[tuxdroid-svn] r328 - firmware/tuxcore/trunk

[jaguarondi <c2m...@c2...>]

Author: jaguarondi
Date: 2007-05-30 14:36:27 +0200 (Wed, 30 May 2007)
New Revision: 328

Modified:
   firmware/tuxcore/trunk/Makefile
   firmware/tuxcore/trunk/config.c
   firmware/tuxcore/trunk/config.h
   firmware/tuxcore/trunk/global.h
   firmware/tuxcore/trunk/main.c
   firmware/tuxcore/trunk/motors.c
   firmware/tuxcore/trunk/motors.h
   firmware/tuxcore/trunk/parser.c
   firmware/tuxcore/trunk/standalone.c
Log:
- ADD: events for entering and exiting sleep mode.
- ADD: closePosSwitches to minimize power during sleep mode.
- ADD: closeEyes command.


Modified: firmware/tuxcore/trunk/Makefile
===================================================================

Modified: firmware/tuxcore/trunk/config.c
===================================================================
--- firmware/tuxcore/trunk/config.c	2007-05-29 17:54:51 UTC (rev 327)
+++ firmware/tuxcore/trunk/config.c	2007-05-30 12:36:27 UTC (rev 328)
@@ -40,6 +40,11 @@
 /* Unplug event */
 uint8_t unplug_e[SHORT_EVENT] EEMEM = UNPLUG_E_SEQ;
 
+/* Entering sleep event */
+uint8_t sleep_enter_e[SHORT_EVENT] EEMEM = SLEEP_ENTER_E_SEQ;
+/* Exiting sleep event */
+uint8_t sleep_exit_e[SHORT_EVENT] EEMEM = SLEEP_EXIT_E_SEQ;
+
 /* RF connection event */
 uint8_t rf_conn_e[SHORT_EVENT] EEMEM = RF_CONN_E_SEQ;
 

Modified: firmware/tuxcore/trunk/config.h
===================================================================
--- firmware/tuxcore/trunk/config.h	2007-05-29 17:54:51 UTC (rev 327)
+++ firmware/tuxcore/trunk/config.h	2007-05-30 12:36:27 UTC (rev 328)
@@ -44,6 +44,11 @@
 /* Unplug event */
 extern uint8_t unplug_e[];
 
+/* Entering sleep event */
+extern uint8_t sleep_enter_e[];
+/* Exiting sleep event */
+extern uint8_t sleep_exit_e[];
+
 /* RF connection event */
 extern uint8_t rf_conn_e[];
 

Modified: firmware/tuxcore/trunk/global.h
===================================================================
--- firmware/tuxcore/trunk/global.h	2007-05-29 17:54:51 UTC (rev 327)
+++ firmware/tuxcore/trunk/global.h	2007-05-30 12:36:27 UTC (rev 328)
@@ -332,6 +332,18 @@
 extern uint8_t led_backup;
 
 /*
+ * Sleep modes
+ */
+
+typedef enum
+{
+    COND_NO_SLEEP = 0,
+    COND_PRE_SLEEP,
+    COND_SLEEP,
+    COND_POST_SLEEP,
+} sleep_modes_t;
+
+/*
  * Condition flags
  *
  * TODO merge flags by categories in bitfields or bytes and masks
@@ -349,7 +361,7 @@
     uint8_t unplug;
     uint8_t tux_recog_cnt;
     uint8_t tux_recog;
-    uint8_t sleep;
+    sleep_modes_t sleep;
     /* flags not reset by the COND_RESET_CMD */
     uint8_t eyes_closed;
     uint8_t rf_conn;

Modified: firmware/tuxcore/trunk/main.c
===================================================================
--- firmware/tuxcore/trunk/main.c	2007-05-29 17:54:51 UTC (rev 327)
+++ firmware/tuxcore/trunk/main.c	2007-05-30 12:36:27 UTC (rev 328)
@@ -237,8 +237,8 @@
 
         standalone_behavior();  /* standalone behavior manager */
 
-        /* Entering sleep mode */
-        if (cond_flags.sleep)
+        /* Entering sleep mode. */
+        if ((cond_flags.sleep == COND_SLEEP) && !event_timer) /* wait for standalone actions to be done */
             sleep();
 
         /*
@@ -392,11 +392,19 @@
 
 void sleep(void)
 {
-    turnLeftLedOff();
+    /* Set power savings configuration. */
+    closePosSwitches();
+
+    /* Sleep. */
     while(SW_HD_PIN & SW_HD_MK) /* exit sleep if head is pushed */
     {
         /* XXX Enter sleep mode here, either wakeup regularly to check the head button or better configure an interrupt on the head button to wake-up the CPU */
     }
-    turnLeftLedOn();
-    cond_flags.sleep = 0;
+
+    /* Re-configure in normal mode. */
+    initPosSwitches();
+
+    /* Set the post-sleep event */
+    cond_flags.sleep = COND_POST_SLEEP;
+    event_timer = 2; /* wait 200ms for the pull-up to rise before next standalone behavior */
 }

