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 == AO_LCO_LCO_VOLTAGE) {
  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 == AO_LCO_LCO_VOLTAGE) {
 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 != AO_LCO_LCO_VOLTAGE)
 239         {
 240                 if (ao_lco_box < AO_PAD_MAX_BOXES) {
 241                         if (ao_lco_pretending)
 242                                 ao_lco_channels[ao_lco_box] = 0xff;
 243                         else
 244                                 ao_lco_channels[ao_lco_box] = 0;
 245                 }
 246         }
 247         ao_lco_pad = 1;
 248         ao_lco_show();
 249 }
 250
 251 void
 252 ao_lco_step_pad(int8_t dir)
 253 {
 254         int16_t new_pad;
 255
 256         new_pad = (int16_t) ao_lco_pad;
 257         do {
 258                 new_pad += dir;
 259                 if (new_pad > AO_PAD_MAX_CHANNELS)
 260                         new_pad = AO_LCO_PAD_VOLTAGE;
 261                 if (new_pad < 0)
 262                         new_pad = AO_PAD_MAX_CHANNELS;
 263                 if (new_pad == ao_lco_pad)
 264                         break;
 265         } while (!ao_lco_pad_present(ao_lco_box, (uint8_t) 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 (box == AO_LCO_LCO_VOLTAGE)
 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_LCO_VOLTAGE;
 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         ao_lco_set_box((uint16_t) new_box);
 294 }
 295
 296 void
 297 ao_lco_set_armed(uint8_t armed)
 298 {
 299         if (ao_lco_box == AO_LCO_LCO_VOLTAGE)
 300                 return;
 301
 302         ao_lco_armed = armed;
 303         PRINTD("Armed %d\n", ao_lco_armed);
 304         if (ao_lco_armed) {
 305 #if AO_LCO_DRAG
 306                 if (ao_lco_drag_race) {
 307                         uint16_t        box;
 308
 309                         for (box = ao_lco_min_box; box <= ao_lco_max_box; box++)
 310                                 if (ao_lco_selected[box])
 311                                         break;
 312                         if (box > ao_lco_max_box)
 313                                 ao_lco_armed = 0;
 314                 } else
 315 #endif
 316                 {
 317                         memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
 318                         if (ao_lco_pad != 0)
 319                                 ao_lco_selected[ao_lco_box] = (1 << (ao_lco_pad - 1));
 320                         else
 321                                 ao_lco_armed = 0;
 322                 }
 323         }
 324         ao_wakeup(&ao_lco_armed);
 325 }
 326
 327 void
 328 ao_lco_set_firing(uint8_t firing)
 329 {
 330         ao_lco_firing = firing;
 331         PRINTD("Firing %d\n", ao_lco_firing);
 332         ao_wakeup(&ao_lco_armed);
 333 }
 334
 335 void
 336 ao_lco_search(void)
 337 {
 338         int8_t          r;
 339         int8_t          try;
 340         uint16_t        box;
 341         uint16_t        boxes = 0;
 342
 343         ao_lco_box_reset_present();
 344 #ifdef AO_LCO_SEARCH_API
 345         ao_lco_search_start();
 346 #else
 347         ao_lco_show_box(0);
 348         ao_lco_show_pad(0);
 349 #endif
 350         for (box = 0; box < AO_PAD_MAX_BOXES; box++) {
 351 #ifdef AO_LCO_SEARCH_API
 352                 ao_lco_search_box_check(box);
 353 #else
 354                 if ((box % 10) == 0)
 355                         ao_lco_show_box(box);
 356 #endif
 357                 for (try = 0; try < 3; try++) {
 358                         ao_lco_tick_offset[box] = 0;
 359                         r = ao_lco_query(box, &ao_pad_query, &ao_lco_tick_offset[box]);
 360                         PRINTD("box %d result %d offset %d\n", box, r, ao_lco_tick_offset[box]);
 361                         if (r == AO_RADIO_CMAC_OK) {
 362                                 ++boxes;
 363                                 ao_lco_box_set_present(box);
 364 #ifdef AO_LCO_SEARCH_API
 365                                 ao_lco_search_box_present(box);
 366 #else
 367                                 ao_lco_show_pad((uint8_t) (boxes % 10));
