--- /dev/null
+/*
+ * Copyright © 2018 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ */
+
+#include <ao.h>
+#include <ao_lco.h>
+#include <ao_radio_cmac.h>
+
+uint8_t ao_lco_debug;
+
+uint8_t ao_lco_pad;
+int16_t ao_lco_box;
+uint8_t ao_lco_drag_race;
+
+uint8_t ao_lco_armed; /* arm active */
+uint8_t ao_lco_firing; /* fire active */
+
+uint8_t ao_lco_min_box, ao_lco_max_box;
+uint8_t ao_lco_selected[AO_PAD_MAX_BOXES];
+uint8_t ao_lco_valid[AO_PAD_MAX_BOXES];
+uint8_t ao_lco_channels[AO_PAD_MAX_BOXES];
+uint16_t ao_lco_tick_offset[AO_PAD_MAX_BOXES];
+
+struct ao_pad_query ao_pad_query;
+
+static AO_LED_TYPE continuity_led[AO_LED_CONTINUITY_NUM] = {
+#ifdef AO_LED_CONTINUITY_0
+ AO_LED_CONTINUITY_0,
+#endif
+#ifdef AO_LED_CONTINUITY_1
+ AO_LED_CONTINUITY_1,
+#endif
+#ifdef AO_LED_CONTINUITY_2
+ AO_LED_CONTINUITY_2,
+#endif
+#ifdef AO_LED_CONTINUITY_3
+ AO_LED_CONTINUITY_3,
+#endif
+#ifdef AO_LED_CONTINUITY_4
+ AO_LED_CONTINUITY_4,
+#endif
+#ifdef AO_LED_CONTINUITY_5
+ AO_LED_CONTINUITY_5,
+#endif
+#ifdef AO_LED_CONTINUITY_6
+ AO_LED_CONTINUITY_6,
+#endif
+#ifdef AO_LED_CONTINUITY_7
+ AO_LED_CONTINUITY_7,
+#endif
+};
+
+/* Set LEDs to match remote box status */
+void
+ao_lco_igniter_status(void)
+{
+ uint8_t c;
+ uint8_t t = 0;
+
+ for (;;) {
+ if (ao_lco_drag_race)
+ ao_sleep_for(&ao_pad_query, AO_MS_TO_TICKS(50));
+ else
+ ao_sleep(&ao_pad_query);
+ PRINTD("RSSI %d VALID %d\n", ao_radio_cmac_rssi, ao_lco_valid[ao_lco_box]);
+ if (!(ao_lco_valid[ao_lco_box] & AO_LCO_VALID_LAST)) {
+ ao_led_on(AO_LED_RED);
+ ao_led_off(AO_LED_GREEN|AO_LED_AMBER);
+ continue;
+ }
+ if (ao_radio_cmac_rssi < -90) {
+ ao_led_on(AO_LED_AMBER);
+ ao_led_off(AO_LED_RED|AO_LED_GREEN);
+ } else {
+ ao_led_on(AO_LED_GREEN);
+ ao_led_off(AO_LED_RED|AO_LED_AMBER);
+ }
+ if (ao_pad_query.arm_status)
+ ao_led_on(AO_LED_REMOTE_ARM);
+ else
+ ao_led_off(AO_LED_REMOTE_ARM);
+
+ for (c = 0; c < AO_LED_CONTINUITY_NUM; c++) {
+ uint8_t status;
+
+ if (ao_pad_query.channels & (1 << c))
+ status = ao_pad_query.igniter_status[c];
+ else
+ status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
+
+ if (ao_lco_drag_race && (ao_lco_selected[ao_lco_box] & (1 << c))) {
+ uint8_t on = 0;
+ if (status == AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN) {
+ if (t)
+ on = 1;
+ } else {
+ if (t == 1)
+ on = 1;
+ }
+ if (on)
+ ao_led_on(continuity_led[c]);
+ else
+ ao_led_off(continuity_led[c]);
+ } else {
+ if (status == AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN)
+ ao_led_on(continuity_led[c]);
+ else
+ ao_led_off(continuity_led[c]);
+ }
+ }
+ t = (t + 1) & 3;
+ }
+}
+
+uint8_t
+ao_lco_pad_present(uint8_t box, uint8_t pad)
+{
+ /* voltage measurement is always valid */
+ if (pad == AO_LCO_PAD_VOLTAGE)
+ return 1;
+ if (!ao_lco_channels[box])
+ return 0;
+ if (pad > AO_PAD_MAX_CHANNELS)
+ return 0;
+ return (ao_lco_channels[box] >> (pad - 1)) & 1;
+}
+
+uint8_t
+ao_lco_pad_first(uint8_t box)
+{
+ uint8_t pad;
+
+ for (pad = 1; pad <= AO_PAD_MAX_CHANNELS; pad++)
+ if (ao_lco_pad_present(box, pad))
+ return pad;
+ return 0;
+}
+
+static uint8_t
+ao_lco_get_channels(uint8_t box, struct ao_pad_query *query)
+{
+ int8_t r;
+
+ r = ao_lco_query(box, query, &ao_lco_tick_offset[box]);
+ if (r == AO_RADIO_CMAC_OK) {
+ ao_lco_channels[box] = query->channels;
+ ao_lco_valid[box] = AO_LCO_VALID_LAST | AO_LCO_VALID_EVER;
+ } else
+ ao_lco_valid[box] &= ~AO_LCO_VALID_LAST;
+ PRINTD("ao_lco_get_channels(%d) rssi %d valid %d ret %d offset %d\n", box, ao_radio_cmac_rssi, ao_lco_valid[box], r, ao_lco_tick_offset[box]);
+ ao_wakeup(&ao_pad_query);
+ return ao_lco_valid[box];
+}
+
+void
+ao_lco_update(void)
+{
+ uint8_t previous_valid = ao_lco_valid[ao_lco_box];
+
+ if (ao_lco_get_channels(ao_lco_box, &ao_pad_query) & AO_LCO_VALID_LAST) {
+ if (!(previous_valid & AO_LCO_VALID_EVER)) {
+ if (ao_lco_pad != AO_LCO_PAD_VOLTAGE)
+ ao_lco_pad = ao_lco_pad_first(ao_lco_box);
+ ao_lco_set_display();
+ }
+ if (ao_lco_pad == AO_LCO_PAD_VOLTAGE)
+ ao_lco_set_display();
+ }
+}
+
+uint8_t ao_lco_box_mask[AO_LCO_MASK_SIZE(AO_PAD_MAX_BOXES)];
+
+static void
+ao_lco_box_reset_present(void)
+{
+ ao_lco_min_box = 0xff;
+ ao_lco_max_box = 0x00;
+ memset(ao_lco_box_mask, 0, sizeof (ao_lco_box_mask));
+}
+
+static void
+ao_lco_box_set_present(uint8_t box)
+{
+ if (box < ao_lco_min_box)
+ ao_lco_min_box = box;
+ if (box > ao_lco_max_box)
+ ao_lco_max_box = box;
+ if (box >= AO_PAD_MAX_BOXES)
+ return;
+ ao_lco_box_mask[AO_LCO_MASK_ID(box)] |= 1 << AO_LCO_MASK_SHIFT(box);
+}
+
+void
+ao_lco_step_pad(int8_t dir)
+{
+ int8_t new_pad;
+
+ new_pad = ao_lco_pad;
+ do {
+ new_pad += dir;
+ if (new_pad > AO_PAD_MAX_CHANNELS)
+ new_pad = AO_LCO_PAD_VOLTAGE;
+ if (new_pad < 0)
+ new_pad = AO_PAD_MAX_CHANNELS;
+ if (new_pad == ao_lco_pad)
+ break;
+ } while (!ao_lco_pad_present(ao_lco_box, new_pad));
+ if (new_pad != ao_lco_pad) {
+ ao_lco_pad = new_pad;
+ ao_lco_set_display();
+ }
+}
+
+void
+ao_lco_set_armed(uint8_t armed)
+{
+ ao_lco_armed = armed;
+ PRINTD("Armed %d\n", ao_lco_armed);
+ if (ao_lco_armed) {
+ if (ao_lco_drag_race) {
+ uint8_t box;
+
+ for (box = ao_lco_min_box; box <= ao_lco_max_box; box++)
+ if (ao_lco_selected[box])
+ break;
+ if (box > ao_lco_max_box)
+ ao_lco_armed = 0;
+ } else {
+ memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
