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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_pad.h>
  21 #include <ao_74hc165.h>
  22 #include <ao_radio_cmac.h>
  23
  24 static __xdata uint8_t ao_pad_ignite;
  25 static __xdata struct ao_pad_command    command;
  26 static __xdata struct ao_pad_query      query;
  27 static __pdata uint8_t  ao_pad_armed;
  28 static __pdata uint16_t ao_pad_arm_time;
  29 static __pdata uint8_t  ao_pad_box;
  30 static __xdata uint8_t  ao_pad_disabled;
  31 static __pdata uint16_t ao_pad_packet_time;
  32
  33 #ifndef AO_PAD_RSSI_MINIMUM
  34 #define AO_PAD_RSSI_MINIMUM     -90
  35 #endif
  36
  37 #define DEBUG   1
  38
  39 #if DEBUG
  40 static __pdata uint8_t  ao_pad_debug;
  41 #define PRINTD(...) (ao_pad_debug ? (printf(__VA_ARGS__), 0) : 0)
  42 #define FLUSHD()    (ao_pad_debug ? (flush(), 0) : 0)
  43 #else
  44 #define PRINTD(...)
  45 #define FLUSHD()
  46 #endif
  47
  48 static void
  49 ao_siren(uint8_t v)
  50 {
  51 #ifdef AO_SIREN
  52         ao_gpio_set(AO_SIREN_PORT, AO_SIREN_PIN, AO_SIREN, v);
  53 #else
  54 #if HAS_BEEP
  55         ao_beep(v ? AO_BEEP_MID : 0);
  56 #else
  57         (void) v;
  58 #endif
  59 #endif
  60 }
  61
  62 static void
  63 ao_strobe(uint8_t v)
  64 {
  65 #ifdef AO_STROBE
  66         ao_gpio_set(AO_STROBE_PORT, AO_STROBE_PIN, AO_STROBE, v);
  67 #else
  68         (void) v;
  69 #endif
  70 }
  71
  72 static void
  73 ao_pad_run(void)
  74 {
  75         AO_PORT_TYPE    pins;
  76
  77         for (;;) {
  78                 while (!ao_pad_ignite)
  79                         ao_sleep(&ao_pad_ignite);
  80                 /*
  81                  * Actually set the pad bits
  82                  */
  83                 pins = 0;
  84 #if AO_PAD_NUM > 0
  85                 if (ao_pad_ignite & (1 << 0))
  86                         pins |= (1 << AO_PAD_PIN_0);
  87 #endif
  88 #if AO_PAD_NUM > 1
  89                 if (ao_pad_ignite & (1 << 1))
  90                         pins |= (1 << AO_PAD_PIN_1);
  91 #endif
  92 #if AO_PAD_NUM > 2
  93                 if (ao_pad_ignite & (1 << 2))
  94                         pins |= (1 << AO_PAD_PIN_2);
  95 #endif
  96 #if AO_PAD_NUM > 3
  97                 if (ao_pad_ignite & (1 << 3))
  98                         pins |= (1 << AO_PAD_PIN_3);
  99 #endif
 100                 PRINTD("ignite pins 0x%x\n", pins);
 101                 ao_gpio_set_bits(AO_PAD_PORT, pins);
 102                 while (ao_pad_ignite) {
 103                         ao_pad_ignite = 0;
 104
 105                         ao_delay(AO_PAD_FIRE_TIME);
 106                 }
 107                 ao_gpio_clr_bits(AO_PAD_PORT, pins);
 108                 PRINTD("turn off pins 0x%x\n", pins);
 109         }
 110 }
 111
 112 #define AO_PAD_ARM_SIREN_INTERVAL       200
 113
 114 #ifndef AO_PYRO_R_PYRO_SENSE
 115 #define AO_PYRO_R_PYRO_SENSE    100
 116 #define AO_PYRO_R_SENSE_GND     27
 117 #define AO_FIRE_R_POWER_FET     100
 118 #define AO_FIRE_R_FET_SENSE     100
 119 #define AO_FIRE_R_SENSE_GND     27
 120 #endif
 121
 122 static void
 123 ao_pad_monitor(void)
 124 {
 125         uint8_t                 c;
 126         uint8_t                 sample;
 127         __pdata uint8_t         prev = 0, cur = 0;
 128         __pdata uint8_t         beeping = 0;
 129         __xdata volatile struct ao_data *packet;
 130         __pdata uint16_t        arm_beep_time = 0;
 131
 132         sample = ao_data_head;
 133         for (;;) {
 134                 __pdata int16_t                 pyro;
 135                 ao_arch_critical(
 136                         while (sample == ao_data_head)
 137                                 ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
 138                         );
 139
 140
 141                 packet = &ao_data_ring[sample];
 142                 sample = ao_data_ring_next(sample);
 143
 144                 pyro = packet->adc.pyro;
 145
 146 #define VOLTS_TO_PYRO(x) ((int16_t) ((x) * ((1.0 * AO_PYRO_R_SENSE_GND) / \
