altos: Add state comparisons to pyro channel conditions

Let pyro channels block waiting for flight state changes. This
allows for pyro channels to be synchronized with the main iginiter
channels.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/core/ao_pyro.c b/src/core/ao_pyro.c
index 4f37e9793e6cbe0c37dc424119e93445adc8a89f..b1cfd9d871fe1045f1cf6bc2d970471f913b7ca9 100644 (file)
--- a/src/core/ao_pyro.c
+++ b/src/core/ao_pyro.c
@@ -113,6 +113,15 @@ ao_pyro_ready(struct ao_pyro *pyro)
                        /* handled separately */
                        continue;
 
                        /* handled separately */
                        continue;
 

+               case ao_pyro_state_less:
+                       if (ao_flight_state < pyro->state_less)
+                               continue;
+                       break;
+               case ao_pyro_state_greater_or_equal:
+                       if (ao_flight_state >= pyro->state_greater_or_equal)
+                               continue;
+                       break;
+

                default:
                        continue;
                }
                default:
                        continue;
                }


@@ -166,7 +175,7 @@ uint8_t     ao_pyro_wakeup;
 static void
 ao_pyro(void)
 {
 static void
 ao_pyro(void)
 {

-       uint8_t         p;
+       uint8_t         p, any_waiting;

        struct ao_pyro  *pyro;
 
        ao_config_get();
        struct ao_pyro  *pyro;
 
        ao_config_get();


@@ -177,6 +186,7 @@ ao_pyro(void)
                ao_alarm(AO_MS_TO_TICKS(100));
                ao_sleep(&ao_pyro_wakeup);
                ao_clear_alarm();
                ao_alarm(AO_MS_TO_TICKS(100));
                ao_sleep(&ao_pyro_wakeup);
                ao_clear_alarm();

+               any_waiting = 0;

                for (p = 0; p < AO_PYRO_NUM; p++) {
                        pyro = &ao_config.pyro[p];
 
                for (p = 0; p < AO_PYRO_NUM; p++) {
                        pyro = &ao_config.pyro[p];
 


@@ -190,6 +200,7 @@ ao_pyro(void)
                        if (!pyro->flags)
                                continue;
 
                        if (!pyro->flags)
                                continue;
 

+                       any_waiting = 1;

                        /* Check pyro state to see if it shoule fire
                         */
                        if (!pyro->delay_done) {
                        /* Check pyro state to see if it shoule fire
                         */
                        if (!pyro->delay_done) {


@@ -213,7 +224,10 @@ ao_pyro(void)
 
                        ao_pyro_fire(p);
                }
 
                        ao_pyro_fire(p);
                }

+               if (!any_waiting)
+                       break;

        }
        }

+       ao_exit();

 }
 
 __xdata struct ao_task ao_pyro_task;
 }
 
 __xdata struct ao_task ao_pyro_task;

diff --git a/src/core/ao_pyro.h b/src/core/ao_pyro.h
index 5deb69d0bf3eccafef80479f28d176c43be7f51b..cde850add58eab6a2d8d2903820e6f2d44b11f9a 100644 (file)
--- a/src/core/ao_pyro.h
+++ b/src/core/ao_pyro.h
@@ -42,6 +42,9 @@ enum ao_pyro_flag {
        ao_pyro_after_motor             = 0x00001000,
 
        ao_pyro_delay                   = 0x00002000,
        ao_pyro_after_motor             = 0x00001000,
 
        ao_pyro_delay                   = 0x00002000,

+
+       ao_pyro_state_less              = 0x00004000,
+       ao_pyro_state_greater_or_equal  = 0x00008000,

 };
 
 struct ao_pyro {
 };
 
 struct ao_pyro {


@@ -52,6 +55,7 @@ struct ao_pyro {
        int16_t                 orient_less, orient_greater;
        int16_t                 time_less, time_greater;
        int16_t                 delay;
        int16_t                 orient_less, orient_greater;
        int16_t                 time_less, time_greater;
        int16_t                 delay;

+       uint8_t                 state_less, state_greater_or_equal;

        int16_t                 motor;
        uint16_t                delay_done;
        uint8_t                 fired;
        int16_t                 motor;
        uint16_t                delay_done;
        uint8_t                 fired;