--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef AO_FLIGHT_TEST
+#include <ao.h>
+#include <ao_sample.h>
+#include <ao_flight.h>
+#endif
+#include <ao_pyro.h>
+
+#if IS_COMPANION
+#include <ao_companion.h>
+#define ao_accel ao_companion_command.accel
+#define ao_speed ao_companion_command.speed
+#define ao_height ao_companion_command.height
+#define ao_flight_state ao_companion_command.flight_state
+#define ao_motor_number ao_companion_command.motor_number
+#endif
+
+#define ao_lowbit(x) ((x) & (-x))
+
+#ifndef AO_FLIGHT_TEST
+enum ao_igniter_status
+ao_pyro_status(uint8_t p)
+{
+ __xdata struct ao_data packet;
+ __pdata int16_t value;
+
+ ao_arch_critical(
+ ao_data_get(&packet);
+ );
+
+ value = (AO_IGNITER_CLOSED>>1);
+ value = AO_SENSE_PYRO(&packet, p);
+ if (value < AO_IGNITER_OPEN)
+ return ao_igniter_open;
+ else if (value > AO_IGNITER_CLOSED)
+ return ao_igniter_ready;
+ else
+ return ao_igniter_unknown;
+}
+
+void
+ao_pyro_print_status(void)
+{
+ uint8_t p;
+
+ for(p = 0; p < AO_PYRO_NUM; p++) {
+ enum ao_igniter_status status = ao_pyro_status(p);
+ printf("Igniter: %d Status: %s\n",
+ p, ao_igniter_status_names[status]);
+ }
+}
+#endif
+
+uint16_t ao_pyro_fired;
+
+/*
+ * Given a pyro structure, figure out
+ * if the current flight state satisfies all
+ * of the requirements
+ */
+static uint8_t
+ao_pyro_ready(struct ao_pyro *pyro)
+{
+ enum ao_pyro_flag flag, flags;
+
+ flags = pyro->flags;
+ while (flags != ao_pyro_none) {
+ flag = ao_lowbit(flags);
+ flags &= ~flag;
+ switch (flag) {
+
+ case ao_pyro_accel_less:
+ if (ao_accel <= pyro->accel_less)
+ continue;
+ break;
+ case ao_pyro_accel_greater:
+ if (ao_accel >= pyro->accel_greater)
+ continue;
+ break;
+
+
+ case ao_pyro_speed_less:
+ if (ao_speed <= pyro->speed_less)
+ continue;
+ break;
+ case ao_pyro_speed_greater:
+ if (ao_speed >= pyro->speed_greater)
+ continue;
+ break;
+
+ case ao_pyro_height_less:
+ if (ao_height <= pyro->height_less)
+ continue;
+ break;
+ case ao_pyro_height_greater:
+ if (ao_height >= pyro->height_greater)
+ continue;
+ break;
+
+#if HAS_GYRO
+ case ao_pyro_orient_less:
+ if (ao_sample_orient <= pyro->orient_less)
+ continue;
+ break;
+ case ao_pyro_orient_greater:
+ if (ao_sample_orient >= pyro->orient_greater)
+ continue;
+ break;
+#endif
+
+ case ao_pyro_time_less:
+ if ((int16_t) (ao_time() - ao_boost_tick) <= pyro->time_less)
+ continue;
+ break;
+ case ao_pyro_time_greater:
+ if ((int16_t) (ao_time() - ao_boost_tick) >= pyro->time_greater)
+ continue;
+ break;
+
+ case ao_pyro_ascending:
+ if (ao_speed > 0)
+ continue;
+ break;
+ case ao_pyro_descending:
+ if (ao_speed < 0)
+ continue;
+ break;
+
+ case ao_pyro_after_motor:
+ if (ao_motor_number == pyro->motor)
+ continue;
+ break;
+
+ case ao_pyro_delay:
+ /* 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;
+ }
+ return FALSE;
+ }
+ return TRUE;
+}
+
+#ifndef AO_FLIGHT_TEST
+static void
+ao_pyro_pin_set(uint8_t p, uint8_t v)
+{
+ switch (p) {
+#if AO_PYRO_NUM > 0
+ case 0: ao_gpio_set(AO_PYRO_PORT_0, AO_PYRO_PIN_0, AO_PYRO_0, v); break;
+#endif
+#if AO_PYRO_NUM > 1
+ case 1: ao_gpio_set(AO_PYRO_PORT_1, AO_PYRO_PIN_1, AO_PYRO_1, v); break;
+#endif
+#if AO_PYRO_NUM > 2
