2 * Copyright © 2012 Keith Packard <keithp@keithp.com>
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.
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.
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.
22 #include <ao_quadrature.h>
23 #include <ao_radio_cmac.h>
24 #include <ao_st7565.h>
25 #include <ao_adc_single.h>
27 #define WIDTH AO_ST7565_WIDTH
28 #define HEIGHT AO_ST7565_HEIGHT
29 #define STRIDE AO_BITMAP_STRIDE(WIDTH)
31 static uint32_t image[STRIDE * HEIGHT];
33 static struct ao_bitmap fb = {
38 .damage = AO_BOX_INIT,
41 static const struct ao_transform logo_transform = {
42 .x_scale = 48, .x_off = 2,
43 .y_scale = 48, .y_off = 0,
46 #define BIG_FONT BitstreamVeraSans_Roman_58_font
47 #define VOLT_FONT BitstreamVeraSans_Roman_58_font
48 #define SMALL_FONT BitstreamVeraSans_Roman_12_font
49 #define TINY_FONT BitstreamVeraSans_Roman_10_font
50 #define LOGO_FONT BenguiatGothicStd_Bold_26_font
52 #define LABEL_Y (int16_t) (SMALL_FONT.ascent)
53 #define VALUE_Y (int16_t) (LABEL_Y + BIG_FONT.ascent + 5)
56 #define BOX_LABEL_X 30
57 #define VOLT_LABEL_X 25
58 #define RSSI_LABEL_X 15
59 #define PAD_LABEL_X 95
60 #define SEP_X (PAD_X - 8)
61 #define SCAN_X (WIDTH - 100) / 2
66 #define FOUND_WIDTH 17
67 #define MAX_VALID (WIDTH / FOUND_WIDTH)
69 #define AO_LCO_DRAG_RACE_START_TIME AO_SEC_TO_TICKS(5)
70 #define AO_LCO_DRAG_RACE_STOP_TIME AO_SEC_TO_TICKS(2)
73 static uint8_t ao_lco_select_mode;
74 static uint8_t ao_lco_event_debug;
76 #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)
77 #define AO_LCO_SELECT_PAD 0
78 #define AO_LCO_SELECT_BOX 1
80 static uint8_t ao_lco_display_mutex;
83 ao_lco_show_pad(uint8_t pad)
87 ao_mutex_get(&ao_lco_display_mutex);
88 snprintf(str, sizeof(str), "%d", pad);
89 ao_text(&fb, &BIG_FONT, PAD_X, VALUE_Y, str, AO_BLACK, AO_COPY);
90 ao_text(&fb, &SMALL_FONT, PAD_LABEL_X, LABEL_Y, "Pad", AO_BLACK, AO_COPY);
91 ao_rect(&fb, SEP_X, 0, 2, HEIGHT, AO_BLACK, AO_COPY);
92 ao_mutex_put(&ao_lco_display_mutex);
95 ao_lco_show_box(uint16_t box)
99 ao_mutex_get(&ao_lco_display_mutex);
100 snprintf(str, sizeof(str), "%2d", box);
101 ao_text(&fb, &BIG_FONT, BOX_X, VALUE_Y, str, AO_BLACK, AO_COPY);
102 ao_text(&fb, &SMALL_FONT, BOX_LABEL_X, LABEL_Y, "Box", AO_BLACK, AO_COPY);
103 ao_mutex_put(&ao_lco_display_mutex);
107 ao_lco_show_voltage(uint16_t decivolts, const char *label)
111 PRINTD("voltage %d\n", decivolts);
112 snprintf(str, sizeof(str), "%2d.%d", decivolts / 10, decivolts % 10);
113 ao_mutex_get(&ao_lco_display_mutex);
114 ao_rect(&fb, 0, 0, WIDTH, HEIGHT, AO_WHITE, AO_COPY);
115 ao_text(&fb, &VOLT_FONT, BOX_X, VALUE_Y, str, AO_BLACK, AO_COPY);
116 ao_text(&fb, &SMALL_FONT, VOLT_LABEL_X, LABEL_Y, label, AO_BLACK, AO_COPY);
117 ao_mutex_put(&ao_lco_display_mutex);
123 if (ao_lco_pad == AO_LCO_PAD_VOLTAGE) {
124 ao_lco_show_voltage(ao_pad_query.battery, "Pad battery");
126 ao_lco_show_pad(ao_lco_pad);
127 ao_lco_show_box(ao_lco_box);
132 ao_lco_box_present(uint16_t box)
134 if (box >= AO_PAD_MAX_BOXES)
136 return (ao_lco_box_mask[AO_LCO_MASK_ID(box)] >> AO_LCO_MASK_SHIFT(box)) & 1;
140 ao_lco_set_select(void)
143 ao_led_off(AO_LED_PAD);
144 ao_led_off(AO_LED_BOX);
146 switch (ao_lco_select_mode) {
147 case AO_LCO_SELECT_PAD:
148 ao_led_off(AO_LED_BOX);
149 ao_led_on(AO_LED_PAD);
151 case AO_LCO_SELECT_BOX:
152 ao_led_off(AO_LED_PAD);
153 ao_led_on(AO_LED_BOX);
