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altos: Add separate 'ao_launch_tick'. Use in pyro and lockout.
[fw/altos]
/
src
/
kernel
/
ao_pyro.c
diff --git
a/src/kernel/ao_pyro.c
b/src/kernel/ao_pyro.c
index 9543b3ef20cd60f8a9d85f9442ea3ea5dd3d98cd..527112acfbfcbc1332464966f95ed5c47cbfac54 100644
(file)
--- a/
src/kernel/ao_pyro.c
+++ b/
src/kernel/ao_pyro.c
@@
-76,11
+76,24
@@
uint16_t ao_pyro_fired;
#if PYRO_DBG
int pyro_dbg;
#if PYRO_DBG
int pyro_dbg;
-#define DBG(...) do { if (pyro_dbg)
printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__);
} while (0)
+#define DBG(...) do { if (pyro_dbg)
{ printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); }
} while (0)
#else
#define DBG(...)
#endif
#else
#define DBG(...)
#endif
+static angle_t
+ao_sample_max_orient(void)
+{
+ uint8_t i;
+ angle_t max = ao_sample_orients[0];
+
+ for (i = 1; i < AO_NUM_ORIENT; i++) {
+ angle_t a = ao_sample_orients[i];
+ if (a > max)
+ max = a;
+ }
+ return max;
+}
/*
* 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
@@
-90,6
+103,9
@@
static uint8_t
ao_pyro_ready(struct ao_pyro *pyro)
{
enum ao_pyro_flag flag, flags;
ao_pyro_ready(struct ao_pyro *pyro)
{
enum ao_pyro_flag flag, flags;
+#if HAS_GYRO
+ angle_t max_orient;
+#endif
flags = pyro->flags;
while (flags != ao_pyro_none) {
flags = pyro->flags;
while (flags != ao_pyro_none) {
@@
-130,26
+146,28
@@
ao_pyro_ready(struct ao_pyro *pyro)
#if HAS_GYRO
case ao_pyro_orient_less:
#if HAS_GYRO
case ao_pyro_orient_less:
- if (ao_sample_orient <= pyro->orient_less)
+ max_orient = ao_sample_max_orient();
+ if (max_orient <= pyro->orient_less)
continue;
continue;
- DBG("orient %d > %d\n",
ao_sample
_orient, pyro->orient_less);
+ DBG("orient %d > %d\n",
max
_orient, pyro->orient_less);
break;
case ao_pyro_orient_greater:
break;
case ao_pyro_orient_greater:
- if (ao_sample_orient >= pyro->orient_greater)
+ max_orient = ao_sample_max_orient();
+ if (max_orient >= pyro->orient_greater)
continue;
continue;
- DBG("orient %d < %d\n",
ao_sample
_orient, pyro->orient_greater);
+ DBG("orient %d < %d\n",
max
_orient, pyro->orient_greater);
break;
#endif
case ao_pyro_time_less:
break;
#endif
case ao_pyro_time_less:
- if ((int16_t) (ao_time() - ao_
boost
_tick) <= pyro->time_less)
+ if ((int16_t) (ao_time() - ao_
launch
_tick) <= pyro->time_less)
continue;
continue;
- DBG("time %d > %d\n", (int16_t)(ao_time() - ao_
boost
_tick), pyro->time_less);
+ DBG("time %d > %d\n", (int16_t)(ao_time() - ao_
launch
_tick), pyro->time_less);
break;
case ao_pyro_time_greater:
break;
case ao_pyro_time_greater:
- if ((int16_t) (ao_time() - ao_
boost
_tick) >= pyro->time_greater)
+ if ((int16_t) (ao_time() - ao_
launch
_tick) >= pyro->time_greater)
continue;
continue;
- DBG("time %d < %d\n", (int16_t)(ao_time() - ao_
boost
_tick), pyro->time_greater);
+ DBG("time %d < %d\n", (int16_t)(ao_time() - ao_
launch
_tick), pyro->time_greater);
break;
case ao_pyro_ascending:
break;
case ao_pyro_ascending:
@@
-164,7
+182,7
@@
ao_pyro_ready(struct ao_pyro *pyro)
break;
case ao_pyro_after_motor:
break;
case ao_pyro_after_motor:
- if (ao_motor_number
=
= pyro->motor)
+ if (ao_motor_number
>
= pyro->motor)
continue;
DBG("motor %d != %d\n", ao_motor_number, pyro->motor);
break;
continue;
DBG("motor %d != %d\n", ao_motor_number, pyro->motor);
break;
@@
-239,11
+257,8
@@
ao_pyro_pins_fire(uint16_t fire)
}
ao_delay(ao_config.pyro_time);
for (p = 0; p < AO_PYRO_NUM; p++) {
}
ao_delay(ao_config.pyro_time);
for (p = 0; p < AO_PYRO_NUM; p++) {
- if (fire & (1 << p))
{
+ if (fire & (1 << p))
ao_pyro_pin_set(p, 0);
ao_pyro_pin_set(p, 0);
- ao_config.pyro[p].fired = 1;
- ao_pyro_fired |= (1 << p);
- }
}
ao_delay(AO_MS_TO_TICKS(50));
}
}
ao_delay(AO_MS_TO_TICKS(50));
}
@@
-261,7
+276,7
@@
ao_pyro_check(void)
/* Ignore igniters which have already fired
*/
/* Ignore igniters which have already fired
*/
- if (
pyro->fired
)
+ if (
ao_pyro_fired & (1 << p)
)
continue;
/* Ignore disabled igniters
continue;
/* Ignore disabled igniters
@@
-296,7
+311,7
@@
ao_pyro_check(void)
* by setting the fired bit
*/
if (!ao_pyro_ready(pyro)) {
* by setting the fired bit
*/
if (!ao_pyro_ready(pyro)) {
-
pyro->fired = 1
;
+
ao_pyro_fired |= (1 << p)
;
continue;
}
continue;
}
@@
-307,8
+322,10
@@
ao_pyro_check(void)
fire |= (1 << p);
}
fire |= (1 << p);
}
- if (fire)
+ if (fire) {
+ ao_pyro_fired |= fire;
ao_pyro_pins_fire(fire);
ao_pyro_pins_fire(fire);
+ }
return any_waiting;
}
return any_waiting;
}
@@
-482,7
+499,7
@@
ao_pyro_set(void)
break;
for (c = 0; c < AO_PYRO_NAME_LEN - 1; c++) {
break;
for (c = 0; c < AO_PYRO_NAME_LEN - 1; c++) {
- if (ao_cmd_is_white())
+ if (ao_cmd_is_white()
|| ao_cmd_lex_c == '\n'
)
break;
name[c] = ao_cmd_lex_c;
ao_cmd_lex();
break;
name[c] = ao_cmd_lex_c;
ao_cmd_lex();