altos: Implement remote launch protocol

Uses the radio_cmac module to provide secure communication.
Keeps igniter closed for 500ms.
Provides remote status for arming and ignition.

Signed-off-by: Keith Packard <keithp@keithp.com>

10 files changed, 497 insertions, 111 deletions

diff --git a/src/ao_launch.c b/src/ao_launch.c
index 4870869e..6c154719 100644
--- a/src/ao_launch.c
+++ b/src/ao_launch.c
@@ -17,43 +17,183 @@
 
 #include "ao.h"
 
+__xdata uint16_t ao_launch_ignite;
+
+static void
+ao_launch_run(void)
+{
+	for (;;) {
+		while (!ao_launch_ignite)
+			ao_sleep(&ao_launch_ignite);
+		while (ao_launch_ignite) {
+			ao_launch_ignite = 0;
+
+			ao_ignition[ao_igniter_drogue].firing = 1;
+			ao_ignition[ao_igniter_main].firing = 1;
+			AO_IGNITER_DROGUE = 1;
+			ao_delay(AO_MS_TO_TICKS(500));
+			AO_IGNITER_DROGUE = 0;
+			ao_ignition[ao_igniter_drogue].firing = 0;
+			ao_ignition[ao_igniter_main].firing = 0;
+		}
+	}
+}
+
+static void
+ao_launch_status(void)
+{
+	uint8_t	i;
+	for (;;) {
+		ao_delay(AO_SEC_TO_TICKS(1));
+		if (ao_igniter_status(ao_igniter_drogue) == ao_igniter_ready) {
+			if (ao_igniter_status(ao_igniter_main) == ao_igniter_ready) {
+				for (i = 0; i < 5; i++) {
+					ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(50));
+					ao_delay(AO_MS_TO_TICKS(100));
+				}
+			} else {
+				ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
+			}
+		}
+	}
+}
+
+static __pdata uint8_t	ao_launch_armed;
+static __pdata uint16_t	ao_launch_arm_time;
+
 static void
 ao_launch(void)
 {
-	enum	ao_igniter_status	arm_status, ignite_status;
+	static __xdata struct ao_launch_command	command;
+	static __xdata struct ao_launch_query	query;
+	int16_t	time_difference;
 
 	ao_led_off(AO_LED_RED);
 	ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
 	for (;;) {
-		arm_status = ao_igniter_status(ao_igniter_drogue);
+		if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK)
+			continue;
+		
+		printf ("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 (arm_status) {
-		case ao_igniter_unknown:
+		switch (command.cmd) {
+		case AO_LAUNCH_QUERY:
+			if (command.channel == 0) {
+				query.valid = 1;
+				query.arm_status = ao_igniter_status(ao_igniter_drogue);
+				query.igniter_status = ao_igniter_status(ao_igniter_main);
+			} else {
+				query.valid = 0;
+			}
+			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",
+				query.tick, query.serial, query.channel, query.valid, query.arm_status,
+				query.igniter_status);
+			ao_radio_cmac_send(&query, sizeof (query));
 			break;
-		case ao_igniter_active:
-		case ao_igniter_open:
+		case AO_LAUNCH_ARM:
+			if (command.channel != 0)
+				break;
+			time_difference = command.tick - ao_time();
+			printf ("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);
+				break;
+			}
+			printf ("armed\n");
+			ao_launch_armed = 1;
+			ao_launch_arm_time = ao_time();
 			break;
-		case ao_igniter_ready:
-			ignite_status = ao_igniter_status(ao_igniter_main);
-			switch (ignite_status) {
-			case ao_igniter_unknown:
-				/* some kind of failure signal here */
+		case AO_LAUNCH_FIRE:
+			if (command.channel != 0)
 				break;
-			case ao_igniter_active:
+			if (!ao_launch_armed) {
+				printf ("not armed\n");
 				break;
-			case ao_igniter_open:
+			}
+			if ((uint16_t) (ao_launch_arm_time - ao_time()) > AO_SEC_TO_TICKS(20)) {
+				printf ("late launch arm_time %d time %d\n",
+					ao_launch_arm_time, ao_time());
+				break;
+			}
+			time_difference = command.tick - ao_time();
+			if (time_difference < 0)
+				time_difference = -time_difference;
+			if (time_difference > 10) {
+				printf ("time different too large %d\n", time_difference);
 				break;
 			}
+			printf ("ignite\n");
+			ao_launch_ignite = 1;
+			ao_wakeup(&ao_launch_ignite);
 			break;
 		}
-		ao_delay(AO_SEC_TO_TICKS(1));
 	}
 }
 
