From: Keith Packard Date: Mon, 27 May 2013 01:01:58 +0000 (-0600) Subject: altos: Add pyro code testing to ao_flight_test for TeleMega X-Git-Tag: 1.2.9.4~180 X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=277577fecc71e3c52b823938f396cf42be403ebe altos: Add pyro code testing to ao_flight_test for TeleMega This parses the pyro settings and signals when the pyro channels are fired in the output. Signed-off-by: Keith Packard --- diff --git a/src/core/ao_pyro.c b/src/core/ao_pyro.c index aac8fda5..b655eaca 100644 --- a/src/core/ao_pyro.c +++ b/src/core/ao_pyro.c @@ -15,10 +15,12 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ +#ifndef AO_FLIGHT_TEST #include -#include #include #include +#endif +#include #if IS_COMPANION #include @@ -130,12 +132,13 @@ ao_pyro_ready(struct ao_pyro *pyro) return TRUE; } +#ifndef AO_FLIGHT_TEST #define ao_pyro_fire_port(port, bit, pin) do { \ ao_gpio_set(port, bit, pin, 1); \ ao_delay(AO_MS_TO_TICKS(50)); \ ao_gpio_set(port, bit, pin, 0); \ } while (0) - +#endif static void ao_pyro_fire(uint8_t p) @@ -172,66 +175,58 @@ ao_pyro_fire(uint8_t p) uint8_t ao_pyro_wakeup; -static void -ao_pyro(void) +static uint8_t +ao_pyro_check(void) { - uint8_t p, any_waiting; struct ao_pyro *pyro; + uint8_t p, any_waiting; + + any_waiting = 0; + for (p = 0; p < AO_PYRO_NUM; p++) { + pyro = &ao_config.pyro[p]; - ao_config_get(); - while (ao_flight_state < ao_flight_boost) - ao_sleep(&ao_flight_state); - - for (;;) { - 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]; + /* Ignore igniters which have already fired + */ + if (pyro->fired) + continue; - /* Ignore igniters which have already fired - */ - if (pyro->fired) - continue; + /* Ignore disabled igniters + */ + if (!pyro->flags) + continue; - /* Ignore disabled igniters - */ - if (!pyro->flags) + any_waiting = 1; + /* Check pyro state to see if it should fire + */ + if (!pyro->delay_done) { + if (!ao_pyro_ready(pyro)) continue; - any_waiting = 1; - /* Check pyro state to see if it shoule fire + /* If there's a delay set, then remember when + * it expires */ - 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; + if (pyro->flags & ao_pyro_delay) { + pyro->delay_done = ao_time() + pyro->delay; + if (!pyro->delay_done) + pyro->delay_done = 1; } + } - ao_pyro_fire(p); + /* 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; } - if (!any_waiting) - break; + + ao_pyro_fire(p); + pyro->fired = 1; + ao_pyro_fired |= (1 << p); } - ao_exit(); + return any_waiting; } -__xdata struct ao_task ao_pyro_task; - #define NO_VALUE 0xff #define AO_PYRO_NAME_LEN 3 @@ -283,6 +278,34 @@ const struct { { "", ao_pyro_none, NO_VALUE, HELP(NULL) }, }; +#define NUM_PYRO_VALUES (sizeof ao_pyro_values / sizeof ao_pyro_values[0]) + +#ifndef AO_FLIGHT_TEST +static void +ao_pyro(void) +{ + uint8_t any_waiting; + + ao_config_get(); + while (ao_flight_state < ao_flight_boost) + ao_sleep(&ao_flight_state); + + for (;;) { + ao_alarm(AO_MS_TO_TICKS(100)); + ao_sleep(&ao_pyro_wakeup); + ao_clear_alarm(); + if (ao_flight_state >= ao_flight_landed) + break; + any_waiting = ao_pyro_check(); + if (!any_waiting) + break; + } + ao_exit(); +} + +__xdata struct ao_task ao_pyro_task; + + static void ao_pyro_print_name(uint8_t v) { @@ -449,3 +472,4 @@ ao_pyro_init(void) ao_cmd_register(&ao_pyro_cmds[0]); ao_add_task(&ao_pyro_task, ao_pyro, "pyro"); } +#endif diff --git a/src/test/Makefile b/src/test/Makefile index 8032a163..3c9ac9c6 100644 --- a/src/test/Makefile +++ b/src/test/Makefile @@ -29,7 +29,7 @@ ao_flight_test_baro: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalm ao_flight_test_accel: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c $(INCS) cc $(CFLAGS) -o $@ -DFORCE_ACCEL=1 ao_flight_test.c -ao_flight_test_mm: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c $(INCS) +ao_flight_test_mm: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c ao_pyro.c ao_pyro.h $(INCS) cc -DTELEMEGA=1 $(CFLAGS) -o $@ $< -lm ao_gps_test: ao_gps_test.c ao_gps_sirf.c ao_gps_print.c ao_host.h diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c index 99bed7ee..6e53d8e1 100644 --- a/src/test/ao_flight_test.c +++ b/src/test/ao_flight_test.c @@ -20,6 +20,7 @@ #include #include #include +#include #include #include #include @@ -137,6 +138,18 @@ int tick_offset; static int32_t ao_k_height; +int16_t +ao_time(void) +{ + return ao_data_static.tick; +} + +void +ao_delay(int16_t interval) +{ + return; +} + void ao_ignite(enum ao_igniter igniter) { @@ -200,6 +213,8 @@ struct ao_cmds { #include struct ao_ms5607_prom ms5607_prom; #include "ao_ms5607_convert.c" +#define AO_PYRO_NUM 4 +#include #else #include "ao_convert.c" #endif @@ -210,6 +225,9 @@ struct ao_config { int16_t accel_minus_g; uint8_t pad_orientation; uint16_t apogee_lockout; +#if TELEMEGA + struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */ +#endif }; #define AO_PAD_ORIENTATION_ANTENNA_UP 0 @@ -246,6 +264,24 @@ uint16_t prev_tick; #include "ao_sqrt.c" #include "ao_sample.c" #include "ao_flight.c" +#if TELEMEGA +#define AO_PYRO_NUM 4 + +#define AO_PYRO_0 0 +#define AO_PYRO_1 1 +#define AO_PYRO_2 2 +#define AO_PYRO_3 3 + +static void +ao_pyro_tell(int pin) +{ + printf ("fire pyro %d\n", pin); +} + +#define ao_pyro_fire_port(port,bit,pin) ao_pyro_tell(pin) + +#include "ao_pyro.c" +#endif #define to_double(f) ((f) / 65536.0) @@ -771,6 +807,10 @@ ao_sleep(void *wchan) char *words[64]; int nword; +#if TELEMEGA + if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed) + ao_pyro_check(); +#endif for (;;) { if (ao_records_read > 2 && ao_flight_state == ao_flight_startup) { @@ -883,6 +923,23 @@ ao_sleep(void *wchan) else if (strcmp(words[1], "crc:") == 0) ms5607_prom.crc = strtoul(words[2], NULL, 10); continue; + } else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) { + int p = strtoul(words[1], NULL, 10); + int i, j; + struct ao_pyro *pyro = &ao_config.pyro[p]; + + for (i = 2; i < nword; i++) { + for (j = 0; j < NUM_PYRO_VALUES; j++) + if (!strcmp (words[2], ao_pyro_values[j].name)) + break; + if (j == NUM_PYRO_VALUES) + continue; + pyro->flags |= ao_pyro_values[j].flag; + if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) { + int16_t val = strtoul(words[++i], NULL, 10); + *((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val; + } + } } #else if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {