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                 if (ao_lco_box_pseudo(ao_lco_box)) {
  88                         ao_led_off(AO_LED_GREEN|AO_LED_AMBER|AO_LED_RED);
  89                         continue;
  90                 }
  91                 PRINTD("RSSI %d VALID %d\n", ao_radio_cmac_rssi, ao_lco_valid[ao_lco_box]);
  92                 if (!(ao_lco_valid[ao_lco_box] & AO_LCO_VALID_LAST)) {
  93                         ao_led_on(AO_LED_RED);
  94                         ao_led_off(AO_LED_GREEN|AO_LED_AMBER);
  95                         continue;
  96                 }
  97                 if (ao_radio_cmac_rssi < -90) {
  98                         ao_led_on(AO_LED_AMBER);
  99                         ao_led_off(AO_LED_RED|AO_LED_GREEN);
 100                 } else {
 101                         ao_led_on(AO_LED_GREEN);
 102                         ao_led_off(AO_LED_RED|AO_LED_AMBER);
 103                 }
 104                 if (ao_pad_query.arm_status)
 105                         ao_led_on(AO_LED_REMOTE_ARM);
 106                 else
 107                         ao_led_off(AO_LED_REMOTE_ARM);
 108
 109                 for (c = 0; c < AO_LED_CONTINUITY_NUM; c++) {
 110                         uint8_t status;
 111
 112                         if (ao_pad_query.channels & (1 << c))
 113                                 status = ao_pad_query.igniter_status[c];
 114                         else
 115                                 status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
 116
 117 #if AO_LCO_DRAG
 118                         if (ao_lco_drag_race && (ao_lco_selected[ao_lco_box] & (1 << c))) {
 119                                 uint8_t on = 0;
 120                                 if (status == AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN) {
 121                                         if (t)
 122                                                 on = 1;
 123                                 } else {
 124                                         if (t == 1)
 125                                                 on = 1;
 126                                 }
 127                                 if (on)
 128                                         ao_led_on(continuity_led[c]);
 129                                 else
 130                                         ao_led_off(continuity_led[c]);
 131                         } else
 132 #endif
 133                         {
 134                                 if (status == AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN)
 135                                         ao_led_on(continuity_led[c]);
 136                                 else
 137                                         ao_led_off(continuity_led[c]);
 138                         }
 139                 }
 140                 t = (t + 1) & 3;
 141         }
 142 }
 143
 144 uint8_t
 145 ao_lco_pad_present(uint16_t box, uint8_t pad)
 146 {
 147         /* voltage measurement is always valid */
 148         if (pad == AO_LCO_PAD_VOLTAGE)
 149                 return 1;
 150         if (!ao_lco_channels[box])
 151                 return 0;
 152         if (pad > AO_PAD_MAX_CHANNELS)
 153                 return 0;
 154         return (ao_lco_channels[box] >> (pad - 1)) & 1;
 155 }
 156
 157 uint8_t
 158 ao_lco_pad_first(uint16_t box)
 159 {
 160         uint8_t pad;
 161
 162         for (pad = 1; pad <= AO_PAD_MAX_CHANNELS; pad++)
 163                 if (ao_lco_pad_present(box, pad))
 164                         return pad;
 165         return 0;
 166 }
 167
 168 static uint8_t
 169 ao_lco_get_channels(uint16_t box, struct ao_pad_query *query)
 170 {
 171         int8_t                  r;
 172
 173         r = ao_lco_query(box, query, &ao_lco_tick_offset[box]);
 174         if (r == AO_RADIO_CMAC_OK) {
 175                 ao_lco_channels[box] = query->channels;
 176                 ao_lco_valid[box] = AO_LCO_VALID_LAST | AO_LCO_VALID_EVER;
 177         } else
 178                 ao_lco_valid[box] &= (uint8_t) ~AO_LCO_VALID_LAST;
 179         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]);
 180         ao_wakeup(&ao_pad_query);
 181         return ao_lco_valid[box];
 182 }
 183
 184 void
 185 ao_lco_update(void)
 186 {
 187         if (ao_lco_box_pseudo(ao_lco_box)) {
 188                 ao_lco_show();
 189                 return;
 190         }
 191
 192         uint8_t previous_valid = ao_lco_valid[ao_lco_box];
 193
 194         if (ao_lco_get_channels(ao_lco_box, &ao_pad_query) & AO_LCO_VALID_LAST) {
 195                 if (!(previous_valid & AO_LCO_VALID_EVER)) {
 196                         if (ao_lco_pad != AO_LCO_PAD_VOLTAGE)
 197                                 ao_lco_set_pad(ao_lco_pad_first(ao_lco_box));
 198                 }
 199                 if (ao_lco_pad == AO_LCO_PAD_VOLTAGE)
 200                         ao_lco_show();
 201         }
 202 }
 203
 204 uint8_t ao_lco_box_mask[AO_LCO_MASK_SIZE(AO_PAD_MAX_BOXES)];
 205
 206 static void
 207 ao_lco_box_reset_present(void)
 208 {
 209         ao_lco_min_box = 0xff;
 210         ao_lco_max_box = 0x00;
 211         ao_lco_pretending = 0;
 212         memset(ao_lco_box_mask, 0, sizeof (ao_lco_box_mask));
 213 }
 214
 215 static void
 216 ao_lco_box_set_present(uint16_t box)
 217 {
 218         if (box < ao_lco_min_box)
 219                 ao_lco_min_box = box;
 220         if (box > ao_lco_max_box)
 221                 ao_lco_max_box = box;
 222         if (box >= AO_PAD_MAX_BOXES)
 223                 return;
 224         ao_lco_box_mask[AO_LCO_MASK_ID(box)] |= (uint8_t) (1 << AO_LCO_MASK_SHIFT(box));
 225 }
 226
 227 void
 228 ao_lco_set_pad(uint8_t new_pad)
 229 {
 230         ao_lco_pad = new_pad;
 231         ao_lco_show();
 232 }
 233
 234 void
 235 ao_lco_set_box(uint16_t new_box)
 236 {
 237         ao_lco_box = new_box;
 238         if (!ao_lco_box_pseudo(ao_lco_box)) {
 239                 if (ao_lco_box < AO_PAD_MAX_BOXES) {
 240                         if (ao_lco_pretending)
 241                                 ao_lco_channels[ao_lco_box] = 0xff;
 242                         else
 243                                 ao_lco_channels[ao_lco_box] = 0;
 244                 }
 245         }
 246         ao_lco_pad = 1;
 247         ao_lco_show();
 248 }
 249
 250 void
 251 ao_lco_step_pad(int8_t dir)
 252 {
 253         int16_t new_pad;
 254
 255         new_pad = (int16_t) ao_lco_pad;
 256         do {
 257                 new_pad += dir;
 258                 if (new_pad > AO_PAD_MAX_CHANNELS)
 259                         new_pad = AO_LCO_PAD_VOLTAGE;
 260                 if (new_pad < 0)
 261                         new_pad = AO_PAD_MAX_CHANNELS;
 262                 if (new_pad == ao_lco_pad)
 263                         break;
 264         } while (!ao_lco_pad_present(ao_lco_box, (uint8_t) new_pad));
 265         PRINTD("New pad %d\n", new_pad);
 266         ao_lco_set_pad((uint8_t) new_pad);
 267 }
 268
 269 uint8_t
 270 ao_lco_box_present(uint16_t box)
 271 {
 272         if (ao_lco_box_pseudo(box))
 273                 return 1;
 274         if (box >= AO_PAD_MAX_BOXES)
 275                 return 0;
 276         return (ao_lco_box_mask[AO_LCO_MASK_ID(box)] >> AO_LCO_MASK_SHIFT(box)) & 1;
 277 }
 278
 279 void
 280 ao_lco_step_box(int8_t dir)
 281 {
 282         int32_t new_box = (int32_t) ao_lco_box;
 283
 284         do {
 285                 new_box += dir;
 286                 if (new_box > ao_lco_max_box)
