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 __xdata struct ao_data packet;
42 __pdata int16_t value;
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;
79 #define DBG(...) do { if (pyro_dbg) printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } while (0)
85 * Given a pyro structure, figure out
86 * if the current flight state satisfies all
90 ao_pyro_ready(struct ao_pyro *pyro)
92 enum ao_pyro_flag flag, flags;
95 while (flags != ao_pyro_none) {
96 flag = ao_lowbit(flags);
100 case ao_pyro_accel_less:
101 if (ao_accel <= pyro->accel_less)
103 DBG("accel %d > %d\n", ao_accel, pyro->accel_less);
105 case ao_pyro_accel_greater:
106 if (ao_accel >= pyro->accel_greater)
108 DBG("accel %d < %d\n", ao_accel, pyro->accel_greater);
110 case ao_pyro_speed_less:
111 if (ao_speed <= pyro->speed_less)
113 DBG("speed %d > %d\n", ao_speed, pyro->speed_less);
115 case ao_pyro_speed_greater:
116 if (ao_speed >= pyro->speed_greater)
118 DBG("speed %d < %d\n", ao_speed, pyro->speed_greater);
120 case ao_pyro_height_less:
121 if (ao_height <= pyro->height_less)
123 DBG("height %d > %d\n", ao_height, pyro->height_less);
125 case ao_pyro_height_greater:
126 if (ao_height >= pyro->height_greater)
128 DBG("height %d < %d\n", ao_height, pyro->height_greater);
132 case ao_pyro_orient_less:
133 if (ao_sample_orient <= pyro->orient_less)
135 DBG("orient %d > %d\n", ao_sample_orient, pyro->orient_less);
137 case ao_pyro_orient_greater:
138 if (ao_sample_orient >= pyro->orient_greater)
140 DBG("orient %d < %d\n", ao_sample_orient, pyro->orient_greater);
144 case ao_pyro_time_less:
145 if ((int16_t) (ao_time() - ao_boost_tick) <= pyro->time_less)
147 DBG("time %d > %d\n", (int16_t)(ao_time() - ao_boost_tick), pyro->time_less);
149 case ao_pyro_time_greater:
150 if ((int16_t) (ao_time() - ao_boost_tick) >= pyro->time_greater)
152 DBG("time %d < %d\n", (int16_t)(ao_time() - ao_boost_tick), pyro->time_greater);
155 case ao_pyro_ascending:
158 DBG("not ascending speed %d\n", ao_speed);
160 case ao_pyro_descending:
163 DBG("not descending speed %d\n", ao_speed);
166 case ao_pyro_after_motor:
167 if (ao_motor_number == pyro->motor)
169 DBG("motor %d != %d\n", ao_motor_number, pyro->motor);
173 /* handled separately */
176 case ao_pyro_state_less:
177 if (ao_flight_state < pyro->state_less)
179 DBG("state %d >= %d\n", ao_flight_state, pyro->state_less);
181 case ao_pyro_state_greater_or_equal:
182 if (ao_flight_state >= pyro->state_greater_or_equal)
184 DBG("state %d >= %d\n", ao_flight_state, pyro->state_less);
195 #ifndef AO_FLIGHT_TEST
197 ao_pyro_pin_set(uint8_t p, uint8_t v)
201 case 0: ao_gpio_set(AO_PYRO_PORT_0, AO_PYRO_PIN_0, AO_PYRO_0, v); break;
204 case 1: ao_gpio_set(AO_PYRO_PORT_1, AO_PYRO_PIN_1, AO_PYRO_1, v); break;
207 case 2: ao_gpio_set(AO_PYRO_PORT_2, AO_PYRO_PIN_2, AO_PYRO_2, v); break;
210 case 3: ao_gpio_set(AO_PYRO_PORT_3, AO_PYRO_PIN_3, AO_PYRO_3, v); break;
213 case 4: ao_gpio_set(AO_PYRO_PORT_4, AO_PYRO_PIN_4, AO_PYRO_4, v); break;
216 case 5: ao_gpio_set(AO_PYRO_PORT_5, AO_PYRO_PIN_5, AO_PYRO_5, v); break;
219 case 6: ao_gpio_set(AO_PYRO_PORT_6, AO_PYRO_PIN_6, AO_PYRO_6, v); break;