162 ao_lco_step_box(int8_t dir)
164 int32_t new_box = (int32_t) ao_lco_box;
168 if (new_box > ao_lco_max_box)
169 new_box = ao_lco_min_box;
170 else if (new_box < ao_lco_min_box)
171 new_box = ao_lco_max_box;
172 if (new_box == ao_lco_box)
174 } while (!ao_lco_box_present((uint16_t) new_box));
175 ao_lco_set_box((uint16_t) new_box);
178 static struct ao_task ao_lco_drag_task;
181 ao_lco_drag_monitor(void)
183 AO_TICK_TYPE delay = ~0UL;
186 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
188 PRINTD("Drag monitor count %d delay %lu\n", ao_lco_drag_beep_count, (unsigned long) delay);
189 if (delay == (AO_TICK_TYPE) ~0)
190 ao_sleep(&ao_lco_drag_beep_count);
192 ao_sleep_for(&ao_lco_drag_beep_count, delay);
196 delay = ao_lco_drag_warn_check(now, delay);
197 delay = ao_lco_drag_beep_check(now, delay);
204 static struct ao_event event;
207 ao_event_get(&event);
208 PRINTE("event type %d unit %d value %ld\n",
209 event.type, event.unit, (long) event.value);
210 switch (event.type) {
211 case AO_EVENT_QUADRATURE:
212 switch (event.unit) {
213 case AO_QUADRATURE_SELECT:
215 switch (ao_lco_select_mode) {
216 case AO_LCO_SELECT_PAD:
217 ao_lco_step_pad((int8_t) event.value);
219 case AO_LCO_SELECT_BOX:
220 ao_lco_step_box((int8_t) event.value);
229 case AO_EVENT_BUTTON:
230 switch (event.unit) {
232 ao_lco_set_armed((uint8_t) event.value);
237 ao_lco_set_firing((uint8_t) event.value);
239 case AO_BUTTON_DRAG_SELECT:
241 ao_lco_toggle_drag();
243 case AO_BUTTON_DRAG_MODE:
245 ao_lco_drag_enable();
247 ao_lco_drag_disable();
249 case AO_BUTTON_ENCODER_SELECT:
252 ao_lco_select_mode = 1 - ao_lco_select_mode;
264 * Light up everything for a second at power on to let the user
265 * visually inspect the system for correct operation
268 ao_lco_display_test(void)
270 ao_mutex_get(&ao_lco_display_mutex);
271 ao_rect(&fb, 0, 0, WIDTH, HEIGHT, AO_WHITE, AO_COPY);
272 ao_logo(&fb, &logo_transform, &LOGO_FONT, AO_BLACK, AO_COPY);
273 ao_mutex_put(&ao_lco_display_mutex);
274 ao_led_on(AO_LEDS_AVAILABLE);
275 ao_delay(AO_MS_TO_TICKS(1000));
276 ao_led_off(AO_LEDS_AVAILABLE);
280 ao_lco_batt_voltage(void)
282 struct ao_adc packet;
285 ao_adc_single_get(&packet);
286 decivolt = ao_battery_decivolt(packet.v_batt);
287 ao_lco_show_voltage((uint16_t) decivolt, "LCO battery");
288 ao_delay(AO_MS_TO_TICKS(1000));
291 static struct ao_task ao_lco_input_task;
292 static struct ao_task ao_lco_monitor_task;
293 static struct ao_task ao_lco_arm_warn_task;
294 static struct ao_task ao_lco_igniter_status_task;
299 ao_lco_display_test();
300 ao_lco_batt_voltage();
302 ao_add_task(&ao_lco_input_task, ao_lco_input, "lco input");
303 ao_add_task(&ao_lco_arm_warn_task, ao_lco_arm_warn, "lco arm warn");
304 ao_add_task(&ao_lco_igniter_status_task, ao_lco_igniter_status, "lco igniter status");
305 ao_add_task(&ao_lco_drag_task, ao_lco_drag_monitor, "drag race");
311 ao_lco_set_debug(void)
313 uint32_t r = ao_cmd_decimal();
314 if (ao_cmd_status == ao_cmd_success){
315 ao_lco_debug = r & 1;
316 ao_lco_event_debug = (r & 2) >> 1;
320 const struct ao_cmds ao_lco_cmds[] = {
321 { ao_lco_set_debug, "D <0 off, 1 on>\0Debug" },
322 { ao_lco_search, "s\0Search for pad boxes" },
323 { ao_lco_pretend, "p\0Pretend there are lots of pad boxes" },
331 ao_add_task(&ao_lco_monitor_task, ao_lco_main, "lco monitor");
333 ao_cmd_register(&ao_lco_cmds[0]);