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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_74hc497.h>
  21
  22 static __xdata uint8_t ao_pad_ignite;
  23 static __xdata struct ao_pad_command    command;
  24 static __xdata struct ao_pad_query      query;
  25
  26 #if 0
  27 #define PRINTD(...) printf(__VA_ARGS__)
  28 #define FLUSHD()    flush()
  29 #else
  30 #define PRINTD(...)
  31 #define FLUSHD()
  32 #endif
  33
  34 static void
  35 ao_pad_run(void)
  36 {
  37         for (;;) {
  38                 while (!ao_pad_ignite)
  39                         ao_sleep(&ao_pad_ignite);
  40                 /*
  41                  * Actually set the pad bits
  42                  */
  43                 AO_PAD_PORT = (AO_PAD_PORT & (~AO_PAD_ALL_PINS)) | ao_pad_ignite;
  44                 while (ao_pad_ignite) {
  45                         ao_pad_ignite = 0;
  46                         ao_delay(AO_PAD_FIRE_TIME);
  47                 }
  48                 AO_PAD_PORT &= ~(AO_PAD_ALL_PINS);
  49         }
  50 }
  51
  52 static void
  53 ao_pad_monitor(void)
  54 {
  55         uint8_t                 c;
  56         uint8_t                 sample;
  57         __pdata uint8_t         prev = 0, cur = 0;
  58         __pdata uint8_t         beeping = 0;
  59         __xdata struct ao_data  *packet;
  60
  61         sample = ao_data_head;
  62         for (;;) {
  63                 __pdata int16_t                 pyro;
  64                 ao_arch_critical(
  65                         while (sample == ao_data_head)
  66                                 ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
  67                         );
  68
  69                 packet = &ao_data_ring[sample];
  70                 sample = ao_data_ring_next(sample);
  71
  72                 pyro = packet->adc.pyro;
  73
  74 #define VOLTS_TO_PYRO(x) ((int16_t) ((x) * 27.0 / 127.0 / 3.3 * 32767.0))
  75
  76                 cur = 0;
  77                 if (pyro > VOLTS_TO_PYRO(4))
  78                         query.arm_status = AO_PAD_ARM_STATUS_ARMED;
  79                 else if (pyro < VOLTS_TO_PYRO(1))
  80                         query.arm_status = AO_PAD_ARM_STATUS_DISARMED;
  81                 else
  82                         query.arm_status = AO_PAD_ARM_STATUS_UNKNOWN;
  83
  84                 for (c = 0; c < AO_PAD_NUM; c++) {
  85                         int16_t         sense = packet->adc.sense[c];
  86                         uint8_t status = AO_PAD_IGNITER_STATUS_UNKNOWN;
  87
  88                         if (query.arm_status == AO_PAD_ARM_STATUS_ARMED) {
  89                                 /*
  90                                  *      pyro is run through a divider, so pyro = v_pyro * 27 / 127 ~= v_pyro / 20
  91                                  *      v_pyro = pyro * 127 / 27
  92                                  *
  93                                  *              v_pyro \
  94                                  *      100k            igniter
  95                                  *              output /
  96                                  *      100k           \
  97                                  *              sense   relay
  98                                  *      27k            /
  99                                  *              gnd ---
 100                                  *
 101                                  *      If the relay is closed, then sense will be 0
 102                                  *      If no igniter is present, then sense will be v_pyro * 27k/227k = pyro * 127 / 227 ~= pyro/2
 103                                  *      If igniter is present, then sense will be v_pyro * 27k/127k ~= v_pyro / 20 = pyro
 104                                  */
 105
 106                                 if (sense <= pyro / 8)
 107                                         status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED;
 108                                 else if (pyro / 8 * 3 <= sense && sense <= pyro / 8 * 5)
 109                                         status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
 110                                 else if (pyro / 8 * 7 <= sense) {
 111                                         status = AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN;
 112                                         cur |= AO_LED_CONTINUITY(c);
 113                                 }
 114                         }
 115                         query.igniter_status[c] = status;
 116                 }
 117                 if (cur != prev) {
 118                         ao_led_set_mask(cur, AO_LED_CONTINUITY_MASK);
 119                         prev = cur;
 120                 }
 121
 122                 if (pyro > VOLTS_TO_PYRO(9) && sample == 0) {
 123                         beeping = 1;
 124                         ao_beep(AO_BEEP_HIGH);
 125                 } else if (beeping) {
 126                         beeping = 0;
 127                         ao_beep(0);
 128                 }
 129         }
 130 }
 131
 132 static __pdata uint8_t  ao_pad_armed;
 133 static __pdata uint16_t ao_pad_arm_time;
 134 static __pdata uint8_t  ao_pad_box;
 135 static __xdata uint8_t  ao_pad_disabled;
 136
 137 void
 138 ao_pad_disable(void)
 139 {
 140         if (!ao_pad_disabled) {
 141                 ao_pad_disabled = 1;
 142                 ao_radio_recv_abort();
 143         }
 144 }
 145
 146 void
 147 ao_pad_enable(void)
 148 {
 149         ao_pad_disabled = 0;
 150         ao_wakeup (&ao_pad_disabled);
 151 }
 152
 153 static void
 154 ao_pad(void)
 155 {
 156         int16_t time_difference;
 157
 158         ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
 159         ao_pad_box = ao_74hc497_read();
 160         ao_led_set(0);
 161         ao_led_on(AO_LED_POWER);
 162         for (;;) {
 163                 FLUSHD();
 164                 while (ao_pad_disabled)
 165                         ao_sleep(&ao_pad_disabled);
 166                 if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK)
 167                         continue;
 168
