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; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
19 #ifndef AO_FLIGHT_TEST
21 #include <ao_sample.h>
22 #include <ao_flight.h>
27 #include <ao_companion.h>
28 #define ao_accel ao_companion_command.accel
29 #define ao_speed ao_companion_command.speed
30 #define ao_height ao_companion_command.height
31 #define ao_flight_state ao_companion_command.flight_state
32 #define ao_motor_number ao_companion_command.motor_number
35 #define ao_lowbit(x) ((x) & (-x))
37 #ifndef AO_FLIGHT_TEST
38 enum ao_igniter_status
39 ao_pyro_status(uint8_t p)
41 struct ao_data packet;
48 value = (AO_IGNITER_CLOSED>>1);
49 value = AO_SENSE_PYRO(&packet, p);
50 if (value < AO_IGNITER_OPEN)
51 return ao_igniter_open;
52 else if (value > AO_IGNITER_CLOSED)
53 return ao_igniter_ready;
55 return ao_igniter_unknown;
59 ao_pyro_print_status(void)
63 for(p = 0; p < AO_PYRO_NUM; p++) {
64 enum ao_igniter_status status = ao_pyro_status(p);
65 printf("Igniter: %d Status: %s\n",
66 p, ao_igniter_status_names[status]);
71 uint16_t ao_pyro_fired;
72 uint16_t ao_pyro_inhibited;
80 #define DBG(...) do { if (pyro_dbg) { printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } } while (0)
86 ao_sample_max_orient(void)
89 angle_t max = ao_sample_orients[0];
91 for (i = 1; i < AO_NUM_ORIENT; i++) {
92 angle_t a = ao_sample_orients[i];
99 * Given a pyro structure, figure out
100 * if the current flight state satisfies all
101 * of the requirements
104 ao_pyro_ready(struct ao_pyro *pyro)
106 enum ao_pyro_flag flag, flags;
112 while (flags != ao_pyro_none) {
113 flag = ao_lowbit(flags);
117 case ao_pyro_accel_less:
118 if (ao_accel <= pyro->accel_less)
120 DBG("accel %d > %d\n", ao_accel, pyro->accel_less);
122 case ao_pyro_accel_greater:
123 if (ao_accel >= pyro->accel_greater)
125 DBG("accel %d < %d\n", ao_accel, pyro->accel_greater);
127 case ao_pyro_speed_less:
128 if (ao_speed <= pyro->speed_less)
130 DBG("speed %d > %d\n", ao_speed, pyro->speed_less);
132 case ao_pyro_speed_greater:
133 if (ao_speed >= pyro->speed_greater)
135 DBG("speed %d < %d\n", ao_speed, pyro->speed_greater);
137 case ao_pyro_height_less:
138 if (ao_height <= pyro->height_less)
140 DBG("height %d > %d\n", ao_height, pyro->height_less);
142 case ao_pyro_height_greater:
143 if (ao_height >= pyro->height_greater)
145 DBG("height %d < %d\n", ao_height, pyro->height_greater);
149 case ao_pyro_orient_less:
150 max_orient = ao_sample_max_orient();
151 if (max_orient <= pyro->orient_less)
153 DBG("orient %d > %d\n", max_orient, pyro->orient_less);
155 case ao_pyro_orient_greater:
156 max_orient = ao_sample_max_orient();
157 if (max_orient >= pyro->orient_greater)
159 DBG("orient %d < %d\n", max_orient, pyro->orient_greater);
163 case ao_pyro_time_less:
164 if ((int32_t) (ao_time() - ao_launch_tick) <= pyro->time_less)
166 DBG("time %d > %d\n", (int32_t)(ao_time() - ao_launch_tick), pyro->time_less);
168 case ao_pyro_time_greater:
169 if ((int32_t) (ao_time() - ao_launch_tick) >= pyro->time_greater)
171 DBG("time %d < %d\n", (int32_t)(ao_time() - ao_launch_tick), pyro->time_greater);
174 case ao_pyro_ascending:
177 DBG("not ascending speed %d\n", ao_speed);
179 case ao_pyro_descending:
182 DBG("not descending speed %d\n", ao_speed);
185 case ao_pyro_after_motor:
186 if (ao_motor_number >= pyro->motor)
188 DBG("motor %d != %d\n", ao_motor_number, pyro->motor);
192 /* handled separately */
195 case ao_pyro_state_less:
196 if (ao_flight_state < pyro->state_less)
198 DBG("state %d >= %d\n", ao_flight_state, pyro->state_less);
200 case ao_pyro_state_greater_or_equal:
201 if (ao_flight_state >= pyro->state_greater_or_equal)
203 DBG("state %d < %d\n", ao_flight_state, pyro->state_greater_or_equal);
214 #ifndef AO_FLIGHT_TEST
216 ao_pyro_pin_set(uint8_t p, uint8_t v)
220 case 0: ao_gpio_set(AO_PYRO_PORT_0, AO_PYRO_PIN_0, v); break;
223 case 1: ao_gpio_set(AO_PYRO_PORT_1, AO_PYRO_PIN_1, v); break;
226 case 2: ao_gpio_set(AO_PYRO_PORT_2, AO_PYRO_PIN_2, v); break;
229 case 3: ao_gpio_set(AO_PYRO_PORT_3, AO_PYRO_PIN_3, v); break;
232 case 4: ao_gpio_set(AO_PYRO_PORT_4, AO_PYRO_PIN_4, v); break;
235 case 5: ao_gpio_set(AO_PYRO_PORT_5, AO_PYRO_PIN_5, v); break;
238 case 6: ao_gpio_set(AO_PYRO_PORT_6, AO_PYRO_PIN_6, v); break;
241 case 7: ao_gpio_set(AO_PYRO_PORT_7, AO_PYRO_PIN_7, v); break;
248 uint8_t ao_pyro_wakeup;
251 ao_pyro_pins_fire(uint16_t fire)
255 for (p = 0; p < AO_PYRO_NUM; p++) {
257 ao_pyro_pin_set(p, 1);
259 ao_delay(ao_config.pyro_time);
260 for (p = 0; p < AO_PYRO_NUM; p++) {
262 ao_pyro_pin_set(p, 0);
264 ao_delay(AO_MS_TO_TICKS(50));
270 struct ao_pyro *pyro;
271 uint8_t p, any_waiting;
275 for (p = 0; p < AO_PYRO_NUM; p++) {
276 pyro = &ao_config.pyro[p];
278 /* Ignore igniters which have already fired or inhibited
280 if ((ao_pyro_fired|ao_pyro_inhibited) & (1 << p))
283 /* Ignore disabled igniters
289 /* Check pyro state to see if it should fire
291 if (!pyro->delay_done) {
292 if (!ao_pyro_ready(pyro))
295 /* If there's a delay set, then remember when
298 if (pyro->flags & ao_pyro_delay) {
299 pyro->delay_done = ao_time() + pyro->delay;
300 if (!pyro->delay_done)
301 pyro->delay_done = 1;
305 /* Check to see if we're just waiting for
306 * the delay to expire
308 if (pyro->delay_done) {
310 /* Check to make sure the required conditions
311 * remain valid. If not, inhibit the channel
312 * by setting the inhibited bit
314 if (!ao_pyro_ready(pyro)) {
315 ao_pyro_inhibited |= (1 << p);
319 if ((int32_t) (ao_time() - pyro->delay_done) < 0)
327 ao_pyro_fired |= fire;
328 ao_pyro_pins_fire(fire);
334 #define NO_VALUE 0xff
336 #define AO_PYRO_NAME_LEN 4
339 #define ENABLE_HELP 1
349 char name[AO_PYRO_NAME_LEN];
350 enum ao_pyro_flag flag;
355 } ao_pyro_values[] = {
356 { "a<", ao_pyro_accel_less, offsetof(struct ao_pyro, accel_less), HELP("accel less (m/ss * 16)") },
357 { "a>", ao_pyro_accel_greater, offsetof(struct ao_pyro, accel_greater), HELP("accel greater (m/ss * 16)") },
359 { "s<", ao_pyro_speed_less, offsetof(struct ao_pyro, speed_less), HELP("speed less (m/s * 16)") },
360 { "s>", ao_pyro_speed_greater, offsetof(struct ao_pyro, speed_greater), HELP("speed greater (m/s * 16)") },
362 { "h<", ao_pyro_height_less, offsetof(struct ao_pyro, height_less), HELP("height less (m)") },
363 { "h>", ao_pyro_height_greater, offsetof(struct ao_pyro, height_greater), HELP("height greater (m)") },
366 { "o<", ao_pyro_orient_less, offsetof(struct ao_pyro, orient_less), HELP("orient less (deg)") },
367 { "o>", ao_pyro_orient_greater, offsetof(struct ao_pyro, orient_greater), HELP("orient greater (deg)") },
370 { "t<", ao_pyro_time_less, offsetof(struct ao_pyro, time_less), HELP("time less (s * 100)") },
371 { "t>", ao_pyro_time_greater, offsetof(struct ao_pyro, time_greater), HELP("time greater (s * 100)") },
373 { "f<", ao_pyro_state_less, offsetof(struct ao_pyro, state_less), HELP("state less") },
