void
ao_report(void)
{
ao_report_state = ao_flight_state;
for(;;) {
#if HAS_BATTERY_REPORT
if (ao_flight_state == ao_flight_startup)
ao_report_battery();
else
#endif
ao_report_beep();
if (ao_flight_state == ao_flight_landed) {
ao_report_altitude();
#if HAS_FLIGHT
ao_delay(AO_SEC_TO_TICKS(5));
continue;
#endif
}
#if HAS_IGNITE_REPORT
if (ao_flight_state == ao_flight_idle)
ao_report_continuity();
while (ao_flight_state == ao_flight_pad) {
uint8_t c;
ao_report_continuity();
c = 50;
while (c-- && ao_flight_state == ao_flight_pad)
pause(AO_MS_TO_TICKS(100));
}
#endif
while (ao_report_state == ao_flight_state)
ao_sleep(DATA_TO_XDATA(&ao_flight_state));
ao_report_state = ao_flight_state;
}
}
/*
* A thread to initialize the bluetooth device and
* hang around to blink the LED when connected
*/
void
ao_btm(void)
{
/*
* Wait for the bluetooth device to boot
*/
ao_delay(AO_SEC_TO_TICKS(3));
/*
* The first time we connect, the BTM-180 comes up at 19200 baud.
* After that, it will remember and come up at 57600 baud. So, see
* if it is already running at 57600 baud, and if that doesn't work
* then tell it to switch to 57600 from 19200 baud.
*/
while (!ao_btm_try_speed(AO_SERIAL_SPEED_57600)) {
ao_delay(AO_SEC_TO_TICKS(1));
if (ao_btm_try_speed(AO_SERIAL_SPEED_19200))
ao_btm_cmd("ATL4\r");
ao_delay(AO_SEC_TO_TICKS(1));
}
/* Disable echo */
ao_btm_cmd("ATE0\r");
/* Enable flow control */
ao_btm_cmd("ATC1\r");
/* Set the reported name to something we can find on the host */
ao_btm_set_name();
/* Turn off status reporting */
ao_btm_cmd("ATQ1\r");
ao_btm_stdio = ao_add_stdio(_ao_serial_btm_pollchar,
ao_serial_btm_putchar,
NULL);
ao_btm_echo(0);
for (;;) {
while (!ao_btm_connected)
ao_sleep(&ao_btm_connected);
while (ao_btm_connected) {
ao_led_for(AO_BT_LED, AO_MS_TO_TICKS(20));
ao_delay(AO_SEC_TO_TICKS(3));
}
}
}
void
ao_rssi(void)
{
for (;;) {
while ((int16_t) (ao_time() - ao_rssi_time) > AO_SEC_TO_TICKS(3))
ao_sleep(&ao_rssi_time);
ao_led_for(ao_rssi_led, AO_MS_TO_TICKS(100));
ao_delay(ao_rssi_delay);
}
}
void
beep(void)
{
static __xdata struct ao_adc adc;
for (;;) {
ao_delay(AO_SEC_TO_TICKS(1));
ao_adc_get(&adc);
if (adc.temp > 7400)
ao_beep_for(AO_BEEP_LOW, AO_MS_TO_TICKS(50));
}
}
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 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;
}
}
}