altos: Add optional debugging to print out pyro firing status

This dumps pyro check failures for ao_flight_test so you can see why
pyro charges aren't firing.

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

diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c
index 85d88d98962006c5f78425d5ab8a0334f8faad19..0b286466fa3a7495d91406bedb91c1ebbe6cd3e9 100644 (file)
--- 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: