git.gag.com Git - fw/altos/blob - src/drivers/ao_pad.c

   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 uint8_t ao_pad_ignite;
  26 static struct ao_pad_command    command;
  27 static struct ao_pad_query      query;
  28 static uint8_t  ao_pad_armed;
  29 static uint16_t ao_pad_arm_time;
  30 static uint8_t  ao_pad_box;
  31 static uint8_t  ao_pad_disabled;
  32 static 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 uint8_t  ao_pad_debug;
  42 #define PRINTD(...) (ao_pad_debug ? (printf(__VA_ARGS__), 0) : 0)
  43 #define FLUSHD()    (ao_pad_debug ? (flush(), 0) : 0)
  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, 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, 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                 }
 143 #ifdef AO_PAD_PORT_1
 144                 ao_gpio_clr_bits(AO_PAD_PORT_0, pins0);
 145                 ao_gpio_clr_bits(AO_PAD_PORT_1, pins1);
 146                 PRINTD("turn off pins 0x%x 0x%x\n", pins0, pins1);
 147 #else
 148                 ao_gpio_set_bits(AO_PAD_PORT_0, pins0);
 149                 PRINTD("turn off pins 0x%x\n", pins0);
 150 #endif
 151         }
 152 }
 153
 154 #define AO_PAD_ARM_SIREN_INTERVAL       200
 155
 156 /* Resistor values needed for various voltage test ratios:
 157  *
 158  *      Net names involved:
 159  *
 160  *      V_BATT          Battery power, after the initial power switch
 161  *      V_PYRO          Pyro power, after the pyro power switch (and initial power switch)
 162  *      PYRO_SENSE      ADC input to sense V_PYRO voltage
 163  *      BATT_SENSE      ADC input to sense V_BATT voltage
 164  *      IGNITER         FET output to pad (the other pad lead hooks to V_PYRO)
 165  *      IGNITER_SENSE   ADC input to sense igniter voltage
 166  *
 167  *      AO_PAD_R_V_BATT_BATT_SENSE      Resistor from battery rail to battery sense input
 168  *      AO_PAD_R_BATT_SENSE_GND         Resistor from battery sense input to ground
 169  *
 170  *      AO_PAD_R_V_BATT_V_PYRO          Resistor from battery rail to pyro rail
 171  *      AO_PAD_R_V_PYRO_PYRO_SENSE      Resistor from pyro rail to pyro sense input
 172  *      AO_PAD_R_PYRO_SENSE_GND         Resistor from pyro sense input to ground
 173  *
 174  *      AO_PAD_R_V_PYRO_IGNITER         Optional resistors from pyro rail to FET igniter output
 175  *      AO_PAD_R_IGNITER_IGNITER_SENSE  Resistors from FET igniter output to igniter sense ADC inputs
 176  *      AO_PAD_R_IGNITER_SENSE_GND      Resistors from igniter sense ADC inputs to ground
 177  */
 178
 179 static int16_t
 180 ao_pad_decivolt(int16_t adc, int16_t r_plus, int16_t r_minus)
 181 {
 182         int32_t mul = (int32_t) AO_ADC_REFERENCE_DV * (r_plus + r_minus);
 183         int32_t div = (int32_t) AO_ADC_MAX * r_minus;
 184         return ((int32_t) adc * mul + mul/2) / div;
 185 }
 186
 187 static void
 188 ao_pad_monitor(void)
 189 {
 190         uint8_t                 c;
 191         uint8_t                 sample;
 192         AO_LED_TYPE     prev = 0, cur = 0;
 193         uint8_t         beeping = 0;
 194         volatile struct ao_data *packet;
 195         uint16_t        arm_beep_time = 0;
 196
 197         sample = ao_data_head;
 198         ao_led_set(LEDS_AVAILABLE);
 199         ao_delay(AO_MS_TO_TICKS(1000));
 200         ao_led_set(0);
 201         for (;;) {
 202                 int16_t                 pyro;
 203
 204                 ao_arch_critical(
 205                         while (sample == ao_data_head)
 206                                 ao_sleep((void *) &ao_data_head);
 207                         );
 208
 209
 210                 packet = &ao_data_ring[sample];
 211                 sample = ao_data_ring_next(sample);
 212
 213                 /* Reply battery voltage */
 214                 query.battery = ao_pad_decivolt(packet->adc.batt, AO_PAD_R_V_BATT_BATT_SENSE, AO_PAD_R_BATT_SENSE_GND);
 215
 216                 /* Current pyro voltage */
 217                 pyro = ao_pad_decivolt(packet->adc.pyro,
 218                                        AO_PAD_R_V_PYRO_PYRO_SENSE,
 219                                        AO_PAD_R_PYRO_SENSE_GND);
 220
 221                 cur = 0;
 222                 if (pyro > query.battery * 7 / 8) {
 223                         query.arm_status = AO_PAD_ARM_STATUS_ARMED;
 224                         cur |= AO_LED_ARMED;
 225                 } else {
 226                         query.arm_status = AO_PAD_ARM_STATUS_DISARMED;
 227                         arm_beep_time = 0;
 228                 }
 229                 if ((ao_time() - ao_pad_packet_time) > AO_SEC_TO_TICKS(2))
 230                         cur |= AO_LED_RED;
 231                 else if (ao_radio_cmac_rssi < AO_PAD_RSSI_MINIMUM)
 232                         cur |= AO_LED_AMBER;
 233                 else
 234                         cur |= AO_LED_GREEN;
 235
 236                 for (c = 0; c < AO_PAD_NUM; c++) {
 237                         int16_t         sense = ao_pad_decivolt(packet->adc.sense[c],
 238                                                                 AO_PAD_R_IGNITER_IGNITER_SENSE,
 239                                                                 AO_PAD_R_IGNITER_SENSE_GND);
 240                         uint8_t status = AO_PAD_IGNITER_STATUS_UNKNOWN;
 241
 242                         /*
 243                          *      Here's the resistor stack on each
 244                          *      igniter channel. Note that
 245                          *      AO_PAD_R_V_PYRO_IGNITER is optional
 246                          *
 247                          *                                      v_pyro \
 248                          *      AO_PAD_R_V_PYRO_IGNITER                 igniter
 249                          *                                      output /
 250                          *      AO_PAD_R_IGNITER_IGNITER_SENSE         \
 251                          *                                      sense   relay
 252                          *      AO_PAD_R_IGNITER_SENSE_GND             /
 253                          *                                      gnd ---
 254                          *
 255                          */
 256
 257 #ifdef AO_PAD_R_V_PYRO_IGNITER
 258                         if (sense <= pyro / 8) {
 259                                 /* close to zero → relay is closed */
 260                                 status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED;
 261                                 if ((ao_time() % 100) < 50)
 262                                         cur |= AO_LED_CONTINUITY(c);
 263                         }
 264                         else
 265 #endif
 266                         {
 267                                 if (sense >= (pyro * 7) / 8) {
 268
 269                                         /* sense close to pyro voltage; igniter is good
 270                                          */
 271                                         status = AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN;
 272                                         cur |= AO_LED_CONTINUITY(c);
 273                                 } else {
 274
 275                                         /* relay not shorted (if we can tell),
 276                                          * and igniter not obviously present
 277                                          */
 278                                         status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
 279                                 }
 280                         }
 281                         query.igniter_status[c] = status;
 282                 }
 283                 if (cur != prev) {
 284                         PRINTD("change leds from %02x to %02x\n",
 285                                prev, cur);
 286                         FLUSHD();
 287                         ao_led_set(cur);
 288                         prev = cur;
 289                 }
 290
 291                 if (ao_pad_armed && (int16_t) (ao_time() - ao_pad_arm_time) > AO_PAD_ARM_TIME)
 292                         ao_pad_armed = 0;
 293
 294                 if (ao_pad_armed) {
 295                         ao_strobe(1);
 296                         ao_siren(1);
 297                         beeping = 1;
 298                 } else if (query.arm_status == AO_PAD_ARM_STATUS_ARMED && !beeping) {
 299                         if (arm_beep_time == 0) {
 300                                 arm_beep_time = AO_PAD_ARM_SIREN_INTERVAL;
 301                                 beeping = 1;
 302                                 ao_siren(1);
 303                         }
 304                         --arm_beep_time;
 305                 } else if (beeping) {
 306                         beeping = 0;
 307                         ao_siren(0);
 308                         ao_strobe(0);
 309                 }
 310         }
 311 }
 312
 313 void
 314 ao_pad_disable(void)
 315 {
 316         if (!ao_pad_disabled) {
 317                 ao_pad_disabled = 1;
 318                 ao_radio_recv_abort();
 319         }
 320 }
 321
 322 void
 323 ao_pad_enable(void)
 324 {
 325         ao_pad_disabled = 0;
 326         ao_wakeup (&ao_pad_disabled);
 327 }
 328
 329 #if HAS_74HC165
 330 static uint8_t
 331 ao_pad_read_box(void)
 332 {
 333         uint8_t         byte = ao_74hc165_read();
 334         uint8_t         h, l;
 335
 336         h = byte >> 4;
 337         l = byte & 0xf;
 338         return h * 10 + l;
 339 }
 340 #endif
 341
 342 #ifdef AO_PAD_SELECTOR_PORT
 343 static int ao_pad_read_box(void) {
 344         AO_PORT_TYPE    value = ao_gpio_get_all(AO_PAD_SELECTOR_PORT);
 345         unsigned        pin;
 346         int             select = 1;
 347
 348         for (pin = 0; pin < sizeof (AO_PORT_TYPE) * 8; pin++) {
 349                 if (AO_PAD_SELECTOR_PINS & (1 << pin)) {
 350                         if ((value & (1 << pin)) == 0)
 351                                 return select;
 352                         select++;
 353                 }
 354         }
 355         return ao_config.pad_box;
 356 }
 357 #else
 358
 359 #if HAS_FIXED_PAD_BOX
 360 #define ao_pad_read_box()       ao_config.pad_box
 361 #endif
 362
 363 #ifdef PAD_BOX
 364 #define ao_pad_read_box()       PAD_BOX
 365 #endif
 366
 367 #endif
 368
 369 static void
 370 ao_pad(void)
 371 {
 372         int16_t time_difference;
 373         int8_t  ret;
 374
 375         ao_pad_box = 0;
 376         for (;;) {
 377                 FLUSHD();
 378                 while (ao_pad_disabled)
 379                         ao_sleep(&ao_pad_disabled);
 380                 ret = ao_radio_cmac_recv(&command, sizeof (command), 0);
 381                 PRINTD ("cmac_recv %d %d\n", ret, ao_radio_cmac_rssi);
 382                 if (ret != AO_RADIO_CMAC_OK)
 383                         continue;
 384                 ao_pad_packet_time = ao_time();
 385
 386                 ao_pad_box = ao_pad_read_box();
 387
 388                 PRINTD ("tick %d box %d (me %d) cmd %d channels %02x\n",
 389                         command.tick, command.box, ao_pad_box, command.cmd, command.channels);
 390
 391                 switch (command.cmd) {
 392                 case AO_PAD_ARM:
 393                         if (command.box != ao_pad_box) {
 394                                 PRINTD ("box number mismatch\n");
 395                                 break;
 396                         }
 397
 398                         if (command.channels & ~(AO_PAD_ALL_CHANNELS))
 399                                 break;
 400
 401                         time_difference = command.tick - ao_time();
 402                         PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
 403                         if (time_difference < 0)
 404                                 time_difference = -time_difference;
 405                         if (time_difference > 10) {
 406                                 PRINTD ("time difference too large %d\n", time_difference);
 407                                 break;
 408                         }
 409                         if (query.arm_status != AO_PAD_ARM_STATUS_ARMED) {
 410                                 PRINTD ("box not armed locally\n");
 411                                 break;
 412                         }
 413                         PRINTD ("armed\n");
