Arnaud VALLEY
Mirror with some correction
Dependencies: mbed FastIO FastPWM USBDevice
Diff: main.cpp
- Revision:
- 86:e30a1f60f783
- Parent:
- 85:3c28aee81cde
- Child:
- 87:8d35c74403af
--- a/main.cpp Fri Apr 14 17:56:54 2017 +0000
+++ b/main.cpp Fri Apr 21 18:50:37 2017 +0000
@@ -3811,6 +3811,21 @@
tv_relay->write(tv_relay_state != 0);
}
+// Does the current power status allow a reboot? We shouldn't reboot
+// in certain power states, because some states are purely internal:
+// we can't get enough information from the external power sensor to
+// return to the same state later. Code that performs discretionary
+// reboots should always check here first, and delay any reboot until
+// we say it's okay.
+static inline bool powerStatusAllowsReboot()
+{
+ // The only safe state for rebooting is state 1, idle/default.
+ // In other states, we can't reboot, because the external sensor
+ // and latch circuit doesn't give us enough information to return
+ // to the same state later.
+ return psu2_state == 1;
+}
+
// PSU2 Status update routine. The main loop calls this from time
// to time to update the power sensing state and carry out TV ON
// functions.
@@ -4082,23 +4097,21 @@
//
NVM nvm;
-// Configuration save state
-const uint8_t SAVE_CONFIG_IDLE = 0; // no config save work pending
-const uint8_t SAVE_CONFIG_ONLY = 1; // save is pending
-const uint8_t SAVE_CONFIG_AND_REBOOT = 2; // save is pending, reboot after save
-const uint8_t SAVE_CONFIG_REBOOT = 3; // save done, reboot is pending
-uint8_t saveConfigState = SAVE_CONFIG_IDLE;
-
-// Save Config post-processing time, in seconds.
-//
-// If saveConfigState == SAVE_CONFIG_AND_REBOOT, we reboot after this
-// time elapses. Otherwise, we simply clear the timer and clear the
-// "succeeded" flag.
-uint8_t saveConfigPostTime;
+// Save Config followup time, in seconds. After a successful save,
+// we leave the success flag on in the status for this interval. At
+// the end of the interval, we reboot the device if requested.
+uint8_t saveConfigFollowupTime;
+
+// is a reboot pending at the end of the config save followup interval?
+uint8_t saveConfigRebootPending;
// status flag for successful config save - set to 0x40 on success
uint8_t saveConfigSucceededFlag;
+// Timer for configuration change followup timer
+ExtTimer saveConfigFollowupTimer;
+
+
// For convenience, a macro for the Config part of the NVM structure
#define cfg (nvm.d.c)
@@ -4164,8 +4177,12 @@
return nvm_valid;
}
-// save the config - returns true on success, false on failure
-bool saveConfigToFlash()
+// Save the config. Returns true on success, false on failure.
+// 'tFollowup' is the follow-up time in seconds. If the write is
+// successful, we'll turn on the success flag in the status reports
+// and leave it on for this interval. If 'reboot' is true, we'll
+// also schedule a reboot at the end of the followup interval.
+bool saveConfigToFlash(int tFollowup, bool reboot)
{
// make sure the plunger sensor isn't busy
waitPlungerIdle();
@@ -4174,7 +4191,25 @@
uint32_t addr = uint32_t(configFlashAddr());
// save the data
- return nvm.save(iap, addr);
+ if (nvm.save(iap, addr))
+ {
+ // success - report the successful save in the status flags
+ saveConfigSucceededFlag = 0x40;
+
+ // start the followup timer
+ saveConfigFollowupTimer.start();
+
+ // if a reboot is pending, flag it
+ saveConfigRebootPending = reboot;
+
+ // return success
+ return true;
+ }
+ else
+ {
+ // return failure
+ return false;
+ }
}
// ---------------------------------------------------------------------------
@@ -4373,6 +4408,9 @@
plungerSensor = new PlungerSensorNull();
break;
}
+
+ // set the jitter filter
+ plungerSensor->setJitterWindow(cfg.plunger.jitterWindow);
}
// Global plunger calibration mode flag
@@ -4438,9 +4476,6 @@
// no history yet
histIdx = 0;
-
- // clear the jitter filter
- jfLow = jfHigh = 0;
}
// Collect a reading from the plunger sensor. The main loop calls
@@ -4459,7 +4494,7 @@
{
// Pull the previous reading from the history
const PlungerReading &prv = nthHist(0);
-
+
// If the new reading is within 1ms of the previous reading,
// ignore it. We require a minimum time between samples to
// ensure that we have a usable amount of precision in the
@@ -4806,17 +4841,14 @@
hist[histIdx] = r;
if (++histIdx >= countof(hist))
histIdx = 0;
-
- // apply the jitter filter
- zf = jitterFilter(z);
}
}
// Get the current value to report through the joystick interface
int16_t getPosition()
{
- // return the last filtered reading
- return zf;
+ // return the last reading
+ return z;
}
// get the timestamp of the current joystick report (microseconds)
@@ -4910,35 +4942,6 @@
bool isFiring() { return firing == 3; }
private:
- // Apply the jitter filter
- int jitterFilter(int z)
- {
- // If the new reading is within the current window, simply re-use
- // the last filtered reading.
- if (z >= jfLow && z <= jfHigh)
- return zf;
-
- // The new reading is outside the current window. Push the window
- // over so that the new reading is at the outside edge.
- if (z < jfLow)
- {
- // the new reading is below the current window, so move the
- // window such that the new reading is at the bottom of the window
- jfLow = z;
- jfHigh = z + cfg.plunger.jitterWindow;
- }
- else
- {
- // the new reading is above the current window, so move the
- // window such that the new reading is at the top of the window
- jfHigh = z;
- jfLow = z - cfg.plunger.jitterWindow;
- }
-
- // use the new reading exactly as read from the sensor
- return z;
- }
-
// Calibration state. During calibration mode, we watch for release
// events, to measure the time it takes to complete the release
// motion; and we watch for the plunger to come to reset after a
@@ -4969,9 +4972,6 @@
// Auto-zeroing timer
Timer autoZeroTimer;
- // Current jitter filter window
- int jfLow, jfHigh;
-
// set a firing mode
inline void firingMode(int m)
{
@@ -5074,12 +5074,9 @@
// freely.
PlungerReading f3r;
- // next raw (unfiltered) Z value to report to the joystick interface
- // (in joystick distance units)
+ // next Z value to report to the joystick interface (in joystick
+ // distance units)
int z;
-
- // next filtered Z value to report to the joystick interface
- int zf;
};
// plunger reader singleton
@@ -5414,16 +5411,15 @@
// we save the *nominal* unit number 1-16 in the config
uint8_t newUnitNo = (data[2] & 0x0f) + 1;
- // we'll need a reset if the LedWiz unit number is changing
- bool needReset = (newUnitNo != cfg.psUnitNo);
+ // we'll need a reboot if the LedWiz unit number is changing
+ bool reboot = (newUnitNo != cfg.psUnitNo);
// set the configuration parameters from the message
cfg.psUnitNo = newUnitNo;
cfg.plunger.enabled = data[3] & 0x01;
// set the flag to do the save
- saveConfigState = needReset ? SAVE_CONFIG_AND_REBOOT : SAVE_CONFIG_ONLY;
- saveConfigPostTime = 0;
+ saveConfigToFlash(0, reboot);
}
break;
@@ -5475,9 +5471,7 @@
// data[2] = delay time in seconds
// data[3] = flags:
// 0x01 -> do not reboot
- saveConfigState =
- (data[3] & 0x01) != 0 ? SAVE_CONFIG_ONLY : SAVE_CONFIG_AND_REBOOT;
- saveConfigPostTime = data[2];
+ saveConfigToFlash(data[2], !(data[3] & 0x01));
break;
case 7:
@@ -5579,6 +5573,11 @@
// to update, and the remaining bytes give the new value,
// in a variable-dependent format.
configVarSet(data);
+
+ // If updating the jitter window (variable 19), apply it immediately
+ // to the plunger sensor object
+ if (data[1] == 19)
+ plungerSensor->setJitterWindow(cfg.plunger.jitterWindow);
}
else if (data[0] == 67)
{
@@ -5836,8 +5835,10 @@
// reboot. Some PCs won't reconnect if we were left plugged in
// during a power cycle on the PC, but fortunately a reboot on
// the KL25Z will make the host notice us and trigger a reconnect.
