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 int16_t         ao_lco_box;
  23
  24 uint8_t         ao_lco_armed;                                   /* arm active */
  25 uint8_t         ao_lco_firing;                                  /* fire active */
  26
  27 int16_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(int16_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(int16_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(int16_t box, struct ao_pad_query *query)
 170 {
 171         int8_t                  r;
 172
 173         r = ao_lco_query((uint16_t) 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(int16_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(int16_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 #ifdef AO_LCO_HAS_CONTRAST
 256         if (ao_lco_box == AO_LCO_CONTRAST) {
 257                 int32_t contrast = ao_lco_get_contrast();
 258
 259                 contrast = (contrast + AO_LCO_CONTRAST_STEP - 1) / AO_LCO_CONTRAST_STEP;
 260                 contrast += dir;
 261                 contrast *= AO_LCO_CONTRAST_STEP;
 262                 if (contrast < AO_LCO_MIN_CONTRAST)
 263                         contrast = AO_LCO_MIN_CONTRAST;
 264                 if (contrast > AO_LCO_MAX_CONTRAST)
 265                         contrast = AO_LCO_MAX_CONTRAST;
 266                 ao_lco_set_contrast(contrast);
 267         }
 268 #endif
 269 #ifdef AO_LCO_HAS_BACKLIGHT
 270         if (ao_lco_box == AO_LCO_BACKLIGHT) {
 271                 int32_t backlight = ao_lco_get_backlight();
 272
 273                 backlight = (backlight + AO_LCO_BACKLIGHT_STEP - 1) / AO_LCO_BACKLIGHT_STEP;
 274                 backlight += dir;
 275                 backlight *= AO_LCO_BACKLIGHT_STEP;
 276                 if (backlight < AO_LCO_MIN_BACKLIGHT)
 277                         backlight = AO_LCO_MIN_BACKLIGHT;
 278                 if (backlight > AO_LCO_MAX_BACKLIGHT)
 279                         backlight = AO_LCO_MAX_BACKLIGHT;
 280                 ao_lco_set_backlight(backlight);
 281         }
 282 #endif
 283         new_pad = (int16_t) ao_lco_pad;
 284         do {
 285                 new_pad += dir;
 286                 if (new_pad > AO_PAD_MAX_CHANNELS)
 287                         new_pad = AO_LCO_PAD_VOLTAGE;
 288                 if (new_pad < 0)
 289                         new_pad = AO_PAD_MAX_CHANNELS;
 290                 if (new_pad == ao_lco_pad)
 291                         break;
 292         } while (!ao_lco_pad_present(ao_lco_box, (uint8_t) new_pad));
 293         PRINTD("New pad %d\n", new_pad);
 294         ao_lco_set_pad((uint8_t) new_pad);
 295 }
 296
 297 uint8_t
 298 ao_lco_box_present(int16_t box)
 299 {
 300         if (ao_lco_box_pseudo(box))
 301                 return 1;
 302         if (box >= AO_PAD_MAX_BOXES)
 303                 return 0;
 304         return (ao_lco_box_mask[AO_LCO_MASK_ID(box)] >> AO_LCO_MASK_SHIFT(box)) & 1;
 305 }
 306
 307 void
 308 ao_lco_step_box(int8_t dir)
 309 {
 310         int16_t new_box = ao_lco_box;
 311
 312         do {
 313                 new_box += dir;
 314                 if (new_box > ao_lco_max_box)
 315                         new_box = AO_LCO_BOX_FIRST;
 316                 else if (new_box < AO_LCO_BOX_FIRST)
 317                         new_box = ao_lco_max_box;
 318                 if (new_box == ao_lco_box)
 319                         break;
 320         } while (!ao_lco_box_present(new_box));
 321         PRINTD("New box %d\n", new_box);
 322         ao_lco_set_box(new_box);
 323 }
 324
 325 void
 326 ao_lco_set_armed(uint8_t armed)