222 case 7: ao_gpio_set(AO_PYRO_PORT_7, AO_PYRO_PIN_7, AO_PYRO_7, v); break;
229 uint8_t ao_pyro_wakeup;
232 ao_pyro_pins_fire(uint16_t fire)
236 for (p = 0; p < AO_PYRO_NUM; p++) {
238 ao_pyro_pin_set(p, 1);
240 ao_delay(ao_config.pyro_time);
241 for (p = 0; p < AO_PYRO_NUM; p++) {
242 if (fire & (1 << p)) {
243 ao_pyro_pin_set(p, 0);
244 ao_config.pyro[p].fired = 1;
245 ao_pyro_fired |= (1 << p);
248 ao_delay(AO_MS_TO_TICKS(50));
254 struct ao_pyro *pyro;
255 uint8_t p, any_waiting;
259 for (p = 0; p < AO_PYRO_NUM; p++) {
260 pyro = &ao_config.pyro[p];
262 /* Ignore igniters which have already fired
267 /* Ignore disabled igniters
273 /* Check pyro state to see if it should fire
275 if (!pyro->delay_done) {
276 if (!ao_pyro_ready(pyro))
279 /* If there's a delay set, then remember when
282 if (pyro->flags & ao_pyro_delay) {
283 pyro->delay_done = ao_time() + pyro->delay;
284 if (!pyro->delay_done)
285 pyro->delay_done = 1;
289 /* Check to see if we're just waiting for
290 * the delay to expire
292 if (pyro->delay_done) {
294 /* Check to make sure the required conditions
295 * remain valid. If not, inhibit the channel
296 * by setting the fired bit
298 if (!ao_pyro_ready(pyro)) {
303 if ((int16_t) (ao_time() - pyro->delay_done) < 0)
311 ao_pyro_pins_fire(fire);
316 #define NO_VALUE 0xff
318 #define AO_PYRO_NAME_LEN 4
321 #define ENABLE_HELP 1
331 char name[AO_PYRO_NAME_LEN];
332 enum ao_pyro_flag flag;
337 } ao_pyro_values[] = {
338 { "a<", ao_pyro_accel_less, offsetof(struct ao_pyro, accel_less), HELP("accel less (m/ss * 16)") },
339 { "a>", ao_pyro_accel_greater, offsetof(struct ao_pyro, accel_greater), HELP("accel greater (m/ss * 16)") },
341 { "s<", ao_pyro_speed_less, offsetof(struct ao_pyro, speed_less), HELP("speed less (m/s * 16)") },
342 { "s>", ao_pyro_speed_greater, offsetof(struct ao_pyro, speed_greater), HELP("speed greater (m/s * 16)") },
344 { "h<", ao_pyro_height_less, offsetof(struct ao_pyro, height_less), HELP("height less (m)") },
345 { "h>", ao_pyro_height_greater, offsetof(struct ao_pyro, height_greater), HELP("height greater (m)") },
348 { "o<", ao_pyro_orient_less, offsetof(struct ao_pyro, orient_less), HELP("orient less (deg)") },
349 { "o>", ao_pyro_orient_greater, offsetof(struct ao_pyro, orient_greater), HELP("orient greater (deg)") },
352 { "t<", ao_pyro_time_less, offsetof(struct ao_pyro, time_less), HELP("time less (s * 100)") },
353 { "t>", ao_pyro_time_greater, offsetof(struct ao_pyro, time_greater), HELP("time greater (s * 100)") },
355 { "f<", ao_pyro_state_less, offsetof(struct ao_pyro, state_less), HELP("state less") },
356 { "f>=",ao_pyro_state_greater_or_equal, offsetof(struct ao_pyro, state_greater_or_equal), HELP("state greater or equal") },
358 { "A", ao_pyro_ascending, NO_VALUE, HELP("ascending") },
359 { "D", ao_pyro_descending, NO_VALUE, HELP("descending") },
361 { "m", ao_pyro_after_motor, offsetof(struct ao_pyro, motor), HELP("after motor") },
363 { "d", ao_pyro_delay, offsetof(struct ao_pyro, delay), HELP("delay before firing (s * 100)") },
364 { "", ao_pyro_none, NO_VALUE, HELP(NULL) },
367 #define NUM_PYRO_VALUES (sizeof ao_pyro_values / sizeof ao_pyro_values[0])
