--- /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.
+ */
+
+/* Defines for the 25LC1024 1Mbit SPI Bus Serial EEPROM */
+
+#ifndef _25LC1024_H_
+#define _25LC1024_H_
+
+#define EE_READ 0x03
+#define EE_WRITE 0x02
+#define EE_WREN 0x06
+#define EE_WRDI 0x04
+#define EE_RDSR 0x05
+#define EE_WRSR 0x01
+#define EE_PE 0x42
+#define EE_SE 0xd8
+#define EE_CE 0xc7
+#define EE_RDID 0xab
+#define EE_DPD 0xb9
+
+#define EE_STATUS_WIP (1 << 0)
+#define EE_STATUS_WEL (1 << 1)
+#define EE_STATUS_BP0 (1 << 2)
+#define EE_STATUS_BP1 (1 << 3)
+#define EE_STATUS_WPEN (1 << 7)
+
+#endif /* _25LC1024_H_ */
--- /dev/null
+/*-------------------------------------------------------------------------
+
+ _bp.c :- just declares bp as a variable
+
+ Written By - Sandeep Dutta . sandeep.dutta@usa.net (1999)
+
+ This library is free software; you can redistribute it and/or modify it
+ under the terms of the GNU Library General Public License as published by the
+ Free Software Foundation; either version 2, or (at your option) any
+ later version.
+
+ This library 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 Library General Public License for more details.
+
+ You should have received a copy of the GNU Library General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+
+ In other words, you are welcome to use, share and improve this program.
+ You are forbidden to forbid anyone else to use, share and improve
+ what you give them. Help stamp out software-hoarding!
+-------------------------------------------------------------------------*/
+
+__data unsigned char bp ;
--- /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>
+#ifdef AVR
+#include "avr.h"
+#else
+#include "cc1111.h"
+#endif
+#include "ao_pins.h"
+
+#define TRUE 1
+#define FALSE 0
+
+/* Convert a __data pointer into an __xdata pointer */
+#define DATA_TO_XDATA(a) ((void __xdata *) ((uint8_t) (a) | 0xff00))
+
+/* Stack runs from above the allocated __data space to 0xfe, which avoids
+ * writing to 0xff as that triggers the stack overflow indicator
+ */
+#ifdef AVR
+#define AO_STACK_SIZE 128
+#else
+#define AO_STACK_START 0x90
+#define AO_STACK_END 0xfe
+#define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1)
+#endif
+
+/* An AltOS task */
+struct ao_task {
+ __xdata void *wchan; /* current wait channel (NULL if running) */
+ uint16_t alarm; /* abort ao_sleep time */
+ uint8_t stack_count; /* amount of saved stack */
+ uint8_t task_id; /* unique id */
+ __code char *name; /* task name */
+ uint8_t stack[AO_STACK_SIZE]; /* saved stack */
+};
+
+extern __xdata struct ao_task *__data ao_cur_task;
+
+#define AO_NUM_TASKS 16 /* maximum number of tasks */
+#define AO_NO_TASK 0 /* no task id */
+
+/*
+ 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);
+
+/* set an alarm to go off in 'delay' ticks */
+void
+ao_alarm(uint16_t delay);
+
+/* Yield the processor to another task */
+#ifdef AVR
+void ao_yield(void) __attribute__((naked));
+#else
+void
+ao_yield(void) __naked;
+#endif
+
+/* Add a task to the run queue */
+void
+ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
+
+/* 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);
+
+/*
+ * 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 */
+
+/* Stop the operating system, beeping and blinking the reason */
+void
+ao_panic(uint8_t reason);
+
+/*
+ * ao_timer.c
+ */
+
+/* Our timer runs at 100Hz */
+#define AO_HERTZ 100
+#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 */
+uint16_t
+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) __critical;
+
+/* Timer interrupt */
+void
+ao_timer_isr(void) __interrupt(9);
+
+/* Initialize the timer */
+void
+ao_timer_init(void);
+
+/* Initialize the hardware clock. Must be called first */
+void
+ao_clock_init(void);
+
+/*
+ * One set of samples read from the A/D converter or telemetry
+ */
+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 */
+};
+
+#if HAS_ADC
+
+#if HAS_ACCEL
+#ifndef HAS_ACCEL_REF
+#error Please define HAS_ACCEL_REF
+#endif
+#else
+#define HAS_ACCEL_REF 0
+#endif
+
+/*
+ * ao_adc.c
+ */
+
+#define AO_ADC_RING 32
+#define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
+#define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1))
+
+
+/*
+ * A/D data is stored in a ring, with the next sample to be written
+ * at ao_adc_head
+ */
+extern volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING];
+extern volatile __data uint8_t ao_adc_head;
+#if HAS_ACCEL_REF
+extern volatile __xdata uint16_t ao_accel_ref[AO_ADC_RING];
+#endif
+
+/* 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);
+
+/* Get a copy of the last complete A/D sample set */
+void
+ao_adc_get(__xdata struct ao_adc *packet);
+
+/* The A/D interrupt handler */
+
+void
+ao_adc_isr(void) __interrupt(1);
+
+/* Initialize the A/D converter */
+void
+ao_adc_init(void);
+
+#endif /* HAS_ADC */
+
+/*
+ * 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);
+
+/*
+ * ao_led.c
+ */
+
+#define AO_LED_NONE 0
+
+/* Turn on the specified LEDs */
+void
+ao_led_on(uint8_t colors);
+
+/* Turn off the specified LEDs */
+void
+ao_led_off(uint8_t colors);
+
+/* Set all of the LEDs to the specified state */
+void
+ao_led_set(uint8_t colors);
+
+/* Toggle the specified LEDs */
+void
+ao_led_toggle(uint8_t colors);
+
+/* Turn on the specified LEDs for the indicated interval */
+void
+ao_led_for(uint8_t colors, uint16_t ticks) __reentrant;
+
+/* Initialize the LEDs */
+void
+ao_led_init(uint8_t enable);
+
+/*
+ * ao_romconfig.c
+ */
+
+#define AO_ROMCONFIG_VERSION 2
+
+struct ao_romconfig {
+ uint16_t version;
+ uint16_t check;
+ uint16_t serial_number;
+ uint32_t radio_cal;
+};
+
+#ifdef AVR
+extern __code struct ao_romconfig ao_romconfig __attribute__ ((section("romconfig")));
+#else
+extern __code __at (0x00a0) struct ao_romconfig ao_romconfig;
+#endif
+
+#if HAS_USB
+extern __code __at (0x00aa) uint8_t ao_usb_descriptors [];
+#endif
+
+/*
+ * 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
+ */
+char
+ao_usb_pollchar(void);
+
+/* Flush the USB output queue */
+void
+ao_usb_flush(void);
+
+#if HAS_USB
+/* USB interrupt handler */
+void
+ao_usb_isr(void) __interrupt(6);
+#endif
+
+/* 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);
+
+/*
+ * ao_cmd.c
+ */
+
+enum ao_cmd_status {
+ ao_cmd_success = 0,
+ ao_cmd_lex_error = 1,
+ ao_cmd_syntax_error = 2,
+};
+
+extern __xdata uint16_t ao_cmd_lex_i;
+extern __xdata uint32_t ao_cmd_lex_u32;
+extern __xdata char ao_cmd_lex_c;
+extern __xdata enum ao_cmd_status ao_cmd_status;
+
+void
+ao_cmd_lex(void);
+
+void
+ao_cmd_put8(uint8_t v);
+
+void
+ao_cmd_put16(uint16_t v);
+
+void
+ao_cmd_white(void);
+
+void
+ao_cmd_hex(void);
+
+void
+ao_cmd_decimal(void);
+
+uint8_t
+ao_match_word(__code char *word);
+
+struct ao_cmds {
+ void (*func)(void);
+ const char *help;
+};
+
+void
+ao_cmd_register(__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
+
+/*
+ * ao_dma.c
+ */
+
+/* Allocate a DMA channel. the 'done' parameter will be set when the
+ * dma is finished and will be used to wakeup any waiters
+ */
+
+uint8_t
+ao_dma_alloc(__xdata uint8_t * done);
+
+/* Setup a DMA channel */
+void
+ao_dma_set_transfer(uint8_t id,
+ void __xdata *srcaddr,
+ void __xdata *dstaddr,
+ uint16_t count,
+ uint8_t cfg0,
+ uint8_t cfg1);
+
+/* Start a DMA channel */
+void
+ao_dma_start(uint8_t id);
+
+/* Manually trigger a DMA channel */
+void
+ao_dma_trigger(uint8_t id);
+
+/* Abort a running DMA transfer */
+void
+ao_dma_abort(uint8_t id);
+
+/* DMA interrupt routine */
+void
+ao_dma_isr(void) __interrupt(8);
+
+/*
+ * ao_mutex.c
+ */
+
+void
+ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
+
+void
+ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
+
+/*
+ * Storage interface, provided by one of the eeprom or flash
+ * drivers
+ */
+
+/* Total bytes of available storage */
+extern __xdata uint32_t ao_storage_total;
+
+/* Block size - device is erased in these units. At least 256 bytes */
+extern __xdata uint32_t ao_storage_block;
+
+/* Byte offset of config block. Will be ao_storage_block bytes long */
+extern __xdata uint32_t ao_storage_config;
+
+/* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */
+extern __xdata uint16_t ao_storage_unit;
+
+#define AO_STORAGE_ERASE_LOG (ao_storage_config + AO_CONFIG_MAX_SIZE)
+
+/* 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(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
+
+/* Read data. Returns 0 on failure, 1 on success */
+uint8_t
+ao_storage_read(uint32_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(uint32_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(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant;
+
+/* Write data within a storage unit */
+uint8_t
+ao_storage_device_write(uint32_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;
+
+/*
+ * 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 __xdata enum flight_state ao_log_state;
+
+/* required functions from the underlying log system */
+
+/* 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_POS_NONE (~0UL)
+
+struct ao_log_record {
+ char type;
+ uint8_t csum;
+ uint16_t tick;
+ union {
+ struct {
+ int16_t ground_accel;
+ uint16_t flight;
+ } flight;
+ struct {
+ int16_t accel;
+ int16_t pres;
+ } 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;
+};
+
+/* Write a record to the eeprom log */
+uint8_t
+ao_log_data(__xdata struct ao_log_record *log) __reentrant;
+
+/*
+ * 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
+};
+
+extern __pdata enum ao_flight_state ao_flight_state;
+
+extern __pdata uint16_t ao_launch_time;
+extern __xdata 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);
+
+/*
+ * 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
+ */
+
+#define GRAVITY 9.80665
+
+/*
+ * Above this height, the baro sensor doesn't work
+ */
+#define AO_MAX_BARO_HEIGHT 12000
+
+/*
+ * 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 __pdata int16_t ao_sample_pres; /* most recent pressure sensor reading */
+extern __pdata int16_t ao_sample_alt; /* MSL of ao_sample_pres */
+extern __pdata int16_t ao_sample_height; /* AGL of ao_sample_pres */
+extern __data uint8_t ao_sample_adc; /* Ring position of last processed sample */
+
+#if HAS_ACCEL
+extern __pdata int16_t ao_sample_accel; /* most recent accel sensor reading */
+#endif
+
+extern __xdata int16_t ao_ground_pres; /* startup pressure */
+extern __xdata int16_t ao_ground_height; /* MSL of ao_ground_pres */
+
+#if HAS_ACCEL
+extern __xdata int16_t ao_ground_accel; /* startup acceleration */
+extern __xdata int16_t ao_accel_2g; /* factory accel calibration */
+extern __xdata int32_t ao_accel_scale; /* sensor to m/s² conversion */
+#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 __pdata int16_t ao_max_height; /* max of ao_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);
+
+/*
+ * ao_report.c
+ */
+
+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_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);
+
+/*
+ * ao_serial.c
+ */
+
+#if HAS_SERIAL_1
+#ifndef USE_SERIAL_STDIN
+#error Please define USE_SERIAL_STDIN
+#endif
+
+void
+ao_serial_rx1_isr(void) __interrupt(3);
+
+void
+ao_serial_tx1_isr(void) __interrupt(14);
+
+char
+ao_serial_getchar(void) __critical;
+
+#if USE_SERIAL_STDIN
+char
+ao_serial_pollchar(void) __critical;
+
+void
+ao_serial_set_stdin(uint8_t stdin);
+#endif
+
+void
+ao_serial_putchar(char c) __critical;
+
+void
+ao_serial_drain(void) __critical;
+
+#define AO_SERIAL_SPEED_4800 0
+#define AO_SERIAL_SPEED_9600 1
+#define AO_SERIAL_SPEED_19200 2
+#define AO_SERIAL_SPEED_57600 3
+
+void
+ao_serial_set_speed(uint8_t speed);
+
+void
+ao_serial_init(void);
+#endif
+
+/*
+ * ao_spi.c
+ */
+
+void
+ao_spi_send(void __xdata *block, uint16_t len) __reentrant;
+
+void
+ao_spi_recv(void __xdata *block, uint16_t len) __reentrant;
+
+void
+ao_spi_init(void);
+
+/*
+ * 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)
+
+extern __xdata uint16_t ao_gps_tick;
+
+struct ao_gps_data {
+ 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_data {
+ uint8_t svid;
+ uint8_t c_n_1;
+};
+
+#define AO_MAX_GPS_TRACKING 12
+
+struct ao_gps_tracking_data {
+ uint8_t channels;
+ struct ao_gps_sat_data sats[AO_MAX_GPS_TRACKING];
+};
+
+extern __xdata uint8_t ao_gps_mutex;
+extern __xdata struct ao_gps_data ao_gps_data;
+extern __xdata struct ao_gps_tracking_data ao_gps_tracking_data;
+
+void
+ao_gps(void);
+
+void
+ao_gps_print(__xdata struct ao_gps_data *gps_data);
+
+void
+ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data);
+
+void
+ao_gps_init(void);
+
+/*
+ * ao_gps_report.c
+ */
+
+void
+ao_gps_report(void);
+
+void
+ao_gps_report_init(void);
+
+/*
+ * ao_telemetry.c
+ */
+
+#define AO_MAX_CALLSIGN 8
+
+struct ao_telemetry {
+ 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 adc;
+ struct ao_gps_data gps;
+ char callsign[AO_MAX_CALLSIGN];
+ struct ao_gps_tracking_data 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];
+};
+
+/*
+ * ao_radio_recv tacks on rssi and status bytes
+ */
+struct ao_telemetry_recv {
+ struct ao_telemetry telemetry;
+ int8_t rssi;
+ uint8_t status;
+};
+
+struct ao_telemetry_tiny_recv {
+ struct ao_telemetry_tiny telemetry_tiny;
+ int8_t rssi;
+ uint8_t status;
+};
+
+/* Set delay between telemetry reports (0 to disable) */
+
+#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)
+
+void
+ao_telemetry_set_interval(uint16_t interval);
+
+void
+ao_rdf_set(uint8_t rdf);
+
+void
+ao_telemetry_init(void);
+
+void
+ao_telemetry_tiny_init(void);
+
+/*
+ * ao_radio.c
+ */
+
+extern __xdata uint8_t ao_radio_dma;
+extern __xdata uint8_t ao_radio_dma_done;
+extern __xdata uint8_t ao_radio_done;
+extern __xdata uint8_t ao_radio_mutex;
+
+void
+ao_radio_general_isr(void) __interrupt(16);
+
+void
+ao_radio_get(uint8_t len);
+
+#define ao_radio_put() ao_mutex_put(&ao_radio_mutex)
+
+void
+ao_radio_set_packet(void);
+
+void
+ao_radio_send(__xdata void *data, uint8_t size) __reentrant;
+
+uint8_t
+ao_radio_recv(__xdata void *data, uint8_t size) __reentrant;
+
+void
+ao_radio_recv_abort(void);
+
+void
+ao_radio_rdf(int ms);
+
+void
+ao_radio_rdf_abort(void);
+
+void
+ao_radio_idle(void);
+
+void
+ao_radio_init(void);
+
+/*
+ * ao_monitor.c
+ */
+
+extern const char const * const ao_state_names[];
+
+void
+ao_monitor(void);
+
+#define AO_MONITORING_OFF 0
+#define AO_MONITORING_FULL 1
+#define AO_MONITORING_TINY 2
+
+void
+ao_set_monitor(uint8_t monitoring);
+
+void
+ao_monitor_init(uint8_t led, uint8_t monitoring) __reentrant;
+
+/*
+ * ao_stdio.c
+ */
+
+#define AO_READ_AGAIN ((char) -1)
+
+struct ao_stdio {
+ char (*pollchar)(void);
+ void (*putchar)(char c) __reentrant;
+ void (*flush)(void);
+ uint8_t echo;
+};
+
+extern __xdata struct ao_stdio ao_stdios[];
+extern __data int8_t ao_cur_stdio;
+extern __data 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(char (*pollchar)(void),
+ void (*putchar)(char) __reentrant,
+ void (*flush)(void)) __reentrant;
+
+#ifdef AVR
+void
+ao_stdio_init(void);
+#else
+#define ao_stdio_init()
+#endif
+
+/*
+ * 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 */
+};
+
+enum ao_igniter_status
+ao_igniter_status(enum ao_igniter igniter);
+
+void
+ao_igniter_init(void);
+
+/*
+ * ao_config.c
+ */
+
+#define AO_CONFIG_MAJOR 1
+#define AO_CONFIG_MINOR 4
+
+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 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 */
+};
+
+extern __xdata struct ao_config ao_config;
+
+#define AO_CONFIG_MAX_SIZE 128
+
+void
+ao_config_get(void);
+
+void
+ao_config_put(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)
+
+/*
+ * 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;
+
+void
+ao_packet_send(void);
+
+uint8_t
+ao_packet_recv(void);
+
+void
+ao_packet_flush(void);
+
+void
+ao_packet_putchar(char c) __reentrant;
+
+char
+ao_packet_pollchar(void) __critical;
+
+/* ao_packet_master.c */
+
+void
+ao_packet_master_init(void);
+
+/* ao_packet_slave.c */
+
+void
+ao_packet_slave_start(void);
+
+void
+ao_packet_slave_stop(void);
+
+void
+ao_packet_slave_init(uint8_t enable);
+
+/* ao_btm.c */
+
+/* Shared by USB, so the USB code calls this function */
+void
+ao_btm_isr(void);
+
+void
+ao_btm_init(void);
+
+/* ao_debug_avr.c */
+void
+ao_debug_init(void);
+
+#endif /* _AO_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_pins.h"
+
+volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING];
+#if HAS_ACCEL_REF
+volatile __xdata uint16_t ao_accel_ref[AO_ADC_RING];
+#endif
+volatile __data uint8_t ao_adc_head;
+
+void
+ao_adc_poll(void)
+{
+#if HAS_ACCEL_REF
+ ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 2;
+#else
+# ifdef TELENANO_V_0_1
+ ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 1;
+# else
+ ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 0;
+# endif
+#endif
+}
+
+void
+ao_adc_get(__xdata struct ao_adc *packet)
+{
+ uint8_t i = ao_adc_ring_prev(ao_sample_adc);
+ memcpy(packet, &ao_adc_ring[i], sizeof (struct ao_adc));
+}
+
+void
+ao_adc_isr(void) __interrupt 1
+{
+ uint8_t sequence;
+ uint8_t __xdata *a;
+
+ sequence = (ADCCON2 & ADCCON2_SCH_MASK) >> ADCCON2_SCH_SHIFT;
+#if IGNITE_ON_P2
+ /* TeleMetrum readings */
+#if HAS_ACCEL_REF
+ if (sequence == 2) {
+ a = (uint8_t __xdata *) (&ao_accel_ref[ao_adc_head]);
+ sequence = 0;
+ } else
+#endif
+ {
+ if (sequence == ADCCON3_ECH_TEMP)
+ sequence = 2;
+ a = (uint8_t __xdata *) (&ao_adc_ring[ao_adc_head].accel + sequence);
+ sequence++;
+ }
+#define GOT_ADC
+ a[0] = ADCL;
+ a[1] = ADCH;
+ if (sequence < 6) {
+#if HAS_EXTERNAL_TEMP == 0
+ /* start next channel conversion */
+ /* v0.2 replaces external temp sensor with internal one */
+ if (sequence == 2)
+ ADCCON3 = ADCCON3_EREF_1_25 | ADCCON3_EDIV_512 | ADCCON3_ECH_TEMP;
+ else
+#endif
+ ADCCON3 = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | sequence;
+ }
+#endif
+
+#if IGNITE_ON_P0
+ /* TeleMini readings */
+ a = (uint8_t __xdata *) (&ao_adc_ring[ao_adc_head].pres);
+#ifdef TELEMINI_V_0_1
+ switch (sequence) {
+ case 0:
+ /* pressure */
+ a += 0;
+ sequence = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 1;
+ break;
+ case 1:
+ /* drogue sense */
+ a += 6;
+ sequence = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 2;
+ break;
+ case 2:
+ /* main sense */
+ a += 8;
+ sequence = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 3;
+ break;
+ case 3:
+ /* battery */
+ a += 4;
+ sequence = ADCCON3_EREF_1_25 | ADCCON3_EDIV_512 | ADCCON3_ECH_TEMP;
+ break;
+ case ADCCON3_ECH_TEMP:
+ a += 2;
+ sequence = 0;
+ break;
+ }
+#define GOT_ADC
+#endif
+#ifdef TELENANO_V_0_1
+ switch (sequence) {
+ case 1:
+ /* pressure */
+ a += 0;
+ sequence = ADCCON3_EREF_VDD | ADCCON3_EDIV_512 | 3;
+ break;
+ case 3:
+ /* battery */
+ a += 4;
+ sequence = ADCCON3_EREF_1_25 | ADCCON3_EDIV_512 | ADCCON3_ECH_TEMP;
+ break;
+ case ADCCON3_ECH_TEMP:
+ a += 2;
+ sequence = 0;
+ break;
+ }
+#define GOT_ADC
+#endif
+ a[0] = ADCL;
+ a[1] = ADCH;
+ if (sequence) {
+ /* Start next conversion */
+ ADCCON3 = sequence;
+ }
+#endif
+#ifndef GOT_ADC
+#error No known ADC configuration set
+#endif
+
+ else {
+ /* record this conversion series */
+ ao_adc_ring[ao_adc_head].tick = ao_time();
+ ao_adc_head = ao_adc_ring_next(ao_adc_head);
+ ao_wakeup(DATA_TO_XDATA(&ao_adc_head));
+ }
+}
+
+static void
+ao_adc_dump(void) __reentrant
+{
+ static __xdata struct ao_adc packet;
+ ao_adc_get(&packet);
+ printf("tick: %5u accel: %5d pres: %5d temp: %5d batt: %5d drogue: %5d main: %5d\n",
+ packet.tick, packet.accel, packet.pres, packet.temp,
+ packet.v_batt, packet.sense_d, packet.sense_m);
+}
+
+__code struct ao_cmds ao_adc_cmds[] = {
+ { ao_adc_dump, "a\0Display current ADC values" },
+ { 0, NULL },
+};
+
+void
+ao_adc_init(void)
+{
+#if IGNITE_ON_P2
+ /* TeleMetrum configuration */
+ ADCCFG = ((1 << 0) | /* acceleration */
+ (1 << 1) | /* pressure */
+#if HAS_EXTERNAL_TEMP
+ (1 << 2) | /* v0.1 temperature */
+#endif
+ (1 << 3) | /* battery voltage */
+ (1 << 4) | /* drogue sense */
+ (1 << 5)); /* main sense */
+#endif
+
+#if IGNITE_ON_P0
+ /* TeleMini configuration */
+ ADCCFG = ((1 << 0) | /* pressure */
+ (1 << 1) | /* drogue sense */
+ (1 << 2) | /* main sense */
+ (1 << 3)); /* battery voltage */
+#endif
+
+ /* enable interrupts */
+ ADCIF = 0;
+ IEN0 |= IEN0_ADCIE;
+ ao_cmd_register(&ao_adc_cmds[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"
+
+volatile __xdata struct ao_adc ao_adc_ring[AO_ADC_RING];
+volatile __data uint8_t ao_adc_head;
+
+/* Stub for systems which have no ADC */
+void
+ao_adc_poll(void)
+{
+}
--- /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_beep(uint8_t beep)
+{
+ if (beep == 0) {
+ P2_0 = 0;
+ P2SEL = (P2SEL & ~P2SEL_SELP2_0_MASK) | P2SEL_SELP2_0_GPIO;
+ T4CTL = 0;
+ } else {
+ P2SEL = (P2SEL & ~P2SEL_SELP2_0_MASK) | P2SEL_SELP2_0_PERIPHERAL;
+ T4CC0 = beep;
+ T4CTL = TxCTL_DIV_32 | TxCTL_MODE_MODULO | TxCTL_START;
+ }
+}
+
+void
+ao_beep_for(uint8_t beep, uint16_t ticks) __reentrant
+{
+ ao_beep(beep);
+ ao_delay(ticks);
+ ao_beep(0);
+}
+
+void
+ao_beep_init(void)
+{
+ /* Our beeper is on P2_0, which is hooked to timer 4 using
+ * configuration alternative 2
+ */
+ P2_0 = 0;
+ P2SEL = (P2SEL & ~P2SEL_SELP2_0_MASK) | P2SEL_SELP2_0_GPIO;
+ PERCFG = (PERCFG & ~PERCFG_T4CFG_ALT_MASK) | PERCFG_T4CFG_ALT_2;
+ T4CCTL0 = TxCCTLy_CMP_TOGGLE|TxCCTLy_CMP_MODE_ENABLE;
+}
--- /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"
+
+int8_t ao_btm_stdio;
+__xdata uint8_t ao_btm_connected;
+
+#define AO_BTM_MAX_REPLY 16
+__xdata char ao_btm_reply[AO_BTM_MAX_REPLY];
+
+extern volatile __xdata struct ao_fifo ao_usart1_rx_fifo;
+
+/*
+ * Read a line of data from the serial port, truncating
+ * it after a few characters.
