From 9c1749685ca1f5fafecdadd8db6510485ed5ad11 Mon Sep 17 00:00:00 2001
From: Onwrikbaar <onwrikbaar@hotmail.com>
Date: Tue, 1 Oct 2024 20:47:25 +0200
Subject: [PATCH] Add /n command to select next routine.

---
 Design.md                       |    7 +
 firmware/build/neodk_g071.hex   | 2594 ++++++++++++++++---------------
 firmware/inc/app_event.h        |    2 +-
 firmware/inc/datalink.h         |    3 +-
 firmware/inc/pattern_iter.h     |   11 +-
 firmware/maolib/inc/net_frame.h |    9 +-
 firmware/maolib/libmao.a        |  Bin 20018 -> 20622 bytes
 firmware/src/controller.c       |   21 +-
 firmware/src/datalink.c         |   66 +-
 firmware/src/debug_cli.c        |   11 +-
 firmware/src/neodk_main.c       |    3 +
 firmware/src/pattern_iter.c     |   16 +-
 firmware/src/sequencer.c        |   89 +-
 13 files changed, 1490 insertions(+), 1342 deletions(-)

diff --git a/Design.md b/Design.md
index 9fb3ba0..a7943f7 100644
--- a/Design.md
+++ b/Design.md
@@ -76,3 +76,10 @@ The device's on-board control program (aka firmware) consists of a collection of
 Conceptually, the firmware consists of two layers:
 1. The hardware-dependent part, called the Board Support Package (BSP), which implements the _mechanisms_. This is the only module that needs to be changed when porting the application to a different processor.
 2. The hardware-independent application logic, implementing the _policies_.
+
+### About the code
+- All C modules, with the exception of the BSP, are less than 300 lines long.
+- Functions are short, or have low cyclomatic complexity.
+- There are no global variables, preventing unwanted coupling between modules and violation of invariants.
+- Most 'plumbing' is done through dependency injection.
+- Object types are opaque where possible.
diff --git a/firmware/build/neodk_g071.hex b/firmware/build/neodk_g071.hex
index 760a3c2..39711e0 100644
--- a/firmware/build/neodk_g071.hex
+++ b/firmware/build/neodk_g071.hex
@@ -1,21 +1,21 @@
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+:1000000000900020AD240008FD240008951600088B
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 :1000BC0010B5064C2378002B07D1054B002B02D032
 :1000CC00044800E000BF0123237010BD7000002025
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 :00000001FF
diff --git a/firmware/inc/app_event.h b/firmware/inc/app_event.h
index bdfcef6..5e6c796 100644
--- a/firmware/inc/app_event.h
+++ b/firmware/inc/app_event.h
@@ -22,7 +22,7 @@ enum {
     ET_APP_HEARTBEAT, ET_ADC_DATA_AVAILABLE,
     ET_CONTROLLER_CONNECTED, ET_CONTROLLER_DISCONNECTED,
     ET_CONTROLLER_SENT_REQUEST, ET_CONTROLLER_SENT_CHOICE,
-    ET_SEQUENCER_READY, ET_SEQUENCER_PLAY_PAUSE,
+    ET_SEQUENCER_READY, ET_SEQUENCER_PLAY_PAUSE, ET_NEXT_ROUTINE,
     ET_BURST_REQUESTED, ET_BURST_REJECTED, ET_BURST_STARTED, ET_BURST_COMPLETED, ET_BURST_EXPIRED,
 };
 
diff --git a/firmware/inc/datalink.h b/firmware/inc/datalink.h
index e48437f..0ea0701 100644
--- a/firmware/inc/datalink.h
+++ b/firmware/inc/datalink.h
@@ -25,7 +25,8 @@ DataLink *DataLink_new();
 // Instance methods.
 bool DataLink_open(DataLink *, void *packet_handler, PacketCallback);
 void DataLink_waitForSync(DataLink *);
-bool DataLink_sendPacket(DataLink *, uint8_t const *, uint16_t);
+bool DataLink_sendDebugPacket(DataLink *, uint8_t const *, uint16_t);
+bool DataLink_sendDatagram(DataLink *, uint8_t const *, uint16_t);
 void DataLink_close(DataLink *);
 void DataLink_delete(DataLink *);
 
diff --git a/firmware/inc/pattern_iter.h b/firmware/inc/pattern_iter.h
index c61bcbd..da220ad 100644
--- a/firmware/inc/pattern_iter.h
+++ b/firmware/inc/pattern_iter.h
@@ -15,6 +15,15 @@
 
