diff options
Diffstat (limited to 'src/cc1111/ao_launch.c')
| -rw-r--r-- | src/cc1111/ao_launch.c | 210 |
1 files changed, 210 insertions, 0 deletions
diff --git a/src/cc1111/ao_launch.c b/src/cc1111/ao_launch.c new file mode 100644 index 00000000..420f7568 --- /dev/null +++ b/src/cc1111/ao_launch.c @@ -0,0 +1,210 @@ +/* + * Copyright © 2011 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_radio_cmac.h> + +__xdata uint16_t ao_launch_ignite; + +#if 0 +#define PRINTD(...) printf(__VA_ARGS__) +#else +#define PRINTD(...) +#endif + +static void +ao_launch_run(void) +{ + for (;;) { + while (!ao_launch_ignite) + ao_sleep(&ao_launch_ignite); + ao_ignition[ao_igniter_drogue].firing = 1; + ao_ignition[ao_igniter_main].firing = 1; + AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT; + AO_IGNITER_DROGUE = 1; + while (ao_launch_ignite) { + ao_launch_ignite = 0; + 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) +{ + 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 (;;) { + flush(); + 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_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); + 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; + 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(); + 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_launch_armed = 1; + ao_launch_arm_time = ao_time(); + break; + case AO_LAUNCH_FIRE: + if (!ao_launch_armed) { + PRINTD ("not armed\n"); + break; + } + 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; + } + 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_launch_ignite = 1; + ao_wakeup(&ao_launch_ignite); + break; + } + } +} + +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_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"); +} |