 414                         ao_pad_armed = command.channels;
 415                         ao_pad_arm_time = ao_time();
 416                         break;
 417
 418                 case AO_PAD_QUERY:
 419                         if (command.box != ao_pad_box) {
 420                                 PRINTD ("box number mismatch\n");
 421                                 break;
 422                         }
 423
 424                         query.tick = ao_time();
 425                         query.box = ao_pad_box;
 426                         query.channels = AO_PAD_ALL_CHANNELS;
 427                         query.armed = ao_pad_armed;
 428                         PRINTD ("query tick %d box %d channels %02x arm %d arm_status %d igniter %d,%d,%d,%d\n",
 429                                 query.tick, query.box, query.channels, query.armed,
 430                                 query.arm_status,
 431                                 query.igniter_status[0],
 432                                 query.igniter_status[1],
 433                                 query.igniter_status[2],
 434                                 query.igniter_status[3]);
 435                         ao_radio_cmac_send(&query, sizeof (query));
 436                         break;
 437                 case AO_PAD_FIRE:
 438                         if (!ao_pad_armed) {
 439                                 PRINTD ("not armed\n");
 440                                 break;
 441                         }
 442                         if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
 443                                 PRINTD ("late pad arm_time %d time %d\n",
 444                                         ao_pad_arm_time, ao_time());
 445                                 break;
 446                         }
 447                         PRINTD ("ignite\n");
 448                         ao_pad_ignite = ao_pad_armed;
 449                         ao_pad_arm_time = ao_time();
 450                         ao_wakeup(&ao_pad_ignite);
 451                         break;
 452                 case AO_PAD_STATIC:
 453                         if (!ao_pad_armed) {
 454                                 PRINTD ("not armed\n");
 455                                 break;
 456                         }
 457 #if HAS_LOG
 458                         if (!ao_log_running) ao_log_start();
 459 #endif
 460                         if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
 461                                 PRINTD ("late pad arm_time %d time %d\n",
 462                                         ao_pad_arm_time, ao_time());
 463                                 break;
 464                         }
 465                         PRINTD ("ignite\n");
 466                         ao_pad_ignite = ao_pad_armed;
 467                         ao_pad_arm_time = ao_time();
 468                         ao_wakeup(&ao_pad_ignite);
 469                         break;
 470                 case AO_PAD_ENDSTATIC:
 471 #if HAS_LOG
 472                         ao_log_stop();
 473 #endif
 474                         break;
 475                 }
 476         }
 477 }
 478
 479 static void
 480 ao_pad_test(void)
 481 {
 482         uint8_t c;
 483
 484         printf ("Arm switch: ");
 485         switch (query.arm_status) {
 486         case AO_PAD_ARM_STATUS_ARMED:
 487                 printf ("Armed\n");
 488                 break;
 489         case AO_PAD_ARM_STATUS_DISARMED:
 490                 printf ("Disarmed\n");
 491                 break;
 492         case AO_PAD_ARM_STATUS_UNKNOWN:
 493                 printf ("Unknown\n");
 494                 break;
 495         }
 496
 497         for (c = 0; c < AO_PAD_NUM; c++) {
 498                 printf ("Pad %d: ", c);
 499                 switch (query.igniter_status[c]) {
 500                 case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED:     printf ("No igniter. Relay closed\n"); break;
 501                 case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN:       printf ("No igniter. Relay open\n"); break;
