altos: Use 'HAS_ORIENT' to enable orientation selection in pyro code

[fw/altos] / src / core / ao_pyro.c

diff --git a/src/core/ao_pyro.c b/src/core/ao_pyro.c
index 943413e699a9224f1d05f850c249dae74508fe59..162f5e1ea978a8fcc8430f8d801fdaf57059c180 100644 (file)
--- a/src/core/ao_pyro.c
+++ b/src/core/ao_pyro.c
@@ -66,14 +66,16 @@ ao_pyro_ready(struct ao_pyro *pyro)
                                continue;
                        break;
 
+#if HAS_ORIENT
                case ao_pyro_orient_less:
-//                     if (ao_orient <= pyro->orient_less)
+                       if (ao_orient <= pyro->orient_less)
                                continue;
                        break;
                case ao_pyro_orient_greater:
-//                     if (ao_orient >= pyro->orient_greater)
+                       if (ao_orient >= pyro->orient_greater)
                                continue;
                        break;
+#endif
 
                case ao_pyro_time_less:
                        if ((int16_t) (ao_time() - ao_boost_tick) <= pyro->time_less)
@@ -102,8 +104,8 @@ ao_pyro_ready(struct ao_pyro *pyro)
                        /* handled separately */
                        continue;
                        
-               case ao_pyro_none:
-                       break;
+               default:
+                       continue;
                }
                return FALSE;
        }
@@ -207,34 +209,48 @@ __xdata struct ao_task ao_pyro_task;
 
 #define AO_PYRO_NAME_LEN       3
 
+#if !DISABLE_HELP
+#define ENABLE_HELP 1
+#endif
+
+#if ENABLE_HELP
+#define HELP(s)        (s)
+#else
+#define HELP(s)
+#endif
+
 const struct {
        char                    name[AO_PYRO_NAME_LEN];
        enum ao_pyro_flag       flag;
        uint8_t                 offset;
+#if ENABLE_HELP
        char                    *help;
+#endif
 } ao_pyro_values[] = {
-       { "a<", ao_pyro_accel_less,     offsetof(struct ao_pyro, accel_less), "accel less (m/ss * 16)" },
-       { "a>", ao_pyro_accel_greater,  offsetof(struct ao_pyro, accel_greater), "accel greater (m/ss * 16)" },
+       { "a<", ao_pyro_accel_less,     offsetof(struct ao_pyro, accel_less), HELP("accel less (m/ss * 16)") },
+       { "a>", ao_pyro_accel_greater,  offsetof(struct ao_pyro, accel_greater), HELP("accel greater (m/ss * 16)") },
 
-       { "s<", ao_pyro_speed_less,     offsetof(struct ao_pyro, speed_less), "speed less (m/s * 16)" },
-       { "s>", ao_pyro_speed_greater,  offsetof(struct ao_pyro, speed_greater), "speed greater (m/s * 16)" },
+       { "s<", ao_pyro_speed_less,     offsetof(struct ao_pyro, speed_less), HELP("speed less (m/s * 16)") },
+       { "s>", ao_pyro_speed_greater,  offsetof(struct ao_pyro, speed_greater), HELP("speed greater (m/s * 16)") },
 
-       { "h<", ao_pyro_height_less,    offsetof(struct ao_pyro, height_less), "height less (m)" },
-       { "h>", ao_pyro_height_greater, offsetof(struct ao_pyro, height_greater), "height greater (m)" },
+       { "h<", ao_pyro_height_less,    offsetof(struct ao_pyro, height_less), HELP("height less (m)") },
+       { "h>", ao_pyro_height_greater, offsetof(struct ao_pyro, height_greater), HELP("height greater (m)") },
 
-       { "o<", ao_pyro_orient_less,    offsetof(struct ao_pyro, orient_less), "orient less (deg)" },
-       { "o>", ao_pyro_orient_greater, offsetof(struct ao_pyro, orient_greater), "orient greater (deg)"  },
+#if HAS_ORIENT
+       { "o<", ao_pyro_orient_less,    offsetof(struct ao_pyro, orient_less), HELP("orient less (deg)") },
+       { "o>", ao_pyro_orient_greater, offsetof(struct ao_pyro, orient_greater), HELP("orient greater (deg)")  },
+#endif
 
-       { "t<", ao_pyro_time_less,      offsetof(struct ao_pyro, time_less), "time less (s * 100)" },
-       { "t>", ao_pyro_time_greater,   offsetof(struct ao_pyro, time_greater), "time greater (s * 100)"  },
+       { "t<", ao_pyro_time_less,      offsetof(struct ao_pyro, time_less), HELP("time less (s * 100)") },
+       { "t>", ao_pyro_time_greater,   offsetof(struct ao_pyro, time_greater), HELP("time greater (s * 100)")  },
 
-       { "A", ao_pyro_ascending,       NO_VALUE, "ascending" },
-       { "D", ao_pyro_descending,      NO_VALUE, "descending" },
+       { "A", ao_pyro_ascending,       NO_VALUE, HELP("ascending") },
+       { "D", ao_pyro_descending,      NO_VALUE, HELP("descending") },
        
-       { "m", ao_pyro_after_motor,     offsetof(struct ao_pyro, motor), "after motor" },
+       { "m", ao_pyro_after_motor,     offsetof(struct ao_pyro, motor), HELP("after motor") },
 
-       { "d", ao_pyro_delay,           offsetof(struct ao_pyro, delay), "delay before firing (s * 100)" },
-       { "", ao_pyro_none,             NO_VALUE, NULL },
+       { "d", ao_pyro_delay,           offsetof(struct ao_pyro, delay), HELP("delay before firing (s * 100)") },
+       { "", ao_pyro_none,             NO_VALUE, HELP(NULL) },
 };
 
 static void
@@ -244,6 +260,7 @@ ao_pyro_print_name(uint8_t v)
        printf ("%s%s", s, "   " + strlen(s));
 }
 
+#if ENABLE_HELP
 static void
 ao_pyro_help(void)
 {
@@ -257,6 +274,7 @@ ao_pyro_help(void)
                printf ("%s\n", ao_pyro_values[v].help);
        }
 }
+#endif
              
 void
 ao_pyro_show(void)
@@ -265,6 +283,7 @@ ao_pyro_show(void)
        uint8_t         v;
        struct ao_pyro  *pyro;
 
+       printf ("Pyro-count: %d\n", AO_PYRO_NUM);
        for (p = 0; p < AO_PYRO_NUM; p++) {
                printf ("Pyro %2d: ", p);
                pyro = &ao_config.pyro[p];
@@ -299,11 +318,14 @@ ao_pyro_set(void)
        uint8_t v;
 
        ao_cmd_white();
+
+#if ENABLE_HELP
        switch (ao_cmd_lex_c) {
        case '?':
                ao_pyro_help();
                return;
        }
+#endif
 
        ao_cmd_decimal();
        if (ao_cmd_status != ao_cmd_success)