altos: Add pyro operations to regular ignite commands

Instead of having separate commands, just mix the two sets together.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/Makefile b/src/Makefile
index 7ffc52d6431d9b90d9621668f12226f849a0a37d..ff26ac203a15e9a45bd7c32952dfcec5f1a80e04 100644 (file)
--- a/src/Makefile
+++ b/src/Makefile
@@ -26,7 +26,7 @@ SDCCDIRS=\
        spiradio-v0.1
 
 AVRDIRS=\
-       telescience-v0.1 telescience-pwm telepyro-v0.1 micropeak
+       telescience-v0.1 telescience-pwm micropeak
 
 ARMDIRS=\
        telemega-v0.1 telemega-v0.1/flash-loader \

diff --git a/src/core/ao.h b/src/core/ao.h
index 7f344736b8f0a7bd19c5d204b09be34a0b2f62a7..0886260f5e4a6e2726b06661f6b6cdcfb4123a4a 100644 (file)
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -703,6 +703,8 @@ struct ao_ignition {
        uint8_t firing;
 };
 
+extern __code char * __code ao_igniter_status_names[];
+
 extern __xdata struct ao_ignition ao_ignition[2];
 
 enum ao_igniter_status

diff --git a/src/core/ao_ignite.c b/src/core/ao_ignite.c
index 74bd0c5aea021a55a4e7f16d45300f9fcb97bebe..9f2ec0a7afc98a972ff020a5ec09df0a80890ac8 100644 (file)
--- a/src/core/ao_ignite.c
+++ b/src/core/ao_ignite.c
@@ -17,7 +17,11 @@
 
 #include "ao.h"
 #include <ao_data.h>
+#if AO_PYRO_NUM
+#include <ao_pyro.h>
+#endif
 
+#if HAS_IGNITE
 __xdata struct ao_ignition ao_ignition[2];
 
 void
@@ -150,6 +154,8 @@ ao_igniter(void)
        }
 }
 
+#endif
+
 void
 ao_ignite_manual(void)
 {
@@ -157,33 +163,50 @@ ao_ignite_manual(void)
        if (!ao_match_word("DoIt"))
                return;
        ao_cmd_white();
-       if (ao_cmd_lex_c == 'm') {
-               if(ao_match_word("main"))
-                       ao_igniter_fire(ao_igniter_main);
-       } else {
-               if(ao_match_word("drogue"))
-                       ao_igniter_fire(ao_igniter_drogue);
+#if HAS_IGNITE
+       if (ao_cmd_lex_c == 'm' && ao_match_word("main")) {
+               ao_igniter_fire(ao_igniter_main);
+               return;
+       }
+       if (ao_cmd_lex_c == 'd' && ao_match_word("drogue")) {
+               ao_igniter_fire(ao_igniter_drogue);
+               return;
+       }
+#endif
+#if AO_PYRO_NUM
+       if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9') {
+               ao_pyro_manual(ao_cmd_lex_c - '0');
+               return;
        }
+#endif
+       ao_cmd_status = ao_cmd_syntax_error;
 }
 
-static __code char * __code igniter_status_names[] = {
+__code char * __code ao_igniter_status_names[] = {
        "unknown", "ready", "active", "open"
 };
 
+#if HAS_IGNITE
 void
 ao_ignite_print_status(enum ao_igniter igniter, __code char *name) __reentrant
 {
        enum ao_igniter_status status = ao_igniter_status(igniter);
        printf("Igniter: %6s Status: %s\n",
               name,
-              igniter_status_names[status]);
+              ao_igniter_status_names[status]);
 }
+#endif
 
 void
 ao_ignite_test(void)
 {
+#if HAS_IGNITE
        ao_ignite_print_status(ao_igniter_drogue, "drogue");
        ao_ignite_print_status(ao_igniter_main, "main");
+#endif
+#if AO_PYRO_NUM
+       ao_pyro_print_status();
+#endif
 }
 
 __code struct ao_cmds ao_ignite_cmds[] = {
@@ -192,6 +215,7 @@ __code struct ao_cmds ao_ignite_cmds[] = {
        { 0,    NULL },
 };
 
+#if HAS_IGNITE
 __xdata struct ao_task ao_igniter_task;
 
 void
@@ -200,11 +224,14 @@ 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);
 }
+#endif
 
 void
 ao_igniter_init(void)
 {
+#if HAS_IGNITE
        ao_ignite_set_pins();
-       ao_cmd_register(&ao_ignite_cmds[0]);
        ao_add_task(&ao_igniter_task, ao_igniter, "igniter");
+#endif
+       ao_cmd_register(&ao_ignite_cmds[0]);
 }

diff --git a/src/core/ao_pyro.c b/src/core/ao_pyro.c
index 39f40dfa44986c62fc225150bf8c8ff39ee03174..531e1f5003118228c05969ef5b8f4d8de956730e 100644 (file)
--- a/src/core/ao_pyro.c
+++ b/src/core/ao_pyro.c
@@ -33,6 +33,40 @@
 
