Merge branch 'master' into state-duration-timers

10 files changed, 384 insertions, 1 deletions

diff --git a/Makefile b/Makefile
index 45501e2..98779b1 100644
--- a/Makefile
+++ b/Makefile
@@ -88,6 +88,11 @@ ifneq ($(findstring mmsimple,${drivers}), )
 	COMMON_FLAGS += -DDRIVER_MMSIMPLE
 endif
 
+ifneq ($(findstring mmsubstate,${drivers}), )
+	CXX_TARGETS += src/driver/mmsubstate.cc
+	COMMON_FLAGS += -DDRIVER_MMSUBSTATE
+endif
+
 ifneq ($(findstring nrf24l01,${drivers}), )
 	CXX_TARGETS += src/driver/nrf24l01.cc
 	ifeq (${arch}, msp430fr5994lp)
diff --git a/include/arch.h b/include/arch.h
index 877af62..1911271 100644
--- a/include/arch.h
+++ b/include/arch.h
@@ -10,6 +10,8 @@ class Arch {
 		void setup();
 		void idle_loop();
 		void idle();
+
+		// Delay functions are not exact
 		void delay_us(unsigned int const us);
 		void delay_ms(unsigned int const ms);
 		void sleep_ms(unsigned int const ms);
diff --git a/include/arch/msp430fr5969lp/driver/gpio.h b/include/arch/msp430fr5969lp/driver/gpio.h
index d279e31..65b5567 100644
--- a/include/arch/msp430fr5969lp/driver/gpio.h
+++ b/include/arch/msp430fr5969lp/driver/gpio.h
@@ -66,14 +66,19 @@ class GPIO {
 		inline void input(unsigned char const pin) {
 			if (pin < p2_0) {
 				P1DIR &= ~(1 << pin);
+				P1REN &= ~(1 << pin);
 			} else if (pin < p3_0) {
 				P2DIR &= ~(1 << (pin - p2_0));
+				P2REN &= ~(1 << (pin - p2_0));
 			} else if (pin < p4_0) {
 				P3DIR &= ~(1 << (pin - p3_0));
+				P3REN &= ~(1 << (pin - p3_0));
 			} else if (pin < pj_0) {
 				P4DIR &= ~(1 << (pin - p4_0));
+				P4REN &= ~(1 << (pin - p4_0));
 			} else if (pin < PIN_INVALID) {
 				PJDIR &= ~(1 << (pin - pj_0));
+				PJREN &= ~(1 << (pin - pj_0));
 			}
 		}
 		inline void input(unsigned char const pin, unsigned char const pull) {
diff --git a/include/arch/msp430fr5994lp/driver/timed_resistive_load.h b/include/arch/msp430fr5994lp/driver/timed_resistive_load.h
new file mode 100644
index 0000000..6e7996c
--- /dev/null
+++ b/include/arch/msp430fr5994lp/driver/timed_resistive_load.h
@@ -0,0 +1,72 @@
+#ifndef TIMED_RESISTIVE_LOAD_H
+#define TIMED_RESISTIVE_LOAD_H
+
+/*
+ * Resistance at 25°c
+ * R1: 986R
+ * R2: 3K25
+ * R3: 46K3
+ * R4: 9K86
+ */
+
+class TimedResistiveLoad {
+	private:
+		TimedResistiveLoad(const TimedResistiveLoad &copy);
+
+	public:
+		TimedResistiveLoad() {}
+		void setup();
+		void switchToNone();
+		void switchTo750(); // 576R (R1 || R2)
+		void switchTo1K0(); // 986R (R1)
+		void switchTo2K4(); // 2K44 (R2 || 4)
+		void switchTo3K3(); // 3K25 (R2)
+		void switchTo10K(); // 9K86 (R4)
+		void switchTo47K(); // 46K3 (R3)
+
+		/*
+		 * These functions must be inline, as __delay_cycles only works with
+		 * compile-time constants. So they must be part of the compilation unit
+		 * which uses them and cannot easily be wrapped by a function without
+		 * losing accuracy.
