#include <ao_sample.h>
#include <ao_flight.h>
+#if IS_COMPANION
+#include <ao_companion.h>
+#define ao_accel ao_companion_command.accel
+#define ao_speed ao_companion_command.speed
+#define ao_height ao_companion_command.height
+#define ao_flight_state ao_companion_command.flight_state
+#define ao_motor_number ao_companion_command.motor_number
+#endif
+
#define ao_lowbit(x) ((x) & (-x))
/*
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)
case ao_pyro_delay:
/* handled separately */
continue;
-
- case ao_pyro_none:
+
+ case ao_pyro_state_less:
+ if (ao_flight_state < pyro->state_less)
+ continue;
break;
+ case ao_pyro_state_greater_or_equal:
+ if (ao_flight_state >= pyro->state_greater_or_equal)
+ continue;
+ break;
+
+ default:
+ continue;
}
return FALSE;
}
ao_delay(AO_MS_TO_TICKS(50)); \
ao_gpio_set(port, bit, pin, 0); \
} while (0)
-
+
static void
ao_pyro_fire(uint8_t p)
ao_delay(AO_MS_TO_TICKS(50));
}
+uint8_t ao_pyro_wakeup;
+
static void
ao_pyro(void)
{
- uint8_t p;
+ uint8_t p, any_waiting;
struct ao_pyro *pyro;
ao_config_get();
ao_sleep(&ao_flight_state);
for (;;) {
- ao_delay(AO_MS_TO_TICKS(100));
+ ao_alarm(AO_MS_TO_TICKS(100));
+ ao_sleep(&ao_pyro_wakeup);
+ ao_clear_alarm();
+ any_waiting = 0;
for (p = 0; p < AO_PYRO_NUM; p++) {
pyro = &ao_config.pyro[p];
if (!pyro->flags)
continue;
+ any_waiting = 1;
/* Check pyro state to see if it shoule fire
*/
if (!pyro->delay_done) {
ao_pyro_fire(p);
}
+ if (!any_waiting)
+ break;
}
+ ao_exit();
}
__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)") },
+
+#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
- { "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)" },
+ { "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)") },
- { "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)" },
+ { "f<", ao_pyro_state_less, offsetof(struct ao_pyro, state_less), HELP("state less") },
+ { "f>=",ao_pyro_state_greater_or_equal, offsetof(struct ao_pyro, state_greater_or_equal), HELP("state greater or equal") },
- { "A", ao_pyro_ascending, NO_VALUE, "ascending" },
- { "D", ao_pyro_descending, NO_VALUE, "descending" },
-
- { "m", ao_pyro_after_motor, offsetof(struct ao_pyro, motor), "after motor" },
+ { "A", ao_pyro_ascending, NO_VALUE, HELP("ascending") },
+ { "D", ao_pyro_descending, NO_VALUE, HELP("descending") },
- { "d", ao_pyro_delay, offsetof(struct ao_pyro, delay), "delay before firing (s * 100)" },
- { "", ao_pyro_none, NO_VALUE, NULL },
+ { "m", ao_pyro_after_motor, offsetof(struct ao_pyro, motor), HELP("after motor") },
+
+ { "d", ao_pyro_delay, offsetof(struct ao_pyro, delay), HELP("delay before firing (s * 100)") },
+ { "", ao_pyro_none, NO_VALUE, HELP(NULL) },
};
static void
printf ("%s%s", s, " " + strlen(s));
}
+#if ENABLE_HELP
static void
ao_pyro_help(void)
{
printf ("%s\n", ao_pyro_values[v].help);
}
}
-
+#endif
+
void
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];
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)
ao_cmd_white();
if (ao_cmd_lex_c == '\n')
break;
-
+
for (c = 0; c < AO_PYRO_NAME_LEN - 1; c++) {
if (ao_cmd_is_white())
break;
_ao_config_edit_finish();
}
+static void
+ao_pyro_manual(void)
+{
+ ao_cmd_white();
+ if (!ao_match_word("DoIt"))
+ return;
+ ao_cmd_white();
+ ao_cmd_decimal();
+ if (ao_cmd_lex_i < 0 || AO_PYRO_NUM <= ao_cmd_lex_i)
+ return;
+ ao_pyro_fire(ao_cmd_lex_i);
+
+}
+
+const struct ao_cmds ao_pyro_cmds[] = {
+ { ao_pyro_manual, "P DoIt <n>\0Fire igniter" },
+ { 0, NULL }
+};
+
void
ao_pyro_init(void)
{
#if AO_PYRO_NUM > 7
ao_enable_output(AO_PYRO_PORT_7, AO_PYRO_PIN_7, AO_PYRO_7, 0);
#endif
+ ao_cmd_register(&ao_pyro_cmds[0]);
ao_add_task(&ao_pyro_task, ao_pyro, "pyro");
}
projects / fw / altos / blobdiff