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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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   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.
  13  *
  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.
  17  */
  18
  19 #include <ao.h>
  20 #include <ao_radio_cmac.h>
  21
  22 __xdata uint16_t ao_launch_ignite;
  23
  24 #if 0
  25 #define PRINTD(...) printf(__VA_ARGS__)
  26 #else
  27 #define PRINTD(...)
  28 #endif
  29
  30 static void
  31 ao_launch_run(void)
  32 {
  33         for (;;) {
  34                 while (!ao_launch_ignite)
  35                         ao_sleep(&ao_launch_ignite);
  36                 ao_ignition[ao_igniter_drogue].firing = 1;
  37                 ao_ignition[ao_igniter_main].firing = 1;
  38                 AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
  39                 AO_IGNITER_DROGUE = 1;
  40                 while (ao_launch_ignite) {
  41                         ao_launch_ignite = 0;
  42                         ao_delay(AO_MS_TO_TICKS(500));
  43                 }
  44                 AO_IGNITER_DROGUE = 0;
  45                 ao_ignition[ao_igniter_drogue].firing = 0;
  46                 ao_ignition[ao_igniter_main].firing = 0;
  47         }
  48 }
  49
  50 static void
  51 ao_launch_status(void)
  52 {
  53         uint8_t i;
  54         for (;;) {
  55                 ao_delay(AO_SEC_TO_TICKS(1));
  56                 if (ao_igniter_status(ao_igniter_drogue) == ao_igniter_ready) {
  57                         if (ao_igniter_status(ao_igniter_main) == ao_igniter_ready) {
  58                                 for (i = 0; i < 5; i++) {
  59                                         ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(50));
  60                                         ao_delay(AO_MS_TO_TICKS(100));
  61                                 }
  62                         } else {
  63                                 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
  64                         }
  65                 }
  66         }
  67 }
  68
  69 static __pdata uint8_t  ao_launch_armed;
  70 static __pdata uint16_t ao_launch_arm_time;
  71
  72 static void
  73 ao_launch(void)
  74 {
  75         static __xdata struct ao_launch_command command;
  76         static __xdata struct ao_launch_query   query;
  77         int16_t time_difference;
  78
  79         ao_led_off(AO_LED_RED);
  80         ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
  81         for (;;) {
  82                 flush();
  83                 if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK)
  84                         continue;
  85
  86                 PRINTD ("tick %d serial %d cmd %d channel %d\n",
  87                         command.tick, command.serial, command.cmd, command.channel);
  88
  89                 switch (command.cmd) {
  90                 case AO_LAUNCH_QUERY:
  91                         if (command.serial != ao_serial_number) {
  92                                 PRINTD ("serial number mismatch\n");
  93                                 break;
  94                         }
  95
  96                         if (command.channel == 0) {
  97                                 query.valid = 1;
  98                                 query.arm_status = ao_igniter_status(ao_igniter_drogue);
  99                                 query.igniter_status = ao_igniter_status(ao_igniter_main);
 100                         } else {
 101                                 query.valid = 0;
 102                         }
 103                         query.tick = ao_time();
 104                         query.serial = ao_serial_number;
 105                         query.channel = command.channel;
 106                         PRINTD ("query tick %d serial %d channel %d valid %d arm %d igniter %d\n",
 107                                 query.tick, query.serial, query.channel, query.valid, query.arm_status,
 108                                 query.igniter_status);
 109                         ao_radio_cmac_send(&query, sizeof (query));
 110                         break;
 111                 case AO_LAUNCH_ARM:
 112                         if (command.serial != ao_serial_number) {
 113                                 PRINTD ("serial number mismatch\n");
 114                                 break;
 115                         }
 116
 117                         if (command.channel != 0)
 118                                 break;
 119                         time_difference = command.tick - ao_time();
 120                         PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
 121                         if (time_difference < 0)
 122                                 time_difference = -time_difference;
 123                         if (time_difference > 10) {
 124                                 PRINTD ("time difference too large %d\n", time_difference);
 125                                 break;
 126                         }
 127                         PRINTD ("armed\n");
 128                         ao_launch_armed = 1;
 129                         ao_launch_arm_time = ao_time();
 130                         break;
 131                 case AO_LAUNCH_FIRE:
 132                         if (!ao_launch_armed) {
 133                                 PRINTD ("not armed\n");
 134                                 break;
 135                         }
 136                         if ((uint16_t) (ao_time() - ao_launch_arm_time) > AO_SEC_TO_TICKS(20)) {
 137                                 PRINTD ("late launch arm_time %d time %d\n",
 138                                         ao_launch_arm_time, ao_time());
 139                                 break;
 140                         }
 141                         time_difference = command.tick - ao_time();
 142                         if (time_difference < 0)
 143                                 time_difference = -time_difference;
 144                         if (time_difference > 10) {
 145                                 PRINTD ("time different too large %d\n", time_difference);
 146                                 break;
 147                         }
 148                         PRINTD ("ignite\n");
 149                         ao_launch_ignite = 1;
 150                         ao_wakeup(&ao_launch_ignite);
 151                         break;
 152                 }
 153         }
 154 }
 155
 156 void
 157 ao_launch_test(void)
 158 {
 159         switch (ao_igniter_status(ao_igniter_drogue)) {
 160         case ao_igniter_ready:
 161         case ao_igniter_active:
 162                 printf ("Armed: ");
 163                 switch (ao_igniter_status(ao_igniter_main)) {
 164                 default:
 165                         printf("unknown status\n");
 166                         break;
 167                 case ao_igniter_ready:
 168                         printf("igniter good\n");
 169                         break;
 170                 case ao_igniter_open:
 171                         printf("igniter bad\n");
 172                         break;
 173                 }
 174                 break;
 175         default:
 176                 printf("Disarmed\n");
 177         }
 178 }
 179
 180 void
 181 ao_launch_manual(void)
 182 {
 183         ao_cmd_white();
 184         if (!ao_match_word("DoIt"))
 185                 return;
 186         ao_cmd_white();
 187         ao_launch_ignite = 1;
 188         ao_wakeup(&ao_launch_ignite);
 189 }
 190
 191 static __xdata struct ao_task ao_launch_task;
 192 static __xdata struct ao_task ao_launch_ignite_task;
 193 static __xdata struct ao_task ao_launch_status_task;
 194
 195 __code struct ao_cmds ao_launch_cmds[] = {
 196         { ao_launch_test,       "t\0Test launch continuity" },
 197         { ao_launch_manual,     "i <key>\0Fire igniter. <key> is doit with D&I" },
 198         { 0, NULL }
 199 };
 200
 201 void
 202 ao_launch_init(void)
 203 {
 204         AO_IGNITER_DROGUE = 0;
 205         AO_IGNITER_MAIN = 0;
 206         AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
 207         ao_cmd_register(&ao_launch_cmds[0]);
 208         ao_add_task(&ao_launch_task, ao_launch, "launch listener");
 209         ao_add_task(&ao_launch_ignite_task, ao_launch_run, "launch igniter");
 210         ao_add_task(&ao_launch_status_task, ao_launch_status, "launch status");
 211 }