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