--- /dev/null
+/*
+ * 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.
+ */
+
+#include <ao.h>
+#include <ao_pyro.h>
+#include <ao_sample.h>
+#include <ao_flight.h>
+
+#define ao_lowbit(x) ((x) & (-x))
+
+/*
+ * Given a pyro structure, figure out
+ * if the current flight state satisfies all
+ * of the requirements
+ */
+static uint8_t
+ao_pyro_ready(struct ao_pyro *pyro)
+{
+ enum ao_pyro_flag flag, flags;
+
+ flags = pyro->flags;
+ while (flags != ao_pyro_none) {
+ flag = ao_lowbit(flags);
+ flags &= ~flag;
+ switch (flag) {
+
+ case ao_pyro_accel_less:
+ if (ao_accel <= pyro->accel_less)
+ continue;
+ break;
+ case ao_pyro_accel_greater:
+ if (ao_accel >= pyro->accel_greater)
+ continue;
+ break;
+
+
+ case ao_pyro_speed_less:
+ if (ao_speed <= pyro->speed_less)
+ continue;
+ break;
+ case ao_pyro_speed_greater:
+ if (ao_speed >= pyro->speed_greater)
+ continue;
+ break;
+
+ case ao_pyro_height_less:
+ if (ao_height <= pyro->height_less)
+ continue;
+ break;
+ case ao_pyro_height_greater:
+ if (ao_height >= pyro->height_greater)
+ continue;
+ break;
+
+ case ao_pyro_orient_less:
+// if (ao_orient <= pyro->orient_less)
+ continue;
+ break;
+ case ao_pyro_orient_greater:
+// if (ao_orient >= pyro->orient_greater)
+ continue;
+ break;
+
+ case ao_pyro_time_less:
+ if ((int16_t) (ao_time() - ao_boost_tick) <= pyro->time_less)
+ continue;
+ break;
+ case ao_pyro_time_greater:
+ if ((int16_t) (ao_time() - ao_boost_tick) >= pyro->time_greater)
+ continue;
+ break;
+
+ case ao_pyro_ascending:
+ if (ao_speed > 0)
+ continue;
+ break;
+ case ao_pyro_descending:
+ if (ao_speed < 0)
+ continue;
+ break;
+
+ case ao_pyro_after_motor:
+ if (ao_motor_number == pyro->motor)
+ continue;
+ break;
+
+ case ao_pyro_delay:
+ /* handled separately */
+ continue;
+
+ }
+ return FALSE;
+ }
+ return TRUE;
+}
+
+#define ao_pyro_fire_port(port, pin) do { \
+ ao_gpio_set(port, pin, 1); \
+ ao_delay(AO_MS_TO_TICKS(50)); \
+ ao_gpio_set(port, pin, 0); \
+ } while (0)
+
+
+static void
+ao_pyro_fire(uint8_t p)
+{
+ switch (p) {
+#if AO_PYRO_NUM > 0
+ case 0: ao_pyro_fire_port(AO_PYRO_PORT_0, AO_PYRO_PIN_0); break;
+#endif
+#if AO_PYRO_NUM > 1
+ case 1: ao_pyro_fire_port(AO_PYRO_PORT_1, AO_PYRO_PIN_1); break;
+#endif
+#if AO_PYRO_NUM > 2
+ case 2: ao_pyro_fire_port(AO_PYRO_PORT_2, AO_PYRO_PIN_2); break;
+#endif
+#if AO_PYRO_NUM > 3
+ case 3: ao_pyro_fire_port(AO_PYRO_PORT_3, AO_PYRO_PIN_3); break;
+#endif
+#if AO_PYRO_NUM > 4
+ case 4: ao_pyro_fire_port(AO_PYRO_PORT_4, AO_PYRO_PIN_4); break;
+#endif
+#if AO_PYRO_NUM > 5
+ case 5: ao_pyro_fire_port(AO_PYRO_PORT_5, AO_PYRO_PIN_5); break;
+#endif
+#if AO_PYRO_NUM > 6
+ case 6: ao_pyro_fire_port(AO_PYRO_PORT_6, AO_PYRO_PIN_6); break;
+#endif
+#if AO_PYRO_NUM > 7
+ case 7: ao_pyro_fire_port(AO_PYRO_PORT_7, AO_PYRO_PIN_7); break;
+#endif
+ default: break;
+ }
+ ao_delay(AO_MS_TO_TICKS(50));
+}
+
+static void
+ao_pyro(void)
+{
+ uint8_t p;
+ struct ao_pyro *pyro;
+
+ ao_config_get();
+ while (ao_flight_state < ao_flight_boost)
+ ao_sleep(&ao_flight_state);
+
+ for (;;) {
+ ao_delay(AO_MS_TO_TICKS(100));
+ for (p = 0; p < AO_PYRO_NUM; p++) {
+ pyro = &ao_config.pyro[p];
