diff options
| author | Selene ToyKeeper | 2019-11-14 19:47:49 -0700 |
|---|---|---|
| committer | Selene ToyKeeper | 2019-11-14 19:47:49 -0700 |
| commit | 5362c032fdca4b20af49db0409a03524a396b815 (patch) | |
| tree | 1d437085b5b3472279167aee905385e39a4a1fe1 /spaghetti-monster/fsm-events.c | |
| parent | merged from fsm branch to get safety ramp-down and version check functions, a... (diff) | |
| parent | merged irq-refactor branch, which fixes some small but long-standing issues: (diff) | |
| download | anduril-5362c032fdca4b20af49db0409a03524a396b815.tar.gz anduril-5362c032fdca4b20af49db0409a03524a396b815.tar.bz2 anduril-5362c032fdca4b20af49db0409a03524a396b815.zip | |
merged fsm updates / irq-refactor branch, to get more stable voltage readings
(and otherwise get recent bugfixes)
Diffstat (limited to 'spaghetti-monster/fsm-events.c')
| -rw-r--r-- | spaghetti-monster/fsm-events.c | 17 |
1 files changed, 11 insertions, 6 deletions
diff --git a/spaghetti-monster/fsm-events.c b/spaghetti-monster/fsm-events.c index f35607d..a1b013a 100644 --- a/spaghetti-monster/fsm-events.c +++ b/spaghetti-monster/fsm-events.c @@ -20,6 +20,8 @@ #ifndef FSM_EVENTS_C #define FSM_EVENTS_C +#include <util/delay_basic.h> + void empty_event_sequence() { current_event = EV_none; @@ -108,7 +110,7 @@ uint8_t nice_delay_ms(uint16_t ms) { /* // delay_zero() implementation if (ms == 0) { CLKPR = 1<<CLKPCE; CLKPR = 0; // full speed - _delay_loop_2(BOGOMIPS*98/100/3); + _delay_loop_2(BOGOMIPS*95/100/3); return 1; } */ @@ -118,15 +120,15 @@ uint8_t nice_delay_ms(uint16_t ms) { uint8_t level = actual_level; // volatile, avoid repeat access if (level < QUARTERSPEED_LEVEL) { clock_prescale_set(clock_div_4); - _delay_loop_2(BOGOMIPS*98/100/4); + _delay_loop_2(BOGOMIPS*95/100/4); } //else if (level < HALFSPEED_LEVEL) { // clock_prescale_set(clock_div_2); - // _delay_loop_2(BOGOMIPS*98/100/2); + // _delay_loop_2(BOGOMIPS*95/100/2); //} else { clock_prescale_set(clock_div_1); - _delay_loop_2(BOGOMIPS*98/100); + _delay_loop_2(BOGOMIPS*95/100); } // restore regular clock speed clock_prescale_set(clock_div_1); @@ -134,15 +136,18 @@ uint8_t nice_delay_ms(uint16_t ms) { // underclock MCU to save power clock_prescale_set(clock_div_4); // wait - _delay_loop_2(BOGOMIPS*98/100/4); + _delay_loop_2(BOGOMIPS*95/100/4); // restore regular clock speed clock_prescale_set(clock_div_1); #endif // ifdef USE_RAMPING #else // wait - _delay_loop_2(BOGOMIPS*98/100); + _delay_loop_2(BOGOMIPS*95/100); #endif // ifdef USE_DYNAMIC_UNDERCLOCKING + // run pending system processes while we wait + handle_deferred_interrupts(); + if ((nice_delay_interrupt) || (old_state != current_state)) { return 0; // state changed; abort } |