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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; 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 __xdata uint8_t ao_pad_ignite;
  26 static __xdata struct ao_pad_command    command;
  27 static __xdata struct ao_pad_query      query;
  28 static __pdata uint8_t  ao_pad_armed;
  29 static __pdata uint16_t ao_pad_arm_time;
  30 static __pdata uint8_t  ao_pad_box;
  31 static __xdata uint8_t  ao_pad_disabled;
  32 static __pdata 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 __pdata 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, AO_SIREN, 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, AO_STROBE, 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 #ifndef AO_PYRO_R_PYRO_SENSE
 157 #define AO_PYRO_R_PYRO_SENSE    100
 158 #define AO_PYRO_R_SENSE_GND     27
 159 #define AO_FIRE_R_POWER_FET     100
 160 #define AO_FIRE_R_FET_SENSE     100
 161 #define AO_FIRE_R_SENSE_GND     27
 162 #endif
 163
 164 static void
 165 ao_pad_monitor(void)
 166 {
 167         uint8_t                 c;
 168         uint8_t                 sample;
 169         __pdata uint8_t         prev = 0, cur = 0;
 170         __pdata uint8_t         beeping = 0;
 171         __xdata volatile struct ao_data *packet;
 172         __pdata uint16_t        arm_beep_time = 0;
 173
 174         sample = ao_data_head;
 175         for (;;) {
 176                 __pdata int16_t                 pyro;
 177                 ao_arch_critical(
 178                         while (sample == ao_data_head)
 179                                 ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
 180                         );
 181
 182
 183                 packet = &ao_data_ring[sample];
 184                 sample = ao_data_ring_next(sample);
 185
 186                 pyro = packet->adc.pyro;
 187
 188 #define VOLTS_TO_PYRO(x) ((int16_t) ((x) * ((1.0 * AO_PYRO_R_SENSE_GND) / \
 189                                             (1.0 * (AO_PYRO_R_SENSE_GND + AO_PYRO_R_PYRO_SENSE)) / 3.3 * AO_ADC_MAX)))
 190
 191
 192 #define VOLTS_TO_FIRE(x) ((int16_t) ((x) * ((1.0 * AO_FIRE_R_SENSE_GND) / \
 193                                             (1.0 * (AO_FIRE_R_SENSE_GND + AO_FIRE_R_FET_SENSE)) / 3.3 * AO_ADC_MAX)))
 194
 195                 /* convert ADC value to voltage in tenths, then add .2 for the diode drop */
 196                 query.battery = (packet->adc.batt + 96) / 192 + 2;
 197                 cur = 0;
 198                 if (pyro > VOLTS_TO_PYRO(10)) {
 199                         query.arm_status = AO_PAD_ARM_STATUS_ARMED;
 200                         cur |= AO_LED_ARMED;
 201 #if AO_FIRE_R_POWER_FET
 202                 } else if (pyro > VOLTS_TO_PYRO(5)) {
 203                         if ((ao_time() % 100) < 50)
 204                                 cur |= AO_LED_ARMED;
 205                         query.arm_status = AO_PAD_ARM_STATUS_UNKNOWN;
 206                         arm_beep_time = 0;
 207 #endif
 208                 } else {
 209                         query.arm_status = AO_PAD_ARM_STATUS_DISARMED;
 210                         arm_beep_time = 0;
 211                 }
 212                 if ((ao_time() - ao_pad_packet_time) > AO_SEC_TO_TICKS(2))
 213                         cur |= AO_LED_RED;
 214                 else if (ao_radio_cmac_rssi < AO_PAD_RSSI_MINIMUM)
 215                         cur |= AO_LED_AMBER;
 216                 else
 217                         cur |= AO_LED_GREEN;
 218
 219                 for (c = 0; c < AO_PAD_NUM; c++) {
 220                         int16_t         sense = packet->adc.sense[c];
 221                         uint8_t status = AO_PAD_IGNITER_STATUS_UNKNOWN;
 222
 223                         /*
 224                          *      pyro is run through a divider, so pyro = v_pyro * 27 / 127 ~= v_pyro / 20
 225                          *      v_pyro = pyro * 127 / 27