 #include "bsp_app.h"
 
+typedef struct {
+    char const *name;
+    uint8_t const (*pattern)[2];
+    uint16_t nr_of_elcons;
+    uint8_t pace_ms;
+    uint8_t nr_of_steps;
+    uint16_t nr_of_reps;
+} PatternDescr;
+
 typedef struct {
     uint8_t const (*pattern)[2];
     uint16_t nr_of_elcons, elcon_nr;
@@ -30,7 +39,7 @@ typedef struct {
 bool PatternIterator_checkPattern(uint8_t const pattern[][2], uint16_t nr_of_elcons);
 
 // Instance methods.
-void PatternIterator_init(PatternIterator *, uint8_t const pattern[][2], uint16_t nr_of_elcons, uint8_t pace_ms, uint16_t nr_of_reps, uint8_t nr_of_steps);
+void PatternIterator_init(PatternIterator *, PatternDescr const *);
 bool PatternIterator_done(PatternIterator *);
 bool PatternIterator_getNextPulseTrain(PatternIterator *, PulseTrain *);
 
diff --git a/firmware/maolib/inc/net_frame.h b/firmware/maolib/inc/net_frame.h
index b058327..c491cd9 100644
--- a/firmware/maolib/inc/net_frame.h
+++ b/firmware/maolib/inc/net_frame.h
@@ -22,12 +22,13 @@ extern "C" {
 
 // Class methods.
 uint16_t PhysFrame_headerSize(void);
-char const *PhysFrame_typeName(FrameType);
+char const *PhysFrame_frameTypeName(FrameType);
+char const *PhysFrame_serviceTypeName(NetworkServiceType);
 
 // Instance methods.
-PhysFrame *PhysFrame_initHeader(PhysFrame *, FrameType, uint8_t seq);
-PhysFrame *PhysFrame_initHeaderWithAck(PhysFrame *, FrameType, uint8_t seq, uint8_t ack);
-PhysFrame *PhysFrame_init(PhysFrame *, FrameType, uint8_t seq, uint8_t const *, uint16_t nb);
+PhysFrame *PhysFrame_initHeader(PhysFrame *, FrameType, uint8_t seq, NetworkServiceType);
+PhysFrame *PhysFrame_initHeaderWithAck(PhysFrame *, FrameType, uint8_t seq, uint8_t ack, NetworkServiceType);
+PhysFrame *PhysFrame_init(PhysFrame *, FrameType, uint8_t seq, NetworkServiceType, uint8_t const *, uint16_t nb);
 bool PhysFrame_hasValidHeader(PhysFrame const *);
 
 ProtocolVersion PhysFrame_protocolVersion(PhysFrame const *);
diff --git a/firmware/maolib/libmao.a b/firmware/maolib/libmao.a
index 7351ac1dd60239958bcc4dfd00aea14f176bba36..101efdba1831f8c7747808806cd4846a28ed5f29 100644
GIT binary patch
delta 2132
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delta 1550
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diff --git a/firmware/src/controller.c b/firmware/src/controller.c
index 53c2616..8994267 100644
--- a/firmware/src/controller.c
+++ b/firmware/src/controller.c
@@ -11,10 +11,11 @@
  */
 
 #include <stdlib.h>
-#include <string.h>
 
 #include "bsp_dbg.h"
 #include "bsp_app.h"
+#include "app_event.h"
+#include "sequencer.h"
 #include "debug_cli.h"
 
 // This module implements:
@@ -27,15 +28,13 @@ struct _Controller {
     uint8_t event_storage[400];
     StateFunc state;
     DataLink *datalink;
+    Sequencer *sequencer;
 };
 
 
 static void handleHostMessage(Controller *me, uint8_t const *msg, uint16_t nb)
 {
-    char nt_msg[nb + 1];
-    strncpy(nt_msg, (const char *)msg, nb);
-    nt_msg[nb] = '\0';
-    CLI_handleConsoleInput(nt_msg, nb);
+    BSP_logf("%s, len=%hu\n", __func__, nb);
 }
 
