AC_PREREQ(2.57)
AC_INIT([altos], 1.3.2.1)
-AC_CONFIG_SRCDIR([src/core/ao.h])
+AC_CONFIG_SRCDIR([src/kernel/ao.h])
AM_INIT_AUTOMAKE([foreign dist-bzip2])
AM_MAINTAINER_MODE
# AltOS build
#
#
-vpath % ..:../core:../product:../drivers:../avr
+vpath % ..:../kernel:../product:../drivers:../avr
vpath make-altitude ..
vpath make-kalman ..
vpath kalman.5c ../kalman
MCU=atmega32u4
PRODUCT_DEF=-DAVR_DEMO
IDPRODUCT=0x000a
-CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../core -I..
+CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../kernel -I..
CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -Os -mcall-prologues
NICKLE=nickle
CFLAGS=--model-small --debug --opt-code-speed -DCODESIZE=$(CODESIZE)
-CFLAGS += $(PRODUCT_DEF) -I. -I.. -I../core -I../cc1111 -I../drivers -I../product
+CFLAGS += $(PRODUCT_DEF) -I. -I.. -I../kernel -I../cc1111 -I../drivers -I../product
CODESIZE ?= 0x8000
+++ /dev/null
-/*max error 3.197865153490684 at 0.782%. Average error 0.260150920474668*/
-#define NALT 129
-#define ALT_FRAC_BITS 8
- 15835, /* 10.56 kPa 0.000% */
- 15332, /* 11.42 kPa 0.781% */
- 14868, /* 12.29 kPa 1.563% */
- 14435, /* 13.16 kPa 2.344% */
- 14030, /* 14.02 kPa 3.125% */
- 13649, /* 14.90 kPa 3.906% */
- 13290, /* 15.76 kPa 4.688% */
- 12950, /* 16.63 kPa 5.469% */
- 12627, /* 17.50 kPa 6.250% */
- 12320, /* 18.37 kPa 7.031% */
- 12027, /* 19.24 kPa 7.813% */
- 11747, /* 20.10 kPa 8.594% */
- 11479, /* 20.97 kPa 9.375% */
- 11222, /* 21.84 kPa 10.156% */
- 10975, /* 22.71 kPa 10.938% */
- 10736, /* 23.58 kPa 11.719% */
- 10504, /* 24.44 kPa 12.500% */
- 10278, /* 25.31 kPa 13.281% */
- 10059, /* 26.18 kPa 14.063% */
- 9846, /* 27.05 kPa 14.844% */
- 9638, /* 27.91 kPa 15.625% */
- 9435, /* 28.78 kPa 16.406% */
- 9237, /* 29.65 kPa 17.188% */
- 9044, /* 30.52 kPa 17.969% */
- 8855, /* 31.39 kPa 18.750% */
- 8670, /* 32.26 kPa 19.531% */
- 8490, /* 33.13 kPa 20.313% */
- 8313, /* 33.99 kPa 21.094% */
- 8140, /* 34.86 kPa 21.875% */
- 7970, /* 35.73 kPa 22.656% */
- 7803, /* 36.60 kPa 23.438% */
- 7640, /* 37.47 kPa 24.219% */
- 7480, /* 38.33 kPa 25.000% */
- 7322, /* 39.20 kPa 25.781% */
- 7168, /* 40.07 kPa 26.563% */
- 7016, /* 40.94 kPa 27.344% */
- 6867, /* 41.80 kPa 28.125% */
- 6720, /* 42.67 kPa 28.906% */
- 6575, /* 43.54 kPa 29.688% */
- 6433, /* 44.41 kPa 30.469% */
- 6294, /* 45.28 kPa 31.250% */
- 6156, /* 46.15 kPa 32.031% */
- 6020, /* 47.01 kPa 32.813% */
- 5887, /* 47.88 kPa 33.594% */
- 5755, /* 48.75 kPa 34.375% */
- 5625, /* 49.62 kPa 35.156% */
- 5497, /* 50.49 kPa 35.938% */
- 5371, /* 51.35 kPa 36.719% */
- 5247, /* 52.22 kPa 37.500% */
- 5124, /* 53.09 kPa 38.281% */
- 5003, /* 53.96 kPa 39.063% */
- 4883, /* 54.83 kPa 39.844% */
- 4765, /* 55.69 kPa 40.625% */
- 4648, /* 56.56 kPa 41.406% */
- 4533, /* 57.43 kPa 42.188% */
- 4419, /* 58.30 kPa 42.969% */
- 4307, /* 59.17 kPa 43.750% */
- 4196, /* 60.03 kPa 44.531% */
- 4086, /* 60.90 kPa 45.313% */
- 3977, /* 61.77 kPa 46.094% */
- 3870, /* 62.63 kPa 46.875% */
- 3764, /* 63.51 kPa 47.656% */
- 3659, /* 64.38 kPa 48.438% */
- 3555, /* 65.24 kPa 49.219% */
- 3453, /* 66.11 kPa 50.000% */
- 3351, /* 66.98 kPa 50.781% */
- 3250, /* 67.85 kPa 51.563% */
- 3151, /* 68.72 kPa 52.344% */
- 3052, /* 69.58 kPa 53.125% */
- 2955, /* 70.45 kPa 53.906% */
- 2858, /* 71.32 kPa 54.688% */
- 2763, /* 72.19 kPa 55.469% */
- 2668, /* 73.06 kPa 56.250% */
- 2574, /* 73.92 kPa 57.031% */
- 2482, /* 74.79 kPa 57.813% */
- 2390, /* 75.66 kPa 58.594% */
- 2298, /* 76.52 kPa 59.375% */
- 2208, /* 77.40 kPa 60.156% */
- 2119, /* 78.26 kPa 60.938% */
- 2030, /* 79.13 kPa 61.719% */
- 1942, /* 80.00 kPa 62.500% */
- 1855, /* 80.87 kPa 63.281% */
- 1769, /* 81.74 kPa 64.063% */
- 1683, /* 82.60 kPa 64.844% */
- 1598, /* 83.47 kPa 65.625% */
- 1514, /* 84.34 kPa 66.406% */
- 1430, /* 85.21 kPa 67.188% */
- 1347, /* 86.08 kPa 67.969% */
- 1265, /* 86.94 kPa 68.750% */
- 1184, /* 87.81 kPa 69.531% */
- 1103, /* 88.68 kPa 70.313% */
- 1023, /* 89.55 kPa 71.094% */
- 943, /* 90.41 kPa 71.875% */
- 864, /* 91.28 kPa 72.656% */
- 786, /* 92.15 kPa 73.438% */
- 708, /* 93.02 kPa 74.219% */
- 631, /* 93.89 kPa 75.000% */
- 554, /* 94.76 kPa 75.781% */
- 478, /* 95.63 kPa 76.563% */
- 403, /* 96.49 kPa 77.344% */
- 328, /* 97.36 kPa 78.125% */
- 254, /* 98.23 kPa 78.906% */
- 180, /* 99.10 kPa 79.688% */
- 106, /* 99.97 kPa 80.469% */
- 34, /* 100.83 kPa 81.250% */
- -39, /* 101.70 kPa 82.031% */
- -111, /* 102.57 kPa 82.813% */
- -182, /* 103.44 kPa 83.594% */
- -253, /* 104.30 kPa 84.375% */
- -323, /* 105.17 kPa 85.156% */
- -393, /* 106.04 kPa 85.938% */
- -462, /* 106.91 kPa 86.719% */
- -531, /* 107.78 kPa 87.500% */
- -600, /* 108.65 kPa 88.281% */
- -668, /* 109.51 kPa 89.063% */
- -736, /* 110.38 kPa 89.844% */
- -803, /* 111.25 kPa 90.625% */
- -870, /* 112.12 kPa 91.406% */
- -936, /* 112.99 kPa 92.188% */
- -1002, /* 113.85 kPa 92.969% */
- -1068, /* 114.72 kPa 93.750% */
- -1133, /* 115.59 kPa 94.531% */
- -1198, /* 116.46 kPa 95.313% */
- -1262, /* 117.33 kPa 96.094% */
- -1326, /* 118.19 kPa 96.875% */
- -1389, /* 119.06 kPa 97.656% */
- -1453, /* 119.93 kPa 98.438% */
- -1516, /* 120.80 kPa 99.219% */
- -1578, /* 121.67 kPa 100.000% */
+++ /dev/null
-/*
- * Copyright © 2009 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.
- */
-
-#ifndef _AO_H_
-#define _AO_H_
-
-#include <stdint.h>
-#include <stdio.h>
-#include <string.h>
-#include <stddef.h>
-#include <ao_pins.h>
-#include <ao_arch.h>
-
-#define TRUE 1
-#define FALSE 0
-
-/* Convert a __data pointer into an __xdata pointer */
-#ifndef DATA_TO_XDATA
-#define DATA_TO_XDATA(a) (a)
-#endif
-#ifndef PDATA_TO_XDATA
-#define PDATA_TO_XDATA(a) (a)
-#endif
-#ifndef CODE_TO_XDATA
-#define CODE_TO_XDATA(a) (a)
-#endif
-
-#ifndef HAS_TASK
-#define HAS_TASK 1
-#endif
-
-#ifndef AO_PORT_TYPE
-#define AO_PORT_TYPE uint8_t
-#endif
-
-typedef AO_PORT_TYPE ao_port_t;
-
-#if HAS_TASK
-#include <ao_task.h>
-#else
-#include <ao_notask.h>
-#endif
-
-/*
- * ao_panic.c
- */
-
-#define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
-#define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
-#define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
-#define AO_PANIC_EE 4 /* Mis-using eeprom API */
-#define AO_PANIC_LOG 5 /* Failing to read/write log data */
-#define AO_PANIC_CMD 6 /* Too many command sets registered */
-#define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
-#define AO_PANIC_REBOOT 8 /* Reboot failed */
-#define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
-#define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
-#define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
-#define AO_PANIC_STACK 12 /* Stack overflow */
-#define AO_PANIC_SPI 13 /* SPI communication failure */
-#define AO_PANIC_CRASH 14 /* Processor crashed */
-#define AO_PANIC_BUFIO 15 /* Mis-using bufio API */
-#define AO_PANIC_EXTI 16 /* Mis-using exti API */
-#define AO_PANIC_FAST_TIMER 17 /* Mis-using fast timer API */
-#define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
-#define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
-#define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
-#define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */
-
-/* Stop the operating system, beeping and blinking the reason */
-void
-ao_panic(uint8_t reason);
-
-/*
- * ao_timer.c
- */
-
-#ifndef AO_TICK_TYPE
-#define AO_TICK_TYPE uint16_t
-#define AO_TICK_SIGNED int16_t
-#endif
-
-extern volatile __data AO_TICK_TYPE ao_tick_count;
-
-/* Our timer runs at 100Hz */
-#ifndef AO_HERTZ
-#define AO_HERTZ 100
-#endif
-#define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
-#define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
-
-/* Returns the current time in ticks */
-AO_TICK_TYPE
-ao_time(void);
-
-/* Suspend the current task until ticks time has passed */
-void
-ao_delay(uint16_t ticks);
-
-/* Set the ADC interval */
-void
-ao_timer_set_adc_interval(uint8_t interval);
-
-/* Timer interrupt */
-void
-ao_timer_isr(void) ao_arch_interrupt(9);
-
-/* Initialize the timer */
-void
-ao_timer_init(void);
-
-/* Initialize the hardware clock. Must be called first */
-void
-ao_clock_init(void);
-
-/*
- * ao_mutex.c
- */
-
-#ifndef ao_mutex_get
-void
-ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
-
-void
-ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
-#endif
-
-/*
- * ao_cmd.c
- */
-
-enum ao_cmd_status {
- ao_cmd_success = 0,
- ao_cmd_lex_error = 1,
- ao_cmd_syntax_error = 2,
-};
-
-extern __pdata uint16_t ao_cmd_lex_i;
-extern __pdata uint32_t ao_cmd_lex_u32;
-extern __pdata char ao_cmd_lex_c;
-extern __pdata enum ao_cmd_status ao_cmd_status;
-
-void
-ao_put_string(__code char *s);
-
-void
-ao_cmd_lex(void);
-
-void
-ao_cmd_put8(uint8_t v);
-
-void
-ao_cmd_put16(uint16_t v);
-
-uint8_t
-ao_cmd_is_white(void);
-
-void
-ao_cmd_white(void);
-
-int8_t
-ao_cmd_hexchar(char c);
-
-void
-ao_cmd_hexbyte(void);
-
-void
-ao_cmd_hex(void);
-
-void
-ao_cmd_decimal(void) __reentrant;
-
-/* Read a single hex nibble off stdin. */
-uint8_t
-ao_getnibble(void);
-
-uint8_t
-ao_match_word(__code char *word);
-
-struct ao_cmds {
- void (*func)(void);
- __code char *help;
-};
-
-void
-ao_cmd_register(const __code struct ao_cmds *cmds);
-
-void
-ao_cmd_init(void);
-
-#if HAS_CMD_FILTER
-/*
- * Provided by an external module to filter raw command lines
- */
-uint8_t
-ao_cmd_filter(void);
-#endif
-
-/*
- * Various drivers
- */
-#if HAS_ADC
-#include <ao_adc.h>
-#endif
-
-#if HAS_BEEP
-#include <ao_beep.h>
-#endif
-
-#if LEDS_AVAILABLE
-#include <ao_led.h>
-#endif
-
-#if HAS_USB
-#include <ao_usb.h>
-#endif
-
-#if HAS_EEPROM
-#include <ao_storage.h>
-#endif
-
-#if HAS_LOG
-#include <ao_log.h>
-#endif
-
-#if HAS_FLIGHT
-#include <ao_flight.h>
-#include <ao_sample.h>
-#endif
-
-/*
- * ao_report.c
- */
-
-#define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
-#define AO_RDF_LENGTH_MS 500
-#define AO_RDF_CONTINUITY_MS 32
-#define AO_RDF_CONTINUITY_PAUSE 96
-#define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE)
-
-/* This assumes that we're generating a 1kHz tone, which
- * modulates the carrier at 2kbps, or 250kBps
- */
-#define AO_MS_TO_RDF_LEN(ms) ((ms) / 4)
-
-#define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS)
-#define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS)
-#define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE)
-#define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL)
-
-/* returns a value 0-3 to indicate igniter continuity */
-uint8_t
-ao_report_igniter(void);
-
-void
-ao_report_init(void);
-
-/*
- * ao_convert.c
- *
- * Given raw data, convert to SI units
- */
-
-/* pressure from the sensor to altitude in meters */
-int16_t
-ao_pres_to_altitude(int16_t pres) __reentrant;
-
-int16_t
-ao_altitude_to_pres(int16_t alt) __reentrant;
-
-int16_t
-ao_temp_to_dC(int16_t temp) __reentrant;
-
-/*
- * ao_convert_pa.c
- *
- * Convert between pressure in Pa and altitude in meters
- */
-
-#include <ao_data.h>
-
-alt_t
-ao_pa_to_altitude(int32_t pa);
-
-int32_t
-ao_altitude_to_pa(alt_t alt);
-
-#if HAS_DBG
-#include <ao_dbg.h>
-#endif
-
-#if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
-#include <ao_serial.h>
-#endif
-
-/*
- * ao_convert_volt.c
- *
- * Convert ADC readings to decivolts
- */
-
-int16_t
-ao_battery_decivolt(int16_t adc);
-
-int16_t
-ao_ignite_decivolt(int16_t adc);
-
-/*
- * ao_spi_slave.c
- */
-
-uint8_t
-ao_spi_slave_recv(void *buf, uint16_t len);
-
-void
-ao_spi_slave_send(void *buf, uint16_t len);
-
-void
-ao_spi_slave_init(void);
-
-/* This must be defined by the product; it will get called when chip
- * select goes low, at which point it should use ao_spi_read and
- * ao_spi_write to deal with the request
- */
-
-void
-ao_spi_slave(void);
-
-#include <ao_telemetry.h>
-/*
- * ao_gps.c
- */
-
-#define AO_GPS_NUM_SAT_MASK (0xf << 0)
-#define AO_GPS_NUM_SAT_SHIFT (0)
-
-#define AO_GPS_VALID (1 << 4)
-#define AO_GPS_RUNNING (1 << 5)
-#define AO_GPS_DATE_VALID (1 << 6)
-#define AO_GPS_COURSE_VALID (1 << 7)
-
-#define AO_GPS_NEW_DATA 1
-#define AO_GPS_NEW_TRACKING 2
-
-extern __xdata uint8_t ao_gps_new;
-extern __pdata uint16_t ao_gps_tick;
-extern __xdata uint8_t ao_gps_mutex;
-extern __xdata struct ao_telemetry_location ao_gps_data;
-extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
-
-struct ao_gps_orig {
- uint8_t year;
- uint8_t month;
- uint8_t day;
- uint8_t hour;
- uint8_t minute;
- uint8_t second;
- uint8_t flags;
- int32_t latitude; /* degrees * 10⁷ */
- int32_t longitude; /* degrees * 10⁷ */
- int16_t altitude; /* m */
- uint16_t ground_speed; /* cm/s */
- uint8_t course; /* degrees / 2 */
- uint8_t hdop; /* * 5 */
- int16_t climb_rate; /* cm/s */
- uint16_t h_error; /* m */
- uint16_t v_error; /* m */
-};
-
-struct ao_gps_sat_orig {
- uint8_t svid;
- uint8_t c_n_1;
-};
-
-#define AO_MAX_GPS_TRACKING 12
-
-struct ao_gps_tracking_orig {
- uint8_t channels;
- struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
-};
-
-void
-ao_gps(void);
-
-void
-ao_gps_print(__xdata struct ao_gps_orig *gps_data);
-
-void
-ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
-
-void
-ao_gps_show(void) __reentrant;
-
-void
-ao_gps_init(void);
-
-/*
- * ao_gps_report.c
- */
-
-void
-ao_gps_report(void);
-
-void
-ao_gps_report_init(void);
-
-/*
- * ao_gps_report_mega.c
- */
-
-void
-ao_gps_report_mega(void);
-
-void
-ao_gps_report_mega_init(void);
-
-/*
- * ao_telemetry_orig.c
- */
-
-#if LEGACY_MONITOR
-struct ao_adc_orig {
- uint16_t tick; /* tick when the sample was read */
- int16_t accel; /* accelerometer */
- int16_t pres; /* pressure sensor */
- int16_t temp; /* temperature sensor */
- int16_t v_batt; /* battery voltage */
- int16_t sense_d; /* drogue continuity sense */
- int16_t sense_m; /* main continuity sense */
-};
-
-struct ao_telemetry_orig {
- uint16_t serial;
- uint16_t flight;
- uint8_t flight_state;
- int16_t accel;
- int16_t ground_accel;
- union {
- struct {
- int16_t speed;
- int16_t unused;
- } k;
- int32_t flight_vel;
- } u;
- int16_t height;
- int16_t ground_pres;
- int16_t accel_plus_g;
- int16_t accel_minus_g;
- struct ao_adc_orig adc;
- struct ao_gps_orig gps;
- char callsign[AO_MAX_CALLSIGN];
- struct ao_gps_tracking_orig gps_tracking;
-};
-
-struct ao_telemetry_tiny {
- uint16_t serial;
- uint16_t flight;
- uint8_t flight_state;
- int16_t height; /* AGL in meters */
- int16_t speed; /* in m/s * 16 */
- int16_t accel; /* in m/s² * 16 */
- int16_t ground_pres; /* sensor units */
- struct ao_adc adc; /* raw ADC readings */
- char callsign[AO_MAX_CALLSIGN];
-};
-
-struct ao_telemetry_orig_recv {
- struct ao_telemetry_orig telemetry_orig;
- int8_t rssi;
- uint8_t status;
-};
-
-struct ao_telemetry_tiny_recv {
- struct ao_telemetry_tiny telemetry_tiny;
- int8_t rssi;
- uint8_t status;
-};
-
-#endif /* LEGACY_MONITOR */
-
-/* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method
- * for reporting RSSI. So, now we use these values everywhere
- */
-#define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74)
-#define AO_RADIO_FROM_RSSI(rssi) (((int8_t) (rssi) + 74) << 1)
-
-/*
- * ao_radio_recv tacks on rssi and status bytes
- */
-
-struct ao_telemetry_raw_recv {
- uint8_t packet[AO_MAX_TELEMETRY + 2];
-};
-
-/* Set delay between telemetry reports (0 to disable) */
-
-#ifdef AO_SEND_ALL_BARO
-#define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(100)
-#define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
-#define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(100)
-#else
-#define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
-#define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
-#define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
-#endif
-
-void
-ao_telemetry_set_interval(uint16_t interval);
-
-void
-ao_rdf_set(uint8_t rdf);
-
-void
-ao_telemetry_init(void);
-
-void
-ao_telemetry_orig_init(void);
-
-void
-ao_telemetry_tiny_init(void);
-
-/*
- * ao_radio.c
- */
-
-extern __xdata uint8_t ao_radio_dma;
-
-extern __xdata int8_t ao_radio_rssi;
-
-#ifdef PKT_APPEND_STATUS_1_CRC_OK
-#define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
-#else
-#include <ao_fec.h>
-#define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK
-#endif
-
-#ifndef HAS_RADIO_RECV
-#define HAS_RADIO_RECV HAS_RADIO
-#endif
-#ifndef HAS_RADIO_XMIT
-#define HAS_RADIO_XMIT HAS_RADIO
-#endif
-
-void
-ao_radio_general_isr(void) ao_arch_interrupt(16);
-
-#if HAS_RADIO_XMIT
-void
-ao_radio_send(const __xdata void *d, uint8_t size) __reentrant;
-#endif
-
-#if HAS_RADIO_RECV
-uint8_t
-ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout) __reentrant;
-
-void
-ao_radio_recv_abort(void);
-#endif
-
-void
-ao_radio_test(uint8_t on);
-
-typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
-
-void
-ao_radio_send_aprs(ao_radio_fill_func fill);
-
-/*
- * ao_radio_pa
- */
-
-#if HAS_RADIO_AMP
-void
-ao_radio_pa_on(void);
-
-void
-ao_radio_pa_off(void);
-
-void
-ao_radio_pa_init(void);
-#else
-#define ao_radio_pa_on()
-#define ao_radio_pa_off()
-#define ao_radio_pa_init()
-#endif
-
-/*
- * Compute the packet length as follows:
- *
- * 2000 bps (for a 1kHz tone)
- * so, for 'ms' milliseconds, we need
- * 2 * ms bits, or ms / 4 bytes
- */
-
-void
-ao_radio_rdf(void);
-
-void
-ao_radio_continuity(uint8_t c);
-
-void
-ao_radio_rdf_abort(void);
-
-void
-ao_radio_init(void);
-
-/*
- * ao_monitor.c
- */
-
-#if HAS_MONITOR
-
-extern const char const * const ao_state_names[];
-
-#define AO_MONITOR_RING 8
-
-union ao_monitor {
- struct ao_telemetry_raw_recv raw;
- struct ao_telemetry_all_recv all;
-#if LEGACY_MONITOR
- struct ao_telemetry_orig_recv orig;
- struct ao_telemetry_tiny_recv tiny;
-#endif
-};
-
-extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
-
-#define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
-
-extern __data uint8_t ao_monitoring;
-extern __data uint8_t ao_monitor_head;
-
-void
-ao_monitor(void);
-
-#define AO_MONITORING_OFF 0
-#define AO_MONITORING_ORIG 1
-
-void
-ao_monitor_set(uint8_t monitoring);
-
-void
-ao_monitor_disable(void);
-
-void
-ao_monitor_enable(void);
-
-void
-ao_monitor_init(void) __reentrant;
-
-#endif
-
-/*
- * ao_stdio.c
- */
-
-#define AO_READ_AGAIN (-1)
-
-struct ao_stdio {
- int (*_pollchar)(void); /* Called with interrupts blocked */
- void (*putchar)(char c) __reentrant;
- void (*flush)(void);
- uint8_t echo;
-};
-
-extern __xdata struct ao_stdio ao_stdios[];
-extern __pdata int8_t ao_cur_stdio;
-extern __pdata int8_t ao_num_stdios;
-
-void
-flush(void);
-
-extern __xdata uint8_t ao_stdin_ready;
-
-uint8_t
-ao_echo(void);
-
-int8_t
-ao_add_stdio(int (*pollchar)(void),
- void (*putchar)(char) __reentrant,
- void (*flush)(void)) __reentrant;
-
-/*
- * ao_ignite.c
- */
-
-enum ao_igniter {
- ao_igniter_drogue = 0,
- ao_igniter_main = 1
-};
-
-void
-ao_ignite(enum ao_igniter igniter);
-
-enum ao_igniter_status {
- ao_igniter_unknown, /* unknown status (ambiguous voltage) */
- ao_igniter_ready, /* continuity detected */
- ao_igniter_active, /* igniter firing */
- ao_igniter_open, /* open circuit detected */
-};
-
-struct ao_ignition {
- uint8_t request;
- uint8_t fired;
- uint8_t firing;
-};
-
-extern __code char * __code ao_igniter_status_names[];
-
-extern __xdata struct ao_ignition ao_ignition[2];
-
-enum ao_igniter_status
-ao_igniter_status(enum ao_igniter igniter);
-
-extern __pdata uint8_t ao_igniter_present;
-
-void
-ao_ignite_set_pins(void);
-
-void
-ao_igniter_init(void);
-
-/*
- * ao_config.c
- */
-
-#if AO_PYRO_NUM
-#include <ao_pyro.h>
-#endif
-
-#if HAS_FORCE_FREQ
-/*
- * Set this to force the frequency to 434.550MHz
- */
-extern __xdata uint8_t ao_force_freq;
-#endif
-
-#define AO_CONFIG_MAJOR 1
-#define AO_CONFIG_MINOR 15
-
-#define AO_AES_LEN 16
-
-extern __xdata uint8_t ao_config_aes_seq;
-
-struct ao_config {
- uint8_t major;
- uint8_t minor;
- uint16_t main_deploy;
- int16_t accel_plus_g; /* changed for minor version 2 */
- uint8_t _legacy_radio_channel;
- char callsign[AO_MAX_CALLSIGN + 1];
- uint8_t apogee_delay; /* minor version 1 */
- int16_t accel_minus_g; /* minor version 2 */
- uint32_t radio_cal; /* minor version 3 */
- uint32_t flight_log_max; /* minor version 4 */
- uint8_t ignite_mode; /* minor version 5 */
- uint8_t pad_orientation; /* minor version 6 */
- uint32_t radio_setting; /* minor version 7 */
- uint8_t radio_enable; /* minor version 8 */
- uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */
- uint32_t frequency; /* minor version 10 */
- uint16_t apogee_lockout; /* minor version 11 */
-#if AO_PYRO_NUM
- struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */
-#endif
- uint16_t aprs_interval; /* minor version 13 */
-#if HAS_RADIO_POWER
- uint8_t radio_power; /* minor version 14 */
-#endif
-#if HAS_RADIO_AMP
- uint8_t radio_amp; /* minor version 14 */
-#endif
-#if HAS_GYRO
- int16_t accel_zero_along; /* minor version 15 */
- int16_t accel_zero_across; /* minor version 15 */
- int16_t accel_zero_through; /* minor version 15 */
-#endif
-};
-
-#define AO_IGNITE_MODE_DUAL 0
-#define AO_IGNITE_MODE_APOGEE 1
-#define AO_IGNITE_MODE_MAIN 2
-
-#define AO_RADIO_ENABLE_CORE 1
-#define AO_RADIO_DISABLE_TELEMETRY 2
-#define AO_RADIO_DISABLE_RDF 4
-
-#define AO_PAD_ORIENTATION_ANTENNA_UP 0
-#define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
-
-extern __xdata struct ao_config ao_config;
-
-#define AO_CONFIG_MAX_SIZE 128
-
-void
-_ao_config_edit_start(void);
-
-void
-_ao_config_edit_finish(void);
-
-void
-ao_config_get(void);
-
-void
-ao_config_put(void);
-
-void
-ao_config_set_radio(void);
-
-void
-ao_config_init(void);
-
-/*
- * ao_rssi.c
- */
-
-void
-ao_rssi_set(int rssi_value);
-
-void
-ao_rssi_init(uint8_t rssi_led);
-
-/*
- * ao_product.c
- *
- * values which need to be defined for
- * each instance of a product
- */
-
-extern const char ao_version[];
-extern const char ao_manufacturer[];
-extern const char ao_product[];
-
-/*
- * Fifos
- */
-
-#define AO_FIFO_SIZE 32
-
-struct ao_fifo {
- uint8_t insert;
- uint8_t remove;
- char fifo[AO_FIFO_SIZE];
-};
-
-#define ao_fifo_insert(f,c) do { \
- (f).fifo[(f).insert] = (c); \
- (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
-} while(0)
-
-#define ao_fifo_remove(f,c) do {\
- c = (f).fifo[(f).remove]; \
- (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
-} while(0)
-
-#define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
-#define ao_fifo_empty(f) ((f).insert == (f).remove)
-
-#if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
-#include <ao_packet.h>
-#endif
-
-#if HAS_BTM
-#include <ao_btm.h>
-#endif
-
-#if HAS_COMPANION
-#include <ao_companion.h>
-#endif
-
-#if HAS_LCD
-#include <ao_lcd.h>
-#endif
-
-#if HAS_AES
-#include <ao_aes.h>
-#endif
-
-/* ao_launch.c */
-
-struct ao_launch_command {
- uint16_t tick;
- uint16_t serial;
- uint8_t cmd;
- uint8_t channel;
- uint16_t unused;
-};
-
-#define AO_LAUNCH_QUERY 1
-
-struct ao_launch_query {
- uint16_t tick;
- uint16_t serial;
- uint8_t channel;
- uint8_t valid;
- uint8_t arm_status;
- uint8_t igniter_status;
-};
-
-#define AO_LAUNCH_ARM 2
-#define AO_LAUNCH_FIRE 3
-
-void
-ao_launch_init(void);
-
-/*
- * ao_log_single.c
- */
-
-#define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
-#define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
-
-#define AO_LOG_TELESCIENCE_NUM_ADC 12
-
-struct ao_log_telescience {
- uint8_t type;
- uint8_t csum;
- uint16_t tick;
- uint16_t tm_tick;
- uint8_t tm_state;
- uint8_t unused;
- uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
-};
-
-#define AO_LOG_SINGLE_SIZE 32
-
-union ao_log_single {
- struct ao_log_telescience telescience;
- union ao_telemetry_all telemetry;
- uint8_t bytes[AO_LOG_SINGLE_SIZE];
-};
-
-extern __xdata union ao_log_single ao_log_single_write_data;
-extern __xdata union ao_log_single ao_log_single_read_data;
-
-void
-ao_log_single_extra_query(void);
-
-void
-ao_log_single_list(void);
-
-void
-ao_log_single_main(void);
-
-uint8_t
-ao_log_single_write(void);
-
-uint8_t
-ao_log_single_read(uint32_t pos);
-
-void
-ao_log_single_start(void);
-
-void
-ao_log_single_stop(void);
-
-void
-ao_log_single_restart(void);
-
-void
-ao_log_single_set(void);
-
-void
-ao_log_single_delete(void);
-
-void
-ao_log_single_init(void);
-
-void
-ao_log_single(void);
-
-/*
- * ao_pyro_slave.c
- */
-
-#define AO_TELEPYRO_NUM_ADC 9
-
-#ifndef ao_xmemcpy
-#define ao_xmemcpy(d,s,c) memcpy(d,s,c)
-#define ao_xmemset(d,v,c) memset(d,v,c)
-#define ao_xmemcmp(d,s,c) memcmp(d,s,c)
-#endif
-
-/*
- * ao_terraui.c
- */
-
-void
-ao_terraui_init(void);
-
-/*
- * ao_battery.c
- */
-
-#ifdef BATTERY_PIN
-void
-ao_battery_isr(void) ao_arch_interrupt(1);
-
-uint16_t
-ao_battery_get(void);
-
-void
-ao_battery_init(void);
-#endif /* BATTERY_PIN */
-
-/*
- * ao_sqrt.c
- */
-
-uint32_t
-ao_sqrt(uint32_t op);
-
-/*
- * ao_freq.c
- */
-
-int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant;
-
-/*
- * ao_ms5607.c
- */
-
-void ao_ms5607_init(void);
-
-#include <ao_arch_funcs.h>
-
-#endif /* _AO_H_ */
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_ADC_H_
-#define _AO_ADC_H_
-
-#include <ao_data.h>
-
-/* Trigger a conversion sequence (called from the timer interrupt) */
-void
-ao_adc_poll(void);
-
-/* Suspend the current task until another A/D sample is converted */
-void
-ao_adc_sleep(void);
-
-/* Initialize the A/D converter */
-void
-ao_adc_init(void);
-
-#endif /* _AO_ADC_H_ */
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_AES_H_
-#define _AO_AES_H_
-
-/* ao_aes.c */
-
-extern __xdata uint8_t ao_aes_mutex;
-
-/* AES keys and blocks are 128 bits */
-
-enum ao_aes_mode {
- ao_aes_mode_cbc_mac
-};
-
-#if HAS_AES
-#ifdef SDCC
-void
-ao_aes_isr(void) __interrupt 4;
-#endif
-#endif
-
-void
-ao_aes_set_mode(enum ao_aes_mode mode);
-
-void
-ao_aes_set_key(__xdata uint8_t *in);
-
-void
-ao_aes_zero_iv(void);
-
-void
-ao_aes_run(__xdata uint8_t *in,
- __xdata uint8_t *out);
-
-void
-ao_aes_init(void);
-
-#endif /* _AO_AES_H_ */
+++ /dev/null
-/*
- * Copyright © 2009 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.
- */
-
-#ifndef AO_FLIGHT_TEST
-#include "ao.h"
-#endif
-
-#ifndef HAS_ACCEL
-#error Please define HAS_ACCEL
-#endif
-
-#ifndef HAS_GPS
-#error Please define HAS_GPS
-#endif
-
-#ifndef HAS_USB
-#error Please define HAS_USB
-#endif
-
-#if HAS_SENSOR_ERRORS
-/* Any sensor can set this to mark the flight computer as 'broken' */
-__xdata uint8_t ao_sensor_errors;
-#endif
-
-__pdata uint16_t ao_motor_number; /* number of motors burned so far */
-
-/* Main flight thread. */
-
-__pdata enum ao_flight_state ao_flight_state; /* current flight state */
-
-__pdata uint8_t ao_flight_force_idle;
-
-void
-ao_flight(void)
-{
- ao_sample_init();
- ao_flight_state = ao_flight_startup;
- for (;;) {
-
- /*
- * Process ADC samples, just looping
- * until the sensors are calibrated.
- */
- if (!ao_sample())
- continue;
-
- switch (ao_flight_state) {
- case ao_flight_startup:
-
- /* Check to see what mode we should go to.
- * - Invalid mode if accel cal appears to be out
- * - pad mode if we're upright,
- * - idle mode otherwise
- */
- if (!ao_flight_force_idle)
- {
- /* Set pad mode - we can fly! */
- ao_flight_state = ao_flight_pad;
-#if HAS_USB
- /* Disable the USB controller in flight mode
- * to save power
- */
- if (!ao_usb_running)
- ao_usb_disable();
-#endif
-
- /* Disable packet mode in pad state */
- ao_packet_slave_stop();
-
- /* Turn on telemetry system */
- ao_rdf_set(1);
- ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_BALLOON);
-
- /* signal successful initialization by turning off the LED */
- ao_led_off(AO_LED_RED);
- } else {
- /* Set idle mode */
- ao_flight_state = ao_flight_idle;
-
- /* signal successful initialization by turning off the LED */
- ao_led_off(AO_LED_RED);
- }
- /* wakeup threads due to state change */
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-
- break;
- case ao_flight_pad:
-
- /* pad to coast:
- *
- * barometer: > 20m vertical motion
- */
- if (ao_height > AO_M_TO_HEIGHT(20))
- {
- ao_flight_state = ao_flight_drogue;
-
- /* start logging data */
- ao_log_start();
-
-#if HAS_GPS
- /* Record current GPS position by waking up GPS log tasks */
- ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
- ao_wakeup(&ao_gps_new);
-#endif
-
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- }
- break;
- default:
- break;
- }
- }
-}
-
-static __xdata struct ao_task flight_task;
-
-void
-ao_flight_init(void)
-{
- ao_flight_state = ao_flight_startup;
- ao_add_task(&flight_task, ao_flight, "flight");
-}
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_BEEP_H_
-#define _AO_BEEP_H_
-
-/*
- * ao_beep.c
- */
-
-/*
- * Various pre-defined beep frequencies
- *
- * frequency = 1/2 (24e6/32) / beep
- */
-
-#define AO_BEEP_LOW 150 /* 2500Hz */
-#define AO_BEEP_MID 94 /* 3989Hz */
-#define AO_BEEP_HIGH 75 /* 5000Hz */
-#define AO_BEEP_OFF 0 /* off */
-
-#define AO_BEEP_g 240 /* 1562.5Hz */
-#define AO_BEEP_gs 227 /* 1652Hz (1655Hz) */
-#define AO_BEEP_aa 214 /* 1752Hz (1754Hz) */
-#define AO_BEEP_bbf 202 /* 1856Hz (1858Hz) */
-#define AO_BEEP_bb 190 /* 1974Hz (1969Hz) */
-#define AO_BEEP_cc 180 /* 2083Hz (2086Hz) */
-#define AO_BEEP_ccs 170 /* 2205Hz (2210Hz) */
-#define AO_BEEP_dd 160 /* 2344Hz (2341Hz) */
-#define AO_BEEP_eef 151 /* 2483Hz (2480Hz) */
-#define AO_BEEP_ee 143 /* 2622Hz (2628Hz) */
-#define AO_BEEP_ff 135 /* 2778Hz (2784Hz) */
-#define AO_BEEP_ffs 127 /* 2953Hz (2950Hz) */
-#define AO_BEEP_gg 120 /* 3125Hz */
-#define AO_BEEP_ggs 113 /* 3319Hz (3311Hz) */
-#define AO_BEEP_aaa 107 /* 3504Hz (3508Hz) */
-#define AO_BEEP_bbbf 101 /* 3713Hz (3716Hz) */
-#define AO_BEEP_bbb 95 /* 3947Hz (3937Hz) */
-#define AO_BEEP_ccc 90 /* 4167Hz (4171Hz) */
-#define AO_BEEP_cccs 85 /* 4412Hz (4419Hz) */
-#define AO_BEEP_ddd 80 /* 4688Hz (4682Hz) */
-#define AO_BEEP_eeef 76 /* 4934Hz (4961Hz) */
-#define AO_BEEP_eee 71 /* 5282Hz (5256Hz) */
-#define AO_BEEP_fff 67 /* 5597Hz (5568Hz) */
-#define AO_BEEP_fffs 64 /* 5859Hz (5899Hz) */
-#define AO_BEEP_ggg 60 /* 6250Hz */
-
-/* Set the beeper to the specified tone */
-void
-ao_beep(uint8_t beep);
-
-/* Turn on the beeper for the specified time */
-void
-ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant;
-
-/* Initialize the beeper */
-void
-ao_beep_init(void);
-
-#endif /* _AO_BEEP_H_ */
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_BTM_H_
-#define _AO_BTM_H_
-
-/* ao_btm.c */
-
-/* If bt_link is on P2, this interrupt is shared by USB, so the USB
- * code calls this function. Otherwise, it's a regular ISR.
- */
-
-void
-ao_btm_isr(void)
-#if BT_LINK_ON_P1
- __interrupt 15
-#endif
- ;
-void
-ao_btm_init(void);
-
-#endif /* _AO_BTM_H_ */
+++ /dev/null
-/*
- * Copyright © 2009 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_task.h"
-
-__pdata uint16_t ao_cmd_lex_i;
-__pdata uint32_t ao_cmd_lex_u32;
-__pdata char ao_cmd_lex_c;
-__pdata enum ao_cmd_status ao_cmd_status;
-
-#define CMD_LEN 48
-
-static __xdata char cmd_line[CMD_LEN];
-static __pdata uint8_t cmd_len;
-static __pdata uint8_t cmd_i;
-
-void
-ao_put_string(__code char *s)
-{
- char c;
- while ((c = *s++))
- putchar(c);
-}
-
-static void
-backspace(void)
-{
- ao_put_string ("\010 \010");
-}
-
-static void
-readline(void)
-{
- char c;
- if (ao_echo())
- ao_put_string("> ");
- cmd_len = 0;
- for (;;) {
- flush();
- c = getchar();
- /* backspace/delete */
- if (c == '\010' || c == '\177') {
- if (cmd_len != 0) {
- if (ao_echo())
- backspace();
- --cmd_len;
- }
- continue;
- }
-
- /* ^U */
- if (c == '\025') {
- while (cmd_len != 0) {
- if (ao_echo())
- backspace();
- --cmd_len;
- }
- continue;
- }
-
- /* map CR to NL */
- if (c == '\r')
- c = '\n';
-
- if (c == '\n') {
- if (ao_echo())
- putchar('\n');
- break;
- }
-
- if (cmd_len >= CMD_LEN - 2)
- continue;
- cmd_line[cmd_len++] = c;
- if (ao_echo())
- putchar(c);
- }
- cmd_line[cmd_len++] = '\n';
- cmd_line[cmd_len++] = '\0';
- cmd_i = 0;
-}
-
-void
-ao_cmd_lex(void)
-{
- ao_cmd_lex_c = '\n';
- if (cmd_i < cmd_len)
- ao_cmd_lex_c = cmd_line[cmd_i++];
-}
-
-static void
-putnibble(uint8_t v)
-{
- if (v < 10)
- putchar(v + '0');
- else
- putchar(v + ('a' - 10));
-}
-
-uint8_t
-ao_getnibble(void)
-{
- char c;
-
- c = getchar();
- if ('0' <= c && c <= '9')
- return c - '0';
- if ('a' <= c && c <= 'f')
- return c - ('a' - 10);
- if ('A' <= c && c <= 'F')
- return c - ('A' - 10);
- ao_cmd_status = ao_cmd_lex_error;
- return 0;
-}
-
-void
-ao_cmd_put16(uint16_t v)
-{
- ao_cmd_put8(v >> 8);
- ao_cmd_put8(v);
-}
-
-void
-ao_cmd_put8(uint8_t v)
-{
- putnibble((v >> 4) & 0xf);
- putnibble(v & 0xf);
-}
-
-uint8_t
-ao_cmd_is_white(void)
-{
- return ao_cmd_lex_c == ' ' || ao_cmd_lex_c == '\t';
-}
-
-void
-ao_cmd_white(void)
-{
- while (ao_cmd_is_white())
- ao_cmd_lex();
-}
-
-int8_t
-ao_cmd_hexchar(char c)
-{
- if ('0' <= c && c <= '9')
- return (c - '0');
- if ('a' <= c && c <= 'f')
- return (c - 'a' + 10);
- if ('A' <= c && c <= 'F')
- return (c - 'A' + 10);
- return -1;
-}
-
-void
-ao_cmd_hexbyte(void)
-{
- uint8_t i;
- int8_t n;
-
- ao_cmd_lex_i = 0;
- ao_cmd_white();
- for (i = 0; i < 2; i++) {
- n = ao_cmd_hexchar(ao_cmd_lex_c);
- if (n < 0) {
- ao_cmd_status = ao_cmd_syntax_error;
- break;
- }
- ao_cmd_lex_i = (ao_cmd_lex_i << 4) | n;
- ao_cmd_lex();
- }
-}
-
-void
-ao_cmd_hex(void)
-{
- __pdata uint8_t r = ao_cmd_lex_error;
- int8_t n;
-
- ao_cmd_lex_i = 0;
- ao_cmd_white();
- for(;;) {
- n = ao_cmd_hexchar(ao_cmd_lex_c);
- if (n < 0)
- break;
- ao_cmd_lex_i = (ao_cmd_lex_i << 4) | n;
- r = ao_cmd_success;
- ao_cmd_lex();
- }
- if (r != ao_cmd_success)
- ao_cmd_status = r;
-}
-
-void
-ao_cmd_decimal(void) __reentrant
-{
- uint8_t r = ao_cmd_lex_error;
-
- ao_cmd_lex_u32 = 0;
- ao_cmd_white();
- for(;;) {
- if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9')
- ao_cmd_lex_u32 = (ao_cmd_lex_u32 * 10) + (ao_cmd_lex_c - '0');
- else
- break;
- r = ao_cmd_success;
- ao_cmd_lex();
- }
- if (r != ao_cmd_success)
- ao_cmd_status = r;
- ao_cmd_lex_i = (uint16_t) ao_cmd_lex_u32;
-}
-
-uint8_t
-ao_match_word(__code char *word)
-{
- while (*word) {
- if (ao_cmd_lex_c != *word) {
- ao_cmd_status = ao_cmd_syntax_error;
- return 0;
- }
- word++;
- ao_cmd_lex();
- }
- return 1;
-}
-
-static void
-echo(void)
-{
- ao_cmd_hex();
- if (ao_cmd_status == ao_cmd_success)
- ao_stdios[ao_cur_stdio].echo = ao_cmd_lex_i != 0;
-}
-
-static void
-ao_reboot(void)
-{
- ao_cmd_white();
- if (!ao_match_word("eboot"))
- return;
- /* Delay waiting for the packet master to be turned off
- * so that we don't end up back in idle mode because we
- * received a packet after boot.
- */
- flush();
- ao_delay(AO_SEC_TO_TICKS(1));
- ao_arch_reboot();
- ao_panic(AO_PANIC_REBOOT);
-}
-
-#ifndef HAS_VERSION
-#define HAS_VERSION 1
-#endif
-
-#if HAS_VERSION
-static void
-version(void)
-{
- printf("manufacturer %s\n"
- "product %s\n"
- "serial-number %u\n"
-#if HAS_FLIGHT
- "current-flight %u\n"
-#endif
-#if HAS_LOG
- "log-format %u\n"
-#endif
- , ao_manufacturer
- , ao_product
- , ao_serial_number
-#if HAS_FLIGHT
- , ao_flight_number
-#endif
-#if HAS_LOG
- , ao_log_format
-#endif
- );
- printf("software-version %s\n", ao_version);
-}
-#endif
-
-#ifndef NUM_CMDS
-#define NUM_CMDS 11
-#endif
-
-static __code struct ao_cmds *__xdata (ao_cmds[NUM_CMDS]);
-static __pdata uint8_t ao_ncmds;
-
-static void
-help(void)
-{
- __pdata uint8_t cmds;
- __pdata uint8_t cmd;
- __code struct ao_cmds * __pdata cs;
- __code const char *h;
- uint8_t e;
-
- for (cmds = 0; cmds < ao_ncmds; cmds++) {
- cs = ao_cmds[cmds];
- for (cmd = 0; cs[cmd].func; cmd++) {
- h = cs[cmd].help;
- ao_put_string(h);
- e = strlen(h);
- h += e + 1;
- e = 45 - e;
- while (e--)
- putchar(' ');
- ao_put_string(h);
- putchar('\n');
- }
- }
-}
-
-static void
-report(void)
-{
- switch(ao_cmd_status) {
- case ao_cmd_lex_error:
- case ao_cmd_syntax_error:
- puts("Syntax error");
- ao_cmd_status = 0;
- default:
- break;
- }
-}
-
-void
-ao_cmd_register(__code struct ao_cmds *cmds)
-{
- if (ao_ncmds >= NUM_CMDS)
- ao_panic(AO_PANIC_CMD);
- ao_cmds[ao_ncmds++] = cmds;
-}
-
-void
-ao_cmd(void)
-{
- __pdata char c;
- uint8_t cmd, cmds;
- __code struct ao_cmds * __xdata cs;
- void (*__xdata func)(void);
-
- for (;;) {
- readline();
- ao_cmd_lex();
- ao_cmd_white();
- c = ao_cmd_lex_c;
- ao_cmd_lex();
- if (c == '\r' || c == '\n')
- continue;
- func = (void (*)(void)) NULL;
- for (cmds = 0; cmds < ao_ncmds; cmds++) {
- cs = ao_cmds[cmds];
- for (cmd = 0; cs[cmd].func; cmd++)
- if (cs[cmd].help[0] == c) {
- func = cs[cmd].func;
- break;
- }
- if (func)
- break;
- }
- if (func)
- (*func)();
- else
- ao_cmd_status = ao_cmd_syntax_error;
- report();
- }
-}
-
-#if HAS_BOOT_LOADER
-
-#include <ao_boot.h>
-
-static void
-ao_loader(void)
-{
- flush();
- ao_boot_loader();
-}
-#endif
-
-__xdata struct ao_task ao_cmd_task;
-
-__code struct ao_cmds ao_base_cmds[] = {
- { help, "?\0Help" },
-#if HAS_TASK_INFO
- { ao_task_info, "T\0Tasks" },
-#endif
- { echo, "E <0 off, 1 on>\0Echo" },
- { ao_reboot, "r eboot\0Reboot" },
-#if HAS_VERSION
- { version, "v\0Version" },
-#endif
-#if HAS_BOOT_LOADER
- { ao_loader, "X\0Switch to boot loader" },
-#endif
- { 0, NULL },
-};
-
-void
-ao_cmd_init(void)
-{
- ao_cmd_register(&ao_base_cmds[0]);
- ao_add_task(&ao_cmd_task, ao_cmd, "cmd");
-}
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_COMPANION_H_
-#define _AO_COMPANION_H_
-
-/* ao_companion.c */
-
-#define AO_COMPANION_SETUP 1
-#define AO_COMPANION_FETCH 2
-#define AO_COMPANION_NOTIFY 3
-
-struct ao_companion_command {
- uint8_t command;
- uint8_t flight_state;
- uint16_t tick;
- uint16_t serial;
- uint16_t flight;
- int16_t accel;
- int16_t speed;
- int16_t height;
- int16_t motor_number;
-};
-
-struct ao_companion_setup {
- uint16_t board_id;
- uint16_t board_id_inverse;
- uint8_t update_period;
- uint8_t channels;
-};
-
-extern __pdata uint8_t ao_companion_running;
-extern __xdata uint8_t ao_companion_mutex;
-extern __xdata struct ao_companion_command ao_companion_command;
-extern __xdata struct ao_companion_setup ao_companion_setup;
-extern __xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS];
-
-void
-ao_companion_init(void);
-
-#endif /* _AO_COMPANION_H_ */
+++ /dev/null
-/*
- * Copyright © 2009 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_log.h"
-#include <ao_config.h>
-#if HAS_FLIGHT
-#include <ao_sample.h>
-#include <ao_data.h>
-#endif
-
-__xdata struct ao_config ao_config;
-__pdata uint8_t ao_config_loaded;
-__pdata uint8_t ao_config_dirty;
-__xdata uint8_t ao_config_mutex;
-
-#ifndef AO_CONFIG_DEFAULT_APRS_INTERVAL
-#define AO_CONFIG_DEFAULT_APRS_INTERVAL 0
-#endif
-#define AO_CONFIG_DEFAULT_MAIN_DEPLOY 250
-#define AO_CONFIG_DEFAULT_RADIO_CHANNEL 0
-#define AO_CONFIG_DEFAULT_CALLSIGN "N0CALL"
-#define AO_CONFIG_DEFAULT_ACCEL_ZERO_G 16000
-#define AO_CONFIG_DEFAULT_APOGEE_DELAY 0
-#define AO_CONFIG_DEFAULT_IGNITE_MODE AO_IGNITE_MODE_DUAL
-#define AO_CONFIG_DEFAULT_PAD_ORIENTATION AO_PAD_ORIENTATION_ANTENNA_UP
-#if HAS_EEPROM
-#ifndef USE_INTERNAL_FLASH
-#error Please define USE_INTERNAL_FLASH
-#endif
-#endif
-#ifndef AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX
-#if USE_INTERNAL_FLASH
-#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX ao_storage_config
-#else
-#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX ((uint32_t) 192 * (uint32_t) 1024)
-#endif
-#endif
-#ifndef AO_CONFIG_DEFAULT_RADIO_POWER
-#define AO_CONFIG_DEFAULT_RADIO_POWER 0x60
-#endif
-#define AO_CONFIG_DEFAULT_RADIO_AMP 0
-
-#if HAS_EEPROM
-static void
-_ao_config_put(void)
-{
- ao_config_setup();
- ao_config_erase();
- ao_config_write(0, &ao_config, sizeof (ao_config));
-#if HAS_FLIGHT
- ao_log_write_erase(0);
-#endif
- ao_config_flush();
-}
-
-void
-ao_config_put(void)
-{
- ao_mutex_get(&ao_config_mutex);
- _ao_config_put();
- ao_mutex_put(&ao_config_mutex);
-}
-#endif
-
-#if HAS_RADIO
-void
-ao_config_set_radio(void)
-{
- ao_config.radio_setting = ao_freq_to_set(ao_config.frequency, ao_config.radio_cal);
-}
-#endif /* HAS_RADIO */
-
-static void
-_ao_config_get(void)
-{
- uint8_t minor;
-
- if (ao_config_loaded)
- return;
-#if HAS_EEPROM
- /* Yes, I know ao_storage_read calls ao_storage_setup,
- * but ao_storage_setup *also* sets ao_storage_config, which we
- * need before calling ao_storage_read here
- */
- ao_config_setup();
- ao_config_read(0, &ao_config, sizeof (ao_config));
-#endif
- if (ao_config.major != AO_CONFIG_MAJOR) {
- ao_config.major = AO_CONFIG_MAJOR;
- ao_config.minor = 0;
-
- /* Version 0 stuff */
- ao_config.main_deploy = AO_CONFIG_DEFAULT_MAIN_DEPLOY;
- ao_xmemset(&ao_config.callsign, '\0', sizeof (ao_config.callsign));
- ao_xmemcpy(&ao_config.callsign, CODE_TO_XDATA(AO_CONFIG_DEFAULT_CALLSIGN),
- sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
- ao_config._legacy_radio_channel = 0;
- }
- minor = ao_config.minor;
- if (minor != AO_CONFIG_MINOR) {
- /* Fixups for minor version 1 */
- if (minor < 1)
- ao_config.apogee_delay = AO_CONFIG_DEFAULT_APOGEE_DELAY;
- /* Fixups for minor version 2 */
- if (minor < 2) {
- ao_config.accel_plus_g = 0;
- ao_config.accel_minus_g = 0;
- }
- /* Fixups for minor version 3 */
-#if HAS_RADIO
- if (minor < 3)
- ao_config.radio_cal = ao_radio_cal;
-#endif
- /* Fixups for minor version 4 */
-#if HAS_FLIGHT
- if (minor < 4)
- ao_config.flight_log_max = AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX;
-#endif
- /* Fixupes for minor version 5 */
- if (minor < 5)
- ao_config.ignite_mode = AO_CONFIG_DEFAULT_IGNITE_MODE;
- if (minor < 6)
- ao_config.pad_orientation = AO_CONFIG_DEFAULT_PAD_ORIENTATION;
- if (minor < 8)
- ao_config.radio_enable = AO_RADIO_ENABLE_CORE;
- if (minor < 9)
- ao_xmemset(&ao_config.aes_key, '\0', AO_AES_LEN);
- if (minor < 10)
- ao_config.frequency = 434550 + ao_config._legacy_radio_channel * 100;
- if (minor < 11)
- ao_config.apogee_lockout = 0;
-#if AO_PYRO_NUM
- if (minor < 12)
- memset(&ao_config.pyro, '\0', sizeof (ao_config.pyro));
-#endif
- if (minor < 13)
- ao_config.aprs_interval = AO_CONFIG_DEFAULT_APRS_INTERVAL;
-#if HAS_RADIO_POWER
- if (minor < 14)
- ao_config.radio_power = AO_CONFIG_DEFAULT_RADIO_POWER;
- #endif
-#if HAS_RADIO_AMP
- if (minor < 14)
- ao_config.radio_amp = AO_CONFIG_DEFAULT_RADIO_AMP;
-#endif
-#if HAS_GYRO
- if (minor < 15) {
- ao_config.accel_zero_along = 0;
- ao_config.accel_zero_across = 0;
- ao_config.accel_zero_through = 0;
-
- /* Reset the main accel offsets to force
- * re-calibration
- */
- ao_config.accel_plus_g = 0;
- ao_config.accel_minus_g = 0;
- }
-#endif
- ao_config.minor = AO_CONFIG_MINOR;
- ao_config_dirty = 1;
- }
-#if HAS_RADIO
-#if HAS_FORCE_FREQ
- if (ao_force_freq) {
- ao_config.frequency = 434550;
- ao_config.radio_cal = ao_radio_cal;
- ao_xmemcpy(&ao_config.callsign, CODE_TO_XDATA(AO_CONFIG_DEFAULT_CALLSIGN),
- sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
- }
-#endif
- ao_config_set_radio();
-#endif
- ao_config_loaded = 1;
-}
-
-void
-_ao_config_edit_start(void)
-{
- ao_mutex_get(&ao_config_mutex);
- _ao_config_get();
-}
-
-void
-_ao_config_edit_finish(void)
-{
- ao_config_dirty = 1;
- ao_mutex_put(&ao_config_mutex);
-}
-
-void
-ao_config_get(void)
-{
- _ao_config_edit_start();
- ao_mutex_put(&ao_config_mutex);
-}
-
-void
-ao_config_callsign_show(void)
-{
- printf ("Callsign: \"%s\"\n", ao_config.callsign);
-}
-
-void
-ao_config_callsign_set(void) __reentrant
-{
- uint8_t c;
- static __xdata char callsign[AO_MAX_CALLSIGN + 1];
-
- ao_xmemset(callsign, '\0', sizeof callsign);
- ao_cmd_white();
- c = 0;
- while (ao_cmd_lex_c != '\n') {
- if (c < AO_MAX_CALLSIGN)
- callsign[c++] = ao_cmd_lex_c;
- else
- ao_cmd_status = ao_cmd_lex_error;
- ao_cmd_lex();
- }
- if (ao_cmd_status != ao_cmd_success)
- return;
- _ao_config_edit_start();
- ao_xmemcpy(&ao_config.callsign, &callsign,
- AO_MAX_CALLSIGN + 1);
- _ao_config_edit_finish();
-}
-
-#if HAS_RADIO
-
-void
-ao_config_frequency_show(void) __reentrant
-{
- printf("Frequency: %ld\n",
- ao_config.frequency);
-}
-
-void
-ao_config_frequency_set(void) __reentrant
-{
- ao_cmd_decimal();
- if (ao_cmd_status != ao_cmd_success)
- return;
- _ao_config_edit_start();
- ao_config.frequency = ao_cmd_lex_u32;
- ao_config_set_radio();
- _ao_config_edit_finish();
-#if HAS_RADIO_RECV
- ao_radio_recv_abort();
-#endif
-}
-#endif
-
-#if HAS_FLIGHT
-
-void
-ao_config_main_deploy_show(void) __reentrant
-{
- printf("Main deploy: %d meters\n",
- ao_config.main_deploy);
-}
-
-void
-ao_config_main_deploy_set(void) __reentrant
-{
- ao_cmd_decimal();
- if (ao_cmd_status != ao_cmd_success)
- return;
- _ao_config_edit_start();
- ao_config.main_deploy = ao_cmd_lex_i;
- _ao_config_edit_finish();
-}
-
-#if HAS_ACCEL
-void
-ao_config_accel_calibrate_show(void) __reentrant
-{
- printf("Accel cal +1g: %d -1g: %d\n",
- ao_config.accel_plus_g, ao_config.accel_minus_g);
-#if HAS_GYRO
- printf ("IMU cal along %d across %d through %d\n",
- ao_config.accel_zero_along,
- ao_config.accel_zero_across,
- ao_config.accel_zero_through);
-#endif
-}
-
-#define ACCEL_CALIBRATE_SAMPLES 1024
-#define ACCEL_CALIBRATE_SHIFT 10
-
-#if HAS_GYRO
-static int16_t accel_cal_along;
-static int16_t accel_cal_across;
-static int16_t accel_cal_through;
-#endif
-
-static int16_t
-ao_config_accel_calibrate_auto(char *orientation) __reentrant
-{
- uint16_t i;
- int32_t accel_total;
- uint8_t cal_data_ring;
-#if HAS_GYRO
- int32_t accel_along_total = 0;
- int32_t accel_across_total = 0;
- int32_t accel_through_total = 0;
-#endif
-
- printf("Orient antenna %s and press a key...", orientation);
- flush();
- (void) getchar();
- puts("\r\n"); flush();
- puts("Calibrating..."); flush();
- i = ACCEL_CALIBRATE_SAMPLES;
- accel_total = 0;
- cal_data_ring = ao_sample_data;
- while (i) {
- ao_sleep(DATA_TO_XDATA(&ao_sample_data));
- while (i && cal_data_ring != ao_sample_data) {
- accel_total += (int32_t) ao_data_accel(&ao_data_ring[cal_data_ring]);
-#if HAS_GYRO
- accel_along_total += (int32_t) ao_data_along(&ao_data_ring[cal_data_ring]);
- accel_across_total += (int32_t) ao_data_across(&ao_data_ring[cal_data_ring]);
- accel_through_total += (int32_t) ao_data_through(&ao_data_ring[cal_data_ring]);
-#endif
- cal_data_ring = ao_data_ring_next(cal_data_ring);
- i--;
- }
- }
-#if HAS_GYRO
- accel_cal_along = accel_along_total >> ACCEL_CALIBRATE_SHIFT;
- accel_cal_across = accel_across_total >> ACCEL_CALIBRATE_SHIFT;
- accel_cal_through = accel_through_total >> ACCEL_CALIBRATE_SHIFT;
-#endif
- return accel_total >> ACCEL_CALIBRATE_SHIFT;
-}
-
-void
-ao_config_accel_calibrate_set(void) __reentrant
-{
- int16_t up, down;
-#if HAS_GYRO
- int16_t accel_along_up = 0, accel_along_down = 0;
- int16_t accel_across_up = 0, accel_across_down = 0;
- int16_t accel_through_up = 0, accel_through_down = 0;
-#endif
-
- ao_cmd_decimal();
- if (ao_cmd_status != ao_cmd_success)
- return;
- if (ao_cmd_lex_i == 0) {
- up = ao_config_accel_calibrate_auto("up");
-#if HAS_GYRO
- accel_along_up = accel_cal_along;
- accel_across_up = accel_cal_across;
- accel_through_up = accel_cal_through;
-#endif
- down = ao_config_accel_calibrate_auto("down");
-#if HAS_GYRO
- accel_along_down = accel_cal_along;
- accel_across_down = accel_cal_across;
- accel_through_down = accel_cal_through;
-#endif
- } else {
- up = ao_cmd_lex_i;
- ao_cmd_decimal();
- if (ao_cmd_status != ao_cmd_success)
- return;
- down = ao_cmd_lex_i;
- }
- if (up >= down) {
- printf("Invalid accel: up (%d) down (%d)\n",
- up, down);
- return;
- }
- _ao_config_edit_start();
- ao_config.accel_plus_g = up;
- ao_config.accel_minus_g = down;
-#if HAS_GYRO
- if (ao_cmd_lex_i == 0) {
- ao_config.accel_zero_along = (accel_along_up + accel_along_down) / 2;
- ao_config.accel_zero_across = (accel_across_up + accel_across_down) / 2;
- ao_config.accel_zero_through = (accel_through_up + accel_through_down) / 2;
- }
-#endif
- _ao_config_edit_finish();
-}
-#endif /* HAS_ACCEL */
-
-void
-ao_config_apogee_delay_show(void) __reentrant
-{
- printf("Apogee delay: %d seconds\n",
- ao_config.apogee_delay);
-}
-
-void
-ao_config_apogee_delay_set(void) __reentrant
-{
- ao_cmd_decimal();
- if (ao_cmd_status != ao_cmd_success)
- return;
- _ao_config_edit_start();
- ao_config.apogee_delay = ao_cmd_lex_i;
- _ao_config_edit_finish();
-}
-
-void
-ao_config_apogee_lockout_show(void) __reentrant
-{
- printf ("Apogee lockout: %d seconds\n",
- ao_config.apogee_lockout);
-}
-
-void
-ao_config_apogee_lockout_set(void) __reentrant
-{
- ao_cmd_decimal();
- if (ao_cmd_status != ao_cmd_success)
- return;
- _ao_config_edit_start();
- ao_config.apogee_lockout = ao_cmd_lex_i;
- _ao_config_edit_finish();
-}
-
-#endif /* HAS_FLIGHT */
-
-#if HAS_RADIO
-void
-ao_config_radio_cal_show(void) __reentrant
-{
- printf("Radio cal: %ld\n", ao_config.radio_cal);
-}
-
-void
-ao_config_radio_cal_set(void) __reentrant
-{
- ao_cmd_decimal();
- if (ao_cmd_status != ao_cmd_success)
- return;
- _ao_config_edit_start();
- ao_config.radio_cal = ao_cmd_lex_u32;
- ao_config_set_radio();
- _ao_config_edit_finish();
-}
-#endif
-
-#if HAS_LOG
-void
-ao_config_log_show(void) __reentrant
-{
- printf("Max flight log: %d kB\n", (int16_t) (ao_config.flight_log_max >> 10));
-}
-
-void
-ao_config_log_set(void) __reentrant
-{
- uint16_t block = (uint16_t) (ao_storage_block >> 10);
- uint16_t log_max = (uint16_t) (ao_storage_log_max >> 10);
-
- ao_cmd_decimal();
- if (ao_cmd_status != ao_cmd_success)
- return;
- if (ao_log_present())
- printf("Storage must be empty before changing log size\n");
- else if (block > 1024 && (ao_cmd_lex_i & (block - 1)))
- printf("Flight log size must be multiple of %d kB\n", block);
- else if (ao_cmd_lex_i > log_max)
- printf("Flight log max %d kB\n", log_max);
- else {
- _ao_config_edit_start();
- ao_config.flight_log_max = (uint32_t) ao_cmd_lex_i << 10;
- _ao_config_edit_finish();
- }
-}
-#endif /* HAS_LOG */
-
-#if HAS_IGNITE
-void
-ao_config_ignite_mode_show(void) __reentrant
-{
- printf("Ignite mode: %d\n", ao_config.ignite_mode);
-}
-
-void
-ao_config_ignite_mode_set(void) __reentrant
-{
- ao_cmd_decimal();
- if (ao_cmd_status != ao_cmd_success)
- return;
- _ao_config_edit_start();
- ao_config.ignite_mode = ao_cmd_lex_i;
- _ao_config_edit_finish();
-}
-#endif
-
-#if HAS_ACCEL
-void
-ao_config_pad_orientation_show(void) __reentrant
-{
- printf("Pad orientation: %d\n", ao_config.pad_orientation);
-}
-
-#ifndef AO_ACCEL_INVERT
-#define AO_ACCEL_INVERT 0x7fff
-#endif
-
-void
-ao_config_pad_orientation_set(void) __reentrant
-{
- ao_cmd_decimal();
- if (ao_cmd_status != ao_cmd_success)
- return;
- _ao_config_edit_start();
- ao_cmd_lex_i &= 1;
- if (ao_config.pad_orientation != ao_cmd_lex_i) {
- int16_t t;
- t = ao_config.accel_plus_g;
- ao_config.accel_plus_g = AO_ACCEL_INVERT - ao_config.accel_minus_g;
- ao_config.accel_minus_g = AO_ACCEL_INVERT - t;
- }
- ao_config.pad_orientation = ao_cmd_lex_i;
- _ao_config_edit_finish();
-}
-#endif
-
-#if HAS_RADIO
-void
-ao_config_radio_enable_show(void) __reentrant
-{
- printf("Radio enable: %d\n", ao_config.radio_enable);
-}
-
-void
-ao_config_radio_enable_set(void) __reentrant
-{
- ao_cmd_decimal();
- if (ao_cmd_status != ao_cmd_success)
- return;
- _ao_config_edit_start();
- ao_config.radio_enable = ao_cmd_lex_i;
- _ao_config_edit_finish();
-}
-#endif /* HAS_RADIO */
-
-#if HAS_AES
-
-__xdata uint8_t ao_config_aes_seq = 1;
-
-void
-ao_config_key_show(void) __reentrant
-{
- uint8_t i;
- printf("AES key: ");
- for (i = 0; i < AO_AES_LEN; i++)
- printf ("%02x", ao_config.aes_key[i]);
- printf("\n");
-}
-
-void
-ao_config_key_set(void) __reentrant
-{
- uint8_t i;
-
- _ao_config_edit_start();
- for (i = 0; i < AO_AES_LEN; i++) {
- ao_cmd_hexbyte();
- if (ao_cmd_status != ao_cmd_success)
- break;
- ao_config.aes_key[i] = ao_cmd_lex_i;
- }
- ++ao_config_aes_seq;
- _ao_config_edit_finish();
-}
-#endif
-
-#if HAS_APRS
-
-void
-ao_config_aprs_show(void)
-{
- printf ("APRS interval: %d\n", ao_config.aprs_interval);
-}
-
-void
-ao_config_aprs_set(void)
-{
- ao_cmd_decimal();
- if (ao_cmd_status != ao_cmd_success)
- return;
- _ao_config_edit_start();
- ao_config.aprs_interval = ao_cmd_lex_i;
- _ao_config_edit_finish();
-}
-
-#endif /* HAS_APRS */
-
-#if HAS_RADIO_AMP
-
-void
-ao_config_radio_amp_show(void)
-{
- printf ("Radio amp setting: %d\n", ao_config.radio_amp);
-}
-
-void
-ao_config_radio_amp_set(void)
-{
- ao_cmd_decimal();
- if (ao_cmd_status != ao_cmd_success)
- return;
- _ao_config_edit_start();
- ao_config.radio_amp = ao_cmd_lex_i;
- _ao_config_edit_finish();
-}
-
-#endif
-
-#if HAS_RADIO_POWER
-
-void
-ao_config_radio_power_show(void)
-{
- printf ("Radio power setting: %d\n", ao_config.radio_power);
-}
-
-void
-ao_config_radio_power_set(void)
-{
- ao_cmd_decimal();
- if (ao_cmd_status != ao_cmd_success)
- return;
- _ao_config_edit_start();
- ao_config.radio_power = ao_cmd_lex_i;
- _ao_config_edit_finish();
-}
-
-#endif
-
-struct ao_config_var {
- __code char *str;
- void (*set)(void) __reentrant;
- void (*show)(void) __reentrant;
-};
-
-static void
-ao_config_help(void) __reentrant;
-
-static void
-ao_config_show(void) __reentrant;
-
-#if HAS_EEPROM
-static void
-ao_config_save(void) __reentrant;
-#endif
-
-__code struct ao_config_var ao_config_vars[] = {
-#if HAS_FLIGHT
- { "m <meters>\0Main deploy (m)",
- ao_config_main_deploy_set, ao_config_main_deploy_show, },
- { "d <delay>\0Apogee delay (s)",
- ao_config_apogee_delay_set, ao_config_apogee_delay_show },
- { "L <seconds>\0Apogee detect lockout (s)",
- ao_config_apogee_lockout_set, ao_config_apogee_lockout_show, },
-#endif /* HAS_FLIGHT */
-#if HAS_RADIO
- { "F <freq>\0Frequency (kHz)",
- ao_config_frequency_set, ao_config_frequency_show },
- { "c <call>\0Callsign (8 char max)",
- ao_config_callsign_set, ao_config_callsign_show },
- { "e <0 disable, 1 enable>\0Enable telemetry and RDF",
- ao_config_radio_enable_set, ao_config_radio_enable_show },
- { "f <cal>\0Radio calib (cal = rf/(xtal/2^16))",
- ao_config_radio_cal_set, ao_config_radio_cal_show },
-#if HAS_RADIO_POWER
- { "p <setting>\0Radio power setting (0-255)",
- ao_config_radio_power_set, ao_config_radio_power_show },
-#endif
-#if HAS_RADIO_AMP
- { "d <setting>\0Radio amplifier setting (0-3)",
- ao_config_radio_amp_set, ao_config_radio_amp_show },
-#endif
-#endif /* HAS_RADIO */
-#if HAS_ACCEL
- { "a <+g> <-g>\0Accel calib (0 for auto)",
- ao_config_accel_calibrate_set,ao_config_accel_calibrate_show },
- { "o <0 antenna up, 1 antenna down>\0Set pad orientation",
- ao_config_pad_orientation_set,ao_config_pad_orientation_show },
-#endif /* HAS_ACCEL */
-#if HAS_LOG
- { "l <size>\0Flight log size (kB)",
- ao_config_log_set, ao_config_log_show },
-#endif
-#if HAS_IGNITE
- { "i <0 dual, 1 apogee, 2 main>\0Set igniter mode",
- ao_config_ignite_mode_set, ao_config_ignite_mode_show },
-#endif
-#if HAS_AES
- { "k <32 hex digits>\0Set AES encryption key",
- ao_config_key_set, ao_config_key_show },
-#endif
-#if AO_PYRO_NUM
- { "P <n,?>\0Configure pyro channels",
- ao_pyro_set, ao_pyro_show },
-#endif
-#if HAS_APRS
- { "A <secs>\0APRS packet interval (0 disable)",
- ao_config_aprs_set, ao_config_aprs_show },
-#endif
- { "s\0Show",
- ao_config_show, 0 },
-#if HAS_EEPROM
- { "w\0Write to eeprom",
- ao_config_save, 0 },
-#endif
- { "?\0Help",
- ao_config_help, 0 },
- { 0, 0, 0 }
-};
-
-void
-ao_config_set(void)
-{
- char c;
- uint8_t cmd;
-
- ao_cmd_white();
- c = ao_cmd_lex_c;
- ao_cmd_lex();
- for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++)
- if (ao_config_vars[cmd].str[0] == c) {
- (*ao_config_vars[cmd].set)();
- return;
- }
- ao_cmd_status = ao_cmd_syntax_error;
-}
-
-static void
-ao_config_help(void) __reentrant
-{
- uint8_t cmd;
- for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++)
- printf("%-20s %s\n",
- ao_config_vars[cmd].str,
- ao_config_vars[cmd].str+1+
- strlen(ao_config_vars[cmd].str));
-}
-
-static void
-ao_config_show(void) __reentrant
-{
- uint8_t cmd;
- ao_config_get();
- printf("Config version: %d.%d\n",
- ao_config.major, ao_config.minor);
- for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++)
- if (ao_config_vars[cmd].show)
- (*ao_config_vars[cmd].show)();
-#if HAS_MS5607
- ao_ms5607_info();
-#endif
-}
-
-#if HAS_EEPROM
-static void
-ao_config_save(void) __reentrant
-{
- uint8_t saved = 0;
- ao_mutex_get(&ao_config_mutex);
- if (ao_config_dirty) {
- _ao_config_put();
- ao_config_dirty = 0;
- saved = 1;
- }
- ao_mutex_put(&ao_config_mutex);
- if (saved)
- puts("Saved");
- else
- puts("Nothing to save");
-}
-#endif
-
-__code struct ao_cmds ao_config_cmds[] = {
- { ao_config_set, "c <var> <value>\0Set config (? for help, s to show)" },
- { 0, NULL },
-};
-
-void
-ao_config_init(void)
-{
- ao_cmd_register(&ao_config_cmds[0]);
-}
+++ /dev/null
-/*
- * Copyright © 2013 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.
- */
-
-#ifndef _AO_CONFIG_H_
-#define _AO_CONFIG_H_
-
-#ifndef USE_STORAGE_CONFIG
-#define USE_STORAGE_CONFIG 1
-#endif
-
-#ifndef USE_EEPROM_CONFIG
-#define USE_EEPROM_CONFIG 0
-#endif
-
-#if USE_STORAGE_CONFIG
-
-#include <ao_storage.h>
-
-#define ao_config_setup() ao_storage_setup()
-#define ao_config_erase() ao_storage_erase(ao_storage_config)
-#define ao_config_write(pos,bytes, len) ao_storage_write(ao_storage_config+(pos), bytes, len)
-#define ao_config_read(pos,bytes, len) ao_storage_read(ao_storage_config+(pos), bytes, len)
-#define ao_config_flush() ao_storage_flush()
-
-#endif
-
-#if USE_EEPROM_CONFIG
-
-#include <ao_eeprom.h>
-
-#define ao_config_setup()
-#define ao_config_erase()
-#define ao_config_write(pos,bytes, len) ao_eeprom_write(pos, bytes, len)
-#define ao_config_read(pos,bytes, len) ao_eeprom_read(pos, bytes, len)
-#define ao_config_flush()
-
-#endif
-
-#endif /* _AO_CONFIG_H_ */
+++ /dev/null
-/*
- * Copyright © 2009 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.
- */
-
-#if !defined(AO_CONVERT_TEST) && !defined(AO_FLIGHT_TEST)
-#include "ao.h"
-#endif
-
-static const int16_t altitude_table[] = {
-#include "altitude.h"
-};
-
-#define ALT_FRAC_SCALE (1 << ALT_FRAC_BITS)
-#define ALT_FRAC_MASK (ALT_FRAC_SCALE - 1)
-
-int16_t
-ao_pres_to_altitude(int16_t pres) __reentrant
-{
- uint8_t o;
- int16_t part;
-
- if (pres < 0)
- pres = 0;
- o = pres >> ALT_FRAC_BITS;
- part = pres & ALT_FRAC_MASK;
-
- return ((int32_t) altitude_table[o] * (ALT_FRAC_SCALE - part) +
- (int32_t) altitude_table[o+1] * part + (ALT_FRAC_SCALE >> 1)) >> ALT_FRAC_BITS;
-}
-
-#if AO_NEED_ALTITUDE_TO_PRES
-int16_t
-ao_altitude_to_pres(int16_t alt) __reentrant
-{
- int16_t span, sub_span;
- uint8_t l, h, m;
- int32_t pres;
-
- l = 0;
- h = NALT - 1;
- while ((h - l) != 1) {
- m = (l + h) >> 1;
- if (altitude_table[m] < alt)
- h = m;
- else
- l = m;
- }
- span = altitude_table[l] - altitude_table[h];
- sub_span = altitude_table[l] - alt;
- pres = ((((int32_t) l * (span - sub_span) + (int32_t) h * sub_span) << ALT_FRAC_BITS) + (span >> 1)) / span;
- if (pres > 32767)
- pres = 32767;
- if (pres < 0)
- pres = 0;
- return (int16_t) pres;
-}
-#endif
-
-#if 0
-int16_t
-ao_temp_to_dC(int16_t temp) __reentrant
-{
- int16_t ret;
-
- /* Output voltage at 0°C = 0.755V
- * Coefficient = 0.00247V/°C
- * Reference voltage = 1.25V
- *
- * temp = ((value / 32767) * 1.25 - 0.755) / 0.00247
- * = (value - 19791.268) / 32768 * 1.25 / 0.00247
- * ≃ (value - 19791) * 1012 / 65536
- */
- ret = ((temp - 19791) * 1012L) >> 16;
- return ret;
-}
-#endif
+++ /dev/null
-/*
- * 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.
- */
-
-#if !defined(AO_CONVERT_TEST) && !defined(AO_FLIGHT_TEST)
-#include "ao.h"
-#endif
-
-#ifndef AO_CONST_ATTRIB
-#define AO_CONST_ATTRIB
-#endif
-
-static const alt_t altitude_table[] AO_CONST_ATTRIB = {
-#include "altitude-pa.h"
-};
-
-#ifndef FETCH_ALT
-#define FETCH_ALT(o) altitude_table[o]
-#endif
-
-#define ALT_SCALE (1 << ALT_SHIFT)
-#define ALT_MASK (ALT_SCALE - 1)
-
-alt_t
-ao_pa_to_altitude(int32_t pa)
-{
- int16_t o;
- int16_t part;
- int32_t low, high;
-
- if (pa < 0)
- pa = 0;
- if (pa > 120000L)
- pa = 120000L;
- o = pa >> ALT_SHIFT;
- part = pa & ALT_MASK;
-
- low = (int32_t) FETCH_ALT(o) * (ALT_SCALE - part);
- high = (int32_t) FETCH_ALT(o+1) * part + (ALT_SCALE >> 1);
- return (low + high) >> ALT_SHIFT;
-}
-
-#ifdef AO_CONVERT_TEST
-int32_t
-ao_altitude_to_pa(int32_t alt)
-{
- int32_t span, sub_span;
- uint16_t l, h, m;
- int32_t pa;
-
- l = 0;
- h = NALT - 1;
- while ((h - l) != 1) {
- m = (l + h) >> 1;
- if (altitude_table[m] < alt)
- h = m;
- else
- l = m;
- }
- span = altitude_table[l] - altitude_table[h];
- sub_span = altitude_table[l] - alt;
- pa = ((((int32_t) l * (span - sub_span) + (int32_t) h * sub_span) << ALT_SHIFT) + (span >> 1)) / span;
- if (pa > 120000)
- pa = 120000;
- if (pa < 0)
- pa = 0;
- return pa;
-}
-#endif
+++ /dev/null
-/*
- * 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 <stdint.h>
-#define AO_CONVERT_TEST
-typedef int32_t alt_t;
-#include "ao_host.h"
-#include "ao_convert_pa.c"
-
-#define STEP_P 1
-#define STEP_A 1
-
-static inline int i_abs(int i) { return i < 0 ? -i : i; }
-
-int
-main (int argc, char **argv)
-{
- int i;
- int32_t p_to_a, p_to_a_to_p;
- int32_t a_to_p, a_to_p_to_a;
- int max_p_error = 0, max_p_error_p = -1;
- int max_a_error = 0, max_a_error_a = -1;
- int p_error;
- int a_error;
- int ret = 0;
-
- for (i = 0; i < 120000 + STEP_P; i += STEP_P) {
- if (i > 120000)
- i = 120000;
- p_to_a = ao_pa_to_altitude(i);
- p_to_a_to_p = ao_altitude_to_pa(p_to_a);
- p_error = i_abs(p_to_a_to_p - i);
- if (p_error > max_p_error) {
- max_p_error = p_error;
- max_p_error_p = i;
- }
-// printf ("pa %d alt %d pa %d\n",
-// i, p_to_a, p_to_a_to_p);
- }
- for (i = -1450; i < 40000 + STEP_A; i += STEP_A) {
- a_to_p = ao_altitude_to_pa(i);
- a_to_p_to_a = ao_pa_to_altitude(a_to_p);
- a_error = i_abs(a_to_p_to_a - i);
- if (a_error > max_a_error) {
- max_a_error = a_error;
- max_a_error_a = i;
- }
-// printf ("alt %d pa %d alt %d\n",
-// i, a_to_p, a_to_p_to_a);
- }
- if (max_p_error > 2) {
- printf ("max p error %d at %d\n", max_p_error,
- max_p_error_p);
- ret++;
- }
- if (max_a_error > 1) {
- printf ("max a error %d at %d\n", max_a_error,
- max_a_error_a);
- ret++;
- }
- return ret;
-}
+++ /dev/null
-/*
- * Copyright © 2010 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 <stdint.h>
-#define AO_CONVERT_TEST
-#define AO_NEED_ALTITUDE_TO_PRES 1
-#include "ao_host.h"
-#include "ao_convert.c"
-
-#define STEP 1
-
-static inline int i_abs(int i) { return i < 0 ? -i : i; }
-
-int main (int argc, char **argv)
-{
- int i;
- int16_t p_to_a, p_to_a_to_p;
- int16_t a_to_p, a_to_p_to_a;
- int max_p_error = 0, max_p_error_p = -1;
- int max_a_error = 0, max_a_error_a = -1;
- int p_error;
- int a_error;
- int ret = 0;
-
- for (i = 0; i < 32767 + STEP; i += STEP) {
- if (i > 32767)
- i = 32767;
- p_to_a = ao_pres_to_altitude(i);
- p_to_a_to_p = ao_altitude_to_pres(p_to_a);
- p_error = i_abs(p_to_a_to_p - i);
- if (p_error > max_p_error) {
- max_p_error = p_error;
- max_p_error_p = i;
- }
-// printf ("pres %d alt %d pres %d\n",
-// i, p_to_a, p_to_a_to_p);
- }
- for (i = -1578; i < 15835 + STEP; i += STEP) {
- if (i > 15835)
- i = 15835;
- a_to_p = ao_altitude_to_pres(i);
- a_to_p_to_a = ao_pres_to_altitude(a_to_p);
- a_error = i_abs(a_to_p_to_a - i);
- if (a_error > max_a_error) {
- max_a_error = a_error;
- max_a_error_a = i;
- }
-// printf ("alt %d pres %d alt %d\n",
-// i, a_to_p, a_to_p_to_a);
- }
- if (max_p_error > 2) {
- printf ("max p error %d at %d\n", max_p_error,
- max_p_error_p);
- ret++;
- }
- if (max_a_error > 1) {
- printf ("max a error %d at %d\n", max_a_error,
- max_a_error_a);
- ret++;
- }
- return ret;
-}
+++ /dev/null
-/*
- * Copyright © 2014 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"
-
-#define scale(v,p,m) ((int32_t) (v) * (AO_ADC_REFERENCE_DV * ((p) + (m))) / (AO_ADC_MAX * (m)))
-
-int16_t
-ao_battery_decivolt(int16_t adc)
-{
- return scale(adc, AO_BATTERY_DIV_PLUS, AO_BATTERY_DIV_MINUS);
-}
-
-int16_t
-ao_ignite_decivolt(int16_t adc)
-{
- return scale(adc, AO_IGNITE_DIV_PLUS, AO_IGNITE_DIV_MINUS);
-}
-
+++ /dev/null
-/*
- * 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_data.h>
-
-volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING];
-volatile __data uint8_t ao_data_head;
-volatile __data uint8_t ao_data_present;
-
-#ifndef ao_data_count
-void
-ao_data_get(__xdata struct ao_data *packet)
-{
-#if HAS_FLIGHT
- uint8_t i = ao_data_ring_prev(ao_sample_data);
-#else
- uint8_t i = ao_data_ring_prev(ao_data_head);
-#endif
- memcpy(packet, (void *) &ao_data_ring[i], sizeof (struct ao_data));
-}
-#endif
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_DATA_H_
-#define _AO_DATA_H_
-
-#define GRAVITY 9.80665
-
-#if HAS_ADC
-#define AO_DATA_ADC (1 << 0)
-#else
-#define AO_DATA_ADC 0
-#endif
-
-#if HAS_MS5607
-#include <ao_ms5607.h>
-#define AO_DATA_MS5607 (1 << 1)
-#else
-#define AO_DATA_MS5607 0
-#endif
-
-#if HAS_MPU6000
-#include <ao_mpu6000.h>
-#define AO_DATA_MPU6000 (1 << 2)
-#else
-#define AO_DATA_MPU6000 0
-#endif
-
-#if HAS_HMC5883
-#include <ao_hmc5883.h>
-#define AO_DATA_HMC5883 (1 << 3)
-#else
-#define AO_DATA_HMC5883 0
-#endif
-
-#if HAS_MMA655X
-#include <ao_mma655x.h>
-#define AO_DATA_MMA655X (1 << 4)
-#else
-#define AO_DATA_MMA655X 0
-#endif
-
-#ifdef AO_DATA_RING
-
-#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X)
-
-struct ao_data {
- uint16_t tick;
-#if HAS_ADC
- struct ao_adc adc;
-#endif
-#if HAS_MS5607
- struct ao_ms5607_sample ms5607_raw;
- struct ao_ms5607_value ms5607_cooked;
-#endif
-#if HAS_MPU6000
- struct ao_mpu6000_sample mpu6000;
-#if !HAS_MMA655X
- int16_t z_accel;
-#endif
-#endif
-#if HAS_HMC5883
- struct ao_hmc5883_sample hmc5883;
-#endif
-#if HAS_MMA655X
- uint16_t mma655x;
-#endif
-};
-
-#define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1))
-#define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1))
-
-/* Get a copy of the last complete sample set */
-void
-ao_data_get(__xdata struct ao_data *packet);
-
-extern volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING];
-extern volatile __data uint8_t ao_data_head;
-extern volatile __data uint8_t ao_data_present;
-extern volatile __data uint8_t ao_data_count;
-
-/*
- * Mark a section of data as ready, check for data complete
- */
-#define AO_DATA_PRESENT(bit) (ao_data_present |= (bit))
-
-/*
- * Wait until it is time to write a sensor sample; this is
- * signaled by the timer tick
- */
-#define AO_DATA_WAIT() do { \
- ao_sleep(DATA_TO_XDATA ((void *) &ao_data_count)); \
- } while (0)
-
-#endif /* AO_DATA_RING */
-
-#if !HAS_BARO && HAS_MS5607
-
-/* Either an MS5607 or an MS5611 hooked to a SPI port
- */
-
-#define HAS_BARO 1
-
-typedef int32_t pres_t;
-
-#ifndef AO_ALT_TYPE
-#define AO_ALT_TYPE int32_t
-#endif
-
-typedef AO_ALT_TYPE alt_t;
-
-#define ao_data_pres_cook(packet) ao_ms5607_convert(&packet->ms5607_raw, &packet->ms5607_cooked)
-
-#define ao_data_pres(packet) ((packet)->ms5607_cooked.pres)
-#define ao_data_temp(packet) ((packet)->ms5607_cooked.temp)
-
-#define pres_to_altitude(p) ao_pa_to_altitude(p)
-
-#endif
-
-#if !HAS_BARO && HAS_ADC
-
-#define HAS_BARO 1
-
-typedef int16_t pres_t;
-typedef int16_t alt_t;
-
-#define ao_data_pres(packet) ((packet)->adc.pres)
-#define ao_data_temp(packet) ((packet)->adc.temp)
-#define pres_to_altitude(p) ao_pres_to_altitude(p)
-#define ao_data_pres_cook(p)
-
-#endif
-
-#if !HAS_BARO
-typedef int16_t alt_t;
-#endif
-
-/*
- * Need a few macros to pull data from the sensors:
- *
- * ao_data_accel_sample - pull raw sensor and convert to normalized values
- * ao_data_accel - pull normalized value (lives in the same memory)
- * ao_data_set_accel - store normalized value back in the sensor location
- * ao_data_accel_invert - flip rocket ends for positive acceleration
- */
-
-#if HAS_ACCEL
-
-/* This section is for an analog accelerometer hooked to one of the ADC pins. As
- * those are 5V parts, this also requires that the 5V supply be hooked to to anothe ADC
- * pin so that the both can be measured to correct for changes between the 3.3V and 5V rails
- */
-
-typedef int16_t accel_t;
-#define ao_data_accel(packet) ((packet)->adc.accel)
-#define ao_data_set_accel(packet, a) ((packet)->adc.accel = (a))
-#define ao_data_accel_invert(a) (0x7fff -(a))
-
-/*
- * Ok, the math here is a bit tricky.
- *
- * ao_sample_accel: ADC output for acceleration
- * ao_accel_ref: ADC output for the 5V reference.
- * ao_cook_accel: Corrected acceleration value
- * Vcc: 3.3V supply to the CC1111
- * Vac: 5V supply to the accelerometer
- * accel: input voltage to accelerometer ADC pin
- * ref: input voltage to 5V reference ADC pin
- *
- *
- * Measured acceleration is ratiometric to Vcc:
- *
- * ao_sample_accel accel
- * ------------ = -----
- * 32767 Vcc
- *
- * Measured 5v reference is also ratiometric to Vcc:
- *
- * ao_accel_ref ref
- * ------------ = -----
- * 32767 Vcc
- *
- *
- * ao_accel_ref = 32767 * (ref / Vcc)
- *
- * Acceleration is measured ratiometric to the 5V supply,
- * so what we want is:
- *
- * ao_cook_accel accel
- * ------------- = -----
- * 32767 ref
- *
- *
- * accel Vcc
- * = ----- * ---
- * Vcc ref
- *
- * ao_sample_accel 32767
- * = ------------ * ------------
- * 32767 ao_accel_ref
- *
- * Multiply through by 32767:
- *
- * ao_sample_accel * 32767
- * ao_cook_accel = --------------------
- * ao_accel_ref
- *
- * Now, the tricky part. Getting this to compile efficiently
- * and keeping all of the values in-range.
- *
- * First off, we need to use a shift of 16 instead of * 32767 as SDCC
- * does the obvious optimizations for byte-granularity shifts:
- *
- * ao_cook_accel = (ao_sample_accel << 16) / ao_accel_ref
- *
- * Next, lets check our input ranges:
- *
- * 0 <= ao_sample_accel <= 0x7fff (singled ended ADC conversion)
- * 0x7000 <= ao_accel_ref <= 0x7fff (the 5V ref value is close to 0x7fff)
- *
- * Plugging in our input ranges, we get an output range of 0 - 0x12490,
- * which is 17 bits. That won't work. If we take the accel ref and shift
- * by a bit, we'll change its range:
- *
- * 0xe000 <= ao_accel_ref<<1 <= 0xfffe
- *
- * ao_cook_accel = (ao_sample_accel << 16) / (ao_accel_ref << 1)
- *
- * Now the output range is 0 - 0x9248, which nicely fits in 16 bits. It
- * is, however, one bit too large for our signed computations. So, we
- * take the result and shift that by a bit:
- *
- * ao_cook_accel = ((ao_sample_accel << 16) / (ao_accel_ref << 1)) >> 1
- *
- * This finally creates an output range of 0 - 0x4924. As the ADC only
- * provides 11 bits of data, we haven't actually lost any precision,
- * just dropped a bit of noise off the low end.
- */
-
-#if HAS_ACCEL_REF
-
-#define ao_data_accel_cook(packet) \
- ((uint16_t) ((((uint32_t) (packet)->adc.accel << 16) / ((packet)->adc.accel_ref << 1))) >> 1)
-
-#else
-
-#define ao_data_accel_cook(packet) ((packet)->adc.accel)
-
-#endif /* HAS_ACCEL_REF */
-
-#endif /* HAS_ACCEL */
-
-#if !HAS_ACCEL && HAS_MMA655X
-
-#define HAS_ACCEL 1
-
-typedef int16_t accel_t;
-
-/* MMA655X is hooked up so that positive values represent negative acceleration */
-
-#define AO_ACCEL_INVERT 4095
-
-#define ao_data_accel(packet) ((packet)->mma655x)
-#if AO_MMA655X_INVERT
-#define ao_data_accel_cook(packet) (AO_ACCEL_INVERT - (packet)->mma655x)
-#else
-#define ao_data_accel_cook(packet) ((packet)->mma655x)
-#endif
-#define ao_data_set_accel(packet, accel) ((packet)->mma655x = (accel))
-#define ao_data_accel_invert(accel) (AO_ACCEL_INVERT - (accel))
-
-#endif
-
-#if !HAS_ACCEL && HAS_MPU6000
-
-#define HAS_ACCEL 1
-
-#define AO_ACCEL_INVERT 0
-
-typedef int16_t accel_t;
-
-/* MPU6000 is hooked up so that positive y is positive acceleration */
-#define ao_data_accel(packet) ((packet)->z_accel)
-#define ao_data_accel_cook(packet) (-(packet)->mpu6000.accel_y)
-#define ao_data_set_accel(packet, accel) ((packet)->z_accel = (accel))
-#define ao_data_accel_invert(a) (-(a))
-
-#endif
-
-#if !HAS_GYRO && HAS_MPU6000
-
-#define HAS_GYRO 1
-
-typedef int16_t gyro_t; /* in raw sample units */
-typedef int16_t angle_t; /* in degrees */
-
-/* Y axis is aligned with the direction of motion (along) */
-/* X axis is aligned in the other board axis (across) */
-/* Z axis is aligned perpendicular to the board (through) */
-
-#define ao_data_along(packet) ((packet)->mpu6000.accel_y)
-#define ao_data_across(packet) ((packet)->mpu6000.accel_x)
-#define ao_data_through(packet) ((packet)->mpu6000.accel_z)
-
-#define ao_data_roll(packet) ((packet)->mpu6000.gyro_y)
-#define ao_data_pitch(packet) ((packet)->mpu6000.gyro_x)
-#define ao_data_yaw(packet) ((packet)->mpu6000.gyro_z)
-
-#endif
-
-#if !HAS_MAG && HAS_HMC5883
-
-#define HAS_MAG 1
-
-typedef int16_t ao_mag_t; /* in raw sample units */
-
-#define ao_data_mag_along(packet) ((packet)->hmc5883.x)
-#define ao_data_mag_across(packet) ((packet)->hmc5883.y)
-#define ao_data_mag_through(packet) ((packet)->hmc5883.z)
-
-#endif
-
-#endif /* _AO_DATA_H_ */
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_DBG_H_
-#define _AO_DBG_H_
-
-/*
- * ao_dbg.c
- *
- * debug another telemetrum board
- */
-
-/* Send a byte to the dbg target */
-void
-ao_dbg_send_byte(uint8_t byte);
-
-/* Receive a byte from the dbg target */
-uint8_t
-ao_dbg_recv_byte(void);
-
-/* Start a bulk transfer to/from dbg target memory */
-void
-ao_dbg_start_transfer(uint16_t addr);
-
-/* End a bulk transfer to/from dbg target memory */
-void
-ao_dbg_end_transfer(void);
-
-/* Write a byte to dbg target memory */
-void
-ao_dbg_write_byte(uint8_t byte);
-
-/* Read a byte from dbg target memory */
-uint8_t
-ao_dbg_read_byte(void);
-
-/* Enable dbg mode, switching use of the pins */
-void
-ao_dbg_debug_mode(void);
-
-/* Reset the dbg target */
-void
-ao_dbg_reset(void);
-
-void
-ao_dbg_init(void);
-
-#endif /* _AO_DBG_H_ */
+++ /dev/null
-/*
- * Copyright © 2013 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_debounce.h>
-#include <ao_fast_timer.h>
-
-static uint8_t ao_debounce_initialized;
-static uint8_t ao_debounce_running;
-static struct ao_debounce *ao_debounce;
-
-static uint8_t values[64];
-static uint8_t n;
-
-#define d_step(n) (((n) + 1) & 63)
-
-static void
-_ao_debounce_set(struct ao_debounce *debounce, uint8_t value)
-{
- if (value != debounce->value) {
- values[n] = value;
- n = (n + 1) & 63;
- debounce->value = value;
- debounce->_set(debounce, value);
- }
- _ao_debounce_stop(debounce);
-}
-
-void
-ao_debounce_dump(void)
-{
- uint8_t s;
-
- for (s = 0; s < n; s++) {
- printf ("%d: %d\n",
- s, values[s]);
- }
- n = 0;
-}
-
-/*
- * Get the current value, set the result when we've
- * reached the debounce count limit
- */
-static void
-_ao_debounce_check(struct ao_debounce *debounce)
-{
- uint8_t next = debounce->_get(debounce);
-
- if (next == debounce->current) {
- if (debounce->count < debounce->hold) {
- if (++debounce->count == debounce->hold)
- _ao_debounce_set(debounce, debounce->current);
- }
- } else {
- debounce->count = 0;
- debounce->current = next;
- }
-}
-
-static void
-_ao_debounce_isr(void)
-{
- struct ao_debounce *debounce, *next;
-
- for (debounce = ao_debounce; debounce; debounce = next) {
- next = debounce->next;
- _ao_debounce_check(debounce);
- }
-}
-
-static void
-ao_debounce_on(void)
-{
- ao_fast_timer_on(_ao_debounce_isr);
-}
-
-static void
-ao_debounce_off(void)
-{
- ao_fast_timer_off(_ao_debounce_isr);
-}
-
-/*
- * Start monitoring one pin
- */
-void
-_ao_debounce_start(struct ao_debounce *debounce)
-{
- uint32_t m;
-
- m = ao_arch_irqsave();
- if (!debounce->running) {
- debounce->running = 1;
-
- /* Reset the counter */
- debounce->count = 0;
-
- /* Link into list */
- debounce->next = ao_debounce;
- ao_debounce = debounce;
-
- /* Make sure the timer is running */
- if (!ao_debounce_running++)
- ao_debounce_on();
-
- /* And go check the current value */
- _ao_debounce_check(debounce);
- }
- ao_arch_irqrestore(m);
-}
-
-/*
- * Stop monitoring one pin
- */
-void
-_ao_debounce_stop(struct ao_debounce *debounce)
-{
- struct ao_debounce **prev;
- uint32_t m;
-
- m = ao_arch_irqsave();
- if (debounce->running) {
- debounce->running = 0;
-
- /* Unlink */
- for (prev = &ao_debounce; (*prev); prev = &((*prev)->next)) {
- if (*prev == debounce) {
- *prev = debounce->next;
- break;
- }
- }
- debounce->next = NULL;
-
- /* Turn off the timer if possible */
- if (!--ao_debounce_running)
- ao_debounce_off();
- }
- ao_arch_irqrestore(m);
-}
-
-void
-ao_debounce_init(void)
-{
- if (ao_debounce_initialized)
- return;
- ao_debounce_initialized = 1;
- ao_fast_timer_init();
-}
+++ /dev/null
-/*
- * Copyright © 2013 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.
- */
-
-#ifndef _AO_DEBOUNCE_H_
-#define _AO_DEBOUNCE_H_
-
-struct ao_debounce {
- struct ao_debounce *next;
-
- /* time that pin value must be stable before accepting */
- uint8_t hold;
-
- /* last value reported to app; don't report it twice */
- uint8_t value;
-
- /* current value received from pins */
- uint8_t current;
-
- /* current count of intervals pin value has been stable */
- uint8_t count;
-
- /* This pin is running */
- uint8_t running;
-
- /* Get the current pin value */
- uint8_t (*_get)(struct ao_debounce *debounce);
-
- /* The stable value has changed */
- void (*_set)(struct ao_debounce *debounce, uint8_t value);
-};
-
-static inline void
-ao_debounce_config(struct ao_debounce *debounce,
- uint8_t (*_get)(struct ao_debounce *debounce),
- void (*_set)(struct ao_debounce *debounce, uint8_t value),
- uint8_t hold)
-{
- debounce->next = 0;
- debounce->hold = hold;
- debounce->value = 0xff;
- debounce->current = 0xff;
- debounce->count = 0;
- debounce->running = 0;
- debounce->_get = _get;
- debounce->_set = _set;
-}
-
-void
-_ao_debounce_start(struct ao_debounce *debounce);
-
-void
-_ao_debounce_stop(struct ao_debounce *debounce);
-
-void
-ao_debounce_init(void);
-
-void
-ao_debounce_dump(void);
-
-#endif /* _AO_DEBOUNCE_H_ */
+++ /dev/null
-/*
- * Copyright © 2009 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"
-
-/*
- * For hardware without eeprom, the config code still
- * wants to call these functions
- */
-uint8_t
-ao_ee_write_config(uint8_t *buf, uint16_t len) __reentrant
-{
- (void) buf;
- (void) len;
- return 1;
-}
-
-uint8_t
-ao_ee_read_config(uint8_t *buf, uint16_t len) __reentrant
-{
- ao_xmemset(buf, '\0', len);
- return 1;
-}
+++ /dev/null
-/*
- * Copyright © 2013 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.
- */
-
-#ifndef _AO_EEPROM_H_
-#define _AO_EEPROM_H_
-
-extern const ao_pos_t ao_eeprom_total;
-
-/*
- * Write to eeprom
- */
-
-uint8_t
-ao_eeprom_write(ao_pos_t pos32, __xdata void *v, uint16_t len);
-
-/*
- * Read from eeprom
- */
-uint8_t
-ao_eeprom_read(ao_pos_t pos, __xdata void *v, uint16_t len);
-
-/*
- * Initialize eeprom
- */
-
-void
-ao_eeprom_init(void);
-
-#endif /* _AO_EEPROM_H_ */
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_FEC_H_
-#define _AO_FEC_H_
-
-#include <stdint.h>
-
-#define AO_FEC_CRC_INIT 0xffff
-#define AO_FEC_TRELLIS_TERMINATOR 0x0b
-#define AO_FEC_PREPARE_EXTRA 4
-
-extern const uint8_t ao_fec_whiten_table[];
-
-#if AO_FEC_DEBUG
-void
-ao_fec_dump_bytes(const uint8_t *bytes, uint16_t len, const char *name);
-#endif
-
-static inline uint16_t
-ao_fec_crc_byte(uint8_t byte, uint16_t crc)
-{
- uint8_t bit;
-
- for (bit = 0; bit < 8; bit++) {
- if (((crc & 0x8000) >> 8) ^ (byte & 0x80))
- crc = (crc << 1) ^ 0x8005;
- else
- crc = (crc << 1);
- byte <<= 1;
- }
- return crc;
-}
-
-uint16_t
-ao_fec_crc(const uint8_t *bytes, uint8_t len);
-
-/*
- * 'len' is the length of the original data; 'bytes'
- * must be four bytes longer than that, and the first
- * two after 'len' must be the received crc
- */
-uint8_t
-ao_fec_check_crc(const uint8_t *bytes, uint8_t len);
-
-/*
- * Compute CRC, whiten, convolve and interleave data. 'out' must be (len + 4) * 2 bytes long
- */
-uint8_t
-ao_fec_encode(const uint8_t *in, uint8_t len, uint8_t *out);
-
-/*
- * Decode data. 'in' is one byte per bit, soft decision
- * 'out' must be len/8 bytes long
- */
-
-#define AO_FEC_DECODE_BLOCK (32) /* callback must return multiples of this many bits */
-
-#define AO_FEC_DECODE_CRC_OK 0x80 /* stored in out[out_len-1] */
-
-uint8_t
-ao_fec_decode(const uint8_t *in, uint16_t in_len, uint8_t *out, uint8_t out_len, uint16_t (*callback)(void));
-
-/*
- * Interleave data packed in bytes. 'out' must be 'len' bytes long.
