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ao_companion: Make time conversion to 16-bits in companion protocol explicit
[fw/altos]
/
src
/
kernel
/
ao_ignite.c
diff --git
a/src/kernel/ao_ignite.c
b/src/kernel/ao_ignite.c
index e4e4843e1cb8383ba1597699988fc0c67a57bf6f..86a116d1f11addecf6d6d0d0009420df19e34266 100644
(file)
--- a/
src/kernel/ao_ignite.c
+++ b/
src/kernel/ao_ignite.c
@@
-75,13
+75,16
@@
ao_igniter_status(enum ao_igniter igniter)
#endif
static void
#endif
static void
-ao_igniter_fire(enum ao_igniter igniter)
+ao_igniter_fire(enum ao_igniter igniter
, bool wait
)
{
if (!ao_ignition[igniter].fired) {
ao_ignition[igniter].firing = 1;
ao_ignition[igniter].fired = 1;
switch (igniter) {
case ao_igniter_drogue:
{
if (!ao_ignition[igniter].fired) {
ao_ignition[igniter].firing = 1;
ao_ignition[igniter].fired = 1;
switch (igniter) {
case ao_igniter_drogue:
+ if (wait && ao_config.apogee_delay &&
+ ao_config.ignite_mode != AO_IGNITE_MODE_MAIN)
+ ao_delay(AO_SEC_TO_TICKS(ao_config.apogee_delay));
AO_IGNITER_SET_DROGUE(1);
ao_delay(AO_IGNITER_FIRE_TIME);
AO_IGNITER_SET_DROGUE(0);
AO_IGNITER_SET_DROGUE(1);
ao_delay(AO_IGNITER_FIRE_TIME);
AO_IGNITER_SET_DROGUE(0);
@@
-93,7
+96,8
@@
ao_igniter_fire(enum ao_igniter igniter)
break;
}
ao_ignition[igniter].firing = 0;
break;
}
ao_ignition[igniter].firing = 0;
- ao_delay(AO_IGNITER_CHARGE_TIME);
+ if (wait)
+ ao_delay(AO_IGNITER_CHARGE_TIME);
}
}
}
}
@@
-111,27
+115,27
@@
ao_igniter(void)
switch(ao_config.ignite_mode) {
case AO_IGNITE_MODE_DUAL:
if (ao_flight_drogue <= ao_flight_state && ao_flight_state < ao_flight_landed)
switch(ao_config.ignite_mode) {
case AO_IGNITE_MODE_DUAL:
if (ao_flight_drogue <= ao_flight_state && ao_flight_state < ao_flight_landed)
- ao_igniter_fire(ao_igniter_drogue);
+ ao_igniter_fire(ao_igniter_drogue
, true
);
if (ao_flight_main <= ao_flight_state && ao_flight_state < ao_flight_landed)
if (ao_flight_main <= ao_flight_state && ao_flight_state < ao_flight_landed)
- ao_igniter_fire(ao_igniter_main);
+ ao_igniter_fire(ao_igniter_main
, true
);
break;
case AO_IGNITE_MODE_APOGEE:
if (ao_flight_drogue <= ao_flight_state && ao_flight_state < ao_flight_landed) {
break;
case AO_IGNITE_MODE_APOGEE:
if (ao_flight_drogue <= ao_flight_state && ao_flight_state < ao_flight_landed) {
- ao_igniter_fire(ao_igniter_drogue);
- ao_igniter_fire(ao_igniter_main);
+ ao_igniter_fire(ao_igniter_drogue
, true
);
+ ao_igniter_fire(ao_igniter_main
, true
);
}
break;
case AO_IGNITE_MODE_MAIN:
if (ao_flight_main <= ao_flight_state && ao_flight_state < ao_flight_landed) {
}
break;
case AO_IGNITE_MODE_MAIN:
if (ao_flight_main <= ao_flight_state && ao_flight_state < ao_flight_landed) {
- ao_igniter_fire(ao_igniter_drogue);
- ao_igniter_fire(ao_igniter_main);
+ ao_igniter_fire(ao_igniter_drogue
, true
);
+ ao_igniter_fire(ao_igniter_main
, true
);
}
break;
case AO_IGNITE_MODE_BOOSTER:
if (ao_flight_fast <= ao_flight_state && ao_flight_state < ao_flight_landed)
}
break;
case AO_IGNITE_MODE_BOOSTER:
if (ao_flight_fast <= ao_flight_state && ao_flight_state < ao_flight_landed)
- ao_igniter_fire(ao_igniter_main);
+ ao_igniter_fire(ao_igniter_main
, true
);
if (ao_flight_drogue <= ao_flight_state && ao_flight_state < ao_flight_landed)
if (ao_flight_drogue <= ao_flight_state && ao_flight_state < ao_flight_landed)
- ao_igniter_fire(ao_igniter_drogue);
+ ao_igniter_fire(ao_igniter_drogue
, true
);
break;
}
}
break;
}
}
@@
-149,12
+153,12
@@
ao_ignite_manual(void)
#if HAS_IGNITE
if (ao_cmd_lex_c == 'm' && ao_match_word("main")) {
ao_ignition[ao_igniter_main].fired = 0;
#if HAS_IGNITE
if (ao_cmd_lex_c == 'm' && ao_match_word("main")) {
ao_ignition[ao_igniter_main].fired = 0;
- ao_igniter_fire(ao_igniter_main);
+ ao_igniter_fire(ao_igniter_main
, false
);
return;
}
if (ao_cmd_lex_c == 'd' && ao_match_word("drogue")) {
ao_ignition[ao_igniter_drogue].fired = 0;
return;
}
if (ao_cmd_lex_c == 'd' && ao_match_word("drogue")) {
ao_ignition[ao_igniter_drogue].fired = 0;
- ao_igniter_fire(ao_igniter_drogue);
+ ao_igniter_fire(ao_igniter_drogue
, false
);
return;
}
#endif
return;
}
#endif