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-rw-r--r--src/core/ao_pyro.c120
-rw-r--r--src/test/Makefile2
-rw-r--r--src/test/ao_flight_test.c57
3 files changed, 130 insertions, 49 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
diff --git a/src/test/Makefile b/src/test/Makefile
index 8032a163..3c9ac9c6 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -29,7 +29,7 @@ ao_flight_test_baro: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalm
ao_flight_test_accel: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c $(INCS)
cc $(CFLAGS) -o $@ -DFORCE_ACCEL=1 ao_flight_test.c
-ao_flight_test_mm: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c $(INCS)
+ao_flight_test_mm: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c ao_pyro.c ao_pyro.h $(INCS)
cc -DTELEMEGA=1 $(CFLAGS) -o $@ $< -lm
ao_gps_test: ao_gps_test.c ao_gps_sirf.c ao_gps_print.c ao_host.h
diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index 99bed7ee..6e53d8e1 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -20,6 +20,7 @@
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
+#include <stddef.h>
#include <string.h>
#include <getopt.h>
#include <math.h>
@@ -137,6 +138,18 @@ int tick_offset;
static int32_t ao_k_height;
+int16_t
+ao_time(void)
+{
+ return ao_data_static.tick;
+}
+
+void
+ao_delay(int16_t interval)
+{
+ return;
+}
+
void
ao_ignite(enum ao_igniter igniter)
{
@@ -200,6 +213,8 @@ struct ao_cmds {
#include <ao_ms5607.h>
struct ao_ms5607_prom ms5607_prom;
#include "ao_ms5607_convert.c"
+#define AO_PYRO_NUM 4
+#include <ao_pyro.h>
#else
#include "ao_convert.c"
#endif
@@ -210,6 +225,9 @@ struct ao_config {
int16_t accel_minus_g;
uint8_t pad_orientation;
uint16_t apogee_lockout;
+#if TELEMEGA
+ struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */
+#endif
};
#define AO_PAD_ORIENTATION_ANTENNA_UP 0
@@ -246,6 +264,24 @@ uint16_t prev_tick;
#include "ao_sqrt.c"
#include "ao_sample.c"
#include "ao_flight.c"
+#if TELEMEGA
+#define AO_PYRO_NUM 4
+
+#define AO_PYRO_0 0
+#define AO_PYRO_1 1
+#define AO_PYRO_2 2
+#define AO_PYRO_3 3
+
+static void
+ao_pyro_tell(int pin)
+{
+ printf ("fire pyro %d\n", pin);
+}
+
+#define ao_pyro_fire_port(port,bit,pin) ao_pyro_tell(pin)
+
+#include "ao_pyro.c"
+#endif
#define to_double(f) ((f) / 65536.0)
@@ -771,6 +807,10 @@ ao_sleep(void *wchan)
char *words[64];
int nword;
+#if TELEMEGA
+ if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed)
+ ao_pyro_check();
+#endif
for (;;) {
if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
{
@@ -883,6 +923,23 @@ ao_sleep(void *wchan)
else if (strcmp(words[1], "crc:") == 0)
ms5607_prom.crc = strtoul(words[2], NULL, 10);
continue;
+ } else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) {
+ int p = strtoul(words[1], NULL, 10);
+ int i, j;
+ struct ao_pyro *pyro = &ao_config.pyro[p];
+
+ for (i = 2; i < nword; i++) {
+ for (j = 0; j < NUM_PYRO_VALUES; j++)
+ if (!strcmp (words[2], ao_pyro_values[j].name))
+ break;
+ if (j == NUM_PYRO_VALUES)
+ continue;
+ pyro->flags |= ao_pyro_values[j].flag;
+ if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) {
+ int16_t val = strtoul(words[++i], NULL, 10);
+ *((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val;
+ }
+ }
}
#else
if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-31 01:01:34 +0000