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