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   1 /*
   2  * Copyright © 2012 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 #ifndef AO_FLIGHT_TEST
  20 #include <ao.h>
  21 #include <ao_sample.h>
  22 #include <ao_flight.h>
  23 #endif
  24 #include <ao_pyro.h>
  25
  26 #if IS_COMPANION
  27 #include <ao_companion.h>
  28 #define ao_accel ao_companion_command.accel
  29 #define ao_speed ao_companion_command.speed
  30 #define ao_height ao_companion_command.height
  31 #define ao_flight_state ao_companion_command.flight_state
  32 #define ao_motor_number ao_companion_command.motor_number
  33 #endif
  34
  35 #define ao_lowbit(x)    ((x) & (-x))
  36
  37 #ifndef AO_FLIGHT_TEST
  38 enum ao_igniter_status
  39 ao_pyro_status(uint8_t p)
  40 {
  41         __xdata struct ao_data packet;
  42         __pdata int16_t value;
  43
  44         ao_arch_critical(
  45                 ao_data_get(&packet);
  46                 );
  47
  48         value = (AO_IGNITER_CLOSED>>1);
  49         value = AO_SENSE_PYRO(&packet, p);
  50         if (value < AO_IGNITER_OPEN)
  51                 return ao_igniter_open;
  52         else if (value > AO_IGNITER_CLOSED)
  53                 return ao_igniter_ready;
  54         else
  55                 return ao_igniter_unknown;
  56 }
  57
  58 void
  59 ao_pyro_print_status(void)
  60 {
  61         uint8_t p;
  62
  63         for(p = 0; p < AO_PYRO_NUM; p++) {
  64                 enum ao_igniter_status status = ao_pyro_status(p);
  65                 printf("Igniter: %d Status: %s\n",
  66                        p, ao_igniter_status_names[status]);
  67         }
  68 }
  69 #endif
  70
  71 uint16_t        ao_pyro_fired;
  72
  73 #ifndef PYRO_DBG
  74 #define PYRO_DBG        0
  75 #endif
  76
  77 #if PYRO_DBG
  78 int pyro_dbg;
  79 #define DBG(...)        do { if (pyro_dbg) { printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } } while (0)
  80 #else
  81 #define DBG(...)
  82 #endif
  83
  84 static angle_t
  85 ao_sample_max_orient(void)
  86 {
  87         uint8_t i;
  88         angle_t max = ao_sample_orients[0];
  89
  90         for (i = 1; i < AO_NUM_ORIENT; i++) {
  91                 angle_t a = ao_sample_orients[i];
  92                 if (a > max)
  93                         max = a;
  94         }
  95         return max;
  96 }
  97 /*
  98  * Given a pyro structure, figure out
  99  * if the current flight state satisfies all
 100  * of the requirements
 101  */
 102 static uint8_t
 103 ao_pyro_ready(struct ao_pyro *pyro)
 104 {
 105         enum ao_pyro_flag flag, flags;
 106 #if HAS_GYRO
 107         angle_t max_orient;
 108 #endif
 109
 110         flags = pyro->flags;
 111         while (flags != ao_pyro_none) {
 112                 flag = ao_lowbit(flags);
 113                 flags &= ~flag;
 114                 switch (flag) {
 115
 116                 case ao_pyro_accel_less:
 117                         if (ao_accel <= pyro->accel_less)
 118                                 continue;
 119                         DBG("accel %d > %d\n", ao_accel, pyro->accel_less);
 120                         break;
 121                 case ao_pyro_accel_greater:
 122                         if (ao_accel >= pyro->accel_greater)
 123                                 continue;
 124                         DBG("accel %d < %d\n", ao_accel, pyro->accel_greater);
 125                         break;
 126                 case ao_pyro_speed_less:
 127                         if (ao_speed <= pyro->speed_less)
 128                                 continue;
 129                         DBG("speed %d > %d\n", ao_speed, pyro->speed_less);
 130                         break;
 131                 case ao_pyro_speed_greater:
 132                         if (ao_speed >= pyro->speed_greater)
 133                                 continue;
 134                         DBG("speed %d < %d\n", ao_speed, pyro->speed_greater);
 135                         break;
 136                 case ao_pyro_height_less:
 137                         if (ao_height <= pyro->height_less)
 138                                 continue;
 139                         DBG("height %d > %d\n", ao_height, pyro->height_less);
 140                         break;
 141                 case ao_pyro_height_greater:
 142                         if (ao_height >= pyro->height_greater)
