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-rw-r--r--Makefile2
-rw-r--r--altimeter.c20
-rw-r--r--barometer.h9
-rw-r--r--barometer_sim.c14
m---------chibios0
-rw-r--r--data_manager.c18
-rw-r--r--data_manager.h7
-rw-r--r--menu.h1
-rw-r--r--test_data_manager.c41
-rw-r--r--timer.c47
-rw-r--r--timer.h10
11 files changed, 133 insertions, 36 deletions
diff --git a/Makefile b/Makefile
index 6ba3a4f..809c153 100644
--- a/Makefile
+++ b/Makefile
@@ -69,6 +69,7 @@ REAL_OBJ = \
$(REAL_DIR)/display_sim.o \
$(REAL_DIR)/altimeter.o \
$(REAL_DIR)/util.o \
+ $(REAL_DIR)/timer.o \
$(REAL_DIR)/data_manager.o
SIM_OBJ = \
@@ -76,6 +77,7 @@ SIM_OBJ = \
$(SIM_DIR)/display_sim.o \
$(SIM_DIR)/altimeter.o \
$(SIM_DIR)/util.o \
+ $(SIM_DIR)/timer.o \
$(SIM_DIR)/data_manager.o
ALL_OBJ = $(TEST_OBJ) $(REAL_OBJ) $(SIM_OBJ)
diff --git a/altimeter.c b/altimeter.c
index 861b054..db45eb7 100644
--- a/altimeter.c
+++ b/altimeter.c
@@ -10,6 +10,8 @@
#include "data_manager.h"
#include "display.h"
+#include "timer.h"
+#include "barometer.h"
#ifdef WDT_DISABLE
# warning "WDT disabled in this build"
@@ -47,17 +49,23 @@ ISR(TIMER1_COMPA_vect)
int main(void)
{
+ struct barometer barometer;
+ struct timer timer;
+
/* Initialise display before enabling interrupts */
display_init();
display_clear();
- data_manager_init(&dctx);
- DEBUG_INIT;
+ /* get descriptors for system default peripherals */
+ get_system_barometer(&barometer);
+ get_system_timer(&timer);
+
+ timer.init();
+ barometer.init();
- /* Initialise timers for /1024 prescaler, 1 Hz comparator val */
- TCCR1B |= (1 << CS10) | (1 << CS12) | (1 << WGM12);
- TIMSK1 |= (1 << OCIE1A);
- OCR1A = F_CPU / 1024;
+ data_manager_init(&dctx, &timer, &barometer);
+
+ DEBUG_INIT;
#ifdef USBCON
/* Disable USB controller if one is present - this spams (latches?) USB_GEN
diff --git a/barometer.h b/barometer.h
index 8bb51f7..2358af7 100644
--- a/barometer.h
+++ b/barometer.h
@@ -1,4 +1,9 @@
#pragma once
-void barometer_init(void);
-float barometer_read(void);
+struct barometer {
+ void (*init)(void);
+ float (*read_pressure)(void);
+ /*float (*read_temperature)(void); */
+};
+
+void get_system_barometer(struct barometer *);
diff --git a/barometer_sim.c b/barometer_sim.c
index c695590..5c5b7d4 100644
--- a/barometer_sim.c
+++ b/barometer_sim.c
@@ -1,3 +1,5 @@
+#include "barometer.h"
+
/* Dummy pressures to return in sequence, each call to barometer_read */
static const float pressures[] = {
1019.5,
@@ -15,13 +17,21 @@ static const float pressures[] = {
};
static int cursor = 0;
-void barometer_init(void)
+static void barometer_init(void)
{
cursor = 0;
}
-float barometer_read(void)
+static float barometer_read(void)
{
cursor %= sizeof(pressures)/sizeof(pressures[0]);
return pressures[cursor++];
}
+
+/**/
+
+void get_system_barometer(struct barometer *barometer)
+{
+ barometer->init = barometer_init;
+ barometer->read_pressure = barometer_read;
+}
diff --git a/chibios b/chibios
new file mode 160000
+Subproject 1ce430e49350e38bf02dfc7c58920c345e384a3
diff --git a/data_manager.c b/data_manager.c
index 17abdda..b77ba81 100644
--- a/data_manager.c
+++ b/data_manager.c
@@ -4,6 +4,7 @@
#include "data_manager.h"
#include "barometer.h"
+#include "timer.h"
/* utility functions */
@@ -12,21 +13,20 @@ static float pressure_to_metres_asl(float real, float setting)
return 44330.f*(1.f-powf(real/setting, 1/5.255));
}
-void data_manager_init(struct data_ctx *ctx)
+void data_manager_init(struct data_ctx *ctx, struct timer *timer, struct barometer *barometer)
{
ctx->setting = 1013.25;
- barometer_init();
+ ctx->timer = timer;
+ ctx->barometer = barometer;
data_manager_tick(ctx);
}
void data_manager_tick(struct data_ctx *ctx)
{
- /* FIXME alt rate */
- /* FIXME calculate on demand? */
- ctx->pressure = barometer_read();
-
- /* FIXME we need atomic access to alt setting once user can set it. Check
- * if AVR allows multiple/nested ISRs to run concurrently, pretty sure not
- */
+ /* FIXME altitude rate */
+// struct data_ctx previous_ctx = *ctx;
