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-rw-r--r--src/core/ao.h3
-rw-r--r--src/core/ao_debounce.c163
-rw-r--r--src/core/ao_debounce.h74
-rw-r--r--src/core/ao_ignite.c45
-rw-r--r--src/core/ao_pyro.c57
-rw-r--r--src/core/ao_pyro.h6
6 files changed, 323 insertions, 25 deletions
diff --git a/src/core/ao.h b/src/core/ao.h
index 7f344736..caa0ec19 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -75,6 +75,7 @@ typedef AO_PORT_TYPE ao_port_t;
#define AO_PANIC_CRASH 14 /* Processor crashed */
#define AO_PANIC_BUFIO 15 /* Mis-using bufio API */
#define AO_PANIC_EXTI 16 /* Mis-using exti API */
+#define AO_PANIC_FAST_TIMER 17 /* Mis-using fast timer API */
#define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
#define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
#define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
@@ -703,6 +704,8 @@ struct ao_ignition {
uint8_t firing;
};
+extern __code char * __code ao_igniter_status_names[];
+
extern __xdata struct ao_ignition ao_ignition[2];
enum ao_igniter_status
diff --git a/src/core/ao_debounce.c b/src/core/ao_debounce.c
new file mode 100644
index 00000000..b9d67729
--- /dev/null
+++ b/src/core/ao_debounce.c
@@ -0,0 +1,163 @@
+/*
+ * Copyright © 2013 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>
+#include <ao_debounce.h>
+#include <ao_fast_timer.h>
+
+static uint8_t ao_debounce_initialized;
+static uint8_t ao_debounce_running;
+static struct ao_debounce *ao_debounce;
+
+static uint8_t values[64];
+static uint8_t n;
+
+#define d_step(n) (((n) + 1) & 63)
+
+static void
+_ao_debounce_set(struct ao_debounce *debounce, uint8_t value)
+{
+ if (value != debounce->value) {
+ values[n] = value;
+ n = (n + 1) & 63;
+ debounce->value = value;
+ debounce->_set(debounce, value);
+ }
+ _ao_debounce_stop(debounce);
+}
+
+void
+ao_debounce_dump(void)
+{
+ uint8_t s;
+
+ for (s = 0; s < n; s++) {
+ printf ("%d: %d\n",
+ s, values[s]);
+ }
+ n = 0;
+}
+
+/*
+ * Get the current value, set the result when we've
+ * reached the debounce count limit
+ */
+static void
+_ao_debounce_check(struct ao_debounce *debounce)
+{
+ uint8_t next = debounce->_get(debounce);
+
+ if (next == debounce->current) {
+ if (debounce->count < debounce->hold) {
+ if (++debounce->count == debounce->hold)
+ _ao_debounce_set(debounce, debounce->current);
+ }
+ } else {
+ debounce->count = 0;
+ debounce->current = next;
+ }
+}
+
+static void
+_ao_debounce_isr(void)
+{
+ struct ao_debounce *debounce, *next;
+
+ for (debounce = ao_debounce; debounce; debounce = next) {
+ next = debounce->next;
+ _ao_debounce_check(debounce);
+ }
+}
+
+static void
+ao_debounce_on(void)
+{
+ ao_fast_timer_on(_ao_debounce_isr);
+}
+
+static void
+ao_debounce_off(void)
+{
+ ao_fast_timer_off(_ao_debounce_isr);
+}
+
+/*
+ * Start monitoring one pin
+ */
+void
+_ao_debounce_start(struct ao_debounce *debounce)
+{
+ uint32_t m;
+
+ m = ao_arch_irqsave();
+ if (!debounce->running) {
+ debounce->running = 1;
+
+ /* Reset the counter */
+ debounce->count = 0;
+
+ /* Link into list */
+ debounce->next = ao_debounce;
