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   1 /*
   2  * Copyright © 2011 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #include "ao.h"
  19
  20 __xdata uint16_t ao_launch_ignite;
  21
  22 #if 0
  23 #define PRINTD(...) printf(__VA_ARGS__)
  24 #else
  25 #define PRINTD(...)
  26 #endif
  27
  28 static void
  29 ao_launch_run(void)
  30 {
  31         for (;;) {
  32                 while (!ao_launch_ignite)
  33                         ao_sleep(&ao_launch_ignite);
  34                 ao_ignition[ao_igniter_drogue].firing = 1;
  35                 ao_ignition[ao_igniter_main].firing = 1;
  36                 AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
  37                 AO_IGNITER_DROGUE = 1;
  38                 while (ao_launch_ignite) {
  39                         ao_launch_ignite = 0;
  40                         ao_delay(AO_MS_TO_TICKS(500));
  41                 }
  42                 AO_IGNITER_DROGUE = 0;
  43                 ao_ignition[ao_igniter_drogue].firing = 0;
  44                 ao_ignition[ao_igniter_main].firing = 0;
  45         }
  46 }
  47
  48 static void
  49 ao_launch_status(void)
  50 {
  51         uint8_t i;
  52         for (;;) {
  53                 ao_delay(AO_SEC_TO_TICKS(1));
  54                 if (ao_igniter_status(ao_igniter_drogue) == ao_igniter_ready) {
  55                         if (ao_igniter_status(ao_igniter_main) == ao_igniter_ready) {
  56                                 for (i = 0; i < 5; i++) {
  57                                         ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(50));
  58                                         ao_delay(AO_MS_TO_TICKS(100));
  59                                 }
  60                         } else {
  61                                 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
  62                         }
  63                 }
  64         }
  65 }
  66
  67 static __pdata uint8_t  ao_launch_armed;
  68 static __pdata uint16_t ao_launch_arm_time;
  69
  70 static void
  71 ao_launch(void)
  72 {
  73         static __xdata struct ao_launch_command command;
  74         static __xdata struct ao_launch_query   query;
  75         int16_t time_difference;
  76
  77         ao_led_off(AO_LED_RED);
  78         ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
  79         for (;;) {
  80                 flush();
  81                 if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK)
  82                         continue;
  83
  84                 PRINTD ("tick %d serial %d cmd %d channel %d\n",
  85                         command.tick, command.serial, command.cmd, command.channel);
  86
  87                 switch (command.cmd) {
  88                 case AO_LAUNCH_QUERY:
  89                         if (command.serial != ao_serial_number) {
  90                                 PRINTD ("serial number mismatch\n");
  91                                 break;
  92                         }
  93
  94                         if (command.channel == 0) {
  95                                 query.valid = 1;
  96                                 query.arm_status = ao_igniter_status(ao_igniter_drogue);
  97                                 query.igniter_status = ao_igniter_status(ao_igniter_main);
  98                         } else {
  99                                 query.valid = 0;
 100                         }
 101                         query.tick = ao_time();
 102                         query.serial = ao_serial_number;
 103                         query.channel = command.channel;
 104                         PRINTD ("query tick %d serial %d channel %d valid %d arm %d igniter %d\n",
 105                                 query.tick, query.serial, query.channel, query.valid, query.arm_status,
 106                                 query.igniter_status);
 107                         ao_radio_cmac_send(&query, sizeof (query));
 108                         break;
 109                 case AO_LAUNCH_ARM:
 110                         if (command.serial != ao_serial_number) {
 111                                 PRINTD ("serial number mismatch\n");
 112                                 break;
 113                         }
 114
 115                         if (command.channel != 0)
 116                                 break;
 117                         time_difference = command.tick - ao_time();
 118                         PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
 119                         if (time_difference < 0)
 120                                 time_difference = -time_difference;
 121                         if (time_difference > 10) {
 122                                 PRINTD ("time difference too large %d\n", time_difference);
 123                                 break;
 124                         }
 125                         PRINTD ("armed\n");
 126                         ao_launch_armed = 1;
 127                         ao_launch_arm_time = ao_time();
 128                         break;
 129                 case AO_LAUNCH_FIRE:
 130                         if (!ao_launch_armed) {
 131                                 PRINTD ("not armed\n");
 132                                 break;
 133                         }
 134                         if ((uint16_t) (ao_time() - ao_launch_arm_time) > AO_SEC_TO_TICKS(20)) {
 135                                 PRINTD ("late launch arm_time %d time %d\n",
 136                                         ao_launch_arm_time, ao_time());
 137                                 break;
 138                         }
 139                         time_difference = command.tick - ao_time();
 140                         if (time_difference < 0)
 141                                 time_difference = -time_difference;
 142                         if (time_difference > 10) {
 143                                 PRINTD ("time different too large %d\n", time_difference);
 144                                 break;
 145                         }
 146                         PRINTD ("ignite\n");
 147                         ao_launch_ignite = 1;
 148                         ao_wakeup(&ao_launch_ignite);
 149                         break;
 150                 }
 151         }
 152 }
 153
 154 void
 155 ao_launch_test(void)
 156 {
 157         switch (ao_igniter_status(ao_igniter_drogue)) {
 158         case ao_igniter_ready:
 159         case ao_igniter_active:
 160                 printf ("Armed: ");
 161                 switch (ao_igniter_status(ao_igniter_main)) {
 162                 default:
 163                         printf("unknown status\n");
 164                         break;
 165                 case ao_igniter_ready:
 166                         printf("igniter good\n");
 167                         break;
 168                 case ao_igniter_open:
 169                         printf("igniter bad\n");
 170                         break;
 171                 }
 172                 break;
 173         default:
 174                 printf("Disarmed\n");
 175         }
 176 }
 177
 178 void
 179 ao_launch_manual(void)
 180 {
 181         ao_cmd_white();
 182         if (!ao_match_word("DoIt"))
 183                 return;
 184         ao_cmd_white();
 185         ao_launch_ignite = 1;
 186         ao_wakeup(&ao_launch_ignite);
 187 }
 188
 189 static __xdata struct ao_task ao_launch_task;
 190 static __xdata struct ao_task ao_launch_ignite_task;
 191 static __xdata struct ao_task ao_launch_status_task;
 192
 193 __code struct ao_cmds ao_launch_cmds[] = {
 194         { ao_launch_test,       "t\0Test launch continuity" },
 195         { ao_launch_manual,     "i <key>\0Fire igniter. <key> is doit with D&I" },
 196         { 0, NULL }
 197 };
 198
 199 void
 200 ao_launch_init(void)
 201 {
 202         AO_IGNITER_DROGUE = 0;
 203         AO_IGNITER_MAIN = 0;
 204         AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
 205         ao_cmd_register(&ao_launch_cmds[0]);
 206         ao_add_task(&ao_launch_task, ao_launch, "launch listener");
 207         ao_add_task(&ao_launch_ignite_task, ao_launch_run, "launch igniter");
 208         ao_add_task(&ao_launch_status_task, ao_launch_status, "launch status");
 209 }