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   1 /*
   2  * Copyright © 2009 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; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #include "ao.h"
  19 #include <ao_flight.h>
  20 #include <ao_sample.h>
  21
  22 #define BIT(i,x)           ((x) ? (1 << (i)) : 0)
  23 #define MORSE1(a)          (1 | BIT(3,a))
  24 #define MORSE2(a,b)        (2 | BIT(3,a) | BIT(4,b))
  25 #define MORSE3(a,b,c)      (3 | BIT(3,a) | BIT(4,b) | BIT(5,c))
  26 #define MORSE4(a,b,c,d)    (4 | BIT(3,a) | BIT(4,b) | BIT(5,c) | BIT(6,d))
  27 #define MORSE5(a,b,c,d,e)  (5 | BIT(3,a) | BIT(4,b) | BIT(5,c) | BIT(6,d) | BIT(7,e))
  28
  29 static const uint8_t flight_reports[] = {
  30         MORSE3(0,0,0),          /* startup, 'S' */
  31         MORSE2(0,0),            /* idle 'I' */
  32         MORSE4(0,1,1,0),        /* pad 'P' */
  33         MORSE4(1,0,0,0),        /* boost 'B' */
  34         MORSE4(0,0,1,0),        /* fast 'F' */
  35         MORSE4(1,0,1,0),        /* coast 'C' */
  36         MORSE3(1,0,0),          /* drogue 'D' */
  37         MORSE2(1,1),            /* main 'M' */
  38         MORSE4(0,1,0,0),        /* landed 'L' */
  39         MORSE4(1,0,0,1),        /* invalid 'X' */
  40 };
  41
  42 #if HAS_BEEP
  43 #define low(time)       ao_beep_for(AO_BEEP_LOW, time)
  44 #define mid(time)       ao_beep_for(AO_BEEP_MID, time)
  45 #define high(time)      ao_beep_for(AO_BEEP_HIGH, time)
  46 #else
  47 #define low(time)       ao_led_for(AO_LED_GREEN, time)
  48 #define mid(time)       ao_led_for(AO_LED_RED, time)
  49 #define high(time)      ao_led_for(AO_LED_GREEN|AO_LED_RED, time)
  50 #endif
  51 #define pause(time)     ao_delay(time)
  52
  53 static __pdata enum ao_flight_state ao_report_state;
  54
  55 static void
  56 ao_report_beep(void) __reentrant
  57 {
  58         uint8_t r = flight_reports[ao_flight_state];
  59         uint8_t l = r & 7;
  60
  61         if (!r)
  62                 return;
  63         while (l--) {
  64                 if (r & 8)
  65                         mid(AO_MS_TO_TICKS(600));
  66                 else
  67                         mid(AO_MS_TO_TICKS(200));
  68                 pause(AO_MS_TO_TICKS(200));
  69                 r >>= 1;
  70         }
  71         pause(AO_MS_TO_TICKS(400));
  72 }
  73
  74 static void
  75 ao_report_digit(uint8_t digit) __reentrant
  76 {
  77         if (!digit) {
  78                 mid(AO_MS_TO_TICKS(500));
  79                 pause(AO_MS_TO_TICKS(200));
  80         } else {
  81                 while (digit--) {
  82                         mid(AO_MS_TO_TICKS(200));
  83                         pause(AO_MS_TO_TICKS(200));
  84                 }
  85         }
  86         pause(AO_MS_TO_TICKS(300));
  87 }
  88
  89 static void
  90 ao_report_number(int16_t n)
  91 {
  92         __xdata uint8_t digits[10];
  93         __pdata uint8_t ndigits, i;
  94
  95         if (n < 0)
  96                 n = 0;
  97         ndigits = 0;
  98         do {
  99                 digits[ndigits++] = n % 10;
 100                 n /= 10;
 101         } while (n);
 102
 103         i = ndigits;
 104         do
 105                 ao_report_digit(digits[--i]);
 106         while (i != 0);
 107 }
 108
 109 static void
 110 ao_report_altitude(void)
 111 {
 112         ao_report_number(ao_max_height);
 113 }
 114
 115 #if HAS_BATTERY_REPORT
 116 static void
