SDCCDIRS=\
telemetrum-v1.2 telemetrum-v1.1 telemetrum-v1.0 \
- teledongle-v0.2 teledongle-v0.1 \
- telemini-v1.0 telenano-v0.1 \
+ teledongle-v0.2 \
+ telemini-v1.0 \
telebt-v1.0 \
- telemetrum-v0.1-sky telemetrum-v0.1-sirf \
- telelaunch-v0.1 tidongle test \
teleterra-v0.2 teleshield-v0.1 \
- telefire-v0.1 \
- spiradio-v0.1
+ telefire-v0.1 telefire-v0.2
AVRDIRS=\
- telescience-v0.1 telescience-pwm telepyro-v0.1 micropeak
+ telescience-v0.1 telescience-pwm micropeak
ARMDIRS=\
telemega-v0.1 telemega-v0.1/flash-loader \
}
#endif /* telemini || telenano */
-#ifdef TELEFIRE_V_0_1
+#if defined(TELEFIRE_V_0_1) || defined(TELEFIRE_V_0_2)
a = (uint8_t __xdata *) (&ao_data_ring[ao_data_head].adc.sense[0] + sequence - AO_ADC_FIRST_PIN);
a[0] = ADCL;
a[1] = ADCH;
#define AO_PANIC_CRASH 14 /* Processor crashed */
#define AO_PANIC_BUFIO 15 /* Mis-using bufio API */
#define AO_PANIC_EXTI 16 /* Mis-using exti API */
+#define AO_PANIC_FAST_TIMER 17 /* Mis-using fast timer API */
#define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
#define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
#define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
uint8_t firing;
};
+extern __code char * __code ao_igniter_status_names[];
+
extern __xdata struct ao_ignition ao_ignition[2];
enum ao_igniter_status
--- /dev/null
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ *
+ * 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.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_debounce.h>
+#include <ao_fast_timer.h>
+
+static uint8_t ao_debounce_initialized;
+static uint8_t ao_debounce_running;
+static struct ao_debounce *ao_debounce;
+
+static uint8_t values[64];
+static uint8_t n;
+
+#define d_step(n) (((n) + 1) & 63)
+
+static void
+_ao_debounce_set(struct ao_debounce *debounce, uint8_t value)
+{
+ if (value != debounce->value) {
+ values[n] = value;
+ n = (n + 1) & 63;
+ debounce->value = value;
+ debounce->_set(debounce, value);
+ }
+ _ao_debounce_stop(debounce);
+}
+
+void
+ao_debounce_dump(void)
+{
+ uint8_t s;
+
+ for (s = 0; s < n; s++) {
+ printf ("%d: %d\n",
+ s, values[s]);
+ }
+ n = 0;
+}
+
+/*
+ * Get the current value, set the result when we've
+ * reached the debounce count limit
+ */
+static void
+_ao_debounce_check(struct ao_debounce *debounce)
+{
+ uint8_t next = debounce->_get(debounce);
+
+ if (next == debounce->current) {
+ if (debounce->count < debounce->hold) {
+ if (++debounce->count == debounce->hold)
+ _ao_debounce_set(debounce, debounce->current);
+ }
+ } else {
+ debounce->count = 0;
+ debounce->current = next;
+ }
+}
+
+static void
+_ao_debounce_isr(void)
+{
+ struct ao_debounce *debounce, *next;
+
+ for (debounce = ao_debounce; debounce; debounce = next) {
+ next = debounce->next;
+ _ao_debounce_check(debounce);
+ }
+}
+
+static void
+ao_debounce_on(void)
+{
+ ao_fast_timer_on(_ao_debounce_isr);
+}
+
+static void
+ao_debounce_off(void)
+{
+ ao_fast_timer_off(_ao_debounce_isr);
+}
+
+/*
+ * Start monitoring one pin
+ */
+void
+_ao_debounce_start(struct ao_debounce *debounce)
+{
+ uint32_t m;
+
+ m = ao_arch_irqsave();
+ if (!debounce->running) {
+ debounce->running = 1;
+
+ /* Reset the counter */
+ debounce->count = 0;
+
+ /* Link into list */
+ debounce->next = ao_debounce;
+ ao_debounce = debounce;
+
+ /* Make sure the timer is running */
+ if (!ao_debounce_running++)
+ ao_debounce_on();
+
+ /* And go check the current value */
+ _ao_debounce_check(debounce);
+ }
+ ao_arch_irqrestore(m);
+}
+
+/*
+ * Stop monitoring one pin
+ */
+void
+_ao_debounce_stop(struct ao_debounce *debounce)
+{
+ struct ao_debounce **prev;
+ uint32_t m;
+
+ m = ao_arch_irqsave();
+ if (debounce->running) {
+ debounce->running = 0;
+
+ /* Unlink */
+ for (prev = &ao_debounce; (*prev); prev = &((*prev)->next)) {
+ if (*prev == debounce) {
+ *prev = debounce->next;
+ break;
+ }
+ }
+ debounce->next = NULL;
+
+ /* Turn off the timer if possible */
+ if (!--ao_debounce_running)
+ ao_debounce_off();
+ }
+ ao_arch_irqrestore(m);
+}
+
+void
+ao_debounce_init(void)
+{
+ if (ao_debounce_initialized)
+ return;
+ ao_debounce_initialized = 1;
+ ao_fast_timer_init();
+}
--- /dev/null
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ *
+ * 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.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_DEBOUNCE_H_
+#define _AO_DEBOUNCE_H_
+
+struct ao_debounce {
+ struct ao_debounce *next;
+
+ /* time that pin value must be stable before accepting */
+ uint8_t hold;
+
+ /* last value reported to app; don't report it twice */
+ uint8_t value;
+
+ /* current value received from pins */
+ uint8_t current;
+
+ /* current count of intervals pin value has been stable */
