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   1 /*
   2  * Copyright © 2012 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_pad.h>
  20 #include <ao_74hc165.h>
  21 #include <ao_radio_cmac.h>
  22
  23 static __xdata uint8_t ao_pad_ignite;
  24 static __xdata struct ao_pad_command    command;
  25 static __xdata struct ao_pad_query      query;
  26 static __pdata uint8_t  ao_pad_armed;
  27 static __pdata uint16_t ao_pad_arm_time;
  28 static __pdata uint8_t  ao_pad_box;
  29 static __xdata uint8_t  ao_pad_disabled;
  30 static __pdata uint16_t ao_pad_packet_time;
  31
  32 #ifndef AO_PAD_RSSI_MINIMUM
  33 #define AO_PAD_RSSI_MINIMUM     -90
  34 #endif
  35
  36 #define DEBUG   1
  37
  38 #if DEBUG
  39 static __pdata uint8_t  ao_pad_debug;
  40 #define PRINTD(...) (ao_pad_debug ? (printf(__VA_ARGS__), 0) : 0)
  41 #define FLUSHD()    (ao_pad_debug ? (flush(), 0) : 0)
  42 #else
  43 #define PRINTD(...)
  44 #define FLUSHD()
  45 #endif
  46
  47 static void
  48 ao_siren(uint8_t v)
  49 {
  50 #ifdef AO_SIREN
  51         ao_gpio_set(AO_SIREN_PORT, AO_SIREN_PIN, AO_SIREN, v);
  52 #else
  53         ao_beep(v ? AO_BEEP_MID : 0);
  54 #endif
  55 }
  56
  57 static void
  58 ao_strobe(uint8_t v)
  59 {
  60 #ifdef AO_STROBE
  61         ao_gpio_set(AO_STROBE_PORT, AO_STROBE_PIN, AO_STROBE, v);
  62 #endif
  63 }
  64
  65 static void
  66 ao_pad_run(void)
  67 {
  68         uint8_t pins;
  69
  70         for (;;) {
  71                 while (!ao_pad_ignite)
  72                         ao_sleep(&ao_pad_ignite);
  73                 /*
  74                  * Actually set the pad bits
  75                  */
  76                 pins = 0;
  77 #if AO_PAD_NUM > 0
  78                 if (ao_pad_ignite & (1 << 0))
  79                         pins |= (1 << AO_PAD_PIN_0);
  80 #endif
  81 #if AO_PAD_NUM > 1
  82                 if (ao_pad_ignite & (1 << 1))
  83                         pins |= (1 << AO_PAD_PIN_1);
  84 #endif
  85 #if AO_PAD_NUM > 2
  86                 if (ao_pad_ignite & (1 << 2))
  87                         pins |= (1 << AO_PAD_PIN_2);
  88 #endif
  89 #if AO_PAD_NUM > 3
  90                 if (ao_pad_ignite & (1 << 3))
  91                         pins |= (1 << AO_PAD_PIN_3);
  92 #endif
  93                 AO_PAD_PORT = (AO_PAD_PORT & (~AO_PAD_ALL_PINS)) | pins;
  94                 while (ao_pad_ignite) {
  95                         ao_pad_ignite = 0;
  96
  97                         ao_delay(AO_PAD_FIRE_TIME);
  98                 }
  99                 AO_PAD_PORT &= ~(AO_PAD_ALL_PINS);
 100         }
 101 }
 102
 103 #define AO_PAD_ARM_SIREN_INTERVAL       200
 104
 105 static void
 106 ao_pad_monitor(void)
 107 {
 108         uint8_t                 c;
 109         uint8_t                 sample;
 110         __pdata uint8_t         prev = 0, cur = 0;
 111         __pdata uint8_t         beeping = 0;
 112         __xdata struct ao_data  *packet;
 113         __pdata uint16_t        arm_beep_time = 0;
 114
 115         sample = ao_data_head;
 116         for (;;) {
 117                 __pdata int16_t                 pyro;
 118                 ao_arch_critical(
 119                         while (sample == ao_data_head)
 120                                 ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
 121                         );
 122
 123                 packet = &ao_data_ring[sample];
 124                 sample = ao_data_ring_next(sample);
 125
 126                 pyro = packet->adc.pyro;
 127
 128 #define VOLTS_TO_PYRO(x) ((int16_t) ((x) * 27.0 / 127.0 / 3.3 * 32767.0))
 129
 130                 cur = 0;
 131                 if (pyro > VOLTS_TO_PYRO(10)) {
 132                         query.arm_status = AO_PAD_ARM_STATUS_ARMED;
 133                         cur |= AO_LED_ARMED;
 134                 } else if (pyro < VOLTS_TO_PYRO(5)) {
 135                         query.arm_status = AO_PAD_ARM_STATUS_DISARMED;
 136                         arm_beep_time = 0;
 137                 } else {
 138                         if ((ao_time() % 100) < 50)
 139                                 cur |= AO_LED_ARMED;
 140                         query.arm_status = AO_PAD_ARM_STATUS_UNKNOWN;
 141                         arm_beep_time = 0;
 142                 }
 143                 if ((ao_time() - ao_pad_packet_time) > AO_SEC_TO_TICKS(2))
 144                         cur |= AO_LED_RED;
 145                 else if (ao_radio_cmac_rssi < AO_PAD_RSSI_MINIMUM)
 146                         cur |= AO_LED_AMBER;
 147                 else
 148                         cur |= AO_LED_GREEN;
 149
 150                 for (c = 0; c < AO_PAD_NUM; c++) {
 151                         int16_t         sense = packet->adc.sense[c];
 152                         uint8_t status = AO_PAD_IGNITER_STATUS_UNKNOWN;
 153
 154                         /*
 155                          *      pyro is run through a divider, so pyro = v_pyro * 27 / 127 ~= v_pyro / 20
 156                          *      v_pyro = pyro * 127 / 27
 157                          *
 158                          *              v_pyro \
 159                          *      100k            igniter
 160                          *              output /
 161                          *      100k           \
 162                          *              sense   relay
 163                          *      27k            /
 164                          *              gnd ---
 165                          *
 166                          *      If the relay is closed, then sense will be 0
 167                          *      If no igniter is present, then sense will be v_pyro * 27k/227k = pyro * 127 / 227 ~= pyro/2
 168                          *      If igniter is present, then sense will be v_pyro * 27k/127k ~= v_pyro / 20 = pyro
 169                          */
 170
 171                         if (sense <= pyro / 8) {
 172                                 status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED;
 173                                 if ((ao_time() % 100) < 50)
 174                                         cur |= AO_LED_CONTINUITY(c);
 175                         }
 176                         else if (pyro / 8 * 3 <= sense && sense <= pyro / 8 * 5)
 177                                 status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
 178                         else if (pyro / 8 * 7 <= sense) {
 179                                 status = AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN;
 180                                 cur |= AO_LED_CONTINUITY(c);
 181                         }
 182                         query.igniter_status[c] = status;
 183                 }
 184                 if (cur != prev) {
 185                         PRINTD("change leds from %02x to %02x\n",
 186                                prev, cur);
 187                         FLUSHD();
 188                         ao_led_set(cur);
 189                         prev = cur;
 190                 }
 191
 192                 if (ao_pad_armed && (int16_t) (ao_time() - ao_pad_arm_time) > AO_PAD_ARM_TIME)
 193                         ao_pad_armed = 0;
 194
 195                 if (ao_pad_armed) {
 196                         ao_strobe(1);
 197                         ao_siren(1);
 198                         beeping = 1;
 199                 } else if (query.arm_status == AO_PAD_ARM_STATUS_ARMED && !beeping) {
 200                         if (arm_beep_time == 0) {
 201                                 arm_beep_time = AO_PAD_ARM_SIREN_INTERVAL;
 202                                 beeping = 1;
 203                                 ao_siren(1);
 204                         }
 205                         --arm_beep_time;
 206                 } else if (beeping) {
 207                         beeping = 0;
 208                         ao_siren(0);
 209                         ao_strobe(0);
 210                 }
 211         }
 212 }
 213
 214 void
 215 ao_pad_disable(void)
 216 {
 217         if (!ao_pad_disabled) {
 218                 ao_pad_disabled = 1;
 219                 ao_radio_recv_abort();
 220         }
 221 }
 222
 223 void
 224 ao_pad_enable(void)
 225 {
 226         ao_pad_disabled = 0;
 227         ao_wakeup (&ao_pad_disabled);
 228 }
 229
 230 #if HAS_74HC165
 231 static uint8_t
 232 ao_pad_read_box(void)
 233 {
 234         uint8_t         byte = ao_74hc165_read();
 235         uint8_t         h, l;
 236
 237         h = byte >> 4;
 238         l = byte & 0xf;
 239         return h * 10 + l;
 240 }
 241 #else
 242 #define ao_pad_read_box()       0
 243 #endif
 244
 245 static void
 246 ao_pad(void)
 247 {
 248         int16_t time_difference;
 249         int8_t  ret;