 
@@ -51,10 +50,10 @@ static void *stateIdle(Controller *me, AOEvent const *evt)
     switch (AOEvent_type(evt))
     {
         case ET_AO_ENTRY:
-            BSP_logf("%s ENTRY\n", __func__);
+            BSP_logf("Controller_%s ENTRY\n", __func__);
             break;
         case ET_AO_EXIT:
-            BSP_logf("%s EXIT\n", __func__);
+            BSP_logf("Controller_%s EXIT\n", __func__);
             break;
         default:
             BSP_logf("Controller_%s unexpected event: %u\n", __func__, AOEvent_type(evt));
@@ -65,7 +64,7 @@ static void *stateIdle(Controller *me, AOEvent const *evt)
 // Send one event to the state machine.
 static void dispatchEvent(Controller *me, AOEvent const *evt)
 {
-    BSP_logf("%s(%u)\n", __func__, evt);
+    // BSP_logf("%s(%u)\n", __func__, AOEvent_type(evt));
     StateFunc new_state = me->state(me, evt);
     if (new_state != NULL) {                    // Transition.
         StateFunc sf = me->state(me, AOEvent_newExitEvent());
@@ -95,6 +94,7 @@ void Controller_init(Controller *me, DataLink *datalink)
     me->datalink = datalink;
     BSP_logf("%s\n", __func__);
     me->state = &stateIdle;
+    me->state(me, AOEvent_newEntryEvent());
     DataLink_open(me->datalink, me, (PacketCallback)&handleHostMessage);
     DataLink_waitForSync(me->datalink);
 }
@@ -103,12 +103,9 @@ void Controller_init(Controller *me, DataLink *datalink)
 void Controller_start(Controller *me)
 {
     BSP_logf("Starting NeoDK!\n");
-    BSP_logf("Push the button to play or pause! :-)\n");
+    BSP_logf("Push the button to play or pause :-)\n");
     BSP_setPrimaryVoltage_mV(2500);
     BSP_primaryVoltageEnable(true);
-
-    me->state = stateIdle;
-    me->state(me, AOEvent_newEntryEvent());
 }
 
 
diff --git a/firmware/src/datalink.c b/firmware/src/datalink.c
index 31e91f0..0cd50d6 100644
--- a/firmware/src/datalink.c
+++ b/firmware/src/datalink.c
@@ -11,12 +11,14 @@
  */
 
 #include <stdlib.h>
+#include <string.h>
 
 #include "bsp_dbg.h"
 #include "bsp_mao.h"
 #include "bsp_app.h"
 #include "circbuffer.h"
 #include "net_frame.h"
+#include "debug_cli.h"                          // Temporary.
 
 // This module implements:
 #include "datalink.h"
@@ -95,15 +97,35 @@ static uint32_t writeFrame(DataLink *me, uint8_t const *frame, uint32_t nb)
 }
 
 
-static void respondWithAckFrame(DataLink *me, uint8_t ack_nr)
+static void respondWithAckFrame(DataLink *me, uint8_t ack_nr, NetworkServiceType nst)
 {
     uint8_t ack_frame[me->header_size];
-    PhysFrame_initHeaderWithAck((PhysFrame *)ack_frame, FT_ACK, 0, ack_nr);
+    PhysFrame_initHeaderWithAck((PhysFrame *)ack_frame, FT_ACK, 0, ack_nr, nst);
     BSP_logf("%s(%hhu) to controller\n", __func__, ack_nr);
     writeFrame(me, ack_frame, sizeof ack_frame);
 }
 
 
+static void handleIncomingDataFrame(DataLink *me, PhysFrame const *frame)
+{
+    uint8_t rx_seq_nr = PhysFrame_seqNr(frame);
+    uint16_t payload_size = PhysFrame_payloadSize(frame);
+    BSP_logf("Got packet, seq_nr=%hhu, payload_size=%hu\n", rx_seq_nr, payload_size);
+    NetworkServiceType nst = PhysFrame_serviceType(frame);
+    respondWithAckFrame(me, rx_seq_nr, nst);
+
+    uint8_t const *payload = PhysFrame_payload(frame);
+    if (nst == NST_DEBUG) {
+        char zt_msg[payload_size + 1];
+        strncpy(zt_msg, (const char *)payload, payload_size);
+        zt_msg[payload_size] = '\0';
+        CLI_handleConsoleInput(zt_msg, payload_size);
+    } else {
+        me->packet_callback(me->packet_handler, payload, payload_size);
+    }
+}
+
+
 static void handleIncomingFrame(DataLink *me, PhysFrame const *frame)
 {
     if (! PhysFrame_isIntact(frame)) {
@@ -115,27 +137,24 @@ static void handleIncomingFrame(DataLink *me, PhysFrame const *frame)
     if (frame_type == FT_ACK) {
         uint8_t ack_nr = PhysFrame_ackNr(frame);
         BSP_logf("Got ACK for frame %hhu\n", ack_nr);
-        me->tx_seq_nr = (ack_nr + 1) & 0xf;
+        me->tx_seq_nr = (ack_nr + 1) & 0x7;
         return;
     }
 
