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altos: Make cmd number parsing functions return value
[fw/altos]
/
src
/
kernel
/
ao_pyro.c
diff --git
a/src/kernel/ao_pyro.c
b/src/kernel/ao_pyro.c
index e5c30eec42da6e1504880684f773da59760bd482..173cf8a3254f4b523d1633b2aa295fca08792a43 100644
(file)
--- a/
src/kernel/ao_pyro.c
+++ b/
src/kernel/ao_pyro.c
@@
-38,8
+38,8
@@
enum ao_igniter_status
ao_pyro_status(uint8_t p)
{
enum ao_igniter_status
ao_pyro_status(uint8_t p)
{
-
__xdata
struct ao_data packet;
-
__pdata
int16_t value;
+ struct ao_data packet;
+ int16_t value;
ao_arch_critical(
ao_data_get(&packet);
ao_arch_critical(
ao_data_get(&packet);
@@
-81,6
+81,19
@@
int pyro_dbg;
#define DBG(...)
#endif
#define DBG(...)
#endif
+static angle_t
+ao_sample_max_orient(void)
+{
+ uint8_t i;
+ angle_t max = ao_sample_orients[0];
+
+ for (i = 1; i < AO_NUM_ORIENT; i++) {
+ angle_t a = ao_sample_orients[i];
+ if (a > max)
+ max = a;
+ }
+ return max;
+}
/*
* Given a pyro structure, figure out
* if the current flight state satisfies all
/*
* Given a pyro structure, figure out
* if the current flight state satisfies all
@@
-90,6
+103,9
@@
static uint8_t
ao_pyro_ready(struct ao_pyro *pyro)
{
enum ao_pyro_flag flag, flags;
ao_pyro_ready(struct ao_pyro *pyro)
{
enum ao_pyro_flag flag, flags;
+#if HAS_GYRO
+ angle_t max_orient;
+#endif
flags = pyro->flags;
while (flags != ao_pyro_none) {
flags = pyro->flags;
while (flags != ao_pyro_none) {
@@
-130,26
+146,28
@@
ao_pyro_ready(struct ao_pyro *pyro)
#if HAS_GYRO
case ao_pyro_orient_less:
#if HAS_GYRO
case ao_pyro_orient_less:
- if (ao_sample_orient <= pyro->orient_less)
+ max_orient = ao_sample_max_orient();
+ if (max_orient <= pyro->orient_less)
continue;
continue;
- DBG("orient %d > %d\n",
ao_sample
_orient, pyro->orient_less);
+ DBG("orient %d > %d\n",
max
_orient, pyro->orient_less);
break;
case ao_pyro_orient_greater:
break;
case ao_pyro_orient_greater:
- if (ao_sample_orient >= pyro->orient_greater)
+ max_orient = ao_sample_max_orient();
+ if (max_orient >= pyro->orient_greater)
continue;
continue;
- DBG("orient %d < %d\n",
ao_sample
_orient, pyro->orient_greater);
+ DBG("orient %d < %d\n",
max
_orient, pyro->orient_greater);
break;
#endif
case ao_pyro_time_less:
break;
#endif
case ao_pyro_time_less:
- if ((int16_t) (ao_time() - ao_
boost
_tick) <= pyro->time_less)
+ if ((int16_t) (ao_time() - ao_
launch
_tick) <= pyro->time_less)
continue;
continue;
- DBG("time %d > %d\n", (int16_t)(ao_time() - ao_
boost
_tick), pyro->time_less);
+ DBG("time %d > %d\n", (int16_t)(ao_time() - ao_
launch
_tick), pyro->time_less);
break;
case ao_pyro_time_greater:
break;
case ao_pyro_time_greater:
- if ((int16_t) (ao_time() - ao_
boost
_tick) >= pyro->time_greater)
+ if ((int16_t) (ao_time() - ao_
launch
_tick) >= pyro->time_greater)
continue;
continue;
- DBG("time %d < %d\n", (int16_t)(ao_time() - ao_
boost
_tick), pyro->time_greater);
+ DBG("time %d < %d\n", (int16_t)(ao_time() - ao_
launch
_tick), pyro->time_greater);
break;
case ao_pyro_ascending:
break;
case ao_pyro_ascending:
@@
-164,7
+182,7
@@
ao_pyro_ready(struct ao_pyro *pyro)
break;
case ao_pyro_after_motor:
break;
case ao_pyro_after_motor:
- if (ao_motor_number
=
= pyro->motor)
+ if (ao_motor_number
>
= pyro->motor)
continue;
DBG("motor %d != %d\n", ao_motor_number, pyro->motor);
break;
continue;
DBG("motor %d != %d\n", ao_motor_number, pyro->motor);
break;
@@
-386,7
+404,7
@@
ao_pyro(void)
ao_exit();
}
ao_exit();
}
-
__xdata
struct ao_task ao_pyro_task;
+struct ao_task ao_pyro_task;
static void
static void
@@
-466,10
+484,9
@@
ao_pyro_set(void)
}
#endif
}
#endif
- ao_cmd_decimal();
+
p =
ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
if (ao_cmd_status != ao_cmd_success)
return;
- p = ao_cmd_lex_i;
if (AO_PYRO_NUM <= p) {
printf ("invalid pyro channel %d\n", p);
return;
if (AO_PYRO_NUM <= p) {
printf ("invalid pyro channel %d\n", p);
return;
@@
-498,25
+515,23
@@
ao_pyro_set(void)
}
pyro_tmp.flags |= ao_pyro_values[v].flag;
if (ao_pyro_values[v].offset != NO_VALUE) {
}
pyro_tmp.flags |= ao_pyro_values[v].flag;
if (ao_pyro_values[v].offset != NO_VALUE) {
-
uint8_t negative = 0
;
+
int16_t r = 1
;
ao_cmd_white();
if (ao_cmd_lex_c == '-') {
ao_cmd_white();
if (ao_cmd_lex_c == '-') {
-
negative =
1;
+
r = -
1;
ao_cmd_lex();
}
ao_cmd_lex();
}
- ao_cmd_decimal();
+
r *=
ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE) {
if (ao_cmd_status != ao_cmd_success)
return;
if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE) {
- if (
negative
) {
+ if (
r < 0
) {
ao_cmd_status = ao_cmd_syntax_error;
return;
}
ao_cmd_status = ao_cmd_syntax_error;
return;
}
- *((uint8_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) =
ao_cmd_lex_i
;
+ *((uint8_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) =
r
;
} else {
} else {
- if (negative)
- ao_cmd_lex_i = -ao_cmd_lex_i;
- *((int16_t *) (void *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
+ *((int16_t *) (void *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = r;
}
}
}
}
}
}