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altos: Add optional debugging to print out pyro firing status
[fw/altos]
/
src
/
kernel
/
ao_pyro.c
diff --git
a/src/kernel/ao_pyro.c
b/src/kernel/ao_pyro.c
index 85d88d98962006c5f78425d5ab8a0334f8faad19..0b286466fa3a7495d91406bedb91c1ebbe6cd3e9 100644
(file)
--- a/
src/kernel/ao_pyro.c
+++ b/
src/kernel/ao_pyro.c
@@
-69,6
+69,16
@@
ao_pyro_print_status(void)
uint16_t ao_pyro_fired;
uint16_t ao_pyro_fired;
+#ifndef PYRO_DBG
+#define PYRO_DBG 0
+#endif
+
+#if PYRO_DBG
+#define DBG(...) do { printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } while (0)
+#else
+#define DBG(...)
+#endif
+
/*
* Given a pyro structure, figure out
* if the current flight state satisfies all
/*
* Given a pyro structure, figure out
* if the current flight state satisfies all
@@
-88,63
+98,73
@@
ao_pyro_ready(struct ao_pyro *pyro)
case ao_pyro_accel_less:
if (ao_accel <= pyro->accel_less)
continue;
case ao_pyro_accel_less:
if (ao_accel <= pyro->accel_less)
continue;
+ DBG("accel %d > %d\n", ao_accel, pyro->accel_less);
break;
case ao_pyro_accel_greater:
if (ao_accel >= pyro->accel_greater)
continue;
break;
case ao_pyro_accel_greater:
if (ao_accel >= pyro->accel_greater)
continue;
+ DBG("accel %d < %d\n", ao_accel, pyro->accel_greater);
break;
break;
-
-
case ao_pyro_speed_less:
if (ao_speed <= pyro->speed_less)
continue;
case ao_pyro_speed_less:
if (ao_speed <= pyro->speed_less)
continue;
+ DBG("speed %d > %d\n", ao_speed, pyro->speed_less);
break;
case ao_pyro_speed_greater:
if (ao_speed >= pyro->speed_greater)
continue;
break;
case ao_pyro_speed_greater:
if (ao_speed >= pyro->speed_greater)
continue;
+ DBG("speed %d < %d\n", ao_speed, pyro->speed_greater);
break;
break;
-
case ao_pyro_height_less:
if (ao_height <= pyro->height_less)
continue;
case ao_pyro_height_less:
if (ao_height <= pyro->height_less)
continue;
+ DBG("height %d > %d\n", ao_height, pyro->height_less);
break;
case ao_pyro_height_greater:
if (ao_height >= pyro->height_greater)
continue;
break;
case ao_pyro_height_greater:
if (ao_height >= pyro->height_greater)
continue;
+ DBG("height %d < %d\n", ao_height, pyro->height_greater);
break;
#if HAS_GYRO
case ao_pyro_orient_less:
if (ao_sample_orient <= pyro->orient_less)
continue;
break;
#if HAS_GYRO
case ao_pyro_orient_less:
if (ao_sample_orient <= pyro->orient_less)
continue;
+ DBG("orient %d > %d\n", ao_sample_orient, pyro->orient_less);
break;
case ao_pyro_orient_greater:
if (ao_sample_orient >= pyro->orient_greater)
continue;
break;
case ao_pyro_orient_greater:
if (ao_sample_orient >= pyro->orient_greater)
continue;
+ DBG("orient %d < %d\n", ao_sample_orient, pyro->orient_greater);
break;
#endif
case ao_pyro_time_less:
if ((int16_t) (ao_time() - ao_boost_tick) <= pyro->time_less)
continue;
break;
#endif
case ao_pyro_time_less:
if ((int16_t) (ao_time() - ao_boost_tick) <= pyro->time_less)
continue;
+ DBG("time %d > %d\n", (int16_t)(ao_time() - ao_boost_tick), pyro->time_less);
break;
case ao_pyro_time_greater:
if ((int16_t) (ao_time() - ao_boost_tick) >= pyro->time_greater)
continue;
break;
case ao_pyro_time_greater:
if ((int16_t) (ao_time() - ao_boost_tick) >= pyro->time_greater)
continue;
+ DBG("time %d < %d\n", (int16_t)(ao_time() - ao_boost_tick), pyro->time_greater);
break;
case ao_pyro_ascending:
if (ao_speed > 0)
continue;
break;
case ao_pyro_ascending:
if (ao_speed > 0)
continue;
+ DBG("not ascending speed %d\n", ao_speed);
break;
case ao_pyro_descending:
if (ao_speed < 0)
continue;
break;
case ao_pyro_descending:
if (ao_speed < 0)
continue;
+ DBG("not descending speed %d\n", ao_speed);
break;
case ao_pyro_after_motor:
if (ao_motor_number == pyro->motor)
continue;
break;
case ao_pyro_after_motor:
if (ao_motor_number == pyro->motor)
continue;
+ DBG("motor %d != %d\n", ao_motor_number, pyro->motor);
break;
case ao_pyro_delay:
break;
case ao_pyro_delay:
@@
-154,10
+174,12
@@
ao_pyro_ready(struct ao_pyro *pyro)
case ao_pyro_state_less:
if (ao_flight_state < pyro->state_less)
continue;
case ao_pyro_state_less:
if (ao_flight_state < pyro->state_less)
continue;
+ DBG("state %d >= %d\n", ao_flight_state, pyro->state_less);
break;
case ao_pyro_state_greater_or_equal:
if (ao_flight_state >= pyro->state_greater_or_equal)
continue;
break;
case ao_pyro_state_greater_or_equal:
if (ao_flight_state >= pyro->state_greater_or_equal)
continue;
+ DBG("state %d >= %d\n", ao_flight_state, pyro->state_less);
break;
default:
break;
default: