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   1 /*
   2  * Copyright © 2012 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #include <ao.h>
  20 #include <ao_lco.h>
  21 #include <ao_event.h>
  22 #include <ao_seven_segment.h>
  23 #include <ao_quadrature.h>
  24 #include <ao_radio_cmac.h>
  25 #include <ao_adc_single.h>
  26
  27 #define AO_LCO_PAD_DIGIT        0
  28 #define AO_LCO_BOX_DIGIT_1      1
  29 #define AO_LCO_BOX_DIGIT_10     2
  30
  31 #define AO_LCO_DRAG_RACE_START_TIME     AO_SEC_TO_TICKS(5)
  32 #define AO_LCO_DRAG_RACE_STOP_TIME      AO_SEC_TO_TICKS(2)
  33
  34 /* UI values */
  35 static uint8_t  ao_lco_select_mode;
  36 static uint8_t  ao_lco_event_debug;
  37
  38 #define PRINTE(...) do { if (!ao_lco_debug && !ao_lco_event_debug) break; printf ("\r%5lu %s: ", (unsigned long) ao_tick_count, __func__); printf(__VA_ARGS__); flush(); } while(0)
  39 #define AO_LCO_SELECT_PAD       0
  40 #define AO_LCO_SELECT_BOX       1
  41
  42 static uint8_t  ao_lco_display_mutex;
  43
  44 void
  45 ao_lco_show_pad(uint8_t pad)
  46 {
  47         ao_mutex_get(&ao_lco_display_mutex);
  48         ao_seven_segment_set(AO_LCO_PAD_DIGIT, (uint8_t) (pad | (ao_lco_drag_race << 4)));
  49         ao_mutex_put(&ao_lco_display_mutex);
  50 }
  51
  52 #define SEVEN_SEGMENT_d         ((0 << 0) |     \
  53                                  (0 << 1) |     \
  54                                  (1 << 2) |     \
  55                                  (1 << 3) |     \
  56                                  (1 << 4) |     \
  57                                  (1 << 5) |     \
  58                                  (1 << 6))
  59
  60
  61 #define SEVEN_SEGMENT_r         ((0 << 0) |     \
  62                                  (0 << 1) |     \
  63                                  (0 << 2) |     \
  64                                  (1 << 3) |     \
  65                                  (1 << 4) |     \
  66                                  (0 << 5) |     \
  67                                  (0 << 6))
  68
  69 void
  70 ao_lco_show_box(uint16_t box)
  71 {
  72         ao_mutex_get(&ao_lco_display_mutex);
  73         ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, (uint8_t) (box % 10 | (ao_lco_drag_race << 4)));
  74         ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, (uint8_t) (box / 10 | (ao_lco_drag_race << 4)));
  75         ao_mutex_put(&ao_lco_display_mutex);
  76 }
  77
  78 static void
  79 ao_lco_show_voltage(uint16_t decivolts)
  80 {
  81         uint8_t tens, ones, tenths;
  82
  83         PRINTD("voltage %d\n", decivolts);
  84         tenths = (uint8_t) (decivolts % 10);
  85         ones = (uint8_t) ((decivolts / 10) % 10);
  86         tens = (uint8_t) ((decivolts / 100) % 10);
  87         ao_mutex_get(&ao_lco_display_mutex);
  88         ao_seven_segment_set(AO_LCO_PAD_DIGIT, tenths);
  89         ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, ones | 0x10);
  90         ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, tens);
  91         ao_mutex_put(&ao_lco_display_mutex);
  92 }
  93
  94 void
  95 ao_lco_show(void)
  96 {
  97         if (ao_lco_pad == AO_LCO_PAD_VOLTAGE) {
  98                 ao_lco_show_voltage(ao_pad_query.battery);
  99         } else {
 100                 ao_lco_show_pad(ao_lco_pad);
 101                 ao_lco_show_box(ao_lco_box);
 102         }
 103 }
 104
 105 uint8_t
 106 ao_lco_box_present(uint16_t box)
 107 {
 108         if (box >= AO_PAD_MAX_BOXES)
 109                 return 0;
 110         return (ao_lco_box_mask[AO_LCO_MASK_ID(box)] >> AO_LCO_MASK_SHIFT(box)) & 1;
 111 }
 112
 113 static void
 114 ao_lco_set_select(void)
 115 {
 116         if (ao_lco_armed) {
 117                 ao_led_off(AO_LED_PAD);
 118                 ao_led_off(AO_LED_BOX);
 119         } else {
 120                 switch (ao_lco_select_mode) {
 121                 case AO_LCO_SELECT_PAD:
 122                         ao_led_off(AO_LED_BOX);
 123                         ao_led_on(AO_LED_PAD);
 124                         break;
 125                 case AO_LCO_SELECT_BOX:
 126                         ao_led_off(AO_LED_PAD);
 127                         ao_led_on(AO_LED_BOX);
 128                         break;
 129                 default:
 130                         break;
 131                 }
 132         }
 133 }
 134
 135 static void
 136 ao_lco_step_box(int8_t dir)
 137 {
 138         int32_t new_box = (int32_t) ao_lco_box;
 139
 140         do {
 141                 new_box += dir;
 142                 if (new_box > ao_lco_max_box)
 143                         new_box = ao_lco_min_box;
 144                 else if (new_box < ao_lco_min_box)
 145                         new_box = ao_lco_max_box;
 146                 if (new_box == ao_lco_box)
 147                         break;
 148         } while (!ao_lco_box_present((uint16_t) new_box));
 149         ao_lco_set_box((uint16_t) new_box);
 150 }
 151
 152 static struct ao_task   ao_lco_drag_task;
 153
 154 static void
 155 ao_lco_drag_monitor(void)
 156 {
 157         AO_TICK_TYPE    delay = ~0UL;
 158         AO_TICK_TYPE    now;
 159
 160         ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
 161         for (;;) {
 162                 PRINTD("Drag monitor count %d delay %lu\n", ao_lco_drag_beep_count, (unsigned long) delay);
 163                 if (delay == (AO_TICK_TYPE) ~0)
 164                         ao_sleep(&ao_lco_drag_beep_count);
 165                 else
 166                         ao_sleep_for(&ao_lco_drag_beep_count, delay);
 167
 168                 delay = ~0UL;
 169                 now = ao_time();
 170                 delay = ao_lco_drag_warn_check(now, delay);
 171                 delay = ao_lco_drag_beep_check(now, delay);
 172         }
 173 }
 174
 175 static void
 176 ao_lco_input(void)
 177 {
 178         static struct ao_event  event;
 179
 180         for (;;) {
 181                 ao_event_get(&event);
 182                 PRINTE("event type %d unit %d value %ld\n",
 183                        event.type, event.unit, (long) event.value);
 184                 switch (event.type) {
 185                 case AO_EVENT_QUADRATURE:
 186                         switch (event.unit) {
 187                         case AO_QUADRATURE_SELECT:
 188                                 if (!ao_lco_armed) {
 189                                         switch (ao_lco_select_mode) {
 190                                         case AO_LCO_SELECT_PAD:
 191                                                 ao_lco_step_pad((int8_t) event.value);
 192                                                 break;
 193                                         case AO_LCO_SELECT_BOX:
 194                                                 ao_lco_step_box((int8_t) event.value);
 195                                                 break;
 196                                         default:
 197                                                 break;
 198                                         }
 199                                 }
 200                                 break;
 201                         }
 202                         break;
 203                 case AO_EVENT_BUTTON:
 204                         switch (event.unit) {
 205                         case AO_BUTTON_ARM:
 206                                 ao_lco_set_armed((uint8_t) event.value);
 207                                 ao_lco_set_select();
 208                                 break;
 209                         case AO_BUTTON_FIRE:
 210                                 if (ao_lco_armed)