374 { "f>=",ao_pyro_state_greater_or_equal, offsetof(struct ao_pyro, state_greater_or_equal), HELP("state greater or equal") },
376 { "A", ao_pyro_ascending, NO_VALUE, HELP("ascending") },
377 { "D", ao_pyro_descending, NO_VALUE, HELP("descending") },
379 { "m", ao_pyro_after_motor, offsetof(struct ao_pyro, motor), HELP("after motor") },
381 { "d", ao_pyro_delay, offsetof(struct ao_pyro, delay), HELP("delay before firing (s * 100)") },
382 { "", ao_pyro_none, NO_VALUE, HELP(NULL) },
385 #define NUM_PYRO_VALUES (sizeof ao_pyro_values / sizeof ao_pyro_values[0])
387 #ifndef AO_FLIGHT_TEST
394 while (ao_flight_state < ao_flight_boost)
395 ao_sleep(&ao_flight_state);
398 ao_sleep_for(&ao_pyro_wakeup, AO_MS_TO_TICKS(100));
399 if (ao_flight_state >= ao_flight_landed)
401 any_waiting = ao_pyro_check();
408 struct ao_task ao_pyro_task;
412 ao_pyro_print_name(uint8_t v)
414 const char *s = ao_pyro_values[v].name;
415 printf ("%s%s", s, " " + strlen(s));
423 for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
424 ao_pyro_print_name(v);
425 if (ao_pyro_values[v].offset != NO_VALUE)
429 printf ("%s\n", ao_pyro_values[v].help);
435 ao_pyro_get(void *base, uint8_t offset, uint8_t size)
440 value = *((uint8_t *) ((char *) base + offset));
444 value = *((int16_t *) (void *) ((char *) base + offset));
447 value = *((int32_t *) (void *) ((char *) base + offset));
454 ao_pyro_put(void *base, uint8_t offset, uint8_t size, int32_t value)
460 *((uint8_t *) ((char *) base + offset)) = value;
464 *((int16_t *) (void *) ((char *) base + offset)) = value;
467 *((int32_t *) (void *) ((char *) base + offset)) = value;
474 ao_pyro_size(enum ao_pyro_flag flag)
476 if (flag & AO_PYRO_8_BIT_VALUE)
478 if (flag & AO_PYRO_32_BIT_VALUE)
488 struct ao_pyro *pyro;
490 printf ("Pyro-count: %d\n", AO_PYRO_NUM);
491 for (p = 0; p < AO_PYRO_NUM; p++) {
492 printf ("Pyro %2d: ", p);
493 pyro = &ao_config.pyro[p];
495 printf ("<disabled>\n");
498 for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
499 if (!(pyro->flags & ao_pyro_values[v].flag))
501 ao_pyro_print_name(v);
502 if (ao_pyro_values[v].offset != NO_VALUE) {
504 (long) ao_pyro_get(pyro,
505 ao_pyro_values[v].offset,
506 ao_pyro_size(ao_pyro_values[v].flag)));
519 struct ao_pyro pyro_tmp;
520 char name[AO_PYRO_NAME_LEN];
527 switch (ao_cmd_lex_c) {
534 p = ao_cmd_decimal();
535 if (ao_cmd_status != ao_cmd_success)
537 if (AO_PYRO_NUM <= p) {
538 printf ("invalid pyro channel %d\n", p);
541 memset(&pyro_tmp, '\0', sizeof (pyro_tmp));
544 if (ao_cmd_lex_c == '\n')
547 for (c = 0; c < AO_PYRO_NAME_LEN - 1; c++) {
548 if (ao_cmd_is_white() || ao_cmd_lex_c == '\n')
550 name[c] = ao_cmd_lex_c;
554 for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
555 if (!strcmp (ao_pyro_values[v].name, name))
558 if (ao_pyro_values[v].flag == ao_pyro_none) {
559 printf ("invalid pyro field %s\n", name);
560 ao_cmd_status = ao_cmd_syntax_error;
563 pyro_tmp.flags |= ao_pyro_values[v].flag;
564 if (ao_pyro_values[v].offset != NO_VALUE) {
567 if (ao_cmd_lex_c == '-') {
571 r *= ao_cmd_decimal();
572 if (ao_cmd_status != ao_cmd_success)
574 if (!ao_pyro_put(&pyro_tmp, ao_pyro_values[v].offset,
575 ao_pyro_size(ao_pyro_values[v].flag), r))
577 ao_cmd_status = ao_cmd_syntax_error;
582 _ao_config_edit_start();
583 ao_config.pyro[p] = pyro_tmp;
584 _ao_config_edit_finish();
588 ao_pyro_manual(uint8_t p)
590 printf ("ao_pyro_manual %d\n", p);
591 if (p >= AO_PYRO_NUM) {
592 ao_cmd_status = ao_cmd_syntax_error;
595 ao_pyro_pins_fire(1 << p);
598 struct ao_pyro_old_values {
599 enum ao_pyro_flag flag;
604 static const struct ao_pyro_old_values ao_pyro_1_24_values[] = {
605 { .flag = ao_pyro_accel_less, .offset = offsetof(struct ao_pyro_1_24, accel_less), 16 },
606 { .flag = ao_pyro_accel_greater, .offset = offsetof(struct ao_pyro_1_24, accel_greater), 16 },
607 { .flag = ao_pyro_speed_less, .offset = offsetof(struct ao_pyro_1_24, speed_less), 16 },
608 { .flag = ao_pyro_speed_greater, .offset = offsetof(struct ao_pyro_1_24, speed_greater), 16 },
609 { .flag = ao_pyro_height_less, .offset = offsetof(struct ao_pyro_1_24, height_less), 16 },
610 { .flag = ao_pyro_height_greater, .offset = offsetof(struct ao_pyro_1_24, height_greater), 16 },
611 { .flag = ao_pyro_orient_less, .offset = offsetof(struct ao_pyro_1_24, orient_less), 16 },
612 { .flag = ao_pyro_orient_greater, .offset = offsetof(struct ao_pyro_1_24, orient_greater), 16 },
613 { .flag = ao_pyro_time_less, .offset = offsetof(struct ao_pyro_1_24, time_less), 16 },
614 { .flag = ao_pyro_time_greater, .offset = offsetof(struct ao_pyro_1_24, time_greater), 16 },
615 { .flag = ao_pyro_delay, .offset = offsetof(struct ao_pyro_1_24, delay), 16 },
616 { .flag = ao_pyro_state_less, .offset = offsetof(struct ao_pyro_1_24, state_less), 8 },
617 { .flag = ao_pyro_state_greater_or_equal, .offset = offsetof(struct ao_pyro_1_24, state_greater_or_equal), 8 },
618 { .flag = ao_pyro_after_motor, .offset = offsetof(struct ao_pyro_1_24, motor), 16 },
621 #define NUM_PYRO_1_24_VALUES (sizeof ao_pyro_1_24_values / sizeof ao_pyro_1_24_values[0])
624 ao_pyro_get_1_24(void *base, enum ao_pyro_flag flag)
628 for (v = 0; v < NUM_PYRO_1_24_VALUES; v++) {
629 if (ao_pyro_1_24_values[v].flag == flag)
630 return ao_pyro_get(base, ao_pyro_1_24_values[v].offset, ao_pyro_1_24_values[v].size);
636 ao_pyro_update_version(void)
638 if (ao_config.minor <= 24)
641 /* First, move all of the config bits that follow the pyro data */
643 char *pyro_base = (void *) &ao_config.pyro;
644 char *after_pyro_new = pyro_base + AO_PYRO_NUM * sizeof (struct ao_pyro);
645 char *after_pyro_1_24 = pyro_base + AO_PYRO_NUM * sizeof (struct ao_pyro_1_24);
646 char *config_end = (void *) (&ao_config + 1);
647 size_t to_move = config_end - after_pyro_new;
649 memmove(after_pyro_new, after_pyro_1_24, to_move);
651 /* Now, adjust all of the pyro entries */
653 struct ao_pyro *pyro_new = ao_config.pyro;
654 struct ao_pyro_1_24 *pyro_old = (void *) ao_config.pyro;
658 /* New struct is larger than the old, so start at the
659 * last one and work towards the first
666 memset(&tmp, '\0', sizeof(tmp));
667 tmp.flags = pyro_old[p].flags;
669 for (v = 0; v < NUM_PYRO_VALUES; v++)
671 value = ao_pyro_get_1_24(&pyro_old[v], ao_pyro_values[v].flag);
672 ao_pyro_put(&tmp, ao_pyro_values[v].offset,
673 ao_pyro_size(ao_pyro_values[v].flag), value);
675 memcpy(&pyro_new[p], &tmp, sizeof(tmp));
684 ao_enable_output(AO_PYRO_PORT_0, AO_PYRO_PIN_0, 0);
687 ao_enable_output(AO_PYRO_PORT_1, AO_PYRO_PIN_1, 0);
690 ao_enable_output(AO_PYRO_PORT_2, AO_PYRO_PIN_2, 0);
693 ao_enable_output(AO_PYRO_PORT_3, AO_PYRO_PIN_3, 0);
696 ao_enable_output(AO_PYRO_PORT_4, AO_PYRO_PIN_4, 0);
699 ao_enable_output(AO_PYRO_PORT_5, AO_PYRO_PIN_5, 0);
702 ao_enable_output(AO_PYRO_PORT_6, AO_PYRO_PIN_6, 0);
705 ao_enable_output(AO_PYRO_PORT_7, AO_PYRO_PIN_7, 0);
707 ao_add_task(&ao_pyro_task, ao_pyro, "pyro");