Extend the timers from uint16_t to uint32_t. Minor changes in the buz…

…zer code.
catsystems · Oct 14, 2021 · c4c7334 · c4c7334
1 parent 90e27cc
commit c4c7334
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Showing 11 changed files with 29 additions and 30 deletions.
diff --git a/boards/cats_rev1/Core/Inc/config/cats_config.h b/boards/cats_rev1/Core/Inc/config/cats_config.h
@@ -29,7 +29,7 @@ typedef struct {
   uint32_t recorder_mask;
 
   //Timers
-  config_timer_t timers[8];
+  config_timer_t timers[4];
   // Event action map
   config_event_actions_t event_actions[9];
 } cats_config_t;

diff --git a/boards/cats_rev1/Core/Inc/util/types.h b/boards/cats_rev1/Core/Inc/util/types.h
@@ -188,7 +188,7 @@ typedef struct {
 } control_settings_t;
 
 typedef struct {
-  uint16_t duration;
+  uint32_t duration;
   uint8_t start_event;
   uint8_t end_event;
 } config_timer_t;

diff --git a/boards/cats_rev1/Core/Src/cli/settings.c b/boards/cats_rev1/Core/Src/cli/settings.c
@@ -37,19 +37,19 @@ const clivalue_t valueTable[] = {
 	// Timers
 	{ "timer1_start", VAR_UINT8  | MODE_LOOKUP, .config.lookup = { TABLE_EVENTS }, &global_cats_config.config.timers[0].start_event},
 	{ "timer1_end", VAR_UINT8  | MODE_LOOKUP, .config.lookup = { TABLE_EVENTS }, &global_cats_config.config.timers[0].end_event},
-	{ "timer1_duration", VAR_UINT16, .config.minmaxUnsigned = { 1000, 60000 }, &global_cats_config.config.timers[0].duration},
+	{ "timer1_duration", VAR_UINT32, .config.u32Max = 1200000, &global_cats_config.config.timers[0].duration},
 
 	{ "timer2_start", VAR_UINT8  | MODE_LOOKUP, .config.lookup = { TABLE_EVENTS }, &global_cats_config.config.timers[1].start_event},
 	{ "timer2_end", VAR_UINT8  | MODE_LOOKUP, .config.lookup = { TABLE_EVENTS }, &global_cats_config.config.timers[1].end_event},
-	{ "timer2_duration", VAR_UINT16, .config.minmaxUnsigned = { 1000, 60000 }, &global_cats_config.config.timers[1].duration},
+	{ "timer2_duration", VAR_UINT32, .config.u32Max = 1200000, &global_cats_config.config.timers[1].duration},
 
 	{ "timer3_start", VAR_UINT8  | MODE_LOOKUP, .config.lookup = { TABLE_EVENTS }, &global_cats_config.config.timers[2].start_event},
 	{ "timer3_end", VAR_UINT8  | MODE_LOOKUP, .config.lookup = { TABLE_EVENTS }, &global_cats_config.config.timers[2].end_event},
-	{ "timer3_duration", VAR_UINT16, .config.minmaxUnsigned = { 1000, 60000 }, &global_cats_config.config.timers[2].duration},
+	{ "timer3_duration", VAR_UINT32, .config.u32Max = 1200000, &global_cats_config.config.timers[2].duration},
 
 	{ "timer4_start", VAR_UINT8  | MODE_LOOKUP, .config.lookup = { TABLE_EVENTS }, &global_cats_config.config.timers[3].start_event},
 	{ "timer4_end", VAR_UINT8  | MODE_LOOKUP, .config.lookup = { TABLE_EVENTS }, &global_cats_config.config.timers[3].end_event},
-	{ "timer4_duration", VAR_UINT16, .config.minmaxUnsigned = { 1000, 60000 }, &global_cats_config.config.timers[3].duration},
+	{ "timer4_duration", VAR_UINT32, .config.u32Max = 1200000, &global_cats_config.config.timers[3].duration},
 
 
 };

diff --git a/boards/cats_rev1/Core/Src/config/cats_config.c b/boards/cats_rev1/Core/Src/config/cats_config.c
@@ -58,8 +58,7 @@ void cc_init() {
           EE_CleanUp();
 }
 void cc_defaults() {
-	// TODO get this working!
-	//memset(&global_cats_config, &DEFAULT_CONFIG, sizeof(global_cats_config));
+	memcpy(&global_cats_config, &DEFAULT_CONFIG, sizeof(global_cats_config));
 }
 
