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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(const 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 ((AO_TICK_SIGNED) (ao_time() - ao_launch_tick) <= pyro->time_less)
 165                                 continue;
 166                         DBG("time %d > %d\n", (AO_TICK_SIGNED)(ao_time() - ao_launch_tick), pyro->time_less);
 167                         break;
 168                 case ao_pyro_time_greater:
 169                         if ((AO_TICK_SIGNED) (ao_time() - ao_launch_tick) >= pyro->time_greater)
 170                                 continue;
 171                         DBG("time %d < %d\n", (AO_TICK_SIGNED)(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 AO_TICK_TYPE pyro_delay_done[AO_PYRO_NUM];
 268
 269 static uint8_t
 270 ao_pyro_check(void)
 271 {
 272         const struct ao_pyro    *pyro;
 273         uint8_t         p, any_waiting;
 274         uint16_t        fire = 0;
 275
 276         any_waiting = 0;
 277         for (p = 0; p < AO_PYRO_NUM; p++) {
 278                 pyro = &ao_config.pyro[p];
 279
 280                 /* Ignore igniters which have already fired or inhibited
 281                  */
 282                 if ((ao_pyro_fired|ao_pyro_inhibited) & (1 << p))
 283                         continue;
 284
 285                 /* Ignore disabled igniters
 286                  */
 287                 if (!pyro->flags)
 288                         continue;
 289
 290                 any_waiting = 1;
 291                 /* Check pyro state to see if it should fire
 292                  */
 293                 if (!pyro_delay_done[p]) {
 294                         if (!ao_pyro_ready(pyro))
 295                                 continue;
 296
 297                         /* If there's a delay set, then remember when
 298                          * it expires
 299                          */
 300                         if (pyro->flags & ao_pyro_delay) {
 301                                 AO_TICK_TYPE delay_done;
 302                                 AO_TICK_SIGNED delay = pyro->delay;
 303                                 if (delay < 0)
 304                                         delay = 0;
 305                                 delay_done = ao_time() + (AO_TICK_TYPE) delay;
 306
 307                                 /*
 308                                  * delay_done is the time at which the
 309                                  * delay ends, but it is also used as
 310                                  * an indication that a delay is
 311                                  * active -- non-zero values indicate
 312                                  * an active delay. This code ensures
 313                                  * the value is non-zero, which might
 314                                  * introduce an additional tick
 315                                  * of delay.
 316                                  */
 317                                 if (delay_done == 0)
 318                                         delay_done = 1;
 319                                 pyro_delay_done[p] = delay_done;
 320                         }
 321                 }
 322
 323                 /* Check to see if we're just waiting for
 324                  * the delay to expire
 325                  */
 326                 if (pyro_delay_done[p] != 0) {
 327
 328                         /* Check to make sure the required conditions
 329                          * remain valid. If not, inhibit the channel
 330                          * by setting the inhibited bit
 331                          */
 332                         if (!ao_pyro_ready(pyro)) {
 333                                 ao_pyro_inhibited |= (uint16_t) (1 << p);
 334                                 continue;
 335                         }
 336