     uint8_t rx_seq_nr = PhysFrame_seqNr(frame);
     if (frame_type == FT_SYNC) {
         BSP_logf("Got SYNC frame, seq_nr=%hhu\n", rx_seq_nr);
-        respondWithAckFrame(me, rx_seq_nr);
+        respondWithAckFrame(me, rx_seq_nr, PhysFrame_serviceType(frame));
         return;
     }
 
     uint16_t payload_size = PhysFrame_payloadSize(frame);
     if (frame_type == FT_DATA) {
-        BSP_logf("Got packet, seq_nr=%hhu, payload_size=%hu\n", rx_seq_nr, payload_size);
-        respondWithAckFrame(me, rx_seq_nr);
-        me->packet_callback(me->packet_handler, PhysFrame_payload(frame), payload_size);
-        return;
+        handleIncomingDataFrame(me, frame);
+    } else {
+        BSP_logf("Got %s frame, seq_nr=%hhu, payload_size=%hu\n",
+                    PhysFrame_frameTypeName(frame_type), rx_seq_nr, payload_size);
     }
-
-    BSP_logf("Got %s frame, seq_nr=%hhu, payload_size=%hu\n",
-                PhysFrame_typeName(frame_type), rx_seq_nr, payload_size);
 }
 
 
@@ -143,7 +162,8 @@ static void rxCallback(DataLink *me, uint32_t ch)
 {
     if (! me->synced) {
         if (ch == '\n') {                       // Dweeb's poll character.
-            respondWithAckFrame(me, 0x7);
+            respondWithAckFrame(me, 0x7, NST_DATAGRAM);
+            me->synced = true;
         } else if (assembleIncomingFrame(me, (uint8_t)ch) == FT_SYNC) {
             // BSP_logf("Byte %2hu is 0x%02x\n", me->rx_nb, ch);
             handleIncomingFrame(me, (PhysFrame const *)me->rx_frame_buffer);
@@ -181,6 +201,15 @@ static void txErrorCallback(DataLink *me, uint32_t tx_error)
     BSP_logf("%s(%u)\n", __func__, tx_error);
 }
 
+
+static bool sendPacket(DataLink *me, NetworkServiceType nst, uint8_t const *packet, uint16_t nb)
+{
+    uint8_t frame_store[me->header_size + nb];
+    PhysFrame_init((PhysFrame *)frame_store, FT_DATA, me->tx_seq_nr, NST_DEBUG, packet, nb);
+    // BSP_logf("Writing frame with size %hu to buffer\n", sizeof frame_store);
+    return writeFrame(me, frame_store, sizeof frame_store) == sizeof frame_store;
+}
+
 /*
  * Below are the functions implementing this module's interface.
  */
@@ -228,12 +257,15 @@ void DataLink_waitForSync(DataLink *me)
 }
 
 
-bool DataLink_sendPacket(DataLink *me, uint8_t const *packet, uint16_t nb)
+bool DataLink_sendDebugPacket(DataLink *me, uint8_t const *packet, uint16_t nb)
 {
-    uint8_t frame_store[me->header_size + nb];
-    PhysFrame_init((PhysFrame *)frame_store, FT_DATA, me->tx_seq_nr, packet, nb);
-    // BSP_logf("Writing frame with size %hu to buffer\n", sizeof frame_store);
-    return writeFrame(me, frame_store, sizeof frame_store) == sizeof frame_store;
+    return sendPacket(me, NST_DEBUG, packet, nb);
+}
+
+
+bool DataLink_sendDatagram(DataLink *me, uint8_t const *datagram, uint16_t nb)
+{
+    return sendPacket(me, NST_DATAGRAM, datagram, nb);
 }
 
