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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(...) do { if (ao_pad_debug) { printf(__VA_ARGS__); flush(); } } while(0)
  43 #define FLUSHD()
  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                         PRINTD("ao_pad_ignite now %d\n", ao_pad_ignite);
 143                 }
 144 #ifdef AO_PAD_PORT_1
 145                 ao_gpio_clr_bits(AO_PAD_PORT_0, pins0);
 146                 ao_gpio_clr_bits(AO_PAD_PORT_1, pins1);
 147                 PRINTD("turn off pins 0x%x 0x%x\n", pins0, pins1);
 148 #else
 149                 ao_gpio_clr_bits(AO_PAD_PORT_0, pins0);
 150                 PRINTD("turn off pins 0x%x\n", pins0);
 151 #endif
 152         }
 153 }
 154
 155 #define AO_PAD_ARM_SIREN_INTERVAL       200
 156
 157 /* Resistor values needed for various voltage test ratios:
 158  *
 159  *      Net names involved:
 160  *
 161  *      V_BATT          Battery power, after the initial power switch
 162  *      V_PYRO          Pyro power, after the pyro power switch (and initial power switch)
 163  *      PYRO_SENSE      ADC input to sense V_PYRO voltage
 164  *      BATT_SENSE      ADC input to sense V_BATT voltage
 165  *      IGNITER         FET output to pad (the other pad lead hooks to V_PYRO)
 166  *      IGNITER_SENSE   ADC input to sense igniter voltage
 167  *
 168  *      AO_PAD_R_V_BATT_BATT_SENSE      Resistor from battery rail to battery sense input
 169  *      AO_PAD_R_BATT_SENSE_GND         Resistor from battery sense input to ground
 170  *
 171  *      AO_PAD_R_V_BATT_V_PYRO          Resistor from battery rail to pyro rail
 172  *      AO_PAD_R_V_PYRO_PYRO_SENSE      Resistor from pyro rail to pyro sense input
 173  *      AO_PAD_R_PYRO_SENSE_GND         Resistor from pyro sense input to ground
 174  *
 175  *      AO_PAD_R_V_PYRO_IGNITER         Optional resistors from pyro rail to FET igniter output
 176  *      AO_PAD_R_IGNITER_IGNITER_SENSE  Resistors from FET igniter output to igniter sense ADC inputs
 177  *      AO_PAD_R_IGNITER_SENSE_GND      Resistors from igniter sense ADC inputs to ground
 178  */
 179
 180 int16_t
 181 ao_pad_decivolt(int16_t adc, int16_t r_plus, int16_t r_minus)
 182 {
 183         int32_t mul = (int32_t) AO_ADC_REFERENCE_DV * (r_plus + r_minus);
 184         int32_t div = (int32_t) AO_ADC_MAX * r_minus;
 185         return ((int32_t) adc * mul + mul/2) / div;
 186 }
 187
 188 static void
 189 ao_pad_monitor(void)
 190 {
 191         uint8_t                 c;
 192         uint8_t                 sample;
 193         __pdata AO_LED_TYPE     prev = 0, cur = 0;
 194         __pdata uint8_t         beeping = 0;
 195         __xdata volatile struct ao_data *packet;
 196         __pdata uint16_t        arm_beep_time = 0;
 197
 198         sample = ao_data_head;
 199         ao_led_set(LEDS_AVAILABLE);
 200         ao_delay(AO_MS_TO_TICKS(1000));
 201         ao_led_set(0);
 202         for (;;) {
 203                 __pdata int16_t                 pyro;
 204
 205                 ao_arch_critical(
 206                         while (sample == ao_data_head)
 207                                 ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
 208                         );
 209
 210
 211                 packet = &ao_data_ring[sample];
 212                 sample = ao_data_ring_next(sample);
 213
 214                 /* Reply battery voltage */
 215                 query.battery = ao_pad_decivolt(packet->adc.batt, AO_PAD_R_V_BATT_BATT_SENSE, AO_PAD_R_BATT_SENSE_GND);
 216
 217                 /* Current pyro voltage */
 218                 pyro = ao_pad_decivolt(packet->adc.pyro,
 219                                        AO_PAD_R_V_PYRO_PYRO_SENSE,
 220                                        AO_PAD_R_PYRO_SENSE_GND);
 221
 222                 cur = 0;
 223                 if (pyro > query.battery * 7 / 8) {
 224                         query.arm_status = AO_PAD_ARM_STATUS_ARMED;
 225                         cur |= AO_LED_ARMED;