+ ao_debounce = debounce;
+
+ /* Make sure the timer is running */
+ if (!ao_debounce_running++)
+ ao_debounce_on();
+
+ /* And go check the current value */
+ _ao_debounce_check(debounce);
+ }
+ ao_arch_irqrestore(m);
+}
+
+/*
+ * Stop monitoring one pin
+ */
+void
+_ao_debounce_stop(struct ao_debounce *debounce)
+{
+ struct ao_debounce **prev;
+ uint32_t m;
+
+ m = ao_arch_irqsave();
+ if (debounce->running) {
+ debounce->running = 0;
+
+ /* Unlink */
+ for (prev = &ao_debounce; (*prev); prev = &((*prev)->next)) {
+ if (*prev == debounce) {
+ *prev = debounce->next;
+ break;
+ }
+ }
+ debounce->next = NULL;
+
+ /* Turn off the timer if possible */
+ if (!--ao_debounce_running)
+ ao_debounce_off();
+ }
+ ao_arch_irqrestore(m);
+}
+
+void
+ao_debounce_init(void)
+{
+ if (ao_debounce_initialized)
+ return;
+ ao_debounce_initialized = 1;
+ ao_fast_timer_init();
+}
diff --git a/src/core/ao_debounce.h b/src/core/ao_debounce.h
new file mode 100644
index 00000000..19c620f5
--- /dev/null
+++ b/src/core/ao_debounce.h
@@ -0,0 +1,74 @@
+/*
+ * Copyright © 2013 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_DEBOUNCE_H_
+#define _AO_DEBOUNCE_H_
+
+struct ao_debounce {
+ struct ao_debounce *next;
+
+ /* time that pin value must be stable before accepting */
+ uint8_t hold;
+
+ /* last value reported to app; don't report it twice */
+ uint8_t value;
+
+ /* current value received from pins */
+ uint8_t current;
+
+ /* current count of intervals pin value has been stable */
+ uint8_t count;
+
+ /* This pin is running */
+ uint8_t running;
+
+ /* Get the current pin value */
+ uint8_t (*_get)(struct ao_debounce *debounce);
+
+ /* The stable value has changed */
+ void (*_set)(struct ao_debounce *debounce, uint8_t value);
+};
+
+static inline void
+ao_debounce_config(struct ao_debounce *debounce,
+ uint8_t (*_get)(struct ao_debounce *debounce),
+ void (*_set)(struct ao_debounce *debounce, uint8_t value),
+ uint8_t hold)
+{
+ debounce->next = 0;
+ debounce->hold = hold;
+ debounce->value = 0xff;
+ debounce->current = 0xff;
+ debounce->count = 0;
+ debounce->running = 0;
+ debounce->_get = _get;
+ debounce->_set = _set;
+}
+
+void
+_ao_debounce_start(struct ao_debounce *debounce);
+
+void
+_ao_debounce_stop(struct ao_debounce *debounce);
+
+void
+ao_debounce_init(void);
+
+void
+ao_debounce_dump(void);
+
+#endif /* _AO_DEBOUNCE_H_ */
diff --git a/src/core/ao_ignite.c b/src/core/ao_ignite.c
index 74bd0c5a..9f2ec0a7 100644
--- a/src/core/ao_ignite.c
+++ b/src/core/ao_ignite.c
@@ -17,7 +17,11 @@
#include "ao.h"
#include <ao_data.h>
+#if AO_PYRO_NUM
+#include <ao_pyro.h>
+#endif
+#if HAS_IGNITE
__xdata struct ao_ignition ao_ignition[2];
void
@@ -150,6 +154,8 @@ ao_igniter(void)
}
}
+#endif
+
void
ao_ignite_manual(void)
{
@@ -157,33 +163,50 @@ ao_ignite_manual(void)
if (!ao_match_word("DoIt"))
return;
ao_cmd_white();
- if (ao_cmd_lex_c == 'm') {
- if(ao_match_word("main"))
- ao_igniter_fire(ao_igniter_main);
- } else {
- if(ao_match_word("drogue"))
- ao_igniter_fire(ao_igniter_drogue);
+#if HAS_IGNITE
