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Diffstat (limited to 'src/kernel/ao_ignite.c')
| -rw-r--r-- | src/kernel/ao_ignite.c | 241 |
1 files changed, 241 insertions, 0 deletions
diff --git a/src/kernel/ao_ignite.c b/src/kernel/ao_ignite.c new file mode 100644 index 00000000..823d003c --- /dev/null +++ b/src/kernel/ao_ignite.c @@ -0,0 +1,241 @@ +/* + * 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" +#include <ao_data.h> +#if AO_PYRO_NUM +#include <ao_pyro.h> +#endif + +#if HAS_IGNITE +__xdata struct ao_ignition ao_ignition[2]; + +void +ao_ignite(enum ao_igniter igniter) +{ + ao_arch_block_interrupts(); + ao_ignition[igniter].request = 1; + ao_wakeup(&ao_ignition); + ao_arch_release_interrupts(); +} + +#ifndef AO_SENSE_DROGUE +#define AO_SENSE_DROGUE(p) ((p)->adc.sense_d) +#define AO_SENSE_MAIN(p) ((p)->adc.sense_m) +#endif + +enum ao_igniter_status +ao_igniter_status(enum ao_igniter igniter) +{ + __xdata struct ao_data packet; + __pdata int16_t value; + __pdata uint8_t request, firing, fired; + + ao_arch_critical( + ao_data_get(&packet); + 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 = AO_SENSE_DROGUE(&packet); + break; + case ao_igniter_main: + value = AO_SENSE_MAIN(&packet); + 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; +} + +#ifndef AO_IGNITER_SET_DROGUE +#define AO_IGNITER_SET_DROGUE(v) AO_IGNITER_DROGUE = (v) +#define AO_IGNITER_SET_MAIN(v) AO_IGNITER_MAIN = (v) +#endif + +#ifndef AO_IGNITER_FIRE_TIME +#define AO_IGNITER_FIRE_TIME AO_MS_TO_TICKS(50) +#endif + +#ifndef AO_IGNITER_CHARGE_TIME +#define AO_IGNITER_CHARGE_TIME AO_MS_TO_TICKS(2000) +#endif + +void +ao_igniter_fire(enum ao_igniter igniter) +{ + ao_ignition[igniter].firing = 1; + switch(ao_config.ignite_mode) { + case AO_IGNITE_MODE_DUAL: + switch (igniter) { + case ao_igniter_drogue: + AO_IGNITER_SET_DROGUE(1); + ao_delay(AO_IGNITER_FIRE_TIME); + AO_IGNITER_SET_DROGUE(0); + break; + case ao_igniter_main: + AO_IGNITER_SET_MAIN(1); + ao_delay(AO_IGNITER_FIRE_TIME); + AO_IGNITER_SET_MAIN(0); + break; + } + break; + case AO_IGNITE_MODE_APOGEE: + switch (igniter) { + case ao_igniter_drogue: + AO_IGNITER_SET_DROGUE(1); + ao_delay(AO_IGNITER_FIRE_TIME); + AO_IGNITER_SET_DROGUE(0); + ao_delay(AO_IGNITER_CHARGE_TIME); + AO_IGNITER_SET_MAIN(1); + ao_delay(AO_IGNITER_FIRE_TIME); + AO_IGNITER_SET_MAIN(0); + break; + default: + break; + } + break; + case AO_IGNITE_MODE_MAIN: + switch (igniter) { + case ao_igniter_main: + AO_IGNITER_SET_DROGUE(1); + ao_delay(AO_IGNITER_FIRE_TIME); + AO_IGNITER_SET_DROGUE(0); + ao_delay(AO_IGNITER_CHARGE_TIME); + AO_IGNITER_SET_MAIN(1); + ao_delay(AO_IGNITER_FIRE_TIME); + AO_IGNITER_SET_MAIN(0); + break; + default: + break; + } + break; + } + ao_ignition[igniter].firing = 0; +} + +void +ao_igniter(void) +{ + __xdata enum ao_igniter igniter; + + ao_config_get(); + for (;;) { + ao_sleep(&ao_ignition); + for (igniter = ao_igniter_drogue; igniter <= ao_igniter_main; igniter++) { + if (ao_ignition[igniter].request && !ao_ignition[igniter].fired) { + if (igniter == ao_igniter_drogue && ao_config.apogee_delay) + ao_delay(AO_SEC_TO_TICKS(ao_config.apogee_delay)); + + ao_igniter_fire(igniter); + ao_delay(AO_IGNITER_CHARGE_TIME); + ao_ignition[igniter].fired = 1; + } + } + } +} + +#endif + +void +ao_ignite_manual(void) +{ + ao_cmd_white(); + if (!ao_match_word("DoIt")) + return; + ao_cmd_white(); +#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; +} + +__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, + 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[] = { + { ao_ignite_manual, "i <key> {main|drogue}\0Fire igniter. <key> is doit with D&I" }, + { ao_ignite_test, "t\0Test igniter" }, + { 0, NULL }, +}; + +#if HAS_IGNITE +__xdata struct ao_task ao_igniter_task; + +void +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_add_task(&ao_igniter_task, ao_igniter, "igniter"); +#endif + ao_cmd_register(&ao_ignite_cmds[0]); +} |