+ uint8_t count;
+
+ /* This pin is running */
+ uint8_t running;
+
+ /* Get the current pin value */
+ uint8_t (*_get)(struct ao_debounce *debounce);
+
+ /* The stable value has changed */
+ void (*_set)(struct ao_debounce *debounce, uint8_t value);
+};
+
+static inline void
+ao_debounce_config(struct ao_debounce *debounce,
+ uint8_t (*_get)(struct ao_debounce *debounce),
+ void (*_set)(struct ao_debounce *debounce, uint8_t value),
+ uint8_t hold)
+{
+ debounce->next = 0;
+ debounce->hold = hold;
+ debounce->value = 0xff;
+ debounce->current = 0xff;
+ debounce->count = 0;
+ debounce->running = 0;
+ debounce->_get = _get;
+ debounce->_set = _set;
+}
+
+void
+_ao_debounce_start(struct ao_debounce *debounce);
+
+void
+_ao_debounce_stop(struct ao_debounce *debounce);
+
+void
+ao_debounce_init(void);
+
+void
+ao_debounce_dump(void);
+
+#endif /* _AO_DEBOUNCE_H_ */
#include "ao.h"
#include <ao_data.h>
+#if AO_PYRO_NUM
+#include <ao_pyro.h>
+#endif
+#if HAS_IGNITE
__xdata struct ao_ignition ao_ignition[2];
void
}
}
+#endif
+
void
ao_ignite_manual(void)
{
if (!ao_match_word("DoIt"))
return;
ao_cmd_white();
- if (ao_cmd_lex_c == 'm') {
- if(ao_match_word("main"))
- ao_igniter_fire(ao_igniter_main);
- } else {
- if(ao_match_word("drogue"))
- ao_igniter_fire(ao_igniter_drogue);
+#if HAS_IGNITE
+ if (ao_cmd_lex_c == 'm' && ao_match_word("main")) {
+ ao_igniter_fire(ao_igniter_main);
+ return;
+ }
+ if (ao_cmd_lex_c == 'd' && ao_match_word("drogue")) {
+ ao_igniter_fire(ao_igniter_drogue);
+ return;
+ }
+#endif
+#if AO_PYRO_NUM
+ if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9') {
+ ao_pyro_manual(ao_cmd_lex_c - '0');
+ return;
}
+#endif
+ ao_cmd_status = ao_cmd_syntax_error;
}
-static __code char * __code igniter_status_names[] = {
+__code char * __code ao_igniter_status_names[] = {
"unknown", "ready", "active", "open"
};
+#if HAS_IGNITE
void
ao_ignite_print_status(enum ao_igniter igniter, __code char *name) __reentrant
{
enum ao_igniter_status status = ao_igniter_status(igniter);
printf("Igniter: %6s Status: %s\n",
name,
- igniter_status_names[status]);
+ ao_igniter_status_names[status]);
}
+#endif
void
ao_ignite_test(void)
{
+#if HAS_IGNITE
ao_ignite_print_status(ao_igniter_drogue, "drogue");
ao_ignite_print_status(ao_igniter_main, "main");
+#endif
+#if AO_PYRO_NUM
+ ao_pyro_print_status();
+#endif
}
__code struct ao_cmds ao_ignite_cmds[] = {
{ 0, NULL },
};
+#if HAS_IGNITE
__xdata struct ao_task ao_igniter_task;
void
ao_enable_output(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, AO_IGNITER_DROGUE, 0);
ao_enable_output(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, AO_IGNITER_MAIN, 0);
}
+#endif
void
ao_igniter_init(void)
{
+#if HAS_IGNITE
ao_ignite_set_pins();
- ao_cmd_register(&ao_ignite_cmds[0]);
ao_add_task(&ao_igniter_task, ao_igniter, "igniter");
+#endif
+ ao_cmd_register(&ao_ignite_cmds[0]);
}
#define ao_lowbit(x) ((x) & (-x))
+#ifndef AO_FLIGHT_TEST
+enum ao_igniter_status
+ao_pyro_status(uint8_t p)
+{
+ __xdata struct ao_data packet;
+ __pdata int16_t value;
+
+ ao_arch_critical(
+ ao_data_get(&packet);
+ );
+
+ value = (AO_IGNITER_CLOSED>>1);
+ value = AO_SENSE_PYRO(&packet, p);
+ if (value < AO_IGNITER_OPEN)
+ return ao_igniter_open;
+ else if (value > AO_IGNITER_CLOSED)
+ return ao_igniter_ready;
+ else
+ return ao_igniter_unknown;
+}
+
+void
+ao_pyro_print_status(void)
+{
+ uint8_t p;
+
+ for(p = 0; p < AO_PYRO_NUM; p++) {
+ enum ao_igniter_status status = ao_pyro_status(p);
+ printf("Igniter: %d Status: %s\n",
+ p, ao_igniter_status_names[status]);
+ }
+}
+#endif
+
uint16_t ao_pyro_fired;
/*
_ao_config_edit_finish();
}
-static void
-ao_pyro_manual(void)
+void
+ao_pyro_manual(uint8_t p)
{
- ao_cmd_white();
- if (!ao_match_word("DoIt"))
+ printf ("ao_pyro_manual %d\n", p);
+ if (p >= AO_PYRO_NUM) {
+ ao_cmd_status = ao_cmd_syntax_error;
return;
- ao_cmd_white();
- ao_cmd_decimal();
- if (ao_cmd_lex_i < 0 || AO_PYRO_NUM <= ao_cmd_lex_i)
- return;
- ao_pyro_pins_fire(1 << ao_cmd_lex_i);
-
+ }
+ ao_pyro_pins_fire(1 << p);
}
-const struct ao_cmds ao_pyro_cmds[] = {
- { ao_pyro_manual, "P DoIt <n>\0Fire igniter" },
- { 0, NULL }
-};
-
void
ao_pyro_init(void)
{
#if AO_PYRO_NUM > 7
ao_enable_output(AO_PYRO_PORT_7, AO_PYRO_PIN_7, AO_PYRO_7, 0);
#endif
- ao_cmd_register(&ao_pyro_cmds[0]);
ao_add_task(&ao_pyro_task, ao_pyro, "pyro");
}
#endif
void
ao_pyro_init(void);
+void
+ao_pyro_manual(uint8_t p);
+
+void
+ao_pyro_print_status(void);
+
#endif
--- /dev/null
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ *
+ * 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.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+/*
+ * 74HC165 driver.
