diff options
Diffstat (limited to 'src/core')
| -rw-r--r-- | src/core/ao_log.h | 6 | ||||
| -rw-r--r-- | src/core/ao_pyro.c | 19 | ||||
| -rw-r--r-- | src/core/ao_pyro.h | 4 |
3 files changed, 28 insertions, 1 deletions
diff --git a/src/core/ao_log.h b/src/core/ao_log.h index eaaca444..4eaed420 100644 --- a/src/core/ao_log.h +++ b/src/core/ao_log.h @@ -197,15 +197,18 @@ struct ao_log_mega { uint8_t csum; /* 1 */ uint16_t tick; /* 2 */ union { /* 4 */ + /* AO_LOG_FLIGHT */ struct { uint16_t flight; /* 4 */ int16_t ground_accel; /* 6 */ uint32_t ground_pres; /* 8 */ } flight; /* 12 */ + /* AO_LOG_STATE */ struct { uint16_t state; uint16_t reason; } state; + /* AO_LOG_SENSOR */ struct { uint32_t pres; /* 4 */ uint32_t temp; /* 8 */ @@ -220,12 +223,14 @@ struct ao_log_mega { int16_t mag_z; /* 28 */ int16_t accel; /* 30 */ } sensor; /* 32 */ + /* AO_LOG_TEMP_VOLT */ struct { int16_t v_batt; /* 4 */ int16_t v_pbatt; /* 6 */ int16_t n_sense; /* 8 */ int16_t sense[10]; /* 10 */ } volt; /* 30 */ + /* AO_LOG_GPS_TIME */ struct { int32_t latitude; /* 4 */ int32_t longitude; /* 8 */ @@ -239,6 +244,7 @@ struct ao_log_mega { uint8_t day; /* 20 */ uint8_t pad; /* 21 */ } gps; /* 22 */ + /* AO_LOG_GPS_SAT */ struct { uint16_t channels; /* 4 */ struct { diff --git a/src/core/ao_pyro.c b/src/core/ao_pyro.c index 4f37e979..aac8fda5 100644 --- a/src/core/ao_pyro.c +++ b/src/core/ao_pyro.c @@ -113,6 +113,15 @@ ao_pyro_ready(struct ao_pyro *pyro) /* 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; } @@ -166,7 +175,7 @@ uint8_t ao_pyro_wakeup; static void ao_pyro(void) { - uint8_t p; + uint8_t p, any_waiting; struct ao_pyro *pyro; ao_config_get(); @@ -177,6 +186,7 @@ ao_pyro(void) 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]; @@ -190,6 +200,7 @@ ao_pyro(void) if (!pyro->flags) continue; + any_waiting = 1; /* Check pyro state to see if it shoule fire */ if (!pyro->delay_done) { @@ -213,7 +224,10 @@ ao_pyro(void) ao_pyro_fire(p); } + if (!any_waiting) + break; } + ao_exit(); } __xdata struct ao_task ao_pyro_task; @@ -257,6 +271,9 @@ const struct { { "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") }, diff --git a/src/core/ao_pyro.h b/src/core/ao_pyro.h index 5deb69d0..cde850ad 100644 --- a/src/core/ao_pyro.h +++ b/src/core/ao_pyro.h @@ -42,6 +42,9 @@ enum ao_pyro_flag { ao_pyro_after_motor = 0x00001000, ao_pyro_delay = 0x00002000, + + ao_pyro_state_less = 0x00004000, + ao_pyro_state_greater_or_equal = 0x00008000, }; struct ao_pyro { @@ -52,6 +55,7 @@ struct ao_pyro { int16_t orient_less, orient_greater; int16_t time_less, time_greater; int16_t delay; + uint8_t state_less, state_greater_or_equal; int16_t motor; uint16_t delay_done; uint8_t fired; |