 250
 251         ao_pad_box = 0;
 252         ao_led_set(0);
 253         for (;;) {
 254                 FLUSHD();
 255                 while (ao_pad_disabled)
 256                         ao_sleep(&ao_pad_disabled);
 257                 ret = ao_radio_cmac_recv(&command, sizeof (command), 0);
 258                 PRINTD ("cmac_recv %d %d\n", ret, ao_radio_cmac_rssi);
 259                 if (ret != AO_RADIO_CMAC_OK)
 260                         continue;
 261                 ao_pad_packet_time = ao_time();
 262
 263                 ao_pad_box = ao_pad_read_box();
 264
 265                 PRINTD ("tick %d box %d (me %d) cmd %d channels %02x\n",
 266                         command.tick, command.box, ao_pad_box, command.cmd, command.channels);
 267
 268                 switch (command.cmd) {
 269                 case AO_LAUNCH_ARM:
 270                         if (command.box != ao_pad_box) {
 271                                 PRINTD ("box number mismatch\n");
 272                                 break;
 273                         }
 274
 275                         if (command.channels & ~(AO_PAD_ALL_CHANNELS))
 276                                 break;
 277
 278                         time_difference = command.tick - ao_time();
 279                         PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
 280                         if (time_difference < 0)
 281                                 time_difference = -time_difference;
 282                         if (time_difference > 10) {
 283                                 PRINTD ("time difference too large %d\n", time_difference);
 284                                 break;
 285                         }
 286                         PRINTD ("armed\n");
 287                         ao_pad_armed = command.channels;
 288                         ao_pad_arm_time = ao_time();
 289
 290                         /* fall through ... */
 291
 292                 case AO_LAUNCH_QUERY:
 293                         if (command.box != ao_pad_box) {
 294                                 PRINTD ("box number mismatch\n");
 295                                 break;
 296                         }
 297
 298                         query.tick = ao_time();
 299                         query.box = ao_pad_box;
 300                         query.channels = AO_PAD_ALL_CHANNELS;
 301                         query.armed = ao_pad_armed;
 302                         PRINTD ("query tick %d box %d channels %02x arm %d arm_status %d igniter %d,%d,%d,%d\n",
 303                                 query.tick, query.box, query.channels, query.armed,
 304                                 query.arm_status,
 305                                 query.igniter_status[0],
 306                                 query.igniter_status[1],
 307                                 query.igniter_status[2],
 308                                 query.igniter_status[3]);
 309                         ao_radio_cmac_send(&query, sizeof (query));
 310                         break;
 311                 case AO_LAUNCH_FIRE:
 312                         if (!ao_pad_armed) {
 313                                 PRINTD ("not armed\n");
 314                                 break;
 315                         }
 316                         if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
 317                                 PRINTD ("late pad arm_time %d time %d\n",
 318                                         ao_pad_arm_time, ao_time());
 319                                 break;
 320                         }
 321                         time_difference = command.tick - ao_time();
 322                         if (time_difference < 0)
 323                                 time_difference = -time_difference;
 324                         if (time_difference > 10) {
 325                                 PRINTD ("time different too large %d\n", time_difference);
 326                                 break;
 327                         }
 328                         PRINTD ("ignite\n");
 329                         ao_pad_ignite = ao_pad_armed;
 330                         ao_pad_arm_time = ao_time();
 331                         ao_wakeup(&ao_pad_ignite);
 332                         break;
 333                 }
 334         }
 335 }
 336
 337 void
 338 ao_pad_test(void)
 339 {
