git.gag.com Git - fw/altos/blob - src/drivers/ao_lco_bits.c

   1 /*
   2  * Copyright © 2018 Keith Packard <keithp@keithp.com>
   3  *
   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.
   8  *
   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.
  13  */
  14
  15 #include <ao.h>
  16 #include <ao_lco.h>
  17 #include <ao_radio_cmac.h>
  18
  19 uint8_t         ao_lco_debug;
  20
  21 uint8_t         ao_lco_pad;
  22 uint16_t        ao_lco_box;
  23
  24 uint8_t         ao_lco_armed;                                   /* arm active */
  25 uint8_t         ao_lco_firing;                                  /* fire active */
  26
  27 uint16_t        ao_lco_min_box, ao_lco_max_box;
  28
  29 uint8_t         ao_lco_pretending;
  30
  31 #if AO_LCO_DRAG
  32 uint8_t         ao_lco_drag_race;
  33 #endif
  34
  35 struct ao_pad_query     ao_pad_query;                           /* latest query response */
  36
  37 static uint8_t          ao_lco_channels[AO_PAD_MAX_BOXES];      /* pad channels available on each box */
  38 static uint16_t         ao_lco_tick_offset[AO_PAD_MAX_BOXES];   /* 16 bit offset from local to remote tick count */
  39 static uint8_t          ao_lco_selected[AO_PAD_MAX_BOXES];      /* pads selected to fire */
  40
  41 #define AO_LCO_VALID_LAST       1
  42 #define AO_LCO_VALID_EVER       2
  43
  44 static uint8_t          ao_lco_valid[AO_PAD_MAX_BOXES];         /* AO_LCO_VALID bits per box */
  45
  46 static const AO_LED_TYPE        continuity_led[AO_LED_CONTINUITY_NUM] = {
  47 #ifdef AO_LED_CONTINUITY_0
  48         AO_LED_CONTINUITY_0,
  49 #endif
  50 #ifdef AO_LED_CONTINUITY_1
  51         AO_LED_CONTINUITY_1,
  52 #endif
  53 #ifdef AO_LED_CONTINUITY_2
  54         AO_LED_CONTINUITY_2,
  55 #endif
  56 #ifdef AO_LED_CONTINUITY_3
  57         AO_LED_CONTINUITY_3,
  58 #endif
  59 #ifdef AO_LED_CONTINUITY_4
  60         AO_LED_CONTINUITY_4,
  61 #endif
  62 #ifdef AO_LED_CONTINUITY_5
  63         AO_LED_CONTINUITY_5,
  64 #endif
  65 #ifdef AO_LED_CONTINUITY_6
  66         AO_LED_CONTINUITY_6,
  67 #endif
  68 #ifdef AO_LED_CONTINUITY_7
  69         AO_LED_CONTINUITY_7,
  70 #endif
  71 };
  72
  73 /* Set LEDs to match remote box status */
  74 void
  75 ao_lco_igniter_status(void)
  76 {
  77         uint8_t         c;
  78         uint8_t         t = 0;
  79
  80         for (;;) {
  81 #if AO_LCO_DRAG
  82                 if (ao_lco_drag_race)
  83                         ao_sleep_for(&ao_pad_query, AO_MS_TO_TICKS(50));
  84                 else
  85 #endif
  86                         ao_sleep(&ao_pad_query);
  87                 PRINTD("RSSI %d VALID %d\n", ao_radio_cmac_rssi, ao_lco_valid[ao_lco_box]);
  88                 if (!(ao_lco_valid[ao_lco_box] & AO_LCO_VALID_LAST)) {
  89                         ao_led_on(AO_LED_RED);
  90                         ao_led_off(AO_LED_GREEN|AO_LED_AMBER);
  91                         continue;
  92                 }
  93                 if (ao_radio_cmac_rssi < -90) {
  94                         ao_led_on(AO_LED_AMBER);
  95                         ao_led_off(AO_LED_RED|AO_LED_GREEN);
  96                 } else {
  97                         ao_led_on(AO_LED_GREEN);
  98                         ao_led_off(AO_LED_RED|AO_LED_AMBER);
  99                 }
 100                 if (ao_pad_query.arm_status)
 101                         ao_led_on(AO_LED_REMOTE_ARM);
 102                 else
 103                         ao_led_off(AO_LED_REMOTE_ARM);
 104
 105                 for (c = 0; c < AO_LED_CONTINUITY_NUM; c++) {
 106                         uint8_t status;
 107
 108                         if (ao_pad_query.channels & (1 << c))
 109                                 status = ao_pad_query.igniter_status[c];
 110                         else
 111                                 status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
 112
 113 #if AO_LCO_DRAG
 114                         if (ao_lco_drag_race && (ao_lco_selected[ao_lco_box] & (1 << c))) {
 115                                 uint8_t on = 0;
 116                                 if (status == AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN) {
 117                                         if (t)
 118                                                 on = 1;
 119                                 } else {
 120                                         if (t == 1)
 121                                                 on = 1;
 122                                 }
 123                                 if (on)
 124                                         ao_led_on(continuity_led[c]);
 125                                 else
 126                                         ao_led_off(continuity_led[c]);
 127                         } else
 128 #endif
 129                         {
 130                                 if (status == AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN)
 131                                         ao_led_on(continuity_led[c]);
 132                                 else
 133                                         ao_led_off(continuity_led[c]);
 134                         }
 135                 }
 136                 t = (t + 1) & 3;
 137         }
 138 }
 139
 140 uint8_t
 141 ao_lco_pad_present(uint16_t box, uint8_t pad)
 142 {
 143         /* voltage measurement is always valid */
 144         if (pad == AO_LCO_PAD_VOLTAGE)
 145                 return 1;
 146         if (!ao_lco_channels[box])
 147                 return 0;
 148         if (pad > AO_PAD_MAX_CHANNELS)
 149                 return 0;
 150         return (ao_lco_channels[box] >> (pad - 1)) & 1;
 151 }
 152
 153 uint8_t
 154 ao_lco_pad_first(uint16_t box)
 155 {
 156         uint8_t pad;
 157
 158         for (pad = 1; pad <= AO_PAD_MAX_CHANNELS; pad++)
 159                 if (ao_lco_pad_present(box, pad))
 160                         return pad;
 161         return 0;
 162 }
 163
 164 static uint8_t
 165 ao_lco_get_channels(uint16_t box, struct ao_pad_query *query)
 166 {
 167         int8_t                  r;
 168
 169         r = ao_lco_query(box, query, &ao_lco_tick_offset[box]);
 170         if (r == AO_RADIO_CMAC_OK) {
 171                 ao_lco_channels[box] = query->channels;
 172                 ao_lco_valid[box] = AO_LCO_VALID_LAST | AO_LCO_VALID_EVER;
 173         } else
 174                 ao_lco_valid[box] &= (uint8_t) ~AO_LCO_VALID_LAST;
 175         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]);
 176         ao_wakeup(&ao_pad_query);
 177         return ao_lco_valid[box];
 178 }
 179
 180 void
 181 ao_lco_update(void)
 182 {
 183         uint8_t previous_valid = ao_lco_valid[ao_lco_box];
 184
 185         if (ao_lco_get_channels(ao_lco_box, &ao_pad_query) & AO_LCO_VALID_LAST) {
 186                 if (!(previous_valid & AO_LCO_VALID_EVER)) {
 187                         if (ao_lco_pad != AO_LCO_PAD_VOLTAGE)
 188                                 ao_lco_set_pad(ao_lco_pad_first(ao_lco_box));
 189                 }
 190                 if (ao_lco_pad == AO_LCO_PAD_VOLTAGE)
 191                         ao_lco_show();
 192         }
 193 }
 194
 195 uint8_t ao_lco_box_mask[AO_LCO_MASK_SIZE(AO_PAD_MAX_BOXES)];
 196
 197 static void
 198 ao_lco_box_reset_present(void)
 199 {
 200         ao_lco_min_box = 0xff;
 201         ao_lco_max_box = 0x00;
 202         ao_lco_pretending = 0;
 203         memset(ao_lco_box_mask, 0, sizeof (ao_lco_box_mask));
 204 }
 205
 206 static void
 207 ao_lco_box_set_present(uint16_t box)
 208 {
 209         if (box < ao_lco_min_box)
 210                 ao_lco_min_box = box;
 211         if (box > ao_lco_max_box)
 212                 ao_lco_max_box = box;
 213         if (box >= AO_PAD_MAX_BOXES)
 214                 return;
 215         ao_lco_box_mask[AO_LCO_MASK_ID(box)] |= (uint8_t) (1 << AO_LCO_MASK_SHIFT(box));
 216 }
 217
 218 void
 219 ao_lco_set_pad(uint8_t new_pad)
 220 {
 221         ao_lco_pad = new_pad;
 222         ao_lco_show();
 223 }
 224
 225 void
 226 ao_lco_set_box(uint16_t new_box)
 227 {
 228         ao_lco_box = new_box;
 229         if (ao_lco_box < AO_PAD_MAX_BOXES) {
 230                 if (ao_lco_pretending)
 231                         ao_lco_channels[ao_lco_box] = 0xff;
 232                 else
 233                         ao_lco_channels[ao_lco_box] = 0;
 234         }
 235         ao_lco_pad = 1;
 236         ao_lco_show();
 237 }
 238
 239 void
 240 ao_lco_step_pad(int8_t dir)
 241 {
 242         int16_t new_pad;
 243
 244         new_pad = (int16_t) ao_lco_pad;
 245         do {
 246                 new_pad += dir;
 247                 if (new_pad > AO_PAD_MAX_CHANNELS)
 248                         new_pad = AO_LCO_PAD_VOLTAGE;
 249                 if (new_pad < 0)
 250                         new_pad = AO_PAD_MAX_CHANNELS;
 251                 if (new_pad == ao_lco_pad)
 252                         break;
 253         } while (!ao_lco_pad_present(ao_lco_box, (uint8_t) new_pad));
 254         ao_lco_set_pad((uint8_t) new_pad);
 255 }
 256
 257 void
 258 ao_lco_set_armed(uint8_t armed)
 259 {
 260         ao_lco_armed = armed;
 261         PRINTD("Armed %d\n", ao_lco_armed);
 262         if (ao_lco_armed) {
 263 #if AO_LCO_DRAG
 264                 if (ao_lco_drag_race) {
 265                         uint16_t        box;
 266
 267                         for (box = ao_lco_min_box; box <= ao_lco_max_box; box++)
 268                                 if (ao_lco_selected[box])
 269                                         break;
 270                         if (box > ao_lco_max_box)
 271                                 ao_lco_armed = 0;
 272                 } else
 273 #endif
 274                 {
 275                         memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
 276                         if (ao_lco_pad != 0)
 277                                 ao_lco_selected[ao_lco_box] = (1 << (ao_lco_pad - 1));
 278                         else
 279                                 ao_lco_armed = 0;
 280                 }
 281         }
 282         ao_wakeup(&ao_lco_armed);
 283 }
 284
 285 void
 286 ao_lco_set_firing(uint8_t firing)
 287 {
 288         ao_lco_firing = firing;
 289         PRINTD("Firing %d\n", ao_lco_firing);
 290         ao_wakeup(&ao_lco_armed);
 291 }
 292
 293 void
 294 ao_lco_search(void)
 295 {
 296         int8_t          r;
 297         int8_t          try;
 298         uint16_t        box;
 299         uint16_t        boxes = 0;
 300
 301         ao_lco_box_reset_present();
 302         ao_lco_show_box(0);
 303         ao_lco_show_pad(0);
 304         for (box = 0; box < AO_PAD_MAX_BOXES; box++) {
 305                 if ((box % 10) == 0)
 306                         ao_lco_show_box(box);
 307                 for (try = 0; try < 3; try++) {
 308                         ao_lco_tick_offset[box] = 0;
 309                         r = ao_lco_query(box, &ao_pad_query, &ao_lco_tick_offset[box]);
 310                         PRINTD("box %d result %d offset %d\n", box, r, ao_lco_tick_offset[box]);
 311                         if (r == AO_RADIO_CMAC_OK) {
 312                                 ++boxes;
 313                                 ao_lco_box_set_present(box);
 314                                 ao_lco_show_pad((uint8_t) (boxes % 10));
 315                                 ao_delay(AO_MS_TO_TICKS(30));
 316                                 break;
 317                         }
 318                 }
 319         }
 320         if (ao_lco_min_box <= ao_lco_max_box)
 321                 ao_lco_box = ao_lco_min_box;
 322         else
 323                 ao_lco_min_box = ao_lco_max_box = ao_lco_box = 0;
 324         memset(ao_lco_valid, 0, sizeof (ao_lco_valid));
 325         memset(ao_lco_channels, 0, sizeof (ao_lco_channels));
 326         ao_lco_set_box(ao_lco_min_box);
 327 }
 328
 329 void
 330 ao_lco_pretend(void)
 331 {
 332         uint16_t box;
 333
 334         ao_lco_pretending = 1;
 335         ao_lco_min_box = 1;
 336         ao_lco_max_box = AO_PAD_MAX_BOXES - 1;
 337         for (box = ao_lco_min_box; box < ao_lco_max_box; box++)
 338                 ao_lco_box_set_present(box);
 339         ao_lco_box = ao_lco_min_box;
 340         memset(ao_lco_valid, 0, sizeof (ao_lco_valid));
 341         memset(ao_lco_channels, 0, sizeof (ao_lco_channels));
 342         ao_lco_set_box(ao_lco_min_box);
 343 }
 344
 345 void
 346 ao_lco_monitor(void)
 347 {
 348         AO_TICK_TYPE            delay;
 349         uint16_t                box;
 350
 351         for (;;) {
 352                 PRINTD("monitor armed %d firing %d\n",
 353                        ao_lco_armed, ao_lco_firing);
 354
 355                 if (ao_lco_armed && ao_lco_firing) {
 356                         ao_lco_ignite(AO_PAD_FIRE);
 357                 } else {
 358                         ao_lco_update();
 359                         if (ao_lco_armed) {
 360                                 for (box = ao_lco_min_box; box <= ao_lco_max_box; box++) {
 361                                         if (ao_lco_selected[box]) {
 362                                                 PRINTD("Arming box %d pads %x\n",
 363                                                        box, ao_lco_selected[box]);
 364                                                 if (ao_lco_valid[box] & AO_LCO_VALID_EVER) {
 365                                                         ao_lco_arm(box, ao_lco_selected[box], ao_lco_tick_offset[box]);
 366                                                         ao_delay(AO_MS_TO_TICKS(10));
 367                                                 }
 368                                         }
 369                                 }
 370                         }
 371                 }
 372                 if (ao_lco_armed && ao_lco_firing)
 373                         delay = AO_MS_TO_TICKS(100);
 374                 else
 375                         delay = AO_SEC_TO_TICKS(1);
 376                 ao_sleep_for(&ao_lco_armed, delay);
 377         }
 378 }
 379
 380 #if AO_LCO_DRAG
 381
 382 uint8_t                 ao_lco_drag_beep_count;
 383 static uint8_t          ao_lco_drag_beep_on;
 384 static AO_TICK_TYPE     ao_lco_drag_beep_time;
 385 static AO_TICK_TYPE     ao_lco_drag_warn_time;
 386
 387 #define AO_LCO_DRAG_BEEP_TIME   AO_MS_TO_TICKS(50)
 388 #define AO_LCO_DRAG_WARN_TIME   AO_SEC_TO_TICKS(5)
 389
 390 /* Request 'beeps' additional drag race beeps */
 391 void
 392 ao_lco_drag_add_beeps(uint8_t beeps)
 393 {
 394         PRINTD("beep %d\n", beeps);
 395         if (ao_lco_drag_beep_count == 0)
 396                 ao_lco_drag_beep_time = ao_time();
 397         ao_lco_drag_beep_count += beeps;
 398         ao_wakeup(&ao_lco_drag_beep_count);
 399 }
 400
 401 /* Toggle current pad in drag set */
 402 void
 403 ao_lco_toggle_drag(void)
 404 {
 405         if (ao_lco_drag_race && ao_lco_pad != AO_LCO_PAD_VOLTAGE) {
 406                 ao_lco_selected[ao_lco_box] ^= (uint8_t) (1 << (ao_lco_pad - 1));
 407                 PRINTD("Toggle box %d pad %d (pads now %x) to drag race\n",
 408                        ao_lco_pad, ao_lco_box, ao_lco_selected[ao_lco_box]);
 409                 ao_lco_drag_add_beeps(ao_lco_pad);
 410         }
 411 }
 412
 413 /* Check whether it's time to change the beeper status, then either
 414  * turn it on or off as necessary and bump the remaining beep counts
 415  */
 416
 417 AO_TICK_TYPE
 418 ao_lco_drag_beep_check(AO_TICK_TYPE now, AO_TICK_TYPE delay)
 419 {
 420         PRINTD("beep check count %d delta %ld\n",
 421                ao_lco_drag_beep_count,
 422                (long) (AO_TICK_SIGNED) (now - ao_lco_drag_beep_time));
 423         if (ao_lco_drag_beep_count) {
 424                 if ((AO_TICK_SIGNED) (now - ao_lco_drag_beep_time) >= 0) {
 425                         if (ao_lco_drag_beep_on) {
 426                                 ao_beep(0);
 427                                 PRINTD("beep stop\n");
 428                                 ao_lco_drag_beep_on = 0;
 429                                 if (ao_lco_drag_beep_count) {
 430                                         --ao_lco_drag_beep_count;
 431                                         if (ao_lco_drag_beep_count)
 432                                                 ao_lco_drag_beep_time = now + AO_LCO_DRAG_BEEP_TIME;
 433                                 }
 434                         } else {
 435                                 ao_beep(AO_BEEP_HIGH);
 436                                 PRINTD("beep start\n");
 437                                 ao_lco_drag_beep_on = 1;
 438                                 ao_lco_drag_beep_time = now + AO_LCO_DRAG_BEEP_TIME;
 439                         }
 440                 }
 441         }
 442
 443         if (ao_lco_drag_beep_count) {
 444                 AO_TICK_TYPE beep_delay = 0;
 445
 446                 if (ao_lco_drag_beep_time > now)
 447                         beep_delay = ao_lco_drag_beep_time - now;
 448
 449                 if (delay > beep_delay)
 450                         delay = beep_delay;
 451         }
 452         return delay;
 453 }
 454
 455 void
 456 ao_lco_drag_enable(void)
 457 {
 458         if (!ao_lco_drag_race) {
 459                 PRINTD("Drag enable\n");
 460                 ao_lco_drag_race = 1;
 461                 memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
 462 #ifdef AO_LED_DRAG
 463                 ao_led_on(AO_LED_DRAG);
 464 #endif
 465                 ao_lco_drag_add_beeps(5);
 466                 ao_lco_show();
 467         }
 468 }
 469
 470 void
 471 ao_lco_drag_disable(void)
 472 {
 473         if (ao_lco_drag_race) {
 474                 PRINTD("Drag disable\n");
 475                 ao_lco_drag_race = 0;
 476 #ifdef AO_LED_DRAG
 477                 ao_led_off(AO_LED_DRAG);
 478 #endif
 479                 memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
 480                 ao_lco_drag_add_beeps(2);
 481                 ao_lco_show();
 482         }
 483 }
 484
 485 /* add a beep if it's time to warn the user that drag race mode is
 486  * active
 487  */
 488
 489 AO_TICK_TYPE
 490 ao_lco_drag_warn_check(AO_TICK_TYPE now, AO_TICK_TYPE delay)
 491 {
 492         if (ao_lco_drag_race) {
 493                 AO_TICK_TYPE    warn_delay;
 494
 495                 if ((AO_TICK_SIGNED) (now - ao_lco_drag_warn_time) >= 0) {
 496                         ao_lco_drag_add_beeps(1);
 497                         ao_lco_drag_warn_time = now + AO_LCO_DRAG_WARN_TIME;
 498                 }
 499                 warn_delay = ao_lco_drag_warn_time - now;
 500                 if (delay > warn_delay)
 501                         delay = warn_delay;
 502         }
 503         return delay;
 504 }
 505 #endif /* AO_LCO_DRAG */
 506
 507 /* task function for beeping while arm is active */
 508 void
 509 ao_lco_arm_warn(void)
 510 {
 511         for (;;) {
 512                 while (!ao_lco_armed) {
 513 #ifdef AO_LED_FIRE
 514                         ao_led_off(AO_LED_FIRE);
 515 #endif
 516                         ao_sleep(&ao_lco_armed);
 517                 }
 518 #ifdef AO_LED_FIRE
 519                 ao_led_on(AO_LED_FIRE);
 520 #endif
 521                 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
 522                 ao_delay(AO_MS_TO_TICKS(200));
 523         }
 524 }