altos: Finish up primitive telelaunch protocol
authorKeith Packard <keithp@keithp.com>
Fri, 22 Jul 2011 05:25:45 +0000 (22:25 -0700)
committerKeith Packard <keithp@keithp.com>
Sat, 27 Aug 2011 19:45:36 +0000 (12:45 -0700)
This adds two commands to teledongle, one to query and one to actually
fire the igniter. These will (eventually) want to be replaced with
something nicer.

Signed-off-by: Keith Packard <keithp@keithp.com>
src/ao_launch.c
src/ao_radio_cmac.c
src/core/ao_config.c

index 6c15471..35afbda 100644 (file)
 
 __xdata uint16_t ao_launch_ignite;
 
+#if 0
+#define PRINTD(...) printf(__VA_ARGS__)
+#else
+#define PRINTD(...) 
+#endif
+
 static void
 ao_launch_run(void)
 {
@@ -71,19 +77,20 @@ ao_launch(void)
        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;
                
-               printf ("tick %d serial %d cmd %d channel %d\n",
+               PRINTD ("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 (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);
@@ -94,35 +101,38 @@ ao_launch(void)
                        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",
+                       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();
-                       printf ("arm tick %d local tick %d\n", 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) {
-                               printf ("time difference too large %d\n", time_difference);
+                               PRINTD ("time difference too large %d\n", time_difference);
                                break;
                        }
-                       printf ("armed\n");
+                       PRINTD ("armed\n");
                        ao_launch_armed = 1;
                        ao_launch_arm_time = ao_time();
                        break;
                case AO_LAUNCH_FIRE:
-                       if (command.channel != 0)
-                               break;
                        if (!ao_launch_armed) {
-                               printf ("not armed\n");
+                               PRINTD ("not armed\n");
                                break;
                        }
-                       if ((uint16_t) (ao_launch_arm_time - ao_time()) > AO_SEC_TO_TICKS(20)) {
-                               printf ("late launch arm_time %d time %d\n",
+                       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;
                        }
@@ -130,10 +140,10 @@ ao_launch(void)
                        if (time_difference < 0)
                                time_difference = -time_difference;
                        if (time_difference > 10) {
-                               printf ("time different too large %d\n", time_difference);
+                               PRINTD ("time different too large %d\n", time_difference);
                                break;
                        }
-                       printf ("ignite\n");
+                       PRINTD ("ignite\n");
                        ao_launch_ignite = 1;
                        ao_wakeup(&ao_launch_ignite);
                        break;
index 9694b5b..c2757b1 100644 (file)
@@ -227,14 +227,37 @@ radio_cmac_recv_cmd(void) __reentrant
        ao_mutex_put(&ao_radio_cmac_mutex);
 }
 
+static __xdata struct ao_launch_command        command;
+static __xdata struct ao_launch_query  query;
+
+
+static int8_t
+launch_query(uint16_t serial, uint8_t channel)
+{
+       uint8_t i;
+       int8_t  r = AO_RADIO_CMAC_OK;
+
+       for (i = 0; i < 10; i++) {
+               printf ("."); flush();
+               command.tick = ao_time();
+               command.serial = serial;
+               command.cmd = AO_LAUNCH_QUERY;
+               command.channel = channel;
+               ao_radio_cmac_send(&command, sizeof (command));
+               r = ao_radio_cmac_recv(&query, sizeof (query), AO_MS_TO_TICKS(500));
+               if (r == AO_RADIO_CMAC_OK)
+                       break;
+       }
+       printf("\n"); flush();
+       return r;
+}
+
 static void
 launch_report_cmd(void) __reentrant
 {
-       static __xdata struct ao_launch_command command;
-       static __xdata struct ao_launch_query   query;
        uint8_t         channel;
        uint16_t        serial;
-       uint8_t         i;
+       int8_t          r;
 
