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Switch from GPLv2 to GPLv2+
[fw/altos]
/
src
/
kernel
/
ao_pyro.c
diff --git
a/src/kernel/ao_pyro.c
b/src/kernel/ao_pyro.c
index 0ee7fbee711feb45edde9a681897acf44271a4ad..c9920ab335cd681369ad8e78e893f8b1bd49b021 100644
(file)
--- a/
src/kernel/ao_pyro.c
+++ b/
src/kernel/ao_pyro.c
@@
-3,7
+3,8
@@
*
* 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
*
* 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
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
@@
-69,6
+70,16
@@
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
+99,73
@@
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
+175,12
@@
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:
@@
-213,7
+236,7
@@
ao_pyro_pins_fire(uint16_t fire)
if (fire & (1 << p))
ao_pyro_pin_set(p, 1);
}
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);
for (p = 0; p < AO_PYRO_NUM; p++) {
if (fire & (1 << p)) {
ao_pyro_pin_set(p, 0);
@@
-230,7
+253,7
@@
ao_pyro_check(void)
struct ao_pyro *pyro;
uint8_t p, any_waiting;
uint16_t fire = 0;
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];
any_waiting = 0;
for (p = 0; p < AO_PYRO_NUM; p++) {
pyro = &ao_config.pyro[p];
@@
-266,6
+289,16
@@
ao_pyro_check(void)
* the delay to expire
*/
if (pyro->delay_done) {
* 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;
}
if ((int16_t) (ao_time() - pyro->delay_done) < 0)
continue;
}
@@
-343,9
+376,7
@@
ao_pyro(void)
ao_sleep(&ao_flight_state);
for (;;) {
ao_sleep(&ao_flight_state);
for (;;) {
- ao_alarm(AO_MS_TO_TICKS(100));
- ao_sleep(&ao_pyro_wakeup);
- ao_clear_alarm();
+ ao_sleep_for(&ao_pyro_wakeup, AO_MS_TO_TICKS(100));
if (ao_flight_state >= ao_flight_landed)
break;
any_waiting = ao_pyro_check();
if (ao_flight_state >= ao_flight_landed)
break;
any_waiting = ao_pyro_check();
@@
-443,7
+474,7
@@
ao_pyro_set(void)
printf ("invalid pyro channel %d\n", p);
return;
}
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')
for (;;) {
ao_cmd_white();
if (ao_cmd_lex_c == '\n')
@@
-467,13
+498,26
@@
ao_pyro_set(void)
}
pyro_tmp.flags |= ao_pyro_values[v].flag;
if (ao_pyro_values[v].offset != NO_VALUE) {
}
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;
ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
- if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE)
+ 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;
*((uint8_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
- else
+ } 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;
*((int16_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
+ }
}
}
_ao_config_edit_start();
}
}
_ao_config_edit_start();