 /** persistence functions **/

diff --git a/boards/cats_rev1/Core/Src/tasks/task_init.c b/boards/cats_rev1/Core/Src/tasks/task_init.c
@@ -372,7 +372,7 @@ static void init_timers() {
     if (global_cats_config.config.timers[i].start_event && global_cats_config.config.timers[i].end_event) {
       ev_timers[i].timer_init_event = (cats_event_e)global_cats_config.config.timers[i].start_event;
       ev_timers[i].execute_event = (cats_event_e)global_cats_config.config.timers[i].end_event;
-      ev_timers[i].timer_duration_ticks = (uint32_t)global_cats_config.config.timers[i].duration;
+      ev_timers[i].timer_duration_ticks = global_cats_config.config.timers[i].duration;
       used_timers++;
     }
   }

diff --git a/boards/cats_rev1Pro/src/cli/cli.c b/boards/cats_rev1Pro/src/cli/cli.c
@@ -476,7 +476,7 @@ static void print_timer_config() {
       cliPrintf("\nTIMER %d\n", i + 1);
       cliPrintf("  Start: %s\n", p_event_table->values[global_cats_config.config.timers[i].start_event]);
       cliPrintf("  End: %s\n", p_event_table->values[global_cats_config.config.timers[i].end_event]);
-      cliPrintf("  Duration: %d ms\n", global_cats_config.config.timers[i].duration);
+      cliPrintf("  Duration: %lu ms\n", global_cats_config.config.timers[i].duration);
     }
   }
 }

diff --git a/boards/cats_rev1Pro/src/cli/settings.c b/boards/cats_rev1Pro/src/cli/settings.c
@@ -53,29 +53,29 @@ const clivalue_t valueTable[] = {
     {"acc_threshhold", VAR_UINT16, .config.minmaxUnsigned = {1500, 8000},
      &global_cats_config.config.control_settings.liftoff_acc_threshold},
     {"mach_timer_duration", VAR_UINT16, .config.minmaxUnsigned = {0, 60000},
-            &global_cats_config.config.control_settings.mach_timer_duration},
+     &global_cats_config.config.control_settings.mach_timer_duration},
 
     // Timers
     {"timer1_start", VAR_UINT8 | MODE_LOOKUP, .config.lookup = {TABLE_EVENTS},
      &global_cats_config.config.timers[0].start_event},
     {"timer1_end", VAR_UINT8 | MODE_LOOKUP, .config.lookup = {TABLE_EVENTS},
      &global_cats_config.config.timers[0].end_event},
-    {"timer1_duration", VAR_UINT16, .config.minmaxUnsigned = {0, 60000}, &global_cats_config.config.timers[0].duration},
+    {"timer1_duration", VAR_UINT32, .config.u32Max = 1200000, &global_cats_config.config.timers[0].duration},
     {"timer2_start", VAR_UINT8 | MODE_LOOKUP, .config.lookup = {TABLE_EVENTS},
      &global_cats_config.config.timers[1].start_event},
     {"timer2_end", VAR_UINT8 | MODE_LOOKUP, .config.lookup = {TABLE_EVENTS},
      &global_cats_config.config.timers[1].end_event},
-    {"timer2_duration", VAR_UINT16, .config.minmaxUnsigned = {0, 60000}, &global_cats_config.config.timers[1].duration},
+    {"timer2_duration", VAR_UINT32, .config.u32Max = 1200000, &global_cats_config.config.timers[1].duration},
     {"timer3_start", VAR_UINT8 | MODE_LOOKUP, .config.lookup = {TABLE_EVENTS},
      &global_cats_config.config.timers[2].start_event},
     {"timer3_end", VAR_UINT8 | MODE_LOOKUP, .config.lookup = {TABLE_EVENTS},
      &global_cats_config.config.timers[2].end_event},
-    {"timer3_duration", VAR_UINT16, .config.minmaxUnsigned = {0, 60000}, &global_cats_config.config.timers[2].duration},
+    {"timer3_duration", VAR_UINT32, .config.u32Max = 1200000, &global_cats_config.config.timers[2].duration},
     {"timer4_start", VAR_UINT8 | MODE_LOOKUP, .config.lookup = {TABLE_EVENTS},
      &global_cats_config.config.timers[3].start_event},
     {"timer4_end", VAR_UINT8 | MODE_LOOKUP, .config.lookup = {TABLE_EVENTS},
      &global_cats_config.config.timers[3].end_event},
-    {"timer4_duration", VAR_UINT16, .config.minmaxUnsigned = {0, 60000}, &global_cats_config.config.timers[3].duration},
+    {"timer4_duration", VAR_UINT32, .config.u32Max = 1200000, &global_cats_config.config.timers[3].duration},
 
     // Events
     {"ev_moving", VAR_INT16 | MODE_ARRAY, .config.array.length = 16, global_cats_config.config.action_array[EV_MOVING]},

diff --git a/boards/cats_rev1Pro/src/tasks/task_imu_read.c b/boards/cats_rev1Pro/src/tasks/task_imu_read.c
@@ -85,12 +85,12 @@ void task_imu_read(void *argument) {
     /* Read and Save High-G IMU Data */
     int8_t tmp_data[3];
     h3lis100dl_read_raw(&ACCEL, tmp_data);
-    accel_data.acc_x = tmp_data[1];
-    accel_data.acc_y = -tmp_data[0];
+    accel_data.acc_x = tmp_data[0];
+    accel_data.acc_y = tmp_data[1];
     accel_data.acc_z = tmp_data[2];
-    memcpy(&(global_accel.acc_x), &(accel_data.acc_x), 3 * sizeof(int8_t));
+    //memcpy(&(global_accel.acc_x), &(accel_data.acc_x), 3 * sizeof(int8_t));
     global_accel.ts = tick_count;
-    record(ACCELEROMETER, &(global_accel));
+    record(ACCELEROMETER, &(accel_data));
 
     /* TODO: The speed of copying looks to be the same, code size reduced by 16B
      * with memcpy vs. assignment with -0g */

diff --git a/boards/cats_rev1Pro/src/tasks/task_init.c b/boards/cats_rev1Pro/src/tasks/task_init.c
@@ -371,7 +371,7 @@ static void init_timers() {
     if (global_cats_config.config.timers[i].duration > 0) {
       ev_timers[i].timer_init_event = (cats_event_e)global_cats_config.config.timers[i].start_event;
       ev_timers[i].execute_event = (cats_event_e)global_cats_config.config.timers[i].end_event;
-      ev_timers[i].timer_duration_ticks = (uint32_t)global_cats_config.config.timers[i].duration;
+      ev_timers[i].timer_duration_ticks = global_cats_config.config.timers[i].duration;
       used_timers++;
     }
   }

diff --git a/boards/cats_rev1Pro/src/util/buzzer_handler.c b/boards/cats_rev1Pro/src/util/buzzer_handler.c
@@ -38,7 +38,7 @@ uint32_t pitch_lookup[8] = {
     2793,  // F D
     2959,  // F# E
     3135,  // G F
-    1200,   // Error G
+    1200,  // Error G
     2217,  // C#  H
 };
 
@@ -62,10 +62,10 @@ const char cats_error_codes[16][BUZZER_COMMAND_MAX_LENGTH] = {
 
 const char cats_status_codes[5][BUZZER_COMMAND_MAX_LENGTH] = {
     " ",
-    "caef", // bootup
-    "aa",   // ready
-    "Eca",  // ready -> moving
-    "ace",  // moving -> ready
+    "caef",  // bootup
+    "aa",    // ready
+    "Eca",   // ready -> moving
+    "ace",   // moving -> ready
 };
 
 static uint32_t status_queue_index = 0;
@@ -83,15 +83,15 @@ bool buzzer_queue_status(buzzer_status_e status) {
 }
 
 void buzzer_handler_update() {
-  static uint8_t error_started = 0;
-  if (status_queue_elements > 0 && get_error_count() == 0 && error_started == 0) {
+  if (status_queue_elements > 0) {
     if (status_buzzer(status_queue[status_queue_index]) == 0) {
       status_queue_index = (status_queue_index + 1) % BUZZER_MAX_STATUS_QUEUE;
       status_queue_elements--;
     }
-  } else if(get_error_count()>0 || error_started == 1){
-    error_started = error_buzzer(log2_32(get_error_by_priority(0)));
   }
+  // else if(get_error_count()>0 || error_started == 1){
+  //   error_started = error_buzzer(log2_32(get_error_by_priority(0)));
+  // }
   buzzer_update(&BUZZER);
 }
 

diff --git a/boards/cats_rev1Pro/src/util/types.h b/boards/cats_rev1Pro/src/util/types.h
@@ -215,7 +215,7 @@ typedef struct {
 } control_settings_t;
 
 typedef struct {
-  uint16_t duration;
+  uint32_t duration;
   uint8_t start_event;
   uint8_t end_event;
 } config_timer_t;