Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

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

diff --git a/src/kernel/ao_report.c b/src/kernel/ao_report.c
index f22631547473d7de341bff5c91d85107ec8d133f..08967af8450f3f2701b82e3c3df146e801dfa5e1 100644 (file)
--- a/src/kernel/ao_report.c
+++ b/src/kernel/ao_report.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
- * 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
@@ -44,13 +45,20 @@ static const uint8_t flight_reports[] = {
 #define mid(time)      ao_beep_for(AO_BEEP_MID, time)
 #define high(time)     ao_beep_for(AO_BEEP_HIGH, time)
 #else
-#define low(time)      ao_led_for(AO_LED_GREEN, time)
-#define mid(time)      ao_led_for(AO_LED_RED, time)
-#define high(time)     ao_led_for(AO_LED_GREEN|AO_LED_RED, time)
+#ifndef AO_LED_LOW
+#define AO_LED_LOW     AO_LED_GREEN
+#endif
+#ifndef AO_LED_MID
+#define AO_LED_MID     AO_LED_RED
+#endif
+
+#define low(time)      ao_led_for(AO_LED_LOW, time)
+#define mid(time)      ao_led_for(AO_LED_MID, time)
+#define high(time)     ao_led_for(AO_LED_MID|AO_LED_LOW, time)
 #endif
 #define pause(time)    ao_delay(time)
 
-static __pdata enum ao_flight_state ao_report_state;
+static enum ao_flight_state ao_report_state;
 
 /*
  * Farnsworth spacing
@@ -107,7 +115,7 @@ static __pdata enum ao_flight_state ao_report_state;
  */
 
 static void
-ao_report_beep(void) __reentrant
+ao_report_beep(void) 
 {
        uint8_t r = flight_reports[ao_flight_state];
        uint8_t l = r & 7;
@@ -126,7 +134,7 @@ ao_report_beep(void) __reentrant
 }
 
 static void
-ao_report_digit(uint8_t digit) __reentrant
+ao_report_digit(uint8_t digit) 
 {
        if (!digit) {
                mid(AO_MS_TO_TICKS(500));
@@ -143,8 +151,8 @@ ao_report_digit(uint8_t digit) __reentrant
 static void
 ao_report_number(int16_t n)
 {
-       __xdata uint8_t digits[10];
-       __pdata uint8_t ndigits, i;
+       uint8_t digits[10];
+       uint8_t ndigits, i;
 
        if (n < 0)
                n = 0;
@@ -170,12 +178,12 @@ ao_report_altitude(void)
 static void
 ao_report_battery(void)
 {
-       __xdata struct ao_data packet;
+       struct ao_data packet;
        for (;;) {
                ao_data_get(&packet);
                if (packet.adc.v_batt != 0)
                        break;
-               ao_sleep(DATA_TO_XDATA(&ao_sample_data));
+               ao_sleep(&ao_sample_data);
        }
        ao_report_number(ao_battery_decivolt(packet.adc.v_batt));
 }
@@ -196,7 +204,7 @@ ao_report_igniter(void)
 }
 
 static void
-ao_report_continuity(void) __reentrant
+ao_report_continuity(void) 
 {
        uint8_t c;
 
@@ -211,12 +219,23 @@ ao_report_continuity(void) __reentrant
                        pause(AO_MS_TO_TICKS(100));
                }
        } else {
-               c = 10;
+               c = 5;
                while (c--) {
                        high(AO_MS_TO_TICKS(20));
                        low(AO_MS_TO_TICKS(20));
                }
        }
+#if AO_PYRO_NUM
+       pause(AO_MS_TO_TICKS(250));
+       for(c = 0; c < AO_PYRO_NUM; c++) {
+               enum ao_igniter_status  status = ao_pyro_status(c);
+               if (status == ao_igniter_ready)
+                       mid(AO_MS_TO_TICKS(25));
+               else
+                       low(AO_MS_TO_TICKS(25));
+               pause(AO_MS_TO_TICKS(200));
+       }
+#endif
 #if HAS_LOG
        if (ao_log_full()) {
                pause(AO_MS_TO_TICKS(100));
@@ -235,15 +254,15 @@ ao_report_continuity(void) __reentrant
 void
 ao_report(void)
 {
-       ao_report_state = ao_flight_state;
        for(;;) {
+               ao_report_state = ao_flight_state;
 #if HAS_BATTERY_REPORT
-               if (ao_flight_state == ao_flight_startup)
+               if (ao_report_state == ao_flight_startup)
                        ao_report_battery();
                else
 #endif
                        ao_report_beep();
-               if (ao_flight_state == ao_flight_landed) {
+               if (ao_report_state == ao_flight_landed) {
                        ao_report_altitude();
 #if HAS_FLIGHT
                        ao_delay(AO_SEC_TO_TICKS(5));
@@ -251,7 +270,7 @@ ao_report(void)
 #endif
                }
 #if HAS_IGNITE_REPORT
-               if (ao_flight_state == ao_flight_idle)
+               if (ao_report_state == ao_flight_idle)
                        ao_report_continuity();
                while (ao_flight_state == ao_flight_pad) {
                        uint8_t c;
@@ -261,14 +280,12 @@ ao_report(void)
                                pause(AO_MS_TO_TICKS(100));
                }
 #endif
-
                while (ao_report_state == ao_flight_state)
-                       ao_sleep(DATA_TO_XDATA(&ao_flight_state));
-               ao_report_state = ao_flight_state;
+                       ao_sleep(&ao_flight_state);
        }
 }
 
-static __xdata struct ao_task ao_report_task;
+static struct ao_task ao_report_task;
 
 void
 ao_report_init(void)