+ if (ctx->timer)
+ ctx->timestamp = ctx->timer->get_time();
+ ctx->pressure = ctx->barometer->read_pressure();
ctx->altitude = pressure_to_metres_asl(ctx->pressure, ctx->setting);
}
diff --git a/data_manager.h b/data_manager.h
index 83126f6..2197ef0 100644
--- a/data_manager.h
+++ b/data_manager.h
@@ -1,10 +1,15 @@
#pragma once
+#include <stdint.h>
+
struct data_ctx {
+ uint16_t timestamp;
float setting;
float pressure;
float altitude;
+ struct timer *timer;
+ struct barometer *barometer;
};
-void data_manager_init(struct data_ctx*);
+void data_manager_init(struct data_ctx*, struct timer*, struct barometer*);
void data_manager_tick(struct data_ctx*);
diff --git a/menu.h b/menu.h
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/menu.h
@@ -0,0 +1 @@
+
diff --git a/test_data_manager.c b/test_data_manager.c
index f21cc97..00b5a2a 100644
--- a/test_data_manager.c
+++ b/test_data_manager.c
@@ -2,32 +2,41 @@
#include "data_manager.h"
#include "test_runner.h"
+#include "barometer.h"
#include "unity.h"
+static int mock_baro_called;
+
+static void reset_mock_get_baro(void) {
+ mock_baro_called = 0;
+}
+
+static float set_mock_get_baro(void) {
+ mock_baro_called = 1;
+ return 1.0;
+};
+
+static struct barometer mock_barometer = {
+ .read_pressure = set_mock_get_baro,
+};
+
RUNNER_DECLARE_TEST(test_data_manager_init_setting)
{
struct data_ctx ctx;
- data_manager_init(&ctx);
- TEST_ASSERT_FLOAT_WITHIN(FLT_EPSILON, 1013.25, ctx.setting);
+ reset_mock_get_baro();
+ data_manager_init(&ctx, NULL, &mock_barometer);
+ TEST_ASSERT_EQUAL(1, mock_baro_called);
}
RUNNER_DECLARE_TEST(test_data_manager_first_readings)
{
struct data_ctx ctx;
- data_manager_init(&ctx);
- TEST_ASSERT_FLOAT_WITHIN(FLT_EPSILON, 1019.5, ctx.pressure);
- data_manager_tick(&ctx);
- TEST_ASSERT_FLOAT_WITHIN(FLT_EPSILON, 1019.45, ctx.pressure);
-}
+ reset_mock_get_baro();
+ data_manager_init(&ctx, NULL, &mock_barometer);
+ TEST_ASSERT_EQUAL(1, mock_baro_called);
-RUNNER_DECLARE_TEST(test_data_manager_reinit)
-{
- struct data_ctx ctx;
- /* init 1 */
- data_manager_init(&ctx);
- TEST_ASSERT_FLOAT_WITHIN(FLT_EPSILON, 1019.5, ctx.pressure);
- /* check re-init */
- data_manager_init(&ctx);
- TEST_ASSERT_FLOAT_WITHIN(FLT_EPSILON, 1019.5, ctx.pressure);
+ reset_mock_get_baro();
+ data_manager_tick(&ctx);
+ TEST_ASSERT_EQUAL(1, mock_baro_called);
}
diff --git a/timer.c b/timer.c
new file mode 100644
index 0000000..7d82b0f
--- /dev/null
+++ b/timer.c
@@ -0,0 +1,47 @@
+#include <avr/io.h>
+#include <stdint.h>
+
+#include "timer.h"
+
+/* On AVR, two 16-bit timers are used:
+ * timer1 for emitting a low frequency IRQ to update the display
+ * timer3 freerunning quickly for timestamping purposes
+ *
+ * XXX note: most of the functions in this module must be called with
+ * interrupts already disabled in order to be safe
+ */
+
+/* XXX hardcoded based upon TCCR3B selecting /256 prescaled clock */
+#define TIMER_HZ (F_CPU / 256)
+
+static void timer_init(void)
+{
+ /* timer1 has /1024 prescaler, 1 Hz comparator val, enable IRQ */
+ TCCR1B |= (1 << CS10) | (1 << CS12) | (1 << WGM12);
+ TIMSK1 |= (1 << OCIE1A);
+ OCR1A = F_CPU / 1024;
+
+ /* timer3 has /256 prescaler, no comparartor (free-running with overflow)
+ * and no IRQ enabled. /256 chosen so that the counter doesn't overflow
+ * within a 1 second window */
+
+ TCCR3B |= (1 << CS32);
+}
+
+static float timer_stamps_to_seconds(uint16_t start, uint16_t end)
+{
+ return (float)(end - start) / TIMER_HZ;
+}
+
+static uint16_t timer_get_value(void)
+{
+ return TCNT3;
+}
+
+/**/
+
+void get_system_timer(struct timer *timer)
+{
+ timer->init = timer_init;
+ timer->get_time = timer_get_value;
+}
diff --git a/timer.h b/timer.h
new file mode 100644
index 0000000..2f2e4b3
--- /dev/null
+++ b/timer.h
@@ -0,0 +1,10 @@
+#pragma once
+
+#include <stdint.h>
+
+struct timer {
+ void (*init)(void);
+ uint16_t (*get_time)(void);
+};
+
+void get_system_timer(struct timer *);
generated by cgit v1.1 at 2024-05-25 14:43:27 +0000