+void
+ao_launch_test(void)
+{
+	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;
+		}
+		break;
+	default:
+		printf("Disarmed\n");
+	}
+}
+
+void
+ao_launch_manual(void)
+{
+	ao_cmd_white();
+	if (!ao_match_word("DoIt"))
+		return;
+	ao_cmd_white();
+	ao_launch_ignite = 1;
+	ao_wakeup(&ao_launch_ignite);
+}
+
 static __xdata struct ao_task ao_launch_task;
+static __xdata struct ao_task ao_launch_ignite_task;
+static __xdata struct ao_task ao_launch_status_task;
+
+__code struct ao_cmds ao_launch_cmds[] = {
+	{ ao_launch_test,	"t\0Test launch continuity" },
+	{ ao_launch_manual,	"i <key>\0Fire igniter. <key> is doit with D&I" },
+	{ 0, NULL }
+};
 
 void
 ao_launch_init(void)
 {
-	ao_add_task(&ao_launch_task, ao_launch, "launch status");
+	AO_IGNITER_DROGUE = 0;
+	AO_IGNITER_MAIN = 0;
+	AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
+	ao_cmd_register(&ao_launch_cmds[0]);
+	ao_add_task(&ao_launch_task, ao_launch, "launch listener");
+	ao_add_task(&ao_launch_ignite_task, ao_launch_run, "launch igniter");
+	ao_add_task(&ao_launch_status_task, ao_launch_status, "launch status");
 }
diff --git a/src/ao_radio_cmac.c b/src/ao_radio_cmac.c
index 7648a2f5..9694b5b3 100644
--- a/src/ao_radio_cmac.c
+++ b/src/ao_radio_cmac.c
@@ -17,27 +17,24 @@
 
 #include "ao.h"
 
-#define AO_CMAC_KEY_LEN		16
+#define AO_CMAC_KEY_LEN		AO_AES_LEN
 #define AO_CMAC_MAX_LEN		(128 - AO_CMAC_KEY_LEN)
 
-static __xdata uint8_t cmac_key[AO_CMAC_KEY_LEN];
+static __xdata uint8_t ao_radio_cmac_mutex;
 static __xdata uint8_t cmac_data[AO_CMAC_MAX_LEN + AO_CMAC_KEY_LEN + 2 + AO_CMAC_KEY_LEN];
 static __pdata uint8_t ao_radio_cmac_len;
 
 static uint8_t
 getnibble(void)
 {
-	__pdata char	c;
-
-	c = getchar();
-	if ('0' <= c && c <= '9')
-		return c - '0';
-	if ('a' <= c && c <= 'f')
-		return c - ('a' - 10);
-	if ('A' <= c && c <= 'F')
-		return c - ('A' - 10);
-	ao_cmd_status = ao_cmd_lex_error;
-	return 0;
+	int8_t	b;
+
+	b = ao_cmd_hexchar(getchar());
+	if (b < 0) {
+		ao_cmd_status = ao_cmd_lex_error;
+		return 0;
+	}
+	return (uint8_t) b;
 }
 