 337                         if ((AO_TICK_SIGNED) (ao_time() - pyro_delay_done[p]) < 0)
 338                                 continue;
 339                 }
 340
 341                 fire |= (uint16_t) (1U << p);
 342         }
 343
 344         if (fire) {
 345                 ao_pyro_fired |= fire;
 346                 ao_pyro_pins_fire(fire);
 347         }
 348
 349         return any_waiting;
 350 }
 351
 352 #define NO_VALUE        0xff
 353
 354 #define AO_PYRO_NAME_LEN        4
 355
 356 #if !DISABLE_HELP
 357 #define ENABLE_HELP 1
 358 #endif
 359
 360 #if ENABLE_HELP
 361 #define HELP(s) (s)
 362 #else
 363 #define HELP(s)
 364 #endif
 365
 366 const struct {
 367         char                    name[AO_PYRO_NAME_LEN];
 368         enum ao_pyro_flag       flag;
 369         uint8_t                 offset;
 370 #if ENABLE_HELP
 371         char                    *help;
 372 #endif
 373 } ao_pyro_values[] = {
 374         { "a<", ao_pyro_accel_less,     offsetof(struct ao_pyro, accel_less), HELP("accel less (m/ss * 16)") },
 375         { "a>", ao_pyro_accel_greater,  offsetof(struct ao_pyro, accel_greater), HELP("accel greater (m/ss * 16)") },
 376
 377         { "s<", ao_pyro_speed_less,     offsetof(struct ao_pyro, speed_less), HELP("speed less (m/s * 16)") },
 378         { "s>", ao_pyro_speed_greater,  offsetof(struct ao_pyro, speed_greater), HELP("speed greater (m/s * 16)") },
 379
 380         { "h<", ao_pyro_height_less,    offsetof(struct ao_pyro, height_less), HELP("height less (m)") },
 381         { "h>", ao_pyro_height_greater, offsetof(struct ao_pyro, height_greater), HELP("height greater (m)") },
 382
 383 #if HAS_GYRO
 384         { "o<", ao_pyro_orient_less,    offsetof(struct ao_pyro, orient_less), HELP("orient less (deg)") },
 385         { "o>", ao_pyro_orient_greater, offsetof(struct ao_pyro, orient_greater), HELP("orient greater (deg)")  },
 386 #endif
 387
 388         { "t<", ao_pyro_time_less,      offsetof(struct ao_pyro, time_less), HELP("time less (s * 100)") },
 389         { "t>", ao_pyro_time_greater,   offsetof(struct ao_pyro, time_greater), HELP("time greater (s * 100)")  },
 390
 391         { "f<", ao_pyro_state_less,     offsetof(struct ao_pyro, state_less), HELP("state less") },
 392         { "f>=",ao_pyro_state_greater_or_equal, offsetof(struct ao_pyro, state_greater_or_equal), HELP("state greater or equal")  },
 393
 394         { "A", ao_pyro_ascending,       NO_VALUE, HELP("ascending") },
 395         { "D", ao_pyro_descending,      NO_VALUE, HELP("descending") },
 396
 397         { "m", ao_pyro_after_motor,     offsetof(struct ao_pyro, motor), HELP("after motor") },
 398
 399         { "d", ao_pyro_delay,           offsetof(struct ao_pyro, delay), HELP("delay before firing (s * 100)") },
 400         { "", ao_pyro_none,             NO_VALUE, HELP(NULL) },
 401 };
 402
 403 #define NUM_PYRO_VALUES (sizeof ao_pyro_values / sizeof ao_pyro_values[0])
 404
 405 #ifndef AO_FLIGHT_TEST
 406 static void
 407 ao_pyro(void)
 408 {
 409         uint8_t         any_waiting;
 410
 411         ao_config_get();
 412         while (ao_flight_state < ao_flight_boost)
 413                 ao_sleep(&ao_flight_state);
 414
 415         for (;;) {
 416                 ao_sleep_for(&ao_pyro_wakeup, AO_MS_TO_TICKS(100));
 417                 if (ao_flight_state >= ao_flight_landed)
 418                         break;
 419                 any_waiting = ao_pyro_check();
 420                 if (!any_waiting)
 421                         break;
 422         }
 423         ao_exit();
 424 }
 425
 426 struct ao_task ao_pyro_task;
 427
 428
 429 static void
 430 ao_pyro_print_name(uint8_t v)
 431 {
 432         const char *s = ao_pyro_values[v].name;
 433         printf ("%s%s", s, "   " + strlen(s));
 434 }
 435
 436 #if ENABLE_HELP
 437 static void
 438 ao_pyro_help(void)
 439 {
 440         uint8_t v;