 226                 } else {
 227                         query.arm_status = AO_PAD_ARM_STATUS_DISARMED;
 228                         arm_beep_time = 0;
 229                 }
 230                 if ((ao_time() - ao_pad_packet_time) > AO_SEC_TO_TICKS(2))
 231                         cur |= AO_LED_RED;
 232                 else if (ao_radio_cmac_rssi < AO_PAD_RSSI_MINIMUM)
 233                         cur |= AO_LED_AMBER;
 234                 else
 235                         cur |= AO_LED_GREEN;
 236
 237                 for (c = 0; c < AO_PAD_NUM; c++) {
 238                         int16_t         sense = ao_pad_decivolt(packet->adc.sense[c],
 239                                                                 AO_PAD_R_IGNITER_IGNITER_SENSE,
 240                                                                 AO_PAD_R_IGNITER_SENSE_GND);
 241                         uint8_t status = AO_PAD_IGNITER_STATUS_UNKNOWN;
 242
 243                         /*
 244                          *      Here's the resistor stack on each
 245                          *      igniter channel. Note that
 246                          *      AO_PAD_R_V_PYRO_IGNITER is optional
 247                          *
 248                          *                                      v_pyro \
 249                          *      AO_PAD_R_V_PYRO_IGNITER                 igniter
 250                          *                                      output /
 251                          *      AO_PAD_R_IGNITER_IGNITER_SENSE         \
 252                          *                                      sense   relay
 253                          *      AO_PAD_R_IGNITER_SENSE_GND             /
 254                          *                                      gnd ---
 255                          *
 256                          */
 257
 258 #ifdef AO_PAD_R_V_PYRO_IGNITER
 259                         if (sense <= pyro / 8) {
 260                                 /* close to zero → relay is closed */
 261                                 status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED;
 262                                 if ((ao_time() % 100) < 50)
 263                                         cur |= AO_LED_CONTINUITY(c);
 264                         }
 265                         else
 266 #endif
 267                         {
 268                                 if (sense >= (pyro * 7) / 8) {
 269
 270                                         /* sense close to pyro voltage; igniter is good
 271                                          */
 272                                         status = AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN;
 273                                         cur |= AO_LED_CONTINUITY(c);
 274                                 } else {
 275
 276                                         /* relay not shorted (if we can tell),
 277                                          * and igniter not obviously present
 278                                          */
 279                                         status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
 280                                 }
 281                         }
 282                         query.igniter_status[c] = status;
 283                 }
 284                 if (cur != prev) {
 285 //                      PRINTD("change leds from %02x to %02x\n",
 286 //                             prev, cur);
 287 //                      FLUSHD();
 288                         ao_led_set(cur);
 289                         prev = cur;
 290                 }
 291
 292                 if (ao_pad_armed && (int16_t) (ao_time() - ao_pad_arm_time) > AO_PAD_ARM_TIME)
 293                         ao_pad_armed = 0;
 294
 295                 if (ao_pad_armed) {
 296                         ao_strobe(1);
 297                         ao_siren(1);
 298                         beeping = 1;
 299                 } else if (query.arm_status == AO_PAD_ARM_STATUS_ARMED && !beeping) {
