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 (WIDTH - 6)
68 #define AO_LCO_DRAG_RACE_START_TIME AO_SEC_TO_TICKS(5)
69 #define AO_LCO_DRAG_RACE_STOP_TIME AO_SEC_TO_TICKS(2)
72 static uint8_t ao_lco_select_mode;
73 static uint8_t ao_lco_event_debug;
75 #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)
76 #define AO_LCO_SELECT_PAD 0
77 #define AO_LCO_SELECT_BOX 1
79 static uint8_t ao_lco_display_mutex;
82 _ao_lco_show_pad(uint8_t pad)
86 snprintf(str, sizeof(str), "%d", pad);
87 ao_text(&fb, &BIG_FONT, PAD_X, VALUE_Y, str, AO_BLACK, AO_COPY);
88 ao_text(&fb, &SMALL_FONT, PAD_LABEL_X, LABEL_Y, "Pad", AO_BLACK, AO_COPY);
92 _ao_lco_show_box(uint16_t box)
96 snprintf(str, sizeof(str), "%2d", box);
97 ao_text(&fb, &BIG_FONT, BOX_X, VALUE_Y, str, AO_BLACK, AO_COPY);
98 ao_text(&fb, &SMALL_FONT, BOX_LABEL_X, LABEL_Y, "Box", AO_BLACK, AO_COPY);
102 _ao_lco_show_voltage(uint16_t decivolts, const char *label)
106 PRINTD("voltage %d\n", decivolts);
107 snprintf(str, sizeof(str), "%2d.%d", decivolts / 10, decivolts % 10);
108 ao_text(&fb, &VOLT_FONT, BOX_X, VALUE_Y, str, AO_BLACK, AO_COPY);
109 ao_text(&fb, &SMALL_FONT, VOLT_LABEL_X, LABEL_Y, label, AO_BLACK, AO_COPY);
113 _ao_lco_batt_voltage(void)
115 struct ao_adc packet;
118 ao_adc_single_get(&packet);
119 decivolt = ao_battery_decivolt(packet.v_batt);
120 _ao_lco_show_voltage((uint16_t) decivolt, "LCO battery");
121 ao_st7565_update(&fb);
127 ao_mutex_get(&ao_lco_display_mutex);
128 ao_rect(&fb, 0, 0, WIDTH, HEIGHT, AO_WHITE, AO_COPY);
129 if (ao_lco_box == AO_LCO_LCO_VOLTAGE) {
130 _ao_lco_batt_voltage();
131 } else if (ao_lco_pad == AO_LCO_PAD_VOLTAGE) {
132 _ao_lco_show_voltage(ao_pad_query.battery, "Pad battery");
134 _ao_lco_show_pad(ao_lco_pad);
135 _ao_lco_show_box(ao_lco_box);
136 ao_rect(&fb, SEP_X, 0, 2, HEIGHT, AO_BLACK, AO_COPY);
138 ao_st7565_update(&fb);
139 ao_mutex_put(&ao_lco_display_mutex);
143 ao_lco_set_select(void)
146 ao_led_off(AO_LED_PAD);
147 ao_led_off(AO_LED_BOX);
149 switch (ao_lco_select_mode) {
150 case AO_LCO_SELECT_PAD:
151 ao_led_off(AO_LED_BOX);
152 ao_led_on(AO_LED_PAD);
154 case AO_LCO_SELECT_BOX:
155 ao_led_off(AO_LED_PAD);
156 ao_led_on(AO_LED_BOX);
165 static struct ao_task ao_lco_drag_task;
168 ao_lco_drag_monitor(void)
170 AO_TICK_TYPE delay = ~0UL;
173 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
175 PRINTD("Drag monitor count %d delay %lu\n", ao_lco_drag_beep_count, (unsigned long) delay);
176 if (delay == (AO_TICK_TYPE) ~0)
177 ao_sleep(&ao_lco_drag_beep_count);
179 ao_sleep_for(&ao_lco_drag_beep_count, delay);
183 delay = ao_lco_drag_warn_check(now, delay);
184 delay = ao_lco_drag_beep_check(now, delay);
191 static struct ao_event event;
194 ao_event_get(&event);
195 PRINTE("event type %d unit %d value %ld\n",
196 event.type, event.unit, (long) event.value);
197 switch (event.type) {
198 case AO_EVENT_QUADRATURE:
199 switch (event.unit) {
200 case AO_QUADRATURE_SELECT:
202 switch (ao_lco_select_mode) {
203 case AO_LCO_SELECT_PAD:
204 ao_lco_step_pad((int8_t) event.value);
206 case AO_LCO_SELECT_BOX:
207 ao_lco_step_box((int8_t) event.value);
216 case AO_EVENT_BUTTON:
217 switch (event.unit) {
219 ao_lco_set_armed((uint8_t) event.value);
224 ao_lco_set_firing((uint8_t) event.value);
226 case AO_BUTTON_DRAG_SELECT:
228 ao_lco_toggle_drag();
230 case AO_BUTTON_DRAG_MODE:
232 ao_lco_drag_enable();
234 ao_lco_drag_disable();
236 case AO_BUTTON_ENCODER_SELECT:
239 ao_lco_select_mode = 1 - ao_lco_select_mode;
251 * Light up everything for a second at power on to let the user
252 * visually inspect the system for correct operation
255 ao_lco_display_test(void)
257 ao_led_on(AO_LEDS_AVAILABLE);
258 ao_rect(&fb, 0, 0, WIDTH, HEIGHT, AO_BLACK, AO_COPY);
259 ao_st7565_update(&fb);
260 ao_delay(AO_MS_TO_TICKS(250));
261 ao_led_off(AO_LEDS_AVAILABLE);
264 static struct ao_task ao_lco_input_task;
265 static struct ao_task ao_lco_monitor_task;
266 static struct ao_task ao_lco_arm_warn_task;
267 static struct ao_task ao_lco_igniter_status_task;
269 static int16_t found_x;
272 ao_lco_search_start(void)
274 ao_rect(&fb, 0, 0, WIDTH, HEIGHT, AO_WHITE, AO_COPY);
275 ao_logo(&fb, &logo_transform, &LOGO_FONT, AO_BLACK, AO_COPY);
280 ao_lco_search_box_check(uint16_t box)
283 ao_rect(&fb, SCAN_X, SCAN_Y, (int16_t) box, SCAN_HEIGHT, AO_BLACK, AO_COPY);
284 ao_st7565_update(&fb);
288 ao_lco_search_box_present(uint16_t box)
291 if (found_x < FOUND_WIDTH)
293 snprintf(str, sizeof(str), "%s%02u", found_x ? ", " : "", box);
294 found_x = ao_text(&fb, &TINY_FONT, found_x, FOUND_Y, str, AO_BLACK, AO_COPY);
299 ao_lco_search_done(void)
301 ao_st7565_update(&fb);
305 ao_lco_batt_voltage(void)
307 ao_rect(&fb, 0, 0, WIDTH, HEIGHT, AO_WHITE, AO_COPY);
308 _ao_lco_batt_voltage();
309 ao_st7565_update(&fb);
310 ao_delay(AO_MS_TO_TICKS(1000));
316 ao_lco_display_test();
317 ao_lco_batt_voltage();
319 ao_add_task(&ao_lco_input_task, ao_lco_input, "lco input");
320 ao_add_task(&ao_lco_arm_warn_task, ao_lco_arm_warn, "lco arm warn");
321 ao_add_task(&ao_lco_igniter_status_task, ao_lco_igniter_status, "lco igniter status");
322 ao_add_task(&ao_lco_drag_task, ao_lco_drag_monitor, "drag race");
328 ao_lco_set_debug(void)
330 uint32_t r = ao_cmd_decimal();
331 if (ao_cmd_status == ao_cmd_success){
332 ao_lco_debug = r & 1;
333 ao_lco_event_debug = (r & 2) >> 1;
337 const struct ao_cmds ao_lco_cmds[] = {
338 { ao_lco_set_debug, "D <0 off, 1 on>\0Debug" },
339 { ao_lco_search, "s\0Search for pad boxes" },
340 { ao_lco_pretend, "p\0Pretend there are lots of pad boxes" },
348 ao_add_task(&ao_lco_monitor_task, ao_lco_main, "lco monitor");
350 ao_cmd_register(&ao_lco_cmds[0]);