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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 #include <ao_data.h>
  20
  21 __xdata struct ao_ignition ao_ignition[2];
  22
  23 void
  24 ao_ignite(enum ao_igniter igniter) __critical
  25 {
  26         ao_ignition[igniter].request = 1;
  27         ao_wakeup(&ao_ignition);
  28 }
  29
  30 #ifndef AO_SENSE_DROGUE
  31 #define AO_SENSE_DROGUE(p)      ((p)->adc.sense_d)
  32 #define AO_SENSE_MAIN(p)        ((p)->adc.sense_m)
  33 #endif
  34
  35 enum ao_igniter_status
  36 ao_igniter_status(enum ao_igniter igniter)
  37 {
  38         __xdata struct ao_data packet;
  39         __pdata int16_t value;
  40         __pdata uint8_t request, firing, fired;
  41
  42         __critical {
  43                 ao_data_get(&packet);
  44                 request = ao_ignition[igniter].request;
  45                 fired = ao_ignition[igniter].fired;
  46                 firing = ao_ignition[igniter].firing;
  47         }
  48         if (firing || (request && !fired))
  49                 return ao_igniter_active;
  50
  51         value = (AO_IGNITER_CLOSED>>1);
  52         switch (igniter) {
  53         case ao_igniter_drogue:
  54                 value = AO_SENSE_DROGUE(&packet);
  55                 break;
  56         case ao_igniter_main:
  57                 value = AO_SENSE_MAIN(&packet);
  58                 break;
  59         }
  60         if (value < AO_IGNITER_OPEN)
  61                 return ao_igniter_open;
  62         else if (value > AO_IGNITER_CLOSED)
  63                 return ao_igniter_ready;
  64         else
  65                 return ao_igniter_unknown;
  66 }
  67
  68 #ifndef AO_IGNITER_SET_DROGUE
  69 #define AO_IGNITER_SET_DROGUE(v)        AO_IGNITER_DROGUE = (v)
  70 #define AO_IGNITER_SET_MAIN(v)          AO_IGNITER_MAIN = (v)
  71 #endif
  72
  73 #ifndef AO_IGNITER_FIRE_TIME
  74 #define AO_IGNITER_FIRE_TIME            AO_MS_TO_TICKS(50)
  75 #endif
  76
  77 #ifndef AO_IGNITER_CHARGE_TIME
  78 #define AO_IGNITER_CHARGE_TIME          AO_MS_TO_TICKS(2000)
  79 #endif
  80
  81 void
  82 ao_igniter_fire(enum ao_igniter igniter) __critical
  83 {
  84         ao_mutex_get(&ao_radio_mutex);
  85         ao_ignition[igniter].firing = 1;
  86         switch(ao_config.ignite_mode) {
  87         case AO_IGNITE_MODE_DUAL:
  88                 switch (igniter) {
  89                 case ao_igniter_drogue:
  90                         AO_IGNITER_SET_DROGUE(1);
  91                         ao_delay(AO_IGNITER_FIRE_TIME);
  92                         AO_IGNITER_SET_DROGUE(0);
  93                         break;
  94                 case ao_igniter_main:
  95                         AO_IGNITER_SET_MAIN(1);
  96                         ao_delay(AO_IGNITER_FIRE_TIME);
  97                         AO_IGNITER_SET_MAIN(0);
  98                         break;
  99                 }
 100                 break;
 101         case AO_IGNITE_MODE_APOGEE:
 102                 switch (igniter) {
 103                 case ao_igniter_drogue:
 104                         AO_IGNITER_SET_DROGUE(1);
 105                         ao_delay(AO_IGNITER_FIRE_TIME);
 106                         AO_IGNITER_SET_DROGUE(0);
 107                         ao_delay(AO_IGNITER_CHARGE_TIME);
 108                         AO_IGNITER_SET_MAIN(1);
 109                         ao_delay(AO_IGNITER_FIRE_TIME);
 110                         AO_IGNITER_SET_MAIN(0);
 111                         break;
 112                 }
 113                 break;
 114         case AO_IGNITE_MODE_MAIN:
 115                 switch (igniter) {
 116                 case ao_igniter_main:
 117                         AO_IGNITER_SET_DROGUE(1);
 118                         ao_delay(AO_IGNITER_FIRE_TIME);
 119                         AO_IGNITER_SET_DROGUE(0);
 120                         ao_delay(AO_IGNITER_CHARGE_TIME);
 121                         AO_IGNITER_SET_MAIN(1);
 122                         ao_delay(AO_IGNITER_FIRE_TIME);
 123                         AO_IGNITER_SET_MAIN(0);
 124                         break;
 125                 }
 126                 break;
 127         }
 128         ao_ignition[igniter].firing = 0;
 129         ao_mutex_put(&ao_radio_mutex);
 130 }
 131
 132 void
 133 ao_igniter(void)
 134 {
 135         __xdata enum ao_igniter igniter;
 136
 137         ao_config_get();
 138         for (;;) {
 139                 ao_sleep(&ao_ignition);
 140                 for (igniter = ao_igniter_drogue; igniter <= ao_igniter_main; igniter++) {
 141                         if (ao_ignition[igniter].request && !ao_ignition[igniter].fired) {
 142                                 if (igniter == ao_igniter_drogue && ao_config.apogee_delay)
 143                                         ao_delay(AO_SEC_TO_TICKS(ao_config.apogee_delay));
 144
 145                                 ao_igniter_fire(igniter);
 146                                 ao_delay(AO_IGNITER_CHARGE_TIME);
 147                                 ao_ignition[igniter].fired = 1;
 148                         }
 149                 }
 150         }
 151 }
 152
 153 void
 154 ao_ignite_manual(void)
 155 {
 156         ao_cmd_white();
 157         if (!ao_match_word("DoIt"))
 158                 return;
 159         ao_cmd_white();
 160         if (ao_cmd_lex_c == 'm') {
 161                 if(ao_match_word("main"))
 162                         ao_igniter_fire(ao_igniter_main);
 163         } else {
 164                 if(ao_match_word("drogue"))
 165                         ao_igniter_fire(ao_igniter_drogue);
 166         }
 167 }
 168
 169 static __code char * __code igniter_status_names[] = {
 170         "unknown", "ready", "active", "open"
 171 };
 172
 173 void
 174 ao_ignite_print_status(enum ao_igniter igniter, __code char *name) __reentrant
 175 {
 176         enum ao_igniter_status status = ao_igniter_status(igniter);
 177         printf("Igniter: %6s Status: %s\n",
 178                name,
 179                igniter_status_names[status]);
 180 }
 181
 182 void
 183 ao_ignite_test(void)
 184 {
 185         ao_ignite_print_status(ao_igniter_drogue, "drogue");
 186         ao_ignite_print_status(ao_igniter_main, "main");
 187 }
 188
 189 __code struct ao_cmds ao_ignite_cmds[] = {
 190         { ao_ignite_manual,     "i <key> {main|drogue}\0Fire igniter. <key> is doit with D&I" },
 191         { ao_ignite_test,       "t\0Test igniter" },
 192         { 0,    NULL },
 193 };
 194
 195 __xdata struct ao_task ao_igniter_task;
 196
 197 void
 198 ao_ignite_set_pins(void)
 199 {
 200         ao_enable_output(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, 0);
 201         ao_enable_output(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, 0);
 202 }
 203
 204 void
 205 ao_igniter_init(void)
 206 {
 207         ao_ignite_set_pins();
 208         ao_cmd_register(&ao_ignite_cmds[0]);
 209         ao_add_task(&ao_igniter_task, ao_igniter, "igniter");
 210 }