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| author | Selene ToyKeeper | 2023-11-02 17:16:25 -0600 |
|---|---|---|
| committer | Selene ToyKeeper | 2023-11-02 17:16:25 -0600 |
| commit | 7cb4fe0944b839f28dfd96a88a772cd6a8b58019 (patch) | |
| tree | 8d3b203f1650edc28b1f67e1589e3bc870b33fa6 /fsm/spaghetti-monster.txt | |
| parent | added LICENSE (GPLv3) (diff) | |
| download | anduril-7cb4fe0944b839f28dfd96a88a772cd6a8b58019.tar.gz anduril-7cb4fe0944b839f28dfd96a88a772cd6a8b58019.tar.bz2 anduril-7cb4fe0944b839f28dfd96a88a772cd6a8b58019.zip | |
reorganized project files (part 1)
(just moved files, didn't change the contents yet,
and nothing will work without updating #includes and build scripts and stuff)
Diffstat (limited to 'fsm/spaghetti-monster.txt')
| -rw-r--r-- | fsm/spaghetti-monster.txt | 325 |
1 files changed, 325 insertions, 0 deletions
diff --git a/fsm/spaghetti-monster.txt b/fsm/spaghetti-monster.txt new file mode 100644 index 0000000..434e1bc --- /dev/null +++ b/fsm/spaghetti-monster.txt @@ -0,0 +1,325 @@ +Spaghetti Monster: A UI toolkit library for flashlights +------------------------------------------------------- + +This toolkit takes care of most of the obnoxious parts of dealing with +tiny embedded chips and flashlight hardware, leaving you to focus on the +interface and user-visible features. + +For a quick start, look at the example UIs provided to see how things +are done. They are probably the most useful reference. However, other +details can be found here or in the FSM source code. + + +Why is it called Spaghetti Monster? + + This toolkit is a finite state machine, or FSM. Another thing FSM + stands for is Flying Spaghetti Monster. Source code tends to weave + into intricate knots like spaghetti, called spaghetti code, + particularly when the code isn't using appropriate abstractions for + the task it implements. + + Prior e-switch light code had a tendency to get pretty spaghetti-like, + and it made the code difficult to write, understand, and modify. So I + started from scratch and logically separated the hardware details from + the UI. This effectively put the spaghetti monster in a box, put it + on a leash, to make it behave and stay out of the way while we focus + on the user interface. + + Also, it's just kind of a fun name. :) + + +General concept: + + Spaghetti Monster (FSM) implements a stack-based finite state machine + with an event-handling system. + + Each FSM program should have a setup() function, a loop() function, + and at least one State: + + - The setup() function runs once each time power is connected. + + - The loop() function is called repeatedly whenever the system is + otherwise idle. Put your long-running tasks here, preferably with + consideration taken to allow for cooperative multitasking. + + - The States on the stack will be called whenever an event happens. + States are called in top-to-bottom order until a state returns an + "EVENT_HANDLED" signal. Only do quick tasks here. + + +Finite State Machine: + + Each "State" is simply a callback function which handles events. It + should return EVENT_HANDLED for each event type it does something + with, or EVENT_NOT_HANDLED otherwise. + + Transitions between states typically involve mapping an Event to a new + State, such as this: + + // 3 clicks: go to strobe modes + else if (event == EV_3clicks) { + set_state(strobe_state, 0); + return EVENT_HANDLED; + } + + It is strongly recommended that your State functions never do anything + which takes more than a few milliseconds... and certainly not longer + than 16ms. If you do this, the pending events may pile up to the + point where new events get thrown away. So, do only quick tasks in + the event handler, and do your longer-running tasks in the loop() + function instead. Preferably with precautions taken to allow for + cooperative multitasking. + + If your State function takes longer than one WDT tick (16ms) once in a + while, the system won't break. Several events can be queued. But be + sure not to do it very often. + + Several state management functions are provided: + + - set_state(new_state, arg): Replace the current state on the stack. + Send 'arg' to the new state for its init event. + + - push_state(new_state, arg): Add a new state to the stack, leaving + the current state below it. Send 'arg' to the new state for its + init event. + + - pop_state(): Get