+ */
+
+uint8_t
+ao_btm_get_line(void)
+{
+ uint8_t ao_btm_reply_len = 0;
+ char c;
+
+ for (;;) {
+
+ while ((c = ao_serial_pollchar()) != AO_READ_AGAIN) {
+ if (ao_btm_reply_len < sizeof (ao_btm_reply))
+ ao_btm_reply[ao_btm_reply_len++] = c;
+ if (c == '\r' || c == '\n')
+ goto done;
+ }
+ for (c = 0; c < 10; c++) {
+ ao_delay(AO_MS_TO_TICKS(10));
+ if (!ao_fifo_empty(ao_usart1_rx_fifo))
+ break;
+ }
+ if (c == 10)
+ goto done;
+ }
+done:
+ for (c = ao_btm_reply_len; c < sizeof (ao_btm_reply);)
+ ao_btm_reply[c++] = '\0';
+ return ao_btm_reply_len;
+}
+
+/*
+ * Drain the serial port completely
+ */
+void
+ao_btm_drain()
+{
+ while (ao_btm_get_line())
+ ;
+}
+
+/*
+ * Set the stdio echo for the bluetooth link
+ */
+void
+ao_btm_echo(uint8_t echo)
+{
+ ao_stdios[ao_btm_stdio].echo = echo;
+}
+
+/*
+ * Delay between command charaters; the BT module
+ * can't keep up with 57600 baud
+ */
+
+void
+ao_btm_putchar(char c)
+{
+ ao_serial_putchar(c);
+ ao_delay(1);
+}
+
+/*
+ * Wait for the bluetooth device to return
+ * status from the previously executed command
+ */
+uint8_t
+ao_btm_wait_reply(void)
+{
+ for (;;) {
+ ao_btm_get_line();
+ if (!strncmp(ao_btm_reply, "OK", 2))
+ return 1;
+ if (!strncmp(ao_btm_reply, "ERROR", 5))
+ return -1;
+ if (ao_btm_reply[0] == '\0')
+ return 0;
+ }
+}
+
+void
+ao_btm_string(__code char *cmd)
+{
+ char c;
+
+ while (c = *cmd++)
+ ao_btm_putchar(c);
+}
+
+uint8_t
+ao_btm_cmd(__code char *cmd)
+{
+ ao_btm_drain();
+ ao_btm_string(cmd);
+ return ao_btm_wait_reply();
+}
+
+uint8_t
+ao_btm_set_name(void)
+{
+ char sn[8];
+ char *s = sn + 8;
+ char c;
+ int n;
+ ao_btm_string("ATN=TeleBT-");
+ *--s = '\0';
+ *--s = '\r';
+ n = ao_serial_number;
+ do {
+ *--s = '0' + n % 10;
+ } while (n /= 10);
+ while ((c = *s++))
+ ao_btm_putchar(c);
+ return ao_btm_wait_reply();
+}
+
+uint8_t
+ao_btm_try_speed(uint8_t speed)
+{
+ ao_serial_set_speed(speed);
+ ao_btm_drain();
+ (void) ao_btm_cmd("\rATE0\rATQ0\r");
+ if (ao_btm_cmd("AT\r") == 1)
+ return 1;
+ return 0;
+}
+
+/*
+ * A thread to initialize the bluetooth device and
+ * hang around to blink the LED when connected
+ */
+void
+ao_btm(void)
+{
+ /*
+ * Wait for the bluetooth device to boot
+ */
+ ao_delay(AO_SEC_TO_TICKS(3));
+
+ /*
+ * The first time we connect, the BTM-180 comes up at 19200 baud.
+ * After that, it will remember and come up at 57600 baud. So, see
+ * if it is already running at 57600 baud, and if that doesn't work
+ * then tell it to switch to 57600 from 19200 baud.
+ */
+ while (!ao_btm_try_speed(AO_SERIAL_SPEED_57600)) {
+ ao_delay(AO_SEC_TO_TICKS(1));
+ if (ao_btm_try_speed(AO_SERIAL_SPEED_19200))
+ ao_btm_cmd("ATL4\r");
+ ao_delay(AO_SEC_TO_TICKS(1));
+ }
+
+ /* Disable echo */
+ ao_btm_cmd("ATE0\r");
+
+ /* Enable flow control */
+ ao_btm_cmd("ATC1\r");
+
+ /* Set the reported name to something we can find on the host */
+ ao_btm_set_name();
+
+ /* Turn off status reporting */
+ ao_btm_cmd("ATQ1\r");
+
+ ao_btm_stdio = ao_add_stdio(ao_serial_pollchar,
+ ao_serial_putchar,
+ NULL);
+ ao_btm_echo(0);
+
+ for (;;) {
+ while (!ao_btm_connected)
+ ao_sleep(&ao_btm_connected);
+ while (ao_btm_connected) {
+ ao_led_for(AO_LED_GREEN, AO_MS_TO_TICKS(20));
+ ao_delay(AO_SEC_TO_TICKS(3));
+ }
+ }
+}
+
+__xdata struct ao_task ao_btm_task;
+
+void
+ao_btm_check_link() __critical
+{
+ if (P2_1) {
+ ao_btm_connected = 0;
+ PICTL |= PICTL_P2ICON;
+ } else {
+ ao_btm_connected = 1;
+ PICTL &= ~PICTL_P2ICON;
+ }
+}
+
+void
+ao_btm_isr(void)
+{
+ if (P2IFG & (1 << 1)) {
+ ao_btm_check_link();
+ ao_wakeup(&ao_btm_connected);
+ }
+ P2IFG = 0;
+}
+
+void
+ao_btm_init (void)
+{
+ ao_serial_init();
+ ao_serial_set_speed(AO_SERIAL_SPEED_19200);
+
+ /*
+ * Configure link status line
+ */
+
+ /* Set P2_1 to input, pull-down */
+ P2DIR &= ~(1 << 1);
+ P2INP |= P2INP_MDP2_1_TRISTATE;
+
+ /* Enable P2 interrupts */
+ IEN2 |= IEN2_P2IE;
+ ao_btm_check_link();
+ PICTL |= PICTL_P2IEN;
+
+ ao_add_task(&ao_btm_task, ao_btm, "bt");
+}
--- /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"
+
+__xdata uint16_t ao_cmd_lex_i;
+__xdata uint32_t ao_cmd_lex_u32;
+__xdata char ao_cmd_lex_c;
+__xdata enum ao_cmd_status ao_cmd_status;
+
+#define CMD_LEN 32
+
+static __xdata char cmd_line[CMD_LEN];
+static __xdata uint8_t cmd_len;
+static __xdata uint8_t cmd_i;
+
+static void
+put_string(char *s)
+{
+ __xdata char c;
+ while (c = *s++)
+ putchar(c);
+}
+
+static void
+readline(void)
+{
+ __xdata char c;
+ if (ao_echo())
+ put_string("> ");
+ cmd_len = 0;
+ for (;;) {
+ flush();
+ c = getchar();
+ /* backspace/delete */
+ if (c == '\010' || c == '\177') {
+ if (cmd_len != 0) {
+ if (ao_echo())
+ put_string("\010 \010");
+ --cmd_len;
+ }
+ continue;
+ }
+
+ /* ^U */
+ if (c == '\025') {
+ while (cmd_len != 0) {
+ if (ao_echo())
+ put_string("\010 \010");
+ --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) {
+ if (ao_echo())
+ putchar('\007');
+ 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));
+}
+
+void
+ao_cmd_put16(uint16_t v)
+{
+ int8_t i;
+ for (i = 3; i >= 0; i--)
+ putnibble((v >> (i << 2)) & 0xf);
+}
+
+void
+ao_cmd_put8(uint8_t v)
+{
+ putnibble((v >> 4) & 0xf);
+ putnibble(v & 0xf);
+}
+
+void
+ao_cmd_white(void)
+{
+ while (ao_cmd_lex_c == ' ' || ao_cmd_lex_c == '\t')
+ ao_cmd_lex();
+}
+
+void
+ao_cmd_hex(void)
+{
+ __xdata uint8_t r = ao_cmd_lex_error;
+
+ ao_cmd_lex_i = 0;
+ ao_cmd_white();
+ for(;;) {
+ if ('0' <= ao_cmd_lex_c && ao_cmd_lex_c <= '9')
+ ao_cmd_lex_i = (ao_cmd_lex_i << 4) | (ao_cmd_lex_c - '0');
+ else if ('a' <= ao_cmd_lex_c && ao_cmd_lex_c <= 'f')
+ ao_cmd_lex_i = (ao_cmd_lex_i << 4) | (ao_cmd_lex_c - 'a' + 10);
+ else if ('A' <= ao_cmd_lex_c && ao_cmd_lex_c <= 'F')
+ ao_cmd_lex_i = (ao_cmd_lex_i << 4) | (ao_cmd_lex_c - 'A' + 10);
+ else
+ break;
+ r = ao_cmd_success;
+ ao_cmd_lex();
+ }
+ if (r != ao_cmd_success)
+ ao_cmd_status = r;
+}
+
+void
+ao_cmd_decimal(void)
+{
+ __xdata 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
+eol(void)
+{
+ while (ao_cmd_lex_c != '\n')
+ ao_cmd_lex();
+}
+
+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;
+#ifdef AVR
+#else
+ WDCTL = WDCTL_EN | WDCTL_MODE_WATCHDOG | WDCTL_INT_64;
+#endif
+ ao_delay(AO_SEC_TO_TICKS(2));
+ ao_panic(AO_PANIC_REBOOT);
+}
+
+static void
+version(void)
+{
+ printf("manufacturer %s\n", ao_manufacturer);
+ printf("product %s\n", ao_product);
+ printf("serial-number %u\n", ao_romconfig.serial_number);
+ printf("software-version %s\n", ao_version);
+}
+
+static const char help_txt[] = "All numbers are in hex";
+
+#define NUM_CMDS 11
+
+static __code struct ao_cmds *__xdata (ao_cmds[NUM_CMDS]);
+static __xdata uint8_t ao_ncmds;
+
+static void
+help(void)
+{
+ __xdata uint8_t cmds;
+ __xdata uint8_t cmd;
+ __code struct ao_cmds * __xdata cs;
+ puts(help_txt);
+ for (cmds = 0; cmds < ao_ncmds; cmds++) {
+ cs = ao_cmds[cmds];
+ for (cmd = 0; cs[cmd].func; cmd++)
+ printf("%-45s %s\n",
+ cs[cmd].help,
+ cs[cmd].help+1+strlen(cs[cmd].help));
+ }
+}
+
+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;
+ 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)
+{
+ __xdata char c;
+ __xdata 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();
+ }
+}
+
+__xdata struct ao_task ao_cmd_task;
+
+__code struct ao_cmds ao_base_cmds[] = {
+ { help, "?\0Print this message" },
+ { ao_task_info, "T\0Show task states" },
+ { echo, "E <0 off, 1 on>\0Set command echo mode" },
+ { ao_reboot, "r eboot\0Reboot" },
+ { version, "v\0Show version" },
+ { 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 © 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"
+
+__xdata struct ao_config ao_config;
+__xdata uint8_t ao_config_loaded;
+__xdata uint8_t ao_config_dirty;
+__xdata uint8_t ao_config_mutex;
+
+#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
+#if USE_INTERNAL_EEPROM
+#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
+
+#if HAS_EEPROM
+static void
+_ao_config_put(void)
+{
+ ao_storage_setup();
+ ao_storage_erase(ao_storage_config);
+ ao_storage_write(ao_storage_config, &ao_config, sizeof (ao_config));
+ ao_log_write_erase(0);
+ ao_storage_flush();
+}
+
+void
+ao_config_put(void)
+{
+ ao_mutex_get(&ao_config_mutex);
+ _ao_config_put();
+ ao_mutex_put(&ao_config_mutex);
+}
+#endif
+
+static void
+_ao_config_get(void)
+{
+ if (ao_config_loaded)
+ return;
+#if HAS_EEPROM
+ ao_storage_setup();
+ ao_storage_read(ao_storage_config, &ao_config, sizeof (ao_config));
+#endif
+ if (ao_config.major != AO_CONFIG_MAJOR) {
+ ao_config.major = AO_CONFIG_MAJOR;
+ ao_config.minor = AO_CONFIG_MINOR;
+ ao_config.main_deploy = AO_CONFIG_DEFAULT_MAIN_DEPLOY;
+ ao_config.radio_channel = AO_CONFIG_DEFAULT_RADIO_CHANNEL;
+ ao_config.accel_plus_g = 0;
+ ao_config.accel_minus_g = 0;
+ memset(&ao_config.callsign, '\0', sizeof (ao_config.callsign));
+ memcpy(&ao_config.callsign, AO_CONFIG_DEFAULT_CALLSIGN,
+ sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
+ ao_config.apogee_delay = AO_CONFIG_DEFAULT_APOGEE_DELAY;
+ ao_config.radio_cal = ao_radio_cal;
+ ao_config.flight_log_max = AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX;
+ ao_config_dirty = 1;
+ }
+ if (ao_config.minor < AO_CONFIG_MINOR) {
+ /* Fixups for minor version 1 */
+ if (ao_config.minor < 1)
+ ao_config.apogee_delay = AO_CONFIG_DEFAULT_APOGEE_DELAY;
+ /* Fixups for minor version 2 */
+ if (ao_config.minor < 2) {
+ ao_config.accel_plus_g = 0;
+ ao_config.accel_minus_g = 0;
+ }
+ /* Fixups for minor version 3 */
+ if (ao_config.minor < 3)
+ ao_config.radio_cal = ao_radio_cal;
+ /* Fixups for minor version 4 */
+ if (ao_config.minor < 4)
+ ao_config.flight_log_max = AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX;
+ ao_config.minor = AO_CONFIG_MINOR;
+ ao_config_dirty = 1;
+ }
+ ao_config_loaded = 1;
+}
+
+void
+ao_config_get(void)
+{
+ ao_mutex_get(&ao_config_mutex);
+ _ao_config_get();
+ 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;
+ char callsign[AO_MAX_CALLSIGN + 1];
+
+ 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_mutex_get(&ao_config_mutex);
+ _ao_config_get();
+ while (c < AO_MAX_CALLSIGN + 1)
+ callsign[c++] = '\0';
+ memcpy(&ao_config.callsign, &callsign,
+ AO_MAX_CALLSIGN + 1);
+ ao_config_dirty = 1;
+ ao_mutex_put(&ao_config_mutex);
+ ao_config_callsign_show();
+}
+
+void
+ao_config_radio_channel_show(void) __reentrant
+{
+ uint32_t freq = 434550L + ao_config.radio_channel * 100L;
+ uint16_t mhz = freq / 1000L;
+ uint16_t khz = freq % 1000L;
+
+ printf("Radio channel: %d (%d.%03dMHz)\n",
+ ao_config.radio_channel, mhz, khz);
+}
+
+void
+ao_config_radio_channel_set(void) __reentrant
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ ao_mutex_get(&ao_config_mutex);
+ _ao_config_get();
+ ao_config.radio_channel = ao_cmd_lex_i;
+ ao_config_dirty = 1;
+ ao_mutex_put(&ao_config_mutex);
+ ao_config_radio_channel_show();
+ ao_radio_recv_abort();
+}
+
+#if HAS_ADC
+
+void
+ao_config_main_deploy_show(void) __reentrant
+{
+ printf("Main deploy: %d meters (%d feet)\n",
+ ao_config.main_deploy,
+ (int16_t) ((int32_t) ao_config.main_deploy * 328 / 100));
+}
+
+void
+ao_config_main_deploy_set(void) __reentrant
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ ao_mutex_get(&ao_config_mutex);
+ _ao_config_get();
+ ao_config.main_deploy = ao_cmd_lex_i;
+ ao_config_dirty = 1;
+ ao_mutex_put(&ao_config_mutex);
+ ao_config_main_deploy_show();
+}
+
+#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);
+}
+
+#define ACCEL_CALIBRATE_SAMPLES 1024
+#define ACCEL_CALIBRATE_SHIFT 10
+
+static int16_t
+ao_config_accel_calibrate_auto(char *orientation) __reentrant
+{
+ uint16_t i;
+ int32_t accel_total;
+ uint8_t cal_adc_ring;
+
+ printf("Orient %s and press a key...", orientation);
+ flush();
+ (void) getchar();
+ puts("\r\n"); flush();
+ puts("Calibrating..."); flush();
+ i = ACCEL_CALIBRATE_SAMPLES;
+ accel_total = 0;
+ cal_adc_ring = ao_sample_adc;
+ while (i) {
+ ao_sleep(DATA_TO_XDATA(&ao_sample_adc));
+ while (i && cal_adc_ring != ao_sample_adc) {
+ accel_total += (int32_t) ao_adc_ring[cal_adc_ring].accel;
+ cal_adc_ring = ao_adc_ring_next(cal_adc_ring);
+ i--;
+ }
+ }
+ return accel_total >> ACCEL_CALIBRATE_SHIFT;
+}
+
+void
+ao_config_accel_calibrate_set(void) __reentrant
+{
+ int16_t up, down;
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ if (ao_cmd_lex_i == 0) {
+ up = ao_config_accel_calibrate_auto("antenna up");
+ down = ao_config_accel_calibrate_auto("antenna down");
+ } 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 calibration: antenna up (%d) should be less than antenna down (%d)\n",
+ up, down);
+ return;
+ }
+ ao_mutex_get(&ao_config_mutex);
+ _ao_config_get();
+ ao_config.accel_plus_g = up;
+ ao_config.accel_minus_g = down;
+ ao_config_dirty = 1;
+ ao_mutex_put(&ao_config_mutex);
+ ao_config_accel_calibrate_show();
+}
+#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_mutex_get(&ao_config_mutex);
+ _ao_config_get();
+ ao_config.apogee_delay = ao_cmd_lex_i;
+ ao_config_dirty = 1;
+ ao_mutex_put(&ao_config_mutex);
+ ao_config_apogee_delay_show();
+}
+
+#endif /* HAS_ADC */
+
+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_mutex_get(&ao_config_mutex);
+ _ao_config_get();
+ ao_config.radio_cal = ao_cmd_lex_u32;
+ ao_config_dirty = 1;
+ ao_mutex_put(&ao_config_mutex);
+ ao_config_radio_cal_show();
+}
+
+#if HAS_EEPROM
+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 config = (uint16_t) (ao_storage_config >> 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 > config)
+ printf("Flight log max %d kB\n", config);
+ else {
+ ao_mutex_get(&ao_config_mutex);
+ _ao_config_get();
+ ao_config.flight_log_max = (uint32_t) ao_cmd_lex_i << 10;
+ ao_config_dirty = 1;
+ ao_mutex_put(&ao_config_mutex);
+ ao_config_log_show();
+ }
+}
+#endif /* HAS_EEPROM */
+
+struct ao_config_var {
+ char cmd;
+ void (*set)(void) __reentrant;
+ void (*show)(void) __reentrant;
+ const char *help;
+};
+
+static void
+ao_config_help(void) __reentrant;
+
+static void
+ao_config_show(void) __reentrant;
+
+static void
+ao_config_write(void) __reentrant;
+
+__code struct ao_config_var ao_config_vars[] = {
+#if HAS_ADC
+ { 'm', ao_config_main_deploy_set, ao_config_main_deploy_show,
+ "m <meters> Set height above launch for main deploy (in meters)" },
+ { 'd', ao_config_apogee_delay_set, ao_config_apogee_delay_show,
+ "d <delay> Set apogee igniter delay (in seconds)" },
+#endif /* HAS_ADC */
+ { 'r', ao_config_radio_channel_set, ao_config_radio_channel_show,
+ "r <channel> Set radio channel (freq = 434.550 + channel * .1)" },
+ { 'c', ao_config_callsign_set, ao_config_callsign_show,
+ "c <call> Set callsign broadcast in each packet (8 char max)" },
+#if HAS_ACCEL
+ { 'a', ao_config_accel_calibrate_set, ao_config_accel_calibrate_show,
+ "a <+g> <-g> Set accelerometer calibration (0 for auto)" },
+#endif /* HAS_ACCEL */
+ { 'f', ao_config_radio_cal_set, ao_config_radio_cal_show,
+ "f <cal> Set radio calibration value (cal = rf/(xtal/2^16))" },
+#if HAS_EEPROM
+ { 'l', ao_config_log_set, ao_config_log_show,
+ "l <size> Set flight log size in kB" },
+#endif
+ { 's', ao_config_show, ao_config_show,
+ "s Show current config values" },
+#if HAS_EEPROM
+ { 'w', ao_config_write, ao_config_write,
+ "w Write current values to eeprom" },
+#endif
+ { '?', ao_config_help, ao_config_help,
+ "? Show available config variables" },
+ { 0, ao_config_help, ao_config_help,
+ NULL },
+};
+
+void
+ao_config_set(void)
+{
+ char c;
+ uint8_t cmd;
+ void (*__xdata func)(void) __reentrant;
+
+ ao_cmd_white();
+ c = ao_cmd_lex_c;
+ ao_cmd_lex();
+ func = 0;
+ for (cmd = 0; ao_config_vars[cmd].cmd != '\0'; cmd++)
+ if (ao_config_vars[cmd].cmd == c) {
+ func = ao_config_vars[cmd].set;
+ break;
+ }
+ if (func)
+ (*func)();
+ else
+ ao_cmd_status = ao_cmd_syntax_error;
+}
+
+static void
+ao_config_help(void) __reentrant
+{
+ uint8_t cmd;
+ for (cmd = 0; ao_config_vars[cmd].cmd != '\0'; cmd++)
+ puts (ao_config_vars[cmd].help);
+}
+
+static void
+ao_config_show(void) __reentrant
+{
+ uint8_t cmd;
+ printf("Config version: %d.%d\n",
+ ao_config.major, ao_config.minor);
+ for (cmd = 0; ao_config_vars[cmd].cmd != '\0'; cmd++)
+ if (ao_config_vars[cmd].show != ao_config_vars[cmd].set)
+ (*ao_config_vars[cmd].show)();
+}
+
+#if HAS_EEPROM
+static void
+ao_config_write(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 variable (? for help, s to show)" },
+ { 0, NULL },
+};
+
+void
+ao_config_init(void)
+{
+ ao_cmd_register(&ao_config_cmds[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.
