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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)
  25 {
  26         ao_arch_block_interrupts();
  27         ao_ignition[igniter].request = 1;
  28         ao_wakeup(&ao_ignition);
  29         ao_arch_release_interrupts();
  30 }
  31
  32 #ifndef AO_SENSE_DROGUE
  33 #define AO_SENSE_DROGUE(p)      ((p)->adc.sense_d)
  34 #define AO_SENSE_MAIN(p)        ((p)->adc.sense_m)
  35 #endif
  36
  37 enum ao_igniter_status
  38 ao_igniter_status(enum ao_igniter igniter)
  39 {
  40         __xdata struct ao_data packet;
  41         __pdata int16_t value;
  42         __pdata uint8_t request, firing, fired;
  43
  44         ao_arch_critical(
  45                 ao_data_get(&packet);
  46                 request = ao_ignition[igniter].request;
  47                 fired = ao_ignition[igniter].fired;
  48                 firing = ao_ignition[igniter].firing;
  49                 );
  50         if (firing || (request && !fired))
  51                 return ao_igniter_active;
  52
  53         value = (AO_IGNITER_CLOSED>>1);
  54         switch (igniter) {
  55         case ao_igniter_drogue:
  56                 value = AO_SENSE_DROGUE(&packet);
  57                 break;
  58         case ao_igniter_main:
  59                 value = AO_SENSE_MAIN(&packet);
  60                 break;
  61         }
  62         if (value < AO_IGNITER_OPEN)
  63                 return ao_igniter_open;
  64         else if (value > AO_IGNITER_CLOSED)
  65                 return ao_igniter_ready;
  66         else
  67                 return ao_igniter_unknown;
  68 }
  69
  70 #ifndef AO_IGNITER_SET_DROGUE
  71 #define AO_IGNITER_SET_DROGUE(v)        AO_IGNITER_DROGUE = (v)
  72 #define AO_IGNITER_SET_MAIN(v)          AO_IGNITER_MAIN = (v)
  73 #endif
  74
  75 #ifndef AO_IGNITER_FIRE_TIME
  76 #define AO_IGNITER_FIRE_TIME            AO_MS_TO_TICKS(50)
  77 #endif
  78
  79 #ifndef AO_IGNITER_CHARGE_TIME
  80 #define AO_IGNITER_CHARGE_TIME          AO_MS_TO_TICKS(2000)
  81 #endif
  82
  83 void
  84 ao_igniter_fire(enum ao_igniter igniter)
  85 {
  86         ao_ignition[igniter].firing = 1;
  87         switch(ao_config.ignite_mode) {
  88         case AO_IGNITE_MODE_DUAL:
  89                 switch (igniter) {
  90                 case ao_igniter_drogue:
  91                         AO_IGNITER_SET_DROGUE(1);
  92                         ao_delay(AO_IGNITER_FIRE_TIME);
  93                         AO_IGNITER_SET_DROGUE(0);
  94                         break;
  95                 case ao_igniter_main:
  96                         AO_IGNITER_SET_MAIN(1);
  97                         ao_delay(AO_IGNITER_FIRE_TIME);
  98                         AO_IGNITER_SET_MAIN(0);
  99                         break;
 100                 }
 101                 break;
 102         case AO_IGNITE_MODE_APOGEE:
 103                 switch (igniter) {
 104                 case ao_igniter_drogue:
 105                         AO_IGNITER_SET_DROGUE(1);
 106                         ao_delay(AO_IGNITER_FIRE_TIME);
 107                         AO_IGNITER_SET_DROGUE(0);
 108                         ao_delay(AO_IGNITER_CHARGE_TIME);
 109                         AO_IGNITER_SET_MAIN(1);
 110                         ao_delay(AO_IGNITER_FIRE_TIME);
 111                         AO_IGNITER_SET_MAIN(0);
 112                         break;
 113                 }
 114                 break;
 115         case AO_IGNITE_MODE_MAIN:
 116                 switch (igniter) {
 117                 case ao_igniter_main:
 118                         AO_IGNITER_SET_DROGUE(1);
 119                         ao_delay(AO_IGNITER_FIRE_TIME);
 120                         AO_IGNITER_SET_DROGUE(0);
 121                         ao_delay(AO_IGNITER_CHARGE_TIME);
 122                         AO_IGNITER_SET_MAIN(1);
 123                         ao_delay(AO_IGNITER_FIRE_TIME);
 124                         AO_IGNITER_SET_MAIN(0);
 125                         break;
 126                 }
 127                 break;
 128         }
 129         ao_ignition[igniter].firing = 0;
 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, AO_IGNITER_DROGUE, 0);
 201         ao_enable_output(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, AO_IGNITER_MAIN, 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 }