+/*
+ * 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; 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.
+ *
+ * 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
+
+#define AO_LCO_DRAG_RACE_START_TIME AO_SEC_TO_TICKS(5)
+#define AO_LCO_DRAG_RACE_STOP_TIME AO_SEC_TO_TICKS(2)
+
+#define AO_LCO_VALID_LAST 1
+#define AO_LCO_VALID_EVER 2
+
+static uint8_t ao_lco_min_box, ao_lco_max_box;
+static uint8_t ao_lco_selected[AO_PAD_MAX_BOXES];
+static uint8_t ao_lco_valid[AO_PAD_MAX_BOXES];
+static uint8_t ao_lco_channels[AO_PAD_MAX_BOXES];
+static uint16_t ao_lco_tick_offset[AO_PAD_MAX_BOXES];
+
+/* UI values */
+static uint8_t ao_lco_armed;
+static uint8_t ao_lco_firing;
+static uint16_t ao_lco_fire_tick;
+static uint8_t ao_lco_fire_down;
+static uint8_t ao_lco_drag_race;
+static uint8_t ao_lco_pad;
+static int16_t ao_lco_box;
+static uint8_t ao_lco_select_mode;
+#define AO_LCO_SELECT_PAD 0
+#define AO_LCO_SELECT_BOX 1
+#define AO_LCO_SELECT_NONE 2
+
+static struct ao_pad_query ao_pad_query;
+
+static uint8_t ao_lco_display_mutex;
+
+static void
+ao_lco_set_pad(uint8_t pad)
+{
+ ao_mutex_get(&ao_lco_display_mutex);
+ ao_seven_segment_set(AO_LCO_PAD_DIGIT, pad | (ao_lco_drag_race << 4));
+ ao_mutex_put(&ao_lco_display_mutex);
+}
+
+#define SEVEN_SEGMENT_d ((0 << 0) | \
+ (0 << 1) | \
+ (1 << 2) | \
+ (1 << 3) | \
+ (1 << 4) | \
+ (1 << 5) | \
+ (1 << 6))
+
+
+#define SEVEN_SEGMENT_r ((0 << 0) | \
+ (0 << 1) | \
+ (0 << 2) | \
+ (1 << 3) | \
+ (1 << 4) | \
+ (0 << 5) | \
+ (0 << 6))
+
+static void
+ao_lco_set_box(uint16_t box)
+{
+ ao_mutex_get(&ao_lco_display_mutex);
+ ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, box % 10 | (ao_lco_drag_race << 4));
+ ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, box / 10 | (ao_lco_drag_race << 4));
+ ao_mutex_put(&ao_lco_display_mutex);
+}
+
+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_mutex_get(&ao_lco_display_mutex);
+ 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);
+ ao_mutex_put(&ao_lco_display_mutex);
+}
+
+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(uint16_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 box, uint8_t pad)
+{
+ /* voltage measurement is always valid */
+ if (pad == 0)
+ 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;
+}
+
+static 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 void
+ao_lco_set_select(void)
+{
+ switch (ao_lco_select_mode) {
+ case AO_LCO_SELECT_PAD:
+ ao_led_off(AO_LED_BOX);
+ ao_led_on(AO_LED_PAD);
+ break;
+ case AO_LCO_SELECT_BOX:
+ ao_led_off(AO_LED_PAD);
+ ao_led_on(AO_LED_BOX);
+ break;
+ default:
+ ao_led_off(AO_LED_PAD);
+ ao_led_off(AO_LED_BOX);
+ break;
+ }
+}
+
+static struct ao_task ao_lco_drag_task;
+static uint8_t ao_lco_drag_active;
+static 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)
+
+static void
+ao_lco_drag_beep_start(void)
+{
+ ao_beep(AO_BEEP_HIGH);
+ PRINTD("beep start\n");
+ ao_lco_drag_beep_on = 1;
+ ao_lco_drag_beep_time = ao_time() + AO_LCO_DRAG_BEEP_TIME;
+}
+
+static void
+ao_lco_drag_beep_stop(void)
+{
+ 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 = ao_time() + AO_LCO_DRAG_BEEP_TIME;
+ }
+}
+
+static void
+ao_lco_drag_beep(uint8_t beeps)
+{
+ PRINTD("beep %d\n", beeps);
+ if (!ao_lco_drag_beep_count)
+ ao_lco_drag_beep_start();
+ ao_lco_drag_beep_count += beeps;
+}
+
+static 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_lco_drag_beep_stop();
+ else
+ ao_lco_drag_beep_start();
+ }
+ }
+
+ if (ao_lco_drag_beep_count) {
+ if (delay > AO_LCO_DRAG_BEEP_TIME)
+ delay = AO_LCO_DRAG_BEEP_TIME;
+ }
+ return delay;
+}
+
+static void
+ao_lco_drag_enable(void)
+{
+ PRINTD("Drag enable\n");
+ ao_lco_drag_race = 1;
+ memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
+ ao_lco_drag_beep(5);
+ ao_lco_set_display();
+ ao_lco_fire_down = 0;
+}
+
+static void
+ao_lco_drag_disable(void)
+{
+ PRINTD("Drag disable\n");
+ ao_lco_drag_race = 0;
+ memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
+ ao_lco_drag_beep(2);
+ ao_lco_set_display();
+ ao_lco_fire_down = 0;
+}
+
+static uint16_t
+ao_lco_drag_button_check(uint16_t now, uint16_t delay)
+{
+ uint16_t button_delay = ~0;
+
+ /*
+ * Check to see if the button has been held down long enough
+ * to switch in/out of drag race mode
