2 * Copyright © 2012 Keith Packard <keithp@keithp.com>
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.
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.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
22 #include <ao_quadrature.h>
23 #include <ao_radio_cmac.h>
25 #define AO_LCO_DRAG_RACE_START_TIME AO_SEC_TO_TICKS(5)
26 #define AO_LCO_DRAG_RACE_STOP_TIME AO_SEC_TO_TICKS(2)
29 static uint8_t ao_lco_select_mode;
30 static uint8_t ao_lco_event_debug;
32 #define PRINTE(...) do { if (!ao_lco_debug && !ao_lco_event_debug) break; printf ("\r%5lu %s: ", (unsigned long) ao_tick_count, __func__); printf(__VA_ARGS__); flush(); } while(0)
33 #define AO_LCO_SELECT_PAD 0
34 #define AO_LCO_SELECT_BOX 1
36 static uint8_t ao_lco_display_mutex;
39 ao_lco_show_pad(uint8_t pad)
41 ao_mutex_get(&ao_lco_display_mutex);
43 // ao_seven_segment_set(AO_LCO_PAD_DIGIT, (uint8_t) (pad | (ao_lco_drag_race << 4)));
44 ao_mutex_put(&ao_lco_display_mutex);
47 ao_lco_show_box(uint16_t box)
49 ao_mutex_get(&ao_lco_display_mutex);
51 // ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, (uint8_t) (box % 10 | (ao_lco_drag_race << 4)));
52 // ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, (uint8_t) (box / 10 | (ao_lco_drag_race << 4)));
53 ao_mutex_put(&ao_lco_display_mutex);
57 ao_lco_show_voltage(uint16_t decivolts)
59 uint8_t tens, ones, tenths;
61 PRINTD("voltage %d\n", decivolts);
62 tenths = (uint8_t) (decivolts % 10);
63 ones = (uint8_t) ((decivolts / 10) % 10);
64 tens = (uint8_t) ((decivolts / 100) % 10);
65 ao_mutex_get(&ao_lco_display_mutex);
69 // ao_seven_segment_set(AO_LCO_PAD_DIGIT, tenths);
70 // ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, ones | 0x10);
71 // ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, tens);
72 ao_mutex_put(&ao_lco_display_mutex);
78 if (ao_lco_pad == AO_LCO_PAD_VOLTAGE) {
79 ao_lco_show_voltage(ao_pad_query.battery);
81 ao_lco_show_pad(ao_lco_pad);
82 ao_lco_show_box(ao_lco_box);
87 ao_lco_box_present(uint16_t box)
89 if (box >= AO_PAD_MAX_BOXES)
91 return (ao_lco_box_mask[AO_LCO_MASK_ID(box)] >> AO_LCO_MASK_SHIFT(box)) & 1;
95 ao_lco_set_select(void)
98 ao_led_off(AO_LED_PAD);
99 ao_led_off(AO_LED_BOX);
101 switch (ao_lco_select_mode) {
102 case AO_LCO_SELECT_PAD:
103 ao_led_off(AO_LED_BOX);
104 ao_led_on(AO_LED_PAD);
106 case AO_LCO_SELECT_BOX:
107 ao_led_off(AO_LED_PAD);
108 ao_led_on(AO_LED_BOX);
117 ao_lco_step_box(int8_t dir)
119 int32_t new_box = (int32_t) ao_lco_box;
123 if (new_box > ao_lco_max_box)
124 new_box = ao_lco_min_box;
125 else if (new_box < ao_lco_min_box)
126 new_box = ao_lco_max_box;
127 if (new_box == ao_lco_box)
129 } while (!ao_lco_box_present((uint16_t) new_box));
130 ao_lco_set_box((uint16_t) new_box);
133 static struct ao_task ao_lco_drag_task;
136 ao_lco_drag_monitor(void)
138 AO_TICK_TYPE delay = ~0UL;
141 ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