 
diff --git a/firmware/src/debug_cli.c b/firmware/src/debug_cli.c
index bf0a0b1..9f9f69b 100644
--- a/firmware/src/debug_cli.c
+++ b/firmware/src/debug_cli.c
@@ -50,7 +50,7 @@ static void interpretCommand(CmndInterp *me, char ch)
     switch (ch)
     {
         case '?':
-            CLI_logf("Commands: /? /a /b /d /l /q /u /v /0 /1../9\n");
+            CLI_logf("Commands: /? /a /b /d /l /n /q /u /v /0 /1../9\n");
             break;
         case '0':
             BSP_primaryVoltageEnable(false);
@@ -73,6 +73,9 @@ static void interpretCommand(CmndInterp *me, char ch)
         case 'l':
             BSP_toggleTheLED();
             break;
+        case 'n':
+            EventQueue_postEvent(me->delegate_queue, ET_NEXT_ROUTINE, NULL, 0);
+            break;
         case 'q': {                             // Quit.
             int sig = 2;                        // Simulate Ctrl-C.
             EventQueue_postEvent(me->delegate_queue, ET_POSIX_SIGNAL, (uint8_t const *)&sig, sizeof sig);
@@ -82,7 +85,7 @@ static void interpretCommand(CmndInterp *me, char ch)
             BSP_changePrimaryVoltage_mV(+200);
             break;
         case 'v':
-            CLI_logf("Firmware V0.24-beta\n");
+            CLI_logf("Firmware V0.25-beta\n");
             break;
         default:
             CLI_logf("Unknown command '/%c'\n", ch);
@@ -112,7 +115,7 @@ static void vLogToUser(CmndInterp *me, char const *fmt, va_list args)
 {
     char msg[80];
     int nbw = vsnprintf(msg, sizeof msg, fmt, args);
-    if (nbw > 0) DataLink_sendPacket(me->datalink, (uint8_t const *)msg, nbw + 1);
+    if (nbw > 0) DataLink_sendDebugPacket(me->datalink, (uint8_t const *)msg, nbw + 1);
 }
 
 /*
@@ -140,7 +143,7 @@ int CLI_logf(char const *fmt, ...)
 void CLI_handleConsoleInput(char const *cmnd, uint16_t nb)
 {
     if (nb == 2 && cmnd[0] == '/') interpretCommand(&my, cmnd[1]);
-    else CLI_logf("%s('%s')", __func__, cmnd);
+    else BSP_logf("%s('%s')\n", __func__, cmnd);
 }
 
 
diff --git a/firmware/src/neodk_main.c b/firmware/src/neodk_main.c
index ef62923..bf3befb 100644
--- a/firmware/src/neodk_main.c
+++ b/firmware/src/neodk_main.c
@@ -84,6 +84,9 @@ static void dispatchEvent(Boss *me, AOEvent const *evt)
         case ET_BUTTON_RELEASED:
             // Ignore for now.
             break;
+        case ET_NEXT_ROUTINE:
+            EventQueue_repostEvent((EventQueue *)me->sequencer, evt);
+            break;
         default:
             BSP_logf("%s(%hu)?\n", __func__, evt_type);
     }
diff --git a/firmware/src/pattern_iter.c b/firmware/src/pattern_iter.c
index 9d8b8f8..ca27df9 100644
--- a/firmware/src/pattern_iter.c
+++ b/firmware/src/pattern_iter.c
@@ -61,19 +61,19 @@ bool PatternIterator_checkPattern(uint8_t const pattern[][2], uint16_t nr_of_elc
 }
 
 
-void PatternIterator_init(PatternIterator *me, uint8_t const pattern[][2],
-                          uint16_t nr_of_elcons, uint8_t pace_ms, uint16_t nr_of_reps, uint8_t nr_of_steps)
+void PatternIterator_init(PatternIterator *me, PatternDescr const *pd)
 {
-    me->pattern = pattern;
-    me->nr_of_elcons = nr_of_elcons;
+    me->pattern = pd->pattern;
+    me->nr_of_elcons = pd->nr_of_elcons;
+    me->pace_ms = pd->pace_ms;
+    me->nr_of_reps = pd->nr_of_reps;
+    me->nr_of_steps = pd->nr_of_steps;          // Length of a transition.
+
+    me->pulse_width_micros = 80;
     me->elcon_nr = 0;
-    me->nr_of_steps = nr_of_steps;              // Length of a transition.
     M_ASSERT(me->nr_of_steps != 0);
     me->step_nr = 0;
     me->segment_nr = 0;                         // 0 or 1.
-    me->pulse_width_micros = 80;
-    me->pace_ms = pace_ms;
-    me->nr_of_reps = nr_of_reps;
 }
 
