X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_flight.h;fp=src%2Fkernel%2Fao_flight.h;h=01d21c119538701bccb08de33df65c93180e9ae1;hp=0000000000000000000000000000000000000000;hb=24167015705ae831692b95735968b04a876f935e;hpb=bb9fdef607728cc326a82aa632e59724f272e53b

diff --git a/src/kernel/ao_flight.h b/src/kernel/ao_flight.h
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+++ b/src/kernel/ao_flight.h
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+/*
+ * Copyright © 2012 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.
+ */
+
+#ifndef _AO_FLIGHT_H_
+#define _AO_FLIGHT_H_
+
+
+/*
+ * ao_flight.c
+ */
+
+enum ao_flight_state {
+	ao_flight_startup = 0,
+	ao_flight_idle = 1,
+	ao_flight_pad = 2,
+	ao_flight_boost = 3,
+	ao_flight_fast = 4,
+	ao_flight_coast = 5,
+	ao_flight_drogue = 6,
+	ao_flight_main = 7,
+	ao_flight_landed = 8,
+	ao_flight_invalid = 9,
+	ao_flight_test = 10
+};
+
+extern __pdata enum ao_flight_state	ao_flight_state;
+extern __pdata uint16_t			ao_boost_tick;
+extern __pdata uint16_t			ao_motor_number;
+
+#if HAS_IMU || HAS_MMA655X
+#define HAS_SENSOR_ERRORS	1
+#endif
+
+#if HAS_SENSOR_ERRORS
+extern __xdata uint8_t			ao_sensor_errors;
+#endif
+
+extern __pdata uint16_t			ao_launch_time;
+extern __pdata uint8_t			ao_flight_force_idle;
+
+/* Flight thread */
+void
+ao_flight(void);
+
+/* Initialize flight thread */
+void
+ao_flight_init(void);
+
+/*
+ * ao_flight_nano.c
+ */
+
+void
+ao_flight_nano_init(void);
+
+#endif /* _AO_FLIGHT_H_ */