 static uint8_t
@@ -49,20 +46,137 @@ getbyte(void)
 	return b;
 }
 	
+static uint8_t
+round_len(uint8_t len)
+{
+	uint8_t	rem;
+
+	/* Make sure we transfer at least one packet, and
+	 * then make sure every packet is full. Note that
+	 * there is no length encoded, and that the receiver
+	 * must deal with any extra bytes in the packet
+	 */
+	if (len < AO_CMAC_KEY_LEN)
+		len = AO_CMAC_KEY_LEN;
+	rem = len % AO_CMAC_KEY_LEN;
+	if (rem != 0)
+		len += (AO_CMAC_KEY_LEN - rem);
+	return len;
+}
+
+/*
+ * Sign and deliver the data sitting in the cmac buffer
+ */
 static void
-ao_radio_cmac_key(void) __reentrant
+radio_cmac_send(uint8_t len) __reentrant
 {
 	uint8_t	i;
 
-	for (i = 0; i < AO_CMAC_KEY_LEN; i++) {
-		cmac_key[i] = getbyte();
-		if (ao_cmd_status != ao_cmd_success)
-			return;
+	len = round_len(len);
+	/* Make sure the AES key is loaded */
+	ao_config_get();
+
+#if HAS_MONITOR
+	ao_set_monitor(0);
+#endif
+
+	ao_mutex_get(&ao_aes_mutex);
+	ao_aes_set_mode(ao_aes_mode_cbc_mac);
+	ao_aes_set_key(ao_config.aes_key);
+	ao_aes_zero_iv();
+	for (i = 0; i < len; i += AO_CMAC_KEY_LEN) {
+		if (i + AO_CMAC_KEY_LEN < len)
+			ao_aes_run(&cmac_data[i], NULL);
+		else
+			ao_aes_run(&cmac_data[i], &cmac_data[len]);
 	}
+	ao_mutex_put(&ao_aes_mutex);
+
+	ao_radio_send(cmac_data, len + AO_CMAC_KEY_LEN);
+}
+
+/*
+ * Receive and validate an incoming packet
+ */
+
+static int8_t
+radio_cmac_recv(uint8_t len, uint16_t timeout) __reentrant
+{
+	uint8_t	i;
+
+	len = round_len(len);
+#if HAS_MONITOR
+	ao_set_monitor(0);
+#endif
+	if (timeout)
+		ao_alarm(timeout);
+
+	i = ao_radio_recv(cmac_data, len + AO_CMAC_KEY_LEN + 2);
+	ao_clear_alarm();
+
+	if (!i)
+		return AO_RADIO_CMAC_TIMEOUT;
+
+	if (!(cmac_data[len + AO_CMAC_KEY_LEN +1] & PKT_APPEND_STATUS_1_CRC_OK))
+		return AO_RADIO_CMAC_CRC_ERROR;
+
+	ao_config_get();
+
+	/* Compute the packet signature
+	 */
+	ao_mutex_get(&ao_aes_mutex);
+	ao_aes_set_mode(ao_aes_mode_cbc_mac);
+	ao_aes_set_key(ao_config.aes_key);
+	ao_aes_zero_iv();
+	for (i = 0; i < len; i += AO_CMAC_KEY_LEN) {
+		if (i + AO_CMAC_KEY_LEN < len)
+			ao_aes_run(&cmac_data[i], NULL);
+		else
+			ao_aes_run(&cmac_data[i], &cmac_data[len + AO_CMAC_KEY_LEN + 2]);
+	}
+	ao_mutex_put(&ao_aes_mutex);
+
+	/* Check the packet signature against the signature provided
+	 * over the link
+	 */
+	 
+	if (memcmp(&cmac_data[len],
+		   &cmac_data[len + AO_CMAC_KEY_LEN + 2],
+		   AO_CMAC_KEY_LEN) != 0) {
+		return AO_RADIO_CMAC_MAC_ERROR;
+	}
+
+	return AO_RADIO_CMAC_OK;
+}
+
+int8_t
+ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant
+{
+	if (len > AO_CMAC_MAX_LEN)
+		return AO_RADIO_CMAC_LEN_ERROR;
+	ao_mutex_get(&ao_radio_cmac_mutex);
+	memcpy(cmac_data, packet, len);
+	radio_cmac_send(len);
+	ao_mutex_put(&ao_radio_cmac_mutex);
+	return AO_RADIO_CMAC_OK;
+}
+
+int8_t
+ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant
+{
+	uint8_t	i;
+	if (len > AO_CMAC_MAX_LEN)
+		return AO_RADIO_CMAC_LEN_ERROR;
+	ao_mutex_get(&ao_radio_cmac_mutex);
+	i = radio_cmac_recv(len, timeout);
+	if (i == AO_RADIO_CMAC_OK)
+		memcpy(packet, cmac_data, len);
+	ao_mutex_put(&ao_radio_cmac_mutex);
+	return i;
 }
 
