*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
*/
#include <ao.h>
+#include <ao_exti.h>
#include <ao_pad.h>
-#include <ao_74hc497.h>
+#include <ao_74hc165.h>
#include <ao_radio_cmac.h>
-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 uint8_t ao_pad_ignite;
+static struct ao_pad_command command;
+static struct ao_pad_query query;
+static uint8_t ao_pad_armed;
+static uint16_t ao_pad_arm_time;
+static uint8_t ao_pad_box;
+static uint8_t ao_pad_disabled;
+static uint16_t ao_pad_packet_time;
+
+#ifndef AO_PAD_RSSI_MINIMUM
+#define AO_PAD_RSSI_MINIMUM -90
+#endif
#define DEBUG 1
#if DEBUG
-static __pdata uint8_t ao_pad_debug;
+static 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()
+#define PRINTD(...)
+#define FLUSHD()
#endif
static void
ao_siren(uint8_t v)
{
#ifdef AO_SIREN
- ao_gpio_set(AO_SIREN_PORT, AO_SIREN_PIN, AO_SIREN, v);
+ ao_gpio_set(AO_SIREN_PORT, AO_SIREN_PIN, v);
#else
+#if HAS_BEEP
ao_beep(v ? AO_BEEP_MID : 0);
+#else
+ (void) v;
+#endif
#endif
}
ao_strobe(uint8_t v)
{
#ifdef AO_STROBE
- ao_gpio_set(AO_STROBE_PORT, AO_STROBE_PIN, AO_STROBE, v);
+ ao_gpio_set(AO_STROBE_PORT, AO_STROBE_PIN, v);
+#else
+ (void) v;
#endif
}
+#ifdef AO_PAD_PORT_0
+#define pins_pad(pad) (*((AO_PAD_ ## pad ## _PORT) == AO_PAD_PORT_0 ? (&pins0) : (&pins1)))
+#else
+#define pins_pad(pad) pins0
+#define AO_PAD_PORT_0 AO_PAD_PORT
+#endif
+
static void
ao_pad_run(void)
{
- uint8_t pins;
+ AO_PORT_TYPE pins0;
+#ifdef AO_PAD_PORT_1
+ AO_PORT_TYPE pins1;
+#endif
for (;;) {
while (!ao_pad_ignite)
/*
* Actually set the pad bits
*/
- pins = 0;
+ pins0 = 0;
+#ifdef AO_PAD_PORT_1
+ pins1 = 0;
+#endif
#if AO_PAD_NUM > 0
if (ao_pad_ignite & (1 << 0))
- pins |= (1 << AO_PAD_PIN_0);
+ pins_pad(0) |= (1 << AO_PAD_PIN_0);
#endif
#if AO_PAD_NUM > 1
if (ao_pad_ignite & (1 << 1))
- pins |= (1 << AO_PAD_PIN_1);
+ pins_pad(1) |= (1 << AO_PAD_PIN_1);
#endif
#if AO_PAD_NUM > 2
if (ao_pad_ignite & (1 << 2))
- pins |= (1 << AO_PAD_PIN_2);
+ pins_pad(2) |= (1 << AO_PAD_PIN_2);
#endif
#if AO_PAD_NUM > 3
if (ao_pad_ignite & (1 << 3))
- pins |= (1 << AO_PAD_PIN_3);
+ pins_pad(3) |= (1 << AO_PAD_PIN_3);
+#endif
+#if AO_PAD_NUM > 4
+ if (ao_pad_ignite & (1 << 4))
+ pins_pad(4) |= (1 << AO_PAD_PIN_4);
+#endif
+#if AO_PAD_NUM > 5
+ if (ao_pad_ignite & (1 << 5))
+ pins_pad(5) |= (1 << AO_PAD_PIN_5);
+#endif
+#if AO_PAD_NUM > 6
+ if (ao_pad_ignite & (1 << 6))
+ pins_pad(6) |= (1 << AO_PAD_PIN_6);
+#endif
+#if AO_PAD_NUM > 7
+ if (ao_pad_ignite & (1 << 7))
+ pins_pad(7) |= (1 << AO_PAD_PIN_7);
+#endif
+#ifdef AO_PAD_PORT_1
+ PRINTD("ignite pins 0x%x 0x%x\n", pins0, pins1);
+ ao_gpio_set_bits(AO_PAD_PORT_0, pins0);
+ ao_gpio_set_bits(AO_PAD_PORT_1, pins1);
+#else
+ PRINTD("ignite pins 0x%x\n", pins0);
+ ao_gpio_set_bits(AO_PAD_PORT_0, pins0);
#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);
+#ifdef AO_PAD_PORT_1
+ ao_gpio_clr_bits(AO_PAD_PORT_0, pins0);
+ ao_gpio_clr_bits(AO_PAD_PORT_1, pins1);
+ PRINTD("turn off pins 0x%x 0x%x\n", pins0, pins1);
+#else
+ ao_gpio_set_bits(AO_PAD_PORT_0, pins0);
+ PRINTD("turn off pins 0x%x\n", pins0);
+#endif
}
}
#define AO_PAD_ARM_SIREN_INTERVAL 200
+/* Resistor values needed for various voltage test ratios:
+ *
+ * Net names involved:
+ *
+ * V_BATT Battery power, after the initial power switch