 226                          *
 227                          *              v_pyro \
 228                          *      100k            igniter
 229                          *              output /
 230                          *      100k           \
 231                          *              sense   relay
 232                          *      27k            /
 233                          *              gnd ---
 234                          *
 235                          *              v_pyro \
 236                          *      200k            igniter
 237                          *              output /
 238                          *      200k           \
 239                          *              sense   relay
 240                          *      22k            /
 241                          *              gnd ---
 242                          *
 243                          *      If the relay is closed, then sense will be 0
 244                          *      If no igniter is present, then sense will be v_pyro * 27k/227k = pyro * 127 / 227 ~= pyro/2
 245                          *      If igniter is present, then sense will be v_pyro * 27k/127k ~= v_pyro / 20 = pyro
 246                          */
 247
 248 #if AO_FIRE_R_POWER_FET
 249                         if (sense <= pyro / 8) {
 250                                 status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED;
 251                                 if ((ao_time() % 100) < 50)
 252                                         cur |= AO_LED_CONTINUITY(c);
 253                         } else
 254                         if (pyro / 8 * 3 <= sense && sense <= pyro / 8 * 5)
 255                                 status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
 256                         else if (pyro / 8 * 7 <= sense) {
 257                                 status = AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN;
 258                                 cur |= AO_LED_CONTINUITY(c);
 259                         }
 260 #else
 261                         if (sense >= pyro / 8 * 5) {
 262                                 status = AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN;
 263                                 cur |= AO_LED_CONTINUITY(c);
 264                         } else {
 265                                 status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
 266                         }
 267 #endif
 268                         query.igniter_status[c] = status;
 269                 }
 270                 if (cur != prev) {
 271                         PRINTD("change leds from %02x to %02x\n",
 272                                prev, cur);
 273                         FLUSHD();
 274                         ao_led_set(cur);
 275                         prev = cur;
 276                 }
 277
 278                 if (ao_pad_armed && (int16_t) (ao_time() - ao_pad_arm_time) > AO_PAD_ARM_TIME)
 279                         ao_pad_armed = 0;
 280
 281                 if (ao_pad_armed) {
 282                         ao_strobe(1);
 283                         ao_siren(1);
 284                         beeping = 1;
 285                 } else if (query.arm_status == AO_PAD_ARM_STATUS_ARMED && !beeping) {
 286                         if (arm_beep_time == 0) {
 287                                 arm_beep_time = AO_PAD_ARM_SIREN_INTERVAL;
 288                                 beeping = 1;
 289                                 ao_siren(1);
 290                         }
 291                         --arm_beep_time;
 292                 } else if (beeping) {
 293                         beeping = 0;
 294                         ao_siren(0);
 295                         ao_strobe(0);
 296                 }
 297         }
 298 }
 299
 300 void
 301 ao_pad_disable(void)
 302 {
 303         if (!ao_pad_disabled) {
 304                 ao_pad_disabled = 1;
 305                 ao_radio_recv_abort();
 306         }
 307 }
 308
 309 void
 310 ao_pad_enable(void)
 311 {
 312         ao_pad_disabled = 0;
 313         ao_wakeup (&ao_pad_disabled);
 314 }
 315
 316 #if HAS_74HC165
 317 static uint8_t
 318 ao_pad_read_box(void)
 319 {
 320         uint8_t         byte = ao_74hc165_read();
 321         uint8_t         h, l;
 322
 323         h = byte >> 4;
 324         l = byte & 0xf;
 325         return h * 10 + l;
 326 }
 327 #endif
 328
 329 #ifdef AO_PAD_SELECTOR_PORT
 330 static int ao_pad_read_box(void) {
 331         AO_PORT_TYPE    value = ao_gpio_get_all(AO_PAD_SELECTOR_PORT);
 332         unsigned        pin;
 333         int             select = 1;
 334
 335         for (pin = 0; pin < sizeof (AO_PORT_TYPE) * 8; pin++) {
 336                 if (AO_PAD_SELECTOR_PINS & (1 << pin)) {
 337                         if ((value & (1 << pin)) == 0)
 338                                 return select;
 339                         select++;
 340                 }
 341         }
 342         return ao_config.pad_box;
 343 }
 344 #else
 345
 346 #if HAS_FIXED_PAD_BOX
 347 #define ao_pad_read_box()       ao_config.pad_box
 348 #endif
 349
 350 #ifdef PAD_BOX
 351 #define ao_pad_read_box()       PAD_BOX
 352 #endif
 353
 354 #endif
 355
 356 static void
 357 ao_pad(void)
 358 {
 359         int16_t time_difference;
 360         int8_t  ret;
 361
 362         ao_pad_box = 0;
 363         ao_led_set(0);
 364         for (;;) {
 365                 FLUSHD();
 366                 while (ao_pad_disabled)
 367                         ao_sleep(&ao_pad_disabled);
 368                 ret = ao_radio_cmac_recv(&command, sizeof (command), 0);
 369                 PRINTD ("cmac_recv %d %d\n", ret, ao_radio_cmac_rssi);
 370                 if (ret != AO_RADIO_CMAC_OK)
 371                         continue;
 372                 ao_pad_packet_time = ao_time();
 373
 374                 ao_pad_box = ao_pad_read_box();
 375
 376                 PRINTD ("tick %d box %d (me %d) cmd %d channels %02x\n",
 377                         command.tick, command.box, ao_pad_box, command.cmd, command.channels);
 378
 379                 switch (command.cmd) {
 380                 case AO_PAD_ARM:
 381                         if (command.box != ao_pad_box) {
 382                                 PRINTD ("box number mismatch\n");
 383                                 break;
 384                         }
 385
 386                         if (command.channels & ~(AO_PAD_ALL_CHANNELS))
 387                                 break;
 388
 389                         time_difference = command.tick - ao_time();
 390                         PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
 391                         if (time_difference < 0)
 392                                 time_difference = -time_difference;
 393                         if (time_difference > 10) {
 394                                 PRINTD ("time difference too large %d\n", time_difference);
 395                                 break;
 396                         }
 397                         PRINTD ("armed\n");
 398                         ao_pad_armed = command.channels;
 399                         ao_pad_arm_time = ao_time();
 400                         break;
 401
 402                 case AO_PAD_QUERY:
 403                         if (command.box != ao_pad_box) {
 404                                 PRINTD ("box number mismatch\n");
 405                                 break;
 406                         }
 407
 408                         query.tick = ao_time();
 409                         query.box = ao_pad_box;
 410                         query.channels = AO_PAD_ALL_CHANNELS;
 411                         query.armed = ao_pad_armed;
 412                         PRINTD ("query tick %d box %d channels %02x arm %d arm_status %d igniter %d,%d,%d,%d\n",
