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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_SENSE_PYRO(&packet, p);
  49         return ao_igniter_check(value, AO_SENSE_PBATT(&packet));
  50 }
  51
  52 void
  53 ao_pyro_print_status(void)
  54 {
  55         uint8_t p;
  56
  57         for(p = 0; p < AO_PYRO_NUM; p++) {
  58                 enum ao_igniter_status status = ao_pyro_status(p);
  59                 printf("Igniter: %d Status: %s\n",
  60                        p, ao_igniter_status_names[status]);
  61         }
  62 }
  63 #endif
  64
  65 uint16_t        ao_pyro_fired;
  66 uint16_t        ao_pyro_inhibited;
  67
  68 #ifndef PYRO_DBG
  69 #define PYRO_DBG        0
  70 #endif
  71
  72 #if PYRO_DBG
  73 int pyro_dbg;
  74 #define DBG(...)        do { if (pyro_dbg) { printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } } while (0)
  75 #else
  76 #define DBG(...)
  77 #endif
  78
  79 static angle_t
  80 ao_sample_max_orient(void)
  81 {
  82         uint8_t i;
  83         angle_t max = ao_sample_orients[0];
  84
  85         for (i = 1; i < AO_NUM_ORIENT; i++) {
  86                 angle_t a = ao_sample_orients[i];
  87                 if (a > max)
  88                         max = a;
  89         }
  90         return max;
  91 }
  92 /*
  93  * Given a pyro structure, figure out
  94  * if the current flight state satisfies all
  95  * of the requirements
  96  */
  97 static uint8_t
  98 ao_pyro_ready(const struct ao_pyro *pyro)
  99 {
 100         enum ao_pyro_flag flag, flags;
 101 #if HAS_GYRO
 102         angle_t max_orient;
 103 #endif
 104
 105         flags = pyro->flags;
 106         while (flags != ao_pyro_none) {
 107                 flag = ao_lowbit(flags);
 108                 flags &= ~flag;
 109                 switch (flag) {
 110
 111                 case ao_pyro_accel_less:
 112                         if (ao_accel <= pyro->accel_less)
 113                                 continue;
 114                         DBG("accel %d > %d\n", ao_accel, pyro->accel_less);
 115                         break;
 116                 case ao_pyro_accel_greater:
 117                         if (ao_accel >= pyro->accel_greater)
 118                                 continue;
 119                         DBG("accel %d < %d\n", ao_accel, pyro->accel_greater);
 120                         break;
 121                 case ao_pyro_speed_less:
 122                         if (ao_speed <= pyro->speed_less)
 123                                 continue;
 124                         DBG("speed %d > %d\n", ao_speed, pyro->speed_less);
 125                         break;
 126                 case ao_pyro_speed_greater:
 127                         if (ao_speed >= pyro->speed_greater)
 128                                 continue;
 129                         DBG("speed %d < %d\n", ao_speed, pyro->speed_greater);
 130                         break;
 131                 case ao_pyro_height_less:
 132                         if (ao_height <= pyro->height_less)
 133                                 continue;
 134                         DBG("height %d > %d\n", ao_height, pyro->height_less);
 135                         break;
 136                 case ao_pyro_height_greater:
 137                         if (ao_height >= pyro->height_greater)
 138                                 continue;
 139                         DBG("height %d < %d\n", ao_height, pyro->height_greater);
 140                         break;
 141
 142 #if HAS_GYRO
 143                 case ao_pyro_orient_less:
 144                         max_orient = ao_sample_max_orient();
 145                         if (max_orient <= pyro->orient_less)
 146                                 continue;
 147                         DBG("orient %d > %d\n", max_orient, pyro->orient_less);
 148                         break;
