1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
|
/*
* 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"
#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);
for (;;) {
ao_report_beep();
i = ndigits;
do
ao_report_digit(digits[--i]);
while (i != 0);
pause(AO_SEC_TO_TICKS(5));
}
}
#if HAS_IGNITE
static uint8_t
ao_report_igniter_ready(enum ao_igniter igniter)
{
return ao_igniter_status(igniter) == ao_igniter_ready ? 1 : 0;
}
static void
ao_report_continuity(void) __reentrant
{
uint8_t c = (ao_report_igniter_ready(ao_igniter_drogue) |
(ao_report_igniter_ready(ao_igniter_main) << 1));
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 (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));
}
}
c = 50;
while (c-- && ao_flight_state == ao_flight_pad)
pause(AO_MS_TO_TICKS(100));
}
#endif
void
ao_report(void)
{
ao_report_state = ao_flight_state;
for(;;) {
if (ao_flight_state == ao_flight_landed)
ao_report_altitude();
ao_report_beep();
#if HAS_IGNITE
if (ao_flight_state == ao_flight_idle)
ao_report_continuity();
while (ao_flight_state == ao_flight_pad)
ao_report_continuity();
#endif
__critical {
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");
}
|