 #define ao_lowbit(x)   ((x) & (-x))
 
+#ifndef AO_FLIGHT_TEST
+enum ao_igniter_status
+ao_pyro_status(uint8_t p)
+{
+       __xdata struct ao_data packet;
+       __pdata int16_t value;
+
+       ao_arch_critical(
+               ao_data_get(&packet);
+               );
+
+       value = (AO_IGNITER_CLOSED>>1);
+       value = AO_SENSE_PYRO(&packet, p);
+       if (value < AO_IGNITER_OPEN)
+               return ao_igniter_open;
+       else if (value > AO_IGNITER_CLOSED)
+               return ao_igniter_ready;
+       else
+               return ao_igniter_unknown;
+}
+
+void
+ao_pyro_print_status(void)
+{
+       uint8_t p;
+
+       for(p = 0; p < AO_PYRO_NUM; p++) {
+               enum ao_igniter_status status = ao_pyro_status(p);
+               printf("Igniter: %d Status: %s\n",
+                      p, ao_igniter_status_names[status]);
+       }
+}
+#endif
+
 uint16_t       ao_pyro_fired;
 
 /*
@@ -441,25 +475,17 @@ ao_pyro_set(void)
        _ao_config_edit_finish();
 }
 
-static void
-ao_pyro_manual(void)
+void
+ao_pyro_manual(uint8_t p)
 {
-       ao_cmd_white();
-       if (!ao_match_word("DoIt"))
+       printf ("ao_pyro_manual %d\n", p);
+       if (p >= AO_PYRO_NUM) {
+               ao_cmd_status = ao_cmd_syntax_error;
                return;
-       ao_cmd_white();
-       ao_cmd_decimal();
-       if (ao_cmd_lex_i < 0 || AO_PYRO_NUM <= ao_cmd_lex_i)
-               return;
-       ao_pyro_pins_fire(1 << ao_cmd_lex_i);
-
+       }
+       ao_pyro_pins_fire(1 << p);
 }
 
-const struct ao_cmds ao_pyro_cmds[] = {
-       { ao_pyro_manual,       "P DoIt <n>\0Fire igniter" },
-       { 0, NULL }
-};
-
 void
 ao_pyro_init(void)
 {
@@ -487,7 +513,6 @@ ao_pyro_init(void)
 #if AO_PYRO_NUM > 7
        ao_enable_output(AO_PYRO_PORT_7, AO_PYRO_PIN_7, AO_PYRO_7, 0);
 #endif
-       ao_cmd_register(&ao_pyro_cmds[0]);
        ao_add_task(&ao_pyro_task, ao_pyro, "pyro");
 }
 #endif

diff --git a/src/core/ao_pyro.h b/src/core/ao_pyro.h
index 1f8385426753cde410c533b00f516a810c64f2eb..0c5642d6ea91f2ff12e76c6b1321ff69882b3a4c 100644 (file)
--- a/src/core/ao_pyro.h
+++ b/src/core/ao_pyro.h
@@ -74,4 +74,10 @@ ao_pyro_show(void);
 void
 ao_pyro_init(void);
 
+void
+ao_pyro_manual(uint8_t p);
+
+void
+ao_pyro_print_status(void);
+
 #endif

diff --git a/src/telemega-v0.1/ao_pins.h b/src/telemega-v0.1/ao_pins.h
index 4c645871fe758d6f6159da4aa49e38ef2823e936..78e887c37b23697d4dfce46fe59dc1b14535a148 100644 (file)
--- a/src/telemega-v0.1/ao_pins.h
+++ b/src/telemega-v0.1/ao_pins.h
@@ -146,6 +146,8 @@
 /* Number of general purpose pyro channels available */
 #define AO_PYRO_NUM    4
 
+#define AO_SENSE_PYRO(a,p)     ((a)->adc.sense[(p) + 2])
+
 #define AO_IGNITER_SET_DROGUE(v)       stm_gpio_set(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, v)
 #define AO_IGNITER_SET_MAIN(v)         stm_gpio_set(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, v)
 

diff --git a/src/telemega-v0.3/ao_pins.h b/src/telemega-v0.3/ao_pins.h
index bace585336cca1235b3edeb3e05774cd1d9725d8..a5a9eaf43d8bd8ac5dff72b6258039795bed4ece 100644 (file)
--- a/src/telemega-v0.3/ao_pins.h
+++ b/src/telemega-v0.3/ao_pins.h
@@ -121,6 +121,7 @@
 #define HAS_IGNITE             1
 #define HAS_IGNITE_REPORT      1
 
+#define AO_SENSE_PYRO(p,n)     ((p)->adc.sense[n])
 #define AO_SENSE_DROGUE(p)     ((p)->adc.sense[4])
 #define AO_SENSE_MAIN(p)       ((p)->adc.sense[5])
 #define AO_IGNITER_CLOSED      400