#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>
-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 DEBUG 1
+
+#if DEBUG
+static uint8_t ao_lco_debug;
+#define PRINTD(...) do { if (!ao_lco_debug) break; printf ("\r%5u %s: ", ao_tick_count, __func__); printf(__VA_ARGS__); flush(); } while(0)
+#else
+#define PRINTD(...)
+#endif
+
+#define AO_LCO_PAD_DIGIT 0
+#define AO_LCO_BOX_DIGIT_1 1
+#define AO_LCO_BOX_DIGIT_10 2
+
+static uint8_t ao_lco_min_box, ao_lco_max_box;
+static uint8_t ao_lco_pad;
+static uint8_t ao_lco_box;
+static uint8_t ao_lco_armed;
+static uint8_t ao_lco_firing;
+static uint8_t ao_lco_valid;
+static uint8_t ao_lco_got_channels;
+static uint16_t ao_lco_tick_offset;
+
+static struct ao_pad_query ao_pad_query;
static void
-launch_args(void) __reentrant
+ao_lco_set_pad(uint8_t pad)
{
- ao_cmd_decimal();
- launch_serial = ao_cmd_lex_i;
- ao_cmd_decimal();
- launch_channel = ao_cmd_lex_i;
+ ao_seven_segment_set(AO_LCO_PAD_DIGIT, pad);
}
-static int8_t
-launch_query(void)
+static void
+ao_lco_set_box(uint8_t box)
{
- uint8_t i;
- int8_t r = AO_RADIO_CMAC_OK;
+ ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, box % 10);
+ ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, box / 10);
+}
- 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;
+static void
+ao_lco_set_voltage(uint16_t decivolts)
+{
+ uint8_t tens, ones, tenths;
+
+ tenths = decivolts % 10;
+ ones = (decivolts / 10) % 10;
+ tens = (decivolts / 100) % 10;
+ 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);
+}
+
+static void
+ao_lco_set_display(void)
+{
+ if (ao_lco_pad == 0) {
+ ao_lco_set_voltage(ao_pad_query.battery);
+ } else {
+ ao_lco_set_pad(ao_lco_pad);
+ ao_lco_set_box(ao_lco_box);
}
- tick_offset -= query.tick;
- printf("\n"); flush();
- return r;
+}
+
+#define MASK_SIZE(n) (((n) + 7) >> 3)
+#define MASK_ID(n) ((n) >> 3)
+#define MASK_SHIFT(n) ((n) & 7)
+
+static uint8_t ao_lco_box_mask[MASK_SIZE(AO_PAD_MAX_BOXES)];
+
+static uint8_t
+ao_lco_box_present(uint8_t box)
+{
+ if (box >= AO_PAD_MAX_BOXES)
+ return 0;
+ return (ao_lco_box_mask[MASK_ID(box)] >> MASK_SHIFT(box)) & 1;
+}
+
+static uint8_t
+ao_lco_pad_present(uint8_t pad)
+{
+ if (!ao_lco_got_channels || !ao_pad_query.channels)
+ return pad == 0;
+ /* voltage measurement is always valid */
+ if (pad == 0)
+ return 1;
+ if (pad > AO_PAD_MAX_CHANNELS)
+ return 0;
+ return (ao_pad_query.channels >> (pad - 1)) & 1;
+}
+
+static uint8_t
+ao_lco_pad_first(void)
+{
+ uint8_t pad;
+
+ for (pad = 1; pad <= AO_PAD_MAX_CHANNELS; pad++)
+ if (ao_lco_pad_present(pad))
+ return pad;
+ return 0;
}
static void
-launch_report_cmd(void) __reentrant
+ao_lco_input(void)
{
- int8_t r;
+ static struct ao_event event;
+ int8_t dir, new_box, new_pad;
- 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: ");
+ ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
+ 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) {
+ dir = (int8_t) event.value;
+ new_pad = ao_lco_pad;
+ do {
+ new_pad += dir;
+ if (new_pad > AO_PAD_MAX_CHANNELS)
+ new_pad = 0;
+ if (new_pad < 0)
+ new_pad = AO_PAD_MAX_CHANNELS;
+ if (new_pad == ao_lco_pad)
+ break;
+ } while (!ao_lco_pad_present(new_pad));
+ if (new_pad != ao_lco_pad) {
+ ao_lco_pad = new_pad;
+ ao_lco_set_display();
+ }
+ }
break;
- default:
- printf("Disarmed: ");
- }
- switch (query.igniter_status) {
- default:
- printf("unknown\n");
+ case AO_QUADRATURE_BOX:
+ if (!ao_lco_armed) {
+ dir = (int8_t) event.value;
+ new_box = ao_lco_box;
+ do {
+ new_box += dir;
+ if (new_box > ao_lco_max_box)
+ new_box = ao_lco_min_box;
+ else if (new_box < ao_lco_min_box)
+ new_box = ao_lco_max_box;
+ if (new_box == ao_lco_box)
+ break;
+ } while (!ao_lco_box_present(new_box));
+ if (ao_lco_box != new_box) {
+ ao_lco_box = new_box;
+ ao_lco_pad = 1;
+ ao_lco_got_channels = 0;
+ ao_lco_set_display();
+ }
+ }
break;
- case ao_igniter_ready:
- printf("igniter good\n");
+ }
+ break;
+ case AO_EVENT_BUTTON:
+ switch (event.unit) {
+ case AO_BUTTON_ARM:
+ ao_lco_armed = event.value;
+ PRINTD("Armed %d\n", ao_lco_armed);
+ ao_wakeup(&ao_lco_armed);
break;
- case ao_igniter_open:
- printf("igniter bad\n");
+ case AO_BUTTON_FIRE:
+ if (ao_lco_armed) {
+ ao_lco_firing = event.value;
+ PRINTD("Firing %d\n", ao_lco_firing);
+ ao_wakeup(&ao_lco_armed);
+ }
break;
}
- } else {
- printf("Invalid channel %d\n", launch_channel);
+ break;
}
- printf("Rssi: %d\n", ao_radio_cmac_rssi);
- break;
- default:
- printf("Error %d\n", r);
- break;
}
}
+static AO_LED_TYPE continuity_led[AO_LED_CONTINUITY_NUM] = {
+#ifdef AO_LED_CONTINUITY_0
+ AO_LED_CONTINUITY_0,
+#endif
+#ifdef AO_LED_CONTINUITY_1
+ AO_LED_CONTINUITY_1,
+#endif
+#ifdef AO_LED_CONTINUITY_2
+ AO_LED_CONTINUITY_2,
+#endif
+#ifdef AO_LED_CONTINUITY_3
+ AO_LED_CONTINUITY_3,
+#endif
+#ifdef AO_LED_CONTINUITY_4
+ AO_LED_CONTINUITY_4,
+#endif
+#ifdef AO_LED_CONTINUITY_5
+ AO_LED_CONTINUITY_5,
+#endif
+#ifdef AO_LED_CONTINUITY_6
+ AO_LED_CONTINUITY_6,
+#endif
+#ifdef AO_LED_CONTINUITY_7
+ AO_LED_CONTINUITY_7,
+#endif
+};
+
static void
-launch_arm(void) __reentrant
+ao_lco_update(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));
+ int8_t r;
+ uint8_t c;
+
+ r = ao_lco_query(ao_lco_box, &ao_pad_query, &ao_lco_tick_offset);
+ if (r == AO_RADIO_CMAC_OK) {
+ c = ao_lco_got_channels;
+ ao_lco_got_channels = 1;
+ ao_lco_valid = 1;
+ if (!c) {
+ if (ao_lco_pad != 0)
+ ao_lco_pad = ao_lco_pad_first();
+ ao_lco_set_display();
+ }
+ if (ao_lco_pad == 0)
+ ao_lco_set_display();
+ } else
+ ao_lco_valid = 0;
+
+#if 0
+ PRINTD("lco_query success arm_status %d i0 %d i1 %d i2 %d i3 %d\n",
+ query.arm_status,
+ query.igniter_status[0],
+ query.igniter_status[1],
+ query.igniter_status[2],
+ query.igniter_status[3]);
+#endif
+ PRINTD("ao_lco_update valid %d\n", ao_lco_valid);
+ ao_wakeup(&ao_pad_query);
+}
+
+static void
+ao_lco_box_reset_present(void)
+{
+ ao_lco_min_box = 0xff;
+ ao_lco_max_box = 0x00;
+ memset(ao_lco_box_mask, 0, sizeof (ao_lco_box_mask));
}
static void
-launch_ignite(void) __reentrant
+ao_lco_box_set_present(uint8_t box)
{
- 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));
+ if (box < ao_lco_min_box)
+ ao_lco_min_box = box;
+ if (box > ao_lco_max_box)
+ ao_lco_max_box = box;
+ if (box >= AO_PAD_MAX_BOXES)
+ return;
+ ao_lco_box_mask[MASK_ID(box)] |= 1 << MASK_SHIFT(box);
}
static void
-launch_fire_cmd(void) __reentrant
+ao_lco_search(void)
{
- static __xdata struct ao_launch_command command;
- uint8_t secs;
- uint8_t i;
+ uint16_t tick_offset;
int8_t r;
+ int8_t try;
+ uint8_t box;
+ uint8_t boxes = 0;
- 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;
+ ao_lco_box_reset_present();
+ ao_lco_set_pad(0);
+ for (box = 0; box < AO_PAD_MAX_BOXES; box++) {
+ if ((box % 10) == 0)
+ ao_lco_set_box(box);
+ for (try = 0; try < 3; try++) {
+ tick_offset = 0;
+ r = ao_lco_query(box, &ao_pad_query, &tick_offset);
+ PRINTD("box %d result %d\n", box, r);
+ if (r == AO_RADIO_CMAC_OK) {
+ ++boxes;
+ ao_lco_box_set_present(box);
+ ao_lco_set_pad(boxes % 10);
+ ao_delay(AO_MS_TO_TICKS(30));
+ break;
+ }
+ }
}
+ if (ao_lco_min_box <= ao_lco_max_box)
+ ao_lco_box = ao_lco_min_box;
+ else
+ ao_lco_min_box = ao_lco_max_box = ao_lco_box = 0;
+ ao_lco_valid = 0;
+ ao_lco_got_channels = 0;
+ ao_lco_pad = 1;
+ ao_lco_set_display();
+}
- for (i = 0; i < 4; i++) {
- printf("arm %d\n", i); flush();
- launch_arm();
- }
+static void
+ao_lco_igniter_status(void)
+{
+ uint8_t c;
+
+ for (;;) {
+ ao_sleep(&ao_pad_query);
+ PRINTD("RSSI %d VALID %d\n", ao_radio_cmac_rssi, ao_lco_valid);
+ if (!ao_lco_valid) {
+ ao_led_on(AO_LED_RED);
+ ao_led_off(AO_LED_GREEN|AO_LED_AMBER);
+ continue;
+ }
+ if (ao_radio_cmac_rssi < -90) {
+ ao_led_on(AO_LED_AMBER);
+ ao_led_off(AO_LED_RED|AO_LED_GREEN);
+ } else {
+ ao_led_on(AO_LED_GREEN);
+ ao_led_off(AO_LED_RED|AO_LED_AMBER);
+ }
+ if (ao_pad_query.arm_status)
+ ao_led_on(AO_LED_REMOTE_ARM);
+ else
+ ao_led_off(AO_LED_REMOTE_ARM);
+ for (c = 0; c < AO_LED_CONTINUITY_NUM; c++) {
+ uint8_t status;
- 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));
+ if (ao_pad_query.channels & (1 << c))
+ status = ao_pad_query.igniter_status[c];
+ else
+ status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
+ if (status == AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN)
+ ao_led_on(continuity_led[c]);
+ else
+ ao_led_off(continuity_led[c]);
+ }
}
}
static void
-launch_arm_cmd(void) __reentrant
-{
- uint8_t i;
- int8_t r;
- launch_args();
- r = launch_query();
- if (r != AO_RADIO_CMAC_OK) {
- printf("query failed %d\n", r);
- return;
+ao_lco_arm_warn(void)
+{
+ for (;;) {
+ while (!ao_lco_armed)
+ ao_sleep(&ao_lco_armed);
+ ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
+ ao_delay(AO_MS_TO_TICKS(200));
}
- for (i = 0; i < 4; i++)
- launch_arm();
}
+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
-{
- uint8_t i;
- launch_args();
- for (i = 0; i < 4; i++)
- launch_ignite();
-}
-
-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 },
+ao_lco_monitor(void)
+{
+ uint16_t delay;
+
+ 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");
+ for (;;) {
+ PRINTD("monitor armed %d firing %d offset %d\n",
+ ao_lco_armed, ao_lco_firing, ao_lco_tick_offset);
+
+ if (ao_lco_armed && ao_lco_firing) {
+ PRINTD("Firing box %d pad %d: valid %d\n",
+ ao_lco_box, ao_lco_pad, ao_lco_valid);
+ if (!ao_lco_valid)
+ ao_lco_update();
+ if (ao_lco_valid && ao_lco_pad)
+ ao_lco_ignite(ao_lco_box, 1 << (ao_lco_pad - 1), ao_lco_tick_offset);
+ } else if (ao_lco_armed) {
+ PRINTD("Arming box %d pad %d\n",
+ ao_lco_box, ao_lco_pad);
+ if (!ao_lco_valid)
+ ao_lco_update();
+ if (ao_lco_pad) {
+ ao_lco_arm(ao_lco_box, 1 << (ao_lco_pad - 1), ao_lco_tick_offset);
+ ao_delay(AO_MS_TO_TICKS(30));
+ ao_lco_update();
+ }
+ } else {
+ ao_lco_update();
+ }
+ if (ao_lco_armed && ao_lco_firing)
+ delay = AO_MS_TO_TICKS(100);
+ else
+ delay = AO_SEC_TO_TICKS(1);
+ ao_sleep_for(&ao_lco_armed, delay);
+ }
+}
+
+#if DEBUG
+void
+ao_lco_set_debug(void)
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status == ao_cmd_success)
+ ao_lco_debug = ao_cmd_lex_i != 0;
+}
+
+__code 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_monitor, "lco monitor");
+#if DEBUG
ao_cmd_register(&ao_lco_cmds[0]);
+#endif
}
projects / fw / altos / blobdiff