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