From: Keith Packard Date: Fri, 22 Jul 2011 05:25:45 +0000 (-0700) Subject: altos: Finish up primitive telelaunch protocol X-Git-Tag: 1.0.9.1~39 X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=bc1b94df4d6b92e794ec93d9c1682ae5f61efa61 altos: Finish up primitive telelaunch protocol This adds two commands to teledongle, one to query and one to actually fire the igniter. These will (eventually) want to be replaced with something nicer. Signed-off-by: Keith Packard --- diff --git a/src/ao_launch.c b/src/ao_launch.c index 6c154719..35afbda8 100644 --- a/src/ao_launch.c +++ b/src/ao_launch.c @@ -19,6 +19,12 @@ __xdata uint16_t ao_launch_ignite; +#if 0 +#define PRINTD(...) printf(__VA_ARGS__) +#else +#define PRINTD(...) +#endif + static void ao_launch_run(void) { @@ -71,19 +77,20 @@ ao_launch(void) ao_led_off(AO_LED_RED); ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200)); for (;;) { + flush(); if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK) continue; - printf ("tick %d serial %d cmd %d channel %d\n", + PRINTD ("tick %d serial %d cmd %d channel %d\n", command.tick, command.serial, command.cmd, command.channel); - if (command.serial != ao_serial_number) { - printf ("serial number mismatch\n"); - continue; - } - switch (command.cmd) { case AO_LAUNCH_QUERY: + if (command.serial != ao_serial_number) { + PRINTD ("serial number mismatch\n"); + break; + } + if (command.channel == 0) { query.valid = 1; query.arm_status = ao_igniter_status(ao_igniter_drogue); @@ -94,35 +101,38 @@ ao_launch(void) query.tick = ao_time(); query.serial = ao_serial_number; query.channel = command.channel; - printf ("query tick %d serial %d channel %d valid %d arm %d igniter %d\n", + 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); ao_radio_cmac_send(&query, sizeof (query)); break; case AO_LAUNCH_ARM: + if (command.serial != ao_serial_number) { + PRINTD ("serial number mismatch\n"); + break; + } + if (command.channel != 0) break; time_difference = command.tick - ao_time(); - printf ("arm tick %d local tick %d\n", 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) { - printf ("time difference too large %d\n", time_difference); + PRINTD ("time difference too large %d\n", time_difference); break; } - printf ("armed\n"); + PRINTD ("armed\n"); ao_launch_armed = 1; ao_launch_arm_time = ao_time(); break; case AO_LAUNCH_FIRE: - if (command.channel != 0) - break; if (!ao_launch_armed) { - printf ("not armed\n"); + PRINTD ("not armed\n"); break; } - if ((uint16_t) (ao_launch_arm_time - ao_time()) > AO_SEC_TO_TICKS(20)) { - printf ("late launch arm_time %d time %d\n", + if ((uint16_t) (ao_time() - ao_launch_arm_time) > AO_SEC_TO_TICKS(20)) { + PRINTD ("late launch arm_time %d time %d\n", ao_launch_arm_time, ao_time()); break; } @@ -130,10 +140,10 @@ ao_launch(void) if (time_difference < 0) time_difference = -time_difference; if (time_difference > 10) { - printf ("time different too large %d\n", time_difference); + PRINTD ("time different too large %d\n", time_difference); break; } - printf ("ignite\n"); + PRINTD ("ignite\n"); ao_launch_ignite = 1; ao_wakeup(&ao_launch_ignite); break; diff --git a/src/ao_radio_cmac.c b/src/ao_radio_cmac.c index 9694b5b3..c2757b16 100644 --- a/src/ao_radio_cmac.c +++ b/src/ao_radio_cmac.c @@ -227,14 +227,37 @@ radio_cmac_recv_cmd(void) __reentrant ao_mutex_put(&ao_radio_cmac_mutex); } +static __xdata struct ao_launch_command command; +static __xdata struct ao_launch_query query; + + +static int8_t +launch_query(uint16_t serial, uint8_t channel) +{ + uint8_t i; + int8_t r = AO_RADIO_CMAC_OK; + + for (i = 0; i < 10; i++) { + printf ("."); flush(); + command.tick = ao_time(); + command.serial = serial; + command.cmd = AO_LAUNCH_QUERY; + command.channel = channel; + ao_radio_cmac_send(&command, sizeof (command)); + r = ao_radio_cmac_recv(&query, sizeof (query), AO_MS_TO_TICKS(500)); + if (r == AO_RADIO_CMAC_OK) + break; + } + printf("\n"); flush(); + return r; +} + static void launch_report_cmd(void) __reentrant { - static __xdata struct ao_launch_command command; - static __xdata struct ao_launch_query query; uint8_t channel; uint16_t serial; - uint8_t i; + int8_t r; ao_cmd_decimal(); serial = ao_cmd_lex_i; @@ -242,17 +265,10 @@ launch_report_cmd(void) __reentrant channel = ao_cmd_lex_i; if (ao_cmd_status != ao_cmd_success) return; - flush(); - for (i = 0; i < 10; i++) { - printf ("."); flush(); - command.tick = 0; - command.serial = serial; - command.cmd = AO_LAUNCH_QUERY; - command.channel = channel; - ao_radio_cmac_send(&command, sizeof (command)); - switch (ao_radio_cmac_recv(&query, sizeof (query), AO_MS_TO_TICKS(500))) { - case AO_RADIO_CMAC_OK: - printf("\n"); + r = launch_query(serial, channel); + switch (r) { + case AO_RADIO_CMAC_OK: + if (query.valid) { switch (query.arm_status) { case ao_igniter_ready: case ao_igniter_active: @@ -268,21 +284,70 @@ launch_report_cmd(void) __reentrant printf("igniter bad\n"); break; } + break; default: printf("Disarmed\n"); } - return; - default: - continue; + } else { + printf("Invalid channel %d\n", channel); } + break; + default: + printf("Error %d\n", r); + break; + } +} + +static void +launch_fire_cmd(void) __reentrant +{ + static __xdata struct ao_launch_command command; + uint8_t channel; + uint16_t serial; + uint8_t secs; + uint8_t i; + int8_t r; + uint16_t tick_offset; + + ao_cmd_decimal(); + serial = ao_cmd_lex_i; + ao_cmd_decimal(); + channel = ao_cmd_lex_i; + ao_cmd_decimal(); + secs = ao_cmd_lex_i; + if (ao_cmd_status != ao_cmd_success) + return; + tick_offset = ao_time(); + r = launch_query(serial, channel); + tick_offset -= query.tick; + + for (i = 0; i < 4; i++) { + printf("arm %d\n", i); flush(); + command.tick = ao_time() - tick_offset; + command.serial = serial; + command.cmd = AO_LAUNCH_ARM; + command.channel = channel; + ao_radio_cmac_send(&command, sizeof (command)); + } + secs = secs * 10 - 5; + if (secs > 100) + secs = 100; + for (i = 0; i < secs; i++) { + printf("fire %d\n", i); flush(); + command.tick = ao_time() - tick_offset; + command.serial = serial; + command.cmd = AO_LAUNCH_FIRE; + command.channel = 0; + ao_radio_cmac_send(&command, sizeof (command)); + ao_delay(AO_MS_TO_TICKS(100)); } - printf ("Timeout\n"); } static __code struct ao_cmds ao_radio_cmac_cmds[] = { { radio_cmac_send_cmd, "s \0Send AES-CMAC packet. Bytes to send follow on next line" }, { radio_cmac_recv_cmd, "S \0Receive AES-CMAC packet. Timeout in ms" }, { launch_report_cmd, "l \0Get remote launch status" }, + { launch_fire_cmd, "f \0Fire remote igniter" }, { 0, NULL }, }; diff --git a/src/core/ao_config.c b/src/core/ao_config.c index 7f999feb..28854ab5 100644 --- a/src/core/ao_config.c +++ b/src/core/ao_config.c @@ -108,7 +108,7 @@ _ao_config_get(void) if (ao_config.minor < 8) ao_config.radio_enable = TRUE; if (ao_config.minor < 9) - memset(&ao_config.aes_key, '\0', AO_AES_LEN); + memset(&ao_config.aes_key, 0, AO_AES_LEN); ao_config.minor = AO_CONFIG_MINOR; ao_config_dirty = 1; }