ao_data_get(&packet);
);
- value = (AO_IGNITER_CLOSED>>1);
value = AO_SENSE_PYRO(&packet, p);
- if (value < AO_IGNITER_OPEN)
- return ao_igniter_open;
- else if (value > AO_IGNITER_CLOSED)
- return ao_igniter_ready;
- else
- return ao_igniter_unknown;
+ return ao_igniter_check(value, AO_SENSE_PBATT(&packet));
}
void
* of the requirements
*/
static uint8_t
-ao_pyro_ready(struct ao_pyro *pyro)
+ao_pyro_ready(const struct ao_pyro *pyro)
{
enum ao_pyro_flag flag, flags;
#if HAS_GYRO
#endif
case ao_pyro_time_less:
- if ((int16_t) (ao_time() - ao_launch_tick) <= pyro->time_less)
+ if ((AO_TICK_SIGNED) (ao_time() - ao_launch_tick) <= pyro->time_less)
continue;
- DBG("time %d > %d\n", (int16_t)(ao_time() - ao_launch_tick), pyro->time_less);
+ DBG("time %d > %d\n", (AO_TICK_SIGNED)(ao_time() - ao_launch_tick), pyro->time_less);
break;
case ao_pyro_time_greater:
- if ((int16_t) (ao_time() - ao_launch_tick) >= pyro->time_greater)
+ if ((AO_TICK_SIGNED) (ao_time() - ao_launch_tick) >= pyro->time_greater)
continue;
- DBG("time %d < %d\n", (int16_t)(ao_time() - ao_launch_tick), pyro->time_greater);
+ DBG("time %d < %d\n", (AO_TICK_SIGNED)(ao_time() - ao_launch_tick), pyro->time_greater);
break;
case ao_pyro_ascending:
ao_delay(AO_MS_TO_TICKS(50));
}
+static AO_TICK_TYPE pyro_delay_done[AO_PYRO_NUM];
+
static uint8_t
ao_pyro_check(void)
{
- struct ao_pyro *pyro;
+ const struct ao_pyro *pyro;
uint8_t p, any_waiting;
uint16_t fire = 0;
any_waiting = 1;
/* Check pyro state to see if it should fire
*/
- if (!pyro->delay_done) {
+ if (!pyro_delay_done[p]) {
if (!ao_pyro_ready(pyro))
continue;
* it expires
*/
if (pyro->flags & ao_pyro_delay) {
- pyro->delay_done = ao_time() + pyro->delay;
- if (!pyro->delay_done)
- pyro->delay_done = 1;
+ AO_TICK_TYPE delay_done;
+ AO_TICK_SIGNED delay = pyro->delay;
+ if (delay < 0)
+ delay = 0;
+ delay_done = ao_time() + (AO_TICK_TYPE) delay;
+
+ /*
+ * delay_done is the time at which the
+ * delay ends, but it is also used as
+ * an indication that a delay is
+ * active -- non-zero values indicate
+ * an active delay. This code ensures
+ * the value is non-zero, which might
+ * introduce an additional tick
+ * of delay.