 
diff --git a/firmware/src/sequencer.c b/firmware/src/sequencer.c
index 219249a..06f6a12 100644
--- a/firmware/src/sequencer.c
+++ b/firmware/src/sequencer.c
@@ -31,14 +31,21 @@ struct _Sequencer {
     uint8_t event_storage[400];
     StateFunc state;
     PatternIterator pi;
+    uint8_t pattern_index;
 };
 
 enum { EL_0, EL_A, EL_B, EL_C = 4, EL_AC = (EL_A | EL_C), EL_D = 8, EL_BD = (EL_B | EL_D) };
 
-static char const elset_str[][5] = {
+/*static*/ char const elset_str[][5] = {
     "None", "A", "B", "AB", "C", "AC", "BC", "ABC", "D", "AD", "BD", "ABD", "CD", "ACD", "BCD", "ABCD"
 };
 
+static uint8_t const pattern_jackhammer[][2] =
+{
+    {EL_AC, EL_BD},
+    {EL_BD, EL_AC},
+};
+
 static uint8_t const pattern_toggle[][2] =
 {
     {EL_A, EL_B},
@@ -47,12 +54,6 @@ static uint8_t const pattern_toggle[][2] =
     {EL_D, EL_C},
 };
 
-static uint8_t const pattern_simple[][2] =
-{
-    {EL_AC, EL_BD},
-    {EL_BD, EL_AC},
-};
-
 static uint8_t const pattern_circle[][2] =
 {
     {EL_A,  EL_B},
@@ -76,6 +77,44 @@ static uint8_t const pattern_circle[][2] =
     {EL_BD, EL_AC},
 };
 
+static PatternDescr const pattern_descr[] =
+{
+    {
+        .name = "Jackhammer",
+        .pattern = pattern_jackhammer,
+        .nr_of_elcons = M_DIM(pattern_jackhammer),
+        .pace_ms = 125,
+        .nr_of_steps = 3,
+        .nr_of_reps = 200,
+    },
+    {
+        .name = "Toggle",
+        .pattern = pattern_toggle,
+        .nr_of_elcons = M_DIM(pattern_toggle),
+        .pace_ms = 50,
+        .nr_of_steps = 5,
+        .nr_of_reps = 300,
+    },
+    {
+        .name = "Circle",
+        .pattern = pattern_circle,
+        .nr_of_elcons = M_DIM(pattern_circle),
+        .pace_ms = 30,
+        .nr_of_steps = 9,
+        .nr_of_reps = 40,
+    },
+};
+
+
+static void selectNextRoutine(Sequencer *me)
+{
+    BSP_setPrimaryVoltage_mV(2500);
+    if (++me->pattern_index == M_DIM(pattern_descr)) me->pattern_index = 0;
+    PatternDescr const *pd = &pattern_descr[me->pattern_index];
+    CLI_logf("Switching to pattern '%s'\n", pd->name);
+    PatternIterator_init(&me->pi, pd);
+}
+
 
