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altos/lpc: Stick USB control structure in USB memory
[fw/altos]
/
src
/
core
/
ao_pyro.c
diff --git
a/src/core/ao_pyro.c
b/src/core/ao_pyro.c
index a1377d21a2b8972b974624ce3a68629772b5ddb3..aac8fda51c7219d6895fce2655ec922b01bf4b9f 100644
(file)
--- a/
src/core/ao_pyro.c
+++ b/
src/core/ao_pyro.c
@@
-20,6
+20,15
@@
#include <ao_sample.h>
#include <ao_flight.h>
#include <ao_sample.h>
#include <ao_flight.h>
+#if IS_COMPANION
+#include <ao_companion.h>
+#define ao_accel ao_companion_command.accel
+#define ao_speed ao_companion_command.speed
+#define ao_height ao_companion_command.height
+#define ao_flight_state ao_companion_command.flight_state
+#define ao_motor_number ao_companion_command.motor_number
+#endif
+
#define ao_lowbit(x) ((x) & (-x))
/*
#define ao_lowbit(x) ((x) & (-x))
/*
@@
-104,6
+113,15
@@
ao_pyro_ready(struct ao_pyro *pyro)
/* handled separately */
continue;
/* handled separately */
continue;
+ case ao_pyro_state_less:
+ if (ao_flight_state < pyro->state_less)
+ continue;
+ break;
+ case ao_pyro_state_greater_or_equal:
+ if (ao_flight_state >= pyro->state_greater_or_equal)
+ continue;
+ break;
+
default:
continue;
}
default:
continue;
}
@@
-152,10
+170,12
@@
ao_pyro_fire(uint8_t p)
ao_delay(AO_MS_TO_TICKS(50));
}
ao_delay(AO_MS_TO_TICKS(50));
}
+uint8_t ao_pyro_wakeup;
+
static void
ao_pyro(void)
{
static void
ao_pyro(void)
{
- uint8_t p;
+ uint8_t p
, any_waiting
;
struct ao_pyro *pyro;
ao_config_get();
struct ao_pyro *pyro;
ao_config_get();
@@
-163,7
+183,10
@@
ao_pyro(void)
ao_sleep(&ao_flight_state);
for (;;) {
ao_sleep(&ao_flight_state);
for (;;) {
- ao_delay(AO_MS_TO_TICKS(100));
+ ao_alarm(AO_MS_TO_TICKS(100));
+ ao_sleep(&ao_pyro_wakeup);
+ ao_clear_alarm();
+ any_waiting = 0;
for (p = 0; p < AO_PYRO_NUM; p++) {
pyro = &ao_config.pyro[p];
for (p = 0; p < AO_PYRO_NUM; p++) {
pyro = &ao_config.pyro[p];
@@
-177,6
+200,7
@@
ao_pyro(void)
if (!pyro->flags)
continue;
if (!pyro->flags)
continue;
+ any_waiting = 1;
/* Check pyro state to see if it shoule fire
*/
if (!pyro->delay_done) {
/* Check pyro state to see if it shoule fire
*/
if (!pyro->delay_done) {
@@
-200,7
+224,10
@@
ao_pyro(void)
ao_pyro_fire(p);
}
ao_pyro_fire(p);
}
+ if (!any_waiting)
+ break;
}
}
+ ao_exit();
}
__xdata struct ao_task ao_pyro_task;
}
__xdata struct ao_task ao_pyro_task;
@@
-244,6
+271,9
@@
const struct {
{ "t<", ao_pyro_time_less, offsetof(struct ao_pyro, time_less), HELP("time less (s * 100)") },
{ "t>", ao_pyro_time_greater, offsetof(struct ao_pyro, time_greater), HELP("time greater (s * 100)") },
{ "t<", ao_pyro_time_less, offsetof(struct ao_pyro, time_less), HELP("time less (s * 100)") },
{ "t>", ao_pyro_time_greater, offsetof(struct ao_pyro, time_greater), HELP("time greater (s * 100)") },
+ { "f<", ao_pyro_state_less, offsetof(struct ao_pyro, state_less), HELP("state less") },
+ { "f>=",ao_pyro_state_greater_or_equal, offsetof(struct ao_pyro, state_greater_or_equal), HELP("state greater or equal") },
+
{ "A", ao_pyro_ascending, NO_VALUE, HELP("ascending") },
{ "D", ao_pyro_descending, NO_VALUE, HELP("descending") },
{ "A", ao_pyro_ascending, NO_VALUE, HELP("ascending") },
{ "D", ao_pyro_descending, NO_VALUE, HELP("descending") },