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));
}
}
}
}
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(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;
}
}
}