        ao_cmd_decimal();
        serial = ao_cmd_lex_i;
@@ -242,17 +265,10 @@ launch_report_cmd(void) __reentrant
        channel = ao_cmd_lex_i;
        if (ao_cmd_status != ao_cmd_success)
                return;
-       flush();
-       for (i = 0; i < 10; i++) {
-               printf ("."); flush();
-               command.tick = 0;
-               command.serial = serial;
-               command.cmd = AO_LAUNCH_QUERY;
-               command.channel = channel;
-               ao_radio_cmac_send(&command, sizeof (command));
-               switch (ao_radio_cmac_recv(&query, sizeof (query), AO_MS_TO_TICKS(500))) {
-               case AO_RADIO_CMAC_OK:
-                       printf("\n");
+       r = launch_query(serial, channel);
+       switch (r) {
+       case AO_RADIO_CMAC_OK:
+               if (query.valid) {
                        switch (query.arm_status) {
                        case ao_igniter_ready:
                        case ao_igniter_active:
@@ -268,21 +284,70 @@ launch_report_cmd(void) __reentrant
                                        printf("igniter bad\n");
                                        break;
                                }
+                               break;
                        default:
                                printf("Disarmed\n");
                        }
-                       return;
-               default:
-                       continue;
+               } else {
+                       printf("Invalid channel %d\n", channel);
                }
+               break;
+       default:
+               printf("Error %d\n", r);
+               break;
+       }
+}
+
+static void
+launch_fire_cmd(void) __reentrant
+{
+       static __xdata struct ao_launch_command command;
+       uint8_t         channel;
+       uint16_t        serial;
+       uint8_t         secs;
+       uint8_t         i;
+       int8_t          r;
+       uint16_t        tick_offset;
+
+       ao_cmd_decimal();
+       serial = ao_cmd_lex_i;
+       ao_cmd_decimal();
+       channel = ao_cmd_lex_i;
+       ao_cmd_decimal();
+       secs = ao_cmd_lex_i;
+       if (ao_cmd_status != ao_cmd_success)
+               return;
+       tick_offset = ao_time();
+       r = launch_query(serial, channel);
+       tick_offset -= query.tick;
+
+       for (i = 0; i < 4; i++) {
+               printf("arm %d\n", i); flush();
+               command.tick = ao_time() - tick_offset;
+               command.serial = serial;
+               command.cmd = AO_LAUNCH_ARM;
+               command.channel = channel;
+               ao_radio_cmac_send(&command, sizeof (command));
+       }
+       secs = secs * 10 - 5;
+       if (secs > 100)
+               secs = 100;
+       for (i = 0; i < secs; i++) {
+               printf("fire %d\n", i); flush();
+               command.tick = ao_time() - tick_offset;
+               command.serial = serial;
+               command.cmd = AO_LAUNCH_FIRE;
+               command.channel = 0;
+               ao_radio_cmac_send(&command, sizeof (command));
+               ao_delay(AO_MS_TO_TICKS(100));
        }
-       printf ("Timeout\n");
 }
 
 static __code struct ao_cmds ao_radio_cmac_cmds[] = {
        { radio_cmac_send_cmd,  "s <length>\0Send AES-CMAC packet. Bytes to send follow on next line" },
        { radio_cmac_recv_cmd,  "S <length> <timeout>\0Receive AES-CMAC packet. Timeout in ms" },
        { launch_report_cmd,    "l <serial> <channel>\0Get remote launch status" },
+       { launch_fire_cmd,      "f <serial> <channel> <secs>\0Fire remote igniter" },
        { 0, NULL },
 };
 
index 7f999fe..28854ab 100644 (file)
@@ -108,7 +108,7 @@ _ao_config_get(void)
                if (ao_config.minor < 8)
                        ao_config.radio_enable = TRUE;
                if (ao_config.minor < 9)
-                       memset(&ao_config.aes_key, '\0', AO_AES_LEN);
+                       memset(&ao_config.aes_key, 0, AO_AES_LEN);
                ao_config.minor = AO_CONFIG_MINOR;
                ao_config_dirty = 1;
        }