+ case 2: ao_gpio_set(AO_PYRO_PORT_2, AO_PYRO_PIN_2, AO_PYRO_2, v); break;
+#endif
+#if AO_PYRO_NUM > 3
+ case 3: ao_gpio_set(AO_PYRO_PORT_3, AO_PYRO_PIN_3, AO_PYRO_3, v); break;
+#endif
+#if AO_PYRO_NUM > 4
+ case 4: ao_gpio_set(AO_PYRO_PORT_4, AO_PYRO_PIN_4, AO_PYRO_4, v); break;
+#endif
+#if AO_PYRO_NUM > 5
+ case 5: ao_gpio_set(AO_PYRO_PORT_5, AO_PYRO_PIN_5, AO_PYRO_5, v); break;
+#endif
+#if AO_PYRO_NUM > 6
+ case 6: ao_gpio_set(AO_PYRO_PORT_6, AO_PYRO_PIN_6, AO_PYRO_6, v); break;
+#endif
+#if AO_PYRO_NUM > 7
+ case 7: ao_gpio_set(AO_PYRO_PORT_7, AO_PYRO_PIN_7, AO_PYRO_7, v); break;
+#endif
+ default: break;
+ }
+}
+#endif
+
+uint8_t ao_pyro_wakeup;
+
+static void
+ao_pyro_pins_fire(uint16_t fire)
+{
+ uint8_t p;
+
+ for (p = 0; p < AO_PYRO_NUM; p++) {
+ if (fire & (1 << p))
+ ao_pyro_pin_set(p, 1);
+ }
+ ao_delay(AO_MS_TO_TICKS(50));
+ for (p = 0; p < AO_PYRO_NUM; p++) {
+ if (fire & (1 << p)) {
+ ao_pyro_pin_set(p, 0);
+ ao_config.pyro[p].fired = 1;
+ ao_pyro_fired |= (1 << p);
+ }
+ }
+ ao_delay(AO_MS_TO_TICKS(50));
+}
+
+static uint8_t
+ao_pyro_check(void)
+{
+ struct ao_pyro *pyro;
+ uint8_t p, any_waiting;
+ uint16_t fire = 0;
+
+ any_waiting = 0;
+ for (p = 0; p < AO_PYRO_NUM; p++) {
+ pyro = &ao_config.pyro[p];
+
+ /* Ignore igniters which have already fired
+ */
+ if (pyro->fired)
+ continue;
+
+ /* Ignore disabled igniters
+ */
+ if (!pyro->flags)
+ continue;
+
+ any_waiting = 1;
+ /* Check pyro state to see if it should fire
+ */
+ 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;
+ if (!pyro->delay_done)
+ pyro->delay_done = 1;
+ }
+ }
+
+ /* 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;
+ }
+
+ fire |= (1 << p);
+ }
+
+ if (fire)
+ ao_pyro_pins_fire(fire);
+
+ return any_waiting;
+}
+
+#define NO_VALUE 0xff
+
+#define AO_PYRO_NAME_LEN 3
+
+#if !DISABLE_HELP
+#define ENABLE_HELP 1
+#endif
+
+#if ENABLE_HELP
+#define HELP(s) (s)
+#else
+#define HELP(s)
+#endif
+
+const struct {
+ char name[AO_PYRO_NAME_LEN];
+ enum ao_pyro_flag flag;
+ uint8_t offset;
+#if ENABLE_HELP
+ char *help;
+#endif
+} ao_pyro_values[] = {
+ { "a<", ao_pyro_accel_less, offsetof(struct ao_pyro, accel_less), HELP("accel less (m/ss * 16)") },
+ { "a>", ao_pyro_accel_greater, offsetof(struct ao_pyro, accel_greater), HELP("accel greater (m/ss * 16)") },
+
+ { "s<", ao_pyro_speed_less, offsetof(struct ao_pyro, speed_less), HELP("speed less (m/s * 16)") },
+ { "s>", ao_pyro_speed_greater, offsetof(struct ao_pyro, speed_greater), HELP("speed greater (m/s * 16)") },
+
+ { "h<", ao_pyro_height_less, offsetof(struct ao_pyro, height_less), HELP("height less (m)") },
+ { "h>", ao_pyro_height_greater, offsetof(struct ao_pyro, height_greater), HELP("height greater (m)") },
+
+#if HAS_GYRO
+ { "o<", ao_pyro_orient_less, offsetof(struct ao_pyro, orient_less), HELP("orient less (deg)") },
+ { "o>", ao_pyro_orient_greater, offsetof(struct ao_pyro, orient_greater), HELP("orient greater (deg)") },
+#endif
+
+ { "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") },
+
+ { "m", ao_pyro_after_motor, offsetof(struct ao_pyro, motor), HELP("after motor") },
+
+ { "d", ao_pyro_delay, offsetof(struct ao_pyro, delay), HELP("delay before firing (s * 100)") },
+ { "", 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)
