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altos: Allow use of ADXL375 as IMU
[fw/altos]
/
src
/
kernel
/
ao_report.c
diff --git
a/src/kernel/ao_report.c
b/src/kernel/ao_report.c
index 08967af8450f3f2701b82e3c3df146e801dfa5e1..26604d1ad4d784a96318dae4e8115327fe702cbc 100644
(file)
--- a/
src/kernel/ao_report.c
+++ b/
src/kernel/ao_report.c
@@
-40,6
+40,8
@@
static const uint8_t flight_reports[] = {
MORSE4(1,0,0,1), /* invalid 'X' */
};
MORSE4(1,0,0,1), /* invalid 'X' */
};
+static enum ao_flight_state ao_report_state;
+
#if HAS_BEEP
#define low(time) ao_beep_for(AO_BEEP_LOW, time)
#define mid(time) ao_beep_for(AO_BEEP_MID, time)
#if HAS_BEEP
#define low(time) ao_beep_for(AO_BEEP_LOW, time)
#define mid(time) ao_beep_for(AO_BEEP_MID, time)
@@
-58,8
+60,6
@@
static const uint8_t flight_reports[] = {
#endif
#define pause(time) ao_delay(time)
#endif
#define pause(time) ao_delay(time)
-static enum ao_flight_state ao_report_state;
-
/*
* Farnsworth spacing
*
/*
* Farnsworth spacing
*
@@
-115,7
+115,7
@@
static enum ao_flight_state ao_report_state;
*/
static void
*/
static void
-ao_report_
beep
(void)
+ao_report_
flight_state
(void)
{
uint8_t r = flight_reports[ao_flight_state];
uint8_t l = r & 7;
{
uint8_t r = flight_reports[ao_flight_state];
uint8_t l = r & 7;
@@
-190,6
+190,7
@@
ao_report_battery(void)
#endif
#if HAS_IGNITE_REPORT
#endif
#if HAS_IGNITE_REPORT
+#if HAS_IGNITE
static uint8_t
ao_report_igniter_ready(enum ao_igniter igniter)
{
static uint8_t
ao_report_igniter_ready(enum ao_igniter igniter)
{
@@
-202,16
+203,13
@@
ao_report_igniter(void)
return (ao_report_igniter_ready(ao_igniter_drogue) |
(ao_report_igniter_ready(ao_igniter_main) << 1));
}
return (ao_report_igniter_ready(ao_igniter_drogue) |
(ao_report_igniter_ready(ao_igniter_main) << 1));
}
+#endif
static void
ao_report_continuity(void)
{
static void
ao_report_continuity(void)
{
- uint8_t c;
-
-#if !HAS_IGNITE
- if (!ao_igniter_present)
- return;
-#endif
+ uint8_t c;
+#if HAS_IGNITE
c = ao_report_igniter();
if (c) {
while (c--) {
c = ao_report_igniter();
if (c) {
while (c--) {
@@
-225,8
+223,11
@@
ao_report_continuity(void)
low(AO_MS_TO_TICKS(20));
}
}
low(AO_MS_TO_TICKS(20));
}
}
+#endif
#if AO_PYRO_NUM
#if AO_PYRO_NUM
+#if HAS_IGNITE
pause(AO_MS_TO_TICKS(250));
pause(AO_MS_TO_TICKS(250));
+#endif
for(c = 0; c < AO_PYRO_NUM; c++) {
enum ao_igniter_status status = ao_pyro_status(c);
if (status == ao_igniter_ready)
for(c = 0; c < AO_PYRO_NUM; c++) {
enum ao_igniter_status status = ao_pyro_status(c);
if (status == ao_igniter_ready)
@@
-251,7
+252,7
@@
ao_report_continuity(void)
}
#endif
}
#endif
-void
+
static
void
ao_report(void)
{
for(;;) {
ao_report(void)
{
for(;;) {
@@
-261,7
+262,12
@@
ao_report(void)
ao_report_battery();
else
#endif
ao_report_battery();
else
#endif
- ao_report_beep();
+ ao_report_flight_state();
+#if HAS_SENSOR_ERRORS
+ if (ao_report_state == ao_flight_invalid && ao_sensor_errors)
+ ao_report_number(ao_sensor_errors);
+#endif
+
if (ao_report_state == ao_flight_landed) {
ao_report_altitude();
#if HAS_FLIGHT
if (ao_report_state == ao_flight_landed) {
ao_report_altitude();
#if HAS_FLIGHT