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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_launch.h>
  21 #include <ao_radio_cmac.h>
  22
  23 __xdata uint16_t ao_launch_ignite;
  24
  25 #if 0
  26 #define PRINTD(...) printf(__VA_ARGS__)
  27 #else
  28 #define PRINTD(...)
  29 #endif
  30
  31 static void
  32 ao_launch_run(void)
  33 {
  34         for (;;) {
  35                 while (!ao_launch_ignite)
  36                         ao_sleep(&ao_launch_ignite);
  37                 ao_ignition[ao_igniter_drogue].firing = 1;
  38                 ao_ignition[ao_igniter_main].firing = 1;
  39                 AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
  40                 AO_IGNITER_DROGUE = 1;
  41                 while (ao_launch_ignite) {
  42                         ao_launch_ignite = 0;
  43                         ao_delay(AO_MS_TO_TICKS(500));
  44                 }
  45                 AO_IGNITER_DROGUE = 0;
  46                 ao_ignition[ao_igniter_drogue].firing = 0;
  47                 ao_ignition[ao_igniter_main].firing = 0;
  48         }
  49 }
  50
  51 static void
  52 ao_launch_status(void)
  53 {
  54         uint8_t i;
  55         for (;;) {
  56                 ao_delay(AO_SEC_TO_TICKS(1));
  57                 if (ao_igniter_status(ao_igniter_drogue) == ao_igniter_ready) {
  58                         if (ao_igniter_status(ao_igniter_main) == ao_igniter_ready) {
  59                                 for (i = 0; i < 5; i++) {
  60                                         ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(50));
  61                                         ao_delay(AO_MS_TO_TICKS(100));
  62                                 }
  63                         } else {
  64                                 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
  65                         }
  66                 }
  67         }
  68 }
  69
  70 static __pdata uint8_t  ao_launch_armed;
  71 static __pdata uint16_t ao_launch_arm_time;
  72
  73 static void
  74 ao_launch(void)
  75 {
  76         static __xdata struct ao_launch_command command;
  77         static __xdata struct ao_launch_query   query;
  78         int16_t time_difference;
  79
  80         ao_led_off(AO_LED_RED);
  81         ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
  82         for (;;) {
  83                 flush();
  84                 if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK)
  85                         continue;
  86
  87                 PRINTD ("tick %d serial %d cmd %d channel %d\n",
  88                         command.tick, command.serial, command.cmd, command.channel);
  89
  90                 switch (command.cmd) {
  91                 case AO_LAUNCH_QUERY:
  92                         if (command.serial != ao_serial_number) {
  93                                 PRINTD ("serial number mismatch\n");
  94                                 break;
  95                         }
  96
  97                         if (command.channel == 0) {
  98                                 query.valid = 1;
  99                                 query.arm_status = ao_igniter_status(ao_igniter_drogue);
 100                                 query.igniter_status = ao_igniter_status(ao_igniter_main);
 101                         } else {
 102                                 query.valid = 0;
 103                         }
 104                         query.tick = ao_time();
 105                         query.serial = ao_serial_number;
 106                         query.channel = command.channel;
 107                         PRINTD ("query tick %d serial %d channel %d valid %d arm %d igniter %d\n",
 108                                 query.tick, query.serial, query.channel, query.valid, query.arm_status,
 109                                 query.igniter_status);
 110                         ao_radio_cmac_send(&query, sizeof (query));
 111                         break;
 112                 case AO_LAUNCH_ARM:
 113                         if (command.serial != ao_serial_number) {
 114                                 PRINTD ("serial number mismatch\n");
 115                                 break;
 116                         }
 117
 118                         if (command.channel != 0)
 119                                 break;
 120                         time_difference = command.tick - ao_time();
 121                         PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
 122                         if (time_difference < 0)
 123                                 time_difference = -time_difference;
 124                         if (time_difference > 10) {
 125                                 PRINTD ("time difference too large %d\n", time_difference);
 126                                 break;
 127                         }
 128                         PRINTD ("armed\n");
 129                         ao_launch_armed = 1;
 130                         ao_launch_arm_time = ao_time();
 131                         break;
 132                 case AO_LAUNCH_FIRE:
 133                         if (!ao_launch_armed) {
 134                                 PRINTD ("not armed\n");
 135                                 break;
 136                         }
 137                         if ((uint16_t) (ao_time() - ao_launch_arm_time) > AO_SEC_TO_TICKS(20)) {
 138                                 PRINTD ("late launch arm_time %d time %d\n",
 139                                         ao_launch_arm_time, ao_time());
 140                                 break;
 141                         }
 142                         time_difference = command.tick - ao_time();
 143                         if (time_difference < 0)
 144                                 time_difference = -time_difference;
 145                         if (time_difference > 10) {
 146                                 PRINTD ("time different too large %d\n", time_difference);
 147                                 break;
 148                         }
 149                         PRINTD ("ignite\n");
 150                         ao_launch_ignite = 1;
 151                         ao_wakeup(&ao_launch_ignite);
 152                         break;
 153                 }
 154         }
 155 }
 156
 157 void
 158 ao_launch_test(void)
 159 {
 160         switch (ao_igniter_status(ao_igniter_drogue)) {
 161         case ao_igniter_ready:
 162         case ao_igniter_active:
 163                 printf ("Armed: ");
 164                 switch (ao_igniter_status(ao_igniter_main)) {
 165                 default:
 166                         printf("unknown status\n");
 167                         break;
 168                 case ao_igniter_ready:
 169                         printf("igniter good\n");
 170                         break;
 171                 case ao_igniter_open:
 172                         printf("igniter bad\n");
 173                         break;
 174                 }
 175                 break;
 176         default:
 177                 printf("Disarmed\n");
 178         }
 179 }
 180
 181 void
 182 ao_launch_manual(void)
 183 {
 184         ao_cmd_white();
 185         if (!ao_match_word("DoIt"))
 186                 return;
 187         ao_cmd_white();
 188         ao_launch_ignite = 1;
 189         ao_wakeup(&ao_launch_ignite);
 190 }
 191
 192 static __xdata struct ao_task ao_launch_task;
 193 static __xdata struct ao_task ao_launch_ignite_task;
 194 static __xdata struct ao_task ao_launch_status_task;
 195
 196 __code struct ao_cmds ao_launch_cmds[] = {
 197         { ao_launch_test,       "t\0Test launch continuity" },
 198         { ao_launch_manual,     "i <key>\0Fire igniter. <key> is doit with D&I" },
 199         { 0, NULL }
 200 };
 201
 202 void
 203 ao_launch_init(void)
 204 {
 205         AO_IGNITER_DROGUE = 0;
 206         AO_IGNITER_MAIN = 0;
 207         AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
 208         ao_cmd_register(&ao_launch_cmds[0]);
 209         ao_add_task(&ao_launch_task, ao_launch, "launch listener");
 210         ao_add_task(&ao_launch_ignite_task, ao_launch_run, "launch igniter");
 211         ao_add_task(&ao_launch_status_task, ao_launch_status, "launch status");
 212 }