 327 {
 328         if (ao_lco_box_pseudo(ao_lco_box))
 329                 return;
 330
 331         ao_lco_armed = armed;
 332         PRINTD("Armed %d\n", ao_lco_armed);
 333         if (ao_lco_armed) {
 334 #if AO_LCO_DRAG
 335                 if (ao_lco_drag_race) {
 336                         int16_t box;
 337
 338                         for (box = ao_lco_min_box; box <= ao_lco_max_box; box++)
 339                                 if (ao_lco_selected[box])
 340                                         break;
 341                         if (box > ao_lco_max_box)
 342                                 ao_lco_armed = 0;
 343                 } else
 344 #endif
 345                 {
 346                         memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
 347                         if (ao_lco_pad != 0)
 348                                 ao_lco_selected[ao_lco_box] = (1 << (ao_lco_pad - 1));
 349                         else
 350                                 ao_lco_armed = 0;
 351                 }
 352         }
 353         ao_wakeup(&ao_lco_armed);
 354 }
 355
 356 void
 357 ao_lco_set_firing(uint8_t firing)
 358 {
 359         ao_lco_firing = firing;
 360         PRINTD("Firing %d\n", ao_lco_firing);
 361         ao_wakeup(&ao_lco_armed);
 362 }
 363
 364 void
 365 ao_lco_search(void)
 366 {
 367         int8_t          r;
 368         int8_t          try;
 369         int16_t         box;
 370         uint16_t        boxes = 0;
 371
 372         ao_lco_box_reset_present();
 373 #ifdef AO_LCO_SEARCH_API
 374         ao_lco_search_start();
 375 #else
 376         ao_lco_show_box(0);
 377         ao_lco_show_pad(0);
 378 #endif
 379         for (box = 0; box < AO_PAD_MAX_BOXES; box++) {
 380 #ifdef AO_LCO_SEARCH_API
 381                 ao_lco_search_box_check(box);
 382 #else
 383                 if ((box % 10) == 0)
 384                         ao_lco_show_box(box);
 385 #endif
 386                 for (try = 0; try < 3; try++) {
 387                         ao_lco_tick_offset[box] = 0;
 388                         r = ao_lco_query((uint16_t) box, &ao_pad_query, &ao_lco_tick_offset[box]);
 389                         PRINTD("box %d result %d offset %d\n", box, r, ao_lco_tick_offset[box]);
 390                         if (r == AO_RADIO_CMAC_OK) {
 391                                 ++boxes;
 392                                 ao_lco_box_set_present(box);
 393 #ifdef AO_LCO_SEARCH_API
 394                                 ao_lco_search_box_present(box);
 395 #else
 396                                 ao_lco_show_pad((uint8_t) (boxes % 10));
 397 #endif
 398                                 ao_delay(AO_MS_TO_TICKS(30));
 399                                 break;
 400                         }
 401                 }
 402         }
 403         if (ao_lco_min_box <= ao_lco_max_box)
 404                 ao_lco_box = ao_lco_min_box;
 405         else
 406                 ao_lco_min_box = ao_lco_max_box = ao_lco_box = 0;
 407         memset(ao_lco_valid, 0, sizeof (ao_lco_valid));
 408         memset(ao_lco_channels, 0, sizeof (ao_lco_channels));
 409 #ifdef AO_LCO_SEARCH_API
 410         ao_lco_search_done();
 411 #endif
 412         ao_lco_set_box(ao_lco_min_box);
 413 }
 414
 415 void
 416 ao_lco_pretend(void)
 417 {
 418         int16_t box;
 419
 420         ao_lco_pretending = 1;
 421         ao_lco_min_box = 1;
 422         ao_lco_max_box = AO_PAD_MAX_BOXES - 1;
 423         for (box = ao_lco_min_box; box <= ao_lco_max_box; box++)
 424                 ao_lco_box_set_present(box);
 425         ao_lco_box = ao_lco_min_box;
