File: ao_pyro.c

package info (click to toggle)
altos 1.6.8-5
  • links: PTS, VCS
  • area: main
  • in suites: stretch
  • size: 63,748 kB
  • ctags: 36,577
  • sloc: ansic: 92,100; java: 36,273; makefile: 6,495; xml: 3,096; sh: 1,971; pascal: 1,581
file content (568 lines) | stat: -rw-r--r-- 13,737 bytes parent folder | download
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
/*
 * Copyright © 2012 Keith Packard <keithp@keithp.com>
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
 */

#ifndef AO_FLIGHT_TEST
#include <ao.h>
#include <ao_sample.h>
#include <ao_flight.h>
#endif
#include <ao_pyro.h>

#if IS_COMPANION
#include <ao_companion.h>
#define ao_accel ao_companion_command.accel
#define ao_speed ao_companion_command.speed
#define ao_height ao_companion_command.height
#define ao_flight_state ao_companion_command.flight_state
#define ao_motor_number ao_companion_command.motor_number
#endif

#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;

#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
 * of the requirements
 */
static uint8_t
ao_pyro_ready(struct ao_pyro *pyro)
{
	enum ao_pyro_flag flag, flags;

	flags = pyro->flags;
	while (flags != ao_pyro_none) {
		flag = ao_lowbit(flags);
		flags &= ~flag;
		switch (flag) {

		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:
			/* handled separately */
			continue;

		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:
			continue;
		}
		return FALSE;
	}
	return TRUE;
}

#ifndef AO_FLIGHT_TEST
static void
ao_pyro_pin_set(uint8_t p, uint8_t v)
{
	switch (p) {
#if AO_PYRO_NUM > 0
	case 0: ao_gpio_set(AO_PYRO_PORT_0, AO_PYRO_PIN_0, AO_PYRO_0, v); break;
#endif
#if AO_PYRO_NUM > 1
	case 1: ao_gpio_set(AO_PYRO_PORT_1, AO_PYRO_PIN_1, AO_PYRO_1, v); break;
#endif
#if AO_PYRO_NUM > 2
	case 2: ao_gpio_set(AO_PYRO_PORT_2, AO_PYRO_PIN_2, AO_PYRO_2, v); break;
#endif
#if AO_PYRO_NUM > 3
	case 3: ao_gpio_set(AO_PYRO_PORT_3, AO_PYRO_PIN_3, AO_PYRO_3, v); break;
#endif
#if AO_PYRO_NUM > 4
	case 4: ao_gpio_set(AO_PYRO_PORT_4, AO_PYRO_PIN_4, AO_PYRO_4, v); break;
#endif
#if AO_PYRO_NUM > 5
	case 5: ao_gpio_set(AO_PYRO_PORT_5, AO_PYRO_PIN_5, AO_PYRO_5, v); break;
#endif
#if AO_PYRO_NUM > 6
	case 6: ao_gpio_set(AO_PYRO_PORT_6, AO_PYRO_PIN_6, AO_PYRO_6, v); break;
#endif
#if AO_PYRO_NUM > 7
	case 7: ao_gpio_set(AO_PYRO_PORT_7, AO_PYRO_PIN_7, AO_PYRO_7, v); break;
#endif
	default: break;
	}
}
#endif

uint8_t	ao_pyro_wakeup;

static void
ao_pyro_pins_fire(uint16_t fire)
{
	uint8_t p;

	for (p = 0; p < AO_PYRO_NUM; p++) {
		if (fire & (1 << p))
			ao_pyro_pin_set(p, 1);
	}
	ao_delay(ao_config.pyro_time);
	for (p = 0; p < AO_PYRO_NUM; p++) {
		if (fire & (1 << p)) {
			ao_pyro_pin_set(p, 0);
			ao_config.pyro[p].fired = 1;
			ao_pyro_fired |= (1 << p);
		}
	}
	ao_delay(AO_MS_TO_TICKS(50));
}

static uint8_t
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];

		/* Ignore igniters which have already fired
		 */
		if (pyro->fired)
			continue;

		/* Ignore disabled igniters
		 */
		if (!pyro->flags)
			continue;

		any_waiting = 1;
		/* Check pyro state to see if it should fire
		 */
		if (!pyro->delay_done) {
			if (!ao_pyro_ready(pyro))
				continue;

			/* If there's a delay set, then remember when
			 * it expires
			 */
			if (pyro->flags & ao_pyro_delay) {
				pyro->delay_done = ao_time() + pyro->delay;
				if (!pyro->delay_done)
					pyro->delay_done = 1;
			}
		}

		/* Check to see if we're just waiting for
		 * 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;
		}

		fire |= (1 << p);
	}

	if (fire)
		ao_pyro_pins_fire(fire);

	return any_waiting;
}

#define NO_VALUE	0xff

#define AO_PYRO_NAME_LEN	4

#if !DISABLE_HELP
#define ENABLE_HELP 1
#endif

#if ENABLE_HELP
#define HELP(s)	(s)
#else
#define HELP(s)
#endif

const struct {
	char			name[AO_PYRO_NAME_LEN];
	enum ao_pyro_flag	flag;
	uint8_t			offset;
#if ENABLE_HELP
	char			*help;
#endif
} ao_pyro_values[] = {
	{ "a<",	ao_pyro_accel_less,	offsetof(struct ao_pyro, accel_less), HELP("accel less (m/ss * 16)") },
	{ "a>",	ao_pyro_accel_greater,	offsetof(struct ao_pyro, accel_greater), HELP("accel greater (m/ss * 16)") },

	{ "s<",	ao_pyro_speed_less,	offsetof(struct ao_pyro, speed_less), HELP("speed less (m/s * 16)") },
	{ "s>",	ao_pyro_speed_greater,	offsetof(struct ao_pyro, speed_greater), HELP("speed greater (m/s * 16)") },

	{ "h<",	ao_pyro_height_less,	offsetof(struct ao_pyro, height_less), HELP("height less (m)") },
	{ "h>",	ao_pyro_height_greater,	offsetof(struct ao_pyro, height_greater), HELP("height greater (m)") },

#if HAS_GYRO
	{ "o<",	ao_pyro_orient_less,	offsetof(struct ao_pyro, orient_less), HELP("orient less (deg)") },
	{ "o>",	ao_pyro_orient_greater,	offsetof(struct ao_pyro, orient_greater), HELP("orient greater (deg)")  },
#endif

	{ "t<",	ao_pyro_time_less,	offsetof(struct ao_pyro, time_less), HELP("time less (s * 100)") },
	{ "t>",	ao_pyro_time_greater,	offsetof(struct ao_pyro, time_greater), HELP("time greater (s * 100)")  },

	{ "f<",	ao_pyro_state_less,	offsetof(struct ao_pyro, state_less), HELP("state less") },
	{ "f>=",ao_pyro_state_greater_or_equal,	offsetof(struct ao_pyro, state_greater_or_equal), HELP("state greater or equal")  },

	{ "A", ao_pyro_ascending,	NO_VALUE, HELP("ascending") },
	{ "D", ao_pyro_descending,	NO_VALUE, HELP("descending") },

	{ "m", ao_pyro_after_motor,	offsetof(struct ao_pyro, motor), HELP("after motor") },

	{ "d", ao_pyro_delay,		offsetof(struct ao_pyro, delay), HELP("delay before firing (s * 100)") },
	{ "", ao_pyro_none,		NO_VALUE, HELP(NULL) },
};

#define NUM_PYRO_VALUES (sizeof ao_pyro_values / sizeof ao_pyro_values[0])

#ifndef AO_FLIGHT_TEST
static void
ao_pyro(void)
{
	uint8_t		any_waiting;

	ao_config_get();
	while (ao_flight_state < ao_flight_boost)
		ao_sleep(&ao_flight_state);

	for (;;) {
		ao_sleep_for(&ao_pyro_wakeup, AO_MS_TO_TICKS(100));
		if (ao_flight_state >= ao_flight_landed)
			break;
		any_waiting = ao_pyro_check();
		if (!any_waiting)
			break;
	}
	ao_exit();
}

__xdata struct ao_task ao_pyro_task;


static void
ao_pyro_print_name(uint8_t v)
{
	const char *s = ao_pyro_values[v].name;
	printf ("%s%s", s, "   " + strlen(s));
}

