*
* 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.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
#endif
#if HAS_IGNITE
-__xdata struct ao_ignition ao_ignition[2];
-
-void
-ao_ignite(enum ao_igniter igniter)
-{
- ao_arch_block_interrupts();
- ao_ignition[igniter].request = 1;
- ao_wakeup(&ao_ignition);
- ao_arch_release_interrupts();
-}
+struct ao_ignition ao_ignition[2];
#ifndef AO_SENSE_DROGUE
#define AO_SENSE_DROGUE(p) ((p)->adc.sense_d)
enum ao_igniter_status
ao_igniter_status(enum ao_igniter igniter)
{
- __xdata struct ao_data packet;
- __pdata int16_t value;
- __pdata uint8_t request, firing, fired;
+ struct ao_data packet;
+ int16_t value;
+ uint8_t request, firing, fired;
ao_arch_critical(
ao_data_get(&packet);
return ao_igniter_unknown;
}
-#ifndef AO_IGNITER_SET_DROGUE
-#define AO_IGNITER_SET_DROGUE(v) AO_IGNITER_DROGUE = (v)
-#define AO_IGNITER_SET_MAIN(v) AO_IGNITER_MAIN = (v)
-#endif
+#define AO_IGNITER_SET_DROGUE(v) ao_gpio_set(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, v)
+#define AO_IGNITER_SET_MAIN(v) ao_gpio_set(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, v)
#ifndef AO_IGNITER_FIRE_TIME
#define AO_IGNITER_FIRE_TIME AO_MS_TO_TICKS(50)
#define AO_IGNITER_CHARGE_TIME AO_MS_TO_TICKS(2000)
#endif
-void
-ao_igniter_fire(enum ao_igniter igniter)
+static void
+ao_igniter_fire(enum ao_igniter igniter, bool wait)
{
- ao_ignition[igniter].firing = 1;
- switch(ao_config.ignite_mode) {
- case AO_IGNITE_MODE_DUAL:
+ if (!ao_ignition[igniter].fired) {
+ ao_ignition[igniter].firing = 1;
+ ao_ignition[igniter].fired = 1;
switch (igniter) {
case ao_igniter_drogue:
AO_IGNITER_SET_DROGUE(1);
AO_IGNITER_SET_MAIN(0);
break;
}
- break;
- case AO_IGNITE_MODE_APOGEE:
- switch (igniter) {
- case ao_igniter_drogue:
- AO_IGNITER_SET_DROGUE(1);
- ao_delay(AO_IGNITER_FIRE_TIME);
- AO_IGNITER_SET_DROGUE(0);
+ ao_ignition[igniter].firing = 0;
+ if (wait)
ao_delay(AO_IGNITER_CHARGE_TIME);
- AO_IGNITER_SET_MAIN(1);
- ao_delay(AO_IGNITER_FIRE_TIME);
- AO_IGNITER_SET_MAIN(0);
- break;
- default:
- break;
- }
- break;
- case AO_IGNITE_MODE_MAIN:
- switch (igniter) {
- case ao_igniter_main:
- AO_IGNITER_SET_DROGUE(1);
- ao_delay(AO_IGNITER_FIRE_TIME);
- AO_IGNITER_SET_DROGUE(0);
- ao_delay(AO_IGNITER_CHARGE_TIME);
- AO_IGNITER_SET_MAIN(1);
- ao_delay(AO_IGNITER_FIRE_TIME);
- AO_IGNITER_SET_MAIN(0);
- break;
- default:
- break;
- }
- break;
}
- ao_ignition[igniter].firing = 0;
}
-void
+static void
ao_igniter(void)
{
- __xdata enum ao_igniter igniter;
-
ao_config_get();
for (;;) {
- ao_sleep(&ao_ignition);
- for (igniter = ao_igniter_drogue; igniter <= ao_igniter_main; igniter++) {
- if (ao_ignition[igniter].request && !ao_ignition[igniter].fired) {
- if (igniter == ao_igniter_drogue && ao_config.apogee_delay)
- ao_delay(AO_SEC_TO_TICKS(ao_config.apogee_delay));
-
- ao_igniter_fire(igniter);
- ao_delay(AO_IGNITER_CHARGE_TIME);
- ao_ignition[igniter].fired = 1;
+ /* Wait for flight state change */
+ ao_sleep(&ao_flight_state);
+
