kernel: Widen pyro time values to 32 bits

This lets time values of greater than 327 seconds be used. 99% of this
code is to adjust existing configurations to the new structure, which is
wider than the old.

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

diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c
index bfc0325e00d9406c59c51cc2d7fd9a23c8682310..8a7caaf013ba790141e3d6cf5155ad2af08a4aa0 100644 (file)
--- a/src/kernel/ao_config.c
+++ b/src/kernel/ao_config.c
@@ -145,6 +145,9 @@ _ao_config_get(void)
        }
        minor = ao_config.minor;
        if (minor != AO_CONFIG_MINOR) {
+#if AO_PYRO_NUM
+               ao_pyro_update_version();
+#endif
                /* Fixups for minor version 1 */
                if (minor < 1)
                        ao_config.apogee_delay = AO_CONFIG_DEFAULT_APOGEE_DELAY;

diff --git a/src/kernel/ao_config.h b/src/kernel/ao_config.h
index 8a367733ee00e523ef0eb115767af64073a0cd6a..c668b71a1979c418c5f39b145b8e72cb9a65b95e 100644 (file)
--- a/src/kernel/ao_config.h
+++ b/src/kernel/ao_config.h
@@ -58,7 +58,7 @@
 #endif
 
 #define AO_CONFIG_MAJOR        1
-#define AO_CONFIG_MINOR        24
+#define AO_CONFIG_MINOR        25
 
 #define AO_AES_LEN 16
 

diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c
index 80e1980ebf28b8204b10be3d2f5090017f2db43b..07a8278d560a85f4d913ccf7a735645131d31cc6 100644 (file)
--- a/src/kernel/ao_pyro.c
+++ b/src/kernel/ao_pyro.c
@@ -161,14 +161,14 @@ ao_pyro_ready(struct ao_pyro *pyro)
 #endif
 
                case ao_pyro_time_less:
-                       if ((int16_t) (ao_time() - ao_launch_tick) <= pyro->time_less)
+                       if ((int32_t) (ao_time() - ao_launch_tick) <= pyro->time_less)
                                continue;
-                       DBG("time %d > %d\n", (int16_t)(ao_time() - ao_launch_tick), pyro->time_less);
+                       DBG("time %d > %d\n", (int32_t)(ao_time() - ao_launch_tick), pyro->time_less);
                        break;
                case ao_pyro_time_greater:
-                       if ((int16_t) (ao_time() - ao_launch_tick) >= pyro->time_greater)
+                       if ((int32_t) (ao_time() - ao_launch_tick) >= pyro->time_greater)
                                continue;
-                       DBG("time %d < %d\n", (int16_t)(ao_time() - ao_launch_tick), pyro->time_greater);
+                       DBG("time %d < %d\n", (int32_t)(ao_time() - ao_launch_tick), pyro->time_greater);
                        break;
 
                case ao_pyro_ascending:
@@ -316,7 +316,7 @@ ao_pyro_check(void)
                                continue;
                        }
 
-                       if ((int16_t) (ao_time() - pyro->delay_done) < 0)
+                       if ((int32_t) (ao_time() - pyro->delay_done) < 0)
                                continue;
                }
 
