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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_74hc165.h>
  21 #include <ao_radio_cmac.h>
  22
  23 static __xdata uint8_t ao_pad_ignite;
  24 static __xdata struct ao_pad_command    command;
  25 static __xdata struct ao_pad_query      query;
  26 static __pdata uint8_t  ao_pad_armed;
  27 static __pdata uint16_t ao_pad_arm_time;
  28 static __pdata uint8_t  ao_pad_box;
  29 static __xdata uint8_t  ao_pad_disabled;
  30 static __pdata uint16_t ao_pad_packet_time;
  31
  32 #define DEBUG   1
  33
  34 #if DEBUG
  35 static __pdata uint8_t  ao_pad_debug;
  36 #define PRINTD(...) (ao_pad_debug ? (printf(__VA_ARGS__), 0) : 0)
  37 #define FLUSHD()    (ao_pad_debug ? (flush(), 0) : 0)
  38 #else
  39 #define PRINTD(...)
  40 #define FLUSHD()
  41 #endif
  42
  43 static void
  44 ao_siren(uint8_t v)
  45 {
  46 #ifdef AO_SIREN
  47         ao_gpio_set(AO_SIREN_PORT, AO_SIREN_PIN, AO_SIREN, v);
  48 #else
  49         ao_beep(v ? AO_BEEP_MID : 0);
  50 #endif
  51 }
  52
  53 static void
  54 ao_strobe(uint8_t v)
  55 {
  56 #ifdef AO_STROBE
  57         ao_gpio_set(AO_STROBE_PORT, AO_STROBE_PIN, AO_STROBE, v);
  58 #endif
  59 }
  60
  61 static void
  62 ao_pad_run(void)
  63 {
  64         uint8_t pins;
  65
  66         for (;;) {
  67                 while (!ao_pad_ignite)
  68                         ao_sleep(&ao_pad_ignite);
  69                 /*
  70                  * Actually set the pad bits
  71                  */
  72                 pins = 0;
  73 #if AO_PAD_NUM > 0
  74                 if (ao_pad_ignite & (1 << 0))
  75                         pins |= (1 << AO_PAD_PIN_0);
  76 #endif
  77 #if AO_PAD_NUM > 1
  78                 if (ao_pad_ignite & (1 << 1))
  79                         pins |= (1 << AO_PAD_PIN_1);
  80 #endif
  81 #if AO_PAD_NUM > 2
  82                 if (ao_pad_ignite & (1 << 2))
  83                         pins |= (1 << AO_PAD_PIN_2);
  84 #endif
  85 #if AO_PAD_NUM > 3
  86                 if (ao_pad_ignite & (1 << 3))
  87                         pins |= (1 << AO_PAD_PIN_3);
  88 #endif
  89                 AO_PAD_PORT = (AO_PAD_PORT & (~AO_PAD_ALL_PINS)) | pins;
  90                 while (ao_pad_ignite) {
  91                         ao_pad_ignite = 0;
  92
  93                         ao_delay(AO_PAD_FIRE_TIME);
  94                 }
  95                 AO_PAD_PORT &= ~(AO_PAD_ALL_PINS);
  96         }
  97 }
  98
  99 #define AO_PAD_ARM_SIREN_INTERVAL       200
 100
 101 static void
 102 ao_pad_monitor(void)
 103 {
 104         uint8_t                 c;
 105         uint8_t                 sample;
 106         __pdata uint8_t         prev = 0, cur = 0;
 107         __pdata uint8_t         beeping = 0;
 108         __xdata struct ao_data  *packet;
 109         __pdata uint16_t        arm_beep_time = 0;
 110
 111         sample = ao_data_head;
 112         for (;;) {
 113                 __pdata int16_t                 pyro;
 114                 ao_arch_critical(
 115                         while (sample == ao_data_head)
 116                                 ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
 117                         );
 118
 119                 packet = &ao_data_ring[sample];
 120                 sample = ao_data_ring_next(sample);
 121
 122                 pyro = packet->adc.pyro;
 123
 124 #define VOLTS_TO_PYRO(x) ((int16_t) ((x) * 27.0 / 127.0 / 3.3 * 32767.0))
 125
 126                 cur = 0;
 127                 if (pyro > VOLTS_TO_PYRO(10)) {
 128                         query.arm_status = AO_PAD_ARM_STATUS_ARMED;
 129                         cur |= AO_LED_ARMED;
 130                 } else if (pyro < VOLTS_TO_PYRO(5)) {
 131                         query.arm_status = AO_PAD_ARM_STATUS_DISARMED;
 132                         arm_beep_time = 0;
 133                 } else {
 134                         if ((ao_time() % 100) < 50)
 135                                 cur |= AO_LED_ARMED;
 136                         query.arm_status = AO_PAD_ARM_STATUS_UNKNOWN;
 137                         arm_beep_time = 0;
 138                 }
 139                 if ((ao_time() - ao_pad_packet_time) > AO_SEC_TO_TICKS(2))
