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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; 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_exti.h>
  21 #include <ao_pad.h>
  22 #include <ao_74hc165.h>
  23 #include <ao_radio_cmac.h>
  24
  25 static __xdata uint8_t ao_pad_ignite;
  26 static __xdata struct ao_pad_command    command;
  27 static __xdata struct ao_pad_query      query;
  28 static __pdata uint8_t  ao_pad_armed;
  29 static __pdata uint16_t ao_pad_arm_time;
  30 static __pdata uint8_t  ao_pad_box;
  31 static __xdata uint8_t  ao_pad_disabled;
  32 static __pdata uint16_t ao_pad_packet_time;
  33
  34 #ifndef AO_PAD_RSSI_MINIMUM
  35 #define AO_PAD_RSSI_MINIMUM     -90
  36 #endif
  37
  38 #define DEBUG   1
  39
  40 #if DEBUG
  41 static __pdata uint8_t  ao_pad_debug;
  42 #define PRINTD(...) (ao_pad_debug ? (printf(__VA_ARGS__), 0) : 0)
  43 #define FLUSHD()    (ao_pad_debug ? (flush(), 0) : 0)
  44 #else
  45 #define PRINTD(...)
  46 #define FLUSHD()
  47 #endif
  48
  49 static void
  50 ao_siren(uint8_t v)
  51 {
  52 #ifdef AO_SIREN
  53         ao_gpio_set(AO_SIREN_PORT, AO_SIREN_PIN, AO_SIREN, v);
  54 #else
  55 #if HAS_BEEP
  56         ao_beep(v ? AO_BEEP_MID : 0);
  57 #else
  58         (void) v;
  59 #endif
  60 #endif
  61 }
  62
  63 static void
  64 ao_strobe(uint8_t v)
  65 {
  66 #ifdef AO_STROBE
  67         ao_gpio_set(AO_STROBE_PORT, AO_STROBE_PIN, AO_STROBE, v);
  68 #else
  69         (void) v;
  70 #endif
  71 }
  72
  73 #ifdef AO_PAD_PORT_0
  74 #define pins_pad(pad)   (*((AO_PAD_ ## pad ## _PORT) == AO_PAD_PORT_0 ? (&pins0) : (&pins1)))
  75 #else
  76 #define pins_pad(pad)   pins0
  77 #define AO_PAD_PORT_0 AO_PAD_PORT
  78 #endif
  79
  80 static void
  81 ao_pad_run(void)
  82 {
  83         AO_PORT_TYPE    pins0;
  84 #ifdef AO_PAD_PORT_1
  85         AO_PORT_TYPE    pins1;
  86 #endif
  87
  88         for (;;) {
  89                 while (!ao_pad_ignite)
  90                         ao_sleep(&ao_pad_ignite);
  91                 /*
  92                  * Actually set the pad bits
  93                  */
  94                 pins0 = 0;
  95 #ifdef AO_PAD_PORT_1
  96                 pins1 = 0;
  97 #endif
  98 #if AO_PAD_NUM > 0
  99                 if (ao_pad_ignite & (1 << 0))
 100                         pins_pad(0) |= (1 << AO_PAD_PIN_0);
 101 #endif
 102 #if AO_PAD_NUM > 1
 103                 if (ao_pad_ignite & (1 << 1))
 104                         pins_pad(1) |= (1 << AO_PAD_PIN_1);
 105 #endif
 106 #if AO_PAD_NUM > 2
 107                 if (ao_pad_ignite & (1 << 2))
 108                         pins_pad(2) |= (1 << AO_PAD_PIN_2);
 109 #endif
 110 #if AO_PAD_NUM > 3
 111                 if (ao_pad_ignite & (1 << 3))
 112                         pins_pad(3) |= (1 << AO_PAD_PIN_3);
 113 #endif
 114 #if AO_PAD_NUM > 4
 115                 if (ao_pad_ignite & (1 << 4))
 116                         pins_pad(4) |= (1 << AO_PAD_PIN_4);
 117 #endif
 118 #if AO_PAD_NUM > 5
 119                 if (ao_pad_ignite & (1 << 5))
 120                         pins_pad(5) |= (1 << AO_PAD_PIN_5);
 121 #endif
 122 #if AO_PAD_NUM > 6
 123                 if (ao_pad_ignite & (1 << 6))
 124                         pins_pad(6) |= (1 << AO_PAD_PIN_6);
 125 #endif
 126 #if AO_PAD_NUM > 7
 127                 if (ao_pad_ignite & (1 << 7))
 128                         pins_pad(7) |= (1 << AO_PAD_PIN_7);
 129 #endif
 130 #ifdef AO_PAD_PORT_1
 131                 PRINTD("ignite pins 0x%x 0x%x\n", pins0, pins1);
 132                 ao_gpio_set_bits(AO_PAD_PORT_0, pins0);
 133                 ao_gpio_set_bits(AO_PAD_PORT_1, pins1);
 134 #else
 135                 PRINTD("ignite pins 0x%x\n", pins0);
 136                 ao_gpio_set_bits(AO_PAD_PORT_0, pins0);
 137 #endif
 138                 while (ao_pad_ignite) {
 139                         ao_pad_ignite = 0;
 140
 141                         ao_delay(AO_PAD_FIRE_TIME);
 142                 }
 143 #ifdef AO_PAD_PORT_1
 144                 ao_gpio_clr_bits(AO_PAD_PORT_0, pins0);
 145                 ao_gpio_clr_bits(AO_PAD_PORT_1, pins1);
 146                 PRINTD("turn off pins 0x%x 0x%x\n", pins0, pins1);
 147 #else
 148                 ao_gpio_set_bits(AO_PAD_PORT_0, pins0);
 149                 PRINTD("turn off pins 0x%x\n", pins0);
 150 #endif
 151         }
 152 }
 153
 154 #define AO_PAD_ARM_SIREN_INTERVAL       200
 155
 156 /* Resistor values needed for various voltage test ratios:
 157  *
 158  *      Net names involved:
 159  *
 160  *      V_BATT          Battery power, after the initial power switch
 161  *      V_PYRO          Pyro power, after the pyro power switch (and initial power switch)
 162  *      PYRO_SENSE      ADC input to sense V_PYRO voltage
 163  *      BATT_SENSE      ADC input to sense V_BATT voltage
 164  *      IGNITER         FET output to pad (the other pad lead hooks to V_PYRO)
 165  *      IGNITER_SENSE   ADC input to sense igniter voltage
 166  *
 167  *      AO_PAD_R_V_BATT_BATT_SENSE      Resistor from battery rail to battery sense input
 168  *      AO_PAD_R_BATT_SENSE_GND         Resistor from battery sense input to ground
 169  *
 170  *      AO_PAD_R_V_BATT_V_PYRO          Resistor from battery rail to pyro rail
 171  *      AO_PAD_R_V_PYRO_PYRO_SENSE      Resistor from pyro rail to pyro sense input
 172  *      AO_PAD_R_PYRO_SENSE_GND         Resistor from pyro sense input to ground
 173  *
 174  *      AO_PAD_R_V_PYRO_IGNITER         Optional resistors from pyro rail to FET igniter output
 175  *      AO_PAD_R_IGNITER_IGNITER_SENSE  Resistors from FET igniter output to igniter sense ADC inputs
 176  *      AO_PAD_R_IGNITER_SENSE_GND      Resistors from igniter sense ADC inputs to ground
 177  */
 178
 179 int16_t
 180 ao_pad_decivolt(int16_t adc, int16_t r_plus, int16_t r_minus)
 181 {
 182         int32_t mul = (int32_t) AO_ADC_REFERENCE_DV * (r_plus + r_minus);
 183         int32_t div = (int32_t) AO_ADC_MAX * r_minus;
 184         return ((int32_t) adc * mul + mul/2) / div;
 185 }
 186
 187 static void
 188 ao_pad_monitor(void)
 189 {
 190         uint8_t                 c;
 191         uint8_t                 sample;
 192         __pdata uint8_t         prev = 0, cur = 0;
 193         __pdata uint8_t         beeping = 0;
 194         __xdata volatile struct ao_data *packet;
 195         __pdata uint16_t        arm_beep_time = 0;
 196
 197         sample = ao_data_head;
 198         for (;;) {
 199                 __pdata int16_t                 pyro;
 200
 201                 ao_arch_critical(
 202                         while (sample == ao_data_head)
 203                                 ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
 204                         );
 205
 206
 207                 packet = &ao_data_ring[sample];
 208                 sample = ao_data_ring_next(sample);
 209
 210                 /* Reply battery voltage */
 211                 query.battery = ao_pad_decivolt(packet->adc.batt, AO_PAD_R_V_BATT_BATT_SENSE, AO_PAD_R_BATT_SENSE_GND);
 212
 213                 /* Current pyro voltage */
 214                 pyro = ao_pad_decivolt(packet->adc.pyro,
 215                                        AO_PAD_R_V_PYRO_PYRO_SENSE,
 216                                        AO_PAD_R_PYRO_SENSE_GND);
 217
 218                 cur = 0;
 219                 if (pyro > query.battery * 7 / 8) {
 220                         query.arm_status = AO_PAD_ARM_STATUS_ARMED;
 221                         cur |= AO_LED_ARMED;
 222                 } else {
 223                         query.arm_status = AO_PAD_ARM_STATUS_DISARMED;
 224                         arm_beep_time = 0;
 225                 }
 226                 if ((ao_time() - ao_pad_packet_time) > AO_SEC_TO_TICKS(2))
 227                         cur |= AO_LED_RED;
 228                 else if (ao_radio_cmac_rssi < AO_PAD_RSSI_MINIMUM)
 229                         cur |= AO_LED_AMBER;
 230                 else
