X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_lco.c;fp=src%2Fdrivers%2Fao_lco.c;h=b8698a80dc8a67cd9b798b46c53b908759d312d9;hp=0000000000000000000000000000000000000000;hb=643c2fb03833d658320f476ef731bbb06fe3cc31;hpb=e41786fb384892961a6547e17812a24314ce9623

diff --git a/src/drivers/ao_lco.c b/src/drivers/ao_lco.c
new file mode 100644
index 00000000..b8698a80
--- /dev/null
+++ b/src/drivers/ao_lco.c
@@ -0,0 +1,437 @@
+/*
+ * Copyright © 2012 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; version 2 of the License.
+ *
+ * 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.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_lco.h>
+#include <ao_event.h>
+#include <ao_seven_segment.h>
+#include <ao_quadrature.h>
+#include <ao_lco_func.h>
+#include <ao_radio_cmac.h>
+
+#define DEBUG	1
+
+#if DEBUG
+static uint8_t	ao_lco_debug;
+#define PRINTD(...) do { if (!ao_lco_debug) break; printf ("\r%5u %s: ", ao_tick_count, __func__); printf(__VA_ARGS__); flush(); } while(0)
+#else
+#define PRINTD(...) 
+#endif
+
+#define AO_LCO_PAD_DIGIT	0
+#define AO_LCO_BOX_DIGIT_1	1
+#define AO_LCO_BOX_DIGIT_10	2
+
+static uint8_t	ao_lco_min_box, ao_lco_max_box;
+static uint8_t	ao_lco_pad;
+static uint8_t	ao_lco_box;
+static uint8_t	ao_lco_armed;
+static uint8_t	ao_lco_firing;
+static uint8_t	ao_lco_valid;
+static uint8_t	ao_lco_got_channels;
+static uint16_t	ao_lco_tick_offset;
+
+static struct ao_pad_query	ao_pad_query;
+
+static void
+ao_lco_set_pad(uint8_t pad)
+{
+	ao_seven_segment_set(AO_LCO_PAD_DIGIT, pad);
+}
+
+static void
+ao_lco_set_box(uint8_t box)
+{
+	ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, box % 10);
+	ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, box / 10);
+}
+
+static void
+ao_lco_set_voltage(uint16_t decivolts)
+{
+	uint8_t	tens, ones, tenths;
+
+	tenths = decivolts % 10;
+	ones = (decivolts / 10) % 10;
+	tens = (decivolts / 100) % 10;
+	ao_seven_segment_set(AO_LCO_PAD_DIGIT, tenths);
+	ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, ones | 0x10);
+	ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, tens);
+}
+
+static void
+ao_lco_set_display(void)
+{
+	if (ao_lco_pad == 0) {
+		ao_lco_set_voltage(ao_pad_query.battery);
+	} else {
+		ao_lco_set_pad(ao_lco_pad);
+		ao_lco_set_box(ao_lco_box);
+	}
+}
+
+#define MASK_SIZE(n)	(((n) + 7) >> 3)
+#define MASK_ID(n)	((n) >> 3)
+#define MASK_SHIFT(n)	((n) & 7)
+
+static uint8_t	ao_lco_box_mask[MASK_SIZE(AO_PAD_MAX_BOXES)];
+
+static uint8_t
+ao_lco_box_present(uint8_t box)
+{
+	if (box >= AO_PAD_MAX_BOXES)
+		return 0;
+	return (ao_lco_box_mask[MASK_ID(box)] >> MASK_SHIFT(box)) & 1;
+}
+
+static uint8_t
+ao_lco_pad_present(uint8_t pad)
+{
+	if (!ao_lco_got_channels || !ao_pad_query.channels)
+		return pad == 0;
+	/* voltage measurement is always valid */
+	if (pad == 0)
+		return 1;
+	if (pad > AO_PAD_MAX_CHANNELS)
+		return 0;
+	return (ao_pad_query.channels >> (pad - 1)) & 1;
