X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_report.c;h=977cea854ff1f014e0927a25530b34988e2682a8;hp=08967af8450f3f2701b82e3c3df146e801dfa5e1;hb=HEAD;hpb=c6e57291d91f1f6c4de5c54a5cfd3eef66d9f830

diff --git a/src/kernel/ao_report.c b/src/kernel/ao_report.c
index 08967af8..3795eeb3 100644
--- a/src/kernel/ao_report.c
+++ b/src/kernel/ao_report.c
@@ -40,6 +40,8 @@ static const uint8_t flight_reports[] = {
 	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)
@@ -58,8 +60,6 @@ static const uint8_t flight_reports[] = {
 #endif
 #define pause(time)	ao_delay(time)
 
-static enum ao_flight_state ao_report_state;
-
 /*
  * Farnsworth spacing
  *
@@ -115,7 +115,7 @@ static enum ao_flight_state ao_report_state;
  */
 
 static void
-ao_report_beep(void) 
+ao_report_flight_state(void) 
 {
 	uint8_t r = flight_reports[ao_flight_state];
 	uint8_t l = r & 7;
@@ -149,7 +149,7 @@ ao_report_digit(uint8_t digit)
 }
 
 static void
-ao_report_number(int16_t n)
+ao_report_number(int32_t n)
 {
 	uint8_t	digits[10];
 	uint8_t ndigits, i;
@@ -158,7 +158,7 @@ ao_report_number(int16_t n)
 		n = 0;
 	ndigits = 0;
 	do {
-		digits[ndigits++] = n % 10;
+		digits[ndigits++] = (uint8_t) (n % 10);
 		n /= 10;
 	} while (n);
 
@@ -168,11 +168,20 @@ ao_report_number(int16_t 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
@@ -190,6 +199,7 @@ ao_report_battery(void)
 #endif
 
 #if HAS_IGNITE_REPORT
+#if HAS_IGNITE
 static uint8_t
 ao_report_igniter_ready(enum ao_igniter igniter)
 {
@@ -199,19 +209,16 @@ 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) 
 {
-	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--) {
@@ -225,8 +232,11 @@ ao_report_continuity(void)
 			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)
@@ -251,7 +261,7 @@ ao_report_continuity(void)
 }
 #endif
 
-void
+static void
 ao_report(void)
 {
 	for(;;) {
@@ -261,9 +271,16 @@ ao_report(void)
 			ao_report_battery();
 		else
 #endif
-			ao_report_beep();
+			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;
@@ -279,6 +296,15 @@ ao_report(void)
 			while (c-- && ao_flight_state == ao_flight_pad)
 				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(&ao_flight_state);