+ /* Fire any igniters that are supposed to be triggered
+ * in this new state
+ */
+ switch(ao_config.ignite_mode) {
+ case AO_IGNITE_MODE_DUAL:
+ if (ao_flight_drogue <= ao_flight_state && ao_flight_state < ao_flight_landed)
+ ao_igniter_fire(ao_igniter_drogue, true);
+ if (ao_flight_main <= ao_flight_state && ao_flight_state < ao_flight_landed)
+ ao_igniter_fire(ao_igniter_main, true);
+ break;
+ case AO_IGNITE_MODE_APOGEE:
+ if (ao_flight_drogue <= ao_flight_state && ao_flight_state < ao_flight_landed) {
+ ao_igniter_fire(ao_igniter_drogue, true);
+ ao_igniter_fire(ao_igniter_main, true);
}
+ break;
+ case AO_IGNITE_MODE_MAIN:
+ if (ao_flight_main <= ao_flight_state && ao_flight_state < ao_flight_landed) {
+ ao_igniter_fire(ao_igniter_drogue, true);
+ ao_igniter_fire(ao_igniter_main, true);
+ }
+ break;
+ case AO_IGNITE_MODE_BOOSTER:
+ if (ao_flight_fast <= ao_flight_state && ao_flight_state < ao_flight_landed)
+ ao_igniter_fire(ao_igniter_main, true);
+ if (ao_flight_drogue <= ao_flight_state && ao_flight_state < ao_flight_landed)
+ ao_igniter_fire(ao_igniter_drogue, true);
+ break;
}
}
}
#endif
-void
+static void
ao_ignite_manual(void)
{
ao_cmd_white();
ao_cmd_white();
#if HAS_IGNITE
if (ao_cmd_lex_c == 'm' && ao_match_word("main")) {
- ao_igniter_fire(ao_igniter_main);
+ ao_ignition[ao_igniter_main].fired = 0;
+ ao_igniter_fire(ao_igniter_main, false);
return;
}
if (ao_cmd_lex_c == 'd' && ao_match_word("drogue")) {
- ao_igniter_fire(ao_igniter_drogue);
+ ao_ignition[ao_igniter_drogue].fired = 0;
+ ao_igniter_fire(ao_igniter_drogue, false);
return;
}
#endif
ao_cmd_status = ao_cmd_syntax_error;
}
-__code char * __code ao_igniter_status_names[] = {
+const char * const ao_igniter_status_names[] = {
"unknown", "ready", "active", "open"
};
#if HAS_IGNITE
-void
-ao_ignite_print_status(enum ao_igniter igniter, __code char *name) __reentrant
+static void
+ao_ignite_print_status(enum ao_igniter igniter, const char *name)
{
enum ao_igniter_status status = ao_igniter_status(igniter);
printf("Igniter: %6s Status: %s\n",
}
#endif
-void
+static void
ao_ignite_test(void)
{
#if HAS_IGNITE
#endif
}
-__code struct ao_cmds ao_ignite_cmds[] = {
+const struct ao_cmds ao_ignite_cmds[] = {
{ ao_ignite_manual, "i <key> {main|drogue}\0Fire igniter. <key> is doit with D&I" },
{ ao_ignite_test, "t\0Test igniter" },
{ 0, NULL },
};
#if HAS_IGNITE
-__xdata struct ao_task ao_igniter_task;
+struct ao_task ao_igniter_task;
void
ao_ignite_set_pins(void)
{
- ao_enable_output(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, AO_IGNITER_DROGUE, 0);
- ao_enable_output(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, AO_IGNITER_MAIN, 0);
+ ao_enable_output(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, 0);
+ ao_enable_output(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, 0);
}
#endif
ao_ignite_set_pins();
ao_add_task(&ao_igniter_task, ao_igniter, "igniter");
#endif
+#if HAS_IGNITE || AO_PYRO_NUM
ao_cmd_register(&ao_ignite_cmds[0]);
+#endif
}
projects / fw / altos / blobdiff