altos: Make ao_wakeup reentrant

[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 cdd1f2369898726ce1739ded988043d6c4924386..faf31aa75c0a18290c0920527b4d13784bbbde96 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>
@@ -35,7 +36,7 @@
 #define AO_MS_TO_SPEED(ms)     ((int16_t) ((ms) * 16))
 #define AO_MSS_TO_ACCEL(mss)   ((int16_t) ((mss) * 16))
 
-#if MEGAMETRUM
+#if TELEMEGA
 #define AO_ADC_NUM_SENSE       6
 #define HAS_MS5607             1
 #define HAS_MPU6000            1
@@ -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)
 {
@@ -195,11 +208,13 @@ struct ao_cmds {
 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 
 #define AO_NEED_ALTITUDE_TO_PRES 1
-#if MEGAMETRUM
+#if TELEMEGA
 #include "ao_convert_pa.c"
 #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 +264,22 @@ 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_pin_set(uint8_t pin, uint8_t value)
+{
+       printf ("set pyro %d %d\n", pin, value);
+}
+
+#include "ao_pyro.c"
+#endif
 
 #define to_double(f)   ((f) / 65536.0)
 
@@ -333,7 +367,7 @@ ao_insert(void)
 #else
                double  accel = 0.0;
 #endif
-#if MEGAMETRUM
+#if TELEMEGA
                double  height;
 
                ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
@@ -373,7 +407,7 @@ ao_insert(void)
 
                if (!ao_summary) {
                        printf("%7.2f height %8.2f accel %8.3f "
-#if MEGAMETRUM
+#if TELEMEGA
                               "roll %8.3f angle %8.3f qangle %8.3f "
                               "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f "
 #endif
@@ -381,7 +415,7 @@ ao_insert(void)
                               time,
                               height,
                               accel,
-#if MEGAMETRUM
+#if TELEMEGA
                               ao_mpu6000_gyro(ao_sample_roll_angle) / 100.0,
                               ao_mpu6000_gyro(ao_sample_angle) / 100.0,
                               ao_sample_qangle,
@@ -555,7 +589,7 @@ int32(uint8_t *bytes, int off)
 
 static int log_format;
 
-#if MEGAMETRUM
+#if TELEMEGA
 
 static double
 ao_vec_norm(double x, double y, double z)
@@ -771,10 +805,14 @@ 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)
                        {
-#if MEGAMETRUM
+#if TELEMEGA
                                ao_data_static.mpu6000 = ao_ground_mpu6000;
 #else
                                ao_data_static.adc.accel = ao_flight_ground_accel;
@@ -800,8 +838,8 @@ ao_sleep(void *wchan)
                                if (words[nword] == NULL)
                                        break;
                        }
-#if MEGAMETRUM
-                       if (log_format == AO_LOG_FORMAT_MEGAMETRUM && nword == 30 && strlen(words[0]) == 1) {
+#if TELEMEGA
+                       if (log_format == AO_LOG_FORMAT_TELEMEGA && nword == 30 && strlen(words[0]) == 1) {
                                int     i;
                                struct ao_ms5607_value  value;
 
@@ -883,9 +921,26 @@ 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_MEGAMETRUM) {
+                       if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
                                type = words[0][0];
                                tick = strtoul(words[1], NULL, 16);
                                a = strtoul(words[2], NULL, 16);
@@ -1002,7 +1057,7 @@ ao_sleep(void *wchan)
                        if (type != 'F' && !ao_flight_started)
                                continue;
 
-#if MEGAMETRUM
+#if TELEMEGA
                        (void) a;
                        (void) b;
 #else