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

   1 /*
   2  * Copyright © 2012 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; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #include <ao.h>
  19 #include <ao_lco.h>
  20 #include <ao_event.h>
  21 #include <ao_lco_func.h>
  22 #include <ao_radio_cmac.h>
  23
  24 #define DEBUG   1
  25
  26 #if DEBUG
  27 static uint8_t  ao_lco_debug;
  28 #define DEBUG_EVENT     1
  29 #define DEBUG_STATUS    2
  30 #define PRINTD(l, ...) do { if (!(ao_lco_debug & l)) break; printf ("\r%5u %s: ", ao_tick_count, __func__); printf(__VA_ARGS__); flush(); } while(0)
  31 #else
  32 #define PRINTD(l,...)
  33 #endif
  34
  35 #define AO_LCO_VALID_LAST       1
  36 #define AO_LCO_VALID_EVER       2
  37
  38 static uint8_t  ao_lco_suspended;
  39 static uint8_t  ao_lco_selected;
  40 static uint8_t  ao_lco_valid;
  41 static uint8_t  ao_lco_channels;
  42 static uint16_t ao_lco_tick_offset;
  43
  44 /* UI values */
  45 static uint8_t  ao_lco_armed;
  46 static uint8_t  ao_lco_firing;
  47
  48 #define ao_lco_box      (ao_config.pad_box)
  49
  50 static struct ao_pad_query      ao_pad_query;
  51
  52 #define MASK_SIZE(n)    (((n) + 7) >> 3)
  53 #define MASK_ID(n)      ((n) >> 3)
  54 #define MASK_SHIFT(n)   ((n) & 7)
  55
  56 static void
  57 ao_lco_set_armed(int pad, int armed)
  58 {
  59         uint8_t bit = (1 << pad);
  60
  61         if (armed) {
  62                 ao_lco_selected |= bit;
  63                 ao_lco_armed |= bit;
  64         } else {
  65                 ao_lco_selected &= ~bit;
  66                 ao_lco_armed &= ~bit;
  67         }
  68         PRINTD(DEBUG_EVENT, "pad %d bit 0x%x armed %d ao_lco_selected 0x%x ao_lco_armed 0x%x\n",
  69                pad, bit, armed, ao_lco_selected, ao_lco_armed);
  70         ao_wakeup(&ao_lco_armed);
  71 }
  72
  73 static void
  74 ao_lco_suspend(void)
  75 {
  76         if (!ao_lco_suspended) {
  77                 PRINTD(DEBUG_EVENT, "suspend\n");
  78                 ao_lco_suspended = 1;
  79                 ao_lco_selected = 0;
  80                 ao_lco_armed = 0;
  81                 ao_wakeup(&ao_pad_query);
  82         }
  83 }
  84
  85 static void
  86 ao_lco_wakeup(void)
  87 {
  88         if (ao_lco_suspended) {
  89                 ao_lco_suspended = 0;
  90                 ao_wakeup(&ao_lco_suspended);
  91         }
  92 }
  93
  94 static void
  95 ao_lco_input(void)
  96 {
  97         static struct ao_event  event;
  98         uint8_t timeout;
  99
 100         ao_config_get();
 101         for (;;) {
 102                 if (ao_config.pad_idle && !ao_lco_suspended) {
 103                         timeout = ao_event_get_for(&event, AO_SEC_TO_TICKS(ao_config.pad_idle));
 104                         if (timeout) {
 105                                 ao_lco_suspend();
 106                                 continue;
 107                         }
 108                 } else {
 109                         ao_event_get(&event);
 110                 }
 111                 ao_lco_wakeup();
 112                 PRINTD(DEBUG_EVENT, "event type %d unit %d value %d\n",
 113                        event.type, event.unit, event.value);
 114                 switch (event.type) {
 115                 case AO_EVENT_BUTTON:
 116                         switch (event.unit) {
 117                         case AO_BUTTON_ARM_0:
 118                                 ao_lco_set_armed(0, event.value);
 119                                 break;
 120 #if AO_BUTTON_ARM_NUM > 1
 121                         case AO_BUTTON_ARM_1:
 122                                 ao_lco_set_armed(1, event.value);
 123                                 break;
 124 #endif
