+++ /dev/null
-/*
- * 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"
-#include <ao_flight.h>
-#include <ao_sample.h>
-
-#define BIT(i,x) ((x) ? (1 << (i)) : 0)
-#define MORSE1(a) (1 | BIT(3,a))
-#define MORSE2(a,b) (2 | BIT(3,a) | BIT(4,b))
-#define MORSE3(a,b,c) (3 | BIT(3,a) | BIT(4,b) | BIT(5,c))
-#define MORSE4(a,b,c,d) (4 | BIT(3,a) | BIT(4,b) | BIT(5,c) | BIT(6,d))
-#define MORSE5(a,b,c,d,e) (5 | BIT(3,a) | BIT(4,b) | BIT(5,c) | BIT(6,d) | BIT(7,e))
-
-static const uint8_t flight_reports[] = {
- MORSE3(0,0,0), /* startup, 'S' */
- MORSE2(0,0), /* idle 'I' */
- MORSE4(0,1,1,0), /* pad 'P' */
- MORSE4(1,0,0,0), /* boost 'B' */
- MORSE4(0,0,1,0), /* fast 'F' */
- MORSE4(1,0,1,0), /* coast 'C' */
- MORSE3(1,0,0), /* drogue 'D' */
- MORSE2(1,1), /* main 'M' */
- MORSE4(0,1,0,0), /* landed 'L' */
- MORSE4(1,0,0,1), /* invalid 'X' */
-};
-
-#if HAS_BEEP
-#define low(time) ao_beep_for(AO_BEEP_LOW, time)
-#define mid(time) ao_beep_for(AO_BEEP_MID, time)
-#define high(time) ao_beep_for(AO_BEEP_HIGH, time)
-#else
-#define low(time) ao_led_for(AO_LED_GREEN, time)
-#define mid(time) ao_led_for(AO_LED_RED, time)
-#define high(time) ao_led_for(AO_LED_GREEN|AO_LED_RED, time)
-#endif
-#define pause(time) ao_delay(time)
-
-static __pdata enum ao_flight_state ao_report_state;
-
-static void
-ao_report_beep(void) __reentrant
-{
- uint8_t r = flight_reports[ao_flight_state];
- uint8_t l = r & 7;
-
- if (!r)
- return;
- while (l--) {
- if (r & 8)
- mid(AO_MS_TO_TICKS(600));
- else
- mid(AO_MS_TO_TICKS(200));
- pause(AO_MS_TO_TICKS(200));
- r >>= 1;
- }
- pause(AO_MS_TO_TICKS(400));
-}
-
-static void
-ao_report_digit(uint8_t digit) __reentrant
-{
- if (!digit) {
- mid(AO_MS_TO_TICKS(500));
- pause(AO_MS_TO_TICKS(200));
- } else {
- while (digit--) {
- mid(AO_MS_TO_TICKS(200));
- pause(AO_MS_TO_TICKS(200));
- }
- }
- pause(AO_MS_TO_TICKS(300));
-}
-
-static void
-ao_report_altitude(void)
-{
- __pdata int16_t agl = ao_max_height;
- __xdata uint8_t digits[10];
- __pdata uint8_t ndigits, i;
-
- if (agl < 0)
- agl = 0;
- ndigits = 0;
- do {
- digits[ndigits++] = agl % 10;
- agl /= 10;
- } while (agl);
-
- i = ndigits;
- do
- ao_report_digit(digits[--i]);
- while (i != 0);
-}
-
-#if HAS_IGNITE_REPORT
-static uint8_t
-ao_report_igniter_ready(enum ao_igniter igniter)
-{
- return ao_igniter_status(igniter) == ao_igniter_ready ? 1 : 0;
-}
-
-uint8_t
-ao_report_igniter(void)
-{
- return (ao_report_igniter_ready(ao_igniter_drogue) |
- (ao_report_igniter_ready(ao_igniter_main) << 1));
-}
-
-static void
-ao_report_continuity(void) __reentrant
-{
- uint8_t c;
-
-#if !HAS_IGNITE
- if (!ao_igniter_present)
- return;
-#endif
- c = ao_report_igniter();
- if (c) {
- while (c--) {
- high(AO_MS_TO_TICKS(25));
- pause(AO_MS_TO_TICKS(100));
- }
- } else {
- c = 10;
- while (c--) {
- high(AO_MS_TO_TICKS(20));
- low(AO_MS_TO_TICKS(20));
- }
- }
-#if HAS_LOG
- if (ao_log_full()) {
- pause(AO_MS_TO_TICKS(100));
- c = 2;
- while (c--) {
- low(AO_MS_TO_TICKS(100));
- mid(AO_MS_TO_TICKS(100));
- high(AO_MS_TO_TICKS(100));
- mid(AO_MS_TO_TICKS(100));
- }
- }
-#endif
-}
-#endif
-
-void
-ao_report(void)
-{
- ao_report_state = ao_flight_state;
- for(;;) {
- ao_report_beep();
- if (ao_flight_state == ao_flight_landed) {
- ao_report_altitude();
-#if HAS_FLIGHT
- ao_delay(AO_SEC_TO_TICKS(5));
- continue;
-#endif
- }
-#if HAS_IGNITE_REPORT
- if (ao_flight_state == ao_flight_idle)
- ao_report_continuity();
- while (ao_flight_state == ao_flight_pad) {
- uint8_t c;
- ao_report_continuity();
- c = 50;
- while (c-- && ao_flight_state == ao_flight_pad)
- pause(AO_MS_TO_TICKS(100));
- }
-#endif
-
- while (ao_report_state == ao_flight_state)
- ao_sleep(DATA_TO_XDATA(&ao_flight_state));
- ao_report_state = ao_flight_state;
- }
-}
-
-static __xdata struct ao_task ao_report_task;
-
-void
-ao_report_init(void)
-{
- ao_add_task(&ao_report_task, ao_report, "report");
-}
projects / fw / altos / blobdiff