+ * Reads a single byte from the shift register
+ */
+
+#include <ao.h>
+#include <ao_74hc165.h>
+
+uint8_t
+ao_74hc165_read(void)
+{
+ static __xdata state;
+ ao_mutex_get(&ao_spi_mutex);
+ ao_spi_set_speed(AO_SPI_SPEED_FAST);
+ AO_74HC165_CS = 1;
+ ao_spi_recv(&state, 1, AO_74HC165_SPI_BUS);
+ AO_74HC165_CS = 0;
+ ao_mutex_put(&ao_spi_mutex);
+ return state;
+}
+
+static void
+ao_74hc165_cmd(void)
+{
+ uint8_t v;
+
+ v = ao_74hc165_read();
+ printf ("Switches: 0x%02x\n", v);
+}
+
+static const struct ao_cmds ao_74hc165_cmds[] = {
+ { ao_74hc165_cmd, "L\0Show 74hc165" },
+ { 0, NULL }
+};
+
+void
+ao_74hc165_init(void)
+{
+ ao_enable_output(AO_74HC165_CS_PORT, AO_74HC165_CS_PIN, AO_74HC165_CS, 0);
+ ao_cmd_register(&ao_74hc165_cmds[0]);
+}
--- /dev/null
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ *
+ * 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.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_74HC165_H_
+#define _AO_74HC165_H_
+
+uint8_t
+ao_74hc165_read(void);
+
+void
+ao_74hc165_init(void);
+
+#endif /* _AO_74HC165_H_ */
#include <ao.h>
#include <ao_button.h>
#include <ao_exti.h>
+#include <ao_debounce.h>
#if AO_EVENT
#include <ao_event.h>
#define ao_button_queue(b,v) ao_event_put_isr(AO_EVENT_BUTTON, b, v)
#define ao_button_queue(b,v)
#endif
-static uint8_t ao_button[AO_BUTTON_COUNT];
-static AO_TICK_TYPE ao_button_time[AO_BUTTON_COUNT];
+#define AO_BUTTON_DEBOUNCE_HOLD 10
-#define AO_DEBOUNCE AO_MS_TO_TICKS(20)
+static struct ao_debounce ao_button_debounce[AO_BUTTON_COUNT];
#define port(q) AO_BUTTON_ ## q ## _PORT
#define bit(q) AO_BUTTON_ ## q
#define pin(q) AO_BUTTON_ ## q ## _PIN
-static void
-ao_button_do(uint8_t b, uint8_t v)
-{
- /* Debounce */
- if ((AO_TICK_SIGNED) (ao_tick_count - ao_button_time[b]) < AO_DEBOUNCE)
- return;
-
- /* pins are inverted */
- v = !v;
- if (ao_button[b] != v) {
- ao_button[b] = v;
- ao_button_time[b] = ao_tick_count;
- ao_button_queue(b, v);
- ao_wakeup(&ao_button[b]);
- }
-}
+/* pins are inverted */
+#define ao_button_value(b) !ao_gpio_get(port(b), bit(b), pin(b))
-#define ao_button_update(b) ao_button_do(b, ao_gpio_get(port(b), bit(b), pin(b)))
-
-static void
-ao_button_isr(void)
+static uint8_t
+_ao_button_get(struct ao_debounce *debounce)
{
+ uint8_t b = debounce - ao_button_debounce;
+
+ switch (b) {
#if AO_BUTTON_COUNT > 0
- ao_button_update(0);
+ case 0: return ao_button_value(0);
#endif
#if AO_BUTTON_COUNT > 1
- ao_button_update(1);
+ case 1: return ao_button_value(1);
#endif
#if AO_BUTTON_COUNT > 2
- ao_button_update(2);
+ case 2: return ao_button_value(2);
#endif
#if AO_BUTTON_COUNT > 3
- ao_button_update(3);
+ case 3: return ao_button_value(3);
#endif
#if AO_BUTTON_COUNT > 4
- ao_button_update(4);
+ case 4: return ao_button_value(4);
#endif
+ }
+}
+
+static void
+_ao_button_set(struct ao_debounce *debounce, uint8_t value)
+{
+ uint8_t b = debounce - ao_button_debounce;
+
+ ao_button_queue(b, value);
+}
+
+
+#define ao_button_update(b) ao_button_do(b, ao_gpio_get(port(b), bit(b), pin(b)))
+
+static void
+ao_button_debounce_init(struct ao_debounce *debounce) {
+ ao_debounce_config(debounce,
+ _ao_button_get,
+ _ao_button_set,
+ AO_BUTTON_DEBOUNCE_HOLD);
+}
+
+static void
+ao_button_isr(void)
+{
+ uint8_t b;
+
+ for (b = 0; b < AO_BUTTON_COUNT; b++)
+ _ao_debounce_start(&ao_button_debounce[b]);
}
#define init(b) do { \
+ ao_button_debounce_init(&ao_button_debounce[b]); \
ao_enable_port(port(b)); \
\
ao_exti_setup(port(b), bit(b), \
#if AO_BUTTON_COUNT > 1
init(1);
#endif
+#if AO_BUTTON_COUNT > 2
+ init(2);
+#endif
+#if AO_BUTTON_COUNT > 3
+ init(3);
+#endif
+#if AO_BUTTON_COUNT > 4
+ init(4);
+#endif
+ ao_debounce_init();
}
#define ao_event_queue_empty() (ao_event_queue_insert == ao_event_queue_remove)
#define ao_event_queue_full() (ao_event_queue_next(ao_event_queue_insert) == ao_event_queue_remove)
-/*
- * Whether a sequence of events from the same device should be collapsed
- */
-#define ao_event_can_collapse(type) ((type) == AO_EVENT_QUADRATURE)
-