- */
-uint16_t
-ao_fec_interleave_bytes(uint8_t *in, uint16_t len, uint8_t *out);
-
-#endif /* _AO_FEC_H_ */
+++ /dev/null
-/*
- * 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_fec.h>
-#include <stdio.h>
-
-#ifdef TELEMEGA
-#include <ao.h>
-#endif
-
-#if AO_PROFILE
-#include <ao_profile.h>
-
-uint32_t ao_fec_decode_start, ao_fec_decode_end;
-#endif
-
-/*
- * byte order repeats through 3 2 1 0
- *
- * bit-pair order repeats through
- *
- * 1/0 3/2 5/4 7/6
- *
- * So, the over all order is:
- *
- * 3,1/0 2,1/0 1,1/0 0,1/0
- * 3,3/2 2,3/2 1,3/2 0,3/2
- * 3,5/4 2,5/4 1,5/4 0,5/4
- * 3,7/6 2,7/6 1,7/6 0,7/6
- *
- * The raw bit order is thus
- *
- * 1e/1f 16/17 0e/0f 06/07
- * 1c/1d 14/15 0c/0d 04/05
- * 1a/1b 12/13 0a/0b 02/03
- * 18/19 10/11 08/09 00/01
- */
-
-static const uint8_t ao_interleave_order[] = {
- 0x1e, 0x16, 0x0e, 0x06,
- 0x1c, 0x14, 0x0c, 0x04,
- 0x1a, 0x12, 0x0a, 0x02,
- 0x18, 0x10, 0x08, 0x00
-};
-
-static inline uint16_t ao_interleave_index(uint16_t i) {
- return (i & ~0x1e) | ao_interleave_order[(i & 0x1e) >> 1];
-}
-
-#define NUM_STATE 8
-#define NUM_HIST 24
-
-typedef uint32_t bits_t;
-
-#define V_0 0xff
-#define V_1 0x00
-
-/*
- * These are just the 'zero' states; the 'one' states mirror them
- */
-static const uint8_t ao_fec_decode_table[NUM_STATE*2] = {
- V_0, V_0, /* 000 */
- V_0, V_1, /* 001 */
- V_1, V_1, /* 010 */
- V_1, V_0, /* 011 */
- V_1, V_1, /* 100 */
- V_1, V_0, /* 101 */
- V_0, V_0, /* 110 */
- V_0, V_1 /* 111 */
-};
-
-static inline uint8_t
-ao_next_state(uint8_t state, uint8_t bit)
-{
- return ((state << 1) | bit) & 0x7;
-}
-
-/*
- * 'in' is 8-bits per symbol soft decision data
- * 'len' is input byte length. 'out' must be
- * 'len'/16 bytes long
- */
-
-uint8_t
-ao_fec_decode(const uint8_t *in, uint16_t len, uint8_t *out, uint8_t out_len, uint16_t (*callback)(void))
-{
- static uint32_t cost[2][NUM_STATE]; /* path cost */
- static bits_t bits[2][NUM_STATE]; /* save bits to quickly output them */
-
- uint16_t i; /* input byte index */
- uint16_t b; /* encoded symbol index (bytes/2) */
- uint16_t o; /* output bit index */
- uint8_t p; /* previous cost/bits index */
- uint8_t n; /* next cost/bits index */
- uint8_t state; /* state index */
- const uint8_t *whiten = ao_fec_whiten_table;
- uint16_t interleave; /* input byte array index */
- uint8_t s0, s1;
- uint16_t avail;
- uint16_t crc = AO_FEC_CRC_INIT;
-#if AO_PROFILE
- uint32_t start_tick;
-#endif
-
- p = 0;
- for (state = 0; state < NUM_STATE; state++) {
- cost[0][state] = 0x7fffffff;
- bits[0][state] = 0;
- }
- cost[0][0] = 0;
-
- if (callback)
- avail = 0;
- else
- avail = len;
-
-#if AO_PROFILE
- if (!avail) {
- avail = callback();
- if (!avail)
- return 0;
- }
- start_tick = ao_profile_tick();
-#endif
- o = 0;
- for (i = 0; i < len; i += 2) {
- b = i/2;
- n = p ^ 1;
-
- if (!avail) {
- avail = callback();
- if (!avail)
- return 0;
- }
-
- /* Fetch one pair of input bytes, de-interleaving
- * the input.
- */
- interleave = ao_interleave_index(i);
- s0 = in[interleave];
- s1 = in[interleave+1];
-
- avail -= 2;
-
- /* Compute path costs and accumulate output bit path
- * for each state and encoded bit value. Unrolling
- * this loop is worth about > 30% performance boost.
- * Decoding 76-byte remote access packets is reduced
- * from 14.700ms to 9.3ms. Redoing the loop to
- * directly compare the two pasts for each future state
- * reduces this down to 5.7ms
- */
-
- /* Ok, of course this is tricky, it's optimized.
- *
- * First, it's important to realize that we have 8
- * states representing the combinations of the three
- * most recent bits from the encoder. Flipping any
- * of these three bits flips both output bits.
- *
- * 'state<<1' represents the target state for a new
- * bit value of 0. '(state<<1)+1' represents the
- * target state for a new bit value of 1.
- *
- * 'state' is the previous state with an oldest bit
- * value of 0. 'state + 4' is the previous state with
- * an oldest bit value of 1. These two states will
- * either lead to 'state<<1' or '(state<<1)+1', depending
- * on whether the next encoded bit was a zero or a one.
- *
- * m0 and m1 are the cost of coming to 'state<<1' from
- * one of the two possible previous states 'state' and
- * 'state + 4'.
- *
- * Because we know the expected values of each
- * received bit are flipped between these two previous
- * states:
- *
- * bitcost(state+4) = 510 - bitcost(state)
- *
- * With those two total costs in hand, we then pick
- * the lower as the cost of the 'state<<1', and compute
- * the path of bits leading to that state.
- *
- * Then, do the same for '(state<<1) + 1'. This time,
- * instead of computing the m0 and m1 values from
- * scratch, because the only difference is that we're
- * expecting a one bit instead of a zero bit, we just
- * flip the bitcost values around to match the
- * expected transmitted bits with some tricky
- * arithmetic which is equivalent to:
- *
- * m0 = cost[p][state] + (510 - bitcost);
- * m1 = cost[p][state+4] + bitcost
- *
- * Then, the lowest cost and bit trace of the new state
- * is saved.
- */
-
-#define DO_STATE(state) { \
- uint32_t bitcost; \
- \
- uint32_t m0; \
- uint32_t m1; \
- uint32_t bit; \
- \
- bitcost = ((uint32_t) (s0 ^ ao_fec_decode_table[(state<<1)]) + \
- (uint32_t) (s1 ^ ao_fec_decode_table[(state<<1)|1])); \
- \
- m0 = cost[p][state] + bitcost; \
- m1 = cost[p][state+4] + (510 - bitcost); \
- bit = m0 > m1; \
- cost[n][state<<1] = bit ? m1 : m0; \
- bits[n][state<<1] = (bits[p][state + (bit<<2)] << 1) | (state&1); \
- \
- m0 -= (bitcost+bitcost-510); \
- m1 += (bitcost+bitcost-510); \
- bit = m0 > m1; \
- cost[n][(state<<1)+1] = bit ? m1 : m0; \
- bits[n][(state<<1)+1] = (bits[p][state + (bit<<2)] << 1) | (state&1); \
- }
-
- DO_STATE(0);
- DO_STATE(1);
- DO_STATE(2);
- DO_STATE(3);
-
-#if 0
- printf ("bit %3d symbol %2x %2x:", i/2, s0, s1);
- for (state = 0; state < NUM_STATE; state++) {
- printf (" %8u(%08x)", cost[n][state], bits[n][state]);
- }
- printf ("\n");
-#endif
- p = n;
-
- /* A loop is needed to handle the last output byte. It
- * won't have any bits of future data to perform full
- * error correction, but we might as well give the
- * best possible answer anyways.
- */
- while ((b - o) >= (8 + NUM_HIST) || (i + 2 >= len && b > o)) {
-
- /* Compute number of bits to the end of the
- * last full byte of data. This is generally
- * NUM_HIST, unless we've reached
- * the end of the input, in which case
- * it will be seven.
- */
- int8_t dist = b - (o + 8); /* distance to last ready-for-writing bit */
- uint32_t min_cost; /* lowest cost */
- uint8_t min_state; /* lowest cost state */
- uint8_t byte;
-
- /* Find the best fit at the current point
- * of the decode.
- */
- min_cost = cost[p][0];
- min_state = 0;
- for (state = 1; state < NUM_STATE; state++) {
- if (cost[p][state] < min_cost) {
- min_cost = cost[p][state];
- min_state = state;
- }
- }
-
- /* The very last byte of data has the very last bit
- * of data left in the state value; just smash the
- * bits value in place and reset the 'dist' from
- * -1 to 0 so that the full byte is read out
- */
- if (dist < 0) {
- bits[p][min_state] = (bits[p][min_state] << 1) | (min_state & 1);
- dist = 0;
- }
-
-#if 0
- printf ("\tbit %3d min_cost %5d old bit %3d old_state %x bits %02x whiten %0x\n",
- i/2, min_cost, o + 8, min_state, (bits[p][min_state] >> dist) & 0xff, *whiten);
-#endif
- byte = (bits[p][min_state] >> dist) ^ *whiten++;
- *out++ = byte;
- if (out_len > 2)
- crc = ao_fec_crc_byte(byte, crc);
-
- if (!--out_len) {
- if ((out[-2] == (uint8_t) (crc >> 8)) &&
- out[-1] == (uint8_t) crc)
- out[-1] = AO_FEC_DECODE_CRC_OK;
- else
- out[-1] = 0;
- out[-2] = 0;
- goto done;
- }
- o += 8;
- }
- }
-done:
-#if AO_PROFILE
- ao_fec_decode_start = start_tick;
- ao_fec_decode_end = ao_profile_tick();
-#endif
- return 1;
-}
+++ /dev/null
-/*
- * 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_fec.h>
-#include <stdio.h>
-
-#if AO_FEC_DEBUG
-void
-ao_fec_dump_bytes(const uint8_t *bytes, uint16_t len, const char *name)
-{
- uint16_t i;
-
- printf ("%s (%d):", name, len);
- for (i = 0; i < len; i++) {
- if ((i & 7) == 0)
- printf ("\n\t%02x:", i);
- printf(" %02x", bytes[i]);
- }
- printf ("\n");
-}
-#endif
-
-uint16_t
-ao_fec_crc(const uint8_t *bytes, uint8_t len)
-{
- uint16_t crc = AO_FEC_CRC_INIT;
-
- while (len--)
- crc = ao_fec_crc_byte(*bytes++, crc);
- return crc;
-}
-
-/*
- * len is the length of the data; the crc will be
- * the fist two bytes after that
- */
-
-uint8_t
-ao_fec_check_crc(const uint8_t *bytes, uint8_t len)
-{
- uint16_t computed_crc = ao_fec_crc(bytes, len);
- uint16_t received_crc = (bytes[len] << 8) | (bytes[len+1]);
-
- return computed_crc == received_crc;
-}
-
-/*
- * Compute CRC and trellis-terminator/interleave-pad bytes
- */
-static uint8_t
-ao_fec_prepare(const uint8_t *in, uint8_t len, uint8_t *extra)
-{
- uint16_t crc = ao_fec_crc (in, len);
- uint8_t i = 0;
- uint8_t num_fec;
-
- /* Append CRC */
- extra[i++] = crc >> 8;
- extra[i++] = crc;
-
- /* Append FEC -- 1 byte if odd, two bytes if even */
- num_fec = 2 - (i & 1);
- while (num_fec--)
- extra[i++] = AO_FEC_TRELLIS_TERMINATOR;
- return i;
-}
-
-const uint8_t ao_fec_whiten_table[] = {
-#include "ao_whiten.h"
-};
-
-static const uint8_t ao_fec_encode_table[16] = {
-/* next 0 1 state */
- 0, 3, /* 000 */
- 1, 2, /* 001 */
- 3, 0, /* 010 */
- 2, 1, /* 011 */
- 3, 0, /* 100 */
- 2, 1, /* 101 */
- 0, 3, /* 110 */
- 1, 2 /* 111 */
-};
-
-uint8_t
-ao_fec_encode(const uint8_t *in, uint8_t len, uint8_t *out)
-{
- uint8_t extra[AO_FEC_PREPARE_EXTRA];
- uint8_t extra_len;
- uint32_t encode, interleave;
- uint8_t pair, byte, bit;
- uint16_t fec = 0;
- const uint8_t *whiten = ao_fec_whiten_table;
-
- extra_len = ao_fec_prepare(in, len, extra);
- for (pair = 0; pair < len + extra_len; pair += 2) {
- encode = 0;
- for (byte = 0; byte < 2; byte++) {
- if (pair + byte == len)
- in = extra;
- fec |= *in++ ^ *whiten++;
- for (bit = 0; bit < 8; bit++) {
- encode = encode << 2 | ao_fec_encode_table[fec >> 7];
- fec = (fec << 1) & 0x7ff;
- }
- }
-
- interleave = 0;
- for (bit = 0; bit < 4 * 4; bit++) {
- uint8_t byte_shift = (bit & 0x3) << 3;
- uint8_t bit_shift = (bit & 0xc) >> 1;
-
- interleave = (interleave << 2) | ((encode >> (byte_shift + bit_shift)) & 0x3);
- }
- *out++ = interleave >> 24;
- *out++ = interleave >> 16;
- *out++ = interleave >> 8;
- *out++ = interleave >> 0;
- }
- return (len + extra_len) * 2;
-}
+++ /dev/null
-/*
- * Copyright © 2009 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.
- */
-
-#ifndef AO_FLIGHT_TEST
-#include "ao.h"
-#include <ao_log.h>
-#endif
-
-#if HAS_MPU6000
-#include <ao_quaternion.h>
-#endif
-
-#ifndef HAS_ACCEL
-#error Please define HAS_ACCEL
-#endif
-
-#ifndef HAS_GPS
-#error Please define HAS_GPS
-#endif
-
-#ifndef HAS_USB
-#error Please define HAS_USB
-#endif
-
-#ifndef HAS_TELEMETRY
-#define HAS_TELEMETRY HAS_RADIO
-#endif
-
-/* Main flight thread. */
-
-__pdata enum ao_flight_state ao_flight_state; /* current flight state */
-__pdata uint16_t ao_boost_tick; /* time of launch detect */
-__pdata uint16_t ao_motor_number; /* number of motors burned so far */
-
-#if HAS_SENSOR_ERRORS
-/* Any sensor can set this to mark the flight computer as 'broken' */
-__xdata uint8_t ao_sensor_errors;
-#endif
-
-/*
- * track min/max data over a long interval to detect
- * resting
- */
-static __data uint16_t ao_interval_end;
-static __data int16_t ao_interval_min_height;
-static __data int16_t ao_interval_max_height;
-#if HAS_ACCEL
-static __data int16_t ao_coast_avg_accel;
-#endif
-
-__pdata uint8_t ao_flight_force_idle;
-
-/* We also have a clock, which can be used to sanity check things in
- * case of other failures
- */
-
-#define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15)
-
-/* Landing is detected by getting constant readings from both pressure and accelerometer
- * for a fairly long time (AO_INTERVAL_TICKS)
- */
-#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(10)
-
-#define abs(a) ((a) < 0 ? -(a) : (a))
-
-void
-ao_flight(void)
-{
- ao_sample_init();
- ao_flight_state = ao_flight_startup;
- for (;;) {
-
- /*
- * Process ADC samples, just looping
- * until the sensors are calibrated.
- */
- if (!ao_sample())
- continue;
-
- switch (ao_flight_state) {
- case ao_flight_startup:
-
- /* Check to see what mode we should go to.
- * - Invalid mode if accel cal appears to be out
- * - pad mode if we're upright,
- * - idle mode otherwise
- */
-#if HAS_ACCEL
- if (ao_config.accel_plus_g == 0 ||
- ao_config.accel_minus_g == 0 ||
- ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
- ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP ||
- ao_ground_height < -1000 ||
- ao_ground_height > 7000)
- {
- /* Detected an accel value outside -1.5g to 1.5g
- * (or uncalibrated values), so we go into invalid mode
- */
- ao_flight_state = ao_flight_invalid;
-
-#if HAS_RADIO && PACKET_HAS_SLAVE
- /* Turn on packet system in invalid mode on TeleMetrum */
- ao_packet_slave_start();
-#endif
- } else
-#endif
- if (!ao_flight_force_idle
-#if HAS_ACCEL
- && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
-#endif
- )
- {
- /* Set pad mode - we can fly! */
- ao_flight_state = ao_flight_pad;
-#if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
- /* Disable the USB controller in flight mode
- * to save power
- */
- ao_usb_disable();
-#endif
-
-#if !HAS_ACCEL && PACKET_HAS_SLAVE
- /* Disable packet mode in pad state on TeleMini */
- ao_packet_slave_stop();
-#endif
-
-#if HAS_TELEMETRY
- /* Turn on telemetry system */
- ao_rdf_set(1);
- ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
-#endif
-#if AO_LED_RED
- /* signal successful initialization by turning off the LED */
- ao_led_off(AO_LED_RED);
-#endif
- } else {
- /* Set idle mode */
- ao_flight_state = ao_flight_idle;
-#if HAS_SENSOR_ERRORS
- if (ao_sensor_errors)
- ao_flight_state = ao_flight_invalid;
-#endif
-
-#if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
- /* Turn on packet system in idle mode on TeleMetrum */
- ao_packet_slave_start();
-#endif
-
-#if AO_LED_RED
- /* signal successful initialization by turning off the LED */
- ao_led_off(AO_LED_RED);
-#endif
- }
- /* wakeup threads due to state change */
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-
- break;
- case ao_flight_pad:
-
- /* pad to boost:
- *
- * barometer: > 20m vertical motion
- * OR
- * accelerometer: > 2g AND velocity > 5m/s
- *
- * The accelerometer should always detect motion before
- * the barometer, but we use both to make sure this
- * transition is detected. If the device
- * doesn't have an accelerometer, then ignore the
- * speed and acceleration as they are quite noisy
- * on the pad.
- */
- if (ao_height > AO_M_TO_HEIGHT(20)
-#if HAS_ACCEL
- || (ao_accel > AO_MSS_TO_ACCEL(20) &&
- ao_speed > AO_MS_TO_SPEED(5))
-#endif
- )
- {
- ao_flight_state = ao_flight_boost;
- ao_boost_tick = ao_sample_tick;
-
- /* start logging data */
- ao_log_start();
-
-#if HAS_TELEMETRY
- /* Increase telemetry rate */
- ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
-
- /* disable RDF beacon */
- ao_rdf_set(0);
-#endif
-
-#if HAS_GPS
- /* Record current GPS position by waking up GPS log tasks */
- ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
- ao_wakeup(&ao_gps_new);
-#endif
-
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- }
- break;
- case ao_flight_boost:
-
- /* boost to fast:
- *
- * accelerometer: start to fall at > 1/4 G
- * OR
- * time: boost for more than 15 seconds
- *
- * Detects motor burn out by the switch from acceleration to
- * deceleration, or by waiting until the maximum burn duration
- * (15 seconds) has past.
- */
- if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
- (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
- {
-#if HAS_ACCEL
- ao_flight_state = ao_flight_fast;
- ao_coast_avg_accel = ao_accel;
-#else
- ao_flight_state = ao_flight_coast;
-#endif
- ++ao_motor_number;
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- }
- break;
-#if HAS_ACCEL
- case ao_flight_fast:
- /*
- * This is essentially the same as coast,
- * but the barometer is being ignored as
- * it may be unreliable.
- */
- if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
- {
- ao_flight_state = ao_flight_coast;
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- } else
- goto check_re_boost;
- break;
-#endif
- case ao_flight_coast:
-
- /*
- * By customer request - allow the user
- * to lock out apogee detection for a specified
- * number of seconds.
- */
- if (ao_config.apogee_lockout) {
- if ((ao_sample_tick - ao_boost_tick) <
- AO_SEC_TO_TICKS(ao_config.apogee_lockout))
- break;
- }
-
- /* apogee detect: coast to drogue deploy:
- *
- * speed: < 0
- *
- * Also make sure the model altitude is tracking
- * the measured altitude reasonably closely; otherwise
- * we're probably transsonic.
- */
- if (ao_speed < 0
-#if !HAS_ACCEL
- && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
-#endif
- )
- {
-#if HAS_IGNITE
- /* ignite the drogue charge */
- ao_ignite(ao_igniter_drogue);
-#endif
-
-#if HAS_TELEMETRY
- /* slow down the telemetry system */
- ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
-
- /* Turn the RDF beacon back on */
- ao_rdf_set(1);
-#endif
-
- /* and enter drogue state */
- ao_flight_state = ao_flight_drogue;
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- }
-#if HAS_ACCEL
- else {
- check_re_boost:
- ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
- if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
- ao_boost_tick = ao_sample_tick;
- ao_flight_state = ao_flight_boost;
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- }
- }
-#endif
-
- break;
- case ao_flight_drogue:
-
- /* drogue to main deploy:
- *
- * barometer: reach main deploy altitude
- *
- * Would like to use the accelerometer for this test, but
- * the orientation of the flight computer is unknown after
- * drogue deploy, so we ignore it. Could also detect
- * high descent rate using the pressure sensor to
- * recognize drogue deploy failure and eject the main
- * at that point. Perhaps also use the drogue sense lines
- * to notice continutity?
- */
- if (ao_height <= ao_config.main_deploy)
- {
-#if HAS_IGNITE
- ao_ignite(ao_igniter_main);
-#endif
-
- /*
- * Start recording min/max height
- * to figure out when the rocket has landed
- */
-
- /* initialize interval values */
- ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
-
- ao_interval_min_height = ao_interval_max_height = ao_avg_height;
-
- ao_flight_state = ao_flight_main;
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- }
- break;
-
- /* fall through... */
- case ao_flight_main:
-
- /* main to land:
- *
- * barometer: altitude stable
- */
-
- if (ao_avg_height < ao_interval_min_height)
- ao_interval_min_height = ao_avg_height;
- if (ao_avg_height > ao_interval_max_height)
- ao_interval_max_height = ao_avg_height;
-
- if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
- if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
- {
- ao_flight_state = ao_flight_landed;
-
- /* turn off the ADC capture */
- ao_timer_set_adc_interval(0);
-
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- }
- ao_interval_min_height = ao_interval_max_height = ao_avg_height;
- ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
- }
- break;
-#if HAS_FLIGHT_DEBUG
- case ao_flight_test:
-#if HAS_GYRO
- printf ("angle %4d pitch %7d yaw %7d roll %7d\n",
- ao_sample_orient,
- ((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
- ((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
- ((ao_sample_roll << 9) - ao_ground_roll) >> 9);
-#endif
- flush();
- break;
-#endif /* HAS_FLIGHT_DEBUG */
- default:
- break;
- }
- }
-}
-
-#if HAS_FLIGHT_DEBUG
-static inline int int_part(int16_t i) { return i >> 4; }
-static inline int frac_part(int16_t i) { return ((i & 0xf) * 100 + 8) / 16; }
-
-static void
-ao_flight_dump(void)
-{
-#if HAS_ACCEL
- int16_t accel;
-
- accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16;
-#endif
-
- printf ("sample:\n");
- printf (" tick %d\n", ao_sample_tick);
- printf (" raw pres %d\n", ao_sample_pres);
-#if HAS_ACCEL
- printf (" raw accel %d\n", ao_sample_accel);
-#endif
- printf (" ground pres %d\n", ao_ground_pres);
- printf (" ground alt %d\n", ao_ground_height);
-#if HAS_ACCEL
- printf (" raw accel %d\n", ao_sample_accel);
- printf (" groundaccel %d\n", ao_ground_accel);
- printf (" accel_2g %d\n", ao_accel_2g);
-#endif
-
- printf (" alt %d\n", ao_sample_alt);
- printf (" height %d\n", ao_sample_height);
-#if HAS_ACCEL
- printf (" accel %d.%02d\n", int_part(accel), frac_part(accel));
-#endif
-
-
- printf ("kalman:\n");
- printf (" height %d\n", ao_height);
- printf (" speed %d.%02d\n", int_part(ao_speed), frac_part(ao_speed));
- printf (" accel %d.%02d\n", int_part(ao_accel), frac_part(ao_accel));
- printf (" max_height %d\n", ao_max_height);
- printf (" avg_height %d\n", ao_avg_height);
- printf (" error_h %d\n", ao_error_h);
- printf (" error_avg %d\n", ao_error_h_sq_avg);
-}
-
-static void
-ao_gyro_test(void)
-{
- ao_flight_state = ao_flight_test;
- ao_getchar();
- ao_flight_state = ao_flight_idle;
-}
-
-uint8_t ao_orient_test;
-
-static void
-ao_orient_test_select(void)
-{
- ao_orient_test = !ao_orient_test;
-}
-
-__code struct ao_cmds ao_flight_cmds[] = {
- { ao_flight_dump, "F\0Dump flight status" },
- { ao_gyro_test, "G\0Test gyro code" },
- { ao_orient_test_select,"O\0Test orientation code" },
- { 0, NULL },
-};
-#endif
-
-static __xdata struct ao_task flight_task;
-
-void
-ao_flight_init(void)
-{
- ao_flight_state = ao_flight_startup;
-#if HAS_FLIGHT_DEBUG
- ao_cmd_register(&ao_flight_cmds[0]);
-#endif
- ao_add_task(&flight_task, ao_flight, "flight");
-}
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_FLIGHT_H_
-#define _AO_FLIGHT_H_
-
-
-/*
- * ao_flight.c
- */
-
-enum ao_flight_state {
- ao_flight_startup = 0,
- ao_flight_idle = 1,
- ao_flight_pad = 2,
- ao_flight_boost = 3,
- ao_flight_fast = 4,
- ao_flight_coast = 5,
- ao_flight_drogue = 6,
- ao_flight_main = 7,
- ao_flight_landed = 8,
- ao_flight_invalid = 9,
- ao_flight_test = 10
-};
-
-extern __pdata enum ao_flight_state ao_flight_state;
-extern __pdata uint16_t ao_boost_tick;
-extern __pdata uint16_t ao_motor_number;
-
-#if HAS_IMU || HAS_MMA655X
-#define HAS_SENSOR_ERRORS 1
-#endif
-
-#if HAS_SENSOR_ERRORS
-extern __xdata uint8_t ao_sensor_errors;
-#endif
-
-extern __pdata uint16_t ao_launch_time;
-extern __pdata uint8_t ao_flight_force_idle;
-
-/* Flight thread */
-void
-ao_flight(void);
-
-/* Initialize flight thread */
-void
-ao_flight_init(void);
-
-/*
- * ao_flight_nano.c
- */
-
-void
-ao_flight_nano_init(void);
-
-#endif /* _AO_FLIGHT_H_ */
+++ /dev/null
-/*
- * Copyright © 2011 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"
-
-/* Main flight thread. */
-
-__pdata enum ao_flight_state ao_flight_state; /* current flight state */
-__pdata uint16_t ao_launch_tick; /* time of launch detect */
-
-/*
- * track min/max data over a long interval to detect
- * resting
- */
-__pdata uint16_t ao_interval_end;
-__pdata alt_t ao_interval_min_height;
-__pdata alt_t ao_interval_max_height;
-
-__pdata uint8_t ao_flight_force_idle;
-
-/* Landing is detected by getting constant readings from both pressure and accelerometer
- * for a fairly long time (AO_INTERVAL_TICKS)
- */
-#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
-
-static void
-ao_flight_nano(void)
-{
- ao_sample_init();
- ao_flight_state = ao_flight_startup;
-
- for (;;) {
- /*
- * Process ADC samples, just looping
- * until the sensors are calibrated.
- */
- if (!ao_sample())
- continue;
-
- switch (ao_flight_state) {
- case ao_flight_startup:
- if (ao_flight_force_idle) {
- /* Set idle mode */
- ao_flight_state = ao_flight_idle;
- } else {
- ao_flight_state = ao_flight_pad;
- /* Disable packet mode in pad state */
- ao_packet_slave_stop();
-
- /* Turn on telemetry system */
- ao_rdf_set(1);
- ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
- }
- /* signal successful initialization by turning off the LED */
- ao_led_off(AO_LED_RED);
-
- /* wakeup threads due to state change */
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- break;
- case ao_flight_pad:
- if (ao_height> AO_M_TO_HEIGHT(20)) {
- ao_flight_state = ao_flight_drogue;
- ao_launch_tick = ao_sample_tick;
-
- /* start logging data */
- ao_log_start();
-
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- }
- break;
- case ao_flight_drogue:
- /* drogue/main to land:
- *
- * barometer: altitude stable
- */
-
- if (ao_height < ao_interval_min_height)
- ao_interval_min_height = ao_height;
- if (ao_height > ao_interval_max_height)
- ao_interval_max_height = ao_height;
-
- if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
- if (ao_interval_max_height - ao_interval_min_height < AO_M_TO_HEIGHT(5))
- {
- ao_flight_state = ao_flight_landed;
-
- /* turn off the ADC capture */
- ao_timer_set_adc_interval(0);
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- }
- ao_interval_min_height = ao_interval_max_height = ao_height;
- ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
- }
- break;
- }
- }
-}
-
-static __xdata struct ao_task flight_task;
-
-void
-ao_flight_nano_init(void)
-{
- ao_flight_state = ao_flight_startup;
- ao_add_task(&flight_task, ao_flight_nano, "flight");
-}
+++ /dev/null
-/*
- * 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>
-
-/*
- * The provided 'calibration' value is
- * that needed to tune the radio to precisely 434550kHz.
- * Use that to 'walk' to the target frequency by following
- * a 'bresenham' line from 434550kHz to the target
- * frequency, and updating the radio setting along the way
- */
-
-int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant
-{
- static __pdata int32_t set;
- static __pdata uint8_t neg;
- static __pdata int32_t error;
-
- set = 0;
- neg = 0;
- error = -434550 / 2;
-
- if ((freq -= 434550) < 0) {
- neg = 1;
- freq = -freq;
- }
- for (;;) {
- if (error > 0) {
- error -= 434550;
- set++;
- } else {
- error += cal;
- if (--freq < 0)
- break;
- }
- }
- if (neg)
- set = -set;
- return cal + set;
-}
+++ /dev/null
-/*
- * Copyright © 2009 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.
- */
-
-#ifndef AO_GPS_TEST
-#include "ao.h"
-#endif
-#include "ao_telem.h"
-
-void
-ao_gps_print(__xdata struct ao_gps_orig *gps_data) __reentrant
-{
- char state;
-
- if (gps_data->flags & AO_GPS_VALID)
- state = AO_TELEM_GPS_STATE_LOCKED;
- else if (gps_data->flags & AO_GPS_RUNNING)
- state = AO_TELEM_GPS_STATE_UNLOCKED;
- else
- state = AO_TELEM_GPS_STATE_ERROR;
- printf(AO_TELEM_GPS_STATE " %c "
- AO_TELEM_GPS_NUM_SAT " %d ",
- state,
- (gps_data->flags & AO_GPS_NUM_SAT_MASK) >> AO_GPS_NUM_SAT_SHIFT);
- if (!(gps_data->flags & AO_GPS_VALID))
- return;
- printf(AO_TELEM_GPS_LATITUDE " %ld "
- AO_TELEM_GPS_LONGITUDE " %ld "
- AO_TELEM_GPS_ALTITUDE " %d ",
- (long) gps_data->latitude,
- (long) gps_data->longitude,
- gps_data->altitude);
-
- if (gps_data->flags & AO_GPS_DATE_VALID)
- printf(AO_TELEM_GPS_YEAR " %d "
- AO_TELEM_GPS_MONTH " %d "
- AO_TELEM_GPS_DAY " %d ",
- gps_data->year,
- gps_data->month,
- gps_data->day);
-
- printf(AO_TELEM_GPS_HOUR " %d "
- AO_TELEM_GPS_MINUTE " %d "
- AO_TELEM_GPS_SECOND " %d ",
- gps_data->hour,
- gps_data->minute,
- gps_data->second);
-
- printf(AO_TELEM_GPS_HDOP " %d ",
- gps_data->hdop * 2);
-
- if (gps_data->flags & AO_GPS_COURSE_VALID) {
- printf(AO_TELEM_GPS_HERROR " %d "
- AO_TELEM_GPS_VERROR " %d "
- AO_TELEM_GPS_VERTICAL_SPEED " %d "
- AO_TELEM_GPS_HORIZONTAL_SPEED " %d "
- AO_TELEM_GPS_COURSE " %d ",
- gps_data->h_error,
- gps_data->v_error,
- gps_data->climb_rate,
- gps_data->ground_speed,
- (int) gps_data->course * 2);
- }
-}
-
-void
-ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data) __reentrant
-{
- uint8_t c, n, v;
- __xdata struct ao_gps_sat_orig *sat;
-
- n = gps_tracking_data->channels;
- if (n == 0)
- return;
-
- sat = gps_tracking_data->sats;
- v = 0;
- for (c = 0; c < n; c++) {
- if (sat->svid)
- v++;
- sat++;
- }
-
- printf (AO_TELEM_SAT_NUM " %d ",
- v);
-
- sat = gps_tracking_data->sats;
- v = 0;
- for (c = 0; c < n; c++) {
- if (sat->svid) {
- printf (AO_TELEM_SAT_SVID "%d %d "
- AO_TELEM_SAT_C_N_0 "%d %d ",
- v, sat->svid,
- v, sat->c_n_1);
- v++;
- }
- sat++;
- }
-}
+++ /dev/null
-/*
- * Copyright © 2009 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"
-
-void
-ao_gps_report(void)
-{
- static __xdata struct ao_log_record gps_log;
- static __xdata struct ao_telemetry_location gps_data;
- static __xdata struct ao_telemetry_satellite gps_tracking_data;
- uint8_t date_reported = 0;
- uint8_t new;
-
- for (;;) {
- while ((new = ao_gps_new) == 0)
- ao_sleep(&ao_gps_new);
- ao_mutex_get(&ao_gps_mutex);
- if (new & AO_GPS_NEW_DATA)
- ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
- if (new & AO_GPS_NEW_TRACKING)
- ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
- ao_gps_new = 0;
- ao_mutex_put(&ao_gps_mutex);
-
- if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
- gps_log.tick = ao_gps_tick;
- gps_log.type = AO_LOG_GPS_TIME;
- gps_log.u.gps_time.hour = gps_data.hour;
- gps_log.u.gps_time.minute = gps_data.minute;
- gps_log.u.gps_time.second = gps_data.second;
- gps_log.u.gps_time.flags = gps_data.flags;
- ao_log_data(&gps_log);
- gps_log.type = AO_LOG_GPS_LAT;
- gps_log.u.gps_latitude = gps_data.latitude;
- ao_log_data(&gps_log);
- gps_log.type = AO_LOG_GPS_LON;
- gps_log.u.gps_longitude = gps_data.longitude;
- ao_log_data(&gps_log);
- gps_log.type = AO_LOG_GPS_ALT;
- gps_log.u.gps_altitude.altitude = gps_data.altitude;
- gps_log.u.gps_altitude.unused = 0xffff;
- ao_log_data(&gps_log);
- if (!date_reported && (gps_data.flags & AO_GPS_DATE_VALID)) {
- gps_log.type = AO_LOG_GPS_DATE;
- gps_log.u.gps_date.year = gps_data.year;
- gps_log.u.gps_date.month = gps_data.month;
- gps_log.u.gps_date.day = gps_data.day;
- gps_log.u.gps_date.extra = 0;
- date_reported = ao_log_data(&gps_log);
- }
- }
- if (new & AO_GPS_NEW_TRACKING) {
- uint8_t c, n;
-
- if ((n = gps_tracking_data.channels) != 0) {
- gps_log.type = AO_LOG_GPS_SAT;
- for (c = 0; c < n; c++)
- if ((gps_log.u.gps_sat.svid = gps_tracking_data.sats[c].svid))
- {
- gps_log.u.gps_sat.c_n = gps_tracking_data.sats[c].c_n_1;
- ao_log_data(&gps_log);
- }
- }
- }
- }
-}
-
-__xdata struct ao_task ao_gps_report_task;
-
-void
-ao_gps_report_init(void)
-{
- ao_add_task(&ao_gps_report_task, ao_gps_report, "gps_report");
-}
+++ /dev/null
-/*
- * Copyright © 2009 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_log.h"
-
-void
-ao_gps_report_mega(void)
-{
- static __xdata struct ao_log_mega gps_log;
- static __xdata struct ao_telemetry_location gps_data;
- static __xdata struct ao_telemetry_satellite gps_tracking_data;
- uint8_t new;
- uint8_t c, n, i;
-
- for (;;) {
- while (!(new = ao_gps_new))
- ao_sleep(&ao_gps_new);
- ao_mutex_get(&ao_gps_mutex);
- if (new & AO_GPS_NEW_DATA)
- ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
- if (new & AO_GPS_NEW_TRACKING)
- ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
- ao_gps_new = 0;
- ao_mutex_put(&ao_gps_mutex);
-
- if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
- gps_log.tick = ao_gps_tick;
- gps_log.type = AO_LOG_GPS_TIME;
- gps_log.u.gps.latitude = gps_data.latitude;
- gps_log.u.gps.longitude = gps_data.longitude;
- gps_log.u.gps.altitude = gps_data.altitude;
-
- gps_log.u.gps.hour = gps_data.hour;
- gps_log.u.gps.minute = gps_data.minute;
- gps_log.u.gps.second = gps_data.second;
- gps_log.u.gps.flags = gps_data.flags;
- gps_log.u.gps.year = gps_data.year;
- gps_log.u.gps.month = gps_data.month;
- gps_log.u.gps.day = gps_data.day;
- gps_log.u.gps.course = gps_data.course;
- gps_log.u.gps.ground_speed = gps_data.ground_speed;
- gps_log.u.gps.climb_rate = gps_data.climb_rate;
- gps_log.u.gps.pdop = gps_data.pdop;
- gps_log.u.gps.hdop = gps_data.hdop;
- gps_log.u.gps.vdop = gps_data.vdop;
- gps_log.u.gps.mode = gps_data.mode;
- ao_log_mega(&gps_log);
- }
- if ((new & AO_GPS_NEW_TRACKING) && (n = gps_tracking_data.channels) != 0) {
- gps_log.tick = ao_gps_tick;
- gps_log.type = AO_LOG_GPS_SAT;
- i = 0;
- for (c = 0; c < n; c++)
- if ((gps_log.u.gps_sat.sats[i].svid = gps_tracking_data.sats[c].svid))
- {
- gps_log.u.gps_sat.sats[i].c_n = gps_tracking_data.sats[c].c_n_1;
- i++;
- if (i >= 12)
- break;
- }
- gps_log.u.gps_sat.channels = i;
- ao_log_mega(&gps_log);
- }
- }
-}
-
-__xdata struct ao_task ao_gps_report_mega_task;
-
-void
-ao_gps_report_mega_init(void)
-{
- ao_add_task(&ao_gps_report_mega_task,
- ao_gps_report_mega,
- "gps_report");
-}
+++ /dev/null
-/*
- * Copyright © 2009 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_log.h"
-
-void
-ao_gps_report_metrum(void)
-{
- static __xdata struct ao_log_metrum gps_log;
- static __xdata struct ao_telemetry_location gps_data;
- static __xdata struct ao_telemetry_satellite gps_tracking_data;
- uint8_t c, n, i;
- uint8_t svid;
- uint8_t new;
-
- for (;;) {
- while (!(new = ao_gps_new))
- ao_sleep(&ao_gps_new);
- ao_mutex_get(&ao_gps_mutex);
- if (new & AO_GPS_NEW_DATA)
- ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
- if (new & AO_GPS_NEW_TRACKING)
- ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
- ao_gps_new = 0;
- ao_mutex_put(&ao_gps_mutex);
-
- if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
- gps_log.tick = ao_gps_tick;
- gps_log.type = AO_LOG_GPS_POS;
- gps_log.u.gps.latitude = gps_data.latitude;
- gps_log.u.gps.longitude = gps_data.longitude;
- gps_log.u.gps.altitude = gps_data.altitude;
- ao_log_metrum(&gps_log);
-
- gps_log.type = AO_LOG_GPS_TIME;
- gps_log.u.gps_time.hour = gps_data.hour;
- gps_log.u.gps_time.minute = gps_data.minute;
- gps_log.u.gps_time.second = gps_data.second;
- gps_log.u.gps_time.flags = gps_data.flags;
- gps_log.u.gps_time.year = gps_data.year;
- gps_log.u.gps_time.month = gps_data.month;
- gps_log.u.gps_time.day = gps_data.day;
- ao_log_metrum(&gps_log);
- }
-
- if ((new & AO_GPS_NEW_TRACKING) && (n = gps_tracking_data.channels)) {
- gps_log.type = AO_LOG_GPS_SAT;
- gps_log.tick = ao_gps_tick;
- i = 0;
- for (c = 0; c < n; c++) {
- svid = gps_tracking_data.sats[c].svid;
- if (svid != 0) {
- if (i == 4) {
- gps_log.u.gps_sat.channels = i;
- gps_log.u.gps_sat.more = 1;
- ao_log_metrum(&gps_log);
- i = 0;
- }
- gps_log.u.gps_sat.sats[i].svid = svid;
- gps_log.u.gps_sat.sats[i].c_n = gps_tracking_data.sats[c].c_n_1;
- i++;
- }
- }
- if (i) {
- gps_log.u.gps_sat.channels = i;
- gps_log.u.gps_sat.more = 0;
- ao_log_metrum(&gps_log);
- }
- }
- }
-}
-
-__xdata struct ao_task ao_gps_report_metrum_task;
-
-void
-ao_gps_report_metrum_init(void)
-{
- ao_add_task(&ao_gps_report_metrum_task,
- ao_gps_report_metrum,
- "gps_report");
-}
+++ /dev/null
-/*
- * Copyright © 2013 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.
- */
-
-#ifndef AO_GPS_TEST
-#include <ao.h>
-#endif
-
-void
-ao_gps_show(void) __reentrant
-{
- uint8_t i;
- ao_mutex_get(&ao_gps_mutex);
- printf ("Date: %02d/%02d/%02d\n", ao_gps_data.year, ao_gps_data.month, ao_gps_data.day);
- printf ("Time: %02d:%02d:%02d\n", ao_gps_data.hour, ao_gps_data.minute, ao_gps_data.second);
- printf ("Lat/Lon: %ld %ld\n", (long) ao_gps_data.latitude, (long) ao_gps_data.longitude);
- printf ("Alt: %d\n", ao_gps_data.altitude);
- printf ("Flags: 0x%x\n", ao_gps_data.flags);
- printf ("Sats: %d", ao_gps_tracking_data.channels);
- for (i = 0; i < ao_gps_tracking_data.channels; i++)
- printf (" %d %d",
- ao_gps_tracking_data.sats[i].svid,
- ao_gps_tracking_data.sats[i].c_n_1);
- printf ("\ndone\n");
- ao_mutex_put(&ao_gps_mutex);
-}
+++ /dev/null
-/*
- * Copyright © 2009 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.
- */
-
-#define _GNU_SOURCE
-
-#include <stddef.h>
-#include <stdint.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#define AO_ADC_RING 64
-#define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
-#define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1))
-
-/*
- * One set of samples read from the A/D converter
- */
-struct ao_adc {
- uint16_t tick; /* tick when the sample was read */
- int16_t accel; /* accelerometer */
- int16_t pres; /* pressure sensor */
- int16_t temp; /* temperature sensor */
- int16_t v_batt; /* battery voltage */
- int16_t sense_d; /* drogue continuity sense */
- int16_t sense_m; /* main continuity sense */
-};
-
-#define __pdata
-#define __data
-#define __xdata
-#define __code
-#define __reentrant
-
-#define DATA_TO_XDATA(a) (a)
-#define PDATA_TO_XDATA(a) (a)
-#define CODE_TO_XDATA(a) (a)
-
-enum ao_flight_state {
- ao_flight_startup = 0,
- ao_flight_idle = 1,
- ao_flight_pad = 2,
- ao_flight_boost = 3,
- ao_flight_fast = 4,
- ao_flight_coast = 5,
- ao_flight_drogue = 6,
- ao_flight_main = 7,
- ao_flight_landed = 8,
- ao_flight_invalid = 9
-};
-
-struct ao_adc ao_adc_ring[AO_ADC_RING];
-uint8_t ao_adc_head;
-
-#define ao_led_on(l)
-#define ao_led_off(l)
-#define ao_timer_set_adc_interval(i)
-#define ao_wakeup(wchan) ao_dump_state(wchan)
-#define ao_cmd_register(c)
-#define ao_usb_disable()
-#define ao_telemetry_set_interval(x)
-#define ao_delay(x)
-
-enum ao_igniter {
- ao_igniter_drogue = 0,
- ao_igniter_main = 1
-};
-
-void
-ao_ignite(enum ao_igniter igniter)
-{
- printf ("ignite %s\n", igniter == ao_igniter_drogue ? "drogue" : "main");
-}
-
-struct ao_task {
- int dummy;
-};
-
-#define ao_add_task(t,f,n)
-
-#define ao_log_start()
-#define ao_log_stop()
-
-#define AO_MS_TO_TICKS(ms) ((ms) / 10)
-#define AO_SEC_TO_TICKS(s) ((s) * 100)
-
-#define AO_FLIGHT_TEST
-
-struct ao_adc ao_adc_static;
-
-FILE *emulator_in;
-
-void
-ao_dump_state(void *wchan);
-
-void
-ao_sleep(void *wchan);
-
-const char const * const ao_state_names[] = {
- "startup", "idle", "pad", "boost", "fast",
- "coast", "drogue", "main", "landed", "invalid"
-};
-
-struct ao_cmds {
- void (*func)(void);
- const char *help;
-};
-
-
-struct ao_config {
- uint16_t main_deploy;
- int16_t accel_zero_g;
-};
-
-#define ao_config_get()
-
-struct ao_config ao_config = { 250, 16000 };
-
-#define ao_xmemcpy(d,s,c) memcpy(d,s,c)
-#define ao_xmemset(d,v,c) memset(d,v,c)
-#define ao_xmemcmp(d,s,c) memcmp(d,s,c)
+++ /dev/null
-/*
- * Copyright © 2009 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_data.h>
-#if AO_PYRO_NUM
-#include <ao_pyro.h>
-#endif
-
-#if HAS_IGNITE
-__xdata struct ao_ignition ao_ignition[2];
-
-void
-ao_ignite(enum ao_igniter igniter)
-{
- ao_arch_block_interrupts();
- ao_ignition[igniter].request = 1;
- ao_wakeup(&ao_ignition);
- ao_arch_release_interrupts();
-}
-
-#ifndef AO_SENSE_DROGUE
-#define AO_SENSE_DROGUE(p) ((p)->adc.sense_d)
-#define AO_SENSE_MAIN(p) ((p)->adc.sense_m)
-#endif
-
-enum ao_igniter_status
-ao_igniter_status(enum ao_igniter igniter)
-{
- __xdata struct ao_data packet;
- __pdata int16_t value;
- __pdata uint8_t request, firing, fired;
-
- ao_arch_critical(
- ao_data_get(&packet);
- request = ao_ignition[igniter].request;
- fired = ao_ignition[igniter].fired;
- firing = ao_ignition[igniter].firing;
- );
- if (firing || (request && !fired))
- return ao_igniter_active;
-
- value = (AO_IGNITER_CLOSED>>1);
- switch (igniter) {
- case ao_igniter_drogue:
- value = AO_SENSE_DROGUE(&packet);
- break;
- case ao_igniter_main:
- value = AO_SENSE_MAIN(&packet);
- break;
- }
- if (value < AO_IGNITER_OPEN)
- return ao_igniter_open;
- else if (value > AO_IGNITER_CLOSED)
- return ao_igniter_ready;
- else
- return ao_igniter_unknown;
-}
-
-#ifndef AO_IGNITER_SET_DROGUE
-#define AO_IGNITER_SET_DROGUE(v) AO_IGNITER_DROGUE = (v)
-#define AO_IGNITER_SET_MAIN(v) AO_IGNITER_MAIN = (v)
-#endif
-
-#ifndef AO_IGNITER_FIRE_TIME
-#define AO_IGNITER_FIRE_TIME AO_MS_TO_TICKS(50)
-#endif
-
-#ifndef AO_IGNITER_CHARGE_TIME
-#define AO_IGNITER_CHARGE_TIME AO_MS_TO_TICKS(2000)
-#endif
-
-void
-ao_igniter_fire(enum ao_igniter igniter)
-{
- ao_ignition[igniter].firing = 1;
- switch(ao_config.ignite_mode) {
- case AO_IGNITE_MODE_DUAL:
- switch (igniter) {
- case ao_igniter_drogue:
- AO_IGNITER_SET_DROGUE(1);
- ao_delay(AO_IGNITER_FIRE_TIME);
- AO_IGNITER_SET_DROGUE(0);
- break;
- case ao_igniter_main:
- AO_IGNITER_SET_MAIN(1);
- ao_delay(AO_IGNITER_FIRE_TIME);
- AO_IGNITER_SET_MAIN(0);
- break;
- }
- break;
- case AO_IGNITE_MODE_APOGEE:
- switch (igniter) {
- case ao_igniter_drogue:
- AO_IGNITER_SET_DROGUE(1);
- ao_delay(AO_IGNITER_FIRE_TIME);
- AO_IGNITER_SET_DROGUE(0);
- ao_delay(AO_IGNITER_CHARGE_TIME);
- AO_IGNITER_SET_MAIN(1);
- ao_delay(AO_IGNITER_FIRE_TIME);
- AO_IGNITER_SET_MAIN(0);
- break;
- default:
- break;
- }
- break;
- case AO_IGNITE_MODE_MAIN:
- switch (igniter) {
- case ao_igniter_main:
- AO_IGNITER_SET_DROGUE(1);
- ao_delay(AO_IGNITER_FIRE_TIME);
- AO_IGNITER_SET_DROGUE(0);
- ao_delay(AO_IGNITER_CHARGE_TIME);
- AO_IGNITER_SET_MAIN(1);
- ao_delay(AO_IGNITER_FIRE_TIME);
- AO_IGNITER_SET_MAIN(0);
- break;
- default:
- break;
- }
- break;
- }
- ao_ignition[igniter].firing = 0;
-}
-
-void
-ao_igniter(void)
-{
- __xdata enum ao_igniter igniter;
-
- ao_config_get();
- for (;;) {
- ao_sleep(&ao_ignition);
- for (igniter = ao_igniter_drogue; igniter <= ao_igniter_main; igniter++) {
- if (ao_ignition[igniter].request && !ao_ignition[igniter].fired) {
- if (igniter == ao_igniter_drogue && ao_config.apogee_delay)
- ao_delay(AO_SEC_TO_TICKS(ao_config.apogee_delay));
-
- ao_igniter_fire(igniter);
- ao_delay(AO_IGNITER_CHARGE_TIME);
- ao_ignition[igniter].fired = 1;
- }
- }
- }
-}
-
-#endif
-
-void
-ao_ignite_manual(void)
-{
- ao_cmd_white();
- if (!ao_match_word("DoIt"))
- return;
- ao_cmd_white();
-#if HAS_IGNITE
- if (ao_cmd_lex_c == 'm' && ao_match_word("main")) {
- ao_igniter_fire(ao_igniter_main);
- return;
- }
- if (ao_cmd_lex_c == 'd' && ao_match_word("drogue")) {
- ao_igniter_fire(ao_igniter_drogue);
- return;
- }
-#endif
-#if AO_PYRO_NUM
- if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9') {
- ao_pyro_manual(ao_cmd_lex_c - '0');
- return;
- }
-#endif
- ao_cmd_status = ao_cmd_syntax_error;
-}
-
-__code char * __code ao_igniter_status_names[] = {
- "unknown", "ready", "active", "open"
-};
-
-#if HAS_IGNITE
-void
-ao_ignite_print_status(enum ao_igniter igniter, __code char *name) __reentrant
-{
- enum ao_igniter_status status = ao_igniter_status(igniter);
- printf("Igniter: %6s Status: %s\n",
- name,
- ao_igniter_status_names[status]);
-}
-#endif
-
-void
-ao_ignite_test(void)
-{
-#if HAS_IGNITE
- ao_ignite_print_status(ao_igniter_drogue, "drogue");
- ao_ignite_print_status(ao_igniter_main, "main");
-#endif
-#if AO_PYRO_NUM
- ao_pyro_print_status();
-#endif
-}
-
-__code struct ao_cmds ao_ignite_cmds[] = {
- { ao_ignite_manual, "i <key> {main|drogue}\0Fire igniter. <key> is doit with D&I" },
- { ao_ignite_test, "t\0Test igniter" },
- { 0, NULL },
-};
-
-#if HAS_IGNITE
-__xdata struct ao_task ao_igniter_task;
-
-void
-ao_ignite_set_pins(void)
-{
- ao_enable_output(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, AO_IGNITER_DROGUE, 0);
- ao_enable_output(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, AO_IGNITER_MAIN, 0);
-}
-#endif
-
-void
-ao_igniter_init(void)
-{
-#if HAS_IGNITE
- ao_ignite_set_pins();
- ao_add_task(&ao_igniter_task, ao_igniter, "igniter");
-#endif
- ao_cmd_register(&ao_ignite_cmds[0]);
-}
+++ /dev/null
-/*
- * Copyright © 2013 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_int64.h>
-
-__pdata ao_int64_t *__data ao_64r, *__data ao_64a, *__data ao_64b;
-
-void ao_plus64(__pdata ao_int64_t *r, __pdata ao_int64_t *a, __pdata ao_int64_t *b) __FATTR {
- __LOCAL uint32_t t;
-
- r->high = a->high + b->high;
- t = a->low + b->low;
- if (t < a->low)
- r->high++;
- r->low = t;
-}
-
-void ao_minus64(__pdata ao_int64_t *r, __pdata ao_int64_t *a, __pdata ao_int64_t *b) __FATTR {
- __LOCAL uint32_t t;
-
- r->high = a->high - b->high;
- t = a->low - b->low;
- if (t > a->low)
- r->high--;
- r->low = t;
-}
-
-void ao_rshift64(__pdata ao_int64_t *r, __pdata ao_int64_t *a, uint8_t d) __FATTR {
- if (d < 32) {
- r->low = a->low >> d;
- if (d)
- r->low |= a->high << (32 - d);
- r->high = (int32_t) a->high >> d;
- } else {
- d &= 0x1f;
- r->low = (int32_t) a->high >> d;
- r->high = 0;
- }
-}
-
-void ao_lshift64(__pdata ao_int64_t *r, __pdata ao_int64_t *a, uint8_t d) __FATTR {
- if (d < 32) {
- r->high = a->high << d;
- if (d)
- r->high |= a->low >> (32 - d);
- r->low = a->low << d;
- } else {
- d &= 0x1f;
- r->high = a->low << d;
- r->low = 0;
- }
-}
-
-static void ao_umul64_32_32(__ARG ao_int64_t *r, uint32_t a, uint32_t b) __reentrant {
- __LOCAL uint32_t s;
- __LOCAL ao_int64_t t;
- r->low = (uint32_t) (uint16_t) a * (uint16_t) b;
- r->high = (uint32_t) (uint16_t) (a >> 16) * (uint16_t) (b >> 16);
-
- s = (uint32_t) (uint16_t) (a >> 16) * (uint16_t) b;
-
- t.high = s >> 16;
- t.low = s << 16;
- ao_plus64(r, r, &t);
-
- s = (uint32_t) (uint16_t) a * (uint16_t) (b >> 16);
-
- t.high = s >> 16;
- t.low = s << 16;
- ao_plus64(r, r, &t);
-}
-
-void ao_neg64(__pdata ao_int64_t *r, __pdata ao_int64_t *a) __FATTR {
- r->high = ~a->high;
- if (!(r->low = ~a->low + 1))
- r->high++;
-}
-
-void ao_mul64_32_32(__ARG ao_int64_t *r, int32_t a, int32_t b) __FATTR {
- uint8_t negative = 0;
-
- if (a < 0) {
- a = -a;
- ++negative;
- }
- if (b < 0) {
- b = -b;
- --negative;
- }
- ao_umul64_32_32(r, a, b);
- if (negative)
- ao_neg64(r, r);
-}
-
-static void ao_umul64(__ARG ao_int64_t *r, __ARG ao_int64_t *a, __ARG ao_int64_t *b) __reentrant {
- __LOCAL ao_int64_t r2, r3;
-
- ao_umul64_32_32(&r2, a->high, b->low);
- ao_umul64_32_32(&r3, a->low, b->high);
- ao_umul64_32_32(r, a->low, b->low);
-
- r->high += r2.low + r3.low;
-}
-
-static __ARG ao_int64_t ap, bp;
-
-void ao_mul64(__ARG ao_int64_t *r, __ARG ao_int64_t *a, __ARG ao_int64_t *b) __FATTR {
- uint8_t negative = 0;
-
- if (ao_int64_negativep(a)) {
- ao_neg64(&ap, a);
- a = ≈
- ++negative;
- }
- if (ao_int64_negativep(b)) {
- ao_neg64(&bp, b);
- b = &bp;
- --negative;
- }
- ao_umul64(r, a, b);
- if (negative)
- ao_neg64(r, r);
-}
-
-static void ao_umul64_64_16(__ARG ao_int64_t *r, __ARG ao_int64_t *a, uint16_t b) __reentrant {
- __LOCAL uint32_t h;
-
- h = a->high * b;
- ao_umul64_32_32(r, a->low, b);
- r->high += h;
-}
-
-void ao_mul64_64_16(__ARG ao_int64_t *r, __ARG ao_int64_t *a, __ARG uint16_t b) __FATTR {
- uint8_t negative = 0;
-
- if ((int32_t) a->high < 0) {
- ao_neg64(&ap, a);
- a = ≈
- negative++;
- } else
- ao_umul64_64_16(r, a, b);
- if (negative)
- ao_neg64(r, r);
-}
+++ /dev/null
-/*
- * Copyright © 2013 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.
- */
-
-#ifndef _AO_INT64_H_
-#define _AO_INT64_H_
-
-#include <stdint.h>
-
-typedef struct {
- uint32_t high;
- uint32_t low;
-} ao_int64_t;
-
-#define __FATTR
-#define __ARG __pdata
-#define __LOCAL static __pdata
-
-void ao_plus64(__pdata ao_int64_t *ao_64r, __pdata ao_int64_t *ao_64a, __pdata ao_int64_t *ao_64b) __FATTR;
-void ao_minus64(__pdata ao_int64_t *ao_64r, __pdata ao_int64_t *ao_64a, __pdata ao_int64_t *ao_64b) __FATTR;
-void ao_neg64(__pdata ao_int64_t *ao_64r, __pdata ao_int64_t *ao_64a) __FATTR;
-void ao_rshift64(__pdata ao_int64_t *ao_64r, __pdata ao_int64_t *ao_64a, uint8_t d) __FATTR;
-void ao_lshift64(__pdata ao_int64_t *ao_64r, __pdata ao_int64_t *ao_64a, uint8_t d) __FATTR;
-void ao_mul64_32_32(__ARG ao_int64_t *r, __ARG int32_t a, __ARG int32_t b) __FATTR;
-void ao_mul64_64_16(__ARG ao_int64_t *r, __ARG ao_int64_t *a, __ARG uint16_t b) __FATTR;
-void ao_mul64(__ARG ao_int64_t * __ARG r, __ARG ao_int64_t * __ARG a, __ARG ao_int64_t *__ARG b) __FATTR;
-
-#define ao_int64_init32(r, a) (((r)->high = 0), (r)->low = (a))
-#define ao_int64_init64(r, a, b) (((r)->high = (a)), (r)->low = (b))
-
-#define ao_cast64(a) (((int64_t) (a)->high << 32) | (a)->low)
-
-#define ao_int64_negativep(a) (((int32_t) (a)->high) < 0)
-
-#endif /* _AO_INT64_H_ */
+++ /dev/null
-/*
- * Copyright © 2011 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.
- */
-
-#ifndef AO_FLIGHT_TEST
-#include "ao.h"
-#include "ao_flight.h"
-#endif
-
-#include "ao_sample.h"
-#include "ao_kalman.h"
-
-
-static __pdata int32_t ao_k_height;
-static __pdata int32_t ao_k_speed;
-static __pdata int32_t ao_k_accel;
-
-#define AO_K_STEP_100 to_fix16(0.01)
-#define AO_K_STEP_2_2_100 to_fix16(0.00005)
-
-#define AO_K_STEP_10 to_fix16(0.1)
-#define AO_K_STEP_2_2_10 to_fix16(0.005)
-
-#define AO_K_STEP_1 to_fix16(1)
-#define AO_K_STEP_2_2_1 to_fix16(0.5)
-
-__pdata int16_t ao_height;
-__pdata int16_t ao_speed;
-__pdata int16_t ao_accel;
-__xdata int16_t ao_max_height;
-static __pdata int32_t ao_avg_height_scaled;
-__xdata int16_t ao_avg_height;
-
-__pdata int16_t ao_error_h;
-__pdata int16_t ao_error_h_sq_avg;
-
-#if HAS_ACCEL
-__pdata int16_t ao_error_a;
-#endif
-
-static void
-ao_kalman_predict(void)
-{
-#ifdef AO_FLIGHT_TEST
- if (ao_sample_tick - ao_sample_prev_tick > 50) {
- ao_k_height += ((int32_t) ao_speed * AO_K_STEP_1 +
- (int32_t) ao_accel * AO_K_STEP_2_2_1) >> 4;
- ao_k_speed += (int32_t) ao_accel * AO_K_STEP_1;
-
- return;
- }
- if (ao_sample_tick - ao_sample_prev_tick > 5) {
- ao_k_height += ((int32_t) ao_speed * AO_K_STEP_10 +
- (int32_t) ao_accel * AO_K_STEP_2_2_10) >> 4;
- ao_k_speed += (int32_t) ao_accel * AO_K_STEP_10;
-
- return;
- }
- if (ao_flight_debug) {
- printf ("predict speed %g + (%g * %g) = %g\n",
- ao_k_speed / (65536.0 * 16.0), ao_accel / 16.0, AO_K_STEP_100 / 65536.0,
- (ao_k_speed + (int32_t) ao_accel * AO_K_STEP_100) / (65536.0 * 16.0));
- }
-#endif
- ao_k_height += ((int32_t) ao_speed * AO_K_STEP_100 +
- (int32_t) ao_accel * AO_K_STEP_2_2_100) >> 4;
- ao_k_speed += (int32_t) ao_accel * AO_K_STEP_100;
-}
-
-static void
-ao_kalman_err_height(void)
-{
- int16_t e;
- int16_t height_distrust;
-#if HAS_ACCEL
- int16_t speed_distrust;
-#endif
-
- ao_error_h = ao_sample_height - (int16_t) (ao_k_height >> 16);
-
- e = ao_error_h;
- if (e < 0)
- e = -e;
- if (e > 127)
- e = 127;
-#if HAS_ACCEL
- ao_error_h_sq_avg -= ao_error_h_sq_avg >> 2;
- ao_error_h_sq_avg += (e * e) >> 2;
-#else
- ao_error_h_sq_avg -= ao_error_h_sq_avg >> 4;
- ao_error_h_sq_avg += (e * e) >> 4;
-#endif
-
- if (ao_flight_state >= ao_flight_drogue)
- return;
- height_distrust = ao_sample_alt - AO_MAX_BARO_HEIGHT;
-#if HAS_ACCEL
- /* speed is stored * 16, but we need to ramp between 200 and 328, so
- * we want to multiply by 2. The result is a shift by 3.
- */
- speed_distrust = (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) >> (4 - 1);
- if (speed_distrust <= 0)
- speed_distrust = 0;
- else if (speed_distrust > height_distrust)
- height_distrust = speed_distrust;
-#endif
- if (height_distrust > 0) {
-#ifdef AO_FLIGHT_TEST
- int old_ao_error_h = ao_error_h;
-#endif
- if (height_distrust > 0x100)
- height_distrust = 0x100;
- ao_error_h = (int16_t) (((int32_t) ao_error_h * (0x100 - height_distrust)) >> 8);
-#ifdef AO_FLIGHT_TEST
- if (ao_flight_debug) {
- printf("over height %g over speed %g distrust: %g height: error %d -> %d\n",
- (double) (ao_sample_alt - AO_MAX_BARO_HEIGHT),
- (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) / 16.0,
- height_distrust / 256.0,
- old_ao_error_h, ao_error_h);
- }
-#endif
- }
-}
-
-static void
-ao_kalman_correct_baro(void)
-{
- ao_kalman_err_height();
-#ifdef AO_FLIGHT_TEST
- if (ao_sample_tick - ao_sample_prev_tick > 50) {
- ao_k_height += (int32_t) AO_BARO_K0_1 * ao_error_h;
- ao_k_speed += (int32_t) AO_BARO_K1_1 * ao_error_h;
- ao_k_accel += (int32_t) AO_BARO_K2_1 * ao_error_h;
- return;
- }
- if (ao_sample_tick - ao_sample_prev_tick > 5) {
- ao_k_height += (int32_t) AO_BARO_K0_10 * ao_error_h;
- ao_k_speed += (int32_t) AO_BARO_K1_10 * ao_error_h;
- ao_k_accel += (int32_t) AO_BARO_K2_10 * ao_error_h;
- return;
- }
-#endif
- ao_k_height += (int32_t) AO_BARO_K0_100 * ao_error_h;
- ao_k_speed += (int32_t) AO_BARO_K1_100 * ao_error_h;
- ao_k_accel += (int32_t) AO_BARO_K2_100 * ao_error_h;
-}
-
-#if HAS_ACCEL
-
-static void
-ao_kalman_err_accel(void)
-{
- int32_t accel;
-
- accel = (ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale;
-
- /* Can't use ao_accel here as it is the pre-prediction value still */
- ao_error_a = (accel - ao_k_accel) >> 16;
-}
-
-#ifndef FORCE_ACCEL
-static void
-ao_kalman_correct_both(void)
-{
- ao_kalman_err_height();
- ao_kalman_err_accel();
-
-#ifdef AO_FLIGHT_TEST
- if (ao_sample_tick - ao_sample_prev_tick > 50) {
- if (ao_flight_debug) {
- printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
- ao_k_speed / (65536.0 * 16.0),
- (double) ao_error_h, AO_BOTH_K10_1 / 65536.0,
- (double) ao_error_a, AO_BOTH_K11_1 / 65536.0,
- (ao_k_speed +
- (int32_t) AO_BOTH_K10_1 * ao_error_h +
- (int32_t) AO_BOTH_K11_1 * ao_error_a) / (65536.0 * 16.0));
- }
- ao_k_height +=
- (int32_t) AO_BOTH_K00_1 * ao_error_h +
- (int32_t) AO_BOTH_K01_1 * ao_error_a;
- ao_k_speed +=
- (int32_t) AO_BOTH_K10_1 * ao_error_h +
- (int32_t) AO_BOTH_K11_1 * ao_error_a;
- ao_k_accel +=
- (int32_t) AO_BOTH_K20_1 * ao_error_h +
- (int32_t) AO_BOTH_K21_1 * ao_error_a;
- return;
- }
- if (ao_sample_tick - ao_sample_prev_tick > 5) {
- if (ao_flight_debug) {
- printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
- ao_k_speed / (65536.0 * 16.0),
- (double) ao_error_h, AO_BOTH_K10_10 / 65536.0,
- (double) ao_error_a, AO_BOTH_K11_10 / 65536.0,
- (ao_k_speed +
- (int32_t) AO_BOTH_K10_10 * ao_error_h +
- (int32_t) AO_BOTH_K11_10 * ao_error_a) / (65536.0 * 16.0));
- }
- ao_k_height +=
- (int32_t) AO_BOTH_K00_10 * ao_error_h +
- (int32_t) AO_BOTH_K01_10 * ao_error_a;
- ao_k_speed +=
- (int32_t) AO_BOTH_K10_10 * ao_error_h +
- (int32_t) AO_BOTH_K11_10 * ao_error_a;
- ao_k_accel +=
- (int32_t) AO_BOTH_K20_10 * ao_error_h +
- (int32_t) AO_BOTH_K21_10 * ao_error_a;
- return;
- }
- if (ao_flight_debug) {
- printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
- ao_k_speed / (65536.0 * 16.0),
- (double) ao_error_h, AO_BOTH_K10_100 / 65536.0,
- (double) ao_error_a, AO_BOTH_K11_100 / 65536.0,
- (ao_k_speed +
- (int32_t) AO_BOTH_K10_100 * ao_error_h +
- (int32_t) AO_BOTH_K11_100 * ao_error_a) / (65536.0 * 16.0));
- }
-#endif
- ao_k_height +=
- (int32_t) AO_BOTH_K00_100 * ao_error_h +
- (int32_t) AO_BOTH_K01_100 * ao_error_a;
- ao_k_speed +=
- (int32_t) AO_BOTH_K10_100 * ao_error_h +
- (int32_t) AO_BOTH_K11_100 * ao_error_a;
- ao_k_accel +=
- (int32_t) AO_BOTH_K20_100 * ao_error_h +
- (int32_t) AO_BOTH_K21_100 * ao_error_a;
-}
-
-#else
-
-static void
-ao_kalman_correct_accel(void)
-{
- ao_kalman_err_accel();
-
- if (ao_sample_tick - ao_sample_prev_tick > 5) {
- ao_k_height +=(int32_t) AO_ACCEL_K0_10 * ao_error_a;
- ao_k_speed += (int32_t) AO_ACCEL_K1_10 * ao_error_a;
- ao_k_accel += (int32_t) AO_ACCEL_K2_10 * ao_error_a;
- return;
- }
- ao_k_height += (int32_t) AO_ACCEL_K0_100 * ao_error_a;
- ao_k_speed += (int32_t) AO_ACCEL_K1_100 * ao_error_a;
- ao_k_accel += (int32_t) AO_ACCEL_K2_100 * ao_error_a;
-}
-
-#endif /* else FORCE_ACCEL */
-#endif /* HAS_ACCEL */
-
-void
-ao_kalman(void)
-{
- ao_kalman_predict();
-#if HAS_ACCEL
- if (ao_flight_state <= ao_flight_coast) {
-#ifdef FORCE_ACCEL
- ao_kalman_correct_accel();
-#else
- ao_kalman_correct_both();
-#endif
- } else
-#endif
- ao_kalman_correct_baro();
- ao_height = from_fix(ao_k_height);
- ao_speed = from_fix(ao_k_speed);
- ao_accel = from_fix(ao_k_accel);
- if (ao_height > ao_max_height)
- ao_max_height = ao_height;
- ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_sample_height;
-#ifdef AO_FLIGHT_TEST
- if (ao_sample_tick - ao_sample_prev_tick > 50)
- ao_avg_height = (ao_avg_height_scaled + 1) >> 1;
- else if (ao_sample_tick - ao_sample_prev_tick > 5)
- ao_avg_height = (ao_avg_height_scaled + 7) >> 4;
- else
-#endif
- ao_avg_height = (ao_avg_height_scaled + 63) >> 7;
-}
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_LCD_H_
-#define _AO_LCD_H_
-
-/* ao_lcd.c */
-
-void
-ao_lcd_putchar(uint8_t d);
-
-void
-ao_lcd_putstring(char *string);
-
-void
-ao_lcd_contrast_set(uint8_t contrast);
-
-void
-ao_lcd_clear(void);
-
-void
-ao_lcd_cursor_on(void);
-
-void
-ao_lcd_cursor_off(void);
-
-#define AO_LCD_ADDR(row,col) ((row << 6) | (col))
-
-void
-ao_lcd_goto(uint8_t addr);
-
-void
-ao_lcd_start(void);
-
-void
-ao_lcd_init(void);
-
-/* ao_lcd_port.c */
-
-void
-ao_lcd_port_put_nibble(uint8_t rs, uint8_t d);
-
-void
-ao_lcd_port_init(void);
-
-#endif /* _AO_LCD_H_ */
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_LED_H_
-#define _AO_LED_H_
-
-/*
- * ao_led.c
- */
-
-#define AO_LED_NONE 0
-
-#ifndef AO_LED_TYPE
-#define AO_LED_TYPE uint8_t
-#endif
-
-/* Turn on the specified LEDs */
-void
-ao_led_on(AO_LED_TYPE colors);
-
-/* Turn off the specified LEDs */
-void
-ao_led_off(AO_LED_TYPE colors);
-
-/* Set all of the LEDs to the specified state */
-void
-ao_led_set(AO_LED_TYPE colors);
-
-/* Set all LEDs in 'mask' to the specified state */
-void
-ao_led_set_mask(uint8_t colors, uint8_t mask);
-
-/* Toggle the specified LEDs */
-void
-ao_led_toggle(AO_LED_TYPE colors);
-
-/* Turn on the specified LEDs for the indicated interval */
-void
-ao_led_for(AO_LED_TYPE colors, uint16_t ticks) __reentrant;
-
-/* Initialize the LEDs */
-void
-ao_led_init(AO_LED_TYPE enable);
-
-#endif /* _AO_LED_H_ */
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_LIST_H_
-#define _AO_LIST_H_
-
-#include <stddef.h>
-
-struct ao_list {
- struct ao_list *next, *prev;
-};
-
-static inline void
-ao_list_init(struct ao_list *list)
-{
- list->next = list->prev = list;
-}
-
-static inline void
-__ao_list_add(struct ao_list *list, struct ao_list *prev, struct ao_list *next)
-{
- next->prev = list;
- list->next = next;
- list->prev = prev;
- prev->next = list;
-}
-
-/**
- * Insert a new element after the given list head. The new element does not
- * need to be initialised as empty list.
- * The list changes from:
- * head → some element → ...
- * to
- * head → new element → older element → ...
- *
- * Example:
- * struct foo *newfoo = malloc(...);
- * ao_list_add(&newfoo->entry, &bar->list_of_foos);
- *
- * @param entry The new element to prepend to the list.
- * @param head The existing list.
- */
-static inline void
-ao_list_insert(struct ao_list *entry, struct ao_list *head)
-{
- __ao_list_add(entry, head, head->next);
-}
-
-/**
- * Append a new element to the end of the list given with this list head.
- *
- * The list changes from:
- * head → some element → ... → lastelement
- * to
- * head → some element → ... → lastelement → new element
- *
- * Example:
- * struct foo *newfoo = malloc(...);
- * ao_list_append(&newfoo->entry, &bar->list_of_foos);
- *
- * @param entry The new element to prepend to the list.
- * @param head The existing list.
- */
-static inline void
-ao_list_append(struct ao_list *entry, struct ao_list *head)
-{
- __ao_list_add(entry, head->prev, head);
-}
-
-static inline void
-__ao_list_del(struct ao_list *prev, struct ao_list *next)
-{
- next->prev = prev;
- prev->next = next;
-}
-
-/**
- * Remove the element from the list it is in. Using this function will reset
- * the pointers to/from this element so it is removed from the list. It does
- * NOT free the element itself or manipulate it otherwise.
- *
- * Using ao_list_del on a pure list head (like in the example at the top of
- * this file) will NOT remove the first element from
- * the list but rather reset the list as empty list.
- *
- * Example:
- * ao_list_del(&foo->entry);
- *
- * @param entry The element to remove.
- */
-static inline void
-ao_list_del(struct ao_list *entry)
-{
- __ao_list_del(entry->prev, entry->next);
- ao_list_init(entry);
-}
-
-/**
- * Check if the list is empty.
- *
- * Example:
- * ao_list_is_empty(&bar->list_of_foos);
- *
- * @return True if the list contains one or more elements or False otherwise.
- */
-static inline uint8_t
-ao_list_is_empty(struct ao_list *head)
-{
- return head->next == head;
-}
-
-/**
- * Returns a pointer to the container of this list element.
- *
- * Example:
- * struct foo* f;
- * f = container_of(&foo->entry, struct foo, entry);
- * assert(f == foo);
- *
- * @param ptr Pointer to the struct ao_list.
- * @param type Data type of the list element.
- * @param member Member name of the struct ao_list field in the list element.
- * @return A pointer to the data struct containing the list head.
- */
-#define ao_container_of(ptr, type, member) \
- ((type *)((char *)(ptr) - offsetof(type, member)))
-
-/**
- * Alias of ao_container_of
- */
-#define ao_list_entry(ptr, type, member) \
- ao_container_of(ptr, type, member)
-
-/**
- * Retrieve the first list entry for the given list pointer.
- *
- * Example:
- * struct foo *first;
- * first = ao_list_first_entry(&bar->list_of_foos, struct foo, list_of_foos);
- *
- * @param ptr The list head
- * @param type Data type of the list element to retrieve
- * @param member Member name of the struct ao_list field in the list element.
- * @return A pointer to the first list element.
- */
-#define ao_list_first_entry(ptr, type, member) \
- ao_list_entry((ptr)->next, type, member)
-
-/**
- * Retrieve the last list entry for the given listpointer.
- *
- * Example:
- * struct foo *first;
- * first = ao_list_last_entry(&bar->list_of_foos, struct foo, list_of_foos);
- *
- * @param ptr The list head
- * @param type Data type of the list element to retrieve
- * @param member Member name of the struct ao_list field in the list element.
- * @return A pointer to the last list element.
- */
-#define ao_list_last_entry(ptr, type, member) \
- ao_list_entry((ptr)->prev, type, member)
-
-/**
- * Loop through the list given by head and set pos to struct in the list.
- *
- * Example:
- * struct foo *iterator;
- * ao_list_for_each_entry(iterator, &bar->list_of_foos, entry) {
- * [modify iterator]
- * }
- *
- * This macro is not safe for node deletion. Use ao_list_for_each_entry_safe
- * instead.
- *
- * @param pos Iterator variable of the type of the list elements.
- * @param head List head
- * @param member Member name of the struct ao_list in the list elements.
- *
- */
-#define ao_list_for_each_entry(pos, head, type, member) \
- for (pos = ao_container_of((head)->next, type, member); \
- &pos->member != (head); \
- pos = ao_container_of(pos->member.next, type, member))
-
-/**
- * Loop through the list, keeping a backup pointer to the element. This
- * macro allows for the deletion of a list element while looping through the
- * list.
- *
- * See ao_list_for_each_entry for more details.
- */
-#define ao_list_for_each_entry_safe(pos, tmp, head, type, member) \
- for ((pos = ao_container_of((head)->next, type, member)), \
- (tmp = ao_container_of(pos->member.next, type, member)); \
- &pos->member != (head); \
- (pos = tmp), (tmp = ao_container_of(pos->member.next, type, member)))
-
-#endif /* _AO_LIST_H_ */
+++ /dev/null
-/*
- * Copyright © 2009 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_log.h>
-#include <ao_config.h>
-
-__pdata uint32_t ao_log_current_pos;
-__pdata uint32_t ao_log_end_pos;
-__pdata uint32_t ao_log_start_pos;
-__xdata uint8_t ao_log_running;
-__pdata enum ao_flight_state ao_log_state;
-__xdata uint16_t ao_flight_number;
-
-void
-ao_log_flush(void)
-{
- ao_storage_flush();
-}
-
-/*
- * When erasing a flight log, make sure the config block
- * has an up-to-date version of the current flight number
- */
-
-struct ao_log_erase {
- uint8_t unused;
- uint16_t flight;
-};
-
-static __xdata struct ao_log_erase erase;
-
-#define LOG_MAX_ERASE 16
-
-static uint32_t
-ao_log_erase_pos(uint8_t i)
-{
- return i * sizeof (struct ao_log_erase) + AO_CONFIG_MAX_SIZE;
-}
-
-void
-ao_log_write_erase(uint8_t pos)
-{
- erase.unused = 0x00;
- erase.flight = ao_flight_number;
- ao_config_write(ao_log_erase_pos(pos), &erase, sizeof (erase));
- ao_config_flush();
-}
-
-static void
-ao_log_read_erase(uint8_t pos)
-{
- ao_config_read(ao_log_erase_pos(pos), &erase, sizeof (erase));
-}
-
-
-static void
-ao_log_erase_mark(void)
-{
- uint8_t i;
-
- for (i = 0; i < LOG_MAX_ERASE; i++) {
- ao_log_read_erase(i);
- if (erase.unused == 0 && erase.flight == ao_flight_number)
- return;
- if (erase.unused == 0xff) {
- ao_log_write_erase(i);
- return;
- }
- }
- ao_config_put();
-}
-
-static uint8_t
-ao_log_slots()
-{
- return (uint8_t) (ao_storage_log_max / ao_config.flight_log_max);
-}
-
-uint32_t
-ao_log_pos(uint8_t slot)
-{
- return ((slot) * ao_config.flight_log_max);
-}
-
-static uint16_t
-ao_log_max_flight(void)
-{
- uint8_t log_slot;
- uint8_t log_slots;
- uint16_t log_flight;
- uint16_t max_flight = 0;
-
- /* Scan the log space looking for the biggest flight number */
- log_slots = ao_log_slots();
- for (log_slot = 0; log_slot < log_slots; log_slot++) {
- log_flight = ao_log_flight(log_slot);
- if (!log_flight)
- continue;
- if (max_flight == 0 || (int16_t) (log_flight - max_flight) > 0)
- max_flight = log_flight;
- }
- return max_flight;
-}
-
-void
-ao_log_scan(void) __reentrant
-{
- uint8_t log_slot;
- uint8_t log_slots;
- uint8_t log_want;
-
- ao_config_get();
-
- ao_flight_number = ao_log_max_flight();
- if (ao_flight_number)
- if (++ao_flight_number == 0)
- ao_flight_number = 1;
-
- /* Now look through the log of flight numbers from erase operations and
- * see if the last one is bigger than what we found above
- */
- for (log_slot = LOG_MAX_ERASE; log_slot-- > 0;) {
- ao_log_read_erase(log_slot);
- if (erase.unused == 0) {
- if (ao_flight_number == 0 ||
- (int16_t) (erase.flight - ao_flight_number) > 0)
- ao_flight_number = erase.flight;
- break;
- }
- }
- if (ao_flight_number == 0)
- ao_flight_number = 1;
-
- /* With a flight number in hand, find a place to write a new log,
- * use the target flight number to index the available log slots so
- * that we write logs to each spot about the same number of times.
- */
-
- /* Find a log slot for the next flight, if available */
- ao_log_current_pos = ao_log_end_pos = 0;
- log_slots = ao_log_slots();
- log_want = (ao_flight_number - 1) % log_slots;
- log_slot = log_want;
- do {
- if (ao_log_flight(log_slot) == 0) {
- ao_log_current_pos = ao_log_pos(log_slot);
- ao_log_end_pos = ao_log_current_pos + ao_config.flight_log_max;
- break;
- }
- if (++log_slot >= log_slots)
- log_slot = 0;
- } while (log_slot != log_want);
-
- ao_wakeup(&ao_flight_number);
-}
-
-void
-ao_log_start(void)
-{
- /* start logging */
- ao_log_running = 1;
- ao_wakeup(&ao_log_running);
-}
-
-void
-ao_log_stop(void)
-{
- ao_log_running = 0;
- ao_log_flush();
-}
-
-uint8_t
-ao_log_present(void)
-{
- return ao_log_max_flight() != 0;
-}
-
-uint8_t
-ao_log_full(void)
-{
- return ao_log_current_pos == ao_log_end_pos;
-}
-
-#if HAS_ADC
-static __xdata struct ao_task ao_log_task;
-#endif
-
-void
-ao_log_list(void) __reentrant
-{
- uint8_t slot;
- uint8_t slots;
- uint16_t flight;
-
- slots = ao_log_slots();
- for (slot = 0; slot < slots; slot++)
- {
- flight = ao_log_flight(slot);
- if (flight)
- printf ("flight %d start %x end %x\n",
- flight,
- (uint16_t) (ao_log_pos(slot) >> 8),
- (uint16_t) (ao_log_pos(slot+1) >> 8));
- }
- printf ("done\n");
-}
-
-void
-ao_log_delete(void) __reentrant
-{
- uint8_t slot;
- uint8_t slots;
-
- ao_cmd_decimal();
- if (ao_cmd_status != ao_cmd_success)
- return;
-
- slots = ao_log_slots();
- /* Look for the flight log matching the requested flight */
- if (ao_cmd_lex_i) {
- for (slot = 0; slot < slots; slot++) {
- if (ao_log_flight(slot) == ao_cmd_lex_i) {
- ao_log_erase_mark();
- ao_log_current_pos = ao_log_pos(slot);
- ao_log_end_pos = ao_log_current_pos + ao_config.flight_log_max;
- while (ao_log_current_pos < ao_log_end_pos) {
- uint8_t i;
- static __xdata uint8_t b;
-
- /*
- * Check to see if we've reached the end of
- * the used memory to avoid re-erasing the same
- * memory over and over again
- */
- for (i = 0; i < 16; i++) {
- if (ao_storage_read(ao_log_current_pos + i, &b, 1))
- if (b != 0xff)
- break;
- }
- if (i == 16)
- break;
- ao_storage_erase(ao_log_current_pos);
- ao_log_current_pos += ao_storage_block;
- }
- puts("Erased");
- return;
- }
- }
- }
- printf("No such flight: %d\n", ao_cmd_lex_i);
-}
-
-__code struct ao_cmds ao_log_cmds[] = {
- { ao_log_list, "l\0List logs" },
- { ao_log_delete, "d <flight-number>\0Delete flight" },
- { 0, NULL },
-};
-
-void
-ao_log_init(void)
-{
- ao_log_running = 0;
-
- /* For now, just log the flight starting at the begining of eeprom */
- ao_log_state = ao_flight_invalid;
-
- ao_cmd_register(&ao_log_cmds[0]);
-
-#ifndef HAS_ADC
-#error Define HAS_ADC for ao_log.c
-#endif
-#if HAS_ADC
- /* Create a task to log events to eeprom */
- ao_add_task(&ao_log_task, ao_log, "log");
-#endif
-}
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_LOG_H_
-#define _AO_LOG_H_
-
-#include <ao_flight.h>
-
-/*
- * ao_log.c
- */
-
-/* We record flight numbers in the first record of
- * the log. Tasks may wait for this to be initialized
- * by sleeping on this variable.
- */
-extern __xdata uint16_t ao_flight_number;
-
-extern __pdata uint32_t ao_log_current_pos;
-extern __pdata uint32_t ao_log_end_pos;
-extern __pdata uint32_t ao_log_start_pos;
-extern __xdata uint8_t ao_log_running;
-extern __pdata enum ao_flight_state ao_log_state;
-
-/* required functions from the underlying log system */
-
-#define AO_LOG_FORMAT_UNKNOWN 0 /* unknown; altosui will have to guess */
-#define AO_LOG_FORMAT_FULL 1 /* 8 byte typed log records */
-#define AO_LOG_FORMAT_TINY 2 /* two byte state/baro records */
-#define AO_LOG_FORMAT_TELEMETRY 3 /* 32 byte ao_telemetry records */
-#define AO_LOG_FORMAT_TELESCIENCE 4 /* 32 byte typed telescience records */
-#define AO_LOG_FORMAT_TELEMEGA 5 /* 32 byte typed telemega records */
-#define AO_LOG_FORMAT_EASYMINI 6 /* 16-byte MS5607 baro only, 3.0V supply */
-#define AO_LOG_FORMAT_TELEMETRUM 7 /* 16-byte typed telemetrum records */
-#define AO_LOG_FORMAT_TELEMINI 8 /* 16-byte MS5607 baro only, 3.3V supply */
-#define AO_LOG_FORMAT_NONE 127 /* No log at all */
-
-extern __code uint8_t ao_log_format;
-
-/* Return the flight number from the given log slot, 0 if none */
-uint16_t
-ao_log_flight(uint8_t slot);
-
-/* Flush the log */
-void
-ao_log_flush(void);
-
-/* Logging thread main routine */
-void
-ao_log(void);
-
-/* functions provided in ao_log.c */
-
-/* Figure out the current flight number */
-void
-ao_log_scan(void) __reentrant;
-
-/* Return the position of the start of the given log slot */
-uint32_t
-ao_log_pos(uint8_t slot);
-
-/* Start logging to eeprom */
-void
-ao_log_start(void);
-
-/* Stop logging */
-void
-ao_log_stop(void);
-
-/* Initialize the logging system */
-void
-ao_log_init(void);
-
-/* Write out the current flight number to the erase log */
-void
-ao_log_write_erase(uint8_t pos);
-
-/* Returns true if there are any logs stored in eeprom */
-uint8_t
-ao_log_present(void);
-
-/* Returns true if there is no more storage space available */
-uint8_t
-ao_log_full(void);
-
-/*
- * ao_log_big.c
- */
-
-/*
- * The data log is recorded in the eeprom as a sequence
- * of data packets.
- *
- * Each packet starts with a 4-byte header that has the
- * packet type, the packet checksum and the tick count. Then
- * they all contain 2 16 bit values which hold packet-specific
- * data.
- *
- * For each flight, the first packet
- * is FLIGHT packet, indicating the serial number of the
- * device and a unique number marking the number of flights
- * recorded by this device.
- *
- * During flight, data from the accelerometer and barometer
- * are recorded in SENSOR packets, using the raw 16-bit values
- * read from the A/D converter.
- *
- * Also during flight, but at a lower rate, the deployment
- * sensors are recorded in DEPLOY packets. The goal here is to
- * detect failure in the deployment circuits.
- *
- * STATE packets hold state transitions as the flight computer
- * transitions through different stages of the flight.
- */
-#define AO_LOG_FLIGHT 'F'
-#define AO_LOG_SENSOR 'A'
-#define AO_LOG_TEMP_VOLT 'T'
-#define AO_LOG_DEPLOY 'D'
-#define AO_LOG_STATE 'S'
-#define AO_LOG_GPS_TIME 'G'
-#define AO_LOG_GPS_LAT 'N'
-#define AO_LOG_GPS_LON 'W'
-#define AO_LOG_GPS_ALT 'H'
-#define AO_LOG_GPS_SAT 'V'
-#define AO_LOG_GPS_DATE 'Y'
-#define AO_LOG_GPS_POS 'P'
-
-#define AO_LOG_POS_NONE (~0UL)
-
-struct ao_log_record {
- char type; /* 0 */
- uint8_t csum; /* 1 */
- uint16_t tick; /* 2 */
- union {
- struct {
- int16_t ground_accel; /* 4 */
- uint16_t flight; /* 6 */
- } flight;
- struct {
- int16_t accel; /* 4 */
- int16_t pres; /* 6 */
- } sensor;
- struct {
- int16_t temp;
- int16_t v_batt;
- } temp_volt;
- struct {
- int16_t drogue;
- int16_t main;
- } deploy;
- struct {
- uint16_t state;
- uint16_t reason;
- } state;
- struct {
- uint8_t hour;
- uint8_t minute;
- uint8_t second;
- uint8_t flags;
- } gps_time;
- int32_t gps_latitude;
- int32_t gps_longitude;
- struct {
- int16_t altitude;
- uint16_t unused;
- } gps_altitude;
- struct {
- uint16_t svid;
- uint8_t unused;
- uint8_t c_n;
- } gps_sat;
- struct {
- uint8_t year;
- uint8_t month;
- uint8_t day;
- uint8_t extra;
- } gps_date;
- struct {
- uint16_t d0;
- uint16_t d1;
- } anon;
- } u;
-};
-
-struct ao_log_mega {
- char type; /* 0 */
- uint8_t csum; /* 1 */
- uint16_t tick; /* 2 */
- union { /* 4 */
- /* AO_LOG_FLIGHT */
- struct {
- uint16_t flight; /* 4 */
- int16_t ground_accel; /* 6 */
- uint32_t ground_pres; /* 8 */
- int16_t ground_accel_along; /* 16 */
- int16_t ground_accel_across; /* 12 */
- int16_t ground_accel_through; /* 14 */
- int16_t ground_roll; /* 18 */
- int16_t ground_pitch; /* 20 */
- int16_t ground_yaw; /* 22 */
- } flight; /* 24 */
- /* AO_LOG_STATE */
- struct {
- uint16_t state;
- uint16_t reason;
- } state;
- /* AO_LOG_SENSOR */
- struct {
- uint32_t pres; /* 4 */
- uint32_t temp; /* 8 */
- int16_t accel_x; /* 12 */
- int16_t accel_y; /* 14 */
- int16_t accel_z; /* 16 */
- int16_t gyro_x; /* 18 */
- int16_t gyro_y; /* 20 */
- int16_t gyro_z; /* 22 */
- int16_t mag_x; /* 24 */
- int16_t mag_y; /* 26 */
- int16_t mag_z; /* 28 */
- int16_t accel; /* 30 */
- } sensor; /* 32 */
- /* AO_LOG_TEMP_VOLT */
- struct {
- int16_t v_batt; /* 4 */
- int16_t v_pbatt; /* 6 */
- int16_t n_sense; /* 8 */
- int16_t sense[10]; /* 10 */
- uint16_t pyro; /* 30 */
- } volt; /* 32 */
- /* AO_LOG_GPS_TIME */
- struct {
- int32_t latitude; /* 4 */
- int32_t longitude; /* 8 */
- int16_t altitude; /* 12 */
- uint8_t hour; /* 14 */
- uint8_t minute; /* 15 */
- uint8_t second; /* 16 */
- uint8_t flags; /* 17 */
- uint8_t year; /* 18 */
- uint8_t month; /* 19 */
- uint8_t day; /* 20 */
- uint8_t course; /* 21 */
- uint16_t ground_speed; /* 22 */
- int16_t climb_rate; /* 24 */
- uint8_t pdop; /* 26 */
- uint8_t hdop; /* 27 */
- uint8_t vdop; /* 28 */
- uint8_t mode; /* 29 */
- } gps; /* 30 */
- /* AO_LOG_GPS_SAT */
- struct {
- uint16_t channels; /* 4 */
- struct {
- uint8_t svid;
- uint8_t c_n;
- } sats[12]; /* 6 */
- } gps_sat; /* 30 */
- } u;
-};
-
-struct ao_log_metrum {
- char type; /* 0 */
- uint8_t csum; /* 1 */
- uint16_t tick; /* 2 */
- union { /* 4 */
- /* AO_LOG_FLIGHT */
- struct {
- uint16_t flight; /* 4 */
- int16_t ground_accel; /* 6 */
- uint32_t ground_pres; /* 8 */
- uint32_t ground_temp; /* 12 */
- } flight; /* 16 */
- /* AO_LOG_STATE */
- struct {
- uint16_t state; /* 4 */
- uint16_t reason; /* 6 */
- } state; /* 8 */
- /* AO_LOG_SENSOR */
- struct {
- uint32_t pres; /* 4 */
- uint32_t temp; /* 8 */
- int16_t accel; /* 12 */
- } sensor; /* 14 */
- /* AO_LOG_TEMP_VOLT */
- struct {
- int16_t v_batt; /* 4 */
- int16_t sense_a; /* 6 */
- int16_t sense_m; /* 8 */
- } volt; /* 10 */
- /* AO_LOG_GPS_POS */
- struct {
- int32_t latitude; /* 4 */
- int32_t longitude; /* 8 */
- int16_t altitude; /* 12 */
- } gps; /* 14 */
- /* AO_LOG_GPS_TIME */
- struct {
- uint8_t hour; /* 4 */
- uint8_t minute; /* 5 */
- uint8_t second; /* 6 */
- uint8_t flags; /* 7 */
- uint8_t year; /* 8 */
- uint8_t month; /* 9 */
- uint8_t day; /* 10 */
- uint8_t pad; /* 11 */
- } gps_time; /* 12 */
- /* AO_LOG_GPS_SAT (up to three packets) */
- struct {
- uint8_t channels; /* 4 */
- uint8_t more; /* 5 */
- struct {
- uint8_t svid;
- uint8_t c_n;
- } sats[4]; /* 6 */
- } gps_sat; /* 14 */
- uint8_t raw[12]; /* 4 */
- } u; /* 16 */
-};
-
-struct ao_log_mini {
- char type; /* 0 */
- uint8_t csum; /* 1 */
- uint16_t tick; /* 2 */
- union { /* 4 */
- /* AO_LOG_FLIGHT */
- struct {
- uint16_t flight; /* 4 */
- uint16_t r6;
- uint32_t ground_pres; /* 8 */
- } flight;
- /* AO_LOG_STATE */
- struct {
- uint16_t state; /* 4 */
- uint16_t reason; /* 6 */
- } state;
- /* AO_LOG_SENSOR */
- struct {
- uint8_t pres[3]; /* 4 */
- uint8_t temp[3]; /* 7 */
- int16_t sense_a; /* 10 */
- int16_t sense_m; /* 12 */
- int16_t v_batt; /* 14 */
- } sensor; /* 16 */
- } u; /* 16 */
-}; /* 16 */
-
-#define ao_log_pack24(dst,value) do { \
- (dst)[0] = (value); \
- (dst)[1] = (value) >> 8; \
- (dst)[2] = (value) >> 16; \
- } while (0)
-
-/* Write a record to the eeprom log */
-uint8_t
-ao_log_data(__xdata struct ao_log_record *log) __reentrant;
-
-uint8_t
-ao_log_mega(__xdata struct ao_log_mega *log) __reentrant;
-
-uint8_t
-ao_log_metrum(__xdata struct ao_log_metrum *log) __reentrant;
-
-uint8_t
-ao_log_mini(__xdata struct ao_log_mini *log) __reentrant;
-
-void
-ao_log_flush(void);
-
-void
-ao_gps_report_metrum_init(void);
-
-#endif /* _AO_LOG_H_ */
+++ /dev/null
-/*
- * Copyright © 2011 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"
-
-static __xdata uint8_t ao_log_mutex;
-static __xdata struct ao_log_record log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_FULL;
-
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
-{
- uint8_t sum = 0x5a;
- uint8_t i;
-
- for (i = 0; i < sizeof (struct ao_log_record); i++)
- sum += *b++;
- return -sum;
-}
-
-uint8_t
-ao_log_data(__xdata struct ao_log_record *log) __reentrant
-{
- uint8_t wrote = 0;
- /* set checksum */
- log->csum = 0;
- log->csum = ao_log_csum((__xdata uint8_t *) log);
- ao_mutex_get(&ao_log_mutex); {
- if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
- ao_log_stop();
- if (ao_log_running) {
- wrote = 1;
- ao_storage_write(ao_log_current_pos,
- log,
- sizeof (struct ao_log_record));
- ao_log_current_pos += sizeof (struct ao_log_record);
- }
- } ao_mutex_put(&ao_log_mutex);
- return wrote;
-}
-
-static uint8_t
-ao_log_dump_check_data(void)
-{
- if (ao_log_csum((uint8_t *) &log) != 0)
- return 0;
- return 1;
-}
-
-static __data uint8_t ao_log_data_pos;
-
-/* a hack to make sure that ao_log_records fill the eeprom block in even units */
-typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_record))] ;
-
-#ifndef AO_SENSOR_INTERVAL_ASCENT
-#define AO_SENSOR_INTERVAL_ASCENT 1
-#define AO_SENSOR_INTERVAL_DESCENT 10
-#define AO_OTHER_INTERVAL 32
-#endif
-
-void
-ao_log(void)
-{
- __pdata uint16_t next_sensor, next_other;
-
- ao_storage_setup();
-
- ao_log_scan();
-
- while (!ao_log_running)
- ao_sleep(&ao_log_running);
-
- log.type = AO_LOG_FLIGHT;
- log.tick = ao_sample_tick;
-#if HAS_ACCEL
- log.u.flight.ground_accel = ao_ground_accel;
-#endif
- log.u.flight.flight = ao_flight_number;
- ao_log_data(&log);
-
- /* Write the whole contents of the ring to the log
- * when starting up.
- */
- ao_log_data_pos = ao_data_ring_next(ao_sample_data);
- next_other = next_sensor = ao_data_ring[ao_log_data_pos].tick;
- ao_log_state = ao_flight_startup;
- for (;;) {
- /* Write samples to EEPROM */
- while (ao_log_data_pos != ao_sample_data) {
- log.tick = ao_data_ring[ao_log_data_pos].tick;
- if ((int16_t) (log.tick - next_sensor) >= 0) {
- log.type = AO_LOG_SENSOR;
- log.u.sensor.accel = ao_data_ring[ao_log_data_pos].adc.accel;
- log.u.sensor.pres = ao_data_ring[ao_log_data_pos].adc.pres;
- ao_log_data(&log);
- if (ao_log_state <= ao_flight_coast)
- next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
- else
- next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT;
- }
- if ((int16_t) (log.tick - next_other) >= 0) {
- log.type = AO_LOG_TEMP_VOLT;
- log.u.temp_volt.temp = ao_data_ring[ao_log_data_pos].adc.temp;
- log.u.temp_volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
- ao_log_data(&log);
- log.type = AO_LOG_DEPLOY;
- log.u.deploy.drogue = ao_data_ring[ao_log_data_pos].adc.sense_d;
- log.u.deploy.main = ao_data_ring[ao_log_data_pos].adc.sense_m;
- ao_log_data(&log);
- next_other = log.tick + AO_OTHER_INTERVAL;
- }
- ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
- }
- /* Write state change to EEPROM */
- if (ao_flight_state != ao_log_state) {
- ao_log_state = ao_flight_state;
- log.type = AO_LOG_STATE;
- log.tick = ao_sample_tick;
- log.u.state.state = ao_log_state;
- log.u.state.reason = 0;
- ao_log_data(&log);
-
- if (ao_log_state == ao_flight_landed)
- ao_log_stop();
- }
-
- /* Wait for a while */
- ao_delay(AO_MS_TO_TICKS(100));
-
- /* Stop logging when told to */
- while (!ao_log_running)
- ao_sleep(&ao_log_running);
- }
-}
-
-uint16_t
-ao_log_flight(uint8_t slot)
-{
- if (!ao_storage_read(ao_log_pos(slot),
- &log,
- sizeof (struct ao_log_record)))
- return 0;
-
- if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
- return log.u.flight.flight;
- return 0;
-}
+++ /dev/null
-/*
- * 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_log.h>
-#include <ao_data.h>
-#include <ao_flight.h>
-
-static __xdata uint8_t ao_log_mutex;
-static __xdata struct ao_log_mega log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMEGA;
-
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
-{
- uint8_t sum = 0x5a;
- uint8_t i;
-
- for (i = 0; i < sizeof (struct ao_log_mega); i++)
- sum += *b++;
- return -sum;
-}
-
-uint8_t
-ao_log_mega(__xdata struct ao_log_mega *log) __reentrant
-{
- uint8_t wrote = 0;
- /* set checksum */
- log->csum = 0;
- log->csum = ao_log_csum((__xdata uint8_t *) log);
- ao_mutex_get(&ao_log_mutex); {
- if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
- ao_log_stop();
- if (ao_log_running) {
- wrote = 1;
- ao_storage_write(ao_log_current_pos,
- log,
- sizeof (struct ao_log_mega));
- ao_log_current_pos += sizeof (struct ao_log_mega);
- }
- } ao_mutex_put(&ao_log_mutex);
- return wrote;
-}
-
-static uint8_t
-ao_log_dump_check_data(void)
-{
- if (ao_log_csum((uint8_t *) &log) != 0)
- return 0;
- return 1;
-}
-
-#if HAS_ADC
-static __data uint8_t ao_log_data_pos;
-
-/* a hack to make sure that ao_log_megas fill the eeprom block in even units */
-typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_mega))] ;
-
-#ifndef AO_SENSOR_INTERVAL_ASCENT
-#define AO_SENSOR_INTERVAL_ASCENT 1
-#define AO_SENSOR_INTERVAL_DESCENT 10
-#define AO_OTHER_INTERVAL 32
-#endif
-
-void
-ao_log(void)
-{
- __pdata uint16_t next_sensor, next_other;
- uint8_t i;
-
- ao_storage_setup();
-
- ao_log_scan();
-
- while (!ao_log_running)
- ao_sleep(&ao_log_running);
-
-#if HAS_FLIGHT
- log.type = AO_LOG_FLIGHT;
- log.tick = ao_sample_tick;
-#if HAS_ACCEL
- log.u.flight.ground_accel = ao_ground_accel;
-#endif
-#if HAS_GYRO
- log.u.flight.ground_accel_along = ao_ground_accel_along;
- log.u.flight.ground_accel_across = ao_ground_accel_across;
- log.u.flight.ground_accel_through = ao_ground_accel_through;
- log.u.flight.ground_pitch = ao_ground_pitch;
- log.u.flight.ground_yaw = ao_ground_yaw;
- log.u.flight.ground_roll = ao_ground_roll;
-#endif
- log.u.flight.ground_pres = ao_ground_pres;
- log.u.flight.flight = ao_flight_number;
- ao_log_mega(&log);
-#endif
-
- /* Write the whole contents of the ring to the log
- * when starting up.
- */
- ao_log_data_pos = ao_data_ring_next(ao_data_head);
- next_other = next_sensor = ao_data_ring[ao_log_data_pos].tick;
- ao_log_state = ao_flight_startup;
- for (;;) {
- /* Write samples to EEPROM */
- while (ao_log_data_pos != ao_data_head) {
- log.tick = ao_data_ring[ao_log_data_pos].tick;
- if ((int16_t) (log.tick - next_sensor) >= 0) {
- log.type = AO_LOG_SENSOR;
-#if HAS_MS5607
- log.u.sensor.pres = ao_data_ring[ao_log_data_pos].ms5607_raw.pres;
- log.u.sensor.temp = ao_data_ring[ao_log_data_pos].ms5607_raw.temp;
-#endif
-#if HAS_MPU6000
- log.u.sensor.accel_x = ao_data_ring[ao_log_data_pos].mpu6000.accel_x;
- log.u.sensor.accel_y = ao_data_ring[ao_log_data_pos].mpu6000.accel_y;
- log.u.sensor.accel_z = ao_data_ring[ao_log_data_pos].mpu6000.accel_z;
- log.u.sensor.gyro_x = ao_data_ring[ao_log_data_pos].mpu6000.gyro_x;
- log.u.sensor.gyro_y = ao_data_ring[ao_log_data_pos].mpu6000.gyro_y;
- log.u.sensor.gyro_z = ao_data_ring[ao_log_data_pos].mpu6000.gyro_z;
-#endif
-#if HAS_HMC5883
- log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].hmc5883.x;
- log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y;
- log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].hmc5883.z;
-#endif
- log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
- ao_log_mega(&log);
- if (ao_log_state <= ao_flight_coast)
- next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
- else
- next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT;
- }
- if ((int16_t) (log.tick - next_other) >= 0) {
- log.type = AO_LOG_TEMP_VOLT;
- log.u.volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
- log.u.volt.v_pbatt = ao_data_ring[ao_log_data_pos].adc.v_pbatt;
- log.u.volt.n_sense = AO_ADC_NUM_SENSE;
- for (i = 0; i < AO_ADC_NUM_SENSE; i++)
- log.u.volt.sense[i] = ao_data_ring[ao_log_data_pos].adc.sense[i];
- log.u.volt.pyro = ao_pyro_fired;
- ao_log_mega(&log);
- next_other = log.tick + AO_OTHER_INTERVAL;
- }
- ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
- }
-#if HAS_FLIGHT
- /* Write state change to EEPROM */
- if (ao_flight_state != ao_log_state) {
- ao_log_state = ao_flight_state;
- log.type = AO_LOG_STATE;
- log.tick = ao_time();
- log.u.state.state = ao_log_state;
- log.u.state.reason = 0;
- ao_log_mega(&log);
-
- if (ao_log_state == ao_flight_landed)
- ao_log_stop();
- }
-#endif
-
- ao_log_flush();
-
- /* Wait for a while */
- ao_delay(AO_MS_TO_TICKS(100));
-
- /* Stop logging when told to */
- while (!ao_log_running)
- ao_sleep(&ao_log_running);
- }
-}
-#endif
-
-uint16_t
-ao_log_flight(uint8_t slot)
-{
- if (!ao_storage_read(ao_log_pos(slot),
- &log,
- sizeof (struct ao_log_mega)))
- return 0;
-
- if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
- return log.u.flight.flight;
- return 0;
-}
+++ /dev/null
-/*
- * 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_log.h>
-#include <ao_data.h>
-#include <ao_flight.h>
-
-static __xdata uint8_t ao_log_mutex;
-static __xdata struct ao_log_metrum log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMETRUM;
-
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
-{
- uint8_t sum = 0x5a;
- uint8_t i;
-
- for (i = 0; i < sizeof (struct ao_log_metrum); i++)
- sum += *b++;
- return -sum;
-}
-
-uint8_t
-ao_log_metrum(__xdata struct ao_log_metrum *log) __reentrant
-{
- uint8_t wrote = 0;
- /* set checksum */
- log->csum = 0;
- log->csum = ao_log_csum((__xdata uint8_t *) log);
- ao_mutex_get(&ao_log_mutex); {
- if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
- ao_log_stop();
- if (ao_log_running) {
- wrote = 1;
- ao_storage_write(ao_log_current_pos,
- log,
- sizeof (struct ao_log_metrum));
- ao_log_current_pos += sizeof (struct ao_log_metrum);
- }
- } ao_mutex_put(&ao_log_mutex);
- return wrote;
-}
-
-static uint8_t
-ao_log_dump_check_data(void)
-{
- if (ao_log_csum((uint8_t *) &log) != 0)
- return 0;
- return 1;
-}
-
-#if HAS_ADC
-static __data uint8_t ao_log_data_pos;
-
-/* a hack to make sure that ao_log_metrums fill the eeprom block in even units */
-typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_metrum))] ;
-
-#ifndef AO_SENSOR_INTERVAL_ASCENT
-#define AO_SENSOR_INTERVAL_ASCENT 1
-#define AO_SENSOR_INTERVAL_DESCENT 10
-#define AO_OTHER_INTERVAL 32
-#endif
-
-void
-ao_log(void)
-{
- __pdata uint16_t next_sensor, next_other;
-
- ao_storage_setup();
-
- ao_log_scan();
-
- while (!ao_log_running)
- ao_sleep(&ao_log_running);
-
-#if HAS_FLIGHT
- log.type = AO_LOG_FLIGHT;
- log.tick = ao_sample_tick;
-#if HAS_ACCEL
- log.u.flight.ground_accel = ao_ground_accel;
-#endif
- log.u.flight.ground_pres = ao_ground_pres;
- log.u.flight.flight = ao_flight_number;
- ao_log_metrum(&log);
-#endif
-
- /* Write the whole contents of the ring to the log
- * when starting up.
- */
- ao_log_data_pos = ao_data_ring_next(ao_data_head);
- next_other = next_sensor = ao_data_ring[ao_log_data_pos].tick;
- ao_log_state = ao_flight_startup;
- for (;;) {
- /* Write samples to EEPROM */
- while (ao_log_data_pos != ao_data_head) {
- log.tick = ao_data_ring[ao_log_data_pos].tick;
- if ((int16_t) (log.tick - next_sensor) >= 0) {
- log.type = AO_LOG_SENSOR;
-#if HAS_MS5607
- log.u.sensor.pres = ao_data_ring[ao_log_data_pos].ms5607_raw.pres;
- log.u.sensor.temp = ao_data_ring[ao_log_data_pos].ms5607_raw.temp;
-#endif
-#if HAS_ACCEL
- log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
-#endif
- ao_log_metrum(&log);
- if (ao_log_state <= ao_flight_coast)
- next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
- else
- next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT;
- }
- if ((int16_t) (log.tick - next_other) >= 0) {
- log.type = AO_LOG_TEMP_VOLT;
- log.u.volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
- log.u.volt.sense_a = ao_data_ring[ao_log_data_pos].adc.sense_a;
- log.u.volt.sense_m = ao_data_ring[ao_log_data_pos].adc.sense_m;
- ao_log_metrum(&log);
- next_other = log.tick + AO_OTHER_INTERVAL;
- }
- ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
- }
-#if HAS_FLIGHT
- /* Write state change to EEPROM */
- if (ao_flight_state != ao_log_state) {
- ao_log_state = ao_flight_state;
- log.type = AO_LOG_STATE;
- log.tick = ao_time();
- log.u.state.state = ao_log_state;
- log.u.state.reason = 0;
- ao_log_metrum(&log);
-
- if (ao_log_state == ao_flight_landed)
- ao_log_stop();
- }
-#endif
-
- ao_log_flush();
-
- /* Wait for a while */
- ao_delay(AO_MS_TO_TICKS(100));
-
- /* Stop logging when told to */
- while (!ao_log_running)
- ao_sleep(&ao_log_running);
- }
-}
-#endif
-
-uint16_t
-ao_log_flight(uint8_t slot)
-{
- if (!ao_storage_read(ao_log_pos(slot),
- &log,
- sizeof (struct ao_log_metrum)))
- return 0;
-
- if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
- return log.u.flight.flight;
- return 0;
-}
+++ /dev/null
-/*
- * 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_micropeak.h>
-#include <ao_log_micro.h>
-#include <ao_async.h>
-
-static uint16_t ao_log_offset = STARTING_LOG_OFFSET;
-
-void
-ao_log_micro_save(void)
-{
- uint16_t n_samples = (ao_log_offset - STARTING_LOG_OFFSET) / sizeof (uint16_t);
- ao_eeprom_write(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground));
- ao_eeprom_write(PA_MIN_OFFSET, &pa_min, sizeof (pa_min));
- ao_eeprom_write(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
-}
-
-void
-ao_log_micro_restore(void)
-{
- ao_eeprom_read(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground));
- ao_eeprom_read(PA_MIN_OFFSET, &pa_min, sizeof (pa_min));
-}
-
-void
-ao_log_micro_data(void)
-{
- uint16_t low_bits = pa;
-
- if (ao_log_offset < MAX_LOG_OFFSET) {
- ao_eeprom_write(ao_log_offset, &low_bits, sizeof (low_bits));
- ao_log_offset += sizeof (low_bits);
- }
-}
-
-#define POLY 0x8408
-
-static uint16_t
-ao_log_micro_crc(uint16_t crc, uint8_t byte)
-{
- uint8_t i;
-
- for (i = 0; i < 8; i++) {
- if ((crc & 0x0001) ^ (byte & 0x0001))
- crc = (crc >> 1) ^ POLY;
- else
- crc = crc >> 1;
- byte >>= 1;
- }
- return crc;
-}
-
-static void
-ao_log_hex_nibble(uint8_t b)
-{
- if (b < 10)
- ao_async_byte('0' + b);
- else
- ao_async_byte('a' - 10 + b);
-}
-
-static void
-ao_log_hex(uint8_t b)
-{
- ao_log_hex_nibble(b>>4);
- ao_log_hex_nibble(b&0xf);
-}
-
-static void
-ao_log_newline(void)
-{
- ao_async_byte('\r');
- ao_async_byte('\n');
-}
-
-void
-ao_log_micro_dump(void)
-{
- uint16_t n_samples;
- uint16_t nbytes;
- uint8_t byte;
- uint16_t b;
- uint16_t crc = 0xffff;
-
- ao_eeprom_read(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
- if (n_samples == 0xffff)
- n_samples = 0;
- nbytes = STARTING_LOG_OFFSET + sizeof (uint16_t) * n_samples;
- ao_async_start();
- ao_async_byte('M');
- ao_async_byte('P');
- for (b = 0; b < nbytes; b++) {
- if ((b & 0xf) == 0)
- ao_log_newline();
- ao_eeprom_read(b, &byte, 1);
- ao_log_hex(byte);
- crc = ao_log_micro_crc(crc, byte);
- }
- ao_log_newline();
- crc = ~crc;
- ao_log_hex(crc >> 8);
- ao_log_hex(crc);
- ao_log_newline();
- ao_async_stop();
-}
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_LOG_MICRO_H_
-#define _AO_LOG_MICRO_H_
-
-#define PA_GROUND_OFFSET 0
-#define PA_MIN_OFFSET 4
-#define N_SAMPLES_OFFSET 8
-#define STARTING_LOG_OFFSET 10
-#define MAX_LOG_OFFSET 512
-
-void
-ao_log_micro_save(void);
-
-void
-ao_log_micro_restore(void);
-
-void
-ao_log_micro_data(void);
-
-void
-ao_log_micro_dump(void);
-
-#endif /* _AO_LOG_MICRO_H_ */
+++ /dev/null
-/*
- * 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_log.h>
-#include <ao_data.h>
-#include <ao_flight.h>
-
-static __xdata uint8_t ao_log_mutex;
-static __xdata struct ao_log_mini log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT;
-
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
-{
- uint8_t sum = 0x5a;
- uint8_t i;
-
- for (i = 0; i < sizeof (struct ao_log_mini); i++)
- sum += *b++;
- return -sum;
-}
-
-uint8_t
-ao_log_mini(__xdata struct ao_log_mini *log) __reentrant
-{
- uint8_t wrote = 0;
- /* set checksum */
- log->csum = 0;
- log->csum = ao_log_csum((__xdata uint8_t *) log);
- ao_mutex_get(&ao_log_mutex); {
- if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
- ao_log_stop();
- if (ao_log_running) {
- wrote = 1;
- ao_storage_write(ao_log_current_pos,
- log,
- sizeof (struct ao_log_mini));
- ao_log_current_pos += sizeof (struct ao_log_mini);
- }
- } ao_mutex_put(&ao_log_mutex);
- return wrote;
-}
-
-static uint8_t
-ao_log_dump_check_data(void)
-{
- if (ao_log_csum((uint8_t *) &log) != 0)
- return 0;
- return 1;
-}
-
-static __data uint8_t ao_log_data_pos;
-
-/* a hack to make sure that ao_log_minis fill the eeprom block in even units */
-typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_mini))] ;
-
-#ifndef AO_SENSOR_INTERVAL_ASCENT
-#define AO_SENSOR_INTERVAL_ASCENT 1
-#define AO_SENSOR_INTERVAL_DESCENT 10
-#endif
-
-void
-ao_log(void)
-{
- __pdata uint16_t next_sensor;
-
- ao_storage_setup();
-
- ao_log_scan();
-
- while (!ao_log_running)
- ao_sleep(&ao_log_running);
-
-#if HAS_FLIGHT
- log.type = AO_LOG_FLIGHT;
- log.tick = ao_sample_tick;
- log.u.flight.flight = ao_flight_number;
- log.u.flight.ground_pres = ao_ground_pres;
- ao_log_mini(&log);
-#endif
-
- /* Write the whole contents of the ring to the log
- * when starting up.
- */
- ao_log_data_pos = ao_data_ring_next(ao_data_head);
- next_sensor = ao_data_ring[ao_log_data_pos].tick;
- ao_log_state = ao_flight_startup;
- for (;;) {
- /* Write samples to EEPROM */
- while (ao_log_data_pos != ao_data_head) {
- log.tick = ao_data_ring[ao_log_data_pos].tick;
- if ((int16_t) (log.tick - next_sensor) >= 0) {
- log.type = AO_LOG_SENSOR;
- ao_log_pack24(log.u.sensor.pres,
- ao_data_ring[ao_log_data_pos].ms5607_raw.pres);
- ao_log_pack24(log.u.sensor.temp,
- ao_data_ring[ao_log_data_pos].ms5607_raw.temp);
- log.u.sensor.sense_a = ao_data_ring[ao_log_data_pos].adc.sense_a;
- log.u.sensor.sense_m = ao_data_ring[ao_log_data_pos].adc.sense_m;
- log.u.sensor.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
- ao_log_mini(&log);
- if (ao_log_state <= ao_flight_coast)
- next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
- else
- next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT;
- }
- ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
- }
-#if HAS_FLIGHT
- /* Write state change to EEPROM */
- if (ao_flight_state != ao_log_state) {
- ao_log_state = ao_flight_state;
- log.type = AO_LOG_STATE;
- log.tick = ao_time();
- log.u.state.state = ao_log_state;
- log.u.state.reason = 0;
- ao_log_mini(&log);
-
- if (ao_log_state == ao_flight_landed)
- ao_log_stop();
- }
-#endif
-
- ao_log_flush();
-
- /* Wait for a while */
- ao_delay(AO_MS_TO_TICKS(100));
-
- /* Stop logging when told to */
- while (!ao_log_running)
- ao_sleep(&ao_log_running);
- }
-}
-
-uint16_t
-ao_log_flight(uint8_t slot)
-{
- if (!ao_storage_read(ao_log_pos(slot),
- &log,
- sizeof (struct ao_log_mini)))
- return 0;
-
- if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
- return log.u.flight.flight;
- return 0;
-}
+++ /dev/null
-/*
- * Copyright © 2011 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.
- */
-
-/*
- * ao_log_single.c
- *
- * Stores a sequence of fixed-size (32 byte) chunks
- * without splitting memory up into separate flights
- */
-
-#include "ao.h"
-#include "ao_product.h"
-
-static __xdata struct ao_task ao_log_single_task;
-
-__xdata uint8_t ao_log_running;
-__xdata uint8_t ao_log_mutex;
-__pdata uint32_t ao_log_start_pos;
-__pdata uint32_t ao_log_end_pos;
-__pdata uint32_t ao_log_current_pos;
-
-__xdata union ao_log_single ao_log_single_write_data;
-__xdata union ao_log_single ao_log_single_read_data;
-
-uint8_t
-ao_log_single_write(void)
-{
- uint8_t wrote = 0;
-
- ao_mutex_get(&ao_log_mutex); {
- if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
- ao_log_single_stop();
- if (ao_log_running) {
- wrote = 1;
- ao_storage_write(ao_log_current_pos,
- &ao_log_single_write_data,
- AO_LOG_SINGLE_SIZE);
- ao_log_current_pos += AO_LOG_SINGLE_SIZE;
- }
- } ao_mutex_put(&ao_log_mutex);
- return wrote;
-}
-
-static uint8_t
-ao_log_single_valid(void)
-{
- __xdata uint8_t *d = ao_log_single_read_data.bytes;
- uint8_t i;
- for (i = 0; i < AO_LOG_SINGLE_SIZE; i++)
- if (*d++ != 0xff)
- return 1;
- return 0;
-}
-
-uint8_t
-ao_log_single_read(uint32_t pos)
-{
- if (!ao_storage_read(pos, &ao_log_single_read_data, AO_LOG_SINGLE_SIZE))
- return 0;
- return ao_log_single_valid();
-}
-
-void
-ao_log_single_start(void)
-{
- if (!ao_log_running) {
- ao_log_running = 1;
- ao_wakeup(&ao_log_running);
- }
-}
-
-void
-ao_log_single_stop(void)
-{
- if (ao_log_running) {
- ao_log_running = 0;
- }
-}
-
-void
-ao_log_single_restart(void)
-{
- /* Find end of data */
- ao_log_end_pos = ao_storage_config;
- for (ao_log_current_pos = 0;
- ao_log_current_pos < ao_storage_config;
- ao_log_current_pos += ao_storage_block)
- {
- if (!ao_log_single_read(ao_log_current_pos))
- break;
- }
- if (ao_log_current_pos > 0) {
- ao_log_current_pos -= ao_storage_block;
- for (; ao_log_current_pos < ao_storage_config;
- ao_log_current_pos += sizeof (struct ao_log_telescience))
- {
- if (!ao_log_single_read(ao_log_current_pos))
- break;
- }
- }
-}
-
-void
-ao_log_single_set(void)
-{
- printf("Logging currently %s\n", ao_log_running ? "on" : "off");
- ao_cmd_hex();
- if (ao_cmd_status == ao_cmd_success) {
- if (ao_cmd_lex_i) {
- printf("Logging from %ld to %ld\n", ao_log_current_pos, ao_log_end_pos);
- ao_log_single_start();
- } else {
- printf ("Log stopped at %ld\n", ao_log_current_pos);
- ao_log_single_stop();
- }
- }
- ao_cmd_status = ao_cmd_success;
-}
-
-void
-ao_log_single_delete(void)
-{
- uint32_t pos;
-
- ao_cmd_hex();
- if (ao_cmd_status != ao_cmd_success)
- return;
- if (ao_cmd_lex_i != 1) {
- ao_cmd_status = ao_cmd_syntax_error;
- printf("No such flight: %d\n", ao_cmd_lex_i);
- return;
- }
- ao_log_single_stop();
- for (pos = 0; pos < ao_storage_config; pos += ao_storage_block) {
- if (!ao_log_single_read(pos))
- break;
- ao_storage_erase(pos);
- }
- ao_log_current_pos = ao_log_start_pos = 0;
- if (pos == 0)
- printf("No such flight: %d\n", ao_cmd_lex_i);
- else
- printf ("Erased\n");
-}
-
-uint8_t
-ao_log_full(void)
-{
- return ao_log_current_pos >= ao_log_end_pos;
-}
-
-uint8_t
-ao_log_present(void)
-{
- return ao_log_single_read(0);
-}
-
-static void
-ao_log_single_query(void)
-{
- printf("Logging enabled: %d\n", ao_log_running);
- printf("Log start: %ld\n", ao_log_start_pos);
- printf("Log cur: %ld\n", ao_log_current_pos);
- printf("Log end: %ld\n", ao_log_end_pos);
- ao_log_single_extra_query();
-}
-
-const struct ao_cmds ao_log_single_cmds[] = {
- { ao_log_single_set, "L <0 off, 1 on>\0Set logging" },
- { ao_log_single_list, "l\0List stored logs" },
- { ao_log_single_delete, "d 1\0Delete all stored logs" },
- { ao_log_single_query, "q\0Query log status" },
- { 0, NULL },
-};
-
-void
-ao_log_single_init(void)
-{
- ao_log_running = 0;
-
- ao_cmd_register(&ao_log_single_cmds[0]);
-
- ao_add_task(&ao_log_single_task, ao_log_single, "log");
-}
+++ /dev/null
-/*
- * Copyright © 2011 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_flight.h>
-#include <ao_sample.h>
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMETRY;
-
-static __data uint8_t ao_log_monitor_pos;
-__pdata enum ao_flight_state ao_flight_state;
-__xdata int16_t ao_max_height; /* max of ao_height */
-__pdata int16_t sense_d, sense_m;
-__pdata uint8_t ao_igniter_present;
-
-static void
-ao_log_telem_track() {
- if (ao_monitoring == sizeof (union ao_telemetry_all)) {
- switch (ao_log_single_write_data.telemetry.generic.type) {
- case AO_TELEMETRY_SENSOR_TELEMETRUM:
- case AO_TELEMETRY_SENSOR_TELEMINI:
- /* fall through ... */
- case AO_TELEMETRY_SENSOR_TELENANO:
- if (ao_log_single_write_data.telemetry.generic.type == AO_TELEMETRY_SENSOR_TELENANO) {
- ao_igniter_present = 0;
- } else {
- sense_d = ao_log_single_write_data.telemetry.sensor.sense_d;
- sense_m = ao_log_single_write_data.telemetry.sensor.sense_m;
- ao_igniter_present = 1;
- }
- if (ao_log_single_write_data.telemetry.sensor.height > ao_max_height) {
- ao_max_height = ao_log_single_write_data.telemetry.sensor.height;
- }
- if (ao_log_single_write_data.telemetry.sensor.state != ao_flight_state) {
- ao_flight_state = ao_log_single_write_data.telemetry.sensor.state;
- if (ao_flight_state == ao_flight_pad)
- ao_max_height = 0;
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- }
- }
- }
-}
-
-enum ao_igniter_status
-ao_igniter_status(enum ao_igniter igniter)
-{
- int16_t value;
-
- switch (igniter) {
- case ao_igniter_drogue:
- value = sense_d;
- break;
- case ao_igniter_main:
- value = sense_m;
- break;
- default:
- value = 0;
- break;
- }
- if (value < AO_IGNITER_OPEN)
- return ao_igniter_open;
- else if (value > AO_IGNITER_CLOSED)
- return ao_igniter_ready;
- else
- return ao_igniter_unknown;
-}
-
-void
-ao_log_single(void)
-{
- ao_storage_setup();
-
- /* This can take a while, so let the rest
- * of the system finish booting before we start
- */
- ao_delay(AO_SEC_TO_TICKS(2));
-
- ao_log_running = 1;
- ao_log_single_restart();
- ao_flight_state = ao_flight_startup;
- ao_monitor_set(sizeof(struct ao_telemetry_generic));
-
- for (;;) {
- while (!ao_log_running)
- ao_sleep(&ao_log_running);
-
- ao_log_monitor_pos = ao_monitor_head;
- while (ao_log_running) {
- /* Write samples to EEPROM */
- while (ao_log_monitor_pos != ao_monitor_head) {
- ao_xmemcpy(&ao_log_single_write_data.telemetry,
- &ao_monitor_ring[ao_log_monitor_pos],
- AO_LOG_SINGLE_SIZE);
- ao_log_single_write();
- ao_log_monitor_pos = ao_monitor_ring_next(ao_log_monitor_pos);
- ao_log_telem_track();
- }
- /* Wait for more telemetry data to arrive */
- ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
- }
- }
-}
-
-void
-ao_log_single_list(void)
-{
- if (ao_log_current_pos != 0)
- printf("flight 1 start %x end %x\n",
- 0,
- (uint16_t) ((ao_log_current_pos + 0xff) >> 8));
- printf ("done\n");
-}
-
-void
-ao_log_single_extra_query(void)
-{
-}
+++ /dev/null
-/*
- * Copyright © 2011 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_product.h"
-#include "ao_log.h"
-#include "ao_companion.h"
-
-static uint8_t ao_log_data_pos;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_TELESCIENCE;
-
-static void
-ao_log_telescience_csum(void) __reentrant
-{
- __xdata uint8_t *b = ao_log_single_write_data.bytes;
- uint8_t sum = 0x5a;
- uint8_t i;
-
- ao_log_single_write_data.telescience.csum = 0;
- for (i = 0; i < sizeof (struct ao_log_telescience); i++)
- sum += *b++;
- ao_log_single_write_data.telescience.csum = -sum;
-}
-
-void
-ao_log_single(void)
-{
- ao_storage_setup();
-
- /* This can take a while, so let the rest
- * of the system finish booting before we start
- */
- ao_delay(AO_SEC_TO_TICKS(10));
-
- ao_log_single_restart();
- for (;;) {
- while (!ao_log_running)
- ao_sleep(&ao_log_running);
-
- ao_log_start_pos = ao_log_current_pos;
- ao_log_single_write_data.telescience.type = AO_LOG_TELESCIENCE_START;
- ao_log_single_write_data.telescience.tick = ao_time();
- ao_log_single_write_data.telescience.adc[0] = ao_companion_command.serial;
- ao_log_single_write_data.telescience.adc[1] = ao_companion_command.flight;
- ao_log_telescience_csum();
- ao_log_single_write();
- /* Write the whole contents of the ring to the log
- * when starting up.
- */
- ao_log_data_pos = ao_data_ring_next(ao_data_head);
- ao_log_single_write_data.telescience.type = AO_LOG_TELESCIENCE_DATA;
- while (ao_log_running) {
- /* Write samples to EEPROM */
- while (ao_log_data_pos != ao_data_head) {
- ao_log_single_write_data.telescience.tick = ao_data_ring[ao_log_data_pos].tick;
- memcpy(&ao_log_single_write_data.telescience.adc, (void *) ao_data_ring[ao_log_data_pos].adc.adc,
- AO_LOG_TELESCIENCE_NUM_ADC * sizeof (uint16_t));
- ao_log_telescience_csum();
- ao_log_single_write();
- ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
- }
- /* Wait for more ADC data to arrive */
- ao_sleep((void *) &ao_data_head);
- }
- memset(&ao_log_single_write_data.telescience.adc, '\0', sizeof (ao_log_single_write_data.telescience.adc));
- }
-}
-
-void
-ao_log_single_list(void)
-{
- uint32_t pos;
- uint32_t start = 0;
- uint8_t flight = 0;
-
- for (pos = 0; ; pos += sizeof (struct ao_log_telescience)) {
- if (pos >= ao_storage_config ||
- !ao_log_single_read(pos) ||
- ao_log_single_read_data.telescience.type == AO_LOG_TELESCIENCE_START)
- {
- if (pos != start) {
- printf("flight %d start %x end %x\n",
- flight,
- (uint16_t) (start >> 8),
- (uint16_t) ((pos + 0xff) >> 8)); flush();
- }
- if (ao_log_single_read_data.telescience.type != AO_LOG_TELESCIENCE_START)
- break;
- start = pos;
- flight++;
- }
- }
- printf ("done\n");
-}
-
-void
-ao_log_single_extra_query(void)
-{
- printf("log data tick: %04x\n", ao_log_single_write_data.telescience.tick);
- printf("TM data tick: %04x\n", ao_log_single_write_data.telescience.tm_tick);
- printf("TM state: %d\n", ao_log_single_write_data.telescience.tm_state);
- printf("TM serial: %d\n", ao_companion_command.serial);
- printf("TM flight: %d\n", ao_companion_command.flight);
-}
+++ /dev/null
-/*
- * Copyright © 2011 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"
-
-static __data uint16_t ao_log_tiny_interval;
-
-#define AO_LOG_TINY_INTERVAL_DEFAULT AO_MS_TO_TICKS(1000)
-#if USE_FAST_ASCENT_LOG
-#define AO_LOG_TINY_INTERVAL_ASCENT AO_MS_TO_TICKS(100)
-#define AO_PAD_RING 8
-#else
-#define AO_LOG_TINY_INTERVAL_ASCENT AO_LOG_TINY_INTERVAL_DEFAULT
-#define AO_PAD_RING 2
-#endif
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_TINY;
-
-void
-ao_log_tiny_set_interval(uint16_t ticks)
-{
- ao_log_tiny_interval = ticks;
-}
-
-
-static void ao_log_tiny_data(uint16_t d)
-{
- if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
- ao_log_stop();
- if (ao_log_running) {
- ao_storage_write(ao_log_current_pos, DATA_TO_XDATA(&d), 2);
- ao_log_current_pos += 2;
- }
-}
-
-static __xdata uint16_t ao_log_pad_ring[AO_PAD_RING];
-static __pdata uint8_t ao_log_pad_ring_pos;
-
-#define ao_pad_ring_next(n) (((n) + 1) & (AO_PAD_RING - 1))
-
-static void ao_log_tiny_queue(uint16_t d)
-{
- ao_log_pad_ring[ao_log_pad_ring_pos] = d;
- ao_log_pad_ring_pos = ao_pad_ring_next(ao_log_pad_ring_pos);
-}
-
-static void ao_log_tiny_start(void)
-{
- uint8_t p;
- uint16_t d;
-
- ao_log_tiny_data(ao_flight_number);
- ao_log_tiny_data(ao_ground_pres);
- p = ao_log_pad_ring_pos;
- do {
- d = ao_log_pad_ring[p];
- /*
- * ignore unwritten slots
- */
- if (d)
- ao_log_tiny_data(d);
- p = ao_pad_ring_next(p);
- } while (p != ao_log_pad_ring_pos);
-}
-
-void
-ao_log(void)
-{
- uint16_t last_time;
- uint16_t now;
- enum ao_flight_state ao_log_tiny_state;
- int32_t sum;
- int16_t count;
- uint8_t ao_log_data;
- uint8_t ao_log_started = 0;
-
- ao_storage_setup();
-
- ao_log_scan();
-
- ao_log_tiny_state = ao_flight_invalid;
- ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_ASCENT;
- sum = 0;
- count = 0;
- ao_log_data = ao_sample_data;
- last_time = ao_time();
- for (;;) {
-
- /*
- * Add in pending sample data
- */
- ao_sleep(DATA_TO_XDATA(&ao_sample_data));
- while (ao_log_data != ao_sample_data) {
- sum += ao_data_pres(&ao_data_ring[ao_log_data]);
- count++;
- ao_log_data = ao_data_ring_next(ao_log_data);
- }
- if (ao_log_running) {
- if (!ao_log_started) {
- ao_log_tiny_start();
- ao_log_started = 1;
- }
- if (ao_flight_state != ao_log_tiny_state) {
- ao_log_tiny_data(ao_flight_state | 0x8000);
- ao_log_tiny_state = ao_flight_state;
- ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_DEFAULT;
-#if AO_LOG_TINY_INTERVAL_ASCENT != AO_LOG_TINY_INTERVAL_DEFAULT
- if (ao_log_tiny_state <= ao_flight_coast)
- ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_ASCENT;
-#endif
- if (ao_log_tiny_state == ao_flight_landed)
- ao_log_stop();
- }
- }
-
- /* Stop logging when told to */
- if (!ao_log_running && ao_log_started)
- ao_exit();
-
- /*
- * Write out the sample when finished
- */
- now = ao_time();
- if ((int16_t) (now - (last_time + ao_log_tiny_interval)) >= 0 && count) {
- count = sum / count;
- if (ao_log_started)
- ao_log_tiny_data(count);
- else
- ao_log_tiny_queue(count);
- sum = 0;
- count = 0;
- last_time = now;
- }
- }
-}
-
-uint16_t
-ao_log_flight(uint8_t slot)
-{
- static __xdata uint16_t flight;
-
- (void) slot;
- ao_storage_read(0, &flight, 2);
- if (flight == 0xffff)
- flight = 0;
- return flight;
-}
+++ /dev/null
-/*
- * Copyright © 2013 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.
- */
-
-#ifndef AO_FLIGHT_TEST
-#include <ao.h>
-#endif
-#include <ao_micropeak.h>
-#include <ao_log_micro.h>
-
-uint32_t pa;
-uint32_t pa_ground;
-uint32_t pa_min;
-
-static void
-ao_microsample(void)
-{
- ao_pa_get();
- ao_microkalman_predict();
- ao_microkalman_correct();
-}
-
-#define NUM_PA_HIST (GROUND_AVG)
-
-#define SKIP_PA_HIST(i,j) (((i) + (j)) & (NUM_PA_HIST - 1))
-
-static uint32_t pa_hist[NUM_PA_HIST];
-
-void
-ao_microflight(void)
-{
- int16_t sample_count;
- uint16_t time;
- uint32_t pa_interval_min, pa_interval_max;
- int32_t pa_diff;
- uint8_t h, i;
- uint8_t accel_lock = 0;
- uint32_t pa_sum = 0;
-
- /* Wait for motion, averaging values to get ground pressure */
-
- time = ao_time();
- ao_pa_get();
- ao_microkalman_init();
- pa_ground = pa;
- sample_count = 0;
- h = 0;
- for (;;) {
- time += SAMPLE_SLEEP;
- if ((sample_count & 0x1f) == 0)
- ao_led_on(AO_LED_REPORT);
- ao_delay_until(time);
- ao_microsample();
- if ((sample_count & 0x1f) == 0)
- ao_led_off(AO_LED_REPORT);
- pa_hist[h] = pa;
- h = SKIP_PA_HIST(h,1);
- pa_diff = pa_ground - ao_pa;
-
- /* Check for a significant pressure change */
- if (pa_diff > BOOST_DETECT)
- break;
-
- if (sample_count < GROUND_AVG * 2) {
- if (sample_count < GROUND_AVG)
- pa_sum += pa;
- ++sample_count;
- } else {
- pa_ground = pa_sum >> GROUND_AVG_SHIFT;
- pa_sum = 0;
- sample_count = 0;
- }
- }
-
- /* Go back and find the last sample close to the ground */
- pa_min = pa_ground - LAND_DETECT;
- for (i = SKIP_PA_HIST(h,-2); i != SKIP_PA_HIST(h,2); i = SKIP_PA_HIST(i,-2)) {
- if (pa_hist[i] >= pa_min)
- break;
- }
-
- /* Log the remaining samples so we get a complete history since leaving the ground */
- for (; i != h; i = SKIP_PA_HIST(i,2)) {
- pa = pa_hist[i];
- ao_log_micro_data();
- }
-
- /* Now sit around until the pressure is stable again and record the max */
-
- sample_count = 0;
- pa_min = ao_pa;
- pa_interval_min = ao_pa;
- pa_interval_max = ao_pa;
- for (;;) {
- time += SAMPLE_SLEEP;
- ao_delay_until(time);
- if ((sample_count & 3) == 0)
- ao_led_on(AO_LED_REPORT);
- ao_microsample();
- if ((sample_count & 3) == 0)
- ao_led_off(AO_LED_REPORT);
- if (sample_count & 1)
- ao_log_micro_data();
-
- /* If accelerating upwards, don't look for min pressure */
- if (ao_pa_accel < ACCEL_LOCK_PA)
- accel_lock = ACCEL_LOCK_TIME;
- else if (accel_lock)
- --accel_lock;
- else if (ao_pa < pa_min)
- pa_min = ao_pa;
-
- if (sample_count == (GROUND_AVG - 1)) {
- pa_diff = pa_interval_max - pa_interval_min;
-
- /* Check to see if the pressure is now stable */
- if (pa_diff < LAND_DETECT)
- break;
- sample_count = 0;
- pa_interval_min = ao_pa;
- pa_interval_max = ao_pa;
- } else {
- if (ao_pa < pa_interval_min)
- pa_interval_min = ao_pa;
- if (ao_pa > pa_interval_max)
- pa_interval_max = ao_pa;
- ++sample_count;
- }
- }
-}
+++ /dev/null
-/*
- * Copyright © 2013 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.
- */
-
-#ifndef AO_FLIGHT_TEST
-#include <ao.h>
-#endif
-#include <ao_micropeak.h>
-
-#define FIX_BITS 16
-
-#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
-#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
-#define from_fix8(x) ((x) >> 8)
-#define from_fix(x) ((x) >> 16)
-#define fix8_to_fix16(x) ((x) << 8)
-#define fix16_to_fix8(x) ((x) >> 8)
-
-#include <ao_kalman.h>
-
-/* Basic time step (96ms) */
-#define AO_MK_STEP to_fix16(0.096)
-/* step ** 2 / 2 */
-#define AO_MK_STEP_2_2 to_fix16(0.004608)
-
-uint32_t ao_k_pa; /* 24.8 fixed point */
-int32_t ao_k_pa_speed; /* 16.16 fixed point */
-int32_t ao_k_pa_accel; /* 16.16 fixed point */
-
-uint32_t ao_pa; /* integer portion */
-int16_t ao_pa_speed; /* integer portion */
-int16_t ao_pa_accel; /* integer portion */
-
-void
-ao_microkalman_init(void)
-{
- ao_pa = pa;
- ao_k_pa = pa << 8;
-}
-
-void
-ao_microkalman_predict(void)
-{
- ao_k_pa += fix16_to_fix8((int32_t) ao_pa_speed * AO_MK_STEP + (int32_t) ao_pa_accel * AO_MK_STEP_2_2);
- ao_k_pa_speed += (int32_t) ao_pa_accel * AO_MK_STEP;
-}
-
-void
-ao_microkalman_correct(void)
-{
- int16_t e; /* Height error in Pa */
-
- e = pa - from_fix8(ao_k_pa);
-
- ao_k_pa += fix16_to_fix8((int32_t) e * AO_MK_BARO_K0_10);
- ao_k_pa_speed += (int32_t) e * AO_MK_BARO_K1_10;
- ao_k_pa_accel += (int32_t) e * AO_MK_BARO_K2_10;
- ao_pa = from_fix8(ao_k_pa);
- ao_pa_speed = from_fix(ao_k_pa_speed);
- ao_pa_accel = from_fix(ao_k_pa_accel);
-}
+++ /dev/null
-/*
- * Copyright © 2009 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_telem.h"
-#include "ao_flight.h"
-
-#if !HAS_MONITOR
-#error Must define HAS_MONITOR to 1
-#endif
-
-#ifndef LEGACY_MONITOR
-#error Must define LEGACY_MONITOR
-#endif
-
-#ifndef HAS_MONITOR_PUT
-#define HAS_MONITOR_PUT 1
-#endif
-
-#ifndef AO_MONITOR_LED
-#error Must define AO_MONITOR_LED
-#endif
-
-__data uint8_t ao_monitoring;
-static __data uint8_t ao_monitor_disabled;
-static __data uint8_t ao_internal_monitoring;
-static __data uint8_t ao_external_monitoring;
-
-__xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
-
-__data uint8_t ao_monitor_head;
-
-static void
-_ao_monitor_adjust(void)
-{
- if (ao_monitoring)
- ao_radio_recv_abort();
- if (ao_monitor_disabled)
- ao_monitoring = 0;
- else {
- if (ao_external_monitoring)
- ao_monitoring = ao_external_monitoring;
- else
- ao_monitoring = ao_internal_monitoring;
- }
- ao_wakeup(DATA_TO_XDATA(&ao_monitoring));
-}
-
-void
-ao_monitor_get(void)
-{
- uint8_t size;
-
- for (;;) {
- switch (ao_monitoring) {
- case 0:
- ao_sleep(DATA_TO_XDATA(&ao_monitoring));
- continue;
-#if LEGACY_MONITOR
- case AO_MONITORING_ORIG:
- size = sizeof (struct ao_telemetry_orig_recv);
- break;
-#endif
- default:
- if (ao_monitoring > AO_MAX_TELEMETRY)
- ao_monitoring = AO_MAX_TELEMETRY;
- size = ao_monitoring;
- break;
- }
- if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2, 0))
- continue;
- ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
- ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
- }
-}
-
-#if AO_MONITOR_LED
-__xdata struct ao_task ao_monitor_blink_task;
-
-void
-ao_monitor_blink(void)
-{
- for (;;) {
- ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
- ao_led_for(AO_MONITOR_LED, AO_MS_TO_TICKS(100));
- }
-}
-#endif
-
-#if HAS_MONITOR_PUT
-
-static const char xdigit[16] = {
- '0', '1', '2', '3', '4', '5', '6', '7',
- '8', '9', 'a', 'b', 'c', 'd', 'e', 'f'
-};
-
-#define hex(c) do { putchar(xdigit[(c) >> 4]); putchar(xdigit[(c)&0xf]); } while (0)
-
-void
-ao_monitor_put(void)
-{
-#if LEGACY_MONITOR
- __xdata char callsign[AO_MAX_CALLSIGN+1];
- int16_t rssi;
-#endif
- uint8_t ao_monitor_tail;
- uint8_t state;
- uint8_t sum, byte;
- __xdata union ao_monitor *m;
-
-#define recv_raw ((m->raw))
-#define recv_orig ((m->orig))
-#define recv_tiny ((m->tiny))
-
- ao_monitor_tail = ao_monitor_head;
- for (;;) {
- while (!ao_external_monitoring)
- ao_sleep(DATA_TO_XDATA(&ao_external_monitoring));
- while (ao_monitor_tail == ao_monitor_head && ao_external_monitoring)
- ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
- if (!ao_external_monitoring)
- continue;
- m = &ao_monitor_ring[ao_monitor_tail];
- ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
- switch (ao_monitoring) {
- case 0:
- break;
-#if LEGACY_MONITOR
- case AO_MONITORING_ORIG:
- state = recv_orig.telemetry_orig.flight_state;
-
- rssi = (int16_t) AO_RSSI_FROM_RADIO(recv_orig.rssi);
- ao_xmemcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
- if (state > ao_flight_invalid)
- state = ao_flight_invalid;
- if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
-
- /* General header fields */
- printf(AO_TELEM_VERSION " %d "
- AO_TELEM_CALL " %s "
- AO_TELEM_SERIAL " %d "
- AO_TELEM_FLIGHT " %d "
- AO_TELEM_RSSI " %d "
- AO_TELEM_STATE " %s "
- AO_TELEM_TICK " %d ",
- AO_TELEMETRY_VERSION,
- callsign,
- recv_orig.telemetry_orig.serial,
- recv_orig.telemetry_orig.flight,
- rssi,
- ao_state_names[state],
- recv_orig.telemetry_orig.adc.tick);
-
- /* Raw sensor values */
- printf(AO_TELEM_RAW_ACCEL " %d "
- AO_TELEM_RAW_BARO " %d "
- AO_TELEM_RAW_THERMO " %d "
- AO_TELEM_RAW_BATT " %d "
- AO_TELEM_RAW_DROGUE " %d "
- AO_TELEM_RAW_MAIN " %d ",
- recv_orig.telemetry_orig.adc.accel,
- recv_orig.telemetry_orig.adc.pres,
- recv_orig.telemetry_orig.adc.temp,
- recv_orig.telemetry_orig.adc.v_batt,
- recv_orig.telemetry_orig.adc.sense_d,
- recv_orig.telemetry_orig.adc.sense_m);
-
- /* Sensor calibration values */
- printf(AO_TELEM_CAL_ACCEL_GROUND " %d "
- AO_TELEM_CAL_BARO_GROUND " %d "
- AO_TELEM_CAL_ACCEL_PLUS " %d "
- AO_TELEM_CAL_ACCEL_MINUS " %d ",
- recv_orig.telemetry_orig.ground_accel,
- recv_orig.telemetry_orig.ground_pres,
- recv_orig.telemetry_orig.accel_plus_g,
- recv_orig.telemetry_orig.accel_minus_g);
-
- if (recv_orig.telemetry_orig.u.k.unused == 0x8000) {
- /* Kalman state values */
- printf(AO_TELEM_KALMAN_HEIGHT " %d "
- AO_TELEM_KALMAN_SPEED " %d "
- AO_TELEM_KALMAN_ACCEL " %d ",
- recv_orig.telemetry_orig.height,
- recv_orig.telemetry_orig.u.k.speed,
- recv_orig.telemetry_orig.accel);
- } else {
- /* Ad-hoc flight values */
- printf(AO_TELEM_ADHOC_ACCEL " %d "
- AO_TELEM_ADHOC_SPEED " %ld "
- AO_TELEM_ADHOC_BARO " %d ",
- recv_orig.telemetry_orig.accel,
- recv_orig.telemetry_orig.u.flight_vel,
- recv_orig.telemetry_orig.height);
- }
- ao_gps_print(&recv_orig.telemetry_orig.gps);
- ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
- putchar('\n');
-#if HAS_RSSI
- ao_rssi_set(rssi);
-#endif
- } else {
- printf("CRC INVALID RSSI %3d\n", rssi);
- }
- break;
-#endif /* LEGACY_MONITOR */
- default:
-#if AO_PROFILE
- {
- extern uint32_t ao_rx_start_tick, ao_rx_packet_tick, ao_rx_done_tick, ao_rx_last_done_tick;
- extern uint32_t ao_fec_decode_start, ao_fec_decode_end;
-
- printf ("between packet: %d\n", ao_rx_start_tick - ao_rx_last_done_tick);
- printf ("receive start delay: %d\n", ao_rx_packet_tick - ao_rx_start_tick);
- printf ("decode time: %d\n", ao_fec_decode_end - ao_fec_decode_start);
- printf ("rx cleanup: %d\n", ao_rx_done_tick - ao_fec_decode_end);
- }
-#endif
- printf("TELEM ");
- hex((uint8_t) (ao_monitoring + 2));
- sum = 0x5a;
- for (state = 0; state < ao_monitoring + 2; state++) {
- byte = recv_raw.packet[state];
- sum += byte;
- hex(byte);
- }
- hex(sum);
- putchar ('\n');
-#if HAS_RSSI
- if (recv_raw.packet[ao_monitoring + 1] & PKT_APPEND_STATUS_1_CRC_OK) {
- rssi = AO_RSSI_FROM_RADIO(recv_raw.packet[ao_monitoring]);
- ao_rssi_set(rssi);
- }
-#endif
- break;
- }
- ao_usb_flush();
- }
-}
-
-__xdata struct ao_task ao_monitor_put_task;
-#endif
-
-__xdata struct ao_task ao_monitor_get_task;
-
-void
-ao_monitor_set(uint8_t monitoring)
-{
- ao_internal_monitoring = monitoring;
- _ao_monitor_adjust();
-}
-
-void
-ao_monitor_disable(void)
-{
- ++ao_monitor_disabled;
- _ao_monitor_adjust();
-}
-
-void
-ao_monitor_enable(void)
-{
- --ao_monitor_disabled;
- _ao_monitor_adjust();
-}
-
-#if HAS_MONITOR_PUT
-static void
-set_monitor(void)
-{
- ao_cmd_hex();
- ao_external_monitoring = ao_cmd_lex_i;
- ao_wakeup(DATA_TO_XDATA(&ao_external_monitoring));
- ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
- _ao_monitor_adjust();
-}
-
-__code struct ao_cmds ao_monitor_cmds[] = {
- { set_monitor, "m <0 off, 1 old, 20 std>\0Set radio monitoring" },
- { 0, NULL },
-};
-#endif
-
-void
-ao_monitor_init(void) __reentrant
-{
-#if HAS_MONITOR_PUT
- ao_cmd_register(&ao_monitor_cmds[0]);
- ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");
-#endif
- ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
-#if AO_MONITOR_LED
- ao_add_task(&ao_monitor_blink_task, ao_monitor_blink, "monitor_blink");
-#endif
-}
+++ /dev/null
-/*
- * Copyright © 2009 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"
-
-void
-ao_mutex_get(__xdata uint8_t *mutex) __reentrant
-{
- if (*mutex == ao_cur_task->task_id)
- ao_panic(AO_PANIC_MUTEX);
- ao_arch_critical(
- while (*mutex)
- ao_sleep(mutex);
- *mutex = ao_cur_task->task_id;
- );
-}
-
-void
-ao_mutex_put(__xdata uint8_t *mutex) __reentrant
-{
- if (*mutex != ao_cur_task->task_id)
- ao_panic(AO_PANIC_MUTEX);
- ao_arch_critical(
- *mutex = 0;
- ao_wakeup(mutex);
- );
-}
+++ /dev/null
-/*
- * 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>
-
-static volatile void *ao_wchan;
-
-uint8_t
-ao_sleep(__xdata void *wchan)
-{
-#if 1
- ao_wchan = wchan;
- ao_arch_wait_interrupt();
-#else
- uint8_t sreg;
-
- ao_wchan = wchan;
- asm("in %0,__SREG__" : "=&r" (sreg));
- sei();
- while (ao_wchan)
- ao_arch_cpu_idle();
- asm("out __SREG__,%0" : : "r" (sreg));
-#endif
- return 0;
-}
-
-void
-ao_wakeup(__xdata void *wchan)
-{
- (void) wchan;
- ao_wchan = 0;
-}
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_NOTASK_H_
-#define _AO_NOTASK_H_
-
-uint8_t
-ao_sleep(__xdata void *wchan);
-
-void
-ao_wakeup(__xdata void *wchan);
-
-#endif /* _AO_NOTASK_H_ */
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_PACKET_H_
-#define _AO_PACKET_H_
-
-/*
- * ao_packet.c
- *
- * Packet-based command interface
- */
-
-#define AO_PACKET_MAX 64
-#define AO_PACKET_SYN (uint8_t) 0xff
-
-struct ao_packet {
- uint8_t addr;
- uint8_t len;
- uint8_t seq;
- uint8_t ack;
- uint8_t d[AO_PACKET_MAX];
- uint8_t callsign[AO_MAX_CALLSIGN];
-};
-
-struct ao_packet_recv {
- struct ao_packet packet;
- int8_t rssi;
- uint8_t status;
-};
-
-extern __xdata struct ao_packet_recv ao_rx_packet;
-extern __xdata struct ao_packet ao_tx_packet;
-extern __xdata struct ao_task ao_packet_task;
-extern __xdata uint8_t ao_packet_enable;
-extern __xdata uint8_t ao_packet_master_sleeping;
-extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used;
-extern __xdata uint8_t ao_packet_restart;
-
-void
-ao_packet_send(void);
-
-uint8_t
-ao_packet_recv(void);
-
-void
-ao_packet_flush(void);
-
-void
-ao_packet_putchar(char c) __reentrant;
-
-int
-_ao_packet_pollchar(void);
-
-#if PACKET_HAS_MASTER
-/* ao_packet_master.c */
-
-extern __xdata int8_t ao_packet_last_rssi;
-
-void
-ao_packet_master_init(void);
-#endif
-
-#if PACKET_HAS_SLAVE
-/* ao_packet_slave.c */
-
-void
-ao_packet_slave_start(void);
-
-void
-ao_packet_slave_stop(void);
-
-void
-ao_packet_slave_init(uint8_t enable);
-
-#endif
-
-#endif /* _AO_PACKET_H_ */
+++ /dev/null
-/*
- * Copyright © 2009 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"
-
-#ifndef HAS_BEEP
-#error Please define HAS_BEEP
-#endif
-
-#if !HAS_BEEP
-#define ao_beep(x)
-#endif
-#if !LEDS_AVAILABLE
-#define ao_led_on(x)
-#define ao_led_off(x)
-#endif
-
-#ifndef AO_LED_PANIC
-#define AO_LED_PANIC AO_LED_RED
-#endif
-
-static void
-ao_panic_delay(uint8_t n)
-{
- uint8_t i = 0, j = 0;
-
- while (n--)
- while (--j)
- while (--i)
- ao_arch_nop();
-}
-
-void
-ao_panic(uint8_t reason)
-{
- uint8_t n;
-
-#if LOW_LEVEL_DEBUG
- ao_cur_task = NULL;
- printf ("panic %d\n", reason);
-#endif
- ao_arch_block_interrupts();
- for (;;) {
- ao_panic_delay(20);
- for (n = 0; n < 5; n++) {
- ao_led_on(AO_LED_PANIC);
- ao_beep(AO_BEEP_HIGH);
- ao_panic_delay(1);
- ao_led_off(AO_LED_PANIC);
- ao_beep(AO_BEEP_LOW);
- ao_panic_delay(1);
- }
- ao_beep(AO_BEEP_OFF);
- ao_panic_delay(2);
-
-#ifdef SDCC
-#pragma disable_warning 126
-#endif
- if (reason & 0x40) {
- ao_led_on(AO_LED_PANIC);
- ao_beep(AO_BEEP_HIGH);
- ao_panic_delay(40);
- ao_led_off(AO_LED_PANIC);
- ao_beep(AO_BEEP_OFF);
- ao_panic_delay(10);
- }
- for (n = 0; n < (reason & 0x3f); n++) {
- ao_led_on(AO_LED_PANIC);
- ao_beep(AO_BEEP_MID);
- ao_panic_delay(10);
- ao_led_off(AO_LED_PANIC);
- ao_beep(AO_BEEP_OFF);
- ao_panic_delay(10);
- }
- }
-}
+++ /dev/null
-/*
- * Copyright © 2009 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_product.h"
-
-/* Defines which mark this particular AltOS product */
-
-const char ao_version[AO_MAX_VERSION] = AO_iVersion_STRING;
-const char ao_manufacturer[] = AO_iManufacturer_STRING;
-const char ao_product[] = AO_iProduct_STRING;
-
-#define LE_WORD(x) ((x)&0xFF),((uint8_t) (((uint16_t) (x))>>8))
-
-#if HAS_USB
-
-/* Maximum power in mA */
-#ifndef AO_USB_MAX_POWER
-#define AO_USB_MAX_POWER 100
-#endif
-
-#include "ao_usb.h"
-/* USB descriptors in one giant block of bytes */
-AO_ROMCONFIG_SYMBOL(0x00aa) uint8_t ao_usb_descriptors [] =
-{
- /* Device descriptor */
- 0x12,
- AO_USB_DESC_DEVICE,
- LE_WORD(0x0110), /* bcdUSB */
- 0x02, /* bDeviceClass */
- 0x00, /* bDeviceSubClass */
- 0x00, /* bDeviceProtocol */
- AO_USB_CONTROL_SIZE, /* bMaxPacketSize */
- LE_WORD(0xFFFE), /* idVendor */
- LE_WORD(AO_idProduct_NUMBER), /* idProduct */
- LE_WORD(0x0100), /* bcdDevice */
- 0x01, /* iManufacturer */
- 0x02, /* iProduct */
- 0x03, /* iSerialNumber */
- 0x01, /* bNumConfigurations */
-
- /* Configuration descriptor */
- 0x09,
- AO_USB_DESC_CONFIGURATION,
- LE_WORD(67), /* wTotalLength */
- 0x02, /* bNumInterfaces */
- 0x01, /* bConfigurationValue */
- 0x00, /* iConfiguration */
- 0xC0, /* bmAttributes */
- AO_USB_MAX_POWER >> 1, /* bMaxPower, 2mA units */
-
- /* Control class interface */
- 0x09,
- AO_USB_DESC_INTERFACE,
- 0x00, /* bInterfaceNumber */
- 0x00, /* bAlternateSetting */
- 0x01, /* bNumEndPoints */
- 0x02, /* bInterfaceClass */
- 0x02, /* bInterfaceSubClass */
- 0x01, /* bInterfaceProtocol, linux requires value of 1 for the cdc_acm module */
- 0x00, /* iInterface */
-
- /* Header functional descriptor */
- 0x05,
- AO_USB_CS_INTERFACE,
- 0x00, /* bDescriptor SubType Header */
- LE_WORD(0x0110), /* CDC version 1.1 */
-
- /* Call management functional descriptor */
- 0x05,
- AO_USB_CS_INTERFACE,
- 0x01, /* bDescriptor SubType Call Management */
- 0x01, /* bmCapabilities = device handles call management */
- 0x01, /* bDataInterface call management interface number */
-
- /* ACM functional descriptor */
- 0x04,
- AO_USB_CS_INTERFACE,
- 0x02, /* bDescriptor SubType Abstract Control Management */
- 0x02, /* bmCapabilities = D1 (Set_line_Coding, Set_Control_Line_State, Get_Line_Coding and Serial_State) */
-
- /* Union functional descriptor */
- 0x05,
- AO_USB_CS_INTERFACE,
- 0x06, /* bDescriptor SubType Union Functional descriptor */
- 0x00, /* bMasterInterface */
- 0x01, /* bSlaveInterface0 */
-
- /* Notification EP */
- 0x07,
- AO_USB_DESC_ENDPOINT,
- AO_USB_INT_EP|0x80, /* bEndpointAddress */
- 0x03, /* bmAttributes = intr */
- LE_WORD(8), /* wMaxPacketSize */
- 0xff, /* bInterval */
-
- /* Data class interface descriptor */
- 0x09,
- AO_USB_DESC_INTERFACE,
- 0x01, /* bInterfaceNumber */
- 0x00, /* bAlternateSetting */
- 0x02, /* bNumEndPoints */
- 0x0A, /* bInterfaceClass = data */
- 0x00, /* bInterfaceSubClass */
- 0x00, /* bInterfaceProtocol */
- 0x00, /* iInterface */
-
- /* Data EP OUT */
- 0x07,
- AO_USB_DESC_ENDPOINT,
- AO_USB_OUT_EP, /* bEndpointAddress */
- 0x02, /* bmAttributes = bulk */
- LE_WORD(AO_USB_OUT_SIZE),/* wMaxPacketSize */
- 0x00, /* bInterval */
-
- /* Data EP in */
- 0x07,
- AO_USB_DESC_ENDPOINT,
- AO_USB_IN_EP|0x80, /* bEndpointAddress */
- 0x02, /* bmAttributes = bulk */
- LE_WORD(AO_USB_IN_SIZE),/* wMaxPacketSize */
- 0x00, /* bInterval */
-
- /* String descriptors */
- 0x04,
- AO_USB_DESC_STRING,
- LE_WORD(0x0409),
-
- /* iManufacturer */
- AO_iManufacturer_LEN,
- AO_USB_DESC_STRING,
- AO_iManufacturer_UCS2,
-
- /* iProduct */
- AO_iProduct_LEN,
- AO_USB_DESC_STRING,
- AO_iProduct_UCS2,
-
- /* iSerial */
- AO_iSerial_LEN,
- AO_USB_DESC_STRING,
- AO_iSerial_UCS2,
-
- /* Terminating zero */
- 0
-};
-#endif
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef AO_FLIGHT_TEST
-#include <ao.h>
-#include <ao_sample.h>
-#include <ao_flight.h>
-#endif
-#include <ao_pyro.h>
-
-#if IS_COMPANION
-#include <ao_companion.h>
-#define ao_accel ao_companion_command.accel
-#define ao_speed ao_companion_command.speed
-#define ao_height ao_companion_command.height
-#define ao_flight_state ao_companion_command.flight_state
-#define ao_motor_number ao_companion_command.motor_number
-#endif
-
-#define ao_lowbit(x) ((x) & (-x))
-
-#ifndef AO_FLIGHT_TEST
-enum ao_igniter_status
-ao_pyro_status(uint8_t p)
-{
- __xdata struct ao_data packet;
- __pdata int16_t value;
-
- ao_arch_critical(
- ao_data_get(&packet);
- );
-
- value = (AO_IGNITER_CLOSED>>1);
- value = AO_SENSE_PYRO(&packet, p);
- if (value < AO_IGNITER_OPEN)
- return ao_igniter_open;
- else if (value > AO_IGNITER_CLOSED)
- return ao_igniter_ready;
- else
- return ao_igniter_unknown;
-}
-
-void
-ao_pyro_print_status(void)
-{
- uint8_t p;
-
- for(p = 0; p < AO_PYRO_NUM; p++) {
- enum ao_igniter_status status = ao_pyro_status(p);
- printf("Igniter: %d Status: %s\n",
- p, ao_igniter_status_names[status]);
- }
-}
-#endif
-
-uint16_t ao_pyro_fired;
-
-/*
- * Given a pyro structure, figure out
- * if the current flight state satisfies all
- * of the requirements
- */
-static uint8_t
-ao_pyro_ready(struct ao_pyro *pyro)
-{
- enum ao_pyro_flag flag, flags;
-
- flags = pyro->flags;
- while (flags != ao_pyro_none) {
- flag = ao_lowbit(flags);
- flags &= ~flag;
- switch (flag) {
-
- case ao_pyro_accel_less:
- if (ao_accel <= pyro->accel_less)
- continue;
- break;
- case ao_pyro_accel_greater:
- if (ao_accel >= pyro->accel_greater)
- continue;
- break;
-
-
- case ao_pyro_speed_less:
- if (ao_speed <= pyro->speed_less)
- continue;
- break;
- case ao_pyro_speed_greater:
- if (ao_speed >= pyro->speed_greater)
- continue;
- break;
-
- case ao_pyro_height_less:
- if (ao_height <= pyro->height_less)
- continue;
- break;
- case ao_pyro_height_greater:
- if (ao_height >= pyro->height_greater)
- continue;
- break;
-
-#if HAS_GYRO
- case ao_pyro_orient_less:
- if (ao_sample_orient <= pyro->orient_less)
- continue;
- break;
- case ao_pyro_orient_greater:
- if (ao_sample_orient >= pyro->orient_greater)
- continue;
- break;
-#endif
-
- case ao_pyro_time_less:
- if ((int16_t) (ao_time() - ao_boost_tick) <= pyro->time_less)
- continue;
- break;
- case ao_pyro_time_greater:
- if ((int16_t) (ao_time() - ao_boost_tick) >= pyro->time_greater)
- continue;
- break;
-
- case ao_pyro_ascending:
- if (ao_speed > 0)
- continue;
- break;
- case ao_pyro_descending:
- if (ao_speed < 0)
- continue;
- break;
-
- case ao_pyro_after_motor:
- if (ao_motor_number == pyro->motor)
- continue;
- break;
-
- case ao_pyro_delay:
- /* handled separately */
- continue;
-
- case ao_pyro_state_less:
- if (ao_flight_state < pyro->state_less)
- continue;
- break;
- case ao_pyro_state_greater_or_equal:
- if (ao_flight_state >= pyro->state_greater_or_equal)
- continue;
- break;
-
- default:
- continue;
- }
- return FALSE;
- }
- return TRUE;
-}
-
-#ifndef AO_FLIGHT_TEST
-static void
-ao_pyro_pin_set(uint8_t p, uint8_t v)
-{
- switch (p) {
-#if AO_PYRO_NUM > 0
- case 0: ao_gpio_set(AO_PYRO_PORT_0, AO_PYRO_PIN_0, AO_PYRO_0, v); break;
-#endif
-#if AO_PYRO_NUM > 1
- case 1: ao_gpio_set(AO_PYRO_PORT_1, AO_PYRO_PIN_1, AO_PYRO_1, v); break;
-#endif
-#if AO_PYRO_NUM > 2
- case 2: ao_gpio_set(AO_PYRO_PORT_2, AO_PYRO_PIN_2, AO_PYRO_2, v); break;
-#endif
-#if AO_PYRO_NUM > 3
- case 3: ao_gpio_set(AO_PYRO_PORT_3, AO_PYRO_PIN_3, AO_PYRO_3, v); break;
-#endif
-#if AO_PYRO_NUM > 4
- case 4: ao_gpio_set(AO_PYRO_PORT_4, AO_PYRO_PIN_4, AO_PYRO_4, v); break;
-#endif
-#if AO_PYRO_NUM > 5
- case 5: ao_gpio_set(AO_PYRO_PORT_5, AO_PYRO_PIN_5, AO_PYRO_5, v); break;
-#endif
-#if AO_PYRO_NUM > 6
- case 6: ao_gpio_set(AO_PYRO_PORT_6, AO_PYRO_PIN_6, AO_PYRO_6, v); break;
-#endif
-#if AO_PYRO_NUM > 7
- case 7: ao_gpio_set(AO_PYRO_PORT_7, AO_PYRO_PIN_7, AO_PYRO_7, v); break;
-#endif
- default: break;
- }
-}
-#endif
-
-uint8_t ao_pyro_wakeup;
-
-static void
-ao_pyro_pins_fire(uint16_t fire)
-{
- uint8_t p;
-
- for (p = 0; p < AO_PYRO_NUM; p++) {
- if (fire & (1 << p))
- ao_pyro_pin_set(p, 1);
- }
- ao_delay(AO_MS_TO_TICKS(50));
- for (p = 0; p < AO_PYRO_NUM; p++) {
- if (fire & (1 << p)) {
- ao_pyro_pin_set(p, 0);
- ao_config.pyro[p].fired = 1;
- ao_pyro_fired |= (1 << p);
- }
- }
- ao_delay(AO_MS_TO_TICKS(50));
-}
-
-static uint8_t
-ao_pyro_check(void)
-{
- struct ao_pyro *pyro;
- uint8_t p, any_waiting;
- uint16_t fire = 0;
-
- any_waiting = 0;
- for (p = 0; p < AO_PYRO_NUM; p++) {
- pyro = &ao_config.pyro[p];
-
- /* Ignore igniters which have already fired
- */
- if (pyro->fired)
- continue;
-
- /* Ignore disabled igniters
- */
- if (!pyro->flags)
- continue;
-
- any_waiting = 1;
- /* Check pyro state to see if it should fire
- */
- if (!pyro->delay_done) {
- if (!ao_pyro_ready(pyro))
- continue;
-
- /* If there's a delay set, then remember when
- * it expires
- */
- if (pyro->flags & ao_pyro_delay) {
- pyro->delay_done = ao_time() + pyro->delay;
- if (!pyro->delay_done)
- pyro->delay_done = 1;
- }
- }
-
- /* Check to see if we're just waiting for
- * the delay to expire
- */
- if (pyro->delay_done) {
- if ((int16_t) (ao_time() - pyro->delay_done) < 0)
- continue;
- }
-
- fire |= (1 << p);
- }
-
- if (fire)
- ao_pyro_pins_fire(fire);
-
- return any_waiting;
-}
-
-#define NO_VALUE 0xff
-
-#define AO_PYRO_NAME_LEN 3
-
-#if !DISABLE_HELP
-#define ENABLE_HELP 1
-#endif
-
-#if ENABLE_HELP
-#define HELP(s) (s)
-#else
-#define HELP(s)
-#endif
-
-const struct {
- char name[AO_PYRO_NAME_LEN];
- enum ao_pyro_flag flag;
- uint8_t offset;
-#if ENABLE_HELP
- char *help;
-#endif
-} ao_pyro_values[] = {
- { "a<", ao_pyro_accel_less, offsetof(struct ao_pyro, accel_less), HELP("accel less (m/ss * 16)") },
- { "a>", ao_pyro_accel_greater, offsetof(struct ao_pyro, accel_greater), HELP("accel greater (m/ss * 16)") },
-
- { "s<", ao_pyro_speed_less, offsetof(struct ao_pyro, speed_less), HELP("speed less (m/s * 16)") },
- { "s>", ao_pyro_speed_greater, offsetof(struct ao_pyro, speed_greater), HELP("speed greater (m/s * 16)") },
-
- { "h<", ao_pyro_height_less, offsetof(struct ao_pyro, height_less), HELP("height less (m)") },
- { "h>", ao_pyro_height_greater, offsetof(struct ao_pyro, height_greater), HELP("height greater (m)") },
-
-#if HAS_GYRO
- { "o<", ao_pyro_orient_less, offsetof(struct ao_pyro, orient_less), HELP("orient less (deg)") },
- { "o>", ao_pyro_orient_greater, offsetof(struct ao_pyro, orient_greater), HELP("orient greater (deg)") },
-#endif
-
- { "t<", ao_pyro_time_less, offsetof(struct ao_pyro, time_less), HELP("time less (s * 100)") },
- { "t>", ao_pyro_time_greater, offsetof(struct ao_pyro, time_greater), HELP("time greater (s * 100)") },
-
- { "f<", ao_pyro_state_less, offsetof(struct ao_pyro, state_less), HELP("state less") },
- { "f>=",ao_pyro_state_greater_or_equal, offsetof(struct ao_pyro, state_greater_or_equal), HELP("state greater or equal") },
-
- { "A", ao_pyro_ascending, NO_VALUE, HELP("ascending") },
- { "D", ao_pyro_descending, NO_VALUE, HELP("descending") },
-
- { "m", ao_pyro_after_motor, offsetof(struct ao_pyro, motor), HELP("after motor") },
-
- { "d", ao_pyro_delay, offsetof(struct ao_pyro, delay), HELP("delay before firing (s * 100)") },
- { "", ao_pyro_none, NO_VALUE, HELP(NULL) },
-};
-
-#define NUM_PYRO_VALUES (sizeof ao_pyro_values / sizeof ao_pyro_values[0])
-
-#ifndef AO_FLIGHT_TEST
-static void
-ao_pyro(void)
-{
- uint8_t any_waiting;
-
- ao_config_get();
- while (ao_flight_state < ao_flight_boost)
- ao_sleep(&ao_flight_state);
-
- for (;;) {
- ao_alarm(AO_MS_TO_TICKS(100));
- ao_sleep(&ao_pyro_wakeup);
- ao_clear_alarm();
- if (ao_flight_state >= ao_flight_landed)
- break;
- any_waiting = ao_pyro_check();
- if (!any_waiting)
- break;
- }
- ao_exit();
-}
-
-__xdata struct ao_task ao_pyro_task;
-
-
-static void
-ao_pyro_print_name(uint8_t v)
-{
- const char *s = ao_pyro_values[v].name;
- printf ("%s%s", s, " " + strlen(s));
-}
-
-#if ENABLE_HELP
-static void
-ao_pyro_help(void)
-{
- uint8_t v;
- for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
- ao_pyro_print_name(v);
- if (ao_pyro_values[v].offset != NO_VALUE)
- printf ("<n> ");
- else
- printf (" ");
- printf ("%s\n", ao_pyro_values[v].help);
- }
-}
-#endif
-
-void
-ao_pyro_show(void)
-{
- uint8_t p;
- uint8_t v;
- struct ao_pyro *pyro;
-
- printf ("Pyro-count: %d\n", AO_PYRO_NUM);
- for (p = 0; p < AO_PYRO_NUM; p++) {
- printf ("Pyro %2d: ", p);
- pyro = &ao_config.pyro[p];
- if (!pyro->flags) {
- printf ("<disabled>\n");
- continue;
- }
- for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
- if (!(pyro->flags & ao_pyro_values[v].flag))
- continue;
- ao_pyro_print_name(v);
- if (ao_pyro_values[v].offset != NO_VALUE) {
- int16_t value;
-
- value = *((int16_t *) ((char *) pyro + ao_pyro_values[v].offset));
- printf ("%6d ", value);
- } else {
- printf (" ");
- }
- }
- printf ("\n");
- }
-}
-
-void
-ao_pyro_set(void)
-{
- uint8_t p;
- struct ao_pyro pyro_tmp;
- char name[AO_PYRO_NAME_LEN];
- uint8_t c;
- uint8_t v;
-
- ao_cmd_white();
-
-#if ENABLE_HELP
- switch (ao_cmd_lex_c) {
- case '?':
- ao_pyro_help();
- return;
- }
-#endif
-
- ao_cmd_decimal();
- if (ao_cmd_status != ao_cmd_success)
- return;
- p = ao_cmd_lex_i;
- if (AO_PYRO_NUM <= p) {
- printf ("invalid pyro channel %d\n", p);
- return;
- }
- pyro_tmp.flags = 0;
- for (;;) {
- ao_cmd_white();
- if (ao_cmd_lex_c == '\n')
- break;
-
- for (c = 0; c < AO_PYRO_NAME_LEN - 1; c++) {
- if (ao_cmd_is_white())
- break;
- name[c] = ao_cmd_lex_c;
- ao_cmd_lex();
- }
- name[c] = '\0';
- for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
- if (!strcmp (ao_pyro_values[v].name, name))
- break;
- }
- if (ao_pyro_values[v].flag == ao_pyro_none) {
- printf ("invalid pyro field %s\n", name);
- ao_cmd_status = ao_cmd_syntax_error;
- return;
- }
- pyro_tmp.flags |= ao_pyro_values[v].flag;
- if (ao_pyro_values[v].offset != NO_VALUE) {
- ao_cmd_decimal();
- if (ao_cmd_status != ao_cmd_success)
- return;
- *((int16_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
- }
- }
- _ao_config_edit_start();
- ao_config.pyro[p] = pyro_tmp;
- _ao_config_edit_finish();
-}
-
-void
-ao_pyro_manual(uint8_t p)
-{
- printf ("ao_pyro_manual %d\n", p);
- if (p >= AO_PYRO_NUM) {
- ao_cmd_status = ao_cmd_syntax_error;
- return;
- }
- ao_pyro_pins_fire(1 << p);
-}
-
-void
-ao_pyro_init(void)
-{
-#if AO_PYRO_NUM > 0
- ao_enable_output(AO_PYRO_PORT_0, AO_PYRO_PIN_0, AO_PYRO_0, 0);
-#endif
-#if AO_PYRO_NUM > 1
- ao_enable_output(AO_PYRO_PORT_1, AO_PYRO_PIN_1, AO_PYRO_1, 0);
-#endif
-#if AO_PYRO_NUM > 2
- ao_enable_output(AO_PYRO_PORT_2, AO_PYRO_PIN_2, AO_PYRO_2, 0);
-#endif
-#if AO_PYRO_NUM > 3
- ao_enable_output(AO_PYRO_PORT_3, AO_PYRO_PIN_3, AO_PYRO_3, 0);
-#endif
-#if AO_PYRO_NUM > 4
- ao_enable_output(AO_PYRO_PORT_4, AO_PYRO_PIN_4, AO_PYRO_4, 0);
-#endif
-#if AO_PYRO_NUM > 5
- ao_enable_output(AO_PYRO_PORT_5, AO_PYRO_PIN_5, AO_PYRO_5, 0);
-#endif
-#if AO_PYRO_NUM > 6
- ao_enable_output(AO_PYRO_PORT_6, AO_PYRO_PIN_6, AO_PYRO_6, 0);
-#endif
-#if AO_PYRO_NUM > 7
- ao_enable_output(AO_PYRO_PORT_7, AO_PYRO_PIN_7, AO_PYRO_7, 0);
-#endif
- ao_add_task(&ao_pyro_task, ao_pyro, "pyro");
-}
-#endif
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_PYRO_H_
-#define _AO_PYRO_H_
-
-enum ao_pyro_flag {
- ao_pyro_none = 0x00000000,
-
- ao_pyro_accel_less = 0x00000001,
- ao_pyro_accel_greater = 0x00000002,
-
- ao_pyro_speed_less = 0x00000004,
- ao_pyro_speed_greater = 0x00000008,
-
- ao_pyro_height_less = 0x00000010,
- ao_pyro_height_greater = 0x00000020,
-
- ao_pyro_orient_less = 0x00000040,
- ao_pyro_orient_greater = 0x00000080,
-
- ao_pyro_time_less = 0x00000100,
- ao_pyro_time_greater = 0x00000200,
-
- ao_pyro_ascending = 0x00000400,
- ao_pyro_descending = 0x00000800,
-
- ao_pyro_after_motor = 0x00001000,
-
- ao_pyro_delay = 0x00002000,
-
- ao_pyro_state_less = 0x00004000,
- ao_pyro_state_greater_or_equal = 0x00008000,
-};
-
-struct ao_pyro {
- enum ao_pyro_flag flags;
- int16_t accel_less, accel_greater;
- int16_t speed_less, speed_greater;
- int16_t height_less, height_greater;
- int16_t orient_less, orient_greater;
- int16_t time_less, time_greater;
- int16_t delay;
- uint8_t state_less, state_greater_or_equal;
- int16_t motor;
- uint16_t delay_done;
- uint8_t fired;
-};
-
-extern uint8_t ao_pyro_wakeup;
-
-extern uint16_t ao_pyro_fired;
-
-void
-ao_pyro_set(void);
-
-void
-ao_pyro_show(void);
-
-void
-ao_pyro_init(void);
-
-void
-ao_pyro_manual(uint8_t p);
-
-void
-ao_pyro_print_status(void);
-
-#endif
+++ /dev/null
-/*
- * Copyright © 2013 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.
- */
-
-#ifndef _AO_QUATERNION_H_
-#define _AO_QUATERNION_H_
-
-#include <math.h>
-
-struct ao_quaternion {
- float r; /* real bit */
- float x, y, z; /* imaginary bits */
-};
-
-static inline void ao_quaternion_multiply(struct ao_quaternion *r,
- const struct ao_quaternion *a,
- const struct ao_quaternion *b)
-{
- struct ao_quaternion t;
-#define T(_a,_b) (((a)->_a) * ((b)->_b))
-
-/*
- * Quaternions
- *
- * ii = jj = kk = ijk = -1;
- *
- * kji = 1;
- *
- * ij = k; ji = -k;
- * kj = -i; jk = i;
- * ik = -j; ki = j;
- *
- * Multiplication p * q:
- *
- * (pr + ipx + jpy + kpz) (qr + iqx + jqy + kqz) =
- *
- * ( pr * qr + pr * iqx + pr * jqy + pr * kqz) +
- * (ipx * qr + ipx * iqx + ipx * jqy + ipx * kqz) +
- * (jpy * qr + jpy * iqx + jpy * jqy + jpy * kqz) +
- * (kpz * qr + kpz * iqx + kpz * jqy + kpz * kqz) =
- *
- *
- * (pr * qr) + i(pr * qx) + j(pr * qy) + k(pr * qz) +
- * i(px * qr) - (px * qx) + k(px * qy) - j(px * qz) +
- * j(py * qr) - k(py * qx) - (py * qy) + i(py * qz) +
- * k(pz * qr) + j(pz * qx) - i(pz * qy) - (pz * qz) =
- *
- * 1 * ( (pr * qr) - (px * qx) - (py * qy) - (pz * qz) ) +
- * i * ( (pr * qx) + (px * qr) + (py * qz) - (pz * qy) ) +
- * j * ( (pr * qy) - (px * qz) + (py * qr) + (pz * qx) ) +
- * k * ( (pr * qz) + (px * qy) - (py * qx) + (pz * qr);
- */
-
- t.r = T(r,r) - T(x,x) - T(y,y) - T(z,z);
- t.x = T(r,x) + T(x,r) + T(y,z) - T(z,y);
- t.y = T(r,y) - T(x,z) + T(y,r) + T(z,x);
- t.z = T(r,z) + T(x,y) - T(y,x) + T(z,r);
-#undef T
- *r = t;
-}
-
-static inline void ao_quaternion_conjugate(struct ao_quaternion *r,
- const struct ao_quaternion *a)
-{
- r->r = a->r;
- r->x = -a->x;
- r->y = -a->y;
- r->z = -a->z;
-}
-
-static inline float ao_quaternion_normal(const struct ao_quaternion *a)
-{
-#define S(_a) (((a)->_a) * ((a)->_a))
- return S(r) + S(x) + S(y) + S(z);
-#undef S
-}
-
-static inline void ao_quaternion_scale(struct ao_quaternion *r,
- const struct ao_quaternion *a,
- float b)
-{
- r->r = a->r * b;
- r->x = a->x * b;
- r->y = a->y * b;
- r->z = a->z * b;
-}
-
-static inline void ao_quaternion_normalize(struct ao_quaternion *r,
- const struct ao_quaternion *a)
-{
- float n = ao_quaternion_normal(a);
-
- if (n > 0)
- ao_quaternion_scale(r, a, 1/sqrtf(n));
- else
- *r = *a;
-}
-
-static inline float ao_quaternion_dot(const struct ao_quaternion *a,
- const struct ao_quaternion *b)
-{
-#define T(_a) (((a)->_a) * ((b)->_a))
- return T(r) + T(x) + T(y) + T(z);
-#undef T
-}
-
-
-static inline void ao_quaternion_rotate(struct ao_quaternion *r,
- const struct ao_quaternion *a,
- const struct ao_quaternion *b)
-{
- struct ao_quaternion c;
- struct ao_quaternion t;
-
- ao_quaternion_multiply(&t, b, a);
- ao_quaternion_conjugate(&c, b);
- ao_quaternion_multiply(r, &t, &c);
-}
-
-/*
- * Compute a rotation quaternion between two vectors
- *
- * cos(θ) + u * sin(θ)
- *
- * where θ is the angle between the two vectors and u
- * is a unit vector axis of rotation
- */
-
-static inline void ao_quaternion_vectors_to_rotation(struct ao_quaternion *r,
- const struct ao_quaternion *a,
- const struct ao_quaternion *b)
-{
- /*
- * The cross product will point orthogonally to the two
- * vectors, forming our rotation axis. The length will be
- * sin(θ), so these values are already multiplied by that.
- */
-
- float x = a->y * b->z - a->z * b->y;
- float y = a->z * b->x - a->x * b->z;
- float z = a->x * b->y - a->y * b->x;
-
- float s_2 = x*x + y*y + z*z;
- float s = sqrtf(s_2);
-
- /* cos(θ) = a · b / (|a| |b|).
- *
- * a and b are both unit vectors, so the divisor is one
- */
- float c = a->x*b->x + a->y*b->y + a->z*b->z;
-
- float c_half = sqrtf ((1 + c) / 2);
- float s_half = sqrtf ((1 - c) / 2);
-
- /*
- * Divide out the sine factor from the
- * cross product, then multiply in the
- * half sine factor needed for the quaternion
- */
- float s_scale = s_half / s;
-
- r->x = x * s_scale;
- r->y = y * s_scale;
- r->z = z * s_scale;
-
- r->r = c_half;
-
- ao_quaternion_normalize(r, r);
-}
-
-static inline void ao_quaternion_init_vector(struct ao_quaternion *r,
- float x, float y, float z)
-{
- r->r = 0;
- r->x = x;
- r->y = y;
- r->z = z;
-}
-
-static inline void ao_quaternion_init_rotation(struct ao_quaternion *r,
- float x, float y, float z,
- float s, float c)
-{
- r->r = c;
- r->x = s * x;
- r->y = s * y;
- r->z = s * z;
-}
-
-static inline void ao_quaternion_init_zero_rotation(struct ao_quaternion *r)
-{
- r->r = 1;
- r->x = r->y = r->z = 0;
-}
-
-/*
- * The sincosf from newlib just calls sinf and cosf. This is a bit
- * faster, if slightly less precise
- */
-
-static inline void
-ao_sincosf(float a, float *s, float *c) {
- float _s = sinf(a);
- *s = _s;
- *c = sqrtf(1 - _s*_s);
-}
-
-/*
- * Initialize a quaternion from 1/2 euler rotation angles (in radians).
- *
- * Yes, it would be nicer if there were a faster way, but because we
- * sample the gyros at only 100Hz, we end up getting angles too large
- * to take advantage of sin(x) ≃ x.
- *
- * We might be able to use just a couple of elements of the sin taylor
- * series though, instead of the whole sin function?
- */
-
-static inline void ao_quaternion_init_half_euler(struct ao_quaternion *r,
- float x, float y, float z)
-{
- float s_x, c_x;
- float s_y, c_y;
- float s_z, c_z;
-
- ao_sincosf(x, &s_x, &c_x);
- ao_sincosf(y, &s_y, &c_y);
- ao_sincosf(z, &s_z, &c_z);
-
- r->r = c_x * c_y * c_z + s_x * s_y * s_z;
- r->x = s_x * c_y * c_z - c_x * s_y * s_z;
- r->y = c_x * s_y * c_z + s_x * c_y * s_z;
- r->z = c_x * c_y * s_z - s_x * s_y * c_z;
-}
-
-#endif /* _AO_QUATERNION_H_ */
+++ /dev/null
-/*
- * Copyright © 2011 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_radio_cmac.h>
-
-static __xdata uint8_t ao_radio_cmac_mutex;
-__pdata int8_t ao_radio_cmac_rssi;
-static __xdata uint8_t cmac_data[AO_CMAC_MAX_LEN + AO_CMAC_KEY_LEN + 2 + AO_CMAC_KEY_LEN];
-
-static uint8_t
-round_len(uint8_t len)
-{
- uint8_t rem;
-
- /* Make sure we transfer at least one packet, and
- * then make sure every packet is full. Note that
- * there is no length encoded, and that the receiver
- * must deal with any extra bytes in the packet
- */
- if (len < AO_CMAC_KEY_LEN)
- len = AO_CMAC_KEY_LEN;
- rem = len % AO_CMAC_KEY_LEN;
- if (rem != 0)
- len += (AO_CMAC_KEY_LEN - rem);
- return len;
-}
-
-/*
- * Sign and deliver the data sitting in the cmac buffer
- */
-static void
-radio_cmac_send(uint8_t len) __reentrant
-{
- uint8_t i;
-
- len = round_len(len);
- /* Make sure the AES key is loaded */
- ao_config_get();
-
-#if HAS_MONITOR
- ao_monitor_set(0);
-#endif
-
- ao_mutex_get(&ao_aes_mutex);
- ao_aes_set_mode(ao_aes_mode_cbc_mac);
- ao_aes_set_key(ao_config.aes_key);
- ao_aes_zero_iv();
- for (i = 0; i < len; i += AO_CMAC_KEY_LEN) {
- if (i + AO_CMAC_KEY_LEN < len)
- ao_aes_run(&cmac_data[i], NULL);
- else
- ao_aes_run(&cmac_data[i], &cmac_data[len]);
- }
- ao_mutex_put(&ao_aes_mutex);
-
- ao_radio_send(cmac_data, len + AO_CMAC_KEY_LEN);
-}
-
-/*
- * Receive and validate an incoming packet
- */
-
-static int8_t
-radio_cmac_recv(uint8_t len, uint16_t timeout) __reentrant
-{
- uint8_t i;
-
- len = round_len(len);
-#if HAS_MONITOR
- ao_monitor_set(0);
-#endif
- i = ao_radio_recv(cmac_data, len + AO_CMAC_KEY_LEN + 2, timeout);
-
- if (!i) {
- ao_radio_cmac_rssi = 0;
- return AO_RADIO_CMAC_TIMEOUT;
- }
-
- ao_radio_cmac_rssi = ao_radio_rssi;
- if (!(cmac_data[len + AO_CMAC_KEY_LEN +1] & AO_RADIO_STATUS_CRC_OK))
- return AO_RADIO_CMAC_CRC_ERROR;
-
- ao_config_get();
-
- /* Compute the packet signature
- */
- ao_mutex_get(&ao_aes_mutex);
- ao_aes_set_mode(ao_aes_mode_cbc_mac);
- ao_aes_set_key(ao_config.aes_key);
- ao_aes_zero_iv();
- for (i = 0; i < len; i += AO_CMAC_KEY_LEN) {
- if (i + AO_CMAC_KEY_LEN < len)
- ao_aes_run(&cmac_data[i], NULL);
- else
- ao_aes_run(&cmac_data[i], &cmac_data[len + AO_CMAC_KEY_LEN + 2]);
- }
- ao_mutex_put(&ao_aes_mutex);
-
- /* Check the packet signature against the signature provided
- * over the link
- */
-
- if (memcmp(&cmac_data[len],
- &cmac_data[len + AO_CMAC_KEY_LEN + 2],
- AO_CMAC_KEY_LEN) != 0) {
- return AO_RADIO_CMAC_MAC_ERROR;
- }
-
- return AO_RADIO_CMAC_OK;
-}
-
-int8_t
-ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant
-{
- if (len > AO_CMAC_MAX_LEN)
- return AO_RADIO_CMAC_LEN_ERROR;
- ao_mutex_get(&ao_radio_cmac_mutex);
- ao_xmemcpy(cmac_data, packet, len);
-#if AO_LED_TX
- ao_led_on(AO_LED_TX);
-#endif
- radio_cmac_send(len);
-#if AO_LED_TX
- ao_led_off(AO_LED_TX);
-#endif
- ao_mutex_put(&ao_radio_cmac_mutex);
- return AO_RADIO_CMAC_OK;
-}
-
-int8_t
-ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant
-{
- int8_t i;
- if (len > AO_CMAC_MAX_LEN)
- return AO_RADIO_CMAC_LEN_ERROR;
- ao_mutex_get(&ao_radio_cmac_mutex);
-#if AO_LED_RX
- ao_led_on(AO_LED_RX);
-#endif
- i = radio_cmac_recv(len, timeout);
-#if AO_LED_RX
- ao_led_off(AO_LED_RX);
-#endif
- if (i == AO_RADIO_CMAC_OK)
- ao_xmemcpy(packet, cmac_data, len);
- ao_mutex_put(&ao_radio_cmac_mutex);
- return i;
-}
-
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_RADIO_CMAC_H_
-#define _AO_RADIO_CMAC_H_
-
-#include <ao_aes.h>
-
-#define AO_CMAC_KEY_LEN AO_AES_LEN
-#define AO_CMAC_MAX_LEN (128 - AO_CMAC_KEY_LEN)
-
-extern __pdata int8_t ao_radio_cmac_rssi;
-
-int8_t
-ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant;
-
-#define AO_RADIO_CMAC_OK 0
-#define AO_RADIO_CMAC_LEN_ERROR -1
-#define AO_RADIO_CMAC_CRC_ERROR -2
-#define AO_RADIO_CMAC_MAC_ERROR -3
-#define AO_RADIO_CMAC_TIMEOUT -4
-
-int8_t
-ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant;
-
-void
-ao_radio_cmac_init(void);
-
-#endif /* _AO_RADIO_CMAC_H_ */
+++ /dev/null
-/*
- * 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_radio_cmac_cmd.h>
-#include <ao_radio_cmac.h>
-
-static __xdata uint8_t cmac_data[AO_CMAC_MAX_LEN];
-
-static uint8_t
-getnibble(void)
-{
- int8_t b;
-
- b = ao_cmd_hexchar(getchar());
- if (b < 0) {
- ao_cmd_status = ao_cmd_lex_error;
- return 0;
- }
- return (uint8_t) b;
-}
-
-static uint8_t
-getbyte(void)
-{
- uint8_t b;
- b = getnibble() << 4;
- b |= getnibble();
- return b;
-}
-
-static void
-radio_cmac_send_cmd(void) __reentrant
-{
- uint8_t i;
- uint8_t len;
-
- ao_cmd_decimal();
- if (ao_cmd_status != ao_cmd_success)
- return;
- len = ao_cmd_lex_i;
- if (len > AO_CMAC_MAX_LEN) {
- ao_cmd_status = ao_cmd_syntax_error;
- return;
- }
- flush();
- len = ao_cmd_lex_i;
- for (i = 0; i < len; i++) {
- cmac_data[i] = getbyte();
- if (ao_cmd_status != ao_cmd_success)
- return;
- }
- ao_radio_cmac_send(cmac_data, len);
-}
-
-static void
-radio_cmac_recv_cmd(void) __reentrant
-{
- uint8_t len, i;
- uint16_t timeout;
-
- ao_cmd_decimal();
- if (ao_cmd_status != ao_cmd_success)
- return;
- len = ao_cmd_lex_i;
- ao_cmd_decimal();
- if (ao_cmd_status != ao_cmd_success)
- return;
- timeout = AO_MS_TO_TICKS(ao_cmd_lex_i);
- i = ao_radio_cmac_recv(cmac_data, len, timeout);
- if (i == AO_RADIO_CMAC_OK) {
- printf ("PACKET ");
- for (i = 0; i < len; i++)
- printf("%02x", cmac_data[i]);
- printf (" %d\n", ao_radio_cmac_rssi);
- } else
- printf ("ERROR %d %d\n", i, ao_radio_cmac_rssi);
-}
-
-static __code struct ao_cmds ao_radio_cmac_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" },
- { 0, NULL },
-};
-
-void
-ao_radio_cmac_cmd_init(void)
-{
- ao_cmd_register(&ao_radio_cmac_cmds[0]);
-}
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_RADIO_CMAC_CMD_H_
-#define _AO_RADIO_CMAC_CMD_H_
-
-void
-ao_radio_cmac_cmd_init(void);
-
-#endif /* _AO_RADIO_CMAC_CMD_H_ */
+++ /dev/null
-/*
- * Copyright © 2009 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_flight.h>
-#include <ao_sample.h>
-
-#define BIT(i,x) ((x) ? (1 << (i)) : 0)
-#define MORSE1(a) (1 | BIT(3,a))
-#define MORSE2(a,b) (2 | BIT(3,a) | BIT(4,b))
-#define MORSE3(a,b,c) (3 | BIT(3,a) | BIT(4,b) | BIT(5,c))
-#define MORSE4(a,b,c,d) (4 | BIT(3,a) | BIT(4,b) | BIT(5,c) | BIT(6,d))
-#define MORSE5(a,b,c,d,e) (5 | BIT(3,a) | BIT(4,b) | BIT(5,c) | BIT(6,d) | BIT(7,e))
-
-static const uint8_t flight_reports[] = {
- MORSE3(0,0,0), /* startup, 'S' */
- MORSE2(0,0), /* idle 'I' */
- MORSE4(0,1,1,0), /* pad 'P' */
- MORSE4(1,0,0,0), /* boost 'B' */
- MORSE4(0,0,1,0), /* fast 'F' */
- MORSE4(1,0,1,0), /* coast 'C' */
- MORSE3(1,0,0), /* drogue 'D' */
- MORSE2(1,1), /* main 'M' */
- MORSE4(0,1,0,0), /* landed 'L' */
- MORSE4(1,0,0,1), /* invalid 'X' */
-};
-
-#if HAS_BEEP
-#define low(time) ao_beep_for(AO_BEEP_LOW, time)
-#define mid(time) ao_beep_for(AO_BEEP_MID, time)
-#define high(time) ao_beep_for(AO_BEEP_HIGH, time)
-#else
-#define low(time) ao_led_for(AO_LED_GREEN, time)
-#define mid(time) ao_led_for(AO_LED_RED, time)
-#define high(time) ao_led_for(AO_LED_GREEN|AO_LED_RED, time)
-#endif
-#define pause(time) ao_delay(time)
-
-static __pdata enum ao_flight_state ao_report_state;
-
-static void
-ao_report_beep(void) __reentrant
-{
- uint8_t r = flight_reports[ao_flight_state];
- uint8_t l = r & 7;
-
- if (!r)
- return;
- while (l--) {
- if (r & 8)
- mid(AO_MS_TO_TICKS(600));
- else
- mid(AO_MS_TO_TICKS(200));
- pause(AO_MS_TO_TICKS(200));
- r >>= 1;
- }
- pause(AO_MS_TO_TICKS(400));
-}
-
-static void
-ao_report_digit(uint8_t digit) __reentrant
-{
- if (!digit) {
- mid(AO_MS_TO_TICKS(500));
- pause(AO_MS_TO_TICKS(200));
- } else {
- while (digit--) {
- mid(AO_MS_TO_TICKS(200));
- pause(AO_MS_TO_TICKS(200));
- }
- }
- pause(AO_MS_TO_TICKS(300));
-}
-
-static void
-ao_report_altitude(void)
-{
- __pdata int16_t agl = ao_max_height;
- __xdata uint8_t digits[10];
- __pdata uint8_t ndigits, i;
-
- if (agl < 0)
- agl = 0;
- ndigits = 0;
- do {
- digits[ndigits++] = agl % 10;
- agl /= 10;
- } while (agl);
-
- i = ndigits;
- do
- ao_report_digit(digits[--i]);
- while (i != 0);
-}
-
-#if HAS_IGNITE_REPORT
-static uint8_t
-ao_report_igniter_ready(enum ao_igniter igniter)
-{
- return ao_igniter_status(igniter) == ao_igniter_ready ? 1 : 0;
-}
-
-uint8_t
-ao_report_igniter(void)
-{
- return (ao_report_igniter_ready(ao_igniter_drogue) |
- (ao_report_igniter_ready(ao_igniter_main) << 1));
-}
-
-static void
-ao_report_continuity(void) __reentrant
-{
- uint8_t c;
-
-#if !HAS_IGNITE
- if (!ao_igniter_present)
- return;
-#endif
- c = ao_report_igniter();
- if (c) {
- while (c--) {
- high(AO_MS_TO_TICKS(25));
- pause(AO_MS_TO_TICKS(100));
- }
- } else {
- c = 10;
- while (c--) {
- high(AO_MS_TO_TICKS(20));
- low(AO_MS_TO_TICKS(20));
- }
- }
-#if HAS_LOG
- if (ao_log_full()) {
- pause(AO_MS_TO_TICKS(100));
- c = 2;
- while (c--) {
- low(AO_MS_TO_TICKS(100));
- mid(AO_MS_TO_TICKS(100));
- high(AO_MS_TO_TICKS(100));
- mid(AO_MS_TO_TICKS(100));
- }
- }
-#endif
-}
-#endif
-
-void
-ao_report(void)
-{
- ao_report_state = ao_flight_state;
- for(;;) {
- ao_report_beep();
- if (ao_flight_state == ao_flight_landed) {
- ao_report_altitude();
-#if HAS_FLIGHT
- ao_delay(AO_SEC_TO_TICKS(5));
- continue;
-#endif
- }
-#if HAS_IGNITE_REPORT
- if (ao_flight_state == ao_flight_idle)
- ao_report_continuity();
- while (ao_flight_state == ao_flight_pad) {
- uint8_t c;
- ao_report_continuity();
- c = 50;
- while (c-- && ao_flight_state == ao_flight_pad)
- pause(AO_MS_TO_TICKS(100));
- }
-#endif
-
- while (ao_report_state == ao_flight_state)
- ao_sleep(DATA_TO_XDATA(&ao_flight_state));
- ao_report_state = ao_flight_state;
- }
-}
-
-static __xdata struct ao_task ao_report_task;
-
-void
-ao_report_init(void)
-{
- ao_add_task(&ao_report_task, ao_report, "report");
-}
+++ /dev/null
-/*
- * 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>
-
-#define mid(time) ao_led_for(AO_LED_REPORT, time)
-#define pause(time) ao_delay(time)
-
-static void
-ao_report_digit(uint8_t digit) __reentrant
-{
- if (!digit) {
- mid(AO_MS_TO_TICKS(1000));
- pause(AO_MS_TO_TICKS(300));
- } else {
- while (digit--) {
- mid(AO_MS_TO_TICKS(300));
- pause(AO_MS_TO_TICKS(300));
- }
- }
- pause(AO_MS_TO_TICKS(1000));
-}
-
-void
-ao_report_altitude(void)
-{
- __pdata alt_t agl = ao_max_height;
- static __xdata uint8_t digits[11];
- __pdata uint8_t ndigits, i;
-
- if (agl < 0)
- agl = 0;
- ndigits = 0;
- do {
- digits[ndigits++] = agl % 10;
- agl /= 10;
- } while (agl);
-
- i = ndigits;
- do
- ao_report_digit(digits[--i]);
- while (i != 0);
-}
+++ /dev/null
-/*
- * Copyright © 2009 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"
-
-static __xdata uint16_t ao_rssi_time;
-static __pdata uint16_t ao_rssi_delay;
-static __pdata uint8_t ao_rssi_led;
-
-void
-ao_rssi(void)
-{
- for (;;) {
- while ((int16_t) (ao_time() - ao_rssi_time) > AO_SEC_TO_TICKS(3))
- ao_sleep(&ao_rssi_time);
- ao_led_for(ao_rssi_led, AO_MS_TO_TICKS(100));
- ao_delay(ao_rssi_delay);
- }
-}
-
-void
-ao_rssi_set(int rssi_value)
-{
- if (rssi_value > 0)
- rssi_value = 0;
- ao_rssi_delay = AO_MS_TO_TICKS((-rssi_value) * 5);
- ao_rssi_time = ao_time();
- ao_wakeup(&ao_rssi_time);
-}
-
-__xdata struct ao_task ao_rssi_task;
-
-void
-ao_rssi_init(uint8_t rssi_led)
-{
- ao_rssi_led = rssi_led;
- ao_rssi_delay = 0;
- ao_add_task(&ao_rssi_task, ao_rssi, "rssi");
-}
+++ /dev/null
-/*
- * Copyright © 2011 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.