 413                                 query.tick, query.box, query.channels, query.armed,
 414                                 query.arm_status,
 415                                 query.igniter_status[0],
 416                                 query.igniter_status[1],
 417                                 query.igniter_status[2],
 418                                 query.igniter_status[3]);
 419                         ao_radio_cmac_send(&query, sizeof (query));
 420                         break;
 421                 case AO_PAD_FIRE:
 422                         if (!ao_pad_armed) {
 423                                 PRINTD ("not armed\n");
 424                                 break;
 425                         }
 426                         if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
 427                                 PRINTD ("late pad arm_time %d time %d\n",
 428                                         ao_pad_arm_time, ao_time());
 429                                 break;
 430                         }
 431                         PRINTD ("ignite\n");
 432                         ao_pad_ignite = ao_pad_armed;
 433                         ao_pad_arm_time = ao_time();
 434                         ao_wakeup(&ao_pad_ignite);
 435                         break;
 436                 case AO_PAD_STATIC:
 437                         if (!ao_pad_armed) {
 438                                 PRINTD ("not armed\n");
 439                                 break;
 440                         }
 441 #if HAS_LOG
 442                         if (!ao_log_running) ao_log_start();
 443 #endif
 444                         if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
 445                                 PRINTD ("late pad arm_time %d time %d\n",
 446                                         ao_pad_arm_time, ao_time());
 447                                 break;
 448                         }
 449                         PRINTD ("ignite\n");
 450                         ao_pad_ignite = ao_pad_armed;
 451                         ao_pad_arm_time = ao_time();
 452                         ao_wakeup(&ao_pad_ignite);
 453                         break;
 454                 case AO_PAD_ENDSTATIC:
 455 #if HAS_LOG
 456                         ao_log_stop();
 457 #endif
 458                         break;
 459                 }
 460         }
 461 }
 462
 463 void
 464 ao_pad_test(void)
 465 {
 466         uint8_t c;
 467
 468         printf ("Arm switch: ");
 469         switch (query.arm_status) {
 470         case AO_PAD_ARM_STATUS_ARMED:
 471                 printf ("Armed\n");
 472                 break;
 473         case AO_PAD_ARM_STATUS_DISARMED:
 474                 printf ("Disarmed\n");
 475                 break;
 476         case AO_PAD_ARM_STATUS_UNKNOWN:
 477                 printf ("Unknown\n");
 478                 break;
 479         }
 480
 481         for (c = 0; c < AO_PAD_NUM; c++) {
 482                 printf ("Pad %d: ", c);
 483                 switch (query.igniter_status[c]) {
 484                 case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED:     printf ("No igniter. Relay closed\n"); break;
 485                 case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN:       printf ("No igniter. Relay open\n"); break;
 486                 case AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN:     printf ("Good igniter. Relay open\n"); break;
 487                 case AO_PAD_IGNITER_STATUS_UNKNOWN:                     printf ("Unknown\n"); break;
 488                 }
 489         }
 490 }
 491
 492 void
 493 ao_pad_manual(void)
 494 {
 495         uint8_t ignite;
 496         int     repeat;
 497         ao_cmd_white();
 498         if (!ao_match_word("DoIt"))
 499                 return;
 500         ao_cmd_decimal();
 501         if (ao_cmd_status != ao_cmd_success)
 502                 return;
 503         ignite = 1 << ao_cmd_lex_i;
