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-rw-r--r--src/drivers/ao_pad.c315
1 files changed, 315 insertions, 0 deletions
diff --git a/src/drivers/ao_pad.c b/src/drivers/ao_pad.c
new file mode 100644
index 00000000..e47859a5
--- /dev/null
+++ b/src/drivers/ao_pad.c
@@ -0,0 +1,315 @@
+/*
+ * 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;
+ int8_t ret;
+
+ ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
+ ao_pad_box = 0;
+ ao_led_set(0);
+ ao_led_on(AO_LED_POWER);
+ for (;;) {
+ FLUSHD();
+ while (ao_pad_disabled)
+ ao_sleep(&ao_pad_disabled);
+ ret = ao_radio_cmac_recv(&command, sizeof (command), 0);
+ PRINTD ("cmac_recv %d\n", ret);
+ if (ret != AO_RADIO_CMAC_OK)
+ continue;
+
+ PRINTD ("tick %d box %d cmd %d channels %02x\n",
+ command.tick, command.box, command.cmd, command.channels);
+
+ 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 box %d channels %02x arm %d arm_status %d igniter %d,%d,%d,%d\n",
+ query.tick, query.box, query.channels, query.armed,
+ query.arm_status,
+ query.igniter_status[0],
+ query.igniter_status[1],
+ query.igniter_status[2],
+ query.igniter_status[3]);
+ 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");
+}
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