+
+ /* Ignore igniters which have already fired
+ */
+ if (pyro->fired)
+ continue;
+
+ /* Ignore disabled igniters
+ */
+ if (!pyro->flags)
+ continue;
+
+ /* Check pyro state to see if it shoule fire
+ */
+ if (!pyro->delay_done) {
+ if (!ao_pyro_ready(pyro))
+ continue;
+
+ /* If there's a delay set, then remember when
+ * it expires
+ */
+ if (pyro->flags & ao_pyro_delay)
+ pyro->delay_done = ao_time() + pyro->delay;
+ }
+
+ /* Check to see if we're just waiting for
+ * the delay to expire
+ */
+ if (pyro->delay_done) {
+ if ((int16_t) (ao_time() - pyro->delay_done) < 0)
+ continue;
+ }
+
+ ao_pyro_fire(p);
+ }
+ }
+}
+
+__xdata struct ao_task ao_pyro_task;
+
+#define NO_VALUE 0xff
+
+#define AO_PYRO_NAME_LEN 3
+
+const struct {
+ char name[AO_PYRO_NAME_LEN];
+ enum ao_pyro_flag flag;
+ uint8_t offset;
+ char *help;
+} ao_pyro_values[] = {
+ { "a<", ao_pyro_accel_less, offsetof(struct ao_pyro, accel_less), "accel less (m/ss * 16)" },
+ { "a>", ao_pyro_accel_greater, offsetof(struct ao_pyro, accel_greater), "accel greater (m/ss * 16)" },
+
+ { "s<", ao_pyro_speed_less, offsetof(struct ao_pyro, speed_less), "speed less (m/s * 16)" },
+ { "s>", ao_pyro_speed_greater, offsetof(struct ao_pyro, speed_greater), "speed greater (m/s * 16)" },
+
+ { "h<", ao_pyro_height_less, offsetof(struct ao_pyro, height_less), "height less (m)" },
+ { "h>", ao_pyro_height_greater, offsetof(struct ao_pyro, height_greater), "height greater (m)" },
+
+ { "o<", ao_pyro_orient_less, offsetof(struct ao_pyro, orient_less), "orient less (deg)" },
+ { "o>", ao_pyro_orient_greater, offsetof(struct ao_pyro, orient_greater), "orient greater (deg)" },
+
+ { "t<", ao_pyro_time_less, offsetof(struct ao_pyro, time_less), "time less (s * 100)" },
+ { "t>", ao_pyro_time_greater, offsetof(struct ao_pyro, time_greater), "time greater (s * 100)" },
+
+ { "A", ao_pyro_ascending, NO_VALUE, "ascending" },
+ { "D", ao_pyro_descending, NO_VALUE, "descending" },
+
+ { "m", ao_pyro_after_motor, offsetof(struct ao_pyro, motor), "after motor" },
+
+ { "d", ao_pyro_delay, offsetof(struct ao_pyro, delay), "delay before firing (s * 100)" },
+ { "", ao_pyro_none, NO_VALUE, NULL },
+};
+
+static void
+ao_pyro_print_name(uint8_t v)
+{
+ const char *s = ao_pyro_values[v].name;
+ printf ("%s%s", s, " " + strlen(s));
+}
+
+static void
+ao_pyro_help(void)
+{
+ uint8_t v;
+ for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
+ ao_pyro_print_name(v);
+ if (ao_pyro_values[v].offset != NO_VALUE)
+ printf ("<n> ");
+ else
+ printf (" ");
+ printf ("%s\n", ao_pyro_values[v].help);
+ }
+}
+
+void
+ao_pyro_show(void)
+{
+ uint8_t p;
+ uint8_t v;
+ struct ao_pyro *pyro;
+
+ for (p = 0; p < AO_PYRO_NUM; p++) {
+ printf ("Pyro %2d: ", p);
+ pyro = &ao_config.pyro[p];
+ if (!pyro->flags) {
+ printf ("<disabled>\n");
+ continue;
+ }
+ for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
+ if (!(pyro->flags & ao_pyro_values[v].flag))
+ continue;
+ ao_pyro_print_name(v);
+ if (ao_pyro_values[v].offset != NO_VALUE) {
+ int16_t value;
+
+ value = *((int16_t *) ((char *) pyro + ao_pyro_values[v].offset));
+ printf ("%6d ", value);
