*
* 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
MORSE4(1,0,0,1), /* invalid 'X' */
};
+static enum ao_flight_state ao_report_state;
+
#if HAS_BEEP
#define low(time) ao_beep_for(AO_BEEP_LOW, time)
#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
+ao_report_flight_state(void)
{
uint8_t r = flight_reports[ao_flight_state];
uint8_t l = r & 7;
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
-ao_report_digit(uint8_t digit) __reentrant
+ao_report_digit(uint8_t digit)
{
if (!digit) {
mid(AO_MS_TO_TICKS(500));
}
static void
-ao_report_number(int16_t n)
+ao_report_number(int32_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;
ndigits = 0;
do {
- digits[ndigits++] = n % 10;
+ digits[ndigits++] = (uint8_t) (n % 10);
n /= 10;
} while (n);
while (i != 0);
}
+#ifdef HAS_BARO
static void
ao_report_altitude(void)
{
- ao_report_number(ao_max_height);
+ alt_t max_h = ao_max_height;
+ if (ao_config.report_feet) {
+ max_h = max_h * 39 / 12;
+ /* report a leading zero to distinguish */
+ if (max_h)
+ ao_report_digit(0);
+ }
+ ao_report_number(max_h);
}
+#endif
#if HAS_BATTERY_REPORT
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));
}
#endif
#if HAS_IGNITE_REPORT
+#if HAS_IGNITE
static uint8_t
ao_report_igniter_ready(enum ao_igniter igniter)
{
uint8_t
ao_report_igniter(void)
{
- return (ao_report_igniter_ready(ao_igniter_drogue) |
- (ao_report_igniter_ready(ao_igniter_main) << 1));
+ return (uint8_t) (ao_report_igniter_ready(ao_igniter_drogue) |
+ (ao_report_igniter_ready(ao_igniter_main) << 1));
}
+#endif
static void
-ao_report_continuity(void) __reentrant
+ao_report_continuity(void)
{
- uint8_t c;
-
-#if !HAS_IGNITE
- if (!ao_igniter_present)
- return;
-#endif
+ uint8_t c;
+#if HAS_IGNITE
c = ao_report_igniter();
if (c) {
while (c--) {
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));
}
}
+#endif
+#if AO_PYRO_NUM
+#if HAS_IGNITE
+ pause(AO_MS_TO_TICKS(250));
+#endif
+ 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));
}
#endif
-void
+static 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) {
+ ao_report_flight_state();
+#if HAS_SENSOR_ERRORS
+ if (ao_report_state == ao_flight_invalid && ao_sensor_errors)
+ ao_report_number(ao_sensor_errors);
+#endif
+
+ if (ao_report_state == ao_flight_landed) {
+#if HAS_BARO
ao_report_altitude();
+#endif
#if HAS_FLIGHT
ao_delay(AO_SEC_TO_TICKS(5));
continue;
#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
-
+#if HAS_PAD_REPORT
+ while (ao_flight_state == ao_flight_pad) {
+ uint8_t c;
+ ao_report_flight_state();
+ c = 50;
+ while (c-- && ao_flight_state == ao_flight_pad)
+ 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)
projects / fw / altos / blobdiff