struct ao_event ao_event_queue[AO_EVENT_QUEUE];
uint8_t ao_event_queue_insert;
uint8_t ao_event_queue_remove;
/* called with interrupts disabled */
void
-ao_event_put_isr(uint8_t type, uint8_t unit, uint32_t value)
+ao_event_put_isr(uint8_t type, uint8_t unit, int32_t value)
{
if (!ao_event_queue_full()) {
-
- if (ao_event_can_collapse(type) && !ao_event_queue_empty()) {
- uint8_t prev = ao_event_queue_prev(ao_event_queue_insert);
-
- if (ao_event_queue[prev].type == type &&
- ao_event_queue[prev].unit == unit)
- ao_event_queue_insert = prev;
- }
ao_event_queue[ao_event_queue_insert] = (struct ao_event) {
.type = type,
.unit = unit,
}
void
-ao_event_put(uint8_t type, uint8_t unit, uint32_t value)
+ao_event_put(uint8_t type, uint8_t unit, int32_t value)
{
ao_arch_critical(ao_event_put_isr(type, unit, value););
}
uint8_t type;
uint8_t unit;
uint16_t tick;
- uint32_t value;
+ int32_t value;
};
uint8_t
ao_event_get(struct ao_event *ev);
void
-ao_event_put_isr(uint8_t type, uint8_t unit, uint32_t value);
+ao_event_put_isr(uint8_t type, uint8_t unit, int32_t value);
void
-ao_event_put(uint8_t type, uint8_t unit, uint32_t value);
+ao_event_put(uint8_t type, uint8_t unit, int32_t value);
#endif /* _AO_EVENT_H_ */
#include <ao.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;
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;
+}
+#else
+#define ao_pad_read_box() 0
+#endif
+
static void
ao_pad(void)
{
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_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:
}
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;
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_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 }
};
#include <ao.h>
#include <ao_quadrature.h>
#include <ao_exti.h>
-#if AO_EVENT
+#include <ao_fast_timer.h>
#include <ao_event.h>
-#define ao_quadrature_queue(q) ao_event_put_isr(AO_EVENT_QUADRATURE, q, ao_quadrature_count[q])
-#else
-#define ao_quadrature_queue(q)
-#endif
__xdata int32_t ao_quadrature_count[AO_QUADRATURE_COUNT];
-
static uint8_t ao_quadrature_state[AO_QUADRATURE_COUNT];
+static int8_t ao_quadrature_raw[AO_QUADRATURE_COUNT];
#define BIT(a,b) ((a) | ((b) << 1))
#define STATE(old_a, old_b, new_a, new_b) (((BIT(old_a, old_b) << 2) | BIT(new_a, new_b)))
#define port(q) AO_QUADRATURE_ ## q ## _PORT
#define bita(q) AO_QUADRATURE_ ## q ## _A
#define bitb(q) AO_QUADRATURE_ ## q ## _B
+#define pina(q) AO_QUADRATURE_ ## q ## _A ## _PIN
+#define pinb(q) AO_QUADRATURE_ ## q ## _B ## _PIN
+#define isr(q) ao_quadrature_isr_ ## q
-#define ao_quadrature_update(q) do { \
- ao_quadrature_state[q] = ((ao_quadrature_state[q] & 3) << 2); \
- ao_quadrature_state[q] |= ao_gpio_get(port(q), bita(q), 0); \
- ao_quadrature_state[q] |= ao_gpio_get(port(q), bitb(q), 0) << 1; \
- } while (0)
-
+static inline uint16_t
+ao_quadrature_read(struct stm_gpio *gpio, uint8_t pin_a, uint8_t pin_b) {
+ uint16_t v = stm_gpio_get_all(gpio);
+
+ return ~((((v >> pin_a) & 1) | (((v >> pin_b) & 1) << 1))) & 3;
+}
+
+#define _ao_quadrature_get(q) ao_quadrature_read(port(q), bita(q), bitb(q))
static void
-ao_quadrature_isr(void)
+_ao_quadrature_queue(uint8_t q, int8_t step)
{
- uint8_t q;
-#if AO_QUADRATURE_COUNT > 0
- ao_quadrature_update(0);
-#endif
-#if AO_QUADRATURE_COUNT > 1
- ao_quadrature_update(1);
+ ao_quadrature_count[q] += step;
+#if AO_EVENT
+ ao_event_put_isr(AO_EVENT_QUADRATURE, q, step);
#endif
+ ao_wakeup(&ao_quadrature_count[q]);
+}
- for (q = 0; q < AO_QUADRATURE_COUNT; q++) {
- switch (ao_quadrature_state[q]) {
- case STATE(0, 1, 0, 0):
- ao_quadrature_count[q]++;
- break;
- case STATE(1, 0, 0, 0):
- ao_quadrature_count[q]--;
- break;
- default:
- continue;
- }
- ao_quadrature_queue(q);
- ao_wakeup(&ao_quadrature_count[q]);
+static const int8_t step[16] = {
+ [STATE(0,0,0,0)] = 0,
+ [STATE(0,0,0,1)] = -1,
+ [STATE(0,0,1,0)] = 1,
+ [STATE(0,0,1,1)] = 0,
+ [STATE(0,1,0,0)] = 1,
+ [STATE(0,1,1,0)] = 0,
+ [STATE(0,1,1,1)] = -1,
+ [STATE(1,0,0,0)] = -1,
+ [STATE(1,0,0,1)] = 0,
+ [STATE(1,0,1,0)] = 0,