 169                 PRINTD ("tick %d serial %d cmd %d channel %d\n",
 170                         command.tick, command.serial, command.cmd, command.channel);
 171
 172                 switch (command.cmd) {
 173                 case AO_LAUNCH_ARM:
 174                         if (command.box != ao_pad_box) {
 175                                 PRINTD ("box number mismatch\n");
 176                                 break;
 177                         }
 178
 179                         if (command.channels & ~(AO_PAD_ALL_PINS))
 180                                 break;
 181
 182                         time_difference = command.tick - ao_time();
 183                         PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
 184                         if (time_difference < 0)
 185                                 time_difference = -time_difference;
 186                         if (time_difference > 10) {
 187                                 PRINTD ("time difference too large %d\n", time_difference);
 188                                 break;
 189                         }
 190                         PRINTD ("armed\n");
 191                         ao_pad_armed = command.channels;
 192                         ao_pad_arm_time = ao_time();
 193
 194                         /* fall through ... */
 195
 196                 case AO_LAUNCH_QUERY:
 197                         if (command.box != ao_pad_box) {
 198                                 PRINTD ("box number mismatch\n");
 199                                 break;
 200                         }
 201
 202                         query.tick = ao_time();
 203                         query.box = ao_pad_box;
 204                         query.channels = AO_PAD_ALL_PINS;
 205                         query.armed = ao_pad_armed;
 206                         PRINTD ("query tick %d serial %d channel %d valid %d arm %d igniter %d\n",
 207                                 query.tick, query.serial, query.channel, query.valid, query.arm_status,
 208                                 query.igniter_status);
 209                         ao_radio_cmac_send(&query, sizeof (query));
 210                         break;
 211                 case AO_LAUNCH_FIRE:
 212                         if (!ao_pad_armed) {
 213                                 PRINTD ("not armed\n");
 214                                 break;
 215                         }
 216                         if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
 217                                 PRINTD ("late pad arm_time %d time %d\n",
 218                                         ao_pad_arm_time, ao_time());
 219                                 break;
 220                         }
 221                         time_difference = command.tick - ao_time();
 222                         if (time_difference < 0)
 223                                 time_difference = -time_difference;
 224                         if (time_difference > 10) {
 225                                 PRINTD ("time different too large %d\n", time_difference);
 226                                 break;
 227                         }
 228                         PRINTD ("ignite\n");
 229                         ao_pad_ignite = ao_pad_armed;
 230                         ao_wakeup(&ao_pad_ignite);
 231                         break;
 232                 }
 233         }
 234 }
 235
 236 void
 237 ao_pad_test(void)
 238 {
 239         uint8_t c;
 240
 241         printf ("Arm switch: ");
 242         switch (query.arm_status) {
 243         case AO_PAD_ARM_STATUS_ARMED:
 244                 printf ("Armed\n");
 245                 break;
 246         case AO_PAD_ARM_STATUS_DISARMED:
 247                 printf ("Disarmed\n");
 248                 break;
 249         case AO_PAD_ARM_STATUS_UNKNOWN:
 250                 printf ("Unknown\n");
 251                 break;
 252         }
 253
 254         for (c = 0; c < AO_PAD_NUM; c++) {
 255                 printf ("Pad %d: ");
 256                 switch (query.igniter_status[c]) {
 257                 case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED:     printf ("No igniter. Relay closed\n"); break;
 258                 case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN:       printf ("No igniter. Relay open\n"); break;
 259                 case AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN:     printf ("Good igniter. Relay open\n"); break;
 260                 case AO_PAD_IGNITER_STATUS_UNKNOWN:                     printf ("Unknown\n"); break;
 261                 }
 262         }
 263 }
 264
 265 void
 266 ao_pad_manual(void)
 267 {
 268         ao_cmd_white();
 269         if (!ao_match_word("DoIt"))
 270                 return;
 271         ao_cmd_decimal();
 272         if (ao_cmd_status != ao_cmd_success)
 273                 return;
 274         ao_pad_ignite = 1 << ao_cmd_lex_i;
 275         ao_wakeup(&ao_pad_ignite);
 276 }
 277
 278 static __xdata struct ao_task ao_pad_task;
 279 static __xdata struct ao_task ao_pad_ignite_task;
 280 static __xdata struct ao_task ao_pad_monitor_task;
 281
 282 __code struct ao_cmds ao_pad_cmds[] = {
 283         { ao_pad_test,  "t\0Test pad continuity" },
 284         { ao_pad_manual,        "i <key> <n>\0Fire igniter. <key> is doit with D&I" },
 285         { 0, NULL }
 286 };
 287
 288 void
 289 ao_pad_init(void)
 290 {
 291 #if AO_PAD_NUM > 0
 292         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_0, AO_PAD_0, 0);
 293 #endif
 294 #if AO_PAD_NUM > 1
 295         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_1, AO_PAD_1, 0);
 296 #endif
 297 #if AO_PAD_NUM > 2
 298         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_2, AO_PAD_2, 0);
 299 #endif
 300 #if AO_PAD_NUM > 3
 301         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_3, AO_PAD_3, 0);
 302 #endif
 303         ao_cmd_register(&ao_pad_cmds[0]);
 304         ao_add_task(&ao_pad_task, ao_pad, "pad listener");
 305         ao_add_task(&ao_pad_ignite_task, ao_pad_run, "pad igniter");
 306         ao_add_task(&ao_pad_monitor_task, ao_pad_monitor, "pad monitor");
 307 }