Merge branch 'crawl-timer' of https://github.com/badgerloop-software/pod into embedded-statemachine-dev

Author: Ezra Boley

embedded/app/include/states.h

@@ -141,6 +141,7 @@
 #define MIN_DISTANCE_TO_END		30		/*in m //FIXME Confirm how far from the end of the tube we need to stop */
 
 #define MAX_RUN_TIME            30000000  /* in microseconds, TODO get the real number */
+#define MAX_CRAWL_TIME          30000000  /* in microseconds, TODO get the real number */
 
 
 

embedded/app/src/init.c

@@ -156,5 +156,6 @@ int initTimerData() {
     data->timers->startTime = 0;
     data->timers->lastRetro = 0;
     for (i = 0; i < NUM_RETROS; i++) data->timers->lastRetros[i] = 0;
+	data->timers->crawlTimer = 0;
     return 0;
 }

embedded/app/src/states.c

@@ -352,6 +352,11 @@ stateTransition_t * stoppedAction() {
 }
 
 stateTransition_t * crawlAction() {
+    
+    // Start crawl timer
+    if(data->timers->crawlTimer == 0){
+        data->timers->crawlTimer = getuSTimestamp();
+    }
     data->state = 8;
  /* Check IMD status */
     if (!getIMDStatus()) {
@@ -379,11 +384,12 @@ stateTransition_t * crawlAction() {
         return findTransition(stateMachine.currState, RUN_FAULT_NAME);
     }
 
-    if (getuSTimestamp() - data->timers->startTime > MAX_RUN_TIME){
-        return findTransition(stateMachine.currState, RUN_FAULT_NAME);
-    }
-
     // CHECK TRANSITION CRITERIA
+    
+    if (getuSTimestamp() - data->timers->crawlTimer > MAX_CRAWL_TIME){
+        return findTransition(stateMachine.currState, BRAKING_NAME);
+    }
+    
     if(data->flags->shouldStop){
         return findTransition(stateMachine.currState, BRAKING_NAME);
     }

embedded/data/include/data.h

@@ -76,6 +76,7 @@ typedef struct timers_t {
     uint64_t oldRetro;
     uint64_t lastRetro;
 	uint64_t lastRetros[NUM_RETROS];
+    uint64_t crawlTimer;
 } timers_t;