git.gag.com Git - fw/altos/blob - src/ao_launch.c

   1 /*
   2  * Copyright © 2011 Keith Packard <keithp@keithp.com>
   3  *
   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.
   7  *
   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.
  12  *
  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.
  16  */
  17
  18 #include "ao.h"
  19
  20 __xdata uint16_t ao_launch_ignite;
  21
  22 static void
  23 ao_launch_run(void)
  24 {
  25         for (;;) {
  26                 while (!ao_launch_ignite)
  27                         ao_sleep(&ao_launch_ignite);
  28                 while (ao_launch_ignite) {
  29                         ao_launch_ignite = 0;
  30
  31                         ao_ignition[ao_igniter_drogue].firing = 1;
  32                         ao_ignition[ao_igniter_main].firing = 1;
  33                         AO_IGNITER_DROGUE = 1;
  34                         ao_delay(AO_MS_TO_TICKS(500));
  35                         AO_IGNITER_DROGUE = 0;
  36                         ao_ignition[ao_igniter_drogue].firing = 0;
  37                         ao_ignition[ao_igniter_main].firing = 0;
  38                 }
  39         }
  40 }
  41
  42 static void
  43 ao_launch_status(void)
  44 {
  45         uint8_t i;
  46         for (;;) {
  47                 ao_delay(AO_SEC_TO_TICKS(1));
  48                 if (ao_igniter_status(ao_igniter_drogue) == ao_igniter_ready) {
  49                         if (ao_igniter_status(ao_igniter_main) == ao_igniter_ready) {
  50                                 for (i = 0; i < 5; i++) {
  51                                         ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(50));
  52                                         ao_delay(AO_MS_TO_TICKS(100));
  53                                 }
  54                         } else {
  55                                 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
  56                         }
  57                 }
  58         }
  59 }
  60
  61 static __pdata uint8_t  ao_launch_armed;
  62 static __pdata uint16_t ao_launch_arm_time;
  63
  64 static void
  65 ao_launch(void)
  66 {
  67         static __xdata struct ao_launch_command command;
  68         static __xdata struct ao_launch_query   query;
  69         int16_t time_difference;
  70
  71         ao_led_off(AO_LED_RED);
  72         ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
  73         for (;;) {
  74                 if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK)
  75                         continue;
  76
  77                 printf ("tick %d serial %d cmd %d channel %d\n",
  78                         command.tick, command.serial, command.cmd, command.channel);
  79
  80                 if (command.serial != ao_serial_number) {
  81                         printf ("serial number mismatch\n");
  82                         continue;
  83                 }
  84
  85                 switch (command.cmd) {
  86                 case AO_LAUNCH_QUERY:
  87                         if (command.channel == 0) {
  88                                 query.valid = 1;
  89                                 query.arm_status = ao_igniter_status(ao_igniter_drogue);
  90                                 query.igniter_status = ao_igniter_status(ao_igniter_main);
  91                         } else {
  92                                 query.valid = 0;
  93                         }
  94                         query.tick = ao_time();
  95                         query.serial = ao_serial_number;
  96                         query.channel = command.channel;
  97                         printf ("query tick %d serial %d channel %d valid %d arm %d igniter %d\n",
  98                                 query.tick, query.serial, query.channel, query.valid, query.arm_status,
  99                                 query.igniter_status);
 100                         ao_radio_cmac_send(&query, sizeof (query));
 101                         break;
 102                 case AO_LAUNCH_ARM:
 103                         if (command.channel != 0)
 104                                 break;
 105                         time_difference = command.tick - ao_time();
 106                         printf ("arm tick %d local tick %d\n", command.tick, ao_time());
 107                         if (time_difference < 0)
 108                                 time_difference = -time_difference;
 109                         if (time_difference > 10) {
 110                                 printf ("time difference too large %d\n", time_difference);
 111                                 break;
 112                         }
 113                         printf ("armed\n");
 114                         ao_launch_armed = 1;
 115                         ao_launch_arm_time = ao_time();
 116                         break;
 117                 case AO_LAUNCH_FIRE:
 118                         if (command.channel != 0)
 119                                 break;
 120                         if (!ao_launch_armed) {
 121                                 printf ("not armed\n");
 122                                 break;
 123                         }
 124                         if ((uint16_t) (ao_launch_arm_time - ao_time()) > AO_SEC_TO_TICKS(20)) {
 125                                 printf ("late launch arm_time %d time %d\n",
 126                                         ao_launch_arm_time, ao_time());
 127                                 break;
 128                         }
 129                         time_difference = command.tick - ao_time();
 130                         if (time_difference < 0)
 131                                 time_difference = -time_difference;
 132                         if (time_difference > 10) {
 133                                 printf ("time different too large %d\n", time_difference);
 134                                 break;
 135                         }
 136                         printf ("ignite\n");
 137                         ao_launch_ignite = 1;
 138                         ao_wakeup(&ao_launch_ignite);
 139                         break;
 140                 }
 141         }
 142 }
 143
 144 void
 145 ao_launch_test(void)
 146 {
 147         switch (ao_igniter_status(ao_igniter_drogue)) {
 148         case ao_igniter_ready:
 149         case ao_igniter_active:
 150                 printf ("Armed: ");
 151                 switch (ao_igniter_status(ao_igniter_main)) {
 152                 default:
 153                         printf("unknown status\n");
 154                         break;
 155                 case ao_igniter_ready:
 156                         printf("igniter good\n");
 157                         break;
 158                 case ao_igniter_open:
 159                         printf("igniter bad\n");
 160                         break;
 161                 }
 162                 break;
 163         default:
 164                 printf("Disarmed\n");
 165         }
 166 }
 167
 168 void
 169 ao_launch_manual(void)
 170 {
 171         ao_cmd_white();
 172         if (!ao_match_word("DoIt"))
 173                 return;
 174         ao_cmd_white();
 175         ao_launch_ignite = 1;
 176         ao_wakeup(&ao_launch_ignite);
 177 }
 178
 179 static __xdata struct ao_task ao_launch_task;
 180 static __xdata struct ao_task ao_launch_ignite_task;
 181 static __xdata struct ao_task ao_launch_status_task;
 182
 183 __code struct ao_cmds ao_launch_cmds[] = {
 184         { ao_launch_test,       "t\0Test launch continuity" },
 185         { ao_launch_manual,     "i <key>\0Fire igniter. <key> is doit with D&I" },
 186         { 0, NULL }
 187 };
 188
 189 void
 190 ao_launch_init(void)
 191 {
 192         AO_IGNITER_DROGUE = 0;
 193         AO_IGNITER_MAIN = 0;
 194         AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
 195         ao_cmd_register(&ao_launch_cmds[0]);
 196         ao_add_task(&ao_launch_task, ao_launch, "launch listener");
 197         ao_add_task(&ao_launch_ignite_task, ao_launch_run, "launch igniter");
 198         ao_add_task(&ao_launch_status_task, ao_launch_status, "launch status");
 199 }