369 #ifndef AO_FLIGHT_TEST
376 while (ao_flight_state < ao_flight_boost)
377 ao_sleep(&ao_flight_state);
380 ao_sleep_for(&ao_pyro_wakeup, AO_MS_TO_TICKS(100));
381 if (ao_flight_state >= ao_flight_landed)
383 any_waiting = ao_pyro_check();
390 __xdata struct ao_task ao_pyro_task;
394 ao_pyro_print_name(uint8_t v)
396 const char *s = ao_pyro_values[v].name;
397 printf ("%s%s", s, " " + strlen(s));
405 for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
406 ao_pyro_print_name(v);
407 if (ao_pyro_values[v].offset != NO_VALUE)
411 printf ("%s\n", ao_pyro_values[v].help);
421 struct ao_pyro *pyro;
423 printf ("Pyro-count: %d\n", AO_PYRO_NUM);
424 for (p = 0; p < AO_PYRO_NUM; p++) {
425 printf ("Pyro %2d: ", p);
426 pyro = &ao_config.pyro[p];
428 printf ("<disabled>\n");
431 for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
432 if (!(pyro->flags & ao_pyro_values[v].flag))
434 ao_pyro_print_name(v);
435 if (ao_pyro_values[v].offset != NO_VALUE) {
438 if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE)
439 value = *((uint8_t *) ((char *) pyro + ao_pyro_values[v].offset));
441 value = *((int16_t *) (void *) ((char *) pyro + ao_pyro_values[v].offset));
442 printf ("%6d ", value);
455 struct ao_pyro pyro_tmp;
456 char name[AO_PYRO_NAME_LEN];
463 switch (ao_cmd_lex_c) {
471 if (ao_cmd_status != ao_cmd_success)
474 if (AO_PYRO_NUM <= p) {
475 printf ("invalid pyro channel %d\n", p);
478 memset(&pyro_tmp, '\0', sizeof (pyro_tmp));
481 if (ao_cmd_lex_c == '\n')
484 for (c = 0; c < AO_PYRO_NAME_LEN - 1; c++) {
485 if (ao_cmd_is_white())
487 name[c] = ao_cmd_lex_c;
491 for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
492 if (!strcmp (ao_pyro_values[v].name, name))
495 if (ao_pyro_values[v].flag == ao_pyro_none) {
496 printf ("invalid pyro field %s\n", name);
497 ao_cmd_status = ao_cmd_syntax_error;
500 pyro_tmp.flags |= ao_pyro_values[v].flag;
501 if (ao_pyro_values[v].offset != NO_VALUE) {
502 uint8_t negative = 0;
504 if (ao_cmd_lex_c == '-') {
509 if (ao_cmd_status != ao_cmd_success)
511 if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE) {
513 ao_cmd_status = ao_cmd_syntax_error;
516 *((uint8_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
519 ao_cmd_lex_i = -ao_cmd_lex_i;
520 *((int16_t *) (void *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
524 _ao_config_edit_start();
525 ao_config.pyro[p] = pyro_tmp;
526 _ao_config_edit_finish();
530 ao_pyro_manual(uint8_t p)
532 printf ("ao_pyro_manual %d\n", p);
533 if (p >= AO_PYRO_NUM) {
534 ao_cmd_status = ao_cmd_syntax_error;
537 ao_pyro_pins_fire(1 << p);
544 ao_enable_output(AO_PYRO_PORT_0, AO_PYRO_PIN_0, AO_PYRO_0, 0);
547 ao_enable_output(AO_PYRO_PORT_1, AO_PYRO_PIN_1, AO_PYRO_1, 0);
550 ao_enable_output(AO_PYRO_PORT_2, AO_PYRO_PIN_2, AO_PYRO_2, 0);
553 ao_enable_output(AO_PYRO_PORT_3, AO_PYRO_PIN_3, AO_PYRO_3, 0);
556 ao_enable_output(AO_PYRO_PORT_4, AO_PYRO_PIN_4, AO_PYRO_4, 0);
559 ao_enable_output(AO_PYRO_PORT_5, AO_PYRO_PIN_5, AO_PYRO_5, 0);
562 ao_enable_output(AO_PYRO_PORT_6, AO_PYRO_PIN_6, AO_PYRO_6, 0);
565 ao_enable_output(AO_PYRO_PORT_7, AO_PYRO_PIN_7, AO_PYRO_7, 0);
567 ao_add_task(&ao_pyro_task, ao_pyro, "pyro");