2 * Copyright © 2012 Keith Packard <keithp@keithp.com>
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.
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.
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.
20 #include <ao_sample.h>
21 #include <ao_flight.h>
24 #include <ao_companion.h>
25 #define ao_accel ao_companion_command.accel
26 #define ao_speed ao_companion_command.speed
27 #define ao_height ao_companion_command.height
28 #define ao_flight_state ao_companion_command.flight_state
29 #define ao_motor_number ao_companion_command.motor_number
32 #define ao_lowbit(x) ((x) & (-x))
35 * Given a pyro structure, figure out
36 * if the current flight state satisfies all
40 ao_pyro_ready(struct ao_pyro *pyro)
42 enum ao_pyro_flag flag, flags;
45 while (flags != ao_pyro_none) {
46 flag = ao_lowbit(flags);
50 case ao_pyro_accel_less:
51 if (ao_accel <= pyro->accel_less)
54 case ao_pyro_accel_greater:
55 if (ao_accel >= pyro->accel_greater)
60 case ao_pyro_speed_less:
61 if (ao_speed <= pyro->speed_less)
64 case ao_pyro_speed_greater:
65 if (ao_speed >= pyro->speed_greater)
69 case ao_pyro_height_less:
70 if (ao_height <= pyro->height_less)
73 case ao_pyro_height_greater:
74 if (ao_height >= pyro->height_greater)
79 case ao_pyro_orient_less:
80 if (ao_orient <= pyro->orient_less)
83 case ao_pyro_orient_greater:
84 if (ao_orient >= pyro->orient_greater)
89 case ao_pyro_time_less:
90 if ((int16_t) (ao_time() - ao_boost_tick) <= pyro->time_less)
93 case ao_pyro_time_greater:
94 if ((int16_t) (ao_time() - ao_boost_tick) >= pyro->time_greater)
98 case ao_pyro_ascending:
102 case ao_pyro_descending:
107 case ao_pyro_after_motor:
108 if (ao_motor_number == pyro->motor)
113 /* handled separately */
116 case ao_pyro_state_less:
117 if (ao_flight_state < pyro->state_less)
120 case ao_pyro_state_greater_or_equal:
121 if (ao_flight_state >= pyro->state_greater_or_equal)
133 #define ao_pyro_fire_port(port, bit, pin) do { \
134 ao_gpio_set(port, bit, pin, 1); \
135 ao_delay(AO_MS_TO_TICKS(50)); \
136 ao_gpio_set(port, bit, pin, 0); \
141 ao_pyro_fire(uint8_t p)
145 case 0: ao_pyro_fire_port(AO_PYRO_PORT_0, AO_PYRO_PIN_0, AO_PYRO_0); break;
148 case 1: ao_pyro_fire_port(AO_PYRO_PORT_1, AO_PYRO_PIN_1, AO_PYRO_1); break;
151 case 2: ao_pyro_fire_port(AO_PYRO_PORT_2, AO_PYRO_PIN_2, AO_PYRO_2); break;
154 case 3: ao_pyro_fire_port(AO_PYRO_PORT_3, AO_PYRO_PIN_3, AO_PYRO_3); break;
157 case 4: ao_pyro_fire_port(AO_PYRO_PORT_4, AO_PYRO_PIN_4, AO_PYRO_4); break;
160 case 5: ao_pyro_fire_port(AO_PYRO_PORT_5, AO_PYRO_PIN_5, AO_PYRO_5); break;
163 case 6: ao_pyro_fire_port(AO_PYRO_PORT_6, AO_PYRO_PIN_6, AO_PYRO_6); break;
166 case 7: ao_pyro_fire_port(AO_PYRO_PORT_7, AO_PYRO_PIN_7, AO_PYRO_7); break;
170 ao_delay(AO_MS_TO_TICKS(50));
173 uint8_t ao_pyro_wakeup;
178 uint8_t p, any_waiting;
179 struct ao_pyro *pyro;
182 while (ao_flight_state < ao_flight_boost)
183 ao_sleep(&ao_flight_state);
186 ao_alarm(AO_MS_TO_TICKS(100));
187 ao_sleep(&ao_pyro_wakeup);
190 for (p = 0; p < AO_PYRO_NUM; p++) {
191 pyro = &ao_config.pyro[p];
193 /* Ignore igniters which have already fired
198 /* Ignore disabled igniters
204 /* Check pyro state to see if it shoule fire
206 if (!pyro->delay_done) {
207 if (!ao_pyro_ready(pyro))
210 /* If there's a delay set, then remember when
213 if (pyro->flags & ao_pyro_delay)
214 pyro->delay_done = ao_time() + pyro->delay;
217 /* Check to see if we're just waiting for
218 * the delay to expire
220 if (pyro->delay_done) {
221 if ((int16_t) (ao_time() - pyro->delay_done) < 0)
233 __xdata struct ao_task ao_pyro_task;
235 #define NO_VALUE 0xff
237 #define AO_PYRO_NAME_LEN 3
240 #define ENABLE_HELP 1
250 char name[AO_PYRO_NAME_LEN];
251 enum ao_pyro_flag flag;
256 } ao_pyro_values[] = {
257 { "a<", ao_pyro_accel_less, offsetof(struct ao_pyro, accel_less), HELP("accel less (m/ss * 16)") },
258 { "a>", ao_pyro_accel_greater, offsetof(struct ao_pyro, accel_greater), HELP("accel greater (m/ss * 16)") },
