#include "ao.h"
+__xdata uint16_t ao_launch_ignite;
+
+static void
+ao_launch_run(void)
+{
+ for (;;) {
+ while (!ao_launch_ignite)
+ ao_sleep(&ao_launch_ignite);
+ while (ao_launch_ignite) {
+ ao_launch_ignite = 0;
+
+ ao_ignition[ao_igniter_drogue].firing = 1;
+ ao_ignition[ao_igniter_main].firing = 1;
+ AO_IGNITER_DROGUE = 1;
+ ao_delay(AO_MS_TO_TICKS(500));
+ AO_IGNITER_DROGUE = 0;
+ ao_ignition[ao_igniter_drogue].firing = 0;
+ ao_ignition[ao_igniter_main].firing = 0;
+ }
+ }
+}
+
+static void
+ao_launch_status(void)
+{
+ uint8_t i;
+ for (;;) {
+ ao_delay(AO_SEC_TO_TICKS(1));
+ if (ao_igniter_status(ao_igniter_drogue) == ao_igniter_ready) {
+ if (ao_igniter_status(ao_igniter_main) == ao_igniter_ready) {
+ for (i = 0; i < 5; i++) {
+ ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(50));
+ ao_delay(AO_MS_TO_TICKS(100));
+ }
+ } else {
+ ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
+ }
+ }
+ }
+}
+
+static __pdata uint8_t ao_launch_armed;
+static __pdata uint16_t ao_launch_arm_time;
+
static void
ao_launch(void)
{
- enum ao_igniter_status arm_status, ignite_status;
+ static __xdata struct ao_launch_command command;
+ static __xdata struct ao_launch_query query;
+ int16_t time_difference;
ao_led_off(AO_LED_RED);
ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
for (;;) {
- arm_status = ao_igniter_status(ao_igniter_drogue);
+ if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK)
+ continue;
+
+ printf ("tick %d serial %d cmd %d channel %d\n",
+ command.tick, command.serial, command.cmd, command.channel);
+
+ if (command.serial != ao_serial_number) {
+ printf ("serial number mismatch\n");
+ continue;
+ }
- switch (arm_status) {
- case ao_igniter_unknown:
+ switch (command.cmd) {
+ case AO_LAUNCH_QUERY:
+ if (command.channel == 0) {
+ query.valid = 1;
+ query.arm_status = ao_igniter_status(ao_igniter_drogue);
+ query.igniter_status = ao_igniter_status(ao_igniter_main);
+ } else {
+ query.valid = 0;
+ }
+ query.tick = ao_time();
+ query.serial = ao_serial_number;
+ query.channel = command.channel;
+ printf ("query tick %d serial %d channel %d valid %d arm %d igniter %d\n",
+ query.tick, query.serial, query.channel, query.valid, query.arm_status,
+ query.igniter_status);
+ ao_radio_cmac_send(&query, sizeof (query));
break;
- case ao_igniter_active:
- case ao_igniter_open:
+ case AO_LAUNCH_ARM:
+ if (command.channel != 0)
+ break;
+ time_difference = command.tick - ao_time();
+ printf ("arm tick %d local tick %d\n", command.tick, ao_time());
+ if (time_difference < 0)
+ time_difference = -time_difference;
+ if (time_difference > 10) {
+ printf ("time difference too large %d\n", time_difference);
+ break;
+ }
+ printf ("armed\n");
+ ao_launch_armed = 1;
+ ao_launch_arm_time = ao_time();
break;
- case ao_igniter_ready:
- ignite_status = ao_igniter_status(ao_igniter_main);
- switch (ignite_status) {
- case ao_igniter_unknown:
- /* some kind of failure signal here */
+ case AO_LAUNCH_FIRE:
+ if (command.channel != 0)
break;
- case ao_igniter_active:
+ if (!ao_launch_armed) {
+ printf ("not armed\n");
break;
- case ao_igniter_open:
+ }
+ if ((uint16_t) (ao_launch_arm_time - ao_time()) > AO_SEC_TO_TICKS(20)) {
+ printf ("late launch arm_time %d time %d\n",
+ ao_launch_arm_time, ao_time());
+ break;
+ }
+ time_difference = command.tick - ao_time();
+ if (time_difference < 0)
+ time_difference = -time_difference;
+ if (time_difference > 10) {
+ printf ("time different too large %d\n", time_difference);
break;
}
+ printf ("ignite\n");
+ ao_launch_ignite = 1;
+ ao_wakeup(&ao_launch_ignite);
break;
}
- ao_delay(AO_SEC_TO_TICKS(1));
}
}
+void
+ao_launch_test(void)
+{
+ switch (ao_igniter_status(ao_igniter_drogue)) {
+ case ao_igniter_ready:
+ case ao_igniter_active:
+ printf ("Armed: ");
+ switch (ao_igniter_status(ao_igniter_main)) {
+ default:
+ printf("unknown status\n");
+ break;
+ case ao_igniter_ready:
+ printf("igniter good\n");
+ break;
+ case ao_igniter_open:
+ printf("igniter bad\n");
+ break;
+ }
+ break;
+ default:
+ printf("Disarmed\n");
+ }
+}
+
+void
+ao_launch_manual(void)
+{
+ ao_cmd_white();
+ if (!ao_match_word("DoIt"))
+ return;
+ ao_cmd_white();
+ ao_launch_ignite = 1;
+ ao_wakeup(&ao_launch_ignite);
+}
+
static __xdata struct ao_task ao_launch_task;
+static __xdata struct ao_task ao_launch_ignite_task;
+static __xdata struct ao_task ao_launch_status_task;
+
+__code struct ao_cmds ao_launch_cmds[] = {
+ { ao_launch_test, "t\0Test launch continuity" },
+ { ao_launch_manual, "i <key>\0Fire igniter. <key> is doit with D&I" },
+ { 0, NULL }
+};
void
ao_launch_init(void)
{
- ao_add_task(&ao_launch_task, ao_launch, "launch status");
+ AO_IGNITER_DROGUE = 0;
+ AO_IGNITER_MAIN = 0;
+ AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
+ ao_cmd_register(&ao_launch_cmds[0]);
+ ao_add_task(&ao_launch_task, ao_launch, "launch listener");
+ ao_add_task(&ao_launch_ignite_task, ao_launch_run, "launch igniter");
+ ao_add_task(&ao_launch_status_task, ao_launch_status, "launch status");
}
projects / fw / altos / blobdiff