+		 */
+
+		inline void __attribute__((always_inline)) nop1K0(unsigned long long int const duration_us)
+		{
+			switchTo1K0();
+			__delay_cycles(F_CPU / 1000000UL * duration_us);
+			switchToNone();
+		}
+
+		inline void __attribute__((always_inline)) nop2K4(unsigned long long int const duration_us)
+		{
+			switchTo2K4();
+			__delay_cycles(F_CPU / 1000000UL * duration_us);
+			switchToNone();
+		}
+
+		inline void __attribute__((always_inline)) nop3K3(unsigned long long int const duration_us)
+		{
+			switchTo3K3();
+			__delay_cycles(F_CPU / 1000000UL * duration_us);
+			switchToNone();
+		}
+
+		inline void __attribute__((always_inline)) nop10K(unsigned long long int const duration_us)
+		{
+			switchTo10K();
+			__delay_cycles(F_CPU / 1000000UL * duration_us);
+			switchToNone();
+		}
+
+		inline void __attribute__((always_inline)) nop47K(unsigned long long int const duration_us)
+		{
+			switchTo47K();
+			__delay_cycles(F_CPU / 1000000UL * duration_us);
+			switchToNone();
+		}
+};
+
+extern TimedResistiveLoad timedResistiveLoad;
+
+#endif
diff --git a/include/driver/mmsubstate.h b/include/driver/mmsubstate.h
new file mode 100644
index 0000000..3338dbc
--- /dev/null
+++ b/include/driver/mmsubstate.h
@@ -0,0 +1,24 @@
+#ifndef MMSUBSTATE_H
+#define MMSUBSTATE_H
+
+class MicroMoodySubstate {
+	private:
+		MicroMoodySubstate(const MicroMoodySubstate &copy);
+
+		unsigned char const address;
+		unsigned char txbuf[3];
+
+	public:
+		MicroMoodySubstate(unsigned char const addr) : address(addr) {}
+
+		void sleep();
+		void noSubstates(unsigned char power1, unsigned char power2);
+		void twoSubstates(unsigned char switchDutarion, unsigned char power);
+		void fourSubstates(unsigned char switchDutarion, unsigned char power);
+		void eightSubstates(unsigned char switchDutarion, unsigned char power);
+		void setSubstates(unsigned char substateCount, unsigned char switchDuration, unsigned char power);
+};
+
+extern MicroMoodySubstate moody;
+
+#endif
diff --git a/model/driver/mmsubstate.dfa b/model/driver/mmsubstate.dfa
new file mode 100644
index 0000000..6fb0c62
--- /dev/null
+++ b/model/driver/mmsubstate.dfa
@@ -0,0 +1,85 @@
+codegen:
+  instance: moody
+  includes:
+    - driver/i2c.h
+    - driver/mmsubstate.h
+  flags:
+    - arch_drivers=i2c
+    - drivers=mmsubstate
+  setup:
+    i2c.setup();
+
+parameters:
+  - substate_count
+  - substate_duration
+  - substate_power
+  - static_p1
+  - static_p2
+
+states:
+  - UNINITIALIZED
+  - SLEEP
+  - STATIC
+  - SUB2
+  - SUB8
+  - SUBVAR
+
+transition:
+  sleep:
+    src: [UNINITIALIZED, STATIC, SUB2, SUB8, SUBVAR]
+    dst: SLEEP
+    set_param:
+      substate_count: 0
+      substate_duration: 0
+      substate_power: 0
+  noSubstates:
+    src: [SLEEP, STATIC, SUB2, SUB8, SUBVAR]
+    dst: STATIC
+    arguments:
+    - name: power1
+      values: [30, 50, 80]
+      parameter: static_p1
+    - name: power2
+      values: [30, 50, 80]
+      parameter: static_p2
+    set_param:
+      substate_count: 0
+      substate_duration: 0
+      substate_power: 0
+  twoSubstates:
+    src: [SLEEP, STATIC, SUB2, SUB8, SUBVAR]
+    dst: SUB2
+    set_param:
+      substate_count: 2
+    arguments:
+    - name: switchDuration
+      values: [5, 10, 15, 20]
+      parameter: substate_duration
+    - name: power
+      values: [50, 100, 150]
+      parameter: substate_power
+  eightSubstates:
+    src: [SLEEP, STATIC, SUB2, SUB8, SUBVAR]
+    dst: SUB8
+    set_param:
+      substate_count: 8
+    arguments:
+    - name: switchDuration
+      values: [5, 10, 15, 20]
+      parameter: substate_duration
+    - name: power
+      values: [50, 100, 150]
+      parameter: substate_power