+ */
+
+#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;
+}
+
+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;
+}
+
+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;
+}
--- /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
+#include "ao_host.h"
+#include "ao_convert.c"
+
+#define STEP 1
+
+static inline i_abs(int i) { return i < 0 ? -i : i; }
+
+main ()
+{
+ 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 © 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_pins.h"
+
+static void
+ao_dbg_send_bits(uint8_t msk, uint8_t val) __reentrant
+{
+ DBG_PORT = (DBG_PORT & ~msk) | (val & msk);
+ _asm
+ nop
+ nop
+ _endasm;
+}
+
+void
+ao_dbg_send_byte(uint8_t byte)
+{
+ __xdata uint8_t b, d;
+
+ DBG_PORT |= DBG_DATA;
+ DBG_PORT_DIR |= DBG_DATA;
+ for (b = 0; b < 8; b++) {
+ d = 0;
+ if (byte & 0x80)
+ d = DBG_DATA;
+ byte <<= 1;
+ ao_dbg_send_bits(DBG_CLOCK|DBG_DATA, DBG_CLOCK|d);
+ ao_dbg_send_bits(DBG_CLOCK|DBG_DATA, 0 |d);
+ }
+ DBG_PORT_DIR &= ~DBG_DATA;
+}
+
+uint8_t
+ao_dbg_recv_byte(void)
+{
+ __xdata uint8_t byte, b;
+
+ byte = 0;
+ for (b = 0; b < 8; b++) {
+ byte = byte << 1;
+ ao_dbg_send_bits(DBG_CLOCK, DBG_CLOCK);
+ if (DBG_DATA_PIN)
+ byte |= 1;
+ ao_dbg_send_bits(DBG_CLOCK, 0);
+ }
+ return byte;
+}
+
+/* 8051 instructions
+ */
+#define NOP 0x00
+#define MOV_direct_data 0x75
+#define LJMP 0x02
+#define MOV_Rn_data(n) (0x78 | (n))
+#define DJNZ_Rn_rel(n) (0xd8 | (n))
+#define MOV_A_direct 0xe5
+#define MOV_direct1_direct2 0x85
+#define MOV_direct_A 0xf5
+#define MOV_DPTR_data16 0x90
+#define MOV_A_data 0x74
+#define MOVX_atDPTR_A 0xf0
+#define MOVX_A_atDPTR 0xe0
+#define INC_DPTR 0xa3
+#define TRAP 0xa5
+#define SJMP 0x80
+#define JB 0x20
+
+#define DEBUG_INSTR(l) (0x54 | (l))
+
+#define SFR_PSW 0xD0
+#define SFR_DPL0 0x82
+#define SFR_DPH0 0x83
+#define SFR_DPL1 0x84
+#define SFR_DPH1 0x85
+
+__xdata uint8_t save_acc;
+__xdata uint8_t save_psw;
+__xdata uint8_t save_dpl0;
+__xdata uint8_t save_dph0;
+__xdata uint8_t save_dpl1;
+__xdata uint8_t save_dph1;
+
+static uint8_t
+ao_dbg_inst1(uint8_t a) __reentrant
+{
+ ao_dbg_send_byte(DEBUG_INSTR(1));
+ ao_dbg_send_byte(a);
+ return ao_dbg_recv_byte();
+}
+
+static uint8_t
+ao_dbg_inst2(uint8_t a, uint8_t b) __reentrant
+{
+ ao_dbg_send_byte(DEBUG_INSTR(2));
+ ao_dbg_send_byte(a);
+ ao_dbg_send_byte(b);
+ return ao_dbg_recv_byte();
+}
+
+static uint8_t
+ao_dbg_inst3(uint8_t a, uint8_t b, uint8_t c) __reentrant
+{
+ ao_dbg_send_byte(DEBUG_INSTR(3));
+ ao_dbg_send_byte(a);
+ ao_dbg_send_byte(b);
+ ao_dbg_send_byte(c);
+ return ao_dbg_recv_byte();
+}
+
+void
+ao_dbg_start_transfer(uint16_t addr)
+{
+ save_acc = ao_dbg_inst1(NOP);
+ save_psw = ao_dbg_inst2(MOV_A_direct, SFR_PSW);
+ save_dpl0 = ao_dbg_inst2(MOV_A_direct, SFR_DPL0);
+ save_dph0 = ao_dbg_inst2(MOV_A_direct, SFR_DPH0);
+ save_dpl1 = ao_dbg_inst2(MOV_A_direct, SFR_DPL1);
+ save_dph1 = ao_dbg_inst2(MOV_A_direct, SFR_DPH1);
+ ao_dbg_inst3(MOV_DPTR_data16, addr >> 8, addr);
+}
+
+void
+ao_dbg_end_transfer(void)
+{
+ ao_dbg_inst3(MOV_direct_data, SFR_DPL0, save_dpl0);
+ ao_dbg_inst3(MOV_direct_data, SFR_DPH0, save_dph0);
+ ao_dbg_inst3(MOV_direct_data, SFR_DPL1, save_dpl1);
+ ao_dbg_inst3(MOV_direct_data, SFR_DPH1, save_dph1);
+ ao_dbg_inst3(MOV_direct_data, SFR_PSW, save_psw);
+ ao_dbg_inst2(MOV_A_data, save_acc);
+}
+
+void
+ao_dbg_write_byte(uint8_t byte)
+{
+ ao_dbg_inst2(MOV_A_data, byte);
+ ao_dbg_inst1(MOVX_atDPTR_A);
+ ao_dbg_inst1(INC_DPTR);
+}
+
+uint8_t
+ao_dbg_read_byte(void)
+{
+ ao_dbg_inst1(MOVX_A_atDPTR);
+ return ao_dbg_inst1(INC_DPTR);
+}
+
+static void
+ao_dbg_set_pins(void)
+{
+ /* Make the DBG pins GPIOs. On TeleMetrum, this will
+ * disable the SPI link, so don't expect SPI to work after
+ * using the debugger.
+ */
+ DBG_PORT_SEL &= ~(DBG_CLOCK|DBG_DATA|DBG_RESET_N);
+
+ /* make DBG_DATA tri-state */
+ DBG_PORT_INP |= DBG_DATA;
+
+ /* Raise RESET_N and CLOCK */
+ DBG_PORT |= DBG_RESET_N | DBG_CLOCK;
+
+ /* RESET_N and CLOCK are outputs now */
+ DBG_PORT_DIR |= DBG_RESET_N | DBG_CLOCK;
+ DBG_PORT_DIR &= ~DBG_DATA;
+}
+
+static void
+ao_dbg_long_delay(void)
+{
+ uint8_t n;
+
+ for (n = 0; n < 20; n++)
+ _asm nop _endasm;
+}
+
+#define AO_RESET_LOW_DELAY AO_MS_TO_TICKS(100)
+#define AO_RESET_HIGH_DELAY AO_MS_TO_TICKS(100)
+
+void
+ao_dbg_debug_mode(void)
+{
+ ao_dbg_set_pins();
+ ao_dbg_long_delay();
+ ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|DBG_RESET_N);
+ ao_dbg_long_delay();
+ ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, 0 |DBG_DATA| 0 );
+ ao_delay(AO_RESET_LOW_DELAY);
+ ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA| 0 );
+ ao_dbg_long_delay();
+ ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, 0 |DBG_DATA| 0 );
+ ao_dbg_long_delay();
+ ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA| 0 );
+ ao_dbg_long_delay();
+ ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, 0 |DBG_DATA|DBG_RESET_N);
+ ao_delay(AO_RESET_HIGH_DELAY);
+}
+
+void
+ao_dbg_reset(void)
+{
+ ao_dbg_set_pins();
+ ao_dbg_long_delay();
+ ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|DBG_RESET_N);
+ ao_dbg_long_delay();
+ ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA| 0 );
+ ao_delay(AO_RESET_LOW_DELAY);
+ ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA| 0 );
+ ao_dbg_long_delay();
+ ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA| 0 );
+ ao_dbg_long_delay();
+ ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA| 0 );
+ ao_dbg_long_delay();
+ ao_dbg_send_bits(DBG_CLOCK|DBG_DATA|DBG_RESET_N, DBG_CLOCK|DBG_DATA|DBG_RESET_N);
+ ao_delay(AO_RESET_HIGH_DELAY);
+}
+
+static void
+debug_enable(void)
+{
+ ao_dbg_debug_mode();
+}
+
+static void
+debug_reset(void)
+{
+ ao_dbg_reset();
+}
+
+static void
+debug_put(void)
+{
+ for (;;) {
+ ao_cmd_white ();
+ if (ao_cmd_lex_c == '\n')
+ break;
+ ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ break;
+ ao_dbg_send_byte(ao_cmd_lex_i);
+ }
+}
+
+static void
+debug_get(void)
+{
+ __xdata uint16_t count;
+ __xdata uint16_t i;
+ __xdata uint8_t byte;
+ ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ count = ao_cmd_lex_i;
+ if (count > 256) {
+ ao_cmd_status = ao_cmd_syntax_error;
+ return;
+ }
+ for (i = 0; i < count; i++) {
+ if (i && (i & 7) == 0)
+ putchar('\n');
+ byte = ao_dbg_recv_byte();
+ ao_cmd_put8(byte);
+ putchar(' ');
+ }
+ putchar('\n');
+}
+
+static uint8_t
+getnibble(void)
+{
+ __xdata 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;
+}
+
+static void
+debug_input(void)
+{
+ __xdata uint16_t count;
+ __xdata uint16_t addr;
+ __xdata uint8_t b;
+ __xdata uint8_t i;
+
+ ao_cmd_hex();
+ count = ao_cmd_lex_i;
+ ao_cmd_hex();
+ addr = ao_cmd_lex_i;
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ ao_dbg_start_transfer(addr);
+ i = 0;
+ while (count--) {
+ if (!(i++ & 7))
+ putchar('\n');
+ b = ao_dbg_read_byte();
+ ao_cmd_put8(b);
+ }
+ ao_dbg_end_transfer();
+ putchar('\n');
+}
+
+static void
+debug_output(void)
+{
+ __xdata uint16_t count;
+ __xdata uint16_t addr;
+ __xdata uint8_t b;
+
+ ao_cmd_hex();
+ count = ao_cmd_lex_i;
+ ao_cmd_hex();
+ addr = ao_cmd_lex_i;
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ ao_dbg_start_transfer(addr);
+ while (count--) {
+ b = getnibble() << 4;
+ b |= getnibble();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ ao_dbg_write_byte(b);
+ }
+ ao_dbg_end_transfer();
+}
+
+__code struct ao_cmds ao_dbg_cmds[7] = {
+ { debug_enable, "D\0Enable debug mode" },
+ { debug_get, "G <count>\0Get data from debug port" },
+ { debug_input, "I <count> <addr>\0Input <count> bytes to target at <addr>" },
+ { debug_output, "O <count> <addr>\0Output <count> bytes to target at <addr>" },
+ { debug_put, "P <byte> ...\0Put data to debug port" },
+ { debug_reset, "R\0Reset target" },
+ { 0, NULL },
+};
+
+void
+ao_dbg_init(void)
+{
+ ao_cmd_register(&ao_dbg_cmds[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.
+ */
+
+#include "ao.h"
+
+void
+uart_send(char c)
+{
+ loop_until_bit_is_set(UCSR1A, UDRE1);
+ UDR1 = c;
+}
+
+int
+uart_put(char c, FILE *stream)
+{
+ if (c == '\n')
+ uart_send('\r');
+ uart_send(c);
+ return 0;
+}
+
+int
+uart_get(FILE *stream)
+{
+ loop_until_bit_is_set(UCSR1A, RXC1);
+ return (int) UDR1 & 0xff;
+}
+
+void
+uart_init(uint16_t baud)
+{
+ PRR1 &= ~(1 << PRUSART1);
+ UBRR1L = baud;
+ UBRR1H = baud >> 8;
+ UCSR1A = 0;
+ UCSR1B = ((1 << RXEN1) | /* Enable receiver */
+ (1 << TXEN1)); /* Enable transmitter */
+ UCSR1C = ((0 << UMSEL10) | /* Asynchronous mode */
+ (0 << UPM10) | /* No parity */
+ (0 << USBS1) | /* 1 stop bit */
+ (3 << UCSZ10) | /* 8 bit characters */
+ (0 << UCPOL1)); /* MBZ for async mode */
+}
+
+static FILE mystdout = FDEV_SETUP_STREAM(uart_put, NULL, _FDEV_SETUP_WRITE);
+
+static FILE mystdin = FDEV_SETUP_STREAM(NULL, uart_get, _FDEV_SETUP_READ);
+
+void ao_debug_init(void)
+{
+ uart_init(F_CPU / (16UL * 9600UL) - 1);
+
+ stdout = &mystdout;
+ stdin = &mystdin;
+
+ if (DDRB & AO_LED_RED) {
+ printf ("oops, starting all over\n");
+ for (;;)
+ ;
+ }
+ DDRB |= (1 << 7);
+ PORTB |= (1 << 7);
+ printf ("debug initialized\n");
+}
--- /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"
+
+struct ao_task demo_task;
+
+void
+ao_demo(void)
+{
+ for (;;) {
+ ao_led_toggle(AO_LED_RED);
+ printf ("hello %d\n", ao_time());
+ ao_delay(AO_MS_TO_TICKS(200));
+ }
+}
+
+int
+main(void)
+{
+ ao_clock_init();
+
+ ao_serial_init();
+ ao_stdio_init();
+ printf ("stdio initialized\n");
+// ao_debug_init();
+ ao_led_init(LEDS_AVAILABLE);
+ ao_timer_init();
+
+ ao_add_task(&demo_task, ao_demo, "demo");
+ /* Turn on the LED until the system is stable */
+ ao_start_scheduler();
+ return 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"
+
+#define NUM_DMA 5
+
+/*
+ * The config address for DMA0 is programmed
+ * separately from that of DMA1-4, but for simplicity,
+ * we make them all contiguous.
+ */
+
+static __xdata struct cc_dma_channel ao_dma_config[NUM_DMA];
+static __xdata uint8_t * __xdata ao_dma_done[NUM_DMA];
+static __data uint8_t ao_next_dma;
+
+uint8_t
+ao_dma_alloc(__xdata uint8_t *done)
+{
+ uint8_t id;
+
+ if (ao_next_dma == NUM_DMA)
+ ao_panic(AO_PANIC_DMA);
+ id = ao_next_dma++;
+ ao_dma_done[id] = done;
+
+ /* When the first dma object is allocated, set up the DMA
+ * controller
+ */
+ if (id == 0) {
+ DMAIRQ = 0;
+ DMAIF = 0;
+ IEN1 |= IEN1_DMAIE;
+ }
+
+ return id;
+}
+
+void
+ao_dma_set_transfer(uint8_t id,
+ void __xdata *srcaddr,
+ void __xdata *dstaddr,
+ uint16_t count,
+ uint8_t cfg0,
+ uint8_t cfg1)
+{
+ if (DMAARM & (1 << id))
+ ao_panic(AO_PANIC_DMA);
+ ao_dma_config[id].src_high = ((uint16_t) srcaddr) >> 8;
+ ao_dma_config[id].src_low = ((uint16_t) srcaddr);
+ ao_dma_config[id].dst_high = ((uint16_t) dstaddr) >> 8;
+ ao_dma_config[id].dst_low = ((uint16_t) dstaddr);
+ ao_dma_config[id].len_high = count >> 8;
+ ao_dma_config[id].len_low = count;
+ ao_dma_config[id].cfg0 = cfg0;
+ ao_dma_config[id].cfg1 = cfg1 | DMA_CFG1_IRQMASK;
+ if (id == 0) {
+ DMA0CFGH = ((uint16_t) (&ao_dma_config[0])) >> 8;
+ DMA0CFGL = ((uint16_t) (&ao_dma_config[0]));
+ } else {
+ DMA1CFGH = ((uint16_t) (&ao_dma_config[1])) >> 8;
+ DMA1CFGL = ((uint16_t) (&ao_dma_config[1]));
+ }
+}
+
+#define nop() _asm nop _endasm;
+
+void
+ao_dma_start(uint8_t id)
+{
+ uint8_t mask = (1 << id);
+ DMAIRQ &= ~mask;
+ DMAARM = 0x80 | mask;
+ nop(); nop(); nop(); nop();
+ nop(); nop(); nop(); nop();
+ *(ao_dma_done[id]) = 0;
+ DMAARM = mask;
+ nop(); nop(); nop(); nop();
+ nop(); nop(); nop(); nop();
+ nop();
+}
+
+void
+ao_dma_trigger(uint8_t id)
+{
+ DMAREQ |= (1 << id);
+}
+
+void
+ao_dma_abort(uint8_t id)
+{
+ uint8_t mask = (1 << id);
+ DMAARM = 0x80 | mask;
+ DMAIRQ &= ~mask;
+}
+
+void
+ao_dma_isr(void) __interrupt 8
+{
+ uint8_t id, mask;
+
+ /* Find the first DMA channel which is done */
+ mask = 1;
+ for (id = 0; id < ao_next_dma; id++) {
+ if (DMAIRQ & mask) {
+ /* Clear CPU interrupt flag */
+ DMAIF = 0;
+ /* Clear the completed ID */
+ DMAIRQ = ~mask;
+ *(ao_dma_done[id]) = 1;
+ ao_wakeup(ao_dma_done[id]);
+ break;
+ }
+ mask <<= 1;
+ }
+}
--- /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 "25lc1024.h"
+
+#define EE_BLOCK_SIZE ((uint16_t) (256))
+#define EE_BLOCK_SHIFT 8
+#define EE_DEVICE_SIZE ((uint32_t) 128 * (uint32_t) 1024)
+
+/* Total bytes of available storage */
+__xdata uint32_t ao_storage_total;
+
+/* Block size - device is erased in these units. At least 256 bytes */
+__xdata uint32_t ao_storage_block;
+
+/* Byte offset of config block. Will be ao_storage_block bytes long */
+__xdata uint32_t ao_storage_config;
+
+/* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */
+__xdata uint16_t ao_storage_unit;
+
+/*
+ * Using SPI on USART 0, with P1_2 as the chip select
+ */
+
+#define EE_CS P1_2
+#define EE_CS_INDEX 2
+
+static __xdata uint8_t ao_ee_mutex;
+
+#define ao_ee_delay() do { \
+ _asm nop _endasm; \
+ _asm nop _endasm; \
+ _asm nop _endasm; \
+} while(0)
+
+static void ao_ee_cs_low(void)
+{
+ ao_ee_delay();
+ EE_CS = 0;
+ ao_ee_delay();
+}
+
+static void ao_ee_cs_high(void)
+{
+ ao_ee_delay();
+ EE_CS = 1;
+ ao_ee_delay();
+}
+
+struct ao_ee_instruction {
+ uint8_t instruction;
+ uint8_t address[3];
+} __xdata ao_ee_instruction;
+
+static void
+ao_ee_write_enable(void)
+{
+ ao_ee_cs_low();
+ ao_ee_instruction.instruction = EE_WREN;
+ ao_spi_send(&ao_ee_instruction, 1);
+ ao_ee_cs_high();
+}
+
+static uint8_t
+ao_ee_rdsr(void)
+{
+ ao_ee_cs_low();
+ ao_ee_instruction.instruction = EE_RDSR;
+ ao_spi_send(&ao_ee_instruction, 1);
+ ao_spi_recv(&ao_ee_instruction, 1);
+ ao_ee_cs_high();
+ return ao_ee_instruction.instruction;
+}
+
+static void
+ao_ee_wrsr(uint8_t status)
+{
+ ao_ee_cs_low();
+ ao_ee_instruction.instruction = EE_WRSR;
+ ao_ee_instruction.address[0] = status;
+ ao_spi_send(&ao_ee_instruction, 2);
+ ao_ee_cs_high();
+}
+
+#define EE_BLOCK_NONE 0xffff
+
+static __xdata uint8_t ao_ee_data[EE_BLOCK_SIZE];
+static __pdata uint16_t ao_ee_block = EE_BLOCK_NONE;
+static __pdata uint8_t ao_ee_block_dirty;
+
+/* Write the current block to the EEPROM */
+static void
+ao_ee_write_block(void)
+{
+ uint8_t status;
+
+ status = ao_ee_rdsr();
+ if (status & (EE_STATUS_BP0|EE_STATUS_BP1|EE_STATUS_WPEN)) {
+ status &= ~(EE_STATUS_BP0|EE_STATUS_BP1|EE_STATUS_WPEN);
+ ao_ee_wrsr(status);
+ }
+ ao_ee_write_enable();
+ ao_ee_cs_low();
+ ao_ee_instruction.instruction = EE_WRITE;
+ ao_ee_instruction.address[0] = ao_ee_block >> 8;
+ ao_ee_instruction.address[1] = ao_ee_block;
+ ao_ee_instruction.address[2] = 0;
+ ao_spi_send(&ao_ee_instruction, 4);
+ ao_spi_send(ao_ee_data, EE_BLOCK_SIZE);
+ ao_ee_cs_high();
+ for (;;) {
+ uint8_t status = ao_ee_rdsr();
+ if ((status & EE_STATUS_WIP) == 0)
+ break;
+ }
+}
+
+/* Read the current block from the EEPROM */
+static void
+ao_ee_read_block(void)
+{
+ ao_ee_cs_low();
+ ao_ee_instruction.instruction = EE_READ;
+ ao_ee_instruction.address[0] = ao_ee_block >> 8;
+ ao_ee_instruction.address[1] = ao_ee_block;
+ ao_ee_instruction.address[2] = 0;
+ ao_spi_send(&ao_ee_instruction, 4);
+ ao_spi_recv(ao_ee_data, EE_BLOCK_SIZE);
+ ao_ee_cs_high();
+}
+
+static void
+ao_ee_flush_internal(void)
+{
+ if (ao_ee_block_dirty) {
+ ao_ee_write_block();
+ ao_ee_block_dirty = 0;
+ }
+}
+
+static void
+ao_ee_fill(uint16_t block)
+{
+ if (block != ao_ee_block) {
+ ao_ee_flush_internal();
+ ao_ee_block = block;
+ ao_ee_read_block();
+ }
+}
+
+uint8_t
+ao_storage_device_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant
+{
+ uint16_t block = (uint16_t) (pos >> EE_BLOCK_SHIFT);
+
+ /* Transfer the data */
+ ao_mutex_get(&ao_ee_mutex); {
+ if (len != EE_BLOCK_SIZE)
+ ao_ee_fill(block);
+ else {
+ ao_ee_flush_internal();
+ ao_ee_block = block;
+ }
+ memcpy(ao_ee_data + (uint16_t) (pos & 0xff), buf, len);
+ ao_ee_block_dirty = 1;
+ } ao_mutex_put(&ao_ee_mutex);
+ return 1;
+}
+
+uint8_t
+ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant
+{
+ uint16_t block = (uint16_t) (pos >> EE_BLOCK_SHIFT);
+
+ /* Transfer the data */
+ ao_mutex_get(&ao_ee_mutex); {
+ ao_ee_fill(block);
+ memcpy(buf, ao_ee_data + (uint16_t) (pos & 0xff), len);
+ } ao_mutex_put(&ao_ee_mutex);
+ return 1;
+}
+
+void
+ao_storage_flush(void) __reentrant
+{
+ ao_mutex_get(&ao_ee_mutex); {
+ ao_ee_flush_internal();
+ } ao_mutex_put(&ao_ee_mutex);
+}
+
+uint8_t
+ao_storage_erase(uint32_t pos) __reentrant
+{
+ ao_mutex_get(&ao_ee_mutex); {
+ ao_ee_flush_internal();
+ ao_ee_block = (uint16_t) (pos >> EE_BLOCK_SHIFT);
+ memset(ao_ee_data, 0xff, EE_BLOCK_SIZE);
+ ao_ee_block_dirty = 1;
+ } ao_mutex_put(&ao_ee_mutex);
+ return 1;
+}
+
+static void
+ee_store(void) __reentrant
+{
+}
+
+void
+ao_storage_setup(void)
+{
+ if (ao_storage_total == 0) {
+ ao_storage_total = EE_DEVICE_SIZE;
+ ao_storage_block = EE_BLOCK_SIZE;
+ ao_storage_config = EE_DEVICE_SIZE - EE_BLOCK_SIZE;
+ ao_storage_unit = EE_BLOCK_SIZE;
+ }
+}
+
+void
+ao_storage_device_info(void) __reentrant
+{
+}
+
+/*
+ * To initialize the chip, set up the CS line and
+ * the SPI interface
+ */
+void
+ao_storage_device_init(void)
+{
+ /* set up CS */
+ EE_CS = 1;
+ P1DIR |= (1 << EE_CS_INDEX);
+ P1SEL &= ~(1 << EE_CS_INDEX);
+}
--- /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
+{
+ memset(buf, '\0', len);
+ return 1;
+}
--- /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 "at45db161d.h"
+
+/* Total bytes of available storage */
+__xdata uint32_t ao_storage_total;
+
+/* Block size - device is erased in these units. At least 256 bytes */
+__xdata uint32_t ao_storage_block;
+
+/* Byte offset of config block. Will be ao_storage_block bytes long */
+__xdata uint32_t ao_storage_config;
+
+/* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */
+__xdata uint16_t ao_storage_unit;
+
+#define FLASH_CS P1_1
+#define FLASH_CS_INDEX 1
+
+#define FLASH_BLOCK_SIZE_MAX 512
+
+__xdata uint8_t ao_flash_mutex;
+
+#define ao_flash_delay() do { \
+ _asm nop _endasm; \
+ _asm nop _endasm; \
+ _asm nop _endasm; \
+} while(0)
+
+void ao_flash_cs_low(void)
+{
+ ao_flash_delay();
+ FLASH_CS = 0;
+ ao_flash_delay();
+}
+
+void ao_flash_cs_high(void)
+{
+ ao_flash_delay();
+ FLASH_CS = 1;
+ ao_flash_delay();
+}
+
+struct ao_flash_instruction {
+ uint8_t instruction;
+ uint8_t address[3];
+} __xdata ao_flash_instruction;
+
+static void
+ao_flash_set_pagesize_512(void)
+{
+ ao_flash_cs_low();
+ ao_flash_instruction.instruction = FLASH_SET_CONFIG;
+ ao_flash_instruction.address[0] = FLASH_SET_512_BYTE_0;
+ ao_flash_instruction.address[1] = FLASH_SET_512_BYTE_1;
+ ao_flash_instruction.address[2] = FLASH_SET_512_BYTE_2;
+ ao_spi_send(&ao_flash_instruction, 4);
+ ao_flash_cs_high();
+}
+
+
+static uint8_t
+ao_flash_read_status(void)
+{
+ ao_flash_cs_low();
+ ao_flash_instruction.instruction = FLASH_READ_STATUS;
+ ao_spi_send(&ao_flash_instruction, 1);
+ ao_spi_recv(&ao_flash_instruction, 1);
+ ao_flash_cs_high();
+ return ao_flash_instruction.instruction;
+}
+
+#define FLASH_BLOCK_NONE 0xffff
+
+static __xdata uint8_t ao_flash_data[FLASH_BLOCK_SIZE_MAX];
+static __pdata uint16_t ao_flash_block = FLASH_BLOCK_NONE;
+static __pdata uint8_t ao_flash_block_dirty;
+static __pdata uint8_t ao_flash_write_pending;
+static __pdata uint8_t ao_flash_setup_done;
+static __pdata uint8_t ao_flash_block_shift;
+static __pdata uint16_t ao_flash_block_size;
+static __pdata uint16_t ao_flash_block_mask;
+
+void
+ao_storage_setup(void) __reentrant
+{
+ uint8_t status;
+
+ if (ao_flash_setup_done)
+ return;
+
+ ao_mutex_get(&ao_flash_mutex);
+ if (ao_flash_setup_done) {
+ ao_mutex_put(&ao_flash_mutex);
+ return;
+ }
+
+ /* On first use, check to see if the flash chip has
+ * been programmed to use 512 byte pages. If not, do so.