 211                                         ao_lco_set_firing((uint8_t) event.value);
 212                                 break;
 213                         case AO_BUTTON_DRAG_SELECT:
 214                                 if (event.value)
 215                                         ao_lco_toggle_drag();
 216                                 break;
 217                         case AO_BUTTON_DRAG_MODE:
 218                                 if (event.value)
 219                                         ao_lco_drag_enable();
 220                                 else
 221                                         ao_lco_drag_disable();
 222                                 break;
 223                         case AO_BUTTON_ENCODER_SELECT:
 224                                 if (event.value) {
 225                                         if (!ao_lco_armed) {
 226                                                 ao_lco_select_mode = 1 - ao_lco_select_mode;
 227                                                 ao_lco_set_select();
 228                                         }
 229                                 }
 230                                 break;
 231                         }
 232                         break;
 233                 }
 234         }
 235 }
 236
 237 /*
 238  * Light up everything for a second at power on to let the user
 239  * visually inspect the system for correct operation
 240  */
 241 static void
 242 ao_lco_display_test(void)
 243 {
 244         ao_mutex_get(&ao_lco_display_mutex);
 245         ao_seven_segment_set(AO_LCO_PAD_DIGIT, 8 | 0x10);
 246         ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, 8 | 0x10);
 247         ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, 8 | 0x10);
 248         ao_mutex_put(&ao_lco_display_mutex);
 249         ao_led_on(AO_LEDS_AVAILABLE);
 250         ao_delay(AO_MS_TO_TICKS(1000));
 251         ao_led_off(AO_LEDS_AVAILABLE);
 252 }
 253
 254 static void
 255 ao_lco_batt_voltage(void)
 256 {
 257         struct ao_adc   packet;
 258         int16_t         decivolt;
 259
 260         ao_adc_single_get(&packet);
 261         decivolt = ao_battery_decivolt(packet.v_batt);
 262         ao_lco_show_voltage((uint16_t) decivolt);
 263         ao_delay(AO_MS_TO_TICKS(1000));
 264 }
 265
 266 static struct ao_task ao_lco_input_task;
 267 static struct ao_task ao_lco_monitor_task;
 268 static struct ao_task ao_lco_arm_warn_task;
 269 static struct ao_task ao_lco_igniter_status_task;
 270
 271 static void
 272 ao_lco_main(void)
 273 {
 274         ao_lco_display_test();
 275         ao_lco_batt_voltage();
 276         ao_lco_search();
 277         ao_add_task(&ao_lco_input_task, ao_lco_input, "lco input");
 278         ao_add_task(&ao_lco_arm_warn_task, ao_lco_arm_warn, "lco arm warn");
 279         ao_add_task(&ao_lco_igniter_status_task, ao_lco_igniter_status, "lco igniter status");
 280         ao_add_task(&ao_lco_drag_task, ao_lco_drag_monitor, "drag race");
 281         ao_lco_monitor();
 282 }
 283
 284 #if DEBUG
 285 static void
 286 ao_lco_set_debug(void)
 287 {
 288         uint32_t r = ao_cmd_decimal();
 289         if (ao_cmd_status == ao_cmd_success){
 290                 ao_lco_debug = r & 1;
 291                 ao_lco_event_debug = (r & 2) >> 1;
 292         }
 293 }
 294
 295 const struct ao_cmds ao_lco_cmds[] = {
 296         { ao_lco_set_debug,     "D <0 off, 1 on>\0Debug" },
 297         { ao_lco_search,        "s\0Search for pad boxes" },
 298         { ao_lco_pretend,       "p\0Pretend there are lots of pad boxes" },
 299         { 0, NULL }
 300 };
 301 #endif
 302
 303 void
 304 ao_lco_init(void)
 305 {
 306         ao_add_task(&ao_lco_monitor_task, ao_lco_main, "lco monitor");
 307 #if DEBUG
 308         ao_cmd_register(&ao_lco_cmds[0]);
 309 #endif
 310 }