 300                         if (arm_beep_time == 0) {
 301                                 arm_beep_time = AO_PAD_ARM_SIREN_INTERVAL;
 302                                 beeping = 1;
 303                                 ao_siren(1);
 304                         }
 305                         --arm_beep_time;
 306                 } else if (beeping) {
 307                         beeping = 0;
 308                         ao_siren(0);
 309                         ao_strobe(0);
 310                 }
 311         }
 312 }
 313
 314 void
 315 ao_pad_disable(void)
 316 {
 317         if (!ao_pad_disabled) {
 318                 ao_pad_disabled = 1;
 319                 ao_radio_recv_abort();
 320         }
 321 }
 322
 323 void
 324 ao_pad_enable(void)
 325 {
 326         ao_pad_disabled = 0;
 327         ao_wakeup (&ao_pad_disabled);
 328 }
 329
 330 #if HAS_74HC165
 331 static uint8_t
 332 ao_pad_read_box(void)
 333 {
 334         uint8_t         byte = ao_74hc165_read();
 335         uint8_t         h, l;
 336
 337         PRINTD("box %02x\n", byte);
 338         h = byte >> 4;
 339         l = byte & 0xf;
 340         return h * 10 + l;
 341 }
 342 #endif
 343
 344 #ifdef AO_PAD_SELECTOR_PORT
 345 static int ao_pad_read_box(void) {
 346         AO_PORT_TYPE    value = ao_gpio_get_all(AO_PAD_SELECTOR_PORT);
 347         unsigned        pin;
 348         int             select = 1;
 349
 350         for (pin = 0; pin < sizeof (AO_PORT_TYPE) * 8; pin++) {
 351                 if (AO_PAD_SELECTOR_PINS & (1 << pin)) {
 352                         if ((value & (1 << pin)) == 0)
 353                                 return select;
 354                         select++;
 355                 }
 356         }
 357         return ao_config.pad_box;
 358 }
 359 #else
 360
 361 #ifdef PAD_BOX
 362 #define ao_pad_read_box()       PAD_BOX
 363 #endif
 364
 365 #endif
 366
 367 static void
 368 ao_pad(void)
 369 {
 370         int16_t time_difference;
 371         int8_t  ret;
 372
 373         ao_pad_box = 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_config.pad_box;
 385 #ifndef HAS_FIXED_PAD_BOX
 386                 if (ao_pad_box == 0 || ao_pad_box == 0xff)
 387                         ao_pad_box = ao_pad_read_box();
 388 #endif
 389
 390                 PRINTD ("tick %d box %d (me %d) cmd %d channels %02x\n",
 391                         command.tick, command.box, ao_pad_box, command.cmd, command.channels);
 392
 393                 switch (command.cmd) {
 394                 case AO_PAD_ARM:
 395                         if (command.box != ao_pad_box) {
 396                                 PRINTD ("box number mismatch\n");
 397                                 break;
 398                         }
 399
 400                         if (command.channels & ~(AO_PAD_ALL_CHANNELS))
 401                                 break;
 402
 403                         time_difference = command.tick - ao_time();
 404                         PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
 405                         if (time_difference < 0)
 406                                 time_difference = -time_difference;
 407                         if (time_difference > 10) {
 408                                 PRINTD ("time difference too large %d\n", time_difference);
 409                                 break;
 410                         }
 411                         PRINTD ("armed\n");
 412                         ao_pad_armed = command.channels;
 413                         ao_pad_arm_time = ao_time();
 414                         break;
 415
 416                 case AO_PAD_QUERY:
 417                         if (command.box != ao_pad_box) {
 418                                 PRINTD ("box number mismatch\n");
 419                                 break;
 420                         }
 421
 422                         query.tick = ao_time();
 423                         query.box = ao_pad_box;
 424                         query.channels = AO_PAD_ALL_CHANNELS;
