--- /dev/null
+/*
+ * Copyright © 2017 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; 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
+ * 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_exti.h>
+#include <ao_micropeak.h>
+#include <ao_report_micro.h>
+#include <ao_log_micro.h>
+#include <ao_storage.h>
+
+static struct ao_ms5607_value value;
+
+alt_t ground_alt, max_alt;
+alt_t ao_max_height;
+
+void
+ao_pa_get(void)
+{
+ ao_ms5607_sample(&ao_ms5607_current);
+ ao_ms5607_convert(&ao_ms5607_current, &value);
+ pa = value.pres;
+}
+
+static void
+ao_compute_height(void)
+{
+ ground_alt = ao_pa_to_altitude(pa_ground);
+ max_alt = ao_pa_to_altitude(pa_min);
+ ao_max_height = max_alt - ground_alt;
+}
+
+static void
+ao_pips(void)
+{
+ uint8_t i;
+ for (i = 0; i < 10; i++) {
+ ao_led_toggle(AO_LED_REPORT);
+ ao_delay(AO_MS_TO_TICKS(80));
+ }
+ ao_delay(AO_MS_TO_TICKS(200));
+}
+
+void
+ao_delay_until(uint16_t target) {
+ int16_t delay = target - ao_time();
+ if (delay > 0) {
+ ao_sleep_for(ao_delay_until, delay);
+ }
+}
+
+static struct ao_task mp_task;
+
+static void
+ao_battery_disable(void)
+{
+ /* Disable */
+ if (stm_adc.cr & (1 << STM_ADC_CR_ADEN)) {
+ stm_adc.cr |= (1 << STM_ADC_CR_ADDIS);
+ while (stm_adc.cr & (1 << STM_ADC_CR_ADDIS))
+ ;
+ }
+
+ /* Turn off everything */
+ stm_adc.cr &= ~((1 << STM_ADC_CR_ADCAL) |
+ (1 << STM_ADC_CR_ADSTP) |
+ (1 << STM_ADC_CR_ADSTART) |
+ (1 << STM_ADC_CR_ADEN));
+}
+
+static void
+ao_battery_init(void)
+{
+ stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_ADCEN);
+
+ ao_battery_disable();
+
+ /* Configure */
+ stm_adc.cfgr1 = ((0 << STM_ADC_CFGR1_AWDCH) | /* analog watchdog channel 0 */
+ (0 << STM_ADC_CFGR1_AWDEN) | /* Disable analog watchdog */
+ (0 << STM_ADC_CFGR1_AWDSGL) | /* analog watchdog on all channels */
+ (0 << STM_ADC_CFGR1_DISCEN) | /* Not discontinuous mode. All channels converted with one trigger */
+ (0 << STM_ADC_CFGR1_AUTOOFF) | /* Leave ADC running */
+ (1 << STM_ADC_CFGR1_WAIT) | /* Wait for data to be read before next conversion */
+ (0 << STM_ADC_CFGR1_CONT) | /* only one set of conversions per trigger */
+ (1 << STM_ADC_CFGR1_OVRMOD) | /* overwrite on overrun */
+ (STM_ADC_CFGR1_EXTEN_DISABLE << STM_ADC_CFGR1_EXTEN) | /* SW trigger */
+ (0 << STM_ADC_CFGR1_ALIGN) | /* Align to LSB */
+ (STM_ADC_CFGR1_RES_12 << STM_ADC_CFGR1_RES) | /* 12 bit resolution */
+ (STM_ADC_CFGR1_SCANDIR_UP << STM_ADC_CFGR1_SCANDIR) | /* scan 0 .. n */
+ (STM_ADC_CFGR1_DMACFG_ONESHOT << STM_ADC_CFGR1_DMACFG) | /* one set of conversions then stop */
+ (1 << STM_ADC_CFGR1_DMAEN)); /* enable DMA */
+
+ /* Set the clock */
+ stm_adc.cfgr2 = STM_ADC_CFGR2_CKMODE_PCLK_2 << STM_ADC_CFGR2_CKMODE;
+
+ /* Shortest sample time */
+ stm_adc.smpr = STM_ADC_SMPR_SMP_71_5 << STM_ADC_SMPR_SMP;
+
+ /* Select Vref */
+ stm_adc.chselr = 1 << 17;
+
+ stm_adc.ccr = ((0 << STM_ADC_CCR_VBATEN) |
+ (0 << STM_ADC_CCR_TSEN) |
+ (1 << STM_ADC_CCR_VREFEN));
+
+ /* Calibrate */
+ stm_adc.cr |= (1 << STM_ADC_CR_ADCAL);
+ while ((stm_adc.cr & (1 << STM_ADC_CR_ADCAL)) != 0)
