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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_flight.h>
  20 #include <ao_sample.h>
  21
  22 #define BIT(i,x)           ((x) ? (1 << (i)) : 0)
  23 #define MORSE1(a)          (1 | BIT(3,a))
  24 #define MORSE2(a,b)        (2 | BIT(3,a) | BIT(4,b))
  25 #define MORSE3(a,b,c)      (3 | BIT(3,a) | BIT(4,b) | BIT(5,c))
  26 #define MORSE4(a,b,c,d)    (4 | BIT(3,a) | BIT(4,b) | BIT(5,c) | BIT(6,d))
  27 #define MORSE5(a,b,c,d,e)  (5 | BIT(3,a) | BIT(4,b) | BIT(5,c) | BIT(6,d) | BIT(7,e))
  28
  29 static const uint8_t flight_reports[] = {
  30         MORSE3(0,0,0),          /* startup, 'S' */
  31         MORSE2(0,0),            /* idle 'I' */
  32         MORSE4(0,1,1,0),        /* pad 'P' */
  33         MORSE4(1,0,0,0),        /* boost 'B' */
  34         MORSE4(0,0,1,0),        /* fast 'F' */
  35         MORSE4(1,0,1,0),        /* coast 'C' */
  36         MORSE3(1,0,0),          /* drogue 'D' */
  37         MORSE2(1,1),            /* main 'M' */
  38         MORSE4(0,1,0,0),        /* landed 'L' */
  39         MORSE4(1,0,0,1),        /* invalid 'X' */
  40 };
  41
  42 #if HAS_BEEP
  43 #define low(time)       ao_beep_for(AO_BEEP_LOW, time)
  44 #define mid(time)       ao_beep_for(AO_BEEP_MID, time)
  45 #define high(time)      ao_beep_for(AO_BEEP_HIGH, time)
  46 #else
  47 #define low(time)       ao_led_for(AO_LED_GREEN, time)
  48 #define mid(time)       ao_led_for(AO_LED_RED, time)
  49 #define high(time)      ao_led_for(AO_LED_GREEN|AO_LED_RED, time)
  50 #endif
  51 #define pause(time)     ao_delay(time)
  52
  53 static __pdata enum ao_flight_state ao_report_state;
  54
  55 static void
  56 ao_report_beep(void) __reentrant
  57 {
  58         uint8_t r = flight_reports[ao_flight_state];
  59         uint8_t l = r & 7;
  60
  61         if (!r)
  62                 return;
  63         while (l--) {
  64                 if (r & 8)
  65                         mid(AO_MS_TO_TICKS(600));
  66                 else
  67                         mid(AO_MS_TO_TICKS(200));
  68                 pause(AO_MS_TO_TICKS(200));
  69                 r >>= 1;
  70         }
  71         pause(AO_MS_TO_TICKS(400));
  72 }
  73
  74 static void
  75 ao_report_digit(uint8_t digit) __reentrant
  76 {
  77         if (!digit) {
  78                 mid(AO_MS_TO_TICKS(500));
  79                 pause(AO_MS_TO_TICKS(200));
  80         } else {
  81                 while (digit--) {
  82                         mid(AO_MS_TO_TICKS(200));
  83                         pause(AO_MS_TO_TICKS(200));
  84                 }
  85         }
  86         pause(AO_MS_TO_TICKS(300));
  87 }
  88
  89 static void
  90 ao_report_altitude(void)
  91 {
  92         __pdata int16_t agl = ao_max_height;
  93         __xdata uint8_t digits[10];
  94         __pdata uint8_t ndigits, i;
  95
  96         if (agl < 0)
  97                 agl = 0;
  98         ndigits = 0;
  99         do {
 100                 digits[ndigits++] = agl % 10;
 101                 agl /= 10;
 102         } while (agl);
 103
 104         i = ndigits;
 105         do
 106                 ao_report_digit(digits[--i]);
 107         while (i != 0);
 108 }
 109
 110 #if HAS_IGNITE_REPORT
 111 static uint8_t
 112 ao_report_igniter_ready(enum ao_igniter igniter)
 113 {
 114         return ao_igniter_status(igniter) == ao_igniter_ready ? 1 : 0;
 115 }
 116
 117 uint8_t
 118 ao_report_igniter(void)
 119 {
 120         return (ao_report_igniter_ready(ao_igniter_drogue) |
 121                      (ao_report_igniter_ready(ao_igniter_main) << 1));
 122 }
 123
 124 static void
 125 ao_report_continuity(void) __reentrant
 126 {
 127         uint8_t c;
 128
 129 #if !HAS_IGNITE
 130         if (!ao_igniter_present)
 131                 return;
 132 #endif
 133         c = ao_report_igniter();
 134         if (c) {
 135                 while (c--) {
 136                         high(AO_MS_TO_TICKS(25));
 137                         pause(AO_MS_TO_TICKS(100));
 138                 }
 139         } else {
 140                 c = 10;
 141                 while (c--) {
 142                         high(AO_MS_TO_TICKS(20));
 143                         low(AO_MS_TO_TICKS(20));
 144                 }
 145         }
 146 #if HAS_LOG
 147         if (ao_log_full()) {
 148                 pause(AO_MS_TO_TICKS(100));
 149                 c = 2;
 150                 while (c--) {
 151                         low(AO_MS_TO_TICKS(100));
 152                         mid(AO_MS_TO_TICKS(100));
 153                         high(AO_MS_TO_TICKS(100));
 154                         mid(AO_MS_TO_TICKS(100));
 155                 }
 156         }
 157 #endif
 158 }
 159 #endif
 160
 161 void
 162 ao_report(void)
 163 {
 164         ao_report_state = ao_flight_state;
 165         for(;;) {
 166                 ao_report_beep();
 167                 if (ao_flight_state == ao_flight_landed) {
 168                         ao_report_altitude();
 169 #if HAS_FLIGHT
 170                         ao_delay(AO_SEC_TO_TICKS(5));
 171                         continue;
 172 #endif
 173                 }
 174 #if HAS_IGNITE_REPORT
 175                 if (ao_flight_state == ao_flight_idle)
 176                         ao_report_continuity();
 177                 while (ao_flight_state == ao_flight_pad) {
 178                         uint8_t c;
 179                         ao_report_continuity();
 180                         c = 50;
 181                         while (c-- && ao_flight_state == ao_flight_pad)
 182                                 pause(AO_MS_TO_TICKS(100));
 183                 }
 184 #endif
 185
 186                 while (ao_report_state == ao_flight_state)
 187                         ao_sleep(DATA_TO_XDATA(&ao_flight_state));
 188                 ao_report_state = ao_flight_state;
 189         }
 190 }
 191
 192 static __xdata struct ao_task ao_report_task;
 193
 194 void
 195 ao_report_init(void)
 196 {
 197         ao_add_task(&ao_report_task, ao_report, "report");
 198 }