 140                         cur |= AO_LED_RED;
 141                 else if (ao_radio_cmac_rssi < -90)
 142                         cur |= AO_LED_AMBER;
 143                 else
 144                         cur |= AO_LED_GREEN;
 145
 146                 for (c = 0; c < AO_PAD_NUM; c++) {
 147                         int16_t         sense = packet->adc.sense[c];
 148                         uint8_t status = AO_PAD_IGNITER_STATUS_UNKNOWN;
 149
 150                         /*
 151                          *      pyro is run through a divider, so pyro = v_pyro * 27 / 127 ~= v_pyro / 20
 152                          *      v_pyro = pyro * 127 / 27
 153                          *
 154                          *              v_pyro \
 155                          *      100k            igniter
 156                          *              output /
 157                          *      100k           \
 158                          *              sense   relay
 159                          *      27k            /
 160                          *              gnd ---
 161                          *
 162                          *      If the relay is closed, then sense will be 0
 163                          *      If no igniter is present, then sense will be v_pyro * 27k/227k = pyro * 127 / 227 ~= pyro/2
 164                          *      If igniter is present, then sense will be v_pyro * 27k/127k ~= v_pyro / 20 = pyro
 165                          */
 166
 167                         if (sense <= pyro / 8) {
 168                                 status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED;
 169                                 if ((ao_time() % 100) < 50)
 170                                         cur |= AO_LED_CONTINUITY(c);
 171                         }
 172                         else if (pyro / 8 * 3 <= sense && sense <= pyro / 8 * 5)
 173                                 status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
 174                         else if (pyro / 8 * 7 <= sense) {
 175                                 status = AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN;
 176                                 cur |= AO_LED_CONTINUITY(c);
 177                         }
 178                         query.igniter_status[c] = status;
 179                 }
 180                 if (cur != prev) {
 181                         PRINTD("change leds from %02x to %02x\n",
 182                                prev, cur);
 183                         FLUSHD();
 184                         ao_led_set(cur);
 185                         prev = cur;
 186                 }
 187
 188                 if (ao_pad_armed && (int16_t) (ao_time() - ao_pad_arm_time) > AO_PAD_ARM_TIME)
 189                         ao_pad_armed = 0;
 190
 191                 if (ao_pad_armed) {
 192                         ao_strobe(1);
 193                         ao_siren(1);
 194                         beeping = 1;
 195                 } else if (query.arm_status == AO_PAD_ARM_STATUS_ARMED && !beeping) {
 196                         if (arm_beep_time == 0) {
 197                                 arm_beep_time = AO_PAD_ARM_SIREN_INTERVAL;
 198                                 beeping = 1;
 199                                 ao_siren(1);
 200                         }
 201                         --arm_beep_time;
 202                 } else if (beeping) {
 203                         beeping = 0;
 204                         ao_siren(0);
 205                         ao_strobe(0);
 206                 }
 207         }
 208 }
 209
 210 void
 211 ao_pad_disable(void)
 212 {
 213         if (!ao_pad_disabled) {
 214                 ao_pad_disabled = 1;
 215                 ao_radio_recv_abort();
 216         }
 217 }
 218
 219 void
 220 ao_pad_enable(void)
 221 {
 222         ao_pad_disabled = 0;
 223         ao_wakeup (&ao_pad_disabled);
 224 }
 225
 226 #if HAS_74HC165
 227 static uint8_t
 228 ao_pad_read_box(void)
 229 {
 230         uint8_t         byte = ao_74hc165_read();
 231         uint8_t         h, l;
 232
 233         h = byte >> 4;
 234         l = byte & 0xf;
 235         return h * 10 + l;
 236 }
 237 #else