- */
-
-#ifndef AO_FLIGHT_TEST
-#include "ao.h"
-#include <ao_data.h>
-#endif
-
-#if HAS_GYRO
-#include <ao_quaternion.h>
-#endif
-
-/*
- * Current sensor values
- */
-
-#ifndef PRES_TYPE
-#define PRES_TYPE int32_t
-#define ALT_TYPE int32_t
-#define ACCEL_TYPE int16_t
-#endif
-
-__pdata uint16_t ao_sample_tick; /* time of last data */
-__pdata pres_t ao_sample_pres;
-__pdata alt_t ao_sample_alt;
-__pdata alt_t ao_sample_height;
-#if HAS_ACCEL
-__pdata accel_t ao_sample_accel;
-#endif
-#if HAS_GYRO
-__pdata accel_t ao_sample_accel_along;
-__pdata accel_t ao_sample_accel_across;
-__pdata accel_t ao_sample_accel_through;
-__pdata gyro_t ao_sample_roll;
-__pdata gyro_t ao_sample_pitch;
-__pdata gyro_t ao_sample_yaw;
-__pdata angle_t ao_sample_orient;
-#endif
-
-__data uint8_t ao_sample_data;
-
-/*
- * Sensor calibration values
- */
-
-__pdata pres_t ao_ground_pres; /* startup pressure */
-__pdata alt_t ao_ground_height; /* MSL of ao_ground_pres */
-
-#if HAS_ACCEL
-__pdata accel_t ao_ground_accel; /* startup acceleration */
-__pdata accel_t ao_accel_2g; /* factory accel calibration */
-__pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */
-#endif
-
-#if HAS_GYRO
-__pdata accel_t ao_ground_accel_along;
-__pdata accel_t ao_ground_accel_across;
-__pdata accel_t ao_ground_accel_through;
-__pdata int32_t ao_ground_pitch;
-__pdata int32_t ao_ground_yaw;
-__pdata int32_t ao_ground_roll;
-#endif
-
-static __pdata uint8_t ao_preflight; /* in preflight mode */
-
-static __pdata uint16_t nsamples;
-__pdata int32_t ao_sample_pres_sum;
-#if HAS_ACCEL
-__pdata int32_t ao_sample_accel_sum;
-#endif
-#if HAS_GYRO
-__pdata int32_t ao_sample_accel_along_sum;
-__pdata int32_t ao_sample_accel_across_sum;
-__pdata int32_t ao_sample_accel_through_sum;
-__pdata int32_t ao_sample_pitch_sum;
-__pdata int32_t ao_sample_yaw_sum;
-__pdata int32_t ao_sample_roll_sum;
-static struct ao_quaternion ao_rotation;
-#endif
-
-#if HAS_FLIGHT_DEBUG
-extern uint8_t ao_orient_test;
-#endif
-
-static void
-ao_sample_preflight_add(void)
-{
-#if HAS_ACCEL
- ao_sample_accel_sum += ao_sample_accel;
-#endif
- ao_sample_pres_sum += ao_sample_pres;
-#if HAS_GYRO
- ao_sample_accel_along_sum += ao_sample_accel_along;
- ao_sample_accel_across_sum += ao_sample_accel_across;
- ao_sample_accel_through_sum += ao_sample_accel_through;
- ao_sample_pitch_sum += ao_sample_pitch;
- ao_sample_yaw_sum += ao_sample_yaw;
- ao_sample_roll_sum += ao_sample_roll;
-#endif
- ++nsamples;
-}
-
-static void
-ao_sample_preflight_set(void)
-{
-#if HAS_ACCEL
- ao_ground_accel = ao_sample_accel_sum >> 9;
- ao_sample_accel_sum = 0;
-#endif
- ao_ground_pres = ao_sample_pres_sum >> 9;
- ao_ground_height = pres_to_altitude(ao_ground_pres);
- ao_sample_pres_sum = 0;
-#if HAS_GYRO
- ao_ground_accel_along = ao_sample_accel_along_sum >> 9;
- ao_ground_accel_across = ao_sample_accel_across_sum >> 9;
- ao_ground_accel_through = ao_sample_accel_through_sum >> 9;
- ao_ground_pitch = ao_sample_pitch_sum;
- ao_ground_yaw = ao_sample_yaw_sum;
- ao_ground_roll = ao_sample_roll_sum;
- ao_sample_accel_along_sum = 0;
- ao_sample_accel_across_sum = 0;
- ao_sample_accel_through_sum = 0;
- ao_sample_pitch_sum = 0;
- ao_sample_yaw_sum = 0;
- ao_sample_roll_sum = 0;
- ao_sample_orient = 0;
-
- struct ao_quaternion orient;
-
- /* Take the pad IMU acceleration values and compute our current direction
- */
-
- ao_quaternion_init_vector(&orient,
- (ao_ground_accel_across - ao_config.accel_zero_across),
- (ao_ground_accel_through - ao_config.accel_zero_through),
- (ao_ground_accel_along - ao_config.accel_zero_along));
-
- ao_quaternion_normalize(&orient,
- &orient);
-
- /* Here's up */
-
- struct ao_quaternion up = { .r = 0, .x = 0, .y = 0, .z = 1 };
-
- if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
- up.z = -1;
-
- /* Compute rotation to get from up to our current orientation, set
- * that as the current rotation vector
- */
- ao_quaternion_vectors_to_rotation(&ao_rotation, &up, &orient);
-#if HAS_FLIGHT_DEBUG
- if (ao_orient_test)
- printf("\n\treset\n");
-#endif
-#endif
- nsamples = 0;
-}
-
-#if HAS_GYRO
-
-#define TIME_DIV 200.0f
-
-static void
-ao_sample_rotate(void)
-{
-#ifdef AO_FLIGHT_TEST
- float dt = (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
-#else
- static const float dt = 1/TIME_DIV;
-#endif
- float x = ao_mpu6000_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt;
- float y = ao_mpu6000_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt;
- float z = ao_mpu6000_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt;
- struct ao_quaternion rot;
-
- ao_quaternion_init_half_euler(&rot, x, y, z);
- ao_quaternion_multiply(&ao_rotation, &rot, &ao_rotation);
-
- /* And normalize to make sure it remains a unit vector */
- ao_quaternion_normalize(&ao_rotation, &ao_rotation);
-
- /* Compute pitch angle from vertical by taking the pad
- * orientation vector and rotating it by the current total
- * rotation value. That will be a unit vector pointing along
- * the airframe axis. The Z value will be the cosine of the
- * change in the angle from vertical since boost.
- *
- * rot = ao_rotation * vertical * ao_rotation°
- * rot = ao_rotation * (0,0,0,1) * ao_rotation°
- * = ((a.z, a.y, -a.x, a.r) * (a.r, -a.x, -a.y, -a.z)) .z
- *
- * = (-a.z * -a.z) + (a.y * -a.y) - (-a.x * -a.x) + (a.r * a.r)
- * = a.z² - a.y² - a.x² + a.r²
- *
- * rot = ao_rotation * (0, 0, 0, -1) * ao_rotation°
- * = ((-a.z, -a.y, a.x, -a.r) * (a.r, -a.x, -a.y, -a.z)) .z
- *
- * = (a.z * -a.z) + (-a.y * -a.y) - (a.x * -a.x) + (-a.r * a.r)
- * = -a.z² + a.y² + a.x² - a.r²
- */
-
- float rotz;
- rotz = ao_rotation.z * ao_rotation.z - ao_rotation.y * ao_rotation.y - ao_rotation.x * ao_rotation.x + ao_rotation.r * ao_rotation.r;
-
- ao_sample_orient = acosf(rotz) * (float) (180.0/M_PI);
-
-#if HAS_FLIGHT_DEBUG
- if (ao_orient_test) {
- printf ("rot %d %d %d orient %d \r",
- (int) (x * 1000),
- (int) (y * 1000),
- (int) (z * 1000),
- ao_sample_orient);
- }
-#endif
-
-}
-#endif
-
-static void
-ao_sample_preflight(void)
-{
- /* startup state:
- *
- * Collect 512 samples of acceleration and pressure
- * data and average them to find the resting values
- */
- if (nsamples < 512) {
- ao_sample_preflight_add();
- } else {
-#if HAS_ACCEL
- ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
- ao_accel_scale = to_fix32(GRAVITY * 2 * 16) / ao_accel_2g;
-#endif
- ao_sample_preflight_set();
- ao_preflight = FALSE;
- }
-}
-
-/*
- * While in pad mode, constantly update the ground state by
- * re-averaging the data. This tracks changes in orientation, which
- * might be caused by adjustments to the rocket on the pad and
- * pressure, which might be caused by changes in the weather.
- */
-
-static void
-ao_sample_preflight_update(void)
-{
- if (nsamples < 512)
- ao_sample_preflight_add();
- else if (nsamples < 1024)
- ++nsamples;
- else
- ao_sample_preflight_set();
-}
-
-#if 0
-#if HAS_GYRO
-static int32_t p_filt;
-static int32_t y_filt;
-
-static gyro_t inline ao_gyro(void) {
- gyro_t p = ao_sample_pitch - ao_ground_pitch;
- gyro_t y = ao_sample_yaw - ao_ground_yaw;
-
- p_filt = p_filt - (p_filt >> 6) + p;
- y_filt = y_filt - (y_filt >> 6) + y;
-
- p = p_filt >> 6;
- y = y_filt >> 6;
- return ao_sqrt(p*p + y*y);
-}
-#endif
-#endif
-
-uint8_t
-ao_sample(void)
-{
- ao_wakeup(DATA_TO_XDATA(&ao_sample_data));
- ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
- while (ao_sample_data != ao_data_head) {
- __xdata struct ao_data *ao_data;
-
- /* Capture a sample */
- ao_data = (struct ao_data *) &ao_data_ring[ao_sample_data];
- ao_sample_tick = ao_data->tick;
-
-#if HAS_BARO
- ao_data_pres_cook(ao_data);
- ao_sample_pres = ao_data_pres(ao_data);
- ao_sample_alt = pres_to_altitude(ao_sample_pres);
- ao_sample_height = ao_sample_alt - ao_ground_height;
-#endif
-
-#if HAS_ACCEL
- ao_sample_accel = ao_data_accel_cook(ao_data);
- if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
- ao_sample_accel = ao_data_accel_invert(ao_sample_accel);
- ao_data_set_accel(ao_data, ao_sample_accel);
-#endif
-#if HAS_GYRO
- ao_sample_accel_along = ao_data_along(ao_data);
- ao_sample_accel_across = ao_data_across(ao_data);
- ao_sample_accel_through = ao_data_through(ao_data);
- ao_sample_pitch = ao_data_pitch(ao_data);
- ao_sample_yaw = ao_data_yaw(ao_data);
- ao_sample_roll = ao_data_roll(ao_data);
-#endif
-
- if (ao_preflight)
- ao_sample_preflight();
- else {
- if (ao_flight_state < ao_flight_boost)
- ao_sample_preflight_update();
- ao_kalman();
-#if HAS_GYRO
- ao_sample_rotate();
-#endif
- }
-#ifdef AO_FLIGHT_TEST
- ao_sample_prev_tick = ao_sample_tick;
-#endif
- ao_sample_data = ao_data_ring_next(ao_sample_data);
- }
- return !ao_preflight;
-}
-
-void
-ao_sample_init(void)
-{
- ao_config_get();
- nsamples = 0;
- ao_sample_pres_sum = 0;
- ao_sample_pres = 0;
-#if HAS_ACCEL
- ao_sample_accel_sum = 0;
- ao_sample_accel = 0;
-#endif
-#if HAS_GYRO
- ao_sample_accel_along_sum = 0;
- ao_sample_accel_across_sum = 0;
- ao_sample_accel_through_sum = 0;
- ao_sample_accel_along = 0;
- ao_sample_accel_across = 0;
- ao_sample_accel_through = 0;
- ao_sample_pitch_sum = 0;
- ao_sample_yaw_sum = 0;
- ao_sample_roll_sum = 0;
- ao_sample_pitch = 0;
- ao_sample_yaw = 0;
- ao_sample_roll = 0;
- ao_sample_orient = 0;
-#endif
- ao_sample_data = ao_data_head;
- ao_preflight = TRUE;
-}
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_SAMPLE_H_
-#define _AO_SAMPLE_H_
-
-#include <ao_data.h>
-
-/*
- * ao_sample.c
- */
-
-/*
- * Barometer calibration
- *
- * We directly sample the barometer. The specs say:
- *
- * Pressure range: 15-115 kPa
- * Voltage at 115kPa: 2.82
- * Output scale: 27mV/kPa
- *
- * If we want to detect launch with the barometer, we need
- * a large enough bump to not be fooled by noise. At typical
- * launch elevations (0-2000m), a 200Pa pressure change cooresponds
- * to about a 20m elevation change. This is 5.4mV, or about 3LSB.
- * As all of our calculations are done in 16 bits, we'll actually see a change
- * of 16 times this though
- *
- * 27 mV/kPa * 32767 / 3300 counts/mV = 268.1 counts/kPa
- */
-
-/* Accelerometer calibration
- *
- * We're sampling the accelerometer through a resistor divider which
- * consists of 5k and 10k resistors. This multiplies the values by 2/3.
- * That goes into the cc1111 A/D converter, which is running at 11 bits
- * of precision with the bits in the MSB of the 16 bit value. Only positive
- * values are used, so values should range from 0-32752 for 0-3.3V. The
- * specs say we should see 40mV/g (uncalibrated), multiply by 2/3 for what
- * the A/D converter sees (26.67 mV/g). We should see 32752/3300 counts/mV,
- * for a final computation of:
- *
- * 26.67 mV/g * 32767/3300 counts/mV = 264.8 counts/g
- *
- * Zero g was measured at 16000 (we would expect 16384).
- * Note that this value is only require to tell if the
- * rocket is standing upright. Once that is determined,
- * the value of the accelerometer is averaged for 100 samples
- * to find the resting accelerometer value, which is used
- * for all further flight computations
- */
-
-/*
- * Above this height, the baro sensor doesn't work
- */
-#if HAS_MS5607
-#define AO_MAX_BARO_HEIGHT 30000
-#else
-#define AO_MAX_BARO_HEIGHT 12000
-#endif
-
-/*
- * Above this speed, baro measurements are unreliable
- */
-#define AO_MAX_BARO_SPEED 200
-
-#define ACCEL_NOSE_UP (ao_accel_2g >> 2)
-
-/*
- * Speed and acceleration are scaled by 16 to provide a bit more
- * resolution while still having reasonable range. Note that this
- * limits speed to 2047m/s (around mach 6) and acceleration to
- * 2047m/s² (over 200g)
- */
-
-#define AO_M_TO_HEIGHT(m) ((int16_t) (m))
-#define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
-#define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16))
-
-extern __pdata uint16_t ao_sample_tick; /* time of last data */
-extern __data uint8_t ao_sample_adc; /* Ring position of last processed sample */
-extern __data uint8_t ao_sample_data; /* Ring position of last processed sample */
-
-#if HAS_BARO
-extern __pdata pres_t ao_sample_pres; /* most recent pressure sensor reading */
-extern __pdata alt_t ao_sample_alt; /* MSL of ao_sample_pres */
-extern __pdata alt_t ao_sample_height; /* AGL of ao_sample_pres */
-extern __pdata pres_t ao_ground_pres; /* startup pressure */
-extern __pdata alt_t ao_ground_height; /* MSL of ao_ground_pres */
-#endif
-
-#if HAS_ACCEL
-extern __pdata accel_t ao_sample_accel; /* most recent accel sensor reading */
-extern __pdata accel_t ao_ground_accel; /* startup acceleration */
-extern __pdata accel_t ao_accel_2g; /* factory accel calibration */
-extern __pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */
-#endif
-#if HAS_GYRO
-extern __pdata accel_t ao_ground_accel_along;
-extern __pdata accel_t ao_ground_accel_across;
-extern __pdata accel_t ao_ground_accel_through;
-extern __pdata int32_t ao_ground_pitch; /* * 512 */
-extern __pdata int32_t ao_ground_yaw; /* * 512 */
-extern __pdata int32_t ao_ground_roll; /* * 512 */
-extern __pdata accel_t ao_sample_accel_along;
-extern __pdata accel_t ao_sample_accel_across;
-extern __pdata accel_t ao_sample_accel_through;
-extern __pdata gyro_t ao_sample_roll;
-extern __pdata gyro_t ao_sample_pitch;
-extern __pdata gyro_t ao_sample_yaw;
-extern __pdata angle_t ao_sample_orient;
-#endif
-
-void ao_sample_init(void);
-
-/* returns FALSE in preflight mode, TRUE in flight mode */
-uint8_t ao_sample(void);
-
-/*
- * ao_kalman.c
- */
-
-#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
-#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
-#define from_fix(x) ((x) >> 16)
-
-extern __pdata int16_t ao_height; /* meters */
-extern __pdata int16_t ao_speed; /* m/s * 16 */
-extern __pdata int16_t ao_accel; /* m/s² * 16 */
-extern __xdata int16_t ao_max_height; /* max of ao_height */
-extern __xdata int16_t ao_avg_height; /* running average of height */
-
-extern __pdata int16_t ao_error_h;
-extern __pdata int16_t ao_error_h_sq_avg;
-
-#if HAS_ACCEL
-extern __pdata int16_t ao_error_a;
-#endif
-
-void ao_kalman(void);
-
-#endif /* _AO_SAMPLE_H_ */
+++ /dev/null
-/*
- * 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_sample_profile.h>
-#include <ao_task.h>
-
-#ifndef AO_SAMPLE_PROFILE_LOW_PC
-#define AO_SAMPLE_PROFILE_LOW_PC 0x08002000
-#endif
-
-#ifndef AO_SAMPLE_PROFILE_HIGH_PC
-#define AO_SAMPLE_PROFILE_HIGH_PC 0x0800f000
-#endif
-
-#ifndef AO_SAMPLE_PROFILE_SHIFT
-#define AO_SAMPLE_PROFILE_SHIFT 6
-#endif
-
-#define AO_SAMPLE_PROFILE_RANGE (AO_SAMPLE_PROFILE_HIGH_PC - AO_SAMPLE_PROFILE_LOW_PC)
-#define AO_SAMPLE_PROFILE_NUM (AO_SAMPLE_PROFILE_RANGE >> AO_SAMPLE_PROFILE_SHIFT)
-
-static uint16_t prev_tick;
-static uint16_t samples[AO_SAMPLE_PROFILE_NUM];
-static uint8_t missed[AO_SAMPLE_PROFILE_NUM/8];
-static uint16_t max_miss;
-static uint32_t task, isr, os, idle;
-
-extern uint8_t ao_idle_loc;
-
-void
-ao_sample_profile_point(uint32_t pc, uint16_t tick, uint8_t in_isr)
-{
- uint16_t delta = tick - prev_tick;
-
- if (pc < AO_SAMPLE_PROFILE_LOW_PC)
- return;
- if (pc >= AO_SAMPLE_PROFILE_HIGH_PC)
- return;
- if (ao_cur_task) {
- uint8_t *sp;
- int32_t sp_delta;
-
- asm("mov %0,sp" : "=&r" (sp));
- sp_delta = sp - (uint8_t *) ao_cur_task->stack;
- if (-96 < sp_delta && sp_delta < 16)
- ao_panic(AO_PANIC_STACK);
- }
-
- if (in_isr)
- isr += delta;
- else if (ao_cur_task) {
- ao_cur_task->ticks += delta;
- task += delta;
- } else if (pc == (uint32_t) &ao_idle_loc)
- idle += delta;
- else
- os += delta;
-
- pc -= AO_SAMPLE_PROFILE_LOW_PC;
- pc >>= AO_SAMPLE_PROFILE_SHIFT;
- samples[pc] += delta;
-
- if (delta > 1)
- missed[pc >> 3] |= (1 << (pc & 7));
- if (delta > max_miss)
- max_miss = delta;
- prev_tick = tick;
-}
-
-static void
-ao_sample_profile_start(void)
-{
- prev_tick = ao_sample_profile_timer_start();
-}
-
-static void
-ao_sample_profile_stop(void)
-{
- ao_sample_profile_timer_stop();
-}
-
-static void
-ao_sample_profile_dump(void)
-{
- uint16_t a;
- uint8_t t;
-
- printf ("task %6d\n", task);
- printf ("isr %6d\n", isr);
- printf ("os %6d\n", os);
- printf ("idle %6d\n", idle);
- printf ("irq blocked %d\n", max_miss);
- for (t = 0; t < ao_num_tasks; t++)
- printf ("task %6d %6d %6d %s\n",
- ao_tasks[t]->ticks,
- ao_tasks[t]->yields,
- ao_tasks[t]->max_run,
- ao_tasks[t]->name);
- for (a = 0; a < AO_SAMPLE_PROFILE_NUM; a++) {
- if (samples[a])
- printf ("%04x %c %u\n",
- (a << AO_SAMPLE_PROFILE_SHIFT) + AO_SAMPLE_PROFILE_LOW_PC,
- missed[a >> 3] & (1 << (a & 7)) ? '*' : ' ',
- samples[a]);
- }
-}
-
-static void
-ao_sample_profile_clear(void)
-{
- int t;
-
- task = isr = os = idle = 0;
- max_miss = 0;
- memset(samples, '\0', sizeof (samples));
- memset(missed, '\0', sizeof (missed));
- for (t = 0; t < ao_num_tasks; t++) {
- ao_tasks[t]->ticks = 0;
- ao_tasks[t]->yields = 0;
- ao_tasks[t]->max_run = 0;
- }
-}
-
-static void
-ao_sample_profile_cmd(void)
-{
- ao_cmd_white();
- switch (ao_cmd_lex_c) {
- case '1':
- ao_sample_profile_start();
- break;
- case '0':
- ao_sample_profile_stop();
- break;
- case 'd':
- ao_sample_profile_dump();
- break;
- case 'c':
- ao_sample_profile_clear();
- break;
- default:
- ao_cmd_status = ao_cmd_syntax_error;
- break;
- }
-}
-
-static __code struct ao_cmds ao_sample_profile_cmds[] = {
- { ao_sample_profile_cmd, "S <1 start,0 stop, d dump,c clear>\0Sample profile" },
- { 0, NULL }
-};
-
-void
-ao_sample_profile_init(void)
-{
- ao_sample_profile_timer_init();
- ao_cmd_register(&ao_sample_profile_cmds[0]);
- ao_sample_profile_clear();
-}
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_SAMPLE_PROFILE_H_
-#define _AO_SAMPLE_PROFILE_H_
-
-#include <ao_sample_profile_timer.h>
-
-void
-ao_sample_profile_point(uint32_t pc, uint16_t tick, uint8_t in_isr);
-
-void
-ao_sample_profile_init(void);
-
-#endif /* _AO_SAMPLE_PROFILE_H_ */
+++ /dev/null
-/*
- * 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"
-
-#define AO_MAX_SEND 128
-
-static __xdata uint8_t ao_send[AO_MAX_SEND];
-
-static void
-ao_send_packet(void)
-{
- __pdata uint16_t count;
- uint8_t b;
- __pdata uint8_t i;
-
- ao_cmd_hex();
- count = ao_cmd_lex_i;
- if (ao_cmd_status != ao_cmd_success)
- return;
- if (count > AO_MAX_SEND - 2) {
- ao_cmd_status = ao_cmd_syntax_error;
- return;
- }
- for (i = 0; i < count; i++) {
- b = ao_getnibble() << 4;
- b |= ao_getnibble();
- if (ao_cmd_status != ao_cmd_success)
- return;
- ao_send[i] = b;
- }
- ao_radio_send(ao_send, count);
-}
-
-static __code struct ao_cmds ao_send_packet_cmds[] = {
- { ao_send_packet, "S <len>\0Send packet. Data on next line" },
- { 0, NULL }
-};
-
-void
-ao_send_packet_init(void)
-{
- ao_cmd_register(&ao_send_packet_cmds[0]);
-}
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_SEND_PACKET_H_
-#define _AO_SEND_PACKET_H_
-
-void
-ao_send_packet_init(void);
-
-#endif /* _AO_SEND_PACKET_H_ */
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_SERIAL_H_
-#define _AO_SERIAL_H_
-
-#define AO_SERIAL_SPEED_4800 0
-#define AO_SERIAL_SPEED_9600 1
-#define AO_SERIAL_SPEED_19200 2
-#define AO_SERIAL_SPEED_57600 3
-#define AO_SERIAL_SPEED_115200 4
-
-#if HAS_SERIAL_0
-extern volatile __xdata struct ao_fifo ao_serial0_rx_fifo;
-extern volatile __xdata struct ao_fifo ao_serial0_tx_fifo;
-
-char
-ao_serial0_getchar(void);
-
-int
-_ao_serial0_pollchar(void);
-
-void
-ao_serial0_putchar(char c);
-
-void
-ao_serial0_drain(void);
-
-void
-ao_serial0_set_speed(uint8_t speed);
-#endif
-
-#if HAS_SERIAL_1
-extern volatile __xdata struct ao_fifo ao_serial1_rx_fifo;
-extern volatile __xdata struct ao_fifo ao_serial1_tx_fifo;
-
-char
-ao_serial1_getchar(void);
-
-int
-_ao_serial1_pollchar(void);
-
-void
-ao_serial1_putchar(char c);
-
-void
-ao_serial1_drain(void);
-
-void
-ao_serial1_set_speed(uint8_t speed);
-#endif
-
-#if HAS_SERIAL_2
-extern volatile __xdata struct ao_fifo ao_serial2_rx_fifo;
-extern volatile __xdata struct ao_fifo ao_serial2_tx_fifo;
-
-char
-ao_serial2_getchar(void);
-
-int
-_ao_serial2_pollchar(void);
-
-void
-ao_serial2_putchar(char c);
-
-void
-ao_serial2_drain(void);
-
-void
-ao_serial2_set_speed(uint8_t speed);
-#endif
-
-#if HAS_SERIAL_3
-extern volatile __xdata struct ao_fifo ao_serial3_rx_fifo;
-extern volatile __xdata struct ao_fifo ao_serial3_tx_fifo;
-
-char
-ao_serial3_getchar(void);
-
-int
-_ao_serial3_pollchar(void);
-
-void
-ao_serial3_putchar(char c);
-
-void
-ao_serial3_drain(void);
-
-void
-ao_serial3_set_speed(uint8_t speed);
-#endif
-
-void
-ao_serial_init(void);
-
-#endif /* _AO_SERIAL_H_ */
+++ /dev/null
-/*
- * Copyright © 2011 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.
- */
-
-#ifndef AO_FLIGHT_TEST
-#include "ao.h"
-#endif
-
-/* Adapted from int_sqrt.c in the linux kernel, which is licensed GPLv2 */
-/**
- * int_sqrt - rough approximation to sqrt
- * @x: integer of which to calculate the sqrt
- *
- * A very rough approximation to the sqrt() function.
- */
-
-uint32_t
-ao_sqrt(uint32_t op)
-{
- uint32_t res = 0;
- uint32_t one = 1UL << (sizeof (one) * 8 - 2);
-
- while (one > op)
- one >>= 2;
-
- while (one != 0) {
- if (op >= res + one) {
- op = op - (res + one);
- res = res + 2 * one;
- }
- res /= 2;
- one /= 4;
- }
- return res;
-}
+++ /dev/null
-/*
- * Copyright © 2009 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"
-
-const char const * const ao_state_names[] = {
- "startup", "idle", "pad", "boost", "fast",
- "coast", "drogue", "main", "landed", "invalid"
-};
+++ /dev/null
-/*
- * Copyright © 2009 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"
-
-/*
- * Basic I/O functions to support SDCC stdio package
- */
-
-#ifndef USE_SERIAL_0_STDIN
-#define USE_SERIAL_0_STDIN 0
-#endif
-#ifndef USE_SERIAL_1_STDIN
-#define USE_SERIAL_1_STDIN 0
-#endif
-#ifndef USE_SERIAL_2_STDIN
-#define USE_SERIAL_2_STDIN 0
-#endif
-#ifndef USE_SERIAL_3_STDIN
-#define USE_SERIAL_3_STDIN 0
-#endif
-#ifndef USE_SERIAL_4_STDIN
-#define USE_SERIAL_4_STDIN 0
-#endif
-#ifndef USE_SERIAL_5_STDIN
-#define USE_SERIAL_5_STDIN 0
-#endif
-#ifndef USE_SERIAL_6_STDIN
-#define USE_SERIAL_6_STDIN 0
-#endif
-#ifndef USE_SERIAL_7_STDIN
-#define USE_SERIAL_7_STDIN 0
-#endif
-#ifndef USE_SERIAL_8_STDIN
-#define USE_SERIAL_8_STDIN 0
-#endif
-#ifndef USE_SERIAL_9_STDIN
-#define USE_SERIAL_9_STDIN 0
-#endif
-#ifndef PACKET_HAS_SLAVE
-#define PACKET_HAS_SLAVE 0
-#endif
-
-#define USE_SERIAL_STDIN (USE_SERIAL_0_STDIN + \
- USE_SERIAL_1_STDIN + \
- USE_SERIAL_2_STDIN + \
- USE_SERIAL_3_STDIN + \
- USE_SERIAL_4_STDIN + \
- USE_SERIAL_5_STDIN + \
- USE_SERIAL_6_STDIN + \
- USE_SERIAL_7_STDIN + \
- USE_SERIAL_8_STDIN + \
- USE_SERIAL_9_STDIN)
-
-#define AO_NUM_STDIOS (HAS_USB + PACKET_HAS_SLAVE + USE_SERIAL_STDIN)
-
-__xdata struct ao_stdio ao_stdios[AO_NUM_STDIOS];
-
-#if AO_NUM_STDIOS > 1
-__pdata int8_t ao_cur_stdio;
-__pdata int8_t ao_num_stdios;
-#else
-__pdata int8_t ao_cur_stdio;
-#define ao_cur_stdio 0
-#define ao_num_stdios 0
-#endif
-
-void
-putchar(char c)
-{
-#if LOW_LEVEL_DEBUG
- if (!ao_cur_task) {
- extern void ao_debug_out(char c);
- if (c == '\n')
- ao_debug_out('\r');
- ao_debug_out(c);
- return;
- }
-#endif
- if (c == '\n')
- (*ao_stdios[ao_cur_stdio].putchar)('\r');
- (*ao_stdios[ao_cur_stdio].putchar)(c);
-}
-
-void
-flush(void)
-{
- if (ao_stdios[ao_cur_stdio].flush)
- ao_stdios[ao_cur_stdio].flush();
-}
-
-__xdata uint8_t ao_stdin_ready;
-
-char
-getchar(void) __reentrant
-{
- int c;
- int8_t stdio;
-
- ao_arch_block_interrupts();
- stdio = ao_cur_stdio;
- for (;;) {
- c = ao_stdios[stdio]._pollchar();
- if (c != AO_READ_AGAIN)
- break;
-#if AO_NUM_STDIOS > 1
- if (++stdio == ao_num_stdios)
- stdio = 0;
- if (stdio == ao_cur_stdio)
-#endif
- ao_sleep(&ao_stdin_ready);
- }
-#if AO_NUM_STDIOS > 1
- ao_cur_stdio = stdio;
-#endif
- ao_arch_release_interrupts();
- return c;
-}
-
-uint8_t
-ao_echo(void)
-{
- return ao_stdios[ao_cur_stdio].echo;
-}
-
-int8_t
-ao_add_stdio(int (*_pollchar)(void),
- void (*putchar)(char),
- void (*flush)(void)) __reentrant
-{
-#if AO_NUM_STDIOS > 1
- if (ao_num_stdios == AO_NUM_STDIOS)
- ao_panic(AO_PANIC_STDIO);
-#endif
- ao_stdios[ao_num_stdios]._pollchar = _pollchar;
- ao_stdios[ao_num_stdios].putchar = putchar;
- ao_stdios[ao_num_stdios].flush = flush;
- ao_stdios[ao_num_stdios].echo = 1;
-#if AO_NUM_STDIOS > 1
- return ao_num_stdios++;
-#else
- return 0;
-#endif
-}
+++ /dev/null
-/*
- * Copyright © 2011 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_storage.h>
-
-uint8_t
-ao_storage_read(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant
-{
- uint16_t this_len;
- uint16_t this_off;
-
- ao_storage_setup();
- if (pos >= ao_storage_total || pos + len > ao_storage_total)
- return 0;
- while (len) {
-
- /* Compute portion of transfer within
- * a single block
- */
- this_off = (uint16_t) pos & (ao_storage_unit - 1);
- this_len = ao_storage_unit - this_off;
- if (this_len > len)
- this_len = len;
-
- if (!ao_storage_device_read(pos, buf, this_len))
- return 0;
-
- /* See how much is left */
- buf += this_len;
- len -= this_len;
- pos += this_len;
- }
- return 1;
-}
-
-uint8_t
-ao_storage_write(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant
-{
- uint16_t this_len;
- uint16_t this_off;
-
- ao_storage_setup();
- if (pos >= ao_storage_total || pos + len > ao_storage_total)
- return 0;
- while (len) {
-
- /* Compute portion of transfer within
- * a single block
- */
- this_off = (uint16_t) pos & (ao_storage_unit - 1);
- this_len = ao_storage_unit - this_off;
- if (this_len > len)
- this_len = len;
-
- if (!ao_storage_device_write(pos, buf, this_len))
- return 0;
-
- /* See how much is left */
- buf += this_len;
- len -= this_len;
- pos += this_len;
- }
- return 1;
-}
-
-static __xdata uint8_t storage_data[8];
-
-static void
-ao_storage_dump(void) __reentrant
-{
- uint8_t i, j;
-
- ao_cmd_hex();
- if (ao_cmd_status != ao_cmd_success)
- return;
- for (i = 0; ; i += 8) {
- if (ao_storage_read(((uint32_t) (ao_cmd_lex_i) << 8) + i,
- storage_data,
- 8)) {
- ao_cmd_put16((uint16_t) i);
- for (j = 0; j < 8; j++) {
- putchar(' ');
- ao_cmd_put8(storage_data[j]);
- }
- putchar ('\n');
- }
- if (i == 248)
- break;
- }
-}
-
-#if HAS_STORAGE_DEBUG
-
-/* not enough space for this today
- */
-static void
-ao_storage_store(void) __reentrant
-{
- uint16_t block;
- uint8_t i;
- uint16_t len;
- static __xdata uint8_t b;
- uint32_t addr;
-
- ao_cmd_hex();
- block = ao_cmd_lex_i;
- ao_cmd_hex();
- i = ao_cmd_lex_i;
- addr = ((uint32_t) block << 8) | i;
- ao_cmd_hex();
- len = ao_cmd_lex_i;
- if (ao_cmd_status != ao_cmd_success)
- return;
- while (len--) {
- ao_cmd_hex();
- if (ao_cmd_status != ao_cmd_success)
- return;
- b = ao_cmd_lex_i;
- ao_storage_write(addr, &b, 1);
- addr++;
- }
-}
-#endif
-
-void
-ao_storage_zap(void) __reentrant
-{
- ao_cmd_hex();
- if (ao_cmd_status != ao_cmd_success)
- return;
- ao_storage_erase((uint32_t) ao_cmd_lex_i << 8);
-}
-
-void
-ao_storage_zapall(void) __reentrant
-{
- uint32_t pos;
-
- ao_cmd_white();
- if (!ao_match_word("DoIt"))
- return;
- for (pos = 0; pos < ao_storage_log_max; pos += ao_storage_block)
- ao_storage_erase(pos);
-}
-
-void
-ao_storage_info(void) __reentrant
-{
- ao_storage_setup();
- printf("Storage size: %ld\n", (long) ao_storage_total);
- printf("Storage erase unit: %ld\n", (long) ao_storage_block);
- ao_storage_device_info();
-}
-
-__code struct ao_cmds ao_storage_cmds[] = {
- { ao_storage_info, "f\0Show storage" },
- { ao_storage_dump, "e <block>\0Dump flash" },
-#if HAS_STORAGE_DEBUG
- { ao_storage_store, "w <block> <start> <len> <data> ...\0Write data to flash" },
-#endif
- { ao_storage_zap, "z <block>\0Erase <block>" },
- { ao_storage_zapall,"Z <key>\0Erase all. <key> is doit with D&I" },
- { 0, NULL },
-};
-
-void
-ao_storage_init(void)
-{
- ao_storage_device_init();
- ao_cmd_register(&ao_storage_cmds[0]);
-}
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_STORAGE_H_
-#define _AO_STORAGE_H_
-
-/*
- * Storage interface, provided by one of the eeprom or flash
- * drivers
- */
-
-#ifndef ao_storage_pos_t
-#define ao_storage_pos_t uint32_t
-#endif
-
-typedef ao_storage_pos_t ao_pos_t;
-
-/* Total bytes of available storage */
-extern __pdata ao_pos_t ao_storage_total;
-
-/* Block size - device is erased in these units. At least 256 bytes */
-extern __pdata ao_pos_t ao_storage_block;
-
-#ifndef USE_STORAGE_CONFIG
-#define USE_STORAGE_CONFIG 1
-#endif
-
-#if USE_STORAGE_CONFIG
-/* Byte offset of config block. Will be ao_storage_block bytes long */
-extern __pdata ao_pos_t ao_storage_config;
-
-#define ao_storage_log_max ao_storage_config
-#else
-#define ao_storage_log_max ao_storage_total
-#endif
-
-/* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */
-extern __pdata uint16_t ao_storage_unit;
-
-/* Initialize above values. Can only be called once the OS is running */
-void
-ao_storage_setup(void) __reentrant;
-
-/* Write data. Returns 0 on failure, 1 on success */
-uint8_t
-ao_storage_write(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant;
-
-/* Read data. Returns 0 on failure, 1 on success */
-uint8_t
-ao_storage_read(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant;
-
-/* Erase a block of storage. This always clears ao_storage_block bytes */
-uint8_t
-ao_storage_erase(ao_pos_t pos) __reentrant;
-
-/* Flush any pending writes to stable storage */
-void
-ao_storage_flush(void) __reentrant;
-
-/* Initialize the storage code */
-void
-ao_storage_init(void);
-
-/*
- * Low-level functions wrapped by ao_storage.c
- */
-
-/* Read data within a storage unit */
-uint8_t
-ao_storage_device_read(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant;
-
-/* Write data within a storage unit */
-uint8_t
-ao_storage_device_write(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant;
-
-/* Initialize low-level device bits */
-void
-ao_storage_device_init(void);
-
-/* Print out information about flash chips */
-void
-ao_storage_device_info(void) __reentrant;
-
-#endif /* _AO_STORAGE_H_ */
+++ /dev/null
-/*
- * Copyright © 2009 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_task.h>
-#if HAS_SAMPLE_PROFILE
-#include <ao_sample_profile.h>
-#endif
-#if HAS_STACK_GUARD
-#include <ao_mpu.h>
-#endif
-
-#define DEBUG 0
-
-#define AO_NO_TASK_INDEX 0xff
-
-__xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
-__data uint8_t ao_num_tasks;
-__xdata struct ao_task *__data ao_cur_task;
-
-#if !HAS_TASK_QUEUE
-static __data uint8_t ao_cur_task_index;
-#endif
-
-#ifdef ao_arch_task_globals
-ao_arch_task_globals
-#endif
-
-#define AO_CHECK_STACK 0
-
-#if AO_CHECK_STACK
-static uint8_t in_yield;
-
-static inline void ao_check_stack(void) {
- uint8_t q;
- if (!in_yield && ao_cur_task && &q < &ao_cur_task->stack[0])
- ao_panic(AO_PANIC_STACK);
-}
-#else
-#define ao_check_stack()
-#endif
-
-#if HAS_TASK_QUEUE
-
-#define SLEEP_HASH_SIZE 17
-
-static struct ao_list run_queue;
-static struct ao_list alarm_queue;
-static struct ao_list sleep_queue[SLEEP_HASH_SIZE];
-
-static void
-ao_task_to_run_queue(struct ao_task *task)
-{
- ao_list_del(&task->queue);
- ao_list_append(&task->queue, &run_queue);
-}
-
-static struct ao_list *
-ao_task_sleep_queue(void *wchan)
-{
- return &sleep_queue[(uintptr_t) wchan % SLEEP_HASH_SIZE];
-}
-
-static void
-ao_task_to_sleep_queue(struct ao_task *task, void *wchan)
-{
- ao_list_del(&task->queue);
- ao_list_append(&task->queue, ao_task_sleep_queue(wchan));
-}
-
-#if DEBUG
-static void
-ao_task_validate_alarm_queue(void)
-{
- struct ao_task *alarm, *prev = NULL;
- int i;
-
- if (ao_list_is_empty(&alarm_queue))
- return;
- ao_list_for_each_entry(alarm, &alarm_queue, struct ao_task, alarm_queue) {
- if (prev) {
- if ((int16_t) (alarm->alarm - prev->alarm) < 0) {
- ao_panic(1);
- }
- }
- prev = alarm;
- }
- for (i = 0; i < ao_num_tasks; i++) {
- alarm = ao_tasks[i];
- if (alarm->alarm) {
- if (ao_list_is_empty(&alarm->alarm_queue))
- ao_panic(2);
- } else {
- if (!ao_list_is_empty(&alarm->alarm_queue))
- ao_panic(3);
- }
- }
- if (ao_task_alarm_tick != ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm)
- ao_panic(4);
-}
-#else
-#define ao_task_validate_alarm_queue()
-#endif
-
-uint16_t ao_task_alarm_tick;
-
-static void
-ao_task_to_alarm_queue(struct ao_task *task)
-{
- struct ao_task *alarm;
- ao_list_for_each_entry(alarm, &alarm_queue, struct ao_task, alarm_queue) {
- if ((int16_t) (alarm->alarm - task->alarm) >= 0) {
- ao_list_insert(&task->alarm_queue, alarm->alarm_queue.prev);
- ao_task_alarm_tick = ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm;
- ao_task_validate_alarm_queue();
- return;
- }
- }
- ao_list_append(&task->alarm_queue, &alarm_queue);
- ao_task_alarm_tick = ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm;
- ao_task_validate_alarm_queue();
-}
-
-static void
-ao_task_from_alarm_queue(struct ao_task *task)
-{
- ao_list_del(&task->alarm_queue);
- if (ao_list_is_empty(&alarm_queue))
- ao_task_alarm_tick = 0;
- else
- ao_task_alarm_tick = ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm;
- ao_task_validate_alarm_queue();
-}
-
-static void
-ao_task_init_queue(struct ao_task *task)
-{
- ao_list_init(&task->queue);
- ao_list_init(&task->alarm_queue);
-}
-
-static void
-ao_task_exit_queue(struct ao_task *task)
-{
- ao_list_del(&task->queue);
- ao_list_del(&task->alarm_queue);
-}
-
-void
-ao_task_check_alarm(uint16_t tick)
-{
- struct ao_task *alarm, *next;
-
- ao_list_for_each_entry_safe(alarm, next, &alarm_queue, struct ao_task, alarm_queue) {
- if ((int16_t) (tick - alarm->alarm) < 0)
- break;
- alarm->alarm = 0;
- ao_task_from_alarm_queue(alarm);
- ao_task_to_run_queue(alarm);
- }
-}
-
-void
-ao_task_init(void)
-{
- uint8_t i;
- ao_list_init(&run_queue);
- ao_list_init(&alarm_queue);
- ao_task_alarm_tick = 0;
- for (i = 0; i < SLEEP_HASH_SIZE; i++)
- ao_list_init(&sleep_queue[i]);
-}
-
-#if DEBUG
-static uint8_t
-ao_task_validate_queue(struct ao_task *task)
-{
- uint32_t flags;
- struct ao_task *m;
- uint8_t ret = 0;
- struct ao_list *queue;
-
- flags = ao_arch_irqsave();
- if (task->wchan) {
- queue = ao_task_sleep_queue(task->wchan);
- ret |= 2;
- } else {
- queue = &run_queue;
- ret |= 4;
- }
- ao_list_for_each_entry(m, queue, struct ao_task, queue) {
- if (m == task) {
- ret |= 1;
- break;
- }
- }
- ao_arch_irqrestore(flags);
- return ret;
-}
-
-static uint8_t
-ao_task_validate_alarm(struct ao_task *task)
-{
- uint32_t flags;
- struct ao_task *m;
- uint8_t ret = 0;
-
- flags = ao_arch_irqsave();
- if (task->alarm == 0)
- return 0xff;
- ao_list_for_each_entry(m, &alarm_queue, struct ao_task, alarm_queue) {
- if (m == task)
- ret |= 1;
- else {
- if (!(ret&1)) {
- if ((int16_t) (m->alarm - task->alarm) > 0)
- ret |= 2;
- } else {
- if ((int16_t) (task->alarm - m->alarm) > 0)
- ret |= 4;
- }
- }
- }
- ao_arch_irqrestore(flags);
- return ret;
-}
-
-
-static void
-ao_task_validate(void)
-{
- uint8_t i;
- struct ao_task *task;
- uint8_t ret;
-
- for (i = 0; i < ao_num_tasks; i++) {
- task = ao_tasks[i];
- ret = ao_task_validate_queue(task);
- if (!(ret & 1)) {
- if (ret & 2)
- printf ("sleeping task not on sleep queue %s %08x\n",
- task->name, task->wchan);
- else
- printf ("running task not on run queue %s\n",
- task->name);
- }
- ret = ao_task_validate_alarm(task);
- if (ret != 0xff) {
- if (!(ret & 1))
- printf ("alarm task not on alarm queue %s %d\n",
- task->name, task->alarm);
- if (ret & 2)
- printf ("alarm queue has sooner entries after %s %d\n",
- task->name, task->alarm);
- if (ret & 4)
- printf ("alarm queue has later entries before %s %d\n",
- task->name, task->alarm);
- }
- }
-}
-#endif /* DEBUG */
-
-#endif /* HAS_TASK_QUEUE */
-
-void
-ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant
-{
- uint8_t task_id;
- uint8_t t;
- if (ao_num_tasks == AO_NUM_TASKS)
- ao_panic(AO_PANIC_NO_TASK);
- for (task_id = 1; task_id != 0; task_id++) {
- for (t = 0; t < ao_num_tasks; t++)
- if (ao_tasks[t]->task_id == task_id)
- break;
- if (t == ao_num_tasks)
- break;
- }
- task->task_id = task_id;
- task->name = name;
- task->wchan = NULL;
- /*
- * Construct a stack frame so that it will 'return'
- * to the start of the task
- */
- ao_arch_init_stack(task, start);
- ao_arch_critical(
-#if HAS_TASK_QUEUE
- ao_task_init_queue(task);
- ao_task_to_run_queue(task);
-#endif
- ao_tasks[ao_num_tasks] = task;
- ao_num_tasks++;
- );
-}
-
-__data uint8_t ao_task_minimize_latency;
-
-/* Task switching function. This must not use any stack variables */
-void
-ao_yield(void) ao_arch_naked_define
-{
- ao_arch_save_regs();
-
-#if HAS_TASK_QUEUE
- if (ao_cur_task == NULL)
- ao_cur_task = ao_tasks[ao_num_tasks-1];
-#else
- if (ao_cur_task_index == AO_NO_TASK_INDEX)
- ao_cur_task_index = ao_num_tasks-1;
-#endif
- else
- {
-#if HAS_SAMPLE_PROFILE
- uint16_t tick = ao_sample_profile_timer_value();
- uint16_t run = tick - ao_cur_task->start;
- if (run > ao_cur_task->max_run)
- ao_cur_task->max_run = run;
- ++ao_cur_task->yields;
-#endif
- ao_arch_save_stack();
- }
-
- ao_arch_isr_stack();
-#if !HAS_TASK_QUEUE
- if (ao_task_minimize_latency)
- ao_arch_release_interrupts();
- else
-#endif
- ao_arch_block_interrupts();
-
-#if AO_CHECK_STACK
- in_yield = 1;
-#endif
- /* Find a task to run. If there isn't any runnable task,
- * this loop will run forever, which is just fine
- */
-#if HAS_TASK_QUEUE
- /* If the current task is running, move it to the
- * end of the queue to allow other tasks a chance
- */
- if (ao_cur_task->wchan == NULL)
- ao_task_to_run_queue(ao_cur_task);
- ao_cur_task = NULL;
- for (;;) {
- ao_arch_memory_barrier();
- if (!ao_list_is_empty(&run_queue))
- break;
- /* Wait for interrupts when there's nothing ready */
- ao_arch_wait_interrupt();
- }
- ao_cur_task = ao_list_first_entry(&run_queue, struct ao_task, queue);
-#else
- {
- __pdata uint8_t ao_last_task_index = ao_cur_task_index;
- for (;;) {
- ++ao_cur_task_index;
- if (ao_cur_task_index == ao_num_tasks)
- ao_cur_task_index = 0;
-
- ao_cur_task = ao_tasks[ao_cur_task_index];
-
- /* Check for ready task */
- if (ao_cur_task->wchan == NULL)
- break;
-
- /* Check if the alarm is set for a time which has passed */
- if (ao_cur_task->alarm &&
- (int16_t) (ao_time() - ao_cur_task->alarm) >= 0)
- break;
-
- /* Wait for interrupts when there's nothing ready */
- if (ao_cur_task_index == ao_last_task_index && !ao_task_minimize_latency)
- ao_arch_wait_interrupt();
- }
- }
-#endif
-#if HAS_SAMPLE_PROFILE
- ao_cur_task->start = ao_sample_profile_timer_value();
-#endif
-#if HAS_STACK_GUARD
- ao_mpu_stack_guard(ao_cur_task->stack);
-#endif
-#if AO_CHECK_STACK
- in_yield = 0;
-#endif
- ao_arch_restore_stack();
-}
-
-uint8_t
-ao_sleep(__xdata void *wchan)
-{
-#if HAS_TASK_QUEUE
- uint32_t flags;
- flags = ao_arch_irqsave();
-#endif
- ao_cur_task->wchan = wchan;
-#if HAS_TASK_QUEUE
- ao_task_to_sleep_queue(ao_cur_task, wchan);
- ao_arch_irqrestore(flags);
-#endif
- ao_yield();
- if (ao_cur_task->wchan) {
- ao_cur_task->wchan = NULL;
- ao_cur_task->alarm = 0;
- return 1;
- }
- return 0;
-}
-
-void
-ao_wakeup(__xdata void *wchan) __reentrant
-{
-#if HAS_TASK_QUEUE
- struct ao_task *sleep, *next;
- struct ao_list *sleep_queue;
- uint32_t flags;
-
- if (ao_num_tasks == 0)
- return;
- sleep_queue = ao_task_sleep_queue(wchan);
- flags = ao_arch_irqsave();
- ao_list_for_each_entry_safe(sleep, next, sleep_queue, struct ao_task, queue) {
- if (sleep->wchan == wchan) {
- sleep->wchan = NULL;
- ao_task_to_run_queue(sleep);
- }
- }
- ao_arch_irqrestore(flags);
-#else
- uint8_t i;
- for (i = 0; i < ao_num_tasks; i++)
- if (ao_tasks[i]->wchan == wchan)
- ao_tasks[i]->wchan = NULL;
-#endif
- ao_check_stack();
-}
-
-void
-ao_alarm(uint16_t delay)
-{
-#if HAS_TASK_QUEUE
- uint32_t flags;
- /* Make sure we sleep *at least* delay ticks, which means adding
- * one to account for the fact that we may be close to the next tick
- */
- flags = ao_arch_irqsave();
-#endif
- if (!(ao_cur_task->alarm = ao_time() + delay + 1))
- ao_cur_task->alarm = 1;
-#if HAS_TASK_QUEUE
- ao_task_to_alarm_queue(ao_cur_task);
- ao_arch_irqrestore(flags);
-#endif
-}
-
-void
-ao_clear_alarm(void)
-{
-#if HAS_TASK_QUEUE
- uint32_t flags;
-
- flags = ao_arch_irqsave();
-#endif
- ao_cur_task->alarm = 0;
-#if HAS_TASK_QUEUE
- ao_task_from_alarm_queue(ao_cur_task);
- ao_arch_irqrestore(flags);
-#endif
-}
-
-static __xdata uint8_t ao_forever;
-
-void
-ao_delay(uint16_t ticks)
-{
- ao_alarm(ticks);
- ao_sleep(&ao_forever);
- ao_clear_alarm();
-}
-
-void
-ao_exit(void)
-{
- uint8_t i;
- ao_arch_block_interrupts();
- ao_num_tasks--;
-#if HAS_TASK_QUEUE
- for (i = 0; i < ao_num_tasks; i++)
- if (ao_tasks[i] == ao_cur_task)
- break;
- ao_task_exit_queue(ao_cur_task);
-#else
- i = ao_cur_task_index;
- ao_cur_task_index = AO_NO_TASK_INDEX;
-#endif
- for (; i < ao_num_tasks; i++)
- ao_tasks[i] = ao_tasks[i+1];
- ao_cur_task = NULL;
- ao_yield();
- /* we'll never get back here */
-}
-
-#if HAS_TASK_INFO
-void
-ao_task_info(void)
-{
- uint8_t i;
- __xdata struct ao_task *task;
-
- for (i = 0; i < ao_num_tasks; i++) {
- task = ao_tasks[i];
- printf("%12s: wchan %04x\n",
- task->name,
- (int) task->wchan);
- }
-#if HAS_TASK_QUEUE && DEBUG
- ao_task_validate();
-#endif
-}
-#endif
-
-void
-ao_start_scheduler(void)
-{
-#if !HAS_TASK_QUEUE
- ao_cur_task_index = AO_NO_TASK_INDEX;
-#endif
- ao_cur_task = NULL;
-#if HAS_ARCH_START_SCHEDULER
- ao_arch_start_scheduler();
-#endif
- ao_yield();
-}
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_TASK_H_
-#define _AO_TASK_H_
-#if HAS_TASK_QUEUE
-#include <ao_list.h>
-#endif
-
-#ifndef HAS_TASK_INFO
-#define HAS_TASK_INFO 1
-#endif
-
-/* An AltOS task */
-struct ao_task {
- __xdata void *wchan; /* current wait channel (NULL if running) */
- uint16_t alarm; /* abort ao_sleep time */
- ao_arch_task_members /* any architecture-specific fields */
- uint8_t task_id; /* unique id */
- __code char *name; /* task name */
-#if HAS_TASK_QUEUE
- struct ao_list queue;
- struct ao_list alarm_queue;
-#endif
- uint8_t stack[AO_STACK_SIZE]; /* saved stack */
-#if HAS_SAMPLE_PROFILE
- uint32_t ticks;
- uint32_t yields;
- uint16_t start;
- uint16_t max_run;
-#endif
-};
-
-#ifndef AO_NUM_TASKS
-#define AO_NUM_TASKS 16 /* maximum number of tasks */
-#endif
-
-#define AO_NO_TASK 0 /* no task id */
-
-extern __xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
-extern __data uint8_t ao_num_tasks;
-extern __xdata struct ao_task *__data ao_cur_task;
-extern __data uint8_t ao_task_minimize_latency; /* Reduce IRQ latency */
-
-/*
- ao_task.c
- */
-
-/* Suspend the current task until wchan is awoken.
- * returns:
- * 0 on normal wake
- * 1 on alarm
- */
-uint8_t
-ao_sleep(__xdata void *wchan);
-
-/* Wake all tasks sleeping on wchan */
-void
-ao_wakeup(__xdata void *wchan) __reentrant;
-
-/* set an alarm to go off in 'delay' ticks */
-void
-ao_alarm(uint16_t delay);
-
-/* Clear any pending alarm */
-void
-ao_clear_alarm(void);
-
-/* Yield the processor to another task */
-void
-ao_yield(void) ao_arch_naked_declare;
-
-/* Add a task to the run queue */
-void
-ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
-
-#if HAS_TASK_QUEUE
-/* Called on timer interrupt to check alarms */
-extern uint16_t ao_task_alarm_tick;
-void
-ao_task_check_alarm(uint16_t tick);
-#endif
-
-/* Terminate the current task */
-void
-ao_exit(void);
-
-/* Dump task info to console */
-void
-ao_task_info(void);
-
-/* Start the scheduler. This will not return */
-void
-ao_start_scheduler(void);
-
-#if HAS_TASK_QUEUE
-void
-ao_task_init(void);
-#else
-#define ao_task_init()
-#endif
-
-#endif
+++ /dev/null
-/*
- * Copyright © 2011 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.
- */
-
-#ifndef _AO_TELEM_H_
-#define _AO_TELEM_H_
-
-#define AO_TELEMETRY_VERSION 4
-
-/*
- * Telemetry version 4 and higher format:
- *
- * General header fields
- *
- * Name Value
- *
- * VERSION Telemetry version number (4 or more). Must be first.
- * c Callsign (string, no spaces allowed)
- * n Flight unit serial number (integer)
- * f Flight number (integer)
- * r Packet RSSI value (integer)
- * s Flight computer state (string, no spaces allowed)
- * t Flight computer clock (integer in centiseconds)
- */
-
-#define AO_TELEM_VERSION "VERSION"
-#define AO_TELEM_CALL "c"
-#define AO_TELEM_SERIAL "n"
-#define AO_TELEM_FLIGHT "f"
-#define AO_TELEM_RSSI "r"
-#define AO_TELEM_STATE "s"
-#define AO_TELEM_TICK "t"
-
-/*
- * Raw sensor values
- *
- * Name Value
- * r_a Accelerometer reading (integer)
- * r_b Barometer reading (integer)
- * r_t Thermometer reading (integer)
- * r_v Battery reading (integer)
- * r_d Drogue continuity (integer)
- * r_m Main continuity (integer)
- */
-
-#define AO_TELEM_RAW_ACCEL "r_a"
-#define AO_TELEM_RAW_BARO "r_b"
-#define AO_TELEM_RAW_THERMO "r_t"
-#define AO_TELEM_RAW_BATT "r_v"
-#define AO_TELEM_RAW_DROGUE "r_d"
-#define AO_TELEM_RAW_MAIN "r_m"
-
-/*
- * Sensor calibration values
- *
- * Name Value
- * c_a Ground accelerometer reading (integer)
- * c_b Ground barometer reading (integer)
- * c_p Accelerometer reading for +1g
- * c_m Accelerometer reading for -1g
- */
-
-#define AO_TELEM_CAL_ACCEL_GROUND "c_a"
-#define AO_TELEM_CAL_BARO_GROUND "c_b"
-#define AO_TELEM_CAL_ACCEL_PLUS "c_p"
-#define AO_TELEM_CAL_ACCEL_MINUS "c_m"
-
-/*
- * Kalman state values
- *
- * Name Value
- * k_h Height above pad (integer, meters)
- * k_s Vertical speeed (integer, m/s * 16)
- * k_a Vertical acceleration (integer, m/s² * 16)
- */
-
-#define AO_TELEM_KALMAN_HEIGHT "k_h"
-#define AO_TELEM_KALMAN_SPEED "k_s"
-#define AO_TELEM_KALMAN_ACCEL "k_a"
-
-/*
- * Ad-hoc flight values
- *
- * Name Value
- * a_a Acceleration (integer, sensor units)
- * a_s Speed (integer, integrated acceleration value)
- * a_b Barometer reading (integer, sensor units)
- */
-
-#define AO_TELEM_ADHOC_ACCEL "a_a"
-#define AO_TELEM_ADHOC_SPEED "a_s"
-#define AO_TELEM_ADHOC_BARO "a_b"
-
-/*
- * GPS values
- *
- * Name Value
- * g GPS state (string):
- * l locked
- * u unlocked
- * e error (missing or broken)
- * g_n Number of sats used in solution
- * g_ns Latitude (degrees * 10e7)
- * g_ew Longitude (degrees * 10e7)
- * g_a Altitude (integer meters)
- * g_Y GPS year (integer)
- * g_M GPS month (integer - 1-12)
- * g_D GPS day (integer - 1-31)
- * g_h GPS hour (integer - 0-23)
- * g_m GPS minute (integer - 0-59)
- * g_s GPS second (integer - 0-59)
- * g_v GPS vertical speed (integer, cm/sec)
- * g_g GPS horizontal speed (integer, cm/sec)
- * g_c GPS course (integer, 0-359)
- * g_hd GPS hdop (integer * 10)
- * g_vd GPS vdop (integer * 10)
- * g_he GPS h error (integer)
- * g_ve GPS v error (integer)
- */
-
-#define AO_TELEM_GPS_STATE "g"
-#define AO_TELEM_GPS_STATE_LOCKED 'l'
-#define AO_TELEM_GPS_STATE_UNLOCKED 'u'
-#define AO_TELEM_GPS_STATE_ERROR 'e'
-#define AO_TELEM_GPS_NUM_SAT "g_n"
-#define AO_TELEM_GPS_LATITUDE "g_ns"
-#define AO_TELEM_GPS_LONGITUDE "g_ew"
-#define AO_TELEM_GPS_ALTITUDE "g_a"
-#define AO_TELEM_GPS_YEAR "g_Y"
-#define AO_TELEM_GPS_MONTH "g_M"
-#define AO_TELEM_GPS_DAY "g_D"
-#define AO_TELEM_GPS_HOUR "g_h"
-#define AO_TELEM_GPS_MINUTE "g_m"
-#define AO_TELEM_GPS_SECOND "g_s"
-#define AO_TELEM_GPS_VERTICAL_SPEED "g_v"
-#define AO_TELEM_GPS_HORIZONTAL_SPEED "g_g"
-#define AO_TELEM_GPS_COURSE "g_c"
-#define AO_TELEM_GPS_HDOP "g_hd"
-#define AO_TELEM_GPS_VDOP "g_vd"
-#define AO_TELEM_GPS_HERROR "g_he"
-#define AO_TELEM_GPS_VERROR "g_ve"
-
-/*
- * GPS satellite values
- *
- * Name Value
- * s_n Number of satellites reported (integer)
- * s_v0 Space vehicle ID (integer) for report 0
- * s_c0 C/N0 number (integer) for report 0
- * s_v1 Space vehicle ID (integer) for report 1
- * s_c1 C/N0 number (integer) for report 1
- * ...
- */
-
-#define AO_TELEM_SAT_NUM "s_n"
-#define AO_TELEM_SAT_SVID "s_v"
-#define AO_TELEM_SAT_C_N_0 "s_c"
-
-#endif /* _AO_TELEM_H_ */
+++ /dev/null
-/*
- * Copyright © 2011 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_log.h"
-#include "ao_product.h"
-
-#ifndef HAS_RDF
-#define HAS_RDF 1
-#endif
-
-static __pdata uint16_t ao_telemetry_interval;
-
-#if HAS_RDF
-static __pdata uint8_t ao_rdf = 0;
-static __pdata uint16_t ao_rdf_time;
-#endif
-
-#if HAS_APRS
-static __pdata uint16_t ao_aprs_time;
-
-#include <ao_aprs.h>
-#endif
-
-#if defined(TELEMEGA)
-#define AO_SEND_MEGA 1
-#endif
-
-#if defined (TELEMETRUM_V_2_0)
-#define AO_SEND_METRUM 1
-#endif
-
-#if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1) || defined(TELEBALLOON_V_1_1) || defined(TELEMETRUM_V_1_2)
-#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMETRUM
-#endif
-
-#if defined(TELEMINI_V_1_0)
-#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMINI
-#endif
-
-#if defined(TELENANO_V_0_1)
-#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELENANO
-#endif
-
-static __xdata union ao_telemetry_all telemetry;
-
-#if defined AO_TELEMETRY_SENSOR
-/* Send sensor packet */
-static void
-ao_send_sensor(void)
-{
- __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
-
- telemetry.generic.tick = packet->tick;
- telemetry.generic.type = AO_TELEMETRY_SENSOR;
-
- telemetry.sensor.state = ao_flight_state;
-#if HAS_ACCEL
- telemetry.sensor.accel = packet->adc.accel;
-#else
- telemetry.sensor.accel = 0;
-#endif
- telemetry.sensor.pres = ao_data_pres(packet);
- telemetry.sensor.temp = packet->adc.temp;
- telemetry.sensor.v_batt = packet->adc.v_batt;
-#if HAS_IGNITE
- telemetry.sensor.sense_d = packet->adc.sense_d;
- telemetry.sensor.sense_m = packet->adc.sense_m;
-#else
- telemetry.sensor.sense_d = 0;
- telemetry.sensor.sense_m = 0;
-#endif
-
- telemetry.sensor.acceleration = ao_accel;
- telemetry.sensor.speed = ao_speed;
- telemetry.sensor.height = ao_height;
-
- telemetry.sensor.ground_pres = ao_ground_pres;
-#if HAS_ACCEL
- telemetry.sensor.ground_accel = ao_ground_accel;
- telemetry.sensor.accel_plus_g = ao_config.accel_plus_g;
- telemetry.sensor.accel_minus_g = ao_config.accel_minus_g;
-#else
- telemetry.sensor.ground_accel = 0;
- telemetry.sensor.accel_plus_g = 0;
- telemetry.sensor.accel_minus_g = 0;
-#endif
-
- ao_radio_send(&telemetry, sizeof (telemetry));
-}
-#endif
-
-
-#ifdef AO_SEND_MEGA
-/* Send mega sensor packet */
-static void
-ao_send_mega_sensor(void)
-{
- __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
-
- telemetry.generic.tick = packet->tick;
- telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
-
- telemetry.mega_sensor.orient = ao_sample_orient;
- telemetry.mega_sensor.accel = ao_data_accel(packet);
- telemetry.mega_sensor.pres = ao_data_pres(packet);
- telemetry.mega_sensor.temp = ao_data_temp(packet);
-
-#if HAS_MPU6000
- telemetry.mega_sensor.accel_x = packet->mpu6000.accel_x;
- telemetry.mega_sensor.accel_y = packet->mpu6000.accel_y;
- telemetry.mega_sensor.accel_z = packet->mpu6000.accel_z;
-
- telemetry.mega_sensor.gyro_x = packet->mpu6000.gyro_x;
- telemetry.mega_sensor.gyro_y = packet->mpu6000.gyro_y;
- telemetry.mega_sensor.gyro_z = packet->mpu6000.gyro_z;
-#endif
-
-#if HAS_HMC5883
- telemetry.mega_sensor.mag_x = packet->hmc5883.x;
- telemetry.mega_sensor.mag_y = packet->hmc5883.y;
- telemetry.mega_sensor.mag_z = packet->hmc5883.z;
-#endif
-
- ao_radio_send(&telemetry, sizeof (telemetry));
-}
-
-static __pdata int8_t ao_telemetry_mega_data_max;
-static __pdata int8_t ao_telemetry_mega_data_cur;
-
-/* Send mega data packet */
-static void
-ao_send_mega_data(void)
-{
- if (--ao_telemetry_mega_data_cur <= 0) {
- __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
- uint8_t i;
-
- telemetry.generic.tick = packet->tick;
- telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
-
- telemetry.mega_data.state = ao_flight_state;
- telemetry.mega_data.v_batt = packet->adc.v_batt;
- telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
-
- /* ADC range is 0-4095, so shift by four to save the high 8 bits */
- for (i = 0; i < AO_ADC_NUM_SENSE; i++)
- telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 4;
-
- telemetry.mega_data.ground_pres = ao_ground_pres;
- telemetry.mega_data.ground_accel = ao_ground_accel;
- telemetry.mega_data.accel_plus_g = ao_config.accel_plus_g;
- telemetry.mega_data.accel_minus_g = ao_config.accel_minus_g;
-
- telemetry.mega_data.acceleration = ao_accel;
- telemetry.mega_data.speed = ao_speed;
- telemetry.mega_data.height = ao_height;
-
- ao_radio_send(&telemetry, sizeof (telemetry));
- ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
- }
-}
-#endif /* AO_SEND_MEGA */
-
-#ifdef AO_SEND_METRUM
-/* Send telemetrum sensor packet */
-static void
-ao_send_metrum_sensor(void)
-{
- __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
-
- telemetry.generic.tick = packet->tick;
- telemetry.generic.type = AO_TELEMETRY_METRUM_SENSOR;
-
- telemetry.metrum_sensor.state = ao_flight_state;
-#if HAS_ACCEL
- telemetry.metrum_sensor.accel = ao_data_accel(packet);
-#endif
- telemetry.metrum_sensor.pres = ao_data_pres(packet);
- telemetry.metrum_sensor.temp = ao_data_temp(packet);
-
- telemetry.metrum_sensor.acceleration = ao_accel;
- telemetry.metrum_sensor.speed = ao_speed;
- telemetry.metrum_sensor.height = ao_height;
-
- telemetry.metrum_sensor.v_batt = packet->adc.v_batt;
- telemetry.metrum_sensor.sense_a = packet->adc.sense_a;
- telemetry.metrum_sensor.sense_m = packet->adc.sense_m;
-
- ao_radio_send(&telemetry, sizeof (telemetry));
-}
-
-static __pdata int8_t ao_telemetry_metrum_data_max;
-static __pdata int8_t ao_telemetry_metrum_data_cur;
-
-/* Send telemetrum data packet */
-static void
-ao_send_metrum_data(void)
-{
- if (--ao_telemetry_metrum_data_cur <= 0) {
- __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
-
- telemetry.generic.tick = packet->tick;
- telemetry.generic.type = AO_TELEMETRY_METRUM_DATA;
-
- telemetry.metrum_data.ground_pres = ao_ground_pres;
-#if HAS_ACCEL
- telemetry.metrum_data.ground_accel = ao_ground_accel;
- telemetry.metrum_data.accel_plus_g = ao_config.accel_plus_g;
- telemetry.metrum_data.accel_minus_g = ao_config.accel_minus_g;
-#else
- telemetry.metrum_data.ground_accel = 1;
- telemetry.metrum_data.accel_plus_g = 0;
- telemetry.metrum_data.accel_minus_g = 2;
-#endif
-
- ao_radio_send(&telemetry, sizeof (telemetry));
- ao_telemetry_metrum_data_cur = ao_telemetry_metrum_data_max;
- }
-}
-#endif /* AO_SEND_METRUM */
-
-#ifdef AO_SEND_MINI
-
-static void
-ao_send_mini(void)
-{
- __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
-
- telemetry.generic.tick = packet->tick;
- telemetry.generic.type = AO_TELEMETRY_MINI;
-
- telemetry.mini.state = ao_flight_state;
-
- telemetry.mini.v_batt = packet->adc.v_batt;
- telemetry.mini.sense_a = packet->adc.sense_a;
- telemetry.mini.sense_m = packet->adc.sense_m;
-
- telemetry.mini.pres = ao_data_pres(packet);
- telemetry.mini.temp = ao_data_temp(packet);
-
- telemetry.mini.acceleration = ao_accel;
- telemetry.mini.speed = ao_speed;
- telemetry.mini.height = ao_height;
-
- telemetry.mini.ground_pres = ao_ground_pres;
-
- ao_radio_send(&telemetry, sizeof (telemetry));
-}
-
-#endif /* AO_SEND_MINI */
-
-#ifdef AO_SEND_ALL_BARO
-static uint8_t ao_baro_sample;
-
-static void
-ao_send_baro(void)
-{
- uint8_t sample = ao_sample_data;
- uint8_t samples = (sample - ao_baro_sample) & (AO_DATA_RING - 1);
-
- if (samples > 12) {
- ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_DATA_RING - 1);
- samples = 12;
- }
- telemetry.generic.tick = ao_data_ring[sample].tick;
- telemetry.generic.type = AO_TELEMETRY_BARO;
- telemetry.baro.samples = samples;
- for (sample = 0; sample < samples; sample++) {
- telemetry.baro.baro[sample] = ao_data_ring[ao_baro_sample].adc.pres;
- ao_baro_sample = ao_data_ring_next(ao_baro_sample);
- }
- ao_radio_send(&telemetry, sizeof (telemetry));
-}
-#endif
-
-static __pdata int8_t ao_telemetry_config_max;
-static __pdata int8_t ao_telemetry_config_cur;
-
-static void
-ao_send_configuration(void)
-{
- if (--ao_telemetry_config_cur <= 0)
- {
- telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
- telemetry.configuration.device = AO_idProduct_NUMBER;
-#if HAS_LOG
- telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
-#else
- telemetry.configuration.flight = ao_flight_number;
-#endif
- telemetry.configuration.config_major = AO_CONFIG_MAJOR;
- telemetry.configuration.config_minor = AO_CONFIG_MINOR;
- telemetry.configuration.apogee_delay = ao_config.apogee_delay;
- telemetry.configuration.main_deploy = ao_config.main_deploy;
- telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
- ao_xmemcpy (telemetry.configuration.callsign,
- ao_config.callsign,
- AO_MAX_CALLSIGN);
- ao_xmemcpy (telemetry.configuration.version,
- CODE_TO_XDATA(ao_version),
- AO_MAX_VERSION);
- ao_radio_send(&telemetry, sizeof (telemetry));
- ao_telemetry_config_cur = ao_telemetry_config_max;
- }
-}
-
-#if HAS_GPS
-
-static __pdata int8_t ao_telemetry_loc_cur;
-static __pdata int8_t ao_telemetry_sat_cur;
-
-static void
-ao_send_location(void)
-{
- if (--ao_telemetry_loc_cur <= 0)
- {
- telemetry.generic.type = AO_TELEMETRY_LOCATION;
- ao_mutex_get(&ao_gps_mutex);
- ao_xmemcpy(&telemetry.location.flags,
- &ao_gps_data.flags,
- 26);
- telemetry.location.tick = ao_gps_tick;
- ao_mutex_put(&ao_gps_mutex);
- ao_radio_send(&telemetry, sizeof (telemetry));
- ao_telemetry_loc_cur = ao_telemetry_config_max;
- }
-}
-
-static void
-ao_send_satellite(void)
-{
- if (--ao_telemetry_sat_cur <= 0)
- {
- telemetry.generic.type = AO_TELEMETRY_SATELLITE;
- ao_mutex_get(&ao_gps_mutex);
- telemetry.satellite.channels = ao_gps_tracking_data.channels;
- ao_xmemcpy(&telemetry.satellite.sats,
- &ao_gps_tracking_data.sats,
- AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
- ao_mutex_put(&ao_gps_mutex);
- ao_radio_send(&telemetry, sizeof (telemetry));
- ao_telemetry_sat_cur = ao_telemetry_config_max;
- }
-}
-#endif
-
-#if HAS_COMPANION
-
-static __pdata int8_t ao_telemetry_companion_max;
-static __pdata int8_t ao_telemetry_companion_cur;
-
-static void
-ao_send_companion(void)
-{
- if (--ao_telemetry_companion_cur <= 0) {
- telemetry.generic.type = AO_TELEMETRY_COMPANION;
- telemetry.companion.board_id = ao_companion_setup.board_id;
- telemetry.companion.update_period = ao_companion_setup.update_period;
- telemetry.companion.channels = ao_companion_setup.channels;
- ao_mutex_get(&ao_companion_mutex);
- ao_xmemcpy(&telemetry.companion.companion_data,
- ao_companion_data,
- ao_companion_setup.channels * 2);
- ao_mutex_put(&ao_companion_mutex);
- ao_radio_send(&telemetry, sizeof (telemetry));
- ao_telemetry_companion_cur = ao_telemetry_companion_max;
- }
-}
-#endif
-
-void
-ao_telemetry(void)
-{
- uint16_t time;
- int16_t delay;
-
- ao_config_get();
- if (!ao_config.radio_enable)
- ao_exit();
- while (!ao_flight_number)
- ao_sleep(&ao_flight_number);
-
- telemetry.generic.serial = ao_serial_number;
- for (;;) {
- while (ao_telemetry_interval == 0)
- ao_sleep(&telemetry);
- time = ao_time();
-#if HAS_RDF
- ao_rdf_time = time;
-#endif
-#if HAS_APRS
- ao_aprs_time = time;
-#endif
- while (ao_telemetry_interval) {
-#if HAS_APRS
- if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
-#endif
- {
-#ifdef AO_SEND_ALL_BARO
- ao_send_baro();
-#endif
-
-#if HAS_FLIGHT
-# ifdef AO_SEND_MEGA
- ao_send_mega_sensor();
- ao_send_mega_data();
-# endif
-# ifdef AO_SEND_METRUM
- ao_send_metrum_sensor();
- ao_send_metrum_data();
-# endif
-# ifdef AO_SEND_MINI
- ao_send_mini();
-# endif
-# ifdef AO_TELEMETRY_SENSOR
- ao_send_sensor();
-# endif
-#endif /* HAS_FLIGHT */
-
-#if HAS_COMPANION
- if (ao_companion_running)
- ao_send_companion();
-#endif
- ao_send_configuration();
-#if HAS_GPS
- ao_send_location();
- ao_send_satellite();
-#endif
- }
-#ifndef AO_SEND_ALL_BARO
-#if HAS_RDF
- if (ao_rdf &&
-#if HAS_APRS
- !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF) &&
-#endif /* HAS_APRS */
- (int16_t) (ao_time() - ao_rdf_time) >= 0)
- {
-#if HAS_IGNITE_REPORT
- uint8_t c;
-#endif /* HAS_IGNITE_REPORT */
- ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
-#if HAS_IGNITE_REPORT
- if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
- ao_radio_continuity(c);
- else
-#endif /* HAS_IGNITE_REPORT*/
- ao_radio_rdf();
- }
-#endif /* HAS_RDF */
-#if HAS_APRS
- if (ao_config.aprs_interval != 0 &&
- (int16_t) (ao_time() - ao_aprs_time) >= 0)
- {
- ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval);
- ao_aprs_send();
- }
-#endif /* HAS_APRS */
-#endif /* !AO_SEND_ALL_BARO */
- time += ao_telemetry_interval;
- delay = time - ao_time();
- if (delay > 0) {
- ao_alarm(delay);
- ao_sleep(&telemetry);
- ao_clear_alarm();
- }
- else
- time = ao_time();
- }
- }
-}
-
-void
-ao_telemetry_set_interval(uint16_t interval)
-{
- int8_t cur = 0;
- ao_telemetry_interval = interval;
-
-#if AO_SEND_MEGA
- if (interval > 1)
- ao_telemetry_mega_data_max = 1;
- else
- ao_telemetry_mega_data_max = 2;
- if (ao_telemetry_mega_data_max > cur)
- cur++;
- ao_telemetry_mega_data_cur = cur;
-#endif
-#if AO_SEND_METRUM
- ao_telemetry_metrum_data_max = AO_SEC_TO_TICKS(1) / interval;
- if (ao_telemetry_metrum_data_max > cur)
- cur++;
- ao_telemetry_metrum_data_cur = cur;
-#endif
-
-#if HAS_COMPANION
- if (!ao_companion_setup.update_period)
- ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
- ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
- if (ao_telemetry_companion_max > cur)
- cur++;
- ao_telemetry_companion_cur = cur;
-#endif
-
- ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
-#if HAS_COMPANION
- if (ao_telemetry_config_max > cur)
- cur++;
- ao_telemetry_config_cur = cur;
-#endif
-
-#if HAS_GPS
- if (ao_telemetry_config_max > cur)
- cur++;
- ao_telemetry_loc_cur = cur;
- if (ao_telemetry_config_max > cur)
- cur++;
- ao_telemetry_sat_cur = cur;
-#endif
- ao_wakeup(&telemetry);
-}
-
-#if HAS_RDF
-void
-ao_rdf_set(uint8_t rdf)
-{
- ao_rdf = rdf;
- if (rdf == 0)
- ao_radio_rdf_abort();
- else {
- ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
- }
-}
-#endif
-
-__xdata struct ao_task ao_telemetry_task;
-
-void
-ao_telemetry_init()
-{
- ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
-}
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_TELEMETRY_H_
-#define _AO_TELEMETRY_H_
-
-/*
- * ao_telemetry.c
- */
-#define AO_MAX_CALLSIGN 8
-#define AO_MAX_VERSION 8
-#if LEGACY_MONITOR
-#define AO_MAX_TELEMETRY 128
-#else
-#define AO_MAX_TELEMETRY 32
-#endif
-
-struct ao_telemetry_generic {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
- uint8_t payload[27]; /* 5 */
- /* 32 */
-};
-
-#define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
-#define AO_TELEMETRY_SENSOR_TELEMINI 0x02
-#define AO_TELEMETRY_SENSOR_TELENANO 0x03
-
-struct ao_telemetry_sensor {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t state; /* 5 flight state */
- int16_t accel; /* 6 accelerometer (TM only) */
- int16_t pres; /* 8 pressure sensor */
- int16_t temp; /* 10 temperature sensor */
- int16_t v_batt; /* 12 battery voltage */
- int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
- int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
-
- int16_t acceleration; /* 18 m/s² * 16 */
- int16_t speed; /* 20 m/s * 16 */
- int16_t height; /* 22 m */
-
- int16_t ground_pres; /* 24 average pres on pad */
- int16_t ground_accel; /* 26 average accel on pad */
- int16_t accel_plus_g; /* 28 accel calibration at +1g */
- int16_t accel_minus_g; /* 30 accel calibration at -1g */
- /* 32 */
-};
-
-#define AO_TELEMETRY_CONFIGURATION 0x04
-
-struct ao_telemetry_configuration {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t device; /* 5 device type */
- uint16_t flight; /* 6 flight number */
- uint8_t config_major; /* 8 Config major version */
- uint8_t config_minor; /* 9 Config minor version */
- uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
- uint16_t main_deploy; /* 12 Main deploy alt in meters */
- uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
- char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
- char version[AO_MAX_VERSION]; /* 24 Software version */
- /* 32 */
-};
-
-#define AO_TELEMETRY_LOCATION 0x05
-
-#define AO_GPS_MODE_NOT_VALID 'N'
-#define AO_GPS_MODE_AUTONOMOUS 'A'
-#define AO_GPS_MODE_DIFFERENTIAL 'D'
-#define AO_GPS_MODE_ESTIMATED 'E'
-#define AO_GPS_MODE_MANUAL 'M'
-#define AO_GPS_MODE_SIMULATED 'S'
-
-struct ao_telemetry_location {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t flags; /* 5 Number of sats and other flags */
- int16_t altitude; /* 6 GPS reported altitude (m) */
- int32_t latitude; /* 8 latitude (degrees * 10⁷) */
- int32_t longitude; /* 12 longitude (degrees * 10⁷) */
- uint8_t year; /* 16 (- 2000) */
- uint8_t month; /* 17 (1-12) */
- uint8_t day; /* 18 (1-31) */
- uint8_t hour; /* 19 (0-23) */
- uint8_t minute; /* 20 (0-59) */
- uint8_t second; /* 21 (0-59) */
- uint8_t pdop; /* 22 (m * 5) */
- uint8_t hdop; /* 23 (m * 5) */
- uint8_t vdop; /* 24 (m * 5) */
- uint8_t mode; /* 25 */
- uint16_t ground_speed; /* 26 cm/s */
- int16_t climb_rate; /* 28 cm/s */
- uint8_t course; /* 30 degrees / 2 */
- uint8_t unused[1]; /* 31 */
- /* 32 */
-};
-
-#define AO_TELEMETRY_SATELLITE 0x06
-
-struct ao_telemetry_satellite_info {
- uint8_t svid;
- uint8_t c_n_1;
-};
-
-#define AO_TELEMETRY_SATELLITE_MAX_SAT 12
-
-struct ao_telemetry_satellite {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
- uint8_t channels; /* 5 number of reported sats */
-
- struct ao_telemetry_satellite_info sats[AO_TELEMETRY_SATELLITE_MAX_SAT]; /* 6 */
- uint8_t unused[2]; /* 30 */
- /* 32 */
-};
-
-#define AO_TELEMETRY_COMPANION 0x07
-
-#define AO_COMPANION_MAX_CHANNELS 12
-
-struct ao_telemetry_companion {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
- uint8_t board_id; /* 5 */
-
- uint8_t update_period; /* 6 */
- uint8_t channels; /* 7 */
- uint16_t companion_data[AO_COMPANION_MAX_CHANNELS]; /* 8 */
- /* 32 */
-};
-
-#define AO_TELEMETRY_MEGA_SENSOR 0x08
-
-struct ao_telemetry_mega_sensor {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t orient; /* 5 angle from vertical */
- int16_t accel; /* 6 Z axis */
-
- int32_t pres; /* 8 Pa * 10 */
- int16_t temp; /* 12 °C * 100 */
-
- int16_t accel_x; /* 14 */
- int16_t accel_y; /* 16 */
- int16_t accel_z; /* 18 */
-
- int16_t gyro_x; /* 20 */
- int16_t gyro_y; /* 22 */
- int16_t gyro_z; /* 24 */
-
- int16_t mag_x; /* 26 */
- int16_t mag_y; /* 28 */
- int16_t mag_z; /* 30 */
- /* 32 */
-};
-
-#define AO_TELEMETRY_MEGA_DATA 0x09
-
-struct ao_telemetry_mega_data {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t state; /* 5 flight state */
-
- int16_t v_batt; /* 6 battery voltage */
- int16_t v_pyro; /* 8 pyro battery voltage */
- int8_t sense[6]; /* 10 continuity sense */
-
- int32_t ground_pres; /* 16 average pres on pad */
- int16_t ground_accel; /* 20 average accel on pad */
- int16_t accel_plus_g; /* 22 accel calibration at +1g */
- int16_t accel_minus_g; /* 24 accel calibration at -1g */
-
- int16_t acceleration; /* 26 m/s² * 16 */
- int16_t speed; /* 28 m/s * 16 */
- int16_t height; /* 30 m */
- /* 32 */
-};
-
-
-#define AO_TELEMETRY_METRUM_SENSOR 0x0A
-
-struct ao_telemetry_metrum_sensor {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t state; /* 5 flight state */
- int16_t accel; /* 6 Z axis */
-
- int32_t pres; /* 8 Pa * 10 */
- int16_t temp; /* 12 °C * 100 */
-
- int16_t acceleration; /* 14 m/s² * 16 */
- int16_t speed; /* 16 m/s * 16 */
- int16_t height; /* 18 m */
-
- int16_t v_batt; /* 20 battery voltage */
- int16_t sense_a; /* 22 apogee continuity sense */
- int16_t sense_m; /* 24 main continuity sense */
-
- uint8_t pad[6]; /* 26 */
- /* 32 */
-};
-
-#define AO_TELEMETRY_METRUM_DATA 0x0B
-
-struct ao_telemetry_metrum_data {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- int32_t ground_pres; /* 8 average pres on pad */
- int16_t ground_accel; /* 12 average accel on pad */
- int16_t accel_plus_g; /* 14 accel calibration at +1g */
- int16_t accel_minus_g; /* 16 accel calibration at -1g */
-
- uint8_t pad[14]; /* 18 */
- /* 32 */
-};
-
-#define AO_TELEMETRY_MINI 0x10
-
-struct ao_telemetry_mini {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t state; /* 5 flight state */
- int16_t v_batt; /* 6 battery voltage */
- int16_t sense_a; /* 8 apogee continuity */
- int16_t sense_m; /* 10 main continuity */
-
- int32_t pres; /* 12 Pa * 10 */
- int16_t temp; /* 16 °C * 100 */
-
- int16_t acceleration; /* 18 m/s² * 16 */
- int16_t speed; /* 20 m/s * 16 */
- int16_t height; /* 22 m */
-
- int32_t ground_pres; /* 24 average pres on pad */
-
- int32_t pad28; /* 28 */
- /* 32 */
-};
-
-/* #define AO_SEND_ALL_BARO */
-
-#define AO_TELEMETRY_BARO 0x80
-
-/*
- * This packet allows the full sampling rate baro
- * data to be captured over the RF link so that the
- * flight software can be tested using 'real' data.
- *
- * Along with this telemetry packet, the flight
- * code is modified to send full-rate telemetry all the time
- * and never send an RDF tone; this ensure that the full radio
- * link is available.
- */
-struct ao_telemetry_baro {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
- uint8_t samples; /* 5 number samples */
-
- int16_t baro[12]; /* 6 samples */
- /* 32 */
-};
-
-union ao_telemetry_all {
- struct ao_telemetry_generic generic;
- struct ao_telemetry_sensor sensor;
- struct ao_telemetry_configuration configuration;
- struct ao_telemetry_location location;
- struct ao_telemetry_satellite satellite;
- struct ao_telemetry_companion companion;
- struct ao_telemetry_mega_sensor mega_sensor;
- struct ao_telemetry_mega_data mega_data;
- struct ao_telemetry_metrum_sensor metrum_sensor;
- struct ao_telemetry_metrum_data metrum_data;
- struct ao_telemetry_mini mini;
- struct ao_telemetry_baro baro;
-};
-
-struct ao_telemetry_all_recv {
- union ao_telemetry_all telemetry;
- int8_t rssi;
- uint8_t status;
-};
-
-#endif /* _AO_TELEMETRY_H_ */
+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef _AO_USB_H_
-#define _AO_USB_H_
-
-/*
- * ao_usb.c
- */
-
-/* Put one character to the USB output queue */
-void
-ao_usb_putchar(char c);
-
-/* Get one character from the USB input queue */
-char
-ao_usb_getchar(void);
-
-/* Poll for a charcter on the USB input queue.
- * returns AO_READ_AGAIN if none are available
- */
-int
-ao_usb_pollchar(void);
-
-/* Flush the USB output queue */
-void
-ao_usb_flush(void);
-
-/* Enable the USB controller */
-void
-ao_usb_enable(void);
-
-/* Disable the USB controller */
-void
-ao_usb_disable(void);
-
-/* Initialize the USB system */
-void
-ao_usb_init(void);
-
-extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
-
-#define AO_USB_SETUP_DIR_MASK (0x01 << 7)
-#define AO_USB_SETUP_TYPE_MASK (0x03 << 5)
-#define AO_USB_SETUP_RECIP_MASK (0x1f)
-
-#define AO_USB_DIR_OUT 0
-#define AO_USB_DIR_IN (1 << 7)
-
-#define AO_USB_TYPE_STANDARD 0
-#define AO_USB_TYPE_CLASS (1 << 5)
-#define AO_USB_TYPE_VENDOR (2 << 5)
-#define AO_USB_TYPE_RESERVED (3 << 5)
-
-#define AO_USB_RECIP_DEVICE 0
-#define AO_USB_RECIP_INTERFACE 1
-#define AO_USB_RECIP_ENDPOINT 2
-#define AO_USB_RECIP_OTHER 3
-
-/* standard requests */
-#define AO_USB_REQ_GET_STATUS 0x00
-#define AO_USB_REQ_CLEAR_FEATURE 0x01
-#define AO_USB_REQ_SET_FEATURE 0x03
-#define AO_USB_REQ_SET_ADDRESS 0x05
-#define AO_USB_REQ_GET_DESCRIPTOR 0x06
-#define AO_USB_REQ_SET_DESCRIPTOR 0x07
-#define AO_USB_REQ_GET_CONFIGURATION 0x08
-#define AO_USB_REQ_SET_CONFIGURATION 0x09
-#define AO_USB_REQ_GET_INTERFACE 0x0A
-#define AO_USB_REQ_SET_INTERFACE 0x0B
-#define AO_USB_REQ_SYNCH_FRAME 0x0C
-
-#define AO_USB_DESC_DEVICE 1
-#define AO_USB_DESC_CONFIGURATION 2
-#define AO_USB_DESC_STRING 3
-#define AO_USB_DESC_INTERFACE 4
-#define AO_USB_DESC_ENDPOINT 5
-#define AO_USB_DESC_DEVICE_QUALIFIER 6
-#define AO_USB_DESC_OTHER_SPEED 7
-#define AO_USB_DESC_INTERFACE_POWER 8
-
-#define AO_USB_GET_DESC_TYPE(x) (((x)>>8)&0xFF)
-#define AO_USB_GET_DESC_INDEX(x) ((x)&0xFF)
-
-#define AO_USB_CONTROL_EP 0
-#define AO_USB_CONTROL_SIZE 32
-
-#define AO_USB_INT_EP 1
-#define AO_USB_INT_SIZE 8
-
-#ifndef AO_USB_OUT_EP
-#define AO_USB_OUT_EP 4
-#define AO_USB_IN_EP 5
-#endif
-
-/*
- * USB bulk packets can only come in 8, 16, 32 and 64
- * byte sizes, so we'll use 64 for everything
- */
-#define AO_USB_IN_SIZE 64
-#define AO_USB_OUT_SIZE 64
-
-#define AO_USB_EP0_IDLE 0
-#define AO_USB_EP0_DATA_IN 1
-#define AO_USB_EP0_DATA_OUT 2
-#define AO_USB_EP0_STALL 3
-
-#define LE_WORD(x) ((x)&0xFF),((uint8_t) (((uint16_t) (x))>>8))
-
-/* CDC definitions */
-#define AO_USB_CS_INTERFACE 0x24
-#define AO_USB_CS_ENDPOINT 0x25
-
-#define AO_USB_SET_LINE_CODING 0x20
-#define AO_USB_GET_LINE_CODING 0x21
-#define AO_USB_SET_CONTROL_LINE_STATE 0x22
-
-/* Data structure for GET_LINE_CODING / SET_LINE_CODING class requests */
-struct ao_usb_line_coding {
- uint32_t rate;
- uint8_t char_format;
- uint8_t parity;
- uint8_t data_bits;
-} ;
-
-extern __pdata uint8_t ao_usb_running;
-
-#endif /* _AO_USB_H_ */
--- /dev/null
+/*max error 3.197865153490684 at 0.782%. Average error 0.260150920474668*/
+#define NALT 129
+#define ALT_FRAC_BITS 8
+ 15835, /* 10.56 kPa 0.000% */
+ 15332, /* 11.42 kPa 0.781% */
+ 14868, /* 12.29 kPa 1.563% */
+ 14435, /* 13.16 kPa 2.344% */
+ 14030, /* 14.02 kPa 3.125% */
+ 13649, /* 14.90 kPa 3.906% */
+ 13290, /* 15.76 kPa 4.688% */
+ 12950, /* 16.63 kPa 5.469% */
+ 12627, /* 17.50 kPa 6.250% */
+ 12320, /* 18.37 kPa 7.031% */
+ 12027, /* 19.24 kPa 7.813% */
+ 11747, /* 20.10 kPa 8.594% */
+ 11479, /* 20.97 kPa 9.375% */
+ 11222, /* 21.84 kPa 10.156% */
+ 10975, /* 22.71 kPa 10.938% */
+ 10736, /* 23.58 kPa 11.719% */
+ 10504, /* 24.44 kPa 12.500% */
+ 10278, /* 25.31 kPa 13.281% */
+ 10059, /* 26.18 kPa 14.063% */
+ 9846, /* 27.05 kPa 14.844% */
+ 9638, /* 27.91 kPa 15.625% */
+ 9435, /* 28.78 kPa 16.406% */
+ 9237, /* 29.65 kPa 17.188% */
+ 9044, /* 30.52 kPa 17.969% */
+ 8855, /* 31.39 kPa 18.750% */
+ 8670, /* 32.26 kPa 19.531% */
+ 8490, /* 33.13 kPa 20.313% */
+ 8313, /* 33.99 kPa 21.094% */
+ 8140, /* 34.86 kPa 21.875% */
+ 7970, /* 35.73 kPa 22.656% */
+ 7803, /* 36.60 kPa 23.438% */
+ 7640, /* 37.47 kPa 24.219% */
+ 7480, /* 38.33 kPa 25.000% */
+ 7322, /* 39.20 kPa 25.781% */
+ 7168, /* 40.07 kPa 26.563% */
+ 7016, /* 40.94 kPa 27.344% */
+ 6867, /* 41.80 kPa 28.125% */
+ 6720, /* 42.67 kPa 28.906% */
+ 6575, /* 43.54 kPa 29.688% */
+ 6433, /* 44.41 kPa 30.469% */
+ 6294, /* 45.28 kPa 31.250% */
+ 6156, /* 46.15 kPa 32.031% */
+ 6020, /* 47.01 kPa 32.813% */
+ 5887, /* 47.88 kPa 33.594% */
+ 5755, /* 48.75 kPa 34.375% */
+ 5625, /* 49.62 kPa 35.156% */
+ 5497, /* 50.49 kPa 35.938% */
+ 5371, /* 51.35 kPa 36.719% */
+ 5247, /* 52.22 kPa 37.500% */
+ 5124, /* 53.09 kPa 38.281% */
+ 5003, /* 53.96 kPa 39.063% */
+ 4883, /* 54.83 kPa 39.844% */
+ 4765, /* 55.69 kPa 40.625% */
+ 4648, /* 56.56 kPa 41.406% */
+ 4533, /* 57.43 kPa 42.188% */
+ 4419, /* 58.30 kPa 42.969% */
+ 4307, /* 59.17 kPa 43.750% */
+ 4196, /* 60.03 kPa 44.531% */
+ 4086, /* 60.90 kPa 45.313% */
+ 3977, /* 61.77 kPa 46.094% */
+ 3870, /* 62.63 kPa 46.875% */
+ 3764, /* 63.51 kPa 47.656% */
+ 3659, /* 64.38 kPa 48.438% */
+ 3555, /* 65.24 kPa 49.219% */
+ 3453, /* 66.11 kPa 50.000% */
+ 3351, /* 66.98 kPa 50.781% */
+ 3250, /* 67.85 kPa 51.563% */
+ 3151, /* 68.72 kPa 52.344% */
+ 3052, /* 69.58 kPa 53.125% */
+ 2955, /* 70.45 kPa 53.906% */
+ 2858, /* 71.32 kPa 54.688% */
+ 2763, /* 72.19 kPa 55.469% */
+ 2668, /* 73.06 kPa 56.250% */
+ 2574, /* 73.92 kPa 57.031% */
+ 2482, /* 74.79 kPa 57.813% */
+ 2390, /* 75.66 kPa 58.594% */
+ 2298, /* 76.52 kPa 59.375% */
+ 2208, /* 77.40 kPa 60.156% */
+ 2119, /* 78.26 kPa 60.938% */
+ 2030, /* 79.13 kPa 61.719% */
+ 1942, /* 80.00 kPa 62.500% */
+ 1855, /* 80.87 kPa 63.281% */
+ 1769, /* 81.74 kPa 64.063% */
+ 1683, /* 82.60 kPa 64.844% */
+ 1598, /* 83.47 kPa 65.625% */
+ 1514, /* 84.34 kPa 66.406% */
+ 1430, /* 85.21 kPa 67.188% */
+ 1347, /* 86.08 kPa 67.969% */
+ 1265, /* 86.94 kPa 68.750% */
+ 1184, /* 87.81 kPa 69.531% */
+ 1103, /* 88.68 kPa 70.313% */
+ 1023, /* 89.55 kPa 71.094% */
+ 943, /* 90.41 kPa 71.875% */
+ 864, /* 91.28 kPa 72.656% */
+ 786, /* 92.15 kPa 73.438% */
+ 708, /* 93.02 kPa 74.219% */
+ 631, /* 93.89 kPa 75.000% */
+ 554, /* 94.76 kPa 75.781% */
+ 478, /* 95.63 kPa 76.563% */
+ 403, /* 96.49 kPa 77.344% */
+ 328, /* 97.36 kPa 78.125% */
+ 254, /* 98.23 kPa 78.906% */
+ 180, /* 99.10 kPa 79.688% */
+ 106, /* 99.97 kPa 80.469% */
+ 34, /* 100.83 kPa 81.250% */
+ -39, /* 101.70 kPa 82.031% */
+ -111, /* 102.57 kPa 82.813% */
+ -182, /* 103.44 kPa 83.594% */
+ -253, /* 104.30 kPa 84.375% */
+ -323, /* 105.17 kPa 85.156% */
+ -393, /* 106.04 kPa 85.938% */
+ -462, /* 106.91 kPa 86.719% */
+ -531, /* 107.78 kPa 87.500% */
+ -600, /* 108.65 kPa 88.281% */
+ -668, /* 109.51 kPa 89.063% */
+ -736, /* 110.38 kPa 89.844% */
+ -803, /* 111.25 kPa 90.625% */
+ -870, /* 112.12 kPa 91.406% */
+ -936, /* 112.99 kPa 92.188% */
+ -1002, /* 113.85 kPa 92.969% */
+ -1068, /* 114.72 kPa 93.750% */
+ -1133, /* 115.59 kPa 94.531% */
+ -1198, /* 116.46 kPa 95.313% */
+ -1262, /* 117.33 kPa 96.094% */
+ -1326, /* 118.19 kPa 96.875% */
+ -1389, /* 119.06 kPa 97.656% */
+ -1453, /* 119.93 kPa 98.438% */
+ -1516, /* 120.80 kPa 99.219% */
+ -1578, /* 121.67 kPa 100.000% */
--- /dev/null
+/*
+ * Copyright © 2009 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.