 125                         case AO_BUTTON_FIRE:
 126                                 if (ao_lco_armed) {
 127                                         ao_lco_firing = event.value;
 128                                         PRINTD(DEBUG_EVENT, "Firing %d\n", ao_lco_firing);
 129                                         ao_wakeup(&ao_lco_armed);
 130                                 }
 131                                 break;
 132                         }
 133                         break;
 134                 }
 135         }
 136 }
 137
 138 static AO_LED_TYPE      continuity_led[AO_LED_CONTINUITY_NUM] = {
 139 #ifdef AO_LED_CONTINUITY_0
 140         AO_LED_CONTINUITY_0,
 141 #endif
 142 #ifdef AO_LED_CONTINUITY_1
 143         AO_LED_CONTINUITY_1,
 144 #endif
 145 #ifdef AO_LED_CONTINUITY_2
 146         AO_LED_CONTINUITY_2,
 147 #endif
 148 #ifdef AO_LED_CONTINUITY_3
 149         AO_LED_CONTINUITY_3,
 150 #endif
 151 #ifdef AO_LED_CONTINUITY_4
 152         AO_LED_CONTINUITY_4,
 153 #endif
 154 #ifdef AO_LED_CONTINUITY_5
 155         AO_LED_CONTINUITY_5,
 156 #endif
 157 #ifdef AO_LED_CONTINUITY_6
 158         AO_LED_CONTINUITY_6,
 159 #endif
 160 #ifdef AO_LED_CONTINUITY_7
 161         AO_LED_CONTINUITY_7,
 162 #endif
 163 };
 164
 165 static uint8_t
 166 ao_lco_get_channels(void)
 167 {
 168         int8_t                  r;
 169
 170         r = ao_lco_query(ao_lco_box, &ao_pad_query, &ao_lco_tick_offset);
 171         if (r == AO_RADIO_CMAC_OK) {
 172                 ao_lco_channels = ao_pad_query.channels;
 173                 ao_lco_valid = AO_LCO_VALID_LAST | AO_LCO_VALID_EVER;
 174         } else
 175                 ao_lco_valid &= ~AO_LCO_VALID_LAST;
 176         PRINTD(DEBUG_STATUS, "ao_lco_get_channels() rssi %d valid %d ret %d offset %d\n", ao_radio_cmac_rssi, ao_lco_valid, r, ao_lco_tick_offset);
 177         ao_wakeup(&ao_pad_query);
 178         return ao_lco_valid;
 179 }
 180
 181 static void
 182 ao_lco_igniter_status(void)
 183 {
 184         uint8_t         c;
 185         uint8_t         t = 0;
 186
 187         for (;;) {
 188                 ao_sleep(&ao_pad_query);
 189                 while (ao_lco_suspended) {
 190                         ao_led_off(AO_LED_GREEN|AO_LED_AMBER|AO_LED_RED|AO_LED_REMOTE_ARM);
 191                         for (c = 0; c < AO_LED_CONTINUITY_NUM; c++)
 192                                 ao_led_off(continuity_led[c]);
 193                         ao_sleep(&ao_lco_suspended);
 194                 }
 195                 PRINTD(DEBUG_STATUS, "RSSI %d VALID %d\n", ao_radio_cmac_rssi, ao_lco_valid);
 196                 if (!(ao_lco_valid & AO_LCO_VALID_LAST)) {
 197                         ao_led_on(AO_LED_RED);
 198                         ao_led_off(AO_LED_GREEN|AO_LED_AMBER);
 199                         continue;
 200                 }
 201                 if (ao_radio_cmac_rssi < -90) {
 202                         ao_led_on(AO_LED_AMBER);
 203                         ao_led_off(AO_LED_RED|AO_LED_GREEN);
 204                 } else {
 205                         ao_led_on(AO_LED_GREEN);
 206                         ao_led_off(AO_LED_RED|AO_LED_AMBER);
 207                 }
 208                 if (ao_pad_query.arm_status)
 209                         ao_led_on(AO_LED_REMOTE_ARM);
 210                 else
 211                         ao_led_off(AO_LED_REMOTE_ARM);
 212
 213                 for (c = 0; c < AO_LED_CONTINUITY_NUM; c++) {
 214                         uint8_t status;
 215
 216                         if (ao_pad_query.channels & (1 << c))
 217                                 status = ao_pad_query.igniter_status[c];
 218                         else
