X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_pyro.c;h=e5c30eec42da6e1504880684f773da59760bd482;hb=c8dbfff65dd61e42d0a02158dcb520e7710ef87e;hp=154edad5f0f7e4436361644d52705efa941e3c0f;hpb=5872bd10df14b47de0e541bff16d9220af0558aa;p=fw%2Faltos

diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c
index 154edad5..e5c30eec 100644
--- a/src/kernel/ao_pyro.c
+++ b/src/kernel/ao_pyro.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -74,7 +75,8 @@ uint16_t	ao_pyro_fired;
 #endif
 
 #if PYRO_DBG
-#define DBG(...)	do { printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } while (0)
+int pyro_dbg;
+#define DBG(...)	do { if (pyro_dbg) { printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } } while (0)
 #else
 #define DBG(...)
 #endif
@@ -179,7 +181,7 @@ ao_pyro_ready(struct ao_pyro *pyro)
 		case ao_pyro_state_greater_or_equal:
 			if (ao_flight_state >= pyro->state_greater_or_equal)
 				continue;
-			DBG("state %d >= %d\n", ao_flight_state, pyro->state_less);
+			DBG("state %d < %d\n", ao_flight_state, pyro->state_greater_or_equal);
 			break;
 
 		default:
@@ -237,11 +239,8 @@ 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));
 }
@@ -259,7 +258,7 @@ ao_pyro_check(void)
 
 		/* Ignore igniters which have already fired
 		 */
-		if (pyro->fired)
+		if (ao_pyro_fired & (1 << p))
 			continue;
 
 		/* Ignore disabled igniters
@@ -294,7 +293,7 @@ ao_pyro_check(void)
 			 * by setting the fired bit
 			 */
 			if (!ao_pyro_ready(pyro)) {
-				pyro->fired = 1;
+				ao_pyro_fired |= (1 << p);
 				continue;
 			}
 
@@ -305,8 +304,10 @@ ao_pyro_check(void)
 		fire |= (1 << p);
 	}
 
-	if (fire)
+	if (fire) {
+		ao_pyro_fired |= fire;
 		ao_pyro_pins_fire(fire);
+	}
 
 	return any_waiting;
 }
@@ -375,9 +376,7 @@ ao_pyro(void)
 		ao_sleep(&ao_flight_state);
 
 	for (;;) {
-		ao_alarm(AO_MS_TO_TICKS(100));
-		ao_sleep(&ao_pyro_wakeup);
-		ao_clear_alarm();
+		ao_sleep_for(&ao_pyro_wakeup, AO_MS_TO_TICKS(100));
 		if (ao_flight_state >= ao_flight_landed)
 			break;
 		any_waiting = ao_pyro_check();
@@ -438,7 +437,7 @@ ao_pyro_show(void)
 				if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE)
 					value = *((uint8_t *) ((char *) pyro + ao_pyro_values[v].offset));
 				else
-					value = *((int16_t *) ((char *) pyro + ao_pyro_values[v].offset));
+					value = *((int16_t *) (void *) ((char *) pyro + ao_pyro_values[v].offset));
 				printf ("%6d ", value);
 			} else {
 				printf ("       ");
@@ -482,7 +481,7 @@ 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();
@@ -499,13 +498,26 @@ ao_pyro_set(void)
 		}
 		pyro_tmp.flags |= ao_pyro_values[v].flag;
 		if (ao_pyro_values[v].offset != NO_VALUE) {
+			uint8_t negative = 0;
+			ao_cmd_white();
+			if (ao_cmd_lex_c == '-') {
+				negative = 1;
+				ao_cmd_lex();
+			}
 			ao_cmd_decimal();
 			if (ao_cmd_status != ao_cmd_success)
 				return;
-			if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE)
+			if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE) {
+				if (negative) {
+					ao_cmd_status = ao_cmd_syntax_error;
+					return;
+				}
 				*((uint8_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
-			else
-				*((int16_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
+			} else {
+				if (negative)
+					ao_cmd_lex_i = -ao_cmd_lex_i;
+				*((int16_t *) (void *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
+			}
 		}
 	}
 	_ao_config_edit_start();