 static void
-ao_radio_cmac_send(void) __reentrant
+radio_cmac_send_cmd(void) __reentrant
 {
 	uint8_t	i;
 	uint8_t	len;
@@ -70,43 +184,25 @@ ao_radio_cmac_send(void) __reentrant
 	ao_cmd_decimal();
 	if (ao_cmd_status != ao_cmd_success)
 		return;
-	if (ao_cmd_lex_i < AO_CMAC_KEY_LEN ||
-	    ao_cmd_lex_i > AO_CMAC_MAX_LEN ||
-	    ao_cmd_lex_i % AO_CMAC_KEY_LEN != 0)
-	{
+	len = ao_cmd_lex_i;
+	if (len > AO_CMAC_MAX_LEN) {
 		ao_cmd_status = ao_cmd_syntax_error;
 		return;
 	}
 	flush();
+	ao_mutex_get(&ao_radio_cmac_mutex);
 	len = ao_cmd_lex_i;
 	for (i = 0; i < len; i++) {
 		cmac_data[i] = getbyte();
 		if (ao_cmd_status != ao_cmd_success)
 			return;
 	}
-	ao_mutex_get(&ao_aes_mutex);
-	ao_aes_set_mode(ao_aes_mode_cbc_mac);
-	ao_aes_set_key(cmac_key);
-	ao_aes_zero_iv();
-	for (i = 0; i < len; i += AO_CMAC_KEY_LEN) {
-		if (i + AO_CMAC_KEY_LEN < len)
-			ao_aes_run(&cmac_data[i], NULL);
-		else
-			ao_aes_run(&cmac_data[i], &cmac_data[len]);
-	}
-	ao_mutex_put(&ao_aes_mutex);
-#if HAS_MONITOR
-	ao_set_monitor(0);
-#endif
-	printf("send:");
-	for (i = 0; i < len + AO_CMAC_KEY_LEN; i++)
-		printf(" %02x", cmac_data[i]);
-	printf("\n"); flush();
-	ao_radio_send(cmac_data, len + AO_CMAC_KEY_LEN);
+	radio_cmac_send(len);
+	ao_mutex_put(&ao_radio_cmac_mutex);
 }
 