+}
+
+static uint8_t
+ao_lco_pad_first(void)
+{
+	uint8_t	pad;
+
+	for (pad = 1; pad <= AO_PAD_MAX_CHANNELS; pad++)
+		if (ao_lco_pad_present(pad))
+			return pad;
+	return 0;
+}
+
+static void
+ao_lco_input(void)
+{
+	static struct ao_event	event;
+	int8_t	dir, new_box, new_pad;
+
+	ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
+	for (;;) {
+		ao_event_get(&event);
+		PRINTD("event type %d unit %d value %d\n",
+		       event.type, event.unit, event.value);
+		switch (event.type) {
+		case AO_EVENT_QUADRATURE:
+			switch (event.unit) {
+			case AO_QUADRATURE_PAD:
+				if (!ao_lco_armed) {
+					dir = (int8_t) event.value;
+					new_pad = ao_lco_pad;
+					do {
+						new_pad += dir;
+						if (new_pad > AO_PAD_MAX_CHANNELS)
+							new_pad = 0;
+						if (new_pad < 0)
+							new_pad = AO_PAD_MAX_CHANNELS;
+						if (new_pad == ao_lco_pad)
+							break;
+					} while (!ao_lco_pad_present(new_pad));
+					if (new_pad != ao_lco_pad) {
+						ao_lco_pad = new_pad;
+						ao_lco_set_display();
+					}
+				}
+				break;
+			case AO_QUADRATURE_BOX:
+				if (!ao_lco_armed) {
+					dir = (int8_t) event.value;
+					new_box = ao_lco_box;
+					do {
+						new_box += dir;
+						if (new_box > ao_lco_max_box)
+							new_box = ao_lco_min_box;
+						else if (new_box < ao_lco_min_box)
+							new_box = ao_lco_max_box;
+						if (new_box == ao_lco_box)
+							break;
+					} while (!ao_lco_box_present(new_box));
+					if (ao_lco_box != new_box) {
+						ao_lco_box = new_box;
+						ao_lco_pad = 1;
+						ao_lco_got_channels = 0;
+						ao_lco_set_display();
+					}
+				}
+				break;
+			}
+			break;
+		case AO_EVENT_BUTTON:
+			switch (event.unit) {
+			case AO_BUTTON_ARM:
+				ao_lco_armed = event.value;
+				PRINTD("Armed %d\n", ao_lco_armed);
+				ao_wakeup(&ao_lco_armed);
+				break;
+			case AO_BUTTON_FIRE:
+				if (ao_lco_armed) {
+					ao_lco_firing = event.value;
+					PRINTD("Firing %d\n", ao_lco_firing);
+					ao_wakeup(&ao_lco_armed);
+				}
+				break;
+			}
+			break;
+		}
+	}
+}
+
+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
+};
+
+static void
+ao_lco_update(void)
+{
+	int8_t			r;
+	uint8_t			c;
+
+	r = ao_lco_query(ao_lco_box, &ao_pad_query, &ao_lco_tick_offset);
+	if (r == AO_RADIO_CMAC_OK) {
+		c = ao_lco_got_channels;
+		ao_lco_got_channels = 1;
+		ao_lco_valid = 1;
+		if (!c) {
+			if (ao_lco_pad != 0)
+				ao_lco_pad = ao_lco_pad_first();
+			ao_lco_set_display();
+		}
+		if (ao_lco_pad == 0)
+			ao_lco_set_display();
+	} else
+		ao_lco_valid = 0;
+
+#if 0
+	PRINTD("lco_query success arm_status %d i0 %d i1 %d i2 %d i3 %d\n",
+	       query.arm_status,
+	       query.igniter_status[0],
+	       query.igniter_status[1],
+	       query.igniter_status[2],
+	       query.igniter_status[3]);
+#endif
+	PRINTD("ao_lco_update valid %d\n", ao_lco_valid);
+	ao_wakeup(&ao_pad_query);
+}
+
