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1 /*
2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
3  *
4  * This program is free software; you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License as published by
6  * the Free Software Foundation; version 2 of the License.
7  *
8  * This program is distributed in the hope that it will be useful, but
9  * WITHOUT ANY WARRANTY; without even the implied warranty of
10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
11  * General Public License for more details.
12  *
13  * You should have received a copy of the GNU General Public License along
14  * with this program; if not, write to the Free Software Foundation, Inc.,
15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
16  */
17
18 #include "ao.h"
19 #include <ao_data.h>
20
21 __xdata struct ao_ignition ao_ignition[2];
22
23 void
24 ao_ignite(enum ao_igniter igniter)
25 {
26         ao_arch_block_interrupts();
27         ao_ignition[igniter].request = 1;
28         ao_wakeup(&ao_ignition);
29         ao_arch_release_interrupts();
30 }
31
32 #ifndef AO_SENSE_DROGUE
33 #define AO_SENSE_DROGUE(p)      ((p)->adc.sense_d)
34 #define AO_SENSE_MAIN(p)        ((p)->adc.sense_m)
35 #endif
36
37 enum ao_igniter_status
38 ao_igniter_status(enum ao_igniter igniter)
39 {
40         __xdata struct ao_data packet;
41         __pdata int16_t value;
42         __pdata uint8_t request, firing, fired;
43
44         ao_arch_critical(
45                 ao_data_get(&packet);
46                 request = ao_ignition[igniter].request;
47                 fired = ao_ignition[igniter].fired;
48                 firing = ao_ignition[igniter].firing;
49                 );
50         if (firing || (request && !fired))
51                 return ao_igniter_active;
52
53         value = (AO_IGNITER_CLOSED>>1);
54         switch (igniter) {
55         case ao_igniter_drogue:
56                 value = AO_SENSE_DROGUE(&packet);
57                 break;
58         case ao_igniter_main:
59                 value = AO_SENSE_MAIN(&packet);
60                 break;
61         }
62         if (value < AO_IGNITER_OPEN)
63                 return ao_igniter_open;
64         else if (value > AO_IGNITER_CLOSED)
65                 return ao_igniter_ready;
66         else
67                 return ao_igniter_unknown;
68 }
69
70 #ifndef AO_IGNITER_SET_DROGUE
71 #define AO_IGNITER_SET_DROGUE(v)        AO_IGNITER_DROGUE = (v)
72 #define AO_IGNITER_SET_MAIN(v)          AO_IGNITER_MAIN = (v)
73 #endif
74
75 #ifndef AO_IGNITER_FIRE_TIME
76 #define AO_IGNITER_FIRE_TIME            AO_MS_TO_TICKS(50)
77 #endif
78
79 #ifndef AO_IGNITER_CHARGE_TIME
80 #define AO_IGNITER_CHARGE_TIME          AO_MS_TO_TICKS(2000)
81 #endif
82
83 void
84 ao_igniter_fire(enum ao_igniter igniter)
85 {
86         ao_ignition[igniter].firing = 1;
87         switch(ao_config.ignite_mode) {
88         case AO_IGNITE_MODE_DUAL:
89                 switch (igniter) {
90                 case ao_igniter_drogue:
91                         AO_IGNITER_SET_DROGUE(1);
92                         ao_delay(AO_IGNITER_FIRE_TIME);
93                         AO_IGNITER_SET_DROGUE(0);
94                         break;
95                 case ao_igniter_main:
96                         AO_IGNITER_SET_MAIN(1);
97                         ao_delay(AO_IGNITER_FIRE_TIME);
98                         AO_IGNITER_SET_MAIN(0);
99                         break;
100                 }
101                 break;
102         case AO_IGNITE_MODE_APOGEE:
103                 switch (igniter) {
104                 case ao_igniter_drogue:
105                         AO_IGNITER_SET_DROGUE(1);
106                         ao_delay(AO_IGNITER_FIRE_TIME);
107                         AO_IGNITER_SET_DROGUE(0);
108                         ao_delay(AO_IGNITER_CHARGE_TIME);
109                         AO_IGNITER_SET_MAIN(1);
110                         ao_delay(AO_IGNITER_FIRE_TIME);
111                         AO_IGNITER_SET_MAIN(0);
112                         break;
113                 }
114                 break;
115         case AO_IGNITE_MODE_MAIN:
116                 switch (igniter) {
117                 case ao_igniter_main:
118                         AO_IGNITER_SET_DROGUE(1);
119                         ao_delay(AO_IGNITER_FIRE_TIME);
120                         AO_IGNITER_SET_DROGUE(0);
121                         ao_delay(AO_IGNITER_CHARGE_TIME);
122                         AO_IGNITER_SET_MAIN(1);
123                         ao_delay(AO_IGNITER_FIRE_TIME);
124                         AO_IGNITER_SET_MAIN(0);
125                         break;
126                 }
127                 break;
128         }
129         ao_ignition[igniter].firing = 0;
130 }
131
132 void
133 ao_igniter(void)
134 {
135         __xdata enum ao_igniter igniter;
136
137         ao_config_get();
138         for (;;) {
139                 ao_sleep(&ao_ignition);
140                 for (igniter = ao_igniter_drogue; igniter <= ao_igniter_main; igniter++) {
141                         if (ao_ignition[igniter].request && !ao_ignition[igniter].fired) {
142                                 if (igniter == ao_igniter_drogue && ao_config.apogee_delay)
143                                         ao_delay(AO_SEC_TO_TICKS(ao_config.apogee_delay));
144
145                                 ao_igniter_fire(igniter);
146                                 ao_delay(AO_IGNITER_CHARGE_TIME);
147                                 ao_ignition[igniter].fired = 1;
148                         }
149                 }
150         }
151 }
152
153 void
154 ao_ignite_manual(void)
155 {
156         ao_cmd_white();
157         if (!ao_match_word("DoIt"))
158                 return;
159         ao_cmd_white();
160         if (ao_cmd_lex_c == 'm') {
161                 if(ao_match_word("main"))
162                         ao_igniter_fire(ao_igniter_main);
163         } else {
164                 if(ao_match_word("drogue"))
165                         ao_igniter_fire(ao_igniter_drogue);
166         }
167 }
168
169 static __code char * __code igniter_status_names[] = {
170         "unknown", "ready", "active", "open"
171 };
172
173 void
174 ao_ignite_print_status(enum ao_igniter igniter, __code char *name) __reentrant
175 {
176         enum ao_igniter_status status = ao_igniter_status(igniter);
177         printf("Igniter: %6s Status: %s\n",
178                name,
179                igniter_status_names[status]);
180 }
181
182 void
183 ao_ignite_test(void)
184 {
185         ao_ignite_print_status(ao_igniter_drogue, "drogue");
186         ao_ignite_print_status(ao_igniter_main, "main");
187 }
188
189 __code struct ao_cmds ao_ignite_cmds[] = {
190         { ao_ignite_manual,     "i <key> {main|drogue}\0Fire igniter. <key> is doit with D&I" },
191         { ao_ignite_test,       "t\0Test igniter" },
192         { 0,    NULL },
193 };
194
195 __xdata struct ao_task ao_igniter_task;
196
197 void
198 ao_ignite_set_pins(void)
199 {
200         ao_enable_output(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, AO_IGNITER_DROGUE, 0);
201         ao_enable_output(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, AO_IGNITER_MAIN, 0);
202 }
203
204 void
205 ao_igniter_init(void)
206 {
207         ao_ignite_set_pins();
208         ao_cmd_register(&ao_ignite_cmds[0]);
209         ao_add_task(&ao_igniter_task, ao_igniter, "igniter");
210 }