altos: Rename 'core' to 'kernel'

core remains a bad name to use -- dirvish skips files (and
directories, it seems) with that name.

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

1 files changed, 518 insertions, 0 deletions

diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c
new file mode 100644
index 00000000..e59f5bc4
--- /dev/null
+++ b/src/kernel/ao_pyro.c
@@ -0,0 +1,518 @@
+/*
+ * 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; 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.
+ */
+
+#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;
+
+/*
+ * 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;
+			break;
+		case ao_pyro_accel_greater:
+			if (ao_accel >= pyro->accel_greater)
+				continue;
+			break;
+
+
+		case ao_pyro_speed_less:
+			if (ao_speed <= pyro->speed_less)
+				continue;
+			break;
+		case ao_pyro_speed_greater:
+			if (ao_speed >= pyro->speed_greater)
+				continue;
+			break;
+
+		case ao_pyro_height_less:
+			if (ao_height <= pyro->height_less)
+				continue;
+			break;
+		case ao_pyro_height_greater:
+			if (ao_height >= pyro->height_greater)
+				continue;
+			break;
+
+#if HAS_GYRO
+		case ao_pyro_orient_less:
+			if (ao_sample_orient <= pyro->orient_less)
+				continue;
+			break;
+		case ao_pyro_orient_greater:
+			if (ao_sample_orient >= pyro->orient_greater)
+				continue;
+			break;
+#endif
+
+		case ao_pyro_time_less:
+			if ((int16_t) (ao_time() - ao_boost_tick) <= pyro->time_less)
+				continue;
+			break;
+		case ao_pyro_time_greater:
+			if ((int16_t) (ao_time() - ao_boost_tick) >= pyro->time_greater)
+				continue;
+			break;
+
+		case ao_pyro_ascending:
+			if (ao_speed > 0)
+				continue;
+			break;
+		case ao_pyro_descending:
+			if (ao_speed < 0)
+				continue;
+			break;
+
+		case ao_pyro_after_motor:
+			if (ao_motor_number == pyro->motor)
+				continue;
+			break;
+
+		case ao_pyro_delay:
+			/* handled separately */
+			continue;
+
+		case ao_pyro_state_less:
+			if (ao_flight_state < pyro->state_less)
+				continue;
+			break;
+		case ao_pyro_state_greater_or_equal:
+			if (ao_flight_state >= pyro->state_greater_or_equal)
+				continue;
+			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_MS_TO_TICKS(50));
+	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) {
+			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	3
+
+#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_alarm(AO_MS_TO_TICKS(100));
+		ao_sleep(&ao_pyro_wakeup);
+		ao_clear_alarm();
+		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;
+
+				value = *((int16_t *) ((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;
+	}
+	pyro_tmp.flags = 0;
+	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) {
+			ao_cmd_decimal();
+			if (ao_cmd_status != ao_cmd_success)
+				return;
+			*((int16_t *) ((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