+ */
+
+#ifndef _AO_H_
+#define _AO_H_
+
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+#include <stddef.h>
+#include <ao_pins.h>
+#include <ao_arch.h>
+
+#define TRUE 1
+#define FALSE 0
+
+/* Convert a __data pointer into an __xdata pointer */
+#ifndef DATA_TO_XDATA
+#define DATA_TO_XDATA(a) (a)
+#endif
+#ifndef PDATA_TO_XDATA
+#define PDATA_TO_XDATA(a) (a)
+#endif
+#ifndef CODE_TO_XDATA
+#define CODE_TO_XDATA(a) (a)
+#endif
+
+#ifndef HAS_TASK
+#define HAS_TASK 1
+#endif
+
+#ifndef AO_PORT_TYPE
+#define AO_PORT_TYPE uint8_t
+#endif
+
+typedef AO_PORT_TYPE ao_port_t;
+
+#if HAS_TASK
+#include <ao_task.h>
+#else
+#include <ao_notask.h>
+#endif
+
+/*
+ * ao_panic.c
+ */
+
+#define AO_PANIC_NO_TASK 1 /* AO_NUM_TASKS is not large enough */
+#define AO_PANIC_DMA 2 /* Attempt to start DMA while active */
+#define AO_PANIC_MUTEX 3 /* Mis-using mutex API */
+#define AO_PANIC_EE 4 /* Mis-using eeprom API */
+#define AO_PANIC_LOG 5 /* Failing to read/write log data */
+#define AO_PANIC_CMD 6 /* Too many command sets registered */
+#define AO_PANIC_STDIO 7 /* Too many stdio handlers registered */
+#define AO_PANIC_REBOOT 8 /* Reboot failed */
+#define AO_PANIC_FLASH 9 /* Invalid flash part (or wrong blocksize) */
+#define AO_PANIC_USB 10 /* Trying to send USB packet while busy */
+#define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
+#define AO_PANIC_STACK 12 /* Stack overflow */
+#define AO_PANIC_SPI 13 /* SPI communication failure */
+#define AO_PANIC_CRASH 14 /* Processor crashed */
+#define AO_PANIC_BUFIO 15 /* Mis-using bufio API */
+#define AO_PANIC_EXTI 16 /* Mis-using exti API */
+#define AO_PANIC_FAST_TIMER 17 /* Mis-using fast timer API */
+#define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
+#define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
+#define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
+#define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */
+
+/* Stop the operating system, beeping and blinking the reason */
+void
+ao_panic(uint8_t reason);
+
+/*
+ * ao_timer.c
+ */
+
+#ifndef AO_TICK_TYPE
+#define AO_TICK_TYPE uint16_t
+#define AO_TICK_SIGNED int16_t
+#endif
+
+extern volatile __data AO_TICK_TYPE ao_tick_count;
+
+/* Our timer runs at 100Hz */
+#ifndef AO_HERTZ
+#define AO_HERTZ 100
+#endif
+#define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
+#define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
+
+/* Returns the current time in ticks */
+AO_TICK_TYPE
+ao_time(void);
+
+/* Suspend the current task until ticks time has passed */
+void
+ao_delay(uint16_t ticks);
+
+/* Set the ADC interval */
+void
+ao_timer_set_adc_interval(uint8_t interval);
+
+/* Timer interrupt */
+void
+ao_timer_isr(void) ao_arch_interrupt(9);
+
+/* Initialize the timer */
+void
+ao_timer_init(void);
+
+/* Initialize the hardware clock. Must be called first */
+void
+ao_clock_init(void);
+
+/*
+ * ao_mutex.c
+ */
+
+#ifndef ao_mutex_get
+void
+ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
+
+void
+ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
+#endif
+
+/*
+ * ao_cmd.c
+ */
+
+enum ao_cmd_status {
+ ao_cmd_success = 0,
+ ao_cmd_lex_error = 1,
+ ao_cmd_syntax_error = 2,
+};
+
+extern __pdata uint16_t ao_cmd_lex_i;
+extern __pdata uint32_t ao_cmd_lex_u32;
+extern __pdata char ao_cmd_lex_c;
+extern __pdata enum ao_cmd_status ao_cmd_status;
+
+void
+ao_put_string(__code char *s);
+
+void
+ao_cmd_lex(void);
+
+void
+ao_cmd_put8(uint8_t v);
+
+void
+ao_cmd_put16(uint16_t v);
+
+uint8_t
+ao_cmd_is_white(void);
+
+void
+ao_cmd_white(void);
+
+int8_t
+ao_cmd_hexchar(char c);
+
+void
+ao_cmd_hexbyte(void);
+
+void
+ao_cmd_hex(void);
+
+void
+ao_cmd_decimal(void) __reentrant;
+
+/* Read a single hex nibble off stdin. */
+uint8_t
+ao_getnibble(void);
+
+uint8_t
+ao_match_word(__code char *word);
+
+struct ao_cmds {
+ void (*func)(void);
+ __code char *help;
+};
+
+void
+ao_cmd_register(const __code struct ao_cmds *cmds);
+
+void
+ao_cmd_init(void);
+
+#if HAS_CMD_FILTER
+/*
+ * Provided by an external module to filter raw command lines
+ */
+uint8_t
+ao_cmd_filter(void);
+#endif
+
+/*
+ * Various drivers
+ */
+#if HAS_ADC
+#include <ao_adc.h>
+#endif
+
+#if HAS_BEEP
+#include <ao_beep.h>
+#endif
+
+#if LEDS_AVAILABLE
+#include <ao_led.h>
+#endif
+
+#if HAS_USB
+#include <ao_usb.h>
+#endif
+
+#if HAS_EEPROM
+#include <ao_storage.h>
+#endif
+
+#if HAS_LOG
+#include <ao_log.h>
+#endif
+
+#if HAS_FLIGHT
+#include <ao_flight.h>
+#include <ao_sample.h>
+#endif
+
+/*
+ * ao_report.c
+ */
+
+#define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
+#define AO_RDF_LENGTH_MS 500
+#define AO_RDF_CONTINUITY_MS 32
+#define AO_RDF_CONTINUITY_PAUSE 96
+#define AO_RDF_CONTINUITY_TOTAL ((AO_RDF_CONTINUITY_PAUSE + AO_RDF_CONTINUITY_MS) * 3 + AO_RDF_CONTINUITY_PAUSE)
+
+/* This assumes that we're generating a 1kHz tone, which
+ * modulates the carrier at 2kbps, or 250kBps
+ */
+#define AO_MS_TO_RDF_LEN(ms) ((ms) / 4)
+
+#define AO_RADIO_RDF_LEN AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS)
+#define AO_RADIO_CONT_TONE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_MS)
+#define AO_RADIO_CONT_PAUSE_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_PAUSE)
+#define AO_RADIO_CONT_TOTAL_LEN AO_MS_TO_RDF_LEN(AO_RDF_CONTINUITY_TOTAL)
+
+/* returns a value 0-3 to indicate igniter continuity */
+uint8_t
+ao_report_igniter(void);
+
+void
+ao_report_init(void);
+
+/*
+ * ao_convert.c
+ *
+ * Given raw data, convert to SI units
+ */
+
+/* pressure from the sensor to altitude in meters */
+int16_t
+ao_pres_to_altitude(int16_t pres) __reentrant;
+
+int16_t
+ao_altitude_to_pres(int16_t alt) __reentrant;
+
+int16_t
+ao_temp_to_dC(int16_t temp) __reentrant;
+
+/*
+ * ao_convert_pa.c
+ *
+ * Convert between pressure in Pa and altitude in meters
+ */
+
+#include <ao_data.h>
+
+alt_t
+ao_pa_to_altitude(int32_t pa);
+
+int32_t
+ao_altitude_to_pa(alt_t alt);
+
+#if HAS_DBG
+#include <ao_dbg.h>
+#endif
+
+#if HAS_SERIAL_0 || HAS_SERIAL_1 || HAS_SERIAL_2 || HAS_SERIAL_3
+#include <ao_serial.h>
+#endif
+
+/*
+ * ao_convert_volt.c
+ *
+ * Convert ADC readings to decivolts
+ */
+
+int16_t
+ao_battery_decivolt(int16_t adc);
+
+int16_t
+ao_ignite_decivolt(int16_t adc);
+
+/*
+ * ao_spi_slave.c
+ */
+
+uint8_t
+ao_spi_slave_recv(void *buf, uint16_t len);
+
+void
+ao_spi_slave_send(void *buf, uint16_t len);
+
+void
+ao_spi_slave_init(void);
+
+/* This must be defined by the product; it will get called when chip
+ * select goes low, at which point it should use ao_spi_read and
+ * ao_spi_write to deal with the request
+ */
+
+void
+ao_spi_slave(void);
+
+#include <ao_telemetry.h>
+/*
+ * ao_gps.c
+ */
+
+#define AO_GPS_NUM_SAT_MASK (0xf << 0)
+#define AO_GPS_NUM_SAT_SHIFT (0)
+
+#define AO_GPS_VALID (1 << 4)
+#define AO_GPS_RUNNING (1 << 5)
+#define AO_GPS_DATE_VALID (1 << 6)
+#define AO_GPS_COURSE_VALID (1 << 7)
+
+#define AO_GPS_NEW_DATA 1
+#define AO_GPS_NEW_TRACKING 2
+
+extern __xdata uint8_t ao_gps_new;
+extern __pdata uint16_t ao_gps_tick;
+extern __xdata uint8_t ao_gps_mutex;
+extern __xdata struct ao_telemetry_location ao_gps_data;
+extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
+
+struct ao_gps_orig {
+ uint8_t year;
+ uint8_t month;
+ uint8_t day;
+ uint8_t hour;
+ uint8_t minute;
+ uint8_t second;
+ uint8_t flags;
+ int32_t latitude; /* degrees * 10⁷ */
+ int32_t longitude; /* degrees * 10⁷ */
+ int16_t altitude; /* m */
+ uint16_t ground_speed; /* cm/s */
+ uint8_t course; /* degrees / 2 */
+ uint8_t hdop; /* * 5 */
+ int16_t climb_rate; /* cm/s */
+ uint16_t h_error; /* m */
+ uint16_t v_error; /* m */
+};
+
+struct ao_gps_sat_orig {
+ uint8_t svid;
+ uint8_t c_n_1;
+};
+
+#define AO_MAX_GPS_TRACKING 12
+
+struct ao_gps_tracking_orig {
+ uint8_t channels;
+ struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
+};
+
+void
+ao_gps(void);
+
+void
+ao_gps_print(__xdata struct ao_gps_orig *gps_data);
+
+void
+ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
+
+void
+ao_gps_show(void) __reentrant;
+
+void
+ao_gps_init(void);
+
+/*
+ * ao_gps_report.c
+ */
+
+void
+ao_gps_report(void);
+
+void
+ao_gps_report_init(void);
+
+/*
+ * ao_gps_report_mega.c
+ */
+
+void
+ao_gps_report_mega(void);
+
+void
+ao_gps_report_mega_init(void);
+
+/*
+ * ao_telemetry_orig.c
+ */
+
+#if LEGACY_MONITOR
+struct ao_adc_orig {
+ uint16_t tick; /* tick when the sample was read */
+ int16_t accel; /* accelerometer */
+ int16_t pres; /* pressure sensor */
+ int16_t temp; /* temperature sensor */
+ int16_t v_batt; /* battery voltage */
+ int16_t sense_d; /* drogue continuity sense */
+ int16_t sense_m; /* main continuity sense */
+};
+
+struct ao_telemetry_orig {
+ uint16_t serial;
+ uint16_t flight;
+ uint8_t flight_state;
+ int16_t accel;
+ int16_t ground_accel;
+ union {
+ struct {
+ int16_t speed;
+ int16_t unused;
+ } k;
+ int32_t flight_vel;
+ } u;
+ int16_t height;
+ int16_t ground_pres;
+ int16_t accel_plus_g;
+ int16_t accel_minus_g;
+ struct ao_adc_orig adc;
+ struct ao_gps_orig gps;
+ char callsign[AO_MAX_CALLSIGN];
+ struct ao_gps_tracking_orig gps_tracking;
+};
+
+struct ao_telemetry_tiny {
+ uint16_t serial;
+ uint16_t flight;
+ uint8_t flight_state;
+ int16_t height; /* AGL in meters */
+ int16_t speed; /* in m/s * 16 */
+ int16_t accel; /* in m/s² * 16 */
+ int16_t ground_pres; /* sensor units */
+ struct ao_adc adc; /* raw ADC readings */
+ char callsign[AO_MAX_CALLSIGN];
+};
+
+struct ao_telemetry_orig_recv {
+ struct ao_telemetry_orig telemetry_orig;
+ int8_t rssi;
+ uint8_t status;
+};
+
+struct ao_telemetry_tiny_recv {
+ struct ao_telemetry_tiny telemetry_tiny;
+ int8_t rssi;
+ uint8_t status;
+};
+
+#endif /* LEGACY_MONITOR */
+
+/* Unfortunately, we've exposed the CC1111 rssi units as the 'usual' method
+ * for reporting RSSI. So, now we use these values everywhere
+ */
+#define AO_RSSI_FROM_RADIO(radio) ((int16_t) ((int8_t) (radio) >> 1) - 74)
+#define AO_RADIO_FROM_RSSI(rssi) (((int8_t) (rssi) + 74) << 1)
+
+/*
+ * ao_radio_recv tacks on rssi and status bytes
+ */
+
+struct ao_telemetry_raw_recv {
+ uint8_t packet[AO_MAX_TELEMETRY + 2];
+};
+
+/* Set delay between telemetry reports (0 to disable) */
+
+#ifdef AO_SEND_ALL_BARO
+#define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(100)
+#define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
+#define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(100)
+#else
+#define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000)
+#define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100)
+#define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000)
+#endif
+
+void
+ao_telemetry_set_interval(uint16_t interval);
+
+void
+ao_rdf_set(uint8_t rdf);
+
+void
+ao_telemetry_init(void);
+
+void
+ao_telemetry_orig_init(void);
+
+void
+ao_telemetry_tiny_init(void);
+
+/*
+ * ao_radio.c
+ */
+
+extern __xdata uint8_t ao_radio_dma;
+
+extern __xdata int8_t ao_radio_rssi;
+
+#ifdef PKT_APPEND_STATUS_1_CRC_OK
+#define AO_RADIO_STATUS_CRC_OK PKT_APPEND_STATUS_1_CRC_OK
+#else
+#include <ao_fec.h>
+#define AO_RADIO_STATUS_CRC_OK AO_FEC_DECODE_CRC_OK
+#endif
+
+#ifndef HAS_RADIO_RECV
+#define HAS_RADIO_RECV HAS_RADIO
+#endif
+#ifndef HAS_RADIO_XMIT
+#define HAS_RADIO_XMIT HAS_RADIO
+#endif
+
+void
+ao_radio_general_isr(void) ao_arch_interrupt(16);
+
+#if HAS_RADIO_XMIT
+void
+ao_radio_send(const __xdata void *d, uint8_t size) __reentrant;
+#endif
+
+#if HAS_RADIO_RECV
+uint8_t
+ao_radio_recv(__xdata void *d, uint8_t size, uint8_t timeout) __reentrant;
+
+void
+ao_radio_recv_abort(void);
+#endif
+
+void
+ao_radio_test(uint8_t on);
+
+typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len);
+
+void
+ao_radio_send_aprs(ao_radio_fill_func fill);
+
+/*
+ * ao_radio_pa
+ */
+
+#if HAS_RADIO_AMP
+void
+ao_radio_pa_on(void);
+
+void
+ao_radio_pa_off(void);
+
+void
+ao_radio_pa_init(void);
+#else
+#define ao_radio_pa_on()
+#define ao_radio_pa_off()
+#define ao_radio_pa_init()
+#endif
+
+/*
+ * Compute the packet length as follows:
+ *
+ * 2000 bps (for a 1kHz tone)
+ * so, for 'ms' milliseconds, we need
+ * 2 * ms bits, or ms / 4 bytes
+ */
+
+void
+ao_radio_rdf(void);
+
+void
+ao_radio_continuity(uint8_t c);
+
+void
+ao_radio_rdf_abort(void);
+
+void
+ao_radio_init(void);
+
+/*
+ * ao_monitor.c
+ */
+
+#if HAS_MONITOR
+
+extern const char const * const ao_state_names[];
+
+#define AO_MONITOR_RING 8
+
+union ao_monitor {
+ struct ao_telemetry_raw_recv raw;
+ struct ao_telemetry_all_recv all;
+#if LEGACY_MONITOR
+ struct ao_telemetry_orig_recv orig;
+ struct ao_telemetry_tiny_recv tiny;
+#endif
+};
+
+extern __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
+
+#define ao_monitor_ring_next(n) (((n) + 1) & (AO_MONITOR_RING - 1))
+
+extern __data uint8_t ao_monitoring;
+extern __data uint8_t ao_monitor_head;
+
+void
+ao_monitor(void);
+
+#define AO_MONITORING_OFF 0
+#define AO_MONITORING_ORIG 1
+
+void
+ao_monitor_set(uint8_t monitoring);
+
+void
+ao_monitor_disable(void);
+
+void
+ao_monitor_enable(void);
+
+void
+ao_monitor_init(void) __reentrant;
+
+#endif
+
+/*
+ * ao_stdio.c
+ */
+
+#define AO_READ_AGAIN (-1)
+
+struct ao_stdio {
+ int (*_pollchar)(void); /* Called with interrupts blocked */
+ void (*putchar)(char c) __reentrant;
+ void (*flush)(void);
+ uint8_t echo;
+};
+
+extern __xdata struct ao_stdio ao_stdios[];
+extern __pdata int8_t ao_cur_stdio;
+extern __pdata int8_t ao_num_stdios;
+
+void
+flush(void);
+
+extern __xdata uint8_t ao_stdin_ready;
+
+uint8_t
+ao_echo(void);
+
+int8_t
+ao_add_stdio(int (*pollchar)(void),
+ void (*putchar)(char) __reentrant,
+ void (*flush)(void)) __reentrant;
+
+/*
+ * ao_ignite.c
+ */
+
+enum ao_igniter {
+ ao_igniter_drogue = 0,
+ ao_igniter_main = 1
+};
+
+void
+ao_ignite(enum ao_igniter igniter);
+
+enum ao_igniter_status {
+ ao_igniter_unknown, /* unknown status (ambiguous voltage) */
+ ao_igniter_ready, /* continuity detected */
+ ao_igniter_active, /* igniter firing */
+ ao_igniter_open, /* open circuit detected */
+};
+
+struct ao_ignition {
+ uint8_t request;
+ uint8_t fired;
+ uint8_t firing;
+};
+
+extern __code char * __code ao_igniter_status_names[];
+
+extern __xdata struct ao_ignition ao_ignition[2];
+
+enum ao_igniter_status
+ao_igniter_status(enum ao_igniter igniter);
+
+extern __pdata uint8_t ao_igniter_present;
+
+void
+ao_ignite_set_pins(void);
+
+void
+ao_igniter_init(void);
+
+/*
+ * ao_config.c
+ */
+
+#if AO_PYRO_NUM
+#include <ao_pyro.h>
+#endif
+
+#if HAS_FORCE_FREQ
+/*
+ * Set this to force the frequency to 434.550MHz
+ */
+extern __xdata uint8_t ao_force_freq;
+#endif
+
+#define AO_CONFIG_MAJOR 1
+#define AO_CONFIG_MINOR 15
+
+#define AO_AES_LEN 16
+
+extern __xdata uint8_t ao_config_aes_seq;
+
+struct ao_config {
+ uint8_t major;
+ uint8_t minor;
+ uint16_t main_deploy;
+ int16_t accel_plus_g; /* changed for minor version 2 */
+ uint8_t _legacy_radio_channel;
+ char callsign[AO_MAX_CALLSIGN + 1];
+ uint8_t apogee_delay; /* minor version 1 */
+ int16_t accel_minus_g; /* minor version 2 */
+ uint32_t radio_cal; /* minor version 3 */
+ uint32_t flight_log_max; /* minor version 4 */
+ uint8_t ignite_mode; /* minor version 5 */
+ uint8_t pad_orientation; /* minor version 6 */
+ uint32_t radio_setting; /* minor version 7 */
+ uint8_t radio_enable; /* minor version 8 */
+ uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */
+ uint32_t frequency; /* minor version 10 */
+ uint16_t apogee_lockout; /* minor version 11 */
+#if AO_PYRO_NUM
+ struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */
+#endif
+ uint16_t aprs_interval; /* minor version 13 */
+#if HAS_RADIO_POWER
+ uint8_t radio_power; /* minor version 14 */
+#endif
+#if HAS_RADIO_AMP
+ uint8_t radio_amp; /* minor version 14 */
+#endif
+#if HAS_GYRO
+ int16_t accel_zero_along; /* minor version 15 */
+ int16_t accel_zero_across; /* minor version 15 */
+ int16_t accel_zero_through; /* minor version 15 */
+#endif
+};
+
+#define AO_IGNITE_MODE_DUAL 0
+#define AO_IGNITE_MODE_APOGEE 1
+#define AO_IGNITE_MODE_MAIN 2
+
+#define AO_RADIO_ENABLE_CORE 1
+#define AO_RADIO_DISABLE_TELEMETRY 2
+#define AO_RADIO_DISABLE_RDF 4
+
+#define AO_PAD_ORIENTATION_ANTENNA_UP 0
+#define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
+
+extern __xdata struct ao_config ao_config;
+
+#define AO_CONFIG_MAX_SIZE 128
+
+void
+_ao_config_edit_start(void);
+
+void
+_ao_config_edit_finish(void);
+
+void
+ao_config_get(void);
+
+void
+ao_config_put(void);
+
+void
+ao_config_set_radio(void);
+
+void
+ao_config_init(void);
+
+/*
+ * ao_rssi.c
+ */
+
+void
+ao_rssi_set(int rssi_value);
+
+void
+ao_rssi_init(uint8_t rssi_led);
+
+/*
+ * ao_product.c
+ *
+ * values which need to be defined for
+ * each instance of a product
+ */
+
+extern const char ao_version[];
+extern const char ao_manufacturer[];
+extern const char ao_product[];
+
+/*
+ * Fifos
+ */
+
+#define AO_FIFO_SIZE 32
+
+struct ao_fifo {
+ uint8_t insert;
+ uint8_t remove;
+ char fifo[AO_FIFO_SIZE];
+};
+
+#define ao_fifo_insert(f,c) do { \
+ (f).fifo[(f).insert] = (c); \
+ (f).insert = ((f).insert + 1) & (AO_FIFO_SIZE-1); \
+} while(0)
+
+#define ao_fifo_remove(f,c) do {\
+ c = (f).fifo[(f).remove]; \
+ (f).remove = ((f).remove + 1) & (AO_FIFO_SIZE-1); \
+} while(0)
+
+#define ao_fifo_full(f) ((((f).insert + 1) & (AO_FIFO_SIZE-1)) == (f).remove)
+#define ao_fifo_empty(f) ((f).insert == (f).remove)
+
+#if PACKET_HAS_MASTER || PACKET_HAS_SLAVE
+#include <ao_packet.h>
+#endif
+
+#if HAS_BTM
+#include <ao_btm.h>
+#endif
+
+#if HAS_COMPANION
+#include <ao_companion.h>
+#endif
+
+#if HAS_LCD
+#include <ao_lcd.h>
+#endif
+
+#if HAS_AES
+#include <ao_aes.h>
+#endif
+
+/* ao_launch.c */
+
+struct ao_launch_command {
+ uint16_t tick;
+ uint16_t serial;
+ uint8_t cmd;
+ uint8_t channel;
+ uint16_t unused;
+};
+
+#define AO_LAUNCH_QUERY 1
+
+struct ao_launch_query {
+ uint16_t tick;
+ uint16_t serial;
+ uint8_t channel;
+ uint8_t valid;
+ uint8_t arm_status;
+ uint8_t igniter_status;
+};
+
+#define AO_LAUNCH_ARM 2
+#define AO_LAUNCH_FIRE 3
+
+void
+ao_launch_init(void);
+
+/*
+ * ao_log_single.c
+ */
+
+#define AO_LOG_TELESCIENCE_START ((uint8_t) 's')
+#define AO_LOG_TELESCIENCE_DATA ((uint8_t) 'd')
+
+#define AO_LOG_TELESCIENCE_NUM_ADC 12
+
+struct ao_log_telescience {
+ uint8_t type;
+ uint8_t csum;
+ uint16_t tick;
+ uint16_t tm_tick;
+ uint8_t tm_state;
+ uint8_t unused;
+ uint16_t adc[AO_LOG_TELESCIENCE_NUM_ADC];
+};
+
+#define AO_LOG_SINGLE_SIZE 32
+
+union ao_log_single {
+ struct ao_log_telescience telescience;
+ union ao_telemetry_all telemetry;
+ uint8_t bytes[AO_LOG_SINGLE_SIZE];
+};
+
+extern __xdata union ao_log_single ao_log_single_write_data;
+extern __xdata union ao_log_single ao_log_single_read_data;
+
+void
+ao_log_single_extra_query(void);
+
+void
+ao_log_single_list(void);
+
+void
+ao_log_single_main(void);
+
+uint8_t
+ao_log_single_write(void);
+
+uint8_t
+ao_log_single_read(uint32_t pos);
+
+void
+ao_log_single_start(void);
+
+void
+ao_log_single_stop(void);
+
+void
+ao_log_single_restart(void);
+
+void
+ao_log_single_set(void);
+
+void
+ao_log_single_delete(void);
+
+void
+ao_log_single_init(void);
+
+void
+ao_log_single(void);
+
+/*
+ * ao_pyro_slave.c
+ */
+
+#define AO_TELEPYRO_NUM_ADC 9
+
+#ifndef ao_xmemcpy
+#define ao_xmemcpy(d,s,c) memcpy(d,s,c)
+#define ao_xmemset(d,v,c) memset(d,v,c)
+#define ao_xmemcmp(d,s,c) memcmp(d,s,c)
+#endif
+
+/*
+ * ao_terraui.c
+ */
+
+void
+ao_terraui_init(void);
+
+/*
+ * ao_battery.c
+ */
+
+#ifdef BATTERY_PIN
+void
+ao_battery_isr(void) ao_arch_interrupt(1);
+
+uint16_t
+ao_battery_get(void);
+
+void
+ao_battery_init(void);
+#endif /* BATTERY_PIN */
+
+/*
+ * ao_sqrt.c
+ */
+
+uint32_t
+ao_sqrt(uint32_t op);
+
+/*
+ * ao_freq.c
+ */
+
+int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant;
+
+/*
+ * ao_ms5607.c
+ */
+
+void ao_ms5607_init(void);
+
+#include <ao_arch_funcs.h>
+
+#endif /* _AO_H_ */
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_ADC_H_
+#define _AO_ADC_H_
+
+#include <ao_data.h>
+
+/* Trigger a conversion sequence (called from the timer interrupt) */
+void
+ao_adc_poll(void);
+
+/* Suspend the current task until another A/D sample is converted */
+void
+ao_adc_sleep(void);
+
+/* Initialize the A/D converter */
+void
+ao_adc_init(void);
+
+#endif /* _AO_ADC_H_ */
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_AES_H_
+#define _AO_AES_H_
+
+/* ao_aes.c */
+
+extern __xdata uint8_t ao_aes_mutex;
+
+/* AES keys and blocks are 128 bits */
+
+enum ao_aes_mode {
+ ao_aes_mode_cbc_mac
+};
+
+#if HAS_AES
+#ifdef SDCC
+void
+ao_aes_isr(void) __interrupt 4;
+#endif
+#endif
+
+void
+ao_aes_set_mode(enum ao_aes_mode mode);
+
+void
+ao_aes_set_key(__xdata uint8_t *in);
+
+void
+ao_aes_zero_iv(void);
+
+void
+ao_aes_run(__xdata uint8_t *in,
+ __xdata uint8_t *out);
+
+void
+ao_aes_init(void);
+
+#endif /* _AO_AES_H_ */
--- /dev/null
+/*
+ * Copyright © 2009 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.
+ */
+
+#ifndef AO_FLIGHT_TEST
+#include "ao.h"
+#endif
+
+#ifndef HAS_ACCEL
+#error Please define HAS_ACCEL
+#endif
+
+#ifndef HAS_GPS
+#error Please define HAS_GPS
+#endif
+
+#ifndef HAS_USB
+#error Please define HAS_USB
+#endif
+
+#if HAS_SENSOR_ERRORS
+/* Any sensor can set this to mark the flight computer as 'broken' */
+__xdata uint8_t ao_sensor_errors;
+#endif
+
+__pdata uint16_t ao_motor_number; /* number of motors burned so far */
+
+/* Main flight thread. */
+
+__pdata enum ao_flight_state ao_flight_state; /* current flight state */
+
+__pdata uint8_t ao_flight_force_idle;
+
+void
+ao_flight(void)
+{
+ ao_sample_init();
+ ao_flight_state = ao_flight_startup;
+ for (;;) {
+
+ /*
+ * Process ADC samples, just looping
+ * until the sensors are calibrated.
+ */
+ if (!ao_sample())
+ continue;
+
+ switch (ao_flight_state) {
+ case ao_flight_startup:
+
+ /* Check to see what mode we should go to.
+ * - Invalid mode if accel cal appears to be out
+ * - pad mode if we're upright,
+ * - idle mode otherwise
+ */
+ if (!ao_flight_force_idle)
+ {
+ /* Set pad mode - we can fly! */
+ ao_flight_state = ao_flight_pad;
+#if HAS_USB
+ /* Disable the USB controller in flight mode
+ * to save power
+ */
+ if (!ao_usb_running)
+ ao_usb_disable();
+#endif
+
+ /* Disable packet mode in pad state */
+ ao_packet_slave_stop();
+
+ /* Turn on telemetry system */
+ ao_rdf_set(1);
+ ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_BALLOON);
+
+ /* signal successful initialization by turning off the LED */
+ ao_led_off(AO_LED_RED);
+ } else {
+ /* Set idle mode */
+ ao_flight_state = ao_flight_idle;
+
+ /* signal successful initialization by turning off the LED */
+ ao_led_off(AO_LED_RED);
+ }
+ /* wakeup threads due to state change */
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+
+ break;
+ case ao_flight_pad:
+
+ /* pad to coast:
+ *
+ * barometer: > 20m vertical motion
+ */
+ if (ao_height > AO_M_TO_HEIGHT(20))
+ {
+ ao_flight_state = ao_flight_drogue;
+
+ /* start logging data */
+ ao_log_start();
+
+#if HAS_GPS
+ /* Record current GPS position by waking up GPS log tasks */
+ ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
+ ao_wakeup(&ao_gps_new);
+#endif
+
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+ break;
+ default:
+ break;
+ }
+ }
+}
+
+static __xdata struct ao_task flight_task;
+
+void
+ao_flight_init(void)
+{
+ ao_flight_state = ao_flight_startup;
+ ao_add_task(&flight_task, ao_flight, "flight");
+}
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_BEEP_H_
+#define _AO_BEEP_H_
+
+/*
+ * ao_beep.c
+ */
+
+/*
+ * Various pre-defined beep frequencies
+ *
+ * frequency = 1/2 (24e6/32) / beep
+ */
+
+#define AO_BEEP_LOW 150 /* 2500Hz */
+#define AO_BEEP_MID 94 /* 3989Hz */
+#define AO_BEEP_HIGH 75 /* 5000Hz */
+#define AO_BEEP_OFF 0 /* off */
+
+#define AO_BEEP_g 240 /* 1562.5Hz */
+#define AO_BEEP_gs 227 /* 1652Hz (1655Hz) */
+#define AO_BEEP_aa 214 /* 1752Hz (1754Hz) */
+#define AO_BEEP_bbf 202 /* 1856Hz (1858Hz) */
+#define AO_BEEP_bb 190 /* 1974Hz (1969Hz) */
+#define AO_BEEP_cc 180 /* 2083Hz (2086Hz) */
+#define AO_BEEP_ccs 170 /* 2205Hz (2210Hz) */
+#define AO_BEEP_dd 160 /* 2344Hz (2341Hz) */
+#define AO_BEEP_eef 151 /* 2483Hz (2480Hz) */
+#define AO_BEEP_ee 143 /* 2622Hz (2628Hz) */
+#define AO_BEEP_ff 135 /* 2778Hz (2784Hz) */
+#define AO_BEEP_ffs 127 /* 2953Hz (2950Hz) */
+#define AO_BEEP_gg 120 /* 3125Hz */
+#define AO_BEEP_ggs 113 /* 3319Hz (3311Hz) */
+#define AO_BEEP_aaa 107 /* 3504Hz (3508Hz) */
+#define AO_BEEP_bbbf 101 /* 3713Hz (3716Hz) */
+#define AO_BEEP_bbb 95 /* 3947Hz (3937Hz) */
+#define AO_BEEP_ccc 90 /* 4167Hz (4171Hz) */
+#define AO_BEEP_cccs 85 /* 4412Hz (4419Hz) */
+#define AO_BEEP_ddd 80 /* 4688Hz (4682Hz) */
+#define AO_BEEP_eeef 76 /* 4934Hz (4961Hz) */
+#define AO_BEEP_eee 71 /* 5282Hz (5256Hz) */
+#define AO_BEEP_fff 67 /* 5597Hz (5568Hz) */
+#define AO_BEEP_fffs 64 /* 5859Hz (5899Hz) */
+#define AO_BEEP_ggg 60 /* 6250Hz */
+
+/* Set the beeper to the specified tone */
+void
+ao_beep(uint8_t beep);
+
+/* Turn on the beeper for the specified time */
+void
+ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant;
+
+/* Initialize the beeper */
+void
+ao_beep_init(void);
+
+#endif /* _AO_BEEP_H_ */
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_BTM_H_
+#define _AO_BTM_H_
+
+/* ao_btm.c */
+
+/* If bt_link is on P2, this interrupt is shared by USB, so the USB
+ * code calls this function. Otherwise, it's a regular ISR.
+ */
+
+void
+ao_btm_isr(void)
+#if BT_LINK_ON_P1
+ __interrupt 15
+#endif
+ ;
+void
+ao_btm_init(void);
+
+#endif /* _AO_BTM_H_ */
--- /dev/null
+/*
+ * Copyright © 2009 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_task.h"
+
+__pdata uint16_t ao_cmd_lex_i;
+__pdata uint32_t ao_cmd_lex_u32;
+__pdata char ao_cmd_lex_c;
+__pdata enum ao_cmd_status ao_cmd_status;
+
+#define CMD_LEN 48
+
+static __xdata char cmd_line[CMD_LEN];
+static __pdata uint8_t cmd_len;
+static __pdata uint8_t cmd_i;
+
+void
+ao_put_string(__code char *s)
+{
+ char c;
+ while ((c = *s++))
+ putchar(c);
+}
+
+static void
+backspace(void)
+{
+ ao_put_string ("\010 \010");
+}
+
+static void
+readline(void)
+{
+ char c;
+ if (ao_echo())
+ ao_put_string("> ");
+ cmd_len = 0;
+ for (;;) {
+ flush();
+ c = getchar();
+ /* backspace/delete */
+ if (c == '\010' || c == '\177') {
+ if (cmd_len != 0) {
+ if (ao_echo())
+ backspace();
+ --cmd_len;
+ }
+ continue;
+ }
+
+ /* ^U */
+ if (c == '\025') {
+ while (cmd_len != 0) {
+ if (ao_echo())
+ backspace();
+ --cmd_len;
+ }
+ continue;
+ }
+
+ /* map CR to NL */
+ if (c == '\r')
+ c = '\n';
+
+ if (c == '\n') {
+ if (ao_echo())
+ putchar('\n');
+ break;
+ }
+
+ if (cmd_len >= CMD_LEN - 2)
+ continue;
+ cmd_line[cmd_len++] = c;
+ if (ao_echo())
+ putchar(c);
+ }
+ cmd_line[cmd_len++] = '\n';
+ cmd_line[cmd_len++] = '\0';
+ cmd_i = 0;
+}
+
+void
+ao_cmd_lex(void)
+{
+ ao_cmd_lex_c = '\n';
+ if (cmd_i < cmd_len)
+ ao_cmd_lex_c = cmd_line[cmd_i++];
+}
+
+static void
+putnibble(uint8_t v)
+{
+ if (v < 10)
+ putchar(v + '0');
+ else
+ putchar(v + ('a' - 10));
+}
+
+uint8_t
+ao_getnibble(void)
+{
+ char c;
+
+ c = getchar();
+ if ('0' <= c && c <= '9')
+ return c - '0';
+ if ('a' <= c && c <= 'f')
+ return c - ('a' - 10);
+ if ('A' <= c && c <= 'F')
+ return c - ('A' - 10);
+ ao_cmd_status = ao_cmd_lex_error;
+ return 0;
+}
+
+void
+ao_cmd_put16(uint16_t v)
+{
+ ao_cmd_put8(v >> 8);
+ ao_cmd_put8(v);
+}
+
+void
+ao_cmd_put8(uint8_t v)
+{
+ putnibble((v >> 4) & 0xf);
+ putnibble(v & 0xf);
+}
+
+uint8_t
+ao_cmd_is_white(void)
+{
+ return ao_cmd_lex_c == ' ' || ao_cmd_lex_c == '\t';
+}
+
+void
+ao_cmd_white(void)
+{
+ while (ao_cmd_is_white())
+ ao_cmd_lex();
+}
+
+int8_t
+ao_cmd_hexchar(char c)
+{
+ if ('0' <= c && c <= '9')
+ return (c - '0');
+ if ('a' <= c && c <= 'f')
+ return (c - 'a' + 10);
+ if ('A' <= c && c <= 'F')
+ return (c - 'A' + 10);
+ return -1;
+}
+
+void
+ao_cmd_hexbyte(void)
+{
+ uint8_t i;
+ int8_t n;
+
+ ao_cmd_lex_i = 0;
+ ao_cmd_white();
+ for (i = 0; i < 2; i++) {
+ n = ao_cmd_hexchar(ao_cmd_lex_c);
+ if (n < 0) {
+ ao_cmd_status = ao_cmd_syntax_error;
+ break;
+ }
+ ao_cmd_lex_i = (ao_cmd_lex_i << 4) | n;
+ ao_cmd_lex();
+ }
+}
+
+void
+ao_cmd_hex(void)
+{
+ __pdata uint8_t r = ao_cmd_lex_error;
+ int8_t n;
+
+ ao_cmd_lex_i = 0;
+ ao_cmd_white();
+ for(;;) {
+ n = ao_cmd_hexchar(ao_cmd_lex_c);
+ if (n < 0)
+ break;
+ ao_cmd_lex_i = (ao_cmd_lex_i << 4) | n;
+ r = ao_cmd_success;
+ ao_cmd_lex();
+ }
+ if (r != ao_cmd_success)
+ ao_cmd_status = r;
+}
+
+void
+ao_cmd_decimal(void) __reentrant
+{
+ uint8_t r = ao_cmd_lex_error;
+
+ ao_cmd_lex_u32 = 0;
+ ao_cmd_white();
+ for(;;) {
+ if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9')
+ ao_cmd_lex_u32 = (ao_cmd_lex_u32 * 10) + (ao_cmd_lex_c - '0');
+ else
+ break;
+ r = ao_cmd_success;
+ ao_cmd_lex();
+ }
+ if (r != ao_cmd_success)
+ ao_cmd_status = r;
+ ao_cmd_lex_i = (uint16_t) ao_cmd_lex_u32;
+}
+
+uint8_t
+ao_match_word(__code char *word)
+{
+ while (*word) {
+ if (ao_cmd_lex_c != *word) {
+ ao_cmd_status = ao_cmd_syntax_error;
+ return 0;
+ }
+ word++;
+ ao_cmd_lex();
+ }
+ return 1;
+}
+
+static void
+echo(void)
+{
+ ao_cmd_hex();
+ if (ao_cmd_status == ao_cmd_success)
+ ao_stdios[ao_cur_stdio].echo = ao_cmd_lex_i != 0;
+}
+
+static void
+ao_reboot(void)
+{
+ ao_cmd_white();
+ if (!ao_match_word("eboot"))
+ return;
+ /* Delay waiting for the packet master to be turned off
+ * so that we don't end up back in idle mode because we
+ * received a packet after boot.
+ */
+ flush();
+ ao_delay(AO_SEC_TO_TICKS(1));
+ ao_arch_reboot();
+ ao_panic(AO_PANIC_REBOOT);
+}
+
+#ifndef HAS_VERSION
+#define HAS_VERSION 1
+#endif
+
+#if HAS_VERSION
+static void
+version(void)
+{
+ printf("manufacturer %s\n"
+ "product %s\n"
+ "serial-number %u\n"
+#if HAS_FLIGHT
+ "current-flight %u\n"
+#endif
+#if HAS_LOG
+ "log-format %u\n"
+#endif
+ , ao_manufacturer
+ , ao_product
+ , ao_serial_number
+#if HAS_FLIGHT
+ , ao_flight_number
+#endif
+#if HAS_LOG
+ , ao_log_format
+#endif
+ );
+ printf("software-version %s\n", ao_version);
+}
+#endif
+
+#ifndef NUM_CMDS
+#define NUM_CMDS 11
+#endif
+
+static __code struct ao_cmds *__xdata (ao_cmds[NUM_CMDS]);
+static __pdata uint8_t ao_ncmds;
+
+static void
+help(void)
+{
+ __pdata uint8_t cmds;
+ __pdata uint8_t cmd;
+ __code struct ao_cmds * __pdata cs;
+ __code const char *h;
+ uint8_t e;
+
+ for (cmds = 0; cmds < ao_ncmds; cmds++) {
+ cs = ao_cmds[cmds];
+ for (cmd = 0; cs[cmd].func; cmd++) {
+ h = cs[cmd].help;
+ ao_put_string(h);
+ e = strlen(h);
+ h += e + 1;
+ e = 45 - e;
+ while (e--)
+ putchar(' ');
+ ao_put_string(h);
+ putchar('\n');
+ }
+ }
+}
+
+static void
+report(void)
+{
+ switch(ao_cmd_status) {
+ case ao_cmd_lex_error:
+ case ao_cmd_syntax_error:
+ puts("Syntax error");
+ ao_cmd_status = 0;
+ default:
+ break;
+ }
+}
+
+void
+ao_cmd_register(__code struct ao_cmds *cmds)
+{
+ if (ao_ncmds >= NUM_CMDS)
+ ao_panic(AO_PANIC_CMD);
+ ao_cmds[ao_ncmds++] = cmds;
+}
+
+void
+ao_cmd(void)
+{
+ __pdata char c;
+ uint8_t cmd, cmds;
+ __code struct ao_cmds * __xdata cs;
+ void (*__xdata func)(void);
+
+ for (;;) {
+ readline();
+ ao_cmd_lex();
+ ao_cmd_white();
+ c = ao_cmd_lex_c;
+ ao_cmd_lex();
+ if (c == '\r' || c == '\n')
+ continue;
+ func = (void (*)(void)) NULL;
+ for (cmds = 0; cmds < ao_ncmds; cmds++) {
+ cs = ao_cmds[cmds];
+ for (cmd = 0; cs[cmd].func; cmd++)
+ if (cs[cmd].help[0] == c) {
+ func = cs[cmd].func;
+ break;
+ }
+ if (func)
+ break;
+ }
+ if (func)
+ (*func)();
+ else
+ ao_cmd_status = ao_cmd_syntax_error;
+ report();
+ }
+}
+
+#if HAS_BOOT_LOADER
+
+#include <ao_boot.h>
+
+static void
+ao_loader(void)
+{
+ flush();
+ ao_boot_loader();
+}
+#endif
+
+__xdata struct ao_task ao_cmd_task;
+
+__code struct ao_cmds ao_base_cmds[] = {
+ { help, "?\0Help" },
+#if HAS_TASK_INFO
+ { ao_task_info, "T\0Tasks" },
+#endif
+ { echo, "E <0 off, 1 on>\0Echo" },
+ { ao_reboot, "r eboot\0Reboot" },
+#if HAS_VERSION
+ { version, "v\0Version" },
+#endif
+#if HAS_BOOT_LOADER
+ { ao_loader, "X\0Switch to boot loader" },
+#endif
+ { 0, NULL },
+};
+
+void
+ao_cmd_init(void)
+{
+ ao_cmd_register(&ao_base_cmds[0]);
+ ao_add_task(&ao_cmd_task, ao_cmd, "cmd");
+}
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_COMPANION_H_
+#define _AO_COMPANION_H_
+
+/* ao_companion.c */
+
+#define AO_COMPANION_SETUP 1
+#define AO_COMPANION_FETCH 2
+#define AO_COMPANION_NOTIFY 3
+
+struct ao_companion_command {
+ uint8_t command;
+ uint8_t flight_state;
+ uint16_t tick;
+ uint16_t serial;
+ uint16_t flight;
+ int16_t accel;
+ int16_t speed;
+ int16_t height;
+ int16_t motor_number;
+};
+
+struct ao_companion_setup {
+ uint16_t board_id;
+ uint16_t board_id_inverse;
+ uint8_t update_period;
+ uint8_t channels;
+};
+
+extern __pdata uint8_t ao_companion_running;
+extern __xdata uint8_t ao_companion_mutex;
+extern __xdata struct ao_companion_command ao_companion_command;
+extern __xdata struct ao_companion_setup ao_companion_setup;
+extern __xdata uint16_t ao_companion_data[AO_COMPANION_MAX_CHANNELS];
+
+void
+ao_companion_init(void);
+
+#endif /* _AO_COMPANION_H_ */
--- /dev/null
+/*
+ * Copyright © 2009 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_log.h"
+#include <ao_config.h>
+#if HAS_FLIGHT
+#include <ao_sample.h>
+#include <ao_data.h>
+#endif
+
+__xdata struct ao_config ao_config;
+__pdata uint8_t ao_config_loaded;
+__pdata uint8_t ao_config_dirty;
+__xdata uint8_t ao_config_mutex;
+
+#ifndef AO_CONFIG_DEFAULT_APRS_INTERVAL
+#define AO_CONFIG_DEFAULT_APRS_INTERVAL 0
+#endif
+#define AO_CONFIG_DEFAULT_MAIN_DEPLOY 250
+#define AO_CONFIG_DEFAULT_RADIO_CHANNEL 0
+#define AO_CONFIG_DEFAULT_CALLSIGN "N0CALL"
+#define AO_CONFIG_DEFAULT_ACCEL_ZERO_G 16000
+#define AO_CONFIG_DEFAULT_APOGEE_DELAY 0
+#define AO_CONFIG_DEFAULT_IGNITE_MODE AO_IGNITE_MODE_DUAL
+#define AO_CONFIG_DEFAULT_PAD_ORIENTATION AO_PAD_ORIENTATION_ANTENNA_UP
+#if HAS_EEPROM
+#ifndef USE_INTERNAL_FLASH
+#error Please define USE_INTERNAL_FLASH
+#endif
+#endif
+#ifndef AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX
+#if USE_INTERNAL_FLASH
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX ao_storage_config
+#else
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX ((uint32_t) 192 * (uint32_t) 1024)
+#endif
+#endif
+#ifndef AO_CONFIG_DEFAULT_RADIO_POWER
+#define AO_CONFIG_DEFAULT_RADIO_POWER 0x60
+#endif
+#define AO_CONFIG_DEFAULT_RADIO_AMP 0
+
+#if HAS_EEPROM
+static void
+_ao_config_put(void)
+{
+ ao_config_setup();
+ ao_config_erase();
+ ao_config_write(0, &ao_config, sizeof (ao_config));
+#if HAS_FLIGHT
+ ao_log_write_erase(0);
+#endif
+ ao_config_flush();
+}
+
+void
+ao_config_put(void)
+{
+ ao_mutex_get(&ao_config_mutex);
+ _ao_config_put();
+ ao_mutex_put(&ao_config_mutex);
+}
+#endif
+
+#if HAS_RADIO
+void
+ao_config_set_radio(void)
+{
+ ao_config.radio_setting = ao_freq_to_set(ao_config.frequency, ao_config.radio_cal);
+}
+#endif /* HAS_RADIO */
+
+static void
+_ao_config_get(void)
+{
+ uint8_t minor;
+
+ if (ao_config_loaded)
+ return;
+#if HAS_EEPROM
+ /* Yes, I know ao_storage_read calls ao_storage_setup,
+ * but ao_storage_setup *also* sets ao_storage_config, which we
+ * need before calling ao_storage_read here
+ */
+ ao_config_setup();
+ ao_config_read(0, &ao_config, sizeof (ao_config));
+#endif
+ if (ao_config.major != AO_CONFIG_MAJOR) {
+ ao_config.major = AO_CONFIG_MAJOR;
+ ao_config.minor = 0;
+
+ /* Version 0 stuff */
+ ao_config.main_deploy = AO_CONFIG_DEFAULT_MAIN_DEPLOY;
+ ao_xmemset(&ao_config.callsign, '\0', sizeof (ao_config.callsign));
+ ao_xmemcpy(&ao_config.callsign, CODE_TO_XDATA(AO_CONFIG_DEFAULT_CALLSIGN),
+ sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
+ ao_config._legacy_radio_channel = 0;
+ }
+ minor = ao_config.minor;
+ if (minor != AO_CONFIG_MINOR) {
+ /* Fixups for minor version 1 */
+ if (minor < 1)
+ ao_config.apogee_delay = AO_CONFIG_DEFAULT_APOGEE_DELAY;
+ /* Fixups for minor version 2 */
+ if (minor < 2) {
+ ao_config.accel_plus_g = 0;
+ ao_config.accel_minus_g = 0;
+ }
+ /* Fixups for minor version 3 */
+#if HAS_RADIO
+ if (minor < 3)
+ ao_config.radio_cal = ao_radio_cal;
+#endif
+ /* Fixups for minor version 4 */
+#if HAS_FLIGHT
+ if (minor < 4)
+ ao_config.flight_log_max = AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX;
+#endif
+ /* Fixupes for minor version 5 */
+ if (minor < 5)
+ ao_config.ignite_mode = AO_CONFIG_DEFAULT_IGNITE_MODE;
+ if (minor < 6)
+ ao_config.pad_orientation = AO_CONFIG_DEFAULT_PAD_ORIENTATION;
+ if (minor < 8)
+ ao_config.radio_enable = AO_RADIO_ENABLE_CORE;
+ if (minor < 9)
+ ao_xmemset(&ao_config.aes_key, '\0', AO_AES_LEN);
+ if (minor < 10)
+ ao_config.frequency = 434550 + ao_config._legacy_radio_channel * 100;
+ if (minor < 11)
+ ao_config.apogee_lockout = 0;
+#if AO_PYRO_NUM
+ if (minor < 12)
+ memset(&ao_config.pyro, '\0', sizeof (ao_config.pyro));
+#endif
+ if (minor < 13)
+ ao_config.aprs_interval = AO_CONFIG_DEFAULT_APRS_INTERVAL;
+#if HAS_RADIO_POWER
+ if (minor < 14)
+ ao_config.radio_power = AO_CONFIG_DEFAULT_RADIO_POWER;
+ #endif
+#if HAS_RADIO_AMP
+ if (minor < 14)
+ ao_config.radio_amp = AO_CONFIG_DEFAULT_RADIO_AMP;
+#endif
+#if HAS_GYRO
+ if (minor < 15) {
+ ao_config.accel_zero_along = 0;
+ ao_config.accel_zero_across = 0;
+ ao_config.accel_zero_through = 0;
+
+ /* Reset the main accel offsets to force
+ * re-calibration
+ */
+ ao_config.accel_plus_g = 0;
+ ao_config.accel_minus_g = 0;
+ }
+#endif
+ ao_config.minor = AO_CONFIG_MINOR;
+ ao_config_dirty = 1;
+ }
+#if HAS_RADIO
+#if HAS_FORCE_FREQ
+ if (ao_force_freq) {
+ ao_config.frequency = 434550;
+ ao_config.radio_cal = ao_radio_cal;
+ ao_xmemcpy(&ao_config.callsign, CODE_TO_XDATA(AO_CONFIG_DEFAULT_CALLSIGN),
+ sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
+ }
+#endif
+ ao_config_set_radio();
+#endif
+ ao_config_loaded = 1;
+}
+
+void
+_ao_config_edit_start(void)
+{
+ ao_mutex_get(&ao_config_mutex);
+ _ao_config_get();
+}
+
+void
+_ao_config_edit_finish(void)
+{
+ ao_config_dirty = 1;
+ ao_mutex_put(&ao_config_mutex);
+}
+
+void
+ao_config_get(void)
+{
+ _ao_config_edit_start();
+ ao_mutex_put(&ao_config_mutex);
+}
+
+void
+ao_config_callsign_show(void)
+{
+ printf ("Callsign: \"%s\"\n", ao_config.callsign);
+}
+
+void
+ao_config_callsign_set(void) __reentrant
+{
+ uint8_t c;
+ static __xdata char callsign[AO_MAX_CALLSIGN + 1];
+
+ ao_xmemset(callsign, '\0', sizeof callsign);
+ ao_cmd_white();
+ c = 0;
+ while (ao_cmd_lex_c != '\n') {
+ if (c < AO_MAX_CALLSIGN)
+ callsign[c++] = ao_cmd_lex_c;
+ else
+ ao_cmd_status = ao_cmd_lex_error;
+ ao_cmd_lex();
+ }
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ _ao_config_edit_start();
+ ao_xmemcpy(&ao_config.callsign, &callsign,
+ AO_MAX_CALLSIGN + 1);
+ _ao_config_edit_finish();
+}
+
+#if HAS_RADIO
+
+void
+ao_config_frequency_show(void) __reentrant
+{
+ printf("Frequency: %ld\n",
+ ao_config.frequency);
+}
+
+void
+ao_config_frequency_set(void) __reentrant
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ _ao_config_edit_start();
+ ao_config.frequency = ao_cmd_lex_u32;
+ ao_config_set_radio();
+ _ao_config_edit_finish();
+#if HAS_RADIO_RECV
+ ao_radio_recv_abort();
+#endif
+}
+#endif
+
+#if HAS_FLIGHT
+
+void
+ao_config_main_deploy_show(void) __reentrant
+{
+ printf("Main deploy: %d meters\n",
+ ao_config.main_deploy);
+}
+
+void
+ao_config_main_deploy_set(void) __reentrant
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ _ao_config_edit_start();
+ ao_config.main_deploy = ao_cmd_lex_i;
+ _ao_config_edit_finish();
+}
+
+#if HAS_ACCEL
+void
+ao_config_accel_calibrate_show(void) __reentrant
+{
+ printf("Accel cal +1g: %d -1g: %d\n",
+ ao_config.accel_plus_g, ao_config.accel_minus_g);
+#if HAS_GYRO
+ printf ("IMU cal along %d across %d through %d\n",
+ ao_config.accel_zero_along,
+ ao_config.accel_zero_across,
+ ao_config.accel_zero_through);
+#endif
+}
+
+#define ACCEL_CALIBRATE_SAMPLES 1024
+#define ACCEL_CALIBRATE_SHIFT 10
+
+#if HAS_GYRO
+static int16_t accel_cal_along;
+static int16_t accel_cal_across;
+static int16_t accel_cal_through;
+#endif
+
+static int16_t
+ao_config_accel_calibrate_auto(char *orientation) __reentrant
+{
+ uint16_t i;
+ int32_t accel_total;
+ uint8_t cal_data_ring;
+#if HAS_GYRO
+ int32_t accel_along_total = 0;
+ int32_t accel_across_total = 0;
+ int32_t accel_through_total = 0;
+#endif
+
+ printf("Orient antenna %s and press a key...", orientation);
+ flush();
+ (void) getchar();
+ puts("\r\n"); flush();
+ puts("Calibrating..."); flush();
+ i = ACCEL_CALIBRATE_SAMPLES;
+ accel_total = 0;
+ cal_data_ring = ao_sample_data;
+ while (i) {
+ ao_sleep(DATA_TO_XDATA(&ao_sample_data));
+ while (i && cal_data_ring != ao_sample_data) {
+ accel_total += (int32_t) ao_data_accel(&ao_data_ring[cal_data_ring]);
+#if HAS_GYRO
+ accel_along_total += (int32_t) ao_data_along(&ao_data_ring[cal_data_ring]);
+ accel_across_total += (int32_t) ao_data_across(&ao_data_ring[cal_data_ring]);
+ accel_through_total += (int32_t) ao_data_through(&ao_data_ring[cal_data_ring]);
+#endif
+ cal_data_ring = ao_data_ring_next(cal_data_ring);
+ i--;
+ }
+ }
+#if HAS_GYRO
+ accel_cal_along = accel_along_total >> ACCEL_CALIBRATE_SHIFT;
+ accel_cal_across = accel_across_total >> ACCEL_CALIBRATE_SHIFT;
+ accel_cal_through = accel_through_total >> ACCEL_CALIBRATE_SHIFT;
+#endif
+ return accel_total >> ACCEL_CALIBRATE_SHIFT;
+}
+
+void
+ao_config_accel_calibrate_set(void) __reentrant
+{
+ int16_t up, down;
+#if HAS_GYRO
+ int16_t accel_along_up = 0, accel_along_down = 0;
+ int16_t accel_across_up = 0, accel_across_down = 0;
+ int16_t accel_through_up = 0, accel_through_down = 0;
+#endif
+
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ if (ao_cmd_lex_i == 0) {
+ up = ao_config_accel_calibrate_auto("up");
+#if HAS_GYRO
+ accel_along_up = accel_cal_along;
+ accel_across_up = accel_cal_across;
+ accel_through_up = accel_cal_through;
+#endif
+ down = ao_config_accel_calibrate_auto("down");
+#if HAS_GYRO
+ accel_along_down = accel_cal_along;
+ accel_across_down = accel_cal_across;
+ accel_through_down = accel_cal_through;
+#endif
+ } else {
+ up = ao_cmd_lex_i;
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ down = ao_cmd_lex_i;
+ }
+ if (up >= down) {
+ printf("Invalid accel: up (%d) down (%d)\n",
+ up, down);
+ return;
+ }
+ _ao_config_edit_start();
+ ao_config.accel_plus_g = up;
+ ao_config.accel_minus_g = down;
+#if HAS_GYRO
+ if (ao_cmd_lex_i == 0) {
+ ao_config.accel_zero_along = (accel_along_up + accel_along_down) / 2;
+ ao_config.accel_zero_across = (accel_across_up + accel_across_down) / 2;
+ ao_config.accel_zero_through = (accel_through_up + accel_through_down) / 2;
+ }
+#endif
+ _ao_config_edit_finish();
+}
+#endif /* HAS_ACCEL */
+
+void
+ao_config_apogee_delay_show(void) __reentrant
+{
+ printf("Apogee delay: %d seconds\n",
+ ao_config.apogee_delay);
+}
+
+void
+ao_config_apogee_delay_set(void) __reentrant
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ _ao_config_edit_start();
+ ao_config.apogee_delay = ao_cmd_lex_i;
+ _ao_config_edit_finish();
+}
+
+void
+ao_config_apogee_lockout_show(void) __reentrant
+{
+ printf ("Apogee lockout: %d seconds\n",
+ ao_config.apogee_lockout);
+}
+
+void
+ao_config_apogee_lockout_set(void) __reentrant
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ _ao_config_edit_start();
+ ao_config.apogee_lockout = ao_cmd_lex_i;
+ _ao_config_edit_finish();
+}
+
+#endif /* HAS_FLIGHT */
+
+#if HAS_RADIO
+void
+ao_config_radio_cal_show(void) __reentrant
+{
+ printf("Radio cal: %ld\n", ao_config.radio_cal);
+}
+
+void
+ao_config_radio_cal_set(void) __reentrant
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ _ao_config_edit_start();
+ ao_config.radio_cal = ao_cmd_lex_u32;
+ ao_config_set_radio();
+ _ao_config_edit_finish();
+}
+#endif
+
+#if HAS_LOG
+void
+ao_config_log_show(void) __reentrant
+{
+ printf("Max flight log: %d kB\n", (int16_t) (ao_config.flight_log_max >> 10));
+}
+
+void
+ao_config_log_set(void) __reentrant
+{
+ uint16_t block = (uint16_t) (ao_storage_block >> 10);
+ uint16_t log_max = (uint16_t) (ao_storage_log_max >> 10);
+
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ if (ao_log_present())
+ printf("Storage must be empty before changing log size\n");
+ else if (block > 1024 && (ao_cmd_lex_i & (block - 1)))
+ printf("Flight log size must be multiple of %d kB\n", block);
+ else if (ao_cmd_lex_i > log_max)
+ printf("Flight log max %d kB\n", log_max);
+ else {
+ _ao_config_edit_start();
+ ao_config.flight_log_max = (uint32_t) ao_cmd_lex_i << 10;
+ _ao_config_edit_finish();
+ }
+}
+#endif /* HAS_LOG */
+
+#if HAS_IGNITE
+void
+ao_config_ignite_mode_show(void) __reentrant
+{
+ printf("Ignite mode: %d\n", ao_config.ignite_mode);
+}
+
+void
+ao_config_ignite_mode_set(void) __reentrant
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ _ao_config_edit_start();
+ ao_config.ignite_mode = ao_cmd_lex_i;
+ _ao_config_edit_finish();
+}
+#endif
+
+#if HAS_ACCEL
+void
+ao_config_pad_orientation_show(void) __reentrant
+{
+ printf("Pad orientation: %d\n", ao_config.pad_orientation);
+}
+
+#ifndef AO_ACCEL_INVERT
+#define AO_ACCEL_INVERT 0x7fff
+#endif
+
+void
+ao_config_pad_orientation_set(void) __reentrant
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ _ao_config_edit_start();
+ ao_cmd_lex_i &= 1;
+ if (ao_config.pad_orientation != ao_cmd_lex_i) {
+ int16_t t;
+ t = ao_config.accel_plus_g;
+ ao_config.accel_plus_g = AO_ACCEL_INVERT - ao_config.accel_minus_g;
+ ao_config.accel_minus_g = AO_ACCEL_INVERT - t;
+ }
+ ao_config.pad_orientation = ao_cmd_lex_i;
+ _ao_config_edit_finish();
+}
+#endif
+
+#if HAS_RADIO
+void
+ao_config_radio_enable_show(void) __reentrant
+{
+ printf("Radio enable: %d\n", ao_config.radio_enable);
+}
+
+void
+ao_config_radio_enable_set(void) __reentrant
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ _ao_config_edit_start();
+ ao_config.radio_enable = ao_cmd_lex_i;
+ _ao_config_edit_finish();
+}
+#endif /* HAS_RADIO */
+
+#if HAS_AES
+
+__xdata uint8_t ao_config_aes_seq = 1;
+
+void
+ao_config_key_show(void) __reentrant
+{
+ uint8_t i;
+ printf("AES key: ");
+ for (i = 0; i < AO_AES_LEN; i++)
+ printf ("%02x", ao_config.aes_key[i]);
+ printf("\n");
+}
+
+void
+ao_config_key_set(void) __reentrant
+{
+ uint8_t i;
+
+ _ao_config_edit_start();
+ for (i = 0; i < AO_AES_LEN; i++) {
+ ao_cmd_hexbyte();
+ if (ao_cmd_status != ao_cmd_success)
+ break;
+ ao_config.aes_key[i] = ao_cmd_lex_i;
+ }
+ ++ao_config_aes_seq;
+ _ao_config_edit_finish();
+}
+#endif
+
+#if HAS_APRS
+
+void
+ao_config_aprs_show(void)
+{
+ printf ("APRS interval: %d\n", ao_config.aprs_interval);
+}
+
+void
+ao_config_aprs_set(void)
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ _ao_config_edit_start();
+ ao_config.aprs_interval = ao_cmd_lex_i;
+ _ao_config_edit_finish();
+}
+
+#endif /* HAS_APRS */
+
+#if HAS_RADIO_AMP
+
+void
+ao_config_radio_amp_show(void)
+{
+ printf ("Radio amp setting: %d\n", ao_config.radio_amp);
+}
+
+void
+ao_config_radio_amp_set(void)
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ _ao_config_edit_start();
+ ao_config.radio_amp = ao_cmd_lex_i;
+ _ao_config_edit_finish();
+}
+
+#endif
+
+#if HAS_RADIO_POWER
+
+void
+ao_config_radio_power_show(void)
+{
+ printf ("Radio power setting: %d\n", ao_config.radio_power);
+}
+
+void
+ao_config_radio_power_set(void)
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ _ao_config_edit_start();
+ ao_config.radio_power = ao_cmd_lex_i;
+ _ao_config_edit_finish();
+}
+
+#endif
+
+struct ao_config_var {
+ __code char *str;
+ void (*set)(void) __reentrant;
+ void (*show)(void) __reentrant;
+};
+
+static void
+ao_config_help(void) __reentrant;
+
+static void
+ao_config_show(void) __reentrant;
+
+#if HAS_EEPROM
+static void
+ao_config_save(void) __reentrant;
+#endif
+
+__code struct ao_config_var ao_config_vars[] = {
+#if HAS_FLIGHT
+ { "m <meters>\0Main deploy (m)",
+ ao_config_main_deploy_set, ao_config_main_deploy_show, },
+ { "d <delay>\0Apogee delay (s)",
+ ao_config_apogee_delay_set, ao_config_apogee_delay_show },
+ { "L <seconds>\0Apogee detect lockout (s)",
+ ao_config_apogee_lockout_set, ao_config_apogee_lockout_show, },
+#endif /* HAS_FLIGHT */
+#if HAS_RADIO
+ { "F <freq>\0Frequency (kHz)",
+ ao_config_frequency_set, ao_config_frequency_show },
+ { "c <call>\0Callsign (8 char max)",
+ ao_config_callsign_set, ao_config_callsign_show },
+ { "e <0 disable, 1 enable>\0Enable telemetry and RDF",
+ ao_config_radio_enable_set, ao_config_radio_enable_show },
+ { "f <cal>\0Radio calib (cal = rf/(xtal/2^16))",
+ ao_config_radio_cal_set, ao_config_radio_cal_show },
+#if HAS_RADIO_POWER
+ { "p <setting>\0Radio power setting (0-255)",
+ ao_config_radio_power_set, ao_config_radio_power_show },
+#endif
+#if HAS_RADIO_AMP
+ { "d <setting>\0Radio amplifier setting (0-3)",
+ ao_config_radio_amp_set, ao_config_radio_amp_show },
+#endif
+#endif /* HAS_RADIO */
+#if HAS_ACCEL
+ { "a <+g> <-g>\0Accel calib (0 for auto)",
+ ao_config_accel_calibrate_set,ao_config_accel_calibrate_show },
+ { "o <0 antenna up, 1 antenna down>\0Set pad orientation",
+ ao_config_pad_orientation_set,ao_config_pad_orientation_show },
+#endif /* HAS_ACCEL */
+#if HAS_LOG
+ { "l <size>\0Flight log size (kB)",
+ ao_config_log_set, ao_config_log_show },
+#endif
+#if HAS_IGNITE
+ { "i <0 dual, 1 apogee, 2 main>\0Set igniter mode",
+ ao_config_ignite_mode_set, ao_config_ignite_mode_show },
+#endif
+#if HAS_AES
+ { "k <32 hex digits>\0Set AES encryption key",
+ ao_config_key_set, ao_config_key_show },
+#endif
+#if AO_PYRO_NUM
+ { "P <n,?>\0Configure pyro channels",
+ ao_pyro_set, ao_pyro_show },
+#endif
+#if HAS_APRS
+ { "A <secs>\0APRS packet interval (0 disable)",
+ ao_config_aprs_set, ao_config_aprs_show },
+#endif
+ { "s\0Show",
+ ao_config_show, 0 },
+#if HAS_EEPROM
+ { "w\0Write to eeprom",
+ ao_config_save, 0 },
+#endif
+ { "?\0Help",
+ ao_config_help, 0 },
+ { 0, 0, 0 }
+};
+
+void
+ao_config_set(void)
+{
+ char c;
+ uint8_t cmd;
+
+ ao_cmd_white();
+ c = ao_cmd_lex_c;
+ ao_cmd_lex();
+ for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++)
+ if (ao_config_vars[cmd].str[0] == c) {
+ (*ao_config_vars[cmd].set)();
+ return;
+ }
+ ao_cmd_status = ao_cmd_syntax_error;
+}
+
+static void
+ao_config_help(void) __reentrant
+{
+ uint8_t cmd;
+ for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++)
+ printf("%-20s %s\n",
+ ao_config_vars[cmd].str,
+ ao_config_vars[cmd].str+1+
+ strlen(ao_config_vars[cmd].str));
+}
+
+static void
+ao_config_show(void) __reentrant
+{
+ uint8_t cmd;
+ ao_config_get();
+ printf("Config version: %d.%d\n",
+ ao_config.major, ao_config.minor);
+ for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++)
+ if (ao_config_vars[cmd].show)
+ (*ao_config_vars[cmd].show)();
+#if HAS_MS5607
+ ao_ms5607_info();
+#endif
+}
+
+#if HAS_EEPROM
+static void
+ao_config_save(void) __reentrant
+{
+ uint8_t saved = 0;
+ ao_mutex_get(&ao_config_mutex);
+ if (ao_config_dirty) {
+ _ao_config_put();
+ ao_config_dirty = 0;
+ saved = 1;
+ }
+ ao_mutex_put(&ao_config_mutex);
+ if (saved)
+ puts("Saved");
+ else
+ puts("Nothing to save");
+}
+#endif
+
+__code struct ao_cmds ao_config_cmds[] = {
+ { ao_config_set, "c <var> <value>\0Set config (? for help, s to show)" },
+ { 0, NULL },
+};
+
+void
+ao_config_init(void)
+{
+ ao_cmd_register(&ao_config_cmds[0]);
+}
--- /dev/null
+/*
+ * Copyright © 2013 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.
+ */
+
+#ifndef _AO_CONFIG_H_
+#define _AO_CONFIG_H_
+
+#ifndef USE_STORAGE_CONFIG
+#define USE_STORAGE_CONFIG 1
+#endif
+
+#ifndef USE_EEPROM_CONFIG
+#define USE_EEPROM_CONFIG 0
+#endif
+
+#if USE_STORAGE_CONFIG
+
+#include <ao_storage.h>
+
+#define ao_config_setup() ao_storage_setup()
+#define ao_config_erase() ao_storage_erase(ao_storage_config)
+#define ao_config_write(pos,bytes, len) ao_storage_write(ao_storage_config+(pos), bytes, len)
+#define ao_config_read(pos,bytes, len) ao_storage_read(ao_storage_config+(pos), bytes, len)
+#define ao_config_flush() ao_storage_flush()
+
+#endif
+
+#if USE_EEPROM_CONFIG
+
+#include <ao_eeprom.h>
+
+#define ao_config_setup()
+#define ao_config_erase()
+#define ao_config_write(pos,bytes, len) ao_eeprom_write(pos, bytes, len)
+#define ao_config_read(pos,bytes, len) ao_eeprom_read(pos, bytes, len)
+#define ao_config_flush()
+
+#endif
+
+#endif /* _AO_CONFIG_H_ */
--- /dev/null
+/*
+ * Copyright © 2009 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.
+ */
+
+#if !defined(AO_CONVERT_TEST) && !defined(AO_FLIGHT_TEST)
+#include "ao.h"
+#endif
+
+static const int16_t altitude_table[] = {
+#include "altitude.h"
+};
+
+#define ALT_FRAC_SCALE (1 << ALT_FRAC_BITS)
+#define ALT_FRAC_MASK (ALT_FRAC_SCALE - 1)
+
+int16_t
+ao_pres_to_altitude(int16_t pres) __reentrant
+{
+ uint8_t o;
+ int16_t part;
+
+ if (pres < 0)
+ pres = 0;
+ o = pres >> ALT_FRAC_BITS;
+ part = pres & ALT_FRAC_MASK;
+
+ return ((int32_t) altitude_table[o] * (ALT_FRAC_SCALE - part) +
+ (int32_t) altitude_table[o+1] * part + (ALT_FRAC_SCALE >> 1)) >> ALT_FRAC_BITS;
+}
+
+#if AO_NEED_ALTITUDE_TO_PRES
+int16_t
+ao_altitude_to_pres(int16_t alt) __reentrant
+{
+ int16_t span, sub_span;
+ uint8_t l, h, m;
+ int32_t pres;
+
+ l = 0;
+ h = NALT - 1;
+ while ((h - l) != 1) {
+ m = (l + h) >> 1;
+ if (altitude_table[m] < alt)
+ h = m;
+ else
+ l = m;
+ }
+ span = altitude_table[l] - altitude_table[h];
+ sub_span = altitude_table[l] - alt;
+ pres = ((((int32_t) l * (span - sub_span) + (int32_t) h * sub_span) << ALT_FRAC_BITS) + (span >> 1)) / span;
+ if (pres > 32767)
+ pres = 32767;
+ if (pres < 0)
+ pres = 0;
+ return (int16_t) pres;
+}
+#endif
+
+#if 0
+int16_t
+ao_temp_to_dC(int16_t temp) __reentrant
+{
+ int16_t ret;
+
+ /* Output voltage at 0°C = 0.755V
+ * Coefficient = 0.00247V/°C
+ * Reference voltage = 1.25V
+ *
+ * temp = ((value / 32767) * 1.25 - 0.755) / 0.00247
+ * = (value - 19791.268) / 32768 * 1.25 / 0.00247
+ * ≃ (value - 19791) * 1012 / 65536
+ */
+ ret = ((temp - 19791) * 1012L) >> 16;
+ return ret;
+}
+#endif
--- /dev/null
+/*
+ * 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.
+ */
+
+#if !defined(AO_CONVERT_TEST) && !defined(AO_FLIGHT_TEST)
+#include "ao.h"
+#endif
+
+#ifndef AO_CONST_ATTRIB
+#define AO_CONST_ATTRIB
+#endif
+
+static const alt_t altitude_table[] AO_CONST_ATTRIB = {
+#include "altitude-pa.h"
+};
+
+#ifndef FETCH_ALT
+#define FETCH_ALT(o) altitude_table[o]
+#endif
+
+#define ALT_SCALE (1 << ALT_SHIFT)
+#define ALT_MASK (ALT_SCALE - 1)
+
+alt_t
+ao_pa_to_altitude(int32_t pa)
+{
+ int16_t o;
+ int16_t part;
+ int32_t low, high;
+
+ if (pa < 0)
+ pa = 0;
+ if (pa > 120000L)
+ pa = 120000L;
+ o = pa >> ALT_SHIFT;
+ part = pa & ALT_MASK;
+
+ low = (int32_t) FETCH_ALT(o) * (ALT_SCALE - part);
+ high = (int32_t) FETCH_ALT(o+1) * part + (ALT_SCALE >> 1);
+ return (low + high) >> ALT_SHIFT;
+}
+
+#ifdef AO_CONVERT_TEST
+int32_t
+ao_altitude_to_pa(int32_t alt)
+{
+ int32_t span, sub_span;
+ uint16_t l, h, m;
+ int32_t pa;
+
+ l = 0;
+ h = NALT - 1;
+ while ((h - l) != 1) {
+ m = (l + h) >> 1;
+ if (altitude_table[m] < alt)
+ h = m;
+ else
+ l = m;
+ }
+ span = altitude_table[l] - altitude_table[h];
+ sub_span = altitude_table[l] - alt;
+ pa = ((((int32_t) l * (span - sub_span) + (int32_t) h * sub_span) << ALT_SHIFT) + (span >> 1)) / span;
+ if (pa > 120000)
+ pa = 120000;
+ if (pa < 0)
+ pa = 0;
+ return pa;
+}
+#endif
--- /dev/null
+/*
+ * 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 <stdint.h>
+#define AO_CONVERT_TEST
+typedef int32_t alt_t;
+#include "ao_host.h"
+#include "ao_convert_pa.c"
+
+#define STEP_P 1
+#define STEP_A 1
+
+static inline int i_abs(int i) { return i < 0 ? -i : i; }
+
+int
+main (int argc, char **argv)
+{
+ int i;
+ int32_t p_to_a, p_to_a_to_p;
+ int32_t a_to_p, a_to_p_to_a;
+ int max_p_error = 0, max_p_error_p = -1;
+ int max_a_error = 0, max_a_error_a = -1;
+ int p_error;
+ int a_error;
+ int ret = 0;
+
+ for (i = 0; i < 120000 + STEP_P; i += STEP_P) {
+ if (i > 120000)
+ i = 120000;
+ p_to_a = ao_pa_to_altitude(i);
+ p_to_a_to_p = ao_altitude_to_pa(p_to_a);
+ p_error = i_abs(p_to_a_to_p - i);
+ if (p_error > max_p_error) {
+ max_p_error = p_error;
+ max_p_error_p = i;
+ }
+// printf ("pa %d alt %d pa %d\n",
+// i, p_to_a, p_to_a_to_p);
+ }
+ for (i = -1450; i < 40000 + STEP_A; i += STEP_A) {
+ a_to_p = ao_altitude_to_pa(i);
+ a_to_p_to_a = ao_pa_to_altitude(a_to_p);
+ a_error = i_abs(a_to_p_to_a - i);
+ if (a_error > max_a_error) {
+ max_a_error = a_error;
+ max_a_error_a = i;
+ }
+// printf ("alt %d pa %d alt %d\n",
+// i, a_to_p, a_to_p_to_a);
+ }
+ if (max_p_error > 2) {
+ printf ("max p error %d at %d\n", max_p_error,
+ max_p_error_p);
+ ret++;
+ }
+ if (max_a_error > 1) {
+ printf ("max a error %d at %d\n", max_a_error,
+ max_a_error_a);
+ ret++;
+ }
+ return ret;
+}
--- /dev/null
+/*
+ * Copyright © 2010 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 <stdint.h>
+#define AO_CONVERT_TEST
+#define AO_NEED_ALTITUDE_TO_PRES 1
+#include "ao_host.h"
+#include "ao_convert.c"
+
+#define STEP 1
+
+static inline int i_abs(int i) { return i < 0 ? -i : i; }
+
+int main (int argc, char **argv)
+{
+ int i;
+ int16_t p_to_a, p_to_a_to_p;
+ int16_t a_to_p, a_to_p_to_a;
+ int max_p_error = 0, max_p_error_p = -1;
+ int max_a_error = 0, max_a_error_a = -1;
+ int p_error;
+ int a_error;
+ int ret = 0;
+
+ for (i = 0; i < 32767 + STEP; i += STEP) {
+ if (i > 32767)
+ i = 32767;
+ p_to_a = ao_pres_to_altitude(i);
+ p_to_a_to_p = ao_altitude_to_pres(p_to_a);
+ p_error = i_abs(p_to_a_to_p - i);
+ if (p_error > max_p_error) {
+ max_p_error = p_error;
+ max_p_error_p = i;
+ }
+// printf ("pres %d alt %d pres %d\n",
+// i, p_to_a, p_to_a_to_p);
+ }
+ for (i = -1578; i < 15835 + STEP; i += STEP) {
+ if (i > 15835)
+ i = 15835;
+ a_to_p = ao_altitude_to_pres(i);
+ a_to_p_to_a = ao_pres_to_altitude(a_to_p);
+ a_error = i_abs(a_to_p_to_a - i);
+ if (a_error > max_a_error) {
+ max_a_error = a_error;
+ max_a_error_a = i;
+ }
+// printf ("alt %d pres %d alt %d\n",
+// i, a_to_p, a_to_p_to_a);
+ }
+ if (max_p_error > 2) {
+ printf ("max p error %d at %d\n", max_p_error,
+ max_p_error_p);
+ ret++;
+ }
+ if (max_a_error > 1) {
+ printf ("max a error %d at %d\n", max_a_error,
+ max_a_error_a);
+ ret++;
+ }
+ return ret;
+}
--- /dev/null
+/*
+ * Copyright © 2014 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"
+
+#define scale(v,p,m) ((int32_t) (v) * (AO_ADC_REFERENCE_DV * ((p) + (m))) / (AO_ADC_MAX * (m)))
+
+int16_t
+ao_battery_decivolt(int16_t adc)
+{
+ return scale(adc, AO_BATTERY_DIV_PLUS, AO_BATTERY_DIV_MINUS);
+}
+
+int16_t
+ao_ignite_decivolt(int16_t adc)
+{
+ return scale(adc, AO_IGNITE_DIV_PLUS, AO_IGNITE_DIV_MINUS);
+}
+
--- /dev/null
+/*
+ * 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_data.h>
+
+volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING];
+volatile __data uint8_t ao_data_head;
+volatile __data uint8_t ao_data_present;
+
+#ifndef ao_data_count
+void
+ao_data_get(__xdata struct ao_data *packet)
+{
+#if HAS_FLIGHT
+ uint8_t i = ao_data_ring_prev(ao_sample_data);
+#else
+ uint8_t i = ao_data_ring_prev(ao_data_head);
+#endif
+ memcpy(packet, (void *) &ao_data_ring[i], sizeof (struct ao_data));
+}
+#endif
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_DATA_H_
+#define _AO_DATA_H_
+
+#define GRAVITY 9.80665
+
+#if HAS_ADC
+#define AO_DATA_ADC (1 << 0)
+#else
+#define AO_DATA_ADC 0
+#endif
+
+#if HAS_MS5607
+#include <ao_ms5607.h>
+#define AO_DATA_MS5607 (1 << 1)
+#else
+#define AO_DATA_MS5607 0
+#endif
+
+#if HAS_MPU6000
+#include <ao_mpu6000.h>
+#define AO_DATA_MPU6000 (1 << 2)
+#else
+#define AO_DATA_MPU6000 0
+#endif
+
+#if HAS_HMC5883
+#include <ao_hmc5883.h>
+#define AO_DATA_HMC5883 (1 << 3)
+#else
+#define AO_DATA_HMC5883 0
+#endif
+
+#if HAS_MMA655X
+#include <ao_mma655x.h>
+#define AO_DATA_MMA655X (1 << 4)
+#else
+#define AO_DATA_MMA655X 0
+#endif
+
+#ifdef AO_DATA_RING
+
+#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X)
+
+struct ao_data {
+ uint16_t tick;
+#if HAS_ADC
+ struct ao_adc adc;
+#endif
+#if HAS_MS5607
+ struct ao_ms5607_sample ms5607_raw;
+ struct ao_ms5607_value ms5607_cooked;
+#endif
+#if HAS_MPU6000
+ struct ao_mpu6000_sample mpu6000;
+#if !HAS_MMA655X
+ int16_t z_accel;
+#endif
+#endif
+#if HAS_HMC5883
+ struct ao_hmc5883_sample hmc5883;
+#endif
+#if HAS_MMA655X
+ uint16_t mma655x;
+#endif
+};
+
+#define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1))
+#define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1))
+
+/* Get a copy of the last complete sample set */
+void
+ao_data_get(__xdata struct ao_data *packet);
+
+extern volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING];
+extern volatile __data uint8_t ao_data_head;
+extern volatile __data uint8_t ao_data_present;
+extern volatile __data uint8_t ao_data_count;
+
+/*
+ * Mark a section of data as ready, check for data complete
+ */
+#define AO_DATA_PRESENT(bit) (ao_data_present |= (bit))
+
+/*
+ * Wait until it is time to write a sensor sample; this is
+ * signaled by the timer tick
+ */
+#define AO_DATA_WAIT() do { \
+ ao_sleep(DATA_TO_XDATA ((void *) &ao_data_count)); \
+ } while (0)
+
+#endif /* AO_DATA_RING */
+
+#if !HAS_BARO && HAS_MS5607
+
+/* Either an MS5607 or an MS5611 hooked to a SPI port
+ */
+
+#define HAS_BARO 1
+
+typedef int32_t pres_t;
+
+#ifndef AO_ALT_TYPE
+#define AO_ALT_TYPE int32_t
+#endif
+
+typedef AO_ALT_TYPE alt_t;
+
+#define ao_data_pres_cook(packet) ao_ms5607_convert(&packet->ms5607_raw, &packet->ms5607_cooked)
+
+#define ao_data_pres(packet) ((packet)->ms5607_cooked.pres)
+#define ao_data_temp(packet) ((packet)->ms5607_cooked.temp)
+
+#define pres_to_altitude(p) ao_pa_to_altitude(p)
+
+#endif
+
+#if !HAS_BARO && HAS_ADC
+
+#define HAS_BARO 1
+
+typedef int16_t pres_t;
+typedef int16_t alt_t;
+
+#define ao_data_pres(packet) ((packet)->adc.pres)
+#define ao_data_temp(packet) ((packet)->adc.temp)
+#define pres_to_altitude(p) ao_pres_to_altitude(p)
+#define ao_data_pres_cook(p)
+
+#endif
+
+#if !HAS_BARO
+typedef int16_t alt_t;
+#endif
+
+/*
+ * Need a few macros to pull data from the sensors:
+ *
+ * ao_data_accel_sample - pull raw sensor and convert to normalized values
+ * ao_data_accel - pull normalized value (lives in the same memory)
+ * ao_data_set_accel - store normalized value back in the sensor location
+ * ao_data_accel_invert - flip rocket ends for positive acceleration
+ */
+
+#if HAS_ACCEL
+
+/* This section is for an analog accelerometer hooked to one of the ADC pins. As
+ * those are 5V parts, this also requires that the 5V supply be hooked to to anothe ADC
+ * pin so that the both can be measured to correct for changes between the 3.3V and 5V rails
+ */
+
+typedef int16_t accel_t;
+#define ao_data_accel(packet) ((packet)->adc.accel)
+#define ao_data_set_accel(packet, a) ((packet)->adc.accel = (a))
+#define ao_data_accel_invert(a) (0x7fff -(a))
+
+/*
+ * Ok, the math here is a bit tricky.
+ *
+ * ao_sample_accel: ADC output for acceleration
+ * ao_accel_ref: ADC output for the 5V reference.
+ * ao_cook_accel: Corrected acceleration value
+ * Vcc: 3.3V supply to the CC1111
+ * Vac: 5V supply to the accelerometer
+ * accel: input voltage to accelerometer ADC pin
+ * ref: input voltage to 5V reference ADC pin
+ *
+ *
+ * Measured acceleration is ratiometric to Vcc:
+ *
+ * ao_sample_accel accel
+ * ------------ = -----
+ * 32767 Vcc
+ *
+ * Measured 5v reference is also ratiometric to Vcc:
+ *
+ * ao_accel_ref ref
+ * ------------ = -----
+ * 32767 Vcc
+ *
+ *
+ * ao_accel_ref = 32767 * (ref / Vcc)
+ *
+ * Acceleration is measured ratiometric to the 5V supply,
+ * so what we want is:
+ *
+ * ao_cook_accel accel
+ * ------------- = -----
+ * 32767 ref
+ *
+ *
+ * accel Vcc
+ * = ----- * ---
+ * Vcc ref
+ *
+ * ao_sample_accel 32767
+ * = ------------ * ------------
+ * 32767 ao_accel_ref
+ *
+ * Multiply through by 32767:
+ *
+ * ao_sample_accel * 32767
+ * ao_cook_accel = --------------------
+ * ao_accel_ref
+ *
+ * Now, the tricky part. Getting this to compile efficiently
+ * and keeping all of the values in-range.
+ *
+ * First off, we need to use a shift of 16 instead of * 32767 as SDCC
+ * does the obvious optimizations for byte-granularity shifts:
+ *
+ * ao_cook_accel = (ao_sample_accel << 16) / ao_accel_ref
+ *
+ * Next, lets check our input ranges:
+ *
+ * 0 <= ao_sample_accel <= 0x7fff (singled ended ADC conversion)
+ * 0x7000 <= ao_accel_ref <= 0x7fff (the 5V ref value is close to 0x7fff)
+ *
+ * Plugging in our input ranges, we get an output range of 0 - 0x12490,
+ * which is 17 bits. That won't work. If we take the accel ref and shift
+ * by a bit, we'll change its range:
+ *
+ * 0xe000 <= ao_accel_ref<<1 <= 0xfffe
+ *
+ * ao_cook_accel = (ao_sample_accel << 16) / (ao_accel_ref << 1)
+ *
+ * Now the output range is 0 - 0x9248, which nicely fits in 16 bits. It
+ * is, however, one bit too large for our signed computations. So, we
+ * take the result and shift that by a bit:
+ *
+ * ao_cook_accel = ((ao_sample_accel << 16) / (ao_accel_ref << 1)) >> 1
+ *
+ * This finally creates an output range of 0 - 0x4924. As the ADC only
+ * provides 11 bits of data, we haven't actually lost any precision,
+ * just dropped a bit of noise off the low end.
+ */
+
+#if HAS_ACCEL_REF
+
+#define ao_data_accel_cook(packet) \
+ ((uint16_t) ((((uint32_t) (packet)->adc.accel << 16) / ((packet)->adc.accel_ref << 1))) >> 1)
+
+#else
+
+#define ao_data_accel_cook(packet) ((packet)->adc.accel)
+
+#endif /* HAS_ACCEL_REF */
+
+#endif /* HAS_ACCEL */
+
+#if !HAS_ACCEL && HAS_MMA655X
+
+#define HAS_ACCEL 1
+
+typedef int16_t accel_t;
+
+/* MMA655X is hooked up so that positive values represent negative acceleration */
+
+#define AO_ACCEL_INVERT 4095
+
+#define ao_data_accel(packet) ((packet)->mma655x)
+#if AO_MMA655X_INVERT
+#define ao_data_accel_cook(packet) (AO_ACCEL_INVERT - (packet)->mma655x)
+#else
+#define ao_data_accel_cook(packet) ((packet)->mma655x)
+#endif
+#define ao_data_set_accel(packet, accel) ((packet)->mma655x = (accel))
+#define ao_data_accel_invert(accel) (AO_ACCEL_INVERT - (accel))
+
+#endif
+
+#if !HAS_ACCEL && HAS_MPU6000
+
+#define HAS_ACCEL 1
+
+#define AO_ACCEL_INVERT 0
+
+typedef int16_t accel_t;
+
+/* MPU6000 is hooked up so that positive y is positive acceleration */
+#define ao_data_accel(packet) ((packet)->z_accel)
+#define ao_data_accel_cook(packet) (-(packet)->mpu6000.accel_y)
+#define ao_data_set_accel(packet, accel) ((packet)->z_accel = (accel))
+#define ao_data_accel_invert(a) (-(a))
+
+#endif
+
+#if !HAS_GYRO && HAS_MPU6000
+
+#define HAS_GYRO 1
+
+typedef int16_t gyro_t; /* in raw sample units */
+typedef int16_t angle_t; /* in degrees */
+
+/* Y axis is aligned with the direction of motion (along) */
+/* X axis is aligned in the other board axis (across) */
+/* Z axis is aligned perpendicular to the board (through) */
+
+#define ao_data_along(packet) ((packet)->mpu6000.accel_y)
+#define ao_data_across(packet) ((packet)->mpu6000.accel_x)
+#define ao_data_through(packet) ((packet)->mpu6000.accel_z)
+
+#define ao_data_roll(packet) ((packet)->mpu6000.gyro_y)
+#define ao_data_pitch(packet) ((packet)->mpu6000.gyro_x)
+#define ao_data_yaw(packet) ((packet)->mpu6000.gyro_z)
+
+#endif
+
+#if !HAS_MAG && HAS_HMC5883
+
+#define HAS_MAG 1
+
+typedef int16_t ao_mag_t; /* in raw sample units */
+
+#define ao_data_mag_along(packet) ((packet)->hmc5883.x)
+#define ao_data_mag_across(packet) ((packet)->hmc5883.y)
+#define ao_data_mag_through(packet) ((packet)->hmc5883.z)
+
+#endif
+
+#endif /* _AO_DATA_H_ */
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_DBG_H_
+#define _AO_DBG_H_
+
+/*
+ * ao_dbg.c
+ *
+ * debug another telemetrum board
+ */
+
+/* Send a byte to the dbg target */
+void
+ao_dbg_send_byte(uint8_t byte);
+
+/* Receive a byte from the dbg target */
+uint8_t
+ao_dbg_recv_byte(void);
+
+/* Start a bulk transfer to/from dbg target memory */
+void
+ao_dbg_start_transfer(uint16_t addr);
+
+/* End a bulk transfer to/from dbg target memory */
+void
+ao_dbg_end_transfer(void);
+
+/* Write a byte to dbg target memory */
+void
+ao_dbg_write_byte(uint8_t byte);
+
+/* Read a byte from dbg target memory */
+uint8_t
+ao_dbg_read_byte(void);
+
+/* Enable dbg mode, switching use of the pins */
+void
+ao_dbg_debug_mode(void);
+
+/* Reset the dbg target */
+void
+ao_dbg_reset(void);
+
+void
+ao_dbg_init(void);
+
+#endif /* _AO_DBG_H_ */
--- /dev/null
+/*
+ * Copyright © 2013 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_debounce.h>
+#include <ao_fast_timer.h>
+
+static uint8_t ao_debounce_initialized;
+static uint8_t ao_debounce_running;
+static struct ao_debounce *ao_debounce;
+
+static uint8_t values[64];
+static uint8_t n;
+
+#define d_step(n) (((n) + 1) & 63)
+
+static void
+_ao_debounce_set(struct ao_debounce *debounce, uint8_t value)
+{
+ if (value != debounce->value) {
+ values[n] = value;
+ n = (n + 1) & 63;
+ debounce->value = value;
+ debounce->_set(debounce, value);
+ }
+ _ao_debounce_stop(debounce);
+}
+
+void
+ao_debounce_dump(void)
+{
+ uint8_t s;
+
+ for (s = 0; s < n; s++) {
+ printf ("%d: %d\n",
+ s, values[s]);
+ }
+ n = 0;
+}
+
+/*
+ * Get the current value, set the result when we've
+ * reached the debounce count limit
+ */
+static void
+_ao_debounce_check(struct ao_debounce *debounce)
+{
+ uint8_t next = debounce->_get(debounce);
+
+ if (next == debounce->current) {
+ if (debounce->count < debounce->hold) {
+ if (++debounce->count == debounce->hold)
+ _ao_debounce_set(debounce, debounce->current);
+ }
+ } else {
+ debounce->count = 0;
+ debounce->current = next;
+ }
+}
+
+static void
+_ao_debounce_isr(void)
+{
+ struct ao_debounce *debounce, *next;
+
+ for (debounce = ao_debounce; debounce; debounce = next) {
+ next = debounce->next;
+ _ao_debounce_check(debounce);
+ }
+}
+
+static void
+ao_debounce_on(void)
+{
+ ao_fast_timer_on(_ao_debounce_isr);
+}
+
+static void
+ao_debounce_off(void)
+{
+ ao_fast_timer_off(_ao_debounce_isr);
+}
+
+/*
+ * Start monitoring one pin
+ */
+void
+_ao_debounce_start(struct ao_debounce *debounce)
+{
+ uint32_t m;
+
+ m = ao_arch_irqsave();
+ if (!debounce->running) {
+ debounce->running = 1;
+
+ /* Reset the counter */
+ debounce->count = 0;
+
+ /* Link into list */
+ debounce->next = ao_debounce;
+ ao_debounce = debounce;
+
+ /* Make sure the timer is running */
+ if (!ao_debounce_running++)
+ ao_debounce_on();
+
+ /* And go check the current value */
+ _ao_debounce_check(debounce);
+ }
+ ao_arch_irqrestore(m);
+}
+
+/*
+ * Stop monitoring one pin
+ */
+void
+_ao_debounce_stop(struct ao_debounce *debounce)
+{
+ struct ao_debounce **prev;
+ uint32_t m;
+
+ m = ao_arch_irqsave();
+ if (debounce->running) {
+ debounce->running = 0;
+
+ /* Unlink */
+ for (prev = &ao_debounce; (*prev); prev = &((*prev)->next)) {
+ if (*prev == debounce) {
+ *prev = debounce->next;
+ break;
+ }
+ }
+ debounce->next = NULL;
+
+ /* Turn off the timer if possible */
+ if (!--ao_debounce_running)
+ ao_debounce_off();
+ }
+ ao_arch_irqrestore(m);
+}
+
+void
+ao_debounce_init(void)
+{
+ if (ao_debounce_initialized)
+ return;
+ ao_debounce_initialized = 1;
+ ao_fast_timer_init();
+}
--- /dev/null
+/*
+ * Copyright © 2013 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.
+ */
+
+#ifndef _AO_DEBOUNCE_H_
+#define _AO_DEBOUNCE_H_
+
+struct ao_debounce {
+ struct ao_debounce *next;
+
+ /* time that pin value must be stable before accepting */
+ uint8_t hold;
+
+ /* last value reported to app; don't report it twice */
+ uint8_t value;
+
+ /* current value received from pins */
+ uint8_t current;
+
+ /* current count of intervals pin value has been stable */
+ uint8_t count;
+
+ /* This pin is running */
+ uint8_t running;
+
+ /* Get the current pin value */
+ uint8_t (*_get)(struct ao_debounce *debounce);
+
+ /* The stable value has changed */
+ void (*_set)(struct ao_debounce *debounce, uint8_t value);
+};
+
+static inline void
+ao_debounce_config(struct ao_debounce *debounce,
+ uint8_t (*_get)(struct ao_debounce *debounce),
+ void (*_set)(struct ao_debounce *debounce, uint8_t value),
+ uint8_t hold)
+{
+ debounce->next = 0;
+ debounce->hold = hold;
+ debounce->value = 0xff;
+ debounce->current = 0xff;
+ debounce->count = 0;
+ debounce->running = 0;
+ debounce->_get = _get;
+ debounce->_set = _set;
+}
+
+void
+_ao_debounce_start(struct ao_debounce *debounce);
+
+void
+_ao_debounce_stop(struct ao_debounce *debounce);
+
+void
+ao_debounce_init(void);
+
+void
+ao_debounce_dump(void);
+
+#endif /* _AO_DEBOUNCE_H_ */
--- /dev/null
+/*
+ * Copyright © 2009 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"
+
+/*
+ * For hardware without eeprom, the config code still
+ * wants to call these functions
+ */
+uint8_t
+ao_ee_write_config(uint8_t *buf, uint16_t len) __reentrant
+{
+ (void) buf;
+ (void) len;
+ return 1;
+}
+
+uint8_t
+ao_ee_read_config(uint8_t *buf, uint16_t len) __reentrant
+{
+ ao_xmemset(buf, '\0', len);
+ return 1;
+}
--- /dev/null
+/*
+ * Copyright © 2013 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.
+ */
+
+#ifndef _AO_EEPROM_H_
+#define _AO_EEPROM_H_
+
+extern const ao_pos_t ao_eeprom_total;
+
+/*
+ * Write to eeprom
+ */
+
+uint8_t
+ao_eeprom_write(ao_pos_t pos32, __xdata void *v, uint16_t len);
+
+/*
+ * Read from eeprom
+ */
+uint8_t
+ao_eeprom_read(ao_pos_t pos, __xdata void *v, uint16_t len);
+
+/*
+ * Initialize eeprom
+ */
+
+void
+ao_eeprom_init(void);
+
+#endif /* _AO_EEPROM_H_ */
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_FEC_H_
+#define _AO_FEC_H_
+
+#include <stdint.h>
+
+#define AO_FEC_CRC_INIT 0xffff
+#define AO_FEC_TRELLIS_TERMINATOR 0x0b
+#define AO_FEC_PREPARE_EXTRA 4
+
+extern const uint8_t ao_fec_whiten_table[];
+
+#if AO_FEC_DEBUG
+void
+ao_fec_dump_bytes(const uint8_t *bytes, uint16_t len, const char *name);
+#endif
+
+static inline uint16_t
+ao_fec_crc_byte(uint8_t byte, uint16_t crc)
+{
+ uint8_t bit;
+
+ for (bit = 0; bit < 8; bit++) {
+ if (((crc & 0x8000) >> 8) ^ (byte & 0x80))
+ crc = (crc << 1) ^ 0x8005;
+ else
+ crc = (crc << 1);
+ byte <<= 1;
+ }
+ return crc;
+}
+
+uint16_t
+ao_fec_crc(const uint8_t *bytes, uint8_t len);
+
+/*
+ * 'len' is the length of the original data; 'bytes'
+ * must be four bytes longer than that, and the first
+ * two after 'len' must be the received crc
+ */
+uint8_t
+ao_fec_check_crc(const uint8_t *bytes, uint8_t len);
+
+/*
+ * Compute CRC, whiten, convolve and interleave data. 'out' must be (len + 4) * 2 bytes long
+ */
+uint8_t
+ao_fec_encode(const uint8_t *in, uint8_t len, uint8_t *out);
+
+/*
+ * Decode data. 'in' is one byte per bit, soft decision
+ * 'out' must be len/8 bytes long
+ */
+
+#define AO_FEC_DECODE_BLOCK (32) /* callback must return multiples of this many bits */
+
+#define AO_FEC_DECODE_CRC_OK 0x80 /* stored in out[out_len-1] */
+
+uint8_t
+ao_fec_decode(const uint8_t *in, uint16_t in_len, uint8_t *out, uint8_t out_len, uint16_t (*callback)(void));
+
+/*
+ * Interleave data packed in bytes. 'out' must be 'len' bytes long.
+ */
+uint16_t
+ao_fec_interleave_bytes(uint8_t *in, uint16_t len, uint8_t *out);
+
+#endif /* _AO_FEC_H_ */
--- /dev/null
+/*
+ * 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_fec.h>
+#include <stdio.h>
+
+#ifdef TELEMEGA
+#include <ao.h>
+#endif
+
+#if AO_PROFILE
+#include <ao_profile.h>
+
+uint32_t ao_fec_decode_start, ao_fec_decode_end;
+#endif
+
+/*
+ * byte order repeats through 3 2 1 0
+ *
+ * bit-pair order repeats through
+ *
+ * 1/0 3/2 5/4 7/6
+ *
+ * So, the over all order is:
+ *
+ * 3,1/0 2,1/0 1,1/0 0,1/0
+ * 3,3/2 2,3/2 1,3/2 0,3/2
+ * 3,5/4 2,5/4 1,5/4 0,5/4
+ * 3,7/6 2,7/6 1,7/6 0,7/6
+ *
+ * The raw bit order is thus
+ *
+ * 1e/1f 16/17 0e/0f 06/07
+ * 1c/1d 14/15 0c/0d 04/05
+ * 1a/1b 12/13 0a/0b 02/03
+ * 18/19 10/11 08/09 00/01
+ */
+
+static const uint8_t ao_interleave_order[] = {
+ 0x1e, 0x16, 0x0e, 0x06,
+ 0x1c, 0x14, 0x0c, 0x04,
+ 0x1a, 0x12, 0x0a, 0x02,
+ 0x18, 0x10, 0x08, 0x00
+};
+
+static inline uint16_t ao_interleave_index(uint16_t i) {
+ return (i & ~0x1e) | ao_interleave_order[(i & 0x1e) >> 1];
+}
+
+#define NUM_STATE 8
+#define NUM_HIST 24
+
+typedef uint32_t bits_t;
+
+#define V_0 0xff
+#define V_1 0x00
+
+/*
+ * These are just the 'zero' states; the 'one' states mirror them
+ */
+static const uint8_t ao_fec_decode_table[NUM_STATE*2] = {
+ V_0, V_0, /* 000 */
+ V_0, V_1, /* 001 */
+ V_1, V_1, /* 010 */
+ V_1, V_0, /* 011 */
+ V_1, V_1, /* 100 */
+ V_1, V_0, /* 101 */
+ V_0, V_0, /* 110 */
+ V_0, V_1 /* 111 */
+};
+
+static inline uint8_t
+ao_next_state(uint8_t state, uint8_t bit)
+{
+ return ((state << 1) | bit) & 0x7;
+}
+
+/*
+ * 'in' is 8-bits per symbol soft decision data
+ * 'len' is input byte length. 'out' must be
+ * 'len'/16 bytes long
+ */
+
+uint8_t
+ao_fec_decode(const uint8_t *in, uint16_t len, uint8_t *out, uint8_t out_len, uint16_t (*callback)(void))
+{
+ static uint32_t cost[2][NUM_STATE]; /* path cost */
+ static bits_t bits[2][NUM_STATE]; /* save bits to quickly output them */
+
+ uint16_t i; /* input byte index */
+ uint16_t b; /* encoded symbol index (bytes/2) */
+ uint16_t o; /* output bit index */
+ uint8_t p; /* previous cost/bits index */
+ uint8_t n; /* next cost/bits index */
+ uint8_t state; /* state index */
+ const uint8_t *whiten = ao_fec_whiten_table;
+ uint16_t interleave; /* input byte array index */
+ uint8_t s0, s1;
+ uint16_t avail;
+ uint16_t crc = AO_FEC_CRC_INIT;
+#if AO_PROFILE
+ uint32_t start_tick;
+#endif
+
+ p = 0;
+ for (state = 0; state < NUM_STATE; state++) {
+ cost[0][state] = 0x7fffffff;
+ bits[0][state] = 0;
+ }
+ cost[0][0] = 0;
+
+ if (callback)
+ avail = 0;
+ else
+ avail = len;
+
+#if AO_PROFILE
+ if (!avail) {
+ avail = callback();
+ if (!avail)
+ return 0;
+ }
+ start_tick = ao_profile_tick();
+#endif
+ o = 0;
+ for (i = 0; i < len; i += 2) {
+ b = i/2;
+ n = p ^ 1;
+
+ if (!avail) {
+ avail = callback();
+ if (!avail)
+ return 0;
+ }
+
+ /* Fetch one pair of input bytes, de-interleaving
+ * the input.
+ */
+ interleave = ao_interleave_index(i);
+ s0 = in[interleave];
+ s1 = in[interleave+1];
+
+ avail -= 2;
+
+ /* Compute path costs and accumulate output bit path
+ * for each state and encoded bit value. Unrolling
+ * this loop is worth about > 30% performance boost.
+ * Decoding 76-byte remote access packets is reduced
+ * from 14.700ms to 9.3ms. Redoing the loop to
+ * directly compare the two pasts for each future state
+ * reduces this down to 5.7ms
+ */
+
+ /* Ok, of course this is tricky, it's optimized.
+ *
+ * First, it's important to realize that we have 8
+ * states representing the combinations of the three
+ * most recent bits from the encoder. Flipping any
+ * of these three bits flips both output bits.
+ *
+ * 'state<<1' represents the target state for a new
+ * bit value of 0. '(state<<1)+1' represents the
+ * target state for a new bit value of 1.
+ *
+ * 'state' is the previous state with an oldest bit
+ * value of 0. 'state + 4' is the previous state with
+ * an oldest bit value of 1. These two states will
+ * either lead to 'state<<1' or '(state<<1)+1', depending
+ * on whether the next encoded bit was a zero or a one.
+ *
+ * m0 and m1 are the cost of coming to 'state<<1' from
+ * one of the two possible previous states 'state' and
+ * 'state + 4'.
+ *
+ * Because we know the expected values of each
+ * received bit are flipped between these two previous
+ * states:
+ *
+ * bitcost(state+4) = 510 - bitcost(state)
+ *
+ * With those two total costs in hand, we then pick
+ * the lower as the cost of the 'state<<1', and compute
+ * the path of bits leading to that state.
+ *
+ * Then, do the same for '(state<<1) + 1'. This time,
+ * instead of computing the m0 and m1 values from
+ * scratch, because the only difference is that we're
+ * expecting a one bit instead of a zero bit, we just
+ * flip the bitcost values around to match the
+ * expected transmitted bits with some tricky
+ * arithmetic which is equivalent to:
+ *
+ * m0 = cost[p][state] + (510 - bitcost);
+ * m1 = cost[p][state+4] + bitcost
+ *
+ * Then, the lowest cost and bit trace of the new state
+ * is saved.
+ */
+
+#define DO_STATE(state) { \
+ uint32_t bitcost; \
+ \
+ uint32_t m0; \
+ uint32_t m1; \
+ uint32_t bit; \
+ \
+ bitcost = ((uint32_t) (s0 ^ ao_fec_decode_table[(state<<1)]) + \
+ (uint32_t) (s1 ^ ao_fec_decode_table[(state<<1)|1])); \
+ \
+ m0 = cost[p][state] + bitcost; \
+ m1 = cost[p][state+4] + (510 - bitcost); \
+ bit = m0 > m1; \
+ cost[n][state<<1] = bit ? m1 : m0; \
+ bits[n][state<<1] = (bits[p][state + (bit<<2)] << 1) | (state&1); \
+ \
+ m0 -= (bitcost+bitcost-510); \
+ m1 += (bitcost+bitcost-510); \
+ bit = m0 > m1; \
+ cost[n][(state<<1)+1] = bit ? m1 : m0; \
+ bits[n][(state<<1)+1] = (bits[p][state + (bit<<2)] << 1) | (state&1); \
+ }
+
+ DO_STATE(0);
+ DO_STATE(1);
+ DO_STATE(2);
+ DO_STATE(3);
+
+#if 0
+ printf ("bit %3d symbol %2x %2x:", i/2, s0, s1);
+ for (state = 0; state < NUM_STATE; state++) {
+ printf (" %8u(%08x)", cost[n][state], bits[n][state]);
+ }
+ printf ("\n");
+#endif
+ p = n;
+
+ /* A loop is needed to handle the last output byte. It
+ * won't have any bits of future data to perform full
+ * error correction, but we might as well give the
+ * best possible answer anyways.
+ */
+ while ((b - o) >= (8 + NUM_HIST) || (i + 2 >= len && b > o)) {
+
+ /* Compute number of bits to the end of the
+ * last full byte of data. This is generally
+ * NUM_HIST, unless we've reached
+ * the end of the input, in which case
+ * it will be seven.
+ */
+ int8_t dist = b - (o + 8); /* distance to last ready-for-writing bit */
+ uint32_t min_cost; /* lowest cost */
+ uint8_t min_state; /* lowest cost state */
+ uint8_t byte;
+
+ /* Find the best fit at the current point
+ * of the decode.