 143                                 continue;
 144                         DBG("height %d < %d\n", ao_height, pyro->height_greater);
 145                         break;
 146
 147 #if HAS_GYRO
 148                 case ao_pyro_orient_less:
 149                         max_orient = ao_sample_max_orient();
 150                         if (max_orient <= pyro->orient_less)
 151                                 continue;
 152                         DBG("orient %d > %d\n", max_orient, pyro->orient_less);
 153                         break;
 154                 case ao_pyro_orient_greater:
 155                         max_orient = ao_sample_max_orient();
 156                         if (max_orient >= pyro->orient_greater)
 157                                 continue;
 158                         DBG("orient %d < %d\n", max_orient, pyro->orient_greater);
 159                         break;
 160 #endif
 161
 162                 case ao_pyro_time_less:
 163                         if ((int16_t) (ao_time() - ao_boost_tick) <= pyro->time_less)
 164                                 continue;
 165                         DBG("time %d > %d\n", (int16_t)(ao_time() - ao_boost_tick), pyro->time_less);
 166                         break;
 167                 case ao_pyro_time_greater:
 168                         if ((int16_t) (ao_time() - ao_boost_tick) >= pyro->time_greater)
 169                                 continue;
 170                         DBG("time %d < %d\n", (int16_t)(ao_time() - ao_boost_tick), pyro->time_greater);
 171                         break;
 172
 173                 case ao_pyro_ascending:
 174                         if (ao_speed > 0)
 175                                 continue;
 176                         DBG("not ascending speed %d\n", ao_speed);
 177                         break;
 178                 case ao_pyro_descending:
 179                         if (ao_speed < 0)
 180                                 continue;
 181                         DBG("not descending speed %d\n", ao_speed);
 182                         break;
 183
 184                 case ao_pyro_after_motor:
 185                         if (ao_motor_number >= pyro->motor)
 186                                 continue;
 187                         DBG("motor %d != %d\n", ao_motor_number, pyro->motor);
 188                         break;
 189
 190                 case ao_pyro_delay:
 191                         /* handled separately */
 192                         continue;
 193
 194                 case ao_pyro_state_less:
 195                         if (ao_flight_state < pyro->state_less)
 196                                 continue;
 197                         DBG("state %d >= %d\n", ao_flight_state, pyro->state_less);
 198                         break;
 199                 case ao_pyro_state_greater_or_equal:
 200                         if (ao_flight_state >= pyro->state_greater_or_equal)
 201                                 continue;
 202                         DBG("state %d < %d\n", ao_flight_state, pyro->state_greater_or_equal);
 203                         break;
 204
 205                 default:
 206                         continue;
 207                 }
 208                 return FALSE;
 209         }
 210         return TRUE;
 211 }
 212
 213 #ifndef AO_FLIGHT_TEST
 214 static void
 215 ao_pyro_pin_set(uint8_t p, uint8_t v)
 216 {
 217         switch (p) {
 218 #if AO_PYRO_NUM > 0
 219         case 0: ao_gpio_set(AO_PYRO_PORT_0, AO_PYRO_PIN_0, AO_PYRO_0, v); break;
 220 #endif
 221 #if AO_PYRO_NUM > 1
 222         case 1: ao_gpio_set(AO_PYRO_PORT_1, AO_PYRO_PIN_1, AO_PYRO_1, v); break;
 223 #endif
 224 #if AO_PYRO_NUM > 2
 225         case 2: ao_gpio_set(AO_PYRO_PORT_2, AO_PYRO_PIN_2, AO_PYRO_2, v); break;
 226 #endif
 227 #if AO_PYRO_NUM > 3
 228         case 3: ao_gpio_set(AO_PYRO_PORT_3, AO_PYRO_PIN_3, AO_PYRO_3, v); break;
 229 #endif
 230 #if AO_PYRO_NUM > 4
 231         case 4: ao_gpio_set(AO_PYRO_PORT_4, AO_PYRO_PIN_4, AO_PYRO_4, v); break;
 232 #endif
 233 #if AO_PYRO_NUM > 5
 234         case 5: ao_gpio_set(AO_PYRO_PORT_5, AO_PYRO_PIN_5, AO_PYRO_5, v); break;
 235 #endif
 236 #if AO_PYRO_NUM > 6
 237         case 6: ao_gpio_set(AO_PYRO_PORT_6, AO_PYRO_PIN_6, AO_PYRO_6, v); break;
 238 #endif
 239 #if AO_PYRO_NUM > 7
 240         case 7: ao_gpio_set(AO_PYRO_PORT_7, AO_PYRO_PIN_7, AO_PYRO_7, v); break;
 241 #endif
 242         default: break;
 243         }
 244 }
 245 #endif
 246
 247 uint8_t ao_pyro_wakeup;
 248
 249 static void
 250 ao_pyro_pins_fire(uint16_t fire)
 251 {
 252         uint8_t p;
 253
 254         for (p = 0; p < AO_PYRO_NUM; p++) {
 255                 if (fire & (1 << p))
 256                         ao_pyro_pin_set(p, 1);
 257         }
 258         ao_delay(ao_config.pyro_time);
 259         for (p = 0; p < AO_PYRO_NUM; p++) {
 260                 if (fire & (1 << p))
 261                         ao_pyro_pin_set(p, 0);
 262         }
 263         ao_delay(AO_MS_TO_TICKS(50));
 264 }
 265
 266 static uint8_t
 267 ao_pyro_check(void)
 268 {
 269         struct ao_pyro  *pyro;
 270         uint8_t         p, any_waiting;
 271         uint16_t        fire = 0;
 272
 273         any_waiting = 0;
 274         for (p = 0; p < AO_PYRO_NUM; p++) {
 275                 pyro = &ao_config.pyro[p];
 276
 277                 /* Ignore igniters which have already fired
 278                  */
 279                 if (ao_pyro_fired & (1 << p))
 280                         continue;
 281
 282                 /* Ignore disabled igniters
 283                  */
 284                 if (!pyro->flags)
 285                         continue;
 286
 287                 any_waiting = 1;
 288                 /* Check pyro state to see if it should fire
 289                  */
 290                 if (!pyro->delay_done) {
 291                         if (!ao_pyro_ready(pyro))
 292                                 continue;
 293
 294                         /* If there's a delay set, then remember when
 295                          * it expires
 296                          */
 297                         if (pyro->flags & ao_pyro_delay) {
 298                                 pyro->delay_done = ao_time() + pyro->delay;
 299                                 if (!pyro->delay_done)
 300                                         pyro->delay_done = 1;
 301                         }
 302                 }
 303
 304                 /* Check to see if we're just waiting for
 305                  * the delay to expire
 306                  */
 307                 if (pyro->delay_done) {
 308
 309                         /* Check to make sure the required conditions
 310                          * remain valid. If not, inhibit the channel
 311                          * by setting the fired bit
 312                          */
 313                         if (!ao_pyro_ready(pyro)) {
 314                                 ao_pyro_fired |= (1 << p);
 315                                 continue;
 316                         }
 317
 318                         if ((int16_t) (ao_time() - pyro->delay_done) < 0)
 319                                 continue;
 320                 }
 321
 322                 fire |= (1 << p);
 323         }
 324
 325         if (fire) {
 326                 ao_pyro_fired |= fire;
 327                 ao_pyro_pins_fire(fire);
 328         }
 329
 330         return any_waiting;
 331 }
 332
 333 #define NO_VALUE        0xff
 334
 335 #define AO_PYRO_NAME_LEN        4
 336
 337 #if !DISABLE_HELP
 338 #define ENABLE_HELP 1
 339 #endif
 340
 341 #if ENABLE_HELP
 342 #define HELP(s) (s)
 343 #else
 344 #define HELP(s)
 345 #endif
 346
 347 const struct {
 348         char                    name[AO_PYRO_NAME_LEN];
 349         enum ao_pyro_flag       flag;
 350         uint8_t                 offset;
 351 #if ENABLE_HELP
 352         char                    *help;
 353 #endif
 354 } ao_pyro_values[] = {
 355         { "a<", ao_pyro_accel_less,     offsetof(struct ao_pyro, accel_less), HELP("accel less (m/ss * 16)") },
 356         { "a>", ao_pyro_accel_greater,  offsetof(struct ao_pyro, accel_greater), HELP("accel greater (m/ss * 16)") },
 357
 358         { "s<", ao_pyro_speed_less,     offsetof(struct ao_pyro, speed_less), HELP("speed less (m/s * 16)") },
 359         { "s>", ao_pyro_speed_greater,  offsetof(struct ao_pyro, speed_greater), HELP("speed greater (m/s * 16)") },
 360
 361         { "h<", ao_pyro_height_less,    offsetof(struct ao_pyro, height_less), HELP("height less (m)") },
 362         { "h>", ao_pyro_height_greater, offsetof(struct ao_pyro, height_greater), HELP("height greater (m)") },
 363
 364 #if HAS_GYRO
 365         { "o<", ao_pyro_orient_less,    offsetof(struct ao_pyro, orient_less), HELP("orient less (deg)") },
 366         { "o>", ao_pyro_orient_greater, offsetof(struct ao_pyro, orient_greater), HELP("orient greater (deg)")  },
 367 #endif
 368
 369         { "t<", ao_pyro_time_less,      offsetof(struct ao_pyro, time_less), HELP("time less (s * 100)") },
 370         { "t>", ao_pyro_time_greater,   offsetof(struct ao_pyro, time_greater), HELP("time greater (s * 100)")  },
 371
 372         { "f<", ao_pyro_state_less,     offsetof(struct ao_pyro, state_less), HELP("state less") },
 373         { "f>=",ao_pyro_state_greater_or_equal, offsetof(struct ao_pyro, state_greater_or_equal), HELP("state greater or equal")  },
 374
 375         { "A", ao_pyro_ascending,       NO_VALUE, HELP("ascending") },
 376         { "D", ao_pyro_descending,      NO_VALUE, HELP("descending") },
 377
 378         { "m", ao_pyro_after_motor,     offsetof(struct ao_pyro, motor), HELP("after motor") },
 379
 380         { "d", ao_pyro_delay,           offsetof(struct ao_pyro, delay), HELP("delay before firing (s * 100)") },
 381         { "", ao_pyro_none,             NO_VALUE, HELP(NULL) },
 382 };
 383
 384 #define NUM_PYRO_VALUES (sizeof ao_pyro_values / sizeof ao_pyro_values[0])
 385
 386 #ifndef AO_FLIGHT_TEST
 387 static void
 388 ao_pyro(void)
 389 {
 390         uint8_t         any_waiting;
 391
 392         ao_config_get();
 393         while (ao_flight_state < ao_flight_boost)
 394                 ao_sleep(&ao_flight_state);
 395
 396         for (;;) {
 397                 ao_sleep_for(&ao_pyro_wakeup, AO_MS_TO_TICKS(100));
 398                 if (ao_flight_state >= ao_flight_landed)
 399                         break;
 400                 any_waiting = ao_pyro_check();
 401                 if (!any_waiting)
 402                         break;
 403         }
 404         ao_exit();
 405 }
 406
 407 __xdata struct ao_task ao_pyro_task;
 408
 409
 410 static void
 411 ao_pyro_print_name(uint8_t v)
 412 {
 413         const char *s = ao_pyro_values[v].name;
 414         printf ("%s%s", s, "   " + strlen(s));
 415 }
 416
 417 #if ENABLE_HELP
 418 static void
 419 ao_pyro_help(void)
 420 {
 421         uint8_t v;
 422         for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
 423                 ao_pyro_print_name(v);
 424                 if (ao_pyro_values[v].offset != NO_VALUE)
 425                         printf ("<n> ");
 426                 else
 427                         printf ("    ");
 428                 printf ("%s\n", ao_pyro_values[v].help);
 429         }
 430 }
 431 #endif
 432
 433 void
 434 ao_pyro_show(void)
 435 {
 436         uint8_t         p;
 437         uint8_t         v;
 438         struct ao_pyro  *pyro;
 439
 440         printf ("Pyro-count: %d\n", AO_PYRO_NUM);
 441         for (p = 0; p < AO_PYRO_NUM; p++) {
 442                 printf ("Pyro %2d: ", p);
 443                 pyro = &ao_config.pyro[p];
 444                 if (!pyro->flags) {
 445                         printf ("<disabled>\n");
 446                         continue;
 447                 }
 448                 for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
 449                         if (!(pyro->flags & ao_pyro_values[v].flag))
 450                                 continue;
 451                         ao_pyro_print_name(v);
 452                         if (ao_pyro_values[v].offset != NO_VALUE) {
 453                                 int16_t value;
 454
 455                                 if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE)
 456                                         value = *((uint8_t *) ((char *) pyro + ao_pyro_values[v].offset));
 457                                 else
 458                                         value = *((int16_t *) (void *) ((char *) pyro + ao_pyro_values[v].offset));
 459                                 printf ("%6d ", value);
 460                         } else {
 461                                 printf ("       ");
 462                         }
 463                 }
 464                 printf ("\n");
 465         }
 466 }
 467
 468 void
 469 ao_pyro_set(void)
 470 {
 471         uint8_t p;
 472         struct ao_pyro pyro_tmp;
 473         char    name[AO_PYRO_NAME_LEN];