 425                         query.armed = ao_pad_armed;
 426                         PRINTD ("query tick %d box %d channels %02x arm %d arm_status %d igniter %d,%d,%d,%d\n",
 427                                 query.tick, query.box, query.channels, query.armed,
 428                                 query.arm_status,
 429                                 query.igniter_status[0],
 430                                 query.igniter_status[1],
 431                                 query.igniter_status[2],
 432                                 query.igniter_status[3]);
 433                         ao_radio_cmac_send(&query, sizeof (query));
 434                         break;
 435                 case AO_PAD_FIRE:
 436                         if (!ao_pad_armed) {
 437                                 PRINTD ("not armed\n");
 438                                 break;
 439                         }
 440                         if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
 441                                 PRINTD ("late pad arm_time %d time %d\n",
 442                                         ao_pad_arm_time, ao_time());
 443                                 break;
 444                         }
 445                         PRINTD ("ignite\n");
 446                         ao_pad_ignite = ao_pad_armed;
 447                         ao_pad_arm_time = ao_time();
 448                         ao_wakeup(&ao_pad_ignite);
 449                         break;
 450                 case AO_PAD_STATIC:
 451                         if (!ao_pad_armed) {
 452                                 PRINTD ("not armed\n");
 453                                 break;
 454                         }
 455 #if HAS_LOG
 456                         if (!ao_log_running) ao_log_start();
 457 #endif
 458                         if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
 459                                 PRINTD ("late pad arm_time %d time %d\n",
 460                                         ao_pad_arm_time, ao_time());
 461                                 break;
 462                         }
 463                         PRINTD ("ignite\n");
 464                         ao_pad_ignite = ao_pad_armed;
 465                         ao_pad_arm_time = ao_time();
 466                         ao_wakeup(&ao_pad_ignite);
 467                         break;
 468                 case AO_PAD_ENDSTATIC:
 469 #if HAS_LOG
 470                         ao_log_stop();
 471 #endif
 472                         break;
 473                 }
 474         }
 475 }
 476
 477 void
 478 ao_pad_test(void)
 479 {
 480         uint8_t c;
 481
 482         printf ("Arm switch: ");
 483         switch (query.arm_status) {
 484         case AO_PAD_ARM_STATUS_ARMED:
 485                 printf ("Armed\n");
 486                 break;
 487         case AO_PAD_ARM_STATUS_DISARMED:
 488                 printf ("Disarmed\n");
 489                 break;
 490         case AO_PAD_ARM_STATUS_UNKNOWN:
 491                 printf ("Unknown\n");
 492                 break;
 493         }
 494
 495         for (c = 0; c < AO_PAD_NUM; c++) {
 496                 printf ("Pad %d: ", c);
 497                 switch (query.igniter_status[c]) {
 498                 case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED:     printf ("No igniter. Relay closed\n"); break;
 499                 case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN:       printf ("No igniter. Relay open\n"); break;
 500                 case AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN:     printf ("Good igniter. Relay open\n"); break;
 501                 case AO_PAD_IGNITER_STATUS_UNKNOWN:                     printf ("Unknown\n"); break;
 502                 }
 503         }
 504 }
 505
 506 void
 507 ao_pad_manual(void)
 508 {
 509         uint8_t ignite;
 510         int     repeat;
 511         ao_cmd_white();
 512         if (!ao_match_word("DoIt"))
 513                 return;
 514         ao_cmd_decimal();
