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

Conflicts:
	debian/control

1 files changed, 308 insertions, 0 deletions

diff --git a/src/drivers/ao_pad.c b/src/drivers/ao_pad.c
new file mode 100644
index 00000000..b33a5ffd
--- /dev/null
+++ b/src/drivers/ao_pad.c
@@ -0,0 +1,308 @@
+/*
+ * 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_74hc497.h>
+#include <ao_radio_cmac.h>
+
+static __xdata uint8_t ao_pad_ignite;
+static __xdata struct ao_pad_command	command;
+static __xdata struct ao_pad_query	query;
+
+#if 0
+#define PRINTD(...) printf(__VA_ARGS__)
+#define FLUSHD()    flush()
+#else
+#define PRINTD(...) 
+#define FLUSHD()    
+#endif
+
+static void
+ao_pad_run(void)
+{
+	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;
+		while (ao_pad_ignite) {
+			ao_pad_ignite = 0;
+			ao_delay(AO_PAD_FIRE_TIME);
+		}
+		AO_PAD_PORT &= ~(AO_PAD_ALL_PINS);
+	}
+}
+
+static 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;
+
+	sample = ao_data_head;
+	for (;;) {
+		__pdata int16_t			pyro;
+		ao_arch_critical(
+			while (sample == ao_data_head)
+				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))
+
+		cur = 0;
+		if (pyro > VOLTS_TO_PYRO(4))
+			query.arm_status = AO_PAD_ARM_STATUS_ARMED;
+		else if (pyro < VOLTS_TO_PYRO(1))
+			query.arm_status = AO_PAD_ARM_STATUS_DISARMED;
+		else
+			query.arm_status = AO_PAD_ARM_STATUS_UNKNOWN;
+
+		for (c = 0; c < AO_PAD_NUM; c++) {
+			int16_t		sense = packet->adc.sense[c];
+			uint8_t	status = AO_PAD_IGNITER_STATUS_UNKNOWN;
+
+			if (query.arm_status == AO_PAD_ARM_STATUS_ARMED) {
+				/*
+				 *	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 ---   
+				 *
+				 *	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 (sense <= pyro / 8)
+					status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED;
+				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);
+				}
+			}
+			query.igniter_status[c] = status;
+		}
+		if (cur != prev) {
+			ao_led_set_mask(cur, AO_LED_CONTINUITY_MASK);
+			prev = cur;
+		}
+
+		if (pyro > VOLTS_TO_PYRO(9) && sample == 0) {
+			beeping = 1;
+			ao_beep(AO_BEEP_HIGH);
+		} else if (beeping) {
+			beeping = 0;
+			ao_beep(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)
+{
+	if (!ao_pad_disabled) {
+		ao_pad_disabled = 1;
+		ao_radio_recv_abort();
+	}
+}
+
+void
+ao_pad_enable(void)
+{
+	ao_pad_disabled = 0;
+	ao_wakeup (&ao_pad_disabled);
+}
+
+static void
+ao_pad(void)
+{
+	int16_t	time_difference;
+
+	ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
+	ao_pad_box = ao_74hc497_read();
+	ao_led_set(0);
+	ao_led_on(AO_LED_POWER);
+	for (;;) {
+		FLUSHD();
+		while (ao_pad_disabled)
+			ao_sleep(&ao_pad_disabled);
+		if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK)
+			continue;
+		
+		PRINTD ("tick %d serial %d cmd %d channel %d\n",
+			command.tick, command.serial, command.cmd, command.channel);
+
+		switch (command.cmd) {
+		case AO_LAUNCH_ARM:
+			if (command.box != ao_pad_box) {
+				PRINTD ("box number mismatch\n");
+				break;
+			}
+
+			if (command.channels & ~(AO_PAD_ALL_PINS))
+				break;
+
+			time_difference = 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) {
+				PRINTD ("time difference too large %d\n", time_difference);
+				break;
+			}
+			PRINTD ("armed\n");
+			ao_pad_armed = command.channels;
+			ao_pad_arm_time = ao_time();
+
+			/* fall through ... */
+
+		case AO_LAUNCH_QUERY:
+			if (command.box != ao_pad_box) {
+				PRINTD ("box number mismatch\n");
+				break;
+			}
+
+			query.tick = ao_time();
+			query.box = ao_pad_box;
+			query.channels = AO_PAD_ALL_PINS;
+			query.armed = ao_pad_armed;
+			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_FIRE:
+			if (!ao_pad_armed) {
+				PRINTD ("not armed\n");
+				break;
+			}
+			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;
+			}
+			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);
+				break;
+			}
+			PRINTD ("ignite\n");
+			ao_pad_ignite = ao_pad_armed;
+			ao_wakeup(&ao_pad_ignite);
+			break;
+		}
+	}
+}
+
+void
+ao_pad_test(void)
+{
+	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;
+	}
+
+	for (c = 0; c < AO_PAD_NUM; c++) {
+		printf ("Pad %d: ");
+		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)
+{
+	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);
+}
+
+static __xdata struct ao_task ao_pad_task;
+static __xdata struct ao_task ao_pad_ignite_task;
+static __xdata struct ao_task ao_pad_monitor_task;
+
+__code struct ao_cmds ao_pad_cmds[] = {
+	{ ao_pad_test,	"t\0Test pad continuity" },
+	{ ao_pad_manual,	"i <key> <n>\0Fire igniter. <key> is doit with D&I" },
+	{ 0, NULL }
+};
+
+void
+ao_pad_init(void)
+{
+#if AO_PAD_NUM > 0
+	ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_0, AO_PAD_0, 0);
+#endif
+#if AO_PAD_NUM > 1
+	ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_1, AO_PAD_1, 0);
+#endif
+#if AO_PAD_NUM > 2
+	ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_2, AO_PAD_2, 0);
+#endif
+#if AO_PAD_NUM > 3
+	ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_3, AO_PAD_3, 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_monitor_task, ao_pad_monitor, "pad monitor");
+}