altos: Add ao_lco_two.c; alternate LCO interface code

The LCO interface is likely to end up very device specific as the
interactions depends on the input devices. Here's a version for
TeleLCOTwo, which has two arming switches and a firing button.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/drivers/ao_lco_two.c b/src/drivers/ao_lco_two.c
new file mode 100644 (file)
index 0000000..0fd8e36
--- /dev/null
+++ b/src/drivers/ao_lco_two.c
@@ -0,0 +1,271 @@
+/*
+ * 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_lco_func.h>
+#include <ao_radio_cmac.h>
+
+#define DEBUG  1
+
+#if DEBUG
+static uint8_t ao_lco_debug;
+#define DEBUG_EVENT    1
+#define DEBUG_STATUS   2
+#define PRINTD(l, ...) do { if (!(ao_lco_debug & l)) break; printf ("\r%5u %s: ", ao_tick_count, __func__); printf(__VA_ARGS__); flush(); } while(0)
+#else
+#define PRINTD(l,...) 
+#endif
+
+#define AO_LCO_VALID_LAST      1
+#define AO_LCO_VALID_EVER      2
+
+static uint8_t ao_lco_selected;
+static uint8_t ao_lco_valid;
+static uint8_t ao_lco_channels;
+static uint16_t        ao_lco_tick_offset;
+
+/* UI values */
+static uint8_t ao_lco_armed;
+static uint8_t ao_lco_firing;
+static uint8_t ao_lco_fire_down;
+
+#define ao_lco_box     (ao_config.pad_box)
+
+static struct ao_pad_query     ao_pad_query;
+
+#define MASK_SIZE(n)   (((n) + 7) >> 3)
+#define MASK_ID(n)     ((n) >> 3)
+#define MASK_SHIFT(n)  ((n) & 7)
+
+static void
+ao_lco_set_armed(int pad, int armed)
+{
+       uint8_t bit = (1 << pad);
+
+       if (armed) {
+               ao_lco_selected |= bit;
+               ao_lco_armed |= bit;
+       } else {
+               ao_lco_selected &= ~bit;
+               ao_lco_armed &= ~bit;
+       }
+       PRINTD(DEBUG_EVENT, "pad %d bit 0x%x armed %d ao_lco_selected 0x%x ao_lco_armed 0x%x\n",
+              pad, bit, armed, ao_lco_selected, ao_lco_armed);
+       ao_wakeup(&ao_lco_armed);
+}
+
+static void
+ao_lco_input(void)
+{
+       static struct ao_event  event;
+
+       for (;;) {
+               ao_event_get(&event);
+               PRINTD(DEBUG_EVENT, "event type %d unit %d value %d\n",
+                      event.type, event.unit, event.value);
+               switch (event.type) {
+               case AO_EVENT_BUTTON:
+                       switch (event.unit) {
+                       case AO_BUTTON_ARM_0:
+                               ao_lco_set_armed(0, event.value);
+                               break;
+#if AO_BUTTON_ARM_NUM > 1
+                       case AO_BUTTON_ARM_1:
+                               ao_lco_set_armed(1, event.value);
+                               break;
+#endif
+                       case AO_BUTTON_FIRE:
+                               if (ao_lco_armed) {
+                                       ao_lco_fire_down = 0;
+                                       ao_lco_firing = event.value;
+                                       PRINTD(DEBUG_EVENT, "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 uint8_t
+ao_lco_get_channels(void)
+{
+       int8_t                  r;
+
+       r = ao_lco_query(ao_lco_box, &ao_pad_query, &ao_lco_tick_offset);
+       if (r == AO_RADIO_CMAC_OK) {
+               ao_lco_channels = ao_pad_query.channels;
+               ao_lco_valid = AO_LCO_VALID_LAST | AO_LCO_VALID_EVER;
+       } else
+               ao_lco_valid &= ~AO_LCO_VALID_LAST;
+       PRINTD(DEBUG_STATUS, "ao_lco_get_channels() rssi %d valid %d ret %d offset %d\n", ao_radio_cmac_rssi, ao_lco_valid, r, ao_lco_tick_offset);
+       ao_wakeup(&ao_pad_query);
+       return ao_lco_valid;
+}
+
+static void
+ao_lco_igniter_status(void)
+{
+       uint8_t         c;
+       uint8_t         t = 0;
+
+       for (;;) {
+               ao_sleep(&ao_pad_query);
+               PRINTD(DEBUG_STATUS, "RSSI %d VALID %d\n", ao_radio_cmac_rssi, ao_lco_valid);
+               if (!(ao_lco_valid & 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;
+                       PRINTD(DEBUG_STATUS, "\tchannel %d status %d\n", c, status);
+                       if (status == AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN)
+                               ao_led_on(continuity_led[c]);
+                       else
+                               ao_led_off(continuity_led[c]);
+               }
+               t = 1-t;
+       }
+}
+
+static void
+ao_lco_arm_warn(void)
+{
+       int     i;
+       for (;;) {
+               while (!ao_lco_armed)
+                       ao_sleep(&ao_lco_armed);
+               for (i = 0; i < ao_lco_armed; i++) {
+                       ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(100));
+                       ao_delay(AO_MS_TO_TICKS(100));
+               }
+               ao_delay(AO_MS_TO_TICKS(300));
+       }
+}
+
+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_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");
+       ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
+       for (;;) {
+               PRINTD(DEBUG_STATUS, "monitor armed %d firing %d\n",
+                      ao_lco_armed, ao_lco_firing);
+
+               if (ao_lco_armed && ao_lco_firing) {
+                       ao_lco_ignite();
+               } else {
+                       ao_lco_get_channels();
+                       if (ao_lco_armed) {
+                               if (ao_lco_selected) {
+                                       PRINTD(DEBUG_STATUS, "Arming pads %x\n",
+                                              ao_lco_selected);
+                                       if (ao_lco_valid & AO_LCO_VALID_EVER) {
+                                               ao_lco_arm(ao_lco_box, ao_lco_selected, ao_lco_tick_offset);
+                                               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);
+       }
+}
+
+#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;
+}
+
+__code struct ao_cmds ao_lco_cmds[] = {
+       { ao_lco_set_debug,     "D <0 off, 1 on>\0Debug" },
+       { 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
+}