 149                 case ao_pyro_orient_greater:
 150                         max_orient = ao_sample_max_orient();
 151                         if (max_orient >= pyro->orient_greater)
 152                                 continue;
 153                         DBG("orient %d < %d\n", max_orient, pyro->orient_greater);
 154                         break;
 155 #endif
 156
 157                 case ao_pyro_time_less:
 158                         if ((AO_TICK_SIGNED) (ao_time() - ao_launch_tick) <= pyro->time_less)
 159                                 continue;
 160                         DBG("time %d > %d\n", (AO_TICK_SIGNED)(ao_time() - ao_launch_tick), pyro->time_less);
 161                         break;
 162                 case ao_pyro_time_greater:
 163                         if ((AO_TICK_SIGNED) (ao_time() - ao_launch_tick) >= pyro->time_greater)
 164                                 continue;
 165                         DBG("time %d < %d\n", (AO_TICK_SIGNED)(ao_time() - ao_launch_tick), pyro->time_greater);
 166                         break;
 167
 168                 case ao_pyro_ascending:
 169                         if (ao_speed > 0)
 170                                 continue;
 171                         DBG("not ascending speed %d\n", ao_speed);
 172                         break;
 173                 case ao_pyro_descending:
 174                         if (ao_speed < 0)
 175                                 continue;
 176                         DBG("not descending speed %d\n", ao_speed);
 177                         break;
 178
 179                 case ao_pyro_after_motor:
 180                         if (ao_motor_number >= pyro->motor)
 181                                 continue;
 182                         DBG("motor %d != %d\n", ao_motor_number, pyro->motor);
 183                         break;
 184
 185                 case ao_pyro_delay:
 186                         /* handled separately */
 187                         continue;
 188
 189                 case ao_pyro_state_less:
 190                         if (ao_flight_state < pyro->state_less)
 191                                 continue;
 192                         DBG("state %d >= %d\n", ao_flight_state, pyro->state_less);
 193                         break;
 194                 case ao_pyro_state_greater_or_equal:
 195                         if (ao_flight_state >= pyro->state_greater_or_equal)
 196                                 continue;
 197                         DBG("state %d < %d\n", ao_flight_state, pyro->state_greater_or_equal);
 198                         break;
 199
 200                 default:
 201                         continue;
 202                 }
 203                 return false;
 204         }
 205         return true;
 206 }
 207
 208 #ifndef AO_FLIGHT_TEST
 209 static void
 210 ao_pyro_pin_set(uint8_t p, uint8_t v)
 211 {
 212         switch (p) {
 213 #if AO_PYRO_NUM > 0
 214         case 0: ao_gpio_set(AO_PYRO_PORT_0, AO_PYRO_PIN_0, v); break;
 215 #endif
 216 #if AO_PYRO_NUM > 1
 217         case 1: ao_gpio_set(AO_PYRO_PORT_1, AO_PYRO_PIN_1, v); break;
 218 #endif
 219 #if AO_PYRO_NUM > 2
 220         case 2: ao_gpio_set(AO_PYRO_PORT_2, AO_PYRO_PIN_2, v); break;
 221 #endif
 222 #if AO_PYRO_NUM > 3
 223         case 3: ao_gpio_set(AO_PYRO_PORT_3, AO_PYRO_PIN_3, v); break;
 224 #endif
 225 #if AO_PYRO_NUM > 4
 226         case 4: ao_gpio_set(AO_PYRO_PORT_4, AO_PYRO_PIN_4, v); break;
 227 #endif
 228 #if AO_PYRO_NUM > 5
 229         case 5: ao_gpio_set(AO_PYRO_PORT_5, AO_PYRO_PIN_5, v); break;
 230 #endif
 231 #if AO_PYRO_NUM > 6
 232         case 6: ao_gpio_set(AO_PYRO_PORT_6, AO_PYRO_PIN_6, v); break;
 233 #endif
 234 #if AO_PYRO_NUM > 7
 235         case 7: ao_gpio_set(AO_PYRO_PORT_7, AO_PYRO_PIN_7, v); break;
 236 #endif
 237         default: break;
 238         }
 239 }
 240 #endif
 241
 242 uint8_t ao_pyro_wakeup;
 243
 244 static void
 245 ao_pyro_pins_fire(uint16_t fire)
 246 {
 247         uint8_t p;
 248
 249         for (p = 0; p < AO_PYRO_NUM; p++) {
 250                 if (fire & (1 << p))
 251                         ao_pyro_pin_set(p, 1);
 252         }
 253         ao_delay(ao_config.pyro_time);
 254         for (p = 0; p < AO_PYRO_NUM; p++) {
 255                 if (fire & (1 << p))
 256                         ao_pyro_pin_set(p, 0);
 257         }
 258         ao_delay(AO_MS_TO_TICKS(50));
 259 }
 260
 261 static AO_TICK_TYPE pyro_delay_done[AO_PYRO_NUM];
 262
 263 static uint8_t
 264 ao_pyro_check(void)
 265 {
 266         const struct ao_pyro    *pyro;
 267         uint8_t         p, any_waiting;
 268         uint16_t        fire = 0;
 269
 270         any_waiting = 0;
 271         for (p = 0; p < AO_PYRO_NUM; p++) {
 272                 pyro = &ao_config.pyro[p];
 273
 274                 /* Ignore igniters which have already fired or inhibited
 275                  */
 276                 if ((ao_pyro_fired|ao_pyro_inhibited) & (1 << p))
 277                         continue;
 278
 279                 /* Ignore disabled igniters
 280                  */
 281                 if (!pyro->flags)
 282                         continue;
 283
 284                 any_waiting = 1;
 285                 /* Check pyro state to see if it should fire
 286                  */
 287                 if (!pyro_delay_done[p]) {
 288                         if (!ao_pyro_ready(pyro))
 289                                 continue;
 290
 291                         /* If there's a delay set, then remember when
 292                          * it expires
 293                          */
 294                         if (pyro->flags & ao_pyro_delay) {
 295                                 AO_TICK_TYPE delay_done;
 296                                 AO_TICK_SIGNED delay = pyro->delay;
 297                                 if (delay < 0)
 298                                         delay = 0;
 299                                 delay_done = ao_time() + (AO_TICK_TYPE) delay;
 300
 301                                 /*
 302                                  * delay_done is the time at which the
 303                                  * delay ends, but it is also used as
 304                                  * an indication that a delay is
 305                                  * active -- non-zero values indicate
 306                                  * an active delay. This code ensures
 307                                  * the value is non-zero, which might
 308                                  * introduce an additional tick
 309                                  * of delay.
 310                                  */
 311                                 if (delay_done == 0)
 312                                         delay_done = 1;
 313                                 pyro_delay_done[p] = delay_done;
 314                         }
 315                 }
 316
 317                 /* Check to see if we're just waiting for
 318                  * the delay to expire
 319                  */
 320                 if (pyro_delay_done[p] != 0) {
 321
 322                         /* Check to make sure the required conditions
 323                          * remain valid. If not, inhibit the channel
 324                          * by setting the inhibited bit
 325                          */
 326                         if (!ao_pyro_ready(pyro)) {
 327                                 ao_pyro_inhibited |= (uint16_t) (1 << p);
 328                                 continue;
 329                         }
 330
 331                         if ((AO_TICK_SIGNED) (ao_time() - pyro_delay_done[p]) < 0)
 332                                 continue;
 333                 }
 334
 335                 fire |= (uint16_t) (1U << p);
 336         }
 337
 338         if (fire) {
 339                 ao_pyro_fired |= fire;
 340                 ao_pyro_pins_fire(fire);
 341         }
 342
 343         return any_waiting;
 344 }
 345
 346 #define NO_VALUE        0xff
 347
 348 #define AO_PYRO_NAME_LEN        4
 349
 350 #if !DISABLE_HELP
 351 #define ENABLE_HELP 1
 352 #endif
 353
 354 #if ENABLE_HELP
 355 #define HELP(s) (s)
 356 #else
 357 #define HELP(s)
 358 #endif
 359
 360 const struct {
 361         char                    name[AO_PYRO_NAME_LEN];
 362         enum ao_pyro_flag       flag;
 363         uint8_t                 offset;
 364 #if ENABLE_HELP
 365         char                    *help;
 366 #endif
 367 } ao_pyro_values[] = {
 368         { "a<", ao_pyro_accel_less,     offsetof(struct ao_pyro, accel_less), HELP("accel less (m/ss * 16)") },
 369         { "a>", ao_pyro_accel_greater,  offsetof(struct ao_pyro, accel_greater), HELP("accel greater (m/ss * 16)") },
 370
 371         { "s<", ao_pyro_speed_less,     offsetof(struct ao_pyro, speed_less), HELP("speed less (m/s * 16)") },
 372         { "s>", ao_pyro_speed_greater,  offsetof(struct ao_pyro, speed_greater), HELP("speed greater (m/s * 16)") },
 373
 374         { "h<", ao_pyro_height_less,    offsetof(struct ao_pyro, height_less), HELP("height less (m)") },
 375         { "h>", ao_pyro_height_greater, offsetof(struct ao_pyro, height_greater), HELP("height greater (m)") },
 376
 377 #if HAS_GYRO
 378         { "o<", ao_pyro_orient_less,    offsetof(struct ao_pyro, orient_less), HELP("orient less (deg)") },
 379         { "o>", ao_pyro_orient_greater, offsetof(struct ao_pyro, orient_greater), HELP("orient greater (deg)")  },
 380 #endif
 381
 382         { "t<", ao_pyro_time_less,      offsetof(struct ao_pyro, time_less), HELP("time less (s * 100)") },
 383         { "t>", ao_pyro_time_greater,   offsetof(struct ao_pyro, time_greater), HELP("time greater (s * 100)")  },
 384
 385         { "f<", ao_pyro_state_less,     offsetof(struct ao_pyro, state_less), HELP("state less") },
 386         { "f>=",ao_pyro_state_greater_or_equal, offsetof(struct ao_pyro, state_greater_or_equal), HELP("state greater or equal")  },
 387
 388         { "A", ao_pyro_ascending,       NO_VALUE, HELP("ascending") },
 389         { "D", ao_pyro_descending,      NO_VALUE, HELP("descending") },
 390
 391         { "m", ao_pyro_after_motor,     offsetof(struct ao_pyro, motor), HELP("after motor") },
 392
 393         { "d", ao_pyro_delay,           offsetof(struct ao_pyro, delay), HELP("delay before firing (s * 100)") },
 394         { "", ao_pyro_none,             NO_VALUE, HELP(NULL) },
 395 };
 396
 397 #define NUM_PYRO_VALUES (sizeof ao_pyro_values / sizeof ao_pyro_values[0])
 398
 399 #ifndef AO_FLIGHT_TEST
 400 static void
 401 ao_pyro(void)
 402 {
 403         uint8_t         any_waiting;
 404
 405         ao_config_get();
 406         while (ao_flight_state < ao_flight_boost)
 407                 ao_sleep(&ao_flight_state);
 408
 409         for (;;) {
 410                 ao_sleep_for(&ao_pyro_wakeup, AO_MS_TO_TICKS(100));
 411                 if (ao_flight_state >= ao_flight_landed)
 412                         break;
 413                 any_waiting = ao_pyro_check();
 414                 if (!any_waiting)
 415                         break;
 416         }
 417         ao_exit();
 418 }
 419
 420 struct ao_task ao_pyro_task;
 421
 422
 423 static void
 424 ao_pyro_print_name(uint8_t v)
 425 {
 426         const char *s = ao_pyro_values[v].name;
 427         printf ("%s%s", s, "   " + strlen(s));
 428 }
 429
 430 #if ENABLE_HELP
 431 static void
 432 ao_pyro_help(void)
 433 {
 434         uint8_t v;
 435         for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
 436                 ao_pyro_print_name(v);
 437                 if (ao_pyro_values[v].offset != NO_VALUE)
 438                         printf ("<n> ");
