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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 #if HAS_BEEP
  54         ao_beep(v ? AO_BEEP_MID : 0);
  55 #else
  56         (void) v;
  57 #endif
  58 #endif
  59 }
  60
  61 static void
  62 ao_strobe(uint8_t v)
  63 {
  64 #ifdef AO_STROBE
  65         ao_gpio_set(AO_STROBE_PORT, AO_STROBE_PIN, AO_STROBE, v);
  66 #else
  67         (void) v;
  68 #endif
  69 }
  70
  71 static void
  72 ao_pad_run(void)
  73 {
  74         AO_PORT_TYPE    pins;
  75
  76         for (;;) {
  77                 while (!ao_pad_ignite)
  78                         ao_sleep(&ao_pad_ignite);
  79                 /*
  80                  * Actually set the pad bits
  81                  */
  82                 pins = 0;
  83 #if AO_PAD_NUM > 0
  84                 if (ao_pad_ignite & (1 << 0))
  85                         pins |= (1 << AO_PAD_PIN_0);
  86 #endif
  87 #if AO_PAD_NUM > 1
  88                 if (ao_pad_ignite & (1 << 1))
  89                         pins |= (1 << AO_PAD_PIN_1);
  90 #endif
  91 #if AO_PAD_NUM > 2
  92                 if (ao_pad_ignite & (1 << 2))
  93                         pins |= (1 << AO_PAD_PIN_2);
  94 #endif
  95 #if AO_PAD_NUM > 3
  96                 if (ao_pad_ignite & (1 << 3))
  97                         pins |= (1 << AO_PAD_PIN_3);
  98 #endif
  99                 PRINTD("ignite pins 0x%x\n", pins);
 100                 ao_gpio_set_bits(AO_PAD_PORT, pins);
 101                 while (ao_pad_ignite) {
 102                         ao_pad_ignite = 0;
 103
 104                         ao_delay(AO_PAD_FIRE_TIME);
 105                 }
 106                 ao_gpio_clr_bits(AO_PAD_PORT, pins);
 107                 PRINTD("turn off pins 0x%x\n", pins);
 108         }
 109 }
 110
 111 #define AO_PAD_ARM_SIREN_INTERVAL       200
 112
 113 #ifndef AO_PYRO_R_PYRO_SENSE
 114 #define AO_PYRO_R_PYRO_SENSE    100
 115 #define AO_PYRO_R_SENSE_GND     27
 116 #define AO_FIRE_R_POWER_FET     100
 117 #define AO_FIRE_R_FET_SENSE     100
 118 #define AO_FIRE_R_SENSE_GND     27
 119 #endif
 120
 121 static void
 122 ao_pad_monitor(void)
 123 {
 124         uint8_t                 c;
 125         uint8_t                 sample;
 126         __pdata uint8_t         prev = 0, cur = 0;
 127         __pdata uint8_t         beeping = 0;
 128         __xdata volatile struct ao_data *packet;
 129         __pdata uint16_t        arm_beep_time = 0;
 130
 131         sample = ao_data_head;
 132         for (;;) {
 133                 __pdata int16_t                 pyro;
 134                 ao_arch_critical(
 135                         while (sample == ao_data_head)
 136                                 ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
 137                         );
 138
 139
 140                 packet = &ao_data_ring[sample];
 141                 sample = ao_data_ring_next(sample);
 142
 143                 pyro = packet->adc.pyro;
 144
 145 #define VOLTS_TO_PYRO(x) ((int16_t) ((x) * ((1.0 * AO_PYRO_R_SENSE_GND) / \
 146                                             (1.0 * (AO_PYRO_R_SENSE_GND + AO_PYRO_R_PYRO_SENSE)) / 3.3 * AO_ADC_MAX)))
 147
 148
 149 #define VOLTS_TO_FIRE(x) ((int16_t) ((x) * ((1.0 * AO_FIRE_R_SENSE_GND) / \
 150                                             (1.0 * (AO_FIRE_R_SENSE_GND + AO_FIRE_R_FET_SENSE)) / 3.3 * AO_ADC_MAX)))
 151
 152                 /* convert ADC value to voltage in tenths, then add .2 for the diode drop */
 153                 query.battery = (packet->adc.batt + 96) / 192 + 2;
 154                 cur = 0;
 155                 if (pyro > VOLTS_TO_PYRO(10)) {
 156                         query.arm_status = AO_PAD_ARM_STATUS_ARMED;
 157                         cur |= AO_LED_ARMED;
 158                 } else if (pyro < VOLTS_TO_PYRO(5)) {
 159                         query.arm_status = AO_PAD_ARM_STATUS_DISARMED;
 160                         arm_beep_time = 0;
 161                 } else {
 162                         if ((ao_time() % 100) < 50)
 163                                 cur |= AO_LED_ARMED;
 164                         query.arm_status = AO_PAD_ARM_STATUS_UNKNOWN;
 165                         arm_beep_time = 0;
 166                 }
 167                 if ((ao_time() - ao_pad_packet_time) > AO_SEC_TO_TICKS(2))
 168                         cur |= AO_LED_RED;
 169                 else if (ao_radio_cmac_rssi < AO_PAD_RSSI_MINIMUM)
 170                         cur |= AO_LED_AMBER;
 171                 else
 172                         cur |= AO_LED_GREEN;
 173
 174                 for (c = 0; c < AO_PAD_NUM; c++) {
 175                         int16_t         sense = packet->adc.sense[c];
 176                         uint8_t status = AO_PAD_IGNITER_STATUS_UNKNOWN;
 177
 178                         /*
 179                          *      pyro is run through a divider, so pyro = v_pyro * 27 / 127 ~= v_pyro / 20
 180                          *      v_pyro = pyro * 127 / 27
 181                          *
 182                          *              v_pyro \
 183                          *      100k            igniter
 184                          *              output /
 185                          *      100k           \
 186                          *              sense   relay
 187                          *      27k            /
 188                          *              gnd ---
 189                          *
 190                          *              v_pyro \
 191                          *      200k            igniter
 192                          *              output /
 193                          *      200k           \
 194                          *              sense   relay
 195                          *      22k            /
 196                          *              gnd ---
 197                          *
 198                          *      If the relay is closed, then sense will be 0
 199                          *      If no igniter is present, then sense will be v_pyro * 27k/227k = pyro * 127 / 227 ~= pyro/2
 200                          *      If igniter is present, then sense will be v_pyro * 27k/127k ~= v_pyro / 20 = pyro
 201                          */
 202
 203 #if AO_FIRE_R_POWER_FET
 204                         if (sense <= pyro / 8) {
 205                                 status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED;
 206                                 if ((ao_time() % 100) < 50)
 207                                         cur |= AO_LED_CONTINUITY(c);
 208                         } else
 209                         if (pyro / 8 * 3 <= sense && sense <= pyro / 8 * 5)
 210                                 status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
 211                         else if (pyro / 8 * 7 <= sense) {
 212                                 status = AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN;
 213                                 cur |= AO_LED_CONTINUITY(c);
 214                         }
 215 #else
 216                         if (sense >= pyro / 8 * 5) {
 217                                 status = AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN;
 218                                 cur |= AO_LED_CONTINUITY(c);
 219                         } else {
 220                                 status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
 221                         }
 222 #endif
 223                         query.igniter_status[c] = status;
 224                 }
 225                 if (cur != prev) {
 226                         PRINTD("change leds from %02x to %02x\n",
 227                                prev, cur);
 228                         FLUSHD();
 229                         ao_led_set(cur);
 230                         prev = cur;
 231                 }
 232
 233                 if (ao_pad_armed && (int16_t) (ao_time() - ao_pad_arm_time) > AO_PAD_ARM_TIME)
 234                         ao_pad_armed = 0;
 235
 236                 if (ao_pad_armed) {
 237                         ao_strobe(1);
 238                         ao_siren(1);
 239                         beeping = 1;
 240                 } else if (query.arm_status == AO_PAD_ARM_STATUS_ARMED && !beeping) {
 241                         if (arm_beep_time == 0) {
 242                                 arm_beep_time = AO_PAD_ARM_SIREN_INTERVAL;
 243                                 beeping = 1;
 244                                 ao_siren(1);
 245                         }
 246                         --arm_beep_time;
 247                 } else if (beeping) {
 248                         beeping = 0;
 249                         ao_siren(0);
 250                         ao_strobe(0);
 251                 }
 252         }
 253 }
 254
 255 void
 256 ao_pad_disable(void)
 257 {
 258         if (!ao_pad_disabled) {
 259                 ao_pad_disabled = 1;
 260                 ao_radio_recv_abort();
 261         }
 262 }
 263
 264 void
 265 ao_pad_enable(void)
 266 {
 267         ao_pad_disabled = 0;
 268         ao_wakeup (&ao_pad_disabled);
 269 }
 270
 271 #if HAS_74HC165
 272 static uint8_t
 273 ao_pad_read_box(void)
 274 {
 275         uint8_t         byte = ao_74hc165_read();
 276         uint8_t         h, l;
 277
 278         h = byte >> 4;
 279         l = byte & 0xf;
 280         return h * 10 + l;
 281 }
 282 #else
 283 #define ao_pad_read_box()       0
 284 #endif
 285
 286 #ifdef PAD_BOX
 287 #define ao_pad_read_box()       PAD_BOX
 288 #endif
 289
 290 static void
 291 ao_pad(void)
 292 {
 293         int16_t time_difference;
 294         int8_t  ret;
 295
 296         ao_pad_box = 0;
 297         ao_led_set(0);
 298         for (;;) {
 299                 FLUSHD();
 300                 while (ao_pad_disabled)
 301                         ao_sleep(&ao_pad_disabled);
 302                 ret = ao_radio_cmac_recv(&command, sizeof (command), 0);
 303                 PRINTD ("cmac_recv %d %d\n", ret, ao_radio_cmac_rssi);
 304                 if (ret != AO_RADIO_CMAC_OK)
 305                         continue;
 306                 ao_pad_packet_time = ao_time();
 307
 308                 ao_pad_box = ao_pad_read_box();
 309
 310                 PRINTD ("tick %d box %d (me %d) cmd %d channels %02x\n",
 311                         command.tick, command.box, ao_pad_box, command.cmd, command.channels);
 312
 313                 switch (command.cmd) {
 314                 case AO_LAUNCH_ARM:
 315                         if (command.box != ao_pad_box) {
 316                                 PRINTD ("box number mismatch\n");
 317                                 break;
 318                         }
 319
 320                         if (command.channels & ~(AO_PAD_ALL_CHANNELS))
 321                                 break;
 322
 323                         time_difference = command.tick - ao_time();
 324                         PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
 325                         if (time_difference < 0)
 326                                 time_difference = -time_difference;
 327                         if (time_difference > 10) {
 328                                 PRINTD ("time difference too large %d\n", time_difference);
 329                                 break;
 330                         }
 331                         PRINTD ("armed\n");
 332                         ao_pad_armed = command.channels;
 333                         ao_pad_arm_time = ao_time();
 334                         break;
 335
 336                 case AO_LAUNCH_QUERY:
 337                         if (command.box != ao_pad_box) {
 338                                 PRINTD ("box number mismatch\n");
 339                                 break;
 340                         }
 341
 342                         query.tick = ao_time();
 343                         query.box = ao_pad_box;
 344                         query.channels = AO_PAD_ALL_CHANNELS;
 345                         query.armed = ao_pad_armed;
 346                         PRINTD ("query tick %d box %d channels %02x arm %d arm_status %d igniter %d,%d,%d,%d\n",
 347                                 query.tick, query.box, query.channels, query.armed,
 348                                 query.arm_status,
 349                                 query.igniter_status[0],
 350                                 query.igniter_status[1],
 351                                 query.igniter_status[2],
 352                                 query.igniter_status[3]);
 353                         ao_radio_cmac_send(&query, sizeof (query));
 354                         break;
 355                 case AO_LAUNCH_FIRE:
 356                         if (!ao_pad_armed) {
 357                                 PRINTD ("not armed\n");
 358                                 break;
 359                         }
 360                         if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
 361                                 PRINTD ("late pad arm_time %d time %d\n",
 362                                         ao_pad_arm_time, ao_time());
 363                                 break;
 364                         }
 365                         PRINTD ("ignite\n");
 366                         ao_pad_ignite = ao_pad_armed;
 367                         ao_pad_arm_time = ao_time();
 368                         ao_wakeup(&ao_pad_ignite);
 369                         break;
 370                 }
 371         }
 372 }
 373
 374 void
 375 ao_pad_test(void)
 376 {
 377         uint8_t c;
 378
 379         printf ("Arm switch: ");
 380         switch (query.arm_status) {
 381         case AO_PAD_ARM_STATUS_ARMED:
 382                 printf ("Armed\n");
 383                 break;
 384         case AO_PAD_ARM_STATUS_DISARMED:
 385                 printf ("Disarmed\n");
 386                 break;
 387         case AO_PAD_ARM_STATUS_UNKNOWN:
 388                 printf ("Unknown\n");
 389                 break;
 390         }
 391
 392         for (c = 0; c < AO_PAD_NUM; c++) {
 393                 printf ("Pad %d: ", c);
 394                 switch (query.igniter_status[c]) {
 395                 case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED:     printf ("No igniter. Relay closed\n"); break;
 396                 case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN:       printf ("No igniter. Relay open\n"); break;
 397                 case AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN:     printf ("Good igniter. Relay open\n"); break;
 398                 case AO_PAD_IGNITER_STATUS_UNKNOWN:                     printf ("Unknown\n"); break;
 399                 }
 400         }
 401 }
 402
 403 void
 404 ao_pad_manual(void)
 405 {
 406         uint8_t ignite;
 407         int     repeat;
 408         ao_cmd_white();
 409         if (!ao_match_word("DoIt"))
 410                 return;
 411         ao_cmd_decimal();
 412         if (ao_cmd_status != ao_cmd_success)
 413                 return;
 414         ignite = 1 << ao_cmd_lex_i;
 415         ao_cmd_decimal();
 416         if (ao_cmd_status != ao_cmd_success) {
 417                 repeat = 1;
 418                 ao_cmd_status = ao_cmd_success;
 419         } else
 420                 repeat = ao_cmd_lex_i;
 421         while (repeat-- > 0) {
 422                 ao_pad_ignite = ignite;
 423                 ao_wakeup(&ao_pad_ignite);
 424                 ao_delay(AO_PAD_FIRE_TIME>>1);
 425         }
 426 }
 427
 428 static __xdata struct ao_task ao_pad_task;
 429 static __xdata struct ao_task ao_pad_ignite_task;
 430 static __xdata struct ao_task ao_pad_monitor_task;
 431
 432 #if DEBUG
 433 void
 434 ao_pad_set_debug(void)
 435 {
 436         ao_cmd_decimal();
 437         if (ao_cmd_status == ao_cmd_success)
 438                 ao_pad_debug = ao_cmd_lex_i != 0;
 439 }
 440
 441
 442 static void
 443 ao_pad_alarm_debug(void)
 444 {
 445         uint8_t which, value;
 446         ao_cmd_decimal();
 447         if (ao_cmd_status != ao_cmd_success)
 448                 return;
 449         which = ao_cmd_lex_i;
 450         ao_cmd_decimal();
 451         if (ao_cmd_status != ao_cmd_success)
 452                 return;
 453         value = ao_cmd_lex_i;
 454         printf ("Set %s to %d\n", which ? "siren" : "strobe", value);
 455         if (which)
 456                 ao_siren(value);
 457         else
 458                 ao_strobe(value);
 459 }
 460 #endif
 461
 462 __code struct ao_cmds ao_pad_cmds[] = {
 463         { ao_pad_test,  "t\0Test pad continuity" },
 464         { ao_pad_manual,        "i <key> <n>\0Fire igniter. <key> is doit with D&I" },
 465 #if DEBUG
 466         { ao_pad_set_debug,     "D <0 off, 1 on>\0Debug" },
 467         { ao_pad_alarm_debug,   "S <0 strobe, 1 siren> <0 off, 1 on>\0Set alarm output" },
 468 #endif
 469         { 0, NULL }
 470 };
 471
 472 void
 473 ao_pad_init(void)
 474 {
 475 #if AO_PAD_NUM > 0
 476         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_0, AO_PAD_0, 0);
 477 #endif
 478 #if AO_PAD_NUM > 1
 479         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_1, AO_PAD_1, 0);
 480 #endif
 481 #if AO_PAD_NUM > 2
 482         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_2, AO_PAD_2, 0);
 483 #endif
 484 #if AO_PAD_NUM > 3
 485         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_3, AO_PAD_3, 0);
 486 #endif
 487 #ifdef AO_STROBE
 488         ao_enable_output(AO_STROBE_PORT, AO_STROBE_PIN, AO_STROBE, 0);
 489 #endif
 490 #ifdef AO_SIREN
 491         ao_enable_output(AO_SIREN_PORT, AO_SIREN_PIN, AO_SIREN, 0);
 492 #endif
 493         ao_cmd_register(&ao_pad_cmds[0]);
 494         ao_add_task(&ao_pad_task, ao_pad, "pad listener");
 495         ao_add_task(&ao_pad_ignite_task, ao_pad_run, "pad igniter");
 496         ao_add_task(&ao_pad_monitor_task, ao_pad_monitor, "pad monitor");
 497 }