 504         ao_cmd_decimal();
 505         if (ao_cmd_status != ao_cmd_success) {
 506                 repeat = 1;
 507                 ao_cmd_status = ao_cmd_success;
 508         } else
 509                 repeat = ao_cmd_lex_i;
 510         while (repeat-- > 0) {
 511                 ao_pad_ignite = ignite;
 512                 ao_wakeup(&ao_pad_ignite);
 513                 ao_delay(AO_PAD_FIRE_TIME>>1);
 514         }
 515 }
 516
 517 static __xdata struct ao_task ao_pad_task;
 518 static __xdata struct ao_task ao_pad_ignite_task;
 519 static __xdata struct ao_task ao_pad_monitor_task;
 520
 521 #if DEBUG
 522 void
 523 ao_pad_set_debug(void)
 524 {
 525         ao_cmd_decimal();
 526         if (ao_cmd_status == ao_cmd_success)
 527                 ao_pad_debug = ao_cmd_lex_i != 0;
 528 }
 529
 530
 531 static void
 532 ao_pad_alarm_debug(void)
 533 {
 534         uint8_t which, value;
 535         ao_cmd_decimal();
 536         if (ao_cmd_status != ao_cmd_success)
 537                 return;
 538         which = ao_cmd_lex_i;
 539         ao_cmd_decimal();
 540         if (ao_cmd_status != ao_cmd_success)
 541                 return;
 542         value = ao_cmd_lex_i;
 543         printf ("Set %s to %d\n", which ? "siren" : "strobe", value);
 544         if (which)
 545                 ao_siren(value);
 546         else
 547                 ao_strobe(value);
 548 }
 549 #endif
 550
 551 __code struct ao_cmds ao_pad_cmds[] = {
 552         { ao_pad_test,  "t\0Test pad continuity" },
 553         { ao_pad_manual,        "i <key> <n>\0Fire igniter. <key> is doit with D&I" },
 554 #if DEBUG
 555         { ao_pad_set_debug,     "D <0 off, 1 on>\0Debug" },
 556         { ao_pad_alarm_debug,   "S <0 strobe, 1 siren> <0 off, 1 on>\0Set alarm output" },
 557 #endif
 558         { 0, NULL }
 559 };
 560
 561 #ifndef AO_PAD_PORT_1
 562 #define AO_PAD_0_PORT   AO_PAD_PORT
 563 #define AO_PAD_1_PORT   AO_PAD_PORT
 564 #define AO_PAD_2_PORT   AO_PAD_PORT
 565 #define AO_PAD_3_PORT   AO_PAD_PORT
 566 #define AO_PAD_4_PORT   AO_PAD_PORT
 567 #define AO_PAD_5_PORT   AO_PAD_PORT
 568 #define AO_PAD_6_PORT   AO_PAD_PORT
 569 #define AO_PAD_7_PORT   AO_PAD_PORT
 570 #endif
 571
 572 void
 573 ao_pad_init(void)
 574 {
 575 #ifdef AO_PAD_SELECTOR_PORT
 576         unsigned pin;
 577
 578         for (pin = 0; pin < sizeof (AO_PORT_TYPE) * 8; pin++) {
 579                 if (AO_PAD_SELECTOR_PINS & (1 << pin))
 580                         ao_enable_input(AO_PAD_SELECTOR_PORT, pin, AO_EXTI_MODE_PULL_UP);
 581         }
 582 #endif
 583 #if AO_PAD_NUM > 0
 584         ao_enable_output(AO_PAD_0_PORT, AO_PAD_PIN_0, AO_PAD_0, 0);
 585 #endif
 586 #if AO_PAD_NUM > 1
 587         ao_enable_output(AO_PAD_1_PORT, AO_PAD_PIN_1, AO_PAD_1, 0);
 588 #endif
 589 #if AO_PAD_NUM > 2
 590         ao_enable_output(AO_PAD_2_PORT, AO_PAD_PIN_2, AO_PAD_2, 0);
 591 #endif
 592 #if AO_PAD_NUM > 3
 593         ao_enable_output(AO_PAD_3_PORT, AO_PAD_PIN_3, AO_PAD_3, 0);
 594 #endif
 595 #if AO_PAD_NUM > 4
 596         ao_enable_output(AO_PAD_4_PORT, AO_PAD_PIN_4, AO_PAD_4, 0);
 597 #endif
 598 #if AO_PAD_NUM > 5
 599         ao_enable_output(AO_PAD_5_PORT, AO_PAD_PIN_5, AO_PAD_5, 0);
 600 #endif
 601 #if AO_PAD_NUM > 5
 602         ao_enable_output(AO_PAD_6_PORT, AO_PAD_PIN_6, AO_PAD_6, 0);
 603 #endif
 604 #if AO_PAD_NUM > 7
 605         ao_enable_output(AO_PAD_7_PORT, AO_PAD_PIN_7, AO_PAD_7, 0);
 606 #endif
 607 #ifdef AO_STROBE
 608         ao_enable_output(AO_STROBE_PORT, AO_STROBE_PIN, AO_STROBE, 0);
 609 #endif
 610 #ifdef AO_SIREN
 611         ao_enable_output(AO_SIREN_PORT, AO_SIREN_PIN, AO_SIREN, 0);
 612 #endif
 613         ao_cmd_register(&ao_pad_cmds[0]);
 614         ao_add_task(&ao_pad_task, ao_pad, "pad listener");
 615         ao_add_task(&ao_pad_ignite_task, ao_pad_run, "pad igniter");
 616         ao_add_task(&ao_pad_monitor_task, ao_pad_monitor, "pad monitor");
 617 }