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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #include "ao.h"
  19
  20 #if IGNITE_ON_P2
  21 #define AO_IGNITER_DROGUE       P2_3
  22 #define AO_IGNITER_MAIN         P2_4
  23 #define AO_IGNITER_DIR          P2DIR
  24 #define AO_IGNITER_DROGUE_BIT   (1 << 3)
  25 #define AO_IGNITER_MAIN_BIT     (1 << 4)
  26 #endif
  27
  28 #if IGNITE_ON_P0
  29 #define AO_IGNITER_DROGUE       P0_5
  30 #define AO_IGNITER_MAIN         P0_4
  31 #define AO_IGNITER_DIR          P0DIR
  32 #define AO_IGNITER_DROGUE_BIT   (1 << 5)
  33 #define AO_IGNITER_MAIN_BIT     (1 << 4)
  34 #endif
  35
  36 /* test these values with real igniters */
  37 #define AO_IGNITER_OPEN         1000
  38 #define AO_IGNITER_CLOSED       7000
  39 #define AO_IGNITER_FIRE_TIME    AO_MS_TO_TICKS(50)
  40 #define AO_IGNITER_CHARGE_TIME  AO_MS_TO_TICKS(2000)
  41
  42 struct ao_ignition {
  43         uint8_t request;
  44         uint8_t fired;
  45         uint8_t firing;
  46 };
  47
  48 __xdata struct ao_ignition ao_ignition[2];
  49
  50 void
  51 ao_ignite(enum ao_igniter igniter) __critical
  52 {
  53         ao_ignition[igniter].request = 1;
  54         ao_wakeup(&ao_ignition);
  55 }
  56
  57 enum ao_igniter_status
  58 ao_igniter_status(enum ao_igniter igniter)
  59 {
  60         __xdata struct ao_adc adc;
  61         __pdata int16_t value;
  62         __pdata uint8_t request, firing, fired;
  63
  64         __critical {
  65                 ao_adc_get(&adc);
  66                 request = ao_ignition[igniter].request;
  67                 fired = ao_ignition[igniter].fired;
  68                 firing = ao_ignition[igniter].firing;
  69         }
  70         if (firing || (request && !fired))
  71                 return ao_igniter_active;
  72
  73         value = (AO_IGNITER_CLOSED>>1);
  74         switch (igniter) {
  75         case ao_igniter_drogue:
  76                 value = adc.sense_d;
  77                 break;
  78         case ao_igniter_main:
  79                 value = adc.sense_m;
  80                 break;
  81         }
  82         if (value < AO_IGNITER_OPEN)
  83                 return ao_igniter_open;
  84         else if (value > AO_IGNITER_CLOSED)
  85                 return ao_igniter_ready;
  86         else
  87                 return ao_igniter_unknown;
  88 }
  89
  90 void
  91 ao_igniter_fire(enum ao_igniter igniter) __critical
  92 {
  93         ao_mutex_get(&ao_radio_mutex);
  94         ao_ignition[igniter].firing = 1;
  95         switch(ao_config.ignite_mode) {
  96         case AO_IGNITE_MODE_DUAL:
  97                 switch (igniter) {
  98                 case ao_igniter_drogue:
  99                         AO_IGNITER_DROGUE = 1;
 100                         ao_delay(AO_IGNITER_FIRE_TIME);
 101                         AO_IGNITER_DROGUE = 0;
 102                         break;
 103                 case ao_igniter_main:
 104                         AO_IGNITER_MAIN = 1;
 105                         ao_delay(AO_IGNITER_FIRE_TIME);
 106                         AO_IGNITER_MAIN = 0;
 107                         break;
 108                 }
 109                 break;
 110         case AO_IGNITE_MODE_APOGEE:
 111                 switch (igniter) {
 112                 case ao_igniter_drogue:
 113                         AO_IGNITER_DROGUE = 1;
 114                         ao_delay(AO_IGNITER_FIRE_TIME);
 115                         AO_IGNITER_DROGUE = 0;
 116                         ao_delay(AO_IGNITER_CHARGE_TIME);
 117                         AO_IGNITER_MAIN = 1;
