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