diff options
Diffstat (limited to 'src/core/ao_pyro.c')
| -rw-r--r-- | src/core/ao_pyro.c | 120 |
1 files changed, 72 insertions, 48 deletions
diff --git a/src/core/ao_pyro.c b/src/core/ao_pyro.c index aac8fda5..b655eaca 100644 --- a/src/core/ao_pyro.c +++ b/src/core/ao_pyro.c @@ -15,10 +15,12 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ +#ifndef AO_FLIGHT_TEST #include <ao.h> -#include <ao_pyro.h> #include <ao_sample.h> #include <ao_flight.h> +#endif +#include <ao_pyro.h> #if IS_COMPANION #include <ao_companion.h> @@ -130,12 +132,13 @@ ao_pyro_ready(struct ao_pyro *pyro) return TRUE; } +#ifndef AO_FLIGHT_TEST #define ao_pyro_fire_port(port, bit, pin) do { \ ao_gpio_set(port, bit, pin, 1); \ ao_delay(AO_MS_TO_TICKS(50)); \ ao_gpio_set(port, bit, pin, 0); \ } while (0) - +#endif static void ao_pyro_fire(uint8_t p) @@ -172,66 +175,58 @@ ao_pyro_fire(uint8_t p) uint8_t ao_pyro_wakeup; -static void -ao_pyro(void) +static uint8_t +ao_pyro_check(void) { - uint8_t p, any_waiting; struct ao_pyro *pyro; + uint8_t p, any_waiting; + + any_waiting = 0; + for (p = 0; p < AO_PYRO_NUM; p++) { + pyro = &ao_config.pyro[p]; - 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(); - 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 igniters which have already fired - */ - if (pyro->fired) - continue; + /* Ignore disabled igniters + */ + if (!pyro->flags) + continue; - /* Ignore disabled igniters - */ - if (!pyro->flags) + any_waiting = 1; + /* Check pyro state to see if it should fire + */ + if (!pyro->delay_done) { + if (!ao_pyro_ready(pyro)) continue; - any_waiting = 1; - /* Check pyro state to see if it shoule fire + /* If there's a delay set, then remember when + * it expires */ - 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; - } - - /* 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; + if (pyro->flags & ao_pyro_delay) { + pyro->delay_done = ao_time() + pyro->delay; + if (!pyro->delay_done) + pyro->delay_done = 1; } + } - ao_pyro_fire(p); + /* 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; } - if (!any_waiting) - break; + + ao_pyro_fire(p); + pyro->fired = 1; + ao_pyro_fired |= (1 << p); } - ao_exit(); + return any_waiting; } -__xdata struct ao_task ao_pyro_task; - #define NO_VALUE 0xff #define AO_PYRO_NAME_LEN 3 @@ -283,6 +278,34 @@ const struct { { "", 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) { @@ -449,3 +472,4 @@ ao_pyro_init(void) ao_cmd_register(&ao_pyro_cmds[0]); ao_add_task(&ao_pyro_task, ao_pyro, "pyro"); } +#endif |