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