw-r--r-- | shared/errors.h | 2 | ||||
| -rw-r--r-- | shared/util.h | 4 |
8 files changed, 44 insertions, 12 deletions
diff --git a/robot/errcatch.c b/robot/errcatch.c index e44acfd..8df90b8 100644 --- a/robot/errcatch.c +++ b/robot/errcatch.c @@ -51,7 +51,7 @@ void w2_errcatch_handle_error(w2_s_error *error) { uint8_t severity = error->code & W2_E_TYPE_MASK; // trigger emergency mode for critical errors - if ((severity ^ W2_E_TYPE_CRIT) == 0) w2_modes_switch(W2_M_HALT); + if ((severity ^ W2_E_TYPE_CRIT) == 0) w2_modes_call(W2_M_HALT); // TODO: handle more error types switch (error->code) { diff --git a/robot/modes.c b/robot/modes.c index 1f36703..8d3a099 100644 --- a/robot/modes.c +++ b/robot/modes.c @@ -1,15 +1,31 @@ +#include <stdbool.h> + +#include "../shared/util.h" +#include "errcatch.h" #include "modes.h" #include "sercomm.h" -void (*g_w2_current_mode)() = &w2_mode_halt; +/** function pointer to current mode */ +// static void (*g_w2_current_mode)() = &w2_mode_halt; + +static void (*g_w2_mode_history[W2_MODE_HISTORY_BUFFER_SIZE])(); +static uint8_t g_w2_mode_history_index = 0; + +void w2_modes_main() { (*g_w2_mode_history[g_w2_mode_history_index])(); } -void w2_modes_main() { (*g_w2_current_mode)(); } +void w2_modes_switch(w2_e_mode new_mode, bool replace) { + int16_t next_history_index = + g_w2_mode_history_index + (new_mode == W2_M_PREV ? -1 : 1) * (replace - 1); + if (next_history_index == -1 || next_history_index == W2_MODE_HISTORY_BUFFER_SIZE - 1) { + next_history_index = W2_RANGE(0, next_history_index, W2_MODE_HISTORY_BUFFER_SIZE); + w2_errcatch_throw(W2_E_WARN_MODE_HISTORY_BUFFER_IOB); + } -void w2_modes_switch(w2_e_mode new_mode) { if (new_mode == W2_M_PREV) { - // TODO implement previous mode buffer + g_w2_mode_history_index = next_history_index; } else { - g_w2_current_mode = W2_MODES[new_mode]; + g_w2_mode_history_index = next_history_index; + g_w2_mode_history[g_w2_mode_history_index] = W2_MODES[new_mode]; } // forward mode change to sercomm @@ -22,3 +38,7 @@ void w2_modes_switch(w2_e_mode new_mode) { free(msg); free(msg_bin); } + +void w2_modes_call(w2_e_mode mode) { w2_modes_switch(mode, false); } + +void w2_modes_swap(w2_e_mode mode) { w2_modes_switch(mode, true); } diff --git a/robot/modes.h b/robot/modes.h index a9d96d8..3423a0f 100644 --- a/robot/modes.h +++ b/robot/modes.h @@ -1,5 +1,7 @@ #pragma once +#include "../shared/consts.h" + #include "mode_chrg.h" #include "mode_dirc.h" #include "mode_grid.h" @@ -9,9 +11,6 @@ #include "mode_scal.h" #include "mode_spin.h" -/** function pointer to current mode */ -extern void (*g_w2_current_mode)(); - /** * mode logic * @@ -38,5 +37,7 @@ static const void(*const W2_MODES[]) = { &w2_mode_chrg, &w2_mode_dirc, &w2_mode_spin, &w2_mode_scal, }; -/** switch the current mode */ -void w2_modes_switch(w2_e_mode new_mode); +/** switch current mode (allow switching back to previous mode) */ +void w2_modes_call(w2_e_mode mode); +/** switch current mode (replace current mode keeping history index) */ +void w2_modes_swap(w2_e_mode mode); diff --git a/robot/sercomm.c b/robot/sercomm.c index e972f28..c9c6194 100644 --- a/robot/sercomm.c +++ b/robot/sercomm.c @@ -71,7 +71,7 @@ void w2_cmd_mode_rx(w2_s_bin *data) { w2_s_cmd_mode_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes)); memcpy(message, data->data, data->bytes); - w2_modes_switch(message->mode); + w2_modes_swap(message->mode); } void w2_cmd_sped_rx(w2_s_bin *data) { return; } diff --git a/robot/setup.c b/robot/setup.c index 1ecda43..06c8fa4 100644 --- a/robot/setup.c +++ b/robot/setup.c @@ -31,6 +31,9 @@ void w2_setup_main() { // reset timer time_reset(); + // set default mode + w2_modes_swap(W2_M_HALT); + // indicate startup done play("L50 c>c"); } diff --git a/shared/consts.h b/shared/consts.h index f9d4c11..25ca94f 100644 --- a/shared/consts.h +++ b/shared/consts.h @@ -17,3 +17,5 @@ #define W2_SERIAL_READ_BUFFER_SIZE (255) /** exponential moving average new measurement weight (double 0-1) */ #define W2_EMA_WEIGHT (0.10) +/** size of mode history buffer */ +#define W2_MODE_HISTORY_BUFFER_SIZE (4) diff --git a/shared/errors.h b/shared/errors.h index 44b29a0..ac8e95f 100644 --- a/shared/errors.h +++ b/shared/errors.h @@ -47,6 +47,8 @@ typedef enum { W2_E_WARN_SERIAL_TIMEOUT = 0x08 | W2_E_TYPE_WARN, /** unknown message encountered (noisy channel?) */ W2_E_WARN_SERIAL_NOISY = 0x09 | W2_E_TYPE_WARN, + /** mode history index out of bounds */ + W2_E_WARN_MODE_HISTORY_BUFFER_IOB = 0x0a | W2_E_TYPE_WARN, } w2_e_errorcode; /** diff --git a/shared/util.h b/shared/util.h index 95f4c68..9e4d8ac 100644 --- a/shared/util.h +++ b/shared/util.h @@ -1,3 +1,7 @@ #pragma once +#define W2_MIN(a, b) (((a) < (b)) ? (a) : (b)) +#define W2_MAX(a, b) (((a) > (b)) ? (a) : (b)) +#define W2_RANGE(min, val, max) W2_MIN(max, W2_MAX(val, min)) + unsigned long w2_util_exp_mov_avg(unsigned long current_avg, unsigned long new_meas); |