git.gag.com Git - fw/altos/blob - src/telelco-v0.1/ao_lco.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_seven_segment.h>
  22 #include <ao_quadrature.h>
  23 #include <ao_lco_func.h>
  24 #include <ao_radio_cmac.h>
  25
  26 #define DEBUG   1
  27
  28 #if DEBUG
  29 static uint8_t  ao_lco_debug;
  30 #define PRINTD(...) do { if (!ao_lco_debug) break; printf ("\r%5u %s: ", ao_tick_count, __func__); printf(__VA_ARGS__); flush(); } while(0)
  31 #else
  32 #define PRINTD(...)
  33 #endif
  34
  35 #define AO_LCO_PAD_DIGIT        0
  36 #define AO_LCO_BOX_DIGIT_1      1
  37 #define AO_LCO_BOX_DIGIT_10     2
  38
  39 static uint8_t  ao_lco_min_box, ao_lco_max_box;
  40 static uint8_t  ao_lco_mutex;
  41 static uint8_t  ao_lco_pad;
  42 static uint8_t  ao_lco_box;
  43 static uint8_t  ao_lco_armed;
  44 static uint8_t  ao_lco_firing;
  45 static uint8_t  ao_lco_valid;
  46 static uint16_t ao_lco_tick_offset;
  47
  48 static struct ao_pad_query      ao_pad_query;
  49
  50 static void
  51 ao_lco_set_pad(void)
  52 {
  53         ao_seven_segment_set(AO_LCO_PAD_DIGIT, ao_lco_pad + 1);
  54 }
  55
  56 static void
  57 ao_lco_set_box(void)
  58 {
  59         ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, ao_lco_box % 10);
  60         ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, ao_lco_box / 10);
  61 }
  62
  63 #define MASK_SIZE(n)    (((n) + 7) >> 3)
  64 #define MASK_ID(n)      ((n) >> 3)
  65 #define MASK_SHIFT(n)   ((n) & 7)
  66
  67 static uint8_t  ao_lco_box_mask[MASK_SIZE(AO_PAD_MAX_BOXES)];
  68
  69 static uint8_t
  70 ao_lco_box_present(uint8_t box)
  71 {
  72         if (box >= AO_PAD_MAX_BOXES)
  73                 return 0;
  74         return (ao_lco_box_mask[MASK_ID(box)] >> MASK_SHIFT(box)) & 1;
  75 }
  76
  77 static uint8_t
  78 ao_lco_pad_present(uint8_t pad)
  79 {
  80         if (!ao_lco_valid || !ao_pad_query.channels)
  81                 return pad == 0;
  82         if (pad >= AO_PAD_MAX_CHANNELS)
  83                 return 0;
  84         return (ao_pad_query.channels >> pad) & 1;
  85 }
  86
  87 static uint8_t
  88 ao_lco_pad_first(void)
  89 {
  90         uint8_t pad;
  91
  92         for (pad = 0; pad < AO_PAD_MAX_CHANNELS; pad++)
  93                 if (ao_lco_pad_present(pad))
  94                         return pad;
  95         return 0;
  96 }
  97
  98 static void
  99 ao_lco_input(void)
 100 {
 101         static struct ao_event  event;
 102         int8_t  dir, new_box, new_pad;
 103
 104         ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
 105         ao_lco_set_pad();
 106         ao_lco_set_box();
 107         for (;;) {
 108                 ao_event_get(&event);
 109                 PRINTD("event type %d unit %d value %d\n",
 110                        event.type, event.unit, event.value);
 111                 switch (event.type) {
 112                 case AO_EVENT_QUADRATURE:
 113                         switch (event.unit) {
 114                         case AO_QUADRATURE_PAD:
 115                                 if (!ao_lco_armed) {
 116                                         if (event.value == ao_lco_pad)
 117                                                 break;
 118                                         dir = ((int8_t) event.value - (int8_t) ao_lco_pad) > 0 ? 1 : -1;
 119                                         new_pad = event.value;
 120                                         while (!ao_lco_pad_present(new_pad)) {
 121                                                 new_pad += dir;
 122                                                 if (new_pad > AO_PAD_MAX_CHANNELS)
 123                                                         new_pad = 0;
 124                                                 else if (new_pad < 0)
 125                                                         new_pad = AO_PAD_MAX_CHANNELS - 1;
 126                                                 if (new_pad == ao_lco_pad)
 127                                                         break;
 128                                         }
 129                                         if (new_pad != ao_lco_pad) {
 130                                                 ao_lco_pad = new_pad;
 131                                                 ao_quadrature_count[AO_QUADRATURE_PAD] = ao_lco_pad;
 132                                                 ao_lco_set_pad();
 133                                         }
 134                                 }
 135                                 break;
 136                         case AO_QUADRATURE_BOX:
 137                                 if (!ao_lco_armed) {
 138                                         if (event.value == ao_lco_box)
 139                                                 break;
 140                                         dir = ((int8_t) event.value - (int8_t) ao_lco_box) > 0 ? 1 : -1;
 141                                         new_box = event.value;