+  setSubstates:
+    src: [SLEEP, STATIC, SUB2, SUB8, SUBVAR]
+    dst: SUBVAR
+    arguments:
+    - name: substateCount
+      values: [2, 4, 10, 12]
+      parameter: substate_count
+    - name: switchDuration
+      values: [5, 10, 15, 20]
+      parameter: substate_duration
+    - name: power
+      values: [255]
+      parameter: substate_power
diff --git a/model/driver/timed_resistive_load.dfa b/model/driver/timed_resistive_load.dfa
new file mode 100644
index 0000000..cb7efab
--- /dev/null
+++ b/model/driver/timed_resistive_load.dfa
@@ -0,0 +1,50 @@
+codegen:
+  instance: timedResistiveLoad
+  includes:
+    - driver/timed_resistive_load.h
+  flags:
+    - arch_drivers=timed_resistive_load
+  setup:
+    - timedResistiveLoad.setup();
+
+states:
+  - UNINITIALIZED
+  - SLEEP
+  - P14MW
+  - P3_4MW
+  - P235UW
+
+transition:
+  setup:
+    src: [UNINITIALIZED]
+    dst: SLEEP
+  switchToNone:
+    src: [UNINITIALIZED, SLEEP, P14MW, P3_4MW, P235UW]
+    dst: SLEEP
+  switchTo750:
+    src: [UNINITIALIZED, SLEEP, P14MW, P3_4MW, P235UW]
+    dst: P14MW
+  switchTo3K3:
+    src: [UNINITIALIZED, SLEEP, P14MW, P3_4MW, P235UW]
+    dst: P3_4MW
+  switchTo47K:
+    src: [UNINITIALIZED, SLEEP, P14MW, P3_4MW, P235UW]
+    dst: P235UW
+  nop1K0:
+    src: [SLEEP, P14MW, P3_4MW, P235UW]
+    dst: SLEEP
+    arguments:
+    - name: duration_us
+      values: [50, 200, 700, 1200, 5000, 23000]
+  nop3K3:
+    src: [SLEEP, P14MW, P3_4MW, P235UW]
+    dst: SLEEP
+    arguments:
+    - name: duration_us
+      values: [50, 200, 700, 1200, 5000, 23000]
+  nop10K:
+    src: [SLEEP, P14MW, P3_4MW, P235UW]
+    dst: SLEEP
+    arguments:
+    - name: duration_us
+      values: [50, 200, 700, 1200, 5000, 23000]
diff --git a/src/arch/msp430fr5994lp/Makefile.inc b/src/arch/msp430fr5994lp/Makefile.inc
index 8348d8e..e9d666f 100644
--- a/src/arch/msp430fr5994lp/Makefile.inc
+++ b/src/arch/msp430fr5994lp/Makefile.inc
@@ -72,6 +72,19 @@ ifneq ($(findstring counter,${arch_drivers}), )
 	CXX_TARGETS += src/arch/msp430fr5994lp/driver/counter.cc
 endif
 
+ifneq ($(findstring timed_resistive_load,${arch_drivers}), )
+	CXX_TARGETS += src/arch/msp430fr5994lp/driver/timed_resistive_load.cc
+	resistor1_pin ?= p3_0
+	resistor2_pin ?= p3_1
+	resistor3_pin ?= p3_2
+	resistor4_pin ?= p3_3
+	COMMON_FLAGS += -DDRIVER_TIMED_RESISTIVE_LOAD
+	COMMON_FLAGS += -DTIMED_RESISTIVE_LOAD_PIN1=GPIO::${resistor1_pin}
+	COMMON_FLAGS += -DTIMED_RESISTIVE_LOAD_PIN2=GPIO::${resistor2_pin}
+	COMMON_FLAGS += -DTIMED_RESISTIVE_LOAD_PIN3=GPIO::${resistor3_pin}
+	COMMON_FLAGS += -DTIMED_RESISTIVE_LOAD_PIN4=GPIO::${resistor4_pin}
+endif
+
 ifneq (${cpu_freq}, )
 	COMMON_FLAGS += -DF_CPU=${cpu_freq}UL
 else
@@ -127,7 +140,8 @@ arch_info:
 	@echo "CPU   Freq: ${cpu_freq} Hz"
 	@echo "Timer Freq: ${timer_freq} Hz -> $(shell src/arch/msp430fr5994lp/model.py f_timer "${cpu_freq}" "${timer_freq}")"
 	@echo "I2C   Freq: ${i2c_freq} Hz"
-	@echo "Counter Overflow: 65536/255"
+	@echo "Counter Overflow: 65536/65535"
+	@echo "sleep_ms Overflow: 250 500"
 	@echo "Monitor: /dev/${SERIAL_PORT} 115200"
 
 .PHONY: arch_clean arch_help arch_info monitor program
diff --git a/src/arch/msp430fr5994lp/driver/timed_resistive_load.cc b/src/arch/msp430fr5994lp/driver/timed_resistive_load.cc
new file mode 100644
index 0000000..2c46be2
--- /dev/null
+++ b/src/arch/msp430fr5994lp/driver/timed_resistive_load.cc
@@ -0,0 +1,85 @@
+#include "driver/timed_resistive_load.h"
+#include "driver/gpio.h"
+#include "arch.h"
+
+#ifndef TIMED_RESISTIVE_LOAD_PIN1
+#error TIMED_RESISTIVE_LOAD_PIN1 must be set
+#endif
+
+#ifndef TIMED_RESISTIVE_LOAD_PIN2
+#error TIMED_RESISTIVE_LOAD_PIN2 must be set
+#endif
+
