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   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 #include <ao_radio_cmac.h>
  20
  21 __xdata uint16_t ao_launch_ignite;
  22
  23 #if 0
  24 #define PRINTD(...) printf(__VA_ARGS__)
  25 #else
  26 #define PRINTD(...)
  27 #endif
  28
  29 static void
  30 ao_launch_run(void)
  31 {
  32         for (;;) {
  33                 while (!ao_launch_ignite)
  34                         ao_sleep(&ao_launch_ignite);
  35                 ao_ignition[ao_igniter_drogue].firing = 1;
  36                 ao_ignition[ao_igniter_main].firing = 1;
  37                 AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
  38                 AO_IGNITER_DROGUE = 1;
  39                 while (ao_launch_ignite) {
  40                         ao_launch_ignite = 0;
  41                         ao_delay(AO_MS_TO_TICKS(500));
  42                 }
  43                 AO_IGNITER_DROGUE = 0;
  44                 ao_ignition[ao_igniter_drogue].firing = 0;
  45                 ao_ignition[ao_igniter_main].firing = 0;
  46         }
  47 }
  48
  49 static void
  50 ao_launch_status(void)
  51 {
  52         uint8_t i;
  53         for (;;) {
  54                 ao_delay(AO_SEC_TO_TICKS(1));
  55                 if (ao_igniter_status(ao_igniter_drogue) == ao_igniter_ready) {
  56                         if (ao_igniter_status(ao_igniter_main) == ao_igniter_ready) {
  57                                 for (i = 0; i < 5; i++) {
  58                                         ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(50));
  59                                         ao_delay(AO_MS_TO_TICKS(100));
  60                                 }
  61                         } else {
  62                                 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
  63                         }
  64                 }
  65         }
  66 }
  67
  68 static __pdata uint8_t  ao_launch_armed;
  69 static __pdata uint16_t ao_launch_arm_time;
  70
  71 static void
  72 ao_launch(void)
  73 {
  74         static __xdata struct ao_launch_command command;
  75         static __xdata struct ao_launch_query   query;
  76         int16_t time_difference;
  77
  78         ao_led_off(AO_LED_RED);
  79         ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
  80         for (;;) {
  81                 flush();
  82                 if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK)
  83                         continue;
  84
  85                 PRINTD ("tick %d serial %d cmd %d channel %d\n",
  86                         command.tick, command.serial, command.cmd, command.channel);
  87
  88                 switch (command.cmd) {
  89                 case AO_LAUNCH_QUERY:
  90                         if (command.serial != ao_serial_number) {
  91                                 PRINTD ("serial number mismatch\n");
  92                                 break;
  93                         }
  94
  95                         if (command.channel == 0) {
  96                                 query.valid = 1;
  97                                 query.arm_status = ao_igniter_status(ao_igniter_drogue);
  98                                 query.igniter_status = ao_igniter_status(ao_igniter_main);
  99                         } else {
 100                                 query.valid = 0;
 101                         }
 102                         query.tick = ao_time();
 103                         query.serial = ao_serial_number;
 104                         query.channel = command.channel;
 105                         PRINTD ("query tick %d serial %d channel %d valid %d arm %d igniter %d\n",
 106                                 query.tick, query.serial, query.channel, query.valid, query.arm_status,
 107                                 query.igniter_status);
 108                         ao_radio_cmac_send(&query, sizeof (query));
 109                         break;
 110                 case AO_LAUNCH_ARM:
 111                         if (command.serial != ao_serial_number) {
 112                                 PRINTD ("serial number mismatch\n");
 113                                 break;
 114                         }
 115
 116                         if (command.channel != 0)
 117                                 break;
 118                         time_difference = command.tick - ao_time();
 119                         PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
 120                         if (time_difference < 0)
 121                                 time_difference = -time_difference;
 122                         if (time_difference > 10) {
 123                                 PRINTD ("time difference too large %d\n", time_difference);
 124                                 break;
 125                         }
 126                         PRINTD ("armed\n");
 127                         ao_launch_armed = 1;
 128                         ao_launch_arm_time = ao_time();
 129                         break;
 130                 case AO_LAUNCH_FIRE:
 131                         if (!ao_launch_armed) {
 132                                 PRINTD ("not armed\n");
 133                                 break;
 134                         }
 135                         if ((uint16_t) (ao_time() - ao_launch_arm_time) > AO_SEC_TO_TICKS(20)) {
 136                                 PRINTD ("late launch arm_time %d time %d\n",
 137                                         ao_launch_arm_time, ao_time());
 138                                 break;
 139                         }
 140                         time_difference = command.tick - ao_time();
 141                         if (time_difference < 0)
 142                                 time_difference = -time_difference;
 143                         if (time_difference > 10) {
 144                                 PRINTD ("time different too large %d\n", time_difference);
 145                                 break;
 146                         }
 147                         PRINTD ("ignite\n");
 148                         ao_launch_ignite = 1;
 149                         ao_wakeup(&ao_launch_ignite);
 150                         break;
 151                 }
 152         }
 153 }
 154
 155 void
 156 ao_launch_test(void)
 157 {
 158         switch (ao_igniter_status(ao_igniter_drogue)) {
 159         case ao_igniter_ready:
 160         case ao_igniter_active:
 161                 printf ("Armed: ");
 162                 switch (ao_igniter_status(ao_igniter_main)) {
 163                 default:
 164                         printf("unknown status\n");
 165                         break;
 166                 case ao_igniter_ready:
 167                         printf("igniter good\n");
 168                         break;
 169                 case ao_igniter_open:
 170                         printf("igniter bad\n");
 171                         break;
 172                 }
 173                 break;
 174         default:
 175                 printf("Disarmed\n");
 176         }
 177 }
 178
 179 void
 180 ao_launch_manual(void)
 181 {
 182         ao_cmd_white();
 183         if (!ao_match_word("DoIt"))
 184                 return;
 185         ao_cmd_white();
 186         ao_launch_ignite = 1;
 187         ao_wakeup(&ao_launch_ignite);
 188 }
 189
 190 static __xdata struct ao_task ao_launch_task;
 191 static __xdata struct ao_task ao_launch_ignite_task;
 192 static __xdata struct ao_task ao_launch_status_task;
 193
 194 __code struct ao_cmds ao_launch_cmds[] = {
 195         { ao_launch_test,       "t\0Test launch continuity" },
 196         { ao_launch_manual,     "i <key>\0Fire igniter. <key> is doit with D&I" },
 197         { 0, NULL }
 198 };
 199
 200 void
 201 ao_launch_init(void)
 202 {
 203         AO_IGNITER_DROGUE = 0;
 204         AO_IGNITER_MAIN = 0;
 205         AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
 206         ao_cmd_register(&ao_launch_cmds[0]);
 207         ao_add_task(&ao_launch_task, ao_launch, "launch listener");
 208         ao_add_task(&ao_launch_ignite_task, ao_launch_run, "launch igniter");
 209         ao_add_task(&ao_launch_status_task, ao_launch_status, "launch status");
 210 }