 340         uint8_t c;
 341
 342         printf ("Arm switch: ");
 343         switch (query.arm_status) {
 344         case AO_PAD_ARM_STATUS_ARMED:
 345                 printf ("Armed\n");
 346                 break;
 347         case AO_PAD_ARM_STATUS_DISARMED:
 348                 printf ("Disarmed\n");
 349                 break;
 350         case AO_PAD_ARM_STATUS_UNKNOWN:
 351                 printf ("Unknown\n");
 352                 break;
 353         }
 354
 355         for (c = 0; c < AO_PAD_NUM; c++) {
 356                 printf ("Pad %d: ", c);
 357                 switch (query.igniter_status[c]) {
 358                 case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED:     printf ("No igniter. Relay closed\n"); break;
 359                 case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN:       printf ("No igniter. Relay open\n"); break;
 360                 case AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN:     printf ("Good igniter. Relay open\n"); break;
 361                 case AO_PAD_IGNITER_STATUS_UNKNOWN:                     printf ("Unknown\n"); break;
 362                 }
 363         }
 364 }
 365
 366 void
 367 ao_pad_manual(void)
 368 {
 369         uint8_t ignite;
 370         int     repeat;
 371         ao_cmd_white();
 372         if (!ao_match_word("DoIt"))
 373                 return;
 374         ao_cmd_decimal();
 375         if (ao_cmd_status != ao_cmd_success)
 376                 return;
 377         ignite = 1 << ao_cmd_lex_i;
 378         ao_cmd_decimal();
 379         if (ao_cmd_status != ao_cmd_success) {
 380                 repeat = 1;
 381                 ao_cmd_status = ao_cmd_success;
 382         } else
 383                 repeat = ao_cmd_lex_i;
 384         while (repeat-- > 0) {
 385                 ao_pad_ignite = ignite;
 386                 ao_wakeup(&ao_pad_ignite);
 387                 ao_delay(AO_PAD_FIRE_TIME>>1);
 388         }
 389 }
 390
 391 static __xdata struct ao_task ao_pad_task;
 392 static __xdata struct ao_task ao_pad_ignite_task;
 393 static __xdata struct ao_task ao_pad_monitor_task;
 394
 395 #if DEBUG
 396 void
 397 ao_pad_set_debug(void)
 398 {
 399         ao_cmd_decimal();
 400         if (ao_cmd_status == ao_cmd_success)
 401                 ao_pad_debug = ao_cmd_lex_i != 0;
 402 }
 403
 404
 405 static void
 406 ao_pad_alarm_debug(void)
 407 {
 408         uint8_t which, value;
 409         ao_cmd_decimal();
 410         if (ao_cmd_status != ao_cmd_success)
 411                 return;
 412         which = ao_cmd_lex_i;
 413         ao_cmd_decimal();
 414         if (ao_cmd_status != ao_cmd_success)
 415                 return;
 416         value = ao_cmd_lex_i;
 417         printf ("Set %s to %d\n", which ? "siren" : "strobe", value);
 418         if (which)
 419                 ao_siren(value);
 420         else
 421                 ao_strobe(value);
 422 }
 423 #endif
 424
 425 __code struct ao_cmds ao_pad_cmds[] = {
 426         { ao_pad_test,  "t\0Test pad continuity" },
 427         { ao_pad_manual,        "i <key> <n>\0Fire igniter. <key> is doit with D&I" },
 428 #if DEBUG
 429         { ao_pad_set_debug,     "D <0 off, 1 on>\0Debug" },
 430         { ao_pad_alarm_debug,   "S <0 strobe, 1 siren> <0 off, 1 on>\0Set alarm output" },
 431 #endif
 432         { 0, NULL }
 433 };
 434
 435 void
 436 ao_pad_init(void)
 437 {
 438 #if AO_PAD_NUM > 0
 439         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_0, AO_PAD_0, 0);
 440 #endif
 441 #if AO_PAD_NUM > 1
 442         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_1, AO_PAD_1, 0);
 443 #endif
 444 #if AO_PAD_NUM > 2
 445         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_2, AO_PAD_2, 0);
 446 #endif
 447 #if AO_PAD_NUM > 3
 448         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_3, AO_PAD_3, 0);
 449 #endif
 450 #ifdef AO_STROBE
 451         ao_enable_output(AO_STROBE_PORT, AO_STROBE_PIN, AO_STROBE, 0);
 452 #endif
 453 #ifdef AO_SIREN
 454         ao_enable_output(AO_SIREN_PORT, AO_SIREN_PIN, AO_SIREN, 0);
 455 #endif
 456         ao_cmd_register(&ao_pad_cmds[0]);
 457         ao_add_task(&ao_pad_task, ao_pad, "pad listener");
 458         ao_add_task(&ao_pad_ignite_task, ao_pad_run, "pad igniter");
 459         ao_add_task(&ao_pad_monitor_task, ao_pad_monitor, "pad monitor");
 460 }