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create recovery timer mechanism #101

Merged
merged 12 commits into from
Jun 8, 2024
Merged

create recovery timer mechanism #101

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dc30853
create recovery timer mechanism
eilayk Mar 22, 2024
3e66750
fix build
eilayk Mar 22, 2024
5249e30
clear interrupts
May 4, 2024
777e0ec
WIP: Timer Update
NoahSprenger May 4, 2024
430b2f5
fix build errors
May 11, 2024
53ae7f8
optimize
May 25, 2024
764fe8f
fix linting
May 25, 2024
521408b
Fix: Cippy warnings
NoahSprenger Jun 8, 2024
3544a46
Fix: remove magic number
NoahSprenger Jun 8, 2024
86d9d2b
Fix: remove magic number
NoahSprenger Jun 8, 2024
f9cf53f
Fix: Clippy
NoahSprenger Jun 8, 2024
0aa1368
Fix: Import
NoahSprenger Jun 8, 2024
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13 changes: 10 additions & 3 deletions boards/recovery/src/data_manager.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@ use defmt::info;
use heapless::HistoryBuffer;
use messages::sensor::{Air, EkfNav1, EkfNav2, EkfQuat, GpsVel, Imu1, Imu2, UtcTime};
use messages::Message;
use crate::app::recovery_counter_tick;

const MAIN_HEIGHT: f32 = 876.0; // meters ASL
const HEIGHT_MIN: f32 = 600.0; // meters ASL
Expand All @@ -18,6 +19,8 @@ pub struct DataManager {
pub gps_vel: Option<GpsVel>,
pub historical_barometer_altitude: HistoryBuffer<(f32, u32), 8>,
pub current_state: Option<RocketStates>,
// each tick represents a minute that passed
pub recovery_counter: u8,
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}

impl DataManager {
Expand All @@ -32,6 +35,7 @@ impl DataManager {
gps_vel: None,
historical_barometer_altitude,
current_state: None,
recovery_counter: 0
}
}
/// Returns true if the rocket is descending
Expand Down Expand Up @@ -79,7 +83,7 @@ impl DataManager {
None => false,
}
}
pub fn is_landed(&self) -> bool {
pub fn is_landed(&mut self) -> bool {
if self.historical_barometer_altitude.len() < 8 {
return false;
}
Expand All @@ -99,10 +103,13 @@ impl DataManager {
match avg_sum / 7.0 {
// inclusive range
x if (-0.25..=0.25).contains(&x) => {
return true;
if self.recovery_counter >= 15 {
return true;
}
spawn!(recovery_counter_tick);
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}
_ => {
// continue
self.recovery_counter = 0;
}
}
}
Expand Down
34 changes: 33 additions & 1 deletion boards/recovery/src/main.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@
use state_machine::{StateMachine, StateMachineContext};
use systick_monotonic::*;
use types::COM_ID;
use hal::timer::TimerCounter2;

/// Custom panic handler.
/// Reset the system if a panic occurs.
Expand All @@ -49,6 +50,7 @@
led_green: Pin<PB16, PushPullOutput>,
led_red: Pin<PB17, PushPullOutput>,
state_machine: StateMachine,
recovery_timer: TimerCounter2,
}

#[monotonic(binds = SysTick, default = true)]
Expand Down Expand Up @@ -78,7 +80,7 @@

// SAFETY: Misusing the PAC API can break the system.
// This is safe because we only steal the MCLK.
let (_, _, _, _mclk) = unsafe { clocks.pac.steal() };
let (_, _, _, mut mclk) = unsafe { clocks.pac.steal() };

/* CAN config */
let (pclk_can, gclk0) = Pclk::enable(tokens.pclks.can0, gclk0);
Expand All @@ -104,6 +106,12 @@
/* State Machine config */
let state_machine = StateMachine::new();

/* Recovery Timer config */
let (pclk_tc2tc3, gclk0) = Pclk::enable(tokens.pclks.tc2_tc3, gclk0);
let timerclk: hal::clock::v1::Tc2Tc3Clock = pclk_tc2tc3.into();
let mut recovery_timer = hal::timer::TimerCounter2::tc2_(&timerclk, peripherals.TC2, &mut mclk);
recovery_timer.enable_interrupt();
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We don't want to enable interrupts here, just create the timer object.


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/* Spawn tasks */
run_sm::spawn().ok();
state_send::spawn().ok();
Expand All @@ -125,6 +133,7 @@
led_green,
led_red,
state_machine,
recovery_timer,
},
init::Monotonics(mono),
)
Expand All @@ -133,9 +142,32 @@
/// Idle task for when no other tasks are running.
#[idle]
fn idle(_: idle::Context) -> ! {
loop {}

Check warning on line 145 in boards/recovery/src/main.rs

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GitHub Actions / clippy

empty `loop {}` wastes CPU cycles 

warning: empty `loop {}` wastes CPU cycles
   --> boards/recovery/src/main.rs:145:9
    |
145 |         loop {}
    |         ^^^^^^^
    |
    = help: you should either use `panic!()` or add a call pausing or sleeping the thread to the loop body
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#empty_loop
    = note: `#[warn(clippy::empty_loop)]` on by default
}

// handle recovery counter
// start a counter
#[task(local = [recovery_timer])]
fn recovery_counter_tick(cx: recovery_counter_tick::Context) {
let timer = cx.local.recovery_timer;
// only start timer if it is not already running
if timer.wait().is_ok() {
let duration_mins = atsamd_hal::fugit::MinutesDurationU32::minutes(1);
// timer requires specific duration format
let timer_duration: atsamd_hal::fugit::Duration<u32, 1, 1000000000> = duration_mins.convert();
timer.enable_interrupt(); // clear interrupt?
timer.start(timer_duration);
}
}

// interrupt handler for when counter is finished
#[task(binds=TC2, shared=[data_manager])]
fn recovery_counter_finish(mut cx: recovery_counter_finish::Context) {
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cx.shared.data_manager.lock(|data| {
data.recovery_counter += 1;
});
}

#[task(priority = 3, local = [fired: bool = false], shared=[gpio, &em])]
fn fire_drogue(mut cx: fire_drogue::Context) {
cx.shared.em.run(|| {
Expand Down
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