260 { "s<", ao_pyro_speed_less, offsetof(struct ao_pyro, speed_less), HELP("speed less (m/s * 16)") },
261 { "s>", ao_pyro_speed_greater, offsetof(struct ao_pyro, speed_greater), HELP("speed greater (m/s * 16)") },
263 { "h<", ao_pyro_height_less, offsetof(struct ao_pyro, height_less), HELP("height less (m)") },
264 { "h>", ao_pyro_height_greater, offsetof(struct ao_pyro, height_greater), HELP("height greater (m)") },
267 { "o<", ao_pyro_orient_less, offsetof(struct ao_pyro, orient_less), HELP("orient less (deg)") },
268 { "o>", ao_pyro_orient_greater, offsetof(struct ao_pyro, orient_greater), HELP("orient greater (deg)") },
271 { "t<", ao_pyro_time_less, offsetof(struct ao_pyro, time_less), HELP("time less (s * 100)") },
272 { "t>", ao_pyro_time_greater, offsetof(struct ao_pyro, time_greater), HELP("time greater (s * 100)") },
274 { "f<", ao_pyro_state_less, offsetof(struct ao_pyro, state_less), HELP("state less") },
275 { "f>=",ao_pyro_state_greater_or_equal, offsetof(struct ao_pyro, state_greater_or_equal), HELP("state greater or equal") },
277 { "A", ao_pyro_ascending, NO_VALUE, HELP("ascending") },
278 { "D", ao_pyro_descending, NO_VALUE, HELP("descending") },
280 { "m", ao_pyro_after_motor, offsetof(struct ao_pyro, motor), HELP("after motor") },
282 { "d", ao_pyro_delay, offsetof(struct ao_pyro, delay), HELP("delay before firing (s * 100)") },
283 { "", ao_pyro_none, NO_VALUE, HELP(NULL) },
287 ao_pyro_print_name(uint8_t v)
289 const char *s = ao_pyro_values[v].name;
290 printf ("%s%s", s, " " + strlen(s));
298 for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
299 ao_pyro_print_name(v);
300 if (ao_pyro_values[v].offset != NO_VALUE)
304 printf ("%s\n", ao_pyro_values[v].help);
314 struct ao_pyro *pyro;
316 printf ("Pyro-count: %d\n", AO_PYRO_NUM);
317 for (p = 0; p < AO_PYRO_NUM; p++) {
318 printf ("Pyro %2d: ", p);
319 pyro = &ao_config.pyro[p];
321 printf ("<disabled>\n");
324 for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
325 if (!(pyro->flags & ao_pyro_values[v].flag))
327 ao_pyro_print_name(v);
328 if (ao_pyro_values[v].offset != NO_VALUE) {
331 value = *((int16_t *) ((char *) pyro + ao_pyro_values[v].offset));
332 printf ("%6d ", value);
345 struct ao_pyro pyro_tmp;
346 char name[AO_PYRO_NAME_LEN];
353 switch (ao_cmd_lex_c) {
361 if (ao_cmd_status != ao_cmd_success)
364 if (p < 0 || AO_PYRO_NUM <= p) {
365 printf ("invalid pyro channel %d\n", p);
371 if (ao_cmd_lex_c == '\n')
374 for (c = 0; c < AO_PYRO_NAME_LEN - 1; c++) {
375 if (ao_cmd_is_white())
377 name[c] = ao_cmd_lex_c;
381 for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
382 if (!strcmp (ao_pyro_values[v].name, name))
385 if (ao_pyro_values[v].flag == ao_pyro_none) {
386 printf ("invalid pyro field %s\n", name);
387 ao_cmd_status = ao_cmd_syntax_error;
390 pyro_tmp.flags |= ao_pyro_values[v].flag;
391 if (ao_pyro_values[v].offset != NO_VALUE) {
393 if (ao_cmd_status != ao_cmd_success)
395 *((int16_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
398 _ao_config_edit_start();
399 ao_config.pyro[p] = pyro_tmp;
400 _ao_config_edit_finish();
407 if (!ao_match_word("DoIt"))
411 if (ao_cmd_lex_i < 0 || AO_PYRO_NUM <= ao_cmd_lex_i)
413 ao_pyro_fire(ao_cmd_lex_i);
417 const struct ao_cmds ao_pyro_cmds[] = {
418 { ao_pyro_manual, "P DoIt <n>\0Fire igniter" },
426 ao_enable_output(AO_PYRO_PORT_0, AO_PYRO_PIN_0, AO_PYRO_0, 0);
429 ao_enable_output(AO_PYRO_PORT_1, AO_PYRO_PIN_1, AO_PYRO_1, 0);
432 ao_enable_output(AO_PYRO_PORT_2, AO_PYRO_PIN_2, AO_PYRO_2, 0);
435 ao_enable_output(AO_PYRO_PORT_3, AO_PYRO_PIN_3, AO_PYRO_3, 0);
438 ao_enable_output(AO_PYRO_PORT_4, AO_PYRO_PIN_4, AO_PYRO_4, 0);
441 ao_enable_output(AO_PYRO_PORT_5, AO_PYRO_PIN_5, AO_PYRO_5, 0);
444 ao_enable_output(AO_PYRO_PORT_6, AO_PYRO_PIN_6, AO_PYRO_6, 0);
447 ao_enable_output(AO_PYRO_PORT_7, AO_PYRO_PIN_7, AO_PYRO_7, 0);
449 ao_cmd_register(&ao_pyro_cmds[0]);
450 ao_add_task(&ao_pyro_task, ao_pyro, "pyro");