 147                                             (1.0 * (AO_PYRO_R_SENSE_GND + AO_PYRO_R_PYRO_SENSE)) / 3.3 * AO_ADC_MAX)))
 148
 149
 150 #define VOLTS_TO_FIRE(x) ((int16_t) ((x) * ((1.0 * AO_FIRE_R_SENSE_GND) / \
 151                                             (1.0 * (AO_FIRE_R_SENSE_GND + AO_FIRE_R_FET_SENSE)) / 3.3 * AO_ADC_MAX)))
 152
 153                 /* convert ADC value to voltage in tenths, then add .2 for the diode drop */
 154                 query.battery = (packet->adc.batt + 96) / 192 + 2;
 155                 cur = 0;
 156                 if (pyro > VOLTS_TO_PYRO(10)) {
 157                         query.arm_status = AO_PAD_ARM_STATUS_ARMED;
 158                         cur |= AO_LED_ARMED;
 159 #if AO_FIRE_R_POWER_FET
 160                 } else if (pyro > VOLTS_TO_PYRO(5)) {
 161                         if ((ao_time() % 100) < 50)
 162                                 cur |= AO_LED_ARMED;
 163                         query.arm_status = AO_PAD_ARM_STATUS_UNKNOWN;
 164                         arm_beep_time = 0;
 165 #endif
 166                 } else {
 167                         query.arm_status = AO_PAD_ARM_STATUS_DISARMED;
 168                         arm_beep_time = 0;
 169                 }
 170                 if ((ao_time() - ao_pad_packet_time) > AO_SEC_TO_TICKS(2))
 171                         cur |= AO_LED_RED;
 172                 else if (ao_radio_cmac_rssi < AO_PAD_RSSI_MINIMUM)
 173                         cur |= AO_LED_AMBER;
 174                 else
 175                         cur |= AO_LED_GREEN;
 176
 177                 for (c = 0; c < AO_PAD_NUM; c++) {
 178                         int16_t         sense = packet->adc.sense[c];
 179                         uint8_t status = AO_PAD_IGNITER_STATUS_UNKNOWN;
 180
 181                         /*
 182                          *      pyro is run through a divider, so pyro = v_pyro * 27 / 127 ~= v_pyro / 20
 183                          *      v_pyro = pyro * 127 / 27
 184                          *
 185                          *              v_pyro \
 186                          *      100k            igniter
 187                          *              output /
 188                          *      100k           \
 189                          *              sense   relay
 190                          *      27k            /
 191                          *              gnd ---
 192                          *
 193                          *              v_pyro \
 194                          *      200k            igniter
 195                          *              output /
 196                          *      200k           \
 197                          *              sense   relay
 198                          *      22k            /
 199                          *              gnd ---
 200                          *
 201                          *      If the relay is closed, then sense will be 0
 202                          *      If no igniter is present, then sense will be v_pyro * 27k/227k = pyro * 127 / 227 ~= pyro/2
 203                          *      If igniter is present, then sense will be v_pyro * 27k/127k ~= v_pyro / 20 = pyro
 204                          */
 205
 206 #if AO_FIRE_R_POWER_FET
 207                         if (sense <= pyro / 8) {
 208                                 status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED;
 209                                 if ((ao_time() % 100) < 50)
 210                                         cur |= AO_LED_CONTINUITY(c);
 211                         } else
 212                         if (pyro / 8 * 3 <= sense && sense <= pyro / 8 * 5)
 213                                 status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
 214                         else if (pyro / 8 * 7 <= sense) {
 215                                 status = AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN;
 216                                 cur |= AO_LED_CONTINUITY(c);
