2 * Copyright © 2012 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.
20 #include <ao_74hc497.h>
21 #include <ao_radio_cmac.h>
23 static __xdata uint8_t ao_pad_ignite;
24 static __xdata struct ao_pad_command command;
25 static __xdata struct ao_pad_query query;
26 static __pdata uint8_t ao_pad_armed;
27 static __pdata uint16_t ao_pad_arm_time;
28 static __pdata uint8_t ao_pad_box;
29 static __xdata uint8_t ao_pad_disabled;
34 static __pdata uint8_t ao_pad_debug;
35 #define PRINTD(...) (ao_pad_debug ? (printf(__VA_ARGS__), 0) : 0)
36 #define FLUSHD() (ao_pad_debug ? (flush(), 0) : 0)
46 while (!ao_pad_ignite)
47 ao_sleep(&ao_pad_ignite);
49 * Actually set the pad bits
51 AO_PAD_PORT = (AO_PAD_PORT & (~AO_PAD_ALL_PINS)) | ao_pad_ignite;
52 while (ao_pad_ignite) {
54 ao_delay(AO_PAD_FIRE_TIME);
56 AO_PAD_PORT &= ~(AO_PAD_ALL_PINS);
60 #define AO_PAD_ARM_BEEP_INTERVAL 200
67 __pdata uint8_t prev = 0, cur = 0;
68 __pdata uint8_t beeping = 0;
69 __xdata struct ao_data *packet;
70 __pdata uint16_t arm_beep_time = 0;
72 sample = ao_data_head;
76 while (sample == ao_data_head)
77 ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
80 packet = &ao_data_ring[sample];
81 sample = ao_data_ring_next(sample);
83 pyro = packet->adc.pyro;
85 #define VOLTS_TO_PYRO(x) ((int16_t) ((x) * 27.0 / 127.0 / 3.3 * 32767.0))
88 if (pyro > VOLTS_TO_PYRO(10)) {
89 query.arm_status = AO_PAD_ARM_STATUS_ARMED;
91 } else if (pyro < VOLTS_TO_PYRO(5)) {
92 query.arm_status = AO_PAD_ARM_STATUS_DISARMED;
95 if ((ao_time() % 100) < 50)
97 query.arm_status = AO_PAD_ARM_STATUS_UNKNOWN;
101 for (c = 0; c < AO_PAD_NUM; c++) {
102 int16_t sense = packet->adc.sense[c];
103 uint8_t status = AO_PAD_IGNITER_STATUS_UNKNOWN;
106 * pyro is run through a divider, so pyro = v_pyro * 27 / 127 ~= v_pyro / 20
107 * v_pyro = pyro * 127 / 27
117 * If the relay is closed, then sense will be 0
118 * If no igniter is present, then sense will be v_pyro * 27k/227k = pyro * 127 / 227 ~= pyro/2
119 * If igniter is present, then sense will be v_pyro * 27k/127k ~= v_pyro / 20 = pyro
122 if (sense <= pyro / 8) {
123 status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED;
124 if ((ao_time() % 100) < 50)
125 cur |= AO_LED_CONTINUITY(c);
127 else if (pyro / 8 * 3 <= sense && sense <= pyro / 8 * 5)
128 status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
129 else if (pyro / 8 * 7 <= sense) {
130 status = AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN;
131 cur |= AO_LED_CONTINUITY(c);
133 query.igniter_status[c] = status;
136 PRINTD("change leds from %02x to %02x mask %02x\n",
137 prev, cur, AO_LED_CONTINUITY_MASK|AO_LED_ARMED);
138 ao_led_set_mask(cur, AO_LED_CONTINUITY_MASK | AO_LED_ARMED);
144 ao_beep(AO_BEEP_HIGH);
146 ao_beep(AO_BEEP_LOW);
148 } else if (query.arm_status == AO_PAD_ARM_STATUS_ARMED && !beeping) {
149 if (arm_beep_time == 0) {
150 arm_beep_time = AO_PAD_ARM_BEEP_INTERVAL;
152 ao_beep(AO_BEEP_HIGH);
155 } else if (beeping) {
165 if (!ao_pad_disabled) {
167 ao_radio_recv_abort();
175 ao_wakeup (&ao_pad_disabled);
181 int16_t time_difference;
184 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
187 ao_led_on(AO_LED_POWER);
190 while (ao_pad_disabled)
191 ao_sleep(&ao_pad_disabled);
192 ret = ao_radio_cmac_recv(&command, sizeof (command), 0);
193 PRINTD ("cmac_recv %d\n", ret);
194 if (ret != AO_RADIO_CMAC_OK)
197 PRINTD ("tick %d box %d cmd %d channels %02x\n",
198 command.tick, command.box, command.cmd, command.channels);