+ * V_PYRO Pyro power, after the pyro power switch (and initial power switch)
+ * PYRO_SENSE ADC input to sense V_PYRO voltage
+ * BATT_SENSE ADC input to sense V_BATT voltage
+ * IGNITER FET output to pad (the other pad lead hooks to V_PYRO)
+ * IGNITER_SENSE ADC input to sense igniter voltage
+ *
+ * AO_PAD_R_V_BATT_BATT_SENSE Resistor from battery rail to battery sense input
+ * AO_PAD_R_BATT_SENSE_GND Resistor from battery sense input to ground
+ *
+ * AO_PAD_R_V_BATT_V_PYRO Resistor from battery rail to pyro rail
+ * AO_PAD_R_V_PYRO_PYRO_SENSE Resistor from pyro rail to pyro sense input
+ * AO_PAD_R_PYRO_SENSE_GND Resistor from pyro sense input to ground
+ *
+ * AO_PAD_R_V_PYRO_IGNITER Optional resistors from pyro rail to FET igniter output
+ * AO_PAD_R_IGNITER_IGNITER_SENSE Resistors from FET igniter output to igniter sense ADC inputs
+ * AO_PAD_R_IGNITER_SENSE_GND Resistors from igniter sense ADC inputs to ground
+ */
+
+static int16_t
+ao_pad_decivolt(int16_t adc, int16_t r_plus, int16_t r_minus)
+{
+ int32_t mul = (int32_t) AO_ADC_REFERENCE_DV * (r_plus + r_minus);
+ int32_t div = (int32_t) AO_ADC_MAX * r_minus;
+ return ((int32_t) adc * mul + mul/2) / div;
+}
+
static 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;
+ AO_LED_TYPE prev = 0, cur = 0;
+ uint8_t beeping = 0;
+ volatile struct ao_data *packet;
+ uint16_t arm_beep_time = 0;
sample = ao_data_head;
+ ao_led_set(LEDS_AVAILABLE);
+ ao_delay(AO_MS_TO_TICKS(1000));
+ ao_led_set(0);
for (;;) {
- __pdata int16_t pyro;
+ int16_t pyro;
+
ao_arch_critical(
while (sample == ao_data_head)
- ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
+ ao_sleep((void *) &ao_data_head);
);
+
packet = &ao_data_ring[sample];
sample = ao_data_ring_next(sample);
- pyro = packet->adc.pyro;
+ /* Reply battery voltage */
+ query.battery = ao_pad_decivolt(packet->adc.batt, AO_PAD_R_V_BATT_BATT_SENSE, AO_PAD_R_BATT_SENSE_GND);
-#define VOLTS_TO_PYRO(x) ((int16_t) ((x) * 27.0 / 127.0 / 3.3 * 32767.0))
+ /* Current pyro voltage */
+ pyro = ao_pad_decivolt(packet->adc.pyro,
+ AO_PAD_R_V_PYRO_PYRO_SENSE,
+ AO_PAD_R_PYRO_SENSE_GND);
cur = 0;
- if (pyro > VOLTS_TO_PYRO(10)) {
+ if (pyro > query.battery * 7 / 8) {
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;
+ query.arm_status = AO_PAD_ARM_STATUS_DISARMED;
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];
+ int16_t sense = ao_pad_decivolt(packet->adc.sense[c],
+ AO_PAD_R_IGNITER_IGNITER_SENSE,
+ AO_PAD_R_IGNITER_SENSE_GND);
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
+ * Here's the resistor stack on each
+ * igniter channel. Note that
+ * AO_PAD_R_V_PYRO_IGNITER is optional
*
- * v_pyro \
- * 100k igniter
- * output /
- * 100k \
- * sense relay
- * 27k /
- * gnd ---
+ * v_pyro \
+ * AO_PAD_R_V_PYRO_IGNITER igniter
+ * output /
+ * AO_PAD_R_IGNITER_IGNITER_SENSE \
+ * sense relay
+ * AO_PAD_R_IGNITER_SENSE_GND /
+ * 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
*/
+#ifdef AO_PAD_R_V_PYRO_IGNITER
if (sense <= pyro / 8) {
+ /* close to zero → relay is closed */
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);
+ else
+#endif
+ {
+ if (sense >= (pyro * 7) / 8) {
+
+ /* sense close to pyro voltage; igniter is good
+ */
+ status = AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN;
+ cur |= AO_LED_CONTINUITY(c);
+ } else {
