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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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #include "ao.h"
  20 #include <ao_data.h>
  21 #if AO_PYRO_NUM
  22 #include <ao_pyro.h>
  23 #endif
  24
  25 #if HAS_IGNITE
  26 __xdata struct ao_ignition ao_ignition[2];
  27
  28 void
  29 ao_ignite(enum ao_igniter igniter)
  30 {
  31         ao_arch_block_interrupts();
  32         ao_ignition[igniter].request = 1;
  33         ao_wakeup(&ao_ignition);
  34         ao_arch_release_interrupts();
  35 }
  36
  37 #ifndef AO_SENSE_DROGUE
  38 #define AO_SENSE_DROGUE(p)      ((p)->adc.sense_d)
  39 #define AO_SENSE_MAIN(p)        ((p)->adc.sense_m)
  40 #endif
  41
  42 enum ao_igniter_status
  43 ao_igniter_status(enum ao_igniter igniter)
  44 {
  45         __xdata struct ao_data packet;
  46         __pdata int16_t value;
  47         __pdata uint8_t request, firing, fired;
  48
  49         ao_arch_critical(
  50                 ao_data_get(&packet);
  51                 request = ao_ignition[igniter].request;
  52                 fired = ao_ignition[igniter].fired;
  53                 firing = ao_ignition[igniter].firing;
  54                 );
  55         if (firing || (request && !fired))
  56                 return ao_igniter_active;
  57
  58         value = (AO_IGNITER_CLOSED>>1);
  59         switch (igniter) {
  60         case ao_igniter_drogue:
  61                 value = AO_SENSE_DROGUE(&packet);
  62                 break;
  63         case ao_igniter_main:
  64                 value = AO_SENSE_MAIN(&packet);
  65                 break;
  66         }
  67         if (value < AO_IGNITER_OPEN)
  68                 return ao_igniter_open;
  69         else if (value > AO_IGNITER_CLOSED)
  70                 return ao_igniter_ready;
  71         else
  72                 return ao_igniter_unknown;
  73 }
  74
  75 #ifndef AO_IGNITER_SET_DROGUE
  76 #define AO_IGNITER_SET_DROGUE(v)        AO_IGNITER_DROGUE = (v)
  77 #define AO_IGNITER_SET_MAIN(v)          AO_IGNITER_MAIN = (v)
  78 #endif
  79
  80 #ifndef AO_IGNITER_FIRE_TIME
  81 #define AO_IGNITER_FIRE_TIME            AO_MS_TO_TICKS(50)
  82 #endif
  83
  84 #ifndef AO_IGNITER_CHARGE_TIME
  85 #define AO_IGNITER_CHARGE_TIME          AO_MS_TO_TICKS(2000)
  86 #endif
  87
  88 void
  89 ao_igniter_fire(enum ao_igniter igniter)
  90 {
  91         ao_ignition[igniter].firing = 1;
  92         switch(ao_config.ignite_mode) {
  93         case AO_IGNITE_MODE_DUAL:
  94                 switch (igniter) {
  95                 case ao_igniter_drogue:
  96                         AO_IGNITER_SET_DROGUE(1);
  97                         ao_delay(AO_IGNITER_FIRE_TIME);
  98                         AO_IGNITER_SET_DROGUE(0);
  99                         break;
 100                 case ao_igniter_main:
 101                         AO_IGNITER_SET_MAIN(1);
 102                         ao_delay(AO_IGNITER_FIRE_TIME);
 103                         AO_IGNITER_SET_MAIN(0);
 104                         break;
 105                 }
 106                 break;
 107         case AO_IGNITE_MODE_APOGEE:
 108                 switch (igniter) {
 109                 case ao_igniter_drogue:
 110                         AO_IGNITER_SET_DROGUE(1);
 111                         ao_delay(AO_IGNITER_FIRE_TIME);
 112                         AO_IGNITER_SET_DROGUE(0);
 113                         ao_delay(AO_IGNITER_CHARGE_TIME);
 114                         AO_IGNITER_SET_MAIN(1);
 115                         ao_delay(AO_IGNITER_FIRE_TIME);
 116                         AO_IGNITER_SET_MAIN(0);
 117                         break;
 118                 default:
 119                         break;
 120                 }
 121                 break;
 122         case AO_IGNITE_MODE_MAIN:
 123                 switch (igniter) {
 124                 case ao_igniter_main:
