Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

diff --git a/src/ao.h b/src/ao.h
index 4116be65ae13f22aef242957363d4b2ffa42147b..f89568f2b4ff9a1ad2503368df02d1d9a4fb14a8 100644 (file)
--- a/src/ao.h
+++ b/src/ao.h
@@ -860,7 +860,7 @@ ao_igniter_init(void);
  */
 
 #define AO_CONFIG_MAJOR        1
-#define AO_CONFIG_MINOR        0
+#define AO_CONFIG_MINOR        1
 
 struct ao_config {
        uint8_t         major;
@@ -869,6 +869,7 @@ struct ao_config {
        int16_t         accel_zero_g;
        uint8_t         radio_channel;
        char            callsign[AO_MAX_CALLSIGN + 1];
+       uint8_t         apogee_delay;
 };
 
 extern __xdata struct ao_config ao_config;

diff --git a/src/ao_config.c b/src/ao_config.c
index 657c7a8a17a976ab62ba2ea85e53a406d0535a4d..021fb6f60d8c166fe33fb66bf1d446d4b5f0d299 100644 (file)
--- a/src/ao_config.c
+++ b/src/ao_config.c
@@ -26,6 +26,7 @@ __xdata uint8_t ao_config_mutex;
 #define AO_CONFIG_DEFAULT_RADIO_CHANNEL        0
 #define AO_CONFIG_DEFAULT_CALLSIGN     "KD7SQG"
 #define AO_CONFIG_DEFAULT_ACCEL_ZERO_G 16000
+#define AO_CONFIG_DEFAULT_APOGEE_DELAY 0
 
 static void
 _ao_config_put(void)
@@ -48,9 +49,16 @@ _ao_config_get(void)
                memset(&ao_config.callsign, '\0', sizeof (ao_config.callsign));
                memcpy(&ao_config.callsign, AO_CONFIG_DEFAULT_CALLSIGN,
                       sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
+               ao_config.apogee_delay = AO_CONFIG_DEFAULT_APOGEE_DELAY;
+               ao_config_dirty = 1;
+       }
+       if (ao_config.minor < AO_CONFIG_MINOR) {
+               /* Fixups for major version 1 */
+               if (ao_config.minor < 1)
+                       ao_config.apogee_delay = AO_CONFIG_DEFAULT_APOGEE_DELAY;
+               ao_config.minor = AO_CONFIG_MINOR;
                ao_config_dirty = 1;
        }
-       /* deal with minor version issues here, at 0 we haven't any */
        ao_config_loaded = 1;
 }
 
@@ -124,7 +132,7 @@ ao_config_radio_channel_set(void) __reentrant
 void
 ao_config_main_deploy_show(void) __reentrant
 {
-       printf("Main deploy set to %d meters (%d feet)\n",
+       printf("Main deploy: %d meters (%d feet)\n",
               ao_config.main_deploy,
               (int16_t) ((int32_t) ao_config.main_deploy * 328 / 100));
 }
@@ -146,7 +154,7 @@ ao_config_main_deploy_set(void) __reentrant
 void
 ao_config_accel_zero_g_show(void) __reentrant
 {
-       printf("Accel zero g point set to %d\n",
+       printf("Accel zero g point: %d\n",
               ao_config.accel_zero_g);
 }
 
@@ -189,6 +197,27 @@ ao_config_accel_zero_g_set(void) __reentrant
        ao_config_accel_zero_g_show();
 }
 
