X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_lco.c;h=e1806ca394f95815c84838b3f4fafdefd07d9538;hp=f30f337992086119533dd9090f60cf28edabb2e2;hb=d75351c5a07241bcbb951758796b4f639ace6b1f;hpb=83e0d4352041b3964ea7a133b0f67da9ebaa1c77 diff --git a/src/drivers/ao_lco.c b/src/drivers/ao_lco.c index f30f3379..e1806ca3 100644 --- a/src/drivers/ao_lco.c +++ b/src/drivers/ao_lco.c @@ -3,7 +3,8 @@ * * 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 @@ -17,177 +18,694 @@ #include #include +#include +#include +#include +#include +#include -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 + +#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_VALID_LAST 1 +#define AO_LCO_VALID_EVER 2 + +static uint8_t ao_lco_min_box, ao_lco_max_box; +static uint8_t ao_lco_selected[AO_PAD_MAX_BOXES]; +static uint8_t ao_lco_valid[AO_PAD_MAX_BOXES]; +static uint8_t ao_lco_channels[AO_PAD_MAX_BOXES]; +static uint16_t ao_lco_tick_offset[AO_PAD_MAX_BOXES]; + +/* UI values */ +static uint8_t ao_lco_armed; +static uint8_t ao_lco_firing; +static uint16_t ao_lco_fire_tick; +static uint8_t ao_lco_fire_down; +static uint8_t ao_lco_drag_race; +static uint8_t ao_lco_pad; +static int16_t ao_lco_box; + +#define AO_LCO_BOX_DRAG 0x1000 + +static struct ao_pad_query ao_pad_query; + +static uint8_t ao_lco_display_mutex; 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_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)) + +static void +ao_lco_set_box(uint16_t box) { - uint8_t i; - int8_t r = AO_RADIO_CMAC_OK; + 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)); + } + ao_mutex_put(&ao_lco_display_mutex); +} - 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_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); +} + +static void +ao_lco_set_display(void) +{ + if (ao_lco_pad == 0 && ao_lco_box != AO_LCO_BOX_DRAG) { + ao_lco_set_voltage(ao_pad_query.battery); + } else { + if (ao_lco_box == AO_LCO_BOX_DRAG) + ao_lco_set_pad(ao_lco_drag_race); + else + ao_lco_set_pad(ao_lco_pad); + ao_lco_set_box(ao_lco_box); + } +} + +#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(uint16_t box) +{ + if (box == AO_LCO_BOX_DRAG) + return 1; + + 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 box, uint8_t pad) +{ + /* voltage measurement is always valid */ + if (pad == 0) + return 1; + if (!ao_lco_channels[box]) + return 0; + if (pad > AO_PAD_MAX_CHANNELS) + return 0; + return (ao_lco_channels[box] >> (pad - 1)) & 1; +} + +static uint8_t +ao_lco_pad_first(uint8_t box) +{ + uint8_t pad; + + for (pad = 1; pad <= AO_PAD_MAX_CHANNELS; pad++) + if (ao_lco_pad_present(box, pad)) + return pad; + return 0; +} + +static struct ao_task ao_lco_drag_task; +static uint8_t ao_lco_drag_active; +static uint8_t ao_lco_drag_beep_count; +static uint8_t ao_lco_drag_beep_on; +static uint16_t ao_lco_drag_beep_time; +static uint16_t ao_lco_drag_warn_time; + +#define AO_LCO_DRAG_BEEP_TIME AO_MS_TO_TICKS(50) +#define AO_LCO_DRAG_WARN_TIME AO_SEC_TO_TICKS(5) + +static void +ao_lco_drag_beep_start(void) +{ + ao_beep(AO_BEEP_HIGH); + PRINTD("beep start\n"); + ao_lco_drag_beep_on = 1; + ao_lco_drag_beep_time = ao_time() + AO_LCO_DRAG_BEEP_TIME; +} + +static void +ao_lco_drag_beep_stop(void) +{ + ao_beep(0); + PRINTD("beep stop\n"); + ao_lco_drag_beep_on = 0; + if (ao_lco_drag_beep_count) { + --ao_lco_drag_beep_count; + if (ao_lco_drag_beep_count) + ao_lco_drag_beep_time = ao_time() + AO_LCO_DRAG_BEEP_TIME; } - tick_offset -= query.tick; - printf("\n"); flush(); - return r; } static void -launch_report_cmd(void) __reentrant +ao_lco_drag_beep(uint8_t beeps) { - int8_t r; + PRINTD("beep %d\n", beeps); + if (!ao_lco_drag_beep_count) + ao_lco_drag_beep_start(); + ao_lco_drag_beep_count += beeps; +} - 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: "); +static uint16_t +ao_lco_drag_beep_check(uint16_t now, uint16_t delay) +{ + PRINTD("beep check count %d delta %d\n", + ao_lco_drag_beep_count, + (int16_t) (now - ao_lco_drag_beep_time)); + if (ao_lco_drag_beep_count) { + if ((int16_t) (now - ao_lco_drag_beep_time) >= 0) { + if (ao_lco_drag_beep_on) + ao_lco_drag_beep_stop(); + else + ao_lco_drag_beep_start(); + } + } + + if (ao_lco_drag_beep_count) { + if (delay > AO_LCO_DRAG_BEEP_TIME) + delay = AO_LCO_DRAG_BEEP_TIME; + } + return delay; +} + +static void +ao_lco_drag_enable(void) +{ + PRINTD("Drag enable\n"); + ao_lco_drag_race = 1; + memset(ao_lco_selected, 0, sizeof (ao_lco_selected)); + ao_lco_drag_beep(5); + ao_lco_set_display(); + ao_lco_fire_down = 0; +} + +static void +ao_lco_drag_disable(void) +{ + PRINTD("Drag disable\n"); + ao_lco_drag_race = 0; + memset(ao_lco_selected, 0, sizeof (ao_lco_selected)); + ao_lco_drag_beep(2); + ao_lco_set_display(); + ao_lco_fire_down = 0; +} + +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(); + else + button_delay = ao_lco_fire_tick + AO_LCO_DRAG_RACE_STOP_TIME - now; + } else { + if ((int16_t) (now - ao_lco_fire_tick) >= AO_LCO_DRAG_RACE_START_TIME) + ao_lco_drag_enable(); + else + button_delay = ao_lco_fire_tick + AO_LCO_DRAG_RACE_START_TIME - now; + } + if (delay > button_delay) + delay = button_delay; + } + return delay; +} + +static uint16_t +ao_lco_drag_warn_check(uint16_t now, uint16_t delay) +{ + uint16_t warn_delay = ~0; + + if (ao_lco_drag_race) { + if ((int16_t) (now - ao_lco_drag_warn_time) >= 0) { + ao_lco_drag_beep(1); + ao_lco_drag_warn_time = now + AO_LCO_DRAG_WARN_TIME; + } + warn_delay = ao_lco_drag_warn_time - now; + } + if (delay > warn_delay) + delay = warn_delay; + return delay; +} + +static void +ao_lco_drag_monitor(void) +{ + uint16_t delay = ~0; + uint16_t now; + + for (;;) { + PRINTD("Drag monitor active %d delay %d\n", ao_lco_drag_active, delay); + if (delay == (uint16_t) ~0) + ao_sleep(&ao_lco_drag_active); + else + ao_sleep_for(&ao_lco_drag_active, 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 +ao_lco_input(void) +{ + static struct ao_event event; + int8_t dir, new_pad; + int16_t new_box; + + 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(ao_lco_box, 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 { + 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)); + if (ao_lco_box != new_box) { + ao_lco_box = new_box; + ao_lco_pad = 1; + if (ao_lco_box != AO_LCO_BOX_DRAG) + ao_lco_channels[ao_lco_box] = 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); + if (ao_lco_armed) { + if (ao_lco_drag_race) { + uint8_t box; + + for (box = ao_lco_min_box; box <= ao_lco_max_box; box++) { + if (ao_lco_selected[box]) { + ao_wakeup(&ao_lco_armed); + break; + } + } + } else { + memset(ao_lco_selected, 0, sizeof (ao_lco_selected)); + if (ao_lco_pad != 0 && ao_lco_box != AO_LCO_BOX_DRAG) + ao_lco_selected[ao_lco_box] = (1 << (ao_lco_pad - 1)); + else + ao_lco_armed = 0; + } + } + ao_wakeup(&ao_lco_armed); break; - case ao_igniter_open: - printf("igniter bad\n"); + case AO_BUTTON_FIRE: + if (ao_lco_armed) { + ao_lco_fire_down = 0; + ao_lco_firing = event.value; + PRINTD("Firing %d\n", ao_lco_firing); + ao_wakeup(&ao_lco_armed); + } 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; + } + if (ao_lco_drag_race) { + if (ao_lco_pad != 0 && ao_lco_box != AO_LCO_BOX_DRAG) { + ao_lco_selected[ao_lco_box] ^= (1 << (ao_lco_pad - 1)); + PRINTD("Toggle box %d pad %d (pads now %x) to drag race\n", + ao_lco_pad, ao_lco_box, ao_lco_selected[ao_lco_box]); + ao_lco_drag_beep(ao_lco_pad); + } + } + ao_wakeup(&ao_lco_drag_active); + } else { + ao_lco_fire_down = 0; + if (ao_lco_drag_active) + ao_wakeup(&ao_lco_drag_active); + } + } break; } - } else { - printf("Invalid channel %d\n", launch_channel); + 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 uint8_t +ao_lco_get_channels(uint8_t box, struct ao_pad_query *query) +{ + int8_t r; + + r = ao_lco_query(box, query, &ao_lco_tick_offset[box]); + if (r == AO_RADIO_CMAC_OK) { + ao_lco_channels[box] = query->channels; + ao_lco_valid[box] = AO_LCO_VALID_LAST | AO_LCO_VALID_EVER; + } else + ao_lco_valid[box] &= ~AO_LCO_VALID_LAST; + PRINTD("ao_lco_get_channels(%d) rssi %d valid %d ret %d offset %d\n", box, ao_radio_cmac_rssi, ao_lco_valid[box], r, ao_lco_tick_offset[box]); + ao_wakeup(&ao_pad_query); + return ao_lco_valid[box]; +} + +static void +ao_lco_update(void) +{ + if (ao_lco_box != AO_LCO_BOX_DRAG) { + uint8_t previous_valid = ao_lco_valid[ao_lco_box]; + + if (ao_lco_get_channels(ao_lco_box, &ao_pad_query) & AO_LCO_VALID_LAST) { + if (!(previous_valid & AO_LCO_VALID_EVER)) { + if (ao_lco_pad != 0) + ao_lco_pad = ao_lco_pad_first(ao_lco_box); + ao_lco_set_display(); + } + if (ao_lco_pad == 0) + ao_lco_set_display(); } - printf("Rssi: %d\n", ao_radio_cmac_rssi); - break; - default: - printf("Error %d\n", r); - break; } } static void -launch_arm(void) __reentrant +ao_lco_box_reset_present(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)); + 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; 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++) { + ao_lco_tick_offset[box] = 0; + r = ao_lco_query(box, &ao_pad_query, &ao_lco_tick_offset[box]); + PRINTD("box %d result %d offset %d\n", box, r, ao_lco_tick_offset[box]); + 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; + memset(ao_lco_valid, 0, sizeof (ao_lco_valid)); + memset(ao_lco_channels, 0, sizeof (ao_lco_channels)); + 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; + uint8_t t = 0; + + for (;;) { + ao_sleep(&ao_pad_query); + PRINTD("RSSI %d VALID %d\n", ao_radio_cmac_rssi, ao_lco_box == AO_LCO_BOX_DRAG ? -1 : ao_lco_valid[ao_lco_box]); + if (ao_lco_box == AO_LCO_BOX_DRAG) { + ao_led_off(AO_LED_RED|AO_LED_GREEN|AO_LED_AMBER); + for (c = 0; c < AO_LED_CONTINUITY_NUM; c++) + ao_led_off(continuity_led[c]); + } else { + if (!(ao_lco_valid[ao_lco_box] & AO_LCO_VALID_LAST)) { + 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_lco_drag_race) { + if (ao_lco_selected[ao_lco_box] & (1 << c) && t) + ao_led_on(continuity_led[c]); + else + ao_led_off(continuity_led[c]); + } else { + 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]); + } + } + t = 1-t; + } } } static void -launch_arm_cmd(void) __reentrant +ao_lco_arm_warn(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 (;;) { + 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 +ao_lco_monitor(void) +{ + uint16_t delay; + uint8_t box; + + 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"); + for (;;) { + PRINTD("monitor armed %d firing %d\n", + ao_lco_armed, ao_lco_firing); + + if (ao_lco_armed && ao_lco_firing) { + ao_lco_ignite(AO_PAD_FIRE); + } else { + ao_lco_update(); + if (ao_lco_armed) { + for (box = ao_lco_min_box; box <= ao_lco_max_box; box++) { + if (ao_lco_selected[box]) { + PRINTD("Arming box %d pads %x\n", + box, ao_lco_selected[box]); + if (ao_lco_valid[box] & AO_LCO_VALID_EVER) { + ao_lco_arm(box, ao_lco_selected[box], ao_lco_tick_offset[box]); + ao_delay(AO_MS_TO_TICKS(10)); + } + } + } + } + } + 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) { - uint8_t i; - launch_args(); - for (i = 0; i < 4; i++) - launch_ignite(); + ao_cmd_decimal(); + if (ao_cmd_status == ao_cmd_success) + ao_lco_debug = ao_cmd_lex_i != 0; } -static __code struct ao_cmds ao_lco_cmds[] = { - { radio_cmac_send_cmd, "s \0Send AES-CMAC packet. Bytes to send follow on next line" }, - { radio_cmac_recv_cmd, "S \0Receive AES-CMAC packet. Timeout in ms" }, - { launch_report_cmd, "l \0Get remote launch status" }, - { launch_fire_cmd, "f \0Fire remote igniter" }, - { launch_arm_cmd, "a \0Arm remote igniter" }, - { launch_ignite_cmd, "i \0Pulse remote igniter" }, - { 0, NULL }, +__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 }