+ */
+ min_cost = cost[p][0];
+ min_state = 0;
+ for (state = 1; state < NUM_STATE; state++) {
+ if (cost[p][state] < min_cost) {
+ min_cost = cost[p][state];
+ min_state = state;
+ }
+ }
+
+ /* The very last byte of data has the very last bit
+ * of data left in the state value; just smash the
+ * bits value in place and reset the 'dist' from
+ * -1 to 0 so that the full byte is read out
+ */
+ if (dist < 0) {
+ bits[p][min_state] = (bits[p][min_state] << 1) | (min_state & 1);
+ dist = 0;
+ }
+
+#if 0
+ printf ("\tbit %3d min_cost %5d old bit %3d old_state %x bits %02x whiten %0x\n",
+ i/2, min_cost, o + 8, min_state, (bits[p][min_state] >> dist) & 0xff, *whiten);
+#endif
+ byte = (bits[p][min_state] >> dist) ^ *whiten++;
+ *out++ = byte;
+ if (out_len > 2)
+ crc = ao_fec_crc_byte(byte, crc);
+
+ if (!--out_len) {
+ if ((out[-2] == (uint8_t) (crc >> 8)) &&
+ out[-1] == (uint8_t) crc)
+ out[-1] = AO_FEC_DECODE_CRC_OK;
+ else
+ out[-1] = 0;
+ out[-2] = 0;
+ goto done;
+ }
+ o += 8;
+ }
+ }
+done:
+#if AO_PROFILE
+ ao_fec_decode_start = start_tick;
+ ao_fec_decode_end = ao_profile_tick();
+#endif
+ return 1;
+}
--- /dev/null
+/*
+ * 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_fec.h>
+#include <stdio.h>
+
+#if AO_FEC_DEBUG
+void
+ao_fec_dump_bytes(const uint8_t *bytes, uint16_t len, const char *name)
+{
+ uint16_t i;
+
+ printf ("%s (%d):", name, len);
+ for (i = 0; i < len; i++) {
+ if ((i & 7) == 0)
+ printf ("\n\t%02x:", i);
+ printf(" %02x", bytes[i]);
+ }
+ printf ("\n");
+}
+#endif
+
+uint16_t
+ao_fec_crc(const uint8_t *bytes, uint8_t len)
+{
+ uint16_t crc = AO_FEC_CRC_INIT;
+
+ while (len--)
+ crc = ao_fec_crc_byte(*bytes++, crc);
+ return crc;
+}
+
+/*
+ * len is the length of the data; the crc will be
+ * the fist two bytes after that
+ */
+
+uint8_t
+ao_fec_check_crc(const uint8_t *bytes, uint8_t len)
+{
+ uint16_t computed_crc = ao_fec_crc(bytes, len);
+ uint16_t received_crc = (bytes[len] << 8) | (bytes[len+1]);
+
+ return computed_crc == received_crc;
+}
+
+/*
+ * Compute CRC and trellis-terminator/interleave-pad bytes
+ */
+static uint8_t
+ao_fec_prepare(const uint8_t *in, uint8_t len, uint8_t *extra)
+{
+ uint16_t crc = ao_fec_crc (in, len);
+ uint8_t i = 0;
+ uint8_t num_fec;
+
+ /* Append CRC */
+ extra[i++] = crc >> 8;
+ extra[i++] = crc;
+
+ /* Append FEC -- 1 byte if odd, two bytes if even */
+ num_fec = 2 - (i & 1);
+ while (num_fec--)
+ extra[i++] = AO_FEC_TRELLIS_TERMINATOR;
+ return i;
+}
+
+const uint8_t ao_fec_whiten_table[] = {
+#include "ao_whiten.h"
+};
+
+static const uint8_t ao_fec_encode_table[16] = {
+/* next 0 1 state */
+ 0, 3, /* 000 */
+ 1, 2, /* 001 */
+ 3, 0, /* 010 */
+ 2, 1, /* 011 */
+ 3, 0, /* 100 */
+ 2, 1, /* 101 */
+ 0, 3, /* 110 */
+ 1, 2 /* 111 */
+};
+
+uint8_t
+ao_fec_encode(const uint8_t *in, uint8_t len, uint8_t *out)
+{
+ uint8_t extra[AO_FEC_PREPARE_EXTRA];
+ uint8_t extra_len;
+ uint32_t encode, interleave;
+ uint8_t pair, byte, bit;
+ uint16_t fec = 0;
+ const uint8_t *whiten = ao_fec_whiten_table;
+
+ extra_len = ao_fec_prepare(in, len, extra);
+ for (pair = 0; pair < len + extra_len; pair += 2) {
+ encode = 0;
+ for (byte = 0; byte < 2; byte++) {
+ if (pair + byte == len)
+ in = extra;
+ fec |= *in++ ^ *whiten++;
+ for (bit = 0; bit < 8; bit++) {
+ encode = encode << 2 | ao_fec_encode_table[fec >> 7];
+ fec = (fec << 1) & 0x7ff;
+ }
+ }
+
+ interleave = 0;
+ for (bit = 0; bit < 4 * 4; bit++) {
+ uint8_t byte_shift = (bit & 0x3) << 3;
+ uint8_t bit_shift = (bit & 0xc) >> 1;
+
+ interleave = (interleave << 2) | ((encode >> (byte_shift + bit_shift)) & 0x3);
+ }
+ *out++ = interleave >> 24;
+ *out++ = interleave >> 16;
+ *out++ = interleave >> 8;
+ *out++ = interleave >> 0;
+ }
+ return (len + extra_len) * 2;
+}
--- /dev/null
+/*
+ * Copyright © 2009 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.
+ */
+
+#ifndef AO_FLIGHT_TEST
+#include "ao.h"
+#include <ao_log.h>
+#endif
+
+#if HAS_MPU6000
+#include <ao_quaternion.h>
+#endif
+
+#ifndef HAS_ACCEL
+#error Please define HAS_ACCEL
+#endif
+
+#ifndef HAS_GPS
+#error Please define HAS_GPS
+#endif
+
+#ifndef HAS_USB
+#error Please define HAS_USB
+#endif
+
+#ifndef HAS_TELEMETRY
+#define HAS_TELEMETRY HAS_RADIO
+#endif
+
+/* Main flight thread. */
+
+__pdata enum ao_flight_state ao_flight_state; /* current flight state */
+__pdata uint16_t ao_boost_tick; /* time of launch detect */
+__pdata uint16_t ao_motor_number; /* number of motors burned so far */
+
+#if HAS_SENSOR_ERRORS
+/* Any sensor can set this to mark the flight computer as 'broken' */
+__xdata uint8_t ao_sensor_errors;
+#endif
+
+/*
+ * track min/max data over a long interval to detect
+ * resting
+ */
+static __data uint16_t ao_interval_end;
+static __data int16_t ao_interval_min_height;
+static __data int16_t ao_interval_max_height;
+#if HAS_ACCEL
+static __data int16_t ao_coast_avg_accel;
+#endif
+
+__pdata uint8_t ao_flight_force_idle;
+
+/* We also have a clock, which can be used to sanity check things in
+ * case of other failures
+ */
+
+#define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15)
+
+/* Landing is detected by getting constant readings from both pressure and accelerometer
+ * for a fairly long time (AO_INTERVAL_TICKS)
+ */
+#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(10)
+
+#define abs(a) ((a) < 0 ? -(a) : (a))
+
+void
+ao_flight(void)
+{
+ ao_sample_init();
+ ao_flight_state = ao_flight_startup;
+ for (;;) {
+
+ /*
+ * Process ADC samples, just looping
+ * until the sensors are calibrated.
+ */
+ if (!ao_sample())
+ continue;
+
+ switch (ao_flight_state) {
+ case ao_flight_startup:
+
+ /* Check to see what mode we should go to.
+ * - Invalid mode if accel cal appears to be out
+ * - pad mode if we're upright,
+ * - idle mode otherwise
+ */
+#if HAS_ACCEL
+ if (ao_config.accel_plus_g == 0 ||
+ ao_config.accel_minus_g == 0 ||
+ ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
+ ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP ||
+ ao_ground_height < -1000 ||
+ ao_ground_height > 7000)
+ {
+ /* Detected an accel value outside -1.5g to 1.5g
+ * (or uncalibrated values), so we go into invalid mode
+ */
+ ao_flight_state = ao_flight_invalid;
+
+#if HAS_RADIO && PACKET_HAS_SLAVE
+ /* Turn on packet system in invalid mode on TeleMetrum */
+ ao_packet_slave_start();
+#endif
+ } else
+#endif
+ if (!ao_flight_force_idle
+#if HAS_ACCEL
+ && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
+#endif
+ )
+ {
+ /* Set pad mode - we can fly! */
+ ao_flight_state = ao_flight_pad;
+#if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
+ /* Disable the USB controller in flight mode
+ * to save power
+ */
+ ao_usb_disable();
+#endif
+
+#if !HAS_ACCEL && PACKET_HAS_SLAVE
+ /* Disable packet mode in pad state on TeleMini */
+ ao_packet_slave_stop();
+#endif
+
+#if HAS_TELEMETRY
+ /* Turn on telemetry system */
+ ao_rdf_set(1);
+ ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
+#endif
+#if AO_LED_RED
+ /* signal successful initialization by turning off the LED */
+ ao_led_off(AO_LED_RED);
+#endif
+ } else {
+ /* Set idle mode */
+ ao_flight_state = ao_flight_idle;
+#if HAS_SENSOR_ERRORS
+ if (ao_sensor_errors)
+ ao_flight_state = ao_flight_invalid;
+#endif
+
+#if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
+ /* Turn on packet system in idle mode on TeleMetrum */
+ ao_packet_slave_start();
+#endif
+
+#if AO_LED_RED
+ /* signal successful initialization by turning off the LED */
+ ao_led_off(AO_LED_RED);
+#endif
+ }
+ /* wakeup threads due to state change */
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+
+ break;
+ case ao_flight_pad:
+
+ /* pad to boost:
+ *
+ * barometer: > 20m vertical motion
+ * OR
+ * accelerometer: > 2g AND velocity > 5m/s
+ *
+ * The accelerometer should always detect motion before
+ * the barometer, but we use both to make sure this
+ * transition is detected. If the device
+ * doesn't have an accelerometer, then ignore the
+ * speed and acceleration as they are quite noisy
+ * on the pad.
+ */
+ if (ao_height > AO_M_TO_HEIGHT(20)
+#if HAS_ACCEL
+ || (ao_accel > AO_MSS_TO_ACCEL(20) &&
+ ao_speed > AO_MS_TO_SPEED(5))
+#endif
+ )
+ {
+ ao_flight_state = ao_flight_boost;
+ ao_boost_tick = ao_sample_tick;
+
+ /* start logging data */
+ ao_log_start();
+
+#if HAS_TELEMETRY
+ /* Increase telemetry rate */
+ ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
+
+ /* disable RDF beacon */
+ ao_rdf_set(0);
+#endif
+
+#if HAS_GPS
+ /* Record current GPS position by waking up GPS log tasks */
+ ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
+ ao_wakeup(&ao_gps_new);
+#endif
+
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+ break;
+ case ao_flight_boost:
+
+ /* boost to fast:
+ *
+ * accelerometer: start to fall at > 1/4 G
+ * OR
+ * time: boost for more than 15 seconds
+ *
+ * Detects motor burn out by the switch from acceleration to
+ * deceleration, or by waiting until the maximum burn duration
+ * (15 seconds) has past.
+ */
+ if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
+ (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
+ {
+#if HAS_ACCEL
+ ao_flight_state = ao_flight_fast;
+ ao_coast_avg_accel = ao_accel;
+#else
+ ao_flight_state = ao_flight_coast;
+#endif
+ ++ao_motor_number;
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+ break;
+#if HAS_ACCEL
+ case ao_flight_fast:
+ /*
+ * This is essentially the same as coast,
+ * but the barometer is being ignored as
+ * it may be unreliable.
+ */
+ if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
+ {
+ ao_flight_state = ao_flight_coast;
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ } else
+ goto check_re_boost;
+ break;
+#endif
+ case ao_flight_coast:
+
+ /*
+ * By customer request - allow the user
+ * to lock out apogee detection for a specified
+ * number of seconds.
+ */
+ if (ao_config.apogee_lockout) {
+ if ((ao_sample_tick - ao_boost_tick) <
+ AO_SEC_TO_TICKS(ao_config.apogee_lockout))
+ break;
+ }
+
+ /* apogee detect: coast to drogue deploy:
+ *
+ * speed: < 0
+ *
+ * Also make sure the model altitude is tracking
+ * the measured altitude reasonably closely; otherwise
+ * we're probably transsonic.
+ */
+ if (ao_speed < 0
+#if !HAS_ACCEL
+ && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
+#endif
+ )
+ {
+#if HAS_IGNITE
+ /* ignite the drogue charge */
+ ao_ignite(ao_igniter_drogue);
+#endif
+
+#if HAS_TELEMETRY
+ /* slow down the telemetry system */
+ ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
+
+ /* Turn the RDF beacon back on */
+ ao_rdf_set(1);
+#endif
+
+ /* and enter drogue state */
+ ao_flight_state = ao_flight_drogue;
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+#if HAS_ACCEL
+ else {
+ check_re_boost:
+ ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
+ if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
+ ao_boost_tick = ao_sample_tick;
+ ao_flight_state = ao_flight_boost;
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+ }
+#endif
+
+ break;
+ case ao_flight_drogue:
+
+ /* drogue to main deploy:
+ *
+ * barometer: reach main deploy altitude
+ *
+ * Would like to use the accelerometer for this test, but
+ * the orientation of the flight computer is unknown after
+ * drogue deploy, so we ignore it. Could also detect
+ * high descent rate using the pressure sensor to
+ * recognize drogue deploy failure and eject the main
+ * at that point. Perhaps also use the drogue sense lines
+ * to notice continutity?
+ */
+ if (ao_height <= ao_config.main_deploy)
+ {
+#if HAS_IGNITE
+ ao_ignite(ao_igniter_main);
+#endif
+
+ /*
+ * Start recording min/max height
+ * to figure out when the rocket has landed
+ */
+
+ /* initialize interval values */
+ ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
+
+ ao_interval_min_height = ao_interval_max_height = ao_avg_height;
+
+ ao_flight_state = ao_flight_main;
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+ break;
+
+ /* fall through... */
+ case ao_flight_main:
+
+ /* main to land:
+ *
+ * barometer: altitude stable
+ */
+
+ if (ao_avg_height < ao_interval_min_height)
+ ao_interval_min_height = ao_avg_height;
+ if (ao_avg_height > ao_interval_max_height)
+ ao_interval_max_height = ao_avg_height;
+
+ if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
+ if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
+ {
+ ao_flight_state = ao_flight_landed;
+
+ /* turn off the ADC capture */
+ ao_timer_set_adc_interval(0);
+
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+ ao_interval_min_height = ao_interval_max_height = ao_avg_height;
+ ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
+ }
+ break;
+#if HAS_FLIGHT_DEBUG
+ case ao_flight_test:
+#if HAS_GYRO
+ printf ("angle %4d pitch %7d yaw %7d roll %7d\n",
+ ao_sample_orient,
+ ((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
+ ((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
+ ((ao_sample_roll << 9) - ao_ground_roll) >> 9);
+#endif
+ flush();
+ break;
+#endif /* HAS_FLIGHT_DEBUG */
+ default:
+ break;
+ }
+ }
+}
+
+#if HAS_FLIGHT_DEBUG
+static inline int int_part(int16_t i) { return i >> 4; }
+static inline int frac_part(int16_t i) { return ((i & 0xf) * 100 + 8) / 16; }
+
+static void
+ao_flight_dump(void)
+{
+#if HAS_ACCEL
+ int16_t accel;
+
+ accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16;
+#endif
+
+ printf ("sample:\n");
+ printf (" tick %d\n", ao_sample_tick);
+ printf (" raw pres %d\n", ao_sample_pres);
+#if HAS_ACCEL
+ printf (" raw accel %d\n", ao_sample_accel);
+#endif
+ printf (" ground pres %d\n", ao_ground_pres);
+ printf (" ground alt %d\n", ao_ground_height);
+#if HAS_ACCEL
+ printf (" raw accel %d\n", ao_sample_accel);
+ printf (" groundaccel %d\n", ao_ground_accel);
+ printf (" accel_2g %d\n", ao_accel_2g);
+#endif
+
+ printf (" alt %d\n", ao_sample_alt);
+ printf (" height %d\n", ao_sample_height);
+#if HAS_ACCEL
+ printf (" accel %d.%02d\n", int_part(accel), frac_part(accel));
+#endif
+
+
+ printf ("kalman:\n");
+ printf (" height %d\n", ao_height);
+ printf (" speed %d.%02d\n", int_part(ao_speed), frac_part(ao_speed));
+ printf (" accel %d.%02d\n", int_part(ao_accel), frac_part(ao_accel));
+ printf (" max_height %d\n", ao_max_height);
+ printf (" avg_height %d\n", ao_avg_height);
+ printf (" error_h %d\n", ao_error_h);
+ printf (" error_avg %d\n", ao_error_h_sq_avg);
+}
+
+static void
+ao_gyro_test(void)
+{
+ ao_flight_state = ao_flight_test;
+ ao_getchar();
+ ao_flight_state = ao_flight_idle;
+}
+
+uint8_t ao_orient_test;
+
+static void
+ao_orient_test_select(void)
+{
+ ao_orient_test = !ao_orient_test;
+}
+
+__code struct ao_cmds ao_flight_cmds[] = {
+ { ao_flight_dump, "F\0Dump flight status" },
+ { ao_gyro_test, "G\0Test gyro code" },
+ { ao_orient_test_select,"O\0Test orientation code" },
+ { 0, NULL },
+};
+#endif
+
+static __xdata struct ao_task flight_task;
+
+void
+ao_flight_init(void)
+{
+ ao_flight_state = ao_flight_startup;
+#if HAS_FLIGHT_DEBUG
+ ao_cmd_register(&ao_flight_cmds[0]);
+#endif
+ ao_add_task(&flight_task, ao_flight, "flight");
+}
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_FLIGHT_H_
+#define _AO_FLIGHT_H_
+
+
+/*
+ * ao_flight.c
+ */
+
+enum ao_flight_state {
+ ao_flight_startup = 0,
+ ao_flight_idle = 1,
+ ao_flight_pad = 2,
+ ao_flight_boost = 3,
+ ao_flight_fast = 4,
+ ao_flight_coast = 5,
+ ao_flight_drogue = 6,
+ ao_flight_main = 7,
+ ao_flight_landed = 8,
+ ao_flight_invalid = 9,
+ ao_flight_test = 10
+};
+
+extern __pdata enum ao_flight_state ao_flight_state;
+extern __pdata uint16_t ao_boost_tick;
+extern __pdata uint16_t ao_motor_number;
+
+#if HAS_IMU || HAS_MMA655X
+#define HAS_SENSOR_ERRORS 1
+#endif
+
+#if HAS_SENSOR_ERRORS
+extern __xdata uint8_t ao_sensor_errors;
+#endif
+
+extern __pdata uint16_t ao_launch_time;
+extern __pdata uint8_t ao_flight_force_idle;
+
+/* Flight thread */
+void
+ao_flight(void);
+
+/* Initialize flight thread */
+void
+ao_flight_init(void);
+
+/*
+ * ao_flight_nano.c
+ */
+
+void
+ao_flight_nano_init(void);
+
+#endif /* _AO_FLIGHT_H_ */
--- /dev/null
+/*
+ * Copyright © 2011 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"
+
+/* Main flight thread. */
+
+__pdata enum ao_flight_state ao_flight_state; /* current flight state */
+__pdata uint16_t ao_launch_tick; /* time of launch detect */
+
+/*
+ * track min/max data over a long interval to detect
+ * resting
+ */
+__pdata uint16_t ao_interval_end;
+__pdata alt_t ao_interval_min_height;
+__pdata alt_t ao_interval_max_height;
+
+__pdata uint8_t ao_flight_force_idle;
+
+/* Landing is detected by getting constant readings from both pressure and accelerometer
+ * for a fairly long time (AO_INTERVAL_TICKS)
+ */
+#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
+
+static void
+ao_flight_nano(void)
+{
+ ao_sample_init();
+ ao_flight_state = ao_flight_startup;
+
+ for (;;) {
+ /*
+ * Process ADC samples, just looping
+ * until the sensors are calibrated.
+ */
+ if (!ao_sample())
+ continue;
+
+ switch (ao_flight_state) {
+ case ao_flight_startup:
+ if (ao_flight_force_idle) {
+ /* Set idle mode */
+ ao_flight_state = ao_flight_idle;
+ } else {
+ ao_flight_state = ao_flight_pad;
+ /* Disable packet mode in pad state */
+ ao_packet_slave_stop();
+
+ /* Turn on telemetry system */
+ ao_rdf_set(1);
+ ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
+ }
+ /* signal successful initialization by turning off the LED */
+ ao_led_off(AO_LED_RED);
+
+ /* wakeup threads due to state change */
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ break;
+ case ao_flight_pad:
+ if (ao_height> AO_M_TO_HEIGHT(20)) {
+ ao_flight_state = ao_flight_drogue;
+ ao_launch_tick = ao_sample_tick;
+
+ /* start logging data */
+ ao_log_start();
+
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+ break;
+ case ao_flight_drogue:
+ /* drogue/main to land:
+ *
+ * barometer: altitude stable
+ */
+
+ if (ao_height < ao_interval_min_height)
+ ao_interval_min_height = ao_height;
+ if (ao_height > ao_interval_max_height)
+ ao_interval_max_height = ao_height;
+
+ if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
+ if (ao_interval_max_height - ao_interval_min_height < AO_M_TO_HEIGHT(5))
+ {
+ ao_flight_state = ao_flight_landed;
+
+ /* turn off the ADC capture */
+ ao_timer_set_adc_interval(0);
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+ ao_interval_min_height = ao_interval_max_height = ao_height;
+ ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
+ }
+ break;
+ }
+ }
+}
+
+static __xdata struct ao_task flight_task;
+
+void
+ao_flight_nano_init(void)
+{
+ ao_flight_state = ao_flight_startup;
+ ao_add_task(&flight_task, ao_flight_nano, "flight");
+}
--- /dev/null
+/*
+ * 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>
+
+/*
+ * The provided 'calibration' value is
+ * that needed to tune the radio to precisely 434550kHz.
+ * Use that to 'walk' to the target frequency by following
+ * a 'bresenham' line from 434550kHz to the target
+ * frequency, and updating the radio setting along the way
+ */
+
+int32_t ao_freq_to_set(int32_t freq, int32_t cal) __reentrant
+{
+ static __pdata int32_t set;
+ static __pdata uint8_t neg;
+ static __pdata int32_t error;
+
+ set = 0;
+ neg = 0;
+ error = -434550 / 2;
+
+ if ((freq -= 434550) < 0) {
+ neg = 1;
+ freq = -freq;
+ }
+ for (;;) {
+ if (error > 0) {
+ error -= 434550;
+ set++;
+ } else {
+ error += cal;
+ if (--freq < 0)
+ break;
+ }
+ }
+ if (neg)
+ set = -set;
+ return cal + set;
+}
--- /dev/null
+/*
+ * Copyright © 2009 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.
+ */
+
+#ifndef AO_GPS_TEST
+#include "ao.h"
+#endif
+#include "ao_telem.h"
+
+void
+ao_gps_print(__xdata struct ao_gps_orig *gps_data) __reentrant
+{
+ char state;
+
+ if (gps_data->flags & AO_GPS_VALID)
+ state = AO_TELEM_GPS_STATE_LOCKED;
+ else if (gps_data->flags & AO_GPS_RUNNING)
+ state = AO_TELEM_GPS_STATE_UNLOCKED;
+ else
+ state = AO_TELEM_GPS_STATE_ERROR;
+ printf(AO_TELEM_GPS_STATE " %c "
+ AO_TELEM_GPS_NUM_SAT " %d ",
+ state,
+ (gps_data->flags & AO_GPS_NUM_SAT_MASK) >> AO_GPS_NUM_SAT_SHIFT);
+ if (!(gps_data->flags & AO_GPS_VALID))
+ return;
+ printf(AO_TELEM_GPS_LATITUDE " %ld "
+ AO_TELEM_GPS_LONGITUDE " %ld "
+ AO_TELEM_GPS_ALTITUDE " %d ",
+ (long) gps_data->latitude,
+ (long) gps_data->longitude,
+ gps_data->altitude);
+
+ if (gps_data->flags & AO_GPS_DATE_VALID)
+ printf(AO_TELEM_GPS_YEAR " %d "
+ AO_TELEM_GPS_MONTH " %d "
+ AO_TELEM_GPS_DAY " %d ",
+ gps_data->year,
+ gps_data->month,
+ gps_data->day);
+
+ printf(AO_TELEM_GPS_HOUR " %d "
+ AO_TELEM_GPS_MINUTE " %d "
+ AO_TELEM_GPS_SECOND " %d ",
+ gps_data->hour,
+ gps_data->minute,
+ gps_data->second);
+
+ printf(AO_TELEM_GPS_HDOP " %d ",
+ gps_data->hdop * 2);
+
+ if (gps_data->flags & AO_GPS_COURSE_VALID) {
+ printf(AO_TELEM_GPS_HERROR " %d "
+ AO_TELEM_GPS_VERROR " %d "
+ AO_TELEM_GPS_VERTICAL_SPEED " %d "
+ AO_TELEM_GPS_HORIZONTAL_SPEED " %d "
+ AO_TELEM_GPS_COURSE " %d ",
+ gps_data->h_error,
+ gps_data->v_error,
+ gps_data->climb_rate,
+ gps_data->ground_speed,
+ (int) gps_data->course * 2);
+ }
+}
+
+void
+ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data) __reentrant
+{
+ uint8_t c, n, v;
+ __xdata struct ao_gps_sat_orig *sat;
+
+ n = gps_tracking_data->channels;
+ if (n == 0)
+ return;
+
+ sat = gps_tracking_data->sats;
+ v = 0;
+ for (c = 0; c < n; c++) {
+ if (sat->svid)
+ v++;
+ sat++;
+ }
+
+ printf (AO_TELEM_SAT_NUM " %d ",
+ v);
+
+ sat = gps_tracking_data->sats;
+ v = 0;
+ for (c = 0; c < n; c++) {
+ if (sat->svid) {
+ printf (AO_TELEM_SAT_SVID "%d %d "
+ AO_TELEM_SAT_C_N_0 "%d %d ",
+ v, sat->svid,
+ v, sat->c_n_1);
+ v++;
+ }
+ sat++;
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2009 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"
+
+void
+ao_gps_report(void)
+{
+ static __xdata struct ao_log_record gps_log;
+ static __xdata struct ao_telemetry_location gps_data;
+ static __xdata struct ao_telemetry_satellite gps_tracking_data;
+ uint8_t date_reported = 0;
+ uint8_t new;
+
+ for (;;) {
+ while ((new = ao_gps_new) == 0)
+ ao_sleep(&ao_gps_new);
+ ao_mutex_get(&ao_gps_mutex);
+ if (new & AO_GPS_NEW_DATA)
+ ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
+ if (new & AO_GPS_NEW_TRACKING)
+ ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
+ ao_gps_new = 0;
+ ao_mutex_put(&ao_gps_mutex);
+
+ if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
+ gps_log.tick = ao_gps_tick;
+ gps_log.type = AO_LOG_GPS_TIME;
+ gps_log.u.gps_time.hour = gps_data.hour;
+ gps_log.u.gps_time.minute = gps_data.minute;
+ gps_log.u.gps_time.second = gps_data.second;
+ gps_log.u.gps_time.flags = gps_data.flags;
+ ao_log_data(&gps_log);
+ gps_log.type = AO_LOG_GPS_LAT;
+ gps_log.u.gps_latitude = gps_data.latitude;
+ ao_log_data(&gps_log);
+ gps_log.type = AO_LOG_GPS_LON;
+ gps_log.u.gps_longitude = gps_data.longitude;
+ ao_log_data(&gps_log);
+ gps_log.type = AO_LOG_GPS_ALT;
+ gps_log.u.gps_altitude.altitude = gps_data.altitude;
+ gps_log.u.gps_altitude.unused = 0xffff;
+ ao_log_data(&gps_log);
+ if (!date_reported && (gps_data.flags & AO_GPS_DATE_VALID)) {
+ gps_log.type = AO_LOG_GPS_DATE;
+ gps_log.u.gps_date.year = gps_data.year;
+ gps_log.u.gps_date.month = gps_data.month;
+ gps_log.u.gps_date.day = gps_data.day;
+ gps_log.u.gps_date.extra = 0;
+ date_reported = ao_log_data(&gps_log);
+ }
+ }
+ if (new & AO_GPS_NEW_TRACKING) {
+ uint8_t c, n;
+
+ if ((n = gps_tracking_data.channels) != 0) {
+ gps_log.type = AO_LOG_GPS_SAT;
+ for (c = 0; c < n; c++)
+ if ((gps_log.u.gps_sat.svid = gps_tracking_data.sats[c].svid))
+ {
+ gps_log.u.gps_sat.c_n = gps_tracking_data.sats[c].c_n_1;
+ ao_log_data(&gps_log);
+ }
+ }
+ }
+ }
+}
+
+__xdata struct ao_task ao_gps_report_task;
+
+void
+ao_gps_report_init(void)
+{
+ ao_add_task(&ao_gps_report_task, ao_gps_report, "gps_report");
+}
--- /dev/null
+/*
+ * Copyright © 2009 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_log.h"
+
+void
+ao_gps_report_mega(void)
+{
+ static __xdata struct ao_log_mega gps_log;
+ static __xdata struct ao_telemetry_location gps_data;
+ static __xdata struct ao_telemetry_satellite gps_tracking_data;
+ uint8_t new;
+ uint8_t c, n, i;
+
+ for (;;) {
+ while (!(new = ao_gps_new))
+ ao_sleep(&ao_gps_new);
+ ao_mutex_get(&ao_gps_mutex);
+ if (new & AO_GPS_NEW_DATA)
+ ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
+ if (new & AO_GPS_NEW_TRACKING)
+ ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
+ ao_gps_new = 0;
+ ao_mutex_put(&ao_gps_mutex);
+
+ if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
+ gps_log.tick = ao_gps_tick;
+ gps_log.type = AO_LOG_GPS_TIME;
+ gps_log.u.gps.latitude = gps_data.latitude;
+ gps_log.u.gps.longitude = gps_data.longitude;
+ gps_log.u.gps.altitude = gps_data.altitude;
+
+ gps_log.u.gps.hour = gps_data.hour;
+ gps_log.u.gps.minute = gps_data.minute;
+ gps_log.u.gps.second = gps_data.second;
+ gps_log.u.gps.flags = gps_data.flags;
+ gps_log.u.gps.year = gps_data.year;
+ gps_log.u.gps.month = gps_data.month;
+ gps_log.u.gps.day = gps_data.day;
+ gps_log.u.gps.course = gps_data.course;
+ gps_log.u.gps.ground_speed = gps_data.ground_speed;
+ gps_log.u.gps.climb_rate = gps_data.climb_rate;
+ gps_log.u.gps.pdop = gps_data.pdop;
+ gps_log.u.gps.hdop = gps_data.hdop;
+ gps_log.u.gps.vdop = gps_data.vdop;
+ gps_log.u.gps.mode = gps_data.mode;
+ ao_log_mega(&gps_log);
+ }
+ if ((new & AO_GPS_NEW_TRACKING) && (n = gps_tracking_data.channels) != 0) {
+ gps_log.tick = ao_gps_tick;
+ gps_log.type = AO_LOG_GPS_SAT;
+ i = 0;
+ for (c = 0; c < n; c++)
+ if ((gps_log.u.gps_sat.sats[i].svid = gps_tracking_data.sats[c].svid))
+ {
+ gps_log.u.gps_sat.sats[i].c_n = gps_tracking_data.sats[c].c_n_1;
+ i++;
+ if (i >= 12)
+ break;
+ }
+ gps_log.u.gps_sat.channels = i;
+ ao_log_mega(&gps_log);
+ }
+ }
+}
+
+__xdata struct ao_task ao_gps_report_mega_task;
+
+void
+ao_gps_report_mega_init(void)
+{
+ ao_add_task(&ao_gps_report_mega_task,
+ ao_gps_report_mega,
+ "gps_report");
+}
--- /dev/null
+/*
+ * Copyright © 2009 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_log.h"
+
+void
+ao_gps_report_metrum(void)
+{
+ static __xdata struct ao_log_metrum gps_log;
+ static __xdata struct ao_telemetry_location gps_data;
+ static __xdata struct ao_telemetry_satellite gps_tracking_data;
+ uint8_t c, n, i;
+ uint8_t svid;
+ uint8_t new;
+
+ for (;;) {
+ while (!(new = ao_gps_new))
+ ao_sleep(&ao_gps_new);
+ ao_mutex_get(&ao_gps_mutex);
+ if (new & AO_GPS_NEW_DATA)
+ ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
+ if (new & AO_GPS_NEW_TRACKING)
+ ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
+ ao_gps_new = 0;
+ ao_mutex_put(&ao_gps_mutex);
+
+ if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
+ gps_log.tick = ao_gps_tick;
+ gps_log.type = AO_LOG_GPS_POS;
+ gps_log.u.gps.latitude = gps_data.latitude;
+ gps_log.u.gps.longitude = gps_data.longitude;
+ gps_log.u.gps.altitude = gps_data.altitude;
+ ao_log_metrum(&gps_log);
+
+ gps_log.type = AO_LOG_GPS_TIME;
+ gps_log.u.gps_time.hour = gps_data.hour;
+ gps_log.u.gps_time.minute = gps_data.minute;
+ gps_log.u.gps_time.second = gps_data.second;
+ gps_log.u.gps_time.flags = gps_data.flags;
+ gps_log.u.gps_time.year = gps_data.year;
+ gps_log.u.gps_time.month = gps_data.month;
+ gps_log.u.gps_time.day = gps_data.day;
+ ao_log_metrum(&gps_log);
+ }
+
+ if ((new & AO_GPS_NEW_TRACKING) && (n = gps_tracking_data.channels)) {
+ gps_log.type = AO_LOG_GPS_SAT;
+ gps_log.tick = ao_gps_tick;
+ i = 0;
+ for (c = 0; c < n; c++) {
+ svid = gps_tracking_data.sats[c].svid;
+ if (svid != 0) {
+ if (i == 4) {
+ gps_log.u.gps_sat.channels = i;
+ gps_log.u.gps_sat.more = 1;
+ ao_log_metrum(&gps_log);
+ i = 0;
+ }
+ gps_log.u.gps_sat.sats[i].svid = svid;
+ gps_log.u.gps_sat.sats[i].c_n = gps_tracking_data.sats[c].c_n_1;
+ i++;
+ }
+ }
+ if (i) {
+ gps_log.u.gps_sat.channels = i;
+ gps_log.u.gps_sat.more = 0;
+ ao_log_metrum(&gps_log);
+ }
+ }
+ }
+}
+
+__xdata struct ao_task ao_gps_report_metrum_task;
+
+void
+ao_gps_report_metrum_init(void)
+{
+ ao_add_task(&ao_gps_report_metrum_task,
+ ao_gps_report_metrum,
+ "gps_report");
+}
--- /dev/null
+/*
+ * Copyright © 2013 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.
+ */
+
+#ifndef AO_GPS_TEST
+#include <ao.h>
+#endif
+
+void
+ao_gps_show(void) __reentrant
+{
+ uint8_t i;
+ ao_mutex_get(&ao_gps_mutex);
+ printf ("Date: %02d/%02d/%02d\n", ao_gps_data.year, ao_gps_data.month, ao_gps_data.day);
+ printf ("Time: %02d:%02d:%02d\n", ao_gps_data.hour, ao_gps_data.minute, ao_gps_data.second);
+ printf ("Lat/Lon: %ld %ld\n", (long) ao_gps_data.latitude, (long) ao_gps_data.longitude);
+ printf ("Alt: %d\n", ao_gps_data.altitude);
+ printf ("Flags: 0x%x\n", ao_gps_data.flags);
+ printf ("Sats: %d", ao_gps_tracking_data.channels);
+ for (i = 0; i < ao_gps_tracking_data.channels; i++)
+ printf (" %d %d",
+ ao_gps_tracking_data.sats[i].svid,
+ ao_gps_tracking_data.sats[i].c_n_1);
+ printf ("\ndone\n");
+ ao_mutex_put(&ao_gps_mutex);
+}
--- /dev/null
+/*
+ * Copyright © 2009 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.
+ */
+
+#define _GNU_SOURCE
+
+#include <stddef.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#define AO_ADC_RING 64
+#define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
+#define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1))
+
+/*
+ * One set of samples read from the A/D converter
+ */
+struct ao_adc {
+ uint16_t tick; /* tick when the sample was read */
+ int16_t accel; /* accelerometer */
+ int16_t pres; /* pressure sensor */
+ int16_t temp; /* temperature sensor */
+ int16_t v_batt; /* battery voltage */
+ int16_t sense_d; /* drogue continuity sense */
+ int16_t sense_m; /* main continuity sense */
+};
+
+#define __pdata
+#define __data
+#define __xdata
+#define __code
+#define __reentrant
+
+#define DATA_TO_XDATA(a) (a)
+#define PDATA_TO_XDATA(a) (a)
+#define CODE_TO_XDATA(a) (a)
+
+enum ao_flight_state {
+ ao_flight_startup = 0,
+ ao_flight_idle = 1,
+ ao_flight_pad = 2,
+ ao_flight_boost = 3,
+ ao_flight_fast = 4,
+ ao_flight_coast = 5,
+ ao_flight_drogue = 6,
+ ao_flight_main = 7,
+ ao_flight_landed = 8,
+ ao_flight_invalid = 9
+};
+
+struct ao_adc ao_adc_ring[AO_ADC_RING];
+uint8_t ao_adc_head;
+
+#define ao_led_on(l)
+#define ao_led_off(l)
+#define ao_timer_set_adc_interval(i)
+#define ao_wakeup(wchan) ao_dump_state(wchan)
+#define ao_cmd_register(c)
+#define ao_usb_disable()
+#define ao_telemetry_set_interval(x)
+#define ao_delay(x)
+
+enum ao_igniter {
+ ao_igniter_drogue = 0,
+ ao_igniter_main = 1
+};
+
+void
+ao_ignite(enum ao_igniter igniter)
+{
+ printf ("ignite %s\n", igniter == ao_igniter_drogue ? "drogue" : "main");
+}
+
+struct ao_task {
+ int dummy;
+};
+
+#define ao_add_task(t,f,n)
+
+#define ao_log_start()
+#define ao_log_stop()
+
+#define AO_MS_TO_TICKS(ms) ((ms) / 10)
+#define AO_SEC_TO_TICKS(s) ((s) * 100)
+
+#define AO_FLIGHT_TEST
+
+struct ao_adc ao_adc_static;
+
+FILE *emulator_in;
+
+void
+ao_dump_state(void *wchan);
+
+void
+ao_sleep(void *wchan);
+
+const char const * const ao_state_names[] = {
+ "startup", "idle", "pad", "boost", "fast",
+ "coast", "drogue", "main", "landed", "invalid"
+};
+
+struct ao_cmds {
+ void (*func)(void);
+ const char *help;
+};
+
+
+struct ao_config {
+ uint16_t main_deploy;
+ int16_t accel_zero_g;
+};
+
+#define ao_config_get()
+
+struct ao_config ao_config = { 250, 16000 };
+
+#define ao_xmemcpy(d,s,c) memcpy(d,s,c)
+#define ao_xmemset(d,v,c) memset(d,v,c)
+#define ao_xmemcmp(d,s,c) memcmp(d,s,c)
--- /dev/null
+/*
+ * Copyright © 2009 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_data.h>
+#if AO_PYRO_NUM
+#include <ao_pyro.h>
+#endif
+
+#if HAS_IGNITE
+__xdata struct ao_ignition ao_ignition[2];
+
+void
+ao_ignite(enum ao_igniter igniter)
+{
+ ao_arch_block_interrupts();
+ ao_ignition[igniter].request = 1;
+ ao_wakeup(&ao_ignition);
+ ao_arch_release_interrupts();
+}
+
+#ifndef AO_SENSE_DROGUE
+#define AO_SENSE_DROGUE(p) ((p)->adc.sense_d)
+#define AO_SENSE_MAIN(p) ((p)->adc.sense_m)
+#endif
+
+enum ao_igniter_status
+ao_igniter_status(enum ao_igniter igniter)
+{
+ __xdata struct ao_data packet;
+ __pdata int16_t value;
+ __pdata uint8_t request, firing, fired;
+
+ ao_arch_critical(
+ ao_data_get(&packet);
+ request = ao_ignition[igniter].request;
+ fired = ao_ignition[igniter].fired;
+ firing = ao_ignition[igniter].firing;
+ );
+ if (firing || (request && !fired))
+ return ao_igniter_active;
+
+ value = (AO_IGNITER_CLOSED>>1);
+ switch (igniter) {
+ case ao_igniter_drogue:
+ value = AO_SENSE_DROGUE(&packet);
+ break;
+ case ao_igniter_main:
+ value = AO_SENSE_MAIN(&packet);
+ break;
+ }
+ if (value < AO_IGNITER_OPEN)
+ return ao_igniter_open;
+ else if (value > AO_IGNITER_CLOSED)
+ return ao_igniter_ready;
+ else
+ return ao_igniter_unknown;
+}
+
+#ifndef AO_IGNITER_SET_DROGUE
+#define AO_IGNITER_SET_DROGUE(v) AO_IGNITER_DROGUE = (v)
+#define AO_IGNITER_SET_MAIN(v) AO_IGNITER_MAIN = (v)
+#endif
+
+#ifndef AO_IGNITER_FIRE_TIME
+#define AO_IGNITER_FIRE_TIME AO_MS_TO_TICKS(50)
+#endif
+
+#ifndef AO_IGNITER_CHARGE_TIME
+#define AO_IGNITER_CHARGE_TIME AO_MS_TO_TICKS(2000)
+#endif
+
+void
+ao_igniter_fire(enum ao_igniter igniter)
+{
+ ao_ignition[igniter].firing = 1;
+ switch(ao_config.ignite_mode) {
+ case AO_IGNITE_MODE_DUAL:
+ switch (igniter) {
+ case ao_igniter_drogue:
+ AO_IGNITER_SET_DROGUE(1);
+ ao_delay(AO_IGNITER_FIRE_TIME);
+ AO_IGNITER_SET_DROGUE(0);
+ break;
+ case ao_igniter_main:
+ AO_IGNITER_SET_MAIN(1);
+ ao_delay(AO_IGNITER_FIRE_TIME);
+ AO_IGNITER_SET_MAIN(0);
+ break;
+ }
+ break;
+ case AO_IGNITE_MODE_APOGEE:
+ switch (igniter) {
+ case ao_igniter_drogue:
+ AO_IGNITER_SET_DROGUE(1);
+ ao_delay(AO_IGNITER_FIRE_TIME);
+ AO_IGNITER_SET_DROGUE(0);
+ ao_delay(AO_IGNITER_CHARGE_TIME);
+ AO_IGNITER_SET_MAIN(1);
+ ao_delay(AO_IGNITER_FIRE_TIME);
+ AO_IGNITER_SET_MAIN(0);
+ break;
+ default:
+ break;
+ }
+ break;
+ case AO_IGNITE_MODE_MAIN:
+ switch (igniter) {
+ case ao_igniter_main:
+ AO_IGNITER_SET_DROGUE(1);
+ ao_delay(AO_IGNITER_FIRE_TIME);
+ AO_IGNITER_SET_DROGUE(0);
+ ao_delay(AO_IGNITER_CHARGE_TIME);
+ AO_IGNITER_SET_MAIN(1);
+ ao_delay(AO_IGNITER_FIRE_TIME);
+ AO_IGNITER_SET_MAIN(0);
+ break;
+ default:
+ break;
+ }
+ break;
+ }
+ ao_ignition[igniter].firing = 0;
+}
+
+void
+ao_igniter(void)
+{
+ __xdata enum ao_igniter igniter;
+
+ ao_config_get();
+ for (;;) {
+ ao_sleep(&ao_ignition);
+ for (igniter = ao_igniter_drogue; igniter <= ao_igniter_main; igniter++) {
+ if (ao_ignition[igniter].request && !ao_ignition[igniter].fired) {
+ if (igniter == ao_igniter_drogue && ao_config.apogee_delay)
+ ao_delay(AO_SEC_TO_TICKS(ao_config.apogee_delay));
+
+ ao_igniter_fire(igniter);
+ ao_delay(AO_IGNITER_CHARGE_TIME);
+ ao_ignition[igniter].fired = 1;
+ }
+ }
+ }
+}
+
+#endif
+
+void
+ao_ignite_manual(void)
+{
+ ao_cmd_white();
+ if (!ao_match_word("DoIt"))
+ return;
+ ao_cmd_white();
+#if HAS_IGNITE
+ if (ao_cmd_lex_c == 'm' && ao_match_word("main")) {
+ ao_igniter_fire(ao_igniter_main);
+ return;
+ }
+ if (ao_cmd_lex_c == 'd' && ao_match_word("drogue")) {
+ ao_igniter_fire(ao_igniter_drogue);
+ return;
+ }
+#endif
+#if AO_PYRO_NUM
+ if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9') {
+ ao_pyro_manual(ao_cmd_lex_c - '0');
+ return;
+ }
+#endif
+ ao_cmd_status = ao_cmd_syntax_error;
+}
+
+__code char * __code ao_igniter_status_names[] = {
+ "unknown", "ready", "active", "open"
+};
+
+#if HAS_IGNITE
+void
+ao_ignite_print_status(enum ao_igniter igniter, __code char *name) __reentrant
+{
+ enum ao_igniter_status status = ao_igniter_status(igniter);
+ printf("Igniter: %6s Status: %s\n",
+ name,
+ ao_igniter_status_names[status]);
+}
+#endif
+
+void
+ao_ignite_test(void)
+{
+#if HAS_IGNITE
+ ao_ignite_print_status(ao_igniter_drogue, "drogue");
+ ao_ignite_print_status(ao_igniter_main, "main");
+#endif
+#if AO_PYRO_NUM
+ ao_pyro_print_status();
+#endif
+}
+
+__code struct ao_cmds ao_ignite_cmds[] = {
+ { ao_ignite_manual, "i <key> {main|drogue}\0Fire igniter. <key> is doit with D&I" },
+ { ao_ignite_test, "t\0Test igniter" },
+ { 0, NULL },
+};
+
+#if HAS_IGNITE
+__xdata struct ao_task ao_igniter_task;
+
+void
+ao_ignite_set_pins(void)
+{
+ ao_enable_output(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, AO_IGNITER_DROGUE, 0);
+ ao_enable_output(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, AO_IGNITER_MAIN, 0);
+}
+#endif
+
+void
+ao_igniter_init(void)
+{
+#if HAS_IGNITE
+ ao_ignite_set_pins();
+ ao_add_task(&ao_igniter_task, ao_igniter, "igniter");
+#endif
+ ao_cmd_register(&ao_ignite_cmds[0]);
+}
--- /dev/null
+/*
+ * Copyright © 2013 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_int64.h>
+
+__pdata ao_int64_t *__data ao_64r, *__data ao_64a, *__data ao_64b;
+
+void ao_plus64(__pdata ao_int64_t *r, __pdata ao_int64_t *a, __pdata ao_int64_t *b) __FATTR {
+ __LOCAL uint32_t t;
+
+ r->high = a->high + b->high;
+ t = a->low + b->low;
+ if (t < a->low)
+ r->high++;
+ r->low = t;
+}
+
+void ao_minus64(__pdata ao_int64_t *r, __pdata ao_int64_t *a, __pdata ao_int64_t *b) __FATTR {
+ __LOCAL uint32_t t;
+
+ r->high = a->high - b->high;
+ t = a->low - b->low;
+ if (t > a->low)
+ r->high--;
+ r->low = t;
+}
+
+void ao_rshift64(__pdata ao_int64_t *r, __pdata ao_int64_t *a, uint8_t d) __FATTR {
+ if (d < 32) {
+ r->low = a->low >> d;
+ if (d)
+ r->low |= a->high << (32 - d);
+ r->high = (int32_t) a->high >> d;
+ } else {
+ d &= 0x1f;
+ r->low = (int32_t) a->high >> d;
+ r->high = 0;
+ }
+}
+
+void ao_lshift64(__pdata ao_int64_t *r, __pdata ao_int64_t *a, uint8_t d) __FATTR {
+ if (d < 32) {
+ r->high = a->high << d;
+ if (d)
+ r->high |= a->low >> (32 - d);
+ r->low = a->low << d;
+ } else {
+ d &= 0x1f;
+ r->high = a->low << d;
+ r->low = 0;
+ }
+}
+
+static void ao_umul64_32_32(__ARG ao_int64_t *r, uint32_t a, uint32_t b) __reentrant {
+ __LOCAL uint32_t s;
+ __LOCAL ao_int64_t t;
+ r->low = (uint32_t) (uint16_t) a * (uint16_t) b;
+ r->high = (uint32_t) (uint16_t) (a >> 16) * (uint16_t) (b >> 16);
+
+ s = (uint32_t) (uint16_t) (a >> 16) * (uint16_t) b;
+
+ t.high = s >> 16;
+ t.low = s << 16;
+ ao_plus64(r, r, &t);
+
+ s = (uint32_t) (uint16_t) a * (uint16_t) (b >> 16);
+
+ t.high = s >> 16;
+ t.low = s << 16;
+ ao_plus64(r, r, &t);
+}
+
+void ao_neg64(__pdata ao_int64_t *r, __pdata ao_int64_t *a) __FATTR {
+ r->high = ~a->high;
+ if (!(r->low = ~a->low + 1))
+ r->high++;
+}
+
+void ao_mul64_32_32(__ARG ao_int64_t *r, int32_t a, int32_t b) __FATTR {
+ uint8_t negative = 0;
+
+ if (a < 0) {
+ a = -a;
+ ++negative;
+ }
+ if (b < 0) {
+ b = -b;
+ --negative;
+ }
+ ao_umul64_32_32(r, a, b);
+ if (negative)
+ ao_neg64(r, r);
+}
+
+static void ao_umul64(__ARG ao_int64_t *r, __ARG ao_int64_t *a, __ARG ao_int64_t *b) __reentrant {
+ __LOCAL ao_int64_t r2, r3;
+
+ ao_umul64_32_32(&r2, a->high, b->low);
+ ao_umul64_32_32(&r3, a->low, b->high);
+ ao_umul64_32_32(r, a->low, b->low);
+
+ r->high += r2.low + r3.low;
+}
+
+static __ARG ao_int64_t ap, bp;
+
+void ao_mul64(__ARG ao_int64_t *r, __ARG ao_int64_t *a, __ARG ao_int64_t *b) __FATTR {
+ uint8_t negative = 0;
+
+ if (ao_int64_negativep(a)) {
+ ao_neg64(&ap, a);
+ a = ≈
+ ++negative;
+ }
+ if (ao_int64_negativep(b)) {
+ ao_neg64(&bp, b);
+ b = &bp;
+ --negative;
+ }
+ ao_umul64(r, a, b);
+ if (negative)
+ ao_neg64(r, r);
+}
+
+static void ao_umul64_64_16(__ARG ao_int64_t *r, __ARG ao_int64_t *a, uint16_t b) __reentrant {
+ __LOCAL uint32_t h;
+
+ h = a->high * b;
+ ao_umul64_32_32(r, a->low, b);
+ r->high += h;
+}
+
+void ao_mul64_64_16(__ARG ao_int64_t *r, __ARG ao_int64_t *a, __ARG uint16_t b) __FATTR {
+ uint8_t negative = 0;
+
+ if ((int32_t) a->high < 0) {
+ ao_neg64(&ap, a);
+ a = ≈
+ negative++;
+ } else
+ ao_umul64_64_16(r, a, b);
+ if (negative)
+ ao_neg64(r, r);
+}
--- /dev/null
+/*
+ * Copyright © 2013 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.
+ */
+
+#ifndef _AO_INT64_H_
+#define _AO_INT64_H_
+
+#include <stdint.h>
+
+typedef struct {
+ uint32_t high;
+ uint32_t low;
+} ao_int64_t;
+
+#define __FATTR
+#define __ARG __pdata
+#define __LOCAL static __pdata
+
+void ao_plus64(__pdata ao_int64_t *ao_64r, __pdata ao_int64_t *ao_64a, __pdata ao_int64_t *ao_64b) __FATTR;
+void ao_minus64(__pdata ao_int64_t *ao_64r, __pdata ao_int64_t *ao_64a, __pdata ao_int64_t *ao_64b) __FATTR;
+void ao_neg64(__pdata ao_int64_t *ao_64r, __pdata ao_int64_t *ao_64a) __FATTR;
+void ao_rshift64(__pdata ao_int64_t *ao_64r, __pdata ao_int64_t *ao_64a, uint8_t d) __FATTR;
+void ao_lshift64(__pdata ao_int64_t *ao_64r, __pdata ao_int64_t *ao_64a, uint8_t d) __FATTR;
+void ao_mul64_32_32(__ARG ao_int64_t *r, __ARG int32_t a, __ARG int32_t b) __FATTR;
+void ao_mul64_64_16(__ARG ao_int64_t *r, __ARG ao_int64_t *a, __ARG uint16_t b) __FATTR;
+void ao_mul64(__ARG ao_int64_t * __ARG r, __ARG ao_int64_t * __ARG a, __ARG ao_int64_t *__ARG b) __FATTR;
+
+#define ao_int64_init32(r, a) (((r)->high = 0), (r)->low = (a))
+#define ao_int64_init64(r, a, b) (((r)->high = (a)), (r)->low = (b))
+
+#define ao_cast64(a) (((int64_t) (a)->high << 32) | (a)->low)
+
+#define ao_int64_negativep(a) (((int32_t) (a)->high) < 0)
+
+#endif /* _AO_INT64_H_ */
--- /dev/null
+/*
+ * Copyright © 2011 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.
+ */
+
+#ifndef AO_FLIGHT_TEST
+#include "ao.h"
+#include "ao_flight.h"
+#endif
+
+#include "ao_sample.h"
+#include "ao_kalman.h"
+
+
+static __pdata int32_t ao_k_height;
+static __pdata int32_t ao_k_speed;
+static __pdata int32_t ao_k_accel;
+
+#define AO_K_STEP_100 to_fix16(0.01)
+#define AO_K_STEP_2_2_100 to_fix16(0.00005)
+
+#define AO_K_STEP_10 to_fix16(0.1)
+#define AO_K_STEP_2_2_10 to_fix16(0.005)
+
+#define AO_K_STEP_1 to_fix16(1)
+#define AO_K_STEP_2_2_1 to_fix16(0.5)
+
+__pdata int16_t ao_height;
+__pdata int16_t ao_speed;
+__pdata int16_t ao_accel;
+__xdata int16_t ao_max_height;
+static __pdata int32_t ao_avg_height_scaled;
+__xdata int16_t ao_avg_height;
+
+__pdata int16_t ao_error_h;
+__pdata int16_t ao_error_h_sq_avg;
+
+#if HAS_ACCEL
+__pdata int16_t ao_error_a;
+#endif
+
+static void
+ao_kalman_predict(void)
+{
+#ifdef AO_FLIGHT_TEST
+ if (ao_sample_tick - ao_sample_prev_tick > 50) {
+ ao_k_height += ((int32_t) ao_speed * AO_K_STEP_1 +
+ (int32_t) ao_accel * AO_K_STEP_2_2_1) >> 4;
+ ao_k_speed += (int32_t) ao_accel * AO_K_STEP_1;
+
+ return;
+ }
+ if (ao_sample_tick - ao_sample_prev_tick > 5) {
+ ao_k_height += ((int32_t) ao_speed * AO_K_STEP_10 +
+ (int32_t) ao_accel * AO_K_STEP_2_2_10) >> 4;
+ ao_k_speed += (int32_t) ao_accel * AO_K_STEP_10;
+
+ return;
+ }
+ if (ao_flight_debug) {
+ printf ("predict speed %g + (%g * %g) = %g\n",
+ ao_k_speed / (65536.0 * 16.0), ao_accel / 16.0, AO_K_STEP_100 / 65536.0,
+ (ao_k_speed + (int32_t) ao_accel * AO_K_STEP_100) / (65536.0 * 16.0));
+ }
+#endif
+ ao_k_height += ((int32_t) ao_speed * AO_K_STEP_100 +
+ (int32_t) ao_accel * AO_K_STEP_2_2_100) >> 4;
+ ao_k_speed += (int32_t) ao_accel * AO_K_STEP_100;
+}
+
+static void
+ao_kalman_err_height(void)
+{
+ int16_t e;
+ int16_t height_distrust;
+#if HAS_ACCEL
+ int16_t speed_distrust;
+#endif
+
+ ao_error_h = ao_sample_height - (int16_t) (ao_k_height >> 16);
+
+ e = ao_error_h;
+ if (e < 0)
+ e = -e;
+ if (e > 127)
+ e = 127;
+#if HAS_ACCEL
+ ao_error_h_sq_avg -= ao_error_h_sq_avg >> 2;
+ ao_error_h_sq_avg += (e * e) >> 2;
+#else
+ ao_error_h_sq_avg -= ao_error_h_sq_avg >> 4;
+ ao_error_h_sq_avg += (e * e) >> 4;
+#endif
+
+ if (ao_flight_state >= ao_flight_drogue)
+ return;
+ height_distrust = ao_sample_alt - AO_MAX_BARO_HEIGHT;
+#if HAS_ACCEL
+ /* speed is stored * 16, but we need to ramp between 200 and 328, so
+ * we want to multiply by 2. The result is a shift by 3.
+ */
+ speed_distrust = (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) >> (4 - 1);
+ if (speed_distrust <= 0)
+ speed_distrust = 0;
+ else if (speed_distrust > height_distrust)
+ height_distrust = speed_distrust;
+#endif
+ if (height_distrust > 0) {
+#ifdef AO_FLIGHT_TEST
+ int old_ao_error_h = ao_error_h;
+#endif
+ if (height_distrust > 0x100)
+ height_distrust = 0x100;
+ ao_error_h = (int16_t) (((int32_t) ao_error_h * (0x100 - height_distrust)) >> 8);
+#ifdef AO_FLIGHT_TEST
+ if (ao_flight_debug) {
+ printf("over height %g over speed %g distrust: %g height: error %d -> %d\n",
+ (double) (ao_sample_alt - AO_MAX_BARO_HEIGHT),
+ (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) / 16.0,
+ height_distrust / 256.0,
+ old_ao_error_h, ao_error_h);
+ }
+#endif
+ }
+}
+
+static void
+ao_kalman_correct_baro(void)
+{
+ ao_kalman_err_height();
+#ifdef AO_FLIGHT_TEST
+ if (ao_sample_tick - ao_sample_prev_tick > 50) {
+ ao_k_height += (int32_t) AO_BARO_K0_1 * ao_error_h;
+ ao_k_speed += (int32_t) AO_BARO_K1_1 * ao_error_h;
+ ao_k_accel += (int32_t) AO_BARO_K2_1 * ao_error_h;
+ return;
+ }
+ if (ao_sample_tick - ao_sample_prev_tick > 5) {
+ ao_k_height += (int32_t) AO_BARO_K0_10 * ao_error_h;
+ ao_k_speed += (int32_t) AO_BARO_K1_10 * ao_error_h;
+ ao_k_accel += (int32_t) AO_BARO_K2_10 * ao_error_h;
+ return;
+ }
+#endif
+ ao_k_height += (int32_t) AO_BARO_K0_100 * ao_error_h;
+ ao_k_speed += (int32_t) AO_BARO_K1_100 * ao_error_h;
+ ao_k_accel += (int32_t) AO_BARO_K2_100 * ao_error_h;
+}
+
+#if HAS_ACCEL
+
+static void
+ao_kalman_err_accel(void)
+{
+ int32_t accel;
+
+ accel = (ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale;
+
+ /* Can't use ao_accel here as it is the pre-prediction value still */
+ ao_error_a = (accel - ao_k_accel) >> 16;
+}
+
+#ifndef FORCE_ACCEL
+static void
+ao_kalman_correct_both(void)
+{
+ ao_kalman_err_height();
+ ao_kalman_err_accel();
+
+#ifdef AO_FLIGHT_TEST
+ if (ao_sample_tick - ao_sample_prev_tick > 50) {
+ if (ao_flight_debug) {
+ printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
+ ao_k_speed / (65536.0 * 16.0),
+ (double) ao_error_h, AO_BOTH_K10_1 / 65536.0,
+ (double) ao_error_a, AO_BOTH_K11_1 / 65536.0,
+ (ao_k_speed +
+ (int32_t) AO_BOTH_K10_1 * ao_error_h +
+ (int32_t) AO_BOTH_K11_1 * ao_error_a) / (65536.0 * 16.0));
+ }
+ ao_k_height +=
+ (int32_t) AO_BOTH_K00_1 * ao_error_h +
+ (int32_t) AO_BOTH_K01_1 * ao_error_a;
+ ao_k_speed +=
+ (int32_t) AO_BOTH_K10_1 * ao_error_h +
+ (int32_t) AO_BOTH_K11_1 * ao_error_a;
+ ao_k_accel +=
+ (int32_t) AO_BOTH_K20_1 * ao_error_h +
+ (int32_t) AO_BOTH_K21_1 * ao_error_a;
+ return;
+ }
+ if (ao_sample_tick - ao_sample_prev_tick > 5) {
+ if (ao_flight_debug) {
+ printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
+ ao_k_speed / (65536.0 * 16.0),
+ (double) ao_error_h, AO_BOTH_K10_10 / 65536.0,
+ (double) ao_error_a, AO_BOTH_K11_10 / 65536.0,
+ (ao_k_speed +
+ (int32_t) AO_BOTH_K10_10 * ao_error_h +
+ (int32_t) AO_BOTH_K11_10 * ao_error_a) / (65536.0 * 16.0));
+ }
+ ao_k_height +=
+ (int32_t) AO_BOTH_K00_10 * ao_error_h +
+ (int32_t) AO_BOTH_K01_10 * ao_error_a;
+ ao_k_speed +=
+ (int32_t) AO_BOTH_K10_10 * ao_error_h +
+ (int32_t) AO_BOTH_K11_10 * ao_error_a;
+ ao_k_accel +=
+ (int32_t) AO_BOTH_K20_10 * ao_error_h +
+ (int32_t) AO_BOTH_K21_10 * ao_error_a;
+ return;
+ }
+ if (ao_flight_debug) {
+ printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
+ ao_k_speed / (65536.0 * 16.0),
+ (double) ao_error_h, AO_BOTH_K10_100 / 65536.0,
+ (double) ao_error_a, AO_BOTH_K11_100 / 65536.0,
+ (ao_k_speed +
+ (int32_t) AO_BOTH_K10_100 * ao_error_h +
+ (int32_t) AO_BOTH_K11_100 * ao_error_a) / (65536.0 * 16.0));
+ }
+#endif
+ ao_k_height +=
+ (int32_t) AO_BOTH_K00_100 * ao_error_h +
+ (int32_t) AO_BOTH_K01_100 * ao_error_a;
+ ao_k_speed +=
+ (int32_t) AO_BOTH_K10_100 * ao_error_h +
+ (int32_t) AO_BOTH_K11_100 * ao_error_a;
+ ao_k_accel +=
+ (int32_t) AO_BOTH_K20_100 * ao_error_h +
+ (int32_t) AO_BOTH_K21_100 * ao_error_a;
+}
+
+#else
+
+static void
+ao_kalman_correct_accel(void)
+{
+ ao_kalman_err_accel();
+
+ if (ao_sample_tick - ao_sample_prev_tick > 5) {
+ ao_k_height +=(int32_t) AO_ACCEL_K0_10 * ao_error_a;
+ ao_k_speed += (int32_t) AO_ACCEL_K1_10 * ao_error_a;
+ ao_k_accel += (int32_t) AO_ACCEL_K2_10 * ao_error_a;
+ return;
+ }
+ ao_k_height += (int32_t) AO_ACCEL_K0_100 * ao_error_a;
+ ao_k_speed += (int32_t) AO_ACCEL_K1_100 * ao_error_a;
+ ao_k_accel += (int32_t) AO_ACCEL_K2_100 * ao_error_a;
+}
+
+#endif /* else FORCE_ACCEL */
+#endif /* HAS_ACCEL */
+
+void
+ao_kalman(void)
+{
+ ao_kalman_predict();
+#if HAS_ACCEL
+ if (ao_flight_state <= ao_flight_coast) {
+#ifdef FORCE_ACCEL
+ ao_kalman_correct_accel();
+#else
+ ao_kalman_correct_both();
+#endif
+ } else
+#endif
+ ao_kalman_correct_baro();
+ ao_height = from_fix(ao_k_height);
+ ao_speed = from_fix(ao_k_speed);
+ ao_accel = from_fix(ao_k_accel);
+ if (ao_height > ao_max_height)
+ ao_max_height = ao_height;
+ ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_sample_height;
+#ifdef AO_FLIGHT_TEST
+ if (ao_sample_tick - ao_sample_prev_tick > 50)
+ ao_avg_height = (ao_avg_height_scaled + 1) >> 1;
+ else if (ao_sample_tick - ao_sample_prev_tick > 5)
+ ao_avg_height = (ao_avg_height_scaled + 7) >> 4;
+ else
+#endif
+ ao_avg_height = (ao_avg_height_scaled + 63) >> 7;
+}
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_LCD_H_
+#define _AO_LCD_H_
+
+/* ao_lcd.c */
+
+void
+ao_lcd_putchar(uint8_t d);
+
+void
+ao_lcd_putstring(char *string);
+
+void
+ao_lcd_contrast_set(uint8_t contrast);
+
+void
+ao_lcd_clear(void);
+
+void
+ao_lcd_cursor_on(void);
+
+void
+ao_lcd_cursor_off(void);
+
+#define AO_LCD_ADDR(row,col) ((row << 6) | (col))
+
+void
+ao_lcd_goto(uint8_t addr);
+
+void
+ao_lcd_start(void);
+
+void
+ao_lcd_init(void);
+
+/* ao_lcd_port.c */
+
+void
+ao_lcd_port_put_nibble(uint8_t rs, uint8_t d);
+
+void
+ao_lcd_port_init(void);
+
+#endif /* _AO_LCD_H_ */
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_LED_H_
+#define _AO_LED_H_
+
+/*
+ * ao_led.c
+ */
+
+#define AO_LED_NONE 0
+
+#ifndef AO_LED_TYPE
+#define AO_LED_TYPE uint8_t
+#endif
+
+/* Turn on the specified LEDs */
+void
+ao_led_on(AO_LED_TYPE colors);
+
+/* Turn off the specified LEDs */
+void
+ao_led_off(AO_LED_TYPE colors);
+
+/* Set all of the LEDs to the specified state */
+void
+ao_led_set(AO_LED_TYPE colors);
+
+/* Set all LEDs in 'mask' to the specified state */
+void
+ao_led_set_mask(uint8_t colors, uint8_t mask);
+
+/* Toggle the specified LEDs */
+void
+ao_led_toggle(AO_LED_TYPE colors);
+
+/* Turn on the specified LEDs for the indicated interval */
+void
+ao_led_for(AO_LED_TYPE colors, uint16_t ticks) __reentrant;
+
+/* Initialize the LEDs */
+void
+ao_led_init(AO_LED_TYPE enable);
+
+#endif /* _AO_LED_H_ */
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_LIST_H_
+#define _AO_LIST_H_
+
+#include <stddef.h>
+
+struct ao_list {
+ struct ao_list *next, *prev;
+};
+
+static inline void
+ao_list_init(struct ao_list *list)
+{
+ list->next = list->prev = list;
+}
+
+static inline void
+__ao_list_add(struct ao_list *list, struct ao_list *prev, struct ao_list *next)
+{
+ next->prev = list;
+ list->next = next;
+ list->prev = prev;
+ prev->next = list;
+}
+
+/**
+ * Insert a new element after the given list head. The new element does not
+ * need to be initialised as empty list.
+ * The list changes from:
+ * head → some element → ...
+ * to
+ * head → new element → older element → ...
+ *
+ * Example:
+ * struct foo *newfoo = malloc(...);
+ * ao_list_add(&newfoo->entry, &bar->list_of_foos);
+ *
+ * @param entry The new element to prepend to the list.
+ * @param head The existing list.
+ */
+static inline void
+ao_list_insert(struct ao_list *entry, struct ao_list *head)
+{
+ __ao_list_add(entry, head, head->next);
+}
+
+/**
+ * Append a new element to the end of the list given with this list head.
+ *
+ * The list changes from:
+ * head → some element → ... → lastelement
+ * to
+ * head → some element → ... → lastelement → new element
+ *
+ * Example:
+ * struct foo *newfoo = malloc(...);
+ * ao_list_append(&newfoo->entry, &bar->list_of_foos);
+ *
+ * @param entry The new element to prepend to the list.
+ * @param head The existing list.
+ */
+static inline void
+ao_list_append(struct ao_list *entry, struct ao_list *head)
+{
+ __ao_list_add(entry, head->prev, head);
+}
+
+static inline void
+__ao_list_del(struct ao_list *prev, struct ao_list *next)
+{
+ next->prev = prev;
+ prev->next = next;
+}
+
+/**
+ * Remove the element from the list it is in. Using this function will reset
+ * the pointers to/from this element so it is removed from the list. It does
+ * NOT free the element itself or manipulate it otherwise.
+ *
+ * Using ao_list_del on a pure list head (like in the example at the top of
+ * this file) will NOT remove the first element from
+ * the list but rather reset the list as empty list.
+ *
+ * Example:
+ * ao_list_del(&foo->entry);
+ *
+ * @param entry The element to remove.
+ */
+static inline void
+ao_list_del(struct ao_list *entry)
+{
+ __ao_list_del(entry->prev, entry->next);
+ ao_list_init(entry);
+}
+
+/**
+ * Check if the list is empty.
+ *
+ * Example:
+ * ao_list_is_empty(&bar->list_of_foos);
+ *
+ * @return True if the list contains one or more elements or False otherwise.
+ */
+static inline uint8_t
+ao_list_is_empty(struct ao_list *head)
+{
+ return head->next == head;
+}
+
+/**
+ * Returns a pointer to the container of this list element.
+ *
+ * Example:
+ * struct foo* f;
+ * f = container_of(&foo->entry, struct foo, entry);
+ * assert(f == foo);
+ *
+ * @param ptr Pointer to the struct ao_list.
+ * @param type Data type of the list element.
+ * @param member Member name of the struct ao_list field in the list element.
+ * @return A pointer to the data struct containing the list head.
+ */
+#define ao_container_of(ptr, type, member) \
+ ((type *)((char *)(ptr) - offsetof(type, member)))
+
+/**
+ * Alias of ao_container_of
+ */
+#define ao_list_entry(ptr, type, member) \
+ ao_container_of(ptr, type, member)
+
+/**
+ * Retrieve the first list entry for the given list pointer.
+ *
+ * Example:
+ * struct foo *first;
+ * first = ao_list_first_entry(&bar->list_of_foos, struct foo, list_of_foos);
+ *
+ * @param ptr The list head
+ * @param type Data type of the list element to retrieve
+ * @param member Member name of the struct ao_list field in the list element.
+ * @return A pointer to the first list element.
+ */
+#define ao_list_first_entry(ptr, type, member) \
+ ao_list_entry((ptr)->next, type, member)
+
+/**
+ * Retrieve the last list entry for the given listpointer.
+ *
+ * Example:
+ * struct foo *first;
+ * first = ao_list_last_entry(&bar->list_of_foos, struct foo, list_of_foos);
+ *
+ * @param ptr The list head
+ * @param type Data type of the list element to retrieve
+ * @param member Member name of the struct ao_list field in the list element.
+ * @return A pointer to the last list element.
+ */
+#define ao_list_last_entry(ptr, type, member) \
+ ao_list_entry((ptr)->prev, type, member)
+
+/**
+ * Loop through the list given by head and set pos to struct in the list.
+ *
+ * Example:
+ * struct foo *iterator;
+ * ao_list_for_each_entry(iterator, &bar->list_of_foos, entry) {
+ * [modify iterator]
+ * }
+ *
+ * This macro is not safe for node deletion. Use ao_list_for_each_entry_safe
+ * instead.
+ *
+ * @param pos Iterator variable of the type of the list elements.
+ * @param head List head
+ * @param member Member name of the struct ao_list in the list elements.
+ *
+ */
+#define ao_list_for_each_entry(pos, head, type, member) \
+ for (pos = ao_container_of((head)->next, type, member); \
+ &pos->member != (head); \
+ pos = ao_container_of(pos->member.next, type, member))
+
+/**
+ * Loop through the list, keeping a backup pointer to the element. This
+ * macro allows for the deletion of a list element while looping through the
+ * list.
+ *
+ * See ao_list_for_each_entry for more details.
+ */
+#define ao_list_for_each_entry_safe(pos, tmp, head, type, member) \
+ for ((pos = ao_container_of((head)->next, type, member)), \
+ (tmp = ao_container_of(pos->member.next, type, member)); \
+ &pos->member != (head); \
+ (pos = tmp), (tmp = ao_container_of(pos->member.next, type, member)))
+
+#endif /* _AO_LIST_H_ */
--- /dev/null
+/*
+ * Copyright © 2009 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_log.h>
+#include <ao_config.h>
+
+__pdata uint32_t ao_log_current_pos;
+__pdata uint32_t ao_log_end_pos;
+__pdata uint32_t ao_log_start_pos;
+__xdata uint8_t ao_log_running;
+__pdata enum ao_flight_state ao_log_state;
+__xdata uint16_t ao_flight_number;
+
+void
+ao_log_flush(void)
+{
+ ao_storage_flush();
+}
+
+/*
+ * When erasing a flight log, make sure the config block
+ * has an up-to-date version of the current flight number
+ */
+
+struct ao_log_erase {
+ uint8_t unused;
+ uint16_t flight;
+};
+
+static __xdata struct ao_log_erase erase;
+
+#define LOG_MAX_ERASE 16
+
+static uint32_t
+ao_log_erase_pos(uint8_t i)
+{
+ return i * sizeof (struct ao_log_erase) + AO_CONFIG_MAX_SIZE;
+}
+
+void
+ao_log_write_erase(uint8_t pos)
+{
+ erase.unused = 0x00;
+ erase.flight = ao_flight_number;
+ ao_config_write(ao_log_erase_pos(pos), &erase, sizeof (erase));
+ ao_config_flush();
+}
+
+static void
+ao_log_read_erase(uint8_t pos)
+{
+ ao_config_read(ao_log_erase_pos(pos), &erase, sizeof (erase));
+}
+
+
+static void
+ao_log_erase_mark(void)
+{
+ uint8_t i;
+
+ for (i = 0; i < LOG_MAX_ERASE; i++) {
+ ao_log_read_erase(i);
+ if (erase.unused == 0 && erase.flight == ao_flight_number)
+ return;
+ if (erase.unused == 0xff) {
+ ao_log_write_erase(i);
+ return;
+ }
+ }
+ ao_config_put();
+}
+
+static uint8_t
+ao_log_slots()
+{
+ return (uint8_t) (ao_storage_log_max / ao_config.flight_log_max);
+}
+
+uint32_t
+ao_log_pos(uint8_t slot)
+{
+ return ((slot) * ao_config.flight_log_max);
+}
+
+static uint16_t
+ao_log_max_flight(void)
+{
+ uint8_t log_slot;
+ uint8_t log_slots;
+ uint16_t log_flight;
+ uint16_t max_flight = 0;
+
+ /* Scan the log space looking for the biggest flight number */
+ log_slots = ao_log_slots();
+ for (log_slot = 0; log_slot < log_slots; log_slot++) {
+ log_flight = ao_log_flight(log_slot);
+ if (!log_flight)
+ continue;
+ if (max_flight == 0 || (int16_t) (log_flight - max_flight) > 0)
+ max_flight = log_flight;
+ }
+ return max_flight;
+}
+
+void
+ao_log_scan(void) __reentrant
+{
+ uint8_t log_slot;
+ uint8_t log_slots;
+ uint8_t log_want;
+
+ ao_config_get();
+
+ ao_flight_number = ao_log_max_flight();
+ if (ao_flight_number)
+ if (++ao_flight_number == 0)
+ ao_flight_number = 1;
+
+ /* Now look through the log of flight numbers from erase operations and
+ * see if the last one is bigger than what we found above
+ */
+ for (log_slot = LOG_MAX_ERASE; log_slot-- > 0;) {
+ ao_log_read_erase(log_slot);
+ if (erase.unused == 0) {
+ if (ao_flight_number == 0 ||
+ (int16_t) (erase.flight - ao_flight_number) > 0)
+ ao_flight_number = erase.flight;
+ break;
+ }
+ }
+ if (ao_flight_number == 0)
+ ao_flight_number = 1;
+
+ /* With a flight number in hand, find a place to write a new log,
+ * use the target flight number to index the available log slots so
+ * that we write logs to each spot about the same number of times.
+ */
+
+ /* Find a log slot for the next flight, if available */
+ ao_log_current_pos = ao_log_end_pos = 0;
+ log_slots = ao_log_slots();
+ log_want = (ao_flight_number - 1) % log_slots;
+ log_slot = log_want;
+ do {
+ if (ao_log_flight(log_slot) == 0) {
+ ao_log_current_pos = ao_log_pos(log_slot);
+ ao_log_end_pos = ao_log_current_pos + ao_config.flight_log_max;
+ break;
+ }
+ if (++log_slot >= log_slots)
+ log_slot = 0;
+ } while (log_slot != log_want);
+
+ ao_wakeup(&ao_flight_number);
+}
+
+void
+ao_log_start(void)
+{
+ /* start logging */
+ ao_log_running = 1;
+ ao_wakeup(&ao_log_running);
+}
+
+void
+ao_log_stop(void)
+{
+ ao_log_running = 0;
+ ao_log_flush();
+}
+
+uint8_t
+ao_log_present(void)
+{
+ return ao_log_max_flight() != 0;
+}
+
+uint8_t
+ao_log_full(void)
+{
+ return ao_log_current_pos == ao_log_end_pos;
+}
+
+#if HAS_ADC
+static __xdata struct ao_task ao_log_task;
+#endif
+
+void
+ao_log_list(void) __reentrant
+{
+ uint8_t slot;
+ uint8_t slots;
+ uint16_t flight;
+
+ slots = ao_log_slots();
+ for (slot = 0; slot < slots; slot++)
+ {
+ flight = ao_log_flight(slot);
+ if (flight)
+ printf ("flight %d start %x end %x\n",
+ flight,
+ (uint16_t) (ao_log_pos(slot) >> 8),
+ (uint16_t) (ao_log_pos(slot+1) >> 8));
+ }
+ printf ("done\n");
+}
+
+void
+ao_log_delete(void) __reentrant
+{
+ uint8_t slot;
+ uint8_t slots;
+
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+
+ slots = ao_log_slots();
+ /* Look for the flight log matching the requested flight */
+ if (ao_cmd_lex_i) {
+ for (slot = 0; slot < slots; slot++) {
+ if (ao_log_flight(slot) == ao_cmd_lex_i) {
+ ao_log_erase_mark();
+ ao_log_current_pos = ao_log_pos(slot);
+ ao_log_end_pos = ao_log_current_pos + ao_config.flight_log_max;
+ while (ao_log_current_pos < ao_log_end_pos) {
+ uint8_t i;
+ static __xdata uint8_t b;
+
+ /*
+ * Check to see if we've reached the end of
+ * the used memory to avoid re-erasing the same
+ * memory over and over again
+ */
+ for (i = 0; i < 16; i++) {
+ if (ao_storage_read(ao_log_current_pos + i, &b, 1))
+ if (b != 0xff)
+ break;
+ }
+ if (i == 16)
+ break;
+ ao_storage_erase(ao_log_current_pos);
+ ao_log_current_pos += ao_storage_block;
+ }
+ puts("Erased");
+ return;
+ }
+ }
+ }
+ printf("No such flight: %d\n", ao_cmd_lex_i);
+}
+
+__code struct ao_cmds ao_log_cmds[] = {
+ { ao_log_list, "l\0List logs" },
+ { ao_log_delete, "d <flight-number>\0Delete flight" },
+ { 0, NULL },
+};
+
+void
+ao_log_init(void)
+{
+ ao_log_running = 0;
+
+ /* For now, just log the flight starting at the begining of eeprom */
+ ao_log_state = ao_flight_invalid;
+
+ ao_cmd_register(&ao_log_cmds[0]);
+
+#ifndef HAS_ADC
+#error Define HAS_ADC for ao_log.c
+#endif
+#if HAS_ADC
+ /* Create a task to log events to eeprom */
+ ao_add_task(&ao_log_task, ao_log, "log");
+#endif
+}
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_LOG_H_
+#define _AO_LOG_H_
+
+#include <ao_flight.h>
+
+/*
+ * ao_log.c
+ */
+
+/* We record flight numbers in the first record of
+ * the log. Tasks may wait for this to be initialized
+ * by sleeping on this variable.
+ */
+extern __xdata uint16_t ao_flight_number;
+
+extern __pdata uint32_t ao_log_current_pos;
+extern __pdata uint32_t ao_log_end_pos;
+extern __pdata uint32_t ao_log_start_pos;
+extern __xdata uint8_t ao_log_running;
+extern __pdata enum ao_flight_state ao_log_state;
+
+/* required functions from the underlying log system */
+
+#define AO_LOG_FORMAT_UNKNOWN 0 /* unknown; altosui will have to guess */
+#define AO_LOG_FORMAT_FULL 1 /* 8 byte typed log records */
+#define AO_LOG_FORMAT_TINY 2 /* two byte state/baro records */
+#define AO_LOG_FORMAT_TELEMETRY 3 /* 32 byte ao_telemetry records */
+#define AO_LOG_FORMAT_TELESCIENCE 4 /* 32 byte typed telescience records */
+#define AO_LOG_FORMAT_TELEMEGA 5 /* 32 byte typed telemega records */
+#define AO_LOG_FORMAT_EASYMINI 6 /* 16-byte MS5607 baro only, 3.0V supply */
+#define AO_LOG_FORMAT_TELEMETRUM 7 /* 16-byte typed telemetrum records */
+#define AO_LOG_FORMAT_TELEMINI 8 /* 16-byte MS5607 baro only, 3.3V supply */
+#define AO_LOG_FORMAT_NONE 127 /* No log at all */
+
+extern __code uint8_t ao_log_format;
+
+/* Return the flight number from the given log slot, 0 if none */
+uint16_t
+ao_log_flight(uint8_t slot);
+
+/* Flush the log */
+void
+ao_log_flush(void);
+
+/* Logging thread main routine */
+void
+ao_log(void);
+
+/* functions provided in ao_log.c */
+
+/* Figure out the current flight number */
+void
+ao_log_scan(void) __reentrant;
+
+/* Return the position of the start of the given log slot */
+uint32_t
+ao_log_pos(uint8_t slot);
+
+/* Start logging to eeprom */
+void
+ao_log_start(void);
+
+/* Stop logging */
+void
+ao_log_stop(void);
+
+/* Initialize the logging system */
+void
+ao_log_init(void);
+
+/* Write out the current flight number to the erase log */
+void
+ao_log_write_erase(uint8_t pos);
+
+/* Returns true if there are any logs stored in eeprom */
+uint8_t
+ao_log_present(void);
+
+/* Returns true if there is no more storage space available */
+uint8_t
+ao_log_full(void);
+
+/*
+ * ao_log_big.c
+ */
+
+/*
+ * The data log is recorded in the eeprom as a sequence
+ * of data packets.
+ *
+ * Each packet starts with a 4-byte header that has the
+ * packet type, the packet checksum and the tick count. Then
+ * they all contain 2 16 bit values which hold packet-specific
+ * data.
+ *
+ * For each flight, the first packet
+ * is FLIGHT packet, indicating the serial number of the
+ * device and a unique number marking the number of flights
+ * recorded by this device.
+ *
+ * During flight, data from the accelerometer and barometer
+ * are recorded in SENSOR packets, using the raw 16-bit values
+ * read from the A/D converter.
+ *
+ * Also during flight, but at a lower rate, the deployment
+ * sensors are recorded in DEPLOY packets. The goal here is to
+ * detect failure in the deployment circuits.
+ *
+ * STATE packets hold state transitions as the flight computer
+ * transitions through different stages of the flight.
+ */
+#define AO_LOG_FLIGHT 'F'
+#define AO_LOG_SENSOR 'A'
+#define AO_LOG_TEMP_VOLT 'T'
+#define AO_LOG_DEPLOY 'D'
+#define AO_LOG_STATE 'S'
+#define AO_LOG_GPS_TIME 'G'
+#define AO_LOG_GPS_LAT 'N'
+#define AO_LOG_GPS_LON 'W'
+#define AO_LOG_GPS_ALT 'H'
+#define AO_LOG_GPS_SAT 'V'
+#define AO_LOG_GPS_DATE 'Y'
+#define AO_LOG_GPS_POS 'P'
+
+#define AO_LOG_POS_NONE (~0UL)
+
+struct ao_log_record {
+ char type; /* 0 */
+ uint8_t csum; /* 1 */
+ uint16_t tick; /* 2 */
+ union {
+ struct {
+ int16_t ground_accel; /* 4 */
+ uint16_t flight; /* 6 */
+ } flight;
+ struct {
+ int16_t accel; /* 4 */
+ int16_t pres; /* 6 */
+ } sensor;
+ struct {
+ int16_t temp;
+ int16_t v_batt;
+ } temp_volt;
+ struct {
+ int16_t drogue;
+ int16_t main;
+ } deploy;
+ struct {
+ uint16_t state;
+ uint16_t reason;
+ } state;
+ struct {
+ uint8_t hour;
+ uint8_t minute;
+ uint8_t second;
+ uint8_t flags;
+ } gps_time;
+ int32_t gps_latitude;
+ int32_t gps_longitude;
+ struct {
+ int16_t altitude;
+ uint16_t unused;
+ } gps_altitude;
+ struct {
+ uint16_t svid;
+ uint8_t unused;
+ uint8_t c_n;
+ } gps_sat;
+ struct {
+ uint8_t year;
+ uint8_t month;
+ uint8_t day;
+ uint8_t extra;
+ } gps_date;
+ struct {
+ uint16_t d0;
+ uint16_t d1;
+ } anon;
+ } u;
+};
+
+struct ao_log_mega {
+ char type; /* 0 */
+ uint8_t csum; /* 1 */
+ uint16_t tick; /* 2 */
+ union { /* 4 */
+ /* AO_LOG_FLIGHT */
+ struct {
+ uint16_t flight; /* 4 */
+ int16_t ground_accel; /* 6 */
+ uint32_t ground_pres; /* 8 */
+ int16_t ground_accel_along; /* 16 */
+ int16_t ground_accel_across; /* 12 */
+ int16_t ground_accel_through; /* 14 */
+ int16_t ground_roll; /* 18 */
+ int16_t ground_pitch; /* 20 */
+ int16_t ground_yaw; /* 22 */
+ } flight; /* 24 */
+ /* AO_LOG_STATE */
+ struct {
+ uint16_t state;
+ uint16_t reason;
+ } state;
+ /* AO_LOG_SENSOR */
+ struct {
+ uint32_t pres; /* 4 */
+ uint32_t temp; /* 8 */
+ int16_t accel_x; /* 12 */
+ int16_t accel_y; /* 14 */
+ int16_t accel_z; /* 16 */
+ int16_t gyro_x; /* 18 */
+ int16_t gyro_y; /* 20 */
+ int16_t gyro_z; /* 22 */
+ int16_t mag_x; /* 24 */
+ int16_t mag_y; /* 26 */
+ int16_t mag_z; /* 28 */
+ int16_t accel; /* 30 */
+ } sensor; /* 32 */
+ /* AO_LOG_TEMP_VOLT */
+ struct {
+ int16_t v_batt; /* 4 */
+ int16_t v_pbatt; /* 6 */
+ int16_t n_sense; /* 8 */
+ int16_t sense[10]; /* 10 */
+ uint16_t pyro; /* 30 */
+ } volt; /* 32 */
+ /* AO_LOG_GPS_TIME */
+ struct {
+ int32_t latitude; /* 4 */
+ int32_t longitude; /* 8 */
+ int16_t altitude; /* 12 */
+ uint8_t hour; /* 14 */
+ uint8_t minute; /* 15 */
+ uint8_t second; /* 16 */
+ uint8_t flags; /* 17 */
+ uint8_t year; /* 18 */
+ uint8_t month; /* 19 */
+ uint8_t day; /* 20 */
+ uint8_t course; /* 21 */
+ uint16_t ground_speed; /* 22 */
+ int16_t climb_rate; /* 24 */
+ uint8_t pdop; /* 26 */
+ uint8_t hdop; /* 27 */
+ uint8_t vdop; /* 28 */
+ uint8_t mode; /* 29 */
+ } gps; /* 30 */
+ /* AO_LOG_GPS_SAT */
+ struct {
+ uint16_t channels; /* 4 */
+ struct {
+ uint8_t svid;
+ uint8_t c_n;
+ } sats[12]; /* 6 */
+ } gps_sat; /* 30 */
+ } u;
+};
+
+struct ao_log_metrum {
+ char type; /* 0 */
+ uint8_t csum; /* 1 */
+ uint16_t tick; /* 2 */
+ union { /* 4 */
+ /* AO_LOG_FLIGHT */
+ struct {
+ uint16_t flight; /* 4 */
+ int16_t ground_accel; /* 6 */
+ uint32_t ground_pres; /* 8 */
+ uint32_t ground_temp; /* 12 */
+ } flight; /* 16 */
+ /* AO_LOG_STATE */
+ struct {
+ uint16_t state; /* 4 */
+ uint16_t reason; /* 6 */
+ } state; /* 8 */
+ /* AO_LOG_SENSOR */
+ struct {
+ uint32_t pres; /* 4 */
+ uint32_t temp; /* 8 */
+ int16_t accel; /* 12 */
+ } sensor; /* 14 */
+ /* AO_LOG_TEMP_VOLT */
+ struct {
+ int16_t v_batt; /* 4 */
+ int16_t sense_a; /* 6 */
+ int16_t sense_m; /* 8 */
+ } volt; /* 10 */
+ /* AO_LOG_GPS_POS */
+ struct {
+ int32_t latitude; /* 4 */
+ int32_t longitude; /* 8 */
+ int16_t altitude; /* 12 */
+ } gps; /* 14 */
+ /* AO_LOG_GPS_TIME */
+ struct {
+ uint8_t hour; /* 4 */
+ uint8_t minute; /* 5 */
+ uint8_t second; /* 6 */
+ uint8_t flags; /* 7 */
+ uint8_t year; /* 8 */
+ uint8_t month; /* 9 */
+ uint8_t day; /* 10 */
+ uint8_t pad; /* 11 */
+ } gps_time; /* 12 */
+ /* AO_LOG_GPS_SAT (up to three packets) */
+ struct {
+ uint8_t channels; /* 4 */
+ uint8_t more; /* 5 */
+ struct {
+ uint8_t svid;
+ uint8_t c_n;
+ } sats[4]; /* 6 */
+ } gps_sat; /* 14 */
+ uint8_t raw[12]; /* 4 */
+ } u; /* 16 */
+};
+
+struct ao_log_mini {
+ char type; /* 0 */
+ uint8_t csum; /* 1 */
+ uint16_t tick; /* 2 */
+ union { /* 4 */
+ /* AO_LOG_FLIGHT */
+ struct {
+ uint16_t flight; /* 4 */
+ uint16_t r6;
+ uint32_t ground_pres; /* 8 */
+ } flight;
+ /* AO_LOG_STATE */
+ struct {
+ uint16_t state; /* 4 */
+ uint16_t reason; /* 6 */
+ } state;
+ /* AO_LOG_SENSOR */
+ struct {
+ uint8_t pres[3]; /* 4 */
+ uint8_t temp[3]; /* 7 */
+ int16_t sense_a; /* 10 */
+ int16_t sense_m; /* 12 */
+ int16_t v_batt; /* 14 */
+ } sensor; /* 16 */
+ } u; /* 16 */
+}; /* 16 */
+
+#define ao_log_pack24(dst,value) do { \
+ (dst)[0] = (value); \
+ (dst)[1] = (value) >> 8; \
+ (dst)[2] = (value) >> 16; \
+ } while (0)
+
+/* Write a record to the eeprom log */
+uint8_t
+ao_log_data(__xdata struct ao_log_record *log) __reentrant;
+
+uint8_t
+ao_log_mega(__xdata struct ao_log_mega *log) __reentrant;
+
+uint8_t
+ao_log_metrum(__xdata struct ao_log_metrum *log) __reentrant;
+
+uint8_t
+ao_log_mini(__xdata struct ao_log_mini *log) __reentrant;
+
+void
+ao_log_flush(void);
+
+void
+ao_gps_report_metrum_init(void);
+
+#endif /* _AO_LOG_H_ */
--- /dev/null
+/*
+ * Copyright © 2011 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"
+
+static __xdata uint8_t ao_log_mutex;
+static __xdata struct ao_log_record log;
+
+__code uint8_t ao_log_format = AO_LOG_FORMAT_FULL;
+
+static uint8_t
+ao_log_csum(__xdata uint8_t *b) __reentrant
+{
+ uint8_t sum = 0x5a;
+ uint8_t i;
+
+ for (i = 0; i < sizeof (struct ao_log_record); i++)
+ sum += *b++;
+ return -sum;
+}
+
+uint8_t
+ao_log_data(__xdata struct ao_log_record *log) __reentrant
+{
+ uint8_t wrote = 0;
+ /* set checksum */
+ log->csum = 0;
+ log->csum = ao_log_csum((__xdata uint8_t *) log);
+ ao_mutex_get(&ao_log_mutex); {
+ if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
+ ao_log_stop();
+ if (ao_log_running) {
+ wrote = 1;
+ ao_storage_write(ao_log_current_pos,
+ log,
+ sizeof (struct ao_log_record));
+ ao_log_current_pos += sizeof (struct ao_log_record);
+ }
+ } ao_mutex_put(&ao_log_mutex);
+ return wrote;
+}
+
+static uint8_t
+ao_log_dump_check_data(void)
+{
+ if (ao_log_csum((uint8_t *) &log) != 0)
+ return 0;
+ return 1;
+}
+
+static __data uint8_t ao_log_data_pos;
+
+/* a hack to make sure that ao_log_records fill the eeprom block in even units */
+typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_record))] ;
+
+#ifndef AO_SENSOR_INTERVAL_ASCENT
+#define AO_SENSOR_INTERVAL_ASCENT 1
+#define AO_SENSOR_INTERVAL_DESCENT 10
+#define AO_OTHER_INTERVAL 32
+#endif
+
+void
+ao_log(void)
+{
+ __pdata uint16_t next_sensor, next_other;
+
+ ao_storage_setup();
+
+ ao_log_scan();
+
+ while (!ao_log_running)
+ ao_sleep(&ao_log_running);
+
+ log.type = AO_LOG_FLIGHT;
+ log.tick = ao_sample_tick;
+#if HAS_ACCEL
+ log.u.flight.ground_accel = ao_ground_accel;
+#endif
+ log.u.flight.flight = ao_flight_number;
+ ao_log_data(&log);
+
+ /* Write the whole contents of the ring to the log
+ * when starting up.
+ */
+ ao_log_data_pos = ao_data_ring_next(ao_sample_data);
+ next_other = next_sensor = ao_data_ring[ao_log_data_pos].tick;
+ ao_log_state = ao_flight_startup;
+ for (;;) {
+ /* Write samples to EEPROM */
+ while (ao_log_data_pos != ao_sample_data) {
+ log.tick = ao_data_ring[ao_log_data_pos].tick;
+ if ((int16_t) (log.tick - next_sensor) >= 0) {
+ log.type = AO_LOG_SENSOR;
+ log.u.sensor.accel = ao_data_ring[ao_log_data_pos].adc.accel;
+ log.u.sensor.pres = ao_data_ring[ao_log_data_pos].adc.pres;
+ ao_log_data(&log);
+ if (ao_log_state <= ao_flight_coast)
+ next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
+ else
+ next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT;
+ }
+ if ((int16_t) (log.tick - next_other) >= 0) {
+ log.type = AO_LOG_TEMP_VOLT;
+ log.u.temp_volt.temp = ao_data_ring[ao_log_data_pos].adc.temp;
+ log.u.temp_volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
+ ao_log_data(&log);
+ log.type = AO_LOG_DEPLOY;
+ log.u.deploy.drogue = ao_data_ring[ao_log_data_pos].adc.sense_d;
+ log.u.deploy.main = ao_data_ring[ao_log_data_pos].adc.sense_m;
+ ao_log_data(&log);
+ next_other = log.tick + AO_OTHER_INTERVAL;
+ }
+ ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
+ }
+ /* Write state change to EEPROM */
+ if (ao_flight_state != ao_log_state) {
+ ao_log_state = ao_flight_state;
+ log.type = AO_LOG_STATE;
+ log.tick = ao_sample_tick;
+ log.u.state.state = ao_log_state;
+ log.u.state.reason = 0;
+ ao_log_data(&log);
+
+ if (ao_log_state == ao_flight_landed)
+ ao_log_stop();
+ }
+
+ /* Wait for a while */
+ ao_delay(AO_MS_TO_TICKS(100));
+
+ /* Stop logging when told to */
+ while (!ao_log_running)
+ ao_sleep(&ao_log_running);
+ }
+}
+
+uint16_t
+ao_log_flight(uint8_t slot)
+{
+ if (!ao_storage_read(ao_log_pos(slot),
+ &log,
+ sizeof (struct ao_log_record)))
+ return 0;
+
+ if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
+ return log.u.flight.flight;
+ return 0;
+}
--- /dev/null
+/*
+ * 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_log.h>
+#include <ao_data.h>
+#include <ao_flight.h>
+
+static __xdata uint8_t ao_log_mutex;
+static __xdata struct ao_log_mega log;
+
+__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMEGA;
+
+static uint8_t
+ao_log_csum(__xdata uint8_t *b) __reentrant
+{
+ uint8_t sum = 0x5a;
+ uint8_t i;
+
+ for (i = 0; i < sizeof (struct ao_log_mega); i++)
+ sum += *b++;
+ return -sum;
+}
+
+uint8_t
+ao_log_mega(__xdata struct ao_log_mega *log) __reentrant
+{
+ uint8_t wrote = 0;
+ /* set checksum */
+ log->csum = 0;
+ log->csum = ao_log_csum((__xdata uint8_t *) log);
+ ao_mutex_get(&ao_log_mutex); {
+ if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
+ ao_log_stop();
+ if (ao_log_running) {
+ wrote = 1;
+ ao_storage_write(ao_log_current_pos,
+ log,
+ sizeof (struct ao_log_mega));
+ ao_log_current_pos += sizeof (struct ao_log_mega);
+ }
+ } ao_mutex_put(&ao_log_mutex);
+ return wrote;
+}
+
+static uint8_t
+ao_log_dump_check_data(void)
+{
+ if (ao_log_csum((uint8_t *) &log) != 0)
+ return 0;
+ return 1;
+}
+
+#if HAS_ADC
+static __data uint8_t ao_log_data_pos;
+
+/* a hack to make sure that ao_log_megas fill the eeprom block in even units */
+typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_mega))] ;
+
+#ifndef AO_SENSOR_INTERVAL_ASCENT
+#define AO_SENSOR_INTERVAL_ASCENT 1
+#define AO_SENSOR_INTERVAL_DESCENT 10
+#define AO_OTHER_INTERVAL 32
+#endif
+
+void
+ao_log(void)
+{
+ __pdata uint16_t next_sensor, next_other;
+ uint8_t i;
+
+ ao_storage_setup();
+
+ ao_log_scan();
+
+ while (!ao_log_running)
+ ao_sleep(&ao_log_running);
+
+#if HAS_FLIGHT
+ log.type = AO_LOG_FLIGHT;
+ log.tick = ao_sample_tick;
+#if HAS_ACCEL
+ log.u.flight.ground_accel = ao_ground_accel;
+#endif
+#if HAS_GYRO
+ log.u.flight.ground_accel_along = ao_ground_accel_along;
+ log.u.flight.ground_accel_across = ao_ground_accel_across;
+ log.u.flight.ground_accel_through = ao_ground_accel_through;
+ log.u.flight.ground_pitch = ao_ground_pitch;
+ log.u.flight.ground_yaw = ao_ground_yaw;
+ log.u.flight.ground_roll = ao_ground_roll;
+#endif
+ log.u.flight.ground_pres = ao_ground_pres;
+ log.u.flight.flight = ao_flight_number;
+ ao_log_mega(&log);
+#endif
+
+ /* Write the whole contents of the ring to the log
+ * when starting up.
+ */
+ ao_log_data_pos = ao_data_ring_next(ao_data_head);
+ next_other = next_sensor = ao_data_ring[ao_log_data_pos].tick;
+ ao_log_state = ao_flight_startup;
+ for (;;) {
+ /* Write samples to EEPROM */
+ while (ao_log_data_pos != ao_data_head) {
+ log.tick = ao_data_ring[ao_log_data_pos].tick;
+ if ((int16_t) (log.tick - next_sensor) >= 0) {
+ log.type = AO_LOG_SENSOR;
+#if HAS_MS5607
+ log.u.sensor.pres = ao_data_ring[ao_log_data_pos].ms5607_raw.pres;
+ log.u.sensor.temp = ao_data_ring[ao_log_data_pos].ms5607_raw.temp;
+#endif
+#if HAS_MPU6000
+ log.u.sensor.accel_x = ao_data_ring[ao_log_data_pos].mpu6000.accel_x;
+ log.u.sensor.accel_y = ao_data_ring[ao_log_data_pos].mpu6000.accel_y;
+ log.u.sensor.accel_z = ao_data_ring[ao_log_data_pos].mpu6000.accel_z;
+ log.u.sensor.gyro_x = ao_data_ring[ao_log_data_pos].mpu6000.gyro_x;
+ log.u.sensor.gyro_y = ao_data_ring[ao_log_data_pos].mpu6000.gyro_y;
+ log.u.sensor.gyro_z = ao_data_ring[ao_log_data_pos].mpu6000.gyro_z;
+#endif
+#if HAS_HMC5883
+ log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].hmc5883.x;
+ log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y;
+ log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].hmc5883.z;
+#endif
+ log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
+ ao_log_mega(&log);
+ if (ao_log_state <= ao_flight_coast)
+ next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
+ else
+ next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT;
+ }
+ if ((int16_t) (log.tick - next_other) >= 0) {
+ log.type = AO_LOG_TEMP_VOLT;
+ log.u.volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
+ log.u.volt.v_pbatt = ao_data_ring[ao_log_data_pos].adc.v_pbatt;
+ log.u.volt.n_sense = AO_ADC_NUM_SENSE;
+ for (i = 0; i < AO_ADC_NUM_SENSE; i++)
+ log.u.volt.sense[i] = ao_data_ring[ao_log_data_pos].adc.sense[i];
+ log.u.volt.pyro = ao_pyro_fired;
+ ao_log_mega(&log);
+ next_other = log.tick + AO_OTHER_INTERVAL;
+ }
+ ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
+ }
+#if HAS_FLIGHT
+ /* Write state change to EEPROM */
+ if (ao_flight_state != ao_log_state) {
+ ao_log_state = ao_flight_state;
+ log.type = AO_LOG_STATE;
+ log.tick = ao_time();
+ log.u.state.state = ao_log_state;
+ log.u.state.reason = 0;
+ ao_log_mega(&log);
+
+ if (ao_log_state == ao_flight_landed)
+ ao_log_stop();
+ }
+#endif
+
+ ao_log_flush();
+
+ /* Wait for a while */
+ ao_delay(AO_MS_TO_TICKS(100));
+
+ /* Stop logging when told to */
+ while (!ao_log_running)
+ ao_sleep(&ao_log_running);
+ }
+}
+#endif
+
+uint16_t
+ao_log_flight(uint8_t slot)
+{
+ if (!ao_storage_read(ao_log_pos(slot),
+ &log,
+ sizeof (struct ao_log_mega)))
+ return 0;
+
+ if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
+ return log.u.flight.flight;
+ return 0;
+}
--- /dev/null
+/*
+ * 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_log.h>
+#include <ao_data.h>
+#include <ao_flight.h>
+
+static __xdata uint8_t ao_log_mutex;
+static __xdata struct ao_log_metrum log;
+
+__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMETRUM;
+
+static uint8_t
+ao_log_csum(__xdata uint8_t *b) __reentrant
+{
+ uint8_t sum = 0x5a;
+ uint8_t i;
+
+ for (i = 0; i < sizeof (struct ao_log_metrum); i++)
+ sum += *b++;
+ return -sum;
+}
+
+uint8_t
+ao_log_metrum(__xdata struct ao_log_metrum *log) __reentrant
+{
+ uint8_t wrote = 0;
+ /* set checksum */
+ log->csum = 0;
+ log->csum = ao_log_csum((__xdata uint8_t *) log);
+ ao_mutex_get(&ao_log_mutex); {
+ if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
+ ao_log_stop();
+ if (ao_log_running) {
+ wrote = 1;
+ ao_storage_write(ao_log_current_pos,
+ log,
+ sizeof (struct ao_log_metrum));
+ ao_log_current_pos += sizeof (struct ao_log_metrum);
+ }
+ } ao_mutex_put(&ao_log_mutex);
+ return wrote;
+}
+
+static uint8_t
+ao_log_dump_check_data(void)
+{
+ if (ao_log_csum((uint8_t *) &log) != 0)
+ return 0;
+ return 1;
+}
+
+#if HAS_ADC
+static __data uint8_t ao_log_data_pos;
+
+/* a hack to make sure that ao_log_metrums fill the eeprom block in even units */
+typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_metrum))] ;
+
+#ifndef AO_SENSOR_INTERVAL_ASCENT
+#define AO_SENSOR_INTERVAL_ASCENT 1
+#define AO_SENSOR_INTERVAL_DESCENT 10
+#define AO_OTHER_INTERVAL 32
+#endif
+
+void
+ao_log(void)
+{
+ __pdata uint16_t next_sensor, next_other;
+
+ ao_storage_setup();
+
+ ao_log_scan();
+
+ while (!ao_log_running)
+ ao_sleep(&ao_log_running);
+
+#if HAS_FLIGHT
+ log.type = AO_LOG_FLIGHT;
+ log.tick = ao_sample_tick;
+#if HAS_ACCEL
+ log.u.flight.ground_accel = ao_ground_accel;
+#endif
+ log.u.flight.ground_pres = ao_ground_pres;
+ log.u.flight.flight = ao_flight_number;
+ ao_log_metrum(&log);
+#endif
+
+ /* Write the whole contents of the ring to the log
+ * when starting up.