 474         uint8_t c;
 475         uint8_t v;
 476
 477         ao_cmd_white();
 478
 479 #if ENABLE_HELP
 480         switch (ao_cmd_lex_c) {
 481         case '?':
 482                 ao_pyro_help();
 483                 return;
 484         }
 485 #endif
 486
 487         ao_cmd_decimal();
 488         if (ao_cmd_status != ao_cmd_success)
 489                 return;
 490         p = ao_cmd_lex_i;
 491         if (AO_PYRO_NUM <= p) {
 492                 printf ("invalid pyro channel %d\n", p);
 493                 return;
 494         }
 495         memset(&pyro_tmp, '\0', sizeof (pyro_tmp));
 496         for (;;) {
 497                 ao_cmd_white();
 498                 if (ao_cmd_lex_c == '\n')
 499                         break;
 500
 501                 for (c = 0; c < AO_PYRO_NAME_LEN - 1; c++) {
 502                         if (ao_cmd_is_white() || ao_cmd_lex_c == '\n')
 503                                 break;
 504                         name[c] = ao_cmd_lex_c;
 505                         ao_cmd_lex();
 506                 }
 507                 name[c] = '\0';
 508                 for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
 509                         if (!strcmp (ao_pyro_values[v].name, name))
 510                                 break;
 511                 }
 512                 if (ao_pyro_values[v].flag == ao_pyro_none) {
 513                         printf ("invalid pyro field %s\n", name);
 514                         ao_cmd_status = ao_cmd_syntax_error;
 515                         return;
 516                 }
 517                 pyro_tmp.flags |= ao_pyro_values[v].flag;
 518                 if (ao_pyro_values[v].offset != NO_VALUE) {
 519                         uint8_t negative = 0;
 520                         ao_cmd_white();
 521                         if (ao_cmd_lex_c == '-') {
 522                                 negative = 1;
 523                                 ao_cmd_lex();
 524                         }
 525                         ao_cmd_decimal();
 526                         if (ao_cmd_status != ao_cmd_success)
 527                                 return;
 528                         if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE) {
 529                                 if (negative) {
 530                                         ao_cmd_status = ao_cmd_syntax_error;
 531                                         return;
 532                                 }
 533                                 *((uint8_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
 534                         } else {
 535                                 if (negative)
 536                                         ao_cmd_lex_i = -ao_cmd_lex_i;
 537                                 *((int16_t *) (void *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
 538                         }
 539                 }
 540         }
 541         _ao_config_edit_start();
 542         ao_config.pyro[p] = pyro_tmp;
 543         _ao_config_edit_finish();
 544 }
 545
 546 void
 547 ao_pyro_manual(uint8_t p)
 548 {
 549         printf ("ao_pyro_manual %d\n", p);
 550         if (p >= AO_PYRO_NUM) {
 551                 ao_cmd_status = ao_cmd_syntax_error;
 552                 return;
 553         }
 554         ao_pyro_pins_fire(1 << p);
 555 }
 556
 557 void
 558 ao_pyro_init(void)
 559 {
 560 #if AO_PYRO_NUM > 0
 561         ao_enable_output(AO_PYRO_PORT_0, AO_PYRO_PIN_0, AO_PYRO_0, 0);
 562 #endif
 563 #if AO_PYRO_NUM > 1
 564         ao_enable_output(AO_PYRO_PORT_1, AO_PYRO_PIN_1, AO_PYRO_1, 0);
 565 #endif
 566 #if AO_PYRO_NUM > 2
 567         ao_enable_output(AO_PYRO_PORT_2, AO_PYRO_PIN_2, AO_PYRO_2, 0);
 568 #endif
 569 #if AO_PYRO_NUM > 3
 570         ao_enable_output(AO_PYRO_PORT_3, AO_PYRO_PIN_3, AO_PYRO_3, 0);
 571 #endif
 572 #if AO_PYRO_NUM > 4
 573         ao_enable_output(AO_PYRO_PORT_4, AO_PYRO_PIN_4, AO_PYRO_4, 0);
 574 #endif
 575 #if AO_PYRO_NUM > 5
 576         ao_enable_output(AO_PYRO_PORT_5, AO_PYRO_PIN_5, AO_PYRO_5, 0);
 577 #endif
 578 #if AO_PYRO_NUM > 6
 579         ao_enable_output(AO_PYRO_PORT_6, AO_PYRO_PIN_6, AO_PYRO_6, 0);
 580 #endif
 581 #if AO_PYRO_NUM > 7
 582         ao_enable_output(AO_PYRO_PORT_7, AO_PYRO_PIN_7, AO_PYRO_7, 0);
 583 #endif
 584         ao_add_task(&ao_pyro_task, ao_pyro, "pyro");
 585 }
 586 #endif