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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 __xdata struct ao_ignition ao_ignition[2];
  21
  22 void
  23 ao_ignite(enum ao_igniter igniter) __critical
  24 {
  25         ao_ignition[igniter].request = 1;
  26         ao_wakeup(&ao_ignition);
  27 }
  28
  29 enum ao_igniter_status
  30 ao_igniter_status(enum ao_igniter igniter)
  31 {
  32         __xdata struct ao_adc adc;
  33         __pdata int16_t value;
  34         __pdata uint8_t request, firing, fired;
  35
  36         __critical {
  37                 ao_adc_get(&adc);
  38                 request = ao_ignition[igniter].request;
  39                 fired = ao_ignition[igniter].fired;
  40                 firing = ao_ignition[igniter].firing;
  41         }
  42         if (firing || (request && !fired))
  43                 return ao_igniter_active;
  44
  45         value = (AO_IGNITER_CLOSED>>1);
  46         switch (igniter) {
  47         case ao_igniter_drogue:
  48                 value = adc.sense_d;
  49                 break;
  50         case ao_igniter_main:
  51                 value = adc.sense_m;
  52                 break;
  53         }
  54         if (value < AO_IGNITER_OPEN)
  55                 return ao_igniter_open;
  56         else if (value > AO_IGNITER_CLOSED)
  57                 return ao_igniter_ready;
  58         else
  59                 return ao_igniter_unknown;
  60 }
  61
  62 void
  63 ao_igniter_fire(enum ao_igniter igniter) __critical
  64 {
  65         ao_mutex_get(&ao_radio_mutex);
  66         ao_ignition[igniter].firing = 1;
  67         switch(ao_config.ignite_mode) {
  68         case AO_IGNITE_MODE_DUAL:
  69                 switch (igniter) {
  70                 case ao_igniter_drogue:
  71                         AO_IGNITER_DROGUE = 1;
  72                         ao_delay(AO_IGNITER_FIRE_TIME);
  73                         AO_IGNITER_DROGUE = 0;
  74                         break;
  75                 case ao_igniter_main:
  76                         AO_IGNITER_MAIN = 1;
  77                         ao_delay(AO_IGNITER_FIRE_TIME);
  78                         AO_IGNITER_MAIN = 0;
  79                         break;
  80                 }
  81                 break;
  82         case AO_IGNITE_MODE_APOGEE:
  83                 switch (igniter) {
  84                 case ao_igniter_drogue:
  85                         AO_IGNITER_DROGUE = 1;
  86                         ao_delay(AO_IGNITER_FIRE_TIME);
  87                         AO_IGNITER_DROGUE = 0;
  88                         ao_delay(AO_IGNITER_CHARGE_TIME);
  89                         AO_IGNITER_MAIN = 1;
  90                         ao_delay(AO_IGNITER_FIRE_TIME);
  91                         AO_IGNITER_MAIN = 0;
  92                         break;
  93                 }
  94                 break;
  95         case AO_IGNITE_MODE_MAIN:
  96                 switch (igniter) {
  97                 case ao_igniter_main:
  98                         AO_IGNITER_DROGUE = 1;
  99                         ao_delay(AO_IGNITER_FIRE_TIME);
 100                         AO_IGNITER_DROGUE = 0;
 101                         ao_delay(AO_IGNITER_CHARGE_TIME);
 102                         AO_IGNITER_MAIN = 1;
 103                         ao_delay(AO_IGNITER_FIRE_TIME);
 104                         AO_IGNITER_MAIN = 0;
 105                         break;
 106                 }
 107                 break;
 108         }
 109         ao_ignition[igniter].firing = 0;
 110         ao_mutex_put(&ao_radio_mutex);
 111 }
 112
 113 void
 114 ao_igniter(void)
 115 {
 116         __xdata enum ao_ignter igniter;
 117
 118         ao_config_get();
 119         for (;;) {
 120                 ao_sleep(&ao_ignition);
 121                 for (igniter = ao_igniter_drogue; igniter <= ao_igniter_main; igniter++) {
 122                         if (ao_ignition[igniter].request && !ao_ignition[igniter].fired) {
 123                                 if (igniter == ao_igniter_drogue && ao_config.apogee_delay)
 124                                         ao_delay(AO_SEC_TO_TICKS(ao_config.apogee_delay));
 125
 126                                 ao_igniter_fire(igniter);
 127                                 ao_delay(AO_IGNITER_CHARGE_TIME);
 128                                 ao_ignition[igniter].fired = 1;
 129                         }
 130                 }
 131         }
 132 }
 133
 134 void
 135 ao_ignite_manual(void)
 136 {
 137         ao_cmd_white();
 138         if (!ao_match_word("DoIt"))
 139                 return;
 140         ao_cmd_white();
 141         if (ao_cmd_lex_c == 'm') {
 142                 if(ao_match_word("main"))
 143                         ao_igniter_fire(ao_igniter_main);
 144         } else {
 145                 if(ao_match_word("drogue"))
 146                         ao_igniter_fire(ao_igniter_drogue);
 147         }
 148 }
 149
 150 static __code char * __code igniter_status_names[] = {
 151         "unknown", "ready", "active", "open"
 152 };
 153
 154 void
 155 ao_ignite_print_status(enum ao_igniter igniter, __code char *name) __reentrant
 156 {
 157         enum ao_igniter_status status = ao_igniter_status(igniter);
 158         printf("Igniter: %6s Status: %s\n",
 159                name,
 160                igniter_status_names[status]);
 161 }
 162
 163 void
 164 ao_ignite_test(void)
 165 {
 166         ao_ignite_print_status(ao_igniter_drogue, "drogue");
 167         ao_ignite_print_status(ao_igniter_main, "main");
 168 }
 169
 170 __code struct ao_cmds ao_ignite_cmds[] = {
 171         { ao_ignite_manual,     "i <key> {main|drogue}\0Fire igniter. <key> is doit with D&I" },
 172         { ao_ignite_test,       "t\0Test igniter" },
 173         { 0,    NULL },
 174 };
 175
 176 __xdata struct ao_task ao_igniter_task;
 177
 178 void
 179 ao_ignite_set_pins(void)
 180 {
 181         AO_IGNITER_DROGUE = 0;
 182         AO_IGNITER_MAIN = 0;
 183         AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
 184 }
 185
 186 void
 187 ao_igniter_init(void)
 188 {
 189         ao_ignite_set_pins();
 190         ao_cmd_register(&ao_ignite_cmds[0]);
 191         ao_add_task(&ao_igniter_task, ao_igniter, "igniter");
 192 }