+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[MASK_ID(box)] |= 1 << MASK_SHIFT(box);
+}
+
+static void
+ao_lco_search(void)
+{
+	uint16_t	tick_offset;
+	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++) {
+			tick_offset = 0;
+			r = ao_lco_query(box, &ao_pad_query, &tick_offset);
+			PRINTD("box %d result %d\n", box, r);
+			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;
+	ao_lco_valid = 0;
+	ao_lco_got_channels = 0;
+	ao_lco_pad = 1;
+	ao_lco_set_display();
+}
+
+static void
+ao_lco_igniter_status(void)
+{
+	uint8_t		c;
+
+	for (;;) {
+		ao_sleep(&ao_pad_query);
+		PRINTD("RSSI %d VALID %d\n", ao_radio_cmac_rssi, ao_lco_valid);
+		if (!ao_lco_valid) {
+			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 (status == AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN)
+				ao_led_on(continuity_led[c]);
+			else
+				ao_led_off(continuity_led[c]);
+		}
+	}
+}
+
+static void
+ao_lco_arm_warn(void)
+{
+	for (;;) {
+		while (!ao_lco_armed)
+			ao_sleep(&ao_lco_armed);
+		ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
+		ao_delay(AO_MS_TO_TICKS(200));
+	}
+}
+
+static struct ao_task ao_lco_input_task;
+static struct ao_task ao_lco_monitor_task;
+static struct ao_task ao_lco_arm_warn_task;
+static struct ao_task ao_lco_igniter_status_task;
+
+static void
+ao_lco_monitor(void)
+{
+	uint16_t		delay;
+
+	ao_lco_search();
+	ao_add_task(&ao_lco_input_task, ao_lco_input, "lco input");
+	ao_add_task(&ao_lco_arm_warn_task, ao_lco_arm_warn, "lco arm warn");
+	ao_add_task(&ao_lco_igniter_status_task, ao_lco_igniter_status, "lco igniter status");
+	for (;;) {
+		PRINTD("monitor armed %d firing %d offset %d\n",
+		       ao_lco_armed, ao_lco_firing, ao_lco_tick_offset);
+
+		if (ao_lco_armed && ao_lco_firing) {
+			PRINTD("Firing box %d pad %d: valid %d\n",
+			       ao_lco_box, ao_lco_pad, ao_lco_valid);
+			if (!ao_lco_valid)
+				ao_lco_update();
+			if (ao_lco_valid && ao_lco_pad)
+				ao_lco_ignite(ao_lco_box, 1 << (ao_lco_pad - 1), ao_lco_tick_offset);
+		} else if (ao_lco_armed) {
+			PRINTD("Arming box %d pad %d\n",
+			       ao_lco_box, ao_lco_pad);
+			if (!ao_lco_valid)
+				ao_lco_update();
+			if (ao_lco_pad) {
+				ao_lco_arm(ao_lco_box, 1 << (ao_lco_pad - 1), ao_lco_tick_offset);
+				ao_delay(AO_MS_TO_TICKS(30));
+				ao_lco_update();
+			}
+		} else {
+			ao_lco_update();
+		}
+		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);
+	}
+}
+
+#if DEBUG
+void
+ao_lco_set_debug(void)
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status == ao_cmd_success)
+		ao_lco_debug = ao_cmd_lex_i != 0;
+}
+
+__code struct ao_cmds ao_lco_cmds[] = {
+	{ ao_lco_set_debug,	"D <0 off, 1 on>\0Debug" },
+	{ ao_lco_search,	"s\0Search for pad boxes" },
+	{ 0, NULL }
+};
+#endif
+
+void
+ao_lco_init(void)
+{
+	ao_add_task(&ao_lco_monitor_task, ao_lco_monitor, "lco monitor");
+#if DEBUG
+	ao_cmd_register(&ao_lco_cmds[0]);
+#endif
+}