#include <ao.h>
#include <ao_pad.h>
-#include <ao_74hc497.h>
+#include <ao_74hc165.h>
+#include <ao_radio_cmac.h>
-__xdata uint8_t ao_pad_ignite;
+static __xdata uint8_t ao_pad_ignite;
+static __xdata struct ao_pad_command command;
+static __xdata struct ao_pad_query query;
+static __pdata uint8_t ao_pad_armed;
+static __pdata uint16_t ao_pad_arm_time;
+static __pdata uint8_t ao_pad_box;
+static __xdata uint8_t ao_pad_disabled;
+static __pdata uint16_t ao_pad_packet_time;
+
+#ifndef AO_PAD_RSSI_MINIMUM
+#define AO_PAD_RSSI_MINIMUM -90
+#endif
+
+#define DEBUG 1
-#define ao_pad_igniter_status(c) AO_PAD_IGNITER_STATUS_UNKNOWN
-#define ao_pad_arm_status() AO_PAD_ARM_STATUS_UNKNOWN
+#if DEBUG
+static __pdata uint8_t ao_pad_debug;
+#define PRINTD(...) (ao_pad_debug ? (printf(__VA_ARGS__), 0) : 0)
+#define FLUSHD() (ao_pad_debug ? (flush(), 0) : 0)
+#else
+#define PRINTD(...)
+#define FLUSHD()
+#endif
-#if 0
-#define PRINTD(...) printf(__VA_ARGS__)
+static void
+ao_siren(uint8_t v)
+{
+#ifdef AO_SIREN
+ ao_gpio_set(AO_SIREN_PORT, AO_SIREN_PIN, AO_SIREN, v);
#else
-#define PRINTD(...)
+ ao_beep(v ? AO_BEEP_MID : 0);
+#endif
+}
+
+static void
+ao_strobe(uint8_t v)
+{
+#ifdef AO_STROBE
+ ao_gpio_set(AO_STROBE_PORT, AO_STROBE_PIN, AO_STROBE, v);
#endif
+}
static void
ao_pad_run(void)
{
+ uint8_t pins;
+
for (;;) {
while (!ao_pad_ignite)
ao_sleep(&ao_pad_ignite);
/*
* Actually set the pad bits
*/
- AO_PAD_PORT = (AO_PAD_PORT & (~AO_PAD_ALL_PINS)) | ao_pad_ignite;
+ pins = 0;
+#if AO_PAD_NUM > 0
+ if (ao_pad_ignite & (1 << 0))
+ pins |= (1 << AO_PAD_PIN_0);
+#endif
+#if AO_PAD_NUM > 1
+ if (ao_pad_ignite & (1 << 1))
+ pins |= (1 << AO_PAD_PIN_1);
+#endif
+#if AO_PAD_NUM > 2
+ if (ao_pad_ignite & (1 << 2))
+ pins |= (1 << AO_PAD_PIN_2);
+#endif
+#if AO_PAD_NUM > 3
+ if (ao_pad_ignite & (1 << 3))
+ pins |= (1 << AO_PAD_PIN_3);
+#endif
+ AO_PAD_PORT = (AO_PAD_PORT & (~AO_PAD_ALL_PINS)) | pins;
while (ao_pad_ignite) {
ao_pad_ignite = 0;
+
ao_delay(AO_PAD_FIRE_TIME);
}
AO_PAD_PORT &= ~(AO_PAD_ALL_PINS);
}
}
+#define AO_PAD_ARM_SIREN_INTERVAL 200
+
static void
-ao_pad_status(void)
+ao_pad_monitor(void)
{
+ uint8_t c;
+ uint8_t sample;
+ __pdata uint8_t prev = 0, cur = 0;
+ __pdata uint8_t beeping = 0;
+ __xdata struct ao_data *packet;
+ __pdata uint16_t arm_beep_time = 0;
+
+ sample = ao_data_head;
for (;;) {
- ao_delay(AO_SEC_TO_TICKS(1));
-#if 0
- if (ao_igniter_status(ao_igniter_drogue) == ao_igniter_ready) {
- if (ao_igniter_status(ao_igniter_main) == ao_igniter_ready) {
- for (i = 0; i < 5; i++) {
- ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(50));
- ao_delay(AO_MS_TO_TICKS(100));
- }
- } else {
- ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
+ __pdata int16_t pyro;
+ ao_arch_critical(
+ while (sample == ao_data_head)
+ ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
