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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 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         struct ao_data packet;
  46         int16_t value;
  47         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 #define AO_IGNITER_SET_DROGUE(v)        ao_gpio_set(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, v)
  76 #define AO_IGNITER_SET_MAIN(v)          ao_gpio_set(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, v)
  77
  78 #ifndef AO_IGNITER_FIRE_TIME
  79 #define AO_IGNITER_FIRE_TIME            AO_MS_TO_TICKS(50)
  80 #endif
  81
  82 #ifndef AO_IGNITER_CHARGE_TIME
  83 #define AO_IGNITER_CHARGE_TIME          AO_MS_TO_TICKS(2000)
  84 #endif
  85
  86 void
  87 ao_igniter_fire(enum ao_igniter igniter)
  88 {
  89         ao_ignition[igniter].firing = 1;
  90         switch(ao_config.ignite_mode) {
  91         case AO_IGNITE_MODE_DUAL:
  92                 switch (igniter) {
  93                 case ao_igniter_drogue:
  94                         AO_IGNITER_SET_DROGUE(1);
  95                         ao_delay(AO_IGNITER_FIRE_TIME);
  96                         AO_IGNITER_SET_DROGUE(0);
  97                         break;
  98                 case ao_igniter_main:
  99                         AO_IGNITER_SET_MAIN(1);
 100                         ao_delay(AO_IGNITER_FIRE_TIME);
 101                         AO_IGNITER_SET_MAIN(0);
 102                         break;
 103                 }
 104                 break;
 105         case AO_IGNITE_MODE_APOGEE:
 106                 switch (igniter) {
 107                 case ao_igniter_drogue:
 108                         AO_IGNITER_SET_DROGUE(1);
 109                         ao_delay(AO_IGNITER_FIRE_TIME);
 110                         AO_IGNITER_SET_DROGUE(0);
 111                         ao_delay(AO_IGNITER_CHARGE_TIME);
 112                         AO_IGNITER_SET_MAIN(1);
 113                         ao_delay(AO_IGNITER_FIRE_TIME);
 114                         AO_IGNITER_SET_MAIN(0);
 115                         break;
 116                 default:
 117                         break;
 118                 }
 119                 break;
 120         case AO_IGNITE_MODE_MAIN:
 121                 switch (igniter) {
 122                 case ao_igniter_main:
 123                         AO_IGNITER_SET_DROGUE(1);
 124                         ao_delay(AO_IGNITER_FIRE_TIME);
 125                         AO_IGNITER_SET_DROGUE(0);
 126                         ao_delay(AO_IGNITER_CHARGE_TIME);
 127                         AO_IGNITER_SET_MAIN(1);
 128                         ao_delay(AO_IGNITER_FIRE_TIME);
 129                         AO_IGNITER_SET_MAIN(0);
 130                         break;
 131                 default:
 132                         break;
 133                 }
 134                 break;
 135         }
 136         ao_ignition[igniter].firing = 0;
 137 }
 138
 139 void
 140 ao_igniter(void)
 141 {
 142         enum ao_igniter igniter;
 143
 144         ao_config_get();
 145         for (;;) {
 146                 ao_sleep(&ao_ignition);
 147                 for (igniter = ao_igniter_drogue; igniter <= ao_igniter_main; igniter++) {
 148                         if (ao_ignition[igniter].request && !ao_ignition[igniter].fired) {
 149                                 if (igniter == ao_igniter_drogue && ao_config.apogee_delay)
 150                                         ao_delay(AO_SEC_TO_TICKS(ao_config.apogee_delay));
 151
 152                                 ao_igniter_fire(igniter);
 153                                 ao_delay(AO_IGNITER_CHARGE_TIME);
 154                                 ao_ignition[igniter].fired = 1;
 155                         }
 156                 }
 157         }
 158 }
 159
 160 #endif
 161
 162 void
 163 ao_ignite_manual(void)
 164 {
 165         ao_cmd_white();
 166         if (!ao_match_word("DoIt"))
 167                 return;
 168         ao_cmd_white();
 169 #if HAS_IGNITE
 170         if (ao_cmd_lex_c == 'm' && ao_match_word("main")) {
 171                 ao_igniter_fire(ao_igniter_main);
 172                 return;
 173         }
 174         if (ao_cmd_lex_c == 'd' && ao_match_word("drogue")) {
 175                 ao_igniter_fire(ao_igniter_drogue);
 176                 return;
 177         }
 178 #endif
 179 #if AO_PYRO_NUM
 180         if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9') {
 181                 ao_pyro_manual(ao_cmd_lex_c - '0');
 182                 return;
 183         }
 184 #endif
 185         ao_cmd_status = ao_cmd_syntax_error;
 186 }
 187
 188 const char * const ao_igniter_status_names[] = {
 189         "unknown", "ready", "active", "open"
 190 };
 191
 192 #if HAS_IGNITE
 193 void
 194 ao_ignite_print_status(enum ao_igniter igniter, const char *name)
 195 {
 196         enum ao_igniter_status status = ao_igniter_status(igniter);
 197         printf("Igniter: %6s Status: %s\n",
 198                name,
 199                ao_igniter_status_names[status]);
 200 }
 201 #endif
 202
 203 void
 204 ao_ignite_test(void)
 205 {
 206 #if HAS_IGNITE
 207         ao_ignite_print_status(ao_igniter_drogue, "drogue");
 208         ao_ignite_print_status(ao_igniter_main, "main");
 209 #endif
 210 #if AO_PYRO_NUM
 211         ao_pyro_print_status();
 212 #endif
 213 }
 214
 215 const struct ao_cmds ao_ignite_cmds[] = {
 216         { ao_ignite_manual,     "i <key> {main|drogue}\0Fire igniter. <key> is doit with D&I" },
 217         { ao_ignite_test,       "t\0Test igniter" },
 218         { 0,    NULL },
 219 };
 220
 221 #if HAS_IGNITE
 222 struct ao_task ao_igniter_task;
 223
 224 void
 225 ao_ignite_set_pins(void)
 226 {
 227         ao_enable_output(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, 0);
 228         ao_enable_output(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, 0);
 229 }
 230 #endif
 231
 232 void
 233 ao_igniter_init(void)
 234 {
 235 #if HAS_IGNITE
 236         ao_ignite_set_pins();
 237         ao_add_task(&ao_igniter_task, ao_igniter, "igniter");
 238 #endif
 239         ao_cmd_register(&ao_ignite_cmds[0]);
 240 }