+#ifndef TIMED_RESISTIVE_LOAD_PIN3
+#error TIMED_RESISTIVE_LOAD_PIN3 must be set
+#endif
+
+#ifndef TIMED_RESISTIVE_LOAD_PIN4
+#error TIMED_RESISTIVE_LOAD_PIN4 must be set
+#endif
+
+void TimedResistiveLoad::setup()
+{
+	gpio.output(TIMED_RESISTIVE_LOAD_PIN1, 0);
+	gpio.output(TIMED_RESISTIVE_LOAD_PIN2, 0);
+	gpio.output(TIMED_RESISTIVE_LOAD_PIN3, 0);
+	gpio.output(TIMED_RESISTIVE_LOAD_PIN4, 0);
+}
+
+void TimedResistiveLoad::switchToNone()
+{
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN1, 0);
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN2, 0);
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN3, 0);
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN4, 0);
+}
+
+void TimedResistiveLoad::switchTo750()
+{
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN1, 1);
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN2, 1);
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN3, 0);
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN4, 0);
+}
+
+void TimedResistiveLoad::switchTo1K0()
+{
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN1, 1);
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN2, 0);
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN3, 0);
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN4, 0);
+}
+
+void TimedResistiveLoad::switchTo2K4()
+{
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN1, 0);
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN2, 1);
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN3, 0);
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN4, 1);
+}
+
+void TimedResistiveLoad::switchTo3K3()
+{
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN1, 0);
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN2, 1);
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN3, 0);
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN4, 0);
+}
+
+void TimedResistiveLoad::switchTo10K()
+{
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN1, 0);
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN2, 0);
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN3, 0);
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN4, 1);
+}
+
+void TimedResistiveLoad::switchTo47K()
+{
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN1, 0);
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN2, 0);
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN3, 1);
+	gpio.write(TIMED_RESISTIVE_LOAD_PIN4, 0);
+}
+
+TimedResistiveLoad timedResistiveLoad;
diff --git a/src/driver/mmsubstate.cc b/src/driver/mmsubstate.cc
new file mode 100644
index 0000000..b701f0b
--- /dev/null
+++ b/src/driver/mmsubstate.cc
@@ -0,0 +1,41 @@
+#include "driver/mmsubstate.h"
+#if defined(MULTIPASS_ARCH_HAS_I2C) && !defined(DRIVER_SOFTI2C)
+#include "driver/i2c.h"
+#else
+#include "driver/soft_i2c.h"
+#endif
+
+void MicroMoodySubstate::setSubstates(unsigned char substateCount, unsigned char switchDuration, unsigned char power)
+{
+	txbuf[0] = substateCount;
+	txbuf[1] = power;
+	txbuf[2] = switchDuration;
+	i2c.xmit(address, 3, txbuf, 0, txbuf);
+}
+
+void MicroMoodySubstate::sleep()
+{
+	setSubstates(1, 0, 0);
+}
+
+void MicroMoodySubstate::noSubstates(unsigned char power1, unsigned char power2)
+{
+	setSubstates(1, power1, power2);
+}
+
+void MicroMoodySubstate::twoSubstates(unsigned char switchDuration, unsigned char power)
+{
+	setSubstates(2, switchDuration, power);
+}
+
+void MicroMoodySubstate::fourSubstates(unsigned char switchDuration, unsigned char power)
+{
+	setSubstates(4, switchDuration, power);
+}
+
+void MicroMoodySubstate::eightSubstates(unsigned char switchDuration, unsigned char power)
+{
+	setSubstates(8, switchDuration, power);
+}
+
+MicroMoodySubstate moody(0x11);