 287                         new_box = AO_LCO_BOX_FIRST;
 288                 else if (new_box < 0)
 289                         new_box = ao_lco_max_box;
 290                 if (new_box == ao_lco_box)
 291                         break;
 292         } while (!ao_lco_box_present((uint16_t) new_box));
 293         PRINTD("New box %ld\n", new_box);
 294         ao_lco_set_box((uint16_t) new_box);
 295 }
 296
 297 void
 298 ao_lco_set_armed(uint8_t armed)
 299 {
 300         if (ao_lco_box_pseudo(ao_lco_box))
 301                 return;
 302
 303         ao_lco_armed = armed;
 304         PRINTD("Armed %d\n", ao_lco_armed);
 305         if (ao_lco_armed) {
 306 #if AO_LCO_DRAG
 307                 if (ao_lco_drag_race) {
 308                         uint16_t        box;
 309
 310                         for (box = ao_lco_min_box; box <= ao_lco_max_box; box++)
 311                                 if (ao_lco_selected[box])
 312                                         break;
 313                         if (box > ao_lco_max_box)
 314                                 ao_lco_armed = 0;
 315                 } else
 316 #endif
 317                 {
 318                         memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
 319                         if (ao_lco_pad != 0)
 320                                 ao_lco_selected[ao_lco_box] = (1 << (ao_lco_pad - 1));
 321                         else
 322                                 ao_lco_armed = 0;
 323                 }
 324         }
 325         ao_wakeup(&ao_lco_armed);
 326 }
 327
 328 void
 329 ao_lco_set_firing(uint8_t firing)
 330 {
 331         ao_lco_firing = firing;
 332         PRINTD("Firing %d\n", ao_lco_firing);
 333         ao_wakeup(&ao_lco_armed);
 334 }
 335
 336 void
 337 ao_lco_search(void)
 338 {
 339         int8_t          r;
 340         int8_t          try;
 341         uint16_t        box;
 342         uint16_t        boxes = 0;
 343
 344         ao_lco_box_reset_present();
 345 #ifdef AO_LCO_SEARCH_API
 346         ao_lco_search_start();
 347 #else
 348         ao_lco_show_box(0);
 349         ao_lco_show_pad(0);
 350 #endif
 351         for (box = 0; box < AO_PAD_MAX_BOXES; box++) {
 352 #ifdef AO_LCO_SEARCH_API
 353                 ao_lco_search_box_check(box);
 354 #else
 355                 if ((box % 10) == 0)
 356                         ao_lco_show_box(box);
 357 #endif
 358                 for (try = 0; try < 3; try++) {
 359                         ao_lco_tick_offset[box] = 0;
 360                         r = ao_lco_query(box, &ao_pad_query, &ao_lco_tick_offset[box]);
 361                         PRINTD("box %d result %d offset %d\n", box, r, ao_lco_tick_offset[box]);
 362                         if (r == AO_RADIO_CMAC_OK) {
 363                                 ++boxes;
 364                                 ao_lco_box_set_present(box);
 365 #ifdef AO_LCO_SEARCH_API
 366                                 ao_lco_search_box_present(box);
 367 #else
 368                                 ao_lco_show_pad((uint8_t) (boxes % 10));
 369 #endif
 370                                 ao_delay(AO_MS_TO_TICKS(30));
 371                                 break;
 372                         }
 373                 }
 374         }
 375         if (ao_lco_min_box <= ao_lco_max_box)
 376                 ao_lco_box = ao_lco_min_box;
 377         else
 378                 ao_lco_min_box = ao_lco_max_box = ao_lco_box = 0;
 379         memset(ao_lco_valid, 0, sizeof (ao_lco_valid));
 380         memset(ao_lco_channels, 0, sizeof (ao_lco_channels));
 381 #ifdef AO_LCO_SEARCH_API
 382         ao_lco_search_done();
 383 #endif
 384         ao_lco_set_box(ao_lco_min_box);
 385 }
 386
 387 void
 388 ao_lco_pretend(void)
 389 {
 390         uint16_t box;
 391
 392         ao_lco_pretending = 1;
 393         ao_lco_min_box = 1;
 394         ao_lco_max_box = AO_PAD_MAX_BOXES - 1;
 395         for (box = ao_lco_min_box; box <= ao_lco_max_box; box++)
 396                 ao_lco_box_set_present(box);
 397         ao_lco_box = ao_lco_min_box;
 398         memset(ao_lco_valid, 0, sizeof (ao_lco_valid));
 399         memset(ao_lco_channels, 0, sizeof (ao_lco_channels));
 400         ao_lco_set_box(ao_lco_min_box);
 401 }
 402
 403 void
 404 ao_lco_monitor(void)
 405 {
 406         AO_TICK_TYPE            delay;
 407         uint16_t                box;
 408
 409         for (;;) {
 410                 PRINTD("monitor armed %d firing %d\n",
 411                        ao_lco_armed, ao_lco_firing);
 412
 413                 if (ao_lco_armed && ao_lco_firing) {
 414                         ao_lco_ignite(AO_PAD_FIRE);
 415                 } else {
 416                         ao_lco_update();
 417                         if (ao_lco_armed) {
 418                                 for (box = ao_lco_min_box; box <= ao_lco_max_box; box++) {
 419                                         if (ao_lco_selected[box]) {
 420                                                 PRINTD("Arming box %d pads %x\n",
 421                                                        box, ao_lco_selected[box]);
 422                                                 if (ao_lco_valid[box] & AO_LCO_VALID_EVER) {
 423                                                         ao_lco_arm(box, ao_lco_selected[box], ao_lco_tick_offset[box]);
 424                                                         ao_delay(AO_MS_TO_TICKS(10));
 425                                                 }
 426                                         }
 427                                 }
 428                         }
 429                 }
 430                 if (ao_lco_armed && ao_lco_firing)
 431                         delay = AO_MS_TO_TICKS(100);
 432                 else
 433                         delay = AO_SEC_TO_TICKS(1);
 434                 ao_sleep_for(&ao_lco_armed, delay);
 435         }
 436 }
 437
 438 #if AO_LCO_DRAG
 439
 440 uint8_t                 ao_lco_drag_beep_count;
 441 static uint8_t          ao_lco_drag_beep_on;
 442 static AO_TICK_TYPE     ao_lco_drag_beep_time;
 443 static AO_TICK_TYPE     ao_lco_drag_warn_time;
 444
 445 #define AO_LCO_DRAG_BEEP_TIME   AO_MS_TO_TICKS(50)
 446 #define AO_LCO_DRAG_WARN_TIME   AO_SEC_TO_TICKS(5)
 447
 448 /* Request 'beeps' additional drag race beeps */
 449 void
 450 ao_lco_drag_add_beeps(uint8_t beeps)
 451 {
 452         PRINTD("beep %d\n", beeps);
 453         if (ao_lco_drag_beep_count == 0)
 454                 ao_lco_drag_beep_time = ao_time();
 455         ao_lco_drag_beep_count += beeps;
 456         ao_wakeup(&ao_lco_drag_beep_count);
 457 }
 458
 459 /* Toggle current pad in drag set */
 460 void
 461 ao_lco_toggle_drag(void)
 462 {
 463         if (ao_lco_drag_race && ao_lco_pad != AO_LCO_PAD_VOLTAGE && !ao_lco_box_pseudo(ao_lco_box)) {
 464                 ao_lco_selected[ao_lco_box] ^= (uint8_t) (1 << (ao_lco_pad - 1));
 465                 PRINTD("Toggle box %d pad %d (pads now %x) to drag race\n",
 466                        ao_lco_pad, ao_lco_box, ao_lco_selected[ao_lco_box]);
 467                 ao_lco_drag_add_beeps(ao_lco_pad);
 468         }
 469 }
 470
 471 /* Check whether it's time to change the beeper status, then either
 472  * turn it on or off as necessary and bump the remaining beep counts
 473  */
 474
 475 AO_TICK_TYPE
 476 ao_lco_drag_beep_check(AO_TICK_TYPE now, AO_TICK_TYPE delay)
 477 {
 478         PRINTD("beep check count %d delta %ld\n",
 479                ao_lco_drag_beep_count,