+ */
+ ao_log_data_pos = ao_data_ring_next(ao_data_head);
+ next_other = next_sensor = ao_data_ring[ao_log_data_pos].tick;
+ ao_log_state = ao_flight_startup;
+ for (;;) {
+ /* Write samples to EEPROM */
+ while (ao_log_data_pos != ao_data_head) {
+ log.tick = ao_data_ring[ao_log_data_pos].tick;
+ if ((int16_t) (log.tick - next_sensor) >= 0) {
+ log.type = AO_LOG_SENSOR;
+#if HAS_MS5607
+ log.u.sensor.pres = ao_data_ring[ao_log_data_pos].ms5607_raw.pres;
+ log.u.sensor.temp = ao_data_ring[ao_log_data_pos].ms5607_raw.temp;
+#endif
+#if HAS_ACCEL
+ log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
+#endif
+ ao_log_metrum(&log);
+ if (ao_log_state <= ao_flight_coast)
+ next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
+ else
+ next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT;
+ }
+ if ((int16_t) (log.tick - next_other) >= 0) {
+ log.type = AO_LOG_TEMP_VOLT;
+ log.u.volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
+ log.u.volt.sense_a = ao_data_ring[ao_log_data_pos].adc.sense_a;
+ log.u.volt.sense_m = ao_data_ring[ao_log_data_pos].adc.sense_m;
+ ao_log_metrum(&log);
+ next_other = log.tick + AO_OTHER_INTERVAL;
+ }
+ ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
+ }
+#if HAS_FLIGHT
+ /* Write state change to EEPROM */
+ if (ao_flight_state != ao_log_state) {
+ ao_log_state = ao_flight_state;
+ log.type = AO_LOG_STATE;
+ log.tick = ao_time();
+ log.u.state.state = ao_log_state;
+ log.u.state.reason = 0;
+ ao_log_metrum(&log);
+
+ if (ao_log_state == ao_flight_landed)
+ ao_log_stop();
+ }
+#endif
+
+ ao_log_flush();
+
+ /* Wait for a while */
+ ao_delay(AO_MS_TO_TICKS(100));
+
+ /* Stop logging when told to */
+ while (!ao_log_running)
+ ao_sleep(&ao_log_running);
+ }
+}
+#endif
+
+uint16_t
+ao_log_flight(uint8_t slot)
+{
+ if (!ao_storage_read(ao_log_pos(slot),
+ &log,
+ sizeof (struct ao_log_metrum)))
+ return 0;
+
+ if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
+ return log.u.flight.flight;
+ return 0;
+}
--- /dev/null
+/*
+ * 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_micropeak.h>
+#include <ao_log_micro.h>
+#include <ao_async.h>
+
+static uint16_t ao_log_offset = STARTING_LOG_OFFSET;
+
+void
+ao_log_micro_save(void)
+{
+ uint16_t n_samples = (ao_log_offset - STARTING_LOG_OFFSET) / sizeof (uint16_t);
+ ao_eeprom_write(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground));
+ ao_eeprom_write(PA_MIN_OFFSET, &pa_min, sizeof (pa_min));
+ ao_eeprom_write(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
+}
+
+void
+ao_log_micro_restore(void)
+{
+ ao_eeprom_read(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground));
+ ao_eeprom_read(PA_MIN_OFFSET, &pa_min, sizeof (pa_min));
+}
+
+void
+ao_log_micro_data(void)
+{
+ uint16_t low_bits = pa;
+
+ if (ao_log_offset < MAX_LOG_OFFSET) {
+ ao_eeprom_write(ao_log_offset, &low_bits, sizeof (low_bits));
+ ao_log_offset += sizeof (low_bits);
+ }
+}
+
+#define POLY 0x8408
+
+static uint16_t
+ao_log_micro_crc(uint16_t crc, uint8_t byte)
+{
+ uint8_t i;
+
+ for (i = 0; i < 8; i++) {
+ if ((crc & 0x0001) ^ (byte & 0x0001))
+ crc = (crc >> 1) ^ POLY;
+ else
+ crc = crc >> 1;
+ byte >>= 1;
+ }
+ return crc;
+}
+
+static void
+ao_log_hex_nibble(uint8_t b)
+{
+ if (b < 10)
+ ao_async_byte('0' + b);
+ else
+ ao_async_byte('a' - 10 + b);
+}
+
+static void
+ao_log_hex(uint8_t b)
+{
+ ao_log_hex_nibble(b>>4);
+ ao_log_hex_nibble(b&0xf);
+}
+
+static void
+ao_log_newline(void)
+{
+ ao_async_byte('\r');
+ ao_async_byte('\n');
+}
+
+void
+ao_log_micro_dump(void)
+{
+ uint16_t n_samples;
+ uint16_t nbytes;
+ uint8_t byte;
+ uint16_t b;
+ uint16_t crc = 0xffff;
+
+ ao_eeprom_read(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
+ if (n_samples == 0xffff)
+ n_samples = 0;
+ nbytes = STARTING_LOG_OFFSET + sizeof (uint16_t) * n_samples;
+ ao_async_start();
+ ao_async_byte('M');
+ ao_async_byte('P');
+ for (b = 0; b < nbytes; b++) {
+ if ((b & 0xf) == 0)
+ ao_log_newline();
+ ao_eeprom_read(b, &byte, 1);
+ ao_log_hex(byte);
+ crc = ao_log_micro_crc(crc, byte);
+ }
+ ao_log_newline();
+ crc = ~crc;
+ ao_log_hex(crc >> 8);
+ ao_log_hex(crc);
+ ao_log_newline();
+ ao_async_stop();
+}
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_LOG_MICRO_H_
+#define _AO_LOG_MICRO_H_
+
+#define PA_GROUND_OFFSET 0
+#define PA_MIN_OFFSET 4
+#define N_SAMPLES_OFFSET 8
+#define STARTING_LOG_OFFSET 10
+#define MAX_LOG_OFFSET 512
+
+void
+ao_log_micro_save(void);
+
+void
+ao_log_micro_restore(void);
+
+void
+ao_log_micro_data(void);
+
+void
+ao_log_micro_dump(void);
+
+#endif /* _AO_LOG_MICRO_H_ */
--- /dev/null
+/*
+ * 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_log.h>
+#include <ao_data.h>
+#include <ao_flight.h>
+
+static __xdata uint8_t ao_log_mutex;
+static __xdata struct ao_log_mini log;
+
+__code uint8_t ao_log_format = AO_LOG_FORMAT;
+
+static uint8_t
+ao_log_csum(__xdata uint8_t *b) __reentrant
+{
+ uint8_t sum = 0x5a;
+ uint8_t i;
+
+ for (i = 0; i < sizeof (struct ao_log_mini); i++)
+ sum += *b++;
+ return -sum;
+}
+
+uint8_t
+ao_log_mini(__xdata struct ao_log_mini *log) __reentrant
+{
+ uint8_t wrote = 0;
+ /* set checksum */
+ log->csum = 0;
+ log->csum = ao_log_csum((__xdata uint8_t *) log);
+ ao_mutex_get(&ao_log_mutex); {
+ if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
+ ao_log_stop();
+ if (ao_log_running) {
+ wrote = 1;
+ ao_storage_write(ao_log_current_pos,
+ log,
+ sizeof (struct ao_log_mini));
+ ao_log_current_pos += sizeof (struct ao_log_mini);
+ }
+ } ao_mutex_put(&ao_log_mutex);
+ return wrote;
+}
+
+static uint8_t
+ao_log_dump_check_data(void)
+{
+ if (ao_log_csum((uint8_t *) &log) != 0)
+ return 0;
+ return 1;
+}
+
+static __data uint8_t ao_log_data_pos;
+
+/* a hack to make sure that ao_log_minis fill the eeprom block in even units */
+typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_mini))] ;
+
+#ifndef AO_SENSOR_INTERVAL_ASCENT
+#define AO_SENSOR_INTERVAL_ASCENT 1
+#define AO_SENSOR_INTERVAL_DESCENT 10
+#endif
+
+void
+ao_log(void)
+{
+ __pdata uint16_t next_sensor;
+
+ ao_storage_setup();
+
+ ao_log_scan();
+
+ while (!ao_log_running)
+ ao_sleep(&ao_log_running);
+
+#if HAS_FLIGHT
+ log.type = AO_LOG_FLIGHT;
+ log.tick = ao_sample_tick;
+ log.u.flight.flight = ao_flight_number;
+ log.u.flight.ground_pres = ao_ground_pres;
+ ao_log_mini(&log);
+#endif
+
+ /* Write the whole contents of the ring to the log
+ * when starting up.
+ */
+ ao_log_data_pos = ao_data_ring_next(ao_data_head);
+ next_sensor = ao_data_ring[ao_log_data_pos].tick;
+ ao_log_state = ao_flight_startup;
+ for (;;) {
+ /* Write samples to EEPROM */
+ while (ao_log_data_pos != ao_data_head) {
+ log.tick = ao_data_ring[ao_log_data_pos].tick;
+ if ((int16_t) (log.tick - next_sensor) >= 0) {
+ log.type = AO_LOG_SENSOR;
+ ao_log_pack24(log.u.sensor.pres,
+ ao_data_ring[ao_log_data_pos].ms5607_raw.pres);
+ ao_log_pack24(log.u.sensor.temp,
+ ao_data_ring[ao_log_data_pos].ms5607_raw.temp);
+ log.u.sensor.sense_a = ao_data_ring[ao_log_data_pos].adc.sense_a;
+ log.u.sensor.sense_m = ao_data_ring[ao_log_data_pos].adc.sense_m;
+ log.u.sensor.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
+ ao_log_mini(&log);
+ if (ao_log_state <= ao_flight_coast)
+ next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
+ else
+ next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT;
+ }
+ ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
+ }
+#if HAS_FLIGHT
+ /* Write state change to EEPROM */
+ if (ao_flight_state != ao_log_state) {
+ ao_log_state = ao_flight_state;
+ log.type = AO_LOG_STATE;
+ log.tick = ao_time();
+ log.u.state.state = ao_log_state;
+ log.u.state.reason = 0;
+ ao_log_mini(&log);
+
+ if (ao_log_state == ao_flight_landed)
+ ao_log_stop();
+ }
+#endif
+
+ ao_log_flush();
+
+ /* Wait for a while */
+ ao_delay(AO_MS_TO_TICKS(100));
+
+ /* Stop logging when told to */
+ while (!ao_log_running)
+ ao_sleep(&ao_log_running);
+ }
+}
+
+uint16_t
+ao_log_flight(uint8_t slot)
+{
+ if (!ao_storage_read(ao_log_pos(slot),
+ &log,
+ sizeof (struct ao_log_mini)))
+ return 0;
+
+ if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
+ return log.u.flight.flight;
+ return 0;
+}
--- /dev/null
+/*
+ * Copyright © 2011 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.
+ */
+
+/*
+ * ao_log_single.c
+ *
+ * Stores a sequence of fixed-size (32 byte) chunks
+ * without splitting memory up into separate flights
+ */
+
+#include "ao.h"
+#include "ao_product.h"
+
+static __xdata struct ao_task ao_log_single_task;
+
+__xdata uint8_t ao_log_running;
+__xdata uint8_t ao_log_mutex;
+__pdata uint32_t ao_log_start_pos;
+__pdata uint32_t ao_log_end_pos;
+__pdata uint32_t ao_log_current_pos;
+
+__xdata union ao_log_single ao_log_single_write_data;
+__xdata union ao_log_single ao_log_single_read_data;
+
+uint8_t
+ao_log_single_write(void)
+{
+ uint8_t wrote = 0;
+
+ ao_mutex_get(&ao_log_mutex); {
+ if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
+ ao_log_single_stop();
+ if (ao_log_running) {
+ wrote = 1;
+ ao_storage_write(ao_log_current_pos,
+ &ao_log_single_write_data,
+ AO_LOG_SINGLE_SIZE);
+ ao_log_current_pos += AO_LOG_SINGLE_SIZE;
+ }
+ } ao_mutex_put(&ao_log_mutex);
+ return wrote;
+}
+
+static uint8_t
+ao_log_single_valid(void)
+{
+ __xdata uint8_t *d = ao_log_single_read_data.bytes;
+ uint8_t i;
+ for (i = 0; i < AO_LOG_SINGLE_SIZE; i++)
+ if (*d++ != 0xff)
+ return 1;
+ return 0;
+}
+
+uint8_t
+ao_log_single_read(uint32_t pos)
+{
+ if (!ao_storage_read(pos, &ao_log_single_read_data, AO_LOG_SINGLE_SIZE))
+ return 0;
+ return ao_log_single_valid();
+}
+
+void
+ao_log_single_start(void)
+{
+ if (!ao_log_running) {
+ ao_log_running = 1;
+ ao_wakeup(&ao_log_running);
+ }
+}
+
+void
+ao_log_single_stop(void)
+{
+ if (ao_log_running) {
+ ao_log_running = 0;
+ }
+}
+
+void
+ao_log_single_restart(void)
+{
+ /* Find end of data */
+ ao_log_end_pos = ao_storage_config;
+ for (ao_log_current_pos = 0;
+ ao_log_current_pos < ao_storage_config;
+ ao_log_current_pos += ao_storage_block)
+ {
+ if (!ao_log_single_read(ao_log_current_pos))
+ break;
+ }
+ if (ao_log_current_pos > 0) {
+ ao_log_current_pos -= ao_storage_block;
+ for (; ao_log_current_pos < ao_storage_config;
+ ao_log_current_pos += sizeof (struct ao_log_telescience))
+ {
+ if (!ao_log_single_read(ao_log_current_pos))
+ break;
+ }
+ }
+}
+
+void
+ao_log_single_set(void)
+{
+ printf("Logging currently %s\n", ao_log_running ? "on" : "off");
+ ao_cmd_hex();
+ if (ao_cmd_status == ao_cmd_success) {
+ if (ao_cmd_lex_i) {
+ printf("Logging from %ld to %ld\n", ao_log_current_pos, ao_log_end_pos);
+ ao_log_single_start();
+ } else {
+ printf ("Log stopped at %ld\n", ao_log_current_pos);
+ ao_log_single_stop();
+ }
+ }
+ ao_cmd_status = ao_cmd_success;
+}
+
+void
+ao_log_single_delete(void)
+{
+ uint32_t pos;
+
+ ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ if (ao_cmd_lex_i != 1) {
+ ao_cmd_status = ao_cmd_syntax_error;
+ printf("No such flight: %d\n", ao_cmd_lex_i);
+ return;
+ }
+ ao_log_single_stop();
+ for (pos = 0; pos < ao_storage_config; pos += ao_storage_block) {
+ if (!ao_log_single_read(pos))
+ break;
+ ao_storage_erase(pos);
+ }
+ ao_log_current_pos = ao_log_start_pos = 0;
+ if (pos == 0)
+ printf("No such flight: %d\n", ao_cmd_lex_i);
+ else
+ printf ("Erased\n");
+}
+
+uint8_t
+ao_log_full(void)
+{
+ return ao_log_current_pos >= ao_log_end_pos;
+}
+
+uint8_t
+ao_log_present(void)
+{
+ return ao_log_single_read(0);
+}
+
+static void
+ao_log_single_query(void)
+{
+ printf("Logging enabled: %d\n", ao_log_running);
+ printf("Log start: %ld\n", ao_log_start_pos);
+ printf("Log cur: %ld\n", ao_log_current_pos);
+ printf("Log end: %ld\n", ao_log_end_pos);
+ ao_log_single_extra_query();
+}
+
+const struct ao_cmds ao_log_single_cmds[] = {
+ { ao_log_single_set, "L <0 off, 1 on>\0Set logging" },
+ { ao_log_single_list, "l\0List stored logs" },
+ { ao_log_single_delete, "d 1\0Delete all stored logs" },
+ { ao_log_single_query, "q\0Query log status" },
+ { 0, NULL },
+};
+
+void
+ao_log_single_init(void)
+{
+ ao_log_running = 0;
+
+ ao_cmd_register(&ao_log_single_cmds[0]);
+
+ ao_add_task(&ao_log_single_task, ao_log_single, "log");
+}
--- /dev/null
+/*
+ * Copyright © 2011 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_flight.h>
+#include <ao_sample.h>
+
+__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMETRY;
+
+static __data uint8_t ao_log_monitor_pos;
+__pdata enum ao_flight_state ao_flight_state;
+__xdata int16_t ao_max_height; /* max of ao_height */
+__pdata int16_t sense_d, sense_m;
+__pdata uint8_t ao_igniter_present;
+
+static void
+ao_log_telem_track() {
+ if (ao_monitoring == sizeof (union ao_telemetry_all)) {
+ switch (ao_log_single_write_data.telemetry.generic.type) {
+ case AO_TELEMETRY_SENSOR_TELEMETRUM:
+ case AO_TELEMETRY_SENSOR_TELEMINI:
+ /* fall through ... */
+ case AO_TELEMETRY_SENSOR_TELENANO:
+ if (ao_log_single_write_data.telemetry.generic.type == AO_TELEMETRY_SENSOR_TELENANO) {
+ ao_igniter_present = 0;
+ } else {
+ sense_d = ao_log_single_write_data.telemetry.sensor.sense_d;
+ sense_m = ao_log_single_write_data.telemetry.sensor.sense_m;
+ ao_igniter_present = 1;
+ }
+ if (ao_log_single_write_data.telemetry.sensor.height > ao_max_height) {
+ ao_max_height = ao_log_single_write_data.telemetry.sensor.height;
+ }
+ if (ao_log_single_write_data.telemetry.sensor.state != ao_flight_state) {
+ ao_flight_state = ao_log_single_write_data.telemetry.sensor.state;
+ if (ao_flight_state == ao_flight_pad)
+ ao_max_height = 0;
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+ }
+ }
+}
+
+enum ao_igniter_status
+ao_igniter_status(enum ao_igniter igniter)
+{
+ int16_t value;
+
+ switch (igniter) {
+ case ao_igniter_drogue:
+ value = sense_d;
+ break;
+ case ao_igniter_main:
+ value = sense_m;
+ break;
+ default:
+ value = 0;
+ break;
+ }
+ if (value < AO_IGNITER_OPEN)
+ return ao_igniter_open;
+ else if (value > AO_IGNITER_CLOSED)
+ return ao_igniter_ready;
+ else
+ return ao_igniter_unknown;
+}
+
+void
+ao_log_single(void)
+{
+ ao_storage_setup();
+
+ /* This can take a while, so let the rest
+ * of the system finish booting before we start
+ */
+ ao_delay(AO_SEC_TO_TICKS(2));
+
+ ao_log_running = 1;
+ ao_log_single_restart();
+ ao_flight_state = ao_flight_startup;
+ ao_monitor_set(sizeof(struct ao_telemetry_generic));
+
+ for (;;) {
+ while (!ao_log_running)
+ ao_sleep(&ao_log_running);
+
+ ao_log_monitor_pos = ao_monitor_head;
+ while (ao_log_running) {
+ /* Write samples to EEPROM */
+ while (ao_log_monitor_pos != ao_monitor_head) {
+ ao_xmemcpy(&ao_log_single_write_data.telemetry,
+ &ao_monitor_ring[ao_log_monitor_pos],
+ AO_LOG_SINGLE_SIZE);
+ ao_log_single_write();
+ ao_log_monitor_pos = ao_monitor_ring_next(ao_log_monitor_pos);
+ ao_log_telem_track();
+ }
+ /* Wait for more telemetry data to arrive */
+ ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
+ }
+ }
+}
+
+void
+ao_log_single_list(void)
+{
+ if (ao_log_current_pos != 0)
+ printf("flight 1 start %x end %x\n",
+ 0,
+ (uint16_t) ((ao_log_current_pos + 0xff) >> 8));
+ printf ("done\n");
+}
+
+void
+ao_log_single_extra_query(void)
+{
+}
--- /dev/null
+/*
+ * Copyright © 2011 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_product.h"
+#include "ao_log.h"
+#include "ao_companion.h"
+
+static uint8_t ao_log_data_pos;
+
+__code uint8_t ao_log_format = AO_LOG_FORMAT_TELESCIENCE;
+
+static void
+ao_log_telescience_csum(void) __reentrant
+{
+ __xdata uint8_t *b = ao_log_single_write_data.bytes;
+ uint8_t sum = 0x5a;
+ uint8_t i;
+
+ ao_log_single_write_data.telescience.csum = 0;
+ for (i = 0; i < sizeof (struct ao_log_telescience); i++)
+ sum += *b++;
+ ao_log_single_write_data.telescience.csum = -sum;
+}
+
+void
+ao_log_single(void)
+{
+ ao_storage_setup();
+
+ /* This can take a while, so let the rest
+ * of the system finish booting before we start
+ */
+ ao_delay(AO_SEC_TO_TICKS(10));
+
+ ao_log_single_restart();
+ for (;;) {
+ while (!ao_log_running)
+ ao_sleep(&ao_log_running);
+
+ ao_log_start_pos = ao_log_current_pos;
+ ao_log_single_write_data.telescience.type = AO_LOG_TELESCIENCE_START;
+ ao_log_single_write_data.telescience.tick = ao_time();
+ ao_log_single_write_data.telescience.adc[0] = ao_companion_command.serial;
+ ao_log_single_write_data.telescience.adc[1] = ao_companion_command.flight;
+ ao_log_telescience_csum();
+ ao_log_single_write();
+ /* Write the whole contents of the ring to the log
+ * when starting up.
+ */
+ ao_log_data_pos = ao_data_ring_next(ao_data_head);
+ ao_log_single_write_data.telescience.type = AO_LOG_TELESCIENCE_DATA;
+ while (ao_log_running) {
+ /* Write samples to EEPROM */
+ while (ao_log_data_pos != ao_data_head) {
+ ao_log_single_write_data.telescience.tick = ao_data_ring[ao_log_data_pos].tick;
+ memcpy(&ao_log_single_write_data.telescience.adc, (void *) ao_data_ring[ao_log_data_pos].adc.adc,
+ AO_LOG_TELESCIENCE_NUM_ADC * sizeof (uint16_t));
+ ao_log_telescience_csum();
+ ao_log_single_write();
+ ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
+ }
+ /* Wait for more ADC data to arrive */
+ ao_sleep((void *) &ao_data_head);
+ }
+ memset(&ao_log_single_write_data.telescience.adc, '\0', sizeof (ao_log_single_write_data.telescience.adc));
+ }
+}
+
+void
+ao_log_single_list(void)
+{
+ uint32_t pos;
+ uint32_t start = 0;
+ uint8_t flight = 0;
+
+ for (pos = 0; ; pos += sizeof (struct ao_log_telescience)) {
+ if (pos >= ao_storage_config ||
+ !ao_log_single_read(pos) ||
+ ao_log_single_read_data.telescience.type == AO_LOG_TELESCIENCE_START)
+ {
+ if (pos != start) {
+ printf("flight %d start %x end %x\n",
+ flight,
+ (uint16_t) (start >> 8),
+ (uint16_t) ((pos + 0xff) >> 8)); flush();
+ }
+ if (ao_log_single_read_data.telescience.type != AO_LOG_TELESCIENCE_START)
+ break;
+ start = pos;
+ flight++;
+ }
+ }
+ printf ("done\n");
+}
+
+void
+ao_log_single_extra_query(void)
+{
+ printf("log data tick: %04x\n", ao_log_single_write_data.telescience.tick);
+ printf("TM data tick: %04x\n", ao_log_single_write_data.telescience.tm_tick);
+ printf("TM state: %d\n", ao_log_single_write_data.telescience.tm_state);
+ printf("TM serial: %d\n", ao_companion_command.serial);
+ printf("TM flight: %d\n", ao_companion_command.flight);
+}
--- /dev/null
+/*
+ * Copyright © 2011 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"
+
+static __data uint16_t ao_log_tiny_interval;
+
+#define AO_LOG_TINY_INTERVAL_DEFAULT AO_MS_TO_TICKS(1000)
+#if USE_FAST_ASCENT_LOG
+#define AO_LOG_TINY_INTERVAL_ASCENT AO_MS_TO_TICKS(100)
+#define AO_PAD_RING 8
+#else
+#define AO_LOG_TINY_INTERVAL_ASCENT AO_LOG_TINY_INTERVAL_DEFAULT
+#define AO_PAD_RING 2
+#endif
+
+__code uint8_t ao_log_format = AO_LOG_FORMAT_TINY;
+
+void
+ao_log_tiny_set_interval(uint16_t ticks)
+{
+ ao_log_tiny_interval = ticks;
+}
+
+
+static void ao_log_tiny_data(uint16_t d)
+{
+ if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
+ ao_log_stop();
+ if (ao_log_running) {
+ ao_storage_write(ao_log_current_pos, DATA_TO_XDATA(&d), 2);
+ ao_log_current_pos += 2;
+ }
+}
+
+static __xdata uint16_t ao_log_pad_ring[AO_PAD_RING];
+static __pdata uint8_t ao_log_pad_ring_pos;
+
+#define ao_pad_ring_next(n) (((n) + 1) & (AO_PAD_RING - 1))
+
+static void ao_log_tiny_queue(uint16_t d)
+{
+ ao_log_pad_ring[ao_log_pad_ring_pos] = d;
+ ao_log_pad_ring_pos = ao_pad_ring_next(ao_log_pad_ring_pos);
+}
+
+static void ao_log_tiny_start(void)
+{
+ uint8_t p;
+ uint16_t d;
+
+ ao_log_tiny_data(ao_flight_number);
+ ao_log_tiny_data(ao_ground_pres);
+ p = ao_log_pad_ring_pos;
+ do {
+ d = ao_log_pad_ring[p];
+ /*
+ * ignore unwritten slots
+ */
+ if (d)
+ ao_log_tiny_data(d);
+ p = ao_pad_ring_next(p);
+ } while (p != ao_log_pad_ring_pos);
+}
+
+void
+ao_log(void)
+{
+ uint16_t last_time;
+ uint16_t now;
+ enum ao_flight_state ao_log_tiny_state;
+ int32_t sum;
+ int16_t count;
+ uint8_t ao_log_data;
+ uint8_t ao_log_started = 0;
+
+ ao_storage_setup();
+
+ ao_log_scan();
+
+ ao_log_tiny_state = ao_flight_invalid;
+ ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_ASCENT;
+ sum = 0;
+ count = 0;
+ ao_log_data = ao_sample_data;
+ last_time = ao_time();
+ for (;;) {
+
+ /*
+ * Add in pending sample data
+ */
+ ao_sleep(DATA_TO_XDATA(&ao_sample_data));
+ while (ao_log_data != ao_sample_data) {
+ sum += ao_data_pres(&ao_data_ring[ao_log_data]);
+ count++;
+ ao_log_data = ao_data_ring_next(ao_log_data);
+ }
+ if (ao_log_running) {
+ if (!ao_log_started) {
+ ao_log_tiny_start();
+ ao_log_started = 1;
+ }
+ if (ao_flight_state != ao_log_tiny_state) {
+ ao_log_tiny_data(ao_flight_state | 0x8000);
+ ao_log_tiny_state = ao_flight_state;
+ ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_DEFAULT;
+#if AO_LOG_TINY_INTERVAL_ASCENT != AO_LOG_TINY_INTERVAL_DEFAULT
+ if (ao_log_tiny_state <= ao_flight_coast)
+ ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_ASCENT;
+#endif
+ if (ao_log_tiny_state == ao_flight_landed)
+ ao_log_stop();
+ }
+ }
+
+ /* Stop logging when told to */
+ if (!ao_log_running && ao_log_started)
+ ao_exit();
+
+ /*
+ * Write out the sample when finished
+ */
+ now = ao_time();
+ if ((int16_t) (now - (last_time + ao_log_tiny_interval)) >= 0 && count) {
+ count = sum / count;
+ if (ao_log_started)
+ ao_log_tiny_data(count);
+ else
+ ao_log_tiny_queue(count);
+ sum = 0;
+ count = 0;
+ last_time = now;
+ }
+ }
+}
+
+uint16_t
+ao_log_flight(uint8_t slot)
+{
+ static __xdata uint16_t flight;
+
+ (void) slot;
+ ao_storage_read(0, &flight, 2);
+ if (flight == 0xffff)
+ flight = 0;
+ return flight;
+}
--- /dev/null
+/*
+ * Copyright © 2013 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.
+ */
+
+#ifndef AO_FLIGHT_TEST
+#include <ao.h>
+#endif
+#include <ao_micropeak.h>
+#include <ao_log_micro.h>
+
+uint32_t pa;
+uint32_t pa_ground;
+uint32_t pa_min;
+
+static void
+ao_microsample(void)
+{
+ ao_pa_get();
+ ao_microkalman_predict();
+ ao_microkalman_correct();
+}
+
+#define NUM_PA_HIST (GROUND_AVG)
+
+#define SKIP_PA_HIST(i,j) (((i) + (j)) & (NUM_PA_HIST - 1))
+
+static uint32_t pa_hist[NUM_PA_HIST];
+
+void
+ao_microflight(void)
+{
+ int16_t sample_count;
+ uint16_t time;
+ uint32_t pa_interval_min, pa_interval_max;
+ int32_t pa_diff;
+ uint8_t h, i;
+ uint8_t accel_lock = 0;
+ uint32_t pa_sum = 0;
+
+ /* Wait for motion, averaging values to get ground pressure */
+
+ time = ao_time();
+ ao_pa_get();
+ ao_microkalman_init();
+ pa_ground = pa;
+ sample_count = 0;
+ h = 0;
+ for (;;) {
+ time += SAMPLE_SLEEP;
+ if ((sample_count & 0x1f) == 0)
+ ao_led_on(AO_LED_REPORT);
+ ao_delay_until(time);
+ ao_microsample();
+ if ((sample_count & 0x1f) == 0)
+ ao_led_off(AO_LED_REPORT);
+ pa_hist[h] = pa;
+ h = SKIP_PA_HIST(h,1);
+ pa_diff = pa_ground - ao_pa;
+
+ /* Check for a significant pressure change */
+ if (pa_diff > BOOST_DETECT)
+ break;
+
+ if (sample_count < GROUND_AVG * 2) {
+ if (sample_count < GROUND_AVG)
+ pa_sum += pa;
+ ++sample_count;
+ } else {
+ pa_ground = pa_sum >> GROUND_AVG_SHIFT;
+ pa_sum = 0;
+ sample_count = 0;
+ }
+ }
+
+ /* Go back and find the last sample close to the ground */
+ pa_min = pa_ground - LAND_DETECT;
+ for (i = SKIP_PA_HIST(h,-2); i != SKIP_PA_HIST(h,2); i = SKIP_PA_HIST(i,-2)) {
+ if (pa_hist[i] >= pa_min)
+ break;
+ }
+
+ /* Log the remaining samples so we get a complete history since leaving the ground */
+ for (; i != h; i = SKIP_PA_HIST(i,2)) {
+ pa = pa_hist[i];
+ ao_log_micro_data();
+ }
+
+ /* Now sit around until the pressure is stable again and record the max */
+
+ sample_count = 0;
+ pa_min = ao_pa;
+ pa_interval_min = ao_pa;
+ pa_interval_max = ao_pa;
+ for (;;) {
+ time += SAMPLE_SLEEP;
+ ao_delay_until(time);
+ if ((sample_count & 3) == 0)
+ ao_led_on(AO_LED_REPORT);
+ ao_microsample();
+ if ((sample_count & 3) == 0)
+ ao_led_off(AO_LED_REPORT);
+ if (sample_count & 1)
+ ao_log_micro_data();
+
+ /* If accelerating upwards, don't look for min pressure */
+ if (ao_pa_accel < ACCEL_LOCK_PA)
+ accel_lock = ACCEL_LOCK_TIME;
+ else if (accel_lock)
+ --accel_lock;
+ else if (ao_pa < pa_min)
+ pa_min = ao_pa;
+
+ if (sample_count == (GROUND_AVG - 1)) {
+ pa_diff = pa_interval_max - pa_interval_min;
+
+ /* Check to see if the pressure is now stable */
+ if (pa_diff < LAND_DETECT)
+ break;
+ sample_count = 0;
+ pa_interval_min = ao_pa;
+ pa_interval_max = ao_pa;
+ } else {
+ if (ao_pa < pa_interval_min)
+ pa_interval_min = ao_pa;
+ if (ao_pa > pa_interval_max)
+ pa_interval_max = ao_pa;
+ ++sample_count;
+ }
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2013 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.
+ */
+
+#ifndef AO_FLIGHT_TEST
+#include <ao.h>
+#endif
+#include <ao_micropeak.h>
+
+#define FIX_BITS 16
+
+#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
+#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
+#define from_fix8(x) ((x) >> 8)
+#define from_fix(x) ((x) >> 16)
+#define fix8_to_fix16(x) ((x) << 8)
+#define fix16_to_fix8(x) ((x) >> 8)
+
+#include <ao_kalman.h>
+
+/* Basic time step (96ms) */
+#define AO_MK_STEP to_fix16(0.096)
+/* step ** 2 / 2 */
+#define AO_MK_STEP_2_2 to_fix16(0.004608)
+
+uint32_t ao_k_pa; /* 24.8 fixed point */
+int32_t ao_k_pa_speed; /* 16.16 fixed point */
+int32_t ao_k_pa_accel; /* 16.16 fixed point */
+
+uint32_t ao_pa; /* integer portion */
+int16_t ao_pa_speed; /* integer portion */
+int16_t ao_pa_accel; /* integer portion */
+
+void
+ao_microkalman_init(void)
+{
+ ao_pa = pa;
+ ao_k_pa = pa << 8;
+}
+
+void
+ao_microkalman_predict(void)
+{
+ ao_k_pa += fix16_to_fix8((int32_t) ao_pa_speed * AO_MK_STEP + (int32_t) ao_pa_accel * AO_MK_STEP_2_2);
+ ao_k_pa_speed += (int32_t) ao_pa_accel * AO_MK_STEP;
+}
+
+void
+ao_microkalman_correct(void)
+{
+ int16_t e; /* Height error in Pa */
+
+ e = pa - from_fix8(ao_k_pa);
+
+ ao_k_pa += fix16_to_fix8((int32_t) e * AO_MK_BARO_K0_10);
+ ao_k_pa_speed += (int32_t) e * AO_MK_BARO_K1_10;
+ ao_k_pa_accel += (int32_t) e * AO_MK_BARO_K2_10;
+ ao_pa = from_fix8(ao_k_pa);
+ ao_pa_speed = from_fix(ao_k_pa_speed);
+ ao_pa_accel = from_fix(ao_k_pa_accel);
+}
--- /dev/null
+/*
+ * Copyright © 2009 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_telem.h"
+#include "ao_flight.h"
+
+#if !HAS_MONITOR
+#error Must define HAS_MONITOR to 1
+#endif
+
+#ifndef LEGACY_MONITOR
+#error Must define LEGACY_MONITOR
+#endif
+
+#ifndef HAS_MONITOR_PUT
+#define HAS_MONITOR_PUT 1
+#endif
+
+#ifndef AO_MONITOR_LED
+#error Must define AO_MONITOR_LED
+#endif
+
+__data uint8_t ao_monitoring;
+static __data uint8_t ao_monitor_disabled;
+static __data uint8_t ao_internal_monitoring;
+static __data uint8_t ao_external_monitoring;
+
+__xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
+
+__data uint8_t ao_monitor_head;
+
+static void
+_ao_monitor_adjust(void)
+{
+ if (ao_monitoring)
+ ao_radio_recv_abort();
+ if (ao_monitor_disabled)
+ ao_monitoring = 0;
+ else {
+ if (ao_external_monitoring)
+ ao_monitoring = ao_external_monitoring;
+ else
+ ao_monitoring = ao_internal_monitoring;
+ }
+ ao_wakeup(DATA_TO_XDATA(&ao_monitoring));
+}
+
+void
+ao_monitor_get(void)
+{
+ uint8_t size;
+
+ for (;;) {
+ switch (ao_monitoring) {
+ case 0:
+ ao_sleep(DATA_TO_XDATA(&ao_monitoring));
+ continue;
+#if LEGACY_MONITOR
+ case AO_MONITORING_ORIG:
+ size = sizeof (struct ao_telemetry_orig_recv);
+ break;
+#endif
+ default:
+ if (ao_monitoring > AO_MAX_TELEMETRY)
+ ao_monitoring = AO_MAX_TELEMETRY;
+ size = ao_monitoring;
+ break;
+ }
+ if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2, 0))
+ continue;
+ ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
+ ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
+ }
+}
+
+#if AO_MONITOR_LED
+__xdata struct ao_task ao_monitor_blink_task;
+
+void
+ao_monitor_blink(void)
+{
+ for (;;) {
+ ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
+ ao_led_for(AO_MONITOR_LED, AO_MS_TO_TICKS(100));
+ }
+}
+#endif
+
+#if HAS_MONITOR_PUT
+
+static const char xdigit[16] = {
+ '0', '1', '2', '3', '4', '5', '6', '7',
+ '8', '9', 'a', 'b', 'c', 'd', 'e', 'f'
+};
+
+#define hex(c) do { putchar(xdigit[(c) >> 4]); putchar(xdigit[(c)&0xf]); } while (0)
+
+void
+ao_monitor_put(void)
+{
+#if LEGACY_MONITOR
+ __xdata char callsign[AO_MAX_CALLSIGN+1];
+ int16_t rssi;
+#endif
+ uint8_t ao_monitor_tail;
+ uint8_t state;
+ uint8_t sum, byte;
+ __xdata union ao_monitor *m;
+
+#define recv_raw ((m->raw))
+#define recv_orig ((m->orig))
+#define recv_tiny ((m->tiny))
+
+ ao_monitor_tail = ao_monitor_head;
+ for (;;) {
+ while (!ao_external_monitoring)
+ ao_sleep(DATA_TO_XDATA(&ao_external_monitoring));
+ while (ao_monitor_tail == ao_monitor_head && ao_external_monitoring)
+ ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
+ if (!ao_external_monitoring)
+ continue;
+ m = &ao_monitor_ring[ao_monitor_tail];
+ ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
+ switch (ao_monitoring) {
+ case 0:
+ break;
+#if LEGACY_MONITOR
+ case AO_MONITORING_ORIG:
+ state = recv_orig.telemetry_orig.flight_state;
+
+ rssi = (int16_t) AO_RSSI_FROM_RADIO(recv_orig.rssi);
+ ao_xmemcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
+ if (state > ao_flight_invalid)
+ state = ao_flight_invalid;
+ if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
+
+ /* General header fields */
+ printf(AO_TELEM_VERSION " %d "
+ AO_TELEM_CALL " %s "
+ AO_TELEM_SERIAL " %d "
+ AO_TELEM_FLIGHT " %d "
+ AO_TELEM_RSSI " %d "
+ AO_TELEM_STATE " %s "
+ AO_TELEM_TICK " %d ",
+ AO_TELEMETRY_VERSION,
+ callsign,
+ recv_orig.telemetry_orig.serial,
+ recv_orig.telemetry_orig.flight,
+ rssi,
+ ao_state_names[state],
+ recv_orig.telemetry_orig.adc.tick);
+
+ /* Raw sensor values */
+ printf(AO_TELEM_RAW_ACCEL " %d "
+ AO_TELEM_RAW_BARO " %d "
+ AO_TELEM_RAW_THERMO " %d "
+ AO_TELEM_RAW_BATT " %d "
+ AO_TELEM_RAW_DROGUE " %d "
+ AO_TELEM_RAW_MAIN " %d ",
+ recv_orig.telemetry_orig.adc.accel,
+ recv_orig.telemetry_orig.adc.pres,
+ recv_orig.telemetry_orig.adc.temp,
+ recv_orig.telemetry_orig.adc.v_batt,
+ recv_orig.telemetry_orig.adc.sense_d,
+ recv_orig.telemetry_orig.adc.sense_m);
+
+ /* Sensor calibration values */
+ printf(AO_TELEM_CAL_ACCEL_GROUND " %d "
+ AO_TELEM_CAL_BARO_GROUND " %d "
+ AO_TELEM_CAL_ACCEL_PLUS " %d "
+ AO_TELEM_CAL_ACCEL_MINUS " %d ",
+ recv_orig.telemetry_orig.ground_accel,
+ recv_orig.telemetry_orig.ground_pres,
+ recv_orig.telemetry_orig.accel_plus_g,
+ recv_orig.telemetry_orig.accel_minus_g);
+
+ if (recv_orig.telemetry_orig.u.k.unused == 0x8000) {
+ /* Kalman state values */
+ printf(AO_TELEM_KALMAN_HEIGHT " %d "
+ AO_TELEM_KALMAN_SPEED " %d "
+ AO_TELEM_KALMAN_ACCEL " %d ",
+ recv_orig.telemetry_orig.height,
+ recv_orig.telemetry_orig.u.k.speed,
+ recv_orig.telemetry_orig.accel);
+ } else {
+ /* Ad-hoc flight values */
+ printf(AO_TELEM_ADHOC_ACCEL " %d "
+ AO_TELEM_ADHOC_SPEED " %ld "
+ AO_TELEM_ADHOC_BARO " %d ",
+ recv_orig.telemetry_orig.accel,
+ recv_orig.telemetry_orig.u.flight_vel,
+ recv_orig.telemetry_orig.height);
+ }
+ ao_gps_print(&recv_orig.telemetry_orig.gps);
+ ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
+ putchar('\n');
+#if HAS_RSSI
+ ao_rssi_set(rssi);
+#endif
+ } else {
+ printf("CRC INVALID RSSI %3d\n", rssi);
+ }
+ break;
+#endif /* LEGACY_MONITOR */
+ default:
+#if AO_PROFILE
+ {
+ extern uint32_t ao_rx_start_tick, ao_rx_packet_tick, ao_rx_done_tick, ao_rx_last_done_tick;
+ extern uint32_t ao_fec_decode_start, ao_fec_decode_end;
+
+ printf ("between packet: %d\n", ao_rx_start_tick - ao_rx_last_done_tick);
+ printf ("receive start delay: %d\n", ao_rx_packet_tick - ao_rx_start_tick);
+ printf ("decode time: %d\n", ao_fec_decode_end - ao_fec_decode_start);
+ printf ("rx cleanup: %d\n", ao_rx_done_tick - ao_fec_decode_end);
+ }
+#endif
+ printf("TELEM ");
+ hex((uint8_t) (ao_monitoring + 2));
+ sum = 0x5a;
+ for (state = 0; state < ao_monitoring + 2; state++) {
+ byte = recv_raw.packet[state];
+ sum += byte;
+ hex(byte);
+ }
+ hex(sum);
+ putchar ('\n');
+#if HAS_RSSI
+ if (recv_raw.packet[ao_monitoring + 1] & PKT_APPEND_STATUS_1_CRC_OK) {
+ rssi = AO_RSSI_FROM_RADIO(recv_raw.packet[ao_monitoring]);
+ ao_rssi_set(rssi);
+ }
+#endif
+ break;
+ }
+ ao_usb_flush();
+ }
+}
+
+__xdata struct ao_task ao_monitor_put_task;
+#endif
+
+__xdata struct ao_task ao_monitor_get_task;
+
+void
+ao_monitor_set(uint8_t monitoring)
+{
+ ao_internal_monitoring = monitoring;
+ _ao_monitor_adjust();
+}
+
+void
+ao_monitor_disable(void)
+{
+ ++ao_monitor_disabled;
+ _ao_monitor_adjust();
+}
+
+void
+ao_monitor_enable(void)
+{
+ --ao_monitor_disabled;
+ _ao_monitor_adjust();
+}
+
+#if HAS_MONITOR_PUT
+static void
+set_monitor(void)
+{
+ ao_cmd_hex();
+ ao_external_monitoring = ao_cmd_lex_i;
+ ao_wakeup(DATA_TO_XDATA(&ao_external_monitoring));
+ ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
+ _ao_monitor_adjust();
+}
+
+__code struct ao_cmds ao_monitor_cmds[] = {
+ { set_monitor, "m <0 off, 1 old, 20 std>\0Set radio monitoring" },
+ { 0, NULL },
+};
+#endif
+
+void
+ao_monitor_init(void) __reentrant
+{
+#if HAS_MONITOR_PUT
+ ao_cmd_register(&ao_monitor_cmds[0]);
+ ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");
+#endif
+ ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
+#if AO_MONITOR_LED
+ ao_add_task(&ao_monitor_blink_task, ao_monitor_blink, "monitor_blink");
+#endif
+}
--- /dev/null
+/*
+ * Copyright © 2009 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"
+
+void
+ao_mutex_get(__xdata uint8_t *mutex) __reentrant
+{
+ if (*mutex == ao_cur_task->task_id)
+ ao_panic(AO_PANIC_MUTEX);
+ ao_arch_critical(
+ while (*mutex)
+ ao_sleep(mutex);
+ *mutex = ao_cur_task->task_id;
+ );
+}
+
+void
+ao_mutex_put(__xdata uint8_t *mutex) __reentrant
+{
+ if (*mutex != ao_cur_task->task_id)
+ ao_panic(AO_PANIC_MUTEX);
+ ao_arch_critical(
+ *mutex = 0;
+ ao_wakeup(mutex);
+ );
+}
--- /dev/null
+/*
+ * 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>
+
+static volatile void *ao_wchan;
+
+uint8_t
+ao_sleep(__xdata void *wchan)
+{
+#if 1
+ ao_wchan = wchan;
+ ao_arch_wait_interrupt();
+#else
+ uint8_t sreg;
+
+ ao_wchan = wchan;
+ asm("in %0,__SREG__" : "=&r" (sreg));
+ sei();
+ while (ao_wchan)
+ ao_arch_cpu_idle();
+ asm("out __SREG__,%0" : : "r" (sreg));
+#endif
+ return 0;
+}
+
+void
+ao_wakeup(__xdata void *wchan)
+{
+ (void) wchan;
+ ao_wchan = 0;
+}
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_NOTASK_H_
+#define _AO_NOTASK_H_
+
+uint8_t
+ao_sleep(__xdata void *wchan);
+
+void
+ao_wakeup(__xdata void *wchan);
+
+#endif /* _AO_NOTASK_H_ */
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_PACKET_H_
+#define _AO_PACKET_H_
+
+/*
+ * ao_packet.c
+ *
+ * Packet-based command interface
+ */
+
+#define AO_PACKET_MAX 64
+#define AO_PACKET_SYN (uint8_t) 0xff
+
+struct ao_packet {
+ uint8_t addr;
+ uint8_t len;
+ uint8_t seq;
+ uint8_t ack;
+ uint8_t d[AO_PACKET_MAX];
+ uint8_t callsign[AO_MAX_CALLSIGN];
+};
+
+struct ao_packet_recv {
+ struct ao_packet packet;
+ int8_t rssi;
+ uint8_t status;
+};
+
+extern __xdata struct ao_packet_recv ao_rx_packet;
+extern __xdata struct ao_packet ao_tx_packet;
+extern __xdata struct ao_task ao_packet_task;
+extern __xdata uint8_t ao_packet_enable;
+extern __xdata uint8_t ao_packet_master_sleeping;
+extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used;
+extern __xdata uint8_t ao_packet_restart;
+
+void
+ao_packet_send(void);
+
+uint8_t
+ao_packet_recv(void);
+
+void
+ao_packet_flush(void);
+
+void
+ao_packet_putchar(char c) __reentrant;
+
+int
+_ao_packet_pollchar(void);
+
+#if PACKET_HAS_MASTER
+/* ao_packet_master.c */
+
+extern __xdata int8_t ao_packet_last_rssi;
+
+void
+ao_packet_master_init(void);
+#endif
+
+#if PACKET_HAS_SLAVE
+/* ao_packet_slave.c */
+
+void
+ao_packet_slave_start(void);
+
+void
+ao_packet_slave_stop(void);
+
+void
+ao_packet_slave_init(uint8_t enable);
+
+#endif
+
+#endif /* _AO_PACKET_H_ */
--- /dev/null
+/*
+ * Copyright © 2009 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"
+
+#ifndef HAS_BEEP
+#error Please define HAS_BEEP
+#endif
+
+#if !HAS_BEEP
+#define ao_beep(x)
+#endif
+#if !LEDS_AVAILABLE
+#define ao_led_on(x)
+#define ao_led_off(x)
+#endif
+
+#ifndef AO_LED_PANIC
+#define AO_LED_PANIC AO_LED_RED
+#endif
+
+static void
+ao_panic_delay(uint8_t n)
+{
+ uint8_t i = 0, j = 0;
+
+ while (n--)
+ while (--j)
+ while (--i)
+ ao_arch_nop();
+}
+
+void
+ao_panic(uint8_t reason)
+{
+ uint8_t n;
+
+#if LOW_LEVEL_DEBUG
+ ao_cur_task = NULL;
+ printf ("panic %d\n", reason);
+#endif
+ ao_arch_block_interrupts();
+ for (;;) {
+ ao_panic_delay(20);
+ for (n = 0; n < 5; n++) {
+ ao_led_on(AO_LED_PANIC);
+ ao_beep(AO_BEEP_HIGH);
+ ao_panic_delay(1);
+ ao_led_off(AO_LED_PANIC);
+ ao_beep(AO_BEEP_LOW);
+ ao_panic_delay(1);
+ }
+ ao_beep(AO_BEEP_OFF);
+ ao_panic_delay(2);
+
+#ifdef SDCC
+#pragma disable_warning 126
+#endif
+ if (reason & 0x40) {
+ ao_led_on(AO_LED_PANIC);
+ ao_beep(AO_BEEP_HIGH);
+ ao_panic_delay(40);
+ ao_led_off(AO_LED_PANIC);
+ ao_beep(AO_BEEP_OFF);
+ ao_panic_delay(10);
+ }
+ for (n = 0; n < (reason & 0x3f); n++) {
+ ao_led_on(AO_LED_PANIC);
+ ao_beep(AO_BEEP_MID);
+ ao_panic_delay(10);
+ ao_led_off(AO_LED_PANIC);
+ ao_beep(AO_BEEP_OFF);
+ ao_panic_delay(10);
+ }
+ }
+}
--- /dev/null
+/*
+ * Copyright © 2009 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_product.h"
+
+/* Defines which mark this particular AltOS product */
+
+const char ao_version[AO_MAX_VERSION] = AO_iVersion_STRING;
+const char ao_manufacturer[] = AO_iManufacturer_STRING;
+const char ao_product[] = AO_iProduct_STRING;
+
+#define LE_WORD(x) ((x)&0xFF),((uint8_t) (((uint16_t) (x))>>8))
+
+#if HAS_USB
+
+/* Maximum power in mA */
+#ifndef AO_USB_MAX_POWER
+#define AO_USB_MAX_POWER 100
+#endif
+
+#include "ao_usb.h"
+/* USB descriptors in one giant block of bytes */
+AO_ROMCONFIG_SYMBOL(0x00aa) uint8_t ao_usb_descriptors [] =
+{
+ /* Device descriptor */
+ 0x12,
+ AO_USB_DESC_DEVICE,
+ LE_WORD(0x0110), /* bcdUSB */
+ 0x02, /* bDeviceClass */
+ 0x00, /* bDeviceSubClass */
+ 0x00, /* bDeviceProtocol */
+ AO_USB_CONTROL_SIZE, /* bMaxPacketSize */
+ LE_WORD(0xFFFE), /* idVendor */
+ LE_WORD(AO_idProduct_NUMBER), /* idProduct */
+ LE_WORD(0x0100), /* bcdDevice */
+ 0x01, /* iManufacturer */
+ 0x02, /* iProduct */
+ 0x03, /* iSerialNumber */
+ 0x01, /* bNumConfigurations */
+
+ /* Configuration descriptor */
+ 0x09,
+ AO_USB_DESC_CONFIGURATION,
+ LE_WORD(67), /* wTotalLength */
+ 0x02, /* bNumInterfaces */
+ 0x01, /* bConfigurationValue */
+ 0x00, /* iConfiguration */
+ 0xC0, /* bmAttributes */
+ AO_USB_MAX_POWER >> 1, /* bMaxPower, 2mA units */
+
+ /* Control class interface */
+ 0x09,
+ AO_USB_DESC_INTERFACE,
+ 0x00, /* bInterfaceNumber */
+ 0x00, /* bAlternateSetting */
+ 0x01, /* bNumEndPoints */
+ 0x02, /* bInterfaceClass */
+ 0x02, /* bInterfaceSubClass */
+ 0x01, /* bInterfaceProtocol, linux requires value of 1 for the cdc_acm module */
+ 0x00, /* iInterface */
+
+ /* Header functional descriptor */
+ 0x05,
+ AO_USB_CS_INTERFACE,
+ 0x00, /* bDescriptor SubType Header */
+ LE_WORD(0x0110), /* CDC version 1.1 */
+
+ /* Call management functional descriptor */
+ 0x05,
+ AO_USB_CS_INTERFACE,
+ 0x01, /* bDescriptor SubType Call Management */
+ 0x01, /* bmCapabilities = device handles call management */
+ 0x01, /* bDataInterface call management interface number */
+
+ /* ACM functional descriptor */
+ 0x04,
+ AO_USB_CS_INTERFACE,
+ 0x02, /* bDescriptor SubType Abstract Control Management */
+ 0x02, /* bmCapabilities = D1 (Set_line_Coding, Set_Control_Line_State, Get_Line_Coding and Serial_State) */
+
+ /* Union functional descriptor */
+ 0x05,
+ AO_USB_CS_INTERFACE,
+ 0x06, /* bDescriptor SubType Union Functional descriptor */
+ 0x00, /* bMasterInterface */
+ 0x01, /* bSlaveInterface0 */
+
+ /* Notification EP */
+ 0x07,
+ AO_USB_DESC_ENDPOINT,
+ AO_USB_INT_EP|0x80, /* bEndpointAddress */
+ 0x03, /* bmAttributes = intr */
+ LE_WORD(8), /* wMaxPacketSize */
+ 0xff, /* bInterval */
+
+ /* Data class interface descriptor */
+ 0x09,
+ AO_USB_DESC_INTERFACE,
+ 0x01, /* bInterfaceNumber */
+ 0x00, /* bAlternateSetting */
+ 0x02, /* bNumEndPoints */
+ 0x0A, /* bInterfaceClass = data */
+ 0x00, /* bInterfaceSubClass */
+ 0x00, /* bInterfaceProtocol */
+ 0x00, /* iInterface */
+
+ /* Data EP OUT */
+ 0x07,
+ AO_USB_DESC_ENDPOINT,
+ AO_USB_OUT_EP, /* bEndpointAddress */
+ 0x02, /* bmAttributes = bulk */
+ LE_WORD(AO_USB_OUT_SIZE),/* wMaxPacketSize */
+ 0x00, /* bInterval */
+
+ /* Data EP in */
+ 0x07,
+ AO_USB_DESC_ENDPOINT,
+ AO_USB_IN_EP|0x80, /* bEndpointAddress */
+ 0x02, /* bmAttributes = bulk */
+ LE_WORD(AO_USB_IN_SIZE),/* wMaxPacketSize */
+ 0x00, /* bInterval */
+
+ /* String descriptors */
+ 0x04,
+ AO_USB_DESC_STRING,
+ LE_WORD(0x0409),
+
+ /* iManufacturer */
+ AO_iManufacturer_LEN,
+ AO_USB_DESC_STRING,
+ AO_iManufacturer_UCS2,
+
+ /* iProduct */
+ AO_iProduct_LEN,
+ AO_USB_DESC_STRING,
+ AO_iProduct_UCS2,
+
+ /* iSerial */
+ AO_iSerial_LEN,
+ AO_USB_DESC_STRING,
+ AO_iSerial_UCS2,
+
+ /* Terminating zero */
+ 0
+};
+#endif
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef AO_FLIGHT_TEST
+#include <ao.h>
+#include <ao_sample.h>
+#include <ao_flight.h>
+#endif
+#include <ao_pyro.h>
+
+#if IS_COMPANION
+#include <ao_companion.h>
+#define ao_accel ao_companion_command.accel
+#define ao_speed ao_companion_command.speed
+#define ao_height ao_companion_command.height
+#define ao_flight_state ao_companion_command.flight_state
+#define ao_motor_number ao_companion_command.motor_number
+#endif
+
+#define ao_lowbit(x) ((x) & (-x))
+
+#ifndef AO_FLIGHT_TEST
+enum ao_igniter_status
+ao_pyro_status(uint8_t p)
+{
+ __xdata struct ao_data packet;
+ __pdata int16_t value;
+
+ ao_arch_critical(
+ ao_data_get(&packet);
+ );
+
+ value = (AO_IGNITER_CLOSED>>1);
+ value = AO_SENSE_PYRO(&packet, p);
+ if (value < AO_IGNITER_OPEN)
+ return ao_igniter_open;
+ else if (value > AO_IGNITER_CLOSED)
+ return ao_igniter_ready;
+ else
+ return ao_igniter_unknown;
+}
+
+void
+ao_pyro_print_status(void)
+{
+ uint8_t p;
+
+ for(p = 0; p < AO_PYRO_NUM; p++) {
+ enum ao_igniter_status status = ao_pyro_status(p);
+ printf("Igniter: %d Status: %s\n",
+ p, ao_igniter_status_names[status]);
+ }
+}
+#endif
+
+uint16_t ao_pyro_fired;
+
+/*
+ * Given a pyro structure, figure out
+ * if the current flight state satisfies all
+ * of the requirements
+ */
+static uint8_t
+ao_pyro_ready(struct ao_pyro *pyro)
+{
+ enum ao_pyro_flag flag, flags;
+
+ flags = pyro->flags;
+ while (flags != ao_pyro_none) {
+ flag = ao_lowbit(flags);
+ flags &= ~flag;
+ switch (flag) {
+
+ case ao_pyro_accel_less:
+ if (ao_accel <= pyro->accel_less)
+ continue;
+ break;
+ case ao_pyro_accel_greater:
+ if (ao_accel >= pyro->accel_greater)
+ continue;
+ break;
+
+
+ case ao_pyro_speed_less:
+ if (ao_speed <= pyro->speed_less)
+ continue;
+ break;
+ case ao_pyro_speed_greater:
+ if (ao_speed >= pyro->speed_greater)
+ continue;
+ break;
+
+ case ao_pyro_height_less:
+ if (ao_height <= pyro->height_less)
+ continue;
+ break;
+ case ao_pyro_height_greater:
+ if (ao_height >= pyro->height_greater)
+ continue;
+ break;
+
+#if HAS_GYRO
+ case ao_pyro_orient_less:
+ if (ao_sample_orient <= pyro->orient_less)
+ continue;
+ break;
+ case ao_pyro_orient_greater:
+ if (ao_sample_orient >= pyro->orient_greater)
+ continue;
+ break;
+#endif
+
+ case ao_pyro_time_less:
+ if ((int16_t) (ao_time() - ao_boost_tick) <= pyro->time_less)
+ continue;
+ break;
+ case ao_pyro_time_greater:
+ if ((int16_t) (ao_time() - ao_boost_tick) >= pyro->time_greater)
+ continue;
+ break;
+
+ case ao_pyro_ascending:
+ if (ao_speed > 0)
+ continue;
+ break;
+ case ao_pyro_descending:
+ if (ao_speed < 0)
+ continue;
+ break;
+
+ case ao_pyro_after_motor:
+ if (ao_motor_number == pyro->motor)
+ continue;
+ break;
+
+ case ao_pyro_delay:
+ /* handled separately */
+ continue;
+
+ case ao_pyro_state_less:
+ if (ao_flight_state < pyro->state_less)
+ continue;
+ break;
+ case ao_pyro_state_greater_or_equal:
+ if (ao_flight_state >= pyro->state_greater_or_equal)
+ continue;
+ break;
+
+ default:
+ continue;
+ }
+ return FALSE;
+ }
+ return TRUE;
+}
+
+#ifndef AO_FLIGHT_TEST
+static void
+ao_pyro_pin_set(uint8_t p, uint8_t v)
+{
+ switch (p) {
+#if AO_PYRO_NUM > 0
+ case 0: ao_gpio_set(AO_PYRO_PORT_0, AO_PYRO_PIN_0, AO_PYRO_0, v); break;
+#endif
+#if AO_PYRO_NUM > 1
+ case 1: ao_gpio_set(AO_PYRO_PORT_1, AO_PYRO_PIN_1, AO_PYRO_1, v); break;
+#endif
+#if AO_PYRO_NUM > 2
+ case 2: ao_gpio_set(AO_PYRO_PORT_2, AO_PYRO_PIN_2, AO_PYRO_2, v); break;
+#endif
+#if AO_PYRO_NUM > 3
+ case 3: ao_gpio_set(AO_PYRO_PORT_3, AO_PYRO_PIN_3, AO_PYRO_3, v); break;
+#endif
+#if AO_PYRO_NUM > 4
+ case 4: ao_gpio_set(AO_PYRO_PORT_4, AO_PYRO_PIN_4, AO_PYRO_4, v); break;
+#endif
+#if AO_PYRO_NUM > 5
+ case 5: ao_gpio_set(AO_PYRO_PORT_5, AO_PYRO_PIN_5, AO_PYRO_5, v); break;
+#endif
+#if AO_PYRO_NUM > 6
+ case 6: ao_gpio_set(AO_PYRO_PORT_6, AO_PYRO_PIN_6, AO_PYRO_6, v); break;
+#endif
+#if AO_PYRO_NUM > 7
+ case 7: ao_gpio_set(AO_PYRO_PORT_7, AO_PYRO_PIN_7, AO_PYRO_7, v); break;
+#endif
+ default: break;
+ }
+}
+#endif
+
+uint8_t ao_pyro_wakeup;
+
+static void
+ao_pyro_pins_fire(uint16_t fire)
+{
+ uint8_t p;
+
+ for (p = 0; p < AO_PYRO_NUM; p++) {
+ if (fire & (1 << p))
+ ao_pyro_pin_set(p, 1);
+ }
+ ao_delay(AO_MS_TO_TICKS(50));
+ for (p = 0; p < AO_PYRO_NUM; p++) {
+ if (fire & (1 << p)) {
+ ao_pyro_pin_set(p, 0);
+ ao_config.pyro[p].fired = 1;
+ ao_pyro_fired |= (1 << p);
+ }
+ }
+ ao_delay(AO_MS_TO_TICKS(50));
+}
+
+static uint8_t
+ao_pyro_check(void)
+{
+ struct ao_pyro *pyro;
+ uint8_t p, any_waiting;
+ uint16_t fire = 0;
+
+ any_waiting = 0;
+ for (p = 0; p < AO_PYRO_NUM; p++) {
+ pyro = &ao_config.pyro[p];
+
+ /* Ignore igniters which have already fired
+ */
+ if (pyro->fired)
+ continue;
+
+ /* Ignore disabled igniters
+ */
+ if (!pyro->flags)
+ continue;
+
+ any_waiting = 1;
+ /* Check pyro state to see if it should fire
+ */
+ if (!pyro->delay_done) {
+ if (!ao_pyro_ready(pyro))
+ continue;
+
+ /* If there's a delay set, then remember when
+ * it expires
+ */
+ if (pyro->flags & ao_pyro_delay) {
+ pyro->delay_done = ao_time() + pyro->delay;
+ if (!pyro->delay_done)
+ pyro->delay_done = 1;
+ }
+ }
+
+ /* Check to see if we're just waiting for
+ * the delay to expire
+ */
+ if (pyro->delay_done) {
+ if ((int16_t) (ao_time() - pyro->delay_done) < 0)
+ continue;
+ }
+
+ fire |= (1 << p);
+ }
+
+ if (fire)
+ ao_pyro_pins_fire(fire);
+
+ return any_waiting;
+}
+
+#define NO_VALUE 0xff
+
+#define AO_PYRO_NAME_LEN 3
+
+#if !DISABLE_HELP
+#define ENABLE_HELP 1
+#endif
+
+#if ENABLE_HELP
+#define HELP(s) (s)
+#else
+#define HELP(s)
+#endif
+
+const struct {
+ char name[AO_PYRO_NAME_LEN];
+ enum ao_pyro_flag flag;
+ uint8_t offset;
+#if ENABLE_HELP
+ char *help;
+#endif
+} ao_pyro_values[] = {
+ { "a<", ao_pyro_accel_less, offsetof(struct ao_pyro, accel_less), HELP("accel less (m/ss * 16)") },
+ { "a>", ao_pyro_accel_greater, offsetof(struct ao_pyro, accel_greater), HELP("accel greater (m/ss * 16)") },
+
+ { "s<", ao_pyro_speed_less, offsetof(struct ao_pyro, speed_less), HELP("speed less (m/s * 16)") },
+ { "s>", ao_pyro_speed_greater, offsetof(struct ao_pyro, speed_greater), HELP("speed greater (m/s * 16)") },
+
+ { "h<", ao_pyro_height_less, offsetof(struct ao_pyro, height_less), HELP("height less (m)") },
+ { "h>", ao_pyro_height_greater, offsetof(struct ao_pyro, height_greater), HELP("height greater (m)") },
+
+#if HAS_GYRO
+ { "o<", ao_pyro_orient_less, offsetof(struct ao_pyro, orient_less), HELP("orient less (deg)") },
+ { "o>", ao_pyro_orient_greater, offsetof(struct ao_pyro, orient_greater), HELP("orient greater (deg)") },
+#endif
+
+ { "t<", ao_pyro_time_less, offsetof(struct ao_pyro, time_less), HELP("time less (s * 100)") },
+ { "t>", ao_pyro_time_greater, offsetof(struct ao_pyro, time_greater), HELP("time greater (s * 100)") },
+
+ { "f<", ao_pyro_state_less, offsetof(struct ao_pyro, state_less), HELP("state less") },
+ { "f>=",ao_pyro_state_greater_or_equal, offsetof(struct ao_pyro, state_greater_or_equal), HELP("state greater or equal") },
+
+ { "A", ao_pyro_ascending, NO_VALUE, HELP("ascending") },
+ { "D", ao_pyro_descending, NO_VALUE, HELP("descending") },
+
+ { "m", ao_pyro_after_motor, offsetof(struct ao_pyro, motor), HELP("after motor") },
+
+ { "d", ao_pyro_delay, offsetof(struct ao_pyro, delay), HELP("delay before firing (s * 100)") },
+ { "", ao_pyro_none, NO_VALUE, HELP(NULL) },
+};
+
+#define NUM_PYRO_VALUES (sizeof ao_pyro_values / sizeof ao_pyro_values[0])
+
+#ifndef AO_FLIGHT_TEST
+static void
+ao_pyro(void)
+{
+ uint8_t any_waiting;
+
+ ao_config_get();
+ while (ao_flight_state < ao_flight_boost)
+ ao_sleep(&ao_flight_state);
+
+ for (;;) {
+ ao_alarm(AO_MS_TO_TICKS(100));
+ ao_sleep(&ao_pyro_wakeup);
+ ao_clear_alarm();
+ if (ao_flight_state >= ao_flight_landed)
+ break;
+ any_waiting = ao_pyro_check();
+ if (!any_waiting)
+ break;
+ }
+ ao_exit();
+}
+
+__xdata struct ao_task ao_pyro_task;
+
+
+static void
+ao_pyro_print_name(uint8_t v)
+{
+ const char *s = ao_pyro_values[v].name;
+ printf ("%s%s", s, " " + strlen(s));
+}
+
+#if ENABLE_HELP
+static void
+ao_pyro_help(void)
+{
+ uint8_t v;
+ for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
+ ao_pyro_print_name(v);
+ if (ao_pyro_values[v].offset != NO_VALUE)
+ printf ("<n> ");
+ else
+ printf (" ");
+ printf ("%s\n", ao_pyro_values[v].help);
+ }
+}
+#endif
+
+void
+ao_pyro_show(void)
+{
+ uint8_t p;
+ uint8_t v;
+ struct ao_pyro *pyro;
+
+ printf ("Pyro-count: %d\n", AO_PYRO_NUM);
+ for (p = 0; p < AO_PYRO_NUM; p++) {
+ printf ("Pyro %2d: ", p);
+ pyro = &ao_config.pyro[p];
+ if (!pyro->flags) {
+ printf ("<disabled>\n");
+ continue;
+ }
+ for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
+ if (!(pyro->flags & ao_pyro_values[v].flag))
+ continue;
+ ao_pyro_print_name(v);
+ if (ao_pyro_values[v].offset != NO_VALUE) {
+ int16_t value;
+
+ value = *((int16_t *) ((char *) pyro + ao_pyro_values[v].offset));
+ printf ("%6d ", value);
+ } else {
+ printf (" ");
+ }
+ }
+ printf ("\n");
+ }
+}
+
+void
+ao_pyro_set(void)
+{
+ uint8_t p;
+ struct ao_pyro pyro_tmp;
+ char name[AO_PYRO_NAME_LEN];
+ uint8_t c;
+ uint8_t v;
+
+ ao_cmd_white();
+
+#if ENABLE_HELP
+ switch (ao_cmd_lex_c) {
+ case '?':
+ ao_pyro_help();
+ return;
+ }
+#endif
+
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ p = ao_cmd_lex_i;
+ if (AO_PYRO_NUM <= p) {
+ printf ("invalid pyro channel %d\n", p);
+ return;
+ }
+ pyro_tmp.flags = 0;
+ for (;;) {
+ ao_cmd_white();
+ if (ao_cmd_lex_c == '\n')
+ break;
+
+ for (c = 0; c < AO_PYRO_NAME_LEN - 1; c++) {
+ if (ao_cmd_is_white())
+ break;
+ name[c] = ao_cmd_lex_c;
+ ao_cmd_lex();
+ }
+ name[c] = '\0';
+ for (v = 0; ao_pyro_values[v].flag != ao_pyro_none; v++) {
+ if (!strcmp (ao_pyro_values[v].name, name))
+ break;
+ }
+ if (ao_pyro_values[v].flag == ao_pyro_none) {
+ printf ("invalid pyro field %s\n", name);
+ ao_cmd_status = ao_cmd_syntax_error;
+ return;
+ }
+ pyro_tmp.flags |= ao_pyro_values[v].flag;
+ if (ao_pyro_values[v].offset != NO_VALUE) {
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ *((int16_t *) ((char *) &pyro_tmp + ao_pyro_values[v].offset)) = ao_cmd_lex_i;
+ }
+ }
+ _ao_config_edit_start();
+ ao_config.pyro[p] = pyro_tmp;
+ _ao_config_edit_finish();
+}
+
+void
+ao_pyro_manual(uint8_t p)
+{
+ printf ("ao_pyro_manual %d\n", p);
+ if (p >= AO_PYRO_NUM) {
+ ao_cmd_status = ao_cmd_syntax_error;
+ return;
+ }
+ ao_pyro_pins_fire(1 << p);
+}
+
+void
+ao_pyro_init(void)
+{
+#if AO_PYRO_NUM > 0
+ ao_enable_output(AO_PYRO_PORT_0, AO_PYRO_PIN_0, AO_PYRO_0, 0);
+#endif
+#if AO_PYRO_NUM > 1
+ ao_enable_output(AO_PYRO_PORT_1, AO_PYRO_PIN_1, AO_PYRO_1, 0);
+#endif
+#if AO_PYRO_NUM > 2
+ ao_enable_output(AO_PYRO_PORT_2, AO_PYRO_PIN_2, AO_PYRO_2, 0);
+#endif
+#if AO_PYRO_NUM > 3
+ ao_enable_output(AO_PYRO_PORT_3, AO_PYRO_PIN_3, AO_PYRO_3, 0);
+#endif
+#if AO_PYRO_NUM > 4
+ ao_enable_output(AO_PYRO_PORT_4, AO_PYRO_PIN_4, AO_PYRO_4, 0);
+#endif
+#if AO_PYRO_NUM > 5
+ ao_enable_output(AO_PYRO_PORT_5, AO_PYRO_PIN_5, AO_PYRO_5, 0);
+#endif
+#if AO_PYRO_NUM > 6
+ ao_enable_output(AO_PYRO_PORT_6, AO_PYRO_PIN_6, AO_PYRO_6, 0);
+#endif
+#if AO_PYRO_NUM > 7
+ ao_enable_output(AO_PYRO_PORT_7, AO_PYRO_PIN_7, AO_PYRO_7, 0);
+#endif
+ ao_add_task(&ao_pyro_task, ao_pyro, "pyro");
+}
+#endif
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_PYRO_H_
+#define _AO_PYRO_H_
+
+enum ao_pyro_flag {
+ ao_pyro_none = 0x00000000,
+
+ ao_pyro_accel_less = 0x00000001,
+ ao_pyro_accel_greater = 0x00000002,
+
+ ao_pyro_speed_less = 0x00000004,
+ ao_pyro_speed_greater = 0x00000008,
+
+ ao_pyro_height_less = 0x00000010,
+ ao_pyro_height_greater = 0x00000020,
+
+ ao_pyro_orient_less = 0x00000040,
+ ao_pyro_orient_greater = 0x00000080,
+
+ ao_pyro_time_less = 0x00000100,
+ ao_pyro_time_greater = 0x00000200,
+
+ ao_pyro_ascending = 0x00000400,
+ ao_pyro_descending = 0x00000800,
+
+ ao_pyro_after_motor = 0x00001000,
+
+ ao_pyro_delay = 0x00002000,
+
+ ao_pyro_state_less = 0x00004000,
+ ao_pyro_state_greater_or_equal = 0x00008000,
+};
+
+struct ao_pyro {
+ enum ao_pyro_flag flags;
+ int16_t accel_less, accel_greater;
+ int16_t speed_less, speed_greater;
+ int16_t height_less, height_greater;
+ int16_t orient_less, orient_greater;
+ int16_t time_less, time_greater;
+ int16_t delay;
+ uint8_t state_less, state_greater_or_equal;
+ int16_t motor;
+ uint16_t delay_done;
+ uint8_t fired;
+};
+
+extern uint8_t ao_pyro_wakeup;
+
+extern uint16_t ao_pyro_fired;
+
+void
+ao_pyro_set(void);
+
+void
+ao_pyro_show(void);
+
+void
+ao_pyro_init(void);
+
+void
+ao_pyro_manual(uint8_t p);
+
+void
+ao_pyro_print_status(void);
+
+#endif
--- /dev/null
+/*
+ * Copyright © 2013 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.
+ */
+
+#ifndef _AO_QUATERNION_H_
+#define _AO_QUATERNION_H_
+
+#include <math.h>
+
+struct ao_quaternion {
+ float r; /* real bit */
+ float x, y, z; /* imaginary bits */
+};
+
+static inline void ao_quaternion_multiply(struct ao_quaternion *r,
+ const struct ao_quaternion *a,
+ const struct ao_quaternion *b)
+{
+ struct ao_quaternion t;
+#define T(_a,_b) (((a)->_a) * ((b)->_b))
+
+/*
+ * Quaternions
+ *
+ * ii = jj = kk = ijk = -1;
+ *
+ * kji = 1;
+ *
+ * ij = k; ji = -k;
+ * kj = -i; jk = i;
+ * ik = -j; ki = j;
+ *
+ * Multiplication p * q:
+ *
+ * (pr + ipx + jpy + kpz) (qr + iqx + jqy + kqz) =
+ *
+ * ( pr * qr + pr * iqx + pr * jqy + pr * kqz) +
+ * (ipx * qr + ipx * iqx + ipx * jqy + ipx * kqz) +
+ * (jpy * qr + jpy * iqx + jpy * jqy + jpy * kqz) +
+ * (kpz * qr + kpz * iqx + kpz * jqy + kpz * kqz) =
+ *
+ *
+ * (pr * qr) + i(pr * qx) + j(pr * qy) + k(pr * qz) +
+ * i(px * qr) - (px * qx) + k(px * qy) - j(px * qz) +
+ * j(py * qr) - k(py * qx) - (py * qy) + i(py * qz) +
+ * k(pz * qr) + j(pz * qx) - i(pz * qy) - (pz * qz) =
+ *
+ * 1 * ( (pr * qr) - (px * qx) - (py * qy) - (pz * qz) ) +
+ * i * ( (pr * qx) + (px * qr) + (py * qz) - (pz * qy) ) +
+ * j * ( (pr * qy) - (px * qz) + (py * qr) + (pz * qx) ) +
+ * k * ( (pr * qz) + (px * qy) - (py * qx) + (pz * qr);
+ */
+
+ t.r = T(r,r) - T(x,x) - T(y,y) - T(z,z);
+ t.x = T(r,x) + T(x,r) + T(y,z) - T(z,y);
+ t.y = T(r,y) - T(x,z) + T(y,r) + T(z,x);
+ t.z = T(r,z) + T(x,y) - T(y,x) + T(z,r);
+#undef T
+ *r = t;
+}
+
+static inline void ao_quaternion_conjugate(struct ao_quaternion *r,
+ const struct ao_quaternion *a)
+{
+ r->r = a->r;
+ r->x = -a->x;
+ r->y = -a->y;
+ r->z = -a->z;
+}
+
+static inline float ao_quaternion_normal(const struct ao_quaternion *a)
+{
+#define S(_a) (((a)->_a) * ((a)->_a))
+ return S(r) + S(x) + S(y) + S(z);
+#undef S
+}
+
+static inline void ao_quaternion_scale(struct ao_quaternion *r,
+ const struct ao_quaternion *a,
+ float b)
+{
+ r->r = a->r * b;
+ r->x = a->x * b;
+ r->y = a->y * b;
+ r->z = a->z * b;
+}
+
+static inline void ao_quaternion_normalize(struct ao_quaternion *r,
+ const struct ao_quaternion *a)
+{
+ float n = ao_quaternion_normal(a);
+
+ if (n > 0)
+ ao_quaternion_scale(r, a, 1/sqrtf(n));
+ else
+ *r = *a;
+}
+
+static inline float ao_quaternion_dot(const struct ao_quaternion *a,
+ const struct ao_quaternion *b)
+{
+#define T(_a) (((a)->_a) * ((b)->_a))
+ return T(r) + T(x) + T(y) + T(z);
+#undef T
+}
+
+
+static inline void ao_quaternion_rotate(struct ao_quaternion *r,
+ const struct ao_quaternion *a,
+ const struct ao_quaternion *b)
+{
+ struct ao_quaternion c;
+ struct ao_quaternion t;
+
+ ao_quaternion_multiply(&t, b, a);
+ ao_quaternion_conjugate(&c, b);
+ ao_quaternion_multiply(r, &t, &c);
+}
+
+/*
+ * Compute a rotation quaternion between two vectors
+ *
+ * cos(θ) + u * sin(θ)
+ *
+ * where θ is the angle between the two vectors and u
+ * is a unit vector axis of rotation
+ */
+
+static inline void ao_quaternion_vectors_to_rotation(struct ao_quaternion *r,
+ const struct ao_quaternion *a,
+ const struct ao_quaternion *b)
+{
+ /*
+ * The cross product will point orthogonally to the two
+ * vectors, forming our rotation axis. The length will be
+ * sin(θ), so these values are already multiplied by that.
+ */
+
+ float x = a->y * b->z - a->z * b->y;
+ float y = a->z * b->x - a->x * b->z;
+ float z = a->x * b->y - a->y * b->x;
+
+ float s_2 = x*x + y*y + z*z;
+ float s = sqrtf(s_2);
+
+ /* cos(θ) = a · b / (|a| |b|).
+ *
+ * a and b are both unit vectors, so the divisor is one
+ */
+ float c = a->x*b->x + a->y*b->y + a->z*b->z;
+
+ float c_half = sqrtf ((1 + c) / 2);
+ float s_half = sqrtf ((1 - c) / 2);
+
+ /*
+ * Divide out the sine factor from the
+ * cross product, then multiply in the
+ * half sine factor needed for the quaternion
+ */
+ float s_scale = s_half / s;
+
+ r->x = x * s_scale;
+ r->y = y * s_scale;
+ r->z = z * s_scale;
+
+ r->r = c_half;
+
+ ao_quaternion_normalize(r, r);
+}
+
+static inline void ao_quaternion_init_vector(struct ao_quaternion *r,
+ float x, float y, float z)
+{
+ r->r = 0;
+ r->x = x;
+ r->y = y;
+ r->z = z;
+}
+
+static inline void ao_quaternion_init_rotation(struct ao_quaternion *r,
+ float x, float y, float z,
+ float s, float c)
+{
+ r->r = c;
+ r->x = s * x;
+ r->y = s * y;
+ r->z = s * z;
+}
+
+static inline void ao_quaternion_init_zero_rotation(struct ao_quaternion *r)
+{
+ r->r = 1;
+ r->x = r->y = r->z = 0;
+}
+
+/*
+ * The sincosf from newlib just calls sinf and cosf. This is a bit
+ * faster, if slightly less precise
+ */
+
+static inline void
+ao_sincosf(float a, float *s, float *c) {
+ float _s = sinf(a);
+ *s = _s;
+ *c = sqrtf(1 - _s*_s);
+}
+
+/*
+ * Initialize a quaternion from 1/2 euler rotation angles (in radians).
+ *
+ * Yes, it would be nicer if there were a faster way, but because we
+ * sample the gyros at only 100Hz, we end up getting angles too large
+ * to take advantage of sin(x) ≃ x.
+ *
+ * We might be able to use just a couple of elements of the sin taylor
+ * series though, instead of the whole sin function?
+ */
+
+static inline void ao_quaternion_init_half_euler(struct ao_quaternion *r,
+ float x, float y, float z)
+{
+ float s_x, c_x;
+ float s_y, c_y;
+ float s_z, c_z;
+
+ ao_sincosf(x, &s_x, &c_x);
+ ao_sincosf(y, &s_y, &c_y);
+ ao_sincosf(z, &s_z, &c_z);
+
+ r->r = c_x * c_y * c_z + s_x * s_y * s_z;
+ r->x = s_x * c_y * c_z - c_x * s_y * s_z;
+ r->y = c_x * s_y * c_z + s_x * c_y * s_z;
+ r->z = c_x * c_y * s_z - s_x * s_y * c_z;
+}
+
+#endif /* _AO_QUATERNION_H_ */
--- /dev/null
+/*
+ * Copyright © 2011 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_radio_cmac.h>
+
+static __xdata uint8_t ao_radio_cmac_mutex;
+__pdata int8_t ao_radio_cmac_rssi;
+static __xdata uint8_t cmac_data[AO_CMAC_MAX_LEN + AO_CMAC_KEY_LEN + 2 + AO_CMAC_KEY_LEN];
+
+static uint8_t
+round_len(uint8_t len)
+{
+ uint8_t rem;
+
+ /* Make sure we transfer at least one packet, and
+ * then make sure every packet is full. Note that
+ * there is no length encoded, and that the receiver
+ * must deal with any extra bytes in the packet
+ */
+ if (len < AO_CMAC_KEY_LEN)
+ len = AO_CMAC_KEY_LEN;
+ rem = len % AO_CMAC_KEY_LEN;
+ if (rem != 0)
+ len += (AO_CMAC_KEY_LEN - rem);
+ return len;
+}
+
+/*
+ * Sign and deliver the data sitting in the cmac buffer
+ */
+static void
+radio_cmac_send(uint8_t len) __reentrant
+{
+ uint8_t i;
+
+ len = round_len(len);
+ /* Make sure the AES key is loaded */
+ ao_config_get();
+
+#if HAS_MONITOR
+ ao_monitor_set(0);
+#endif
+
+ ao_mutex_get(&ao_aes_mutex);
+ ao_aes_set_mode(ao_aes_mode_cbc_mac);
+ ao_aes_set_key(ao_config.aes_key);
+ ao_aes_zero_iv();
+ for (i = 0; i < len; i += AO_CMAC_KEY_LEN) {
+ if (i + AO_CMAC_KEY_LEN < len)
+ ao_aes_run(&cmac_data[i], NULL);
+ else
+ ao_aes_run(&cmac_data[i], &cmac_data[len]);
+ }
+ ao_mutex_put(&ao_aes_mutex);
+
+ ao_radio_send(cmac_data, len + AO_CMAC_KEY_LEN);
+}
+
+/*
+ * Receive and validate an incoming packet
+ */
+
+static int8_t
+radio_cmac_recv(uint8_t len, uint16_t timeout) __reentrant
+{
+ uint8_t i;
+
+ len = round_len(len);
+#if HAS_MONITOR
+ ao_monitor_set(0);
+#endif
+ i = ao_radio_recv(cmac_data, len + AO_CMAC_KEY_LEN + 2, timeout);
+
+ if (!i) {
+ ao_radio_cmac_rssi = 0;
+ return AO_RADIO_CMAC_TIMEOUT;
+ }
+
+ ao_radio_cmac_rssi = ao_radio_rssi;
+ if (!(cmac_data[len + AO_CMAC_KEY_LEN +1] & AO_RADIO_STATUS_CRC_OK))
+ return AO_RADIO_CMAC_CRC_ERROR;
+
+ ao_config_get();
+
+ /* Compute the packet signature
+ */
+ ao_mutex_get(&ao_aes_mutex);
+ ao_aes_set_mode(ao_aes_mode_cbc_mac);
+ ao_aes_set_key(ao_config.aes_key);
+ ao_aes_zero_iv();
+ for (i = 0; i < len; i += AO_CMAC_KEY_LEN) {
+ if (i + AO_CMAC_KEY_LEN < len)
+ ao_aes_run(&cmac_data[i], NULL);
+ else
+ ao_aes_run(&cmac_data[i], &cmac_data[len + AO_CMAC_KEY_LEN + 2]);
+ }
+ ao_mutex_put(&ao_aes_mutex);
+
+ /* Check the packet signature against the signature provided
+ * over the link
+ */
+
+ if (memcmp(&cmac_data[len],
+ &cmac_data[len + AO_CMAC_KEY_LEN + 2],
+ AO_CMAC_KEY_LEN) != 0) {
+ return AO_RADIO_CMAC_MAC_ERROR;
+ }
+
+ return AO_RADIO_CMAC_OK;
+}
+
+int8_t
+ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant
+{
+ if (len > AO_CMAC_MAX_LEN)
+ return AO_RADIO_CMAC_LEN_ERROR;
+ ao_mutex_get(&ao_radio_cmac_mutex);
+ ao_xmemcpy(cmac_data, packet, len);
+#if AO_LED_TX
+ ao_led_on(AO_LED_TX);
+#endif
+ radio_cmac_send(len);
+#if AO_LED_TX
+ ao_led_off(AO_LED_TX);
+#endif
+ ao_mutex_put(&ao_radio_cmac_mutex);
+ return AO_RADIO_CMAC_OK;
+}
+
+int8_t
+ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant
+{
+ int8_t i;
+ if (len > AO_CMAC_MAX_LEN)
+ return AO_RADIO_CMAC_LEN_ERROR;
+ ao_mutex_get(&ao_radio_cmac_mutex);
+#if AO_LED_RX
+ ao_led_on(AO_LED_RX);
+#endif
+ i = radio_cmac_recv(len, timeout);
+#if AO_LED_RX
+ ao_led_off(AO_LED_RX);
+#endif
+ if (i == AO_RADIO_CMAC_OK)
+ ao_xmemcpy(packet, cmac_data, len);
+ ao_mutex_put(&ao_radio_cmac_mutex);
+ return i;
+}
+
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_RADIO_CMAC_H_
+#define _AO_RADIO_CMAC_H_
+
+#include <ao_aes.h>
+
+#define AO_CMAC_KEY_LEN AO_AES_LEN
+#define AO_CMAC_MAX_LEN (128 - AO_CMAC_KEY_LEN)
+
+extern __pdata int8_t ao_radio_cmac_rssi;
+
+int8_t
+ao_radio_cmac_send(__xdata void *packet, uint8_t len) __reentrant;
+
+#define AO_RADIO_CMAC_OK 0
+#define AO_RADIO_CMAC_LEN_ERROR -1
+#define AO_RADIO_CMAC_CRC_ERROR -2
+#define AO_RADIO_CMAC_MAC_ERROR -3
+#define AO_RADIO_CMAC_TIMEOUT -4
+
+int8_t
+ao_radio_cmac_recv(__xdata void *packet, uint8_t len, uint16_t timeout) __reentrant;
+
+void
+ao_radio_cmac_init(void);
+
+#endif /* _AO_RADIO_CMAC_H_ */
--- /dev/null
+/*
+ * 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_radio_cmac_cmd.h>
+#include <ao_radio_cmac.h>
+
+static __xdata uint8_t cmac_data[AO_CMAC_MAX_LEN];
+
+static uint8_t
+getnibble(void)
+{
+ int8_t b;
+
+ b = ao_cmd_hexchar(getchar());
+ if (b < 0) {
+ ao_cmd_status = ao_cmd_lex_error;
+ return 0;
+ }
+ return (uint8_t) b;
+}
+
+static uint8_t
+getbyte(void)
+{
+ uint8_t b;
+ b = getnibble() << 4;
+ b |= getnibble();
+ return b;
+}
+
+static void
+radio_cmac_send_cmd(void) __reentrant
+{
+ uint8_t i;
+ uint8_t len;
+
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ len = ao_cmd_lex_i;
+ if (len > AO_CMAC_MAX_LEN) {
+ ao_cmd_status = ao_cmd_syntax_error;
+ return;
+ }
+ flush();
+ len = ao_cmd_lex_i;
+ for (i = 0; i < len; i++) {
+ cmac_data[i] = getbyte();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ }
+ ao_radio_cmac_send(cmac_data, len);
+}
+
+static void
+radio_cmac_recv_cmd(void) __reentrant
+{
+ uint8_t len, i;
+ uint16_t timeout;
+
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ len = ao_cmd_lex_i;
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ timeout = AO_MS_TO_TICKS(ao_cmd_lex_i);
+ i = ao_radio_cmac_recv(cmac_data, len, timeout);
+ if (i == AO_RADIO_CMAC_OK) {
+ printf ("PACKET ");
+ for (i = 0; i < len; i++)
+ printf("%02x", cmac_data[i]);
+ printf (" %d\n", ao_radio_cmac_rssi);
+ } else
+ printf ("ERROR %d %d\n", i, ao_radio_cmac_rssi);
+}
+
+static __code struct ao_cmds ao_radio_cmac_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" },
+ { 0, NULL },
+};
+
+void
+ao_radio_cmac_cmd_init(void)
+{
+ ao_cmd_register(&ao_radio_cmac_cmds[0]);
+}
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_RADIO_CMAC_CMD_H_
+#define _AO_RADIO_CMAC_CMD_H_
+
+void
+ao_radio_cmac_cmd_init(void);
+
+#endif /* _AO_RADIO_CMAC_CMD_H_ */
--- /dev/null
+/*
+ * Copyright © 2009 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_flight.h>
+#include <ao_sample.h>
+
+#define BIT(i,x) ((x) ? (1 << (i)) : 0)
+#define MORSE1(a) (1 | BIT(3,a))
+#define MORSE2(a,b) (2 | BIT(3,a) | BIT(4,b))
+#define MORSE3(a,b,c) (3 | BIT(3,a) | BIT(4,b) | BIT(5,c))
+#define MORSE4(a,b,c,d) (4 | BIT(3,a) | BIT(4,b) | BIT(5,c) | BIT(6,d))
+#define MORSE5(a,b,c,d,e) (5 | BIT(3,a) | BIT(4,b) | BIT(5,c) | BIT(6,d) | BIT(7,e))
+
+static const uint8_t flight_reports[] = {
+ MORSE3(0,0,0), /* startup, 'S' */
+ MORSE2(0,0), /* idle 'I' */
+ MORSE4(0,1,1,0), /* pad 'P' */
+ MORSE4(1,0,0,0), /* boost 'B' */
+ MORSE4(0,0,1,0), /* fast 'F' */
+ MORSE4(1,0,1,0), /* coast 'C' */
+ MORSE3(1,0,0), /* drogue 'D' */
+ MORSE2(1,1), /* main 'M' */
+ MORSE4(0,1,0,0), /* landed 'L' */
+ MORSE4(1,0,0,1), /* invalid 'X' */
+};
+
+#if HAS_BEEP
+#define low(time) ao_beep_for(AO_BEEP_LOW, time)
+#define mid(time) ao_beep_for(AO_BEEP_MID, time)
+#define high(time) ao_beep_for(AO_BEEP_HIGH, time)
+#else
+#define low(time) ao_led_for(AO_LED_GREEN, time)
+#define mid(time) ao_led_for(AO_LED_RED, time)
+#define high(time) ao_led_for(AO_LED_GREEN|AO_LED_RED, time)
+#endif
+#define pause(time) ao_delay(time)
+
+static __pdata enum ao_flight_state ao_report_state;
+
+static void
+ao_report_beep(void) __reentrant
+{
+ uint8_t r = flight_reports[ao_flight_state];
+ uint8_t l = r & 7;
+
+ if (!r)
+ return;
+ while (l--) {
+ if (r & 8)
+ mid(AO_MS_TO_TICKS(600));
+ else
+ mid(AO_MS_TO_TICKS(200));
+ pause(AO_MS_TO_TICKS(200));
+ r >>= 1;
+ }
+ pause(AO_MS_TO_TICKS(400));
+}
+
+static void
+ao_report_digit(uint8_t digit) __reentrant
+{
+ if (!digit) {
+ mid(AO_MS_TO_TICKS(500));
+ pause(AO_MS_TO_TICKS(200));
+ } else {
+ while (digit--) {
+ mid(AO_MS_TO_TICKS(200));
+ pause(AO_MS_TO_TICKS(200));
+ }
+ }
+ pause(AO_MS_TO_TICKS(300));
+}
+
+static void
+ao_report_altitude(void)
+{
+ __pdata int16_t agl = ao_max_height;
+ __xdata uint8_t digits[10];
+ __pdata uint8_t ndigits, i;
+
+ if (agl < 0)
+ agl = 0;
+ ndigits = 0;
+ do {
+ digits[ndigits++] = agl % 10;
+ agl /= 10;
+ } while (agl);
+
+ i = ndigits;
+ do
+ ao_report_digit(digits[--i]);
+ while (i != 0);
+}
+
+#if HAS_IGNITE_REPORT
+static uint8_t
+ao_report_igniter_ready(enum ao_igniter igniter)
+{
+ return ao_igniter_status(igniter) == ao_igniter_ready ? 1 : 0;
+}
+
+uint8_t
+ao_report_igniter(void)
+{
+ return (ao_report_igniter_ready(ao_igniter_drogue) |
+ (ao_report_igniter_ready(ao_igniter_main) << 1));
+}
+
+static void
+ao_report_continuity(void) __reentrant
+{
+ uint8_t c;
+
+#if !HAS_IGNITE
+ if (!ao_igniter_present)
+ return;
+#endif
+ c = ao_report_igniter();
+ if (c) {
+ while (c--) {
+ high(AO_MS_TO_TICKS(25));
+ pause(AO_MS_TO_TICKS(100));
+ }
+ } else {
+ c = 10;
+ while (c--) {
+ high(AO_MS_TO_TICKS(20));
+ low(AO_MS_TO_TICKS(20));
+ }
+ }
+#if HAS_LOG
+ if (ao_log_full()) {
+ pause(AO_MS_TO_TICKS(100));
+ c = 2;
+ while (c--) {
+ low(AO_MS_TO_TICKS(100));
+ mid(AO_MS_TO_TICKS(100));
+ high(AO_MS_TO_TICKS(100));
+ mid(AO_MS_TO_TICKS(100));
+ }
+ }
+#endif
+}
+#endif
+
+void
+ao_report(void)
+{
+ ao_report_state = ao_flight_state;
+ for(;;) {
+ ao_report_beep();
+ if (ao_flight_state == ao_flight_landed) {
+ ao_report_altitude();
+#if HAS_FLIGHT
+ ao_delay(AO_SEC_TO_TICKS(5));
+ continue;
+#endif
+ }
+#if HAS_IGNITE_REPORT
+ if (ao_flight_state == ao_flight_idle)
+ ao_report_continuity();
+ while (ao_flight_state == ao_flight_pad) {
+ uint8_t c;
+ ao_report_continuity();
+ c = 50;
+ while (c-- && ao_flight_state == ao_flight_pad)
+ pause(AO_MS_TO_TICKS(100));
+ }
+#endif
+
+ while (ao_report_state == ao_flight_state)
+ ao_sleep(DATA_TO_XDATA(&ao_flight_state));
+ ao_report_state = ao_flight_state;
+ }
+}
+
+static __xdata struct ao_task ao_report_task;
+
+void
+ao_report_init(void)
+{
+ ao_add_task(&ao_report_task, ao_report, "report");
+}
--- /dev/null
+/*
+ * 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>
+
+#define mid(time) ao_led_for(AO_LED_REPORT, time)
+#define pause(time) ao_delay(time)
+
+static void
+ao_report_digit(uint8_t digit) __reentrant
+{
+ if (!digit) {
+ mid(AO_MS_TO_TICKS(1000));
+ pause(AO_MS_TO_TICKS(300));
+ } else {
+ while (digit--) {
+ mid(AO_MS_TO_TICKS(300));
+ pause(AO_MS_TO_TICKS(300));
+ }
+ }
+ pause(AO_MS_TO_TICKS(1000));
+}
+
+void
+ao_report_altitude(void)
+{
+ __pdata alt_t agl = ao_max_height;
+ static __xdata uint8_t digits[11];
+ __pdata uint8_t ndigits, i;
+
+ if (agl < 0)
+ agl = 0;
+ ndigits = 0;
+ do {
+ digits[ndigits++] = agl % 10;
+ agl /= 10;
+ } while (agl);
+
+ i = ndigits;
+ do
+ ao_report_digit(digits[--i]);
+ while (i != 0);
+}
--- /dev/null
+/*
+ * Copyright © 2009 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"
+
+static __xdata uint16_t ao_rssi_time;
+static __pdata uint16_t ao_rssi_delay;
+static __pdata uint8_t ao_rssi_led;
+
+void
+ao_rssi(void)
+{
+ for (;;) {
+ while ((int16_t) (ao_time() - ao_rssi_time) > AO_SEC_TO_TICKS(3))
+ ao_sleep(&ao_rssi_time);
+ ao_led_for(ao_rssi_led, AO_MS_TO_TICKS(100));
+ ao_delay(ao_rssi_delay);
+ }
+}
+
+void
+ao_rssi_set(int rssi_value)
+{
+ if (rssi_value > 0)
+ rssi_value = 0;
+ ao_rssi_delay = AO_MS_TO_TICKS((-rssi_value) * 5);
+ ao_rssi_time = ao_time();
+ ao_wakeup(&ao_rssi_time);
+}
+
+__xdata struct ao_task ao_rssi_task;
+
+void
+ao_rssi_init(uint8_t rssi_led)
+{
+ ao_rssi_led = rssi_led;
+ ao_rssi_delay = 0;
+ ao_add_task(&ao_rssi_task, ao_rssi, "rssi");
+}
--- /dev/null
+/*
+ * Copyright © 2011 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.
+ */
+
+#ifndef AO_FLIGHT_TEST
+#include "ao.h"
+#include <ao_data.h>
+#endif
+
+#if HAS_GYRO
+#include <ao_quaternion.h>
+#endif
+
+/*
+ * Current sensor values
+ */
+
+#ifndef PRES_TYPE
+#define PRES_TYPE int32_t
+#define ALT_TYPE int32_t
+#define ACCEL_TYPE int16_t
+#endif
+
+__pdata uint16_t ao_sample_tick; /* time of last data */
+__pdata pres_t ao_sample_pres;
+__pdata alt_t ao_sample_alt;
+__pdata alt_t ao_sample_height;
+#if HAS_ACCEL
+__pdata accel_t ao_sample_accel;
+#endif
+#if HAS_GYRO
+__pdata accel_t ao_sample_accel_along;
+__pdata accel_t ao_sample_accel_across;
+__pdata accel_t ao_sample_accel_through;
+__pdata gyro_t ao_sample_roll;
+__pdata gyro_t ao_sample_pitch;
+__pdata gyro_t ao_sample_yaw;
+__pdata angle_t ao_sample_orient;
+#endif
+
+__data uint8_t ao_sample_data;
+
+/*
+ * Sensor calibration values
+ */
+
+__pdata pres_t ao_ground_pres; /* startup pressure */
+__pdata alt_t ao_ground_height; /* MSL of ao_ground_pres */
+
+#if HAS_ACCEL
+__pdata accel_t ao_ground_accel; /* startup acceleration */
+__pdata accel_t ao_accel_2g; /* factory accel calibration */
+__pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */
+#endif
+
+#if HAS_GYRO
+__pdata accel_t ao_ground_accel_along;
+__pdata accel_t ao_ground_accel_across;
+__pdata accel_t ao_ground_accel_through;
+__pdata int32_t ao_ground_pitch;
+__pdata int32_t ao_ground_yaw;
+__pdata int32_t ao_ground_roll;
+#endif
+
+static __pdata uint8_t ao_preflight; /* in preflight mode */
+
+static __pdata uint16_t nsamples;
+__pdata int32_t ao_sample_pres_sum;
+#if HAS_ACCEL
+__pdata int32_t ao_sample_accel_sum;
+#endif
+#if HAS_GYRO
+__pdata int32_t ao_sample_accel_along_sum;
+__pdata int32_t ao_sample_accel_across_sum;
+__pdata int32_t ao_sample_accel_through_sum;
+__pdata int32_t ao_sample_pitch_sum;
+__pdata int32_t ao_sample_yaw_sum;
+__pdata int32_t ao_sample_roll_sum;
+static struct ao_quaternion ao_rotation;
+#endif
+
+#if HAS_FLIGHT_DEBUG
+extern uint8_t ao_orient_test;
+#endif
+
+static void
+ao_sample_preflight_add(void)
+{
+#if HAS_ACCEL
+ ao_sample_accel_sum += ao_sample_accel;
+#endif
+ ao_sample_pres_sum += ao_sample_pres;
+#if HAS_GYRO
+ ao_sample_accel_along_sum += ao_sample_accel_along;
+ ao_sample_accel_across_sum += ao_sample_accel_across;
+ ao_sample_accel_through_sum += ao_sample_accel_through;
+ ao_sample_pitch_sum += ao_sample_pitch;
+ ao_sample_yaw_sum += ao_sample_yaw;
+ ao_sample_roll_sum += ao_sample_roll;
+#endif
+ ++nsamples;
+}
+
+static void
+ao_sample_preflight_set(void)
+{
+#if HAS_ACCEL
+ ao_ground_accel = ao_sample_accel_sum >> 9;
+ ao_sample_accel_sum = 0;
+#endif
+ ao_ground_pres = ao_sample_pres_sum >> 9;
+ ao_ground_height = pres_to_altitude(ao_ground_pres);
+ ao_sample_pres_sum = 0;
+#if HAS_GYRO
+ ao_ground_accel_along = ao_sample_accel_along_sum >> 9;
+ ao_ground_accel_across = ao_sample_accel_across_sum >> 9;
+ ao_ground_accel_through = ao_sample_accel_through_sum >> 9;
+ ao_ground_pitch = ao_sample_pitch_sum;
+ ao_ground_yaw = ao_sample_yaw_sum;
+ ao_ground_roll = ao_sample_roll_sum;
+ ao_sample_accel_along_sum = 0;
+ ao_sample_accel_across_sum = 0;
+ ao_sample_accel_through_sum = 0;
+ ao_sample_pitch_sum = 0;
+ ao_sample_yaw_sum = 0;
+ ao_sample_roll_sum = 0;
+ ao_sample_orient = 0;
+
+ struct ao_quaternion orient;
+
+ /* Take the pad IMU acceleration values and compute our current direction
+ */
+
+ ao_quaternion_init_vector(&orient,
+ (ao_ground_accel_across - ao_config.accel_zero_across),
+ (ao_ground_accel_through - ao_config.accel_zero_through),
+ (ao_ground_accel_along - ao_config.accel_zero_along));
+
+ ao_quaternion_normalize(&orient,
+ &orient);
+
+ /* Here's up */
+
+ struct ao_quaternion up = { .r = 0, .x = 0, .y = 0, .z = 1 };
+
+ if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
+ up.z = -1;
+
+ /* Compute rotation to get from up to our current orientation, set
+ * that as the current rotation vector
+ */
+ ao_quaternion_vectors_to_rotation(&ao_rotation, &up, &orient);
+#if HAS_FLIGHT_DEBUG
+ if (ao_orient_test)
+ printf("\n\treset\n");
+#endif
+#endif
+ nsamples = 0;
+}
+
+#if HAS_GYRO
+
+#define TIME_DIV 200.0f
+
+static void
+ao_sample_rotate(void)
+{
+#ifdef AO_FLIGHT_TEST
+ float dt = (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
+#else
+ static const float dt = 1/TIME_DIV;
+#endif
+ float x = ao_mpu6000_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt;
+ float y = ao_mpu6000_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt;
+ float z = ao_mpu6000_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt;
+ struct ao_quaternion rot;
+
+ ao_quaternion_init_half_euler(&rot, x, y, z);
+ ao_quaternion_multiply(&ao_rotation, &rot, &ao_rotation);
+
+ /* And normalize to make sure it remains a unit vector */
+ ao_quaternion_normalize(&ao_rotation, &ao_rotation);
+
+ /* Compute pitch angle from vertical by taking the pad
+ * orientation vector and rotating it by the current total
+ * rotation value. That will be a unit vector pointing along
+ * the airframe axis. The Z value will be the cosine of the
+ * change in the angle from vertical since boost.