 439                 else
 440                         printf ("    ");
 441                 printf ("%s\n", ao_pyro_values[v].help);
 442         }
 443 }
 444 #endif
 445
 446 static int32_t
 447 ao_pyro_get(void *base, uint8_t offset, uint8_t size)
 448 {
 449         int32_t value;
 450         switch (size) {
 451         case 8:
 452                 value = *((uint8_t *) ((char *) base + offset));
 453                 break;
 454         case 16:
 455         default:
 456                 value = *((int16_t *) (void *) ((char *) base + offset));
 457                 break;
 458         case 32:
 459                 value = *((int32_t *) (void *) ((char *) base + offset));
 460                 break;
 461         }
 462         return value;
 463 }
 464
 465 static bool
 466 ao_pyro_put(void *base, uint8_t offset, uint8_t size, int32_t value)
 467 {
 468         switch (size) {
 469         case 8:
 470                 if (value < 0)
 471                         return false;
 472                 *((uint8_t *) ((char *) base + offset)) = (uint8_t) value;
 473                 break;
 474         case 16:
 475         default:
 476                 *((int16_t *) (void *) ((char *) base + offset)) = (int16_t) value;
 477                 break;
 478         case 32:
 479                 *((int32_t *) (void *) ((char *) base + offset)) = value;
 480                 break;
 481         }
 482         return true;
 483 }
 484
 485 static uint8_t
 486 ao_pyro_size(enum ao_pyro_flag flag)
 487 {
 488         if (flag & AO_PYRO_8_BIT_VALUE)
 489                 return 8;
 490         if (flag & AO_PYRO_32_BIT_VALUE)
 491                 return 32;
 492         return 16;
 493 }
 494
 495 void
 496 ao_pyro_show(void)
 497 {
 498         uint8_t         p;
 499         uint8_t         v;
 500         struct ao_pyro  *pyro;
 501
 502         printf ("Pyro-count: %d\n", AO_PYRO_NUM);
 503         for (p = 0; p < AO_PYRO_NUM; p++) {
 504                 printf ("Pyro %2d: ", p);
 505                 pyro = &ao_config.pyro[p];
 506                 if (!pyro->flags) {
 507                         printf ("<disabled>\n");
 508                         continue;
 509                 }
 510                 for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
 511                         if (!(pyro->flags & ao_pyro_values[v].flag))
 512                                 continue;
 513                         ao_pyro_print_name(v);
 514                         if (ao_pyro_values[v].offset != NO_VALUE) {
 515                                 printf ("%6ld ",
 516                                         (long) ao_pyro_get(pyro,
 517                                                            ao_pyro_values[v].offset,
 518                                                            ao_pyro_size(ao_pyro_values[v].flag)));
 519                         } else {
 520                                 printf ("       ");
 521                         }
 522                 }
 523                 printf ("\n");
 524         }
 525 }
 526
 527 void
 528 ao_pyro_set(void)
 529 {
 530         uint32_t        p;
 531         struct ao_pyro pyro_tmp;
 532         char    name[AO_PYRO_NAME_LEN];
 533         uint8_t c;
 534         uint8_t v;
 535
 536         ao_cmd_white();
 537
 538 #if ENABLE_HELP
 539         switch (ao_cmd_lex_c) {
 540         case '?':
 541                 ao_pyro_help();
 542                 return;
 543         }
 544 #endif
 545
 546         p = ao_cmd_decimal();
 547         if (ao_cmd_status != ao_cmd_success)
 548                 return;
 549         if (AO_PYRO_NUM <= p) {
 550                 printf ("invalid pyro channel %lu\n", p);
 551                 return;
 552         }
 553         memset(&pyro_tmp, '\0', sizeof (pyro_tmp));
 554         for (;;) {
 555                 ao_cmd_white();