 217                         }
 218 #else
 219                         if (sense >= pyro / 8 * 5) {
 220                                 status = AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN;
 221                                 cur |= AO_LED_CONTINUITY(c);
 222                         } else {
 223                                 status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
 224                         }
 225 #endif
 226                         query.igniter_status[c] = status;
 227                 }
 228                 if (cur != prev) {
 229                         PRINTD("change leds from %02x to %02x\n",
 230                                prev, cur);
 231                         FLUSHD();
 232                         ao_led_set(cur);
 233                         prev = cur;
 234                 }
 235
 236                 if (ao_pad_armed && (int16_t) (ao_time() - ao_pad_arm_time) > AO_PAD_ARM_TIME)
 237                         ao_pad_armed = 0;
 238
 239                 if (ao_pad_armed) {
 240                         ao_strobe(1);
 241                         ao_siren(1);
 242                         beeping = 1;
 243                 } else if (query.arm_status == AO_PAD_ARM_STATUS_ARMED && !beeping) {
 244                         if (arm_beep_time == 0) {
 245                                 arm_beep_time = AO_PAD_ARM_SIREN_INTERVAL;
 246                                 beeping = 1;
 247                                 ao_siren(1);
 248                         }
 249                         --arm_beep_time;
 250                 } else if (beeping) {
 251                         beeping = 0;
 252                         ao_siren(0);
 253                         ao_strobe(0);
 254                 }
 255         }
 256 }
 257
 258 void
 259 ao_pad_disable(void)
 260 {
 261         if (!ao_pad_disabled) {
 262                 ao_pad_disabled = 1;
 263                 ao_radio_recv_abort();
 264         }
 265 }
 266
 267 void
 268 ao_pad_enable(void)
 269 {
 270         ao_pad_disabled = 0;
 271         ao_wakeup (&ao_pad_disabled);
 272 }
 273
 274 #if HAS_74HC165
 275 static uint8_t
 276 ao_pad_read_box(void)
 277 {
 278         uint8_t         byte = ao_74hc165_read();
 279         uint8_t         h, l;
 280
 281         h = byte >> 4;
 282         l = byte & 0xf;
 283         return h * 10 + l;
 284 }
 285 #endif
 286
 287 #if HAS_FIXED_PAD_BOX
 288 #define ao_pad_read_box()       ao_config.pad_box
 289 #endif
 290
 291 #ifdef PAD_BOX
 292 #define ao_pad_read_box()       PAD_BOX
 293 #endif
 294
 295 static void
 296 ao_pad(void)
 297 {
 298         int16_t time_difference;
 299         int8_t  ret;
 300
 301         ao_pad_box = 0;
 302         ao_led_set(0);
 303         for (;;) {
 304                 FLUSHD();
 305                 while (ao_pad_disabled)
 306                         ao_sleep(&ao_pad_disabled);
 307                 ret = ao_radio_cmac_recv(&command, sizeof (command), 0);
 308                 PRINTD ("cmac_recv %d %d\n", ret, ao_radio_cmac_rssi);
 309                 if (ret != AO_RADIO_CMAC_OK)
 310                         continue;
 311                 ao_pad_packet_time = ao_time();
 312
 313                 ao_pad_box = ao_pad_read_box();
 314
 315                 PRINTD ("tick %d box %d (me %d) cmd %d channels %02x\n",
 316                         command.tick, command.box, ao_pad_box, command.cmd, command.channels);
 317
 318                 switch (command.cmd) {
 319                 case AO_PAD_ARM:
 320                         if (command.box != ao_pad_box) {
 321                                 PRINTD ("box number mismatch\n");
 322                                 break;
 323                         }
 324
 325                         if (command.channels & ~(AO_PAD_ALL_CHANNELS))
 326                                 break;
 327
 328                         time_difference = command.tick - ao_time();
 329                         PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