+ if (ao_cmd_lex_c == 'm' && ao_match_word("main")) {
+ ao_igniter_fire(ao_igniter_main);
+ return;
+ }
+ if (ao_cmd_lex_c == 'd' && ao_match_word("drogue")) {
+ ao_igniter_fire(ao_igniter_drogue);
+ return;
+ }
+#endif
+#if AO_PYRO_NUM
+ if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9') {
+ ao_pyro_manual(ao_cmd_lex_c - '0');
+ return;
}
+#endif
+ ao_cmd_status = ao_cmd_syntax_error;
}
-static __code char * __code igniter_status_names[] = {
+__code char * __code ao_igniter_status_names[] = {
"unknown", "ready", "active", "open"
};
+#if HAS_IGNITE
void
ao_ignite_print_status(enum ao_igniter igniter, __code char *name) __reentrant
{
enum ao_igniter_status status = ao_igniter_status(igniter);
printf("Igniter: %6s Status: %s\n",
name,
- igniter_status_names[status]);
+ ao_igniter_status_names[status]);
}
+#endif
void
ao_ignite_test(void)
{
+#if HAS_IGNITE
ao_ignite_print_status(ao_igniter_drogue, "drogue");
ao_ignite_print_status(ao_igniter_main, "main");
+#endif
+#if AO_PYRO_NUM
+ ao_pyro_print_status();
+#endif
}
__code struct ao_cmds ao_ignite_cmds[] = {
@@ -192,6 +215,7 @@ __code struct ao_cmds ao_ignite_cmds[] = {
{ 0, NULL },
};
+#if HAS_IGNITE
__xdata struct ao_task ao_igniter_task;
void
@@ -200,11 +224,14 @@ ao_ignite_set_pins(void)
ao_enable_output(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, AO_IGNITER_DROGUE, 0);
ao_enable_output(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, AO_IGNITER_MAIN, 0);
}
+#endif
void
ao_igniter_init(void)
{
+#if HAS_IGNITE
ao_ignite_set_pins();
- ao_cmd_register(&ao_ignite_cmds[0]);
ao_add_task(&ao_igniter_task, ao_igniter, "igniter");
+#endif
+ ao_cmd_register(&ao_ignite_cmds[0]);
}
diff --git a/src/core/ao_pyro.c b/src/core/ao_pyro.c
index 39f40dfa..531e1f50 100644
--- a/src/core/ao_pyro.c
+++ b/src/core/ao_pyro.c
@@ -33,6 +33,40 @@
#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;
/*
@@ -441,25 +475,17 @@ ao_pyro_set(void)
_ao_config_edit_finish();
}
-static void
-ao_pyro_manual(void)
+void
+ao_pyro_manual(uint8_t p)
{
- ao_cmd_white();
- if (!ao_match_word("DoIt"))
+ printf ("ao_pyro_manual %d\n", p);
+ if (p >= AO_PYRO_NUM) {
+ ao_cmd_status = ao_cmd_syntax_error;
return;
- ao_cmd_white();
- ao_cmd_decimal();
- if (ao_cmd_lex_i < 0 || AO_PYRO_NUM <= ao_cmd_lex_i)
- return;
- ao_pyro_pins_fire(1 << ao_cmd_lex_i);
-
+ }
+ ao_pyro_pins_fire(1 << p);
}
-const struct ao_cmds ao_pyro_cmds[] = {
- { ao_pyro_manual, "P DoIt <n>\0Fire igniter" },
- { 0, NULL }
-};
-
void
ao_pyro_init(void)
{
@@ -487,7 +513,6 @@ ao_pyro_init(void)
#if AO_PYRO_NUM > 7
ao_enable_output(AO_PYRO_PORT_7, AO_PYRO_PIN_7, AO_PYRO_7, 0);
#endif
- ao_cmd_register(&ao_pyro_cmds[0]);
ao_add_task(&ao_pyro_task, ao_pyro, "pyro");
}
#endif
diff --git a/src/core/ao_pyro.h b/src/core/ao_pyro.h
index 1f838542..0c5642d6 100644
--- a/src/core/ao_pyro.h
+++ b/src/core/ao_pyro.h
@@ -74,4 +74,10 @@ ao_pyro_show(void);
void
ao_pyro_init(void);
+void
+ao_pyro_manual(uint8_t p);
+
+void
+ao_pyro_print_status(void);
+
#endif
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-23 18:48:24 +0000