rid of (and return) the top-most state. Re-enter + the state below. + + +Event types: + + Event types are defined in fsm-events.h. You may want to adjust these + to fit your program, but the defaults are: + + State transitions: + + - EV_enter_state: Sent to each new State once when it goes onto + the stack. The 'arg' is whatever you define it to be. + + - EV_leave_state: Sent to a state immediately before it is removed + from the stack. + + - EV_reenter_state: If a State gets pushed on top of this one, and + then it pops off, a re-enter Event happens. This should handle + things like consuming the return value of a nested input handler + State. + + Time passing: + + - EV_tick: This happens once per clock tick, which is 16ms or + 62.5Hz by default. The 'arg' is the number of ticks since + entering the state. When 'arg' exceeds 65535, it wraps around + to 32768. + + - EV_sleep_tick: This happens every 0.5s during standby, if + enabled at compile time. The 'arg' is the number of ticks since + entering the state. When 'arg' exceeds 65535, it wraps around + to 32768. + + LVP and thermal regulation: + + - EV_voltage_low: Sent whenever the input power drops below the + VOLTAGE_LOW threshold. Minimum of VOLTAGE_WARNING_SECONDS + between events. + + - EV_temperature_high: Sent whenever the MCU's projected temperature + is higher than therm_ceil. Minimum of one second between events. + The 'arg' indicates how far the temperature exceeds the limit. + + - EV_temperature_low: Sent whenever the MCU's projected temperature + is lower than (therm_ceil - THERMAL_WINDOW_SIZE). Minimum of + one second between events. The 'arg' indicates how far the + temperature exceeds the limit. + + Button presses: + + Button events can be referred to either by pre-defined symbols, or + by teasing out the flags manually. The structure of a button + event is as follows: + + - Bit 7: 1 for button events, 0 otherwise. + + - Bit 6: 1 for a "timeout" event (signals the end of a + sequence), or 0 otherwise. + + - Bit 5: 1 for a "hold" event, 0 otherwise. This flag is only + necessary because, without it, it would be impossible to + distinguish between "click, click, timeout" and "click, hold, + release". + + - Bit 4: 1 if button is currently pressed, 0 otherwise. Button + release events look just like button press events, except this + is not set. + + - Bits 0,1,2,3: Counter for how many clicks there have been. + The first click is 1, second is 2, and it goes up to 15 clicks + in a row. Clicks after 15 are coded as 15. + + The pre-defined button event symbols are like the following: + + - EV_click1_press: The user pressed the button, but no time has + passed since then. + + - EV_click1_release: The user pressed and released the button, + but no time has passed since then. + + - EV_click1_complete: The user clicked the e-switch, released + it, and enough time passed that no more clicks were detected. + (a.k.a. EV_1click) + + - EV_click1_hold: The user pressed the button, and continued + holding it long enough to count as a "hold" event. This event + is sent once per timer tick as long as the button is held, and + the 'arg' value indicates how many timer ticks since the + button state went from 'press' to 'hold'. + + - EV_click1_hold_release: The button was released at the end of + a "hold" event. This is the end of the input sequence, + because no timeout period is used after a hold. + + It's worth noting that a "hold" event can only happen at the + end of an input sequence, and the sequence will reset to empty + after the hold is released. + + If the user pressed the button more than once, events follow the + same pattern. These are the same as above, except with a full + short-press and release first. + + - EV_click2_press + - EV_click2_release + - EV_click2_complete (a.k.a. EV_2clicks) + - EV_click2_hold + - EV_click2_hold_release + + Each of the above patterns continues up to 15 clicks. + + To match entire categories of events, use the bitmasks provided. + For example, to match button events where the button is down or + the button is up, the code would look like this: + + if ((event & (B_CLICK | B_PRESS)) == (B_CLICK | B_PRESS)) { + // button is down (can be a press event or a hold event) + } + else if ((event & (B_CLICK | B_PRESS)) == (B_CLICK)) { + // button was just released + } + + In theory, you could also define your own arbitrary event