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
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
|
/*
* 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>
__xdata struct ao_ignition ao_ignition[2];
void
ao_ignite(enum ao_igniter igniter) __critical
{
ao_ignition[igniter].request = 1;
ao_wakeup(&ao_ignition);
}
#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;
__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) __critical
{
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;
}
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;
}
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;
}
}
}
}
void
ao_ignite_manual(void)
{
ao_cmd_white();
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);
}
}
static __code char * __code igniter_status_names[] = {
"unknown", "ready", "active", "open"
};
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]);
}
void
ao_ignite_test(void)
{
ao_ignite_print_status(ao_igniter_drogue, "drogue");
ao_ignite_print_status(ao_igniter_main, "main");
}
__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 },
};
__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);
}
void
ao_igniter_init(void)
{
ao_ignite_set_pins();
ao_cmd_register(&ao_ignite_cmds[0]);
ao_add_task(&ao_igniter_task, ao_igniter, "igniter");
}
|
