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 AO_TICK_TYPE ao_pad_arm_time;
static uint8_t ao_pad_box;
static uint8_t ao_pad_disabled;
-static uint16_t ao_pad_packet_time;
+static AO_TICK_TYPE ao_pad_packet_time;
#ifndef AO_PAD_RSSI_MINIMUM
#define AO_PAD_RSSI_MINIMUM -90
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);
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
* AO_PAD_R_IGNITER_SENSE_GND Resistors from igniter sense ADC inputs to ground
*/
-int16_t
+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;
+ return (int16_t) (((int32_t) adc * mul + mul/2) / div);
}
static void
sample = ao_data_ring_next(sample);
/* Reply battery voltage */
- query.battery = ao_pad_decivolt(packet->adc.batt, AO_PAD_R_V_BATT_BATT_SENSE, AO_PAD_R_BATT_SENSE_GND);
+ query.battery = (uint8_t) ao_pad_decivolt(packet->adc.batt, AO_PAD_R_V_BATT_BATT_SENSE, AO_PAD_R_BATT_SENSE_GND);
/* Current pyro voltage */
pyro = ao_pad_decivolt(packet->adc.pyro,
prev = cur;
}
- if (ao_pad_armed && (int16_t) (ao_time() - ao_pad_arm_time) > AO_PAD_ARM_TIME)
+ if (ao_pad_armed && (AO_TICK_SIGNED) (ao_time() - ao_pad_arm_time) > (AO_TICK_SIGNED) AO_PAD_ARM_TIME)
ao_pad_armed = 0;
if (ao_pad_armed) {
#endif
#ifdef AO_PAD_SELECTOR_PORT
-static int ao_pad_read_box(void) {
+static uint8_t ao_pad_read_box(void) {
AO_PORT_TYPE value = ao_gpio_get_all(AO_PAD_SELECTOR_PORT);
unsigned pin;
- int select = 1;
+ uint8_t select = 1;
for (pin = 0; pin < sizeof (AO_PORT_TYPE) * 8; pin++) {
if (AO_PAD_SELECTOR_PINS & (1 << pin)) {
static void
ao_pad(void)
{
- int16_t time_difference;
+ int16_t tick_difference;
int8_t ret;
ao_pad_box = 0;
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);
+ PRINTD ("receive packet status %d rssi %d\n", ret, ao_radio_cmac_rssi);
if (ret != AO_RADIO_CMAC_OK)
continue;
ao_pad_packet_time = ao_time();
if (command.channels & ~(AO_PAD_ALL_CHANNELS))
break;
- time_difference = command.tick - ao_time();
- PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time());
- if (time_difference < 0)
- time_difference = -time_difference;
- if (time_difference > 10) {
- PRINTD ("time difference too large %d\n", time_difference);
+ tick_difference = (int16_t) (command.tick - (uint16_t) ao_time());
+ PRINTD ("arm tick %d local tick %d\n", command.tick, (uint16_t) ao_time());
+ if (tick_difference < 0)
+ tick_difference = -tick_difference;
+ if (tick_difference > 10) {
+ PRINTD ("tick difference too large %d\n", tick_difference);
+ break;
+ }
+ if (query.arm_status != AO_PAD_ARM_STATUS_ARMED) {
+ PRINTD ("box not armed locally\n");
break;
}
PRINTD ("armed\n");
break;
}
- query.tick = ao_time();
+ query.tick = (uint16_t) ao_time();
query.box = ao_pad_box;
query.channels = AO_PAD_ALL_CHANNELS;
query.armed = ao_pad_armed;
PRINTD ("not armed\n");
break;
}
- 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());
+ if ((AO_TICK_SIGNED) (ao_time() - ao_pad_arm_time) > (AO_TICK_SIGNED) AO_SEC_TO_TICKS(20)) {
+ PRINTD ("late pad arm_time %ld time %ld\n",
+ (long) ao_pad_arm_time, ao_time());
break;
}
PRINTD ("ignite\n");
#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());
+ if ((AO_TICK_SIGNED) (ao_time() - ao_pad_arm_time) > (AO_TICK_SIGNED) AO_SEC_TO_TICKS(20)) {
+ PRINTD ("late pad arm_time %ld time %ld\n",
+ (long) ao_pad_arm_time, (long) ao_time());
break;
}
PRINTD ("ignite\n");
}
}
-void
+static void
ao_pad_test(void)
{
uint8_t c;
}
}
-void
+static void
ao_pad_manual(void)
{
uint8_t ignite;
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;
- ignite = 1 << ao_cmd_lex_i;
- ao_cmd_decimal();
+ repeat = (uint8_t) 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);
static struct ao_task ao_pad_monitor_task;
#if DEBUG
-void
+static void
ao_pad_set_debug(void)
{
- ao_cmd_decimal();
+ uint32_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;
}
ao_pad_alarm_debug(void)
{
uint8_t which, value;
- ao_cmd_decimal();
+ which = ao_cmd_decimal() != 0;
if (ao_cmd_status != ao_cmd_success)
return;
- which = ao_cmd_lex_i;
- ao_cmd_decimal();
+ value = ao_cmd_decimal() != 0;
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);
ao_pad_init(void)
{
#ifdef AO_PAD_SELECTOR_PORT
- unsigned pin;
+ int pin;
- for (pin = 0; pin < sizeof (AO_PORT_TYPE) * 8; pin++) {
+ for (pin = 0; pin < (int) 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_0_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_1_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_2_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_3_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, AO_PAD_4, 0);
+ 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, AO_PAD_5, 0);
+ 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, AO_PAD_6, 0);
+ 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, AO_PAD_7, 0);
+ 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