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_launch.h>
21 #include <ao_radio_cmac.h>
23 __xdata uint16_t ao_launch_ignite;
26 #define PRINTD(...) printf(__VA_ARGS__)
35 while (!ao_launch_ignite)
36 ao_sleep(&ao_launch_ignite);
37 ao_ignition[ao_igniter_drogue].firing = 1;
38 ao_ignition[ao_igniter_main].firing = 1;
39 AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
40 AO_IGNITER_DROGUE = 1;
41 while (ao_launch_ignite) {
43 ao_delay(AO_MS_TO_TICKS(500));
45 AO_IGNITER_DROGUE = 0;
46 ao_ignition[ao_igniter_drogue].firing = 0;
47 ao_ignition[ao_igniter_main].firing = 0;
52 ao_launch_status(void)
56 ao_delay(AO_SEC_TO_TICKS(1));
57 if (ao_igniter_status(ao_igniter_drogue) == ao_igniter_ready) {
58 if (ao_igniter_status(ao_igniter_main) == ao_igniter_ready) {
59 for (i = 0; i < 5; i++) {
60 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(50));
61 ao_delay(AO_MS_TO_TICKS(100));
64 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
70 static __pdata uint8_t ao_launch_armed;
71 static __pdata uint16_t ao_launch_arm_time;
76 static __xdata struct ao_launch_command command;
77 static __xdata struct ao_launch_query query;
78 int16_t time_difference;
80 ao_led_off(AO_LED_RED);
81 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
84 if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK)
87 PRINTD ("tick %d serial %d cmd %d channel %d\n",
88 command.tick, command.serial, command.cmd, command.channel);
90 switch (command.cmd) {
92 if (command.serial != ao_serial_number) {
93 PRINTD ("serial number mismatch\n");
97 if (command.channel == 0) {
99 query.arm_status = ao_igniter_status(ao_igniter_drogue);
100 query.igniter_status = ao_igniter_status(ao_igniter_main);
104 query.tick = ao_time();
105 query.serial = ao_serial_number;
106 query.channel = command.channel;
107 PRINTD ("query tick %d serial %d channel %d valid %d arm %d igniter %d\n",
108 query.tick, query.serial, query.channel, query.valid, query.arm_status,
109 query.igniter_status);
110 ao_radio_cmac_send(&query, sizeof (query));
113 if (command.serial != ao_serial_number) {
114 PRINTD ("serial number mismatch\n");
118 if (command.channel != 0)
120 time_difference = command.tick - ao_time();
121 PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
122 if (time_difference < 0)
123 time_difference = -time_difference;
124 if (time_difference > 10) {
125 PRINTD ("time difference too large %d\n", time_difference);
130 ao_launch_arm_time = ao_time();
133 if (!ao_launch_armed) {
134 PRINTD ("not armed\n");
137 if ((uint16_t) (ao_time() - ao_launch_arm_time) > AO_SEC_TO_TICKS(20)) {
138 PRINTD ("late launch arm_time %d time %d\n",
139 ao_launch_arm_time, ao_time());
142 time_difference = command.tick - ao_time();
143 if (time_difference < 0)
144 time_difference = -time_difference;
145 if (time_difference > 10) {
146 PRINTD ("time different too large %d\n", time_difference);
150 ao_launch_ignite = 1;
151 ao_wakeup(&ao_launch_ignite);
160 switch (ao_igniter_status(ao_igniter_drogue)) {
161 case ao_igniter_ready:
162 case ao_igniter_active:
164 switch (ao_igniter_status(ao_igniter_main)) {
166 printf("unknown status\n");
168 case ao_igniter_ready:
169 printf("igniter good\n");
171 case ao_igniter_open:
172 printf("igniter bad\n");
177 printf("Disarmed\n");
182 ao_launch_manual(void)
185 if (!ao_match_word("DoIt"))
188 ao_launch_ignite = 1;
189 ao_wakeup(&ao_launch_ignite);
192 static __xdata struct ao_task ao_launch_task;
193 static __xdata struct ao_task ao_launch_ignite_task;
194 static __xdata struct ao_task ao_launch_status_task;
196 __code struct ao_cmds ao_launch_cmds[] = {
197 { ao_launch_test, "t\0Test launch continuity" },
198 { ao_launch_manual, "i <key>\0Fire igniter. <key> is doit with D&I" },
205 AO_IGNITER_DROGUE = 0;
207 AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
208 ao_cmd_register(&ao_launch_cmds[0]);
209 ao_add_task(&ao_launch_task, ao_launch, "launch listener");
210 ao_add_task(&ao_launch_ignite_task, ao_launch_run, "launch igniter");
211 ao_add_task(&ao_launch_status_task, ao_launch_status, "launch status");