+ */
+ if (delay_done == 0)
+ delay_done = 1;
+ pyro_delay_done[p] = delay_done;
}
}
/* Check to see if we're just waiting for
* the delay to expire
*/
- if (pyro->delay_done) {
+ if (pyro_delay_done[p] != 0) {
/* Check to make sure the required conditions
* remain valid. If not, inhibit the channel
* by setting the inhibited bit
*/
if (!ao_pyro_ready(pyro)) {
- ao_pyro_inhibited |= (1 << p);
+ ao_pyro_inhibited |= (uint16_t) (1 << p);
continue;
}
- if ((int16_t) (ao_time() - pyro->delay_done) < 0)
+ if ((AO_TICK_SIGNED) (ao_time() - pyro_delay_done[p]) < 0)
continue;
}
- fire |= (1 << p);
+ fire |= (uint16_t) (1U << p);
}
if (fire) {
}
#endif
+static int32_t
+ao_pyro_get(void *base, uint8_t offset, uint8_t size)
+{
+ int32_t value;
+ switch (size) {
+ case 8:
+ value = *((uint8_t *) ((char *) base + offset));
+ break;
+ case 16:
+ default:
+ value = *((int16_t *) (void *) ((char *) base + offset));
+ break;
+ case 32:
+ value = *((int32_t *) (void *) ((char *) base + offset));
+ break;
+ }
+ return value;
+}
+
+static bool
+ao_pyro_put(void *base, uint8_t offset, uint8_t size, int32_t value)
+{
+ switch (size) {
+ case 8:
+ if (value < 0)
+ return false;
+ *((uint8_t *) ((char *) base + offset)) = (uint8_t) value;
+ break;
+ case 16:
+ default:
+ *((int16_t *) (void *) ((char *) base + offset)) = (int16_t) value;
+ break;
+ case 32:
+ *((int32_t *) (void *) ((char *) base + offset)) = value;
+ break;
+ }
+ return true;
+}
+
+static uint8_t
+ao_pyro_size(enum ao_pyro_flag flag)
+{
+ if (flag & AO_PYRO_8_BIT_VALUE)
+ return 8;
+ if (flag & AO_PYRO_32_BIT_VALUE)
+ return 32;
+ return 16;
+}
+
void
ao_pyro_show(void)
{
continue;
ao_pyro_print_name(v);
if (ao_pyro_values[v].offset != NO_VALUE) {
- int16_t value;
-
- 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 *) (void *) ((char *) pyro + ao_pyro_values[v].offset));
- printf ("%6d ", value);
+ printf ("%6ld ",
+ (long) ao_pyro_get(pyro,
+ ao_pyro_values[v].offset,
+ ao_pyro_size(ao_pyro_values[v].flag)));
} else {
printf (" ");
}
void
ao_pyro_set(void)
{
- uint8_t p;
+ uint32_t p;
struct ao_pyro pyro_tmp;
char name[AO_PYRO_NAME_LEN];
uint8_t c;
if (ao_cmd_status != ao_cmd_success)
return;
if (AO_PYRO_NUM <= p) {
- printf ("invalid pyro channel %d\n", p);
+ printf ("invalid pyro channel %lu\n", p);
return;
}
memset(&pyro_tmp, '\0', sizeof (pyro_tmp));
}
pyro_tmp.flags |= ao_pyro_values[v].flag;
if (ao_pyro_values[v].offset != NO_VALUE) {
- int16_t r = 1;
+ int32_t r = 1;
ao_cmd_white();
if (ao_cmd_lex_c == '-') {
r = -1;
ao_cmd_lex();
}
- r *= ao_cmd_decimal();
+ r *= (int32_t) ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
- if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE) {
- if (r < 0) {
- ao_cmd_status = ao_cmd_syntax_error;
- return;
- }
- *((uint8_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = r;
- } else {
- *((int16_t *) (void *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = r;
+ if (!ao_pyro_put(&pyro_tmp, ao_pyro_values[v].offset,
+ ao_pyro_size(ao_pyro_values[v].flag), r))
+ {
+ ao_cmd_status = ao_cmd_syntax_error;
+ return;
}
}
}
ao_pyro_pins_fire(1 << p);
}
+struct ao_pyro_old_values {
+ enum ao_pyro_flag flag;
+ uint8_t offset;
+ uint8_t size;
+};
+