 330                         if (time_difference < 0)
 331                                 time_difference = -time_difference;
 332                         if (time_difference > 10) {
 333                                 PRINTD ("time difference too large %d\n", time_difference);
 334                                 break;
 335                         }
 336                         PRINTD ("armed\n");
 337                         ao_pad_armed = command.channels;
 338                         ao_pad_arm_time = ao_time();
 339                         break;
 340
 341                 case AO_PAD_QUERY:
 342                         if (command.box != ao_pad_box) {
 343                                 PRINTD ("box number mismatch\n");
 344                                 break;
 345                         }
 346
 347                         query.tick = ao_time();
 348                         query.box = ao_pad_box;
 349                         query.channels = AO_PAD_ALL_CHANNELS;
 350                         query.armed = ao_pad_armed;
 351                         PRINTD ("query tick %d box %d channels %02x arm %d arm_status %d igniter %d,%d,%d,%d\n",
 352                                 query.tick, query.box, query.channels, query.armed,
 353                                 query.arm_status,
 354                                 query.igniter_status[0],
 355                                 query.igniter_status[1],
 356                                 query.igniter_status[2],
 357                                 query.igniter_status[3]);
 358                         ao_radio_cmac_send(&query, sizeof (query));
 359                         break;
 360                 case AO_PAD_FIRE:
 361                         if (!ao_pad_armed) {
 362                                 PRINTD ("not armed\n");
 363                                 break;
 364                         }
 365                         if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
 366                                 PRINTD ("late pad arm_time %d time %d\n",
 367                                         ao_pad_arm_time, ao_time());
 368                                 break;
 369                         }
 370                         PRINTD ("ignite\n");
 371                         ao_pad_ignite = ao_pad_armed;
 372                         ao_pad_arm_time = ao_time();
 373                         ao_wakeup(&ao_pad_ignite);
 374                         break;
 375                 }
 376                 case AO_PAD_STATIC:
 377                         if (!ao_pad_armed) {
 378                                 PRINTD ("not armed\n");
 379                                 break;
 380                         }
 381 #ifdef HAS_LOG
 382                         if (!ao_log_running) ao_log_start();
 383 #endif
 384                         if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
 385                                 PRINTD ("late pad arm_time %d time %d\n",
 386                                         ao_pad_arm_time, ao_time());
 387                                 break;
 388                         }
 389                         PRINTD ("ignite\n");
 390                         ao_pad_ignite = ao_pad_armed;
 391                         ao_pad_arm_time = ao_time();
 392                         ao_wakeup(&ao_pad_ignite);
 393                         break;
 394                 }
 395                 case AO_PAD_ENDSTATIC:
 396 #ifdef HAS_LOG
 397                         ao_log_stop();
 398 #endif
 399                         break;
 400                 }
 401         }
 402 }
 403
 404 void
 405 ao_pad_test(void)
 406 {
 407         uint8_t c;
 408
 409         printf ("Arm switch: ");
 410         switch (query.arm_status) {
 411         case AO_PAD_ARM_STATUS_ARMED:
 412                 printf ("Armed\n");
 413                 break;
 414         case AO_PAD_ARM_STATUS_DISARMED:
 415                 printf ("Disarmed\n");
 416                 break;
