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time sync check works

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This commit is contained in:
Thaddeus Hughes
2026-03-04 14:00:47 -06:00
parent 46851e84bf
commit 9717495b45
20 changed files with 1068 additions and 923 deletions
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36
main/control_fsm.c
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@@ -69,7 +69,7 @@ static inline void set_timer(uint64_t us) {
}
static inline bool timer_done() { return fsm_now >= timer_end; }
void pulseOverride(fsm_override_t cmd) {
void pulse_override(fsm_override_t cmd) {
if (current_state == STATE_IDLE) {
override_cmd = cmd;
override_time = fsm_now + get_param_value_t(PARAM_RF_PULSE_LENGTH).u32;
@@ -548,13 +548,13 @@ void control_task(void *param) {
switch(override_cmd) {
case FSM_OVERRIDE_DRIVE_FWD:
if (efuse_get(BRIDGE_DRIVE)){
driveRelays((relay_port_t){.bridges = {
drive_relays((relay_port_t){.bridges = {
.DRIVE=BRIDGE_OFF,
.JACK=BRIDGE_OFF,
.AUX=BRIDGE_OFF
}});
} else {
driveRelays((relay_port_t){.bridges = {
drive_relays((relay_port_t){.bridges = {
.DRIVE=BRIDGE_FWD,
.JACK=BRIDGE_OFF,
.AUX=BRIDGE_FWD
@@ -564,13 +564,13 @@ void control_task(void *param) {
case FSM_OVERRIDE_DRIVE_REV:
if (efuse_get(BRIDGE_DRIVE)){
driveRelays((relay_port_t){.bridges = {
drive_relays((relay_port_t){.bridges = {
.DRIVE=BRIDGE_OFF,
.JACK=BRIDGE_OFF,
.AUX=BRIDGE_OFF
}});
} else {
driveRelays((relay_port_t){.bridges = {
drive_relays((relay_port_t){.bridges = {
.DRIVE=BRIDGE_REV,
.JACK=BRIDGE_OFF,
.AUX=BRIDGE_OFF
@@ -579,13 +579,13 @@ void control_task(void *param) {
break;
case FSM_OVERRIDE_JACK_UP:
if (efuse_get(BRIDGE_JACK)){
driveRelays((relay_port_t){.bridges = {
drive_relays((relay_port_t){.bridges = {
.DRIVE=BRIDGE_OFF,
.JACK=BRIDGE_OFF,
.AUX=BRIDGE_OFF
}});
} else {
driveRelays((relay_port_t){.bridges = {
drive_relays((relay_port_t){.bridges = {
.DRIVE=BRIDGE_OFF,
.JACK=BRIDGE_FWD,
.AUX=BRIDGE_OFF
@@ -598,13 +598,13 @@ void control_task(void *param) {
efuse_set(BRIDGE_JACK, EFUSE_OVERCURRENT);
*/
if (get_sensor(SENSOR_JACK) || efuse_get(BRIDGE_JACK)) {
driveRelays((relay_port_t){.bridges = {
drive_relays((relay_port_t){.bridges = {
.DRIVE=BRIDGE_OFF,
.JACK=BRIDGE_OFF,
.AUX=BRIDGE_OFF
}});
} else {
driveRelays((relay_port_t){.bridges = {
drive_relays((relay_port_t){.bridges = {
.DRIVE=BRIDGE_OFF,
.JACK=BRIDGE_REV,
.AUX=BRIDGE_OFF
@@ -613,13 +613,13 @@ void control_task(void *param) {
break;
case FSM_OVERRIDE_AUX:
if (efuse_get(BRIDGE_AUX)){
driveRelays((relay_port_t){.bridges = {
drive_relays((relay_port_t){.bridges = {
.DRIVE=BRIDGE_OFF,
.JACK=BRIDGE_OFF,
.AUX=BRIDGE_OFF
}});
} else {
driveRelays((relay_port_t){.bridges = {
drive_relays((relay_port_t){.bridges = {
.DRIVE=BRIDGE_OFF,
.JACK=BRIDGE_OFF,
.AUX=BRIDGE_FWD
@@ -627,7 +627,7 @@ void control_task(void *param) {
}
break;
default: // should never hit here but just in case...
driveRelays((relay_port_t){.bridges = {
drive_relays((relay_port_t){.bridges = {
.DRIVE=BRIDGE_OFF,
.JACK=BRIDGE_OFF,
.AUX=BRIDGE_OFF
@@ -637,7 +637,7 @@ void control_task(void *param) {
rtc_reset_shutdown_timer();
log = true;
} else {
driveRelays((relay_port_t){.bridges = {
drive_relays((relay_port_t){.bridges = {
.DRIVE=BRIDGE_OFF,
.JACK=BRIDGE_OFF,
.AUX=BRIDGE_OFF
@@ -648,7 +648,7 @@ void control_task(void *param) {
case STATE_JACK_UP_START:
case STATE_JACK_UP:
// jack up and fluff
driveRelays((relay_port_t){.bridges = {
drive_relays((relay_port_t){.bridges = {
.DRIVE=BRIDGE_OFF,
.JACK=BRIDGE_FWD,
.AUX=BRIDGE_FWD
@@ -659,7 +659,7 @@ void control_task(void *param) {
case STATE_CALIBRATE_DRIVE_MOVE:
case STATE_DRIVE:
// drive and fluff
driveRelays((relay_port_t){.bridges = {
drive_relays((relay_port_t){.bridges = {
.DRIVE=BRIDGE_FWD,
.JACK=BRIDGE_OFF,
.AUX=BRIDGE_FWD
@@ -668,7 +668,7 @@ void control_task(void *param) {
log = true;
break;
case STATE_JACK_DOWN:
driveRelays((relay_port_t){.bridges = {
drive_relays((relay_port_t){.bridges = {
.DRIVE=BRIDGE_OFF,
.JACK=BRIDGE_REV,
.AUX=BRIDGE_OFF
@@ -680,7 +680,7 @@ void control_task(void *param) {
case STATE_DRIVE_START_DELAY:
case STATE_DRIVE_END_DELAY:
// only fluffer
driveRelays((relay_port_t){.bridges = {
drive_relays((relay_port_t){.bridges = {
.DRIVE=BRIDGE_OFF,
.JACK=BRIDGE_OFF,
.AUX=BRIDGE_FWD
@@ -691,7 +691,7 @@ void control_task(void *param) {
case STATE_CALIBRATE_JACK_DELAY:
default:
// invalid state; turn all relays off
driveRelays((relay_port_t){.bridges = {
drive_relays((relay_port_t){.bridges = {
.DRIVE=BRIDGE_OFF,
.JACK=BRIDGE_OFF,
.AUX=BRIDGE_OFF