 static void
-ao_radio_cmac_recv(void) __reentrant
+radio_cmac_recv_cmd(void) __reentrant
 {
 	uint8_t		len, i;
 	uint16_t	timeout;
@@ -114,47 +210,79 @@ ao_radio_cmac_recv(void) __reentrant
 	ao_cmd_decimal();
 	if (ao_cmd_status != ao_cmd_success)
 		return;
-	if (ao_cmd_lex_i < AO_CMAC_KEY_LEN ||
-	    ao_cmd_lex_i > AO_CMAC_MAX_LEN ||
-	    ao_cmd_lex_i % AO_CMAC_KEY_LEN != 0)
-	{
-		ao_cmd_status = ao_cmd_syntax_error;
-		return;
-	}
 	len = ao_cmd_lex_i;
 	ao_cmd_decimal();
 	if (ao_cmd_status != ao_cmd_success)
 		return;
-	timeout = ao_cmd_lex_i;
-#if HAS_MONITOR
-	ao_set_monitor(0);
-#endif
-	if (timeout)
-		ao_alarm(timeout);
-	if (!ao_radio_recv(cmac_data, len + AO_CMAC_KEY_LEN + 2)) {
-		printf("timeout\n");
+	timeout = AO_MS_TO_TICKS(ao_cmd_lex_i);
+	ao_mutex_get(&ao_radio_cmac_mutex);
+	i = radio_cmac_recv(len, timeout);
+	if (i == AO_RADIO_CMAC_OK) {
+		printf ("PACKET ");
+		for (i = 0; i < len; i++)
+			printf("%02x", cmac_data[i]);
+		printf ("\n");
+	} else
+		printf ("ERROR %d\n", i);
+	ao_mutex_put(&ao_radio_cmac_mutex);
+}
+
+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;
+
+	ao_cmd_decimal();
+	serial = ao_cmd_lex_i;
+	ao_cmd_decimal();
+	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");
+			switch (query.arm_status) {
+			case ao_igniter_ready:
+			case ao_igniter_active:
+				printf ("Armed: ");
+				switch (query.igniter_status) {
+				default:
+					printf("unknown status\n");
+					break;
+				case ao_igniter_ready:
+					printf("igniter good\n");
+					break;
+				case ao_igniter_open:
+					printf("igniter bad\n");
+					break;
+				}
+			default:
+				printf("Disarmed\n");
+			}
+			return;
+		default:
+			continue;
+		}
 	}
-	ao_mutex_get(&ao_aes_mutex);
-	ao_aes_set_mode(ao_aes_mode_cbc_mac);
-	ao_aes_set_key(cmac_key);
-	ao_aes_zero_iv();
-	for (i = 0; i < len; i += AO_CMAC_KEY_LEN) {
-		if (i + AO_CMAC_KEY_LEN < len)
-			ao_aes_run(&cmac_data[i], NULL);
-		else
-			ao_aes_run(&cmac_data[i], &cmac_data[len + AO_CMAC_KEY_LEN + 2]);
-	}
-	printf ("PACKET ");
-	for (i = 0; i < len + AO_CMAC_KEY_LEN + 2 + AO_CMAC_KEY_LEN; i++)
-		printf("%02x", cmac_data[i]);
-	printf ("\n");
+	printf ("Timeout\n");
 }
 
 static __code struct ao_cmds ao_radio_cmac_cmds[] = {
-	{ ao_radio_cmac_key,	"k\0Set AES-CMAC key. 16 key bytes follow on next line" },
-	{ ao_radio_cmac_send,	"s <length>\0Send AES-CMAC packet. Bytes to send follow on next line" },
-	{ ao_radio_cmac_recv,	"S <length> <timeout>\0Receive AES-CMAC packet. Timeout in ms" },
+	{ radio_cmac_send_cmd,	"s <length>\0Send AES-CMAC packet. Bytes to send follow on next line" },
+	{ radio_cmac_recv_cmd,	"S <length> <timeout>\0Receive AES-CMAC packet. Timeout in ms" },
+	{ launch_report_cmd,    "l <serial> <channel>\0Get remote launch status" },
 	{ 0, NULL },
 };
 
diff --git a/src/ao_telelaunch.c b/src/ao_telelaunch.c
index b5404710..506431de 100644
--- a/src/ao_telelaunch.c
+++ b/src/ao_telelaunch.c
@@ -35,7 +35,6 @@ main(void)
 	ao_storage_init();
 	ao_usb_init();
 	ao_radio_init();
-	ao_igniter_init();
 #if HAS_DBG
 	ao_dbg_init();
 #endif
diff --git a/src/cc1111/ao_ignite.c b/src/cc1111/ao_ignite.c
index 5238beb4..0fd2b4bf 100644
--- a/src/cc1111/ao_ignite.c
+++ b/src/cc1111/ao_ignite.c
@@ -39,12 +39,6 @@
 #define AO_IGNITER_FIRE_TIME	AO_MS_TO_TICKS(50)
 #define AO_IGNITER_CHARGE_TIME	AO_MS_TO_TICKS(2000)
 
