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Implement glitch smoothing

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This commit is contained in:
Gregor Riepl 2021-02-08 16:14:56 +01:00
parent 14ad5cad25
commit 016e37e009
1 changed files with 20 additions and 2 deletions
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22
feedback/firmware/main.c
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@ -7,6 +7,7 @@
static bool report_change = false; static bool report_change = false;
static uint16_t saved_status; static uint16_t saved_status;
static uint16_t status_hysteresis[2];
static void init() { static void init() {
// Set PB as input, pull-up off // Set PB as input, pull-up off
@ -58,6 +59,21 @@ static uint16_t get_status() {
return ((uint16_t) statush << 8) | ((uint16_t) statusl); return ((uint16_t) statush << 8) | ((uint16_t) statusl);
} }
static uint16_t graded_status() {
uint16_t status = get_status();
// combine the bits of the last 3 states into one: "at least 2 of 3"
uint16_t graded01 = status_hysteresis[0] & status_hysteresis[1];
uint16_t graded1n = status_hysteresis[1] & status;
uint16_t gradedn0 = status & status_hysteresis[0];
uint16_t graded = graded01 | graded1n | gradedn0;
status_hysteresis[0] = status_hysteresis[1];
status_hysteresis[1] = status;
return graded;
}
static void send_status(uint16_t status) { static void send_status(uint16_t status) {
if (can_check_free_buffer()) { if (can_check_free_buffer()) {
can_t msg = { can_t msg = {
@ -74,7 +90,7 @@ static void send_status(uint16_t status) {
static void loop() { static void loop() {
// Check for status changes // Check for status changes
uint16_t new_status = get_status(); uint16_t new_status = graded_status();
if (new_status != saved_status) { if (new_status != saved_status) {
if (report_change) { if (report_change) {
send_status(new_status); send_status(new_status);
@ -89,7 +105,7 @@ static void loop() {
if (status != 0) { if (status != 0) {
switch (msg.id) { switch (msg.id) {
case CAN_MSG_FEEDBACK_STATUS: case CAN_MSG_FEEDBACK_STATUS:
send_status(get_status()); send_status(new_status);
break; break;
case CAN_MSG_AUTO_STATUS: case CAN_MSG_AUTO_STATUS:
if (msg.length == 1) { if (msg.length == 1) {
@ -99,6 +115,8 @@ static void loop() {
} }
} }
} }
_delay_us(100);
} }
int main() { int main() {