+ );
+
+ packet = &ao_data_ring[sample];
+ sample = ao_data_ring_next(sample);
+
+ pyro = packet->adc.pyro;
+
+#define VOLTS_TO_PYRO(x) ((int16_t) ((x) * 27.0 / 127.0 / 3.3 * 32767.0))
+
+ cur = 0;
+ if (pyro > VOLTS_TO_PYRO(10)) {
+ query.arm_status = AO_PAD_ARM_STATUS_ARMED;
+ cur |= AO_LED_ARMED;
+ } else if (pyro < VOLTS_TO_PYRO(5)) {
+ query.arm_status = AO_PAD_ARM_STATUS_DISARMED;
+ arm_beep_time = 0;
+ } else {
+ if ((ao_time() % 100) < 50)
+ cur |= AO_LED_ARMED;
+ query.arm_status = AO_PAD_ARM_STATUS_UNKNOWN;
+ arm_beep_time = 0;
+ }
+ if ((ao_time() - ao_pad_packet_time) > AO_SEC_TO_TICKS(2))
+ cur |= AO_LED_RED;
+ else if (ao_radio_cmac_rssi < AO_PAD_RSSI_MINIMUM)
+ cur |= AO_LED_AMBER;
+ else
+ cur |= AO_LED_GREEN;
+
+ for (c = 0; c < AO_PAD_NUM; c++) {
+ int16_t sense = packet->adc.sense[c];
+ uint8_t status = AO_PAD_IGNITER_STATUS_UNKNOWN;
+
+ /*
+ * pyro is run through a divider, so pyro = v_pyro * 27 / 127 ~= v_pyro / 20
+ * v_pyro = pyro * 127 / 27
+ *
+ * v_pyro \
+ * 100k igniter
+ * output /
+ * 100k \
+ * sense relay
+ * 27k /
+ * gnd ---
+ *
+ * If the relay is closed, then sense will be 0
+ * If no igniter is present, then sense will be v_pyro * 27k/227k = pyro * 127 / 227 ~= pyro/2
+ * If igniter is present, then sense will be v_pyro * 27k/127k ~= v_pyro / 20 = pyro
+ */
+
+ if (sense <= pyro / 8) {
+ status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED;
+ if ((ao_time() % 100) < 50)
+ cur |= AO_LED_CONTINUITY(c);
}
+ else if (pyro / 8 * 3 <= sense && sense <= pyro / 8 * 5)
+ status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
+ else if (pyro / 8 * 7 <= sense) {
+ status = AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN;
+ cur |= AO_LED_CONTINUITY(c);
+ }
+ query.igniter_status[c] = status;
+ }
+ if (cur != prev) {
+ PRINTD("change leds from %02x to %02x\n",
+ prev, cur);
+ FLUSHD();
+ ao_led_set(cur);
+ prev = cur;
+ }
+
+ if (ao_pad_armed && (int16_t) (ao_time() - ao_pad_arm_time) > AO_PAD_ARM_TIME)
+ ao_pad_armed = 0;
+
+ if (ao_pad_armed) {
+ ao_strobe(1);
+ ao_siren(1);
+ beeping = 1;
+ } else if (query.arm_status == AO_PAD_ARM_STATUS_ARMED && !beeping) {
+ if (arm_beep_time == 0) {
+ arm_beep_time = AO_PAD_ARM_SIREN_INTERVAL;
+ beeping = 1;
+ ao_siren(1);
+ }
+ --arm_beep_time;
+ } else if (beeping) {
+ beeping = 0;
+ ao_siren(0);
+ ao_strobe(0);
}
-#endif
}
}
-static __pdata uint8_t ao_pad_armed;
-static __pdata uint16_t ao_pad_arm_time;
-static __pdata uint8_t ao_pad_box;
+void
+ao_pad_disable(void)
+{
+ if (!ao_pad_disabled) {
+ ao_pad_disabled = 1;
+ ao_radio_recv_abort();
+ }
+}
+
+void
+ao_pad_enable(void)
+{
+ ao_pad_disabled = 0;
+ ao_wakeup (&ao_pad_disabled);
+}
+
+#if HAS_74HC165
+static uint8_t
+ao_pad_read_box(void)
+{
+ uint8_t byte = ao_74hc165_read();
+ uint8_t h, l;