-struct ao_ignition {
-	uint8_t	request;
-	uint8_t fired;
-	uint8_t firing;
-};
-
 __xdata struct ao_ignition ao_ignition[2];
 
 void
diff --git a/src/cc1111/ao_packet_master.c b/src/cc1111/ao_packet_master.c
index b0fdf5a8..0d0be30e 100644
--- a/src/cc1111/ao_packet_master.c
+++ b/src/cc1111/ao_packet_master.c
@@ -80,13 +80,16 @@ ao_packet_master(void)
 	ao_packet_master_time = ao_time();
 	ao_packet_master_delay = AO_PACKET_MASTER_DELAY_SHORT;
 	while (ao_packet_enable) {
+		uint8_t	r;
 		memcpy(ao_tx_packet.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
 		ao_packet_send();
 		if (ao_tx_packet.len)
 			ao_packet_master_busy();
 		ao_packet_master_check_busy();
 		ao_alarm(ao_packet_master_delay);
-		if (ao_packet_recv()) {
+		r = ao_packet_recv();
+		ao_clear_alarm();
+		if (r) {
 			/* if we can transmit data, do so */
 			if (ao_packet_tx_used && ao_tx_packet.len == 0)
 				continue;
@@ -95,6 +98,7 @@ ao_packet_master(void)
 			ao_packet_master_sleeping = 1;
 			ao_alarm(ao_packet_master_delay);
 			ao_sleep(&ao_packet_master_sleeping);
+			ao_clear_alarm();
 			ao_packet_master_sleeping = 0;
 		}
 	}
diff --git a/src/cc1111/ao_timer.c b/src/cc1111/ao_timer.c
index c977fbc8..aadee71e 100644
--- a/src/cc1111/ao_timer.c
+++ b/src/cc1111/ao_timer.c
@@ -31,6 +31,7 @@ ao_delay(uint16_t ticks)
 {
 	ao_alarm(ticks);
 	ao_sleep(&ao_forever);
+	ao_clear_alarm();
 }
 
 #define T1_CLOCK_DIVISOR	8	/* 24e6/8 = 3e6 */
diff --git a/src/core/ao.h b/src/core/ao.h
index 2898852b..a5bbb6f1 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -68,6 +68,10 @@ ao_wakeup(__xdata void *wchan);
 void
 ao_alarm(uint16_t delay);
 
+/* Clear any pending alarm */
+void
+ao_clear_alarm(void);
+
 /* Yield the processor to another task */
 void
 ao_yield(void) ao_arch_naked_declare;
@@ -342,6 +346,12 @@ ao_cmd_put16(uint16_t v);
 void
 ao_cmd_white(void);
 
+int8_t
+ao_cmd_hexchar(char c);
+
+void
+ao_cmd_hexbyte(void);
+
 void
 ao_cmd_hex(void);
 
@@ -1417,6 +1427,14 @@ enum ao_igniter_status {
 	ao_igniter_open,	/* open circuit detected */
 };
 
+struct ao_ignition {
+	uint8_t	request;
+	uint8_t fired;
+	uint8_t firing;
+};
+
+extern __xdata struct ao_ignition ao_ignition[2];
+
 enum ao_igniter_status
 ao_igniter_status(enum ao_igniter igniter);
 
@@ -1431,7 +1449,8 @@ ao_igniter_init(void);
  */
 
 #define AO_CONFIG_MAJOR	1
-#define AO_CONFIG_MINOR	8
+#define AO_CONFIG_MINOR	9
+#define AO_AES_LEN 16
 
 struct ao_config {
 	uint8_t		major;
@@ -1448,6 +1467,7 @@ struct ao_config {
 	uint8_t		pad_orientation;	/* minor version 6 */
 	uint32_t	radio_setting;		/* minor version 7 */
 	uint8_t		radio_enable;		/* minor version 8 */
+	uint8_t		aes_key[AO_AES_LEN];	/* minor version 9 */
 };
 
