altos: Remove *_TO_DATA macros

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

diff --git a/src/kernel/ao_report.c b/src/kernel/ao_report.c
index 1a0e9e166f959a576378c7eb82ced20e159e4319..73f87cdd16c05762bdd15933a0a6185c58b4fe64 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
@@ -44,14 +45,75 @@ 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;
 
+/*
+ * 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
 {
@@ -62,13 +124,13 @@ 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
@@ -121,7 +183,7 @@ ao_report_battery(void)
                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));
 }
@@ -157,12 +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));
@@ -181,15 +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));
@@ -197,7 +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;
@@ -207,10 +280,8 @@ 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);
        }
 }