#if ENABLE_HELP
static void
ao_pyro_help(void)
{
	uint8_t v;
	for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
		ao_pyro_print_name(v);
		if (ao_pyro_values[v].offset != NO_VALUE)
			printf ("<n> ");
		else
			printf ("    ");
		printf ("%s\n", ao_pyro_values[v].help);
	}
}
#endif

void
ao_pyro_show(void)
{
	uint8_t 	p;
	uint8_t 	v;
	struct ao_pyro	*pyro;

	printf ("Pyro-count: %d\n", AO_PYRO_NUM);
	for (p = 0; p < AO_PYRO_NUM; p++) {
		printf ("Pyro %2d: ", p);
		pyro = &ao_config.pyro[p];
		if (!pyro->flags) {
			printf ("<disabled>\n");
			continue;
		}
		for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
			if (!(pyro->flags & ao_pyro_values[v].flag))
				continue;
			ao_pyro_print_name(v);
			if (ao_pyro_values[v].offset != NO_VALUE) {
				int16_t	value;

				if (ao_pyro_values[v].flag & AO_PYRO_8_BIT_VALUE)
					value = *((uint8_t *) ((char *) pyro + ao_pyro_values[v].offset));
				else
					value = *((int16_t *) (void *) ((char *) pyro + ao_pyro_values[v].offset));
				printf ("%6d ", value);
			} else {
				printf ("       ");
			}
		}
		printf ("\n");
	}
}

void
ao_pyro_set(void)
{
	uint8_t	p;
	struct ao_pyro pyro_tmp;
	char	name[AO_PYRO_NAME_LEN];
	uint8_t	c;
	uint8_t	v;

	ao_cmd_white();

#if ENABLE_HELP
	switch (ao_cmd_lex_c) {
	case '?':
		ao_pyro_help();
		return;
	}
#endif

	ao_cmd_decimal();
	if (ao_cmd_status != ao_cmd_success)
		return;
	p = ao_cmd_lex_i;
	if (AO_PYRO_NUM <= p) {
		printf ("invalid pyro channel %d\n", p);
		return;
	}
	memset(&pyro_tmp, '\0', sizeof (pyro_tmp));
	for (;;) {
		ao_cmd_white();
		if (ao_cmd_lex_c == '\n')
			break;

		for (c = 0; c < AO_PYRO_NAME_LEN - 1; c++) {
			if (ao_cmd_is_white())
				break;
			name[c] = ao_cmd_lex_c;
			ao_cmd_lex();
		}
		name[c] = '\0';
		for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
			if (!strcmp (ao_pyro_values[v].name, name))
				break;
		}
		if (ao_pyro_values[v].flag == ao_pyro_none) {
			printf ("invalid pyro field %s\n", name);
			ao_cmd_status = ao_cmd_syntax_error;
			return;
		}
		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 (negative) {
					ao_cmd_status = ao_cmd_syntax_error;
					return;
				}
				*((uint8_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
			} else {
				if (negative)
					ao_cmd_lex_i = -ao_cmd_lex_i;
				*((int16_t *) (void *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
			}
		}
	}
	_ao_config_edit_start();
	ao_config.pyro[p] = pyro_tmp;
	_ao_config_edit_finish();
}

void
ao_pyro_manual(uint8_t p)
{
	printf ("ao_pyro_manual %d\n", p);
	if (p >= AO_PYRO_NUM) {
		ao_cmd_status = ao_cmd_syntax_error;
		return;
	}
	ao_pyro_pins_fire(1 << p);
}

void
ao_pyro_init(void)
{
#if AO_PYRO_NUM > 0
	ao_enable_output(AO_PYRO_PORT_0, AO_PYRO_PIN_0, AO_PYRO_0, 0);
#endif
#if AO_PYRO_NUM > 1
	ao_enable_output(AO_PYRO_PORT_1, AO_PYRO_PIN_1, AO_PYRO_1, 0);
#endif
#if AO_PYRO_NUM > 2
	ao_enable_output(AO_PYRO_PORT_2, AO_PYRO_PIN_2, AO_PYRO_2, 0);
#endif
#if AO_PYRO_NUM > 3
	ao_enable_output(AO_PYRO_PORT_3, AO_PYRO_PIN_3, AO_PYRO_3, 0);
#endif
#if AO_PYRO_NUM > 4
	ao_enable_output(AO_PYRO_PORT_4, AO_PYRO_PIN_4, AO_PYRO_4, 0);
#endif
#if AO_PYRO_NUM > 5
	ao_enable_output(AO_PYRO_PORT_5, AO_PYRO_PIN_5, AO_PYRO_5, 0);
#endif
#if AO_PYRO_NUM > 6
	ao_enable_output(AO_PYRO_PORT_6, AO_PYRO_PIN_6, AO_PYRO_6, 0);
#endif
#if AO_PYRO_NUM > 7
	ao_enable_output(AO_PYRO_PORT_7, AO_PYRO_PIN_7, AO_PYRO_7, 0);
#endif
	ao_add_task(&ao_pyro_task, ao_pyro, "pyro");
}
#endif