+ * And then, because the flash part must be power cycled
+ * for that change to take effect, panic.
+ */
+ status = ao_flash_read_status();
+
+ if (!(status & FLASH_STATUS_PAGESIZE_512)) {
+ ao_flash_set_pagesize_512();
+ ao_panic(AO_PANIC_FLASH);
+ }
+
+ switch (status & 0x3c) {
+
+ /* AT45DB321D */
+ case 0x34:
+ ao_flash_block_shift = 9;
+ ao_storage_total = ((uint32_t) 4 * (uint32_t) 1024 * (uint32_t) 1024);
+ break;
+
+ /* AT45DB161D */
+ case 0x2c:
+ ao_flash_block_shift = 9;
+ ao_storage_total = ((uint32_t) 2 * (uint32_t) 1024 * (uint32_t) 1024);
+ break;
+
+ /* AT45DB081D */
+ case 0x24:
+ ao_flash_block_shift = 8;
+ ao_storage_total = ((uint32_t) 1024 * (uint32_t) 1024);
+ break;
+
+ /* AT45DB041D */
+ case 0x1c:
+ ao_flash_block_shift = 8;
+ ao_storage_total = ((uint32_t) 512 * (uint32_t) 1024);
+ break;
+
+ /* AT45DB021D */
+ case 0x14:
+ ao_flash_block_shift = 8;
+ ao_storage_total = ((uint32_t) 256 * (uint32_t) 1024);
+ break;
+
+ /* AT45DB011D */
+ case 0x0c:
+ ao_flash_block_shift = 8;
+ ao_storage_total = ((uint32_t) 128 * (uint32_t) 1024);
+ break;
+
+ default:
+ ao_panic(AO_PANIC_FLASH);
+ }
+ ao_flash_block_size = 1 << ao_flash_block_shift;
+ ao_flash_block_mask = ao_flash_block_size - 1;
+
+ ao_storage_block = ao_flash_block_size;
+ ao_storage_config = ao_storage_total - ao_storage_block;
+ ao_storage_unit = ao_flash_block_size;
+
+ ao_flash_setup_done = 1;
+ ao_mutex_put(&ao_flash_mutex);
+}
+
+static void
+ao_flash_wait_write(void)
+{
+ if (ao_flash_write_pending) {
+ for (;;) {
+ uint8_t status = ao_flash_read_status();
+ if ((status & FLASH_STATUS_RDY))
+ break;
+ }
+ ao_flash_write_pending = 0;
+ }
+}
+
+/* Write the current block to the FLASHPROM */
+static void
+ao_flash_write_block(void)
+{
+ ao_flash_wait_write();
+ ao_flash_cs_low();
+ ao_flash_instruction.instruction = FLASH_WRITE;
+
+ /* 13/14 block bits + 9/8 byte bits (always 0) */
+ ao_flash_instruction.address[0] = ao_flash_block >> (16 - ao_flash_block_shift);
+ ao_flash_instruction.address[1] = ao_flash_block << (ao_flash_block_shift - 8);
+ ao_flash_instruction.address[2] = 0;
+ ao_spi_send(&ao_flash_instruction, 4);
+ ao_spi_send(ao_flash_data, ao_storage_block);
+ ao_flash_cs_high();
+ ao_flash_write_pending = 1;
+}
+
+/* Read the current block from the FLASHPROM */
+static void
+ao_flash_read_block(void)
+{
+ ao_flash_wait_write();
+ ao_flash_cs_low();
+ ao_flash_instruction.instruction = FLASH_READ;
+
+ /* 13/14 block bits + 9/8 byte bits (always 0) */
+ ao_flash_instruction.address[0] = ao_flash_block >> (16 - ao_flash_block_shift);
+ ao_flash_instruction.address[1] = ao_flash_block << (ao_flash_block_shift - 8);
+ ao_flash_instruction.address[2] = 0;
+ ao_spi_send(&ao_flash_instruction, 4);
+ ao_spi_recv(ao_flash_data, ao_flash_block_size);
+ ao_flash_cs_high();
+}
+
+static void
+ao_flash_flush_internal(void)
+{
+ if (ao_flash_block_dirty) {
+ ao_flash_write_block();
+ ao_flash_block_dirty = 0;
+ }
+}
+
+static void
+ao_flash_fill(uint16_t block)
+{
+ if (block != ao_flash_block) {
+ ao_flash_flush_internal();
+ ao_flash_block = block;
+ ao_flash_read_block();
+ }
+}
+
+uint8_t
+ao_storage_device_write(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant
+{
+ uint16_t block = (uint16_t) (pos >> ao_flash_block_shift);
+
+ /* Transfer the data */
+ ao_mutex_get(&ao_flash_mutex); {
+ if (len != ao_flash_block_size)
+ ao_flash_fill(block);
+ else {
+ ao_flash_flush_internal();
+ ao_flash_block = block;
+ }
+ memcpy(ao_flash_data + (uint16_t) (pos & ao_flash_block_mask),
+ buf,
+ len);
+ ao_flash_block_dirty = 1;
+ } ao_mutex_put(&ao_flash_mutex);
+ return 1;
+}
+
+uint8_t
+ao_storage_device_read(uint32_t pos, __xdata void *buf, uint16_t len) __reentrant
+{
+ uint16_t block = (uint16_t) (pos >> ao_flash_block_shift);
+
+ /* Transfer the data */
+ ao_mutex_get(&ao_flash_mutex); {
+ ao_flash_fill(block);
+ memcpy(buf,
+ ao_flash_data + (uint16_t) (pos & ao_flash_block_mask),
+ len);
+ } ao_mutex_put(&ao_flash_mutex);
+ return 1;
+}
+
+void
+ao_storage_flush(void) __reentrant
+{
+ ao_mutex_get(&ao_flash_mutex); {
+ ao_flash_flush_internal();
+ } ao_mutex_put(&ao_flash_mutex);
+}
+
+uint8_t
+ao_storage_erase(uint32_t pos) __reentrant
+{
+ ao_mutex_get(&ao_flash_mutex); {
+ ao_flash_flush_internal();
+ ao_flash_block = (uint16_t) (pos >> ao_flash_block_shift);
+ memset(ao_flash_data, 0xff, ao_flash_block_size);
+ ao_flash_block_dirty = 1;
+ } ao_mutex_put(&ao_flash_mutex);
+ return 1;
+}
+
+void
+ao_storage_device_info(void) __reentrant
+{
+ uint8_t status;
+
+ ao_storage_setup();
+ ao_mutex_get(&ao_flash_mutex); {
+ status = ao_flash_read_status();
+ printf ("Flash status: 0x%02x\n", status);
+ printf ("Flash block shift: %d\n", ao_flash_block_shift);
+ printf ("Flash block size: %d\n", ao_flash_block_size);
+ printf ("Flash block mask: %d\n", ao_flash_block_mask);
+ printf ("Flash device size: %ld\n", ao_storage_total);
+ } ao_mutex_put(&ao_flash_mutex);
+}
+
+/*
+ * To initialize the chip, set up the CS line and
+ * the SPI interface
+ */
+void
+ao_storage_device_init(void)
+{
+ /* set up CS */
+ FLASH_CS = 1;
+ P1DIR |= (1 << FLASH_CS_INDEX);
+ P1SEL &= ~(1 << FLASH_CS_INDEX);
+}
--- /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
+
+/* 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 int16_t ao_interval_min_height;
+__pdata int16_t ao_interval_max_height;
+
+__xdata 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(5)
+
+#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)
+ {
+ /* 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;
+
+ } 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
+ /* Disable the USB controller in flight mode
+ * to save power
+ */
+ 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_PAD);
+
+ /* 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 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_launch_tick = ao_sample_tick;
+
+ /* start logging data */
+ ao_log_start();
+
+ /* Increase telemetry rate */
+ ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
+
+ /* disable RDF beacon */
+ ao_rdf_set(0);
+
+#if HAS_GPS
+ /* Record current GPS position by waking up GPS log tasks */
+ ao_wakeup(&ao_gps_data);
+ ao_wakeup(&ao_gps_tracking_data);
+#endif
+
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ break;
+ }
+ 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_launch_tick) > BOOST_TICKS_MAX)
+ {
+#if HAS_ACCEL
+ ao_flight_state = ao_flight_fast;
+#else
+ ao_flight_state = ao_flight_coast;
+#endif
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ break;
+ }
+ 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));
+ break;
+ }
+ break;
+#endif
+ case ao_flight_coast:
+
+ /* 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
+ )
+ {
+ /* ignite the drogue charge */
+ ao_ignite(ao_igniter_drogue);
+
+ /* slow down the telemetry system */
+ ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
+
+ /* Turn the RDF beacon back on */
+ ao_rdf_set(1);
+
+ /*
+ * 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_height;
+
+ /* and enter drogue state */
+ ao_flight_state = ao_flight_drogue;
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+
+ 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)
+ {
+ ao_ignite(ao_igniter_main);
+ ao_flight_state = ao_flight_main;
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+
+ /* fall through... */
+ case ao_flight_main:
+
+ /* drogue/main to land:
+ *
+ * barometer: altitude stable and within 1000m of the launch altitude
+ */
+
+ 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_height < AO_M_TO_HEIGHT(1000) &&
+ 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;
+ case ao_flight_landed:
+ 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 © 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 int16_t ao_interval_min_height;
+__pdata int16_t ao_interval_max_height;
+
+__xdata 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 © 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 <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <getopt.h>
+#include <math.h>
+
+#define AO_HERTZ 100
+
+#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))
+
+#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))
+
+/*
+ * 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 pres_real; /* unclipped */
+ 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 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)
+
+/*
+ * Above this height, the baro sensor doesn't work
+ */
+#define AO_MAX_BARO_HEIGHT 12000
+#define AO_BARO_SATURATE 13000
+#define AO_MIN_BARO_VALUE ao_altitude_to_pres(AO_BARO_SATURATE)
+
+/*
+ * Above this speed, baro measurements are unreliable
+ */
+#define AO_MAX_BARO_SPEED 200
+
+#define ACCEL_NOSE_UP (ao_accel_2g >> 2)
+
+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
+};
+
+extern enum ao_flight_state ao_flight_state;
+
+#define FALSE 0
+#define TRUE 1
+
+struct ao_adc ao_adc_ring[AO_ADC_RING];
+uint8_t ao_adc_head;
+int ao_summary = 0;
+
+#define ao_led_on(l)
+#define ao_led_off(l)
+#define ao_timer_set_adc_interval(i)
+#define ao_wakeup(wchan) ao_dump_state()
+#define ao_cmd_register(c)
+#define ao_usb_disable()
+#define ao_telemetry_set_interval(x)
+#define ao_rdf_set(rdf)
+#define ao_packet_slave_start()
+#define ao_packet_slave_stop()
+
+enum ao_igniter {
+ ao_igniter_drogue = 0,
+ ao_igniter_main = 1
+};
+
+struct ao_adc ao_adc_static;
+
+int drogue_height;
+double drogue_time;
+int main_height;
+double main_time;
+
+int tick_offset;
+
+static int32_t ao_k_height;
+
+void
+ao_ignite(enum ao_igniter igniter)
+{
+ double time = (double) (ao_adc_static.tick + tick_offset) / 100;
+
+ if (igniter == ao_igniter_drogue) {
+ drogue_time = time;
+ drogue_height = ao_k_height >> 16;
+ } else {
+ main_time = time;
+ main_height = ao_k_height >> 16;
+ }
+}
+
+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
+
+int ao_flight_debug;
+
+FILE *emulator_in;
+char *emulator_app;
+char *emulator_name;
+double emulator_error_max = 4;
+
+void
+ao_dump_state(void);
+
+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;
+};
+
+#include "ao_convert.c"
+
+struct ao_config {
+ uint16_t main_deploy;
+ int16_t accel_plus_g;
+ int16_t accel_minus_g;
+};
+
+#define ao_config_get()
+
+struct ao_config ao_config;
+
+#define DATA_TO_XDATA(x) (x)
+
+#define HAS_FLIGHT 1
+#define HAS_ADC 1
+#define HAS_USB 1
+#define HAS_GPS 1
+#ifndef HAS_ACCEL
+#define HAS_ACCEL 1
+#define HAS_ACCEL_REF 0
+#endif
+
+#define GRAVITY 9.80665
+extern int16_t ao_ground_accel, ao_flight_accel;
+extern int16_t ao_accel_2g;
+
+extern uint16_t ao_sample_tick;
+
+extern int16_t ao_sample_height;
+extern int16_t ao_sample_accel;
+extern int32_t ao_accel_scale;
+extern int16_t ao_ground_height;
+extern int16_t ao_sample_alt;
+
+int ao_sample_prev_tick;
+uint16_t prev_tick;
+
+#include "ao_kalman.c"
+#include "ao_sample.c"
+#include "ao_flight.c"
+
+#define to_double(f) ((f) / 65536.0)
+
+static int ao_records_read = 0;
+static int ao_eof_read = 0;
+static int ao_flight_ground_accel;
+static int ao_flight_started = 0;
+static int ao_test_max_height;
+static double ao_test_max_height_time;
+static int ao_test_main_height;
+static double ao_test_main_height_time;
+
+void
+ao_test_exit(void)
+{
+ double drogue_error;
+ double main_error;
+
+ if (!ao_test_main_height_time) {
+ ao_test_main_height_time = ao_test_max_height_time;
+ ao_test_main_height = ao_test_max_height;
+ }
+ drogue_error = fabs(ao_test_max_height_time - drogue_time);
+ main_error = fabs(ao_test_main_height_time - main_time);
+ if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
+ printf ("%s %s\n",
+ emulator_app, emulator_name);
+ printf ("\tApogee error %g\n", drogue_error);
+ printf ("\tMain error %g\n", main_error);
+ printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f\n",
+ ao_test_max_height, ao_test_max_height_time,
+ ao_test_main_height, ao_test_main_height_time);
+ printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f\n",
+ drogue_height, drogue_time, main_height, main_time);
+ exit (1);
+ }
+ exit(0);
+}
+
+void
+ao_insert(void)
+{
+ double time;
+
+ ao_adc_ring[ao_adc_head] = ao_adc_static;
+ ao_adc_head = ao_adc_ring_next(ao_adc_head);
+ if (ao_flight_state != ao_flight_startup) {
+ double height = ao_pres_to_altitude(ao_adc_static.pres_real) - ao_ground_height;
+ double accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
+ (ao_config.accel_minus_g - ao_config.accel_plus_g);
+
+ if (!tick_offset)
+ tick_offset = -ao_adc_static.tick;
+ if ((prev_tick - ao_adc_static.tick) > 0x400)
+ tick_offset += 65536;
+ prev_tick = ao_adc_static.tick;
+ time = (double) (ao_adc_static.tick + tick_offset) / 100;
+
+ if (ao_test_max_height < height) {
+ ao_test_max_height = height;
+ ao_test_max_height_time = time;
+ }
+ if (height > ao_config.main_deploy) {
+ ao_test_main_height_time = time;
+ ao_test_main_height = height;
+ }
+
+ if (!ao_summary) {
+ printf("%7.2f height %g accel %g state %s k_height %g k_speed %g k_accel %g drogue %d main %d error %d\n",
+ time,
+ height,
+ accel,
+ ao_state_names[ao_flight_state],
+ ao_k_height / 65536.0,
+ ao_k_speed / 65536.0 / 16.0,
+ ao_k_accel / 65536.0 / 16.0,
+ drogue_height,
+ main_height,
+ ao_error_h_sq_avg);
+ if (ao_flight_state == ao_flight_landed)
+ ao_test_exit();
+ }
+ }
+}
+
+void
+ao_sleep(void *wchan)
+{
+ if (wchan == &ao_adc_head) {
+ char type;
+ uint16_t tick;
+ uint16_t a, b;
+ int ret;
+ char line[1024];
+ char *saveptr;
+ char *l;
+ char *words[64];
+ int nword;
+
+ for (;;) {
+ if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
+ {
+ ao_adc_static.accel = ao_flight_ground_accel;
+ ao_insert();
+ return;
+ }
+
+ if (!fgets(line, sizeof (line), emulator_in)) {
+ if (++ao_eof_read >= 1000) {
+ if (!ao_summary)
+ printf ("no more data, exiting simulation\n");
+ ao_test_exit();
+ }
+ ao_adc_static.tick += 10;
+ ao_insert();
+ return;
+ }
+ l = line;
+ for (nword = 0; nword < 64; nword++) {
+ words[nword] = strtok_r(l, " \t\n", &saveptr);
+ l = NULL;
+ if (words[nword] == NULL)
+ break;
+ }
+ if (nword == 4) {
+ type = words[0][0];
+ tick = strtoul(words[1], NULL, 16);
+ a = strtoul(words[2], NULL, 16);
+ b = strtoul(words[3], NULL, 16);
+ } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
+ ao_config.accel_plus_g = atoi(words[3]);
+ ao_config.accel_minus_g = atoi(words[5]);
+ } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
+ ao_config.main_deploy = atoi(words[2]);
+ } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
+ tick = atoi(words[10]);
+ if (!ao_flight_started) {
+ type = 'F';
+ a = atoi(words[26]);
+ ao_flight_started = 1;
+ } else {
+ type = 'A';
+ a = atoi(words[12]);
+ b = atoi(words[14]);
+ }
+ }
+ if (type != 'F' && !ao_flight_started)
+ continue;
+
+ switch (type) {
+ case 'F':
+ ao_flight_ground_accel = a;
+ if (ao_config.accel_plus_g == 0) {
+ ao_config.accel_plus_g = a;
+ ao_config.accel_minus_g = a + 530;
+ }
+ if (ao_config.main_deploy == 0)
+ ao_config.main_deploy = 250;
+ ao_flight_started = 1;
+ break;
+ case 'S':
+ break;
+ case 'A':
+ ao_adc_static.tick = tick;
+ ao_adc_static.accel = a;
+ ao_adc_static.pres_real = b;
+ if (b < AO_MIN_BARO_VALUE)
+ b = AO_MIN_BARO_VALUE;
+ ao_adc_static.pres = b;
+ ao_records_read++;
+ ao_insert();
+ return;
+ case 'T':
+ ao_adc_static.tick = tick;
+ ao_adc_static.temp = a;
+ ao_adc_static.v_batt = b;
+ break;
+ case 'D':
+ case 'G':
+ case 'N':
+ case 'W':
+ case 'H':
+ break;
+ }
+ }
+
+ }
+}
+#define COUNTS_PER_G 264.8
+
+void
+ao_dump_state(void)
+{
+}
+
+static const struct option options[] = {
+ { .name = "summary", .has_arg = 0, .val = 's' },
+ { .name = "debug", .has_arg = 0, .val = 'd' },
+ { 0, 0, 0, 0},
+};
+
+void run_flight_fixed(char *name, FILE *f, int summary)
+{
+ emulator_name = name;
+ emulator_in = f;
+ ao_summary = summary;
+ ao_flight_init();
+ ao_flight();
+}
+
+int
+main (int argc, char **argv)
+{
+ int summary = 0;
+ int c;
+ int i;
+
+#if HAS_ACCEL
+ emulator_app="full";
+#else
+ emulator_app="baro";
+#endif
+ while ((c = getopt_long(argc, argv, "sd", options, NULL)) != -1) {
+ switch (c) {
+ case 's':
+ summary = 1;
+ break;
+ case 'd':
+ ao_flight_debug = 1;
+ break;
+ }
+ }
+
+ if (optind == argc)
+ run_flight_fixed("<stdin>", stdin, summary);
+ else
+ for (i = optind; i < argc; i++) {
+ FILE *f = fopen(argv[i], "r");
+ if (!f) {
+ perror(argv[i]);
+ continue;
+ }
+ run_flight_fixed(argv[i], f, summary);
+ fclose(f);
+ }
+}
--- /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_data *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 ",
+ gps_data->latitude,
+ 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_data *gps_tracking_data) __reentrant
+{
+ uint8_t c, n, v;
+ __xdata struct ao_gps_sat_data *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_gps_data gps_data;
+ uint8_t date_reported = 0;
+
+ for (;;) {
+ ao_sleep(&ao_gps_data);
+ ao_mutex_get(&ao_gps_mutex);
+ memcpy(&gps_data, &ao_gps_data, sizeof (struct ao_gps_data));
+ ao_mutex_put(&ao_gps_mutex);
+
+ if (!(gps_data.flags & AO_GPS_VALID))
+ continue;
+
+ 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);
+ }
+ }
+}
+
+void
+ao_gps_tracking_report(void)
+{
+ static __xdata struct ao_log_record gps_log;
+ static __xdata struct ao_gps_tracking_data gps_tracking_data;
+ uint8_t c, n;
+
+ for (;;) {
+ ao_sleep(&ao_gps_tracking_data);
+ ao_mutex_get(&ao_gps_mutex);
+ gps_log.tick = ao_gps_tick;
+ memcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (struct ao_gps_tracking_data));
+ ao_mutex_put(&ao_gps_mutex);
+
+ if (!(n = gps_tracking_data.channels))
+ continue;
+
+ 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;
+__xdata struct ao_task ao_gps_tracking_report_task;
+
+void
+ao_gps_report_init(void)
+{
+ ao_add_task(&ao_gps_report_task, ao_gps_report, "gps_report");
+ ao_add_task(&ao_gps_tracking_report_task, ao_gps_tracking_report, "gps_tracking_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.
