altos: Finish up primitive telelaunch protocol

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>

diff --git a/src/ao_launch.c b/src/ao_launch.c
index 6c15471928e3fc7c85227c8f0f566b856c662115..35afbda860111e3fce60792f396b1d1609097abf 100644 (file)
--- a/src/ao_launch.c
+++ b/src/ao_launch.c
@@ -19,6 +19,12 @@
 
 __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;

diff --git a/src/ao_radio_cmac.c b/src/ao_radio_cmac.c
index 9694b5b3ef7d20cb989d1954d362b16d668bf78c..c2757b1629955a847180094172956bdbd49fedc2 100644 (file)
--- a/src/ao_radio_cmac.c
+++ b/src/ao_radio_cmac.c
@@ -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 },
 };
 

diff --git a/src/core/ao_config.c b/src/core/ao_config.c
index 7f999feb10ea2612f1fcfd87953c3654481f22bd..28854ab5a7887ff3765a894d32bfb70b3eaf17fd 100644 (file)
--- a/src/core/ao_config.c
+++ b/src/core/ao_config.c
@@ -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;
        }