X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_pyro.c;h=c9920ab335cd681369ad8e78e893f8b1bd49b021;hb=71ddb973ff75680e78fbbef7978ab3893c367629;hp=0b286466fa3a7495d91406bedb91c1ebbe6cd3e9;hpb=443bbb09468df7c1a10f2c76996c92380d8b8c23;p=fw%2Faltos diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c index 0b286466..c9920ab3 100644 --- a/src/kernel/ao_pyro.c +++ b/src/kernel/ao_pyro.c @@ -3,7 +3,8 @@ * * 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. + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of @@ -252,7 +253,7 @@ 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]; @@ -288,6 +289,16 @@ ao_pyro_check(void) * the delay to expire */ if (pyro->delay_done) { + + /* Check to make sure the required conditions + * remain valid. If not, inhibit the channel + * by setting the fired bit + */ + if (!ao_pyro_ready(pyro)) { + pyro->fired = 1; + continue; + } + if ((int16_t) (ao_time() - pyro->delay_done) < 0) continue; } @@ -365,9 +376,7 @@ ao_pyro(void) ao_sleep(&ao_flight_state); for (;;) { - ao_alarm(AO_MS_TO_TICKS(100)); - ao_sleep(&ao_pyro_wakeup); - ao_clear_alarm(); + ao_sleep_for(&ao_pyro_wakeup, AO_MS_TO_TICKS(100)); if (ao_flight_state >= ao_flight_landed) break; any_waiting = ao_pyro_check(); @@ -465,7 +474,7 @@ ao_pyro_set(void) printf ("invalid pyro channel %d\n", p); return; } - pyro_tmp.flags = 0; + memset(&pyro_tmp, '\0', sizeof (pyro_tmp)); for (;;) { ao_cmd_white(); if (ao_cmd_lex_c == '\n') @@ -489,13 +498,26 @@ ao_pyro_set(void) } pyro_tmp.flags |= ao_pyro_values[v].flag; if (ao_pyro_values[v].offset != NO_VALUE) { + uint8_t negative = 0; + ao_cmd_white(); + if (ao_cmd_lex_c == '-') { + negative = 1; + ao_cmd_lex(); + } ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; - if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE) + if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE) { + if (negative) { + ao_cmd_status = ao_cmd_syntax_error; + return; + } *((uint8_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i; - else + } else { + if (negative) + ao_cmd_lex_i = -ao_cmd_lex_i; *((int16_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i; + } } } _ao_config_edit_start();