 515         if (ao_cmd_status != ao_cmd_success)
 516                 return;
 517         ignite = 1 << ao_cmd_lex_i;
 518         ao_cmd_decimal();
 519         if (ao_cmd_status != ao_cmd_success) {
 520                 repeat = 1;
 521                 ao_cmd_status = ao_cmd_success;
 522         } else
 523                 repeat = ao_cmd_lex_i;
 524         while (repeat-- > 0) {
 525                 ao_pad_ignite = ignite;
 526                 ao_wakeup(&ao_pad_ignite);
 527                 ao_delay(AO_PAD_FIRE_TIME>>1);
 528         }
 529 }
 530
 531 static __xdata struct ao_task ao_pad_task;
 532 static __xdata struct ao_task ao_pad_ignite_task;
 533 static __xdata struct ao_task ao_pad_monitor_task;
 534
 535 #if DEBUG
 536 void
 537 ao_pad_set_debug(void)
 538 {
 539         ao_cmd_decimal();
 540         if (ao_cmd_status == ao_cmd_success)
 541                 ao_pad_debug = ao_cmd_lex_i != 0;
 542 }
 543
 544
 545 static void
 546 ao_pad_alarm_debug(void)
 547 {
 548         uint8_t which, value;
 549         ao_cmd_decimal();
 550         if (ao_cmd_status != ao_cmd_success)
 551                 return;
 552         which = ao_cmd_lex_i;
 553         ao_cmd_decimal();
 554         if (ao_cmd_status != ao_cmd_success)
 555                 return;
 556         value = ao_cmd_lex_i;
 557         printf ("Set %s to %d\n", which ? "siren" : "strobe", value);
 558         if (which)
 559                 ao_siren(value);
 560         else
 561                 ao_strobe(value);
 562 }
 563 #endif
 564
 565 __code struct ao_cmds ao_pad_cmds[] = {
 566         { ao_pad_test,  "t\0Test pad continuity" },
 567         { ao_pad_manual,        "i <key> <n>\0Fire igniter. <key> is doit with D&I" },
 568 #if DEBUG
 569         { ao_pad_set_debug,     "D <0 off, 1 on>\0Debug" },
 570         { ao_pad_alarm_debug,   "S <0 strobe, 1 siren> <0 off, 1 on>\0Set alarm output" },
 571 #endif
 572         { 0, NULL }
 573 };
 574
 575 #ifndef AO_PAD_PORT_1
 576 #define AO_PAD_0_PORT   AO_PAD_PORT
 577 #define AO_PAD_1_PORT   AO_PAD_PORT
 578 #define AO_PAD_2_PORT   AO_PAD_PORT
 579 #define AO_PAD_3_PORT   AO_PAD_PORT
 580 #define AO_PAD_4_PORT   AO_PAD_PORT
 581 #define AO_PAD_5_PORT   AO_PAD_PORT
 582 #define AO_PAD_6_PORT   AO_PAD_PORT
 583 #define AO_PAD_7_PORT   AO_PAD_PORT
 584 #endif
 585
 586 void
 587 ao_pad_init(void)
 588 {
 589 #ifdef AO_PAD_SELECTOR_PORT
 590         unsigned pin;
 591
 592         for (pin = 0; pin < sizeof (AO_PORT_TYPE) * 8; pin++) {
 593                 if (AO_PAD_SELECTOR_PINS & (1 << pin))
 594                         ao_enable_input(AO_PAD_SELECTOR_PORT, pin, AO_EXTI_MODE_PULL_UP);
 595         }
 596 #endif
 597 #if AO_PAD_NUM > 0
 598         ao_enable_output(AO_PAD_0_PORT, AO_PAD_PIN_0, AO_PAD_0, 0);
 599 #endif
 600 #if AO_PAD_NUM > 1
 601         ao_enable_output(AO_PAD_1_PORT, AO_PAD_PIN_1, AO_PAD_1, 0);
 602 #endif
 603 #if AO_PAD_NUM > 2
 604         ao_enable_output(AO_PAD_2_PORT, AO_PAD_PIN_2, AO_PAD_2, 0);
 605 #endif
 606 #if AO_PAD_NUM > 3
 607         ao_enable_output(AO_PAD_3_PORT, AO_PAD_PIN_3, AO_PAD_3, 0);
 608 #endif
 609 #if AO_PAD_NUM > 4
 610         ao_enable_output(AO_PAD_4_PORT, AO_PAD_PIN_4, AO_PAD_4, 0);
 611 #endif
 612 #if AO_PAD_NUM > 5
 613         ao_enable_output(AO_PAD_5_PORT, AO_PAD_PIN_5, AO_PAD_5, 0);
 614 #endif
 615 #if AO_PAD_NUM > 5
 616         ao_enable_output(AO_PAD_6_PORT, AO_PAD_PIN_6, AO_PAD_6, 0);
 617 #endif
 618 #if AO_PAD_NUM > 7
 619         ao_enable_output(AO_PAD_7_PORT, AO_PAD_PIN_7, AO_PAD_7, 0);
 620 #endif
 621 #ifdef AO_STROBE
 622         ao_enable_output(AO_STROBE_PORT, AO_STROBE_PIN, AO_STROBE, 0);
 623 #endif
 624 #ifdef AO_SIREN
 625         ao_enable_output(AO_SIREN_PORT, AO_SIREN_PIN, AO_SIREN, 0);
 626 #endif
 627         ao_cmd_register(&ao_pad_cmds[0]);
 628         ao_add_task(&ao_pad_task, ao_pad, "pad listener");
 629         ao_add_task(&ao_pad_ignite_task, ao_pad_run, "pad igniter");
 630         ao_add_task(&ao_pad_monitor_task, ao_pad_monitor, "pad monitor");
 631 }