X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_pad.c;h=2592a084261bec25640f0820dfc018c579f44486;hp=dfa5f9f5679d06ef1990fd123a5e0002276fbdb9;hb=88e279b15b3d2357f142e58d20d73c24bf2561eb;hpb=6581fa1641882198c870c2f7b1340794b9d47f29

diff --git a/src/drivers/ao_pad.c b/src/drivers/ao_pad.c
index dfa5f9f5..2592a084 100644
--- a/src/drivers/ao_pad.c
+++ b/src/drivers/ao_pad.c
@@ -3,7 +3,8 @@
  *
  * 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
@@ -16,91 +17,299 @@
  */
 
 #include <ao.h>
+#include <ao_exti.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 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;
 
-#define ao_pad_igniter_status(c)	AO_PAD_IGNITER_STATUS_UNKNOWN
-#define ao_pad_arm_status()		AO_PAD_ARM_STATUS_UNKNOWN
+#ifndef AO_PAD_RSSI_MINIMUM
+#define AO_PAD_RSSI_MINIMUM	-90
+#endif
+
+#define DEBUG	1
+
+#if 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()
+#endif
+
+static void
+ao_siren(uint8_t v)
+{
+#ifdef AO_SIREN
+	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
+}
+
+static void
+ao_strobe(uint8_t v)
+{
+#ifdef AO_STROBE
+	ao_gpio_set(AO_STROBE_PORT, AO_STROBE_PIN, v);
+#else
+	(void) v;
+#endif
+}
 
-#if 0
-#define PRINTD(...) printf(__VA_ARGS__)
+#ifdef AO_PAD_PORT_0
+#define pins_pad(pad)	(*((AO_PAD_ ## pad ## _PORT) == AO_PAD_PORT_0 ? (&pins0) : (&pins1)))
 #else
-#define PRINTD(...) 
+#define pins_pad(pad)	pins0
+#define AO_PAD_PORT_0 AO_PAD_PORT
 #endif
 
 static void
 ao_pad_run(void)
 {
+	AO_PORT_TYPE	pins0;
+#ifdef AO_PAD_PORT_1
+	AO_PORT_TYPE	pins1;
+#endif
+
 	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;
+		pins0 = 0;
+#ifdef AO_PAD_PORT_1
+		pins1 = 0;
+#endif
+#if AO_PAD_NUM > 0
+		if (ao_pad_ignite & (1 << 0))
+			pins_pad(0) |= (1 << AO_PAD_PIN_0);
+#endif
+#if AO_PAD_NUM > 1
+		if (ao_pad_ignite & (1 << 1))
+			pins_pad(1) |= (1 << AO_PAD_PIN_1);
+#endif
+#if AO_PAD_NUM > 2
+		if (ao_pad_ignite & (1 << 2))
+			pins_pad(2) |= (1 << AO_PAD_PIN_2);
+#endif
+#if AO_PAD_NUM > 3
+		if (ao_pad_ignite & (1 << 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
 		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_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;
+	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(4)) {
-			for (c = 0; c < AO_PAD_NUM; c++) {
-				int16_t		sense = packet->adc.sense[c];
+		if (pyro > query.battery * 7 / 8) {
+			query.arm_status = AO_PAD_ARM_STATUS_ARMED;
+			cur |= AO_LED_ARMED;
+		} else {
+			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 = 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;
+
+			/*
+			 *	Here's the resistor stack on each
+			 *	igniter channel. Note that
+			 *	AO_PAD_R_V_PYRO_IGNITER is optional
+			 *
+			 *					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 ---
+			 *
+			 */
+
+#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
+#endif
+			{
+				if (sense >= (pyro * 7) / 8) {
 
-				if (sense >= pyro / 4 * 3)
+					/* 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) {
-			ao_led_set_mask(cur, AO_LED_CONTINUITY_MASK);
+			PRINTD("change leds from %02x to %02x\n",
+			       prev, cur);
+			FLUSHD();
+			ao_led_set(cur);
 			prev = cur;
 		}
 
-		if (pyro > VOLTS_TO_PYRO(9) && sample == 0) {
+		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;
-			ao_beep(AO_BEEP_HIGH);
+		} 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_beep(0);
+			ao_siren(0);
+			ao_strobe(0);
 		}
 	}
 }
 
-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;
-
 void
 ao_pad_disable(void)
 {
@@ -117,36 +326,76 @@ ao_pad_enable(void)
 	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)
 {
-	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_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
-	ao_pad_box = ao_74hc497_read();
-	ao_led_set(0);
-	ao_led_on(AO_LED_POWER);
+	ao_pad_box = 0;
 	for (;;) {
-		flush();
+		FLUSHD();
 		while (ao_pad_disabled)
 			ao_sleep(&ao_pad_disabled);
-		if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK)
+		ret = ao_radio_cmac_recv(&command, sizeof (command), 0);
+		PRINTD ("receive packet status %d rssi %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:
+		case AO_PAD_ARM:
 			if (command.box != ao_pad_box) {
 				PRINTD ("box number mismatch\n");
 				break;
 			}
 
-			if (command.channels & ~(AO_PAD_ALL_PINS))
+			if (command.channels & ~(AO_PAD_ALL_CHANNELS))
 				break;
 
 			time_difference = command.tick - ao_time();
@@ -157,13 +406,16 @@ ao_pad(void)
 				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;
@@ -171,17 +423,18 @@ ao_pad(void)
 
 			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:
+		case AO_PAD_FIRE:
 			if (!ao_pad_armed) {
 				PRINTD ("not armed\n");
 				break;
@@ -191,87 +444,186 @@ ao_pad(void)
 					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_ignite = ao_pad_armed;
+			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)
 {
-#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
+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_status_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
+static void
+ao_pad_set_debug(void)
+{
+	uint16_t r = ao_cmd_decimal();
+	if (ao_cmd_status == ao_cmd_success)
+		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, 0);
+#endif
+#ifdef AO_SIREN
+	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");
 	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");
 }