200 if (ao_pad_armed && (int16_t) (ao_time() - ao_pad_arm_time) > AO_PAD_ARM_TIME)
203 switch (command.cmd) {
205 if (command.box != ao_pad_box) {
206 PRINTD ("box number mismatch\n");
210 if (command.channels & ~(AO_PAD_ALL_PINS))
213 time_difference = command.tick - ao_time();
214 PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
215 if (time_difference < 0)
216 time_difference = -time_difference;
217 if (time_difference > 10) {
218 PRINTD ("time difference too large %d\n", time_difference);
222 ao_pad_armed = command.channels;
223 ao_pad_arm_time = ao_time();
225 /* fall through ... */
227 case AO_LAUNCH_QUERY:
228 if (command.box != ao_pad_box) {
229 PRINTD ("box number mismatch\n");
233 query.tick = ao_time();
234 query.box = ao_pad_box;
235 query.channels = AO_PAD_ALL_PINS;
236 query.armed = ao_pad_armed;
237 PRINTD ("query tick %d box %d channels %02x arm %d arm_status %d igniter %d,%d,%d,%d\n",
238 query.tick, query.box, query.channels, query.armed,
240 query.igniter_status[0],
241 query.igniter_status[1],
242 query.igniter_status[2],
243 query.igniter_status[3]);
244 ao_radio_cmac_send(&query, sizeof (query));
248 PRINTD ("not armed\n");
251 if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
252 PRINTD ("late pad arm_time %d time %d\n",
253 ao_pad_arm_time, ao_time());
256 time_difference = command.tick - ao_time();
257 if (time_difference < 0)
258 time_difference = -time_difference;
259 if (time_difference > 10) {
260 PRINTD ("time different too large %d\n", time_difference);
264 ao_pad_ignite = ao_pad_armed;
265 ao_pad_arm_time = ao_time();
266 ao_wakeup(&ao_pad_ignite);
277 printf ("Arm switch: ");
278 switch (query.arm_status) {
279 case AO_PAD_ARM_STATUS_ARMED:
282 case AO_PAD_ARM_STATUS_DISARMED:
283 printf ("Disarmed\n");
285 case AO_PAD_ARM_STATUS_UNKNOWN:
286 printf ("Unknown\n");
290 for (c = 0; c < AO_PAD_NUM; c++) {
292 switch (query.igniter_status[c]) {
293 case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED: printf ("No igniter. Relay closed\n"); break;
294 case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN: printf ("No igniter. Relay open\n"); break;
295 case AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN: printf ("Good igniter. Relay open\n"); break;
296 case AO_PAD_IGNITER_STATUS_UNKNOWN: printf ("Unknown\n"); break;
305 if (!ao_match_word("DoIt"))
308 if (ao_cmd_status != ao_cmd_success)
310 ao_pad_ignite = 1 << ao_cmd_lex_i;
311 ao_wakeup(&ao_pad_ignite);
314 static __xdata struct ao_task ao_pad_task;
315 static __xdata struct ao_task ao_pad_ignite_task;
316 static __xdata struct ao_task ao_pad_monitor_task;
320 ao_pad_set_debug(void)
323 if (ao_cmd_status == ao_cmd_success)
324 ao_pad_debug = ao_cmd_lex_i != 0;
328 __code struct ao_cmds ao_pad_cmds[] = {
329 { ao_pad_test, "t\0Test pad continuity" },
330 { ao_pad_manual, "i <key> <n>\0Fire igniter. <key> is doit with D&I" },
332 { ao_pad_set_debug, "D <0 off, 1 on>\0Debug" },
341 ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_0, AO_PAD_0, 0);
344 ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_1, AO_PAD_1, 0);
347 ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_2, AO_PAD_2, 0);
350 ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_3, AO_PAD_3, 0);
352 ao_cmd_register(&ao_pad_cmds[0]);
353 ao_add_task(&ao_pad_task, ao_pad, "pad listener");
354 ao_add_task(&ao_pad_ignite_task, ao_pad_run, "pad igniter");
355 ao_add_task(&ao_pad_monitor_task, ao_pad_monitor, "pad monitor");