*
* 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
#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;
+/*
+ * Farnsworth spacing
+ *
+ * From: http://www.arrl.org/files/file/Technology/x9004008.pdf
+ *
+ * c: character rate in wpm
+ * s: overall rate in wpm
+ * u: unit rate (dit speed)
+ *
+ * dit: u
+ * dah: 3u
+ * intra-character-time: u
+ *
+ * u = 1.2/c
+ *
+ * Because our clock runs at 10ms, we'll round up to 70ms for u, which
+ * is about 17wpm
+ *
+ * Farnsworth adds space between characters and
+ * words:
+ * 60 c - 37.2 s
+ * Ta = -------------
+ * sc
+ *
+ * 3 Ta
+ * Tc = ----
+ * 19
+ *
+ * 7 Ta
+ * Tw = ----
+ * 19
+ *
+ * Ta = total delay to add to the characters (31 units)
+ * of a standard 50-unit "word", in seconds
+ *
+ * Tc = period between characters, in seconds
+ *
+ * Tw = period between words, in seconds
+ *
+ * We'll use Farnsworth spacing with c=18 and s=12:
+ *
+ * u = 1.2/18 = 0.0667
+ *
+ * Ta = (60 * 17 - 37.2 * 12) / (17 * 12) = 2.812
+ *
+ * Tc = 3 * Ta / 19 = .444
+ *
+ * Tw = 1.036
+ *
+ * Note that the values below are all reduced by 10ms; that's because
+ * the timer always adds a tick to make sure the task actually sleeps
+ * at least as long as the argument.
+ */
+
static void
ao_report_beep(void) __reentrant
{
return;
while (l--) {
if (r & 8)
- mid(AO_MS_TO_TICKS(600));
- else
mid(AO_MS_TO_TICKS(200));
- pause(AO_MS_TO_TICKS(200));
+ else
+ mid(AO_MS_TO_TICKS(60));
+ pause(AO_MS_TO_TICKS(60));
r >>= 1;
}
- pause(AO_MS_TO_TICKS(400));
+ pause(AO_MS_TO_TICKS(360));
}
static void
}
static void
-ao_report_altitude(void)
+ao_report_number(int16_t n)
{
- __pdata int16_t agl = ao_max_height;
__xdata uint8_t digits[10];
__pdata uint8_t ndigits, i;
- if (agl < 0)
- agl = 0;
+ if (n < 0)
+ n = 0;
ndigits = 0;
do {
- digits[ndigits++] = agl % 10;
- agl /= 10;
- } while (agl);
+ digits[ndigits++] = n % 10;
+ n /= 10;
+ } while (n);
i = ndigits;
do
while (i != 0);
}
+static void
+ao_report_altitude(void)
+{
+ ao_report_number(ao_max_height);
+}
+
+#if HAS_BATTERY_REPORT
+static void
+ao_report_battery(void)
+{
+ __xdata struct ao_data packet;
+ for (;;) {
+ ao_data_get(&packet);
+ if (packet.adc.v_batt != 0)
+ break;
+ ao_sleep(&ao_sample_data);
+ }
+ ao_report_number(ao_battery_decivolt(packet.adc.v_batt));
+}
+#endif
+
#if HAS_IGNITE_REPORT
static uint8_t
ao_report_igniter_ready(enum ao_igniter igniter)
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));
void
ao_report(void)
{
- ao_report_state = ao_flight_state;
for(;;) {
- ao_report_beep();
- if (ao_flight_state == ao_flight_landed) {
+ ao_report_state = ao_flight_state;
+#if HAS_BATTERY_REPORT
+ if (ao_report_state == ao_flight_startup)
+ ao_report_battery();
+ else
+#endif
+ ao_report_beep();
+ if (ao_report_state == ao_flight_landed) {
ao_report_altitude();
#if HAS_FLIGHT
ao_delay(AO_SEC_TO_TICKS(5));
#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;
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);
}
}
projects / fw / altos / blobdiff