From 387fd4ef982be2f715d8d35c219ed94cac60e43b Mon Sep 17 00:00:00 2001
From: David Sferruzza <david.sferruzza@gmail.com>
Date: Mon, 27 Apr 2020 17:12:06 +0200
Subject: [PATCH] Add systick to machine state snapshot

---
 src/software/firmware/srcs/telemetry.cpp | 7 +++++++
 src/software/telemetry/src/parsers.rs    | 7 +++++++
 src/software/telemetry/src/structures.rs | 1 +
 3 files changed, 15 insertions(+)

diff --git a/src/software/firmware/srcs/telemetry.cpp b/src/software/firmware/srcs/telemetry.cpp
index 403a9e76c..f2b03a9a8 100644
--- a/src/software/firmware/srcs/telemetry.cpp
+++ b/src/software/firmware/srcs/telemetry.cpp
@@ -269,6 +269,13 @@ void sendMachineStateSnapshot(uint32_t cycleValue,
 
     Serial6.print("\t");
 
+    byte systick[8];  // 64 bits
+    uint64_t systickValue = (millis() * 1000) + (micros() % 1000);
+    toBytes64(systick, systickValue);
+    Serial6.write(systick, 8);
+
+    Serial6.print("\t");
+
     byte cycle[4];  // 32 bits
     toBytes32(cycle, cycleValue);
     Serial6.write(cycle, 4);
diff --git a/src/software/telemetry/src/parsers.rs b/src/software/telemetry/src/parsers.rs
index e814e5300..d2fbec3c3 100644
--- a/src/software/telemetry/src/parsers.rs
+++ b/src/software/telemetry/src/parsers.rs
@@ -168,6 +168,8 @@ named!(
             >> device_id2: be_u32
             >> device_id3: be_u32
             >> sep
+            >> systick: be_u64
+            >> sep
             >> cycle: be_u32
             >> sep
             >> peak_command: be_u8
@@ -189,6 +191,7 @@ named!(
             >> (TelemetryMessage::MachineStateSnapshot(MachineStateSnapshot {
                 version: software_version.to_string(),
                 device_id: format!("{}-{}-{}", device_id1, device_id2, device_id3),
+                systick,
                 cycle,
                 peak_command,
                 plateau_command,
@@ -464,6 +467,7 @@ mod tests {
             device_id1 in (0u32..),
             device_id2 in (0u32..),
             device_id3 in (0u32..),
+            systick in (0u64..),
             cycle in (0u32..),
             peak_command in (0u8..),
             plateau_command in (0u8..),
@@ -477,6 +481,7 @@ mod tests {
             let msg = MachineStateSnapshot {
                 version,
                 device_id: format!("{}-{}-{}", device_id1, device_id2, device_id3),
+                systick,
                 cycle,
                 peak_command,
                 plateau_command,
@@ -497,6 +502,8 @@ mod tests {
                 &device_id2.to_be_bytes(),
                 &device_id3.to_be_bytes(),
                 b"\t",
+                &msg.systick.to_be_bytes(),
+                b"\t",
                 &msg.cycle.to_be_bytes(),
                 b"\t",
                 &[msg.peak_command],
diff --git a/src/software/telemetry/src/structures.rs b/src/software/telemetry/src/structures.rs
index c3324e880..b265cf3ac 100644
--- a/src/software/telemetry/src/structures.rs
+++ b/src/software/telemetry/src/structures.rs
@@ -85,6 +85,7 @@ pub struct DataSnapshot {
 pub struct MachineStateSnapshot {
     pub version: String,
     pub device_id: String,
+    pub systick: u64,
     pub cycle: u32,
     pub peak_command: u8,
     pub plateau_command: u8,