+ *
+ * rot = ao_rotation * vertical * ao_rotation°
+ * rot = ao_rotation * (0,0,0,1) * ao_rotation°
+ * = ((a.z, a.y, -a.x, a.r) * (a.r, -a.x, -a.y, -a.z)) .z
+ *
+ * = (-a.z * -a.z) + (a.y * -a.y) - (-a.x * -a.x) + (a.r * a.r)
+ * = a.z² - a.y² - a.x² + a.r²
+ *
+ * rot = ao_rotation * (0, 0, 0, -1) * ao_rotation°
+ * = ((-a.z, -a.y, a.x, -a.r) * (a.r, -a.x, -a.y, -a.z)) .z
+ *
+ * = (a.z * -a.z) + (-a.y * -a.y) - (a.x * -a.x) + (-a.r * a.r)
+ * = -a.z² + a.y² + a.x² - a.r²
+ */
+
+ float rotz;
+ rotz = ao_rotation.z * ao_rotation.z - ao_rotation.y * ao_rotation.y - ao_rotation.x * ao_rotation.x + ao_rotation.r * ao_rotation.r;
+
+ ao_sample_orient = acosf(rotz) * (float) (180.0/M_PI);
+
+#if HAS_FLIGHT_DEBUG
+ if (ao_orient_test) {
+ printf ("rot %d %d %d orient %d \r",
+ (int) (x * 1000),
+ (int) (y * 1000),
+ (int) (z * 1000),
+ ao_sample_orient);
+ }
+#endif
+
+}
+#endif
+
+static void
+ao_sample_preflight(void)
+{
+ /* startup state:
+ *
+ * Collect 512 samples of acceleration and pressure
+ * data and average them to find the resting values
+ */
+ if (nsamples < 512) {
+ ao_sample_preflight_add();
+ } else {
+#if HAS_ACCEL
+ ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
+ ao_accel_scale = to_fix32(GRAVITY * 2 * 16) / ao_accel_2g;
+#endif
+ ao_sample_preflight_set();
+ ao_preflight = FALSE;
+ }
+}
+
+/*
+ * While in pad mode, constantly update the ground state by
+ * re-averaging the data. This tracks changes in orientation, which
+ * might be caused by adjustments to the rocket on the pad and
+ * pressure, which might be caused by changes in the weather.
+ */
+
+static void
+ao_sample_preflight_update(void)
+{
+ if (nsamples < 512)
+ ao_sample_preflight_add();
+ else if (nsamples < 1024)
+ ++nsamples;
+ else
+ ao_sample_preflight_set();
+}
+
+#if 0
+#if HAS_GYRO
+static int32_t p_filt;
+static int32_t y_filt;
+
+static gyro_t inline ao_gyro(void) {
+ gyro_t p = ao_sample_pitch - ao_ground_pitch;
+ gyro_t y = ao_sample_yaw - ao_ground_yaw;
+
+ p_filt = p_filt - (p_filt >> 6) + p;
+ y_filt = y_filt - (y_filt >> 6) + y;
+
+ p = p_filt >> 6;
+ y = y_filt >> 6;
+ return ao_sqrt(p*p + y*y);
+}
+#endif
+#endif
+
+uint8_t
+ao_sample(void)
+{
+ ao_wakeup(DATA_TO_XDATA(&ao_sample_data));
+ ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
+ while (ao_sample_data != ao_data_head) {
+ __xdata struct ao_data *ao_data;
+
+ /* Capture a sample */
+ ao_data = (struct ao_data *) &ao_data_ring[ao_sample_data];
+ ao_sample_tick = ao_data->tick;
+
+#if HAS_BARO
+ ao_data_pres_cook(ao_data);
+ ao_sample_pres = ao_data_pres(ao_data);
+ ao_sample_alt = pres_to_altitude(ao_sample_pres);
+ ao_sample_height = ao_sample_alt - ao_ground_height;
+#endif
+
+#if HAS_ACCEL
+ ao_sample_accel = ao_data_accel_cook(ao_data);
+ if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
+ ao_sample_accel = ao_data_accel_invert(ao_sample_accel);
+ ao_data_set_accel(ao_data, ao_sample_accel);
+#endif
+#if HAS_GYRO
+ ao_sample_accel_along = ao_data_along(ao_data);
+ ao_sample_accel_across = ao_data_across(ao_data);
+ ao_sample_accel_through = ao_data_through(ao_data);
+ ao_sample_pitch = ao_data_pitch(ao_data);
+ ao_sample_yaw = ao_data_yaw(ao_data);
+ ao_sample_roll = ao_data_roll(ao_data);
+#endif
+
+ if (ao_preflight)
+ ao_sample_preflight();
+ else {
+ if (ao_flight_state < ao_flight_boost)
+ ao_sample_preflight_update();
+ ao_kalman();
+#if HAS_GYRO
+ ao_sample_rotate();
+#endif
+ }
+#ifdef AO_FLIGHT_TEST
+ ao_sample_prev_tick = ao_sample_tick;
+#endif
+ ao_sample_data = ao_data_ring_next(ao_sample_data);
+ }
+ return !ao_preflight;
+}
+
+void
+ao_sample_init(void)
+{
+ ao_config_get();
+ nsamples = 0;
+ ao_sample_pres_sum = 0;
+ ao_sample_pres = 0;
+#if HAS_ACCEL
+ ao_sample_accel_sum = 0;
+ ao_sample_accel = 0;
+#endif
+#if HAS_GYRO
+ ao_sample_accel_along_sum = 0;
+ ao_sample_accel_across_sum = 0;
+ ao_sample_accel_through_sum = 0;
+ ao_sample_accel_along = 0;
+ ao_sample_accel_across = 0;
+ ao_sample_accel_through = 0;
+ ao_sample_pitch_sum = 0;
+ ao_sample_yaw_sum = 0;
+ ao_sample_roll_sum = 0;
+ ao_sample_pitch = 0;
+ ao_sample_yaw = 0;
+ ao_sample_roll = 0;
+ ao_sample_orient = 0;
+#endif
+ ao_sample_data = ao_data_head;
+ ao_preflight = TRUE;
+}
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_SAMPLE_H_
+#define _AO_SAMPLE_H_
+
+#include <ao_data.h>
+
+/*
+ * ao_sample.c
+ */
+
+/*
+ * Barometer calibration
+ *
+ * We directly sample the barometer. The specs say:
+ *
+ * Pressure range: 15-115 kPa
+ * Voltage at 115kPa: 2.82
+ * Output scale: 27mV/kPa
+ *
+ * If we want to detect launch with the barometer, we need
+ * a large enough bump to not be fooled by noise. At typical
+ * launch elevations (0-2000m), a 200Pa pressure change cooresponds
+ * to about a 20m elevation change. This is 5.4mV, or about 3LSB.
+ * As all of our calculations are done in 16 bits, we'll actually see a change
+ * of 16 times this though
+ *
+ * 27 mV/kPa * 32767 / 3300 counts/mV = 268.1 counts/kPa
+ */
+
+/* Accelerometer calibration
+ *
+ * We're sampling the accelerometer through a resistor divider which
+ * consists of 5k and 10k resistors. This multiplies the values by 2/3.
+ * That goes into the cc1111 A/D converter, which is running at 11 bits
+ * of precision with the bits in the MSB of the 16 bit value. Only positive
+ * values are used, so values should range from 0-32752 for 0-3.3V. The
+ * specs say we should see 40mV/g (uncalibrated), multiply by 2/3 for what
+ * the A/D converter sees (26.67 mV/g). We should see 32752/3300 counts/mV,
+ * for a final computation of:
+ *
+ * 26.67 mV/g * 32767/3300 counts/mV = 264.8 counts/g
+ *
+ * Zero g was measured at 16000 (we would expect 16384).
+ * Note that this value is only require to tell if the
+ * rocket is standing upright. Once that is determined,
+ * the value of the accelerometer is averaged for 100 samples
+ * to find the resting accelerometer value, which is used
+ * for all further flight computations
+ */
+
+/*
+ * Above this height, the baro sensor doesn't work
+ */
+#if HAS_MS5607
+#define AO_MAX_BARO_HEIGHT 30000
+#else
+#define AO_MAX_BARO_HEIGHT 12000
+#endif
+
+/*
+ * Above this speed, baro measurements are unreliable
+ */
+#define AO_MAX_BARO_SPEED 200
+
+#define ACCEL_NOSE_UP (ao_accel_2g >> 2)
+
+/*
+ * Speed and acceleration are scaled by 16 to provide a bit more
+ * resolution while still having reasonable range. Note that this
+ * limits speed to 2047m/s (around mach 6) and acceleration to
+ * 2047m/s² (over 200g)
+ */
+
+#define AO_M_TO_HEIGHT(m) ((int16_t) (m))
+#define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
+#define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16))
+
+extern __pdata uint16_t ao_sample_tick; /* time of last data */
+extern __data uint8_t ao_sample_adc; /* Ring position of last processed sample */
+extern __data uint8_t ao_sample_data; /* Ring position of last processed sample */
+
+#if HAS_BARO
+extern __pdata pres_t ao_sample_pres; /* most recent pressure sensor reading */
+extern __pdata alt_t ao_sample_alt; /* MSL of ao_sample_pres */
+extern __pdata alt_t ao_sample_height; /* AGL of ao_sample_pres */
+extern __pdata pres_t ao_ground_pres; /* startup pressure */
+extern __pdata alt_t ao_ground_height; /* MSL of ao_ground_pres */
+#endif
+
+#if HAS_ACCEL
+extern __pdata accel_t ao_sample_accel; /* most recent accel sensor reading */
+extern __pdata accel_t ao_ground_accel; /* startup acceleration */
+extern __pdata accel_t ao_accel_2g; /* factory accel calibration */
+extern __pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */
+#endif
+#if HAS_GYRO
+extern __pdata accel_t ao_ground_accel_along;
+extern __pdata accel_t ao_ground_accel_across;
+extern __pdata accel_t ao_ground_accel_through;
+extern __pdata int32_t ao_ground_pitch; /* * 512 */
+extern __pdata int32_t ao_ground_yaw; /* * 512 */
+extern __pdata int32_t ao_ground_roll; /* * 512 */
+extern __pdata accel_t ao_sample_accel_along;
+extern __pdata accel_t ao_sample_accel_across;
+extern __pdata accel_t ao_sample_accel_through;
+extern __pdata gyro_t ao_sample_roll;
+extern __pdata gyro_t ao_sample_pitch;
+extern __pdata gyro_t ao_sample_yaw;
+extern __pdata angle_t ao_sample_orient;
+#endif
+
+void ao_sample_init(void);
+
+/* returns FALSE in preflight mode, TRUE in flight mode */
+uint8_t ao_sample(void);
+
+/*
+ * ao_kalman.c
+ */
+
+#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
+#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
+#define from_fix(x) ((x) >> 16)
+
+extern __pdata int16_t ao_height; /* meters */
+extern __pdata int16_t ao_speed; /* m/s * 16 */
+extern __pdata int16_t ao_accel; /* m/s² * 16 */
+extern __xdata int16_t ao_max_height; /* max of ao_height */
+extern __xdata int16_t ao_avg_height; /* running average of height */
+
+extern __pdata int16_t ao_error_h;
+extern __pdata int16_t ao_error_h_sq_avg;
+
+#if HAS_ACCEL
+extern __pdata int16_t ao_error_a;
+#endif
+
+void ao_kalman(void);
+
+#endif /* _AO_SAMPLE_H_ */
--- /dev/null
+/*
+ * 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_sample_profile.h>
+#include <ao_task.h>
+
+#ifndef AO_SAMPLE_PROFILE_LOW_PC
+#define AO_SAMPLE_PROFILE_LOW_PC 0x08002000
+#endif
+
+#ifndef AO_SAMPLE_PROFILE_HIGH_PC
+#define AO_SAMPLE_PROFILE_HIGH_PC 0x0800f000
+#endif
+
+#ifndef AO_SAMPLE_PROFILE_SHIFT
+#define AO_SAMPLE_PROFILE_SHIFT 6
+#endif
+
+#define AO_SAMPLE_PROFILE_RANGE (AO_SAMPLE_PROFILE_HIGH_PC - AO_SAMPLE_PROFILE_LOW_PC)
+#define AO_SAMPLE_PROFILE_NUM (AO_SAMPLE_PROFILE_RANGE >> AO_SAMPLE_PROFILE_SHIFT)
+
+static uint16_t prev_tick;
+static uint16_t samples[AO_SAMPLE_PROFILE_NUM];
+static uint8_t missed[AO_SAMPLE_PROFILE_NUM/8];
+static uint16_t max_miss;
+static uint32_t task, isr, os, idle;
+
+extern uint8_t ao_idle_loc;
+
+void
+ao_sample_profile_point(uint32_t pc, uint16_t tick, uint8_t in_isr)
+{
+ uint16_t delta = tick - prev_tick;
+
+ if (pc < AO_SAMPLE_PROFILE_LOW_PC)
+ return;
+ if (pc >= AO_SAMPLE_PROFILE_HIGH_PC)
+ return;
+ if (ao_cur_task) {
+ uint8_t *sp;
+ int32_t sp_delta;
+
+ asm("mov %0,sp" : "=&r" (sp));
+ sp_delta = sp - (uint8_t *) ao_cur_task->stack;
+ if (-96 < sp_delta && sp_delta < 16)
+ ao_panic(AO_PANIC_STACK);
+ }
+
+ if (in_isr)
+ isr += delta;
+ else if (ao_cur_task) {
+ ao_cur_task->ticks += delta;
+ task += delta;
+ } else if (pc == (uint32_t) &ao_idle_loc)
+ idle += delta;
+ else
+ os += delta;
+
+ pc -= AO_SAMPLE_PROFILE_LOW_PC;
+ pc >>= AO_SAMPLE_PROFILE_SHIFT;
+ samples[pc] += delta;
+
+ if (delta > 1)
+ missed[pc >> 3] |= (1 << (pc & 7));
+ if (delta > max_miss)
+ max_miss = delta;
+ prev_tick = tick;
+}
+
+static void
+ao_sample_profile_start(void)
+{
+ prev_tick = ao_sample_profile_timer_start();
+}
+
+static void
+ao_sample_profile_stop(void)
+{
+ ao_sample_profile_timer_stop();
+}
+
+static void
+ao_sample_profile_dump(void)
+{
+ uint16_t a;
+ uint8_t t;
+
+ printf ("task %6d\n", task);
+ printf ("isr %6d\n", isr);
+ printf ("os %6d\n", os);
+ printf ("idle %6d\n", idle);
+ printf ("irq blocked %d\n", max_miss);
+ for (t = 0; t < ao_num_tasks; t++)
+ printf ("task %6d %6d %6d %s\n",
+ ao_tasks[t]->ticks,
+ ao_tasks[t]->yields,
+ ao_tasks[t]->max_run,
+ ao_tasks[t]->name);
+ for (a = 0; a < AO_SAMPLE_PROFILE_NUM; a++) {
+ if (samples[a])
+ printf ("%04x %c %u\n",
+ (a << AO_SAMPLE_PROFILE_SHIFT) + AO_SAMPLE_PROFILE_LOW_PC,
+ missed[a >> 3] & (1 << (a & 7)) ? '*' : ' ',
+ samples[a]);
+ }
+}
+
+static void
+ao_sample_profile_clear(void)
+{
+ int t;
+
+ task = isr = os = idle = 0;
+ max_miss = 0;
+ memset(samples, '\0', sizeof (samples));
+ memset(missed, '\0', sizeof (missed));
+ for (t = 0; t < ao_num_tasks; t++) {
+ ao_tasks[t]->ticks = 0;
+ ao_tasks[t]->yields = 0;
+ ao_tasks[t]->max_run = 0;
+ }
+}
+
+static void
+ao_sample_profile_cmd(void)
+{
+ ao_cmd_white();
+ switch (ao_cmd_lex_c) {
+ case '1':
+ ao_sample_profile_start();
+ break;
+ case '0':
+ ao_sample_profile_stop();
+ break;
+ case 'd':
+ ao_sample_profile_dump();
+ break;
+ case 'c':
+ ao_sample_profile_clear();
+ break;
+ default:
+ ao_cmd_status = ao_cmd_syntax_error;
+ break;
+ }
+}
+
+static __code struct ao_cmds ao_sample_profile_cmds[] = {
+ { ao_sample_profile_cmd, "S <1 start,0 stop, d dump,c clear>\0Sample profile" },
+ { 0, NULL }
+};
+
+void
+ao_sample_profile_init(void)
+{
+ ao_sample_profile_timer_init();
+ ao_cmd_register(&ao_sample_profile_cmds[0]);
+ ao_sample_profile_clear();
+}
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_SAMPLE_PROFILE_H_
+#define _AO_SAMPLE_PROFILE_H_
+
+#include <ao_sample_profile_timer.h>
+
+void
+ao_sample_profile_point(uint32_t pc, uint16_t tick, uint8_t in_isr);
+
+void
+ao_sample_profile_init(void);
+
+#endif /* _AO_SAMPLE_PROFILE_H_ */
--- /dev/null
+/*
+ * 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"
+
+#define AO_MAX_SEND 128
+
+static __xdata uint8_t ao_send[AO_MAX_SEND];
+
+static void
+ao_send_packet(void)
+{
+ __pdata uint16_t count;
+ uint8_t b;
+ __pdata uint8_t i;
+
+ ao_cmd_hex();
+ count = ao_cmd_lex_i;
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ if (count > AO_MAX_SEND - 2) {
+ ao_cmd_status = ao_cmd_syntax_error;
+ return;
+ }
+ for (i = 0; i < count; i++) {
+ b = ao_getnibble() << 4;
+ b |= ao_getnibble();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ ao_send[i] = b;
+ }
+ ao_radio_send(ao_send, count);
+}
+
+static __code struct ao_cmds ao_send_packet_cmds[] = {
+ { ao_send_packet, "S <len>\0Send packet. Data on next line" },
+ { 0, NULL }
+};
+
+void
+ao_send_packet_init(void)
+{
+ ao_cmd_register(&ao_send_packet_cmds[0]);
+}
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_SEND_PACKET_H_
+#define _AO_SEND_PACKET_H_
+
+void
+ao_send_packet_init(void);
+
+#endif /* _AO_SEND_PACKET_H_ */
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_SERIAL_H_
+#define _AO_SERIAL_H_
+
+#define AO_SERIAL_SPEED_4800 0
+#define AO_SERIAL_SPEED_9600 1
+#define AO_SERIAL_SPEED_19200 2
+#define AO_SERIAL_SPEED_57600 3
+#define AO_SERIAL_SPEED_115200 4
+
+#if HAS_SERIAL_0
+extern volatile __xdata struct ao_fifo ao_serial0_rx_fifo;
+extern volatile __xdata struct ao_fifo ao_serial0_tx_fifo;
+
+char
+ao_serial0_getchar(void);
+
+int
+_ao_serial0_pollchar(void);
+
+void
+ao_serial0_putchar(char c);
+
+void
+ao_serial0_drain(void);
+
+void
+ao_serial0_set_speed(uint8_t speed);
+#endif
+
+#if HAS_SERIAL_1
+extern volatile __xdata struct ao_fifo ao_serial1_rx_fifo;
+extern volatile __xdata struct ao_fifo ao_serial1_tx_fifo;
+
+char
+ao_serial1_getchar(void);
+
+int
+_ao_serial1_pollchar(void);
+
+void
+ao_serial1_putchar(char c);
+
+void
+ao_serial1_drain(void);
+
+void
+ao_serial1_set_speed(uint8_t speed);
+#endif
+
+#if HAS_SERIAL_2
+extern volatile __xdata struct ao_fifo ao_serial2_rx_fifo;
+extern volatile __xdata struct ao_fifo ao_serial2_tx_fifo;
+
+char
+ao_serial2_getchar(void);
+
+int
+_ao_serial2_pollchar(void);
+
+void
+ao_serial2_putchar(char c);
+
+void
+ao_serial2_drain(void);
+
+void
+ao_serial2_set_speed(uint8_t speed);
+#endif
+
+#if HAS_SERIAL_3
+extern volatile __xdata struct ao_fifo ao_serial3_rx_fifo;
+extern volatile __xdata struct ao_fifo ao_serial3_tx_fifo;
+
+char
+ao_serial3_getchar(void);
+
+int
+_ao_serial3_pollchar(void);
+
+void
+ao_serial3_putchar(char c);
+
+void
+ao_serial3_drain(void);
+
+void
+ao_serial3_set_speed(uint8_t speed);
+#endif
+
+void
+ao_serial_init(void);
+
+#endif /* _AO_SERIAL_H_ */
--- /dev/null
+/*
+ * Copyright © 2011 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.
+ */
+
+#ifndef AO_FLIGHT_TEST
+#include "ao.h"
+#endif
+
+/* Adapted from int_sqrt.c in the linux kernel, which is licensed GPLv2 */
+/**
+ * int_sqrt - rough approximation to sqrt
+ * @x: integer of which to calculate the sqrt
+ *
+ * A very rough approximation to the sqrt() function.
+ */
+
+uint32_t
+ao_sqrt(uint32_t op)
+{
+ uint32_t res = 0;
+ uint32_t one = 1UL << (sizeof (one) * 8 - 2);
+
+ while (one > op)
+ one >>= 2;
+
+ while (one != 0) {
+ if (op >= res + one) {
+ op = op - (res + one);
+ res = res + 2 * one;
+ }
+ res /= 2;
+ one /= 4;
+ }
+ return res;
+}
--- /dev/null
+/*
+ * Copyright © 2009 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"
+
+const char const * const ao_state_names[] = {
+ "startup", "idle", "pad", "boost", "fast",
+ "coast", "drogue", "main", "landed", "invalid"
+};
--- /dev/null
+/*
+ * Copyright © 2009 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"
+
+/*
+ * Basic I/O functions to support SDCC stdio package
+ */
+
+#ifndef USE_SERIAL_0_STDIN
+#define USE_SERIAL_0_STDIN 0
+#endif
+#ifndef USE_SERIAL_1_STDIN
+#define USE_SERIAL_1_STDIN 0
+#endif
+#ifndef USE_SERIAL_2_STDIN
+#define USE_SERIAL_2_STDIN 0
+#endif
+#ifndef USE_SERIAL_3_STDIN
+#define USE_SERIAL_3_STDIN 0
+#endif
+#ifndef USE_SERIAL_4_STDIN
+#define USE_SERIAL_4_STDIN 0
+#endif
+#ifndef USE_SERIAL_5_STDIN
+#define USE_SERIAL_5_STDIN 0
+#endif
+#ifndef USE_SERIAL_6_STDIN
+#define USE_SERIAL_6_STDIN 0
+#endif
+#ifndef USE_SERIAL_7_STDIN
+#define USE_SERIAL_7_STDIN 0
+#endif
+#ifndef USE_SERIAL_8_STDIN
+#define USE_SERIAL_8_STDIN 0
+#endif
+#ifndef USE_SERIAL_9_STDIN
+#define USE_SERIAL_9_STDIN 0
+#endif
+#ifndef PACKET_HAS_SLAVE
+#define PACKET_HAS_SLAVE 0
+#endif
+
+#define USE_SERIAL_STDIN (USE_SERIAL_0_STDIN + \
+ USE_SERIAL_1_STDIN + \
+ USE_SERIAL_2_STDIN + \
+ USE_SERIAL_3_STDIN + \
+ USE_SERIAL_4_STDIN + \
+ USE_SERIAL_5_STDIN + \
+ USE_SERIAL_6_STDIN + \
+ USE_SERIAL_7_STDIN + \
+ USE_SERIAL_8_STDIN + \
+ USE_SERIAL_9_STDIN)
+
+#define AO_NUM_STDIOS (HAS_USB + PACKET_HAS_SLAVE + USE_SERIAL_STDIN)
+
+__xdata struct ao_stdio ao_stdios[AO_NUM_STDIOS];
+
+#if AO_NUM_STDIOS > 1
+__pdata int8_t ao_cur_stdio;
+__pdata int8_t ao_num_stdios;
+#else
+__pdata int8_t ao_cur_stdio;
+#define ao_cur_stdio 0
+#define ao_num_stdios 0
+#endif
+
+void
+putchar(char c)
+{
+#if LOW_LEVEL_DEBUG
+ if (!ao_cur_task) {
+ extern void ao_debug_out(char c);
+ if (c == '\n')
+ ao_debug_out('\r');
+ ao_debug_out(c);
+ return;
+ }
+#endif
+ if (c == '\n')
+ (*ao_stdios[ao_cur_stdio].putchar)('\r');
+ (*ao_stdios[ao_cur_stdio].putchar)(c);
+}
+
+void
+flush(void)
+{
+ if (ao_stdios[ao_cur_stdio].flush)
+ ao_stdios[ao_cur_stdio].flush();
+}
+
+__xdata uint8_t ao_stdin_ready;
+
+char
+getchar(void) __reentrant
+{
+ int c;
+ int8_t stdio;
+
+ ao_arch_block_interrupts();
+ stdio = ao_cur_stdio;
+ for (;;) {
+ c = ao_stdios[stdio]._pollchar();
+ if (c != AO_READ_AGAIN)
+ break;
+#if AO_NUM_STDIOS > 1
+ if (++stdio == ao_num_stdios)
+ stdio = 0;
+ if (stdio == ao_cur_stdio)
+#endif
+ ao_sleep(&ao_stdin_ready);
+ }
+#if AO_NUM_STDIOS > 1
+ ao_cur_stdio = stdio;
+#endif
+ ao_arch_release_interrupts();
+ return c;
+}
+
+uint8_t
+ao_echo(void)
+{
+ return ao_stdios[ao_cur_stdio].echo;
+}
+
+int8_t
+ao_add_stdio(int (*_pollchar)(void),
+ void (*putchar)(char),
+ void (*flush)(void)) __reentrant
+{
+#if AO_NUM_STDIOS > 1
+ if (ao_num_stdios == AO_NUM_STDIOS)
+ ao_panic(AO_PANIC_STDIO);
+#endif
+ ao_stdios[ao_num_stdios]._pollchar = _pollchar;
+ ao_stdios[ao_num_stdios].putchar = putchar;
+ ao_stdios[ao_num_stdios].flush = flush;
+ ao_stdios[ao_num_stdios].echo = 1;
+#if AO_NUM_STDIOS > 1
+ return ao_num_stdios++;
+#else
+ return 0;
+#endif
+}
--- /dev/null
+/*
+ * Copyright © 2011 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_storage.h>
+
+uint8_t
+ao_storage_read(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant
+{
+ uint16_t this_len;
+ uint16_t this_off;
+
+ ao_storage_setup();
+ if (pos >= ao_storage_total || pos + len > ao_storage_total)
+ return 0;
+ while (len) {
+
+ /* Compute portion of transfer within
+ * a single block
+ */
+ this_off = (uint16_t) pos & (ao_storage_unit - 1);
+ this_len = ao_storage_unit - this_off;
+ if (this_len > len)
+ this_len = len;
+
+ if (!ao_storage_device_read(pos, buf, this_len))
+ return 0;
+
+ /* See how much is left */
+ buf += this_len;
+ len -= this_len;
+ pos += this_len;
+ }
+ return 1;
+}
+
+uint8_t
+ao_storage_write(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant
+{
+ uint16_t this_len;
+ uint16_t this_off;
+
+ ao_storage_setup();
+ if (pos >= ao_storage_total || pos + len > ao_storage_total)
+ return 0;
+ while (len) {
+
+ /* Compute portion of transfer within
+ * a single block
+ */
+ this_off = (uint16_t) pos & (ao_storage_unit - 1);
+ this_len = ao_storage_unit - this_off;
+ if (this_len > len)
+ this_len = len;
+
+ if (!ao_storage_device_write(pos, buf, this_len))
+ return 0;
+
+ /* See how much is left */
+ buf += this_len;
+ len -= this_len;
+ pos += this_len;
+ }
+ return 1;
+}
+
+static __xdata uint8_t storage_data[8];
+
+static void
+ao_storage_dump(void) __reentrant
+{
+ uint8_t i, j;
+
+ ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ for (i = 0; ; i += 8) {
+ if (ao_storage_read(((uint32_t) (ao_cmd_lex_i) << 8) + i,
+ storage_data,
+ 8)) {
+ ao_cmd_put16((uint16_t) i);
+ for (j = 0; j < 8; j++) {
+ putchar(' ');
+ ao_cmd_put8(storage_data[j]);
+ }
+ putchar ('\n');
+ }
+ if (i == 248)
+ break;
+ }
+}
+
+#if HAS_STORAGE_DEBUG
+
+/* not enough space for this today
+ */
+static void
+ao_storage_store(void) __reentrant
+{
+ uint16_t block;
+ uint8_t i;
+ uint16_t len;
+ static __xdata uint8_t b;
+ uint32_t addr;
+
+ ao_cmd_hex();
+ block = ao_cmd_lex_i;
+ ao_cmd_hex();
+ i = ao_cmd_lex_i;
+ addr = ((uint32_t) block << 8) | i;
+ ao_cmd_hex();
+ len = ao_cmd_lex_i;
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ while (len--) {
+ ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ b = ao_cmd_lex_i;
+ ao_storage_write(addr, &b, 1);
+ addr++;
+ }
+}
+#endif
+
+void
+ao_storage_zap(void) __reentrant
+{
+ ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ ao_storage_erase((uint32_t) ao_cmd_lex_i << 8);
+}
+
+void
+ao_storage_zapall(void) __reentrant
+{
+ uint32_t pos;
+
+ ao_cmd_white();
+ if (!ao_match_word("DoIt"))
+ return;
+ for (pos = 0; pos < ao_storage_log_max; pos += ao_storage_block)
+ ao_storage_erase(pos);
+}
+
+void
+ao_storage_info(void) __reentrant
+{
+ ao_storage_setup();
+ printf("Storage size: %ld\n", (long) ao_storage_total);
+ printf("Storage erase unit: %ld\n", (long) ao_storage_block);
+ ao_storage_device_info();
+}
+
+__code struct ao_cmds ao_storage_cmds[] = {
+ { ao_storage_info, "f\0Show storage" },
+ { ao_storage_dump, "e <block>\0Dump flash" },
+#if HAS_STORAGE_DEBUG
+ { ao_storage_store, "w <block> <start> <len> <data> ...\0Write data to flash" },
+#endif
+ { ao_storage_zap, "z <block>\0Erase <block>" },
+ { ao_storage_zapall,"Z <key>\0Erase all. <key> is doit with D&I" },
+ { 0, NULL },
+};
+
+void
+ao_storage_init(void)
+{
+ ao_storage_device_init();
+ ao_cmd_register(&ao_storage_cmds[0]);
+}
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_STORAGE_H_
+#define _AO_STORAGE_H_
+
+/*
+ * Storage interface, provided by one of the eeprom or flash
+ * drivers
+ */
+
+#ifndef ao_storage_pos_t
+#define ao_storage_pos_t uint32_t
+#endif
+
+typedef ao_storage_pos_t ao_pos_t;
+
+/* Total bytes of available storage */
+extern __pdata ao_pos_t ao_storage_total;
+
+/* Block size - device is erased in these units. At least 256 bytes */
+extern __pdata ao_pos_t ao_storage_block;
+
+#ifndef USE_STORAGE_CONFIG
+#define USE_STORAGE_CONFIG 1
+#endif
+
+#if USE_STORAGE_CONFIG
+/* Byte offset of config block. Will be ao_storage_block bytes long */
+extern __pdata ao_pos_t ao_storage_config;
+
+#define ao_storage_log_max ao_storage_config
+#else
+#define ao_storage_log_max ao_storage_total
+#endif
+
+/* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */
+extern __pdata uint16_t ao_storage_unit;
+
+/* Initialize above values. Can only be called once the OS is running */
+void
+ao_storage_setup(void) __reentrant;
+
+/* Write data. Returns 0 on failure, 1 on success */
+uint8_t
+ao_storage_write(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant;
+
+/* Read data. Returns 0 on failure, 1 on success */
+uint8_t
+ao_storage_read(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant;
+
+/* Erase a block of storage. This always clears ao_storage_block bytes */
+uint8_t
+ao_storage_erase(ao_pos_t pos) __reentrant;
+
+/* Flush any pending writes to stable storage */
+void
+ao_storage_flush(void) __reentrant;
+
+/* Initialize the storage code */
+void
+ao_storage_init(void);
+
+/*
+ * Low-level functions wrapped by ao_storage.c
+ */
+
+/* Read data within a storage unit */
+uint8_t
+ao_storage_device_read(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant;
+
+/* Write data within a storage unit */
+uint8_t
+ao_storage_device_write(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant;
+
+/* Initialize low-level device bits */
+void
+ao_storage_device_init(void);
+
+/* Print out information about flash chips */
+void
+ao_storage_device_info(void) __reentrant;
+
+#endif /* _AO_STORAGE_H_ */
--- /dev/null
+/*
+ * Copyright © 2009 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_task.h>
+#if HAS_SAMPLE_PROFILE
+#include <ao_sample_profile.h>
+#endif
+#if HAS_STACK_GUARD
+#include <ao_mpu.h>
+#endif
+
+#define DEBUG 0
+
+#define AO_NO_TASK_INDEX 0xff
+
+__xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
+__data uint8_t ao_num_tasks;
+__xdata struct ao_task *__data ao_cur_task;
+
+#if !HAS_TASK_QUEUE
+static __data uint8_t ao_cur_task_index;
+#endif
+
+#ifdef ao_arch_task_globals
+ao_arch_task_globals
+#endif
+
+#define AO_CHECK_STACK 0
+
+#if AO_CHECK_STACK
+static uint8_t in_yield;
+
+static inline void ao_check_stack(void) {
+ uint8_t q;
+ if (!in_yield && ao_cur_task && &q < &ao_cur_task->stack[0])
+ ao_panic(AO_PANIC_STACK);
+}
+#else
+#define ao_check_stack()
+#endif
+
+#if HAS_TASK_QUEUE
+
+#define SLEEP_HASH_SIZE 17
+
+static struct ao_list run_queue;
+static struct ao_list alarm_queue;
+static struct ao_list sleep_queue[SLEEP_HASH_SIZE];
+
+static void
+ao_task_to_run_queue(struct ao_task *task)
+{
+ ao_list_del(&task->queue);
+ ao_list_append(&task->queue, &run_queue);
+}
+
+static struct ao_list *
+ao_task_sleep_queue(void *wchan)
+{
+ return &sleep_queue[(uintptr_t) wchan % SLEEP_HASH_SIZE];
+}
+
+static void
+ao_task_to_sleep_queue(struct ao_task *task, void *wchan)
+{
+ ao_list_del(&task->queue);
+ ao_list_append(&task->queue, ao_task_sleep_queue(wchan));
+}
+
+#if DEBUG
+static void
+ao_task_validate_alarm_queue(void)
+{
+ struct ao_task *alarm, *prev = NULL;
+ int i;
+
+ if (ao_list_is_empty(&alarm_queue))
+ return;
+ ao_list_for_each_entry(alarm, &alarm_queue, struct ao_task, alarm_queue) {
+ if (prev) {
+ if ((int16_t) (alarm->alarm - prev->alarm) < 0) {
+ ao_panic(1);
+ }
+ }
+ prev = alarm;
+ }
+ for (i = 0; i < ao_num_tasks; i++) {
+ alarm = ao_tasks[i];
+ if (alarm->alarm) {
+ if (ao_list_is_empty(&alarm->alarm_queue))
+ ao_panic(2);
+ } else {
+ if (!ao_list_is_empty(&alarm->alarm_queue))
+ ao_panic(3);
+ }
+ }
+ if (ao_task_alarm_tick != ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm)
+ ao_panic(4);
+}
+#else
+#define ao_task_validate_alarm_queue()
+#endif
+
+uint16_t ao_task_alarm_tick;
+
+static void
+ao_task_to_alarm_queue(struct ao_task *task)
+{
+ struct ao_task *alarm;
+ ao_list_for_each_entry(alarm, &alarm_queue, struct ao_task, alarm_queue) {
+ if ((int16_t) (alarm->alarm - task->alarm) >= 0) {
+ ao_list_insert(&task->alarm_queue, alarm->alarm_queue.prev);
+ ao_task_alarm_tick = ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm;
+ ao_task_validate_alarm_queue();
+ return;
+ }
+ }
+ ao_list_append(&task->alarm_queue, &alarm_queue);
+ ao_task_alarm_tick = ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm;
+ ao_task_validate_alarm_queue();
+}
+
+static void
+ao_task_from_alarm_queue(struct ao_task *task)
+{
+ ao_list_del(&task->alarm_queue);
+ if (ao_list_is_empty(&alarm_queue))
+ ao_task_alarm_tick = 0;
+ else
+ ao_task_alarm_tick = ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm;
+ ao_task_validate_alarm_queue();
+}
+
+static void
+ao_task_init_queue(struct ao_task *task)
+{
+ ao_list_init(&task->queue);
+ ao_list_init(&task->alarm_queue);
+}
+
+static void
+ao_task_exit_queue(struct ao_task *task)
+{
+ ao_list_del(&task->queue);
+ ao_list_del(&task->alarm_queue);
+}
+
+void
+ao_task_check_alarm(uint16_t tick)
+{
+ struct ao_task *alarm, *next;
+
+ ao_list_for_each_entry_safe(alarm, next, &alarm_queue, struct ao_task, alarm_queue) {
+ if ((int16_t) (tick - alarm->alarm) < 0)
+ break;
+ alarm->alarm = 0;
+ ao_task_from_alarm_queue(alarm);
+ ao_task_to_run_queue(alarm);
+ }
+}
+
+void
+ao_task_init(void)
+{
+ uint8_t i;
+ ao_list_init(&run_queue);
+ ao_list_init(&alarm_queue);
+ ao_task_alarm_tick = 0;
+ for (i = 0; i < SLEEP_HASH_SIZE; i++)
+ ao_list_init(&sleep_queue[i]);
+}
+
+#if DEBUG
+static uint8_t
+ao_task_validate_queue(struct ao_task *task)
+{
+ uint32_t flags;
+ struct ao_task *m;
+ uint8_t ret = 0;
+ struct ao_list *queue;
+
+ flags = ao_arch_irqsave();
+ if (task->wchan) {
+ queue = ao_task_sleep_queue(task->wchan);
+ ret |= 2;
+ } else {
+ queue = &run_queue;
+ ret |= 4;
+ }
+ ao_list_for_each_entry(m, queue, struct ao_task, queue) {
+ if (m == task) {
+ ret |= 1;
+ break;
+ }
+ }
+ ao_arch_irqrestore(flags);
+ return ret;
+}
+
+static uint8_t
+ao_task_validate_alarm(struct ao_task *task)
+{
+ uint32_t flags;
+ struct ao_task *m;
+ uint8_t ret = 0;
+
+ flags = ao_arch_irqsave();
+ if (task->alarm == 0)
+ return 0xff;
+ ao_list_for_each_entry(m, &alarm_queue, struct ao_task, alarm_queue) {
+ if (m == task)
+ ret |= 1;
+ else {
+ if (!(ret&1)) {
+ if ((int16_t) (m->alarm - task->alarm) > 0)
+ ret |= 2;
+ } else {
+ if ((int16_t) (task->alarm - m->alarm) > 0)
+ ret |= 4;
+ }
+ }
+ }
+ ao_arch_irqrestore(flags);
+ return ret;
+}
+
+
+static void
+ao_task_validate(void)
+{
+ uint8_t i;
+ struct ao_task *task;
+ uint8_t ret;
+
+ for (i = 0; i < ao_num_tasks; i++) {
+ task = ao_tasks[i];
+ ret = ao_task_validate_queue(task);
+ if (!(ret & 1)) {
+ if (ret & 2)
+ printf ("sleeping task not on sleep queue %s %08x\n",
+ task->name, task->wchan);
+ else
+ printf ("running task not on run queue %s\n",
+ task->name);
+ }
+ ret = ao_task_validate_alarm(task);
+ if (ret != 0xff) {
+ if (!(ret & 1))
+ printf ("alarm task not on alarm queue %s %d\n",
+ task->name, task->alarm);
+ if (ret & 2)
+ printf ("alarm queue has sooner entries after %s %d\n",
+ task->name, task->alarm);
+ if (ret & 4)
+ printf ("alarm queue has later entries before %s %d\n",
+ task->name, task->alarm);
+ }
+ }
+}
+#endif /* DEBUG */
+
+#endif /* HAS_TASK_QUEUE */
+
+void
+ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant
+{
+ uint8_t task_id;
+ uint8_t t;
+ if (ao_num_tasks == AO_NUM_TASKS)
+ ao_panic(AO_PANIC_NO_TASK);
+ for (task_id = 1; task_id != 0; task_id++) {
+ for (t = 0; t < ao_num_tasks; t++)
+ if (ao_tasks[t]->task_id == task_id)
+ break;
+ if (t == ao_num_tasks)
+ break;
+ }
+ task->task_id = task_id;
+ task->name = name;
+ task->wchan = NULL;
+ /*
+ * Construct a stack frame so that it will 'return'
+ * to the start of the task
+ */
+ ao_arch_init_stack(task, start);
+ ao_arch_critical(
+#if HAS_TASK_QUEUE
+ ao_task_init_queue(task);
+ ao_task_to_run_queue(task);
+#endif
+ ao_tasks[ao_num_tasks] = task;
+ ao_num_tasks++;
+ );
+}
+
+__data uint8_t ao_task_minimize_latency;
+
+/* Task switching function. This must not use any stack variables */
+void
+ao_yield(void) ao_arch_naked_define
+{
+ ao_arch_save_regs();
+
+#if HAS_TASK_QUEUE
+ if (ao_cur_task == NULL)
+ ao_cur_task = ao_tasks[ao_num_tasks-1];
+#else
+ if (ao_cur_task_index == AO_NO_TASK_INDEX)
+ ao_cur_task_index = ao_num_tasks-1;
+#endif
+ else
+ {
+#if HAS_SAMPLE_PROFILE
+ uint16_t tick = ao_sample_profile_timer_value();
+ uint16_t run = tick - ao_cur_task->start;
+ if (run > ao_cur_task->max_run)
+ ao_cur_task->max_run = run;
+ ++ao_cur_task->yields;
+#endif
+ ao_arch_save_stack();
+ }
+
+ ao_arch_isr_stack();
+#if !HAS_TASK_QUEUE
+ if (ao_task_minimize_latency)
+ ao_arch_release_interrupts();
+ else
+#endif
+ ao_arch_block_interrupts();
+
+#if AO_CHECK_STACK
+ in_yield = 1;
+#endif
+ /* Find a task to run. If there isn't any runnable task,
+ * this loop will run forever, which is just fine
+ */
+#if HAS_TASK_QUEUE
+ /* If the current task is running, move it to the
+ * end of the queue to allow other tasks a chance
+ */
+ if (ao_cur_task->wchan == NULL)
+ ao_task_to_run_queue(ao_cur_task);
+ ao_cur_task = NULL;
+ for (;;) {
+ ao_arch_memory_barrier();
+ if (!ao_list_is_empty(&run_queue))
+ break;
+ /* Wait for interrupts when there's nothing ready */
+ ao_arch_wait_interrupt();
+ }
+ ao_cur_task = ao_list_first_entry(&run_queue, struct ao_task, queue);
+#else
+ {
+ __pdata uint8_t ao_last_task_index = ao_cur_task_index;
+ for (;;) {
+ ++ao_cur_task_index;
+ if (ao_cur_task_index == ao_num_tasks)
+ ao_cur_task_index = 0;
+
+ ao_cur_task = ao_tasks[ao_cur_task_index];
+
+ /* Check for ready task */
+ if (ao_cur_task->wchan == NULL)
+ break;
+
+ /* Check if the alarm is set for a time which has passed */
+ if (ao_cur_task->alarm &&
+ (int16_t) (ao_time() - ao_cur_task->alarm) >= 0)
+ break;
+
+ /* Wait for interrupts when there's nothing ready */
+ if (ao_cur_task_index == ao_last_task_index && !ao_task_minimize_latency)
+ ao_arch_wait_interrupt();
+ }
+ }
+#endif
+#if HAS_SAMPLE_PROFILE
+ ao_cur_task->start = ao_sample_profile_timer_value();
+#endif
+#if HAS_STACK_GUARD
+ ao_mpu_stack_guard(ao_cur_task->stack);
+#endif
+#if AO_CHECK_STACK
+ in_yield = 0;
+#endif
+ ao_arch_restore_stack();
+}
+
+uint8_t
+ao_sleep(__xdata void *wchan)
+{
+#if HAS_TASK_QUEUE
+ uint32_t flags;
+ flags = ao_arch_irqsave();
+#endif
+ ao_cur_task->wchan = wchan;
+#if HAS_TASK_QUEUE
+ ao_task_to_sleep_queue(ao_cur_task, wchan);
+ ao_arch_irqrestore(flags);
+#endif
+ ao_yield();
+ if (ao_cur_task->wchan) {
+ ao_cur_task->wchan = NULL;
+ ao_cur_task->alarm = 0;
+ return 1;
+ }
+ return 0;
+}
+
+void
+ao_wakeup(__xdata void *wchan) __reentrant
+{
+#if HAS_TASK_QUEUE
+ struct ao_task *sleep, *next;
+ struct ao_list *sleep_queue;
+ uint32_t flags;
+
+ if (ao_num_tasks == 0)
+ return;
+ sleep_queue = ao_task_sleep_queue(wchan);
+ flags = ao_arch_irqsave();
+ ao_list_for_each_entry_safe(sleep, next, sleep_queue, struct ao_task, queue) {
+ if (sleep->wchan == wchan) {
+ sleep->wchan = NULL;
+ ao_task_to_run_queue(sleep);
+ }
+ }
+ ao_arch_irqrestore(flags);
+#else
+ uint8_t i;
+ for (i = 0; i < ao_num_tasks; i++)
+ if (ao_tasks[i]->wchan == wchan)
+ ao_tasks[i]->wchan = NULL;
+#endif
+ ao_check_stack();
+}
+
+void
+ao_alarm(uint16_t delay)
+{
+#if HAS_TASK_QUEUE
+ uint32_t flags;
+ /* Make sure we sleep *at least* delay ticks, which means adding
+ * one to account for the fact that we may be close to the next tick
+ */
+ flags = ao_arch_irqsave();
+#endif
+ if (!(ao_cur_task->alarm = ao_time() + delay + 1))
+ ao_cur_task->alarm = 1;
+#if HAS_TASK_QUEUE
+ ao_task_to_alarm_queue(ao_cur_task);
+ ao_arch_irqrestore(flags);
+#endif
+}
+
+void
+ao_clear_alarm(void)
+{
+#if HAS_TASK_QUEUE
+ uint32_t flags;
+
+ flags = ao_arch_irqsave();
+#endif
+ ao_cur_task->alarm = 0;
+#if HAS_TASK_QUEUE
+ ao_task_from_alarm_queue(ao_cur_task);
+ ao_arch_irqrestore(flags);
+#endif
+}
+
+static __xdata uint8_t ao_forever;
+
+void
+ao_delay(uint16_t ticks)
+{
+ ao_alarm(ticks);
+ ao_sleep(&ao_forever);
+ ao_clear_alarm();
+}
+
+void
+ao_exit(void)
+{
+ uint8_t i;
+ ao_arch_block_interrupts();
+ ao_num_tasks--;
+#if HAS_TASK_QUEUE
+ for (i = 0; i < ao_num_tasks; i++)
+ if (ao_tasks[i] == ao_cur_task)
+ break;
+ ao_task_exit_queue(ao_cur_task);
+#else
+ i = ao_cur_task_index;
+ ao_cur_task_index = AO_NO_TASK_INDEX;
+#endif
+ for (; i < ao_num_tasks; i++)
+ ao_tasks[i] = ao_tasks[i+1];
+ ao_cur_task = NULL;
+ ao_yield();
+ /* we'll never get back here */
+}
+
+#if HAS_TASK_INFO
+void
+ao_task_info(void)
+{
+ uint8_t i;
+ __xdata struct ao_task *task;
+
+ for (i = 0; i < ao_num_tasks; i++) {
+ task = ao_tasks[i];
+ printf("%12s: wchan %04x\n",
+ task->name,
+ (int) task->wchan);
+ }
+#if HAS_TASK_QUEUE && DEBUG
+ ao_task_validate();
+#endif
+}
+#endif
+
+void
+ao_start_scheduler(void)
+{
+#if !HAS_TASK_QUEUE
+ ao_cur_task_index = AO_NO_TASK_INDEX;
+#endif
+ ao_cur_task = NULL;
+#if HAS_ARCH_START_SCHEDULER
+ ao_arch_start_scheduler();
+#endif
+ ao_yield();
+}
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_TASK_H_
+#define _AO_TASK_H_
+#if HAS_TASK_QUEUE
+#include <ao_list.h>
+#endif
+
+#ifndef HAS_TASK_INFO
+#define HAS_TASK_INFO 1
+#endif
+
+/* An AltOS task */
+struct ao_task {
+ __xdata void *wchan; /* current wait channel (NULL if running) */
+ uint16_t alarm; /* abort ao_sleep time */
+ ao_arch_task_members /* any architecture-specific fields */
+ uint8_t task_id; /* unique id */
+ __code char *name; /* task name */
+#if HAS_TASK_QUEUE
+ struct ao_list queue;
+ struct ao_list alarm_queue;
+#endif
+ uint8_t stack[AO_STACK_SIZE]; /* saved stack */
+#if HAS_SAMPLE_PROFILE
+ uint32_t ticks;
+ uint32_t yields;
+ uint16_t start;
+ uint16_t max_run;
+#endif
+};
+
+#ifndef AO_NUM_TASKS
+#define AO_NUM_TASKS 16 /* maximum number of tasks */
+#endif
+
+#define AO_NO_TASK 0 /* no task id */
+
+extern __xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
+extern __data uint8_t ao_num_tasks;
+extern __xdata struct ao_task *__data ao_cur_task;
+extern __data uint8_t ao_task_minimize_latency; /* Reduce IRQ latency */
+
+/*
+ ao_task.c
+ */
+
+/* Suspend the current task until wchan is awoken.
+ * returns:
+ * 0 on normal wake
+ * 1 on alarm
+ */
+uint8_t
+ao_sleep(__xdata void *wchan);
+
+/* Wake all tasks sleeping on wchan */
+void
+ao_wakeup(__xdata void *wchan) __reentrant;
+
+/* set an alarm to go off in 'delay' ticks */
+void
+ao_alarm(uint16_t delay);
+
+/* Clear any pending alarm */
+void
+ao_clear_alarm(void);
+
+/* Yield the processor to another task */
+void
+ao_yield(void) ao_arch_naked_declare;
+
+/* Add a task to the run queue */
+void
+ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
+
+#if HAS_TASK_QUEUE
+/* Called on timer interrupt to check alarms */
+extern uint16_t ao_task_alarm_tick;
+void
+ao_task_check_alarm(uint16_t tick);
+#endif
+
+/* Terminate the current task */
+void
+ao_exit(void);
+
+/* Dump task info to console */
+void
+ao_task_info(void);
+
+/* Start the scheduler. This will not return */
+void
+ao_start_scheduler(void);
+
+#if HAS_TASK_QUEUE
+void
+ao_task_init(void);
+#else
+#define ao_task_init()
+#endif
+
+#endif
--- /dev/null
+/*
+ * Copyright © 2011 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.
+ */
+
+#ifndef _AO_TELEM_H_
+#define _AO_TELEM_H_
+
+#define AO_TELEMETRY_VERSION 4
+
+/*
+ * Telemetry version 4 and higher format:
+ *
+ * General header fields
+ *
+ * Name Value
+ *
+ * VERSION Telemetry version number (4 or more). Must be first.
+ * c Callsign (string, no spaces allowed)
+ * n Flight unit serial number (integer)
+ * f Flight number (integer)
+ * r Packet RSSI value (integer)
+ * s Flight computer state (string, no spaces allowed)
+ * t Flight computer clock (integer in centiseconds)
+ */
+
+#define AO_TELEM_VERSION "VERSION"
+#define AO_TELEM_CALL "c"
+#define AO_TELEM_SERIAL "n"
+#define AO_TELEM_FLIGHT "f"
+#define AO_TELEM_RSSI "r"
+#define AO_TELEM_STATE "s"
+#define AO_TELEM_TICK "t"
+
+/*
+ * Raw sensor values
+ *
+ * Name Value
+ * r_a Accelerometer reading (integer)
+ * r_b Barometer reading (integer)
+ * r_t Thermometer reading (integer)
+ * r_v Battery reading (integer)
+ * r_d Drogue continuity (integer)
+ * r_m Main continuity (integer)
+ */
+
+#define AO_TELEM_RAW_ACCEL "r_a"
+#define AO_TELEM_RAW_BARO "r_b"
+#define AO_TELEM_RAW_THERMO "r_t"
+#define AO_TELEM_RAW_BATT "r_v"
+#define AO_TELEM_RAW_DROGUE "r_d"
+#define AO_TELEM_RAW_MAIN "r_m"
+
+/*
+ * Sensor calibration values
+ *
+ * Name Value
+ * c_a Ground accelerometer reading (integer)
+ * c_b Ground barometer reading (integer)
+ * c_p Accelerometer reading for +1g
+ * c_m Accelerometer reading for -1g
+ */
+
+#define AO_TELEM_CAL_ACCEL_GROUND "c_a"
+#define AO_TELEM_CAL_BARO_GROUND "c_b"
+#define AO_TELEM_CAL_ACCEL_PLUS "c_p"
+#define AO_TELEM_CAL_ACCEL_MINUS "c_m"
+
+/*
+ * Kalman state values
+ *
+ * Name Value
+ * k_h Height above pad (integer, meters)
+ * k_s Vertical speeed (integer, m/s * 16)
+ * k_a Vertical acceleration (integer, m/s² * 16)
+ */
+
+#define AO_TELEM_KALMAN_HEIGHT "k_h"
+#define AO_TELEM_KALMAN_SPEED "k_s"
+#define AO_TELEM_KALMAN_ACCEL "k_a"
+
+/*
+ * Ad-hoc flight values
+ *
+ * Name Value
+ * a_a Acceleration (integer, sensor units)
+ * a_s Speed (integer, integrated acceleration value)
+ * a_b Barometer reading (integer, sensor units)
+ */
+
+#define AO_TELEM_ADHOC_ACCEL "a_a"
+#define AO_TELEM_ADHOC_SPEED "a_s"
+#define AO_TELEM_ADHOC_BARO "a_b"
+
+/*
+ * GPS values
+ *
+ * Name Value
+ * g GPS state (string):
+ * l locked
+ * u unlocked
+ * e error (missing or broken)
+ * g_n Number of sats used in solution
+ * g_ns Latitude (degrees * 10e7)
+ * g_ew Longitude (degrees * 10e7)
+ * g_a Altitude (integer meters)
+ * g_Y GPS year (integer)
+ * g_M GPS month (integer - 1-12)
+ * g_D GPS day (integer - 1-31)
+ * g_h GPS hour (integer - 0-23)
+ * g_m GPS minute (integer - 0-59)
+ * g_s GPS second (integer - 0-59)
+ * g_v GPS vertical speed (integer, cm/sec)
+ * g_g GPS horizontal speed (integer, cm/sec)
+ * g_c GPS course (integer, 0-359)
+ * g_hd GPS hdop (integer * 10)
+ * g_vd GPS vdop (integer * 10)
+ * g_he GPS h error (integer)
+ * g_ve GPS v error (integer)
+ */
+
+#define AO_TELEM_GPS_STATE "g"
+#define AO_TELEM_GPS_STATE_LOCKED 'l'
+#define AO_TELEM_GPS_STATE_UNLOCKED 'u'
+#define AO_TELEM_GPS_STATE_ERROR 'e'
+#define AO_TELEM_GPS_NUM_SAT "g_n"
+#define AO_TELEM_GPS_LATITUDE "g_ns"
+#define AO_TELEM_GPS_LONGITUDE "g_ew"
+#define AO_TELEM_GPS_ALTITUDE "g_a"
+#define AO_TELEM_GPS_YEAR "g_Y"
+#define AO_TELEM_GPS_MONTH "g_M"
+#define AO_TELEM_GPS_DAY "g_D"
+#define AO_TELEM_GPS_HOUR "g_h"
+#define AO_TELEM_GPS_MINUTE "g_m"
+#define AO_TELEM_GPS_SECOND "g_s"
+#define AO_TELEM_GPS_VERTICAL_SPEED "g_v"
+#define AO_TELEM_GPS_HORIZONTAL_SPEED "g_g"
+#define AO_TELEM_GPS_COURSE "g_c"
+#define AO_TELEM_GPS_HDOP "g_hd"
+#define AO_TELEM_GPS_VDOP "g_vd"
+#define AO_TELEM_GPS_HERROR "g_he"
+#define AO_TELEM_GPS_VERROR "g_ve"
+
+/*
+ * GPS satellite values
+ *
+ * Name Value
+ * s_n Number of satellites reported (integer)
+ * s_v0 Space vehicle ID (integer) for report 0
+ * s_c0 C/N0 number (integer) for report 0
+ * s_v1 Space vehicle ID (integer) for report 1
+ * s_c1 C/N0 number (integer) for report 1
+ * ...
+ */
+
+#define AO_TELEM_SAT_NUM "s_n"
+#define AO_TELEM_SAT_SVID "s_v"
+#define AO_TELEM_SAT_C_N_0 "s_c"
+
+#endif /* _AO_TELEM_H_ */
--- /dev/null
+/*
+ * Copyright © 2011 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_log.h"
+#include "ao_product.h"
+
+#ifndef HAS_RDF
+#define HAS_RDF 1
+#endif
+
+static __pdata uint16_t ao_telemetry_interval;
+
+#if HAS_RDF
+static __pdata uint8_t ao_rdf = 0;
+static __pdata uint16_t ao_rdf_time;
+#endif
+
+#if HAS_APRS
+static __pdata uint16_t ao_aprs_time;
+
+#include <ao_aprs.h>
+#endif
+
+#if defined(TELEMEGA)
+#define AO_SEND_MEGA 1
+#endif
+
+#if defined (TELEMETRUM_V_2_0)
+#define AO_SEND_METRUM 1
+#endif
+
+#if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1) || defined(TELEBALLOON_V_1_1) || defined(TELEMETRUM_V_1_2)
+#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMETRUM
+#endif
+
+#if defined(TELEMINI_V_1_0)
+#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMINI
+#endif
+
+#if defined(TELENANO_V_0_1)
+#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELENANO
+#endif
+
+static __xdata union ao_telemetry_all telemetry;
+
+#if defined AO_TELEMETRY_SENSOR
+/* Send sensor packet */
+static void
+ao_send_sensor(void)
+{
+ __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+
+ telemetry.generic.tick = packet->tick;
+ telemetry.generic.type = AO_TELEMETRY_SENSOR;
+
+ telemetry.sensor.state = ao_flight_state;
+#if HAS_ACCEL
+ telemetry.sensor.accel = packet->adc.accel;
+#else
+ telemetry.sensor.accel = 0;
+#endif
+ telemetry.sensor.pres = ao_data_pres(packet);
+ telemetry.sensor.temp = packet->adc.temp;
+ telemetry.sensor.v_batt = packet->adc.v_batt;
+#if HAS_IGNITE
+ telemetry.sensor.sense_d = packet->adc.sense_d;
+ telemetry.sensor.sense_m = packet->adc.sense_m;
+#else
+ telemetry.sensor.sense_d = 0;
+ telemetry.sensor.sense_m = 0;
+#endif
+
+ telemetry.sensor.acceleration = ao_accel;
+ telemetry.sensor.speed = ao_speed;
+ telemetry.sensor.height = ao_height;
+
+ telemetry.sensor.ground_pres = ao_ground_pres;
+#if HAS_ACCEL
+ telemetry.sensor.ground_accel = ao_ground_accel;
+ telemetry.sensor.accel_plus_g = ao_config.accel_plus_g;
+ telemetry.sensor.accel_minus_g = ao_config.accel_minus_g;
+#else
+ telemetry.sensor.ground_accel = 0;
+ telemetry.sensor.accel_plus_g = 0;
+ telemetry.sensor.accel_minus_g = 0;
+#endif
+
+ ao_radio_send(&telemetry, sizeof (telemetry));
+}
+#endif
+
+
+#ifdef AO_SEND_MEGA
+/* Send mega sensor packet */
+static void
+ao_send_mega_sensor(void)
+{
+ __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+
+ telemetry.generic.tick = packet->tick;
+ telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
+
+ telemetry.mega_sensor.orient = ao_sample_orient;
+ telemetry.mega_sensor.accel = ao_data_accel(packet);
+ telemetry.mega_sensor.pres = ao_data_pres(packet);
+ telemetry.mega_sensor.temp = ao_data_temp(packet);
+
+#if HAS_MPU6000
+ telemetry.mega_sensor.accel_x = packet->mpu6000.accel_x;
+ telemetry.mega_sensor.accel_y = packet->mpu6000.accel_y;
+ telemetry.mega_sensor.accel_z = packet->mpu6000.accel_z;
+
+ telemetry.mega_sensor.gyro_x = packet->mpu6000.gyro_x;
+ telemetry.mega_sensor.gyro_y = packet->mpu6000.gyro_y;
+ telemetry.mega_sensor.gyro_z = packet->mpu6000.gyro_z;
+#endif
+
+#if HAS_HMC5883
+ telemetry.mega_sensor.mag_x = packet->hmc5883.x;
+ telemetry.mega_sensor.mag_y = packet->hmc5883.y;
+ telemetry.mega_sensor.mag_z = packet->hmc5883.z;
+#endif
+
+ ao_radio_send(&telemetry, sizeof (telemetry));
+}
+
+static __pdata int8_t ao_telemetry_mega_data_max;
+static __pdata int8_t ao_telemetry_mega_data_cur;
+
+/* Send mega data packet */
+static void
+ao_send_mega_data(void)
+{
+ if (--ao_telemetry_mega_data_cur <= 0) {
+ __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+ uint8_t i;
+
+ telemetry.generic.tick = packet->tick;
+ telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
+
+ telemetry.mega_data.state = ao_flight_state;
+ telemetry.mega_data.v_batt = packet->adc.v_batt;
+ telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
+
+ /* ADC range is 0-4095, so shift by four to save the high 8 bits */
+ for (i = 0; i < AO_ADC_NUM_SENSE; i++)
+ telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 4;
+
+ telemetry.mega_data.ground_pres = ao_ground_pres;
+ telemetry.mega_data.ground_accel = ao_ground_accel;
+ telemetry.mega_data.accel_plus_g = ao_config.accel_plus_g;
+ telemetry.mega_data.accel_minus_g = ao_config.accel_minus_g;
+
+ telemetry.mega_data.acceleration = ao_accel;
+ telemetry.mega_data.speed = ao_speed;
+ telemetry.mega_data.height = ao_height;
+
+ ao_radio_send(&telemetry, sizeof (telemetry));
+ ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
+ }
+}
+#endif /* AO_SEND_MEGA */
+
+#ifdef AO_SEND_METRUM
+/* Send telemetrum sensor packet */
+static void
+ao_send_metrum_sensor(void)
+{
+ __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+
+ telemetry.generic.tick = packet->tick;
+ telemetry.generic.type = AO_TELEMETRY_METRUM_SENSOR;
+
+ telemetry.metrum_sensor.state = ao_flight_state;
+#if HAS_ACCEL
+ telemetry.metrum_sensor.accel = ao_data_accel(packet);
+#endif
+ telemetry.metrum_sensor.pres = ao_data_pres(packet);
+ telemetry.metrum_sensor.temp = ao_data_temp(packet);
+
+ telemetry.metrum_sensor.acceleration = ao_accel;
+ telemetry.metrum_sensor.speed = ao_speed;
+ telemetry.metrum_sensor.height = ao_height;
+
+ telemetry.metrum_sensor.v_batt = packet->adc.v_batt;
+ telemetry.metrum_sensor.sense_a = packet->adc.sense_a;
+ telemetry.metrum_sensor.sense_m = packet->adc.sense_m;
+
+ ao_radio_send(&telemetry, sizeof (telemetry));
+}
+
+static __pdata int8_t ao_telemetry_metrum_data_max;
+static __pdata int8_t ao_telemetry_metrum_data_cur;
+
+/* Send telemetrum data packet */
+static void
+ao_send_metrum_data(void)
+{
+ if (--ao_telemetry_metrum_data_cur <= 0) {
+ __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+
+ telemetry.generic.tick = packet->tick;
+ telemetry.generic.type = AO_TELEMETRY_METRUM_DATA;
+
+ telemetry.metrum_data.ground_pres = ao_ground_pres;
+#if HAS_ACCEL
+ telemetry.metrum_data.ground_accel = ao_ground_accel;
+ telemetry.metrum_data.accel_plus_g = ao_config.accel_plus_g;
+ telemetry.metrum_data.accel_minus_g = ao_config.accel_minus_g;
+#else
+ telemetry.metrum_data.ground_accel = 1;
+ telemetry.metrum_data.accel_plus_g = 0;
+ telemetry.metrum_data.accel_minus_g = 2;
+#endif
+
+ ao_radio_send(&telemetry, sizeof (telemetry));
+ ao_telemetry_metrum_data_cur = ao_telemetry_metrum_data_max;
+ }
+}
+#endif /* AO_SEND_METRUM */
+
+#ifdef AO_SEND_MINI
+
+static void
+ao_send_mini(void)
+{
+ __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+
+ telemetry.generic.tick = packet->tick;
+ telemetry.generic.type = AO_TELEMETRY_MINI;
+
+ telemetry.mini.state = ao_flight_state;
+
+ telemetry.mini.v_batt = packet->adc.v_batt;
+ telemetry.mini.sense_a = packet->adc.sense_a;
+ telemetry.mini.sense_m = packet->adc.sense_m;
+
+ telemetry.mini.pres = ao_data_pres(packet);
+ telemetry.mini.temp = ao_data_temp(packet);
+
+ telemetry.mini.acceleration = ao_accel;
+ telemetry.mini.speed = ao_speed;
+ telemetry.mini.height = ao_height;
+
+ telemetry.mini.ground_pres = ao_ground_pres;
+
+ ao_radio_send(&telemetry, sizeof (telemetry));
+}
+
+#endif /* AO_SEND_MINI */
+
+#ifdef AO_SEND_ALL_BARO
+static uint8_t ao_baro_sample;
+
+static void
+ao_send_baro(void)
+{
+ uint8_t sample = ao_sample_data;
+ uint8_t samples = (sample - ao_baro_sample) & (AO_DATA_RING - 1);
+
+ if (samples > 12) {
+ ao_baro_sample = (ao_baro_sample + (samples - 12)) & (AO_DATA_RING - 1);
+ samples = 12;
+ }
+ telemetry.generic.tick = ao_data_ring[sample].tick;
+ telemetry.generic.type = AO_TELEMETRY_BARO;
+ telemetry.baro.samples = samples;
+ for (sample = 0; sample < samples; sample++) {
+ telemetry.baro.baro[sample] = ao_data_ring[ao_baro_sample].adc.pres;
+ ao_baro_sample = ao_data_ring_next(ao_baro_sample);
+ }
+ ao_radio_send(&telemetry, sizeof (telemetry));
+}
+#endif
+
+static __pdata int8_t ao_telemetry_config_max;
+static __pdata int8_t ao_telemetry_config_cur;
+
+static void
+ao_send_configuration(void)
+{
+ if (--ao_telemetry_config_cur <= 0)
+ {
+ telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
+ telemetry.configuration.device = AO_idProduct_NUMBER;
+#if HAS_LOG
+ telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
+#else
+ telemetry.configuration.flight = ao_flight_number;
+#endif
+ telemetry.configuration.config_major = AO_CONFIG_MAJOR;
+ telemetry.configuration.config_minor = AO_CONFIG_MINOR;
+ telemetry.configuration.apogee_delay = ao_config.apogee_delay;
+ telemetry.configuration.main_deploy = ao_config.main_deploy;
+ telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
+ ao_xmemcpy (telemetry.configuration.callsign,
+ ao_config.callsign,
+ AO_MAX_CALLSIGN);
+ ao_xmemcpy (telemetry.configuration.version,
+ CODE_TO_XDATA(ao_version),
+ AO_MAX_VERSION);
+ ao_radio_send(&telemetry, sizeof (telemetry));
+ ao_telemetry_config_cur = ao_telemetry_config_max;
+ }
+}
+
+#if HAS_GPS
+
+static __pdata int8_t ao_telemetry_loc_cur;
+static __pdata int8_t ao_telemetry_sat_cur;
+
+static void
+ao_send_location(void)
+{
+ if (--ao_telemetry_loc_cur <= 0)
+ {
+ telemetry.generic.type = AO_TELEMETRY_LOCATION;
+ ao_mutex_get(&ao_gps_mutex);
+ ao_xmemcpy(&telemetry.location.flags,
+ &ao_gps_data.flags,
+ 26);
+ telemetry.location.tick = ao_gps_tick;
+ ao_mutex_put(&ao_gps_mutex);
+ ao_radio_send(&telemetry, sizeof (telemetry));
+ ao_telemetry_loc_cur = ao_telemetry_config_max;
+ }
+}
+
+static void
+ao_send_satellite(void)
+{
+ if (--ao_telemetry_sat_cur <= 0)
+ {
+ telemetry.generic.type = AO_TELEMETRY_SATELLITE;
+ ao_mutex_get(&ao_gps_mutex);
+ telemetry.satellite.channels = ao_gps_tracking_data.channels;
+ ao_xmemcpy(&telemetry.satellite.sats,
+ &ao_gps_tracking_data.sats,
+ AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
+ ao_mutex_put(&ao_gps_mutex);
+ ao_radio_send(&telemetry, sizeof (telemetry));
+ ao_telemetry_sat_cur = ao_telemetry_config_max;
+ }
+}
+#endif
+
+#if HAS_COMPANION
+
+static __pdata int8_t ao_telemetry_companion_max;
+static __pdata int8_t ao_telemetry_companion_cur;
+
+static void
+ao_send_companion(void)
+{
+ if (--ao_telemetry_companion_cur <= 0) {
+ telemetry.generic.type = AO_TELEMETRY_COMPANION;
+ telemetry.companion.board_id = ao_companion_setup.board_id;
+ telemetry.companion.update_period = ao_companion_setup.update_period;
+ telemetry.companion.channels = ao_companion_setup.channels;
+ ao_mutex_get(&ao_companion_mutex);
+ ao_xmemcpy(&telemetry.companion.companion_data,
+ ao_companion_data,
+ ao_companion_setup.channels * 2);
+ ao_mutex_put(&ao_companion_mutex);
+ ao_radio_send(&telemetry, sizeof (telemetry));
+ ao_telemetry_companion_cur = ao_telemetry_companion_max;
+ }
+}
+#endif
+
+void
+ao_telemetry(void)
+{
+ uint16_t time;
+ int16_t delay;
+
+ ao_config_get();
+ if (!ao_config.radio_enable)
+ ao_exit();
+ while (!ao_flight_number)
+ ao_sleep(&ao_flight_number);
+
+ telemetry.generic.serial = ao_serial_number;
+ for (;;) {
+ while (ao_telemetry_interval == 0)
+ ao_sleep(&telemetry);
+ time = ao_time();
+#if HAS_RDF
+ ao_rdf_time = time;
+#endif
+#if HAS_APRS
+ ao_aprs_time = time;
+#endif
+ while (ao_telemetry_interval) {
+#if HAS_APRS
+ if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
+#endif
+ {
+#ifdef AO_SEND_ALL_BARO
+ ao_send_baro();
+#endif
+
+#if HAS_FLIGHT
+# ifdef AO_SEND_MEGA
+ ao_send_mega_sensor();
+ ao_send_mega_data();
+# endif
+# ifdef AO_SEND_METRUM
+ ao_send_metrum_sensor();
+ ao_send_metrum_data();
+# endif
+# ifdef AO_SEND_MINI
+ ao_send_mini();
+# endif
+# ifdef AO_TELEMETRY_SENSOR
+ ao_send_sensor();
+# endif
+#endif /* HAS_FLIGHT */
+
+#if HAS_COMPANION
+ if (ao_companion_running)
+ ao_send_companion();
+#endif
+ ao_send_configuration();
+#if HAS_GPS
+ ao_send_location();
+ ao_send_satellite();
+#endif
+ }
+#ifndef AO_SEND_ALL_BARO
+#if HAS_RDF
+ if (ao_rdf &&
+#if HAS_APRS
+ !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF) &&
+#endif /* HAS_APRS */
+ (int16_t) (ao_time() - ao_rdf_time) >= 0)
+ {
+#if HAS_IGNITE_REPORT
+ uint8_t c;
+#endif /* HAS_IGNITE_REPORT */
+ ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
+#if HAS_IGNITE_REPORT
+ if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
+ ao_radio_continuity(c);
+ else
+#endif /* HAS_IGNITE_REPORT*/
+ ao_radio_rdf();
+ }
+#endif /* HAS_RDF */
+#if HAS_APRS
+ if (ao_config.aprs_interval != 0 &&
+ (int16_t) (ao_time() - ao_aprs_time) >= 0)
+ {
+ ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval);
+ ao_aprs_send();
+ }
+#endif /* HAS_APRS */
+#endif /* !AO_SEND_ALL_BARO */
+ time += ao_telemetry_interval;
+ delay = time - ao_time();
+ if (delay > 0) {
+ ao_alarm(delay);
+ ao_sleep(&telemetry);
+ ao_clear_alarm();
+ }
+ else
+ time = ao_time();
+ }
+ }
+}
+
+void
+ao_telemetry_set_interval(uint16_t interval)
+{
+ int8_t cur = 0;
+ ao_telemetry_interval = interval;
+
+#if AO_SEND_MEGA
+ if (interval > 1)
+ ao_telemetry_mega_data_max = 1;
+ else
+ ao_telemetry_mega_data_max = 2;
+ if (ao_telemetry_mega_data_max > cur)
+ cur++;
+ ao_telemetry_mega_data_cur = cur;
+#endif
+#if AO_SEND_METRUM
+ ao_telemetry_metrum_data_max = AO_SEC_TO_TICKS(1) / interval;
+ if (ao_telemetry_metrum_data_max > cur)
+ cur++;
+ ao_telemetry_metrum_data_cur = cur;
+#endif
+
+#if HAS_COMPANION
+ if (!ao_companion_setup.update_period)
+ ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
+ ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
+ if (ao_telemetry_companion_max > cur)
+ cur++;
+ ao_telemetry_companion_cur = cur;
+#endif
+
+ ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
+#if HAS_COMPANION
+ if (ao_telemetry_config_max > cur)
+ cur++;
+ ao_telemetry_config_cur = cur;
+#endif
+
+#if HAS_GPS
+ if (ao_telemetry_config_max > cur)
+ cur++;
+ ao_telemetry_loc_cur = cur;
+ if (ao_telemetry_config_max > cur)
+ cur++;
+ ao_telemetry_sat_cur = cur;
+#endif
+ ao_wakeup(&telemetry);
+}
+
+#if HAS_RDF
+void
+ao_rdf_set(uint8_t rdf)
+{
+ ao_rdf = rdf;
+ if (rdf == 0)
+ ao_radio_rdf_abort();
+ else {
+ ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
+ }
+}
+#endif
+
+__xdata struct ao_task ao_telemetry_task;
+
+void
+ao_telemetry_init()
+{
+ ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
+}
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_TELEMETRY_H_
+#define _AO_TELEMETRY_H_
+
+/*
+ * ao_telemetry.c
+ */
+#define AO_MAX_CALLSIGN 8
+#define AO_MAX_VERSION 8
+#if LEGACY_MONITOR
+#define AO_MAX_TELEMETRY 128
+#else
+#define AO_MAX_TELEMETRY 32
+#endif
+
+struct ao_telemetry_generic {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+ uint8_t payload[27]; /* 5 */
+ /* 32 */
+};
+
+#define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
+#define AO_TELEMETRY_SENSOR_TELEMINI 0x02
+#define AO_TELEMETRY_SENSOR_TELENANO 0x03
+
+struct ao_telemetry_sensor {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+
+ uint8_t state; /* 5 flight state */
+ int16_t accel; /* 6 accelerometer (TM only) */
+ int16_t pres; /* 8 pressure sensor */
+ int16_t temp; /* 10 temperature sensor */
+ int16_t v_batt; /* 12 battery voltage */
+ int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
+ int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
+
+ int16_t acceleration; /* 18 m/s² * 16 */
+ int16_t speed; /* 20 m/s * 16 */
+ int16_t height; /* 22 m */
+
+ int16_t ground_pres; /* 24 average pres on pad */
+ int16_t ground_accel; /* 26 average accel on pad */
+ int16_t accel_plus_g; /* 28 accel calibration at +1g */
+ int16_t accel_minus_g; /* 30 accel calibration at -1g */
+ /* 32 */
+};
+
+#define AO_TELEMETRY_CONFIGURATION 0x04
+
+struct ao_telemetry_configuration {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+
+ uint8_t device; /* 5 device type */
+ uint16_t flight; /* 6 flight number */
+ uint8_t config_major; /* 8 Config major version */
+ uint8_t config_minor; /* 9 Config minor version */
+ uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
+ uint16_t main_deploy; /* 12 Main deploy alt in meters */
+ uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
+ char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
+ char version[AO_MAX_VERSION]; /* 24 Software version */
+ /* 32 */
+};
+
+#define AO_TELEMETRY_LOCATION 0x05
+
+#define AO_GPS_MODE_NOT_VALID 'N'
+#define AO_GPS_MODE_AUTONOMOUS 'A'
+#define AO_GPS_MODE_DIFFERENTIAL 'D'
+#define AO_GPS_MODE_ESTIMATED 'E'
+#define AO_GPS_MODE_MANUAL 'M'
+#define AO_GPS_MODE_SIMULATED 'S'
+
+struct ao_telemetry_location {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+
+ uint8_t flags; /* 5 Number of sats and other flags */
+ int16_t altitude; /* 6 GPS reported altitude (m) */
+ int32_t latitude; /* 8 latitude (degrees * 10⁷) */
+ int32_t longitude; /* 12 longitude (degrees * 10⁷) */
+ uint8_t year; /* 16 (- 2000) */
+ uint8_t month; /* 17 (1-12) */
+ uint8_t day; /* 18 (1-31) */
+ uint8_t hour; /* 19 (0-23) */
+ uint8_t minute; /* 20 (0-59) */
+ uint8_t second; /* 21 (0-59) */
+ uint8_t pdop; /* 22 (m * 5) */
+ uint8_t hdop; /* 23 (m * 5) */
+ uint8_t vdop; /* 24 (m * 5) */
+ uint8_t mode; /* 25 */
+ uint16_t ground_speed; /* 26 cm/s */
+ int16_t climb_rate; /* 28 cm/s */
+ uint8_t course; /* 30 degrees / 2 */
+ uint8_t unused[1]; /* 31 */
+ /* 32 */
+};
+
+#define AO_TELEMETRY_SATELLITE 0x06
+
+struct ao_telemetry_satellite_info {
+ uint8_t svid;
+ uint8_t c_n_1;
+};
+
+#define AO_TELEMETRY_SATELLITE_MAX_SAT 12
+
+struct ao_telemetry_satellite {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+ uint8_t channels; /* 5 number of reported sats */
+
+ struct ao_telemetry_satellite_info sats[AO_TELEMETRY_SATELLITE_MAX_SAT]; /* 6 */
+ uint8_t unused[2]; /* 30 */
+ /* 32 */
+};
+
+#define AO_TELEMETRY_COMPANION 0x07
+
+#define AO_COMPANION_MAX_CHANNELS 12
+
+struct ao_telemetry_companion {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+ uint8_t board_id; /* 5 */
+
+ uint8_t update_period; /* 6 */
+ uint8_t channels; /* 7 */
+ uint16_t companion_data[AO_COMPANION_MAX_CHANNELS]; /* 8 */
+ /* 32 */
+};
+
+#define AO_TELEMETRY_MEGA_SENSOR 0x08
+
+struct ao_telemetry_mega_sensor {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+
+ uint8_t orient; /* 5 angle from vertical */
+ int16_t accel; /* 6 Z axis */
+
+ int32_t pres; /* 8 Pa * 10 */
+ int16_t temp; /* 12 °C * 100 */
+
+ int16_t accel_x; /* 14 */
+ int16_t accel_y; /* 16 */
+ int16_t accel_z; /* 18 */
+
+ int16_t gyro_x; /* 20 */
+ int16_t gyro_y; /* 22 */
+ int16_t gyro_z; /* 24 */
+
+ int16_t mag_x; /* 26 */
+ int16_t mag_y; /* 28 */
+ int16_t mag_z; /* 30 */
+ /* 32 */
+};
+
+#define AO_TELEMETRY_MEGA_DATA 0x09
+
+struct ao_telemetry_mega_data {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+
+ uint8_t state; /* 5 flight state */
+
+ int16_t v_batt; /* 6 battery voltage */
+ int16_t v_pyro; /* 8 pyro battery voltage */
+ int8_t sense[6]; /* 10 continuity sense */
+
+ int32_t ground_pres; /* 16 average pres on pad */
+ int16_t ground_accel; /* 20 average accel on pad */
+ int16_t accel_plus_g; /* 22 accel calibration at +1g */
+ int16_t accel_minus_g; /* 24 accel calibration at -1g */
+
+ int16_t acceleration; /* 26 m/s² * 16 */
+ int16_t speed; /* 28 m/s * 16 */
+ int16_t height; /* 30 m */
+ /* 32 */
+};
+
+
+#define AO_TELEMETRY_METRUM_SENSOR 0x0A
+
+struct ao_telemetry_metrum_sensor {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+
+ uint8_t state; /* 5 flight state */
+ int16_t accel; /* 6 Z axis */
+
+ int32_t pres; /* 8 Pa * 10 */
+ int16_t temp; /* 12 °C * 100 */
+
+ int16_t acceleration; /* 14 m/s² * 16 */
+ int16_t speed; /* 16 m/s * 16 */
+ int16_t height; /* 18 m */
+
+ int16_t v_batt; /* 20 battery voltage */
+ int16_t sense_a; /* 22 apogee continuity sense */
+ int16_t sense_m; /* 24 main continuity sense */
+
+ uint8_t pad[6]; /* 26 */
+ /* 32 */
+};
+
+#define AO_TELEMETRY_METRUM_DATA 0x0B
+
+struct ao_telemetry_metrum_data {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+
+ int32_t ground_pres; /* 8 average pres on pad */
+ int16_t ground_accel; /* 12 average accel on pad */
+ int16_t accel_plus_g; /* 14 accel calibration at +1g */
+ int16_t accel_minus_g; /* 16 accel calibration at -1g */
+
+ uint8_t pad[14]; /* 18 */
+ /* 32 */
+};
+
+#define AO_TELEMETRY_MINI 0x10
+
+struct ao_telemetry_mini {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+
+ uint8_t state; /* 5 flight state */
+ int16_t v_batt; /* 6 battery voltage */
+ int16_t sense_a; /* 8 apogee continuity */
+ int16_t sense_m; /* 10 main continuity */
+
+ int32_t pres; /* 12 Pa * 10 */
+ int16_t temp; /* 16 °C * 100 */
+
+ int16_t acceleration; /* 18 m/s² * 16 */
+ int16_t speed; /* 20 m/s * 16 */
+ int16_t height; /* 22 m */
+
+ int32_t ground_pres; /* 24 average pres on pad */
+
+ int32_t pad28; /* 28 */
+ /* 32 */
+};
+
+/* #define AO_SEND_ALL_BARO */
+
+#define AO_TELEMETRY_BARO 0x80
+
+/*
+ * This packet allows the full sampling rate baro
+ * data to be captured over the RF link so that the
+ * flight software can be tested using 'real' data.
+ *
+ * Along with this telemetry packet, the flight
+ * code is modified to send full-rate telemetry all the time
+ * and never send an RDF tone; this ensure that the full radio
+ * link is available.
+ */
+struct ao_telemetry_baro {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+ uint8_t samples; /* 5 number samples */
+
+ int16_t baro[12]; /* 6 samples */
+ /* 32 */
+};
+
+union ao_telemetry_all {
+ struct ao_telemetry_generic generic;
+ struct ao_telemetry_sensor sensor;
+ struct ao_telemetry_configuration configuration;
+ struct ao_telemetry_location location;
+ struct ao_telemetry_satellite satellite;
+ struct ao_telemetry_companion companion;
+ struct ao_telemetry_mega_sensor mega_sensor;
+ struct ao_telemetry_mega_data mega_data;
+ struct ao_telemetry_metrum_sensor metrum_sensor;
+ struct ao_telemetry_metrum_data metrum_data;
+ struct ao_telemetry_mini mini;
+ struct ao_telemetry_baro baro;
+};
+
+struct ao_telemetry_all_recv {
+ union ao_telemetry_all telemetry;
+ int8_t rssi;
+ uint8_t status;
+};
+
+#endif /* _AO_TELEMETRY_H_ */
--- /dev/null
+/*
+ * 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.
+ */
+
+#ifndef _AO_USB_H_
+#define _AO_USB_H_
+
+/*
+ * ao_usb.c
+ */
+
+/* Put one character to the USB output queue */
+void
+ao_usb_putchar(char c);
+
+/* Get one character from the USB input queue */
+char
+ao_usb_getchar(void);
+
+/* Poll for a charcter on the USB input queue.
+ * returns AO_READ_AGAIN if none are available
+ */
+int
+ao_usb_pollchar(void);
+
+/* Flush the USB output queue */
+void
+ao_usb_flush(void);
+
+/* Enable the USB controller */
+void
+ao_usb_enable(void);
+
+/* Disable the USB controller */
+void
+ao_usb_disable(void);
+
+/* Initialize the USB system */
+void
+ao_usb_init(void);
+
+extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
+
+#define AO_USB_SETUP_DIR_MASK (0x01 << 7)
+#define AO_USB_SETUP_TYPE_MASK (0x03 << 5)
+#define AO_USB_SETUP_RECIP_MASK (0x1f)
+
+#define AO_USB_DIR_OUT 0
+#define AO_USB_DIR_IN (1 << 7)
+
+#define AO_USB_TYPE_STANDARD 0
+#define AO_USB_TYPE_CLASS (1 << 5)
+#define AO_USB_TYPE_VENDOR (2 << 5)
+#define AO_USB_TYPE_RESERVED (3 << 5)
+
+#define AO_USB_RECIP_DEVICE 0
+#define AO_USB_RECIP_INTERFACE 1
+#define AO_USB_RECIP_ENDPOINT 2
+#define AO_USB_RECIP_OTHER 3
+
+/* standard requests */
+#define AO_USB_REQ_GET_STATUS 0x00
+#define AO_USB_REQ_CLEAR_FEATURE 0x01
+#define AO_USB_REQ_SET_FEATURE 0x03
+#define AO_USB_REQ_SET_ADDRESS 0x05
+#define AO_USB_REQ_GET_DESCRIPTOR 0x06
+#define AO_USB_REQ_SET_DESCRIPTOR 0x07
+#define AO_USB_REQ_GET_CONFIGURATION 0x08
+#define AO_USB_REQ_SET_CONFIGURATION 0x09
+#define AO_USB_REQ_GET_INTERFACE 0x0A
+#define AO_USB_REQ_SET_INTERFACE 0x0B
+#define AO_USB_REQ_SYNCH_FRAME 0x0C
+
+#define AO_USB_DESC_DEVICE 1
+#define AO_USB_DESC_CONFIGURATION 2
+#define AO_USB_DESC_STRING 3
+#define AO_USB_DESC_INTERFACE 4
+#define AO_USB_DESC_ENDPOINT 5
+#define AO_USB_DESC_DEVICE_QUALIFIER 6
+#define AO_USB_DESC_OTHER_SPEED 7
+#define AO_USB_DESC_INTERFACE_POWER 8
+
+#define AO_USB_GET_DESC_TYPE(x) (((x)>>8)&0xFF)
+#define AO_USB_GET_DESC_INDEX(x) ((x)&0xFF)
+
+#define AO_USB_CONTROL_EP 0
+#define AO_USB_CONTROL_SIZE 32
+
+#define AO_USB_INT_EP 1
+#define AO_USB_INT_SIZE 8
+
+#ifndef AO_USB_OUT_EP
+#define AO_USB_OUT_EP 4
+#define AO_USB_IN_EP 5
+#endif
+
+/*
+ * USB bulk packets can only come in 8, 16, 32 and 64
+ * byte sizes, so we'll use 64 for everything
+ */
+#define AO_USB_IN_SIZE 64
+#define AO_USB_OUT_SIZE 64
+
+#define AO_USB_EP0_IDLE 0
+#define AO_USB_EP0_DATA_IN 1
+#define AO_USB_EP0_DATA_OUT 2
+#define AO_USB_EP0_STALL 3
+
+#define LE_WORD(x) ((x)&0xFF),((uint8_t) (((uint16_t) (x))>>8))
+
+/* CDC definitions */
+#define AO_USB_CS_INTERFACE 0x24
+#define AO_USB_CS_ENDPOINT 0x25
+
+#define AO_USB_SET_LINE_CODING 0x20
+#define AO_USB_GET_LINE_CODING 0x21
+#define AO_USB_SET_CONTROL_LINE_STATE 0x22
+
+/* Data structure for GET_LINE_CODING / SET_LINE_CODING class requests */
+struct ao_usb_line_coding {
+ uint32_t rate;
+ uint8_t char_format;
+ uint8_t parity;
+ uint8_t data_bits;
+} ;
+
+extern __pdata uint8_t ao_usb_running;
+
+#endif /* _AO_USB_H_ */
include $(TOPDIR)/Makedefs
-vpath % $(TOPDIR)/lpc:$(TOPDIR)/product:$(TOPDIR)/drivers:$(TOPDIR)/core:$(TOPDIR)/util:$(TOPDIR)/kalman:$(TOPDIR/aes):$(TOPDIR):$(TOPDIR)/math
+vpath % $(TOPDIR)/lpc:$(TOPDIR)/product:$(TOPDIR)/drivers:$(TOPDIR)/kernel:$(TOPDIR)/util:$(TOPDIR)/kalman:$(TOPDIR/aes):$(TOPDIR):$(TOPDIR)/math
vpath make-altitude $(TOPDIR)/util
vpath make-kalman $(TOPDIR)/util
vpath kalman.5c $(TOPDIR)/kalman
WARN_FLAGS=-Wall -Wextra -Werror
-AO_CFLAGS=-I. -I$(TOPDIR)/lpc -I$(TOPDIR)/core -I$(TOPDIR)/drivers -I$(TOPDIR)/product -I$(TOPDIR) -I$(TOPDIR)/math -I$(TOPDIR) $(PDCLIB_INCLUDES)
+AO_CFLAGS=-I. -I$(TOPDIR)/lpc -I$(TOPDIR)/kernel -I$(TOPDIR)/drivers -I$(TOPDIR)/product -I$(TOPDIR) -I$(TOPDIR)/math -I$(TOPDIR) $(PDCLIB_INCLUDES)
LPC_CFLAGS=-std=gnu99 -mlittle-endian -mcpu=cortex-m0 -mthumb\
-ffreestanding -nostdlib $(AO_CFLAGS) $(WARN_FLAGS)
# Tiny AltOS build
#
#
-vpath % ../attiny:../drivers:../core:../product:..
+vpath % ../attiny:../drivers:../kernel:../product:..
vpath ao-make-product.5c ../util
vpath make-altitude-pa ../util
IDPRODUCT=0
PRODUCT=MicroPeak-v0.1
PRODUCT_DEF=-DMICROPEAK
-CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../core -I.. -I../drivers -I../product
+CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../kernel -I.. -I../drivers -I../product
CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O2 -mcall-prologues -DATTINY
NICKLE=nickle
# Tiny AltOS build
#
#
-vpath % ../attiny:../drivers:../core:../product:..
+vpath % ../attiny:../drivers:../kernel:../product:..
vpath ao-make-product.5c ../util
vpath make-altitude-pa ../util
IDPRODUCT=0
PRODUCT=NanoPeak-v0.1
PRODUCT_DEF=-DNANOPEAK
-CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../core -I.. -I../drivers -I../product
+CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../kernel -I.. -I../drivers -I../product
CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O2 -mcall-prologues -DATTINY
NICKLE=nickle
# TD_VER, TD_DEF and include
# this file
-vpath %.c ..:../core:../cc1111:../drivers:../product
-vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath %.c ..:../kernel:../cc1111:../drivers:../product
+vpath %.h ..:../kernel:../cc1111:../drivers:../product
vpath ao-make-product.5c ../util
ifndef VERSION
# define TELELAUNCH_VER, TELELAUNCH_DEF
# this file
-vpath %.c ..:../core:../cc1111:../drivers:../product
-vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath %.c ..:../kernel:../cc1111:../drivers:../product
+vpath %.h ..:../kernel:../cc1111:../drivers:../product
vpath ao-make-product.5c ../util
ifndef VERSION
# TM_VER, TM_DEF, TM_INC and TM_SRC and include
# this file
-vpath %.c .:..:../core:../cc1111:../drivers:../product
-vpath %.h .:..:../core:../cc1111:../drivers:../product
+vpath %.c .:..:../kernel:../cc1111:../drivers:../product
+vpath %.h .:..:../kernel:../cc1111:../drivers:../product
vpath ao-make-product.5c ../util
ifndef VERSION
# Define TELEMINI_VER and TELEMINI_DEF and then
# include this file
-vpath %.c ..:../core:../cc1111:../drivers:../product
-vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath %.c ..:../kernel:../cc1111:../drivers:../product
+vpath %.h ..:../kernel:../cc1111:../drivers:../product
vpath ao-make-product.5c ../util
ifndef VERSION
# Define TELENANO_VER and TELENANO_DEF and then
# include this file
-vpath %.c ..:../core:../cc1111:../drivers:../product
-vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath %.c ..:../kernel:../cc1111:../drivers:../product
+vpath %.h ..:../kernel:../cc1111:../drivers:../product
vpath ao-make-product.5c ../util
ifndef VERSION
---directory=../cc1111:../product:../core:../drivers:.
+--directory=../cc1111:../product:../kernel:../drivers:.
SPIRADIO_VER=0.1
SPIRADIO_DEF=0_1
-vpath %.c ..:../core:../cc1111:../drivers:../product
-vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath %.c ..:../kernel:../cc1111:../drivers:../product
+vpath %.h ..:../kernel:../cc1111:../drivers:../product
vpath ao-make-product.5c ../util
ifndef VERSION
-vpath % ..:../core:../product:../drivers:../stm
+vpath % ..:../kernel:../product:../drivers:../stm
vpath ao-make-product.5c ../util
ifndef VERSION
-vpath % $(TOPDIR)/stm:$(TOPDIR)/product:$(TOPDIR)/drivers:$(TOPDIR)/core:$(TOPDIR)/util:$(TOPDIR)
+vpath % $(TOPDIR)/stm:$(TOPDIR)/product:$(TOPDIR)/drivers:$(TOPDIR)/kernel:$(TOPDIR)/util:$(TOPDIR)
vpath ao-make-product.5c $(TOPDIR)/util
.SUFFIXES: .elf .ihx
CC=$(ARM_CC)
LIBS=$(PDCLIB_LIBS_M3) -lgcc
-AO_CFLAGS=-I. -I$(TOPDIR)/stm -I$(TOPDIR)/core -I$(TOPDIR)/drivers -I$(TOPDIR)/product -I$(TOPDIR) $(PDCLIB_INCLUDES)
+AO_CFLAGS=-I. -I$(TOPDIR)/stm -I$(TOPDIR)/kernel -I$(TOPDIR)/drivers -I$(TOPDIR)/product -I$(TOPDIR) $(PDCLIB_INCLUDES)
STM_CFLAGS=-std=gnu99 -mlittle-endian -mcpu=cortex-m3 -mthumb -ffreestanding -nostdlib $(AO_CFLAGS) $(SAT_CFLAGS)
LDFLAGS=-L$(TOPDIR)/stm -Wl,-Taltos-loader.ld
-vpath % ../stm:../product:../drivers:../core:../util:../kalman:../aes:../math:..
+vpath % ../stm:../product:../drivers:../kernel:../util:../kalman:../aes:../math:..
vpath make-altitude ../util
vpath make-kalman ../util
vpath kalman.5c ../kalman
WARN_FLAGS=-Wall -Wextra -Werror
-AO_CFLAGS=-I. -I../stm -I../core -I../drivers -I../math -I.. $(PDCLIB_INCLUDES)
+AO_CFLAGS=-I. -I../stm -I../kernel -I../drivers -I../math -I.. $(PDCLIB_INCLUDES)
STM_CFLAGS=-std=gnu99 -mlittle-endian -mcpu=cortex-m3 -mthumb \
-ffreestanding -nostdlib $(AO_CFLAGS) $(WARN_FLAGS)
ao_gps_skytraq.c \
ao_m25.c
-vpath %.c ..:../core:../cc1111:../drivers:../product:.
-vpath %.h ..:../core:../cc1111:../drivers:../product:.
+vpath %.c ..:../kernel:../cc1111:../drivers:../product:.
+vpath %.h ..:../kernel:../cc1111:../drivers:../product:.
vpath ao-make-product.5c ../util
ifndef VERSION
---directory=../cc1111:../product:../core:../drivers:.
+--directory=../cc1111:../product:../kernel:../drivers:.
TELEBT_VER=1.0
TELEBT_DEF=1_0
-vpath %.c ..:../core:../cc1111:../drivers:../product
-vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath %.c ..:../kernel:../cc1111:../drivers:../product
+vpath %.h ..:../kernel:../cc1111:../drivers:../product
vpath ao-make-product.5c ../util
ifndef VERSION
---directory=../cc1111:../product:../core:../drivers:.
+--directory=../cc1111:../product:../kernel:../drivers:.
TELEFIRE_VER=0.1
TELEFIRE_DEF=0_1
-vpath %.c ..:../core:../cc1111:../drivers:../product
-vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath %.c ..:../kernel:../cc1111:../drivers:../product
+vpath %.h ..:../kernel:../cc1111:../drivers:../product
vpath ao-make-product.5c ../util
ifndef VERSION
---directory=../cc1111:../product:../core:../drivers:.
+--directory=../cc1111:../product:../kernel:../drivers:.
TELEFIRE_VER=0.2
TELEFIRE_DEF=0_2
-vpath %.c ..:../core:../cc1111:../drivers:../product
-vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath %.c ..:../kernel:../cc1111:../drivers:../product
+vpath %.h ..:../kernel:../cc1111:../drivers:../product
vpath ao-make-product.5c ../util
ifndef VERSION
---directory=../cc1111:../product:../core:../drivers:.
+--directory=../cc1111:../product:../kernel:../drivers:.
---directory=../cc1111:../product:../core:../drivers:.
+--directory=../cc1111:../product:../kernel:../drivers:.
---directory=../cc1111:../product:../core:../drivers:.
+--directory=../cc1111:../product:../kernel:../drivers:.
---directory=../cc1111:../product:../core:../drivers:.
+--directory=../cc1111:../product:../kernel:../drivers:.
TELEMINI_VER=2.0
TELEMINI_DEF=2_0
-vpath %.c ..:../core:../cc1111:../drivers:../product
-vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath %.c ..:../kernel:../cc1111:../drivers:../product
+vpath %.h ..:../kernel:../cc1111:../drivers:../product
vpath ao-make-product.5c ../util
ifndef VERSION
# AltOS build
#
#
-vpath % .:..:../core:../product:../drivers:../avr
+vpath % .:..:../kernel:../product:../drivers:../avr
vpath ao-make-product.5c ../util
include ../avr/Makefile.defs
MCU=atmega32u4
PRODUCT_DEF=-DTELEPYRO
IDPRODUCT=0x0011
-CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../core -I..
+CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../kernel -I..
CFLAGS += -mmcu=$(MCU) -Wall -Wstrict-prototypes -O3 -mcall-prologues -DAVR
NICKLE=nickle
# AltOS build
#
#
-vpath % ..:../core:../product:../drivers:../avr
+vpath % ..:../kernel:../product:../drivers:../avr
vpath ao-make-product.5c ../util
include ../avr/Makefile.defs
MCU=atmega32u4
PRODUCT_DEF=-DTELESCIENCE -DTELESCIENCE_PWM
IDPRODUCT=0x0011
-CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../core -I..
+CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../kernel -I..
CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O3 -mcall-prologues -DAVR
NICKLE=nickle
# AltOS build
#
#
-vpath % ..:../core:../product:../drivers:../avr
+vpath % ..:../kernel:../product:../drivers:../avr
vpath ao-make-product.5c ../util
include ../avr/Makefile.defs
MCU=atmega32u4
PRODUCT_DEF=-DTELESCIENCE
IDPRODUCT=0x0011
-CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../core -I..
+CFLAGS = $(PRODUCT_DEF) -I. -I../avr -I../kernel -I..
CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O3 -mcall-prologues -DAVR
NICKLE=nickle
ao_btm.c \
ao_spi.c
-vpath %.c ..:../core:../cc1111:../drivers:../product:.
-vpath %.h ..:../core:../cc1111:../drivers:../product:.
+vpath %.c ..:../kernel:../cc1111:../drivers:../product:.
+vpath %.h ..:../kernel:../cc1111:../drivers:../product:.
vpath ao-make-product.5c ../util
ifndef VERSION
---directory=../cc1111:../product:../core:../drivers:.
+--directory=../cc1111:../product:../kernel:../drivers:.
# TeleTerra build file
#
-vpath %.c ..:../core:../cc1111:../drivers:../product
-vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath %.c ..:../kernel:../cc1111:../drivers:../product
+vpath %.h ..:../kernel:../cc1111:../drivers:../product
vpath ao-make-product.5c ../util
ifndef VERSION
-vpath % ..:../core:../drivers:../util:../micropeak:../aes:../product
+vpath % ..:../kernel:../drivers:../util:../micropeak:../aes:../product
PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_flight_test_mm \
ao_gps_test ao_gps_test_skytraq ao_gps_test_ublox ao_convert_test ao_convert_pa_test ao_fec_test \
KALMAN=make-kalman
-CFLAGS=-I.. -I. -I../core -I../drivers -I../micropeak -I../product -O0 -g -Wall
+CFLAGS=-I.. -I. -I../kernel -I../drivers -I../micropeak -I../product -O0 -g -Wall
all: $(PROGS) ao_aprs_data.wav
(cd .. && make ao_kalman.h)
ao_fec_test: ao_fec_test.c ao_fec_tx.c ao_fec_rx.c
- cc $(CFLAGS) -DAO_FEC_DEBUG=1 -o $@ ao_fec_test.c ../core/ao_fec_tx.c ../core/ao_fec_rx.c -lm
+ cc $(CFLAGS) -DAO_FEC_DEBUG=1 -o $@ ao_fec_test.c ../kernel/ao_fec_tx.c ../kernel/ao_fec_rx.c -lm
ao_aprs_test: ao_aprs_test.c ao_aprs.c
cc $(CFLAGS) -o $@ ao_aprs_test.c
# TIDongle build file
#
-vpath %.c ..:../core:../cc1111:../drivers:../product
-vpath %.h ..:../core:../cc1111:../drivers:../product
+vpath %.c ..:../kernel:../cc1111:../drivers:../product
+vpath %.h ..:../kernel:../cc1111:../drivers:../product
vpath ao-make-product.5c ../util
ifndef VERSION
projects / fw / altos / commitdiff