+ [STATE(1,0,1,1)] = 1,
+ [STATE(1,1,0,0)] = 0,
+ [STATE(1,1,0,1)] = 1,
+ [STATE(1,1,1,0)] = -1,
+ [STATE(1,1,1,1)] = 0
+};
+
+static void
+_ao_quadrature_set(uint8_t q, uint8_t value) {
+ uint8_t v;
+
+ v = ao_quadrature_state[q] & 3;
+ value = value & 3;
+
+ if (v == value)
+ return;
+
+ ao_quadrature_state[q] = (v << 2) | value;
+
+ ao_quadrature_raw[q] += step[ao_quadrature_state[q]];
+ if (value == 0) {
+ if (ao_quadrature_raw[q] == 4)
+ _ao_quadrature_queue(q, 1);
+ else if (ao_quadrature_raw[q] == -4)
+ _ao_quadrature_queue(q, -1);
+ ao_quadrature_raw[q] = 0;
}
}
+static void
+ao_quadrature_isr(void)
+{
+ _ao_quadrature_set(0, _ao_quadrature_get(0));
+ _ao_quadrature_set(1, _ao_quadrature_get(1));
+}
+
int32_t
ao_quadrature_poll(uint8_t q)
{
ao_cmd_decimal();
q = ao_cmd_lex_i;
+ if (q >= AO_QUADRATURE_COUNT) {
+ ao_cmd_status = ao_cmd_syntax_error;
+ return;
+ }
+ printf ("count %d state %x raw %d\n",
+ ao_quadrature_count[q],
+ ao_quadrature_state[q],
+ ao_quadrature_raw[q]);
+#if 0
for (;;) {
int32_t c;
flush();
if (c == 100)
break;
}
+#endif
}
static const struct ao_cmds ao_quadrature_cmds[] = {
{ 0, NULL }
};
-#define init(q) do { \
- ao_enable_port(port(q)); \
- \
- ao_exti_setup(port(q), bita(q), \
- AO_QUADRATURE_MODE|AO_EXTI_MODE_FALLING|AO_EXTI_MODE_RISING|AO_EXTI_PRIORITY_MED, \
- ao_quadrature_isr); \
- ao_exti_enable(port(q), bita(q)); \
- \
- ao_exti_setup(port(q), bitb(q), \
- AO_QUADRATURE_MODE|AO_EXTI_MODE_FALLING|AO_EXTI_MODE_RISING|AO_EXTI_PRIORITY_MED, \
- ao_quadrature_isr); \
- ao_exti_enable(port(q), bitb(q)); \
+#define init(q) do { \
+ ao_enable_input(port(q), bita(q), 0); \
+ ao_enable_input(port(q), bitb(q), 0); \
} while (0)
void
#if AO_QUADRATURE_COUNT > 1
init(1);
#endif
+ ao_fast_timer_init();
+ ao_fast_timer_on(ao_quadrature_isr);
ao_cmd_register(&ao_quadrature_cmds[0]);
}
ao_data.c \
ao_i2c_stm.c \
ao_usb_stm.c \
- ao_exti_stm.c \
- ao_event.c \
- ao_quadrature.c \
- ao_button.c
+ ao_exti_stm.c
PRODUCT=StmDemo-v0.0
PRODUCT_DEF=-DSTM_DEMO
printf ("temp: %d\n", temp);
}
+#if 0
static void
ao_event(void)
{
}
}
+#endif
__code struct ao_cmds ao_demo_cmds[] = {
{ ao_dma_test, "D\0DMA test" },
{ ao_spi_read, "R\0SPI read" },
{ ao_i2c_write, "i\0I2C write" },
{ ao_temp, "t\0Show temp" },
- { ao_event, "e\0Monitor event queue" },
+/* { ao_event, "e\0Monitor event queue" }, */
{ 0, NULL }
};
--- /dev/null
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ *
+ * 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.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+#include <ao.h>
+#include <ao_fast_timer.h>
+
+static void (*ao_fast_timer_callback[AO_FAST_TIMER_MAX])(void);
+static uint8_t ao_fast_timer_count;
+static uint8_t ao_fast_timer_users;
+
+static void
+ao_fast_timer_enable(void)
+{
+ stm_tim6.cr1 = ((0 << STM_TIM67_CR1_ARPE) |
+ (0 << STM_TIM67_CR1_OPM) |
+ (1 << STM_TIM67_CR1_URS) |
+ (0 << STM_TIM67_CR1_UDIS) |
+ (1 << STM_TIM67_CR1_CEN));
+}
+
+static void
+ao_fast_timer_disable(void)
+{
+ stm_tim6.cr1 = ((0 << STM_TIM67_CR1_ARPE) |
+ (0 << STM_TIM67_CR1_OPM) |
+ (1 << STM_TIM67_CR1_URS) |
+ (0 << STM_TIM67_CR1_UDIS) |
+ (0 << STM_TIM67_CR1_CEN));
+}
+
+void
+ao_fast_timer_on(void (*callback)(void))
+{
+ ao_fast_timer_callback[ao_fast_timer_count] = callback;
+ if (!ao_fast_timer_count++)
+ ao_fast_timer_enable();
+}
+
+void
+ao_fast_timer_off(void (*callback)(void))
+{
+ uint8_t n;
+
+ for (n = 0; n < ao_fast_timer_count; n++)
+ if (ao_fast_timer_callback[n] == callback) {
+ for (; n < ao_fast_timer_count-1; n++) {
+ ao_fast_timer_callback[n] = ao_fast_timer_callback[n+1];
+ }
+ if (!--ao_fast_timer_count)
+ ao_fast_timer_disable();
+ break;
+ }
+}
+
+void stm_tim6_isr(void)
+{
+ uint8_t i;
+ if (stm_tim6.sr & (1 << STM_TIM67_SR_UIF)) {
+ stm_tim6.sr = 0;
+
+ for (i = 0; i < ao_fast_timer_count; i++)
+ (*ao_fast_timer_callback[i])();
+ }
+}
+
+/*
+ * According to the STM clock-configuration, timers run
+ * twice as fast as the APB1 clock *if* the APB1 prescaler
+ * is greater than 1.
