altos: Make sure pa to altitude conversion is done with 32 bits

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

diff --git a/src/core/ao_pyro.c b/src/core/ao_pyro.c
index a1377d21a2b8972b974624ce3a68629772b5ddb3..aac8fda51c7219d6895fce2655ec922b01bf4b9f 100644 (file)
--- a/src/core/ao_pyro.c
+++ b/src/core/ao_pyro.c
@@ -20,6 +20,15 @@
 #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))
 
 /*
@@ -104,6 +113,15 @@ ao_pyro_ready(struct ao_pyro *pyro)
                        /* handled separately */
                        continue;
 
+               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;
                }
@@ -152,10 +170,12 @@ 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();
@@ -163,7 +183,10 @@ ao_pyro(void)
                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];
 
@@ -177,6 +200,7 @@ ao_pyro(void)
                        if (!pyro->flags)
                                continue;
 
+                       any_waiting = 1;
                        /* Check pyro state to see if it shoule fire
                         */
                        if (!pyro->delay_done) {
@@ -200,7 +224,10 @@ ao_pyro(void)
 
                        ao_pyro_fire(p);
                }
+               if (!any_waiting)
+                       break;
        }
+       ao_exit();
 }
 
 __xdata struct ao_task ao_pyro_task;
@@ -244,6 +271,9 @@ const struct {
        { "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)")  },
 
+       { "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, HELP("ascending") },
        { "D", ao_pyro_descending,      NO_VALUE, HELP("descending") },