 118                         ao_delay(AO_IGNITER_FIRE_TIME);
 119                         AO_IGNITER_MAIN = 0;
 120                         break;
 121                 }
 122                 break;
 123         case AO_IGNITE_MODE_MAIN:
 124                 switch (igniter) {
 125                 case ao_igniter_main:
 126                         AO_IGNITER_DROGUE = 1;
 127                         ao_delay(AO_IGNITER_FIRE_TIME);
 128                         AO_IGNITER_DROGUE = 0;
 129                         ao_delay(AO_IGNITER_CHARGE_TIME);
 130                         AO_IGNITER_MAIN = 1;
 131                         ao_delay(AO_IGNITER_FIRE_TIME);
 132                         AO_IGNITER_MAIN = 0;
 133                         break;
 134                 }
 135                 break;
 136         }
 137         ao_ignition[igniter].firing = 0;
 138         ao_mutex_put(&ao_radio_mutex);
 139 }
 140
 141 void
 142 ao_igniter(void)
 143 {
 144         __xdata enum ao_ignter igniter;
 145
 146         ao_config_get();
 147         for (;;) {
 148                 ao_sleep(&ao_ignition);
 149                 for (igniter = ao_igniter_drogue; igniter <= ao_igniter_main; igniter++) {
 150                         if (ao_ignition[igniter].request && !ao_ignition[igniter].fired) {
 151                                 if (igniter == ao_igniter_drogue && ao_config.apogee_delay)
 152                                         ao_delay(AO_SEC_TO_TICKS(ao_config.apogee_delay));
 153
 154                                 ao_igniter_fire(igniter);
 155                                 ao_delay(AO_IGNITER_CHARGE_TIME);
 156                                 ao_ignition[igniter].fired = 1;
 157                         }
 158                 }
 159         }
 160 }
 161
 162 void
 163 ao_ignite_manual(void)
 164 {
 165         ao_cmd_white();
 166         if (!ao_match_word("DoIt"))
 167                 return;
 168         ao_cmd_white();
 169         if (ao_cmd_lex_c == 'm') {
 170                 if(ao_match_word("main"))
 171                         ao_igniter_fire(ao_igniter_main);
 172         } else {
 173                 if(ao_match_word("drogue"))
 174                         ao_igniter_fire(ao_igniter_drogue);
 175         }
 176 }
 177
 178 static __code char * __code igniter_status_names[] = {
 179         "unknown", "ready", "active", "open"
 180 };
 181
 182 void
 183 ao_ignite_print_status(enum ao_igniter igniter, __code char *name) __reentrant
 184 {
 185         enum ao_igniter_status status = ao_igniter_status(igniter);
 186         printf("Igniter: %6s Status: %s\n",
 187                name,
 188                igniter_status_names[status]);
 189 }
 190
 191 void
 192 ao_ignite_test(void)
 193 {
 194         ao_ignite_print_status(ao_igniter_drogue, "drogue");
 195         ao_ignite_print_status(ao_igniter_main, "main");
 196 }
 197
 198 __code struct ao_cmds ao_ignite_cmds[] = {
 199         { ao_ignite_manual,     "i <key> {main|drogue}\0Fire igniter. <key> is doit with D&I" },
 200         { ao_ignite_test,       "t\0Test igniter" },
 201         { 0,    NULL },
 202 };
 203
 204 __xdata struct ao_task ao_igniter_task;
 205
 206 void
 207 ao_ignite_set_pins(void)
 208 {
 209         AO_IGNITER_DROGUE = 0;
 210         AO_IGNITER_MAIN = 0;
 211         AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
 212 }
 213
 214 void
 215 ao_igniter_init(void)
 216 {
 217         ao_ignite_set_pins();
 218         ao_cmd_register(&ao_ignite_cmds[0]);
 219         ao_add_task(&ao_igniter_task, ao_igniter, "igniter");
 220 }