+ if (ao_lco_pad != 0)
+ ao_lco_selected[ao_lco_box] = (1 << (ao_lco_pad - 1));
+ else
+ ao_lco_armed = 0;
+ }
+ }
+ ao_wakeup(&ao_lco_armed);
+}
+
+void
+ao_lco_set_firing(uint8_t firing)
+{
+ ao_lco_firing = firing;
+ PRINTD("Firing %d\n", ao_lco_firing);
+ ao_wakeup(&ao_lco_armed);
+}
+
+void
+ao_lco_toggle_drag(void)
+{
+ if (ao_lco_drag_race && ao_lco_pad != AO_LCO_PAD_VOLTAGE) {
+ ao_lco_selected[ao_lco_box] ^= (1 << (ao_lco_pad - 1));
+ PRINTD("Toggle box %d pad %d (pads now %x) to drag race\n",
+ ao_lco_pad, ao_lco_box, ao_lco_selected[ao_lco_box]);
+ ao_lco_drag_add_beeps(ao_lco_pad);
+ }
+}
+
+void
+ao_lco_search(void)
+{
+ int8_t r;
+ int8_t try;
+ uint8_t box;
+ uint8_t boxes = 0;
+
+ ao_lco_box_reset_present();
+ ao_lco_set_pad(0);
+ for (box = 0; box < AO_PAD_MAX_BOXES; box++) {
+ if ((box % 10) == 0)
+ ao_lco_set_box(box);
+ for (try = 0; try < 3; try++) {
+ ao_lco_tick_offset[box] = 0;
+ r = ao_lco_query(box, &ao_pad_query, &ao_lco_tick_offset[box]);
+ PRINTD("box %d result %d offset %d\n", box, r, ao_lco_tick_offset[box]);
+ if (r == AO_RADIO_CMAC_OK) {
+ ++boxes;
+ ao_lco_box_set_present(box);
+ ao_lco_set_pad(boxes % 10);
+ ao_delay(AO_MS_TO_TICKS(30));
+ break;
+ }
+ }
+ }
+ if (ao_lco_min_box <= ao_lco_max_box)
+ ao_lco_box = ao_lco_min_box;
+ else
+ ao_lco_min_box = ao_lco_max_box = ao_lco_box = 0;
+ memset(ao_lco_valid, 0, sizeof (ao_lco_valid));
+ memset(ao_lco_channels, 0, sizeof (ao_lco_channels));
+ ao_lco_pad = 1;
+ ao_lco_set_display();
+}
+
+void
+ao_lco_monitor(void)
+{
+ uint16_t delay;
+ uint8_t box;
+
+ for (;;) {
+ PRINTD("monitor armed %d firing %d\n",
+ ao_lco_armed, ao_lco_firing);
+
+ if (ao_lco_armed && ao_lco_firing) {
+ ao_lco_ignite(AO_PAD_FIRE);
+ } else {
+ ao_lco_update();
+ if (ao_lco_armed) {
+ for (box = ao_lco_min_box; box <= ao_lco_max_box; box++) {
+ if (ao_lco_selected[box]) {
+ PRINTD("Arming box %d pads %x\n",
+ box, ao_lco_selected[box]);
+ if (ao_lco_valid[box] & AO_LCO_VALID_EVER) {
+ ao_lco_arm(box, ao_lco_selected[box], ao_lco_tick_offset[box]);
+ ao_delay(AO_MS_TO_TICKS(10));
+ }
+ }
+ }
+ }
+ }
+ if (ao_lco_armed && ao_lco_firing)
+ delay = AO_MS_TO_TICKS(100);
+ else
+ delay = AO_SEC_TO_TICKS(1);
+ ao_sleep_for(&ao_lco_armed, delay);
+ }
+}
+
+uint8_t ao_lco_drag_beep_count;
+static uint8_t ao_lco_drag_beep_on;
+static uint16_t ao_lco_drag_beep_time;
+static uint16_t ao_lco_drag_warn_time;
+
+#define AO_LCO_DRAG_BEEP_TIME AO_MS_TO_TICKS(50)
+#define AO_LCO_DRAG_WARN_TIME AO_SEC_TO_TICKS(5)
+
+/* Request 'beeps' additional drag race beeps */
+void
+ao_lco_drag_add_beeps(uint8_t beeps)
+{
