X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_pyro.c;h=aac8fda51c7219d6895fce2655ec922b01bf4b9f;hb=fcb801b145e1ae6f1c0b3418a99245d34dbf5aa4;hp=a1377d21a2b8972b974624ce3a68629772b5ddb3;hpb=3ce645a79b54e22d7835c6e390a22a5ad501a339;p=fw%2Faltos

diff --git a/src/core/ao_pyro.c b/src/core/ao_pyro.c
index a1377d21..aac8fda5 100644
--- a/src/core/ao_pyro.c
+++ b/src/core/ao_pyro.c
@@ -20,6 +20,15 @@
 #include <ao_sample.h>
 #include <ao_flight.h>
 
+#if IS_COMPANION
+#include <ao_companion.h>
+#define ao_accel ao_companion_command.accel
+#define ao_speed ao_companion_command.speed
+#define ao_height ao_companion_command.height
+#define ao_flight_state ao_companion_command.flight_state
+#define ao_motor_number ao_companion_command.motor_number
+#endif
+
 #define ao_lowbit(x)	((x) & (-x))
 
 /*
@@ -104,6 +113,15 @@ ao_pyro_ready(struct ao_pyro *pyro)
 			/* handled separately */
 			continue;
 
+		case ao_pyro_state_less:
+			if (ao_flight_state < pyro->state_less)
+				continue;
+			break;
+		case ao_pyro_state_greater_or_equal:
+			if (ao_flight_state >= pyro->state_greater_or_equal)
+				continue;
+			break;
+
 		default:
 			continue;
 		}
@@ -152,10 +170,12 @@ ao_pyro_fire(uint8_t p)
 	ao_delay(AO_MS_TO_TICKS(50));
 }
 
+uint8_t	ao_pyro_wakeup;
+
 static void
 ao_pyro(void)
 {
-	uint8_t		p;
+	uint8_t		p, any_waiting;
 	struct ao_pyro	*pyro;
 
 	ao_config_get();
@@ -163,7 +183,10 @@ ao_pyro(void)
 		ao_sleep(&ao_flight_state);
 
 	for (;;) {
-		ao_delay(AO_MS_TO_TICKS(100));
+		ao_alarm(AO_MS_TO_TICKS(100));
+		ao_sleep(&ao_pyro_wakeup);
+		ao_clear_alarm();
+		any_waiting = 0;
 		for (p = 0; p < AO_PYRO_NUM; p++) {
 			pyro = &ao_config.pyro[p];
 
@@ -177,6 +200,7 @@ ao_pyro(void)
 			if (!pyro->flags)
 				continue;
 
+			any_waiting = 1;
 			/* Check pyro state to see if it shoule fire
 			 */
 			if (!pyro->delay_done) {
@@ -200,7 +224,10 @@ ao_pyro(void)
 
 			ao_pyro_fire(p);
 		}
+		if (!any_waiting)
+			break;
 	}
+	ao_exit();
 }
 
 __xdata struct ao_task ao_pyro_task;
@@ -244,6 +271,9 @@ const struct {
 	{ "t<",	ao_pyro_time_less,	offsetof(struct ao_pyro, time_less), HELP("time less (s * 100)") },
 	{ "t>",	ao_pyro_time_greater,	offsetof(struct ao_pyro, time_greater), HELP("time greater (s * 100)")  },
 
+	{ "f<",	ao_pyro_state_less,	offsetof(struct ao_pyro, state_less), HELP("state less") },
+	{ "f>=",ao_pyro_state_greater_or_equal,	offsetof(struct ao_pyro, state_greater_or_equal), HELP("state greater or equal")  },
+
 	{ "A", ao_pyro_ascending,	NO_VALUE, HELP("ascending") },
 	{ "D", ao_pyro_descending,	NO_VALUE, HELP("descending") },