 125                         AO_IGNITER_SET_DROGUE(1);
 126                         ao_delay(AO_IGNITER_FIRE_TIME);
 127                         AO_IGNITER_SET_DROGUE(0);
 128                         ao_delay(AO_IGNITER_CHARGE_TIME);
 129                         AO_IGNITER_SET_MAIN(1);
 130                         ao_delay(AO_IGNITER_FIRE_TIME);
 131                         AO_IGNITER_SET_MAIN(0);
 132                         break;
 133                 default:
 134                         break;
 135                 }
 136                 break;
 137         }
 138         ao_ignition[igniter].firing = 0;
 139 }
 140
 141 void
 142 ao_igniter(void)
 143 {
 144         __xdata enum ao_igniter igniter;
 145
 146         ao_config_get();
 147         for (;;) {
 148                 ao_sleep(&ao_ignition);
 149                 for (igniter = ao_igniter_drogue; igniter <= ao_igniter_main; igniter++) {
 150                         if (ao_ignition[igniter].request && !ao_ignition[igniter].fired) {
 151                                 if (igniter == ao_igniter_drogue && ao_config.apogee_delay)
 152                                         ao_delay(AO_SEC_TO_TICKS(ao_config.apogee_delay));
 153
 154                                 ao_igniter_fire(igniter);
 155                                 ao_delay(AO_IGNITER_CHARGE_TIME);
 156                                 ao_ignition[igniter].fired = 1;
 157                         }
 158                 }
 159         }
 160 }
 161
 162 #endif
 163
 164 void
 165 ao_ignite_manual(void)
 166 {
 167         ao_cmd_white();
 168         if (!ao_match_word("DoIt"))
 169                 return;
 170         ao_cmd_white();
 171 #if HAS_IGNITE
 172         if (ao_cmd_lex_c == 'm' && ao_match_word("main")) {
 173                 ao_igniter_fire(ao_igniter_main);
 174                 return;
 175         }
 176         if (ao_cmd_lex_c == 'd' && ao_match_word("drogue")) {
 177                 ao_igniter_fire(ao_igniter_drogue);
 178                 return;
 179         }
 180 #endif
 181 #if AO_PYRO_NUM
 182         if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9') {
 183                 ao_pyro_manual(ao_cmd_lex_c - '0');
 184                 return;
 185         }
 186 #endif
 187         ao_cmd_status = ao_cmd_syntax_error;
 188 }
 189
 190 __code char * __code ao_igniter_status_names[] = {
 191         "unknown", "ready", "active", "open"
 192 };
 193
 194 #if HAS_IGNITE
 195 void
 196 ao_ignite_print_status(enum ao_igniter igniter, __code char *name) __reentrant
 197 {
 198         enum ao_igniter_status status = ao_igniter_status(igniter);
 199         printf("Igniter: %6s Status: %s\n",
 200                name,
 201                ao_igniter_status_names[status]);
 202 }
 203 #endif
 204
 205 void
 206 ao_ignite_test(void)
 207 {
 208 #if HAS_IGNITE
 209         ao_ignite_print_status(ao_igniter_drogue, "drogue");
 210         ao_ignite_print_status(ao_igniter_main, "main");
 211 #endif
 212 #if AO_PYRO_NUM
 213         ao_pyro_print_status();
 214 #endif
 215 }
 216
 217 __code struct ao_cmds ao_ignite_cmds[] = {
 218         { ao_ignite_manual,     "i <key> {main|drogue}\0Fire igniter. <key> is doit with D&I" },
 219         { ao_ignite_test,       "t\0Test igniter" },
 220         { 0,    NULL },
 221 };
 222
 223 #if HAS_IGNITE
 224 __xdata struct ao_task ao_igniter_task;
 225
 226 void
 227 ao_ignite_set_pins(void)
 228 {
 229         ao_enable_output(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, AO_IGNITER_DROGUE, 0);
 230         ao_enable_output(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, AO_IGNITER_MAIN, 0);
 231 }
 232 #endif
 233
 234 void
 235 ao_igniter_init(void)
 236 {
 237 #if HAS_IGNITE
 238         ao_ignite_set_pins();
 239         ao_add_task(&ao_igniter_task, ao_igniter, "igniter");
 240 #endif
 241         ao_cmd_register(&ao_ignite_cmds[0]);
 242 }