altos: Add pyro code testing to ao_flight_test for TeleMega

[fw/altos] / src / test / ao_flight_test.c

diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index 99bed7eeb94df17dbd94f3560d5b7fe93a2c2ca8..6e53d8e1dab51dffb76f9693fd570ed1411b51da 100644 (file)
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -20,6 +20,7 @@
 #include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
+#include <stddef.h>
 #include <string.h>
 #include <getopt.h>
 #include <math.h>
@@ -137,6 +138,18 @@ int        tick_offset;
 
 static int32_t ao_k_height;
 
+int16_t
+ao_time(void)
+{
+       return ao_data_static.tick;
+}
+
+void
+ao_delay(int16_t interval)
+{
+       return;
+}
+
 void
 ao_ignite(enum ao_igniter igniter)
 {
@@ -200,6 +213,8 @@ struct ao_cmds {
 #include <ao_ms5607.h>
 struct ao_ms5607_prom  ms5607_prom;
 #include "ao_ms5607_convert.c"
+#define AO_PYRO_NUM    4
+#include <ao_pyro.h>
 #else
 #include "ao_convert.c"
 #endif
@@ -210,6 +225,9 @@ struct ao_config {
        int16_t         accel_minus_g;
        uint8_t         pad_orientation;
        uint16_t        apogee_lockout;
+#if TELEMEGA
+       struct ao_pyro  pyro[AO_PYRO_NUM];      /* minor version 12 */
+#endif
 };
 
 #define AO_PAD_ORIENTATION_ANTENNA_UP  0
@@ -246,6 +264,24 @@ uint16_t   prev_tick;
 #include "ao_sqrt.c"
 #include "ao_sample.c"
 #include "ao_flight.c"
+#if TELEMEGA
+#define AO_PYRO_NUM    4
+
+#define AO_PYRO_0      0
+#define AO_PYRO_1      1
+#define AO_PYRO_2      2
+#define AO_PYRO_3      3
+
+static void
+ao_pyro_tell(int pin)
+{
+       printf ("fire pyro %d\n", pin);
+}
+
+#define ao_pyro_fire_port(port,bit,pin) ao_pyro_tell(pin)
+
+#include "ao_pyro.c"
+#endif
 
 #define to_double(f)   ((f) / 65536.0)
 
@@ -771,6 +807,10 @@ ao_sleep(void *wchan)
                char            *words[64];
                int             nword;
 
+#if TELEMEGA
+               if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed)
+                       ao_pyro_check();
+#endif
                for (;;) {
                        if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
                        {
@@ -883,6 +923,23 @@ ao_sleep(void *wchan)
                                else if (strcmp(words[1], "crc:") == 0)
                                        ms5607_prom.crc = strtoul(words[2], NULL, 10);
                                continue;
+                       } else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) {
+                               int     p = strtoul(words[1], NULL, 10);
+                               int     i, j;
+                               struct ao_pyro  *pyro = &ao_config.pyro[p];
+
+                               for (i = 2; i < nword; i++) {
+                                       for (j = 0; j < NUM_PYRO_VALUES; j++)
+                                               if (!strcmp (words[2], ao_pyro_values[j].name))
+                                                       break;
+                                       if (j == NUM_PYRO_VALUES)
+                                               continue;
+                                       pyro->flags |= ao_pyro_values[j].flag;
+                                       if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) {
+                                               int16_t val = strtoul(words[++i], NULL, 10);
+                                               *((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val;
+                                       }
+                               }
                        }
 #else
                        if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {