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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #include "ao.h"
  19
  20 #define BIT(i,x)           ((x) ? (1 << (i)) : 0)
  21 #define MORSE1(a)          (1 | BIT(3,a))
  22 #define MORSE2(a,b)        (2 | BIT(3,a) | BIT(4,b))
  23 #define MORSE3(a,b,c)      (3 | BIT(3,a) | BIT(4,b) | BIT(5,c))
  24 #define MORSE4(a,b,c,d)    (4 | BIT(3,a) | BIT(4,b) | BIT(5,c) | BIT(6,d))
  25 #define MORSE5(a,b,c,d,e)  (5 | BIT(3,a) | BIT(4,b) | BIT(5,c) | BIT(6,d) | BIT(7,e))
  26
  27 static const uint8_t flight_reports[] = {
  28         MORSE3(0,0,0),          /* startup, 'S' */
  29         MORSE2(0,0),            /* idle 'I' */
  30         MORSE4(0,1,1,0),        /* pad 'P' */
  31         MORSE4(1,0,0,0),        /* boost 'B' */
  32         MORSE4(0,0,1,0),        /* fast 'F' */
  33         MORSE4(1,0,1,0),        /* coast 'C' */
  34         MORSE3(1,0,0),          /* drogue 'D' */
  35         MORSE2(1,1),            /* main 'M' */
  36         MORSE4(0,1,0,0),        /* landed 'L' */
  37         MORSE4(1,0,0,1),        /* invalid 'X' */
  38 };
  39
  40 #if HAS_BEEP
  41 #define low(time)       ao_beep_for(AO_BEEP_LOW, time)
  42 #define mid(time)       ao_beep_for(AO_BEEP_MID, time)
  43 #define high(time)      ao_beep_for(AO_BEEP_HIGH, time)
  44 #else
  45 #define low(time)       ao_led_for(AO_LED_GREEN, time)
  46 #define mid(time)       ao_led_for(AO_LED_RED, time)
  47 #define high(time)      ao_led_for(AO_LED_GREEN|AO_LED_RED, time)
  48 #endif
  49 #define pause(time)     ao_delay(time)
  50
  51 static __xdata enum ao_flight_state ao_report_state;
  52
  53 static void
  54 ao_report_beep(void) __reentrant
  55 {
  56         uint8_t r = flight_reports[ao_flight_state];
  57         uint8_t l = r & 7;
  58
  59         if (!r)
  60                 return;
  61         while (l--) {
  62                 if (r & 8)
  63                         mid(AO_MS_TO_TICKS(600));
  64                 else
  65                         mid(AO_MS_TO_TICKS(200));
  66                 pause(AO_MS_TO_TICKS(200));
  67                 r >>= 1;
  68         }
  69         pause(AO_MS_TO_TICKS(400));
  70 }
  71
  72 static void
  73 ao_report_digit(uint8_t digit) __reentrant
  74 {
  75         if (!digit) {
  76                 mid(AO_MS_TO_TICKS(500));
  77                 pause(AO_MS_TO_TICKS(200));
  78         } else {
  79                 while (digit--) {
  80                         mid(AO_MS_TO_TICKS(200));
  81                         pause(AO_MS_TO_TICKS(200));
  82                 }
  83         }
  84         pause(AO_MS_TO_TICKS(300));
  85 }
  86
  87 static void
  88 ao_report_altitude(void)
  89 {
  90         __xdata int16_t agl = ao_max_height;
  91         __xdata uint8_t digits[10];
  92         __xdata uint8_t ndigits, i;
  93
  94         if (agl < 0)
  95                 agl = 0;
  96         ndigits = 0;
  97         do {
  98                 digits[ndigits++] = agl % 10;
  99                 agl /= 10;
 100         } while (agl);
 101
 102         for (;;) {
 103                 ao_report_beep();
 104                 i = ndigits;
 105                 do
 106                         ao_report_digit(digits[--i]);
 107                 while (i != 0);
 108                 pause(AO_SEC_TO_TICKS(5));
 109         }
 110 }
 111
 112 #if HAS_IGNITE
 113 static uint8_t
 114 ao_report_igniter_ready(enum ao_igniter igniter)
 115 {
 116         return ao_igniter_status(igniter) == ao_igniter_ready ? 1 : 0;
 117 }
 118
 119 static void
 120 ao_report_continuity(void) __reentrant
 121 {
 122         uint8_t c = (ao_report_igniter_ready(ao_igniter_drogue) |
 123                      (ao_report_igniter_ready(ao_igniter_main) << 1));
 124         if (c) {
 125                 while (c--) {
 126                         high(AO_MS_TO_TICKS(25));
 127                         pause(AO_MS_TO_TICKS(100));
 128                 }
 129         } else {
 130                 c = 10;
 131                 while (c--) {
 132                         high(AO_MS_TO_TICKS(20));
 133                         low(AO_MS_TO_TICKS(20));
 134                 }
 135         }
 136         if (ao_log_full()) {
 137                 pause(AO_MS_TO_TICKS(100));
 138                 c = 2;
 139                 while (c--) {
 140                         low(AO_MS_TO_TICKS(100));
 141                         mid(AO_MS_TO_TICKS(100));
 142                         high(AO_MS_TO_TICKS(100));
 143                         mid(AO_MS_TO_TICKS(100));
 144                 }
 145         }
 146         c = 50;
 147         while (c-- && ao_flight_state == ao_flight_pad)
 148                 pause(AO_MS_TO_TICKS(100));
 149 }
 150 #endif
 151
 152 void
 153 ao_report(void)
 154 {
 155         ao_report_state = ao_flight_state;
 156         for(;;) {
 157                 if (ao_flight_state == ao_flight_landed)
 158                         ao_report_altitude();
 159                 ao_report_beep();
 160 #if HAS_IGNITE
 161                 if (ao_flight_state == ao_flight_idle)
 162                         ao_report_continuity();
 163                 while (ao_flight_state == ao_flight_pad)
 164                         ao_report_continuity();
 165 #endif
 166                 __critical {
 167                         while (ao_report_state == ao_flight_state)
 168                                 ao_sleep(DATA_TO_XDATA(&ao_flight_state));
 169                         ao_report_state = ao_flight_state;
 170                 }
 171         }
 172 }
 173
 174 static __xdata struct ao_task ao_report_task;
 175
 176 void
 177 ao_report_init(void)
 178 {
 179         ao_add_task(&ao_report_task, ao_report, "report");
 180 }