+ */
+
+#ifndef AO_GPS_TEST
+#include "ao.h"
+#endif
+
+__xdata uint8_t ao_gps_mutex;
+__xdata uint16_t ao_gps_tick;
+__xdata struct ao_gps_data ao_gps_data;
+__xdata struct ao_gps_tracking_data ao_gps_tracking_data;
+
+static const char ao_gps_set_nmea[] = "\r\n$PSRF100,0,57600,8,1,0*37\r\n";
+
+const char ao_gps_config[] = {
+
+ 0xa0, 0xa2, 0x00, 0x0e, /* length: 14 bytes */
+ 136, /* mode control */
+ 0, 0, /* reserved */
+ 0, /* degraded mode (allow 1-SV navigation) */
+ 0, 0, /* reserved */
+ 0, 0, /* user specified altitude */
+ 2, /* alt hold mode (disabled, require 3d fixes) */
+ 0, /* alt hold source (use last computed altitude) */
+ 0, /* reserved */
+ 10, /* Degraded time out (10 sec) */
+ 10, /* Dead Reckoning time out (10 sec) */
+ 0, /* Track smoothing (disabled) */
+ 0x00, 0x8e, 0xb0, 0xb3,
+
+ 0xa0, 0xa2, 0x00, 0x08, /* length: 8 bytes */
+ 166, /* Set message rate */
+ 2, /* enable/disable all messages */
+ 0, /* message id (ignored) */
+ 0, /* update rate (0 = disable) */
+ 0, 0, 0, 0, /* reserved */
+ 0x00, 0xa8, 0xb0, 0xb3,
+
+ 0xa0, 0xa2, 0x00, 0x02, /* length: 2 bytes */
+ 143, /* static navigation */
+ 0, /* disable */
+ 0x00, 0x8f, 0xb0, 0xb3,
+};
+
+#define NAV_TYPE_GPS_FIX_TYPE_MASK (7 << 0)
+#define NAV_TYPE_NO_FIX (0 << 0)
+#define NAV_TYPE_SV_KF (1 << 0)
+#define NAV_TYPE_2_SV_KF (2 << 0)
+#define NAV_TYPE_3_SV_KF (3 << 0)
+#define NAV_TYPE_4_SV_KF (4 << 0)
+#define NAV_TYPE_2D_LEAST_SQUARES (5 << 0)
+#define NAV_TYPE_3D_LEAST_SQUARES (6 << 0)
+#define NAV_TYPE_DR (7 << 0)
+#define NAV_TYPE_TRICKLE_POWER (1 << 3)
+#define NAV_TYPE_ALTITUDE_HOLD_MASK (3 << 4)
+#define NAV_TYPE_ALTITUDE_HOLD_NONE (0 << 4)
+#define NAV_TYPE_ALTITUDE_HOLD_KF (1 << 4)
+#define NAV_TYPE_ALTITUDE_HOLD_USER (2 << 4)
+#define NAV_TYPE_ALTITUDE_HOLD_ALWAYS (3 << 4)
+#define NAV_TYPE_DOP_LIMIT_EXCEEDED (1 << 6)
+#define NAV_TYPE_DGPS_APPLIED (1 << 7)
+#define NAV_TYPE_SENSOR_DR (1 << 8)
+#define NAV_TYPE_OVERDETERMINED (1 << 9)
+#define NAV_TYPE_DR_TIMEOUT_EXCEEDED (1 << 10)
+#define NAV_TYPE_FIX_MI_EDIT (1 << 11)
+#define NAV_TYPE_INVALID_VELOCITY (1 << 12)
+#define NAV_TYPE_ALTITUDE_HOLD_DISABLED (1 << 13)
+#define NAV_TYPE_DR_ERROR_STATUS_MASK (3 << 14)
+#define NAV_TYPE_DR_ERROR_STATUS_GPS_ONLY (0 << 14)
+#define NAV_TYPE_DR_ERROR_STATUS_DR_FROM_GPS (1 << 14)
+#define NAV_TYPE_DR_ERROR_STATUS_DR_SENSOR_ERROR (2 << 14)
+#define NAV_TYPE_DR_ERROR_STATUS_DR_IN_TEST (3 << 14)
+
+struct sirf_geodetic_nav_data {
+ uint16_t nav_type;
+ uint16_t utc_year;
+ uint8_t utc_month;
+ uint8_t utc_day;
+ uint8_t utc_hour;
+ uint8_t utc_minute;
+ uint16_t utc_second;
+ int32_t lat;
+ int32_t lon;
+ int32_t alt_msl;
+ uint16_t ground_speed;
+ uint16_t course;
+ int16_t climb_rate;
+ uint32_t h_error;
+ uint32_t v_error;
+ uint8_t num_sv;
+ uint8_t hdop;
+};
+
+static __xdata struct sirf_geodetic_nav_data ao_sirf_data;
+
+struct sirf_measured_sat_data {
+ uint8_t svid;
+ uint8_t c_n_1;
+};
+
+struct sirf_measured_tracker_data {
+ int16_t gps_week;
+ uint32_t gps_tow;
+ uint8_t channels;
+ struct sirf_measured_sat_data sats[12];
+};
+
+static __xdata struct sirf_measured_tracker_data ao_sirf_tracker_data;
+
+static __pdata uint16_t ao_sirf_cksum;
+static __pdata uint16_t ao_sirf_len;
+
+#define ao_sirf_byte() ((uint8_t) ao_serial_getchar())
+
+static uint8_t data_byte(void)
+{
+ uint8_t c = ao_sirf_byte();
+ --ao_sirf_len;
+ ao_sirf_cksum += c;
+ return c;
+}
+
+static char __xdata *sirf_target;
+
+static void sirf_u16(uint8_t offset)
+{
+ uint16_t __xdata *ptr = (uint16_t __xdata *) (sirf_target + offset);
+ uint16_t val;
+
+ val = data_byte() << 8;
+ val |= data_byte ();
+ *ptr = val;
+}
+
+static void sirf_u8(uint8_t offset)
+{
+ uint8_t __xdata *ptr = (uint8_t __xdata *) (sirf_target + offset);
+ uint8_t val;
+
+ val = data_byte ();
+ *ptr = val;
+}
+
+static void sirf_u32(uint8_t offset) __reentrant
+{
+ uint32_t __xdata *ptr = (uint32_t __xdata *) (sirf_target + offset);
+ uint32_t val;
+
+ val = ((uint32_t) data_byte ()) << 24;
+ val |= ((uint32_t) data_byte ()) << 16;
+ val |= ((uint32_t) data_byte ()) << 8;
+ val |= ((uint32_t) data_byte ());
+ *ptr = val;
+}
+
+static void sirf_discard(uint8_t len)
+{
+ while (len--)
+ data_byte();
+}
+
+#define SIRF_END 0
+#define SIRF_DISCARD 1
+#define SIRF_U8 2
+#define SIRF_U16 3
+#define SIRF_U32 4
+#define SIRF_U8X10 5
+
+struct sirf_packet_parse {
+ uint8_t type;
+ uint8_t offset;
+};
+
+static void
+ao_sirf_parse(void __xdata *target, const struct sirf_packet_parse *parse) __reentrant
+{
+ uint8_t i, offset, j;
+
+ sirf_target = target;
+ for (i = 0; ; i++) {
+ offset = parse[i].offset;
+ switch (parse[i].type) {
+ case SIRF_END:
+ return;
+ case SIRF_DISCARD:
+ sirf_discard(offset);
+ break;
+ case SIRF_U8:
+ sirf_u8(offset);
+ break;
+ case SIRF_U16:
+ sirf_u16(offset);
+ break;
+ case SIRF_U32:
+ sirf_u32(offset);
+ break;
+ case SIRF_U8X10:
+ for (j = 10; j--;)
+ sirf_u8(offset++);
+ break;
+ }
+ }
+}
+
+static const struct sirf_packet_parse geodetic_nav_data_packet[] = {
+ { SIRF_DISCARD, 2 }, /* 1 nav valid */
+ { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, nav_type) }, /* 3 */
+ { SIRF_DISCARD, 6 }, /* 5 week number, time of week */
+ { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, utc_year) }, /* 11 */
+ { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_month) }, /* 13 */
+ { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_day) }, /* 14 */
+ { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_hour) }, /* 15 */
+ { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_minute) }, /* 16 */
+ { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, utc_second) }, /* 17 */
+ { SIRF_DISCARD, 4 }, /* satellite id list */ /* 19 */
+ { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, lat) }, /* 23 */
+ { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, lon) }, /* 27 */
+ { SIRF_DISCARD, 4 }, /* altitude from ellipsoid */ /* 31 */
+ { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, alt_msl) }, /* 35 */
+ { SIRF_DISCARD, 1 }, /* map datum */ /* 39 */
+ { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, ground_speed) }, /* 40 */
+ { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, course) }, /* 42 */
+ { SIRF_DISCARD, 2 }, /* magnetic variation */ /* 44 */
+ { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, climb_rate) }, /* 46 */
+ { SIRF_DISCARD, 2 }, /* turn rate */ /* 48 */
+ { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, h_error) }, /* 50 */
+ { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, v_error) }, /* 54 */
+ { SIRF_DISCARD, 30 }, /* time error, h_vel error, clock_bias,
+ clock bias error, clock drift,
+ clock drift error, distance,
+ distance error, heading error */ /* 58 */
+ { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, num_sv) }, /* 88 */
+ { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, hdop) }, /* 89 */
+ { SIRF_DISCARD, 1 }, /* additional mode info */ /* 90 */
+ { SIRF_END, 0 }, /* 91 */
+};
+
+static void
+ao_sirf_parse_41(void) __reentrant
+{
+ ao_sirf_parse(&ao_sirf_data, geodetic_nav_data_packet);
+}
+
+static const struct sirf_packet_parse measured_tracker_data_packet[] = {
+ { SIRF_U16, offsetof (struct sirf_measured_tracker_data, gps_week) }, /* 1 week */
+ { SIRF_U32, offsetof (struct sirf_measured_tracker_data, gps_tow) }, /* 3 time of week */
+ { SIRF_U8, offsetof (struct sirf_measured_tracker_data, channels) }, /* 7 channels */
+ { SIRF_END, 0 },
+};
+
+static const struct sirf_packet_parse measured_sat_data_packet[] = {
+ { SIRF_U8, offsetof (struct sirf_measured_sat_data, svid) }, /* 0 SV id */
+ { SIRF_DISCARD, 4 }, /* 1 azimuth, 2 elevation, 3 state */
+ { SIRF_U8, offsetof (struct sirf_measured_sat_data, c_n_1) }, /* C/N0 1 */
+ { SIRF_DISCARD, 9 }, /* C/N0 2-10 */
+ { SIRF_END, 0 },
+};
+
+static void
+ao_sirf_parse_4(void) __reentrant
+{
+ uint8_t i;
+ ao_sirf_parse(&ao_sirf_tracker_data, measured_tracker_data_packet);
+ for (i = 0; i < 12; i++)
+ ao_sirf_parse(&ao_sirf_tracker_data.sats[i], measured_sat_data_packet);
+}
+
+static void
+ao_gps_setup(void) __reentrant
+{
+ uint8_t i, k;
+ ao_serial_set_speed(AO_SERIAL_SPEED_4800);
+ for (i = 0; i < 64; i++)
+ ao_serial_putchar(0x00);
+ for (k = 0; k < 3; k++)
+ for (i = 0; i < sizeof (ao_gps_set_nmea); i++)
+ ao_serial_putchar(ao_gps_set_nmea[i]);
+ ao_serial_set_speed(AO_SERIAL_SPEED_57600);
+ for (i = 0; i < 64; i++)
+ ao_serial_putchar(0x00);
+}
+
+static const char ao_gps_set_message_rate[] = {
+ 0xa0, 0xa2, 0x00, 0x08,
+ 166,
+ 0,
+};
+
+void
+ao_sirf_set_message_rate(uint8_t msg, uint8_t rate) __reentrant
+{
+ uint16_t cksum = 0x00a6;
+ uint8_t i;
+
+ for (i = 0; i < sizeof (ao_gps_set_message_rate); i++)
+ ao_serial_putchar(ao_gps_set_message_rate[i]);
+ ao_serial_putchar(msg);
+ ao_serial_putchar(rate);
+ cksum = 0xa6 + msg + rate;
+ for (i = 0; i < 4; i++)
+ ao_serial_putchar(0);
+ ao_serial_putchar((cksum >> 8) & 0x7f);
+ ao_serial_putchar(cksum & 0xff);
+ ao_serial_putchar(0xb0);
+ ao_serial_putchar(0xb3);
+}
+
+static const uint8_t sirf_disable[] = {
+ 2,
+ 9,
+ 10,
+ 27,
+ 50,
+ 52,
+};
+
+void
+ao_gps(void) __reentrant
+{
+ uint8_t i, k;
+ uint16_t cksum;
+
+ ao_gps_setup();
+ for (k = 0; k < 5; k++)
+ {
+ for (i = 0; i < sizeof (ao_gps_config); i++)
+ ao_serial_putchar(ao_gps_config[i]);
+ for (i = 0; i < sizeof (sirf_disable); i++)
+ ao_sirf_set_message_rate(sirf_disable[i], 0);
+ ao_sirf_set_message_rate(41, 1);
+ ao_sirf_set_message_rate(4, 1);
+ }
+ for (;;) {
+ /* Locate the begining of the next record */
+ while (ao_sirf_byte() != (uint8_t) 0xa0)
+ ;
+ if (ao_sirf_byte() != (uint8_t) 0xa2)
+ continue;
+
+ /* Length */
+ ao_sirf_len = ao_sirf_byte() << 8;
+ ao_sirf_len |= ao_sirf_byte();
+ if (ao_sirf_len > 1023)
+ continue;
+
+ ao_sirf_cksum = 0;
+
+ /* message ID */
+ i = data_byte (); /* 0 */
+
+ switch (i) {
+ case 41:
+ if (ao_sirf_len < 90)
+ break;
+ ao_sirf_parse_41();
+ break;
+ case 4:
+ if (ao_sirf_len < 187)
+ break;
+ ao_sirf_parse_4();
+ break;
+ }
+ if (ao_sirf_len != 0)
+ continue;
+
+ /* verify checksum and end sequence */
+ ao_sirf_cksum &= 0x7fff;
+ cksum = ao_sirf_byte() << 8;
+ cksum |= ao_sirf_byte();
+ if (ao_sirf_cksum != cksum)
+ continue;
+ if (ao_sirf_byte() != (uint8_t) 0xb0)
+ continue;
+ if (ao_sirf_byte() != (uint8_t) 0xb3)
+ continue;
+
+ switch (i) {
+ case 41:
+ ao_mutex_get(&ao_gps_mutex);
+ ao_gps_tick = ao_time();
+ ao_gps_data.hour = ao_sirf_data.utc_hour;
+ ao_gps_data.minute = ao_sirf_data.utc_minute;
+ ao_gps_data.second = ao_sirf_data.utc_second / 1000;
+ ao_gps_data.flags = ((ao_sirf_data.num_sv << AO_GPS_NUM_SAT_SHIFT) & AO_GPS_NUM_SAT_MASK) | AO_GPS_RUNNING;
+ if ((ao_sirf_data.nav_type & NAV_TYPE_GPS_FIX_TYPE_MASK) >= NAV_TYPE_4_SV_KF)
+ ao_gps_data.flags |= AO_GPS_VALID;
+ ao_gps_data.latitude = ao_sirf_data.lat;
+ ao_gps_data.longitude = ao_sirf_data.lon;
+ ao_gps_data.altitude = ao_sirf_data.alt_msl / 100;
+ ao_gps_data.ground_speed = ao_sirf_data.ground_speed;
+ ao_gps_data.course = ao_sirf_data.course / 200;
+ ao_gps_data.hdop = ao_sirf_data.hdop;
+ ao_gps_data.climb_rate = ao_sirf_data.climb_rate;
+ ao_gps_data.flags |= AO_GPS_COURSE_VALID;
+ if (ao_sirf_data.h_error > 6553500)
+ ao_gps_data.h_error = 65535;
+ else
+ ao_gps_data.h_error = ao_sirf_data.h_error / 100;
+ if (ao_sirf_data.v_error > 6553500)
+ ao_gps_data.v_error = 65535;
+ else
+ ao_gps_data.v_error = ao_sirf_data.v_error / 100;
+ ao_mutex_put(&ao_gps_mutex);
+ ao_wakeup(&ao_gps_data);
+ break;
+ case 4:
+ ao_mutex_get(&ao_gps_mutex);
+ ao_gps_tracking_data.channels = ao_sirf_tracker_data.channels;
+ for (i = 0; i < 12; i++) {
+ ao_gps_tracking_data.sats[i].svid = ao_sirf_tracker_data.sats[i].svid;
+ ao_gps_tracking_data.sats[i].c_n_1 = ao_sirf_tracker_data.sats[i].c_n_1;
+ }
+ ao_mutex_put(&ao_gps_mutex);
+ ao_wakeup(&ao_gps_tracking_data);
+ break;
+ }
+ }
+}
+
+__xdata struct ao_task ao_gps_task;
+
+void
+ao_gps_init(void)
+{
+ ao_add_task(&ao_gps_task, ao_gps, "gps");
+}
--- /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
+
+#define AO_GPS_LEADER 2
+
+static const char ao_gps_header[] = "GP";
+
+__xdata uint8_t ao_gps_mutex;
+static __xdata char ao_gps_char;
+static __xdata uint8_t ao_gps_cksum;
+static __xdata uint8_t ao_gps_error;
+
+__xdata uint16_t ao_gps_tick;
+__xdata struct ao_gps_data ao_gps_data;
+__xdata struct ao_gps_tracking_data ao_gps_tracking_data;
+
+static __xdata uint16_t ao_gps_next_tick;
+static __xdata struct ao_gps_data ao_gps_next;
+static __xdata uint8_t ao_gps_date_flags;
+static __xdata struct ao_gps_tracking_data ao_gps_tracking_next;
+
+#define STQ_S 0xa0, 0xa1
+#define STQ_E 0x0d, 0x0a
+#define SKYTRAQ_MSG_2(id,a,b) \
+ STQ_S, 0, 3, id, a,b, (id^a^b), STQ_E
+#define SKYTRAQ_MSG_3(id,a,b,c) \
+ STQ_S, 0, 4, id, a,b,c, (id^a^b^c), STQ_E
+#define SKYTRAQ_MSG_8(id,a,b,c,d,e,f,g,h) \
+ STQ_S, 0, 9, id, a,b,c,d,e,f,g,h, (id^a^b^c^d^e^f^g^h), STQ_E
+#define SKYTRAQ_MSG_14(id,a,b,c,d,e,f,g,h,i,j,k,l,m,n) \
+ STQ_S, 0,15, id, a,b,c,d,e,f,g,h,i,j,k,l,m,n, \
+ (id^a^b^c^d^e^f^g^h^i^j^k^l^m^n), STQ_E
+
+static const uint8_t ao_gps_config[] = {
+ SKYTRAQ_MSG_8(0x08, 1, 1, 1, 1, 1, 1, 1, 0), /* configure nmea */
+ /* gga interval */
+ /* gsa interval */
+ /* gsv interval */
+ /* gll interval */
+ /* rmc interval */
+ /* vtg interval */
+ /* zda interval */
+ /* attributes (0 = update to sram, 1 = update flash too) */
+
+ SKYTRAQ_MSG_2(0x3c, 0x00, 0x00), /* configure navigation mode */
+ /* 0 = car, 1 = pedestrian */
+ /* 0 = update to sram, 1 = update sram + flash */
+};
+
+static void
+ao_gps_lexchar(void)
+{
+ if (ao_gps_error)
+ ao_gps_char = '\n';
+ else
+ ao_gps_char = ao_serial_getchar();
+ ao_gps_cksum ^= ao_gps_char;
+}
+
+void
+ao_gps_skip_field(void)
+{
+ while (ao_gps_char != ',' && ao_gps_char != '*' && ao_gps_char != '\n')
+ ao_gps_lexchar();
+}
+
+void
+ao_gps_skip_sep(void)
+{
+ if (ao_gps_char == ',' || ao_gps_char == '.' || ao_gps_char == '*')
+ ao_gps_lexchar();
+}
+
+__xdata static uint8_t ao_gps_num_width;
+
+static int16_t
+ao_gps_decimal(uint8_t max_width)
+{
+ int16_t v;
+ __xdata uint8_t neg = 0;
+
+ ao_gps_skip_sep();
+ if (ao_gps_char == '-') {
+ neg = 1;
+ ao_gps_lexchar();
+ }
+ v = 0;
+ ao_gps_num_width = 0;
+ while (ao_gps_num_width < max_width) {
+ if (ao_gps_char < '0' || '9' < ao_gps_char)
+ break;
+ v = v * (int16_t) 10 + ao_gps_char - '0';
+ ao_gps_num_width++;
+ ao_gps_lexchar();
+ }
+ if (neg)
+ v = -v;
+ return v;
+}
+
+static uint8_t
+ao_gps_hex(uint8_t max_width)
+{
+ uint8_t v, d;
+
+ ao_gps_skip_sep();
+ v = 0;
+ ao_gps_num_width = 0;
+ while (ao_gps_num_width < max_width) {
+ if ('0' <= ao_gps_char && ao_gps_char <= '9')
+ d = ao_gps_char - '0';
+ else if ('A' <= ao_gps_char && ao_gps_char <= 'F')
+ d = ao_gps_char - 'A' + 10;
+ else if ('a' <= ao_gps_char && ao_gps_char <= 'f')
+ d = ao_gps_char - 'a' + 10;
+ else
+ break;
+ v = (v << 4) | d;
+ ao_gps_num_width++;
+ ao_gps_lexchar();
+ }
+ return v;
+}
+
+static int32_t
+ao_gps_parse_pos(uint8_t deg_width) __reentrant
+{
+ int32_t d;
+ int32_t m;
+ int32_t f;
+
+ d = ao_gps_decimal(deg_width);
+ m = ao_gps_decimal(2);
+ if (ao_gps_char == '.') {
+ f = ao_gps_decimal(4);
+ while (ao_gps_num_width < 4) {
+ f *= 10;
+ ao_gps_num_width++;
+ }
+ } else {
+ f = 0;
+ if (ao_gps_char != ',')
+ ao_gps_error = 1;
+ }
+ d = d * 10000000l;
+ m = m * 10000l + f;
+ d = d + m * 50 / 3;
+ return d;
+}
+
+static uint8_t
+ao_gps_parse_flag(char no_c, char yes_c) __reentrant
+{
+ uint8_t ret = 0;
+ ao_gps_skip_sep();
+ if (ao_gps_char == yes_c)
+ ret = 1;
+ else if (ao_gps_char == no_c)
+ ret = 0;
+ else
+ ao_gps_error = 1;
+ ao_gps_lexchar();
+ return ret;
+}
+
+static void
+ao_nmea_gga()
+{
+ uint8_t i;
+
+ /* Now read the data into the gps data record
+ *
+ * $GPGGA,025149.000,4528.1723,N,12244.2480,W,1,05,2.0,103.5,M,-19.5,M,,0000*66
+ *
+ * Essential fix data
+ *
+ * 025149.000 time (02:51:49.000 GMT)
+ * 4528.1723,N Latitude 45°28.1723' N
+ * 12244.2480,W Longitude 122°44.2480' W
+ * 1 Fix quality:
+ * 0 = invalid
+ * 1 = GPS fix (SPS)
+ * 2 = DGPS fix
+ * 3 = PPS fix
+ * 4 = Real Time Kinematic
+ * 5 = Float RTK
+ * 6 = estimated (dead reckoning)
+ * 7 = Manual input mode
+ * 8 = Simulation mode
+ * 05 Number of satellites (5)
+ * 2.0 Horizontal dilution
+ * 103.5,M Altitude, 103.5M above msl
+ * -19.5,M Height of geoid above WGS84 ellipsoid
+ * ? time in seconds since last DGPS update
+ * 0000 DGPS station ID
+ * *66 checksum
+ */
+
+ ao_gps_next_tick = ao_time();
+ ao_gps_next.flags = AO_GPS_RUNNING | ao_gps_date_flags;
+ ao_gps_next.hour = ao_gps_decimal(2);
+ ao_gps_next.minute = ao_gps_decimal(2);
+ ao_gps_next.second = ao_gps_decimal(2);
+ ao_gps_skip_field(); /* skip seconds fraction */
+
+ ao_gps_next.latitude = ao_gps_parse_pos(2);
+ if (ao_gps_parse_flag('N', 'S'))
+ ao_gps_next.latitude = -ao_gps_next.latitude;
+ ao_gps_next.longitude = ao_gps_parse_pos(3);
+ if (ao_gps_parse_flag('E', 'W'))
+ ao_gps_next.longitude = -ao_gps_next.longitude;
+
+ i = ao_gps_decimal(0xff);
+ if (i == 1)
+ ao_gps_next.flags |= AO_GPS_VALID;
+
+ i = ao_gps_decimal(0xff) << AO_GPS_NUM_SAT_SHIFT;
+ if (i > AO_GPS_NUM_SAT_MASK)
+ i = AO_GPS_NUM_SAT_MASK;
+ ao_gps_next.flags |= i;
+
+ ao_gps_lexchar();
+ ao_gps_next.hdop = ao_gps_decimal(0xff);
+ if (ao_gps_next.hdop <= 50) {
+ ao_gps_next.hdop = (uint8_t) 5 * ao_gps_next.hdop;
+ if (ao_gps_char == '.')
+ ao_gps_next.hdop = (ao_gps_next.hdop +
+ ((uint8_t) ao_gps_decimal(1) >> 1));
+ } else
+ ao_gps_next.hdop = 255;
+ ao_gps_skip_field();
+
+ ao_gps_next.altitude = ao_gps_decimal(0xff);
+ ao_gps_skip_field(); /* skip any fractional portion */
+
+ /* Skip remaining fields */
+ while (ao_gps_char != '*' && ao_gps_char != '\n' && ao_gps_char != '\r') {
+ ao_gps_lexchar();
+ ao_gps_skip_field();
+ }
+ if (ao_gps_char == '*') {
+ uint8_t cksum = ao_gps_cksum ^ '*';
+ if (cksum != ao_gps_hex(2))
+ ao_gps_error = 1;
+ } else
+ ao_gps_error = 1;
+ if (!ao_gps_error) {
+ ao_mutex_get(&ao_gps_mutex);
+ ao_gps_tick = ao_gps_next_tick;
+ memcpy(&ao_gps_data, &ao_gps_next, sizeof (struct ao_gps_data));
+ ao_mutex_put(&ao_gps_mutex);
+ ao_wakeup(&ao_gps_data);
+ }
+}
+
+static void
+ao_nmea_gsv(void)
+{
+ char c;
+ uint8_t i;
+ uint8_t done;
+ /* Now read the data into the GPS tracking data record
+ *
+ * $GPGSV,3,1,12,05,54,069,45,12,44,061,44,21,07,184,46,22,78,289,47*72<CR><LF>
+ *
+ * Satellites in view data
+ *
+ * 3 Total number of GSV messages
+ * 1 Sequence number of current GSV message
+ * 12 Total sats in view (0-12)
+ * 05 SVID
+ * 54 Elevation
+ * 069 Azimuth
+ * 45 C/N0 in dB
+ * ... other SVIDs
+ * 72 checksum
+ */
+ c = ao_gps_decimal(1); /* total messages */
+ i = ao_gps_decimal(1); /* message sequence */
+ if (i == 1) {
+ ao_gps_tracking_next.channels = 0;
+ }
+ done = (uint8_t) c == i;
+ ao_gps_lexchar();
+ ao_gps_skip_field(); /* sats in view */
+ while (ao_gps_char != '*' && ao_gps_char != '\n' && ao_gps_char != '\r') {
+ i = ao_gps_tracking_next.channels;
+ c = ao_gps_decimal(2); /* SVID */
+ if (i < AO_MAX_GPS_TRACKING)
+ ao_gps_tracking_next.sats[i].svid = c;
+ ao_gps_lexchar();
+ ao_gps_skip_field(); /* elevation */
+ ao_gps_lexchar();
+ ao_gps_skip_field(); /* azimuth */
+ c = ao_gps_decimal(2); /* C/N0 */
+ if (i < AO_MAX_GPS_TRACKING) {
+ if (!(ao_gps_tracking_next.sats[i].c_n_1 = c))
+ ao_gps_tracking_next.sats[i].svid = 0;
+ ao_gps_tracking_next.channels = i + 1;
+ }
+ }
+ if (ao_gps_char == '*') {
+ uint8_t cksum = ao_gps_cksum ^ '*';
+ if (cksum != ao_gps_hex(2))
+ ao_gps_error = 1;
+ }
+ else
+ ao_gps_error = 1;
+ if (ao_gps_error)
+ ao_gps_tracking_next.channels = 0;
+ else if (done) {
+ ao_mutex_get(&ao_gps_mutex);
+ memcpy(&ao_gps_tracking_data, &ao_gps_tracking_next,
+ sizeof(ao_gps_tracking_data));
+ ao_mutex_put(&ao_gps_mutex);
+ ao_wakeup(&ao_gps_tracking_data);
+ }
+}
+
+static void
+ao_nmea_rmc(void)
+{
+ char a, c;
+ uint8_t i;
+ /* Parse the RMC record to read out the current date */
+
+ /* $GPRMC,111636.932,A,2447.0949,N,12100.5223,E,000.0,000.0,030407,,,A*61
+ *
+ * Recommended Minimum Specific GNSS Data
+ *
+ * 111636.932 UTC time 11:16:36.932
+ * A Data Valid (V = receiver warning)
+ * 2447.0949 Latitude
+ * N North/south indicator
+ * 12100.5223 Longitude
+ * E East/west indicator
+ * 000.0 Speed over ground
+ * 000.0 Course over ground
+ * 030407 UTC date (ddmmyy format)
+ * A Mode indicator:
+ * N = data not valid
+ * A = autonomous mode
+ * D = differential mode
+ * E = estimated (dead reckoning) mode
+ * M = manual input mode
+ * S = simulator mode
+ * 61 checksum
+ */
+ ao_gps_skip_field();
+ for (i = 0; i < 8; i++) {
+ ao_gps_lexchar();
+ ao_gps_skip_field();
+ }
+ a = ao_gps_decimal(2);
+ c = ao_gps_decimal(2);
+ i = ao_gps_decimal(2);
+ /* Skip remaining fields */
+ while (ao_gps_char != '*' && ao_gps_char != '\n' && ao_gps_char != '\r') {
+ ao_gps_lexchar();
+ ao_gps_skip_field();
+ }
+ if (ao_gps_char == '*') {
+ uint8_t cksum = ao_gps_cksum ^ '*';
+ if (cksum != ao_gps_hex(2))
+ ao_gps_error = 1;
+ } else
+ ao_gps_error = 1;
+ if (!ao_gps_error) {
+ ao_gps_next.year = i;
+ ao_gps_next.month = c;
+ ao_gps_next.day = a;
+ ao_gps_date_flags = AO_GPS_DATE_VALID;
+ }
+}
+
+#define ao_skytraq_sendstruct(s) ao_skytraq_sendbytes((s), (s)+sizeof(s))
+
+static void
+ao_skytraq_sendbytes(const uint8_t *b, const uint8_t *e)
+{
+ while (b != e) {
+ if (*b == 0xa0)
+ ao_delay(AO_MS_TO_TICKS(500));
+ ao_serial_putchar(*b++);
+ }
+}
+
+static void
+ao_gps_nmea_parse(void)
+{
+ uint8_t a, b, c;
+
+ ao_gps_cksum = 0;
+ ao_gps_error = 0;
+
+ for (a = 0; a < AO_GPS_LEADER; a++) {
+ ao_gps_lexchar();
+ if (ao_gps_char != ao_gps_header[a])
+ return;
+ }
+
+ ao_gps_lexchar();
+ a = ao_gps_char;
+ ao_gps_lexchar();
+ b = ao_gps_char;
+ ao_gps_lexchar();
+ c = ao_gps_char;
+ ao_gps_lexchar();
+
+ if (ao_gps_char != ',')
+ return;
+
+ if (a == (uint8_t) 'G' && b == (uint8_t) 'G' && c == (uint8_t) 'A') {
+ ao_nmea_gga();
+ } else if (a == (uint8_t) 'G' && b == (uint8_t) 'S' && c == (uint8_t) 'V') {
+ ao_nmea_gsv();
+ } else if (a == (uint8_t) 'R' && b == (uint8_t) 'M' && c == (uint8_t) 'C') {
+ ao_nmea_rmc();
+ }
+}
+
+void
+ao_gps(void) __reentrant
+{
+ ao_serial_set_speed(AO_SERIAL_SPEED_9600);
+
+ /* give skytraq time to boot in case of cold start */
+ ao_delay(AO_MS_TO_TICKS(2000));
+
+ ao_skytraq_sendstruct(ao_gps_config);
+
+ for (;;) {
+ /* Locate the begining of the next record */
+ if (ao_serial_getchar() == '$') {
+ ao_gps_nmea_parse();
+ }
+
+ }
+}
+
+__xdata struct ao_task ao_gps_task;
+
+static void
+gps_dump(void) __reentrant
+{
+ 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", ao_gps_data.latitude, ao_gps_data.longitude);
+ printf ("Alt: %d\n", ao_gps_data.altitude);
+ printf ("Flags: 0x%x\n", ao_gps_data.flags);
+ ao_mutex_put(&ao_gps_mutex);
+}
+
+__code struct ao_cmds ao_gps_cmds[] = {
+ { gps_dump, "g\0Display current GPS values" },
+ { 0, NULL },
+};
+
+void
+ao_gps_init(void)
+{
+ ao_add_task(&ao_gps_task, ao_gps, "gps");
+ ao_cmd_register(&ao_gps_cmds[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.
+ */
+
+#define AO_GPS_TEST
+#include "ao_host.h"
+#include <termios.h>
+#include <errno.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#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)
+
+struct ao_gps_data {
+ 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 */
+};
+
+#define SIRF_SAT_STATE_ACQUIRED (1 << 0)
+#define SIRF_SAT_STATE_CARRIER_PHASE_VALID (1 << 1)
+#define SIRF_SAT_BIT_SYNC_COMPLETE (1 << 2)
+#define SIRF_SAT_SUBFRAME_SYNC_COMPLETE (1 << 3)
+#define SIRF_SAT_CARRIER_PULLIN_COMPLETE (1 << 4)
+#define SIRF_SAT_CODE_LOCKED (1 << 5)
+#define SIRF_SAT_ACQUISITION_FAILED (1 << 6)
+#define SIRF_SAT_EPHEMERIS_AVAILABLE (1 << 7)
+
+struct ao_gps_sat_data {
+ uint8_t svid;
+ uint8_t c_n_1;
+};
+
+#define AO_MAX_GPS_TRACKING 12
+
+struct ao_gps_tracking_data {
+ uint8_t channels;
+ struct ao_gps_sat_data sats[AO_MAX_GPS_TRACKING];
+};
+
+void
+ao_mutex_get(uint8_t *mutex)
+{
+}
+
+void
+ao_mutex_put(uint8_t *mutex)
+{
+}
+
+static int
+ao_gps_fd;
+
+static void
+ao_dbg_char(char c)
+{
+ char line[128];
+ line[0] = '\0';
+ if (c < ' ') {
+ if (c == '\n')
+ sprintf (line, "\n");
+ else
+ sprintf (line, "\\%02x", ((int) c) & 0xff);
+ } else {
+ sprintf (line, "%c", c);
+ }
+ write(1, line, strlen(line));
+}
+
+#define QUEUE_LEN 4096
+
+static char input_queue[QUEUE_LEN];
+int input_head, input_tail;
+
+#include <sys/time.h>
+
+int
+get_millis(void)
+{
+ struct timeval tv;
+ gettimeofday(&tv, NULL);
+ return tv.tv_sec * 1000 + tv.tv_usec / 1000;
+}
+
+static void
+check_sirf_message(char *from, uint8_t *msg, int len)
+{
+ uint16_t encoded_len, encoded_cksum;
+ uint16_t cksum;
+ uint8_t id;
+ int i;
+
+ if (msg[0] != 0xa0 || msg[1] != 0xa2) {
+ printf ("bad header\n");
+ return;
+ }
+ if (len < 7) {
+ printf("short\n");
+ return;
+ }
+ if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
+ printf ("bad trailer\n");
+ return;
+ }
+ encoded_len = (msg[2] << 8) | msg[3];
+ id = msg[4];
+/* printf ("%9d: %3d\n", get_millis(), id); */
+ if (encoded_len != len - 8) {
+ if (id != 52)
+ printf ("length mismatch (got %d, wanted %d)\n",
+ len - 8, encoded_len);
+ return;
+ }
+ encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
+ cksum = 0;
+ for (i = 4; i < len - 4; i++)
+ cksum = (cksum + msg[i]) & 0x7fff;
+ if (encoded_cksum != cksum) {
+ printf ("cksum mismatch (got %04x wanted %04x)\n",
+ cksum, encoded_cksum);
+ return;
+ }
+ id = msg[4];
+ switch (id) {
+ case 41:{
+ int off = 4;
+
+ uint8_t id;
+ uint16_t nav_valid;
+ uint16_t nav_type;
+ uint16_t week;
+ uint32_t tow;
+ uint16_t year;
+ uint8_t month;
+ uint8_t day;
+ uint8_t hour;
+ uint8_t minute;
+ uint16_t second;
+ uint32_t sat_list;
+ int32_t lat;
+ int32_t lon;
+ int32_t alt_ell;
+ int32_t alt_msl;
+ int8_t datum;
+ uint16_t sog;
+ uint16_t cog;
+ int16_t mag_var;
+ int16_t climb_rate;
+ int16_t heading_rate;
+ uint32_t h_error;
+ uint32_t v_error;
+ uint32_t t_error;
+ uint16_t h_v_error;
+
+#define get_u8(u) u = (msg[off]); off+= 1
+#define get_u16(u) u = (msg[off] << 8) | (msg[off + 1]); off+= 2
+#define get_u32(u) u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
+
+ get_u8(id);
+ get_u16(nav_valid);
+ get_u16(nav_type);
+ get_u16(week);
+ get_u32(tow);
+ get_u16(year);
+ get_u8(month);
+ get_u8(day);
+ get_u8(hour);
+ get_u8(minute);
+ get_u16(second);
+ get_u32(sat_list);
+ get_u32(lat);
+ get_u32(lon);
+ get_u32(alt_ell);
+ get_u32(alt_msl);
+ get_u8(datum);
+ get_u16(sog);
+ get_u16(cog);
+ get_u16(mag_var);
+ get_u16(climb_rate);
+ get_u16(heading_rate);
+ get_u32(h_error);
+ get_u32(v_error);
+ get_u32(t_error);
+ get_u16(h_v_error);
+
+
+ printf ("Geodetic Navigation Data (41):\n");
+ printf ("\tNav valid %04x\n", nav_valid);
+ printf ("\tNav type %04x\n", nav_type);
+ printf ("\tWeek %5d", week);
+ printf (" TOW %9d", tow);
+ printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n",
+ year, month, day,
+ hour, minute, second / 1000.0);
+ printf ("\tsats: %08x\n", sat_list);
+ printf ("\tlat: %g", lat / 1.0e7);
+ printf (" lon: %g", lon / 1.0e7);
+ printf (" alt_ell: %g", alt_ell / 100.0);
+ printf (" alt_msll: %g", alt_msl / 100.0);
+ printf (" datum: %d\n", datum);
+ printf ("\tground speed: %g", sog / 100.0);
+ printf (" course: %g", cog / 100.0);
+ printf (" climb: %g", climb_rate / 100.0);
+ printf (" heading rate: %g\n", heading_rate / 100.0);
+ printf ("\th error: %g", h_error / 100.0);
+ printf (" v error: %g", v_error / 100.0);
+ printf (" t error: %g", t_error / 100.0);
+ printf (" h vel error: %g\n", h_v_error / 100.0);
+ break;
+ }
+ case 4: {
+ int off = 4;
+ uint8_t id;
+ int16_t gps_week;
+ uint32_t gps_tow;
+ uint8_t channels;
+ int j, k;
+
+ get_u8(id);
+ get_u16(gps_week);
+ get_u32(gps_tow);
+ get_u8(channels);
+
+ printf ("Measured Tracker Data (4):\n");
+ printf ("GPS week: %d\n", gps_week);
+ printf ("GPS time of week: %d\n", gps_tow);
+ printf ("channels: %d\n", channels);
+ for (j = 0; j < 12; j++) {
+ uint8_t svid, azimuth, elevation;
+ uint16_t state;
+ uint8_t c_n[10];
+ get_u8(svid);
+ get_u8(azimuth);
+ get_u8(elevation);
+ get_u16(state);
+ for (k = 0; k < 10; k++) {
+ get_u8(c_n[k]);
+ }
+ printf ("Sat %3d:", svid);
+ printf (" aziumuth: %6.1f", azimuth * 1.5);
+ printf (" elevation: %6.1f", elevation * 0.5);
+ printf (" state: 0x%02x", state);
+ printf (" c_n:");
+ for (k = 0; k < 10; k++)
+ printf(" %3d", c_n[k]);
+ if (state & SIRF_SAT_STATE_ACQUIRED)
+ printf(" acq,");
+ if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID)
+ printf(" car,");
+ if (state & SIRF_SAT_BIT_SYNC_COMPLETE)
+ printf(" bit,");
+ if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE)
+ printf(" sub,");
+ if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE)
+ printf(" pullin,");
+ if (state & SIRF_SAT_CODE_LOCKED)
+ printf(" code,");
+ if (state & SIRF_SAT_ACQUISITION_FAILED)
+ printf(" fail,");
+ if (state & SIRF_SAT_EPHEMERIS_AVAILABLE)
+ printf(" ephem,");
+ printf ("\n");
+ }
+ break;
+ }
+ default:
+ return;
+ printf ("%s %4d:", from, encoded_len);
+ for (i = 4; i < len - 4; i++) {
+ if (((i - 4) & 0xf) == 0)
+ printf("\n ");
+ printf (" %3d", msg[i]);
+ }
+ printf ("\n");
+ }
+}
+
+static uint8_t sirf_message[4096];
+static int sirf_message_len;
+static uint8_t sirf_in_message[4096];
+static int sirf_in_len;
+
+char
+ao_serial_getchar(void)
+{
+ char c;
+ uint8_t uc;
+
+ while (input_head == input_tail) {
+ for (;;) {
+ input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN);
+ if (input_tail < 0) {
+ if (errno == EINTR || errno == EAGAIN)
+ continue;
+ perror ("getchar");
+ exit (1);
+ }
+ input_head = 0;
+ break;
+ }
+ }
+ c = input_queue[input_head];
+ input_head = (input_head + 1) % QUEUE_LEN;
+ uc = c;
+ if (sirf_in_len || uc == 0xa0) {
+ if (sirf_in_len < 4096)
+ sirf_in_message[sirf_in_len++] = uc;
+ if (uc == 0xb3) {
+ check_sirf_message("recv", sirf_in_message, sirf_in_len);
+ sirf_in_len = 0;
+ }
+ }
+ return c;
+}
+
+
+void
+ao_serial_putchar(char c)
+{
+ int i;
+ uint8_t uc = (uint8_t) c;
+
+ if (sirf_message_len || uc == 0xa0) {
+ if (sirf_message_len < 4096)
+ sirf_message[sirf_message_len++] = uc;
+ if (uc == 0xb3) {
+ check_sirf_message("send", sirf_message, sirf_message_len);
+ sirf_message_len = 0;
+ }
+ }
+ for (;;) {
+ i = write(ao_gps_fd, &c, 1);
+ if (i == 1) {
+ if ((uint8_t) c == 0xb3 || c == '\r') {
+ static const struct timespec delay = {
+ .tv_sec = 0,
+ .tv_nsec = 100 * 1000 * 1000
+ };
+ tcdrain(ao_gps_fd);
+// nanosleep(&delay, NULL);
+ }
+ break;
+ }
+ if (i < 0 && (errno == EINTR || errno == EAGAIN))
+ continue;
+ perror("putchar");
+ exit(1);
+ }
+}
+
+#define AO_SERIAL_SPEED_4800 0
+#define AO_SERIAL_SPEED_57600 1
+
+static void
+ao_serial_set_speed(uint8_t speed)
+{
+ int fd = ao_gps_fd;
+ struct termios termios;
+
+ tcdrain(fd);
+ tcgetattr(fd, &termios);
+ switch (speed) {
+ case AO_SERIAL_SPEED_4800:
+ cfsetspeed(&termios, B4800);
+ break;
+ case AO_SERIAL_SPEED_57600:
+ cfsetspeed(&termios, B57600);
+ break;
+ }
+ tcsetattr(fd, TCSAFLUSH, &termios);
+ tcflush(fd, TCIFLUSH);
+}
+
+#define ao_time() 0
+
+#include "ao_gps_print.c"
+#include "ao_gps_sirf.c"
+
+void
+ao_dump_state(void *wchan)
+{
+ double lat, lon;
+ int i;
+ if (wchan == &ao_gps_data)
+ ao_gps_print(&ao_gps_data);
+ else
+ ao_gps_tracking_print(&ao_gps_tracking_data);
+ putchar('\n');
+ return;
+ printf ("%02d:%02d:%02d",
+ ao_gps_data.hour, ao_gps_data.minute,
+ ao_gps_data.second);
+ printf (" nsat %d %svalid",
+ ao_gps_data.flags & AO_GPS_NUM_SAT_MASK,
+ ao_gps_data.flags & AO_GPS_VALID ? "" : "not ");
+ printf (" lat %g lon %g alt %d",
+ ao_gps_data.latitude / 1.0e7,
+ ao_gps_data.longitude / 1.0e7,
+ ao_gps_data.altitude);
+ printf (" speed %g climb %g course %d",
+ ao_gps_data.ground_speed / 100.0,
+ ao_gps_data.climb_rate / 100.0,
+ ao_gps_data.course * 2);
+ printf (" hdop %g h_error %d v_error %d",
+ ao_gps_data.hdop / 5.0,
+ ao_gps_data.h_error, ao_gps_data.v_error);
+ printf("\n");
+ printf ("\t");
+ for (i = 0; i < 12; i++)
+ printf (" %2d(%02d)",
+ ao_gps_tracking_data.sats[i].svid,
+ ao_gps_tracking_data.sats[i].c_n_1);
+ printf ("\n");
+}
+
+int
+ao_gps_open(const char *tty)
+{
+ struct termios termios;
+ int fd;
+
+ fd = open (tty, O_RDWR);
+ if (fd < 0)
+ return -1;
+
+ tcgetattr(fd, &termios);
+ cfmakeraw(&termios);
+ cfsetspeed(&termios, B4800);
+ tcsetattr(fd, TCSAFLUSH, &termios);
+
+ tcdrain(fd);
+ tcflush(fd, TCIFLUSH);
+ return fd;
+}
+
+#include <getopt.h>
+
+static const struct option options[] = {
+ { .name = "tty", .has_arg = 1, .val = 'T' },
+ { 0, 0, 0, 0},
+};
+
+static void usage(char *program)
+{
+ fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
+ exit(1);
+}
+
+int
+main (int argc, char **argv)
+{
+ char *tty = "/dev/ttyUSB0";
+ int c;
+
+ while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
+ switch (c) {
+ case 'T':
+ tty = optarg;
+ break;
+ default:
+ usage(argv[0]);
+ break;
+ }
+ }
+ ao_gps_fd = ao_gps_open(tty);
+ if (ao_gps_fd < 0) {
+ perror (tty);
+ exit (1);
+ }
+ ao_gps_setup();
+ ao_gps();
+}
--- /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 AO_GPS_TEST
+#include "ao_host.h"
+#include <termios.h>
+#include <errno.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#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)
+
+struct ao_gps_data {
+ 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 */
+};
+
+#define SIRF_SAT_STATE_ACQUIRED (1 << 0)
+#define SIRF_SAT_STATE_CARRIER_PHASE_VALID (1 << 1)
+#define SIRF_SAT_BIT_SYNC_COMPLETE (1 << 2)
+#define SIRF_SAT_SUBFRAME_SYNC_COMPLETE (1 << 3)
+#define SIRF_SAT_CARRIER_PULLIN_COMPLETE (1 << 4)
+#define SIRF_SAT_CODE_LOCKED (1 << 5)
+#define SIRF_SAT_ACQUISITION_FAILED (1 << 6)
+#define SIRF_SAT_EPHEMERIS_AVAILABLE (1 << 7)
+
+struct ao_gps_sat_data {
+ uint8_t svid;
+ uint8_t state;
+ uint8_t c_n_1;
+};
+
+#define AO_MAX_GPS_TRACKING 12
+
+struct ao_gps_tracking_data {
+ uint8_t channels;
+ struct ao_gps_sat_data sats[AO_MAX_GPS_TRACKING];
+};
+
+void
+ao_mutex_get(uint8_t *mutex)
+{
+}
+
+void
+ao_mutex_put(uint8_t *mutex)
+{
+}
+
+static int
+ao_gps_fd;
+
+static void
+ao_dbg_char(char c)
+{
+ char line[128];
+ line[0] = '\0';
+ if (c < ' ') {
+ if (c == '\n')
+ sprintf (line, "\n");
+ else
+ sprintf (line, "\\%02x", ((int) c) & 0xff);
+ } else {
+ sprintf (line, "%c", c);
+ }
+ write(1, line, strlen(line));
+}
+
+#define QUEUE_LEN 4096
+
+static char input_queue[QUEUE_LEN];
+int input_head, input_tail;
+
+#include <sys/time.h>
+
+int
+get_millis(void)
+{
+ struct timeval tv;
+ gettimeofday(&tv, NULL);
+ return tv.tv_sec * 1000 + tv.tv_usec / 1000;
+}
+
+static void
+check_skytraq_message(char *from, uint8_t *msg, int len)
+{
+ uint16_t encoded_len, encoded_cksum;
+ uint16_t cksum;
+ uint8_t id;
+ int i;
+
+// fwrite(msg, 1, len, stdout);
+ return;
+ if (msg[0] != 0xa0 || msg[1] != 0xa2) {
+ printf ("bad header\n");
+ return;
+ }
+ if (len < 7) {
+ printf("short\n");
+ return;
+ }
+ if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
+ printf ("bad trailer\n");
+ return;
+ }
+ encoded_len = (msg[2] << 8) | msg[3];
+ id = msg[4];
+/* printf ("%9d: %3d\n", get_millis(), id); */
+ if (encoded_len != len - 8) {
+ if (id != 52)
+ printf ("length mismatch (got %d, wanted %d)\n",
+ len - 8, encoded_len);
+ return;
+ }
+ encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
+ cksum = 0;
+ for (i = 4; i < len - 4; i++)
+ cksum = (cksum + msg[i]) & 0x7fff;
+ if (encoded_cksum != cksum) {
+ printf ("cksum mismatch (got %04x wanted %04x)\n",
+ cksum, encoded_cksum);
+ return;
+ }
+ id = msg[4];
+ switch (id) {
+ case 41:{
+ int off = 4;
+
+ uint8_t id;
+ uint16_t nav_valid;
+ uint16_t nav_type;
+ uint16_t week;
+ uint32_t tow;
+ uint16_t year;
+ uint8_t month;
+ uint8_t day;
+ uint8_t hour;
+ uint8_t minute;
+ uint16_t second;
+ uint32_t sat_list;
+ int32_t lat;
+ int32_t lon;
+ int32_t alt_ell;
+ int32_t alt_msl;
+ int8_t datum;
+ uint16_t sog;
+ uint16_t cog;
+ int16_t mag_var;
+ int16_t climb_rate;
+ int16_t heading_rate;
+ uint32_t h_error;
+ uint32_t v_error;
+ uint32_t t_error;
+ uint16_t h_v_error;
+
+#define get_u8(u) u = (msg[off]); off+= 1
+#define get_u16(u) u = (msg[off] << 8) | (msg[off + 1]); off+= 2
+#define get_u32(u) u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
+
+ get_u8(id);
+ get_u16(nav_valid);
+ get_u16(nav_type);
+ get_u16(week);
+ get_u32(tow);
+ get_u16(year);
+ get_u8(month);
+ get_u8(day);
+ get_u8(hour);
+ get_u8(minute);
+ get_u16(second);
+ get_u32(sat_list);
+ get_u32(lat);
+ get_u32(lon);
+ get_u32(alt_ell);
+ get_u32(alt_msl);
+ get_u8(datum);
+ get_u16(sog);
+ get_u16(cog);
+ get_u16(mag_var);
+ get_u16(climb_rate);
+ get_u16(heading_rate);
+ get_u32(h_error);
+ get_u32(v_error);
+ get_u32(t_error);
+ get_u16(h_v_error);
+
+
+ printf ("Geodetic Navigation Data (41):\n");