Modified: firmware/tuxcore/trunk/motors.c
===================================================================
--- firmware/tuxcore/trunk/motors.c	2007-05-29 17:54:51 UTC (rev 327)
+++ firmware/tuxcore/trunk/motors.c	2007-05-30 12:36:27 UTC (rev 328)
@@ -201,7 +201,7 @@
 
 void initPosSwitches(void)
 {
-    /* wings switch */
+    /* flipper switch */
     PSW_WINGS_DDR &= ~PSW_WINGS_MK;
     PSW_WINGS_PT |= PSW_WINGS_MK;
     /* eyes switches */
@@ -215,6 +215,28 @@
     PSW_SPIN_PT |= PSW_SPIN_MK;
 }
 
+/*
+ * Set position switches for minimal power consumption.
+ *
+ * All pins have internal pull-up and the switch shorts the pin low so to avoid
+ * undefined states, we must set all pins as strong low.
+ */
+void closePosSwitches(void)
+{
+    /* flipper switch */
+    PSW_WINGS_PT &= ~PSW_WINGS_MK;
+    PSW_WINGS_DDR |= PSW_WINGS_MK;
+    /* eyes switches */
+    PSW_EYES_PT &= ~PSW_EYES_MK;
+    PSW_EYES_DDR |= PSW_EYES_MK;
+    /* mouth switches */
+    PSW_MOUTH_PT &= ~PSW_MOUTH_MK;
+    PSW_MOUTH_DDR |= PSW_MOUTH_MK;
+    /* spin switch */
+    PSW_SPIN_PT &= ~PSW_SPIN_MK;
+    PSW_SPIN_DDR |= PSW_SPIN_MK;
+}
+
 uint8_t getPosSwitches(void)
 {
     // return (PINB & PSW_MK);

Modified: firmware/tuxcore/trunk/motors.h
===================================================================
--- firmware/tuxcore/trunk/motors.h	2007-05-29 17:54:51 UTC (rev 327)
+++ firmware/tuxcore/trunk/motors.h	2007-05-30 12:36:27 UTC (rev 328)
@@ -50,6 +50,7 @@
  * Init as pull-up input
  */
 void initPosSwitches(void);
+void closePosSwitches(void);
 uint8_t getPosSwitches(void);
 
 /*

Modified: firmware/tuxcore/trunk/parser.c
===================================================================
--- firmware/tuxcore/trunk/parser.c	2007-05-29 17:54:51 UTC (rev 327)
+++ firmware/tuxcore/trunk/parser.c	2007-05-30 12:36:27 UTC (rev 328)
@@ -80,6 +80,10 @@
     {
         openEyes();
     }
+    else if (command[0] == CLOSE_EYES_CMD)
+    {
+        closeEyes();
+    }
     else if (command[0] == MOVE_MOUTH_CMD)
     {
         moveMouth(command[1]);
@@ -178,7 +182,7 @@
         for (i = 0; i < 3; i++) /* forward the command to the audio CPU */
             audioIntBuf[i] = command[i];
         audioIntBufIdx = 3;
-	cond_flags.sleep = 1;
+	cond_flags.sleep = COND_PRE_SLEEP;
         return;
     }
 

Modified: firmware/tuxcore/trunk/standalone.c
===================================================================
--- firmware/tuxcore/trunk/standalone.c	2007-05-29 17:54:51 UTC (rev 327)
+++ firmware/tuxcore/trunk/standalone.c	2007-05-30 12:36:27 UTC (rev 328)
@@ -65,7 +65,9 @@
 {
     while ((event_timer <= action.time) && (action.time != END_OF_ACTIONS))
     {
+        /* Execute the pre-loaded action */
         split_command_parser(action.command, MAX_COMMAND_SIZE);
+        /* then load the next action for execution at action.time. */
         loadAction();
     }
     event_manager_flag = 0;
@@ -126,6 +128,20 @@
         launchActions((const uint8_t *)&unplug_e);
     }
 
+    /* Entering sleep mode. */
+    if (cond_flags.sleep == COND_PRE_SLEEP)
+    {
+        cond_flags.sleep = COND_SLEEP;
+        launchActions((const uint8_t *)&sleep_enter_e);
+    }
+
+    /* Exiting sleep mode. */
+    if (cond_flags.sleep == COND_POST_SLEEP)
+    {
+        launchActions((const uint8_t *)&sleep_exit_e);
+        cond_flags.sleep = COND_NO_SLEEP;
+    }
+
     /* RF connection */
     if (cond_flags.rf_conn)
     {