+
+ /* relay not shorted (if we can tell),
+ * and igniter not obviously present
+ */
+ status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
+ }
}
query.igniter_status[c] = status;
}
if (cur != prev) {
- PRINTD("change leds from %02x to %02x mask %02x\n",
- prev, cur, AO_LED_CONTINUITY_MASK|AO_LED_ARMED);
- ao_led_set_mask(cur, AO_LED_CONTINUITY_MASK | AO_LED_ARMED);
+ PRINTD("change leds from %02x to %02x\n",
+ prev, cur);
+ FLUSHD();
+ ao_led_set(cur);
prev = cur;
}
if (ao_pad_armed) {
ao_strobe(1);
- if (sample & 2)
- ao_siren(1);
- else
- ao_siren(0);
+ ao_siren(1);
beeping = 1;
} else if (query.arm_status == AO_PAD_ARM_STATUS_ARMED && !beeping) {
if (arm_beep_time == 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;
+}
+#endif
+
+#ifdef AO_PAD_SELECTOR_PORT
+static int ao_pad_read_box(void) {
+ AO_PORT_TYPE value = ao_gpio_get_all(AO_PAD_SELECTOR_PORT);
+ unsigned pin;
+ int select = 1;
+
+ for (pin = 0; pin < sizeof (AO_PORT_TYPE) * 8; pin++) {
+ if (AO_PAD_SELECTOR_PINS & (1 << pin)) {
+ if ((value & (1 << pin)) == 0)
+ return select;
+ select++;
+ }
+ }
+ return ao_config.pad_box;
+}
+#else
+
+#if HAS_FIXED_PAD_BOX
+#define ao_pad_read_box() ao_config.pad_box
+#endif
+
+#ifdef PAD_BOX
+#define ao_pad_read_box() PAD_BOX
+#endif
+
+#endif
+
static void
ao_pad(void)
{
int8_t ret;
ao_pad_box = 0;
- ao_led_set(0);
- ao_led_on(AO_LED_POWER);
for (;;) {
FLUSHD();
while (ao_pad_disabled)
ao_sleep(&ao_pad_disabled);
ret = ao_radio_cmac_recv(&command, sizeof (command), 0);
- PRINTD ("cmac_recv %d\n", ret);
+ PRINTD ("cmac_recv status %d rssi %d\n", ret, ao_radio_cmac_rssi);
if (ret != AO_RADIO_CMAC_OK)
continue;
-
- PRINTD ("tick %d box %d cmd %d channels %02x\n",
- command.tick, command.box, command.cmd, command.channels);
+ 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:
+ case AO_PAD_ARM:
if (command.box != ao_pad_box) {
PRINTD ("box number mismatch\n");
break;
PRINTD ("time difference too large %d\n", time_difference);
break;
}
+ if (query.arm_status != AO_PAD_ARM_STATUS_ARMED) {
+ PRINTD ("box not armed locally\n");
+ break;
+ }
PRINTD ("armed\n");
ao_pad_armed = command.channels;
ao_pad_arm_time = ao_time();
+ break;
- /* fall through ... */
-
- case AO_LAUNCH_QUERY:
+ case AO_PAD_QUERY:
if (command.box != ao_pad_box) {
PRINTD ("box number mismatch\n");
break;
query.igniter_status[3]);
ao_radio_cmac_send(&query, sizeof (query));
break;
- case AO_LAUNCH_FIRE:
+ case AO_PAD_FIRE:
if (!ao_pad_armed) {
PRINTD ("not armed\n");
break;
ao_pad_arm_time, ao_time());
break;
}
- time_difference = command.tick - ao_time();
- if (time_difference < 0)
- time_difference = -time_difference;
- if (time_difference > 10) {
- PRINTD ("time different too large %d\n", time_difference);
+ PRINTD ("ignite\n");
+ ao_pad_ignite = ao_pad_armed;
+ ao_pad_arm_time = ao_time();
+ ao_wakeup(&ao_pad_ignite);
+ break;
+ case AO_PAD_STATIC:
+ if (!ao_pad_armed) {
+ PRINTD ("not armed\n");
+ break;
+ }
+#if HAS_LOG
+ if (!ao_log_running) ao_log_start();
+#endif
+ if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
+ PRINTD ("late pad arm_time %d time %d\n",
+ ao_pad_arm_time, ao_time());
break;
}
PRINTD ("ignite\n");
ao_pad_arm_time = ao_time();
ao_wakeup(&ao_pad_ignite);
break;
+ case AO_PAD_ENDSTATIC:
+#if HAS_LOG
+ ao_log_stop();
