X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_pad.c;h=07c49afc6b890a4094a842360223eddc52eef715;hp=85691f5c933474efa5fd73958b242a875d685f70;hb=54e98a498db0d7026ce16c3ad53bc60986c68253;hpb=0686a7b8aec524d81bda4c572549a3a068ce0eed

diff --git a/src/drivers/ao_pad.c b/src/drivers/ao_pad.c
index 85691f5c..07c49afc 100644
--- a/src/drivers/ao_pad.c
+++ b/src/drivers/ao_pad.c
@@ -26,10 +26,10 @@ 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 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
@@ -176,7 +176,7 @@ ao_pad_run(void)
  *	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);
@@ -288,7 +288,7 @@ ao_pad_monitor(void)
 			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_PAD_ARM_TIME)
 			ao_pad_armed = 0;
 
 		if (ao_pad_armed) {
@@ -369,7 +369,7 @@ static int ao_pad_read_box(void) {
 static void
 ao_pad(void)
 {
-	int16_t	time_difference;
+	int16_t	tick_difference;
 	int8_t	ret;
 
 	ao_pad_box = 0;
@@ -378,7 +378,7 @@ ao_pad(void)
 		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();
@@ -398,12 +398,16 @@ ao_pad(void)
 			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 = 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");
@@ -435,7 +439,7 @@ ao_pad(void)
 				PRINTD ("not armed\n");
 				break;
 			}
-			if ((uint16_t) (ao_time() - ao_pad_arm_time) > AO_SEC_TO_TICKS(20)) {
+			if ((AO_TICK_SIGNED) (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;
@@ -453,7 +457,7 @@ ao_pad(void)
 #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)) {
+			if ((AO_TICK_SIGNED) (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;
@@ -472,7 +476,7 @@ ao_pad(void)
 	}
 }
 
-void
+static void
 ao_pad_test(void)
 {
 	uint8_t	c;
@@ -501,7 +505,7 @@ ao_pad_test(void)
 	}
 }
 
-void
+static void
 ao_pad_manual(void)
 {
 	uint8_t	ignite;
@@ -529,7 +533,7 @@ 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)
 {
 	uint16_t r = ao_cmd_decimal();