 231                         cur |= AO_LED_GREEN;
 232
 233                 for (c = 0; c < AO_PAD_NUM; c++) {
 234                         int16_t         sense = ao_pad_decivolt(packet->adc.sense[c],
 235                                                                 AO_PAD_R_IGNITER_IGNITER_SENSE,
 236                                                                 AO_PAD_R_IGNITER_SENSE_GND);
 237                         uint8_t status = AO_PAD_IGNITER_STATUS_UNKNOWN;
 238
 239                         /*
 240                          *      Here's the resistor stack on each
 241                          *      igniter channel. Note that
 242                          *      AO_PAD_R_V_PYRO_IGNITER is optional
 243                          *
 244                          *                                      v_pyro \
 245                          *      AO_PAD_R_V_PYRO_IGNITER                 igniter
 246                          *                                      output /
 247                          *      AO_PAD_R_IGNITER_IGNITER_SENSE         \
 248                          *                                      sense   relay
 249                          *      AO_PAD_R_IGNITER_SENSE_GND             /
 250                          *                                      gnd ---
 251                          *
 252                          */
 253
 254 #ifdef AO_PAD_R_V_PYRO_IGNITER
 255                         if (sense <= pyro / 8) {
 256                                 /* close to zero → relay is closed */
 257                                 status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED;
 258                                 if ((ao_time() % 100) < 50)
 259                                         cur |= AO_LED_CONTINUITY(c);
 260                         }
 261                         else
 262 #endif
 263                         {
 264                                 if (sense >= (pyro * 7) / 8) {
 265
 266                                         /* sense close to pyro voltage; igniter is good
 267                                          */
 268                                         status = AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN;
 269                                         cur |= AO_LED_CONTINUITY(c);
 270                                 } else {
 271
 272                                         /* relay not shorted (if we can tell),
 273                                          * and igniter not obviously present
 274                                          */
 275                                         status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
 276                                 }
 277                         }
 278                         query.igniter_status[c] = status;
 279                 }
 280                 if (cur != prev) {
 281                         PRINTD("change leds from %02x to %02x\n",
 282                                prev, cur);
 283                         FLUSHD();
 284                         ao_led_set(cur);
 285                         prev = cur;
 286                 }
 287
 288                 if (ao_pad_armed && (int16_t) (ao_time() - ao_pad_arm_time) > AO_PAD_ARM_TIME)
 289                         ao_pad_armed = 0;
 290
 291                 if (ao_pad_armed) {
 292                         ao_strobe(1);
 293                         ao_siren(1);
 294                         beeping = 1;
 295                 } else if (query.arm_status == AO_PAD_ARM_STATUS_ARMED && !beeping) {
 296                         if (arm_beep_time == 0) {
 297                                 arm_beep_time = AO_PAD_ARM_SIREN_INTERVAL;
 298                                 beeping = 1;
 299                                 ao_siren(1);
 300                         }
 301                         --arm_beep_time;
 302                 } else if (beeping) {
 303                         beeping = 0;
 304                         ao_siren(0);
 305                         ao_strobe(0);
 306                 }
 307         }
 308 }
 309
 310 void
 311 ao_pad_disable(void)
 312 {
 313         if (!ao_pad_disabled) {
 314                 ao_pad_disabled = 1;
 315                 ao_radio_recv_abort();
 316         }
 317 }
 318
 319 void
 320 ao_pad_enable(void)
 321 {
 322         ao_pad_disabled = 0;
 323         ao_wakeup (&ao_pad_disabled);
 324 }
 325
 326 #if HAS_74HC165
 327 static uint8_t
 328 ao_pad_read_box(void)
 329 {
 330         uint8_t         byte = ao_74hc165_read();
 331         uint8_t         h, l;
 332
 333         h = byte >> 4;
 334         l = byte & 0xf;
 335         return h * 10 + l;
 336 }
 337 #endif
 338
 339 #ifdef AO_PAD_SELECTOR_PORT
 340 static int ao_pad_read_box(void) {
 341         AO_PORT_TYPE    value = ao_gpio_get_all(AO_PAD_SELECTOR_PORT);
 342         unsigned        pin;
 343         int             select = 1;
 344
 345         for (pin = 0; pin < sizeof (AO_PORT_TYPE) * 8; pin++) {
 346                 if (AO_PAD_SELECTOR_PINS & (1 << pin)) {
 347                         if ((value & (1 << pin)) == 0)
 348                                 return select;
 349                         select++;
 350                 }
 351         }
 352         return ao_config.pad_box;
 353 }
 354 #else
 355
 356 #if HAS_FIXED_PAD_BOX
 357 #define ao_pad_read_box()       ao_config.pad_box
 358 #endif
 359
 360 #ifdef PAD_BOX
 361 #define ao_pad_read_box()       PAD_BOX
 362 #endif
 363
 364 #endif
 365
 366 static void
 367 ao_pad(void)
 368 {
 369         int16_t time_difference;
 370         int8_t  ret;
 371
 372         ao_pad_box = 0;
 373         ao_led_set(0);
 374         for (;;) {
 375                 FLUSHD();
 376                 while (ao_pad_disabled)
 377                         ao_sleep(&ao_pad_disabled);
 378                 ret = ao_radio_cmac_recv(&command, sizeof (command), 0);
 379                 PRINTD ("cmac_recv %d %d\n", ret, ao_radio_cmac_rssi);
 380                 if (ret != AO_RADIO_CMAC_OK)
 381                         continue;
 382                 ao_pad_packet_time = ao_time();
 383
 384                 ao_pad_box = ao_pad_read_box();
 385
 386                 PRINTD ("tick %d box %d (me %d) cmd %d channels %02x\n",
 387                         command.tick, command.box, ao_pad_box, command.cmd, command.channels);
 388
 389                 switch (command.cmd) {
 390                 case AO_PAD_ARM:
 391                         if (command.box != ao_pad_box) {
 392                                 PRINTD ("box number mismatch\n");
 393                                 break;
 394                         }
 395
 396                         if (command.channels & ~(AO_PAD_ALL_CHANNELS))
 397                                 break;
 398
 399                         time_difference = command.tick - ao_time();
 400                         PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
 401                         if (time_difference < 0)
 402                                 time_difference = -time_difference;
 403                         if (time_difference > 10) {
 404                                 PRINTD ("time difference too large %d\n", time_difference);
 405                                 break;
 406                         }
 407                         PRINTD ("armed\n");
 408                         ao_pad_armed = command.channels;
 409                         ao_pad_arm_time = ao_time();
 410                         break;
 411
 412                 case AO_PAD_QUERY:
 413                         if (command.box != ao_pad_box) {
 414                                 PRINTD ("box number mismatch\n");
 415                                 break;
 416                         }
 417
 418                         query.tick = ao_time();
 419                         query.box = ao_pad_box;
 420                         query.channels = AO_PAD_ALL_CHANNELS;
 421                         query.armed = ao_pad_armed;
 422                         PRINTD ("query tick %d box %d channels %02x arm %d arm_status %d igniter %d,%d,%d,%d\n",
 423                                 query.tick, query.box, query.channels, query.armed,
 424                                 query.arm_status,
 425                                 query.igniter_status[0],
 426                                 query.igniter_status[1],
 427                                 query.igniter_status[2],
 428                                 query.igniter_status[3]);
 429                         ao_radio_cmac_send(&query, sizeof (query));
 430                         break;
 431                 case AO_PAD_FIRE:
 432                         if (!ao_pad_armed) {
 433                                 PRINTD ("not armed\n");
 434                                 break;
 435                         }
 436                         if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
 437                                 PRINTD ("late pad arm_time %d time %d\n",
 438                                         ao_pad_arm_time, ao_time());
 439                                 break;
 440                         }
 441                         PRINTD ("ignite\n");
 442                         ao_pad_ignite = ao_pad_armed;
 443                         ao_pad_arm_time = ao_time();
 444                         ao_wakeup(&ao_pad_ignite);
 445                         break;
 446                 case AO_PAD_STATIC:
 447                         if (!ao_pad_armed) {
 448                                 PRINTD ("not armed\n");
 449                                 break;
 450                         }
 451 #if HAS_LOG
 452                         if (!ao_log_running) ao_log_start();
 453 #endif
 454                         if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
 455                                 PRINTD ("late pad arm_time %d time %d\n",
 456                                         ao_pad_arm_time, ao_time());
 457                                 break;
 458                         }
 459                         PRINTD ("ignite\n");
 460                         ao_pad_ignite = ao_pad_armed;
 461                         ao_pad_arm_time = ao_time();
 462                         ao_wakeup(&ao_pad_ignite);
 463                         break;
 464                 case AO_PAD_ENDSTATIC:
 465 #if HAS_LOG
 466                         ao_log_stop();
 467 #endif
 468                         break;
 469                 }
 470         }
 471 }
 472
 473 void
 474 ao_pad_test(void)
 475 {
 476         uint8_t c;
 477
 478         printf ("Arm switch: ");
 479         switch (query.arm_status) {
 480         case AO_PAD_ARM_STATUS_ARMED:
 481                 printf ("Armed\n");
 482                 break;
 483         case AO_PAD_ARM_STATUS_DISARMED:
 484                 printf ("Disarmed\n");
 485                 break;
 486         case AO_PAD_ARM_STATUS_UNKNOWN:
 487                 printf ("Unknown\n");
 488                 break;
 489         }
 490
 491         for (c = 0; c < AO_PAD_NUM; c++) {
 492                 printf ("Pad %d: ", c);
 493                 switch (query.igniter_status[c]) {
 494                 case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED:     printf ("No igniter. Relay closed\n"); break;
 495                 case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN:       printf ("No igniter. Relay open\n"); break;
 496                 case AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN:     printf ("Good igniter. Relay open\n"); break;
 497                 case AO_PAD_IGNITER_STATUS_UNKNOWN:                     printf ("Unknown\n"); break;
 498                 }
 499         }
 500 }
 501
 502 void
 503 ao_pad_manual(void)
 504 {
 505         uint8_t ignite;
 506         int     repeat;
 507         ao_cmd_white();
 508         if (!ao_match_word("DoIt"))
 509                 return;
 510         ao_cmd_decimal();
 511         if (ao_cmd_status != ao_cmd_success)
 512                 return;
 513         ignite = 1 << ao_cmd_lex_i;
 514         ao_cmd_decimal();
 515         if (ao_cmd_status != ao_cmd_success) {
 516                 repeat = 1;
 517                 ao_cmd_status = ao_cmd_success;
 518         } else
 519                 repeat = ao_cmd_lex_i;
 520         while (repeat-- > 0) {
 521                 ao_pad_ignite = ignite;
 522                 ao_wakeup(&ao_pad_ignite);
 523                 ao_delay(AO_PAD_FIRE_TIME>>1);
 524         }
 525 }
 526
 527 static __xdata struct ao_task ao_pad_task;
 528 static __xdata struct ao_task ao_pad_ignite_task;
 529 static __xdata struct ao_task ao_pad_monitor_task;
 530
 531 #if DEBUG
 532 void
 533 ao_pad_set_debug(void)
 534 {
 535         ao_cmd_decimal();
 536         if (ao_cmd_status == ao_cmd_success)
 537                 ao_pad_debug = ao_cmd_lex_i != 0;
 538 }
 539
 540
 541 static void
 542 ao_pad_alarm_debug(void)
 543 {
 544         uint8_t which, value;
 545         ao_cmd_decimal();
 546         if (ao_cmd_status != ao_cmd_success)
 547                 return;
 548         which = ao_cmd_lex_i;
 549         ao_cmd_decimal();
 550         if (ao_cmd_status != ao_cmd_success)
 551                 return;
 552         value = ao_cmd_lex_i;
 553         printf ("Set %s to %d\n", which ? "siren" : "strobe", value);
 554         if (which)
 555                 ao_siren(value);
 556         else
 557                 ao_strobe(value);
 558 }
 559 #endif
 560
 561 __code struct ao_cmds ao_pad_cmds[] = {
 562         { ao_pad_test,  "t\0Test pad continuity" },
 563         { ao_pad_manual,        "i <key> <n>\0Fire igniter. <key> is doit with D&I" },
 564 #if DEBUG
 565         { ao_pad_set_debug,     "D <0 off, 1 on>\0Debug" },
 566         { ao_pad_alarm_debug,   "S <0 strobe, 1 siren> <0 off, 1 on>\0Set alarm output" },
 567 #endif
 568         { 0, NULL }
 569 };
 570
 571 #ifndef AO_PAD_PORT_1
 572 #define AO_PAD_0_PORT   AO_PAD_PORT
 573 #define AO_PAD_1_PORT   AO_PAD_PORT
 574 #define AO_PAD_2_PORT   AO_PAD_PORT
 575 #define AO_PAD_3_PORT   AO_PAD_PORT
 576 #define AO_PAD_4_PORT   AO_PAD_PORT
 577 #define AO_PAD_5_PORT   AO_PAD_PORT
 578 #define AO_PAD_6_PORT   AO_PAD_PORT
 579 #define AO_PAD_7_PORT   AO_PAD_PORT
 580 #endif
 581
 582 void
 583 ao_pad_init(void)
 584 {
 585 #ifdef AO_PAD_SELECTOR_PORT
 586         unsigned pin;
 587
 588         for (pin = 0; pin < sizeof (AO_PORT_TYPE) * 8; pin++) {
 589                 if (AO_PAD_SELECTOR_PINS & (1 << pin))
 590                         ao_enable_input(AO_PAD_SELECTOR_PORT, pin, AO_EXTI_MODE_PULL_UP);
 591         }
 592 #endif
 593 #if AO_PAD_NUM > 0
 594         ao_enable_output(AO_PAD_0_PORT, AO_PAD_PIN_0, AO_PAD_0, 0);
 595 #endif
 596 #if AO_PAD_NUM > 1
 597         ao_enable_output(AO_PAD_1_PORT, AO_PAD_PIN_1, AO_PAD_1, 0);
 598 #endif
 599 #if AO_PAD_NUM > 2
 600         ao_enable_output(AO_PAD_2_PORT, AO_PAD_PIN_2, AO_PAD_2, 0);
 601 #endif
 602 #if AO_PAD_NUM > 3
 603         ao_enable_output(AO_PAD_3_PORT, AO_PAD_PIN_3, AO_PAD_3, 0);
 604 #endif
 605 #if AO_PAD_NUM > 4
 606         ao_enable_output(AO_PAD_4_PORT, AO_PAD_PIN_4, AO_PAD_4, 0);
 607 #endif
 608 #if AO_PAD_NUM > 5
 609         ao_enable_output(AO_PAD_5_PORT, AO_PAD_PIN_5, AO_PAD_5, 0);
 610 #endif
 611 #if AO_PAD_NUM > 5
 612         ao_enable_output(AO_PAD_6_PORT, AO_PAD_PIN_6, AO_PAD_6, 0);
 613 #endif
 614 #if AO_PAD_NUM > 7
 615         ao_enable_output(AO_PAD_7_PORT, AO_PAD_PIN_7, AO_PAD_7, 0);
 616 #endif
 617 #ifdef AO_STROBE
 618         ao_enable_output(AO_STROBE_PORT, AO_STROBE_PIN, AO_STROBE, 0);
 619 #endif
 620 #ifdef AO_SIREN
 621         ao_enable_output(AO_SIREN_PORT, AO_SIREN_PIN, AO_SIREN, 0);
 622 #endif
 623         ao_cmd_register(&ao_pad_cmds[0]);
 624         ao_add_task(&ao_pad_task, ao_pad, "pad listener");
 625         ao_add_task(&ao_pad_ignite_task, ao_pad_run, "pad igniter");
 626         ao_add_task(&ao_pad_monitor_task, ao_pad_monitor, "pad monitor");
 627 }