+
+ h = byte >> 4;
+ l = byte & 0xf;
+ return h * 10 + l;
+}
+#else
+#define ao_pad_read_box() 0
+#endif
static void
ao_pad(void)
{
- static __xdata struct ao_pad_command command;
- static __xdata struct ao_pad_query query;
int16_t time_difference;
- uint8_t c;
+ int8_t ret;
- ao_led_off(AO_LED_RED);
- ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
- ao_pad_box = ao_74hc497_read();
+ ao_pad_box = 0;
+ ao_led_set(0);
for (;;) {
- flush();
- if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK)
+ FLUSHD();
+ while (ao_pad_disabled)
+ ao_sleep(&ao_pad_disabled);
+ ret = ao_radio_cmac_recv(&command, sizeof (command), 0);
+ PRINTD ("cmac_recv %d %d\n", ret, ao_radio_cmac_rssi);
+ if (ret != AO_RADIO_CMAC_OK)
continue;
-
- PRINTD ("tick %d serial %d cmd %d channel %d\n",
- command.tick, command.serial, command.cmd, command.channel);
+ ao_pad_packet_time = ao_time();
+
+ ao_pad_box = ao_pad_read_box();
+
+ PRINTD ("tick %d box %d (me %d) cmd %d channels %02x\n",
+ command.tick, command.box, ao_pad_box, command.cmd, command.channels);
switch (command.cmd) {
case AO_LAUNCH_ARM:
break;
}
- if (command.channels & ~(AO_PAD_ALL_PINS))
+ if (command.channels & ~(AO_PAD_ALL_CHANNELS))
break;
time_difference = command.tick - ao_time();
query.tick = ao_time();
query.box = ao_pad_box;
- query.channels = AO_PAD_ALL_PINS;
+ query.channels = AO_PAD_ALL_CHANNELS;
query.armed = ao_pad_armed;
- query.arm_status = ao_pad_arm_status();
- for (c = 0; c < AO_PAD_NUM; c++)
- query.igniter_status[c] = ao_pad_igniter_status(c);
- PRINTD ("query tick %d serial %d channel %d valid %d arm %d igniter %d\n",
- query.tick, query.serial, query.channel, query.valid, query.arm_status,
- query.igniter_status);
+ PRINTD ("query tick %d box %d channels %02x arm %d arm_status %d igniter %d,%d,%d,%d\n",
+ query.tick, query.box, query.channels, query.armed,
+ query.arm_status,
+ query.igniter_status[0],
+ query.igniter_status[1],
+ query.igniter_status[2],
+ query.igniter_status[3]);
ao_radio_cmac_send(&query, sizeof (query));
break;
case AO_LAUNCH_FIRE:
}
PRINTD ("ignite\n");
ao_pad_ignite = ao_pad_armed;
+ ao_pad_arm_time = ao_time();
ao_wakeup(&ao_pad_ignite);
break;
}
void
ao_pad_test(void)
{
-#if 0
- switch (ao_igniter_status(ao_igniter_drogue)) {
- case ao_igniter_ready:
- case ao_igniter_active:
- printf ("Armed: ");
- switch (ao_igniter_status(ao_igniter_main)) {
- default:
- printf("unknown status\n");
- break;
- case ao_igniter_ready:
- printf("igniter good\n");
- break;
- case ao_igniter_open:
- printf("igniter bad\n");
- break;
- }
+ uint8_t c;
+
+ printf ("Arm switch: ");
+ switch (query.arm_status) {
+ case AO_PAD_ARM_STATUS_ARMED:
+ printf ("Armed\n");
+ break;
+ case AO_PAD_ARM_STATUS_DISARMED:
+ printf ("Disarmed\n");
+ break;
+ case AO_PAD_ARM_STATUS_UNKNOWN:
+ printf ("Unknown\n");
break;
- default:
- printf("Disarmed\n");
}
-#endif
+
+ for (c = 0; c < AO_PAD_NUM; c++) {
+ printf ("Pad %d: ", c);
+ switch (query.igniter_status[c]) {
+ case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED: printf ("No igniter. Relay closed\n"); break;
+ case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN: printf ("No igniter. Relay open\n"); break;
+ case AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN: printf ("Good igniter. Relay open\n"); break;
+ case AO_PAD_IGNITER_STATUS_UNKNOWN: printf ("Unknown\n"); break;
+ }
+ }
}
void
ao_pad_manual(void)
{
+ uint8_t ignite;
+ int repeat;
ao_cmd_white();
if (!ao_match_word("DoIt"))
return;
- ao_cmd_white();
- ao_pad_ignite = 1;
- ao_wakeup(&ao_pad_ignite);
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ ignite = 1 << ao_cmd_lex_i;
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success) {
+ repeat = 1;
+ ao_cmd_status = ao_cmd_success;
+ } else
+ repeat = ao_cmd_lex_i;
+ while (repeat-- > 0) {
+ ao_pad_ignite = ignite;
+ ao_wakeup(&ao_pad_ignite);
+ ao_delay(AO_PAD_FIRE_TIME>>1);
+ }
}
static __xdata struct ao_task ao_pad_task;
static __xdata struct ao_task ao_pad_ignite_task;
-static __xdata struct ao_task ao_pad_status_task;
+static __xdata struct ao_task ao_pad_monitor_task;
+
+#if DEBUG
+void
+ao_pad_set_debug(void)
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status == ao_cmd_success)
+ ao_pad_debug = ao_cmd_lex_i != 0;
+}
+
+
+static void
+ao_pad_alarm_debug(void)
+{
+ uint8_t which, value;
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ which = ao_cmd_lex_i;
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ value = ao_cmd_lex_i;
+ printf ("Set %s to %d\n", which ? "siren" : "strobe", value);
+ if (which)
+ ao_siren(value);
+ else
+ ao_strobe(value);
+}
+#endif
__code struct ao_cmds ao_pad_cmds[] = {
{ ao_pad_test, "t\0Test pad continuity" },
- { ao_pad_manual, "i <key>\0Fire igniter. <key> is doit with D&I" },
+ { ao_pad_manual, "i <key> <n>\0Fire igniter. <key> is doit with D&I" },
+#if DEBUG
+ { ao_pad_set_debug, "D <0 off, 1 on>\0Debug" },
+ { ao_pad_alarm_debug, "S <0 strobe, 1 siren> <0 off, 1 on>\0Set alarm output" },
+#endif
{ 0, NULL }
};
#endif
#if AO_PAD_NUM > 3
ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_3, AO_PAD_3, 0);
+#endif
+#ifdef AO_STROBE
+ ao_enable_output(AO_STROBE_PORT, AO_STROBE_PIN, AO_STROBE, 0);
+#endif
+#ifdef AO_SIREN
+ ao_enable_output(AO_SIREN_PORT, AO_SIREN_PIN, AO_SIREN, 0);
#endif
ao_cmd_register(&ao_pad_cmds[0]);
ao_add_task(&ao_pad_task, ao_pad, "pad listener");
ao_add_task(&ao_pad_ignite_task, ao_pad_run, "pad igniter");
- ao_add_task(&ao_pad_status_task, ao_pad_status, "pad status");
+ ao_add_task(&ao_pad_monitor_task, ao_pad_monitor, "pad monitor");
}
projects / fw / altos / blobdiff