143 PRINTD("Drag monitor count %d delay %lu\n", ao_lco_drag_beep_count, (unsigned long) delay);
144 if (delay == (AO_TICK_TYPE) ~0)
145 ao_sleep(&ao_lco_drag_beep_count);
147 ao_sleep_for(&ao_lco_drag_beep_count, delay);
151 delay = ao_lco_drag_warn_check(now, delay);
152 delay = ao_lco_drag_beep_check(now, delay);
159 static struct ao_event event;
162 ao_event_get(&event);
163 PRINTE("event type %d unit %d value %ld\n",
164 event.type, event.unit, (long) event.value);
165 switch (event.type) {
166 case AO_EVENT_QUADRATURE:
167 switch (event.unit) {
168 case AO_QUADRATURE_SELECT:
170 switch (ao_lco_select_mode) {
171 case AO_LCO_SELECT_PAD:
172 ao_lco_step_pad((int8_t) event.value);
174 case AO_LCO_SELECT_BOX:
175 ao_lco_step_box((int8_t) event.value);
184 case AO_EVENT_BUTTON:
185 switch (event.unit) {
187 ao_lco_set_armed((uint8_t) event.value);
192 ao_lco_set_firing((uint8_t) event.value);
194 case AO_BUTTON_DRAG_SELECT:
196 ao_lco_toggle_drag();
198 case AO_BUTTON_DRAG_MODE:
200 ao_lco_drag_enable();
202 ao_lco_drag_disable();
204 case AO_BUTTON_ENCODER_SELECT:
207 ao_lco_select_mode = 1 - ao_lco_select_mode;
219 * Light up everything for a second at power on to let the user
220 * visually inspect the system for correct operation
223 ao_lco_display_test(void)
225 ao_mutex_get(&ao_lco_display_mutex);
226 // ao_seven_segment_set(AO_LCO_PAD_DIGIT, 8 | 0x10);
227 // ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, 8 | 0x10);
228 // ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, 8 | 0x10);
229 ao_mutex_put(&ao_lco_display_mutex);
230 ao_led_on(AO_LEDS_AVAILABLE);
231 ao_delay(AO_MS_TO_TICKS(1000));
232 ao_led_off(AO_LEDS_AVAILABLE);
236 ao_lco_batt_voltage(void)
238 struct ao_adc packet;
241 // ao_adc_single_get(&packet);
243 decivolt = ao_battery_decivolt(packet.v_batt);
244 ao_lco_show_voltage((uint16_t) decivolt);
245 ao_delay(AO_MS_TO_TICKS(1000));
248 static struct ao_task ao_lco_input_task;
249 static struct ao_task ao_lco_monitor_task;
250 static struct ao_task ao_lco_arm_warn_task;
251 static struct ao_task ao_lco_igniter_status_task;
256 ao_lco_display_test();
257 ao_lco_batt_voltage();
259 ao_add_task(&ao_lco_input_task, ao_lco_input, "lco input");
260 ao_add_task(&ao_lco_arm_warn_task, ao_lco_arm_warn, "lco arm warn");
261 ao_add_task(&ao_lco_igniter_status_task, ao_lco_igniter_status, "lco igniter status");
262 ao_add_task(&ao_lco_drag_task, ao_lco_drag_monitor, "drag race");
268 ao_lco_set_debug(void)
270 uint32_t r = ao_cmd_decimal();
271 if (ao_cmd_status == ao_cmd_success){
272 ao_lco_debug = r & 1;
273 ao_lco_event_debug = (r & 2) >> 1;
277 const struct ao_cmds ao_lco_cmds[] = {
278 { ao_lco_set_debug, "D <0 off, 1 on>\0Debug" },
279 { ao_lco_search, "s\0Search for pad boxes" },
280 { ao_lco_pretend, "p\0Pretend there are lots of pad boxes" },
288 ao_add_task(&ao_lco_monitor_task, ao_lco_main, "lco monitor");
290 ao_cmd_register(&ao_lco_cmds[0]);