ao_pyro: Move delay_done out of pyro structure

The pyro structure should be read-only in flight operations. Move the
'delay_done' element to a parallel array as that gets written. Change
types to pointers to const structs to enforce this in the future.

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

diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c
index c9db061bfcf5f2bd74336b44f4afa16b821b2a71..ee94eca35c5c22c461cc576b3bf04cd7a4fadd8b 100644 (file)
--- a/src/kernel/ao_pyro.c
+++ b/src/kernel/ao_pyro.c
@@ -101,7 +101,7 @@ ao_sample_max_orient(void)
  * of the requirements
  */
 static uint8_t
-ao_pyro_ready(struct ao_pyro *pyro)
+ao_pyro_ready(const struct ao_pyro *pyro)
 {
        enum ao_pyro_flag flag, flags;
 #if HAS_GYRO
@@ -264,10 +264,12 @@ ao_pyro_pins_fire(uint16_t fire)
        ao_delay(AO_MS_TO_TICKS(50));
 }
 
+static AO_TICK_TYPE pyro_delay_done[AO_PYRO_NUM];
+
 static uint8_t
 ao_pyro_check(void)
 {
-       struct ao_pyro  *pyro;
+       const struct ao_pyro    *pyro;
        uint8_t         p, any_waiting;
        uint16_t        fire = 0;
 
@@ -288,7 +290,7 @@ ao_pyro_check(void)
                any_waiting = 1;
                /* Check pyro state to see if it should fire
                 */
-               if (!pyro->delay_done) {
+               if (!pyro_delay_done[p]) {
                        if (!ao_pyro_ready(pyro))
                                continue;
 
@@ -296,31 +298,36 @@ ao_pyro_check(void)
                         * it expires
                         */
                        if (pyro->flags & ao_pyro_delay) {
-                               pyro->delay_done = ao_time() + pyro->delay;
-                               if (!pyro->delay_done)
-                                       pyro->delay_done = 1;
+                               AO_TICK_TYPE delay_done;
+                               AO_TICK_SIGNED delay = pyro->delay;
+                               if (delay < 0)
+                                       delay = 0;
+                               delay_done = ao_time() + (AO_TICK_TYPE) delay;
+                               if (!delay_done)
+                                       delay_done = 1;
+                               pyro_delay_done[p] = delay_done;
                        }
                }
 
                /* Check to see if we're just waiting for
                 * the delay to expire
                 */
-               if (pyro->delay_done) {
+               if (pyro_delay_done[p]) {
 
                        /* Check to make sure the required conditions
                         * remain valid. If not, inhibit the channel
                         * by setting the inhibited bit
                         */
                        if (!ao_pyro_ready(pyro)) {
-                               ao_pyro_inhibited |= (1 << p);
+                               ao_pyro_inhibited |= (uint16_t) (1 << p);
                                continue;
                        }
 
-                       if ((AO_TICK_SIGNED) (ao_time() - pyro->delay_done) < 0)
+                       if ((AO_TICK_SIGNED) (ao_time() - pyro_delay_done[p]) < 0)
                                continue;
                }
 
-               fire |= (1 << p);
+               fire |= (uint16_t) (1U << p);
        }
 
        if (fire) {
@@ -457,11 +464,11 @@ ao_pyro_put(void *base, uint8_t offset, uint8_t size, int32_t value)
        case 8:
                if (value < 0)
                        return false;
-               *((uint8_t *) ((char *) base + offset)) = value;
+               *((uint8_t *) ((char *) base + offset)) = (uint8_t) value;
                break;
        case 16:
        default:
-               *((int16_t *) (void *) ((char *) base + offset)) = value;
+               *((int16_t *) (void *) ((char *) base + offset)) = (int16_t) value;
                break;
        case 32:
                *((int32_t *) (void *) ((char *) base + offset)) = value;
@@ -515,7 +522,7 @@ ao_pyro_show(void)
 void
 ao_pyro_set(void)
 {
-       uint8_t p;
+       uint32_t        p;
        struct ao_pyro pyro_tmp;
        char    name[AO_PYRO_NAME_LEN];
        uint8_t c;
@@ -535,7 +542,7 @@ ao_pyro_set(void)
        if (ao_cmd_status != ao_cmd_success)
                return;
        if (AO_PYRO_NUM <= p) {
-               printf ("invalid pyro channel %d\n", p);
+               printf ("invalid pyro channel %lu\n", p);
                return;
        }
        memset(&pyro_tmp, '\0', sizeof (pyro_tmp));
@@ -568,7 +575,7 @@ ao_pyro_set(void)
                                r = -1;
                                ao_cmd_lex();
                        }
-                       r *= ao_cmd_decimal();
+                       r *= (int32_t) ao_cmd_decimal();
                        if (ao_cmd_status != ao_cmd_success)
                                return;
                        if (!ao_pyro_put(&pyro_tmp, ao_pyro_values[v].offset,
@@ -651,7 +658,7 @@ ao_pyro_update_version(void)
                char    *after_pyro_1_24 = pyro_base_1_24 + AO_PYRO_NUM * sizeof (struct ao_pyro_1_24);
 
                char    *config_end_1_25 = (void *) (&ao_config + 1);
-               size_t  to_move = config_end_1_25 - after_pyro_1_25;
+               size_t  to_move = (size_t) (config_end_1_25 - after_pyro_1_25);
 
                memmove(after_pyro_1_25, after_pyro_1_24, to_move);
 

diff --git a/src/kernel/ao_pyro.h b/src/kernel/ao_pyro.h
index 4a8c3aabb1857c8adb4d7727f00bc4a5f0d4f407..f17abed377907fa0fa4eb5a5c34c7f30c5c1bc21 100644 (file)
--- a/src/kernel/ao_pyro.h
+++ b/src/kernel/ao_pyro.h
@@ -76,8 +76,8 @@ struct ao_pyro {
        int32_t                 delay;
        uint8_t                 state_less, state_greater_or_equal;
        int16_t                 motor;
-       int32_t                 delay_done;
-       uint8_t                 _unused;        /* was 'fired' */
+       uint32_t                _unused1;       /* was 'delay_done' */
+       uint8_t                 _unused2;       /* was 'fired' */
 };
 
 #define AO_PYRO_8_BIT_VALUE    (ao_pyro_state_less|ao_pyro_state_greater_or_equal)