 441         for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
 442                 ao_pyro_print_name(v);
 443                 if (ao_pyro_values[v].offset != NO_VALUE)
 444                         printf ("<n> ");
 445                 else
 446                         printf ("    ");
 447                 printf ("%s\n", ao_pyro_values[v].help);
 448         }
 449 }
 450 #endif
 451
 452 static int32_t
 453 ao_pyro_get(void *base, uint8_t offset, uint8_t size)
 454 {
 455         int32_t value;
 456         switch (size) {
 457         case 8:
 458                 value = *((uint8_t *) ((char *) base + offset));
 459                 break;
 460         case 16:
 461         default:
 462                 value = *((int16_t *) (void *) ((char *) base + offset));
 463                 break;
 464         case 32:
 465                 value = *((int32_t *) (void *) ((char *) base + offset));
 466                 break;
 467         }
 468         return value;
 469 }
 470
 471 static bool
 472 ao_pyro_put(void *base, uint8_t offset, uint8_t size, int32_t value)
 473 {
 474         switch (size) {
 475         case 8:
 476                 if (value < 0)
 477                         return false;
 478                 *((uint8_t *) ((char *) base + offset)) = (uint8_t) value;
 479                 break;
 480         case 16:
 481         default:
 482                 *((int16_t *) (void *) ((char *) base + offset)) = (int16_t) value;
 483                 break;
 484         case 32:
 485                 *((int32_t *) (void *) ((char *) base + offset)) = value;
 486                 break;
 487         }
 488         return true;
 489 }
 490
 491 static uint8_t
 492 ao_pyro_size(enum ao_pyro_flag flag)
 493 {
 494         if (flag & AO_PYRO_8_BIT_VALUE)
 495                 return 8;
 496         if (flag & AO_PYRO_32_BIT_VALUE)
 497                 return 32;
 498         return 16;
 499 }
 500
 501 void
 502 ao_pyro_show(void)
 503 {
 504         uint8_t         p;
 505         uint8_t         v;
 506         struct ao_pyro  *pyro;
 507
 508         printf ("Pyro-count: %d\n", AO_PYRO_NUM);
 509         for (p = 0; p < AO_PYRO_NUM; p++) {
 510                 printf ("Pyro %2d: ", p);
 511                 pyro = &ao_config.pyro[p];
 512                 if (!pyro->flags) {
 513                         printf ("<disabled>\n");
 514                         continue;
 515                 }
 516                 for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
 517                         if (!(pyro->flags & ao_pyro_values[v].flag))
 518                                 continue;
 519                         ao_pyro_print_name(v);
 520                         if (ao_pyro_values[v].offset != NO_VALUE) {
 521                                 printf ("%6ld ",
 522                                         (long) ao_pyro_get(pyro,
 523                                                            ao_pyro_values[v].offset,
 524                                                            ao_pyro_size(ao_pyro_values[v].flag)));
 525                         } else {
 526                                 printf ("       ");
 527                         }
 528                 }
 529                 printf ("\n");
 530         }
 531 }
 532
 533 void
 534 ao_pyro_set(void)
 535 {
 536         uint32_t        p;
 537         struct ao_pyro pyro_tmp;
 538         char    name[AO_PYRO_NAME_LEN];
 539         uint8_t c;
 540         uint8_t v;
 541
 542         ao_cmd_white();
 543
 544 #if ENABLE_HELP
 545         switch (ao_cmd_lex_c) {
 546         case '?':
 547                 ao_pyro_help();
 548                 return;
 549         }
 550 #endif
 551
 552         p = ao_cmd_decimal();
 553         if (ao_cmd_status != ao_cmd_success)
 554                 return;
 555         if (AO_PYRO_NUM <= p) {
 556                 printf ("invalid pyro channel %lu\n", p);
