X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_pyro.c;h=e24ab46b41a8959f21161a9614d41051aaf0245d;hb=2de8922b505f0358a36933721fbddf6a9ef7e9a4;hp=0aed50d5434f65b8b0c7c03190bf47cc5b89160c;hpb=770998be2c15dd41a63520d0c8747d7cf32ec447;p=fw%2Faltos

diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c
index 0aed50d5..e24ab46b 100644
--- a/src/kernel/ao_pyro.c
+++ b/src/kernel/ao_pyro.c
@@ -38,8 +38,8 @@
 enum ao_igniter_status
 ao_pyro_status(uint8_t p)
 {
-	__xdata struct ao_data packet;
-	__pdata int16_t value;
+	struct ao_data packet;
+	int16_t value;
 
 	ao_arch_critical(
 		ao_data_get(&packet);
@@ -76,11 +76,24 @@ uint16_t	ao_pyro_fired;
 
 #if PYRO_DBG
 int pyro_dbg;
-#define DBG(...)	do { if (pyro_dbg) printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } while (0)
+#define DBG(...)	do { if (pyro_dbg) { printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } } while (0)
 #else
 #define DBG(...)
 #endif
 
+static angle_t
+ao_sample_max_orient(void)
+{
+	uint8_t	i;
+	angle_t	max = ao_sample_orients[0];
+
+	for (i = 1; i < AO_NUM_ORIENT; i++) {
+		angle_t a = ao_sample_orients[i];
+		if (a > max)
+			max = a;
+	}
+	return max;
+}
 /*
  * Given a pyro structure, figure out
  * if the current flight state satisfies all
@@ -90,6 +103,9 @@ static uint8_t
 ao_pyro_ready(struct ao_pyro *pyro)
 {
 	enum ao_pyro_flag flag, flags;
+#if HAS_GYRO
+	angle_t max_orient;
+#endif
 
 	flags = pyro->flags;
 	while (flags != ao_pyro_none) {
@@ -130,26 +146,28 @@ ao_pyro_ready(struct ao_pyro *pyro)
 
 #if HAS_GYRO
 		case ao_pyro_orient_less:
-			if (ao_sample_orient <= pyro->orient_less)
+			max_orient = ao_sample_max_orient();
+			if (max_orient <= pyro->orient_less)
 				continue;
-			DBG("orient %d > %d\n", ao_sample_orient, pyro->orient_less);
+			DBG("orient %d > %d\n", max_orient, pyro->orient_less);
 			break;
 		case ao_pyro_orient_greater:
-			if (ao_sample_orient >= pyro->orient_greater)
+			max_orient = ao_sample_max_orient();
+			if (max_orient >= pyro->orient_greater)
 				continue;
-			DBG("orient %d < %d\n", ao_sample_orient, pyro->orient_greater);
+			DBG("orient %d < %d\n", max_orient, pyro->orient_greater);
 			break;
 #endif
 
 		case ao_pyro_time_less:
-			if ((int16_t) (ao_time() - ao_boost_tick) <= pyro->time_less)
+			if ((int16_t) (ao_time() - ao_launch_tick) <= pyro->time_less)
 				continue;
-			DBG("time %d > %d\n", (int16_t)(ao_time() - ao_boost_tick), pyro->time_less);
+			DBG("time %d > %d\n", (int16_t)(ao_time() - ao_launch_tick), pyro->time_less);
 			break;
 		case ao_pyro_time_greater:
-			if ((int16_t) (ao_time() - ao_boost_tick) >= pyro->time_greater)
+			if ((int16_t) (ao_time() - ao_launch_tick) >= pyro->time_greater)
 				continue;
-			DBG("time %d < %d\n", (int16_t)(ao_time() - ao_boost_tick), pyro->time_greater);
+			DBG("time %d < %d\n", (int16_t)(ao_time() - ao_launch_tick), pyro->time_greater);
 			break;
 
 		case ao_pyro_ascending:
@@ -164,7 +182,7 @@ ao_pyro_ready(struct ao_pyro *pyro)
 			break;
 
 		case ao_pyro_after_motor:
-			if (ao_motor_number == pyro->motor)
+			if (ao_motor_number >= pyro->motor)
 				continue;
 			DBG("motor %d != %d\n", ao_motor_number, pyro->motor);
 			break;
@@ -239,11 +257,8 @@ ao_pyro_pins_fire(uint16_t fire)
 	}
 	ao_delay(ao_config.pyro_time);
 	for (p = 0; p < AO_PYRO_NUM; p++) {
-		if (fire & (1 << 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));
 }
@@ -261,7 +276,7 @@ ao_pyro_check(void)
 
 		/* Ignore igniters which have already fired
 		 */
-		if (pyro->fired)
+		if (ao_pyro_fired & (1 << p))
 			continue;
 
 		/* Ignore disabled igniters
@@ -296,7 +311,7 @@ ao_pyro_check(void)
 			 * by setting the fired bit
 			 */
 			if (!ao_pyro_ready(pyro)) {
-				pyro->fired = 1;
+				ao_pyro_fired |= (1 << p);
 				continue;
 			}
 
@@ -307,8 +322,10 @@ ao_pyro_check(void)
 		fire |= (1 << p);
 	}
 
-	if (fire)
+	if (fire) {
+		ao_pyro_fired |= fire;
 		ao_pyro_pins_fire(fire);
+	}
 
 	return any_waiting;
 }
@@ -387,7 +404,7 @@ ao_pyro(void)
 	ao_exit();
 }
 
-__xdata struct ao_task ao_pyro_task;
+struct ao_task ao_pyro_task;
 
 
 static void