X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_ignite.c;h=d197239a991e60db1ce9d90b38b8611335e4b184;hp=823d003c8a0a7574f43859a75de6c2af1ec7c315;hb=3ed101d634968666cd3ee2d8c49737970caf406b;hpb=24167015705ae831692b95735968b04a876f935e diff --git a/src/kernel/ao_ignite.c b/src/kernel/ao_ignite.c index 823d003c..d197239a 100644 --- a/src/kernel/ao_ignite.c +++ b/src/kernel/ao_ignite.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 @@ -22,16 +23,7 @@ #endif #if HAS_IGNITE -__xdata struct ao_ignition ao_ignition[2]; - -void -ao_ignite(enum ao_igniter igniter) -{ - ao_arch_block_interrupts(); - ao_ignition[igniter].request = 1; - ao_wakeup(&ao_ignition); - ao_arch_release_interrupts(); -} +struct ao_ignition ao_ignition[2]; #ifndef AO_SENSE_DROGUE #define AO_SENSE_DROGUE(p) ((p)->adc.sense_d) @@ -41,9 +33,9 @@ ao_ignite(enum ao_igniter igniter) enum ao_igniter_status ao_igniter_status(enum ao_igniter igniter) { - __xdata struct ao_data packet; - __pdata int16_t value; - __pdata uint8_t request, firing, fired; + struct ao_data packet; + int16_t value; + uint8_t request, firing, fired; ao_arch_critical( ao_data_get(&packet); @@ -71,10 +63,8 @@ ao_igniter_status(enum ao_igniter igniter) return ao_igniter_unknown; } -#ifndef AO_IGNITER_SET_DROGUE -#define AO_IGNITER_SET_DROGUE(v) AO_IGNITER_DROGUE = (v) -#define AO_IGNITER_SET_MAIN(v) AO_IGNITER_MAIN = (v) -#endif +#define AO_IGNITER_SET_DROGUE(v) ao_gpio_set(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, v) +#define AO_IGNITER_SET_MAIN(v) ao_gpio_set(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, v) #ifndef AO_IGNITER_FIRE_TIME #define AO_IGNITER_FIRE_TIME AO_MS_TO_TICKS(50) @@ -84,12 +74,12 @@ ao_igniter_status(enum ao_igniter igniter) #define AO_IGNITER_CHARGE_TIME AO_MS_TO_TICKS(2000) #endif -void -ao_igniter_fire(enum ao_igniter igniter) +static void +ao_igniter_fire(enum ao_igniter igniter, bool wait) { - ao_ignition[igniter].firing = 1; - switch(ao_config.ignite_mode) { - case AO_IGNITE_MODE_DUAL: + if (!ao_ignition[igniter].fired) { + ao_ignition[igniter].firing = 1; + ao_ignition[igniter].fired = 1; switch (igniter) { case ao_igniter_drogue: AO_IGNITER_SET_DROGUE(1); @@ -102,65 +92,55 @@ ao_igniter_fire(enum ao_igniter igniter) AO_IGNITER_SET_MAIN(0); break; } - break; - case AO_IGNITE_MODE_APOGEE: - switch (igniter) { - case ao_igniter_drogue: - AO_IGNITER_SET_DROGUE(1); - ao_delay(AO_IGNITER_FIRE_TIME); - AO_IGNITER_SET_DROGUE(0); + ao_ignition[igniter].firing = 0; + if (wait) ao_delay(AO_IGNITER_CHARGE_TIME); - AO_IGNITER_SET_MAIN(1); - ao_delay(AO_IGNITER_FIRE_TIME); - AO_IGNITER_SET_MAIN(0); - break; - default: - break; - } - break; - case AO_IGNITE_MODE_MAIN: - switch (igniter) { - case ao_igniter_main: - AO_IGNITER_SET_DROGUE(1); - ao_delay(AO_IGNITER_FIRE_TIME); - AO_IGNITER_SET_DROGUE(0); - ao_delay(AO_IGNITER_CHARGE_TIME); - AO_IGNITER_SET_MAIN(1); - ao_delay(AO_IGNITER_FIRE_TIME); - AO_IGNITER_SET_MAIN(0); - break; - default: - break; - } - break; } - ao_ignition[igniter].firing = 0; } -void +static void ao_igniter(void) { - __xdata enum ao_igniter igniter; - ao_config_get(); for (;;) { - ao_sleep(&ao_ignition); - for (igniter = ao_igniter_drogue; igniter <= ao_igniter_main; igniter++) { - if (ao_ignition[igniter].request && !ao_ignition[igniter].fired) { - if (igniter == ao_igniter_drogue && ao_config.apogee_delay) - ao_delay(AO_SEC_TO_TICKS(ao_config.apogee_delay)); - - ao_igniter_fire(igniter); - ao_delay(AO_IGNITER_CHARGE_TIME); - ao_ignition[igniter].fired = 1; + /* Wait for flight state change */ + ao_sleep(&ao_flight_state); + + /* Fire any igniters that are supposed to be triggered + * in this new state + */ + switch(ao_config.ignite_mode) { + case AO_IGNITE_MODE_DUAL: + if (ao_flight_drogue <= ao_flight_state && ao_flight_state < ao_flight_landed) + ao_igniter_fire(ao_igniter_drogue, true); + if (ao_flight_main <= ao_flight_state && ao_flight_state < ao_flight_landed) + ao_igniter_fire(ao_igniter_main, true); + break; + case AO_IGNITE_MODE_APOGEE: + if (ao_flight_drogue <= ao_flight_state && ao_flight_state < ao_flight_landed) { + ao_igniter_fire(ao_igniter_drogue, true); + ao_igniter_fire(ao_igniter_main, true); } + break; + case AO_IGNITE_MODE_MAIN: + if (ao_flight_main <= ao_flight_state && ao_flight_state < ao_flight_landed) { + ao_igniter_fire(ao_igniter_drogue, true); + ao_igniter_fire(ao_igniter_main, true); + } + break; + case AO_IGNITE_MODE_BOOSTER: + if (ao_flight_fast <= ao_flight_state && ao_flight_state < ao_flight_landed) + ao_igniter_fire(ao_igniter_main, true); + if (ao_flight_drogue <= ao_flight_state && ao_flight_state < ao_flight_landed) + ao_igniter_fire(ao_igniter_drogue, true); + break; } } } #endif -void +static void ao_ignite_manual(void) { ao_cmd_white(); @@ -169,11 +149,13 @@ ao_ignite_manual(void) ao_cmd_white(); #if HAS_IGNITE if (ao_cmd_lex_c == 'm' && ao_match_word("main")) { - ao_igniter_fire(ao_igniter_main); + ao_ignition[ao_igniter_main].fired = 0; + ao_igniter_fire(ao_igniter_main, false); return; } if (ao_cmd_lex_c == 'd' && ao_match_word("drogue")) { - ao_igniter_fire(ao_igniter_drogue); + ao_ignition[ao_igniter_drogue].fired = 0; + ao_igniter_fire(ao_igniter_drogue, false); return; } #endif @@ -186,13 +168,13 @@ ao_ignite_manual(void) ao_cmd_status = ao_cmd_syntax_error; } -__code char * __code ao_igniter_status_names[] = { +const char * const ao_igniter_status_names[] = { "unknown", "ready", "active", "open" }; #if HAS_IGNITE -void -ao_ignite_print_status(enum ao_igniter igniter, __code char *name) __reentrant +static void +ao_ignite_print_status(enum ao_igniter igniter, const char *name) { enum ao_igniter_status status = ao_igniter_status(igniter); printf("Igniter: %6s Status: %s\n", @@ -201,7 +183,7 @@ ao_ignite_print_status(enum ao_igniter igniter, __code char *name) __reentrant } #endif -void +static void ao_ignite_test(void) { #if HAS_IGNITE @@ -213,20 +195,20 @@ ao_ignite_test(void) #endif } -__code struct ao_cmds ao_ignite_cmds[] = { +const struct ao_cmds ao_ignite_cmds[] = { { ao_ignite_manual, "i {main|drogue}\0Fire igniter. is doit with D&I" }, { ao_ignite_test, "t\0Test igniter" }, { 0, NULL }, }; #if HAS_IGNITE -__xdata struct ao_task ao_igniter_task; +struct ao_task ao_igniter_task; void ao_ignite_set_pins(void) { - ao_enable_output(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, AO_IGNITER_DROGUE, 0); - ao_enable_output(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, AO_IGNITER_MAIN, 0); + ao_enable_output(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, 0); + ao_enable_output(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, 0); } #endif @@ -237,5 +219,7 @@ ao_igniter_init(void) ao_ignite_set_pins(); ao_add_task(&ao_igniter_task, ao_igniter, "igniter"); #endif +#if HAS_IGNITE || AO_PYRO_NUM ao_cmd_register(&ao_ignite_cmds[0]); +#endif }