*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
#include <ao.h>
#include <ao_lco.h>
+#include <ao_event.h>
+#include <ao_seven_segment.h>
+#include <ao_quadrature.h>
+#include <ao_lco_func.h>
+#include <ao_radio_cmac.h>
+#if HAS_ADC_SINGLE
+#include <ao_adc_single.h>
+#endif
-static __xdata struct ao_launch_command command;
-static __xdata struct ao_launch_query query;
-static __pdata uint16_t launch_serial;
-static __pdata uint8_t launch_channel;
-static __pdata uint16_t tick_offset;
+#define AO_LCO_PAD_DIGIT 0
+#define AO_LCO_BOX_DIGIT_1 1
+#define AO_LCO_BOX_DIGIT_10 2
-static void
-launch_args(void) __reentrant
+#define AO_LCO_DRAG_RACE_START_TIME AO_SEC_TO_TICKS(5)
+#define AO_LCO_DRAG_RACE_STOP_TIME AO_SEC_TO_TICKS(2)
+
+#define AO_LCO_BOX_DRAG 0x1000
+
+/* UI values */
+static uint16_t ao_lco_fire_tick;
+static uint8_t ao_lco_fire_down;
+
+static uint8_t ao_lco_display_mutex;
+
+void
+ao_lco_show_pad(uint8_t pad)
{
- ao_cmd_decimal();
- launch_serial = ao_cmd_lex_i;
- ao_cmd_decimal();
- launch_channel = ao_cmd_lex_i;
+ ao_mutex_get(&ao_lco_display_mutex);
+ ao_seven_segment_set(AO_LCO_PAD_DIGIT, pad | (ao_lco_drag_race << 4));
+ ao_mutex_put(&ao_lco_display_mutex);
}
-static int8_t
-launch_query(void)
+#define SEVEN_SEGMENT_d ((0 << 0) | \
+ (0 << 1) | \
+ (1 << 2) | \
+ (1 << 3) | \
+ (1 << 4) | \
+ (1 << 5) | \
+ (1 << 6))
+
+
+#define SEVEN_SEGMENT_r ((0 << 0) | \
+ (0 << 1) | \
+ (0 << 2) | \
+ (1 << 3) | \
+ (1 << 4) | \
+ (0 << 5) | \
+ (0 << 6))
+
+void
+ao_lco_show_box(uint16_t box)
{
- uint8_t i;
- int8_t r = AO_RADIO_CMAC_OK;
-
- tick_offset = ao_time();
- for (i = 0; i < 10; i++) {
- printf ("."); flush();
- command.tick = ao_time();
- command.serial = launch_serial;
- command.cmd = AO_LAUNCH_QUERY;
- command.channel = launch_channel;
- ao_radio_cmac_send(&command, sizeof (command));
- r = ao_radio_cmac_recv(&query, sizeof (query), AO_MS_TO_TICKS(500));
- if (r == AO_RADIO_CMAC_OK)
- break;
+ ao_mutex_get(&ao_lco_display_mutex);
+ if (box == AO_LCO_BOX_DRAG) {
+ ao_seven_segment_direct(AO_LCO_BOX_DIGIT_10, SEVEN_SEGMENT_d | (ao_lco_drag_race << 7));
+ ao_seven_segment_direct(AO_LCO_BOX_DIGIT_1, SEVEN_SEGMENT_r | (ao_lco_drag_race << 7));
+ } else {
+ ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, box % 10 | (ao_lco_drag_race << 4));
+ ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, box / 10 | (ao_lco_drag_race << 4));
}
- tick_offset -= query.tick;
- printf("\n"); flush();
- return r;
+ ao_mutex_put(&ao_lco_display_mutex);
}
static void
-launch_report_cmd(void) __reentrant
+ao_lco_show_voltage(uint16_t decivolts)
{
- int8_t r;
-
- launch_args();
- if (ao_cmd_status != ao_cmd_success)
- return;
- r = launch_query();
- switch (r) {
- case AO_RADIO_CMAC_OK:
- if (query.valid) {
- switch (query.arm_status) {
