X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_pad.c;h=28c00fe33ed51385a9384c08af5328a5d6b6b3b0;hp=dfa5f9f5679d06ef1990fd123a5e0002276fbdb9;hb=e3b30d4bd6faf68c885791fb87229558cc1157a6;hpb=6581fa1641882198c870c2f7b1340794b9d47f29 diff --git a/src/drivers/ao_pad.c b/src/drivers/ao_pad.c index dfa5f9f5..28c00fe3 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 @@ -17,45 +18,116 @@ #include #include -#include +#include +#include -__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; -#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 __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 + +static void +ao_siren(uint8_t v) +{ +#ifdef AO_SIREN + ao_gpio_set(AO_SIREN_PORT, AO_SIREN_PIN, AO_SIREN, v); +#else +#if HAS_BEEP + ao_beep(v ? AO_BEEP_MID : 0); +#else + (void) v; +#endif +#endif +} -#if 0 -#define PRINTD(...) printf(__VA_ARGS__) +static void +ao_strobe(uint8_t v) +{ +#ifdef AO_STROBE + ao_gpio_set(AO_STROBE_PORT, AO_STROBE_PIN, AO_STROBE, v); #else -#define PRINTD(...) + (void) v; #endif +} static void ao_pad_run(void) { + AO_PORT_TYPE 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 + PRINTD("ignite pins 0x%x\n", pins); + ao_gpio_set_bits(AO_PAD_PORT, pins); while (ao_pad_ignite) { ao_pad_ignite = 0; + ao_delay(AO_PAD_FIRE_TIME); } - AO_PAD_PORT &= ~(AO_PAD_ALL_PINS); + ao_gpio_clr_bits(AO_PAD_PORT, pins); + PRINTD("turn off pins 0x%x\n", pins); } } +#define AO_PAD_ARM_SIREN_INTERVAL 200 + +#ifndef AO_PYRO_R_PYRO_SENSE +#define AO_PYRO_R_PYRO_SENSE 100 +#define AO_PYRO_R_SENSE_GND 27 +#define AO_FIRE_R_POWER_FET 100 +#define AO_FIRE_R_FET_SENSE 100 +#define AO_FIRE_R_SENSE_GND 27 +#endif + 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 uint8_t prev = 0, cur = 0; + __pdata uint8_t beeping = 0; + __xdata volatile struct ao_data *packet; + __pdata uint16_t arm_beep_time = 0; sample = ao_data_head; for (;;) { @@ -65,42 +137,124 @@ ao_pad_status(void) 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)) +#define VOLTS_TO_PYRO(x) ((int16_t) ((x) * ((1.0 * AO_PYRO_R_SENSE_GND) / \ + (1.0 * (AO_PYRO_R_SENSE_GND + AO_PYRO_R_PYRO_SENSE)) / 3.3 * AO_ADC_MAX))) + +#define VOLTS_TO_FIRE(x) ((int16_t) ((x) * ((1.0 * AO_FIRE_R_SENSE_GND) / \ + (1.0 * (AO_FIRE_R_SENSE_GND + AO_FIRE_R_FET_SENSE)) / 3.3 * AO_ADC_MAX))) + + /* convert ADC value to voltage in tenths, then add .2 for the diode drop */ + query.battery = (packet->adc.batt + 96) / 192 + 2; 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 > VOLTS_TO_PYRO(10)) { + query.arm_status = AO_PAD_ARM_STATUS_ARMED; + cur |= AO_LED_ARMED; +#if AO_FIRE_R_POWER_FET + } else if (pyro > VOLTS_TO_PYRO(5)) { + if ((ao_time() % 100) < 50) + cur |= AO_LED_ARMED; + query.arm_status = AO_PAD_ARM_STATUS_UNKNOWN; + arm_beep_time = 0; +#endif + } 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; - if (sense >= pyro / 4 * 3) + 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 --- + * + * v_pyro \ + * 200k igniter + * output / + * 200k \ + * sense relay + * 22k / + * 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 AO_FIRE_R_POWER_FET + 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); + } +#else + if (sense >= pyro / 8 * 5) { + status = AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN; + cur |= AO_LED_CONTINUITY(c); + } else { + status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN; } +#endif + 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 +271,58 @@ 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 + +#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 + 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_pad_box = 0; ao_led_set(0); - ao_led_on(AO_LED_POWER); 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 ("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: + 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(); @@ -160,10 +336,9 @@ ao_pad(void) 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 +346,18 @@ 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; @@ -191,67 +367,135 @@ 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; + } +#ifdef 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: +#ifdef HAS_LOG + ao_log_stop(); +#endif + 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_decimal(); if (ao_cmd_status != ao_cmd_success) return; - ao_pad_ignite = 1 << ao_cmd_lex_i; - ao_wakeup(&ao_pad_ignite); + 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 \0Fire igniter. 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 } }; @@ -269,9 +513,15 @@ ao_pad_init(void) #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"); }