 238 #define ao_pad_read_box()       0
 239 #endif
 240
 241 static void
 242 ao_pad(void)
 243 {
 244         int16_t time_difference;
 245         int8_t  ret;
 246
 247         ao_pad_box = 0;
 248         ao_led_set(0);
 249         for (;;) {
 250                 FLUSHD();
 251                 while (ao_pad_disabled)
 252                         ao_sleep(&ao_pad_disabled);
 253                 ret = ao_radio_cmac_recv(&command, sizeof (command), 0);
 254                 PRINTD ("cmac_recv %d %d\n", ret, ao_radio_cmac_rssi);
 255                 if (ret != AO_RADIO_CMAC_OK)
 256                         continue;
 257                 ao_pad_packet_time = ao_time();
 258
 259                 ao_pad_box = ao_pad_read_box();
 260
 261                 PRINTD ("tick %d box %d (me %d) cmd %d channels %02x\n",
 262                         command.tick, command.box, ao_pad_box, command.cmd, command.channels);
 263
 264                 switch (command.cmd) {
 265                 case AO_LAUNCH_ARM:
 266                         if (command.box != ao_pad_box) {
 267                                 PRINTD ("box number mismatch\n");
 268                                 break;
 269                         }
 270
 271                         if (command.channels & ~(AO_PAD_ALL_CHANNELS))
 272                                 break;
 273
 274                         time_difference = command.tick - ao_time();
 275                         PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
 276                         if (time_difference < 0)
 277                                 time_difference = -time_difference;
 278                         if (time_difference > 10) {
 279                                 PRINTD ("time difference too large %d\n", time_difference);
 280                                 break;
 281                         }
 282                         PRINTD ("armed\n");
 283                         ao_pad_armed = command.channels;
 284                         ao_pad_arm_time = ao_time();
 285
 286                         /* fall through ... */
 287
 288                 case AO_LAUNCH_QUERY:
 289                         if (command.box != ao_pad_box) {
 290                                 PRINTD ("box number mismatch\n");
 291                                 break;
 292                         }
 293
 294                         query.tick = ao_time();
 295                         query.box = ao_pad_box;
 296                         query.channels = AO_PAD_ALL_CHANNELS;
 297                         query.armed = ao_pad_armed;
 298                         PRINTD ("query tick %d box %d channels %02x arm %d arm_status %d igniter %d,%d,%d,%d\n",
 299                                 query.tick, query.box, query.channels, query.armed,
 300                                 query.arm_status,
 301                                 query.igniter_status[0],
 302                                 query.igniter_status[1],
 303                                 query.igniter_status[2],
 304                                 query.igniter_status[3]);
 305                         ao_radio_cmac_send(&query, sizeof (query));
 306                         break;
 307                 case AO_LAUNCH_FIRE:
 308                         if (!ao_pad_armed) {
 309                                 PRINTD ("not armed\n");
 310                                 break;
 311                         }
 312                         if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
 313                                 PRINTD ("late pad arm_time %d time %d\n",
 314                                         ao_pad_arm_time, ao_time());
 315                                 break;
 316                         }
 317                         time_difference = command.tick - ao_time();
 318                         if (time_difference < 0)
 319                                 time_difference = -time_difference;
 320                         if (time_difference > 10) {
 321                                 PRINTD ("time different too large %d\n", time_difference);
 322                                 break;
 323                         }
 324                         PRINTD ("ignite\n");