types, and + emit() them as necessary, and handle them in State functions the same + as any other event. + + +Cooperative multitasking: + + Since we don't have true preemptive multitasking, the best we can do + is cooperative multitasking. In practice, this means: + + - Declare global variables as volatile if they can be changed by an + event handler. This keeps the compiler from caching the value and + causing incorrect behavior. + + - Don't put long-running tasks into State functions. Each State + will get called at least once every 16ms for a clock tick, so they + should not run for longer than 16ms. + + - Put long-running tasks into loop() instead. + + - For long delay() calls, use nice_delay_ms(). This allows the MCU + to process events while we wait. It also automatically aborts if + it detects a state change, and returns a different value. + + In many cases, it shouldn't be necessary to do anything more than + this, but sometimes it will also be a good idea to check the + return value and abort the current task: + + if (! nice_delay_ms(mydelay)) break; + + - In general, try to do small amounts of work and then return + control to other parts of the program. Keep doing small amounts + and yielding until a task is done, instead of trying to do it all + at once. + + +Persistent data in EEPROM: + + To save data which lasts after a battery change, use the eeprom + functions. Define an eeprom style (or two) at the top, define how + many bytes to allocate, and then use the relevant functions as + appropriate. + + - USE_EEPROM / USE_EEPROM_WL: Enable the eeprom-related functions. + With "WL", it uses wear-levelling. Without, it does not. Note: + Wear levelling is not necessarily better -- it uses more ROM, and + it writes more bytes per save(). So, use it only for a few bytes + which change frequently -- not for many bytes or infrequent + changes. + + - EEPROM_BYTES N / EEPROM_WL_BYTES N: Allocate N bytes for the + eeprom data. + + - load_eeprom() / load_eeprom_wl(): Load the stored data into the + eeprom[] or eeprom_wl[] arrays. + Returns 1 if data was found, 0 otherwise. + + - save_eeprom() / save_eeprom_wl(): Save the eeprom[] or eeprom_wl[] + array data to persistent storage. The WL version erases all old + values and writes new ones in a different part of the eeprom + space. The non-WL version updates values in place, and does not + overwrite values which didn't change. + + Note that all interrupts will be disabled during eeprom operations. + + +Useful #defines: + + A variety of things can be #defined before including + spaghetti-monster.h in your program. This allows you to tweak the + behavior and set options to fit your needs: + + - FSM_something_LAYOUT: Select a driver type from tk-attiny.h. This + controls how many power channels there are, which pins they're on, + and what other driver features are available. + + - USE_LVP: Enable low-voltage protection. + + - VOLTAGE_LOW: What voltage should LVP trigger at? Defaults to 29 (2.9V). + + - VOLTAGE_FUDGE_FACTOR: Add this much to the voltage measurements, + to compensate for voltage drop across the reverse-polarity + diode. + + - VOLTAGE_WARNING_SECONDS: How long to wait between LVP events. + + - USE_THERMAL_REGULATION: Enable thermal regulation + + - DEFAULT_THERM_CEIL: Set the temperature limit to use by default + when the user hasn't configured anything. + + - USE_RAMPING: Enable smooth ramping helpers. + + - RAMP_LENGTH: Pick a pre-defined ramp by length. Defined sizes + are 50, 75, and 150 levels. + + - USE_DELAY_4MS, USE_DELAY_MS, USE_DELAY_ZERO: Enable the delay_4ms, + delay_ms(), and delay_zero() functions. Useful for timing-related + activities. + + - HOLD_TIMEOUT: How many clock ticks before a "press" event becomes + a "hold" event? + + - RELEASE_TIMEOUT: How many clock ticks before a "release" event + becomes a "click" event? Basically, the maximum time between + clicks in a double-click or triple-click. + + - USE_BATTCHECK: Enable the battcheck function. Also define one of + the following to select a display style: + + - BATTCHECK_VpT: Volts, pause, tenths. + - BATTCHECK_4bars: Blink up to 4 times. + - BATTCHECK_6bars: Blink up to 6 times. + - BATTCHECK_8bars: Blink up to 8 times. + + - ... and many others. Will try to document them over time, but + they can be found by searching for pretty much anything in + all-caps in the fsm-*.[ch] files. |
