From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Sat, 18 Jun 2016 23:26:13 +0000 (-0700)
Subject: Handle RTC wrap around
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=af2e24c59a672329f54ec2f1754b1b05b7f93219;p=bbctrl-firmware

Handle RTC wrap around
---

diff --git a/src/huanyang.c b/src/huanyang.c
index 50ef3fa..8ee5d4e 100644
--- a/src/huanyang.c
+++ b/src/huanyang.c
@@ -500,7 +500,7 @@ void huanyang_reset() {
 
 
 void huanyang_rtc_callback() {
-  if (ha.last && HUANYANG_TIMEOUT < rtc_get_time() - ha.last) {
+  if (ha.last && rtc_expired(ha.last + HUANYANG_TIMEOUT)) {
     if (ha.retry < HUANYANG_RETRIES) _retry_command();
     else {
       if (ha.debug) printf_P(PSTR("huanyang: timedout\n"));
diff --git a/src/motor.c b/src/motor.c
index 86b2683..965fcf5 100644
--- a/src/motor.c
+++ b/src/motor.c
@@ -285,7 +285,7 @@ stat_t motor_power_callback() { // called by controller
   for (int motor = 0; motor < MOTORS; motor++)
     // Deenergize motor if disabled, in error or after timeout when not holding
     if (motors[motor].power_mode == MOTOR_DISABLED || motor_error(motor) ||
-        motors[motor].timeout < rtc_get_time())
+        rtc_expired(motors[motor].timeout))
       _deenergize(motor);
 
   return STAT_OK;
diff --git a/src/plan/calibrate.c b/src/plan/calibrate.c
index e128839..ae6909f 100644
--- a/src/plan/calibrate.c
+++ b/src/plan/calibrate.c
@@ -82,7 +82,7 @@ static stat_t _exec_calibrate(mpBuf_t *bf) {
   const float time = MIN_SEGMENT_TIME; // In minutes
   const float maxDeltaV = JOG_ACCELERATION * time;
 
-  if (cal.wait <= rtc_get_time())
+  if (rtc_expired(cal.wait))
     switch (cal.state) {
     case CAL_START: {
       cal.axis = motor_get_axis(cal.motor);
diff --git a/src/rtc.c b/src/rtc.c
index d856e52..4f7f016 100644
--- a/src/rtc.c
+++ b/src/rtc.c
@@ -67,3 +67,8 @@ void rtc_init() {
 
 
 uint32_t rtc_get_time() {return ticks;}
+
+
+bool rtc_expired(uint32_t t) {
+  return 0 <= (int32_t)(ticks - t);
+}
diff --git a/src/rtc.h b/src/rtc.h
index e47a6c6..d5f422d 100644
--- a/src/rtc.h
+++ b/src/rtc.h
@@ -30,8 +30,11 @@
 
 
 #include <stdint.h>
+#include <stdbool.h>
 
 #define RTC_MILLISECONDS 10 // interrupt on every 10 RTC ticks (~10 ms)
 
 void rtc_init(); // initialize and start general timer
 uint32_t rtc_get_time();
+int32_t rtc_diff(uint32_t t);
+bool rtc_expired(uint32_t t);