 325                         ao_pad_ignite = ao_pad_armed;
 326                         ao_pad_arm_time = ao_time();
 327                         ao_wakeup(&ao_pad_ignite);
 328                         break;
 329                 }
 330         }
 331 }
 332
 333 void
 334 ao_pad_test(void)
 335 {
 336         uint8_t c;
 337
 338         printf ("Arm switch: ");
 339         switch (query.arm_status) {
 340         case AO_PAD_ARM_STATUS_ARMED:
 341                 printf ("Armed\n");
 342                 break;
 343         case AO_PAD_ARM_STATUS_DISARMED:
 344                 printf ("Disarmed\n");
 345                 break;
 346         case AO_PAD_ARM_STATUS_UNKNOWN:
 347                 printf ("Unknown\n");
 348                 break;
 349         }
 350
 351         for (c = 0; c < AO_PAD_NUM; c++) {
 352                 printf ("Pad %d: ", c);
 353                 switch (query.igniter_status[c]) {
 354                 case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED:     printf ("No igniter. Relay closed\n"); break;
 355                 case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN:       printf ("No igniter. Relay open\n"); break;
 356                 case AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN:     printf ("Good igniter. Relay open\n"); break;
 357                 case AO_PAD_IGNITER_STATUS_UNKNOWN:                     printf ("Unknown\n"); break;
 358                 }
 359         }
 360 }
 361
 362 void
 363 ao_pad_manual(void)
 364 {
 365         ao_cmd_white();
 366         if (!ao_match_word("DoIt"))
 367                 return;
 368         ao_cmd_decimal();
 369         if (ao_cmd_status != ao_cmd_success)
 370                 return;
 371         ao_pad_ignite = 1 << ao_cmd_lex_i;
 372         ao_wakeup(&ao_pad_ignite);
 373 }
 374
 375 static __xdata struct ao_task ao_pad_task;
 376 static __xdata struct ao_task ao_pad_ignite_task;
 377 static __xdata struct ao_task ao_pad_monitor_task;
 378
 379 #if DEBUG
 380 void
 381 ao_pad_set_debug(void)
 382 {
 383         ao_cmd_decimal();
 384         if (ao_cmd_status == ao_cmd_success)
 385                 ao_pad_debug = ao_cmd_lex_i != 0;
 386 }
 387
 388
 389 static void
 390 ao_pad_alarm_debug(void)
 391 {
 392         uint8_t which, value;
 393         ao_cmd_decimal();
 394         if (ao_cmd_status != ao_cmd_success)
 395                 return;
 396         which = ao_cmd_lex_i;
 397         ao_cmd_decimal();
 398         if (ao_cmd_status != ao_cmd_success)
 399                 return;
 400         value = ao_cmd_lex_i;
 401         printf ("Set %s to %d\n", which ? "siren" : "strobe", value);
 402         if (which)
 403                 ao_siren(value);
 404         else
 405                 ao_strobe(value);
 406 }
 407 #endif
 408
 409 __code struct ao_cmds ao_pad_cmds[] = {
 410         { ao_pad_test,  "t\0Test pad continuity" },
 411         { ao_pad_manual,        "i <key> <n>\0Fire igniter. <key> is doit with D&I" },
 412 #if DEBUG
 413         { ao_pad_set_debug,     "D <0 off, 1 on>\0Debug" },
 414         { ao_pad_alarm_debug,   "S <0 strobe, 1 siren> <0 off, 1 on>\0Set alarm output" },
 415 #endif
 416         { 0, NULL }
 417 };
 418
 419 void
 420 ao_pad_init(void)
 421 {
 422 #if AO_PAD_NUM > 0
 423         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_0, AO_PAD_0, 0);
 424 #endif
 425 #if AO_PAD_NUM > 1
 426         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_1, AO_PAD_1, 0);
 427 #endif
 428 #if AO_PAD_NUM > 2
 429         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_2, AO_PAD_2, 0);
 430 #endif
 431 #if AO_PAD_NUM > 3
 432         ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_3, AO_PAD_3, 0);
 433 #endif
 434 #ifdef AO_STROBE
 435         ao_enable_output(AO_STROBE_PORT, AO_STROBE_PIN, AO_STROBE, 0);
 436 #endif
 437 #ifdef AO_SIREN
 438         ao_enable_output(AO_SIREN_PORT, AO_SIREN_PIN, AO_SIREN, 0);
 439 #endif
 440         ao_cmd_register(&ao_pad_cmds[0]);
 441         ao_add_task(&ao_pad_task, ao_pad, "pad listener");
 442         ao_add_task(&ao_pad_ignite_task, ao_pad_run, "pad igniter");
 443         ao_add_task(&ao_pad_monitor_task, ao_pad_monitor, "pad monitor");
 444 }