 219                                 status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
 220                         PRINTD(DEBUG_STATUS, "\tchannel %d status %d\n", c, status);
 221                         if (status == AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN)
 222                                 ao_led_on(continuity_led[c]);
 223                         else
 224                                 ao_led_off(continuity_led[c]);
 225                 }
 226                 t = 1-t;
 227         }
 228 }
 229
 230 static void
 231 ao_lco_arm_warn(void)
 232 {
 233         int     i;
 234         for (;;) {
 235                 while (ao_lco_suspended)
 236                         ao_sleep(&ao_lco_suspended);
 237                 while (!ao_lco_armed)
 238                         ao_sleep(&ao_lco_armed);
 239                 for (i = 0; i < ao_lco_armed; i++) {
 240                         ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(100));
 241                         ao_delay(AO_MS_TO_TICKS(100));
 242                 }
 243                 ao_delay(AO_MS_TO_TICKS(300));
 244         }
 245 }
 246
 247 static struct ao_task ao_lco_input_task;
 248 static struct ao_task ao_lco_monitor_task;
 249 static struct ao_task ao_lco_arm_warn_task;
 250 static struct ao_task ao_lco_igniter_status_task;
 251
 252 static void
 253 ao_lco_monitor(void)
 254 {
 255         uint16_t                delay;
 256
 257         ao_add_task(&ao_lco_input_task, ao_lco_input, "lco input");
 258         ao_add_task(&ao_lco_arm_warn_task, ao_lco_arm_warn, "lco arm warn");
 259         ao_add_task(&ao_lco_igniter_status_task, ao_lco_igniter_status, "lco igniter status");
 260         ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
 261         for (;;) {
 262                 while (ao_lco_suspended)
 263                         ao_sleep(&ao_lco_suspended);
 264
 265                 PRINTD(DEBUG_STATUS, "monitor armed %d firing %d\n",
 266                        ao_lco_armed, ao_lco_firing);
 267
 268                 if (ao_lco_armed && ao_lco_firing) {
 269                         ao_lco_ignite();
 270                 } else {
 271                         ao_lco_get_channels();
 272                         if (ao_lco_armed) {
 273                                 if (ao_lco_selected) {
 274                                         PRINTD(DEBUG_STATUS, "Arming pads %x\n",
 275                                                ao_lco_selected);
 276                                         if (ao_lco_valid & AO_LCO_VALID_EVER) {
 277                                                 ao_lco_arm(ao_lco_box, ao_lco_selected, ao_lco_tick_offset);
 278                                                 ao_delay(AO_MS_TO_TICKS(10));
 279                                         }
 280                                 }
 281                         }
 282                 }
 283                 if (ao_lco_armed && ao_lco_firing)
 284                         delay = AO_MS_TO_TICKS(100);
 285                 else {
 286                         delay = AO_SEC_TO_TICKS(1);
 287                 }
 288                 ao_sleep_for(&ao_lco_armed, delay);
 289         }
 290 }
 291
 292 #if DEBUG
 293 void
 294 ao_lco_set_debug(void)
 295 {
 296         ao_cmd_decimal();
 297         if (ao_cmd_status == ao_cmd_success)
 298                 ao_lco_debug = ao_cmd_lex_i;
 299 }
 300
 301 __code struct ao_cmds ao_lco_cmds[] = {
 302         { ao_lco_set_debug,     "D <0 off, 1 on>\0Debug" },
 303         { 0, NULL }
 304 };
 305 #endif
 306
 307 void
 308 ao_lco_init(void)
 309 {
 310         ao_add_task(&ao_lco_monitor_task, ao_lco_monitor, "lco monitor");
 311 #if DEBUG
 312         ao_cmd_register(&ao_lco_cmds[0]);
 313 #endif
 314 }