 417         case AO_PAD_ARM_STATUS_UNKNOWN:
 418                 printf ("Unknown\n");
 419                 break;
 420         }
 421
 422         for (c = 0; c < AO_PAD_NUM; c++) {
 423                 printf ("Pad %d: ", c);
 424                 switch (query.igniter_status[c]) {
 425                 case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED:     printf ("No igniter. Relay closed\n"); break;
 426                 case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN:       printf ("No igniter. Relay open\n"); break;
 427                 case AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN:     printf ("Good igniter. Relay open\n"); break;
 428                 case AO_PAD_IGNITER_STATUS_UNKNOWN:                     printf ("Unknown\n"); break;
 429                 }
 430         }
 431 }
 432
 433 void
 434 ao_pad_manual(void)
 435 {
 436         uint8_t ignite;
 437         int     repeat;
 438         ao_cmd_white();
 439         if (!ao_match_word("DoIt"))
 440                 return;
 441         ao_cmd_decimal();
 442         if (ao_cmd_status != ao_cmd_success)
 443                 return;
 444         ignite = 1 << ao_cmd_lex_i;
 445         ao_cmd_decimal();
 446         if (ao_cmd_status != ao_cmd_success) {
 447                 repeat = 1;
 448                 ao_cmd_status = ao_cmd_success;
 449         } else
 450                 repeat = ao_cmd_lex_i;
 451         while (repeat-- > 0) {
 452                 ao_pad_ignite = ignite;
 453                 ao_wakeup(&ao_pad_ignite);
 454                 ao_delay(AO_PAD_FIRE_TIME>>1);
 455         }
 456 }
 457
 458 static __xdata struct ao_task ao_pad_task;
 459 static __xdata struct ao_task ao_pad_ignite_task;
 460 static __xdata struct ao_task ao_pad_monitor_task;
 461
 462 #if DEBUG
 463 void
 464 ao_pad_set_debug(void)
 465 {
 466         ao_cmd_decimal();
 467         if (ao_cmd_status == ao_cmd_success)
 468                 ao_pad_debug = ao_cmd_lex_i != 0;
 469 }
 470
 471
 472 static void
 473 ao_pad_alarm_debug(void)
 474 {
 475         uint8_t which, value;
 476         ao_cmd_decimal();
 477         if (ao_cmd_status != ao_cmd_success)
 478                 return;
 479         which = ao_cmd_lex_i;
 480         ao_cmd_decimal();
 481         if (ao_cmd_status != ao_cmd_success)
 482                 return;
 483         value = ao_cmd_lex_i;
 484         printf ("Set %s to %d\n", which ? "siren" : "strobe", value);
 485         if (which)
 486                 ao_siren(value);
 487         else
 488                 ao_strobe(value);
 489 }
 490 #endif
 491
 492 __code struct ao_cmds ao_pad_cmds[] = {
 493         { ao_pad_test,  "t\0Test pad continuity" },
 494         { ao_pad_manual,        "i <key> <n>\0Fire igniter. <key> is doit with D&I" },
 495 #if DEBUG
 496         { ao_pad_set_debug,     "D <0 off, 1 on>\0Debug" },
 497         { ao_pad_alarm_debug,   "S <0 strobe, 1 siren> <0 off, 1 on>\0Set alarm output" },
 498 #endif
 499         { 0, NULL }
 500 };
 501
 502 void
 503 ao_pad_init(void)
 504 {
 505 #if AO_PAD_NUM > 0
 506         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_0, AO_PAD_0, 0);
 507 #endif
 508 #if AO_PAD_NUM > 1
 509         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_1, AO_PAD_1, 0);
 510 #endif
 511 #if AO_PAD_NUM > 2
 512         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_2, AO_PAD_2, 0);
 513 #endif
 514 #if AO_PAD_NUM > 3
 515         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_3, AO_PAD_3, 0);
 516 #endif
 517 #ifdef AO_STROBE
 518         ao_enable_output(AO_STROBE_PORT, AO_STROBE_PIN, AO_STROBE, 0);
 519 #endif
 520 #ifdef AO_SIREN
 521         ao_enable_output(AO_SIREN_PORT, AO_SIREN_PIN, AO_SIREN, 0);
 522 #endif
 523         ao_cmd_register(&ao_pad_cmds[0]);
 524         ao_add_task(&ao_pad_task, ao_pad, "pad listener");
 525         ao_add_task(&ao_pad_ignite_task, ao_pad_run, "pad igniter");
 526         ao_add_task(&ao_pad_monitor_task, ao_pad_monitor, "pad monitor");
 527 }