+ */
+
+#if AO_APB1_PRESCALER > 1
+#define TIMER_23467_SCALER 2
+#else
+#define TIMER_23467_SCALER 1
+#endif
+
+#define TIMER_10kHz ((AO_PCLK1 * TIMER_23467_SCALER) / 10000)
+
+void
+ao_fast_timer_init(void)
+{
+ if (!ao_fast_timer_users) {
+ stm_nvic_set_enable(STM_ISR_TIM6_POS);
+ stm_nvic_set_priority(STM_ISR_TIM6_POS, AO_STM_NVIC_CLOCK_PRIORITY);
+
+ /* Turn on timer 6 */
+ stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_TIM6EN);
+
+ stm_tim6.psc = TIMER_10kHz;
+ stm_tim6.arr = 9;
+ stm_tim6.cnt = 0;
+
+ /* Enable update interrupt */
+ stm_tim6.dier = (1 << STM_TIM67_DIER_UIE);
+
+ /* Poke timer to reload values */
+ stm_tim6.egr |= (1 << STM_TIM67_EGR_UG);
+
+ stm_tim6.cr2 = (STM_TIM67_CR2_MMS_RESET << STM_TIM67_CR2_MMS);
+ ao_fast_timer_disable();
+ }
+ if (ao_fast_timer_users == AO_FAST_TIMER_MAX)
+ ao_panic(AO_PANIC_FAST_TIMER);
+ ao_fast_timer_users++;
+}
+
--- /dev/null
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ *
+ * 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.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_FAST_TIMER_H_
+#define _AO_FAST_TIMER_H_
+
+void
+ao_fast_timer_init(void);
+
+#ifndef AO_FAST_TIMER_MAX
+#define AO_FAST_TIMER_MAX 2
+#endif
+
+void
+ao_fast_timer_on(void (*callback)(void));
+
+void
+ao_fast_timer_off(void (*callback)(void));
+
+#endif /* _AO_FAST_TIMER_H_ */
return (gpio->idr >> pin) & 1;
}
+static inline uint16_t
+stm_gpio_get_all(struct stm_gpio *gpio) {
+ return gpio->idr;
+}
+
extern struct stm_gpio stm_gpioa;
extern struct stm_gpio stm_gpiob;
extern struct stm_gpio stm_gpioc;
--- /dev/null
+#
+# TeleFire build file
+#
+
+TELEFIRE_VER=0.2
+TELEFIRE_DEF=0_2
+
+vpath %.c ..:../core:../cc1111:../drivers:../product
+vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath ao-make-product.5c ../util
+
+ifndef VERSION
+include ../Version
+endif
+
+INC = \
+ ao.h \
+ ao_pins.h \
+ ao_arch.h \
+ ao_arch_funcs.h \
+ ao_pad.h \
+ cc1111.h \
+ ao_product.h
+
+CORE_SRC = \
+ ao_cmd.c \
+ ao_config.c \
+ ao_convert.c \
+ ao_mutex.c \
+ ao_panic.c \
+ ao_stdio.c \
+ ao_storage.c \
+ ao_task.c \
+ ao_freq.c
+
+CC1111_SRC = \
+ ao_adc.c \
+ ao_aes.c \
+ ao_beep.c \
+ ao_dma.c \
+ ao_intflash.c \
+ ao_radio.c \
+ ao_radio_cmac.c \
+ ao_romconfig.c \
+ ao_serial.c \
+ ao_spi.c \
+ ao_string.c \
+ ao_timer.c \
+ ao_usb.c \
+ _bp.c
+
+DRIVER_SRC = \
+ ao_pca9922.c \
+ ao_74hc165.c \
+ ao_pad.c \
+ ao_radio_cmac_cmd.c
+
+PRODUCT_SRC = \
+ ao_telefire.c
+
+SRC = \
+ $(CORE_SRC) \
+ $(CC1111_SRC) \
+ $(DRIVER_SRC) \
+ $(PRODUCT_SRC)
+
+PROGNAME = telefire-v$(TELEFIRE_VER)
+PROG = $(PROGNAME)-$(VERSION).ihx
+PRODUCT=TeleFire-v$(TELEFIRE_VER)
+PRODUCT_DEF=-DTELEFIRE_V_$(TELEFIRE_DEF)
+IDPRODUCT=0x000f
+CODESIZE=0x6700
+
+include ../cc1111/Makefile.cc1111
+
+NICKLE=nickle
+CHECK_STACK=sh ../util/check-stack
+
+V=0
+# The user has explicitly enabled quiet compilation.
+ifeq ($(V),0)
+quiet = @printf " $1 $2 $@\n"; $($1)
+endif
+# Otherwise, print the full command line.