+ */
+ if (ao_lco_fire_down) {
+ if (ao_lco_drag_race) {
+ if ((int16_t) (now - ao_lco_fire_tick) >= AO_LCO_DRAG_RACE_STOP_TIME)
+ ao_lco_drag_disable();
+ else
+ button_delay = ao_lco_fire_tick + AO_LCO_DRAG_RACE_STOP_TIME - now;
+ } else {
+ if ((int16_t) (now - ao_lco_fire_tick) >= AO_LCO_DRAG_RACE_START_TIME)
+ ao_lco_drag_enable();
+ else
+ button_delay = ao_lco_fire_tick + AO_LCO_DRAG_RACE_START_TIME - now;
+ }
+ if (delay > button_delay)
+ delay = button_delay;
+ }
+ return delay;
+}
+
+static uint16_t
+ao_lco_drag_warn_check(uint16_t now, uint16_t delay)
+{
+ uint16_t warn_delay = ~0;
+
+ if (ao_lco_drag_race) {
+ if ((int16_t) (now - ao_lco_drag_warn_time) >= 0) {
+ ao_lco_drag_beep(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;
+}
+
+static void
+ao_lco_drag_monitor(void)
+{
+ uint16_t delay = ~0;
+ uint16_t now;
+
+ for (;;) {
+ PRINTD("Drag monitor active %d delay %d\n", ao_lco_drag_active, delay);
+ if (delay == (uint16_t) ~0)
+ ao_sleep(&ao_lco_drag_active);
+ else
+ ao_sleep_for(&ao_lco_drag_active, delay);
+
+ delay = ~0;
+ if (!ao_lco_drag_active)
+ continue;
+
+ now = ao_time();
+ delay = ao_lco_drag_button_check(now, delay);
+ delay = ao_lco_drag_warn_check(now, delay);
+ delay = ao_lco_drag_beep_check(now, delay);
+
+ /* check to see if there's anything left to do here */
+ if (!ao_lco_fire_down && !ao_lco_drag_race && !ao_lco_drag_beep_count) {
+ delay = ~0;
+ ao_lco_drag_active = 0;
+ }
+ }
+}
+
+static void
+ao_lco_input(void)
+{
+ static struct ao_event event;
+ int8_t dir, new_pad;
+ int16_t new_box;
+
+ 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_SELECT:
+ if (!ao_lco_armed) {
+ switch (ao_lco_select_mode) {
+ case AO_LCO_SELECT_PAD:
+ 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(ao_lco_box, new_pad));
+ if (new_pad != ao_lco_pad) {
+ ao_lco_pad = new_pad;
+ ao_lco_set_display();
+ }
+ break;
+ case AO_LCO_SELECT_BOX:
+ 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_channels[ao_lco_box] = 0;
+ ao_lco_set_display();
+ }
+ break;
+ default:
+ break;
+ }
+ }
+ 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);
+ 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]) {
+ ao_wakeup(&ao_lco_armed);
+ break;
+ }
+ }
+ } 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);
+ break;
+ case AO_BUTTON_FIRE:
+ if (ao_lco_armed) {
+ ao_lco_fire_down = 0;
+ ao_lco_firing = event.value;
+ PRINTD("Firing %d\n", ao_lco_firing);
+ ao_wakeup(&ao_lco_armed);
+ }
+ break;
+ case AO_BUTTON_DRAG_SELECT:
+ if (ao_lco_drag_race) {
+ if (ao_lco_pad != 0) {
+ 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_beep(ao_lco_pad);
+ }
+ }
+ break;
+ case AO_BUTTON_MODE_SELECT:
+ if (event.value)
+ ao_lco_drag_enable();
+ else
+ ao_lco_drag_disable();
+ break;
+ case AO_BUTTON_SELECT:
+ ao_lco_select_mode++;
+ if (ao_lco_select_mode > AO_LCO_SELECT_NONE)
+ ao_lco_select_mode = AO_LCO_SELECT_PAD;
+ ao_lco_set_select();
+ 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(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];
+}
+
+static 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 != 0)
+ ao_lco_pad = ao_lco_pad_first(ao_lco_box);
+ ao_lco_set_display();
+ }
+ if (ao_lco_pad == 0)
+ ao_lco_set_display();
+ }
+}
+
+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)
+{
+ 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();
+}
+
+static void
+ao_lco_igniter_status(void)
+{
+ uint8_t c;
+ uint8_t t = 0;
+
+ for (;;) {
+ 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_lco_drag_race) {
+ if (ao_lco_selected[ao_lco_box] & (1 << c) && t)
+ ao_led_on(continuity_led[c]);
+ else
+ ao_led_off(continuity_led[c]);
+ } else {
+ 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]);
+ }
+ }
+ t = 1-t;
+ }
+}
+
+static void
+ao_lco_arm_warn(void)
+{
+ for (;;) {
+ while (!ao_lco_armed) {
+ ao_led_off(AO_LED_FIRE);
+ ao_sleep(&ao_lco_armed);
+ }
+ ao_led_on(AO_LED_FIRE);
+ 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;
+ uint8_t box;
+
+ 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");
+ ao_add_task(&ao_lco_drag_task, ao_lco_drag_monitor, "drag race");
+ 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);
+ }
+}
+
+#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
+}