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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 #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
  27 #if 0
  28 #define PRINTD(...) printf(__VA_ARGS__)
  29 #define FLUSHD()    flush()
  30 #else
  31 #define PRINTD(...)
  32 #define FLUSHD()
  33 #endif
  34
  35 static void
  36 ao_pad_run(void)
  37 {
  38         for (;;) {
  39                 while (!ao_pad_ignite)
  40                         ao_sleep(&ao_pad_ignite);
  41                 /*
  42                  * Actually set the pad bits
  43                  */
  44                 AO_PAD_PORT = (AO_PAD_PORT & (~AO_PAD_ALL_PINS)) | ao_pad_ignite;
  45                 while (ao_pad_ignite) {
  46                         ao_pad_ignite = 0;
  47                         ao_delay(AO_PAD_FIRE_TIME);
  48                 }
  49                 AO_PAD_PORT &= ~(AO_PAD_ALL_PINS);
  50         }
  51 }
  52
  53 static void
  54 ao_pad_monitor(void)
  55 {
  56         uint8_t                 c;
  57         uint8_t                 sample;
  58         __pdata uint8_t         prev = 0, cur = 0;
  59         __pdata uint8_t         beeping = 0;
  60         __xdata struct ao_data  *packet;
  61
  62         sample = ao_data_head;
  63         for (;;) {
  64                 __pdata int16_t                 pyro;
  65                 ao_arch_critical(
  66                         while (sample == ao_data_head)
  67                                 ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
  68                         );
  69
  70                 packet = &ao_data_ring[sample];
  71                 sample = ao_data_ring_next(sample);
  72
  73                 pyro = packet->adc.pyro;
  74
  75 #define VOLTS_TO_PYRO(x) ((int16_t) ((x) * 27.0 / 127.0 / 3.3 * 32767.0))
  76
  77                 cur = 0;
  78                 if (pyro > VOLTS_TO_PYRO(4))
  79                         query.arm_status = AO_PAD_ARM_STATUS_ARMED;
  80                 else if (pyro < VOLTS_TO_PYRO(1))
  81                         query.arm_status = AO_PAD_ARM_STATUS_DISARMED;
  82                 else
  83                         query.arm_status = AO_PAD_ARM_STATUS_UNKNOWN;
  84
  85                 for (c = 0; c < AO_PAD_NUM; c++) {
  86                         int16_t         sense = packet->adc.sense[c];
  87                         uint8_t status = AO_PAD_IGNITER_STATUS_UNKNOWN;
  88
  89                         if (query.arm_status == AO_PAD_ARM_STATUS_ARMED) {
  90                                 /*
  91                                  *      pyro is run through a divider, so pyro = v_pyro * 27 / 127 ~= v_pyro / 20
  92                                  *      v_pyro = pyro * 127 / 27
  93                                  *
  94                                  *              v_pyro \
  95                                  *      100k            igniter
  96                                  *              output /
  97                                  *      100k           \
  98                                  *              sense   relay
  99                                  *      27k            /
 100                                  *              gnd ---
 101                                  *
 102                                  *      If the relay is closed, then sense will be 0
 103                                  *      If no igniter is present, then sense will be v_pyro * 27k/227k = pyro * 127 / 227 ~= pyro/2
 104                                  *      If igniter is present, then sense will be v_pyro * 27k/127k ~= v_pyro / 20 = pyro
 105                                  */
 106
 107                                 if (sense <= pyro / 8)
 108                                         status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED;
 109                                 else if (pyro / 8 * 3 <= sense && sense <= pyro / 8 * 5)
 110                                         status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
 111                                 else if (pyro / 8 * 7 <= sense) {
 112                                         status = AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN;
 113                                         cur |= AO_LED_CONTINUITY(c);
 114                                 }
 115                         }
 116                         query.igniter_status[c] = status;
 117                 }
 118                 if (cur != prev) {
 119                         ao_led_set_mask(cur, AO_LED_CONTINUITY_MASK);
 120                         prev = cur;
 121                 }
 122
 123                 if (pyro > VOLTS_TO_PYRO(9) && sample == 0) {
 124                         beeping = 1;
 125                         ao_beep(AO_BEEP_HIGH);
 126                 } else if (beeping) {
 127                         beeping = 0;
 128                         ao_beep(0);
 129                 }
 130         }
 131 }
 132
 133 static __pdata uint8_t  ao_pad_armed;
 134 static __pdata uint16_t ao_pad_arm_time;
 135 static __pdata uint8_t  ao_pad_box;
 136 static __xdata uint8_t  ao_pad_disabled;
 137
 138 void
 139 ao_pad_disable(void)
 140 {
 141         if (!ao_pad_disabled) {
 142                 ao_pad_disabled = 1;
 143                 ao_radio_recv_abort();
 144         }
 145 }
 146
 147 void
 148 ao_pad_enable(void)
 149 {
 150         ao_pad_disabled = 0;
 151         ao_wakeup (&ao_pad_disabled);
 152 }
 153
 154 static void
 155 ao_pad(void)
 156 {
 157         int16_t time_difference;
 158
 159         ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
 160         ao_pad_box = ao_74hc497_read();
 161         ao_led_set(0);
 162         ao_led_on(AO_LED_POWER);
 163         for (;;) {
 164                 FLUSHD();
 165                 while (ao_pad_disabled)
 166                         ao_sleep(&ao_pad_disabled);
 167                 if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK)
 168                         continue;
 169
 170                 PRINTD ("tick %d serial %d cmd %d channel %d\n",
 171                         command.tick, command.serial, command.cmd, command.channel);
 172
 173                 switch (command.cmd) {
 174                 case AO_LAUNCH_ARM:
 175                         if (command.box != ao_pad_box) {
 176                                 PRINTD ("box number mismatch\n");
 177                                 break;
 178                         }
 179
 180                         if (command.channels & ~(AO_PAD_ALL_PINS))
 181                                 break;
 182
 183                         time_difference = command.tick - ao_time();
 184                         PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
 185                         if (time_difference < 0)
 186                                 time_difference = -time_difference;
 187                         if (time_difference > 10) {
 188                                 PRINTD ("time difference too large %d\n", time_difference);
 189                                 break;
 190                         }
 191                         PRINTD ("armed\n");
 192                         ao_pad_armed = command.channels;
 193                         ao_pad_arm_time = ao_time();
 194
 195                         /* fall through ... */
 196
 197                 case AO_LAUNCH_QUERY:
 198                         if (command.box != ao_pad_box) {
 199                                 PRINTD ("box number mismatch\n");
 200                                 break;
 201                         }
 202
 203                         query.tick = ao_time();
 204                         query.box = ao_pad_box;
 205                         query.channels = AO_PAD_ALL_PINS;
 206                         query.armed = ao_pad_armed;
 207                         PRINTD ("query tick %d serial %d channel %d valid %d arm %d igniter %d\n",
 208                                 query.tick, query.serial, query.channel, query.valid, query.arm_status,
 209                                 query.igniter_status);
 210                         ao_radio_cmac_send(&query, sizeof (query));
 211                         break;
 212                 case AO_LAUNCH_FIRE:
 213                         if (!ao_pad_armed) {
 214                                 PRINTD ("not armed\n");
 215                                 break;
 216                         }
 217                         if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
 218                                 PRINTD ("late pad arm_time %d time %d\n",
 219                                         ao_pad_arm_time, ao_time());
 220                                 break;
 221                         }
 222                         time_difference = command.tick - ao_time();
 223                         if (time_difference < 0)
 224                                 time_difference = -time_difference;
 225                         if (time_difference > 10) {
 226                                 PRINTD ("time different too large %d\n", time_difference);
 227                                 break;
 228                         }
 229                         PRINTD ("ignite\n");
 230                         ao_pad_ignite = ao_pad_armed;
 231                         ao_wakeup(&ao_pad_ignite);
 232                         break;
 233                 }
 234         }
 235 }
 236
 237 void
 238 ao_pad_test(void)
 239 {
 240         uint8_t c;
 241
 242         printf ("Arm switch: ");
 243         switch (query.arm_status) {
 244         case AO_PAD_ARM_STATUS_ARMED:
 245                 printf ("Armed\n");
 246                 break;
 247         case AO_PAD_ARM_STATUS_DISARMED:
 248                 printf ("Disarmed\n");
 249                 break;
 250         case AO_PAD_ARM_STATUS_UNKNOWN:
 251                 printf ("Unknown\n");
 252                 break;
 253         }
 254
 255         for (c = 0; c < AO_PAD_NUM; c++) {
 256                 printf ("Pad %d: ");
 257                 switch (query.igniter_status[c]) {
 258                 case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED:     printf ("No igniter. Relay closed\n"); break;
 259                 case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN:       printf ("No igniter. Relay open\n"); break;
 260                 case AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN:     printf ("Good igniter. Relay open\n"); break;
 261                 case AO_PAD_IGNITER_STATUS_UNKNOWN:                     printf ("Unknown\n"); break;
 262                 }
 263         }
 264 }
 265
 266 void
 267 ao_pad_manual(void)
 268 {
 269         ao_cmd_white();
 270         if (!ao_match_word("DoIt"))
 271                 return;
 272         ao_cmd_decimal();
 273         if (ao_cmd_status != ao_cmd_success)
 274                 return;
 275         ao_pad_ignite = 1 << ao_cmd_lex_i;
 276         ao_wakeup(&ao_pad_ignite);
 277 }
 278
 279 static __xdata struct ao_task ao_pad_task;
 280 static __xdata struct ao_task ao_pad_ignite_task;
 281 static __xdata struct ao_task ao_pad_monitor_task;
 282
 283 __code struct ao_cmds ao_pad_cmds[] = {
 284         { ao_pad_test,  "t\0Test pad continuity" },
 285         { ao_pad_manual,        "i <key> <n>\0Fire igniter. <key> is doit with D&I" },
 286         { 0, NULL }
 287 };
 288
 289 void
 290 ao_pad_init(void)
 291 {
 292 #if AO_PAD_NUM > 0
 293         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_0, AO_PAD_0, 0);
 294 #endif
 295 #if AO_PAD_NUM > 1
 296         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_1, AO_PAD_1, 0);
 297 #endif
 298 #if AO_PAD_NUM > 2
 299         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_2, AO_PAD_2, 0);
 300 #endif
 301 #if AO_PAD_NUM > 3
 302         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_3, AO_PAD_3, 0);
 303 #endif
 304         ao_cmd_register(&ao_pad_cmds[0]);
 305         ao_add_task(&ao_pad_task, ao_pad, "pad listener");
 306         ao_add_task(&ao_pad_ignite_task, ao_pad_run, "pad igniter");
 307         ao_add_task(&ao_pad_monitor_task, ao_pad_monitor, "pad monitor");
 308 }