 480                (long) (AO_TICK_SIGNED) (now - ao_lco_drag_beep_time));
 481         if (ao_lco_drag_beep_count) {
 482                 if ((AO_TICK_SIGNED) (now - ao_lco_drag_beep_time) >= 0) {
 483                         if (ao_lco_drag_beep_on) {
 484                                 ao_beep(0);
 485                                 PRINTD("beep stop\n");
 486                                 ao_lco_drag_beep_on = 0;
 487                                 if (ao_lco_drag_beep_count) {
 488                                         --ao_lco_drag_beep_count;
 489                                         if (ao_lco_drag_beep_count)
 490                                                 ao_lco_drag_beep_time = now + AO_LCO_DRAG_BEEP_TIME;
 491                                 }
 492                         } else {
 493                                 ao_beep(AO_BEEP_HIGH);
 494                                 PRINTD("beep start\n");
 495                                 ao_lco_drag_beep_on = 1;
 496                                 ao_lco_drag_beep_time = now + AO_LCO_DRAG_BEEP_TIME;
 497                         }
 498                 }
 499         }
 500
 501         if (ao_lco_drag_beep_count) {
 502                 AO_TICK_TYPE beep_delay = 0;
 503
 504                 if (ao_lco_drag_beep_time > now)
 505                         beep_delay = ao_lco_drag_beep_time - now;
 506
 507                 if (delay > beep_delay)
 508                         delay = beep_delay;
 509         }
 510         return delay;
 511 }
 512
 513 void
 514 ao_lco_drag_enable(void)
 515 {
 516         if (!ao_lco_drag_race) {
 517                 PRINTD("Drag enable\n");
 518                 ao_lco_drag_race = 1;
 519                 memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
 520 #ifdef AO_LED_DRAG
 521                 ao_led_on(AO_LED_DRAG);
 522 #endif
 523                 ao_lco_drag_add_beeps(5);
 524                 ao_lco_show();
 525         }
 526 }
 527
 528 void
 529 ao_lco_drag_disable(void)
 530 {
 531         if (ao_lco_drag_race) {
 532                 PRINTD("Drag disable\n");
 533                 ao_lco_drag_race = 0;
 534 #ifdef AO_LED_DRAG
 535                 ao_led_off(AO_LED_DRAG);
 536 #endif
 537                 memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
 538                 ao_lco_drag_add_beeps(2);
 539                 ao_lco_show();
 540         }
 541 }
 542
 543 /* add a beep if it's time to warn the user that drag race mode is
 544  * active
 545  */
 546
 547 AO_TICK_TYPE
 548 ao_lco_drag_warn_check(AO_TICK_TYPE now, AO_TICK_TYPE delay)
 549 {
 550         if (ao_lco_drag_race) {
 551                 AO_TICK_TYPE    warn_delay;
 552
 553                 if ((AO_TICK_SIGNED) (now - ao_lco_drag_warn_time) >= 0) {
 554                         ao_lco_drag_add_beeps(1);
 555                         ao_lco_drag_warn_time = now + AO_LCO_DRAG_WARN_TIME;
 556                 }
 557                 warn_delay = ao_lco_drag_warn_time - now;
 558                 if (delay > warn_delay)
 559                         delay = warn_delay;
 560         }
 561         return delay;
 562 }
 563 #endif /* AO_LCO_DRAG */
 564
 565 /* task function for beeping while arm is active */
 566 void
 567 ao_lco_arm_warn(void)
 568 {
 569         for (;;) {
 570                 while (!ao_lco_armed) {
 571 #ifdef AO_LED_FIRE
 572                         ao_led_off(AO_LED_FIRE);
 573 #endif
 574                         ao_sleep(&ao_lco_armed);
 575                 }
 576 #ifdef AO_LED_FIRE
 577                 ao_led_on(AO_LED_FIRE);
 578 #endif
 579                 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
 580                 ao_delay(AO_MS_TO_TICKS(200));
 581         }
 582 }