 142                                         while (!ao_lco_box_present(new_box)) {
 143                                                 new_box += dir;
 144                                                 if (new_box > ao_lco_max_box)
 145                                                         new_box = ao_lco_min_box;
 146                                                 else if (new_box < ao_lco_min_box)
 147                                                         new_box = ao_lco_min_box;
 148                                                 if (new_box == ao_lco_box)
 149                                                         break;
 150                                         }
 151                                         ao_quadrature_count[AO_QUADRATURE_PAD] = new_box;
 152                                         if (ao_lco_box != new_box) {
 153                                                 ao_lco_box = new_box;
 154                                                 ao_lco_valid = 0;
 155                                                 ao_lco_set_box();
 156                                         }
 157                                 }
 158                                 break;
 159                         }
 160                         break;
 161                 case AO_EVENT_BUTTON:
 162                         switch (event.unit) {
 163                         case AO_BUTTON_ARM:
 164                                 ao_lco_armed = event.value;
 165                                 PRINTD("Armed %d\n", ao_lco_armed);
 166                                 ao_wakeup(&ao_lco_armed);
 167                                 break;
 168                         case AO_BUTTON_FIRE:
 169                                 if (ao_lco_armed) {
 170                                         ao_lco_firing = event.value;
 171                                         PRINTD("Firing %d\n", ao_lco_firing);
 172                                         ao_wakeup(&ao_lco_armed);
 173                                 }
 174                                 break;
 175                         }
 176                         break;
 177                 }
 178         }
 179 }
 180
 181 static AO_LED_TYPE      continuity_led[AO_LED_CONTINUITY_NUM] = {
 182 #ifdef AO_LED_CONTINUITY_0
 183         AO_LED_CONTINUITY_0,
 184 #endif
 185 #ifdef AO_LED_CONTINUITY_1
 186         AO_LED_CONTINUITY_1,
 187 #endif
 188 #ifdef AO_LED_CONTINUITY_2
 189         AO_LED_CONTINUITY_2,
 190 #endif
 191 #ifdef AO_LED_CONTINUITY_3
 192         AO_LED_CONTINUITY_3,
 193 #endif
 194 #ifdef AO_LED_CONTINUITY_4
 195         AO_LED_CONTINUITY_4,
 196 #endif
 197 #ifdef AO_LED_CONTINUITY_5
 198         AO_LED_CONTINUITY_5,
 199 #endif
 200 #ifdef AO_LED_CONTINUITY_6
 201         AO_LED_CONTINUITY_6,
 202 #endif
 203 #ifdef AO_LED_CONTINUITY_7
 204         AO_LED_CONTINUITY_7,
 205 #endif
 206 };
 207
 208 static void
 209 ao_lco_update(void)
 210 {
 211         int8_t                  r;
 212         uint8_t                 c;
 213
 214         r = ao_lco_query(ao_lco_box, &ao_pad_query, &ao_lco_tick_offset);
 215         if (r == AO_RADIO_CMAC_OK) {
 216                 c = ao_lco_valid;
 217                 ao_lco_valid = 1;
 218                 if (!c) {
 219                         ao_lco_pad = ao_lco_pad_first();
 220                         ao_lco_set_pad();
 221                 }
 222         }
 223
 224 #if 0
 225         PRINTD("lco_query success arm_status %d i0 %d i1 %d i2 %d i3 %d\n",
 226                query.arm_status,
 227                query.igniter_status[0],
 228                query.igniter_status[1],
 229                query.igniter_status[2],
 230                query.igniter_status[3]);
 231 #endif
 232
 233         ao_wakeup(&ao_pad_query);
 234 }
 235
 236 static void
 237 ao_lco_box_set_present(uint8_t box)
 238 {
 239         if (box >= AO_PAD_MAX_BOXES)
 240                 return;
 241         ao_lco_box_mask[MASK_ID(box)] |= 1 << MASK_SHIFT(box);
 242 }
 243
 244 static void
 245 ao_lco_search(void)
 246 {
 247         uint16_t        tick_offset;
 248         int8_t          r;
 249
 250         ao_lco_min_box = 0xff;
 251         ao_lco_max_box = 0x00;
 252         for (ao_lco_box = 0; ao_lco_box < AO_PAD_MAX_BOXES; ao_lco_box++) {
 253                 if ((ao_lco_box % 10) == 0)
 254                         ao_lco_set_box();
 255                 r = ao_lco_query(ao_lco_box, &ao_pad_query, &ao_lco_tick_offset);
 256                 if (r == AO_RADIO_CMAC_OK) {
 257                         if (ao_lco_box < ao_lco_min_box)
 258                                 ao_lco_min_box = ao_lco_box;
 259                         if (ao_lco_box > ao_lco_max_box)
 260                                 ao_lco_max_box = ao_lco_box;
 261                         ao_lco_box_set_present(ao_lco_box);
 262                 }
 263         }
 264         if (ao_lco_min_box <= ao_lco_max_box)
