X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_pyro.c;h=3044d56517aa06fceaf198fb31a4165e5d6b9370;hp=85d88d98962006c5f78425d5ab8a0334f8faad19;hb=8c212cd5bfa03f71a31d84bd0051314e77d88461;hpb=da9575fce5ff4dfe83522e290973a01c43e4661f

diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c
index 85d88d98..3044d565 100644
--- a/src/kernel/ao_pyro.c
+++ b/src/kernel/ao_pyro.c
@@ -69,6 +69,16 @@ ao_pyro_print_status(void)
 
 uint16_t	ao_pyro_fired;
 
+#ifndef PYRO_DBG
+#define PYRO_DBG	0
+#endif
+
+#if PYRO_DBG
+#define DBG(...)	do { printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } while (0)
+#else
+#define DBG(...)
+#endif
+
 /*
  * Given a pyro structure, figure out
  * if the current flight state satisfies all
@@ -88,63 +98,73 @@ ao_pyro_ready(struct ao_pyro *pyro)
 		case ao_pyro_accel_less:
 			if (ao_accel <= pyro->accel_less)
 				continue;
+			DBG("accel %d > %d\n", ao_accel, pyro->accel_less);
 			break;
 		case ao_pyro_accel_greater:
 			if (ao_accel >= pyro->accel_greater)
 				continue;
+			DBG("accel %d < %d\n", ao_accel, pyro->accel_greater);
 			break;
-
-
 		case ao_pyro_speed_less:
 			if (ao_speed <= pyro->speed_less)
 				continue;
+			DBG("speed %d > %d\n", ao_speed, pyro->speed_less);
 			break;
 		case ao_pyro_speed_greater:
 			if (ao_speed >= pyro->speed_greater)
 				continue;
+			DBG("speed %d < %d\n", ao_speed, pyro->speed_greater);
 			break;
-
 		case ao_pyro_height_less:
 			if (ao_height <= pyro->height_less)
 				continue;
+			DBG("height %d > %d\n", ao_height, pyro->height_less);
 			break;
 		case ao_pyro_height_greater:
 			if (ao_height >= pyro->height_greater)
 				continue;
+			DBG("height %d < %d\n", ao_height, pyro->height_greater);
 			break;
 
 #if HAS_GYRO
 		case ao_pyro_orient_less:
 			if (ao_sample_orient <= pyro->orient_less)
 				continue;
+			DBG("orient %d > %d\n", ao_sample_orient, pyro->orient_less);
 			break;
 		case ao_pyro_orient_greater:
 			if (ao_sample_orient >= pyro->orient_greater)
 				continue;
+			DBG("orient %d < %d\n", ao_sample_orient, pyro->orient_greater);
 			break;
 #endif
 
 		case ao_pyro_time_less:
 			if ((int16_t) (ao_time() - ao_boost_tick) <= pyro->time_less)
 				continue;
+			DBG("time %d > %d\n", (int16_t)(ao_time() - ao_boost_tick), pyro->time_less);
 			break;
 		case ao_pyro_time_greater:
 			if ((int16_t) (ao_time() - ao_boost_tick) >= pyro->time_greater)
 				continue;
+			DBG("time %d < %d\n", (int16_t)(ao_time() - ao_boost_tick), pyro->time_greater);
 			break;
 
 		case ao_pyro_ascending:
 			if (ao_speed > 0)
 				continue;
+			DBG("not ascending speed %d\n", ao_speed);
 			break;
 		case ao_pyro_descending:
 			if (ao_speed < 0)
 				continue;
+			DBG("not descending speed %d\n", ao_speed);
 			break;
 
 		case ao_pyro_after_motor:
 			if (ao_motor_number == pyro->motor)
 				continue;
+			DBG("motor %d != %d\n", ao_motor_number, pyro->motor);
 			break;
 
 		case ao_pyro_delay:
@@ -154,10 +174,12 @@ ao_pyro_ready(struct ao_pyro *pyro)
 		case ao_pyro_state_less:
 			if (ao_flight_state < pyro->state_less)
 				continue;
+			DBG("state %d >= %d\n", ao_flight_state, pyro->state_less);
 			break;
 		case ao_pyro_state_greater_or_equal:
 			if (ao_flight_state >= pyro->state_greater_or_equal)
 				continue;
+			DBG("state %d >= %d\n", ao_flight_state, pyro->state_less);
 			break;
 
 		default:
@@ -230,7 +252,7 @@ ao_pyro_check(void)
 	struct ao_pyro	*pyro;
 	uint8_t		p, any_waiting;
 	uint16_t	fire = 0;
-	
+
 	any_waiting = 0;
 	for (p = 0; p < AO_PYRO_NUM; p++) {
 		pyro = &ao_config.pyro[p];
@@ -266,6 +288,16 @@ ao_pyro_check(void)
 		 * the delay to expire
 		 */
 		if (pyro->delay_done) {
+
+			/* Check to make sure the required conditions
+			 * remain valid. If not, inhibit the channel
+			 * by setting the fired bit
+			 */
+			if (!ao_pyro_ready(pyro)) {
+				pyro->fired = 1;
+				continue;
+			}
+
 			if ((int16_t) (ao_time() - pyro->delay_done) < 0)
 				continue;
 		}
@@ -443,7 +475,7 @@ ao_pyro_set(void)
 		printf ("invalid pyro channel %d\n", p);
 		return;
 	}
-	pyro_tmp.flags = 0;
+	memset(&pyro_tmp, '\0', sizeof (pyro_tmp));
 	for (;;) {
 		ao_cmd_white();
 		if (ao_cmd_lex_c == '\n')
@@ -467,13 +499,26 @@ ao_pyro_set(void)
 		}
 		pyro_tmp.flags |= ao_pyro_values[v].flag;
 		if (ao_pyro_values[v].offset != NO_VALUE) {
+			uint8_t negative = 0;
+			ao_cmd_white();
+			if (ao_cmd_lex_c == '-') {
+				negative = 1;
+				ao_cmd_lex();
+			}
 			ao_cmd_decimal();
 			if (ao_cmd_status != ao_cmd_success)
 				return;
-			if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE)
+			if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE) {
+				if (negative) {
+					ao_cmd_status = ao_cmd_syntax_error;
+					return;
+				}
 				*((uint8_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
-			else
+			} else {
+				if (negative)
+					ao_cmd_lex_i = -ao_cmd_lex_i;
 				*((int16_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
+			}
 		}
 	}
 	_ao_config_edit_start();