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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         for (;;) {
  55                 ao_delay(AO_SEC_TO_TICKS(1));
  56 #if 0
  57                 if (ao_igniter_status(ao_igniter_drogue) == ao_igniter_ready) {
  58                         if (ao_igniter_status(ao_igniter_main) == ao_igniter_ready) {
  59                                 for (i = 0; i < 5; i++) {
  60                                         ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(50));
  61                                         ao_delay(AO_MS_TO_TICKS(100));
  62                                 }
  63                         } else {
  64                                 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
  65                         }
  66                 }
  67 #endif
  68         }
  69 }
  70
  71 static __pdata uint8_t  ao_pad_armed;
  72 static __pdata uint16_t ao_pad_arm_time;
  73 static __pdata uint8_t  ao_pad_box;
  74 static __xdata uint8_t  ao_pad_disabled;
  75
  76 void
  77 ao_pad_disable(void)
  78 {
  79         if (!ao_pad_disabled) {
  80                 ao_pad_disabled = 1;
  81                 ao_radio_recv_abort();
  82         }
  83 }
  84
  85 void
  86 ao_pad_enable(void)
  87 {
  88         ao_pad_disabled = 0;
  89         ao_wakeup (&ao_pad_disabled);
  90 }
  91
  92 static void
  93 ao_pad(void)
  94 {
  95         static __xdata struct ao_pad_command    command;
  96         static __xdata struct ao_pad_query      query;
  97         int16_t time_difference;
  98         uint8_t c;
  99
 100         ao_led_off(AO_LED_RED);
 101         ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
 102         ao_pad_box = ao_74hc497_read();
 103         for (;;) {
 104                 flush();
 105                 while (ao_pad_disabled)
 106                         ao_sleep(&ao_pad_disabled);
 107                 if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK)
 108                         continue;
 109
 110                 PRINTD ("tick %d serial %d cmd %d channel %d\n",
 111                         command.tick, command.serial, command.cmd, command.channel);
 112
 113                 switch (command.cmd) {
 114                 case AO_LAUNCH_ARM:
 115                         if (command.box != ao_pad_box) {
 116                                 PRINTD ("box number mismatch\n");
 117                                 break;
 118                         }
 119
 120                         if (command.channels & ~(AO_PAD_ALL_PINS))
 121                                 break;
 122
 123                         time_difference = command.tick - ao_time();
 124                         PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
 125                         if (time_difference < 0)
 126                                 time_difference = -time_difference;
 127                         if (time_difference > 10) {
 128                                 PRINTD ("time difference too large %d\n", time_difference);
 129                                 break;
 130                         }
 131                         PRINTD ("armed\n");
 132                         ao_pad_armed = command.channels;
 133                         ao_pad_arm_time = ao_time();
 134
 135                         /* fall through ... */
 136
 137                 case AO_LAUNCH_QUERY:
 138                         if (command.box != ao_pad_box) {
 139                                 PRINTD ("box number mismatch\n");
 140                                 break;
 141                         }
 142
 143                         query.tick = ao_time();
 144                         query.box = ao_pad_box;
 145                         query.channels = AO_PAD_ALL_PINS;
 146                         query.armed = ao_pad_armed;
 147                         query.arm_status = ao_pad_arm_status();
 148                         for (c = 0; c < AO_PAD_NUM; c++)
 149                                 query.igniter_status[c] = ao_pad_igniter_status(c);
 150                         PRINTD ("query tick %d serial %d channel %d valid %d arm %d igniter %d\n",
 151                                 query.tick, query.serial, query.channel, query.valid, query.arm_status,
 152                                 query.igniter_status);
 153                         ao_radio_cmac_send(&query, sizeof (query));
 154                         break;
 155                 case AO_LAUNCH_FIRE:
 156                         if (!ao_pad_armed) {
 157                                 PRINTD ("not armed\n");
 158                                 break;
 159                         }
 160                         if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
 161                                 PRINTD ("late pad arm_time %d time %d\n",
 162                                         ao_pad_arm_time, ao_time());
 163                                 break;
 164                         }
 165                         time_difference = command.tick - ao_time();
 166                         if (time_difference < 0)
 167                                 time_difference = -time_difference;
 168                         if (time_difference > 10) {
 169                                 PRINTD ("time different too large %d\n", time_difference);
 170                                 break;
 171                         }
 172                         PRINTD ("ignite\n");
 173                         ao_pad_ignite = ao_pad_armed;
 174                         ao_wakeup(&ao_pad_ignite);
 175                         break;
 176                 }
 177         }
 178 }
 179
 180 void
 181 ao_pad_test(void)
 182 {
 183 #if 0
 184         switch (ao_igniter_status(ao_igniter_drogue)) {
 185         case ao_igniter_ready:
 186         case ao_igniter_active:
 187                 printf ("Armed: ");
 188                 switch (ao_igniter_status(ao_igniter_main)) {
 189                 default:
 190                         printf("unknown status\n");
 191                         break;
 192                 case ao_igniter_ready:
 193                         printf("igniter good\n");
 194                         break;
 195                 case ao_igniter_open:
 196                         printf("igniter bad\n");
 197                         break;
 198                 }
 199                 break;
 200         default:
 201                 printf("Disarmed\n");
 202         }
 203 #endif
 204 }
 205
 206 void
 207 ao_pad_manual(void)
 208 {
 209         ao_cmd_white();
 210         if (!ao_match_word("DoIt"))
 211                 return;
 212         ao_cmd_white();
 213         ao_pad_ignite = 1;
 214         ao_wakeup(&ao_pad_ignite);
 215 }
 216
 217 static __xdata struct ao_task ao_pad_task;
 218 static __xdata struct ao_task ao_pad_ignite_task;
 219 static __xdata struct ao_task ao_pad_status_task;
 220
 221 __code struct ao_cmds ao_pad_cmds[] = {
 222         { ao_pad_test,  "t\0Test pad continuity" },
 223         { ao_pad_manual,        "i <key>\0Fire igniter. <key> is doit with D&I" },
 224         { 0, NULL }
 225 };
 226
 227 void
 228 ao_pad_init(void)
 229 {
 230 #if AO_PAD_NUM > 0
 231         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_0, AO_PAD_0, 0);
 232 #endif
 233 #if AO_PAD_NUM > 1
 234         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_1, AO_PAD_1, 0);
 235 #endif
 236 #if AO_PAD_NUM > 2
 237         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_2, AO_PAD_2, 0);
 238 #endif
 239 #if AO_PAD_NUM > 3
 240         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_3, AO_PAD_3, 0);
 241 #endif
 242         ao_cmd_register(&ao_pad_cmds[0]);
 243         ao_add_task(&ao_pad_task, ao_pad, "pad listener");
 244         ao_add_task(&ao_pad_ignite_task, ao_pad_run, "pad igniter");
 245         ao_add_task(&ao_pad_status_task, ao_pad_status, "pad status");
 246 }