-/*
- * Copyright © 2011 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"
-
-__xdata uint16_t ao_launch_ignite;
-
-#if 0
-#define PRINTD(...) printf(__VA_ARGS__)
-#else
-#define PRINTD(...)
-#endif
-
-static void
-ao_launch_run(void)
-{
- for (;;) {
- while (!ao_launch_ignite)
- ao_sleep(&ao_launch_ignite);
- ao_ignition[ao_igniter_drogue].firing = 1;
- ao_ignition[ao_igniter_main].firing = 1;
- AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
- AO_IGNITER_DROGUE = 1;
- while (ao_launch_ignite) {
- ao_launch_ignite = 0;
- 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)
-{
- 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 (;;) {
- flush();
- if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK)
- continue;
-
- PRINTD ("tick %d serial %d cmd %d channel %d\n",
- command.tick, command.serial, command.cmd, command.channel);
-
- switch (command.cmd) {
- case AO_LAUNCH_QUERY:
- if (command.serial != ao_serial_number) {
- PRINTD ("serial number mismatch\n");
- break;
- }
-
- 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;
- PRINTD ("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_LAUNCH_ARM:
- if (command.serial != ao_serial_number) {
- PRINTD ("serial number mismatch\n");
- break;
- }
-
- if (command.channel != 0)
- break;
- time_difference = command.tick - ao_time();
- PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
- if (time_difference < 0)
- time_difference = -time_difference;
- if (time_difference > 10) {
- PRINTD ("time difference too large %d\n", time_difference);
- break;
- }
- PRINTD ("armed\n");
- ao_launch_armed = 1;
- ao_launch_arm_time = ao_time();
- break;
- case AO_LAUNCH_FIRE:
- if (!ao_launch_armed) {
- PRINTD ("not armed\n");
- break;
- }
- if ((uint16_t) (ao_time() - ao_launch_arm_time) > AO_SEC_TO_TICKS(20)) {
- PRINTD ("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) {
- PRINTD ("time different too large %d\n", time_difference);
- break;
- }
- PRINTD ("ignite\n");
- ao_launch_ignite = 1;
- ao_wakeup(&ao_launch_ignite);
- break;
- }
- }
-}
-
-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_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 / commitdiff