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

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