+quiet ?= $($1)
+
+all: ../$(PROG)
+
+../$(PROG): $(REL) Makefile
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+ $(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
+
+ao_product.h: ao-make-product.5c ../Version
+ $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+distclean: clean
+
+clean: clean-cc1111
+
+install:
+
+uninstall:
+
--- /dev/null
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * 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.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+#define HAS_RADIO 1
+
+#define HAS_FLIGHT 0
+#define HAS_USB 1
+#define HAS_BEEP 0
+#define HAS_GPS 0
+#define HAS_SERIAL_1 0
+#define HAS_ADC 1
+#define HAS_DBG 0
+#define HAS_EEPROM 1
+#define HAS_LOG 0
+#define HAS_PAD 1
+#define USE_INTERNAL_FLASH 1
+#define DBG_ON_P1 0
+#define IGNITE_ON_P2 0
+#define IGNITE_ON_P1 1
+#define IGNITE_ON_P0 0
+#define PACKET_HAS_MASTER 0
+#define PACKET_HAS_SLAVE 0
+
+#define AO_LED_CONTINUITY(c) (1 << (c))
+#define AO_LED_CONTINUITY_MASK (0xf)
+#define AO_LED_RX 0x10
+#define AO_LED_TX 0x20
+#define AO_LED_ARMED 0x40
+#define AO_LED_POWER 0x80
+
+#define AO_LED_RED AO_LED_TX
+#define AO_LED_GREEN AO_LED_RX
+
+#define LEDS_AVAILABLE (0xff)
+#define HAS_EXTERNAL_TEMP 0
+#define HAS_ACCEL_REF 0
+#define SPI_CS_ON_P1 1
+#define HAS_AES 1
+#define DMA_SHARE_AES_RADIO 1
+
+#define SPI_CS_PORT P1
+#define SPI_CS_SEL P1SEL
+#define SPI_CS_DIR P1DIR
+
+#define SPI_CONST 0x00
+
+#define HAS_SPI_0 0
+#define HAS_SPI_1 1
+#define SPI_1_ALT_1 0
+#define SPI_1_ALT_2 1
+
+#define HAS_74HC165 1
+#define AO_74HC165_CS_PORT P1
+#define AO_74HC165_CS_PIN 4
+#define AO_74HC165_CS P1_4
+
+#define AO_PCA9922_CS_PORT P2
+#define AO_PCA9922_CS_PIN 0
+#define AO_PCA9922_CS P2_0
+
+#define AO_PAD_NUM 4
+#define AO_PAD_PORT P1
+#define AO_PAD_DIR P1DIR
+
+#define AO_PAD_PIN_0 0
+#define AO_PAD_0 P1_0
+#define AO_PAD_ADC_0 0
+
+#define AO_PAD_PIN_1 1
+#define AO_PAD_1 P1_1
+#define AO_PAD_ADC_1 1
+
+#define AO_PAD_PIN_2 2
+#define AO_PAD_2 P1_2
+#define AO_PAD_ADC_2 2
+
+#define AO_PAD_PIN_3 3
+#define AO_PAD_3 P1_3
+#define AO_PAD_ADC_3 3
+
+#define AO_PAD_ALL_PINS ((1 << AO_PAD_PIN_0) | (1 << AO_PAD_PIN_1) | (1 << AO_PAD_PIN_2) | (1 << AO_PAD_PIN_3))
+#define AO_PAD_ALL_CHANNELS ((1 << 0) | (1 << 1) | (1 << 2) | (1 << 3))
+
+#define AO_SIREN_PORT P2
+#define AO_SIREN_DIR P2DIR
+#define AO_SIREN_PIN 3
+#define AO_SIREN P2_3
+
+#define AO_STROBE_PORT P2
+#define AO_STROBE_DIR P2DIR
+#define AO_STROBE_PIN 4
+#define AO_STROBE P2_4
+
+/* test these values with real igniters */
+#define AO_PAD_RELAY_CLOSED 3524
+#define AO_PAD_NO_IGNITER 16904
+#define AO_PAD_GOOD_IGNITER 22514
+
+#define AO_PAD_ADC_PYRO 4
+#define AO_PAD_ADC_BATT 5
+
+#define AO_ADC_FIRST_PIN 0
+
+struct ao_adc {
+ int16_t sense[AO_PAD_NUM];
+ int16_t pyro;
+ int16_t batt;
+};
+
+#define AO_ADC_DUMP(p) \
+ printf ("tick: %5u 0: %5d 1: %5d 2: %5d 3: %5d pyro: %5d batt %5d\n", \
+ (p)->tick, \
+ (p)->adc.sense[0], \
+ (p)->adc.sense[1], \
+ (p)->adc.sense[2], \
+ (p)->adc.sense[3], \
+ (p)->adc.pyro, \
+ (p)->adc.batt)
+
+#define AO_ADC_PINS ((1 << AO_PAD_ADC_0) | \
+ (1 << AO_PAD_ADC_1) | \
+ (1 << AO_PAD_ADC_2) | \
+ (1 << AO_PAD_ADC_3) | \
+ (1 << AO_PAD_ADC_PYRO) | \
+ (1 << AO_PAD_ADC_BATT))
+
+#endif /* _AO_PINS_H_ */
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_pad.h>
+#include <ao_74hc165.h>
+#include <ao_radio_cmac_cmd.h>
+
+void
+main(void)
+{
+ ao_clock_init();
+
+ ao_led_init(LEDS_AVAILABLE);
+
+ ao_task_init();
+
+ ao_timer_init();
+ ao_adc_init();
+ ao_cmd_init();
+ ao_spi_init();
+ ao_74hc165_init();
+ ao_storage_init();
+ ao_usb_init();
+ ao_radio_init();
+ ao_aes_init();
+ ao_pad_init();
+// ao_radio_cmac_cmd_init();
+ ao_config_init();
+ ao_start_scheduler();
+}
ao_radio_spi.h \
ao_radio_cmac.h \
ao_cc1120_CC1120.h \
+ ao_debounce.h \
stm32l.h
#
ao_beep_stm.c \
ao_storage.c \
ao_eeprom_stm.c \
+ ao_fast_timer.c \
ao_lcd_stm.c \
ao_usb_stm.c \
ao_exti_stm.c \
ao_fec_tx.c \
ao_fec_rx.c \
ao_seven_segment.c \
+ ao_debounce.c \
ao_quadrature.c \
ao_button.c \
ao_event.c \
static struct ao_pad_query ao_pad_query;
static void
-ao_lco_set_pad(void)
+ao_lco_set_pad(uint8_t pad)
{
- ao_seven_segment_set(AO_LCO_PAD_DIGIT, ao_lco_pad + 1);
+ ao_seven_segment_set(AO_LCO_PAD_DIGIT, pad + 1);
}
static void
-ao_lco_set_box(void)
+ao_lco_set_box(uint8_t box)
{
- ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, ao_lco_box % 10);
- ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, ao_lco_box / 10);
+ ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, box % 10);
+ ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, box / 10);
}
#define MASK_SIZE(n) (((n) + 7) >> 3)
int8_t dir, new_box, new_pad;
ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
- ao_lco_set_pad();
- ao_lco_set_box();
for (;;) {
ao_event_get(&event);
PRINTD("event type %d unit %d value %d\n",
switch (event.unit) {
case AO_QUADRATURE_PAD:
if (!ao_lco_armed) {
- if (event.value == ao_lco_pad)
- break;
- dir = ((int8_t) event.value - (int8_t) ao_lco_pad) > 0 ? 1 : -1;
- new_pad = event.value;
- while (!ao_lco_pad_present(new_pad)) {
+ dir = (int8_t) event.value;
+ new_pad = ao_lco_pad;
+ do {
new_pad += dir;
if (new_pad > AO_PAD_MAX_CHANNELS)
new_pad = 0;
new_pad = AO_PAD_MAX_CHANNELS - 1;
if (new_pad == ao_lco_pad)
break;
- }
+ } while (!ao_lco_pad_present(new_pad));
if (new_pad != ao_lco_pad) {
ao_lco_pad = new_pad;
- ao_quadrature_count[AO_QUADRATURE_PAD] = ao_lco_pad;
- ao_lco_set_pad();
+ ao_lco_set_pad(ao_lco_pad);
}
}
break;
case AO_QUADRATURE_BOX:
if (!ao_lco_armed) {
- if (event.value == ao_lco_box)
- break;
- dir = ((int8_t) event.value - (int8_t) ao_lco_box) > 0 ? 1 : -1;
- new_box = event.value;
- while (!ao_lco_box_present(new_box)) {
+ dir = (int8_t) event.value;
+ new_box = ao_lco_box;
+ do {
new_box += dir;
if (new_box > ao_lco_max_box)
new_box = ao_lco_min_box;
else if (new_box < ao_lco_min_box)
- new_box = ao_lco_min_box;
+ new_box = ao_lco_max_box;
if (new_box == ao_lco_box)
break;
- }
- ao_quadrature_count[AO_QUADRATURE_PAD] = new_box;
+ } while (!ao_lco_box_present(new_box));
if (ao_lco_box != new_box) {
ao_lco_box = new_box;
ao_lco_got_channels = 0;
- ao_lco_set_box();
+ ao_lco_set_box(ao_lco_box);
}
}
break;
ao_lco_valid = 1;
if (!c) {
ao_lco_pad = ao_lco_pad_first();
- ao_lco_set_pad();
+ ao_lco_set_pad(ao_lco_pad);
}
} else
ao_lco_valid = 0;
query.igniter_status[2],
query.igniter_status[3]);
#endif
-
ao_wakeup(&ao_pad_query);
}
+static void
+ao_lco_box_reset_present(void)
+{
+ ao_lco_min_box = 0xff;
+ ao_lco_max_box = 0x00;
+ memset(ao_lco_box_mask, 0, sizeof (ao_lco_box_mask));
+}
+
static void
ao_lco_box_set_present(uint8_t box)
{
+ if (box < ao_lco_min_box)
+ ao_lco_min_box = box;
+ if (box > ao_lco_max_box)
+ ao_lco_max_box = box;
if (box >= AO_PAD_MAX_BOXES)
return;
ao_lco_box_mask[MASK_ID(box)] |= 1 << MASK_SHIFT(box);
{
uint16_t tick_offset;
int8_t r;
-
- ao_lco_min_box = 0xff;
- ao_lco_max_box = 0x00;
- for (ao_lco_box = 0; ao_lco_box < AO_PAD_MAX_BOXES; ao_lco_box++) {
- if ((ao_lco_box % 10) == 0)
- ao_lco_set_box();
- r = ao_lco_query(ao_lco_box, &ao_pad_query, &ao_lco_tick_offset);
+ uint8_t box;
+
+ ao_lco_box_reset_present();
+ for (box = 0; box < AO_PAD_MAX_BOXES; box++) {
+ if ((box % 10) == 0)
+ ao_lco_set_box(box);
+ tick_offset = 0;
+ r = ao_lco_query(box, &ao_pad_query, &tick_offset);
+ PRINTD("box %d result %d\n", box, r);
if (r == AO_RADIO_CMAC_OK) {
- if (ao_lco_box < ao_lco_min_box)
- ao_lco_min_box = ao_lco_box;
- if (ao_lco_box > ao_lco_max_box)
- ao_lco_max_box = ao_lco_box;
- ao_lco_box_set_present(ao_lco_box);
+ ao_lco_box_set_present(box);
+ ao_delay(AO_MS_TO_TICKS(30));
}
}
if (ao_lco_min_box <= ao_lco_max_box)
ao_lco_valid = 0;
ao_lco_got_channels = 0;
ao_lco_pad = 0;
+ ao_lco_set_pad(ao_lco_pad);
+ ao_lco_set_box(ao_lco_box);
}
static void
__code struct ao_cmds ao_lco_cmds[] = {
{ ao_lco_set_debug, "D <0 off, 1 on>\0Debug" },
+ { ao_lco_search, "s\0Search for pad boxes" },
{ 0, NULL }
};
#endif
*/
#define AO_QUADRATURE_COUNT 2
-#define AO_QUADRATURE_MODE 0
#define AO_QUADRATURE_0_PORT &stm_gpioe
#define AO_QUADRATURE_0_A 3
/* Number of general purpose pyro channels available */
#define AO_PYRO_NUM 4
+#define AO_SENSE_PYRO(a,p) ((a)->adc.sense[(p) + 2])
+
#define AO_IGNITER_SET_DROGUE(v) stm_gpio_set(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, v)
#define AO_IGNITER_SET_MAIN(v) stm_gpio_set(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, v)
#define HAS_IGNITE 1
#define HAS_IGNITE_REPORT 1
+#define AO_SENSE_PYRO(p,n) ((p)->adc.sense[n])
#define AO_SENSE_DROGUE(p) ((p)->adc.sense[4])
#define AO_SENSE_MAIN(p) ((p)->adc.sense[5])
#define AO_IGNITER_CLOSED 400
projects / fw / altos / commitdiff