X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_report.c;h=831ba874cc3656d312aca76ff2409cbb03e8a7fa;hb=f10009b07b651f69014ac5608f3ca29bce874c24;hp=f4253b3db9e42f1427a3cda44ec215c13ce74dcf;hpb=807e62ccebc83eb6427a63431d06effa074e5e76;p=fw%2Faltos

diff --git a/src/kernel/ao_report.c b/src/kernel/ao_report.c
index f4253b3d..831ba874 100644
--- a/src/kernel/ao_report.c
+++ b/src/kernel/ao_report.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
@@ -39,18 +40,25 @@ static const uint8_t flight_reports[] = {
 	MORSE4(1,0,0,1),	/* invalid 'X' */
 };
 
+static enum ao_flight_state ao_report_state;
+
 #if HAS_BEEP
 #define low(time)	ao_beep_for(AO_BEEP_LOW, time)
 #define mid(time)	ao_beep_for(AO_BEEP_MID, time)
 #define high(time)	ao_beep_for(AO_BEEP_HIGH, time)
 #else
-#define low(time)	ao_led_for(AO_LED_GREEN, time)
-#define mid(time)	ao_led_for(AO_LED_RED, time)
-#define high(time)	ao_led_for(AO_LED_GREEN|AO_LED_RED, time)
+#ifndef AO_LED_LOW
+#define AO_LED_LOW	AO_LED_GREEN
+#endif
+#ifndef AO_LED_MID
+#define AO_LED_MID	AO_LED_RED
 #endif
-#define pause(time)	ao_delay(time)
 
-static __pdata enum ao_flight_state ao_report_state;
+#define low(time)	ao_led_for(AO_LED_LOW, time)
+#define mid(time)	ao_led_for(AO_LED_MID, time)
+#define high(time)	ao_led_for(AO_LED_MID|AO_LED_LOW, time)
+#endif
+#define pause(time)	ao_delay(time)
 
 /*
  * Farnsworth spacing
@@ -107,7 +115,7 @@ static __pdata enum ao_flight_state ao_report_state;
  */
 
 static void
-ao_report_beep(void) __reentrant
+ao_report_flight_state(void) 
 {
 	uint8_t r = flight_reports[ao_flight_state];
 	uint8_t l = r & 7;
@@ -126,7 +134,7 @@ ao_report_beep(void) __reentrant
 }
 
 static void
-ao_report_digit(uint8_t digit) __reentrant
+ao_report_digit(uint8_t digit) 
 {
 	if (!digit) {
 		mid(AO_MS_TO_TICKS(500));
@@ -143,8 +151,8 @@ ao_report_digit(uint8_t digit) __reentrant
 static void
 ao_report_number(int16_t n)
 {
-	__xdata uint8_t	digits[10];
-	__pdata uint8_t ndigits, i;
+	uint8_t	digits[10];
+	uint8_t ndigits, i;
 
 	if (n < 0)
 		n = 0;
@@ -170,18 +178,19 @@ ao_report_altitude(void)
 static void
 ao_report_battery(void)
 {
-	__xdata struct ao_data packet;
+	struct ao_data packet;
 	for (;;) {
 		ao_data_get(&packet);
 		if (packet.adc.v_batt != 0)
 			break;
-		ao_sleep(DATA_TO_XDATA(&ao_sample_data));
+		ao_sleep(&ao_sample_data);
 	}
 	ao_report_number(ao_battery_decivolt(packet.adc.v_batt));
 }
 #endif
 
 #if HAS_IGNITE_REPORT
+#if HAS_IGNITE
 static uint8_t
 ao_report_igniter_ready(enum ao_igniter igniter)
 {
@@ -194,16 +203,13 @@ ao_report_igniter(void)
 	return (ao_report_igniter_ready(ao_igniter_drogue) |
 		     (ao_report_igniter_ready(ao_igniter_main) << 1));
 }
+#endif
 
 static void
-ao_report_continuity(void) __reentrant
+ao_report_continuity(void) 
 {
-	uint8_t	c;
-
-#if !HAS_IGNITE
-	if (!ao_igniter_present)
-		return;
-#endif
+	uint8_t c;
+#if HAS_IGNITE
 	c = ao_report_igniter();
 	if (c) {
 		while (c--) {
@@ -217,8 +223,11 @@ ao_report_continuity(void) __reentrant
 			low(AO_MS_TO_TICKS(20));
 		}
 	}
+#endif
 #if AO_PYRO_NUM
+#if HAS_IGNITE
 	pause(AO_MS_TO_TICKS(250));
+#endif
 	for(c = 0; c < AO_PYRO_NUM; c++) {
 		enum ao_igniter_status	status = ao_pyro_status(c);
 		if (status == ao_igniter_ready)
@@ -243,7 +252,7 @@ ao_report_continuity(void) __reentrant
 }
 #endif
 
-void
+static void
 ao_report(void)
 {
 	for(;;) {
@@ -253,7 +262,12 @@ ao_report(void)
 			ao_report_battery();
 		else
 #endif
-			ao_report_beep();
+			ao_report_flight_state();
+#if HAS_SENSOR_ERRORS
+		if (ao_report_state == ao_flight_invalid && ao_sensor_errors)
+			ao_report_number(ao_sensor_errors);
+#endif
+
 		if (ao_report_state == ao_flight_landed) {
 			ao_report_altitude();
 #if HAS_FLIGHT
@@ -271,13 +285,22 @@ ao_report(void)
 			while (c-- && ao_flight_state == ao_flight_pad)
 				pause(AO_MS_TO_TICKS(100));
 		}
+#endif
+#if HAS_PAD_REPORT
+		while (ao_flight_state == ao_flight_pad) {
+			uint8_t	c;
+			ao_report_flight_state();
+			c = 50;
+			while (c-- && ao_flight_state == ao_flight_pad)
+				pause(AO_MS_TO_TICKS(100));
+		}
 #endif
 		while (ao_report_state == ao_flight_state)
-			ao_sleep(DATA_TO_XDATA(&ao_flight_state));
+			ao_sleep(&ao_flight_state);
 	}
 }
 
-static __xdata struct ao_task ao_report_task;
+static struct ao_task ao_report_task;
 
 void
 ao_report_init(void)