git.gag.com Git - fw/altos/blob - src/kernel/ao_ignite.c

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