Add igniters and update flight control algorithm

[fw/altos] / ao_ignite.c

diff --git a/ao_ignite.c b/ao_ignite.c
new file mode 100644 (file)
index 0000000..acb9399
--- /dev/null
+++ b/ao_ignite.c
@@ -0,0 +1,123 @@
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+
+#define AO_IGNITER_DROGUE      P2_3
+#define AO_IGNITER_MAIN                P2_4
+
+/* XXX test these values with real igniters */
+#define AO_IGNITER_OPEN                100
+#define AO_IGNITER_CLOSED      20000
+#define AO_IGNITER_FIRE_TIME   AO_MS_TO_TICKS(50)
+#define AO_IGNITER_CHARGE_TIME AO_MS_TO_TICKS(200)
+
+struct ao_ignition {
+       uint8_t request;
+       uint8_t fired;
+       uint8_t firing;
+};
+
+__xdata struct ao_ignition ao_ignition[2];
+
+void
+ao_ignite(enum ao_igniter igniter) __critical
+{
+       ao_ignition[igniter].request = 1;
+       ao_wakeup(&ao_ignition[0]);
+}
+
+enum ao_igniter_status
+ao_igniter_status(enum ao_igniter igniter)
+{
+       __xdata struct ao_adc adc;
+       __xdata int16_t value;
+       __xdata uint8_t request, firing, fired;
+
+       __critical {
+               ao_adc_sleep();
+               ao_adc_get(&adc);
+               request = ao_ignition[igniter].request;
+               fired = ao_ignition[igniter].fired;
+               firing = ao_ignition[igniter].firing;
+       }
+       if (firing || (request && !fired))
+               return ao_igniter_active;
+
+       value = (AO_IGNITER_CLOSED>>1);
+       switch (igniter) {
+       case ao_igniter_drogue:
+               value = adc.sense_d;
+               break;
+       case ao_igniter_main:
+               value = adc.sense_m;
+               break;
+       }
+       if (value < AO_IGNITER_OPEN)
+               return ao_igniter_open;
+       else if (value > AO_IGNITER_CLOSED)
+               return ao_igniter_ready;
+       else
+               return ao_igniter_unknown;
+}
+
+void
+ao_igniter_fire(enum ao_igniter igniter) __critical
+{
+       ao_ignition[igniter].firing = 1;
+       switch (igniter) {
+       case ao_igniter_drogue:
+               AO_IGNITER_DROGUE = 1;
+               ao_delay(AO_IGNITER_FIRE_TIME);
+               AO_IGNITER_DROGUE = 0;
+               break;
+       case ao_igniter_main:
+               AO_IGNITER_MAIN = 1;
+               ao_delay(AO_IGNITER_FIRE_TIME);
+               AO_IGNITER_MAIN = 0;
+               break;
+       }
+       ao_ignition[igniter].firing = 0;
+}
+
+void
+ao_igniter(void)
+{
+       __xdata enum ao_ignter igniter;
+       __xdata enum ao_igniter_status status;
+
+       for (;;) {
+               ao_sleep(&ao_ignition);
+               for (igniter = ao_igniter_drogue; igniter <= ao_igniter_main; igniter++) {
+                       if (ao_ignition[igniter].request && !ao_ignition[igniter].fired) {
+                               ao_igniter_fire(igniter);
+                               ao_delay(AO_IGNITER_CHARGE_TIME);
+                               status = ao_igniter_status(igniter);
+                               if (status == ao_igniter_open)
+                                       ao_ignition[igniter].fired = 1;
+                       }
+               }
+       }
+}
+
+__xdata struct ao_task ao_igniter_task;
+
+void
+ao_igniter_init(void)
+{
+       ao_add_task(&ao_igniter_task, ao_igniter, "igniter");
+}