* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
+#ifndef AO_FLIGHT_TEST
#include <ao.h>
-#include <ao_pyro.h>
#include <ao_sample.h>
#include <ao_flight.h>
+#endif
+#include <ao_pyro.h>
#if IS_COMPANION
#include <ao_companion.h>
return TRUE;
}
+#ifndef AO_FLIGHT_TEST
#define ao_pyro_fire_port(port, bit, pin) do { \
ao_gpio_set(port, bit, pin, 1); \
ao_delay(AO_MS_TO_TICKS(50)); \
ao_gpio_set(port, bit, pin, 0); \
} while (0)
-
+#endif
static void
ao_pyro_fire(uint8_t p)
uint8_t ao_pyro_wakeup;
-static void
-ao_pyro(void)
+static uint8_t
+ao_pyro_check(void)
{
- uint8_t p, any_waiting;
struct ao_pyro *pyro;
+ uint8_t p, any_waiting;
+
+ any_waiting = 0;
+ for (p = 0; p < AO_PYRO_NUM; p++) {
+ pyro = &ao_config.pyro[p];
- ao_config_get();
- while (ao_flight_state < ao_flight_boost)
- ao_sleep(&ao_flight_state);
-
- for (;;) {
- 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];
+ /* Ignore igniters which have already fired
+ */
+ if (pyro->fired)
+ continue;
- /* Ignore igniters which have already fired
- */
- if (pyro->fired)
- continue;
+ /* Ignore disabled igniters
+ */
+ if (!pyro->flags)
+ continue;
- /* Ignore disabled igniters
- */
- if (!pyro->flags)
+ any_waiting = 1;
+ /* Check pyro state to see if it should fire
+ */
+ if (!pyro->delay_done) {
+ if (!ao_pyro_ready(pyro))
continue;
- any_waiting = 1;
- /* Check pyro state to see if it shoule fire
+ /* If there's a delay set, then remember when
+ * it expires
*/
- if (!pyro->delay_done) {
- if (!ao_pyro_ready(pyro))
- continue;
-
- /* If there's a delay set, then remember when
- * it expires
- */
- if (pyro->flags & ao_pyro_delay)
- pyro->delay_done = ao_time() + pyro->delay;
- }
-
- /* Check to see if we're just waiting for
- * the delay to expire
- */
- if (pyro->delay_done) {
- if ((int16_t) (ao_time() - pyro->delay_done) < 0)
- continue;
+ if (pyro->flags & ao_pyro_delay) {
+ pyro->delay_done = ao_time() + pyro->delay;
+ if (!pyro->delay_done)
+ pyro->delay_done = 1;
}
+ }
- ao_pyro_fire(p);
+ /* Check to see if we're just waiting for
+ * the delay to expire
+ */
+ if (pyro->delay_done) {
+ if ((int16_t) (ao_time() - pyro->delay_done) < 0)
+ continue;
}
- if (!any_waiting)
- break;
+
+ ao_pyro_fire(p);
+ pyro->fired = 1;
+ ao_pyro_fired |= (1 << p);
}
- ao_exit();
+ return any_waiting;
}
-__xdata struct ao_task ao_pyro_task;
-
#define NO_VALUE 0xff
#define AO_PYRO_NAME_LEN 3
{ "", ao_pyro_none, NO_VALUE, HELP(NULL) },
};
+#define NUM_PYRO_VALUES (sizeof ao_pyro_values / sizeof ao_pyro_values[0])
+
+#ifndef AO_FLIGHT_TEST
+static void
+ao_pyro(void)
+{
+ uint8_t any_waiting;
+
+ ao_config_get();
+ while (ao_flight_state < ao_flight_boost)
+ ao_sleep(&ao_flight_state);
+
+ for (;;) {
+ ao_alarm(AO_MS_TO_TICKS(100));
+ ao_sleep(&ao_pyro_wakeup);
+ ao_clear_alarm();
+ if (ao_flight_state >= ao_flight_landed)
+ break;
+ any_waiting = ao_pyro_check();
+ if (!any_waiting)
+ break;
+ }
+ ao_exit();
+}
+
+__xdata struct ao_task ao_pyro_task;
+
+
static void
ao_pyro_print_name(uint8_t v)
{
ao_cmd_register(&ao_pyro_cmds[0]);
ao_add_task(&ao_pyro_task, ao_pyro, "pyro");
}
+#endif