 368 #endif
 369                                 ao_delay(AO_MS_TO_TICKS(30));
 370                                 break;
 371                         }
 372                 }
 373         }
 374         if (ao_lco_min_box <= ao_lco_max_box)
 375                 ao_lco_box = ao_lco_min_box;
 376         else
 377                 ao_lco_min_box = ao_lco_max_box = ao_lco_box = 0;
 378         memset(ao_lco_valid, 0, sizeof (ao_lco_valid));
 379         memset(ao_lco_channels, 0, sizeof (ao_lco_channels));
 380 #ifdef AO_LCO_SEARCH_API
 381         ao_lco_search_done();
 382 #endif
 383         ao_lco_set_box(ao_lco_min_box);
 384 }
 385
 386 void
 387 ao_lco_pretend(void)
 388 {
 389         uint16_t box;
 390
 391         ao_lco_pretending = 1;
 392         ao_lco_min_box = 1;
 393         ao_lco_max_box = AO_PAD_MAX_BOXES - 1;
 394         for (box = ao_lco_min_box; box < ao_lco_max_box; box++)
 395                 ao_lco_box_set_present(box);
 396         ao_lco_box = ao_lco_min_box;
 397         memset(ao_lco_valid, 0, sizeof (ao_lco_valid));
 398         memset(ao_lco_channels, 0, sizeof (ao_lco_channels));
 399         ao_lco_set_box(ao_lco_min_box);
 400 }
 401
 402 void
 403 ao_lco_monitor(void)
 404 {
 405         AO_TICK_TYPE            delay;
 406         uint16_t                box;
 407
 408         for (;;) {
 409                 PRINTD("monitor armed %d firing %d\n",
 410                        ao_lco_armed, ao_lco_firing);
 411
 412                 if (ao_lco_armed && ao_lco_firing) {
 413                         ao_lco_ignite(AO_PAD_FIRE);
 414                 } else {
 415                         ao_lco_update();
 416                         if (ao_lco_armed) {
 417                                 for (box = ao_lco_min_box; box <= ao_lco_max_box; box++) {
 418                                         if (ao_lco_selected[box]) {
 419                                                 PRINTD("Arming box %d pads %x\n",
 420                                                        box, ao_lco_selected[box]);
 421                                                 if (ao_lco_valid[box] & AO_LCO_VALID_EVER) {
 422                                                         ao_lco_arm(box, ao_lco_selected[box], ao_lco_tick_offset[box]);
 423                                                         ao_delay(AO_MS_TO_TICKS(10));
 424                                                 }
 425                                         }
 426                                 }
 427                         }
 428                 }
 429                 if (ao_lco_armed && ao_lco_firing)
 430                         delay = AO_MS_TO_TICKS(100);
 431                 else
 432                         delay = AO_SEC_TO_TICKS(1);
 433                 ao_sleep_for(&ao_lco_armed, delay);
 434         }
 435 }
 436
 437 #if AO_LCO_DRAG
 438
 439 uint8_t                 ao_lco_drag_beep_count;
 440 static uint8_t          ao_lco_drag_beep_on;
 441 static AO_TICK_TYPE     ao_lco_drag_beep_time;
 442 static AO_TICK_TYPE     ao_lco_drag_warn_time;
 443
 444 #define AO_LCO_DRAG_BEEP_TIME   AO_MS_TO_TICKS(50)
 445 #define AO_LCO_DRAG_WARN_TIME   AO_SEC_TO_TICKS(5)
 446
 447 /* Request 'beeps' additional drag race beeps */
 448 void
 449 ao_lco_drag_add_beeps(uint8_t beeps)
 450 {
 451         PRINTD("beep %d\n", beeps);
 452         if (ao_lco_drag_beep_count == 0)
 453                 ao_lco_drag_beep_time = ao_time();
 454         ao_lco_drag_beep_count += beeps;
 455         ao_wakeup(&ao_lco_drag_beep_count);
 456 }
 457
 458 /* Toggle current pad in drag set */
 459 void
 460 ao_lco_toggle_drag(void)
 461 {
 462         if (ao_lco_drag_race && ao_lco_pad != AO_LCO_PAD_VOLTAGE && ao_lco_box != AO_LCO_LCO_VOLTAGE) {
 463                 ao_lco_selected[ao_lco_box] ^= (uint8_t) (1 << (ao_lco_pad - 1));
 464                 PRINTD("Toggle box %d pad %d (pads now %x) to drag race\n",
 465                        ao_lco_pad, ao_lco_box, ao_lco_selected[ao_lco_box]);
 466                 ao_lco_drag_add_beeps(ao_lco_pad);
 467         }
 468 }
 469