+ ;
+
+ /* Enable */
+ stm_adc.cr |= (1 << STM_ADC_CR_ADEN);
+ while ((stm_adc.isr & (1 << STM_ADC_ISR_ADRDY)) == 0)
+ ;
+
+ /* Clear any stale status bits */
+ stm_adc.isr = 0;
+
+ /* Turn on syscfg */
+ stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_SYSCFGCOMPEN);
+}
+
+static void
+ao_battery_fini(void)
+{
+ /* Disable */
+ ao_battery_disable();
+
+ /* Power down */
+ stm_rcc.apb2enr &= ~(1 << STM_RCC_APB2ENR_ADCEN);
+}
+
+static uint16_t
+ao_battery_voltage(void)
+{
+ uint16_t vrefint;
+
+ ao_battery_init();
+
+ stm_adc.cr |= (1 << STM_ADC_CR_ADSTART);
+
+ while ((stm_adc.isr & (1 << STM_ADC_ISR_EOC)) == 0)
+ ao_arch_nop();
+
+ vrefint = stm_adc.dr;
+
+ ao_battery_fini();
+
+ return 330 * stm_cal.vrefint_cal / vrefint;
+}
+
+
+uint8_t ao_on_battery;
+
+static void
+ao_micropeak(void)
+{
+ ao_ms5607_setup();
+ ao_storage_setup();
+
+ /* Give the person a second to get their finger out of the way */
+ ao_delay(AO_MS_TO_TICKS(1000));
+
+ ao_pips();
+
+ ao_log_micro_restore();
+ ao_compute_height();
+ ao_report_altitude();
+ ao_log_micro_dump();
+
+#if BOOST_DELAY
+ ao_delay(BOOST_DELAY);
+#endif
+
+ ao_microflight();
+
+ ao_log_micro_save();
+ ao_compute_height();
+ ao_report_altitude();
+
+ ao_sleep(&ao_on_battery);
+}
+
+static void
+ao_show_bat(void)
+{
+ printf("battery: %u\n", ao_battery_voltage());
+}
+
+static struct ao_cmds mp_cmd[] = {
+ { ao_show_bat, "b\0Show battery voltage" },
+ { 0 }
+};
+
+static void
+ao_hsi_init(void)
+{
+ uint32_t cfgr;
+
+ /* Disable all interrupts */
+ stm_rcc.cir = 0;
+
+ /* Enable prefetch */
+ stm_flash.acr |= (1 << STM_FLASH_ACR_PRFTBE);
+
+ /* Enable power interface clock */
+ stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_PWREN);
+
+ /* HCLK to 48MHz -> AHB prescaler = /1 */
+ cfgr = stm_rcc.cfgr;
+ cfgr &= ~(STM_RCC_CFGR_HPRE_MASK << STM_RCC_CFGR_HPRE);
+ cfgr |= (AO_RCC_CFGR_HPRE_DIV << STM_RCC_CFGR_HPRE);
+ stm_rcc.cfgr = cfgr;
+ while ((stm_rcc.cfgr & (STM_RCC_CFGR_HPRE_MASK << STM_RCC_CFGR_HPRE)) !=
+ (AO_RCC_CFGR_HPRE_DIV << STM_RCC_CFGR_HPRE))
+ ao_arch_nop();
+
+ /* APB Prescaler = AO_APB_PRESCALER */
+ cfgr = stm_rcc.cfgr;
+ cfgr &= ~(STM_RCC_CFGR_PPRE_MASK << STM_RCC_CFGR_PPRE);
+ cfgr |= (AO_RCC_CFGR_PPRE_DIV << STM_RCC_CFGR_PPRE);
+ stm_rcc.cfgr = cfgr;
+
+ /* Clear reset flags */
+ stm_rcc.csr |= (1 << STM_RCC_CSR_RMVF);
+}
+
+void
+main(void)
+{
+ if (ao_battery_voltage() < 320)
+ ao_on_battery = 1;
+
+ /* Leave the system running on the HSI if we're on battery */
+ if (!ao_on_battery)
+ ao_clock_init();
+ else
+ ao_hsi_init();
+
+ ao_led_init(LEDS_AVAILABLE);
+ ao_task_init();
+ ao_timer_init();
+ ao_serial_init();
+ stm_moder_set(&stm_gpioa, 2, STM_MODER_OUTPUT);
+
+ ao_dma_init();
+ ao_spi_init();
+ ao_exti_init();
+
+ /* Leave USB disabled on battery */
+ if (!ao_on_battery) {
+ ao_usb_init();
+ ao_cmd_init();
+ }
+
+ ao_ms5607_init();
+
+ ao_storage_init();
+
+ ao_add_task(&mp_task, ao_micropeak, "micropeak");
+ ao_cmd_register(mp_cmd);
+ ao_start_scheduler();
+}
projects / fw / altos / blobdiff