--- /dev/null
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * 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.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+#include <ao_flight.h>
+#include <ao_sample.h>
+
+#define BIT(i,x) ((x) ? (1 << (i)) : 0)
+#define MORSE1(a) (1 | BIT(3,a))
+#define MORSE2(a,b) (2 | BIT(3,a) | BIT(4,b))
+#define MORSE3(a,b,c) (3 | BIT(3,a) | BIT(4,b) | BIT(5,c))
+#define MORSE4(a,b,c,d) (4 | BIT(3,a) | BIT(4,b) | BIT(5,c) | BIT(6,d))
+#define MORSE5(a,b,c,d,e) (5 | BIT(3,a) | BIT(4,b) | BIT(5,c) | BIT(6,d) | BIT(7,e))
+
+static const uint8_t flight_reports[] = {
+ MORSE3(0,0,0), /* startup, 'S' */
+ MORSE2(0,0), /* idle 'I' */
+ MORSE4(0,1,1,0), /* pad 'P' */
+ MORSE4(1,0,0,0), /* boost 'B' */
+ MORSE4(0,0,1,0), /* fast 'F' */
+ MORSE4(1,0,1,0), /* coast 'C' */
+ MORSE3(1,0,0), /* drogue 'D' */
+ MORSE2(1,1), /* main 'M' */
+ MORSE4(0,1,0,0), /* landed 'L' */
+ MORSE4(1,0,0,1), /* invalid 'X' */
+};
+
+#if HAS_BEEP
+#define low(time) ao_beep_for(AO_BEEP_LOW, time)
+#define mid(time) ao_beep_for(AO_BEEP_MID, time)
+#define high(time) ao_beep_for(AO_BEEP_HIGH, time)
+#else
+#define low(time) ao_led_for(AO_LED_GREEN, time)
+#define mid(time) ao_led_for(AO_LED_RED, time)
+#define high(time) ao_led_for(AO_LED_GREEN|AO_LED_RED, time)
+#endif
+#define pause(time) ao_delay(time)
+
+static __pdata enum ao_flight_state ao_report_state;
+
+static void
+ao_report_beep(void) __reentrant
+{
+ uint8_t r = flight_reports[ao_flight_state];
+ uint8_t l = r & 7;
+
+ if (!r)
+ return;
+ while (l--) {
+ if (r & 8)
+ mid(AO_MS_TO_TICKS(600));
+ else
+ mid(AO_MS_TO_TICKS(200));
+ pause(AO_MS_TO_TICKS(200));
+ r >>= 1;
+ }
+ pause(AO_MS_TO_TICKS(400));
+}
+
+static void
+ao_report_digit(uint8_t digit) __reentrant
+{
+ if (!digit) {
+ mid(AO_MS_TO_TICKS(500));
+ pause(AO_MS_TO_TICKS(200));
+ } else {
+ while (digit--) {
+ mid(AO_MS_TO_TICKS(200));
+ pause(AO_MS_TO_TICKS(200));
+ }
+ }
+ pause(AO_MS_TO_TICKS(300));
+}
+
+static void
+ao_report_altitude(void)
+{
+ __pdata int16_t agl = ao_max_height;
+ __xdata uint8_t digits[10];
+ __pdata uint8_t ndigits, i;
+
+ if (agl < 0)
+ agl = 0;
+ ndigits = 0;
+ do {
+ digits[ndigits++] = agl % 10;
+ agl /= 10;
+ } while (agl);
+
+ i = ndigits;
+ do
+ ao_report_digit(digits[--i]);
+ while (i != 0);
+}
+
+#if HAS_IGNITE_REPORT
+static uint8_t
+ao_report_igniter_ready(enum ao_igniter igniter)
+{
+ return ao_igniter_status(igniter) == ao_igniter_ready ? 1 : 0;
+}
+
+uint8_t
+ao_report_igniter(void)
+{
+ return (ao_report_igniter_ready(ao_igniter_drogue) |
+ (ao_report_igniter_ready(ao_igniter_main) << 1));
+}
+
+static void
+ao_report_continuity(void) __reentrant
+{
+ uint8_t c;
+
+#if !HAS_IGNITE
+ if (!ao_igniter_present)
+ return;
+#endif
+ c = ao_report_igniter();
+ if (c) {
+ while (c--) {
+ high(AO_MS_TO_TICKS(25));
+ pause(AO_MS_TO_TICKS(100));
+ }
+ } else {
+ c = 10;
+ while (c--) {
+ high(AO_MS_TO_TICKS(20));
+ low(AO_MS_TO_TICKS(20));
+ }
+ }
+#if HAS_LOG
+ if (ao_log_full()) {
+ pause(AO_MS_TO_TICKS(100));
+ c = 2;
+ while (c--) {
+ low(AO_MS_TO_TICKS(100));
+ mid(AO_MS_TO_TICKS(100));
+ high(AO_MS_TO_TICKS(100));
+ mid(AO_MS_TO_TICKS(100));
+ }
+ }
+#endif
+}
+#endif
+
+void
+ao_report(void)
+{
+ ao_report_state = ao_flight_state;
+ for(;;) {
+ ao_report_beep();
+ if (ao_flight_state == ao_flight_landed) {
+ ao_report_altitude();
+#if HAS_FLIGHT
+ ao_delay(AO_SEC_TO_TICKS(5));
+ continue;
+#endif
+ }
+#if HAS_IGNITE_REPORT
+ if (ao_flight_state == ao_flight_idle)
+ ao_report_continuity();
+ while (ao_flight_state == ao_flight_pad) {
+ uint8_t c;
+ ao_report_continuity();
+ c = 50;
+ while (c-- && ao_flight_state == ao_flight_pad)
+ pause(AO_MS_TO_TICKS(100));
+ }
+#endif
+
+ while (ao_report_state == ao_flight_state)
+ ao_sleep(DATA_TO_XDATA(&ao_flight_state));
+ ao_report_state = ao_flight_state;
+ }
+}
+
+static __xdata struct ao_task ao_report_task;
+
+void
+ao_report_init(void)
+{
+ ao_add_task(&ao_report_task, ao_report, "report");
+}
projects / fw / altos / blobdiff