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; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
20 #include <ao_radio_cmac.h>
22 __xdata uint16_t ao_launch_ignite;
25 #define PRINTD(...) printf(__VA_ARGS__)
34 while (!ao_launch_ignite)
35 ao_sleep(&ao_launch_ignite);
36 ao_ignition[ao_igniter_drogue].firing = 1;
37 ao_ignition[ao_igniter_main].firing = 1;
38 AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
39 AO_IGNITER_DROGUE = 1;
40 while (ao_launch_ignite) {
42 ao_delay(AO_MS_TO_TICKS(500));
44 AO_IGNITER_DROGUE = 0;
45 ao_ignition[ao_igniter_drogue].firing = 0;
46 ao_ignition[ao_igniter_main].firing = 0;
51 ao_launch_status(void)
55 ao_delay(AO_SEC_TO_TICKS(1));
56 if (ao_igniter_status(ao_igniter_drogue) == ao_igniter_ready) {
57 if (ao_igniter_status(ao_igniter_main) == ao_igniter_ready) {
58 for (i = 0; i < 5; i++) {
59 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(50));
60 ao_delay(AO_MS_TO_TICKS(100));
63 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
69 static __pdata uint8_t ao_launch_armed;
70 static __pdata uint16_t ao_launch_arm_time;
75 static __xdata struct ao_launch_command command;
76 static __xdata struct ao_launch_query query;
77 int16_t time_difference;
79 ao_led_off(AO_LED_RED);
80 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
83 if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK)
86 PRINTD ("tick %d serial %d cmd %d channel %d\n",
87 command.tick, command.serial, command.cmd, command.channel);
89 switch (command.cmd) {
91 if (command.serial != ao_serial_number) {
92 PRINTD ("serial number mismatch\n");
96 if (command.channel == 0) {
98 query.arm_status = ao_igniter_status(ao_igniter_drogue);
99 query.igniter_status = ao_igniter_status(ao_igniter_main);
103 query.tick = ao_time();
104 query.serial = ao_serial_number;
105 query.channel = command.channel;
106 PRINTD ("query tick %d serial %d channel %d valid %d arm %d igniter %d\n",
107 query.tick, query.serial, query.channel, query.valid, query.arm_status,
108 query.igniter_status);
109 ao_radio_cmac_send(&query, sizeof (query));
112 if (command.serial != ao_serial_number) {
113 PRINTD ("serial number mismatch\n");
117 if (command.channel != 0)
119 time_difference = command.tick - ao_time();
120 PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
121 if (time_difference < 0)
122 time_difference = -time_difference;
123 if (time_difference > 10) {
124 PRINTD ("time difference too large %d\n", time_difference);
129 ao_launch_arm_time = ao_time();
132 if (!ao_launch_armed) {
133 PRINTD ("not armed\n");
136 if ((uint16_t) (ao_time() - ao_launch_arm_time) > AO_SEC_TO_TICKS(20)) {
137 PRINTD ("late launch arm_time %d time %d\n",
138 ao_launch_arm_time, ao_time());
141 time_difference = command.tick - ao_time();
142 if (time_difference < 0)
143 time_difference = -time_difference;
144 if (time_difference > 10) {
145 PRINTD ("time different too large %d\n", time_difference);
149 ao_launch_ignite = 1;
150 ao_wakeup(&ao_launch_ignite);
159 switch (ao_igniter_status(ao_igniter_drogue)) {
160 case ao_igniter_ready:
161 case ao_igniter_active:
163 switch (ao_igniter_status(ao_igniter_main)) {
165 printf("unknown status\n");
167 case ao_igniter_ready:
168 printf("igniter good\n");
170 case ao_igniter_open:
171 printf("igniter bad\n");
176 printf("Disarmed\n");
181 ao_launch_manual(void)
184 if (!ao_match_word("DoIt"))
187 ao_launch_ignite = 1;
188 ao_wakeup(&ao_launch_ignite);
191 static __xdata struct ao_task ao_launch_task;
192 static __xdata struct ao_task ao_launch_ignite_task;
193 static __xdata struct ao_task ao_launch_status_task;
195 __code struct ao_cmds ao_launch_cmds[] = {
196 { ao_launch_test, "t\0Test launch continuity" },
197 { ao_launch_manual, "i <key>\0Fire igniter. <key> is doit with D&I" },
204 AO_IGNITER_DROGUE = 0;
206 AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
207 ao_cmd_register(&ao_launch_cmds[0]);
208 ao_add_task(&ao_launch_task, ao_launch, "launch listener");
209 ao_add_task(&ao_launch_ignite_task, ao_launch_run, "launch igniter");
210 ao_add_task(&ao_launch_status_task, ao_launch_status, "launch status");