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/*
* 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; either version 2 of the License, or
* (at your option) any later version.
*
* 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");
}
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