+{
+ const char *s = ao_pyro_values[v].name;
+ printf ("%s%s", s, " " + strlen(s));
+}
+
+#if ENABLE_HELP
+static void
+ao_pyro_help(void)
+{
+ uint8_t v;
+ for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
+ ao_pyro_print_name(v);
+ if (ao_pyro_values[v].offset != NO_VALUE)
+ printf ("<n> ");
+ else
+ printf (" ");
+ printf ("%s\n", ao_pyro_values[v].help);
+ }
+}
+#endif
+
+void
+ao_pyro_show(void)
+{
+ uint8_t p;
+ uint8_t v;
+ struct ao_pyro *pyro;
+
+ printf ("Pyro-count: %d\n", AO_PYRO_NUM);
+ for (p = 0; p < AO_PYRO_NUM; p++) {
+ printf ("Pyro %2d: ", p);
+ pyro = &ao_config.pyro[p];
+ if (!pyro->flags) {
+ printf ("<disabled>\n");
+ continue;
+ }
+ for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
+ if (!(pyro->flags & ao_pyro_values[v].flag))
+ continue;
+ ao_pyro_print_name(v);
+ if (ao_pyro_values[v].offset != NO_VALUE) {
+ int16_t value;
+
+ value = *((int16_t *) ((char *) pyro + ao_pyro_values[v].offset));
+ printf ("%6d ", value);
+ } else {
+ printf (" ");
+ }
+ }
+ printf ("\n");
+ }
+}
+
+void
+ao_pyro_set(void)
+{
+ uint8_t p;
+ struct ao_pyro pyro_tmp;
+ char name[AO_PYRO_NAME_LEN];
+ uint8_t c;
+ uint8_t v;
+
+ ao_cmd_white();
+
+#if ENABLE_HELP
+ switch (ao_cmd_lex_c) {
+ case '?':
+ ao_pyro_help();
+ return;
+ }
+#endif
+
+ ao_cmd_decimal();
+ 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;
+ }
+ pyro_tmp.flags = 0;
+ for (;;) {
+ ao_cmd_white();
+ if (ao_cmd_lex_c == '\n')
+ break;
+
+ for (c = 0; c < AO_PYRO_NAME_LEN - 1; c++) {
+ if (ao_cmd_is_white())
+ break;
+ name[c] = ao_cmd_lex_c;
+ ao_cmd_lex();
+ }
+ name[c] = '\0';
+ for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
+ if (!strcmp (ao_pyro_values[v].name, name))
+ break;
+ }
+ if (ao_pyro_values[v].flag == ao_pyro_none) {
+ printf ("invalid pyro field %s\n", name);
+ ao_cmd_status = ao_cmd_syntax_error;
+ return;
+ }
+ pyro_tmp.flags |= ao_pyro_values[v].flag;
+ if (ao_pyro_values[v].offset != NO_VALUE) {
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ *((int16_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
+ }
+ }
+ _ao_config_edit_start();
+ ao_config.pyro[p] = pyro_tmp;
+ _ao_config_edit_finish();
+}
+
+void
+ao_pyro_manual(uint8_t p)
+{
+ printf ("ao_pyro_manual %d\n", p);
+ if (p >= AO_PYRO_NUM) {
+ ao_cmd_status = ao_cmd_syntax_error;
+ return;
+ }
+ ao_pyro_pins_fire(1 << p);
+}
+
+void
+ao_pyro_init(void)
+{
+#if AO_PYRO_NUM > 0
+ ao_enable_output(AO_PYRO_PORT_0, AO_PYRO_PIN_0, AO_PYRO_0, 0);
+#endif
+#if AO_PYRO_NUM > 1
+ ao_enable_output(AO_PYRO_PORT_1, AO_PYRO_PIN_1, AO_PYRO_1, 0);
+#endif
+#if AO_PYRO_NUM > 2
+ ao_enable_output(AO_PYRO_PORT_2, AO_PYRO_PIN_2, AO_PYRO_2, 0);
+#endif
+#if AO_PYRO_NUM > 3
+ ao_enable_output(AO_PYRO_PORT_3, AO_PYRO_PIN_3, AO_PYRO_3, 0);
+#endif
+#if AO_PYRO_NUM > 4
+ ao_enable_output(AO_PYRO_PORT_4, AO_PYRO_PIN_4, AO_PYRO_4, 0);
+#endif
+#if AO_PYRO_NUM > 5
+ ao_enable_output(AO_PYRO_PORT_5, AO_PYRO_PIN_5, AO_PYRO_5, 0);
+#endif
+#if AO_PYRO_NUM > 6
+ ao_enable_output(AO_PYRO_PORT_6, AO_PYRO_PIN_6, AO_PYRO_6, 0);
+#endif
+#if AO_PYRO_NUM > 7
+ ao_enable_output(AO_PYRO_PORT_7, AO_PYRO_PIN_7, AO_PYRO_7, 0);
+#endif
+ ao_add_task(&ao_pyro_task, ao_pyro, "pyro");
+}
+#endif
projects / fw / altos / blobdiff