+ radio_cmac_send(len);
+ ao_mutex_put(&ao_radio_cmac_mutex);
+}
+
+static void
+radio_cmac_recv_cmd(void) __reentrant
+{
+ uint8_t len, i;
+ uint16_t timeout;
+
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ len = ao_cmd_lex_i;
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ timeout = AO_MS_TO_TICKS(ao_cmd_lex_i);
+ ao_mutex_get(&ao_radio_cmac_mutex);
+ i = radio_cmac_recv(len, timeout);
+ if (i == AO_RADIO_CMAC_OK) {
+ printf ("PACKET ");
+ for (i = 0; i < len; i++)
+ printf("%02x", cmac_data[i]);
+ printf (" %d\n", ao_radio_cmac_rssi);
+ } else
+ printf ("ERROR %d %d\n", i, ao_radio_cmac_rssi);
+ ao_mutex_put(&ao_radio_cmac_mutex);
+}
+
+static __xdata struct ao_launch_command command;
+static __xdata struct ao_launch_query query;
+static pdata uint16_t launch_serial;
+static pdata uint8_t launch_channel;
+static pdata uint16_t tick_offset;
+
+static void
+launch_args(void) __reentrant
+{
+ ao_cmd_decimal();
+ launch_serial = ao_cmd_lex_i;
+ ao_cmd_decimal();
+ launch_channel = ao_cmd_lex_i;
+}
+
+static int8_t
+launch_query(void)
+{
+ uint8_t i;
+ int8_t r = AO_RADIO_CMAC_OK;
+
+ tick_offset = ao_time();
+ for (i = 0; i < 10; i++) {
+ printf ("."); flush();
+ command.tick = ao_time();
+ command.serial = launch_serial;
+ command.cmd = AO_LAUNCH_QUERY;
+ command.channel = launch_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;
+ }
+ tick_offset -= query.tick;
+ printf("\n"); flush();
+ return r;
+}
+
+static void
+launch_report_cmd(void) __reentrant
+{
+ int8_t r;
+
+ launch_args();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ r = launch_query();
+ switch (r) {
+ case AO_RADIO_CMAC_OK:
+ if (query.valid) {
+ switch (query.arm_status) {
+ case ao_igniter_ready:
+ case ao_igniter_active:
+ printf ("Armed: ");
+ break;
+ default:
+ printf("Disarmed: ");
+ }
+ switch (query.igniter_status) {
+ default:
+ printf("unknown\n");
+ break;
+ case ao_igniter_ready:
+ printf("igniter good\n");
+ break;
+ case ao_igniter_open:
+ printf("igniter bad\n");
+ break;
+ }
+ } else {
+ printf("Invalid channel %d\n", launch_channel);
+ }
+ printf("Rssi: %d\n", ao_radio_cmac_rssi);
+ break;
+ default:
+ printf("Error %d\n", r);
+ break;
+ }
+}
+
+static void
+launch_arm(void) __reentrant
+{
+ command.tick = ao_time() - tick_offset;
+ command.serial = launch_serial;
+ command.cmd = AO_LAUNCH_ARM;
+ command.channel = launch_channel;
+ ao_radio_cmac_send(&command, sizeof (command));
+}
+
+static void
+launch_ignite(void) __reentrant
+{
+ command.tick = ao_time() - tick_offset;
+ command.serial = launch_serial;
+ command.cmd = AO_LAUNCH_FIRE;
+ command.channel = 0;
+ ao_radio_cmac_send(&command, sizeof (command));
+}
+
+static void
+launch_fire_cmd(void) __reentrant
+{
+ static __xdata struct ao_launch_command command;
+ uint8_t secs;
+ uint8_t i;
+ int8_t r;
+
+ launch_args();
+ ao_cmd_decimal();
+ secs = ao_cmd_lex_i;
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ r = launch_query();
+ if (r != AO_RADIO_CMAC_OK) {
+ printf("query failed %d\n", r);
+ return;
+ }
+
+ for (i = 0; i < 4; i++) {
+ printf("arm %d\n", i); flush();
+ launch_arm();
+ }
+
+ secs = secs * 10 - 5;
+ if (secs > 100)
+ secs = 100;
+ for (i = 0; i < secs; i++) {
+ printf("fire %d\n", i); flush();
+ launch_ignite();
+ ao_delay(AO_MS_TO_TICKS(100));