 470 /* Check whether it's time to change the beeper status, then either
 471  * turn it on or off as necessary and bump the remaining beep counts
 472  */
 473
 474 AO_TICK_TYPE
 475 ao_lco_drag_beep_check(AO_TICK_TYPE now, AO_TICK_TYPE delay)
 476 {
 477         PRINTD("beep check count %d delta %ld\n",
 478                ao_lco_drag_beep_count,
 479                (long) (AO_TICK_SIGNED) (now - ao_lco_drag_beep_time));
 480         if (ao_lco_drag_beep_count) {
 481                 if ((AO_TICK_SIGNED) (now - ao_lco_drag_beep_time) >= 0) {
 482                         if (ao_lco_drag_beep_on) {
 483                                 ao_beep(0);
 484                                 PRINTD("beep stop\n");
 485                                 ao_lco_drag_beep_on = 0;
 486                                 if (ao_lco_drag_beep_count) {
 487                                         --ao_lco_drag_beep_count;
 488                                         if (ao_lco_drag_beep_count)
 489                                                 ao_lco_drag_beep_time = now + AO_LCO_DRAG_BEEP_TIME;
 490                                 }
 491                         } else {
 492                                 ao_beep(AO_BEEP_HIGH);
 493                                 PRINTD("beep start\n");
 494                                 ao_lco_drag_beep_on = 1;
 495                                 ao_lco_drag_beep_time = now + AO_LCO_DRAG_BEEP_TIME;
 496                         }
 497                 }
 498         }
 499
 500         if (ao_lco_drag_beep_count) {
 501                 AO_TICK_TYPE beep_delay = 0;
 502
 503                 if (ao_lco_drag_beep_time > now)
 504                         beep_delay = ao_lco_drag_beep_time - now;
 505
 506                 if (delay > beep_delay)
 507                         delay = beep_delay;
 508         }
 509         return delay;
 510 }
 511
 512 void
 513 ao_lco_drag_enable(void)
 514 {
 515         if (!ao_lco_drag_race) {
 516                 PRINTD("Drag enable\n");
 517                 ao_lco_drag_race = 1;
 518                 memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
 519 #ifdef AO_LED_DRAG
 520                 ao_led_on(AO_LED_DRAG);
 521 #endif
 522                 ao_lco_drag_add_beeps(5);
 523                 ao_lco_show();
 524         }
 525 }
 526
 527 void
 528 ao_lco_drag_disable(void)
 529 {
 530         if (ao_lco_drag_race) {
 531                 PRINTD("Drag disable\n");
 532                 ao_lco_drag_race = 0;
 533 #ifdef AO_LED_DRAG
 534                 ao_led_off(AO_LED_DRAG);
 535 #endif
 536                 memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
 537                 ao_lco_drag_add_beeps(2);
 538                 ao_lco_show();
 539         }
 540 }
 541
 542 /* add a beep if it's time to warn the user that drag race mode is
 543  * active
 544  */
 545
 546 AO_TICK_TYPE
 547 ao_lco_drag_warn_check(AO_TICK_TYPE now, AO_TICK_TYPE delay)
 548 {
 549         if (ao_lco_drag_race) {
 550                 AO_TICK_TYPE    warn_delay;
 551
 552                 if ((AO_TICK_SIGNED) (now - ao_lco_drag_warn_time) >= 0) {
 553                         ao_lco_drag_add_beeps(1);
 554                         ao_lco_drag_warn_time = now + AO_LCO_DRAG_WARN_TIME;
 555                 }
 556                 warn_delay = ao_lco_drag_warn_time - now;
 557                 if (delay > warn_delay)
 558                         delay = warn_delay;
 559         }
 560         return delay;
 561 }
 562 #endif /* AO_LCO_DRAG */
 563
 564 /* task function for beeping while arm is active */
 565 void
 566 ao_lco_arm_warn(void)
 567 {
 568         for (;;) {
 569                 while (!ao_lco_armed) {
 570 #ifdef AO_LED_FIRE
 571                         ao_led_off(AO_LED_FIRE);
 572 #endif
 573                         ao_sleep(&ao_lco_armed);
 574                 }
 575 #ifdef AO_LED_FIRE
 576                 ao_led_on(AO_LED_FIRE);
 577 #endif
 578                 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
 579                 ao_delay(AO_MS_TO_TICKS(200));
 580         }
 581 }