@@ -431,6 +431,55 @@ ao_pyro_help(void)
 }
 #endif
 
+static int32_t
+ao_pyro_get(void *base, uint8_t offset, uint8_t size)
+{
+       int32_t value;
+       switch (size) {
+       case 8:
+               value = *((uint8_t *) ((char *) base + offset));
+               break;
+       case 16:
+       default:
+               value = *((int16_t *) (void *) ((char *) base + offset));
+               break;
+       case 32:
+               value = *((int32_t *) (void *) ((char *) base + offset));
+               break;
+       }
+       return value;
+}
+
+static bool
+ao_pyro_put(void *base, uint8_t offset, uint8_t size, int32_t value)
+{
+       switch (size) {
+       case 8:
+               if (value < 0)
+                       return false;
+               *((uint8_t *) ((char *) base + offset)) = value;
+               break;
+       case 16:
+       default:
+               *((int16_t *) (void *) ((char *) base + offset)) = value;
+               break;
+       case 32:
+               *((int32_t *) (void *) ((char *) base + offset)) = value;
+               break;
+       }
+       return true;
+}
+
+static uint8_t
+ao_pyro_size(enum ao_pyro_flag flag)
+{
+       if (flag & AO_PYRO_8_BIT_VALUE)
+               return 8;
+       if (flag & AO_PYRO_32_BIT_VALUE)
+               return 32;
+       return 16;
+}
+
 void
 ao_pyro_show(void)
 {
@@ -451,13 +500,10 @@ ao_pyro_show(void)
                                continue;
                        ao_pyro_print_name(v);
                        if (ao_pyro_values[v].offset != NO_VALUE) {
-                               int16_t value;
-
-                               if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE)
-                                       value = *((uint8_t *) ((char *) pyro + ao_pyro_values[v].offset));
-                               else
-                                       value = *((int16_t *) (void *) ((char *) pyro + ao_pyro_values[v].offset));
-                               printf ("%6d ", value);
+                               printf ("%6ld ",
+                                       (long) ao_pyro_get(pyro,
+                                                          ao_pyro_values[v].offset,
+                                                          ao_pyro_size(ao_pyro_values[v].flag)));
                        } else {
                                printf ("       ");
                        }
@@ -516,7 +562,7 @@ ao_pyro_set(void)
                }
                pyro_tmp.flags |= ao_pyro_values[v].flag;
                if (ao_pyro_values[v].offset != NO_VALUE) {
-                       int16_t r = 1;
+                       int32_t r = 1;
                        ao_cmd_white();
                        if (ao_cmd_lex_c == '-') {
                                r = -1;
@@ -525,14 +571,11 @@ ao_pyro_set(void)
                        r *= ao_cmd_decimal();
                        if (ao_cmd_status != ao_cmd_success)
                                return;
-                       if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE) {
-                               if (r < 0) {
-                                       ao_cmd_status = ao_cmd_syntax_error;
-                                       return;
-                               }
-                               *((uint8_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = r;
-                       } else {
-                               *((int16_t *) (void *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = r;
+                       if (!ao_pyro_put(&pyro_tmp, ao_pyro_values[v].offset,
+                                        ao_pyro_size(ao_pyro_values[v].flag), r))
+                       {
+                               ao_cmd_status = ao_cmd_syntax_error;
+                               return;
                        }
                }
        }
@@ -552,6 +595,88 @@ ao_pyro_manual(uint8_t p)
        ao_pyro_pins_fire(1 << p);
 }
 