+#endif
+ break;
}
}
}
-void
+static void
ao_pad_test(void)
{
uint8_t c;
}
for (c = 0; c < AO_PAD_NUM; c++) {
- printf ("Pad %d: ");
+ 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;
}
}
-void
+static void
ao_pad_manual(void)
{
+ uint8_t ignite;
+ int repeat;
ao_cmd_white();
if (!ao_match_word("DoIt"))
return;
- ao_cmd_decimal();
+ ignite = 1 << ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
- ao_pad_ignite = 1 << ao_cmd_lex_i;
- ao_wakeup(&ao_pad_ignite);
+ repeat = ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success) {
+ repeat = 1;
+ ao_cmd_status = ao_cmd_success;
+ }
+ 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_monitor_task;
+static struct ao_task ao_pad_task;
+static struct ao_task ao_pad_ignite_task;
+static struct ao_task ao_pad_monitor_task;
#if DEBUG
-void
+static void
ao_pad_set_debug(void)
{
- ao_cmd_decimal();
+ uint16_t r = ao_cmd_decimal();
if (ao_cmd_status == ao_cmd_success)
- ao_pad_debug = ao_cmd_lex_i != 0;
+ ao_pad_debug = r != 0;
+}
+
+
+static void
+ao_pad_alarm_debug(void)
+{
+ uint8_t which, value;
+ which = ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ value = ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ 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[] = {
+const struct ao_cmds ao_pad_cmds[] = {
{ ao_pad_test, "t\0Test pad continuity" },
{ 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 }
};
+#ifndef AO_PAD_PORT_1
+#define AO_PAD_0_PORT AO_PAD_PORT
+#define AO_PAD_1_PORT AO_PAD_PORT
+#define AO_PAD_2_PORT AO_PAD_PORT
+#define AO_PAD_3_PORT AO_PAD_PORT
+#define AO_PAD_4_PORT AO_PAD_PORT
+#define AO_PAD_5_PORT AO_PAD_PORT
+#define AO_PAD_6_PORT AO_PAD_PORT
+#define AO_PAD_7_PORT AO_PAD_PORT
+#endif
+
void
ao_pad_init(void)
{
+#ifdef AO_PAD_SELECTOR_PORT
+ unsigned pin;
+
+ for (pin = 0; pin < sizeof (AO_PORT_TYPE) * 8; pin++) {
+ if (AO_PAD_SELECTOR_PINS & (1 << pin))
+ ao_enable_input(AO_PAD_SELECTOR_PORT, pin, AO_EXTI_MODE_PULL_UP);
+ }
+#endif
#if AO_PAD_NUM > 0
- ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_0, AO_PAD_0, 0);
+ ao_enable_output(AO_PAD_0_PORT, AO_PAD_PIN_0, 0);
#endif
#if AO_PAD_NUM > 1
- ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_1, AO_PAD_1, 0);
+ ao_enable_output(AO_PAD_1_PORT, AO_PAD_PIN_1, 0);
#endif
#if AO_PAD_NUM > 2
- ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_2, AO_PAD_2, 0);
+ ao_enable_output(AO_PAD_2_PORT, AO_PAD_PIN_2, 0);
#endif
#if AO_PAD_NUM > 3
- ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_3, AO_PAD_3, 0);
+ ao_enable_output(AO_PAD_3_PORT, AO_PAD_PIN_3, 0);
+#endif
+#if AO_PAD_NUM > 4
+ ao_enable_output(AO_PAD_4_PORT, AO_PAD_PIN_4, 0);
+#endif
+#if AO_PAD_NUM > 5
+ ao_enable_output(AO_PAD_5_PORT, AO_PAD_PIN_5, 0);
+#endif
+#if AO_PAD_NUM > 5
+ ao_enable_output(AO_PAD_6_PORT, AO_PAD_PIN_6, 0);
+#endif
+#if AO_PAD_NUM > 7
+ ao_enable_output(AO_PAD_7_PORT, AO_PAD_PIN_7, 0);
#endif
#ifdef AO_STROBE
- ao_enable_output(AO_STROBE_PORT, AO_STROBE_PIN, AO_STROBE, 0);
+ ao_enable_output(AO_STROBE_PORT, AO_STROBE_PIN, 0);
#endif
#ifdef AO_SIREN
- ao_enable_output(AO_SIREN_PORT, AO_SIREN_PIN, AO_SIREN, 0);
+ ao_enable_output(AO_SIREN_PORT, AO_SIREN_PIN, 0);
#endif
ao_cmd_register(&ao_pad_cmds[0]);
ao_add_task(&ao_pad_task, ao_pad, "pad listener");
projects / fw / altos / blobdiff