+ // Don't do this if we're in a non-recoverable PSU2 power state.
if (cfg.disconnectRebootTimeout != 0
- && connTimeoutTimer.read() > cfg.disconnectRebootTimeout)
+ && connTimeoutTimer.read() > cfg.disconnectRebootTimeout
+ && powerStatusAllowsReboot())
reboot(js, false, 0);
// update the PSU2 power sensing status
@@ -5933,9 +5934,6 @@
// start the PWM update polling timer
polledPwmTimer.start();
- // Timer for configuration change followup timer
- ExtTimer saveConfigPostTimer;
-
// we're all set up - now just loop, processing sensor reports and
// host requests
for (;;)
@@ -6048,7 +6046,7 @@
// save the updated configuration
cfg.plunger.cal.calibrated = 1;
- saveConfigToFlash();
+ saveConfigToFlash(0, false);
}
else if (calBtnState != 3)
{
@@ -6264,46 +6262,33 @@
}
// if we have a reboot timer pending, check for completion
- if (saveConfigPostTimer.isRunning()
- && saveConfigPostTimer.read() > saveConfigPostTime)
+ if (saveConfigFollowupTimer.isRunning()
+ && saveConfigFollowupTimer.read() > saveConfigFollowupTime)
{
// if a reboot is pending, execute it now
- if (saveConfigState == SAVE_CONFIG_REBOOT)
- reboot(js);
-
- // done with the timer - reset it
- saveConfigPostTimer.stop();
- saveConfigPostTimer.reset();
-
- // clear the save-config success flag
- saveConfigSucceededFlag = 0;
- }
-
- // if a config save is pending, do it now
- if (saveConfigState == SAVE_CONFIG_ONLY
- || saveConfigState == SAVE_CONFIG_AND_REBOOT)
- {
- // save the configuration
- if (saveConfigToFlash())
+ if (saveConfigRebootPending)
{
- // report success in the status flags
- saveConfigSucceededFlag = 0x40;
-
- // start the followup timer
- saveConfigPostTimer.start();
-
- // The save is no longer pending. Switch to reboot pending
- // mode if desired.
- saveConfigState = (saveConfigState == SAVE_CONFIG_AND_REBOOT ?
- SAVE_CONFIG_REBOOT : SAVE_CONFIG_IDLE);
+ // Only reboot if the PSU2 power state allows it. If it
+ // doesn't, suppress the reboot for now, but leave the boot
+ // flags set so that we keep checking on future rounds.
+ // That way we should eventually reboot when the power
+ // status allows it.
+ if (powerStatusAllowsReboot())
+ reboot(js);
}
else
{
- // save failed - return to idle state
- saveConfigState = SAVE_CONFIG_IDLE;
+ // No reboot required. Exit the timed post-save state.
+
+ // stop and reset the post-save timer
+ saveConfigFollowupTimer.stop();
+ saveConfigFollowupTimer.reset();
+
+ // clear the post-save success flag
+ saveConfigSucceededFlag = 0;
}
}
-
+
// if we're disconnected, initiate a new connection
if (!connected)
{
@@ -6358,9 +6343,12 @@
// rebooting Windows, cycling power on the PC, or just a lost
// USB connection. Rebooting the KL25Z seems to be the most
// reliable way to get Windows to notice us again after one
- // of these events and make it reconnect.
+ // of these events and make it reconnect. Only reboot if
+ // the PSU2 power status allows it - if not, skip it on this
+ // round and keep waiting.
if (cfg.disconnectRebootTimeout != 0
- && reconnTimeoutTimer.read() > cfg.disconnectRebootTimeout)
+ && reconnTimeoutTimer.read() > cfg.disconnectRebootTimeout
+ && powerStatusAllowsReboot())
reboot(js, false, 0);
// update the PSU2 power sensing status
@@ -6409,8 +6397,10 @@
// The reboot timeout is in effect. If we've been incommunicado for
// longer than the timeout, reboot. If we haven't reached the time
// limit, keep running for now, and leave the OK timer running so
- // that we can continue to monitor this.
- if (jsOKTimer.read() > cfg.disconnectRebootTimeout)
+ // that we can continue to monitor this. Only reboot if the PSU2
+ // power status allows it.
+ if (jsOKTimer.read() > cfg.disconnectRebootTimeout
+ && powerStatusAllowsReboot())
reboot(js, false, 0);
}
else