 426         memset(ao_lco_valid, 0, sizeof (ao_lco_valid));
 427         memset(ao_lco_channels, 0, sizeof (ao_lco_channels));
 428         ao_lco_set_box(ao_lco_min_box);
 429 }
 430
 431 void
 432 ao_lco_monitor(void)
 433 {
 434         AO_TICK_TYPE    delay;
 435         int16_t         box;
 436
 437         for (;;) {
 438                 PRINTD("monitor armed %d firing %d\n",
 439                        ao_lco_armed, ao_lco_firing);
 440
 441                 if (ao_lco_armed && ao_lco_firing) {
 442                         ao_lco_ignite(AO_PAD_FIRE);
 443                 } else {
 444                         ao_lco_update();
 445                         if (ao_lco_armed) {
 446                                 for (box = ao_lco_min_box; box <= ao_lco_max_box; box++) {
 447                                         if (ao_lco_selected[box]) {
 448                                                 PRINTD("Arming box %d pads %x\n",
 449                                                        box, ao_lco_selected[box]);
 450                                                 if (ao_lco_valid[box] & AO_LCO_VALID_EVER) {
 451                                                         ao_lco_arm((uint16_t) box, ao_lco_selected[box], ao_lco_tick_offset[box]);
 452                                                         ao_delay(AO_MS_TO_TICKS(10));
 453                                                 }
 454                                         }
 455                                 }
 456                         }
 457                 }
 458                 if (ao_lco_armed && ao_lco_firing)
 459                         delay = AO_MS_TO_TICKS(100);
 460                 else
 461                         delay = AO_SEC_TO_TICKS(1);
 462                 ao_sleep_for(&ao_lco_armed, delay);
 463         }
 464 }
 465
 466 #if AO_LCO_DRAG
 467
 468 uint8_t                 ao_lco_drag_beep_count;
 469 static uint8_t          ao_lco_drag_beep_on;
 470 static AO_TICK_TYPE     ao_lco_drag_beep_time;
 471 static AO_TICK_TYPE     ao_lco_drag_warn_time;
 472
 473 #define AO_LCO_DRAG_BEEP_TIME   AO_MS_TO_TICKS(50)
 474 #define AO_LCO_DRAG_WARN_TIME   AO_SEC_TO_TICKS(5)
 475
 476 /* Request 'beeps' additional drag race beeps */
 477 void
 478 ao_lco_drag_add_beeps(uint8_t beeps)
 479 {
 480         PRINTD("beep %d\n", beeps);
 481         if (ao_lco_drag_beep_count == 0)
 482                 ao_lco_drag_beep_time = ao_time();
 483         ao_lco_drag_beep_count += beeps;
 484         ao_wakeup(&ao_lco_drag_beep_count);
 485 }
 486
 487 /* Toggle current pad in drag set */
 488 void
 489 ao_lco_toggle_drag(void)
 490 {
 491         if (ao_lco_drag_race && ao_lco_pad != AO_LCO_PAD_VOLTAGE && !ao_lco_box_pseudo(ao_lco_box)) {
 492                 ao_lco_selected[ao_lco_box] ^= (uint8_t) (1 << (ao_lco_pad - 1));
 493                 PRINTD("Toggle box %d pad %d (pads now %x) to drag race\n",
 494                        ao_lco_pad, ao_lco_box, ao_lco_selected[ao_lco_box]);
 495                 ao_lco_drag_add_beeps(ao_lco_pad);
 496         }
 497 }
 498
 499 /* Check whether it's time to change the beeper status, then either
 500  * turn it on or off as necessary and bump the remaining beep counts
 501  */
 502
 503 AO_TICK_TYPE
 504 ao_lco_drag_beep_check(AO_TICK_TYPE now, AO_TICK_TYPE delay)
 505 {
 506         PRINTD("beep check count %d delta %ld\n",
 507                ao_lco_drag_beep_count,
 508                (long) (AO_TICK_SIGNED) (now - ao_lco_drag_beep_time));
 509         if (ao_lco_drag_beep_count) {
