X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_pyro.c;h=3c872354ba5fa7ccb1b7c7dca29be32cb40fc23d;hb=327b765962d397efd4c45b6209c9225a4d23ba1d;hp=9543b3ef20cd60f8a9d85f9442ea3ea5dd3d98cd;hpb=be44d33f5e94b8c4180adb275ec83cc70852db48;p=fw%2Faltos diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c index 9543b3ef..3c872354 100644 --- a/src/kernel/ao_pyro.c +++ b/src/kernel/ao_pyro.c @@ -76,11 +76,24 @@ uint16_t ao_pyro_fired; #if PYRO_DBG int pyro_dbg; -#define DBG(...) do { if (pyro_dbg) printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } while (0) +#define DBG(...) do { if (pyro_dbg) { printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } } while (0) #else #define DBG(...) #endif +static angle_t +ao_sample_max_orient(void) +{ + uint8_t i; + angle_t max = ao_sample_orients[0]; + + for (i = 1; i < AO_NUM_ORIENT; i++) { + angle_t a = ao_sample_orients[i]; + if (a > max) + max = a; + } + return max; +} /* * Given a pyro structure, figure out * if the current flight state satisfies all @@ -90,6 +103,9 @@ static uint8_t ao_pyro_ready(struct ao_pyro *pyro) { enum ao_pyro_flag flag, flags; +#if HAS_GYRO + angle_t max_orient; +#endif flags = pyro->flags; while (flags != ao_pyro_none) { @@ -130,14 +146,16 @@ ao_pyro_ready(struct ao_pyro *pyro) #if HAS_GYRO case ao_pyro_orient_less: - if (ao_sample_orient <= pyro->orient_less) + max_orient = ao_sample_max_orient(); + if (max_orient <= pyro->orient_less) continue; - DBG("orient %d > %d\n", ao_sample_orient, pyro->orient_less); + DBG("orient %d > %d\n", max_orient, pyro->orient_less); break; case ao_pyro_orient_greater: - if (ao_sample_orient >= pyro->orient_greater) + max_orient = ao_sample_max_orient(); + if (max_orient >= pyro->orient_greater) continue; - DBG("orient %d < %d\n", ao_sample_orient, pyro->orient_greater); + DBG("orient %d < %d\n", max_orient, pyro->orient_greater); break; #endif @@ -164,7 +182,7 @@ ao_pyro_ready(struct ao_pyro *pyro) break; case ao_pyro_after_motor: - if (ao_motor_number == pyro->motor) + if (ao_motor_number >= pyro->motor) continue; DBG("motor %d != %d\n", ao_motor_number, pyro->motor); break; @@ -239,11 +257,8 @@ ao_pyro_pins_fire(uint16_t fire) } ao_delay(ao_config.pyro_time); for (p = 0; p < AO_PYRO_NUM; p++) { - if (fire & (1 << p)) { + if (fire & (1 << p)) ao_pyro_pin_set(p, 0); - ao_config.pyro[p].fired = 1; - ao_pyro_fired |= (1 << p); - } } ao_delay(AO_MS_TO_TICKS(50)); } @@ -261,7 +276,7 @@ ao_pyro_check(void) /* Ignore igniters which have already fired */ - if (pyro->fired) + if (ao_pyro_fired & (1 << p)) continue; /* Ignore disabled igniters @@ -296,7 +311,7 @@ ao_pyro_check(void) * by setting the fired bit */ if (!ao_pyro_ready(pyro)) { - pyro->fired = 1; + ao_pyro_fired |= (1 << p); continue; } @@ -307,8 +322,10 @@ ao_pyro_check(void) fire |= (1 << p); } - if (fire) + if (fire) { + ao_pyro_fired |= fire; ao_pyro_pins_fire(fire); + } return any_waiting; } @@ -482,7 +499,7 @@ ao_pyro_set(void) break; for (c = 0; c < AO_PYRO_NAME_LEN - 1; c++) { - if (ao_cmd_is_white()) + if (ao_cmd_is_white() || ao_cmd_lex_c == '\n') break; name[c] = ao_cmd_lex_c; ao_cmd_lex();