2 * Copyright © 2011 Keith Packard <keithp@keithp.com>
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.
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.
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.
19 #include <ao_radio_cmac.h>
21 __xdata uint16_t ao_launch_ignite;
24 #define PRINTD(...) printf(__VA_ARGS__)
33 while (!ao_launch_ignite)
34 ao_sleep(&ao_launch_ignite);
35 ao_ignition[ao_igniter_drogue].firing = 1;
36 ao_ignition[ao_igniter_main].firing = 1;
37 AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
38 AO_IGNITER_DROGUE = 1;
39 while (ao_launch_ignite) {
41 ao_delay(AO_MS_TO_TICKS(500));
43 AO_IGNITER_DROGUE = 0;
44 ao_ignition[ao_igniter_drogue].firing = 0;
45 ao_ignition[ao_igniter_main].firing = 0;
50 ao_launch_status(void)
54 ao_delay(AO_SEC_TO_TICKS(1));
55 if (ao_igniter_status(ao_igniter_drogue) == ao_igniter_ready) {
56 if (ao_igniter_status(ao_igniter_main) == ao_igniter_ready) {
57 for (i = 0; i < 5; i++) {
58 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(50));
59 ao_delay(AO_MS_TO_TICKS(100));
62 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
68 static __pdata uint8_t ao_launch_armed;
69 static __pdata uint16_t ao_launch_arm_time;
74 static __xdata struct ao_launch_command command;
75 static __xdata struct ao_launch_query query;
76 int16_t time_difference;
78 ao_led_off(AO_LED_RED);
79 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
82 if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK)
85 PRINTD ("tick %d serial %d cmd %d channel %d\n",
86 command.tick, command.serial, command.cmd, command.channel);
88 switch (command.cmd) {
90 if (command.serial != ao_serial_number) {
91 PRINTD ("serial number mismatch\n");
95 if (command.channel == 0) {
97 query.arm_status = ao_igniter_status(ao_igniter_drogue);
98 query.igniter_status = ao_igniter_status(ao_igniter_main);
102 query.tick = ao_time();
103 query.serial = ao_serial_number;
104 query.channel = command.channel;
105 PRINTD ("query tick %d serial %d channel %d valid %d arm %d igniter %d\n",
106 query.tick, query.serial, query.channel, query.valid, query.arm_status,
107 query.igniter_status);
108 ao_radio_cmac_send(&query, sizeof (query));
111 if (command.serial != ao_serial_number) {
112 PRINTD ("serial number mismatch\n");
116 if (command.channel != 0)
118 time_difference = command.tick - ao_time();
119 PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
120 if (time_difference < 0)
121 time_difference = -time_difference;
122 if (time_difference > 10) {
123 PRINTD ("time difference too large %d\n", time_difference);
128 ao_launch_arm_time = ao_time();
131 if (!ao_launch_armed) {
132 PRINTD ("not armed\n");
135 if ((uint16_t) (ao_time() - ao_launch_arm_time) > AO_SEC_TO_TICKS(20)) {
136 PRINTD ("late launch arm_time %d time %d\n",
137 ao_launch_arm_time, ao_time());
140 time_difference = command.tick - ao_time();
141 if (time_difference < 0)
142 time_difference = -time_difference;
143 if (time_difference > 10) {
144 PRINTD ("time different too large %d\n", time_difference);
148 ao_launch_ignite = 1;
149 ao_wakeup(&ao_launch_ignite);
158 switch (ao_igniter_status(ao_igniter_drogue)) {
159 case ao_igniter_ready:
160 case ao_igniter_active:
162 switch (ao_igniter_status(ao_igniter_main)) {
164 printf("unknown status\n");
166 case ao_igniter_ready:
167 printf("igniter good\n");
169 case ao_igniter_open:
170 printf("igniter bad\n");
175 printf("Disarmed\n");
180 ao_launch_manual(void)
183 if (!ao_match_word("DoIt"))
186 ao_launch_ignite = 1;
187 ao_wakeup(&ao_launch_ignite);
190 static __xdata struct ao_task ao_launch_task;
191 static __xdata struct ao_task ao_launch_ignite_task;
192 static __xdata struct ao_task ao_launch_status_task;
194 __code struct ao_cmds ao_launch_cmds[] = {
195 { ao_launch_test, "t\0Test launch continuity" },
196 { ao_launch_manual, "i <key>\0Fire igniter. <key> is doit with D&I" },
203 AO_IGNITER_DROGUE = 0;
205 AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
206 ao_cmd_register(&ao_launch_cmds[0]);
207 ao_add_task(&ao_launch_task, ao_launch, "launch listener");
208 ao_add_task(&ao_launch_ignite_task, ao_launch_run, "launch igniter");
209 ao_add_task(&ao_launch_status_task, ao_launch_status, "launch status");