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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 #if AO_PYRO_NUM
  21 #include <ao_pyro.h>
  22 #endif
  23
  24 #if HAS_IGNITE
  25 __xdata struct ao_ignition ao_ignition[2];
  26
  27 void
  28 ao_ignite(enum ao_igniter igniter)
  29 {
  30         ao_arch_block_interrupts();
  31         ao_ignition[igniter].request = 1;
  32         ao_wakeup(&ao_ignition);
  33         ao_arch_release_interrupts();
  34 }
  35
  36 #ifndef AO_SENSE_DROGUE
  37 #define AO_SENSE_DROGUE(p)      ((p)->adc.sense_d)
  38 #define AO_SENSE_MAIN(p)        ((p)->adc.sense_m)
  39 #endif
  40
  41 enum ao_igniter_status
  42 ao_igniter_status(enum ao_igniter igniter)
  43 {
  44         __xdata struct ao_data packet;
  45         __pdata int16_t value;
  46         __pdata uint8_t request, firing, fired;
  47
  48         ao_arch_critical(
  49                 ao_data_get(&packet);
  50                 request = ao_ignition[igniter].request;
  51                 fired = ao_ignition[igniter].fired;
  52                 firing = ao_ignition[igniter].firing;
  53                 );
  54         if (firing || (request && !fired))
  55                 return ao_igniter_active;
  56
  57         value = (AO_IGNITER_CLOSED>>1);
  58         switch (igniter) {
  59         case ao_igniter_drogue:
  60                 value = AO_SENSE_DROGUE(&packet);
  61                 break;
  62         case ao_igniter_main:
  63                 value = AO_SENSE_MAIN(&packet);
  64                 break;
  65         }
  66         if (value < AO_IGNITER_OPEN)
  67                 return ao_igniter_open;
  68         else if (value > AO_IGNITER_CLOSED)
  69                 return ao_igniter_ready;
  70         else
  71                 return ao_igniter_unknown;
  72 }
  73
  74 #ifndef AO_IGNITER_SET_DROGUE
  75 #define AO_IGNITER_SET_DROGUE(v)        AO_IGNITER_DROGUE = (v)
  76 #define AO_IGNITER_SET_MAIN(v)          AO_IGNITER_MAIN = (v)
  77 #endif
  78
  79 #ifndef AO_IGNITER_FIRE_TIME
  80 #define AO_IGNITER_FIRE_TIME            AO_MS_TO_TICKS(50)
  81 #endif
  82
  83 #ifndef AO_IGNITER_CHARGE_TIME
  84 #define AO_IGNITER_CHARGE_TIME          AO_MS_TO_TICKS(2000)
  85 #endif
  86
  87 void
  88 ao_igniter_fire(enum ao_igniter igniter)
  89 {
  90         ao_ignition[igniter].firing = 1;
  91         switch(ao_config.ignite_mode) {
  92         case AO_IGNITE_MODE_DUAL:
  93                 switch (igniter) {
  94                 case ao_igniter_drogue:
  95                         AO_IGNITER_SET_DROGUE(1);
  96                         ao_delay(AO_IGNITER_FIRE_TIME);
  97                         AO_IGNITER_SET_DROGUE(0);
  98                         break;
  99                 case ao_igniter_main:
 100                         AO_IGNITER_SET_MAIN(1);
 101                         ao_delay(AO_IGNITER_FIRE_TIME);
 102                         AO_IGNITER_SET_MAIN(0);
 103                         break;
 104                 }
 105                 break;
 106         case AO_IGNITE_MODE_APOGEE:
 107                 switch (igniter) {
 108                 case ao_igniter_drogue:
 109                         AO_IGNITER_SET_DROGUE(1);
 110                         ao_delay(AO_IGNITER_FIRE_TIME);
 111                         AO_IGNITER_SET_DROGUE(0);
 112                         ao_delay(AO_IGNITER_CHARGE_TIME);
 113                         AO_IGNITER_SET_MAIN(1);
 114                         ao_delay(AO_IGNITER_FIRE_TIME);
 115                         AO_IGNITER_SET_MAIN(0);
 116                         break;
 117                 default:
 118                         break;
 119                 }
 120                 break;
 121         case AO_IGNITE_MODE_MAIN:
 122                 switch (igniter) {
 123                 case ao_igniter_main:
 124                         AO_IGNITER_SET_DROGUE(1);
