Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

Conflicts:
	debian/control

1 files changed, 266 insertions, 0 deletions

diff --git a/src/drivers/ao_lco_cmd.c b/src/drivers/ao_lco_cmd.c
new file mode 100644
index 00000000..3fe0d9cc
--- /dev/null
+++ b/src/drivers/ao_lco_cmd.c
@@ -0,0 +1,266 @@
+/*
+ * 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_lco_cmd.h>
+#include <ao_radio_cmac.h>
+
+static __xdata struct ao_launch_command	command;
+static __xdata struct ao_launch_query	query;
+static __pdata uint16_t	launch_serial;
+static __pdata uint8_t	launch_channel;
+static __pdata uint16_t	tick_offset;
+
+static void
+launch_args(void) __reentrant
+{
+	ao_cmd_decimal();
+	launch_serial = ao_cmd_lex_i;
+	ao_cmd_decimal();
+	launch_channel = ao_cmd_lex_i;
+}
+
+static int8_t
+launch_query(void)
+{
+	uint8_t	i;
+	int8_t	r = AO_RADIO_CMAC_OK;
+
+	tick_offset = ao_time();
+	for (i = 0; i < 10; i++) {
+		printf ("."); flush();
+		command.tick = ao_time();
+		command.serial = launch_serial;
+		command.cmd = AO_LAUNCH_QUERY;
+		command.channel = launch_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;
+	}
+	tick_offset -= query.tick;
+	printf("\n"); flush();
+	return r;
+}
+
+static void
+launch_report_cmd(void) __reentrant
+{
+	int8_t		r;
+
+	launch_args();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	r = launch_query();
+	switch (r) {
+	case AO_RADIO_CMAC_OK:
+		if (query.valid) {
+			switch (query.arm_status) {
+			case ao_igniter_ready:
+			case ao_igniter_active:
+				printf ("Armed: ");
+				break;
+			default:
+				printf("Disarmed: ");
+			}
+			switch (query.igniter_status) {
+			default:
+				printf("unknown\n");
+				break;
+			case ao_igniter_ready:
+				printf("igniter good\n");
+				break;
+			case ao_igniter_open:
+				printf("igniter bad\n");
+				break;
+			}
+		} else {
+			printf("Invalid channel %d\n", launch_channel);
+		}
+		printf("Rssi: %d\n", ao_radio_cmac_rssi);
+		break;
+	default:
+		printf("Error %d\n", r);
+		break;
+	}
+}
+
+static void
+launch_arm(void) __reentrant
+{
+	command.tick = ao_time() - tick_offset;
+	command.serial = launch_serial;
+	command.cmd = AO_LAUNCH_ARM;
+	command.channel = launch_channel;
+	ao_radio_cmac_send(&command, sizeof (command));
+}
+
+static void
+launch_ignite(void) __reentrant
+{
+	command.tick = ao_time() - tick_offset;
+	command.serial = launch_serial;
+	command.cmd = AO_LAUNCH_FIRE;
+	command.channel = 0;
+	ao_radio_cmac_send(&command, sizeof (command));
+}
+
+static void
+launch_fire_cmd(void) __reentrant
+{
+	static __xdata struct ao_launch_command	command;
+	uint8_t		secs;
+	uint8_t		i;
+	int8_t		r;
+
+	launch_args();
+	ao_cmd_decimal();
+	secs = ao_cmd_lex_i;
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	r = launch_query();
+	if (r != AO_RADIO_CMAC_OK) {
+		printf("query failed %d\n", r);
+		return;
+	}
+
+	for (i = 0; i < 4; i++) {
+		printf("arm %d\n", i); flush();
+		launch_arm();
+	}
+
+	secs = secs * 10 - 5;
+	if (secs > 100)
+		secs = 100;
+	for (i = 0; i < secs; i++) {
+		printf("fire %d\n", i); flush();
+		launch_ignite();
+		ao_delay(AO_MS_TO_TICKS(100));
+	}
+}
+
+static void
+launch_arm_cmd(void) __reentrant
+{
+	uint8_t	i;
+	int8_t  r;
+	launch_args();
+	r = launch_query();
+	if (r != AO_RADIO_CMAC_OK) {
+		printf("query failed %d\n", r);
+		return;
+	}
+	for (i = 0; i < 4; i++)
+		launch_arm();
+}
+
+static void
+launch_ignite_cmd(void) __reentrant
+{
+	uint8_t i;
+	launch_args();
+	for (i = 0; i < 4; i++)
+		launch_ignite();
+}
+
+static uint8_t
+getnibble(void)
+{
+	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
+getbyte(void)
+{
+	uint8_t	b;
+	b = getnibble() << 4;
+	b |= getnibble();
+	return b;
+}
+	
+static __xdata uint8_t cmac_data[AO_CMAC_MAX_LEN];
+
+static void
+radio_cmac_send_cmd(void) __reentrant
+{
+	uint8_t	i;
+	uint8_t	len;
+
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	len = ao_cmd_lex_i;
+	if (len > AO_CMAC_MAX_LEN) {
+		ao_cmd_status = ao_cmd_syntax_error;
+		return;
+	}
+	flush();
+	len = ao_cmd_lex_i;
+	for (i = 0; i < len; i++) {
+		cmac_data[i] = getbyte();
+		if (ao_cmd_status != ao_cmd_success)
+			return;
+	}
+	ao_radio_cmac_send(cmac_data, len);
+}
+
+static void
+radio_cmac_recv_cmd(void) __reentrant
+{
+	uint8_t		len, i;
+	uint16_t	timeout;
+
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	len = ao_cmd_lex_i;
+	ao_cmd_decimal();
+	if (ao_cmd_status != ao_cmd_success)
+		return;
+	timeout = AO_MS_TO_TICKS(ao_cmd_lex_i);
+	i = ao_radio_cmac_recv(cmac_data, len, timeout);
+	if (i == AO_RADIO_CMAC_OK) {
+		printf ("PACKET ");
+		for (i = 0; i < len; i++)
+			printf("%02x", cmac_data[i]);
+		printf (" %d\n", ao_radio_cmac_rssi);
+	} else
+		printf ("ERROR %d %d\n", i, ao_radio_cmac_rssi);
+}
+
+static __code struct ao_cmds ao_lco_cmds[] = {
+	{ 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" },
+	{ launch_fire_cmd,	"f <serial> <channel> <secs>\0Fire remote igniter" },
+	{ launch_arm_cmd,	"a <serial> <channel>\0Arm remote igniter" },
+	{ launch_ignite_cmd,	"i <serial> <channel>\0Pulse remote igniter" },
+	{ 0, NULL },
+};
+
+void
+ao_lco_cmd_init(void)
+{
+	ao_cmd_register(&ao_lco_cmds[0]);
+}