 #define AO_IGNITE_MODE_DUAL		0
@@ -1635,8 +1655,6 @@ __xdata uint8_t ao_aes_mutex;
 
 /* AES keys and blocks are 128 bits */
 
-#define AO_AES_LEN	16
-
 enum ao_aes_mode {
 	ao_aes_mode_cbc_mac
 };
@@ -1664,10 +1682,45 @@ ao_aes_init(void);
 
 /* ao_radio_cmac.c */
 
+int8_t
+ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant;
+
+#define AO_RADIO_CMAC_OK	0
+#define AO_RADIO_CMAC_LEN_ERROR	-1
+#define AO_RADIO_CMAC_CRC_ERROR	-2
+#define AO_RADIO_CMAC_MAC_ERROR	-3
+#define AO_RADIO_CMAC_TIMEOUT	-4
+
+int8_t
+ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant;
+
 void
 ao_radio_cmac_init(void);
 
 /* ao_launch.c */
+
+struct ao_launch_command {
+	uint16_t	tick;
+	uint16_t	serial;
+	uint8_t		cmd;
+	uint8_t		channel;
+	uint16_t	unused;
+};
+
+#define AO_LAUNCH_QUERY		1
+
+struct ao_launch_query {
+	uint16_t	tick;
+	uint16_t	serial;
+	uint8_t		channel;
+	uint8_t		valid;
+	uint8_t		arm_status;
+	uint8_t		igniter_status;
+};
+
+#define AO_LAUNCH_ARM		2
+#define AO_LAUNCH_FIRE		3
+
 void
 ao_launch_init(void);
 
diff --git a/src/core/ao_cmd.c b/src/core/ao_cmd.c
index 7663d875..9e14c221 100644
--- a/src/core/ao_cmd.c
+++ b/src/core/ao_cmd.c
@@ -22,7 +22,7 @@ __pdata uint32_t ao_cmd_lex_u32;
 __pdata char	ao_cmd_lex_c;
 __pdata enum ao_cmd_status ao_cmd_status;
 
-#define CMD_LEN	32
+#define CMD_LEN	48
 
 static __xdata char	cmd_line[CMD_LEN];
 static __pdata uint8_t	cmd_len;
@@ -128,22 +128,48 @@ ao_cmd_white(void)
 		ao_cmd_lex();
 }
 
+int8_t
+ao_cmd_hexchar(char c)
+{
+	if ('0' <= c && c <= '9')
+		return (c - '0');
+	if ('a' <= c && c <= 'f')
+		return (c - 'a' + 10);
+	if ('A' <= c && c <= 'F')
+		return (c - 'A' + 10);
+	return -1;
+}
+
+void
+ao_cmd_hexbyte(void)
+{
+	uint8_t i;
+	int8_t	n;
+
+	ao_cmd_lex_i = 0;
+	ao_cmd_white();
+	for (i = 0; i < 2; i++) {
+		n = ao_cmd_hexchar(ao_cmd_lex_c);
+		if (n < 0) {
+			ao_cmd_status = ao_cmd_syntax_error;
+			break;
+		}
+		ao_cmd_lex_i = (ao_cmd_lex_i << 4) | n;
+		ao_cmd_lex();
+	}
+}
+
 void
 ao_cmd_hex(void)
 {
 	__pdata uint8_t	r = ao_cmd_lex_error;
-	uint8_t	n;
+	int8_t	n;
 
 	ao_cmd_lex_i = 0;
 	ao_cmd_white();
 	for(;;) {
-		if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9')
-			n = (ao_cmd_lex_c - '0');
-		else if ('a' <= ao_cmd_lex_c && ao_cmd_lex_c <= 'f')
-			n = (ao_cmd_lex_c - 'a' + 10);
-		else if ('A' <= ao_cmd_lex_c && ao_cmd_lex_c <= 'F')
-			n = (ao_cmd_lex_c - 'A' + 10);
-		else
+		n = ao_cmd_hexchar(ao_cmd_lex_c);
+		if (n < 0)
 			break;
 		ao_cmd_lex_i = (ao_cmd_lex_i << 4) | n;
 		r = ao_cmd_success;
diff --git a/src/core/ao_config.c b/src/core/ao_config.c
index ec2b61f6..7f999feb 100644
--- a/src/core/ao_config.c
+++ b/src/core/ao_config.c
@@ -74,11 +74,14 @@ _ao_config_get(void)
 	if (ao_config.major != AO_CONFIG_MAJOR) {
 		ao_config.major = AO_CONFIG_MAJOR;
 		ao_config.minor = 0;
+
+		/* Version 0 stuff */
 		ao_config.main_deploy = AO_CONFIG_DEFAULT_MAIN_DEPLOY;
 		ao_config.radio_channel = AO_CONFIG_DEFAULT_RADIO_CHANNEL;
 		memset(&ao_config.callsign, '\0', sizeof (ao_config.callsign));
 		memcpy(&ao_config.callsign, AO_CONFIG_DEFAULT_CALLSIGN,
 		       sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
+		ao_config_dirty = 1;
 	}
 	if (ao_config.minor < AO_CONFIG_MINOR) {
 		/* Fixups for minor version 1 */
@@ -104,6 +107,8 @@ _ao_config_get(void)
 			ao_config.radio_setting = ao_config.radio_cal;
 		if (ao_config.minor < 8)
 			ao_config.radio_enable = TRUE;
+		if (ao_config.minor < 9)
+			memset(&ao_config.aes_key, '\0', AO_AES_LEN);
 		ao_config.minor = AO_CONFIG_MINOR;
 		ao_config_dirty = 1;
 	}
@@ -414,6 +419,33 @@ ao_config_radio_enable_set(void) __reentrant
 	_ao_config_edit_finish();
 }
 	
+#if HAS_AES
+void
+ao_config_key_show(void) __reentrant
+{
+	uint8_t	i;
+	printf("AES key: ");
+	for (i = 0; i < AO_AES_LEN; i++)
+		printf ("%02x", ao_config.aes_key[i]);
+	printf("\n");
+}
+
+void
+ao_config_key_set(void) __reentrant
+{
+	uint8_t i;
+
+	_ao_config_edit_start();
+	for (i = 0; i < AO_AES_LEN; i++) {
+		ao_cmd_hexbyte();
+		if (ao_cmd_status != ao_cmd_success)
+			break;
+		ao_config.aes_key[i] = ao_cmd_lex_i;
+	}
+	_ao_config_edit_finish();
+}
+#endif
+
 struct ao_config_var {
 	__code char	*str;
 	void		(*set)(void) __reentrant;
@@ -462,6 +494,10 @@ __code struct ao_config_var ao_config_vars[] = {
 	{ "o <0 antenna up, 1 antenna down>\0Set pad orientation",
 	  ao_config_pad_orientation_set,ao_config_pad_orientation_show },
 #endif
+#if HAS_AES
+	{ "k <32 hex digits>\0Set AES encryption key",
+	  ao_config_key_set, ao_config_key_show },
+#endif
 	{ "s\0Show",
 	  ao_config_show,		0 },
 #if HAS_EEPROM
diff --git a/src/core/ao_task.c b/src/core/ao_task.c
index 32826114..a19a6a6f 100644
--- a/src/core/ao_task.c
+++ b/src/core/ao_task.c
@@ -107,7 +107,6 @@ ao_sleep(__xdata void *wchan)
 		ao_cur_task->wchan = wchan;
 		);
 	ao_yield();
-	ao_cur_task->alarm = 0;
 	if (ao_cur_task->wchan) {
 		ao_cur_task->wchan = NULL;
 		return 1;
@@ -136,6 +135,12 @@ ao_alarm(uint16_t delay)
 }
 
 void
+ao_clear_alarm(void)
+{
+	ao_cur_task->alarm = 0;
+}
+
+void
 ao_exit(void)
 {
 	ao_arch_critical(