__xdata uint16_t ao_launch_ignite;
+#if 0
+#define PRINTD(...) printf(__VA_ARGS__)
+#else
+#define PRINTD(...)
+#endif
+
static void
ao_launch_run(void)
{
for (;;) {
while (!ao_launch_ignite)
ao_sleep(&ao_launch_ignite);
+ ao_ignition[ao_igniter_drogue].firing = 1;
+ ao_ignition[ao_igniter_main].firing = 1;
+ AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
+ AO_IGNITER_DROGUE = 1;
while (ao_launch_ignite) {
ao_launch_ignite = 0;
-
- ao_ignition[ao_igniter_drogue].firing = 1;
- ao_ignition[ao_igniter_main].firing = 1;
- AO_IGNITER_DROGUE = 1;
ao_delay(AO_MS_TO_TICKS(500));
- AO_IGNITER_DROGUE = 0;
- ao_ignition[ao_igniter_drogue].firing = 0;
- ao_ignition[ao_igniter_main].firing = 0;
}
+ AO_IGNITER_DROGUE = 0;
+ ao_ignition[ao_igniter_drogue].firing = 0;
+ ao_ignition[ao_igniter_main].firing = 0;
}
}
ao_led_off(AO_LED_RED);
ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
for (;;) {
+ flush();
if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK)
continue;
- printf ("tick %d serial %d cmd %d channel %d\n",
+ PRINTD ("tick %d serial %d cmd %d channel %d\n",
command.tick, command.serial, command.cmd, command.channel);
- if (command.serial != ao_serial_number) {
- printf ("serial number mismatch\n");
- continue;
- }
-
switch (command.cmd) {
case AO_LAUNCH_QUERY:
+ if (command.serial != ao_serial_number) {
+ PRINTD ("serial number mismatch\n");
+ break;
+ }
+
if (command.channel == 0) {
query.valid = 1;
query.arm_status = ao_igniter_status(ao_igniter_drogue);
query.tick = ao_time();
query.serial = ao_serial_number;
query.channel = command.channel;
- printf ("query tick %d serial %d channel %d valid %d arm %d igniter %d\n",
+ PRINTD ("query tick %d serial %d channel %d valid %d arm %d igniter %d\n",
query.tick, query.serial, query.channel, query.valid, query.arm_status,
query.igniter_status);
ao_radio_cmac_send(&query, sizeof (query));
break;
case AO_LAUNCH_ARM:
+ if (command.serial != ao_serial_number) {
+ PRINTD ("serial number mismatch\n");
+ break;
+ }
+
if (command.channel != 0)
break;
time_difference = command.tick - ao_time();
- printf ("arm tick %d local tick %d\n", command.tick, ao_time());
+ PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
if (time_difference < 0)
time_difference = -time_difference;
if (time_difference > 10) {
- printf ("time difference too large %d\n", time_difference);
+ PRINTD ("time difference too large %d\n", time_difference);
break;
}
- printf ("armed\n");
+ PRINTD ("armed\n");
ao_launch_armed = 1;
ao_launch_arm_time = ao_time();
break;
case AO_LAUNCH_FIRE:
- if (command.channel != 0)
- break;
if (!ao_launch_armed) {
- printf ("not armed\n");
+ PRINTD ("not armed\n");
break;
}
- if ((uint16_t) (ao_launch_arm_time - ao_time()) > AO_SEC_TO_TICKS(20)) {
- printf ("late launch arm_time %d time %d\n",
+ if ((uint16_t) (ao_time() - ao_launch_arm_time) > AO_SEC_TO_TICKS(20)) {
+ PRINTD ("late launch arm_time %d time %d\n",
ao_launch_arm_time, ao_time());
break;
}
if (time_difference < 0)
time_difference = -time_difference;
if (time_difference > 10) {
- printf ("time different too large %d\n", time_difference);
+ PRINTD ("time different too large %d\n", time_difference);
break;
}
- printf ("ignite\n");
+ PRINTD ("ignite\n");
ao_launch_ignite = 1;
ao_wakeup(&ao_launch_ignite);
break;