 510                 if ((AO_TICK_SIGNED) (now - ao_lco_drag_beep_time) >= 0) {
 511                         if (ao_lco_drag_beep_on) {
 512                                 ao_beep(0);
 513                                 PRINTD("beep stop\n");
 514                                 ao_lco_drag_beep_on = 0;
 515                                 if (ao_lco_drag_beep_count) {
 516                                         --ao_lco_drag_beep_count;
 517                                         if (ao_lco_drag_beep_count)
 518                                                 ao_lco_drag_beep_time = now + AO_LCO_DRAG_BEEP_TIME;
 519                                 }
 520                         } else {
 521                                 ao_beep(AO_BEEP_HIGH);
 522                                 PRINTD("beep start\n");
 523                                 ao_lco_drag_beep_on = 1;
 524                                 ao_lco_drag_beep_time = now + AO_LCO_DRAG_BEEP_TIME;
 525                         }
 526                 }
 527         }
 528
 529         if (ao_lco_drag_beep_count) {
 530                 AO_TICK_TYPE beep_delay = 0;
 531
 532                 if (ao_lco_drag_beep_time > now)
 533                         beep_delay = ao_lco_drag_beep_time - now;
 534
 535                 if (delay > beep_delay)
 536                         delay = beep_delay;
 537         }
 538         return delay;
 539 }
 540
 541 void
 542 ao_lco_drag_enable(void)
 543 {
 544         if (!ao_lco_drag_race) {
 545                 PRINTD("Drag enable\n");
 546                 ao_lco_drag_race = 1;
 547                 memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
 548 #ifdef AO_LED_DRAG
 549                 ao_led_on(AO_LED_DRAG);
 550 #endif
 551                 ao_lco_drag_add_beeps(5);
 552                 ao_lco_show();
 553         }
 554 }
 555
 556 void
 557 ao_lco_drag_disable(void)
 558 {
 559         if (ao_lco_drag_race) {
 560                 PRINTD("Drag disable\n");
 561                 ao_lco_drag_race = 0;
 562 #ifdef AO_LED_DRAG
 563                 ao_led_off(AO_LED_DRAG);
 564 #endif
 565                 memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
 566                 ao_lco_drag_add_beeps(2);
 567                 ao_lco_show();
 568         }
 569 }
 570
 571 /* add a beep if it's time to warn the user that drag race mode is
 572  * active
 573  */
 574
 575 AO_TICK_TYPE
 576 ao_lco_drag_warn_check(AO_TICK_TYPE now, AO_TICK_TYPE delay)
 577 {
 578         if (ao_lco_drag_race) {
 579                 AO_TICK_TYPE    warn_delay;
 580
 581                 if ((AO_TICK_SIGNED) (now - ao_lco_drag_warn_time) >= 0) {
 582                         ao_lco_drag_add_beeps(1);
 583                         ao_lco_drag_warn_time = now + AO_LCO_DRAG_WARN_TIME;
 584                 }
 585                 warn_delay = ao_lco_drag_warn_time - now;
 586                 if (delay > warn_delay)
 587                         delay = warn_delay;
 588         }
 589         return delay;
 590 }
 591 #endif /* AO_LCO_DRAG */
 592
 593 /* task function for beeping while arm is active */
 594 void
 595 ao_lco_arm_warn(void)
 596 {
 597         for (;;) {
 598                 while (!ao_lco_armed) {
 599 #ifdef AO_LED_FIRE
 600                         ao_led_off(AO_LED_FIRE);
 601 #endif
 602                         ao_sleep(&ao_lco_armed);
 603                 }
 604 #ifdef AO_LED_FIRE
 605                 ao_led_on(AO_LED_FIRE);
 606 #endif
 607                 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
 608                 ao_delay(AO_MS_TO_TICKS(200));
 609         }
 610 }