Legacy branch migration

firmware/logic/force.c

@@ -0,0 +1,186 @@
+/**** Includes ****/
+#include "force.h"
+
+/**** Private definitions ****/
+
+/**** Private constants ****/
+static const int8_t BUTTONS_STEP = 10;
+static const uint16_t BUTTON_HOLD_TIME = 250;
+static const uint16_t MODE_HOLD_TIME = 500;
+
+/**** Private variables ****/
+static inputMode_t input_mode = IM_BUTTONS;
+
+static uint8_t user_force = 0;
+static uint8_t new_user_force = 0;
+
+static brakeMode_t brake_mode = BM_OPEN;
+static uint8_t new_brake_mode = 1;
+
+/**** Private function declarations ****/
+static uint8_t SaturatedAdd(uint8_t base, int8_t delta);
+
+/**** Public function definitions ****/
+inputMode_t Force_GetInputMode(void)
+{
+	return input_mode;
+}
+
+void Force_CfgInputMode(inputMode_t in_mode)
+{
+	input_mode = in_mode;
+}
+
+void Force_SetUserForce(uint8_t force)
+{
+	if(force > 100) force = 100;
+	user_force = force;
+}
+
+void Force_SetBrakeMode(uint8_t bmode)
+{
+	brake_mode = bmode;
+}
+
+uint8_t Force_Update(inputs_t* inputs, analog_t* meas)
+{
+	// Process user inputs
+	if(input_mode==IM_POT)
+	{
+		// Process potentiometer
+		if(meas->pot_voltage <= 500) user_force = 0;
+		else if(meas->pot_voltage >= 4500 ) user_force = 100;
+		else
+		{
+			uint16_t pot_u = meas->pot_voltage;
+			pot_u /= 50;
+			
+			//Limit to 100
+			if(pot_u > 100) user_force = 100;
+			else if(pot_u < 10) user_force = 10;
+			else user_force = (uint8_t)pot_u;
+		}
+	}
+	else
+	{
+		// Process +/- timer
+		if((inputs->down.is_active)&&(inputs->down.state_timer > BUTTON_HOLD_TIME))
+		{
+			inputs->down.is_new = 1;
+			inputs->down.state_timer = 0;
+		};
+		
+		if((inputs->up.is_active)&&(inputs->up.state_timer > BUTTON_HOLD_TIME))
+		{
+			inputs->up.is_new = 1;
+			inputs->up.state_timer = 0;
+		};
+		
+		// Process +/- logic
+		if((inputs->down.is_new)&&(inputs->down.is_active))
+		{
+			user_force = SaturatedAdd(user_force, -1 * BUTTONS_STEP);
+			new_user_force = 1;
+		}
+		else if((inputs->up.is_new)&&(inputs->up.is_active))
+		{
+			user_force = SaturatedAdd(user_force, BUTTONS_STEP);
+			new_user_force = 1;
+		};
+		
+		inputs->down.is_new = 0;
+		inputs->up.is_new = 0;
+	}
+	
+	// Process mode timer
+	if((inputs->mode.is_active)&&(inputs->mode.state_timer > MODE_HOLD_TIME))
+	{
+		inputs->mode.is_new = 1;
+		inputs->mode.state_timer = 0;
+	};
+	
+	// Process mode logic
+	if((inputs->mode.is_new)&&(inputs->mode.is_active))
+	{
+		//Cycle mode
+		switch(brake_mode)
+		{
+			case BM_OPEN:
+			brake_mode = BM_KEEP;
+			break;
+			
+			case BM_KEEP:
+			brake_mode = BM_LOCK;
+			break;
+			
+			case BM_LOCK:
+			brake_mode = BM_OPEN;
+			break;
+			
+			default:
+			brake_mode = BM_OPEN;
+			break;
+		}
+		new_brake_mode = 1;
+	};
+	inputs->mode.is_new = 0;
+	
+	
+	// Determine next target force from inputs
+	if(inputs->handbrake.is_active)
+	{
+		return 0;
+	}
+	else if(inputs->brakes.is_active)
+	{
+		switch(brake_mode)
+		{
+			case BM_LOCK:
+			return 100;
+			
+			case BM_KEEP:
+			return user_force;
+			
+			default:
+			return 0;
+		}
+	}
+	else
+	{
+		return user_force;
+	}
+}
+
+uint8_t Force_IsNewUserForce(void)
+{
+	return new_user_force;
+}
+
+void Force_ResetNewUserForce(void)
+{
+	new_user_force = 0;
+}
+
+brakeMode_t Force_GetBrakeMode(void)
+{
+	return brake_mode;
+}
+
+uint8_t Force_IsNewBrakeMode(void)
+{
+	return new_brake_mode;
+}
+
+void Force_ResetNewBrakeMode(void)
+{
+	new_brake_mode = 0;
+}
+
+/**** Private function definitions ****/
+static uint8_t SaturatedAdd(uint8_t base, int8_t delta)
+{
+	int16_t temp = (int16_t)base + delta;
+	if(temp < 0) return 0;
+	else if(temp >= 100) return 100;
+	else return (uint8_t)temp;
+}