 502                 case AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN:     printf ("Good igniter. Relay open\n"); break;
 503                 case AO_PAD_IGNITER_STATUS_UNKNOWN:                     printf ("Unknown\n"); break;
 504                 }
 505         }
 506 }
 507
 508 static void
 509 ao_pad_manual(void)
 510 {
 511         uint8_t ignite;
 512         int     repeat;
 513         ao_cmd_white();
 514         if (!ao_match_word("DoIt"))
 515                 return;
 516         ignite = 1 << ao_cmd_decimal();
 517         if (ao_cmd_status != ao_cmd_success)
 518                 return;
 519         repeat = ao_cmd_decimal();
 520         if (ao_cmd_status != ao_cmd_success) {
 521                 repeat = 1;
 522                 ao_cmd_status = ao_cmd_success;
 523         }
 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 struct ao_task ao_pad_task;
 532 static struct ao_task ao_pad_ignite_task;
 533 static struct ao_task ao_pad_monitor_task;
 534
 535 #if DEBUG
 536 static void
 537 ao_pad_set_debug(void)
 538 {
 539         uint16_t r = ao_cmd_decimal();
 540         if (ao_cmd_status == ao_cmd_success)
 541                 ao_pad_debug = r != 0;
 542 }
 543
 544
 545 static void
 546 ao_pad_alarm_debug(void)
 547 {
 548         uint8_t which, value;
 549         which = ao_cmd_decimal();
 550         if (ao_cmd_status != ao_cmd_success)
 551                 return;
 552         value = ao_cmd_decimal();
 553         if (ao_cmd_status != ao_cmd_success)
 554                 return;
 555         printf ("Set %s to %d\n", which ? "siren" : "strobe", value);
 556         if (which)
 557                 ao_siren(value);
 558         else
 559                 ao_strobe(value);
 560 }
 561 #endif
 562
 563 const struct ao_cmds ao_pad_cmds[] = {
 564         { ao_pad_test,  "t\0Test pad continuity" },
 565         { ao_pad_manual,        "i <key> <n>\0Fire igniter. <key> is doit with D&I" },
 566 #if DEBUG
 567         { ao_pad_set_debug,     "D <0 off, 1 on>\0Debug" },
 568         { ao_pad_alarm_debug,   "S <0 strobe, 1 siren> <0 off, 1 on>\0Set alarm output" },
 569 #endif
 570         { 0, NULL }
 571 };
 572
 573 #ifndef AO_PAD_PORT_1
 574 #define AO_PAD_0_PORT   AO_PAD_PORT
 575 #define AO_PAD_1_PORT   AO_PAD_PORT
 576 #define AO_PAD_2_PORT   AO_PAD_PORT
 577 #define AO_PAD_3_PORT   AO_PAD_PORT
 578 #define AO_PAD_4_PORT   AO_PAD_PORT
 579 #define AO_PAD_5_PORT   AO_PAD_PORT
 580 #define AO_PAD_6_PORT   AO_PAD_PORT
 581 #define AO_PAD_7_PORT   AO_PAD_PORT
 582 #endif
 583
 584 void
 585 ao_pad_init(void)
 586 {
 587 #ifdef AO_PAD_SELECTOR_PORT
 588         unsigned pin;
 589
 590         for (pin = 0; pin < sizeof (AO_PORT_TYPE) * 8; pin++) {
 591                 if (AO_PAD_SELECTOR_PINS & (1 << pin))
 592                         ao_enable_input(AO_PAD_SELECTOR_PORT, pin, AO_EXTI_MODE_PULL_UP);
 593         }
 594 #endif
 595 #if AO_PAD_NUM > 0
 596         ao_enable_output(AO_PAD_0_PORT, AO_PAD_PIN_0, 0);
 597 #endif
 598 #if AO_PAD_NUM > 1
 599         ao_enable_output(AO_PAD_1_PORT, AO_PAD_PIN_1, 0);
 600 #endif
 601 #if AO_PAD_NUM > 2
 602         ao_enable_output(AO_PAD_2_PORT, AO_PAD_PIN_2, 0);
 603 #endif
 604 #if AO_PAD_NUM > 3
 605         ao_enable_output(AO_PAD_3_PORT, AO_PAD_PIN_3, 0);
 606 #endif
 607 #if AO_PAD_NUM > 4
 608         ao_enable_output(AO_PAD_4_PORT, AO_PAD_PIN_4, 0);
 609 #endif
 610 #if AO_PAD_NUM > 5
 611         ao_enable_output(AO_PAD_5_PORT, AO_PAD_PIN_5, 0);
 612 #endif
 613 #if AO_PAD_NUM > 5
 614         ao_enable_output(AO_PAD_6_PORT, AO_PAD_PIN_6, 0);
 615 #endif
 616 #if AO_PAD_NUM > 7
 617         ao_enable_output(AO_PAD_7_PORT, AO_PAD_PIN_7, 0);
 618 #endif
 619 #ifdef AO_STROBE
 620         ao_enable_output(AO_STROBE_PORT, AO_STROBE_PIN, 0);
 621 #endif
 622 #ifdef AO_SIREN
 623         ao_enable_output(AO_SIREN_PORT, AO_SIREN_PIN, 0);
 624 #endif
 625         ao_cmd_register(&ao_pad_cmds[0]);
 626         ao_add_task(&ao_pad_task, ao_pad, "pad listener");
 627         ao_add_task(&ao_pad_ignite_task, ao_pad_run, "pad igniter");
 628         ao_add_task(&ao_pad_monitor_task, ao_pad_monitor, "pad monitor");
 629 }