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Assuming that the board works with +5 V applied, your hacking is basically over, and you can proceed to interface the alarm with a computer port or microcontroller. By way of example, we ll assume that a simple microcontroller that periodically polls the input pin is connected to the smoke alarm circuit board. The program checks the pin several times each second. When the pin goes HIGH, the smoke alarm has been triggered. If your microcontroller supports interrupts (ideally with latched inputs that can be polled), a better scheme is to connect the smoke alarm circuit board to an interrupt pin.

Figure 34-1: The xconfig Linux kernel configuration tool Note If you decide to include a feature directly into the kernel that was previously a module, be sure to check that the old module is removed from the /lib/modules/version directory. Otherwise, conflicts can occur between the module and its corresponding code, which is now directly part of the kernel. The xconfig and menuconfig tools provide excellent context-sensitive help for each entry. To the right of an entry is a Help button. Click it to display a detailed explanation of what that feature does and why you would include it either directly or as a module, or even exclude it.

FIGURE 34-3 Use a 5.1 V zener diode to ensure that the smoke alarm output does not drive the computer/microcontroller input above 5 V.

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When in doubt about a feature, always use the Help button to learn exactly what it does and why you would want to use it. Many of the key features are described here.

Loadable Module Support In most cases, you should make sure your kernel can load modules. Click the Loadable Modules Support button to display a listing of several module management options (see Figure 34-2). Make sure Enable Loadable Module Support is marked Yes. This feature allows your kernel to load modules as they are needed. Kernel Module Loader should also be set to Yes, as this allows your daemons, like your Web server, to load any modules they may need. The Set Version Information entry enables you to use any modules set up for previous kernels.

Then write your software so that if the interrupt pin input state changes, a special I smell smoke routine is run. The benefit of an interrupt or latched input over polling is that the latter requires your program to constantly branch off to check the condition of the input pin. With an interrupt or latched input, your software program can effectively be ignorant of any smoke detector functionality. If and when the signal pin is active because the smoke alarm circuit was tripped, a special software routine takes over, commanding the robot to do something else. Rather than connect the output of the smoke alarm circuit board directly to the input pin, use a buffer to protect the microcontroller or computer against possible damage. You can construct a buffer using logic circuits (either TTL or CMOS) or with an op amp wired for unity-gain (with unity-gain, the op amp doesn t amplify anything). Note also that the smoke alarm circuit board derives its power from the robot s main +5 V power supply and not from the microcontroller. Alternatively, you can use an opto-isolator. The opto-isolator bridges the gap between the detector and the robot. You do not need to condition the output of the opto-isolator if you are connecting it to a computer or microprocessor port or to a microcontroller.

The BASH command line has a built-in feature that performs command and filename completion. If you enter an incomplete pattern as a command or filename argument, you can

Once the smoke alarm circuit board is connected to the microcontroller or computer port, test it and your software by triggering the test button on the smoke alarm. The software should branch off to its I smell smoke subroutine. For a final test, light a match, and then blow it out. Wave the smoldering match near the smoke detector chamber. Again, the software runs the I smell smoke subroutine.

then press the TAB key to activate the command and filename completion feature, which completes the pattern. If more than one command or file has the same prefix, the shell simply beeps and waits for you to add enough characters to select a unique command or filename. In the next example, the user issues a cat command with an incomplete filename. When you press the TAB key, the system searches for a match and, when it finds one, fills in the filename. The user can then press ENTER to execute the command.

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