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/*
* 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; either version 2 of the License, or
* (at your option) any later version.
*
* 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
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)
{
struct ao_data packet;
int16_t value;
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;
}
#define AO_IGNITER_SET_DROGUE(v) ao_gpio_set(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, v)
#define AO_IGNITER_SET_MAIN(v) ao_gpio_set(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, v)
#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
static 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;
}
static void
ao_igniter(void)
{
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
static 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;
}
const char * const ao_igniter_status_names[] = {
"unknown", "ready", "active", "open"
};
#if HAS_IGNITE
static void
ao_ignite_print_status(enum ao_igniter igniter, const char *name)
{
enum ao_igniter_status status = ao_igniter_status(igniter);
printf("Igniter: %6s Status: %s\n",
name,
ao_igniter_status_names[status]);
}
#endif
static 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
}
const 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
struct ao_task ao_igniter_task;
void
ao_ignite_set_pins(void)
{
ao_enable_output(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, 0);
ao_enable_output(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, 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]);
}
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