Merge branch 'master' into branch-1.6

1 files changed, 314 insertions, 0 deletions

diff --git a/src/drivers/ao_lco_two.c b/src/drivers/ao_lco_two.c
new file mode 100644
index 00000000..f53fef7d
--- /dev/null
+++ b/src/drivers/ao_lco_two.c
@@ -0,0 +1,314 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_lco.h>
+#include <ao_event.h>
+#include <ao_lco_func.h>
+#include <ao_radio_cmac.h>
+
+#define DEBUG	1
+
+#if DEBUG
+static uint8_t	ao_lco_debug;
+#define DEBUG_EVENT	1
+#define DEBUG_STATUS	2
+#define PRINTD(l, ...) do { if (!(ao_lco_debug & l)) break; printf ("\r%5u %s: ", ao_tick_count, __func__); printf(__VA_ARGS__); flush(); } while(0)
+#else
+#define PRINTD(l,...)
+#endif
+
+#define AO_LCO_VALID_LAST	1
+#define AO_LCO_VALID_EVER	2
+
+static uint8_t	ao_lco_suspended;
+static uint8_t	ao_lco_selected;
+static uint8_t	ao_lco_valid;
+static uint8_t	ao_lco_channels;
+static uint16_t	ao_lco_tick_offset;
+
+/* UI values */
+static uint8_t	ao_lco_armed;
+static uint8_t	ao_lco_firing;
+
+#define ao_lco_box	(ao_config.pad_box)
+
+static struct ao_pad_query	ao_pad_query;
+
+#define MASK_SIZE(n)	(((n) + 7) >> 3)
+#define MASK_ID(n)	((n) >> 3)
+#define MASK_SHIFT(n)	((n) & 7)
+
+static void
+ao_lco_set_armed(int pad, int armed)
+{
+	uint8_t	bit = (1 << pad);
+
+	if (armed) {
+		ao_lco_selected |= bit;
+		ao_lco_armed |= bit;
+	} else {
+		ao_lco_selected &= ~bit;
+		ao_lco_armed &= ~bit;
+	}
+	PRINTD(DEBUG_EVENT, "pad %d bit 0x%x armed %d ao_lco_selected 0x%x ao_lco_armed 0x%x\n",
+	       pad, bit, armed, ao_lco_selected, ao_lco_armed);
+	ao_wakeup(&ao_lco_armed);
+}
+
+static void
+ao_lco_suspend(void)
+{
+	if (!ao_lco_suspended) {
+		PRINTD(DEBUG_EVENT, "suspend\n");
+		ao_lco_suspended = 1;
+		ao_lco_selected = 0;
+		ao_lco_armed = 0;
+		ao_wakeup(&ao_pad_query);
+	}
+}
+
+static void
+ao_lco_wakeup(void)
+{
+	if (ao_lco_suspended) {
+		ao_lco_suspended = 0;
+		ao_wakeup(&ao_lco_suspended);
+	}
+}
+
+static void
+ao_lco_input(void)
+{
+	static struct ao_event	event;
+	uint8_t	timeout;
+
+	ao_config_get();
+	for (;;) {
+		if (ao_config.pad_idle && !ao_lco_suspended) {
+			timeout = ao_event_get_for(&event, AO_SEC_TO_TICKS(ao_config.pad_idle));
+			if (timeout) {
+				ao_lco_suspend();
+				continue;
+			}
+		} else {
+			ao_event_get(&event);
+		}
+		ao_lco_wakeup();
+		PRINTD(DEBUG_EVENT, "event type %d unit %d value %d\n",
+		       event.type, event.unit, event.value);
+		switch (event.type) {
+		case AO_EVENT_BUTTON:
+			switch (event.unit) {
+			case AO_BUTTON_ARM_0:
+				ao_lco_set_armed(0, event.value);
+				break;
+#if AO_BUTTON_ARM_NUM > 1
+			case AO_BUTTON_ARM_1:
+				ao_lco_set_armed(1, event.value);
+				break;
+#endif
+			case AO_BUTTON_FIRE:
+				if (ao_lco_armed) {
+					ao_lco_firing = event.value;
+					PRINTD(DEBUG_EVENT, "Firing %d\n", ao_lco_firing);