+struct ao_pyro_old_values {
+       enum ao_pyro_flag       flag;
+       uint8_t                 offset;
+       uint8_t                 size;
+};
+
+static const struct ao_pyro_old_values ao_pyro_1_24_values[] = {
+       { .flag = ao_pyro_accel_less, .offset = offsetof(struct ao_pyro_1_24, accel_less), 16 },
+       { .flag = ao_pyro_accel_greater, .offset = offsetof(struct ao_pyro_1_24, accel_greater), 16 },
+       { .flag = ao_pyro_speed_less, .offset = offsetof(struct ao_pyro_1_24, speed_less), 16 },
+       { .flag = ao_pyro_speed_greater, .offset = offsetof(struct ao_pyro_1_24, speed_greater), 16 },
+       { .flag = ao_pyro_height_less, .offset = offsetof(struct ao_pyro_1_24, height_less), 16 },
+       { .flag = ao_pyro_height_greater, .offset = offsetof(struct ao_pyro_1_24, height_greater), 16 },
+       { .flag = ao_pyro_orient_less, .offset = offsetof(struct ao_pyro_1_24, orient_less), 16 },
+       { .flag = ao_pyro_orient_greater, .offset = offsetof(struct ao_pyro_1_24, orient_greater), 16 },
+       { .flag = ao_pyro_time_less, .offset = offsetof(struct ao_pyro_1_24, time_less), 16 },
+       { .flag = ao_pyro_time_greater, .offset = offsetof(struct ao_pyro_1_24, time_greater), 16 },
+       { .flag = ao_pyro_delay, .offset = offsetof(struct ao_pyro_1_24, delay), 16 },
+       { .flag = ao_pyro_state_less, .offset = offsetof(struct ao_pyro_1_24, state_less), 8 },
+       { .flag = ao_pyro_state_greater_or_equal, .offset = offsetof(struct ao_pyro_1_24, state_greater_or_equal), 8 },
+       { .flag = ao_pyro_after_motor, .offset = offsetof(struct ao_pyro_1_24, motor), 16 },
+};
+
+#define NUM_PYRO_1_24_VALUES (sizeof ao_pyro_1_24_values / sizeof ao_pyro_1_24_values[0])
+
+static int32_t
+ao_pyro_get_1_24(void *base, enum ao_pyro_flag flag)
+{
+       unsigned v;
+
+       for (v = 0; v < NUM_PYRO_1_24_VALUES; v++) {
+               if (ao_pyro_1_24_values[v].flag == flag)
+                       return ao_pyro_get(base, ao_pyro_1_24_values[v].offset, ao_pyro_1_24_values[v].size);
+       }
+       return 0;
+}
+
+void
+ao_pyro_update_version(void)
+{
+       if (ao_config.minor <= 24)
+       {
+
+               /* First, move all of the config bits that follow the pyro data */
+
+               char    *pyro_base = (void *) &ao_config.pyro;
+               char    *after_pyro_new = pyro_base + AO_PYRO_NUM * sizeof (struct ao_pyro);
+               char    *after_pyro_1_24 = pyro_base + AO_PYRO_NUM * sizeof (struct ao_pyro_1_24);
+               char    *config_end = (void *) (&ao_config + 1);
+               size_t  to_move = config_end - after_pyro_new;
+
+               memmove(after_pyro_new, after_pyro_1_24, to_move);
+
+               /* Now, adjust all of the pyro entries */
+
+               struct ao_pyro          *pyro_new = ao_config.pyro;
+               struct ao_pyro_1_24     *pyro_old = (void *) ao_config.pyro;
+
+               int p = AO_PYRO_NUM;
+
+               /* New struct is larger than the old, so start at the
+                * last one and work towards the first
+                */
+               while (p-- > 0) {
+                       unsigned v;
+                       int32_t value;
+                       struct ao_pyro  tmp;
+
+                       memset(&tmp, '\0', sizeof(tmp));
+                       tmp.flags = pyro_old[p].flags;
+
+                       for (v = 0; v < NUM_PYRO_VALUES; v++)
+                       {
+                               value = ao_pyro_get_1_24(&pyro_old[v], ao_pyro_values[v].flag);
+                               ao_pyro_put(&tmp, ao_pyro_values[v].offset,
+                                           ao_pyro_size(ao_pyro_values[v].flag), value);
+                       }
+                       memcpy(&pyro_new[p], &tmp, sizeof(tmp));
+               }
+       }
+}
+
 void
 ao_pyro_init(void)
 {

diff --git a/src/kernel/ao_pyro.h b/src/kernel/ao_pyro.h
index 3ab5af3bf8972d2f2e1ae2f79e482cc96b272e8e..4a8c3aabb1857c8adb4d7727f00bc4a5f0d4f407 100644 (file)
--- a/src/kernel/ao_pyro.h
+++ b/src/kernel/ao_pyro.h
@@ -52,7 +52,7 @@ enum ao_pyro_flag {
 #endif
        ;
 
-struct ao_pyro {
+struct ao_pyro_1_24 {
        enum ao_pyro_flag       flags;
        int16_t                 accel_less, accel_greater;
        int16_t                 speed_less, speed_greater;
@@ -66,7 +66,22 @@ struct ao_pyro {
        uint8_t                 _unused;        /* was 'fired' */
 };
 
+struct ao_pyro {
+       enum ao_pyro_flag       flags;
+       int16_t                 accel_less, accel_greater;
+       int16_t                 speed_less, speed_greater;
+       int16_t                 height_less, height_greater;
+       int16_t                 orient_less, orient_greater;
+       int32_t                 time_less, time_greater;
+       int32_t                 delay;
+       uint8_t                 state_less, state_greater_or_equal;
+       int16_t                 motor;
+       int32_t                 delay_done;
+       uint8_t                 _unused;        /* was 'fired' */
+};
+
 #define AO_PYRO_8_BIT_VALUE    (ao_pyro_state_less|ao_pyro_state_greater_or_equal)
+#define AO_PYRO_32_BIT_VALUE   (ao_pyro_time_less|ao_pyro_time_greater|ao_pyro_delay)
 
 extern uint8_t ao_pyro_wakeup;
 
@@ -81,6 +96,9 @@ ao_pyro_show(void);
 void
 ao_pyro_init(void);
 
+void
+ao_pyro_update_version(void);
+
 void
 ao_pyro_manual(uint8_t p);