+void
+ao_config_apogee_delay_show(void) __reentrant
+{
+       printf("Apogee delay: %d seconds\n",
+              ao_config.apogee_delay);
+}
+
+void
+ao_config_apogee_delay_set(void) __reentrant
+{
+       ao_cmd_decimal();
+       if (ao_cmd_status != ao_cmd_success)
+               return;
+       ao_mutex_get(&ao_config_mutex);
+       _ao_config_get();
+       ao_config.apogee_delay = ao_cmd_lex_i;
+       ao_config_dirty = 1;
+       ao_mutex_put(&ao_config_mutex);
+       ao_config_apogee_delay_show();
+}
+
 struct ao_config_var {
        char            cmd;
        void            (*set)(void) __reentrant;
@@ -214,6 +243,8 @@ __code struct ao_config_var ao_config_vars[] = {
                "r <channel> Set radio channel (freq = 434.550 + channel * .1)" },
        { 'c',  ao_config_callsign_set,         ao_config_callsign_show,
                "c <call>    Set callsign broadcast in each packet (8 char max)" },
+       { 'd',  ao_config_apogee_delay_set,     ao_config_apogee_delay_show,
+               "d <delay>   Set apogee igniter delay (in seconds)" },
        { 's',  ao_config_show,                 ao_config_show,
                "s           Show current config values" },
        { 'w',  ao_config_write,                ao_config_write,
@@ -258,6 +289,8 @@ void
 ao_config_show(void) __reentrant
 {
        uint8_t cmd;
+       printf("Config version: %d.%d\n",
+              ao_config.major, ao_config.minor);
        for (cmd = 0; ao_config_vars[cmd].cmd != '\0'; cmd++)
                if (ao_config_vars[cmd].show != ao_config_vars[cmd].set)
                        (*ao_config_vars[cmd].show)();

diff --git a/src/ao_ignite.c b/src/ao_ignite.c
index be2915234b07d7a2c477e78c445baeb0e9f03866..8206e342ef2f5c119a41ddb1420d1531f7d7522e 100644 (file)
--- a/src/ao_ignite.c
+++ b/src/ao_ignite.c
@@ -103,10 +103,14 @@ ao_igniter(void)
        __xdata enum ao_ignter igniter;
        __xdata enum ao_igniter_status status;
 
+       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);
                                status = ao_igniter_status(igniter);

diff --git a/src/ao_report.c b/src/ao_report.c
index 14eaf428e94a9f152d9c3dfdd631eae540715844..3b469de6983ad8f732138e00c6baea5671be79bf 100644 (file)
--- a/src/ao_report.c
+++ b/src/ao_report.c
@@ -97,6 +97,34 @@ ao_report_altitude(void)
        }
 }
 
+static uint8_t
+ao_report_igniter_ready(enum ao_igniter igniter)
+{
+       return ao_igniter_status(igniter) == ao_igniter_ready ? 1 : 0;
+}
+
+static void
+ao_report_continuity(void) __reentrant
+{
+       uint8_t c = (ao_report_igniter_ready(ao_igniter_drogue) |
+                    (ao_report_igniter_ready(ao_igniter_main) << 1));
+       if (c) {
+               while (c--) {
+                       ao_beep_for(AO_BEEP_HIGH, AO_MS_TO_TICKS(25));
+                       pause(AO_MS_TO_TICKS(100));
+               }
+       } else {
+               c = 10;
+               while (c--) {
+                       ao_beep_for(AO_BEEP_HIGH, AO_MS_TO_TICKS(20));
+                       ao_beep_for(AO_BEEP_LOW, AO_MS_TO_TICKS(20));
+               }
+       }
+       c = 50;
+       while (c-- && ao_flight_state == ao_flight_pad)
+               pause(AO_MS_TO_TICKS(100));
+}
+
 void
 ao_report(void)
 {
@@ -105,6 +133,10 @@ ao_report(void)
                if (ao_flight_state == ao_flight_landed)
                        ao_report_altitude();
                ao_report_beep();
+               if (ao_flight_state == ao_flight_idle)
+                       ao_report_continuity();
+               while (ao_flight_state == ao_flight_pad)
+                       ao_report_continuity();
                __critical {
                        while (ao_report_state == ao_flight_state)
                                ao_sleep(DATA_TO_XDATA(&ao_flight_state));