 117 ao_report_battery(void)
 118 {
 119         __xdata struct ao_data packet;
 120         for (;;) {
 121                 ao_data_get(&packet);
 122                 if (packet.adc.v_batt != 0)
 123                         break;
 124                 ao_sleep(DATA_TO_XDATA(&ao_sample_data));
 125         }
 126         ao_report_number(ao_battery_decivolt(packet.adc.v_batt));
 127 }
 128 #endif
 129
 130 #if HAS_IGNITE_REPORT
 131 static uint8_t
 132 ao_report_igniter_ready(enum ao_igniter igniter)
 133 {
 134         return ao_igniter_status(igniter) == ao_igniter_ready ? 1 : 0;
 135 }
 136
 137 uint8_t
 138 ao_report_igniter(void)
 139 {
 140         return (ao_report_igniter_ready(ao_igniter_drogue) |
 141                      (ao_report_igniter_ready(ao_igniter_main) << 1));
 142 }
 143
 144 static void
 145 ao_report_continuity(void) __reentrant
 146 {
 147         uint8_t c;
 148
 149 #if !HAS_IGNITE
 150         if (!ao_igniter_present)
 151                 return;
 152 #endif
 153         c = ao_report_igniter();
 154         if (c) {
 155                 while (c--) {
 156                         high(AO_MS_TO_TICKS(25));
 157                         pause(AO_MS_TO_TICKS(100));
 158                 }
 159         } else {
 160                 c = 10;
 161                 while (c--) {
 162                         high(AO_MS_TO_TICKS(20));
 163                         low(AO_MS_TO_TICKS(20));
 164                 }
 165         }
 166 #if HAS_LOG
 167         if (ao_log_full()) {
 168                 pause(AO_MS_TO_TICKS(100));
 169                 c = 2;
 170                 while (c--) {
 171                         low(AO_MS_TO_TICKS(100));
 172                         mid(AO_MS_TO_TICKS(100));
 173                         high(AO_MS_TO_TICKS(100));
 174                         mid(AO_MS_TO_TICKS(100));
 175                 }
 176         }
 177 #endif
 178 }
 179 #endif
 180
 181 void
 182 ao_report(void)
 183 {
 184         ao_report_state = ao_flight_state;
 185         for(;;) {
 186 #if HAS_BATTERY_REPORT
 187                 if (ao_flight_state == ao_flight_startup)
 188                         ao_report_battery();
 189                 else
 190 #endif
 191                         ao_report_beep();
 192                 if (ao_flight_state == ao_flight_landed) {
 193                         ao_report_altitude();
 194 #if HAS_FLIGHT
 195                         ao_delay(AO_SEC_TO_TICKS(5));
 196                         continue;
 197 #endif
 198                 }
 199 #if HAS_IGNITE_REPORT
 200                 if (ao_flight_state == ao_flight_idle)
 201                         ao_report_continuity();
 202                 while (ao_flight_state == ao_flight_pad) {
 203                         uint8_t c;
 204                         ao_report_continuity();
 205                         c = 50;
 206                         while (c-- && ao_flight_state == ao_flight_pad)
 207                                 pause(AO_MS_TO_TICKS(100));
 208                 }
 209 #endif
 210
 211                 while (ao_report_state == ao_flight_state)
 212                         ao_sleep(DATA_TO_XDATA(&ao_flight_state));
 213                 ao_report_state = ao_flight_state;
 214         }
 215 }
 216
 217 static __xdata struct ao_task ao_report_task;
 218
 219 void
 220 ao_report_init(void)
 221 {
 222         ao_add_task(&ao_report_task, ao_report, "report");
 223 }