altos: Perform time comparisons using 16-bit arithmetic to handle wrap

Subtracting two 16-bit unsigned values to perform time comparisons
yields mystic results unless we carefully cast that to int16_t.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 50f2b68f998f3df1c7960bfb64ffb6153e15de6f..b0d911ed7f2663ac5b820cc0146d4944da9d2d85 100644 (file)
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -269,7 +269,7 @@ ao_flight(void)
                         * number of seconds.
                         */
                        if (ao_config.apogee_lockout) {
-                               if ((ao_sample_tick - ao_boost_tick) <
+                               if ((int16_t) (ao_sample_tick - ao_boost_tick) <
                                    AO_SEC_TO_TICKS(ao_config.apogee_lockout))
                                        break;
                        }

diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index 69a1b3de6ddc9a32350605e7e31f19b9b4c198da..d401a3c8ff5bd04a88c7dea0216d53abcd145589 100644 (file)
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -55,14 +55,14 @@ static void
 ao_kalman_predict(void)
 {
 #ifdef AO_FLIGHT_TEST
-       if (ao_sample_tick - ao_sample_prev_tick > 50) {
+       if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) {
                ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_1 +
                                (ao_k_t) ao_accel * AO_K_STEP_2_2_1) >> 4;
                ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_1;
 
                return;
        }
-       if (ao_sample_tick - ao_sample_prev_tick > 5) {
+       if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
                ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_10 +
                                (ao_k_t) ao_accel * AO_K_STEP_2_2_10) >> 4;
                ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_10;
@@ -141,13 +141,13 @@ ao_kalman_correct_baro(void)
 {
        ao_kalman_err_height();
 #ifdef AO_FLIGHT_TEST
-       if (ao_sample_tick - ao_sample_prev_tick > 50) {
+       if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) {
                ao_k_height += (ao_k_t) AO_BARO_K0_1 * ao_error_h;
                ao_k_speed  += (ao_k_t) AO_BARO_K1_1 * ao_error_h;
                ao_k_accel  += (ao_k_t) AO_BARO_K2_1 * ao_error_h;
                return;
        }
-       if (ao_sample_tick - ao_sample_prev_tick > 5) {
+       if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
                ao_k_height += (ao_k_t) AO_BARO_K0_10 * ao_error_h;
                ao_k_speed  += (ao_k_t) AO_BARO_K1_10 * ao_error_h;
                ao_k_accel  += (ao_k_t) AO_BARO_K2_10 * ao_error_h;
@@ -180,7 +180,7 @@ ao_kalman_correct_both(void)
        ao_kalman_err_accel();
 
 #ifdef AO_FLIGHT_TEST
-       if (ao_sample_tick - ao_sample_prev_tick > 50) {
+       if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) {
                if (ao_flight_debug) {
                        printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
                                ao_k_speed / (65536.0 * 16.0),
@@ -201,7 +201,7 @@ ao_kalman_correct_both(void)
                        (ao_k_t) AO_BOTH_K21_1 * ao_error_a;
                return;
        }
-       if (ao_sample_tick - ao_sample_prev_tick > 5) {
+       if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
                if (ao_flight_debug) {
                        printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
                                ao_k_speed / (65536.0 * 16.0),
@@ -250,7 +250,7 @@ ao_kalman_correct_accel(void)
 {
        ao_kalman_err_accel();
 
-       if (ao_sample_tick - ao_sample_prev_tick > 5) {
+       if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
                ao_k_height +=(ao_k_t) AO_ACCEL_K0_10 * ao_error_a;
                ao_k_speed  += (ao_k_t) AO_ACCEL_K1_10 * ao_error_a;
                ao_k_accel  += (ao_k_t) AO_ACCEL_K2_10 * ao_error_a;
@@ -285,9 +285,9 @@ ao_kalman(void)
                ao_max_height = ao_height;
        ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_sample_height;
 #ifdef AO_FLIGHT_TEST
-       if (ao_sample_tick - ao_sample_prev_tick > 50)
+       if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50)
                ao_avg_height = (ao_avg_height_scaled + 1) >> 1;
-       else if (ao_sample_tick - ao_sample_prev_tick > 5)
+       else if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5)
                ao_avg_height = (ao_avg_height_scaled + 7) >> 4;
        else 
 #endif

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 90ea07adfa6843246dc6d3d52a14ad0298d5f0c3..f0ab0169805fb6a1db38ddde5ca7b803b2f530c9 100644 (file)
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -180,7 +180,7 @@ static void
 ao_sample_rotate(void)
 {
 #ifdef AO_FLIGHT_TEST
-       float   dt = (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
+       float   dt = (int16_t) (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
 #else
        static const float dt = 1/TIME_DIV;
 #endif