+static const struct ao_pyro_old_values ao_pyro_1_24_values[] = {
+ { .flag = ao_pyro_accel_less, .offset = offsetof(struct ao_pyro_1_24, accel_less), 16 },
+ { .flag = ao_pyro_accel_greater, .offset = offsetof(struct ao_pyro_1_24, accel_greater), 16 },
+ { .flag = ao_pyro_speed_less, .offset = offsetof(struct ao_pyro_1_24, speed_less), 16 },
+ { .flag = ao_pyro_speed_greater, .offset = offsetof(struct ao_pyro_1_24, speed_greater), 16 },
+ { .flag = ao_pyro_height_less, .offset = offsetof(struct ao_pyro_1_24, height_less), 16 },
+ { .flag = ao_pyro_height_greater, .offset = offsetof(struct ao_pyro_1_24, height_greater), 16 },
+ { .flag = ao_pyro_orient_less, .offset = offsetof(struct ao_pyro_1_24, orient_less), 16 },
+ { .flag = ao_pyro_orient_greater, .offset = offsetof(struct ao_pyro_1_24, orient_greater), 16 },
+ { .flag = ao_pyro_time_less, .offset = offsetof(struct ao_pyro_1_24, time_less), 16 },
+ { .flag = ao_pyro_time_greater, .offset = offsetof(struct ao_pyro_1_24, time_greater), 16 },
+ { .flag = ao_pyro_delay, .offset = offsetof(struct ao_pyro_1_24, delay), 16 },
+ { .flag = ao_pyro_state_less, .offset = offsetof(struct ao_pyro_1_24, state_less), 8 },
+ { .flag = ao_pyro_state_greater_or_equal, .offset = offsetof(struct ao_pyro_1_24, state_greater_or_equal), 8 },
+ { .flag = ao_pyro_after_motor, .offset = offsetof(struct ao_pyro_1_24, motor), 16 },
+};
+
+#define NUM_PYRO_1_24_VALUES (sizeof ao_pyro_1_24_values / sizeof ao_pyro_1_24_values[0])
+
+static int32_t
+ao_pyro_get_1_24(void *base, enum ao_pyro_flag flag)
+{
+ unsigned v;
+
+ for (v = 0; v < NUM_PYRO_1_24_VALUES; v++) {
+ if (ao_pyro_1_24_values[v].flag == flag)
+ return ao_pyro_get(base, ao_pyro_1_24_values[v].offset, ao_pyro_1_24_values[v].size);
+ }
+ return 0;
+}
+
+void
+ao_pyro_update_version(void)
+{
+ if (ao_config.minor <= 24)
+ {
+
+ /* First, move all of the config bits that follow the pyro data */
+
+ struct ao_config_1_24 *ao_config_1_24 = (void *) &ao_config;
+ struct ao_pyro *pyro_1_25 = &ao_config.pyro[0];
+ struct ao_pyro_1_24 *pyro_1_24 = &(ao_config_1_24->pyro)[0];
+
+
+ char *pyro_base_1_25 = (void *) pyro_1_25;
+ char *pyro_base_1_24 = (void *) pyro_1_24;
+ char *after_pyro_1_25 = pyro_base_1_25 + AO_PYRO_NUM * sizeof (struct ao_pyro);
+ char *after_pyro_1_24 = pyro_base_1_24 + AO_PYRO_NUM * sizeof (struct ao_pyro_1_24);
+
+ char *config_end_1_25 = (void *) (&ao_config + 1);
+ size_t to_move = (size_t) (config_end_1_25 - after_pyro_1_25);
+
+ memmove(after_pyro_1_25, after_pyro_1_24, to_move);
+
+ /* Now, adjust all of the pyro entries */
+
+ int p = AO_PYRO_NUM;
+
+ /* New struct is larger than the old, so start at the
+ * last one and work towards the first
+ */
+ while (p-- > 0) {
+ unsigned v;
+ int32_t value;
+ struct ao_pyro tmp;
+
+ memset(&tmp, '\0', sizeof(tmp));
+ tmp.flags = pyro_1_24[p].flags;
+
+ for (v = 0; v < NUM_PYRO_VALUES; v++)
+ {
+ if (ao_pyro_values[v].offset != NO_VALUE) {
+ value = ao_pyro_get_1_24(&pyro_1_24[p], ao_pyro_values[v].flag);
+ ao_pyro_put(&tmp, ao_pyro_values[v].offset,
+ ao_pyro_size(ao_pyro_values[v].flag), value);
+ }
+ }
+ memcpy(&pyro_1_25[p], &tmp, sizeof(tmp));
+ }
+ }
+}
+
void
ao_pyro_init(void)
{
projects / fw / altos / blobdiff