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 ((int16_t) (ao_time() - ao_launch_tick) <= pyro->time_less)
166 DBG("time %d > %d\n", (int16_t)(ao_time() - ao_launch_tick), pyro->time_less);
168 case ao_pyro_time_greater:
169 if ((int16_t) (ao_time() - ao_launch_tick) >= pyro->time_greater)
171 DBG("time %d < %d\n", (int16_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 ((int16_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);
439 struct ao_pyro *pyro;
441 printf ("Pyro-count: %d\n", AO_PYRO_NUM);
442 for (p = 0; p < AO_PYRO_NUM; p++) {
443 printf ("Pyro %2d: ", p);
444 pyro = &ao_config.pyro[p];
446 printf ("<disabled>\n");
449 for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
450 if (!(pyro->flags & ao_pyro_values[v].flag))
452 ao_pyro_print_name(v);
453 if (ao_pyro_values[v].offset != NO_VALUE) {
456 if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE)
457 value = *((uint8_t *) ((char *) pyro + ao_pyro_values[v].offset));
459 value = *((int16_t *) (void *) ((char *) pyro + ao_pyro_values[v].offset));
460 printf ("%6d ", value);
473 struct ao_pyro pyro_tmp;
474 char name[AO_PYRO_NAME_LEN];
481 switch (ao_cmd_lex_c) {
488 p = ao_cmd_decimal();
489 if (ao_cmd_status != ao_cmd_success)
491 if (AO_PYRO_NUM <= p) {
492 printf ("invalid pyro channel %d\n", p);
495 memset(&pyro_tmp, '\0', sizeof (pyro_tmp));
498 if (ao_cmd_lex_c == '\n')
501 for (c = 0; c < AO_PYRO_NAME_LEN - 1; c++) {
502 if (ao_cmd_is_white() || ao_cmd_lex_c == '\n')
504 name[c] = ao_cmd_lex_c;
508 for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
509 if (!strcmp (ao_pyro_values[v].name, name))
512 if (ao_pyro_values[v].flag == ao_pyro_none) {
513 printf ("invalid pyro field %s\n", name);
514 ao_cmd_status = ao_cmd_syntax_error;
517 pyro_tmp.flags |= ao_pyro_values[v].flag;
518 if (ao_pyro_values[v].offset != NO_VALUE) {
521 if (ao_cmd_lex_c == '-') {
525 r *= ao_cmd_decimal();
526 if (ao_cmd_status != ao_cmd_success)
528 if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE) {
530 ao_cmd_status = ao_cmd_syntax_error;
533 *((uint8_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = r;
535 *((int16_t *) (void *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = r;
539 _ao_config_edit_start();
540 ao_config.pyro[p] = pyro_tmp;
541 _ao_config_edit_finish();
545 ao_pyro_manual(uint8_t p)
547 printf ("ao_pyro_manual %d\n", p);
548 if (p >= AO_PYRO_NUM) {
549 ao_cmd_status = ao_cmd_syntax_error;
552 ao_pyro_pins_fire(1 << p);
559 ao_enable_output(AO_PYRO_PORT_0, AO_PYRO_PIN_0, 0);
562 ao_enable_output(AO_PYRO_PORT_1, AO_PYRO_PIN_1, 0);
565 ao_enable_output(AO_PYRO_PORT_2, AO_PYRO_PIN_2, 0);
568 ao_enable_output(AO_PYRO_PORT_3, AO_PYRO_PIN_3, 0);
571 ao_enable_output(AO_PYRO_PORT_4, AO_PYRO_PIN_4, 0);
574 ao_enable_output(AO_PYRO_PORT_5, AO_PYRO_PIN_5, 0);
577 ao_enable_output(AO_PYRO_PORT_6, AO_PYRO_PIN_6, 0);
580 ao_enable_output(AO_PYRO_PORT_7, AO_PYRO_PIN_7, 0);
582 ao_add_task(&ao_pyro_task, ao_pyro, "pyro");