+ printf ("\tNav valid %04x\n", nav_valid);
+ printf ("\tNav type %04x\n", nav_type);
+ printf ("\tWeek %5d", week);
+ printf (" TOW %9d", tow);
+ printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n",
+ year, month, day,
+ hour, minute, second / 1000.0);
+ printf ("\tsats: %08x\n", sat_list);
+ printf ("\tlat: %g", lat / 1.0e7);
+ printf (" lon: %g", lon / 1.0e7);
+ printf (" alt_ell: %g", alt_ell / 100.0);
+ printf (" alt_msll: %g", alt_msl / 100.0);
+ printf (" datum: %d\n", datum);
+ printf ("\tground speed: %g", sog / 100.0);
+ printf (" course: %g", cog / 100.0);
+ printf (" climb: %g", climb_rate / 100.0);
+ printf (" heading rate: %g\n", heading_rate / 100.0);
+ printf ("\th error: %g", h_error / 100.0);
+ printf (" v error: %g", v_error / 100.0);
+ printf (" t error: %g", t_error / 100.0);
+ printf (" h vel error: %g\n", h_v_error / 100.0);
+ break;
+ }
+ case 4: {
+ int off = 4;
+ uint8_t id;
+ int16_t gps_week;
+ uint32_t gps_tow;
+ uint8_t channels;
+ int j, k;
+
+ get_u8(id);
+ get_u16(gps_week);
+ get_u32(gps_tow);
+ get_u8(channels);
+
+ printf ("Measured Tracker Data (4):\n");
+ printf ("GPS week: %d\n", gps_week);
+ printf ("GPS time of week: %d\n", gps_tow);
+ printf ("channels: %d\n", channels);
+ for (j = 0; j < 12; j++) {
+ uint8_t svid, azimuth, elevation;
+ uint16_t state;
+ uint8_t c_n[10];
+ get_u8(svid);
+ get_u8(azimuth);
+ get_u8(elevation);
+ get_u16(state);
+ for (k = 0; k < 10; k++) {
+ get_u8(c_n[k]);
+ }
+ printf ("Sat %3d:", svid);
+ printf (" aziumuth: %6.1f", azimuth * 1.5);
+ printf (" elevation: %6.1f", elevation * 0.5);
+ printf (" state: 0x%02x", state);
+ printf (" c_n:");
+ for (k = 0; k < 10; k++)
+ printf(" %3d", c_n[k]);
+ if (state & SIRF_SAT_STATE_ACQUIRED)
+ printf(" acq,");
+ if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID)
+ printf(" car,");
+ if (state & SIRF_SAT_BIT_SYNC_COMPLETE)
+ printf(" bit,");
+ if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE)
+ printf(" sub,");
+ if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE)
+ printf(" pullin,");
+ if (state & SIRF_SAT_CODE_LOCKED)
+ printf(" code,");
+ if (state & SIRF_SAT_ACQUISITION_FAILED)
+ printf(" fail,");
+ if (state & SIRF_SAT_EPHEMERIS_AVAILABLE)
+ printf(" ephem,");
+ printf ("\n");
+ }
+ break;
+ }
+ default:
+ return;
+ printf ("%s %4d:", from, encoded_len);
+ for (i = 4; i < len - 4; i++) {
+ if (((i - 4) & 0xf) == 0)
+ printf("\n ");
+ printf (" %3d", msg[i]);
+ }
+ printf ("\n");
+ }
+}
+
+static uint8_t skytraq_message[4096];
+static int skytraq_message_len;
+static uint8_t skytraq_in_message[4096];
+static int skytraq_in_len;
+
+char
+ao_serial_getchar(void)
+{
+ char c;
+ uint8_t uc;
+
+ while (input_head == input_tail) {
+ for (;;) {
+ input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN);
+ if (input_tail < 0) {
+ if (errno == EINTR || errno == EAGAIN)
+ continue;
+ perror ("getchar");
+ exit (1);
+ }
+ input_head = 0;
+ break;
+ }
+ }
+ c = input_queue[input_head];
+ input_head = (input_head + 1) % QUEUE_LEN;
+ uc = c;
+// printf ("c: %02x %c\n", uc, uc);
+ if (skytraq_in_len || uc == '$') {
+ if (skytraq_in_len < 4096)
+ skytraq_in_message[skytraq_in_len++] = uc;
+ if (uc == 0x0a) {
+ check_skytraq_message("recv", skytraq_in_message, skytraq_in_len);
+ skytraq_in_len = 0;
+ }
+ }
+ return c;
+}
+
+
+void
+ao_serial_putchar(char c)
+{
+ int i;
+ uint8_t uc = (uint8_t) c;
+
+ if (skytraq_message_len || uc == 0xa0) {
+ if (skytraq_message_len < 4096)
+ skytraq_message[skytraq_message_len++] = uc;
+ if (uc == 0x0a) {
+ check_skytraq_message("send", skytraq_message, skytraq_message_len);
+ skytraq_message_len = 0;
+ }
+ }
+ for (;;) {
+ i = write(ao_gps_fd, &c, 1);
+ if (i == 1) {
+ if ((uint8_t) c == 0xb3 || c == '\r') {
+ static const struct timespec delay = {
+ .tv_sec = 0,
+ .tv_nsec = 100 * 1000 * 1000
+ };
+ tcdrain(ao_gps_fd);
+// nanosleep(&delay, NULL);
+ }
+ break;
+ }
+ if (i < 0 && (errno == EINTR || errno == EAGAIN))
+ continue;
+ perror("putchar");
+ exit(1);
+ }
+}
+
+#define AO_SERIAL_SPEED_4800 0
+#define AO_SERIAL_SPEED_9600 1
+#define AO_SERIAL_SPEED_57600 2
+
+static void
+ao_serial_set_speed(uint8_t speed)
+{
+ int fd = ao_gps_fd;
+ struct termios termios;
+
+ tcdrain(fd);
+ tcgetattr(fd, &termios);
+ switch (speed) {
+ case AO_SERIAL_SPEED_4800:
+ cfsetspeed(&termios, B4800);
+ break;
+ case AO_SERIAL_SPEED_9600:
+ cfsetspeed(&termios, B38400);
+ break;
+ case AO_SERIAL_SPEED_57600:
+ cfsetspeed(&termios, B57600);
+ break;
+ }
+ tcsetattr(fd, TCSAFLUSH, &termios);
+ tcflush(fd, TCIFLUSH);
+}
+
+#define ao_time() 0
+
+#include "ao_gps_print.c"
+#include "ao_gps_skytraq.c"
+
+void
+ao_dump_state(void *wchan)
+{
+ double lat, lon;
+ int i;
+ if (wchan == &ao_gps_data)
+ ao_gps_print(&ao_gps_data);
+ else
+ ao_gps_tracking_print(&ao_gps_tracking_data);
+ putchar('\n');
+ return;
+}
+
+int
+ao_gps_open(const char *tty)
+{
+ struct termios termios;
+ int fd;
+
+ fd = open (tty, O_RDWR);
+ if (fd < 0)
+ return -1;
+
+ tcgetattr(fd, &termios);
+ cfmakeraw(&termios);
+ cfsetspeed(&termios, B4800);
+ tcsetattr(fd, TCSAFLUSH, &termios);
+
+ tcdrain(fd);
+ tcflush(fd, TCIFLUSH);
+ return fd;
+}
+
+#include <getopt.h>
+
+static const struct option options[] = {
+ { .name = "tty", .has_arg = 1, .val = 'T' },
+ { 0, 0, 0, 0},
+};
+
+static void usage(char *program)
+{
+ fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
+ exit(1);
+}
+
+int
+main (int argc, char **argv)
+{
+ char *tty = "/dev/ttyUSB0";
+ int c;
+
+ while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
+ switch (c) {
+ case 'T':
+ tty = optarg;
+ break;
+ default:
+ usage(argv[0]);
+ break;
+ }
+ }
+ ao_gps_fd = ao_gps_open(tty);
+ if (ao_gps_fd < 0) {
+ perror (tty);
+ exit (1);
+ }
+ ao_gps();
+}
--- /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
+
+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 };
--- /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"
+
+#if IGNITE_ON_P2
+#define AO_IGNITER_DROGUE P2_3
+#define AO_IGNITER_MAIN P2_4
+#define AO_IGNITER_DIR P2DIR
+#define AO_IGNITER_DROGUE_BIT (1 << 3)
+#define AO_IGNITER_MAIN_BIT (1 << 4)
+#endif
+
+#if IGNITE_ON_P0
+#define AO_IGNITER_DROGUE P0_5
+#define AO_IGNITER_MAIN P0_4
+#define AO_IGNITER_DIR P0DIR
+#define AO_IGNITER_DROGUE_BIT (1 << 5)
+#define AO_IGNITER_MAIN_BIT (1 << 4)
+#endif
+
+/* test these values with real igniters */
+#define AO_IGNITER_OPEN 1000
+#define AO_IGNITER_CLOSED 7000
+#define AO_IGNITER_FIRE_TIME AO_MS_TO_TICKS(50)
+#define AO_IGNITER_CHARGE_TIME AO_MS_TO_TICKS(2000)
+
+struct ao_ignition {
+ uint8_t request;
+ uint8_t fired;
+ uint8_t firing;
+};
+
+__xdata struct ao_ignition ao_ignition[2];
+
+void
+ao_ignite(enum ao_igniter igniter) __critical
+{
+ ao_ignition[igniter].request = 1;
+ ao_wakeup(&ao_ignition[0]);
+}
+
+enum ao_igniter_status
+ao_igniter_status(enum ao_igniter igniter)
+{
+ __xdata struct ao_adc adc;
+ __xdata int16_t value;
+ __xdata uint8_t request, firing, fired;
+
+ __critical {
+ ao_adc_get(&adc);
+ 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 = adc.sense_d;
+ break;
+ case ao_igniter_main:
+ value = adc.sense_m;
+ 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_igniter_fire(enum ao_igniter igniter) __critical
+{
+ ao_ignition[igniter].firing = 1;
+ switch (igniter) {
+ case ao_igniter_drogue:
+ AO_IGNITER_DROGUE = 1;
+ ao_delay(AO_IGNITER_FIRE_TIME);
+ AO_IGNITER_DROGUE = 0;
+ break;
+ case ao_igniter_main:
+ AO_IGNITER_MAIN = 1;
+ ao_delay(AO_IGNITER_FIRE_TIME);
+ AO_IGNITER_MAIN = 0;
+ break;
+ }
+ ao_ignition[igniter].firing = 0;
+}
+
+void
+ao_igniter(void)
+{
+ __xdata enum ao_ignter 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;
+ }
+ }
+ }
+}
+
+void
+ao_ignite_manual(void)
+{
+ ao_cmd_white();
+ if (!ao_match_word("DoIt"))
+ return;
+ ao_cmd_white();
+ if (ao_cmd_lex_c == 'm') {
+ if(ao_match_word("main"))
+ ao_igniter_fire(ao_igniter_main);
+ } else {
+ if(ao_match_word("drogue"))
+ ao_igniter_fire(ao_igniter_drogue);
+ }
+}
+
+static __code char *igniter_status_names[] = {
+ "unknown", "ready", "active", "open"
+};
+
+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,
+ igniter_status_names[status]);
+}
+
+void
+ao_ignite_test(void)
+{
+ ao_ignite_print_status(ao_igniter_drogue, "drogue");
+ ao_ignite_print_status(ao_igniter_main, "main");
+}
+
+__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 continuity" },
+ { 0, NULL },
+};
+
+__xdata struct ao_task ao_igniter_task;
+
+void
+ao_igniter_init(void)
+{
+ AO_IGNITER_DROGUE = 0;
+ AO_IGNITER_MAIN = 0;
+ AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
+ ao_cmd_register(&ao_ignite_cmds[0]);
+ ao_add_task(&ao_igniter_task, ao_igniter, "igniter");
+}
--- /dev/null
+/*
+ * Copyright © 2011 Anthony Towns <aj@erisian.com.au>
+ *
+ * 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 "cc1111.h"
+
+#define ENDOFCODE (CODESIZE)
+#define AO_INTFLASH_BLOCK 1024
+#define AO_INTFLASH_BLOCKS ((0x8000 - ENDOFCODE)/AO_INTFLASH_BLOCK)
+#define AO_INTFLASH_SIZE (AO_INTFLASH_BLOCK * AO_INTFLASH_BLOCKS)
+#define AO_INTFLASH_LOCATION (0x8000 - AO_INTFLASH_SIZE)
+
+/*
+ * 21000 * 24e6
+ * FWT = ------------
+ * 16e9
+ *
+ * = 31.5
+ *
+ * Round up and use 32
+ */
+
+#define FLASH_TIMING 0x20
+
+#if AO_INTFLASH_BLOCKS < 2
+#error "Too few pages"
+#endif
+
+#if AO_INFTLASH_LOCATION % 1024 != 0
+#error "Pages aren't aligned properly"
+#endif
+
+__xdata __at(AO_INTFLASH_LOCATION) uint8_t ao_intflash[AO_INTFLASH_SIZE];
+
+/* Total bytes of available storage */
+__xdata uint32_t ao_storage_total = sizeof(ao_intflash);
+
+/* Block size - device is erased in these units. */
+__xdata uint32_t ao_storage_block = AO_INTFLASH_BLOCK;
+
+/* Byte offset of config block. Will be ao_storage_block bytes long */
+__xdata uint32_t ao_storage_config = sizeof(ao_intflash) - AO_INTFLASH_BLOCK;
+
+/* Storage unit size - device reads and writes must be within blocks of this size. */
+__xdata uint16_t ao_storage_unit = AO_INTFLASH_BLOCK;
+
+__xdata static uint8_t ao_intflash_dma_done;
+static uint8_t ao_intflash_dma;
+
+/*
+ * The internal flash chip is arranged in 1kB sectors; the
+ * chip cannot erase in units smaller than that.
+ *
+ * Writing happens in units of 2 bytes and
+ * can only change bits from 1 to 0. So, you can rewrite
+ * the same contents, or append to an existing page easily enough
+ */
+
+/*
+ * Erase the specified sector
+ */
+uint8_t
+ao_storage_erase(uint32_t pos) __reentrant
+{
+ uint16_t addr;
+
+ if (pos >= ao_storage_total || pos + ao_storage_block > ao_storage_total)
+ return 0;
+
+ addr = ((uint16_t)(ao_intflash + pos) >> 1);
+
+ FADDRH = addr >> 8;
+ FADDRL = addr;
+
+ __critical {
+ _asm
+ .even
+ orl _FCTL, #FCTL_ERASE; ; FCTL |= FCTL_ERASE
+ nop ; Required, see datasheet.
+ _endasm;
+ }
+
+ return 1;
+}
+
+/*
+ * Write to flash
+ */
+
+static void
+ao_intflash_write_aligned(uint16_t pos, __xdata void *d, uint16_t len) __reentrant
+{
+ pos = ((uint16_t) ao_intflash + pos) >> 1;
+
+ ao_dma_set_transfer(ao_intflash_dma,
+ d,
+ &FWDATAXADDR,
+ len,
+ DMA_CFG0_WORDSIZE_8 |
+ DMA_CFG0_TMODE_SINGLE |
+ DMA_CFG0_TRIGGER_FLASH,
+ DMA_CFG1_SRCINC_1 |
+ DMA_CFG1_DESTINC_0 |
+ DMA_CFG1_PRIORITY_HIGH);
+
+ FADDRH = pos >> 8;
+ FADDRL = pos;
+
+ ao_dma_start(ao_intflash_dma);
+
+ __critical {
+ _asm
+ .even
+ orl _FCTL, #FCTL_WRITE; ; FCTL |= FCTL_WRITE
+ nop
+ _endasm;
+ }
+}
+
+static void
+ao_intflash_write_byte(uint16_t pos, uint8_t byte) __reentrant
+{
+ static __xdata uint8_t b[2];
+
+ if (pos & 1) {
+ b[0] = 0xff;
+ b[1] = byte;
+ } else {
+ b[0] = byte;
+ b[1] = 0xff;
+ }
+ ao_intflash_write_aligned(pos, b, 2);
+}
+
+uint8_t
+ao_storage_device_write(uint32_t pos32, __xdata void *v, uint16_t len) __reentrant
+{
+ uint16_t pos = pos32;
+ __xdata uint8_t *d = v;
+ uint8_t oddlen;
+
+ if (pos >= ao_storage_total || pos + len > ao_storage_total)
+ return 0;
+ if (len == 0)
+ return 1;
+
+ if (pos & 1) {
+ ao_intflash_write_byte(pos++, *d++);
+ len--;
+ }
+ oddlen = len & 1;
+ len -= oddlen;
+ if (len)
+ ao_intflash_write_aligned(pos, d, len);
+ if (oddlen)
+ ao_intflash_write_byte(pos + len, d[len]);
+
+ return 1;
+}
+
+/*
+ * Read from flash
+ */
+uint8_t
+ao_storage_device_read(uint32_t pos, __xdata void *d, uint16_t len) __reentrant
+{
+ if (pos >= ao_storage_total || pos + len > ao_storage_total)
+ return 0;
+ memcpy(d, ao_intflash+pos, len);
+ return 1;
+}
+
+void
+ao_storage_flush(void) __reentrant
+{
+}
+
+void
+ao_storage_setup(void)
+{
+}
+
+void
+ao_storage_device_info(void) __reentrant
+{
+ printf ("Using internal flash, starting at 0x%04x\n", AO_INTFLASH_LOCATION);
+}
+
+void
+ao_storage_device_init(void)
+{
+ ao_intflash_dma = ao_dma_alloc(&ao_intflash_dma_done);
+
+ FWT = FLASH_TIMING;
+}
--- /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
+
+#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)
+
+__pdata int16_t ao_height;
+__pdata int16_t ao_speed;
+__pdata int16_t ao_accel;
+__pdata int16_t ao_max_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 > 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 > 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_ground_accel - 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;
+}
+
+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 > 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;
+}
+
+#ifdef FORCE_ACCEL
+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
+#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;
+#ifdef AO_FLIGHT_TEST
+ ao_sample_prev_tick = ao_sample_tick;
+#endif
+}
--- /dev/null
+/* Kalman matrix for both
+ * step = 0.01
+ * σ_m = 2
+ * σ_h = 6
+ * σ_a = 2
+ */
+
+#define AO_BOTH_K00_100 to_fix32(0.0081313788)
+#define AO_BOTH_K01_100 to_fix32(0.0000026340)
+#define AO_BOTH_K10_100 to_fix32(0.0531117402)
+#define AO_BOTH_K11_100 to_fix32(0.0038194319)
+#define AO_BOTH_K20_100 to_fix32(0.0000749238)
+#define AO_BOTH_K21_100 to_fix32(0.6180339885)
+
+/* Kalman matrix for both
+ * step = 0.1
+ * σ_m = 2
+ * σ_h = 6
+ * σ_a = 2
+ */
+
+#define AO_BOTH_K00_10 to_fix32(0.0783434385)
+#define AO_BOTH_K01_10 to_fix32(0.0002339223)
+#define AO_BOTH_K10_10 to_fix32(0.5113498998)
+#define AO_BOTH_K11_10 to_fix32(0.0379865308)
+#define AO_BOTH_K20_10 to_fix32(0.0066537889)
+#define AO_BOTH_K21_10 to_fix32(0.6180320115)
+
+/* Kalman matrix for accel
+ * step = 0.01
+ * σ_m = 2
+ * σ_a = 4
+ */
+
+#define AO_ACCEL_K0_100 to_fix32(0.0000078547)
+#define AO_ACCEL_K1_100 to_fix32(0.0060961179)
+#define AO_ACCEL_K2_100 to_fix32(0.3903882032)
+
+/* Kalman matrix for accel
+ * step = 0.1
+ * σ_m = 2
+ * σ_a = 4
+ */
+
+#define AO_ACCEL_K0_10 to_fix32(0.0007854668)
+#define AO_ACCEL_K1_10 to_fix32(0.0609611795)
+#define AO_ACCEL_K2_10 to_fix32(0.3903882032)
+
+/* Kalman matrix for baro
+ * step = 0.01
+ * σ_m = 2
+ * σ_h = 6
+ */
+
+#define AO_BARO_K0_100 to_fix32(0.0623382088)
+#define AO_BARO_K1_100 to_fix32(3.2096898314)
+#define AO_BARO_K2_100 to_fix32(5.1644233483)
+
+/* Kalman matrix for baro
+ * step = 0.1
+ * σ_m = 2
+ * σ_h = 6
+ */
+
+#define AO_BARO_K0_10 to_fix32(0.2582626767)
+#define AO_BARO_K1_10 to_fix32(6.1612340969)
+#define AO_BARO_K2_10 to_fix32(4.5932892444)
--- /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"
+
+__pdata uint8_t ao_led_enable;
+
+#ifdef AVR
+#define LED_PORT PORTB
+#define LED_DDR DDRB
+#else
+#define LED_PORT P1
+#endif
+
+void
+ao_led_on(uint8_t colors)
+{
+ LED_PORT |= (colors & ao_led_enable);
+}
+
+void
+ao_led_off(uint8_t colors)
+{
+ LED_PORT &= ~(colors & ao_led_enable);
+}
+
+void
+ao_led_set(uint8_t colors)
+{
+ LED_PORT = (LED_PORT & ~(ao_led_enable)) | (colors & ao_led_enable);
+}
+
+void
+ao_led_toggle(uint8_t colors)
+{
+ LED_PORT ^= (colors & ao_led_enable);
+}
+
+void
+ao_led_for(uint8_t colors, uint16_t ticks) __reentrant
+{
+ ao_led_on(colors);
+ ao_delay(ticks);
+ ao_led_off(colors);
+}
+
+void
+ao_led_init(uint8_t enable)
+{
+ ao_led_enable = enable;
+#ifdef AVR
+ LED_PORT &= ~enable;
+ LED_DDR |= enable;
+#else
+ P1SEL &= ~enable;
+ P1 &= ~enable;
+ P1DIR |= enable;
+#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"
+
+__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;
+__xdata enum 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_STORAGE_ERASE_LOG;
+}
+
+void
+ao_log_write_erase(uint8_t pos)
+{
+ erase.unused = 0x00;
+ erase.flight = ao_flight_number;
+ ao_storage_write(ao_log_erase_pos(pos), &erase, sizeof (erase));
+ ao_storage_flush();
+}
+
+static void
+ao_log_read_erase(uint8_t pos)
+{
+ ao_storage_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_config / 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;
+}
+
+static __xdata struct ao_task ao_log_task;
+
+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 stored flight logs" },
+ { ao_log_delete, "d <flight-number>\0Delete stored 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]);
+
+ /* Create a task to log events to eeprom */
+ ao_add_task(&ao_log_task, ao_log, "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"
+
+static __xdata uint8_t ao_log_mutex;
+static __xdata struct ao_log_record log;
+
+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 __xdata uint8_t ao_log_adc_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))] ;
+
+#define AO_SENSOR_INTERVAL_ASCENT 1
+#define AO_SENSOR_INTERVAL_DESCENT 10
+#define AO_OTHER_INTERVAL 32
+
+void
+ao_log(void)
+{
+ 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_adc_pos = ao_adc_ring_next(ao_sample_adc);
+ next_other = next_sensor = ao_adc_ring[ao_log_adc_pos].tick;
+ ao_log_state = ao_flight_startup;
+ for (;;) {
+ /* Write samples to EEPROM */
+ while (ao_log_adc_pos != ao_sample_adc) {
+ log.tick = ao_adc_ring[ao_log_adc_pos].tick;
+ if ((int16_t) (log.tick - next_sensor) >= 0) {
+ log.type = AO_LOG_SENSOR;
+ log.u.sensor.accel = ao_adc_ring[ao_log_adc_pos].accel;
+ log.u.sensor.pres = ao_adc_ring[ao_log_adc_pos].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_adc_ring[ao_log_adc_pos].temp;
+ log.u.temp_volt.v_batt = ao_adc_ring[ao_log_adc_pos].v_batt;
+ ao_log_data(&log);
+ log.type = AO_LOG_DEPLOY;
+ log.u.deploy.drogue = ao_adc_ring[ao_log_adc_pos].sense_d;
+ log.u.deploy.main = ao_adc_ring[ao_log_adc_pos].sense_m;
+ ao_log_data(&log);
+ next_other = log.tick + AO_OTHER_INTERVAL;
+ }
+ ao_log_adc_pos = ao_adc_ring_next(ao_log_adc_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 © 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
+
+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_adc;
+ 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_adc = ao_sample_adc;
+ last_time = ao_time();
+ for (;;) {
+
+ /*
+ * Add in pending sample data
+ */
+ ao_sleep(DATA_TO_XDATA(&ao_sample_adc));
+ while (ao_log_adc != ao_sample_adc) {
+ sum += ao_adc_ring[ao_log_adc].pres;
+ count++;
+ ao_log_adc = ao_adc_ring_next(ao_log_adc);
+ }
+ 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 © 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 "ao.h"
+
+/* Total bytes of available storage */
+__xdata uint32_t ao_storage_total;
+
+/* Block size - device is erased in these units. At least 256 bytes */
+__xdata uint32_t ao_storage_block;
+
+/* Byte offset of config block. Will be ao_storage_block bytes long */
+__xdata uint32_t ao_storage_config;
+
+/* Storage unit size - device reads and writes must be within blocks of this size. Usually 256 bytes. */
+__xdata uint16_t ao_storage_unit;
+
+/*
+ * Each flash chip is arranged in 64kB sectors; the
+ * chip cannot erase in units smaller than that.