+ } else {
+ printf (" ");
+ }
+ }
+ printf ("\n");
+ }
+}
+
+void
+ao_pyro_set(void)
+{
+ uint8_t p;
+ struct ao_pyro *pyro;
+ struct ao_pyro pyro_tmp;
+ char name[AO_PYRO_NAME_LEN];
+ uint8_t c;
+ uint8_t v;
+
+ ao_cmd_white();
+ switch (ao_cmd_lex_c) {
+ case '?':
+ ao_pyro_help();
+ return;
+ }
+
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ p = ao_cmd_lex_i;
+ if (p < 0 || AO_PYRO_NUM <= p) {
+ printf ("invalid pyro channel %d\n", p);
+ return;
+ }
+ pyro_tmp.flags = 0;
+ for (;;) {
+ ao_cmd_white();
+ if (ao_cmd_lex_c == '\n')
+ break;
+
+ for (c = 0; c < AO_PYRO_NAME_LEN - 1; c++) {
+ if (ao_cmd_is_white())
+ break;
+ name[c] = ao_cmd_lex_c;
+ ao_cmd_lex();
+ }
+ name[c] = '\0';
+ for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
+ if (!strcmp (ao_pyro_values[v].name, name))
+ break;
+ }
+ if (ao_pyro_values[v].flag == ao_pyro_none) {
+ printf ("invalid pyro field %s\n", name);
+ ao_cmd_status = ao_cmd_syntax_error;
+ return;
+ }
+ pyro_tmp.flags |= ao_pyro_values[v].flag;
+ if (ao_pyro_values[v].offset != NO_VALUE) {
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ *((int16_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
+ }
+ }
+ _ao_config_edit_start();
+ ao_config.pyro[p] = pyro_tmp;
+ _ao_config_edit_finish();
+}
+
+void
+ao_pyro_init(void)
+{
+#if AO_PYRO_NUM > 0
+ ao_enable_output(AO_PYRO_PORT_0, AO_PYRO_PIN_0, 0);
+#endif
+#if AO_PYRO_NUM > 1
+ ao_enable_output(AO_PYRO_PORT_1, AO_PYRO_PIN_1, 0);
+#endif
+#if AO_PYRO_NUM > 2
+ ao_enable_output(AO_PYRO_PORT_2, AO_PYRO_PIN_2, 0);
+#endif
+#if AO_PYRO_NUM > 3
+ ao_enable_output(AO_PYRO_PORT_3, AO_PYRO_PIN_3, 0);
+#endif
+#if AO_PYRO_NUM > 4
+ ao_enable_output(AO_PYRO_PORT_4, AO_PYRO_PIN_4, 0);
+#endif
+#if AO_PYRO_NUM > 5
+ ao_enable_output(AO_PYRO_PORT_5, AO_PYRO_PIN_5, 0);
+#endif
+#if AO_PYRO_NUM > 6
+ ao_enable_output(AO_PYRO_PORT_6, AO_PYRO_PIN_6, 0);
+#endif
+#if AO_PYRO_NUM > 7
+ ao_enable_output(AO_PYRO_PORT_7, AO_PYRO_PIN_7, 0);
+#endif
+ ao_add_task(&ao_pyro_task, ao_pyro, "pyro");
+}
--- /dev/null
+/*
+ * 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_PYRO_H_
+#define _AO_PYRO_H_
+
+enum ao_pyro_flag {
+ ao_pyro_none = 0x00000000,
+
+ ao_pyro_accel_less = 0x00000001,
+ ao_pyro_accel_greater = 0x00000002,
+
+ ao_pyro_speed_less = 0x00000004,
+ ao_pyro_speed_greater = 0x00000008,
+
+ ao_pyro_height_less = 0x00000010,
+ ao_pyro_height_greater = 0x00000020,
+
+ ao_pyro_orient_less = 0x00000040,
+ ao_pyro_orient_greater = 0x00000080,
+
+ ao_pyro_time_less = 0x00000100,
+ ao_pyro_time_greater = 0x00000200,
+
+ ao_pyro_ascending = 0x00000400,
+ ao_pyro_descending = 0x00000800,
+
+ ao_pyro_after_motor = 0x00001000,
+
+ ao_pyro_delay = 0x00002000,
+};
+
+struct ao_pyro {
+ enum ao_pyro_flag flags;
+ int16_t accel_less, accel_greater;
+ int16_t speed_less, speed_greater;
+ int16_t height_less, height_greater;
+ int16_t orient_less, orient_greater;
+ int16_t time_less, time_greater;
+ int16_t delay;
+ int16_t motor;
+ uint16_t delay_done;
+ uint8_t fired;
+};
+
+void
+ao_pyro_set(void);
+
+void
+ao_pyro_show(void);
+
+void
+ao_pyro_init(void);
+
+#endif
projects / fw / altos / commitdiff