#45: Full coverage for application, fixed initialization in timer

Author: aul12

Src/Application/application.c

@@ -18,15 +18,16 @@
 
 /**
  * Frequency divider between the timer interrupt and sending new messages.
- * 6 * 16.384 approx 100ms
  */
-enum { FLIGHTCOMPUTER_SEND_PERIOD = 6 };
+enum { FLIGHTCOMPUTER_SEND_PERIOD = (uint16_t) (100 / 16.383) };
 
 /**
  * Offset from the remote data (in [0, 1000]) to the servo_motor_cmd data (in [-500, 500])
  */
 enum { SERVO_REMOTE_OFFSET = 1000U / 2 };
 
+static volatile uint8_t fcps_send_mux = 0;
+
 static void timer_tick(void) {
     imu_data_t imu_data;
     remote_data_t remote_data;
@@ -51,14 +52,14 @@ static void timer_tick(void) {
             actuator_cmd.elevon_left = remote_data.elevon_left_mixed - SERVO_REMOTE_OFFSET;
             actuator_cmd.elevon_right = remote_data.elevon_right_mixed - SERVO_REMOTE_OFFSET;
             break;
-        case MODE_STABILISED_FAILSAVE: {
+        case MODE_STABILISED_FAILSAFE: {
             controller_result_t controller_result = controller_update(&imu_data, 0, 0);
             actuator_cmd.elevon_left = controller_result.elevon_left;
             actuator_cmd.elevon_right = controller_result.elevon_right;
             actuator_cmd.motor = 0;
             break;
         }
-        case MODE_FAILSAVE:
+        case MODE_FAILSAFE:
             actuator_cmd.motor = 0;
             actuator_cmd.elevon_left = 0;
             actuator_cmd.elevon_right = 0;
@@ -70,7 +71,6 @@ static void timer_tick(void) {
     /*
      * Send information to FCPS
      */
-    static volatile uint8_t fcps_send_mux = 0;
     fcps_send_mux += 1;
     if (fcps_send_mux >= FLIGHTCOMPUTER_SEND_PERIOD) {
         flightcomputer_send(&imu_data, &remote_data, &actuator_cmd);
@@ -95,6 +95,8 @@ void application_init(void) {
 
     system_post_init();
 
+    fcps_send_mux = 0;
+
     while (true) {
         system_reset_watchdog();
     }

Src/Application/application.h

@@ -14,7 +14,7 @@
  *  * Error Handler initialization
  *  * IMU initialization
  *  * Remote initialization
- *  * Flightcomputer initialization
+ *  * Flight-computer initialization
  *  * Actuator initialization
  *  * Mode handler initialization
  *  * System Post-Initialization
@@ -25,12 +25,12 @@
  * The timer performs the following tasks:
  *  * Call the mode handler to determine the current mode
  *  * Calculate the actuator commands depending on the mode:
- *      * In flightcomputer mode: call the controller with the flightcomputer setpoint and the imu data
+ *      * In flight-computer mode: call the controller with the flight-computer setpoint and the imu data
  *          and use the result as elevon commands, the motor command is taken directly from the flightcomputer setpoint
- *      * In remote mode: take the remote message as actuator command
- *      * In stabilisied failsave mode: call the controller with roll: 0, pitch: 0 as setpoint and the imu data
+ *      * In remote mode: take the remote message as actuator command, remapping the elevons from [0, 1000] to [-500, 500]
+ *      * In stabilised failsafe mode: call the controller with roll: 0, pitch: 0 as setpoint and the imu data
  *           and use the result as elevon commands, the motor command is always 0
- *      * In failsave mode: set all three commands to 0
+ *      * In failsafe mode: set all three commands to 0
  *  * Pass the actuator commands to the actuators
  *  * Every FLIGHTCOMPUTER_SEND_PERIOD frame: pass the current data to flightcomputer_send
  *  * Call imu_start_sampling

Src/Application/mode_handler.c

@@ -93,16 +93,16 @@ mode_handler_mode_t mode_handler_handle(imu_data_t *imu_data, remote_data_t *rem
         if (remote_data->is_armed) {
             return MODE_FLIGHTCOMPUTER;
         }
-        return MODE_STABILISED_FAILSAVE;
+        return MODE_STABILISED_FAILSAFE;
     }
 
     if (remote_active) {
         return MODE_REMOTE;
     }
 
     if (imu_active) {
-        return MODE_STABILISED_FAILSAVE;
+        return MODE_STABILISED_FAILSAFE;
     }
 
-    return MODE_FAILSAVE;
+    return MODE_FAILSAFE;
 }

Src/Application/mode_handler.h

@@ -24,7 +24,7 @@ enum {
 /**
  * Possible flight modes depending on availability and integrity of data.
  */
-typedef enum { MODE_FLIGHTCOMPUTER, MODE_REMOTE, MODE_STABILISED_FAILSAVE, MODE_FAILSAVE } mode_handler_mode_t;
+typedef enum { MODE_FLIGHTCOMPUTER, MODE_REMOTE, MODE_STABILISED_FAILSAFE, MODE_FAILSAFE } mode_handler_mode_t;
 
 /**
  * Initialize the mode handler by setting the timeouts for all devices to true.