 557                 return;
 558         }
 559         memset(&pyro_tmp, '\0', sizeof (pyro_tmp));
 560         for (;;) {
 561                 ao_cmd_white();
 562                 if (ao_cmd_lex_c == '\n')
 563                         break;
 564
 565                 for (c = 0; c < AO_PYRO_NAME_LEN - 1; c++) {
 566                         if (ao_cmd_is_white() || ao_cmd_lex_c == '\n')
 567                                 break;
 568                         name[c] = ao_cmd_lex_c;
 569                         ao_cmd_lex();
 570                 }
 571                 name[c] = '\0';
 572                 for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
 573                         if (!strcmp (ao_pyro_values[v].name, name))
 574                                 break;
 575                 }
 576                 if (ao_pyro_values[v].flag == ao_pyro_none) {
 577                         printf ("invalid pyro field %s\n", name);
 578                         ao_cmd_status = ao_cmd_syntax_error;
 579                         return;
 580                 }
 581                 pyro_tmp.flags |= ao_pyro_values[v].flag;
 582                 if (ao_pyro_values[v].offset != NO_VALUE) {
 583                         int32_t r = 1;
 584                         ao_cmd_white();
 585                         if (ao_cmd_lex_c == '-') {
 586                                 r = -1;
 587                                 ao_cmd_lex();
 588                         }
 589                         r *= (int32_t) ao_cmd_decimal();
 590                         if (ao_cmd_status != ao_cmd_success)
 591                                 return;
 592                         if (!ao_pyro_put(&pyro_tmp, ao_pyro_values[v].offset,
 593                                          ao_pyro_size(ao_pyro_values[v].flag), r))
 594                         {
 595                                 ao_cmd_status = ao_cmd_syntax_error;
 596                                 return;
 597                         }
 598                 }
 599         }
 600         _ao_config_edit_start();
 601         ao_config.pyro[p] = pyro_tmp;
 602         _ao_config_edit_finish();
 603 }
 604
 605 void
 606 ao_pyro_manual(uint8_t p)
 607 {
 608         printf ("ao_pyro_manual %d\n", p);
 609         if (p >= AO_PYRO_NUM) {
 610                 ao_cmd_status = ao_cmd_syntax_error;
 611                 return;
 612         }
 613         ao_pyro_pins_fire(1 << p);
 614 }
 615
 616 struct ao_pyro_old_values {
 617         enum ao_pyro_flag       flag;
 618         uint8_t                 offset;
 619         uint8_t                 size;
 620 };
 621
 622 static const struct ao_pyro_old_values ao_pyro_1_24_values[] = {
 623         { .flag = ao_pyro_accel_less, .offset = offsetof(struct ao_pyro_1_24, accel_less), 16 },
 624         { .flag = ao_pyro_accel_greater, .offset = offsetof(struct ao_pyro_1_24, accel_greater), 16 },
 625         { .flag = ao_pyro_speed_less, .offset = offsetof(struct ao_pyro_1_24, speed_less), 16 },
 626         { .flag = ao_pyro_speed_greater, .offset = offsetof(struct ao_pyro_1_24, speed_greater), 16 },
 627         { .flag = ao_pyro_height_less, .offset = offsetof(struct ao_pyro_1_24, height_less), 16 },
 628         { .flag = ao_pyro_height_greater, .offset = offsetof(struct ao_pyro_1_24, height_greater), 16 },
 629         { .flag = ao_pyro_orient_less, .offset = offsetof(struct ao_pyro_1_24, orient_less), 16 },
 630         { .flag = ao_pyro_orient_greater, .offset = offsetof(struct ao_pyro_1_24, orient_greater), 16 },
 631         { .flag = ao_pyro_time_less, .offset = offsetof(struct ao_pyro_1_24, time_less), 16 },
 632         { .flag = ao_pyro_time_greater, .offset = offsetof(struct ao_pyro_1_24, time_greater), 16 },
 633         { .flag = ao_pyro_delay, .offset = offsetof(struct ao_pyro_1_24, delay), 16 },
 634         { .flag = ao_pyro_state_less, .offset = offsetof(struct ao_pyro_1_24, state_less), 8 },
 635         { .flag = ao_pyro_state_greater_or_equal, .offset = offsetof(struct ao_pyro_1_24, state_greater_or_equal), 8 },
 636         { .flag = ao_pyro_after_motor, .offset = offsetof(struct ao_pyro_1_24, motor), 16 },
 637 };
 638
 639 #define NUM_PYRO_1_24_VALUES (sizeof ao_pyro_1_24_values / sizeof ao_pyro_1_24_values[0])
 640
 641 static int32_t
 642 ao_pyro_get_1_24(void *base, enum ao_pyro_flag flag)
 643 {
 644         unsigned v;
 645
 646         for (v = 0; v < NUM_PYRO_1_24_VALUES; v++) {
 647                 if (ao_pyro_1_24_values[v].flag == flag)
 648                         return ao_pyro_get(base, ao_pyro_1_24_values[v].offset, ao_pyro_1_24_values[v].size);
 649         }
 650         return 0;
 651 }
 652
 653 void
 654 ao_pyro_update_version(void)
 655 {
 656         if (ao_config.minor <= 24)
 657         {
 658
 659                 /* First, move all of the config bits that follow the pyro data */
 660
 661                 struct ao_config_1_24 *ao_config_1_24 = (void *) &ao_config;
 662                 struct ao_pyro          *pyro_1_25 = &ao_config.pyro[0];
 663                 struct ao_pyro_1_24     *pyro_1_24 = &(ao_config_1_24->pyro)[0];
 664
 665
 666                 char    *pyro_base_1_25 = (void *) pyro_1_25;
 667                 char    *pyro_base_1_24 = (void *) pyro_1_24;
 668                 char    *after_pyro_1_25 = pyro_base_1_25 + AO_PYRO_NUM * sizeof (struct ao_pyro);
 669                 char    *after_pyro_1_24 = pyro_base_1_24 + AO_PYRO_NUM * sizeof (struct ao_pyro_1_24);
 670
 671                 char    *config_end_1_25 = (void *) (&ao_config + 1);
 672                 size_t  to_move = (size_t) (config_end_1_25 - after_pyro_1_25);
 673
 674                 memmove(after_pyro_1_25, after_pyro_1_24, to_move);
 675
 676                 /* Now, adjust all of the pyro entries */
 677
 678                 int p = AO_PYRO_NUM;
 679
 680                 /* New struct is larger than the old, so start at the
 681                  * last one and work towards the first
 682                  */
 683                 while (p-- > 0) {
 684                         unsigned v;
 685                         int32_t value;
 686                         struct ao_pyro  tmp;
 687
 688                         memset(&tmp, '\0', sizeof(tmp));
 689                         tmp.flags = pyro_1_24[p].flags;
 690
 691                         for (v = 0; v < NUM_PYRO_VALUES; v++)
 692                         {
 693                                 value = ao_pyro_get_1_24(&pyro_1_24[p], ao_pyro_values[v].flag);
 694                                 ao_pyro_put(&tmp, ao_pyro_values[v].offset,
 695                                             ao_pyro_size(ao_pyro_values[v].flag), value);
 696                         }
 697                         memcpy(&pyro_1_25[p], &tmp, sizeof(tmp));
 698                 }
 699         }
 700 }
 701
 702 void
 703 ao_pyro_init(void)
 704 {
 705 #if AO_PYRO_NUM > 0
 706         ao_enable_output(AO_PYRO_PORT_0, AO_PYRO_PIN_0, 0);
 707 #endif
 708 #if AO_PYRO_NUM > 1
 709         ao_enable_output(AO_PYRO_PORT_1, AO_PYRO_PIN_1, 0);
 710 #endif
 711 #if AO_PYRO_NUM > 2
 712         ao_enable_output(AO_PYRO_PORT_2, AO_PYRO_PIN_2, 0);
 713 #endif
 714 #if AO_PYRO_NUM > 3
 715         ao_enable_output(AO_PYRO_PORT_3, AO_PYRO_PIN_3, 0);
 716 #endif
 717 #if AO_PYRO_NUM > 4
 718         ao_enable_output(AO_PYRO_PORT_4, AO_PYRO_PIN_4, 0);
 719 #endif
 720 #if AO_PYRO_NUM > 5
 721         ao_enable_output(AO_PYRO_PORT_5, AO_PYRO_PIN_5, 0);
 722 #endif
 723 #if AO_PYRO_NUM > 6
 724         ao_enable_output(AO_PYRO_PORT_6, AO_PYRO_PIN_6, 0);
 725 #endif
 726 #if AO_PYRO_NUM > 7
 727         ao_enable_output(AO_PYRO_PORT_7, AO_PYRO_PIN_7, 0);
 728 #endif
 729         ao_add_task(&ao_pyro_task, ao_pyro, "pyro");
 730 }
 731 #endif