 556                 if (ao_cmd_lex_c == '\n')
 557                         break;
 558
 559                 for (c = 0; c < AO_PYRO_NAME_LEN - 1; c++) {
 560                         if (ao_cmd_is_white() || ao_cmd_lex_c == '\n')
 561                                 break;
 562                         name[c] = ao_cmd_lex_c;
 563                         ao_cmd_lex();
 564                 }
 565                 name[c] = '\0';
 566                 for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
 567                         if (!strcmp (ao_pyro_values[v].name, name))
 568                                 break;
 569                 }
 570                 if (ao_pyro_values[v].flag == ao_pyro_none) {
 571                         printf ("invalid pyro field %s\n", name);
 572                         ao_cmd_status = ao_cmd_syntax_error;
 573                         return;
 574                 }
 575                 pyro_tmp.flags |= ao_pyro_values[v].flag;
 576                 if (ao_pyro_values[v].offset != NO_VALUE) {
 577                         int32_t r = 1;
 578                         ao_cmd_white();
 579                         if (ao_cmd_lex_c == '-') {
 580                                 r = -1;
 581                                 ao_cmd_lex();
 582                         }
 583                         r *= (int32_t) ao_cmd_decimal();
 584                         if (ao_cmd_status != ao_cmd_success)
 585                                 return;
 586                         if (!ao_pyro_put(&pyro_tmp, ao_pyro_values[v].offset,
 587                                          ao_pyro_size(ao_pyro_values[v].flag), r))
 588                         {
 589                                 ao_cmd_status = ao_cmd_syntax_error;
 590                                 return;
 591                         }
 592                 }
 593         }
 594         _ao_config_edit_start();
 595         ao_config.pyro[p] = pyro_tmp;
 596         _ao_config_edit_finish();
 597 }
 598
 599 void
 600 ao_pyro_manual(uint8_t p)
 601 {
 602         printf ("ao_pyro_manual %d\n", p);
 603         if (p >= AO_PYRO_NUM) {
 604                 ao_cmd_status = ao_cmd_syntax_error;
 605                 return;
 606         }
 607         ao_pyro_pins_fire(1 << p);
 608 }
 609
 610 struct ao_pyro_old_values {
 611         enum ao_pyro_flag       flag;
 612         uint8_t                 offset;
 613         uint8_t                 size;
 614 };
 615
 616 static const struct ao_pyro_old_values ao_pyro_1_24_values[] = {
 617         { .flag = ao_pyro_accel_less, .offset = offsetof(struct ao_pyro_1_24, accel_less), 16 },
 618         { .flag = ao_pyro_accel_greater, .offset = offsetof(struct ao_pyro_1_24, accel_greater), 16 },
 619         { .flag = ao_pyro_speed_less, .offset = offsetof(struct ao_pyro_1_24, speed_less), 16 },
 620         { .flag = ao_pyro_speed_greater, .offset = offsetof(struct ao_pyro_1_24, speed_greater), 16 },
 621         { .flag = ao_pyro_height_less, .offset = offsetof(struct ao_pyro_1_24, height_less), 16 },
 622         { .flag = ao_pyro_height_greater, .offset = offsetof(struct ao_pyro_1_24, height_greater), 16 },
 623         { .flag = ao_pyro_orient_less, .offset = offsetof(struct ao_pyro_1_24, orient_less), 16 },
 624         { .flag = ao_pyro_orient_greater, .offset = offsetof(struct ao_pyro_1_24, orient_greater), 16 },
 625         { .flag = ao_pyro_time_less, .offset = offsetof(struct ao_pyro_1_24, time_less), 16 },
 626         { .flag = ao_pyro_time_greater, .offset = offsetof(struct ao_pyro_1_24, time_greater), 16 },
 627         { .flag = ao_pyro_delay, .offset = offsetof(struct ao_pyro_1_24, delay), 16 },
 628         { .flag = ao_pyro_state_less, .offset = offsetof(struct ao_pyro_1_24, state_less), 8 },
 629         { .flag = ao_pyro_state_greater_or_equal, .offset = offsetof(struct ao_pyro_1_24, state_greater_or_equal), 8 },
 630         { .flag = ao_pyro_after_motor, .offset = offsetof(struct ao_pyro_1_24, motor), 16 },
 631 };
 632
 633 #define NUM_PYRO_1_24_VALUES (sizeof ao_pyro_1_24_values / sizeof ao_pyro_1_24_values[0])
 634
 635 static int32_t
 636 ao_pyro_get_1_24(void *base, enum ao_pyro_flag flag)
 637 {
 638         unsigned v;
 639
 640         for (v = 0; v < NUM_PYRO_1_24_VALUES; v++) {
 641                 if (ao_pyro_1_24_values[v].flag == flag)
 642                         return ao_pyro_get(base, ao_pyro_1_24_values[v].offset, ao_pyro_1_24_values[v].size);
 643         }
 644         return 0;
 645 }
 646
 647 void
 648 ao_pyro_update_version(void)
 649 {
 650         if (ao_config.minor <= 24)
 651         {
 652
 653                 /* First, move all of the config bits that follow the pyro data */
 654
 655                 struct ao_config_1_24 *ao_config_1_24 = (void *) &ao_config;
 656                 struct ao_pyro          *pyro_1_25 = &ao_config.pyro[0];
 657                 struct ao_pyro_1_24     *pyro_1_24 = &(ao_config_1_24->pyro)[0];
 658
 659
 660                 char    *pyro_base_1_25 = (void *) pyro_1_25;
 661                 char    *pyro_base_1_24 = (void *) pyro_1_24;
 662                 char    *after_pyro_1_25 = pyro_base_1_25 + AO_PYRO_NUM * sizeof (struct ao_pyro);
 663                 char    *after_pyro_1_24 = pyro_base_1_24 + AO_PYRO_NUM * sizeof (struct ao_pyro_1_24);
 664
 665                 char    *config_end_1_25 = (void *) (&ao_config + 1);
 666                 size_t  to_move = (size_t) (config_end_1_25 - after_pyro_1_25);
 667
 668                 memmove(after_pyro_1_25, after_pyro_1_24, to_move);
 669
 670                 /* Now, adjust all of the pyro entries */
 671
 672                 int p = AO_PYRO_NUM;
 673
 674                 /* New struct is larger than the old, so start at the
 675                  * last one and work towards the first
 676                  */
 677                 while (p-- > 0) {
 678                         unsigned v;
 679                         int32_t value;
 680                         struct ao_pyro  tmp;
 681
 682                         memset(&tmp, '\0', sizeof(tmp));
 683                         tmp.flags = pyro_1_24[p].flags;
 684
 685                         for (v = 0; v < NUM_PYRO_VALUES; v++)
 686                         {
 687                                 if (ao_pyro_values[v].offset != NO_VALUE) {
 688                                         value = ao_pyro_get_1_24(&pyro_1_24[p], ao_pyro_values[v].flag);
 689                                         ao_pyro_put(&tmp, ao_pyro_values[v].offset,
 690                                                     ao_pyro_size(ao_pyro_values[v].flag), value);
 691                                 }
 692                         }
 693                         memcpy(&pyro_1_25[p], &tmp, sizeof(tmp));
 694                 }
 695         }
 696 }
 697
 698 void
 699 ao_pyro_init(void)
 700 {
 701 #if AO_PYRO_NUM > 0
 702         ao_enable_output(AO_PYRO_PORT_0, AO_PYRO_PIN_0, 0);
 703 #endif
 704 #if AO_PYRO_NUM > 1
 705         ao_enable_output(AO_PYRO_PORT_1, AO_PYRO_PIN_1, 0);
 706 #endif
 707 #if AO_PYRO_NUM > 2
 708         ao_enable_output(AO_PYRO_PORT_2, AO_PYRO_PIN_2, 0);
 709 #endif
 710 #if AO_PYRO_NUM > 3
 711         ao_enable_output(AO_PYRO_PORT_3, AO_PYRO_PIN_3, 0);
 712 #endif
 713 #if AO_PYRO_NUM > 4
 714         ao_enable_output(AO_PYRO_PORT_4, AO_PYRO_PIN_4, 0);
 715 #endif
 716 #if AO_PYRO_NUM > 5
 717         ao_enable_output(AO_PYRO_PORT_5, AO_PYRO_PIN_5, 0);
 718 #endif
 719 #if AO_PYRO_NUM > 6
 720         ao_enable_output(AO_PYRO_PORT_6, AO_PYRO_PIN_6, 0);
 721 #endif
 722 #if AO_PYRO_NUM > 7
 723         ao_enable_output(AO_PYRO_PORT_7, AO_PYRO_PIN_7, 0);
 724 #endif
 725         ao_add_task(&ao_pyro_task, ao_pyro, "pyro");
 726 }
 727 #endif