- case ao_igniter_ready:
- case ao_igniter_active:
- printf ("Armed: ");
- break;
- default:
- printf("Disarmed: ");
- }
- switch (query.igniter_status) {
- default:
- printf("unknown\n");
- break;
- case ao_igniter_ready:
- printf("igniter good\n");
- break;
- case ao_igniter_open:
- printf("igniter bad\n");
- break;
+ uint8_t tens, ones, tenths;
+
+ tenths = decivolts % 10;
+ ones = (decivolts / 10) % 10;
+ tens = (decivolts / 100) % 10;
+ ao_mutex_get(&ao_lco_display_mutex);
+ ao_seven_segment_set(AO_LCO_PAD_DIGIT, tenths);
+ ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, ones | 0x10);
+ ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, tens);
+ ao_mutex_put(&ao_lco_display_mutex);
+}
+
+void
+ao_lco_show(void)
+{
+ if (ao_lco_pad == AO_LCO_PAD_VOLTAGE && ao_lco_box != AO_LCO_BOX_DRAG) {
+ ao_lco_show_voltage(ao_pad_query.battery);
+ } else {
+ if (ao_lco_box == AO_LCO_BOX_DRAG)
+ ao_lco_show_pad(ao_lco_drag_race);
+ else
+ ao_lco_show_pad(ao_lco_pad);
+ ao_lco_show_box(ao_lco_box);
+ }
+}
+
+uint8_t
+ao_lco_box_present(uint16_t box)
+{
+ if (box == AO_LCO_BOX_DRAG)
+ return 1;
+
+ if (box >= AO_PAD_MAX_BOXES)
+ return 0;
+ return (ao_lco_box_mask[AO_LCO_MASK_ID(box)] >> AO_LCO_MASK_SHIFT(box)) & 1;
+}
+
+static struct ao_task ao_lco_drag_task;
+static uint8_t ao_lco_drag_active;
+
+static uint16_t
+ao_lco_drag_button_check(uint16_t now, uint16_t delay)
+{
+ uint16_t button_delay = ~0;
+
+ /*
+ * Check to see if the button has been held down long enough
+ * to switch in/out of drag race mode
+ */
+ if (ao_lco_fire_down) {
+ if (ao_lco_drag_race) {
+ if ((int16_t) (now - ao_lco_fire_tick) >= AO_LCO_DRAG_RACE_STOP_TIME) {
+ ao_lco_drag_disable();
+ ao_lco_fire_down = 0;
}
+ else
+ button_delay = ao_lco_fire_tick + AO_LCO_DRAG_RACE_STOP_TIME - now;
} else {
- printf("Invalid channel %d\n", launch_channel);
+ if ((int16_t) (now - ao_lco_fire_tick) >= AO_LCO_DRAG_RACE_START_TIME) {
+ ao_lco_drag_enable();
+ ao_lco_fire_down = 0;
+ }
+ else
+ button_delay = ao_lco_fire_tick + AO_LCO_DRAG_RACE_START_TIME - now;
}
- printf("Rssi: %d\n", ao_radio_cmac_rssi);
- break;
- default:
- printf("Error %d\n", r);
- break;
+ if (delay > button_delay)
+ delay = button_delay;
}
+ return delay;
}
static void
-launch_arm(void) __reentrant
+ao_lco_drag_monitor(void)
{
- command.tick = ao_time() - tick_offset;
- command.serial = launch_serial;
- command.cmd = AO_LAUNCH_ARM;
- command.channel = launch_channel;
- ao_radio_cmac_send(&command, sizeof (command));
+ uint16_t delay = ~0;
+ uint16_t now;
+
+ ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
+ for (;;) {
+ PRINTD("Drag monitor count %d active %d delay %d\n",
+ ao_lco_drag_beep_count, ao_lco_drag_active, delay);
+ if (delay == (uint16_t) ~0)
+ ao_sleep(&ao_lco_drag_beep_count);
+ else
+ ao_sleep_for(&ao_lco_drag_beep_count, delay);
+
+ delay = ~0;
+ if (!ao_lco_drag_active)
+ continue;
+
+ now = ao_time();
+ delay = ao_lco_drag_button_check(now, delay);
+ delay = ao_lco_drag_warn_check(now, delay);
+ delay = ao_lco_drag_beep_check(now, delay);
+
+ /* check to see if there's anything left to do here */
+ if (!ao_lco_fire_down && !ao_lco_drag_race && !ao_lco_drag_beep_count) {
+ delay = ~0;
+ ao_lco_drag_active = 0;
+ }
+ }
}
static void
-launch_ignite(void) __reentrant
+ao_lco_step_box(int8_t dir)
{
- command.tick = ao_time() - tick_offset;
- command.serial = launch_serial;
- command.cmd = AO_LAUNCH_FIRE;
- command.channel = 0;
- ao_radio_cmac_send(&command, sizeof (command));
+ int16_t new_box = ao_lco_box;
+ do {
+ if (new_box == AO_LCO_BOX_DRAG) {
+ if (dir < 0)
+ new_box = ao_lco_max_box;
+ else
+ new_box = ao_lco_min_box;
+ } else {
+ new_box += dir;
+ if (new_box > ao_lco_max_box)
+ new_box = AO_LCO_BOX_DRAG;
+ else if (new_box < ao_lco_min_box)
+ new_box = AO_LCO_BOX_DRAG;
+ }
+ if (new_box == ao_lco_box)
+ break;
+ } while (!ao_lco_box_present(new_box));
+ ao_lco_set_box(new_box);
}
static void
-launch_fire_cmd(void) __reentrant
+ao_lco_input(void)
{
- static __xdata struct ao_launch_command command;
- uint8_t secs;
- uint8_t i;
- int8_t r;
-
- launch_args();
- ao_cmd_decimal();
- secs = ao_cmd_lex_i;
- if (ao_cmd_status != ao_cmd_success)
- return;
- r = launch_query();
- if (r != AO_RADIO_CMAC_OK) {
- printf("query failed %d\n", r);
- return;
- }
+ static struct ao_event event;
- for (i = 0; i < 4; i++) {
- printf("arm %d\n", i); flush();
- launch_arm();
+ for (;;) {
+ ao_event_get(&event);
+ PRINTD("event type %d unit %d value %d\n",
+ event.type, event.unit, event.value);
+ switch (event.type) {
+ case AO_EVENT_QUADRATURE:
+ switch (event.unit) {
+ case AO_QUADRATURE_PAD:
+ if (!ao_lco_armed)
+ ao_lco_step_pad((int8_t) event.value);
+ break;
+ case AO_QUADRATURE_BOX:
+ if (!ao_lco_armed)
+ ao_lco_step_box((int8_t) event.value);
+ break;
+ }
+ break;
+ case AO_EVENT_BUTTON:
+ switch (event.unit) {
+ case AO_BUTTON_ARM:
+ ao_lco_set_armed(event.value);
+ break;
+ case AO_BUTTON_FIRE:
+ if (ao_lco_armed) {
+ ao_lco_fire_down = 0;
+ ao_lco_set_firing(event.value);
+ } else {
+ if (event.value) {
+ if (ao_lco_box == AO_LCO_BOX_DRAG) {
+ ao_lco_fire_down = 1;
+ ao_lco_fire_tick = ao_time();
+ ao_lco_drag_active = 1;
+ ao_wakeup(&ao_lco_drag_beep_count);
+ } else {
+ ao_lco_toggle_drag();
+ }
+ } else {
+ ao_lco_fire_down = 0;
+ if (ao_lco_drag_active)
+ ao_wakeup(&ao_lco_drag_beep_count);
+ }
+ }
+ break;
+ }
+ break;
+ }
}
+}
- secs = secs * 10 - 5;
- if (secs > 100)
- secs = 100;
- for (i = 0; i < secs; i++) {
- printf("fire %d\n", i); flush();
- launch_ignite();
- ao_delay(AO_MS_TO_TICKS(100));
- }
+/*
+ * Light up everything for a second at power on to let the user
+ * visually inspect the system for correct operation
+ */
+static void
+ao_lco_display_test()
+{
+ ao_mutex_get(&ao_lco_display_mutex);
+ ao_seven_segment_set(AO_LCO_PAD_DIGIT, 8 | 0x10);
+ ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, 8 | 0x10);
+ ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, 8 | 0x10);
+ ao_mutex_put(&ao_lco_display_mutex);
+ ao_led_on(LEDS_AVAILABLE);
+ ao_delay(AO_MS_TO_TICKS(1000));
+ ao_led_off(LEDS_AVAILABLE);
}
+#if HAS_ADC_SINGLE
static void
-launch_arm_cmd(void) __reentrant
+ao_lco_batt_voltage(void)
{
- uint8_t i;
- int8_t r;
- launch_args();
- r = launch_query();
- if (r != AO_RADIO_CMAC_OK) {
- printf("query failed %d\n", r);
- return;
- }
- for (i = 0; i < 4; i++)
- launch_arm();
+ struct ao_adc packet;
+ int16_t decivolt;
+
+ ao_adc_single_get(&packet);
+ decivolt = ao_battery_decivolt(packet.v_batt);
+ ao_lco_show_voltage(decivolt);
+ ao_delay(AO_MS_TO_TICKS(1000));
}
+#endif
+
+static struct ao_task ao_lco_input_task;
+static struct ao_task ao_lco_monitor_task;
+static struct ao_task ao_lco_arm_warn_task;
+static struct ao_task ao_lco_igniter_status_task;
static void
-launch_ignite_cmd(void) __reentrant
+ao_lco_main(void)
+{
+ ao_lco_display_test();
+#if HAS_ADC_SINGLE
+ ao_lco_batt_voltage();
+#endif
+ ao_lco_search();
+ ao_add_task(&ao_lco_input_task, ao_lco_input, "lco input");
+ ao_add_task(&ao_lco_arm_warn_task, ao_lco_arm_warn, "lco arm warn");
+ ao_add_task(&ao_lco_igniter_status_task, ao_lco_igniter_status, "lco igniter status");
+ ao_add_task(&ao_lco_drag_task, ao_lco_drag_monitor, "drag race");
+ ao_lco_monitor();
+}
+
+#if DEBUG
+void
+ao_lco_set_debug(void)
{
- uint8_t i;
- launch_args();
- for (i = 0; i < 4; i++)
- launch_ignite();
+ uint16_t r = ao_cmd_decimal();
+ if (ao_cmd_status == ao_cmd_success)
+ ao_lco_debug = r != 0;
}
-static __code struct ao_cmds ao_lco_cmds[] = {
- { radio_cmac_send_cmd, "s <length>\0Send AES-CMAC packet. Bytes to send follow on next line" },
- { radio_cmac_recv_cmd, "S <length> <timeout>\0Receive AES-CMAC packet. Timeout in ms" },
- { launch_report_cmd, "l <serial> <channel>\0Get remote launch status" },
- { launch_fire_cmd, "f <serial> <channel> <secs>\0Fire remote igniter" },
- { launch_arm_cmd, "a <serial> <channel>\0Arm remote igniter" },
- { launch_ignite_cmd, "i <serial> <channel>\0Pulse remote igniter" },
- { 0, NULL },
+const struct ao_cmds ao_lco_cmds[] = {
+ { ao_lco_set_debug, "D <0 off, 1 on>\0Debug" },
+ { ao_lco_search, "s\0Search for pad boxes" },
+ { 0, NULL }
};
+#endif
void
ao_lco_init(void)
{
+ ao_add_task(&ao_lco_monitor_task, ao_lco_main, "lco monitor");
+#if DEBUG
ao_cmd_register(&ao_lco_cmds[0]);
+#endif
}
projects / fw / altos / blobdiff