Add igniters and update flight control algorithm

1 files changed, 123 insertions, 0 deletions

diff --git a/ao_ignite.c b/ao_ignite.c
new file mode 100644
index 00000000..acb9399b
--- /dev/null
+++ b/ao_ignite.c
@@ -0,0 +1,123 @@
+/*
+ * Copyright © 2009 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; version 2 of the License.
+ *
+ * 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.
+ */
+
+#include "ao.h"
+
+#define AO_IGNITER_DROGUE	P2_3
+#define AO_IGNITER_MAIN		P2_4
+
+/* XXX test these values with real igniters */
+#define AO_IGNITER_OPEN		100
+#define AO_IGNITER_CLOSED	20000
+#define AO_IGNITER_FIRE_TIME	AO_MS_TO_TICKS(50)
+#define AO_IGNITER_CHARGE_TIME	AO_MS_TO_TICKS(200)
+
+struct ao_ignition {
+	uint8_t	request;
+	uint8_t fired;
+	uint8_t firing;
+};
+
+__xdata struct ao_ignition ao_ignition[2];
+
+void
+ao_ignite(enum ao_igniter igniter) __critical
+{
+	ao_ignition[igniter].request = 1;
+	ao_wakeup(&ao_ignition[0]);
+}
+
+enum ao_igniter_status
+ao_igniter_status(enum ao_igniter igniter)
+{
+	__xdata struct ao_adc adc;
+	__xdata int16_t value;
+	__xdata uint8_t request, firing, fired;
+
+	__critical {
+		ao_adc_sleep();
+		ao_adc_get(&adc);
+		request = ao_ignition[igniter].request;
+		fired = ao_ignition[igniter].fired;
+		firing = ao_ignition[igniter].firing;
+	}
+	if (firing || (request && !fired))
+		return ao_igniter_active;
+
+	value = (AO_IGNITER_CLOSED>>1);
+	switch (igniter) {
+	case ao_igniter_drogue:
+		value = adc.sense_d;
+		break;
+	case ao_igniter_main:
+		value = adc.sense_m;
+		break;
+	}
+	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_igniter_fire(enum ao_igniter igniter) __critical
+{
+	ao_ignition[igniter].firing = 1;
+	switch (igniter) {
+	case ao_igniter_drogue:
+		AO_IGNITER_DROGUE = 1;
+		ao_delay(AO_IGNITER_FIRE_TIME);
+		AO_IGNITER_DROGUE = 0;
+		break;
+	case ao_igniter_main:
+		AO_IGNITER_MAIN = 1;
+		ao_delay(AO_IGNITER_FIRE_TIME);
+		AO_IGNITER_MAIN = 0;
+		break;
+	}
+	ao_ignition[igniter].firing = 0;
+}
+
+void
+ao_igniter(void)
+{
+	__xdata enum ao_ignter igniter;
+	__xdata enum ao_igniter_status status;
+
+	for (;;) {
+		ao_sleep(&ao_ignition);
+		for (igniter = ao_igniter_drogue; igniter <= ao_igniter_main; igniter++) {
+			if (ao_ignition[igniter].request && !ao_ignition[igniter].fired) {
+				ao_igniter_fire(igniter);
+				ao_delay(AO_IGNITER_CHARGE_TIME);
+				status = ao_igniter_status(igniter);
+				if (status == ao_igniter_open)
+					ao_ignition[igniter].fired = 1;
+			}
+		}
+	}
+}
+
+__xdata struct ao_task ao_igniter_task;
+
+void
+ao_igniter_init(void)
+{
+	ao_add_task(&ao_igniter_task, ao_igniter, "igniter");
+}