+ PRINTD("beep %d\n", beeps);
+ if (ao_lco_drag_beep_count == 0)
+ ao_lco_drag_beep_time = ao_time();
+ ao_lco_drag_beep_count += beeps;
+ ao_wakeup(&ao_lco_drag_beep_count);
+}
+
+/* Check whether it's time to change the beeper status, then either
+ * turn it on or off as necessary and bump the remaining beep counts
+ */
+
+uint16_t
+ao_lco_drag_beep_check(uint16_t now, uint16_t delay)
+{
+ PRINTD("beep check count %d delta %d\n",
+ ao_lco_drag_beep_count,
+ (int16_t) (now - ao_lco_drag_beep_time));
+ if (ao_lco_drag_beep_count) {
+ if ((int16_t) (now - ao_lco_drag_beep_time) >= 0) {
+ if (ao_lco_drag_beep_on) {
+ ao_beep(0);
+ PRINTD("beep stop\n");
+ ao_lco_drag_beep_on = 0;
+ if (ao_lco_drag_beep_count) {
+ --ao_lco_drag_beep_count;
+ if (ao_lco_drag_beep_count)
+ ao_lco_drag_beep_time = now + AO_LCO_DRAG_BEEP_TIME;
+ }
+ } else {
+ ao_beep(AO_BEEP_HIGH);
+ PRINTD("beep start\n");
+ ao_lco_drag_beep_on = 1;
+ ao_lco_drag_beep_time = now + AO_LCO_DRAG_BEEP_TIME;
+ }
+ }
+ }
+
+ if (ao_lco_drag_beep_count) {
+ uint16_t beep_delay = 0;
+
+ if (ao_lco_drag_beep_time > now)
+ beep_delay = ao_lco_drag_beep_time - now;
+
+ if (delay > beep_delay)
+ delay = beep_delay;
+ }
+ return delay;
+}
+
+void
+ao_lco_drag_enable(void)
+{
+ if (!ao_lco_drag_race) {
+ PRINTD("Drag enable\n");
+ ao_lco_drag_race = 1;
+ memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
+#ifdef AO_LED_DRAG
+ ao_led_on(AO_LED_DRAG);
+#endif
+ ao_lco_drag_add_beeps(5);
+ ao_lco_set_display();
+ }
+}
+
+void
+ao_lco_drag_disable(void)
+{
+ if (ao_lco_drag_race) {
+ PRINTD("Drag disable\n");
+ ao_lco_drag_race = 0;
+#ifdef AO_LED_DRAG
+ ao_led_off(AO_LED_DRAG);
+#endif
+ memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
+ ao_lco_drag_add_beeps(2);
+ ao_lco_set_display();
+ }
+}
+
+/* add a beep if it's time to warn the user that drag race mode is
+ * active
+ */
+
+uint16_t
+ao_lco_drag_warn_check(uint16_t now, uint16_t delay)
+{
+ if (ao_lco_drag_race) {
+ uint16_t warn_delay;
+
+ if ((int16_t) (now - ao_lco_drag_warn_time) >= 0) {
+ ao_lco_drag_add_beeps(1);
+ ao_lco_drag_warn_time = now + AO_LCO_DRAG_WARN_TIME;
+ }
+ warn_delay = ao_lco_drag_warn_time - now;
+ if (delay > warn_delay)
+ delay = warn_delay;
+ }
+ return delay;
+}
+
+/* task function for beeping while arm is active */
+void
+ao_lco_arm_warn(void)
+{
+ for (;;) {
+ while (!ao_lco_armed) {
+#ifdef AO_LED_FIRE
+ ao_led_off(AO_LED_FIRE);
+#endif
+ ao_sleep(&ao_lco_armed);
+ }
+#ifdef AO_LED_FIRE
+ ao_led_on(AO_LED_FIRE);
+#endif
+ ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
+ ao_delay(AO_MS_TO_TICKS(200));
+ }
+}
projects / fw / altos / blobdiff