 static void printAdcValues(uint16_t const *v)
 {
@@ -101,22 +140,21 @@ static void *stateIdle(Sequencer *me, AOEvent const *evt)
     switch (AOEvent_type(evt))
     {
         case ET_AO_ENTRY:
-            BSP_logf("%s ENTRY\n", __func__);
-            // TODO Choose a different pattern each time?
-            // PatternIterator_init(&me->pi, pattern_toggle, M_DIM(pattern_toggle), 80, 400, 3);
-            // PatternIterator_init(&me->pi, pattern_simple, M_DIM(pattern_simple), 20, 50, 15);
-            PatternIterator_init(&me->pi, pattern_circle, M_DIM(pattern_circle), 30, 40, 9);
+            BSP_logf("Sequencer_%s ENTRY\n", __func__);
             break;
         case ET_AO_EXIT:
-            BSP_logf("%s EXIT\n", __func__);
+            BSP_logf("Sequencer_%s EXIT\n", __func__);
             break;
         case ET_ADC_DATA_AVAILABLE:
             printAdcValues((uint16_t const *)AOEvent_data(evt));
             break;
         case ET_SEQUENCER_PLAY_PAUSE:
-            M_ASSERT(! PatternIterator_done(&me->pi));
+            PatternIterator_init(&me->pi, &pattern_descr[me->pattern_index]);
             CLI_logf("Starting\n");
             return &statePulsing;               // Transition.
+        case ET_NEXT_ROUTINE:
+            selectNextRoutine(me);
+            break;
         case ET_BURST_COMPLETED:
             BSP_logf("Pulse train last pulse done\n");
             break;
@@ -143,6 +181,9 @@ static void *statePaused(Sequencer *me, AOEvent const *evt)
         case ET_SEQUENCER_PLAY_PAUSE:
             CLI_logf("Resuming\n");
             return &statePulsing;
+        case ET_NEXT_ROUTINE:
+            selectNextRoutine(me);
+            break;
         case ET_BURST_COMPLETED:
             // BSP_logf("Last pulse done\n");
             break;
@@ -191,6 +232,9 @@ static void *statePulsing(Sequencer *me, AOEvent const *evt)
             break;
         case ET_SEQUENCER_PLAY_PAUSE:
             return &statePaused;                // Transition.
+        case ET_NEXT_ROUTINE:
+            selectNextRoutine(me);
+            break;
         case ET_BURST_STARTED:
             // BSP_logf("Pulse train started\n");
             break;
@@ -215,7 +259,7 @@ static void *statePulsing(Sequencer *me, AOEvent const *evt)
 // Send one event to the state machine.
 static void dispatchEvent(Sequencer *me, AOEvent const *evt)
 {
-    // BSP_logf("%s(%u)\n", __func__, evt);
+    // BSP_logf("%s(%u)\n", __func__, AOEvent_type(evt));
     StateFunc new_state = me->state(me, evt);
     if (new_state != NULL) {                    // Transition.
         StateFunc sf = me->state(me, AOEvent_newExitEvent());
@@ -236,6 +280,7 @@ Sequencer *Sequencer_new()
     Sequencer *me = (Sequencer *)malloc(sizeof(Sequencer));
     EventQueue_init(&me->event_queue, me->event_storage, sizeof me->event_storage);
     me->state = &stateNop;
+    me->pattern_index = 0;
     BSP_registerPulseDelegate(&me->event_queue);
     return me;
 }
@@ -243,19 +288,23 @@ Sequencer *Sequencer_new()
 
 void Sequencer_start(Sequencer *me)
 {
-    PatternIterator_checkPattern(pattern_toggle, M_DIM(pattern_toggle));
-    PatternIterator_checkPattern(pattern_simple, M_DIM(pattern_simple));
-    PatternIterator_checkPattern(pattern_circle, M_DIM(pattern_circle));
+    for (uint16_t i = 0; i < M_DIM(pattern_descr); i++) {
+        PatternDescr const *pd = &pattern_descr[i];
+        BSP_logf("Checking '%s'\n", pd->name);
+        PatternIterator_checkPattern(pd->pattern, pd->nr_of_elcons);
+    }
+
+    PatternIterator_init(&me->pi, &pattern_descr[me->pattern_index]);
 
-    PatternIterator_init(&me->pi, pattern_circle, 8/*M_DIM(pattern_circle)*/, 40, 1, 2);
     uint32_t total_nr_of_pulses = 0;
     PulseTrain pt;
     while (PatternIterator_getNextPulseTrain(&me->pi, &pt)) {
-        BSP_logf(" %3hu * {%s, %s}\n", pt.nr_of_pulses, elset_str[pt.elcon[0]], elset_str[pt.elcon[1]]);
+        // BSP_logf(" %3hu * {%s, %s}\n", pt.nr_of_pulses, elset_str[pt.elcon[0]], elset_str[pt.elcon[1]]);
         total_nr_of_pulses += pt.nr_of_pulses;
     }
     BSP_logf("Total number of pulses: %u\n", total_nr_of_pulses);
 
+    PatternIterator_init(&me->pi, &pattern_descr[me->pattern_index]);
     me->state = stateIdle;
     me->state(me, AOEvent_newEntryEvent());
 }