diff options
Diffstat (limited to 'src/kernel/ao_report.c')
| -rw-r--r-- | src/kernel/ao_report.c | 198 |
1 files changed, 198 insertions, 0 deletions
diff --git a/src/kernel/ao_report.c b/src/kernel/ao_report.c new file mode 100644 index 00000000..1104cd82 --- /dev/null +++ b/src/kernel/ao_report.c @@ -0,0 +1,198 @@ +/* + * 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_flight.h> +#include <ao_sample.h> + +#define BIT(i,x) ((x) ? (1 << (i)) : 0) +#define MORSE1(a) (1 | BIT(3,a)) +#define MORSE2(a,b) (2 | BIT(3,a) | BIT(4,b)) +#define MORSE3(a,b,c) (3 | BIT(3,a) | BIT(4,b) | BIT(5,c)) +#define MORSE4(a,b,c,d) (4 | BIT(3,a) | BIT(4,b) | BIT(5,c) | BIT(6,d)) +#define MORSE5(a,b,c,d,e) (5 | BIT(3,a) | BIT(4,b) | BIT(5,c) | BIT(6,d) | BIT(7,e)) + +static const uint8_t flight_reports[] = { + MORSE3(0,0,0), /* startup, 'S' */ + MORSE2(0,0), /* idle 'I' */ + MORSE4(0,1,1,0), /* pad 'P' */ + MORSE4(1,0,0,0), /* boost 'B' */ + MORSE4(0,0,1,0), /* fast 'F' */ + MORSE4(1,0,1,0), /* coast 'C' */ + MORSE3(1,0,0), /* drogue 'D' */ + MORSE2(1,1), /* main 'M' */ + MORSE4(0,1,0,0), /* landed 'L' */ + MORSE4(1,0,0,1), /* invalid 'X' */ +}; + +#if HAS_BEEP +#define low(time) ao_beep_for(AO_BEEP_LOW, time) +#define mid(time) ao_beep_for(AO_BEEP_MID, time) +#define high(time) ao_beep_for(AO_BEEP_HIGH, time) +#else +#define low(time) ao_led_for(AO_LED_GREEN, time) +#define mid(time) ao_led_for(AO_LED_RED, time) +#define high(time) ao_led_for(AO_LED_GREEN|AO_LED_RED, time) +#endif +#define pause(time) ao_delay(time) + +static __pdata enum ao_flight_state ao_report_state; + +static void +ao_report_beep(void) __reentrant +{ + uint8_t r = flight_reports[ao_flight_state]; + uint8_t l = r & 7; + + if (!r) + return; + while (l--) { + if (r & 8) + mid(AO_MS_TO_TICKS(600)); + else + mid(AO_MS_TO_TICKS(200)); + pause(AO_MS_TO_TICKS(200)); + r >>= 1; + } + pause(AO_MS_TO_TICKS(400)); +} + +static void +ao_report_digit(uint8_t digit) __reentrant +{ + if (!digit) { + mid(AO_MS_TO_TICKS(500)); + pause(AO_MS_TO_TICKS(200)); + } else { + while (digit--) { + mid(AO_MS_TO_TICKS(200)); + pause(AO_MS_TO_TICKS(200)); + } + } + pause(AO_MS_TO_TICKS(300)); +} + +static void +ao_report_altitude(void) +{ + __pdata int16_t agl = ao_max_height; + __xdata uint8_t digits[10]; + __pdata uint8_t ndigits, i; + + if (agl < 0) + agl = 0; + ndigits = 0; + do { + digits[ndigits++] = agl % 10; + agl /= 10; + } while (agl); + + i = ndigits; + do + ao_report_digit(digits[--i]); + while (i != 0); +} + +#if HAS_IGNITE_REPORT +static uint8_t +ao_report_igniter_ready(enum ao_igniter igniter) +{ + return ao_igniter_status(igniter) == ao_igniter_ready ? 1 : 0; +} + +uint8_t +ao_report_igniter(void) +{ + return (ao_report_igniter_ready(ao_igniter_drogue) | + (ao_report_igniter_ready(ao_igniter_main) << 1)); +} + +static void +ao_report_continuity(void) __reentrant +{ + uint8_t c; + +#if !HAS_IGNITE + if (!ao_igniter_present) + return; +#endif + c = ao_report_igniter(); + if (c) { + while (c--) { + high(AO_MS_TO_TICKS(25)); + pause(AO_MS_TO_TICKS(100)); + } + } else { + c = 10; + while (c--) { + high(AO_MS_TO_TICKS(20)); + low(AO_MS_TO_TICKS(20)); + } + } +#if HAS_LOG + if (ao_log_full()) { + pause(AO_MS_TO_TICKS(100)); + c = 2; + while (c--) { + low(AO_MS_TO_TICKS(100)); + mid(AO_MS_TO_TICKS(100)); + high(AO_MS_TO_TICKS(100)); + mid(AO_MS_TO_TICKS(100)); + } + } +#endif +} +#endif + +void +ao_report(void) +{ + ao_report_state = ao_flight_state; + for(;;) { + ao_report_beep(); + if (ao_flight_state == ao_flight_landed) { + ao_report_altitude(); +#if HAS_FLIGHT + ao_delay(AO_SEC_TO_TICKS(5)); + continue; +#endif + } +#if HAS_IGNITE_REPORT + if (ao_flight_state == ao_flight_idle) + ao_report_continuity(); + while (ao_flight_state == ao_flight_pad) { + uint8_t c; + ao_report_continuity(); + c = 50; + while (c-- && ao_flight_state == ao_flight_pad) + pause(AO_MS_TO_TICKS(100)); + } +#endif + + while (ao_report_state == ao_flight_state) + ao_sleep(DATA_TO_XDATA(&ao_flight_state)); + ao_report_state = ao_flight_state; + } +} + +static __xdata struct ao_task ao_report_task; + +void +ao_report_init(void) +{ + ao_add_task(&ao_report_task, ao_report, "report"); +} |