altos: Allow negative values for pyro configuration data

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

diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c
index 56758fa448d4844ce50d6c1ac2491dcef17875c4..3044d56517aa06fceaf198fb31a4165e5d6b9370 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;
 
+#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
@@ -88,63 +98,73 @@ ao_pyro_ready(struct ao_pyro *pyro)
                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;
+                       DBG("accel %d < %d\n", ao_accel, pyro->accel_greater);
                        break;
-
-
                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;
+                       DBG("speed %d < %d\n", ao_speed, pyro->speed_greater);
                        break;
-
                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;
+                       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;
+                       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;
+                       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;
+                       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;
+                       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;
+                       DBG("not ascending speed %d\n", ao_speed);
                        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;
+                       DBG("motor %d != %d\n", ao_motor_number, pyro->motor);
                        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;
+                       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;
+                       DBG("state %d >= %d\n", ao_flight_state, pyro->state_less);
                        break;
 
                default:
@@ -213,7 +235,7 @@ ao_pyro_pins_fire(uint16_t fire)
                if (fire & (1 << p))
                        ao_pyro_pin_set(p, 1);
        }
-       ao_delay(AO_MS_TO_TICKS(50));
+       ao_delay(ao_config.pyro_time);
        for (p = 0; p < AO_PYRO_NUM; p++) {
                if (fire & (1 << p)) {
                        ao_pyro_pin_set(p, 0);
@@ -230,7 +252,7 @@ ao_pyro_check(void)
        struct ao_pyro  *pyro;
        uint8_t         p, any_waiting;
        uint16_t        fire = 0;
-       
+
        any_waiting = 0;
        for (p = 0; p < AO_PYRO_NUM; p++) {
                pyro = &ao_config.pyro[p];
@@ -266,6 +288,16 @@ ao_pyro_check(void)
                 * the delay to expire
                 */
                if (pyro->delay_done) {
+
+                       /* Check to make sure the required conditions
+                        * remain valid. If not, inhibit the channel
+                        * by setting the fired bit
+                        */
+                       if (!ao_pyro_ready(pyro)) {
+                               pyro->fired = 1;
+                               continue;
+                       }
+
                        if ((int16_t) (ao_time() - pyro->delay_done) < 0)
                                continue;
                }
@@ -403,7 +435,10 @@ ao_pyro_show(void)
                        if (ao_pyro_values[v].offset != NO_VALUE) {
                                int16_t value;
 
-                               value = *((int16_t *) ((char *) pyro + ao_pyro_values[v].offset));
+                               if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE)
+                                       value = *((uint8_t *) ((char *) pyro + ao_pyro_values[v].offset));
+                               else
+                                       value = *((int16_t *) ((char *) pyro + ao_pyro_values[v].offset));
                                printf ("%6d ", value);
                        } else {
                                printf ("       ");
@@ -440,7 +475,7 @@ ao_pyro_set(void)
                printf ("invalid pyro channel %d\n", p);
                return;
        }
-       pyro_tmp.flags = 0;
+       memset(&pyro_tmp, '\0', sizeof (pyro_tmp));
        for (;;) {
                ao_cmd_white();
                if (ao_cmd_lex_c == '\n')
@@ -464,10 +499,26 @@ ao_pyro_set(void)
                }
                pyro_tmp.flags |= ao_pyro_values[v].flag;
                if (ao_pyro_values[v].offset != NO_VALUE) {
+                       uint8_t negative = 0;
+                       ao_cmd_white();
+                       if (ao_cmd_lex_c == '-') {
+                               negative = 1;
+                               ao_cmd_lex();
+                       }
                        ao_cmd_decimal();
                        if (ao_cmd_status != ao_cmd_success)
                                return;
-                       *((int16_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
+                       if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE) {
+                               if (negative) {
+                                       ao_cmd_status = ao_cmd_syntax_error;
+                                       return;
+                               }
+                               *((uint8_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
+                       } else {
+                               if (negative)
+                                       ao_cmd_lex_i = -ao_cmd_lex_i;
+                               *((int16_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
+                       }
                }
        }
        _ao_config_edit_start();