+					ao_wakeup(&ao_lco_armed);
+				}
+				break;
+			}
+			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(void)
+{
+	int8_t			r;
+
+	r = ao_lco_query(ao_lco_box, &ao_pad_query, &ao_lco_tick_offset);
+	if (r == AO_RADIO_CMAC_OK) {
+		ao_lco_channels = ao_pad_query.channels;
+		ao_lco_valid = AO_LCO_VALID_LAST | AO_LCO_VALID_EVER;
+	} else
+		ao_lco_valid &= ~AO_LCO_VALID_LAST;
+	PRINTD(DEBUG_STATUS, "ao_lco_get_channels() rssi %d valid %d ret %d offset %d\n", ao_radio_cmac_rssi, ao_lco_valid, r, ao_lco_tick_offset);
+	ao_wakeup(&ao_pad_query);
+	return ao_lco_valid;
+}
+
+static void
+ao_lco_igniter_status(void)
+{
+	uint8_t		c;
+	uint8_t		t = 0;
+
+	for (;;) {
+		ao_sleep(&ao_pad_query);
+		while (ao_lco_suspended) {
+			ao_led_off(AO_LED_GREEN|AO_LED_AMBER|AO_LED_RED|AO_LED_REMOTE_ARM);
+			for (c = 0; c < AO_LED_CONTINUITY_NUM; c++)
+				ao_led_off(continuity_led[c]);
+			ao_sleep(&ao_lco_suspended);
+		}
+		PRINTD(DEBUG_STATUS, "RSSI %d VALID %d\n", ao_radio_cmac_rssi, ao_lco_valid);
+		if (!(ao_lco_valid & 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;
+
+			if (ao_pad_query.channels & (1 << c))
+				status = ao_pad_query.igniter_status[c];
+			else
+				status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
+			PRINTD(DEBUG_STATUS, "\tchannel %d status %d\n", c, status);
+			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
+ao_lco_arm_warn(void)
+{
+	int	i;
+	for (;;) {
+		while (ao_lco_suspended)
+			ao_sleep(&ao_lco_suspended);
+		while (!ao_lco_armed)
+			ao_sleep(&ao_lco_armed);
+		for (i = 0; i < ao_lco_armed; i++) {
+			ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(100));
+			ao_delay(AO_MS_TO_TICKS(100));
+		}
+		ao_delay(AO_MS_TO_TICKS(300));
+	}
+}
+
+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
+ao_lco_monitor(void)
+{
+	uint16_t		delay;
+
+	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_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
+	for (;;) {
+		while (ao_lco_suspended)
+			ao_sleep(&ao_lco_suspended);
+
+		PRINTD(DEBUG_STATUS, "monitor armed %d firing %d\n",
+		       ao_lco_armed, ao_lco_firing);
+
+		if (ao_lco_armed && ao_lco_firing) {
+			ao_lco_ignite();
+		} else {
+			ao_lco_get_channels();
+			if (ao_lco_armed) {
+				if (ao_lco_selected) {
+					PRINTD(DEBUG_STATUS, "Arming pads %x\n",
+					       ao_lco_selected);
+					if (ao_lco_valid & AO_LCO_VALID_EVER) {
+						ao_lco_arm(ao_lco_box, ao_lco_selected, ao_lco_tick_offset);
+						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)
+{
+	ao_cmd_decimal();
+	if (ao_cmd_status == ao_cmd_success)
+		ao_lco_debug = ao_cmd_lex_i;
+}
+
+__code struct ao_cmds ao_lco_cmds[] = {
+	{ ao_lco_set_debug,	"D <0 off, 1 on>\0Debug" },
+	{ 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
+}