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ota deployment script, lots of other fun goodies too

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This commit is contained in:
Thaddeus Hughes
2026-04-27 11:14:03 -05:00
parent 3774cde506
commit 9f4362b5fd
261 changed files with 2153 additions and 206003 deletions
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46
main/control_fsm.c
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@@ -112,6 +112,7 @@ int8_t fsm_get_current_progress(int8_t denominator) {
case STATE_JACK_DOWN:
case STATE_MOVE_START_DELAY:
case STATE_DRIVE_START_DELAY:
case STATE_DRIVE_FLUFF_START:
case STATE_DRIVE_END_DELAY:
if (timer_end != timer_start)
x = (fsm_now-timer_start)*denominator/(timer_end-timer_start);
@@ -407,12 +408,35 @@ void control_task(void *param) {
break;
case STATE_DRIVE_START_DELAY:
// 1s pause between jack-up and drive — mechanical settling
// 1s quiet pause between jack-up and fluffer spin-up.
// All motors off here so the jack-up current fully settles
// before we energize the fluffer.
if (!get_is_safe()) {
fsm_error = SC_ERR_SAFETY_TRIP;
current_state = STATE_UNDO_JACK_START;
set_timer(JACK_DOWN_TIME);
log = true;
} else if (timer_done()) {
current_state = STATE_DRIVE_FLUFF_START;
log = true;
set_timer((uint64_t)get_param_value_t(PARAM_FLUFF_PREDRIVE_MS).u32 * 1000);
}
break;
case STATE_DRIVE_FLUFF_START:
// Fluffer alone for 1s, then drive+fluffer. Splits the old
// "jack-up+fluff concurrent" sequence so aux never overlaps
// with jack on V5's shared current sensor.
if (!get_is_safe()) {
fsm_error = SC_ERR_SAFETY_TRIP;
current_state = STATE_UNDO_JACK_START;
set_timer(JACK_DOWN_TIME);
log = true;
} else if (efuse_get(BRIDGE_AUX)) {
fsm_error = SC_ERR_EFUSE_TRIP_3;
current_state = STATE_UNDO_JACK_START;
set_timer(JACK_DOWN_TIME);
log = true;
} else if (timer_done()) {
current_state = STATE_DRIVE;
log = true;
@@ -632,11 +656,12 @@ void control_task(void *param) {
case STATE_CALIBRATE_JACK_MOVE:
case STATE_JACK_UP_START:
case STATE_JACK_UP:
// jack up and fluff
// jack up only — fluffer is deferred to STATE_DRIVE_FLUFF_START
// so aux and jack never energize together.
drive_relays((relay_port_t){.bridges = {
.DRIVE=BRIDGE_OFF,
.JACK=BRIDGE_FWD,
.AUX=BRIDGE_FWD
.AUX=BRIDGE_OFF
}});
rtc_reset_shutdown_timer();
log = true;
@@ -661,8 +686,19 @@ void control_task(void *param) {
rtc_reset_shutdown_timer();
log = true;
break;
case STATE_UNDO_JACK_START:
case STATE_DRIVE_START_DELAY:
case STATE_DRIVE_START_DELAY:
// Quiet 1s after jack-up — all motors off so jack current
// settles before the fluffer starts.
drive_relays((relay_port_t){.bridges = {
.DRIVE=BRIDGE_OFF,
.JACK=BRIDGE_OFF,
.AUX=BRIDGE_OFF
}});
rtc_reset_shutdown_timer();
log = true;
break;
case STATE_DRIVE_FLUFF_START:
case STATE_UNDO_JACK_START:
case STATE_DRIVE_END_DELAY:
// only fluffer
drive_relays((relay_port_t){.bridges = {