 125                         ao_delay(AO_IGNITER_FIRE_TIME);
 126                         AO_IGNITER_SET_DROGUE(0);
 127                         ao_delay(AO_IGNITER_CHARGE_TIME);
 128                         AO_IGNITER_SET_MAIN(1);
 129                         ao_delay(AO_IGNITER_FIRE_TIME);
 130                         AO_IGNITER_SET_MAIN(0);
 131                         break;
 132                 default:
 133                         break;
 134                 }
 135                 break;
 136         }
 137         ao_ignition[igniter].firing = 0;
 138 }
 139
 140 void
 141 ao_igniter(void)
 142 {
 143         __xdata enum ao_igniter igniter;
 144
 145         ao_config_get();
 146         for (;;) {
 147                 ao_sleep(&ao_ignition);
 148                 for (igniter = ao_igniter_drogue; igniter <= ao_igniter_main; igniter++) {
 149                         if (ao_ignition[igniter].request && !ao_ignition[igniter].fired) {
 150                                 if (igniter == ao_igniter_drogue && ao_config.apogee_delay)
 151                                         ao_delay(AO_SEC_TO_TICKS(ao_config.apogee_delay));
 152
 153                                 ao_igniter_fire(igniter);
 154                                 ao_delay(AO_IGNITER_CHARGE_TIME);
 155                                 ao_ignition[igniter].fired = 1;
 156                         }
 157                 }
 158         }
 159 }
 160
 161 #endif
 162
 163 void
 164 ao_ignite_manual(void)
 165 {
 166         ao_cmd_white();
 167         if (!ao_match_word("DoIt"))
 168                 return;
 169         ao_cmd_white();
 170 #if HAS_IGNITE
 171         if (ao_cmd_lex_c == 'm' && ao_match_word("main")) {
 172                 ao_igniter_fire(ao_igniter_main);
 173                 return;
 174         }
 175         if (ao_cmd_lex_c == 'd' && ao_match_word("drogue")) {
 176                 ao_igniter_fire(ao_igniter_drogue);
 177                 return;
 178         }
 179 #endif
 180 #if AO_PYRO_NUM
 181         if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9') {
 182                 ao_pyro_manual(ao_cmd_lex_c - '0');
 183                 return;
 184         }
 185 #endif
 186         ao_cmd_status = ao_cmd_syntax_error;
 187 }
 188
 189 __code char * __code ao_igniter_status_names[] = {
 190         "unknown", "ready", "active", "open"
 191 };
 192
 193 #if HAS_IGNITE
 194 void
 195 ao_ignite_print_status(enum ao_igniter igniter, __code char *name) __reentrant
 196 {
 197         enum ao_igniter_status status = ao_igniter_status(igniter);
 198         printf("Igniter: %6s Status: %s\n",
 199                name,
 200                ao_igniter_status_names[status]);
 201 }
 202 #endif
 203
 204 void
 205 ao_ignite_test(void)
 206 {
 207 #if HAS_IGNITE
 208         ao_ignite_print_status(ao_igniter_drogue, "drogue");
 209         ao_ignite_print_status(ao_igniter_main, "main");
 210 #endif
 211 #if AO_PYRO_NUM
 212         ao_pyro_print_status();
 213 #endif
 214 }
 215
 216 __code struct ao_cmds ao_ignite_cmds[] = {
 217         { ao_ignite_manual,     "i <key> {main|drogue}\0Fire igniter. <key> is doit with D&I" },
 218         { ao_ignite_test,       "t\0Test igniter" },
 219         { 0,    NULL },
 220 };
 221
 222 #if HAS_IGNITE
 223 __xdata struct ao_task ao_igniter_task;
 224
 225 void
 226 ao_ignite_set_pins(void)
 227 {
 228         ao_enable_output(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, AO_IGNITER_DROGUE, 0);
 229         ao_enable_output(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, AO_IGNITER_MAIN, 0);
 230 }
 231 #endif
 232
 233 void
 234 ao_igniter_init(void)
 235 {
 236 #if HAS_IGNITE
 237         ao_ignite_set_pins();
 238         ao_add_task(&ao_igniter_task, ao_igniter, "igniter");
 239 #endif
 240         ao_cmd_register(&ao_ignite_cmds[0]);
 241 }