altos: Add pyro code testing to ao_flight_test for TeleMega

[fw/altos] / src / core / ao_pyro.c

diff --git a/src/core/ao_pyro.c b/src/core/ao_pyro.c
index 4f37e9793e6cbe0c37dc424119e93445adc8a89f..b655eaca076d596f55e68d927751dad3cc81d340 100644 (file)
--- a/src/core/ao_pyro.c
+++ b/src/core/ao_pyro.c
@@ -15,10 +15,12 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
+#ifndef AO_FLIGHT_TEST
 #include <ao.h>
-#include <ao_pyro.h>
 #include <ao_sample.h>
 #include <ao_flight.h>
+#endif
+#include <ao_pyro.h>
 
 #if IS_COMPANION
 #include <ao_companion.h>
@@ -113,6 +115,15 @@ ao_pyro_ready(struct ao_pyro *pyro)
                        /* 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;
                }
@@ -121,12 +132,13 @@ ao_pyro_ready(struct ao_pyro *pyro)
        return TRUE;
 }
 
+#ifndef AO_FLIGHT_TEST
 #define ao_pyro_fire_port(port, bit, pin) do { \
                ao_gpio_set(port, bit, pin, 1); \
                ao_delay(AO_MS_TO_TICKS(50));   \
                ao_gpio_set(port, bit, pin, 0); \
        } while (0)
-
+#endif
 
 static void
 ao_pyro_fire(uint8_t p)
@@ -163,61 +175,58 @@ ao_pyro_fire(uint8_t p)
 
 uint8_t        ao_pyro_wakeup;
 
-static void
-ao_pyro(void)
+static uint8_t
+ao_pyro_check(void)
 {
-       uint8_t         p;
        struct ao_pyro  *pyro;
+       uint8_t         p, any_waiting;
+       
+       any_waiting = 0;
+       for (p = 0; p < AO_PYRO_NUM; p++) {
+               pyro = &ao_config.pyro[p];
 
-       ao_config_get();
-       while (ao_flight_state < ao_flight_boost)
-               ao_sleep(&ao_flight_state);
-
-       for (;;) {
-               ao_alarm(AO_MS_TO_TICKS(100));
-               ao_sleep(&ao_pyro_wakeup);
-               ao_clear_alarm();
-               for (p = 0; p < AO_PYRO_NUM; p++) {
-                       pyro = &ao_config.pyro[p];
+               /* Ignore igniters which have already fired
+                */
+               if (pyro->fired)
+                       continue;
 
-                       /* Ignore igniters which have already fired
-                        */
-                       if (pyro->fired)
-                               continue;
+               /* Ignore disabled igniters
+                */
+               if (!pyro->flags)
+                       continue;
 
-                       /* Ignore disabled igniters
-                        */
-                       if (!pyro->flags)
+               any_waiting = 1;
+               /* Check pyro state to see if it should fire
+                */
+               if (!pyro->delay_done) {
+                       if (!ao_pyro_ready(pyro))
                                continue;
 
-                       /* Check pyro state to see if it shoule fire
+                       /* If there's a delay set, then remember when
+                        * it expires
                         */
-                       if (!pyro->delay_done) {
-                               if (!ao_pyro_ready(pyro))
-                                       continue;
-
-                               /* If there's a delay set, then remember when
-                                * it expires
-                                */
-                               if (pyro->flags & ao_pyro_delay)
-                                       pyro->delay_done = ao_time() + pyro->delay;
-                       }
-
-                       /* Check to see if we're just waiting for
-                        * the delay to expire
-                        */
-                       if (pyro->delay_done) {
-                               if ((int16_t) (ao_time() - pyro->delay_done) < 0)
-                                       continue;
+                       if (pyro->flags & ao_pyro_delay) {
+                               pyro->delay_done = ao_time() + pyro->delay;
+                               if (!pyro->delay_done)
+                                       pyro->delay_done = 1;
                        }
+               }
 
-                       ao_pyro_fire(p);
+               /* Check to see if we're just waiting for
+                * the delay to expire
+                */
+               if (pyro->delay_done) {
+                       if ((int16_t) (ao_time() - pyro->delay_done) < 0)
+                               continue;
                }
+
+               ao_pyro_fire(p);
+               pyro->fired = 1;
+               ao_pyro_fired |= (1 << p);
        }
+       return any_waiting;
 }
 
-__xdata struct ao_task ao_pyro_task;
-
 #define NO_VALUE       0xff
 
 #define AO_PYRO_NAME_LEN       3
@@ -257,6 +266,9 @@ 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)")  },
 
+       { "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") },
 
@@ -266,6 +278,34 @@ const struct {
        { "", ao_pyro_none,             NO_VALUE, HELP(NULL) },
 };
 
+#define NUM_PYRO_VALUES (sizeof ao_pyro_values / sizeof ao_pyro_values[0])
+
+#ifndef AO_FLIGHT_TEST
+static void
+ao_pyro(void)
+{
+       uint8_t         any_waiting;
+
+       ao_config_get();
+       while (ao_flight_state < ao_flight_boost)
+               ao_sleep(&ao_flight_state);
+
+       for (;;) {
+               ao_alarm(AO_MS_TO_TICKS(100));
+               ao_sleep(&ao_pyro_wakeup);
+               ao_clear_alarm();
+               if (ao_flight_state >= ao_flight_landed)
+                       break;
+               any_waiting = ao_pyro_check();
+               if (!any_waiting)
+                       break;
+       }
+       ao_exit();
+}
+
+__xdata struct ao_task ao_pyro_task;
+
+
 static void
 ao_pyro_print_name(uint8_t v)
 {
@@ -432,3 +472,4 @@ ao_pyro_init(void)
        ao_cmd_register(&ao_pyro_cmds[0]);
        ao_add_task(&ao_pyro_task, ao_pyro, "pyro");
 }
+#endif