 265                 ao_lco_box = ao_lco_min_box;
 266         else
 267                 ao_lco_min_box = ao_lco_max_box = ao_lco_box = 0;
 268         ao_lco_valid = 0;
 269         ao_lco_pad = 0;
 270 }
 271
 272 static void
 273 ao_lco_igniter_status(void)
 274 {
 275         uint8_t         c;
 276         uint16_t        delay;
 277
 278         for (;;) {
 279 //              ao_alarm(delay);
 280                 ao_sleep(&ao_pad_query);
 281 //              ao_clear_alarm();
 282                 if (!ao_lco_valid) {
 283                         ao_led_on(AO_LED_RED);
 284                         ao_led_off(AO_LED_GREEN);
 285                         continue;
 286                 }
 287                 PRINTD("RSSI %d\n", ao_radio_cmac_rssi);
 288                 if (ao_radio_cmac_rssi < -90)
 289                         ao_led_on(AO_LED_RED|AO_LED_GREEN);
 290                 else {
 291                         ao_led_on(AO_LED_GREEN);
 292                         ao_led_off(AO_LED_RED);
 293                 }
 294                 if (ao_pad_query.arm_status)
 295                         ao_led_on(AO_LED_REMOTE_ARM);
 296                 else
 297                         ao_led_off(AO_LED_REMOTE_ARM);
 298                 for (c = 0; c < AO_LED_CONTINUITY_NUM; c++) {
 299                         uint8_t status;
 300
 301                         if (ao_pad_query.channels & (1 << c))
 302                                 status = ao_pad_query.igniter_status[c];
 303                         else
 304                                 status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
 305                         if (status == AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN)
 306                                 ao_led_on(continuity_led[c]);
 307                         else
 308                                 ao_led_off(continuity_led[c]);
 309                 }
 310         }
 311 }
 312
 313 static void
 314 ao_lco_arm_warn(void)
 315 {
 316         for (;;) {
 317                 while (!ao_lco_armed)
 318                         ao_sleep(&ao_lco_armed);
 319                 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
 320                 ao_delay(AO_MS_TO_TICKS(200));
 321         }
 322 }
 323
 324 static struct ao_task ao_lco_input_task;
 325 static struct ao_task ao_lco_monitor_task;
 326 static struct ao_task ao_lco_arm_warn_task;
 327 static struct ao_task ao_lco_igniter_status_task;
 328
 329 static void
 330 ao_lco_monitor(void)
 331 {
 332         uint16_t                delay;
 333
 334         ao_lco_search();
 335         ao_add_task(&ao_lco_input_task, ao_lco_input, "lco input");
 336         ao_add_task(&ao_lco_arm_warn_task, ao_lco_arm_warn, "lco arm warn");
 337         ao_add_task(&ao_lco_igniter_status_task, ao_lco_igniter_status, "lco igniter status");
 338         for (;;) {
 339                 PRINTD("monitor armed %d firing %d offset %d\n",
 340                        ao_lco_armed, ao_lco_firing, ao_lco_tick_offset);
 341
 342                 if (ao_lco_armed && ao_lco_firing) {
 343                         PRINTD("Firing box %d pad %d: valid %d\n",
 344                                ao_lco_box, ao_lco_pad, ao_lco_valid);
 345                         if (!ao_lco_valid)
 346                                 ao_lco_update();
 347                         if (ao_lco_valid)
 348                                 ao_lco_ignite(ao_lco_box, 1 << ao_lco_pad, ao_lco_tick_offset);
 349                 } else if (ao_lco_armed) {
 350                         PRINTD("Arming box %d pad %d\n",
 351                                ao_lco_box, ao_lco_pad);
 352                         if (!ao_lco_valid)
 353                                 ao_lco_update();
 354                         ao_lco_arm(ao_lco_box, 1 << ao_lco_pad, ao_lco_tick_offset);
 355                         ao_lco_update();
 356                 } else {
 357                         ao_lco_update();
 358                 }
 359                 if (ao_lco_armed && ao_lco_firing)
 360                         delay = AO_MS_TO_TICKS(100);
 361                 else
 362                         delay = AO_SEC_TO_TICKS(1);
 363                 ao_alarm(delay);
 364                 ao_sleep(&ao_lco_armed);
 365                 ao_clear_alarm();
 366         }
 367 }
 368
 369 #if DEBUG
 370 void
 371 ao_lco_set_debug(void)
 372 {
 373         ao_cmd_decimal();
 374         if (ao_cmd_status == ao_cmd_success)
 375                 ao_lco_debug = ao_cmd_lex_i != 0;
 376 }
 377
 378 __code struct ao_cmds ao_lco_cmds[] = {
 379         { ao_lco_set_debug,     "D <0 off, 1 on>\0Debug" },
 380         { 0, NULL }
 381 };
 382 #endif
 383
 384 void
 385 ao_lco_init(void)
 386 {
 387         ao_add_task(&ao_lco_monitor_task, ao_lco_monitor, "lco monitor");
 388 #if DEBUG
 389         ao_cmd_register(&ao_lco_cmds[0]);
 390 #endif
 391 }