+ *
+ * Writing happens in units of 256 byte pages and
+ * can only change bits from 1 to 0. So, you can rewrite
+ * the same contents, or append to an existing page easily enough
+ */
+
+#define M25_WREN 0x06 /* Write Enable */
+#define M25_WRDI 0x04 /* Write Disable */
+#define M25_RDID 0x9f /* Read Identification */
+#define M25_RDSR 0x05 /* Read Status Register */
+#define M25_WRSR 0x01 /* Write Status Register */
+#define M25_READ 0x03 /* Read Data Bytes */
+#define M25_FAST_READ 0x0b /* Read Data Bytes at Higher Speed */
+#define M25_PP 0x02 /* Page Program */
+#define M25_SE 0xd8 /* Sector Erase */
+#define M25_BE 0xc7 /* Bulk Erase */
+#define M25_DP 0xb9 /* Deep Power-down */
+
+/* RDID response */
+#define M25_MANUF_OFFSET 0
+#define M25_MEMORY_TYPE_OFFSET 1
+#define M25_CAPACITY_OFFSET 2
+#define M25_UID_OFFSET 3
+#define M25_CFI_OFFSET 4
+#define M25_RDID_LEN 4 /* that's all we need */
+
+#define M25_CAPACITY_128KB 0x11
+#define M25_CAPACITY_256KB 0x12
+#define M25_CAPACITY_512KB 0x13
+#define M25_CAPACITY_1MB 0x14
+#define M25_CAPACITY_2MB 0x15
+
+/*
+ * Status register bits
+ */
+
+#define M25_STATUS_SRWD (1 << 7) /* Status register write disable */
+#define M25_STATUS_BP_MASK (7 << 2) /* Block protect bits */
+#define M25_STATUS_BP_SHIFT (2)
+#define M25_STATUS_WEL (1 << 1) /* Write enable latch */
+#define M25_STATUS_WIP (1 << 0) /* Write in progress */
+
+/*
+ * On teleterra, the m25 chip select pins are
+ * wired on P0_0 through P0_3.
+ */
+
+#if M25_MAX_CHIPS > 1
+static uint8_t ao_m25_size[M25_MAX_CHIPS]; /* number of sectors in each chip */
+static uint8_t ao_m25_pin[M25_MAX_CHIPS]; /* chip select pin for each chip */
+static uint8_t ao_m25_numchips; /* number of chips detected */
+#endif
+static uint8_t ao_m25_total; /* total sectors available */
+static uint8_t ao_m25_wip; /* write in progress */
+
+static __xdata uint8_t ao_m25_mutex;
+
+/*
+ * This little array is abused to send and receive data. A particular
+ * caution -- the read and write addresses are written into the last
+ * three bytes of the array by ao_m25_set_page_address and then the
+ * first byte is used by ao_m25_wait_wip and ao_m25_write_enable, neither
+ * of which touch those last three bytes.
+ */
+
+static __xdata uint8_t ao_m25_instruction[4];
+
+#define M25_SELECT(cs) (SPI_CS_PORT &= ~(cs))
+#define M25_DESELECT(cs) (SPI_CS_PORT |= (cs))
+
+#define M25_BLOCK_SHIFT 16
+#define M25_BLOCK 65536L
+#define M25_POS_TO_SECTOR(pos) ((uint8_t) ((pos) >> M25_BLOCK_SHIFT))
+#define M25_SECTOR_TO_POS(sector) (((uint32_t) (sector)) << M25_BLOCK_SHIFT)
+
+/*
+ * Block until the specified chip is done writing
+ */
+static void
+ao_m25_wait_wip(uint8_t cs)
+{
+ if (ao_m25_wip & cs) {
+ M25_SELECT(cs);
+ ao_m25_instruction[0] = M25_RDSR;
+ ao_spi_send(ao_m25_instruction, 1);
+ do {
+ ao_spi_recv(ao_m25_instruction, 1);
+ } while (ao_m25_instruction[0] & M25_STATUS_WIP);
+ M25_DESELECT(cs);
+ ao_m25_wip &= ~cs;
+ }
+}
+
+/*
+ * Set the write enable latch so that page program and sector
+ * erase commands will work. Also mark the chip as busy writing
+ * so that future operations will block until the WIP bit goes off
+ */
+static void
+ao_m25_write_enable(uint8_t cs)
+{
+ M25_SELECT(cs);
+ ao_m25_instruction[0] = M25_WREN;
+ ao_spi_send(&ao_m25_instruction, 1);
+ M25_DESELECT(cs);
+ ao_m25_wip |= cs;
+}
+
+
+/*
+ * Returns the number of 64kB sectors
+ */
+static uint8_t
+ao_m25_read_capacity(uint8_t cs)
+{
+ uint8_t capacity;
+ M25_SELECT(cs);
+ ao_m25_instruction[0] = M25_RDID;
+ ao_spi_send(ao_m25_instruction, 1);
+ ao_spi_recv(ao_m25_instruction, M25_RDID_LEN);
+ M25_DESELECT(cs);
+
+ /* Check to see if the chip is present */
+ if (ao_m25_instruction[0] == 0xff)
+ return 0;
+ capacity = ao_m25_instruction[M25_CAPACITY_OFFSET];
+
+ /* Sanity check capacity number */
+ if (capacity < 0x11 || 0x1f < capacity)
+ return 0;
+ return 1 << (capacity - 0x10);
+}
+
+static uint8_t
+ao_m25_set_address(uint32_t pos)
+{
+ uint8_t chip;
+#if M25_MAX_CHIPS > 1
+ uint8_t size;
+
+ for (chip = 0; chip < ao_m25_numchips; chip++) {
+ size = ao_m25_size[chip];
+ if (M25_POS_TO_SECTOR(pos) < size)
+ break;
+ pos -= M25_SECTOR_TO_POS(size);
+ }
+ if (chip == ao_m25_numchips)
+ return 0xff;
+
+ chip = ao_m25_pin[chip];
+#else
+ chip = M25_CS_MASK;
+#endif
+ ao_m25_wait_wip(chip);
+
+ ao_m25_instruction[1] = pos >> 16;
+ ao_m25_instruction[2] = pos >> 8;
+ ao_m25_instruction[3] = pos;
+ return chip;
+}
+
+/*
+ * Scan the possible chip select lines
+ * to see which flash chips are connected
+ */
+static uint8_t
+ao_m25_scan(void)
+{
+#if M25_MAX_CHIPS > 1
+ uint8_t pin, size;
+#endif
+
+ if (ao_m25_total)
+ return 1;
+
+#if M25_MAX_CHIPS > 1
+ ao_m25_numchips = 0;
+ for (pin = 1; pin != 0; pin <<= 1) {
+ if (M25_CS_MASK & pin) {
+ size = ao_m25_read_capacity(pin);
+ if (size != 0) {
+ ao_m25_size[ao_m25_numchips] = size;
+ ao_m25_pin[ao_m25_numchips] = pin;
+ ao_m25_total += size;
+ ao_m25_numchips++;
+ }
+ }
+ }
+#else
+ ao_m25_total = ao_m25_read_capacity(M25_CS_MASK);
+#endif
+ if (!ao_m25_total)
+ return 0;
+ ao_storage_total = M25_SECTOR_TO_POS(ao_m25_total);
+ ao_storage_block = M25_BLOCK;
+ ao_storage_config = ao_storage_total - M25_BLOCK;
+ ao_storage_unit = 256;
+ return 1;
+}
+
+/*
+ * Erase the specified sector
+ */
+uint8_t
+ao_storage_erase(uint32_t pos) __reentrant
+{
+ uint8_t cs;
+
+ if (pos >= ao_storage_total || pos + ao_storage_block > ao_storage_total)
+ return 0;
+
+ ao_mutex_get(&ao_m25_mutex);
+ ao_m25_scan();
+
+ cs = ao_m25_set_address(pos);
+
+ ao_m25_wait_wip(cs);
+ ao_m25_write_enable(cs);
+
+ ao_m25_instruction[0] = M25_SE;
+ M25_SELECT(cs);
+ ao_spi_send(ao_m25_instruction, 4);
+ M25_DESELECT(cs);
+ ao_m25_wip |= cs;
+
+ ao_mutex_put(&ao_m25_mutex);
+ return 1;
+}
+
+/*
+ * Write to flash
+ */
+uint8_t
+ao_storage_device_write(uint32_t pos, __xdata void *d, uint16_t len) __reentrant
+{
+ uint8_t cs;
+
+ if (pos >= ao_storage_total || pos + len > ao_storage_total)
+ return 0;
+
+ ao_mutex_get(&ao_m25_mutex);
+ ao_m25_scan();
+
+ cs = ao_m25_set_address(pos);
+ ao_m25_write_enable(cs);
+
+ ao_m25_instruction[0] = M25_PP;
+ M25_SELECT(cs);
+ ao_spi_send(ao_m25_instruction, 4);
+ ao_spi_send(d, len);
+ M25_DESELECT(cs);
+
+ ao_mutex_put(&ao_m25_mutex);
+ return 1;
+}
+
+/*
+ * Read from flash
+ */
+uint8_t
+ao_storage_device_read(uint32_t pos, __xdata void *d, uint16_t len) __reentrant
+{
+ uint8_t cs;
+
+ if (pos >= ao_storage_total || pos + len > ao_storage_total)
+ return 0;
+ ao_mutex_get(&ao_m25_mutex);
+ ao_m25_scan();
+
+ cs = ao_m25_set_address(pos);
+
+ /* No need to use the FAST_READ as we're running at only 8MHz */
+ ao_m25_instruction[0] = M25_READ;
+ M25_SELECT(cs);
+ ao_spi_send(ao_m25_instruction, 4);
+ ao_spi_recv(d, len);
+ M25_DESELECT(cs);
+
+ ao_mutex_put(&ao_m25_mutex);
+ return 1;
+}
+
+void
+ao_storage_flush(void) __reentrant
+{
+}
+
+void
+ao_storage_setup(void)
+{
+ ao_mutex_get(&ao_m25_mutex);
+ ao_m25_scan();
+ ao_mutex_put(&ao_m25_mutex);
+}
+
+void
+ao_storage_device_info(void) __reentrant
+{
+ uint8_t cs;
+#if M25_MAX_CHIPS > 1
+ uint8_t chip;
+#endif
+
+ ao_mutex_get(&ao_m25_mutex);
+ ao_m25_scan();
+ ao_mutex_put(&ao_m25_mutex);
+
+#if M25_MAX_CHIPS > 1
+ printf ("Detected chips %d size %d\n", ao_m25_numchips, ao_m25_total);
+ for (chip = 0; chip < ao_m25_numchips; chip++)
+ printf ("Flash chip %d select %02x size %d\n",
+ chip, ao_m25_pin[chip], ao_m25_size[chip]);
+#else
+ printf ("Detected chips 1 size %d\n", ao_m25_total);
+#endif
+
+ printf ("Available chips:\n");
+ for (cs = 1; cs != 0; cs <<= 1) {
+ if ((M25_CS_MASK & cs) == 0)
+ continue;
+
+ ao_mutex_get(&ao_m25_mutex);
+ M25_SELECT(cs);
+ ao_m25_instruction[0] = M25_RDID;
+ ao_spi_send(ao_m25_instruction, 1);
+ ao_spi_recv(ao_m25_instruction, M25_RDID_LEN);
+ M25_DESELECT(cs);
+
+ printf ("Select %02x manf %02x type %02x cap %02x uid %02x\n",
+ cs,
+ ao_m25_instruction[M25_MANUF_OFFSET],
+ ao_m25_instruction[M25_MEMORY_TYPE_OFFSET],
+ ao_m25_instruction[M25_CAPACITY_OFFSET],
+ ao_m25_instruction[M25_UID_OFFSET]);
+ ao_mutex_put(&ao_m25_mutex);
+ }
+}
+
+void
+ao_storage_device_init(void)
+{
+ /* Set up chip select wires */
+ SPI_CS_PORT |= M25_CS_MASK; /* raise all CS pins */
+ SPI_CS_DIR |= M25_CS_MASK; /* set CS pins as outputs */
+ SPI_CS_SEL &= ~M25_CS_MASK; /* set CS pins as GPIO */
+}
--- /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
+main(void)
+{
+ ao_clock_init();
+
+ /* Turn on the red LED until the system is stable */
+ ao_led_init();
+ ao_led_on(AO_LED_RED);
+
+ ao_timer_init();
+ ao_adc_init();
+ ao_beep_init();
+ ao_cmd_init();
+ ao_ee_init();
+ ao_flight_init();
+ ao_log_init();
+ ao_report_init();
+ ao_usb_init();
+ ao_serial_init();
+ ao_gps_init();
+ ao_telemetry_init();
+ ao_radio_init();
+ ao_start_scheduler();
+}
--- /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"
+
+__xdata uint8_t ao_monitoring;
+__pdata uint8_t ao_monitor_led;
+
+void
+ao_monitor(void)
+{
+ __xdata char callsign[AO_MAX_CALLSIGN+1];
+ __xdata union {
+ struct ao_telemetry_recv full;
+ struct ao_telemetry_tiny_recv tiny;
+ } u;
+
+#define recv (u.full)
+#define recv_tiny (u.tiny)
+
+ uint8_t state;
+ int16_t rssi;
+
+ for (;;) {
+ __critical while (!ao_monitoring)
+ ao_sleep(&ao_monitoring);
+ if (ao_monitoring == AO_MONITORING_FULL) {
+ if (!ao_radio_recv(&recv, sizeof (struct ao_telemetry_recv)))
+ continue;
+
+ state = recv.telemetry.flight_state;
+
+ /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
+ rssi = (int16_t) (recv.rssi >> 1) - 74;
+ memcpy(callsign, recv.telemetry.callsign, AO_MAX_CALLSIGN);
+ if (state > ao_flight_invalid)
+ state = ao_flight_invalid;
+ if (recv.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.telemetry.serial,
+ recv.telemetry.flight,
+ rssi,
+ ao_state_names[state],
+ recv.telemetry.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.telemetry.adc.accel,
+ recv.telemetry.adc.pres,
+ recv.telemetry.adc.temp,
+ recv.telemetry.adc.v_batt,
+ recv.telemetry.adc.sense_d,
+ recv.telemetry.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.telemetry.ground_accel,
+ recv.telemetry.ground_pres,
+ recv.telemetry.accel_plus_g,
+ recv.telemetry.accel_minus_g);
+
+ if (recv.telemetry.u.k.unused == 0x8000) {
+ /* Kalman state values */
+ printf(AO_TELEM_KALMAN_HEIGHT " %d "
+ AO_TELEM_KALMAN_SPEED " %d "
+ AO_TELEM_KALMAN_ACCEL " %d ",
+ recv.telemetry.height,
+ recv.telemetry.u.k.speed,
+ recv.telemetry.accel);
+ } else {
+ /* Ad-hoc flight values */
+ printf(AO_TELEM_ADHOC_ACCEL " %d "
+ AO_TELEM_ADHOC_SPEED " %ld "
+ AO_TELEM_ADHOC_BARO " %d ",
+ recv.telemetry.accel,
+ recv.telemetry.u.flight_vel,
+ recv.telemetry.height);
+ }
+ ao_gps_print(&recv.telemetry.gps);
+ ao_gps_tracking_print(&recv.telemetry.gps_tracking);
+ putchar('\n');
+ ao_rssi_set(rssi);
+ } else {
+ printf("CRC INVALID RSSI %3d\n", rssi);
+ }
+ } else {
+ if (!ao_radio_recv(&recv_tiny, sizeof (struct ao_telemetry_tiny_recv)))
+ continue;
+
+ state = recv_tiny.telemetry_tiny.flight_state;
+
+ /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
+ rssi = (int16_t) (recv_tiny.rssi >> 1) - 74;
+ memcpy(callsign, recv_tiny.telemetry_tiny.callsign, AO_MAX_CALLSIGN);
+ if (state > ao_flight_invalid)
+ state = ao_flight_invalid;
+ if (recv_tiny.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_tiny.telemetry_tiny.serial,
+ recv_tiny.telemetry_tiny.flight,
+ rssi,
+ ao_state_names[state],
+ recv_tiny.telemetry_tiny.adc.tick);
+
+ /* Raw sensor values */
+ printf(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_tiny.telemetry_tiny.adc.pres,
+ recv_tiny.telemetry_tiny.adc.temp,
+ recv_tiny.telemetry_tiny.adc.v_batt,
+ recv_tiny.telemetry_tiny.adc.sense_d,
+ recv_tiny.telemetry_tiny.adc.sense_m);
+
+ /* Sensor calibration values */
+ printf(AO_TELEM_CAL_BARO_GROUND " %d ",
+ recv_tiny.telemetry_tiny.ground_pres);
+
+#if 1
+ /* Kalman state values */
+ printf(AO_TELEM_KALMAN_HEIGHT " %d "
+ AO_TELEM_KALMAN_SPEED " %d "
+ AO_TELEM_KALMAN_ACCEL " %d\n",
+ recv_tiny.telemetry_tiny.height,
+ recv_tiny.telemetry_tiny.speed,
+ recv_tiny.telemetry_tiny.accel);
+#else
+ /* Ad-hoc flight values */
+ printf(AO_TELEM_ADHOC_ACCEL " %d "
+ AO_TELEM_ADHOC_SPEED " %ld "
+ AO_TELEM_ADHOC_BARO " %d\n",
+ recv_tiny.telemetry_tiny.flight_accel,
+ recv_tiny.telemetry_tiny.flight_vel,
+ recv_tiny.telemetry_tiny.flight_pres);
+#endif
+ ao_rssi_set(rssi);
+ } else {
+ printf("CRC INVALID RSSI %3d\n", rssi);
+ }
+ }
+ ao_usb_flush();
+ ao_led_toggle(ao_monitor_led);
+ }
+}
+
+__xdata struct ao_task ao_monitor_task;
+
+void
+ao_set_monitor(uint8_t monitoring)
+{
+ if (ao_monitoring)
+ ao_radio_recv_abort();
+ ao_monitoring = monitoring;
+ ao_wakeup(&ao_monitoring);
+}
+
+static void
+set_monitor(void)
+{
+ ao_cmd_hex();
+ ao_set_monitor(ao_cmd_lex_i);
+}
+
+__code struct ao_cmds ao_monitor_cmds[] = {
+ { set_monitor, "m <0 off, 1 full, 2 tiny>\0Enable/disable radio monitoring" },
+ { 0, NULL },
+};
+
+void
+ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant
+{
+ ao_monitor_led = monitor_led;
+ ao_monitoring = monitoring;
+ ao_cmd_register(&ao_monitor_cmds[0]);
+ ao_add_task(&ao_monitor_task, ao_monitor, "monitor");
+}
--- /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);
+ __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);
+ __critical {
+ *mutex = 0;
+ ao_wakeup(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.
+ */
+
+#include "ao.h"
+
+__xdata struct ao_packet_recv ao_rx_packet;
+__xdata struct ao_packet ao_tx_packet;
+__pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used;
+
+static __xdata char tx_data[AO_PACKET_MAX];
+static __xdata char rx_data[AO_PACKET_MAX];
+static __pdata uint8_t rx_seq;
+
+__xdata struct ao_task ao_packet_task;
+__xdata uint8_t ao_packet_enable;
+__xdata uint8_t ao_packet_master_sleeping;
+
+void
+ao_packet_send(void)
+{
+ ao_led_on(AO_LED_RED);
+ /* If any tx data is pending then copy it into the tx packet */
+ if (ao_packet_tx_used && ao_tx_packet.len == 0) {
+ memcpy(&ao_tx_packet.d, tx_data, ao_packet_tx_used);
+ ao_tx_packet.len = ao_packet_tx_used;
+ ao_tx_packet.seq++;
+ ao_packet_tx_used = 0;
+ ao_wakeup(&tx_data);
+ }
+ ao_radio_send(&ao_tx_packet, sizeof (ao_tx_packet));
+ ao_led_off(AO_LED_RED);
+}
+
+uint8_t
+ao_packet_recv(void)
+{
+ uint8_t dma_done;
+
+#ifdef AO_LED_GREEN
+ ao_led_on(AO_LED_GREEN);
+#endif
+ dma_done = ao_radio_recv(&ao_rx_packet, sizeof (struct ao_packet_recv));
+#ifdef AO_LED_GREEN
+ ao_led_off(AO_LED_GREEN);
+#endif
+
+ /* Check to see if we got a valid packet */
+ if (!dma_done)
+ return 0;
+ if (!(ao_rx_packet.status & PKT_APPEND_STATUS_1_CRC_OK))
+ return 0;
+
+ /* SYN packets carry no data */
+ if (ao_rx_packet.packet.len == AO_PACKET_SYN) {
+ rx_seq = ao_rx_packet.packet.seq;
+ ao_tx_packet.seq = ao_rx_packet.packet.ack;
+ ao_tx_packet.ack = rx_seq;
+ } else if (ao_rx_packet.packet.len) {
+
+ /* Check for incoming data at the next sequence and
+ * for an empty data buffer
+ */
+ if (ao_rx_packet.packet.seq == (uint8_t) (rx_seq + (uint8_t) 1) &&
+ ao_packet_rx_used == ao_packet_rx_len) {
+
+ /* Copy data to the receive data buffer and set up the
+ * offsets
+ */
+ memcpy(rx_data, ao_rx_packet.packet.d, ao_rx_packet.packet.len);
+ ao_packet_rx_used = 0;
+ ao_packet_rx_len = ao_rx_packet.packet.len;
+
+ /* Mark the sequence that we've received to
+ * let the sender know when we return a packet
+ */
+ rx_seq = ao_rx_packet.packet.seq;
+ ao_tx_packet.ack = rx_seq;
+
+ /* Poke anyone looking for received data */
+ ao_wakeup(&ao_stdin_ready);
+ }
+ }
+
+ /* If the other side has seen the latest data we queued,
+ * wake up any task waiting to send data and let them go again
+ */
+ if (ao_rx_packet.packet.ack == ao_tx_packet.seq) {
+ ao_tx_packet.len = 0;
+ ao_wakeup(&ao_tx_packet);
+ }
+ return 1;
+}
+
+#ifndef PACKET_HAS_MASTER
+#define PACKET_HAS_MASTER 1
+#endif
+
+#if PACKET_HAS_MASTER
+void
+ao_packet_flush(void)
+{
+ /* If there is data to send, and this is the master,
+ * then poke the master to send all queued data
+ */
+ if (ao_packet_tx_used && ao_packet_master_sleeping)
+ ao_wakeup(&ao_packet_master_sleeping);
+}
+#endif /* PACKET_HAS_MASTER */
+
+void
+ao_packet_putchar(char c) __reentrant
+{
+ while (ao_packet_tx_used == AO_PACKET_MAX && ao_packet_enable) {
+#if PACKET_HAS_MASTER
+ ao_packet_flush();
+#endif
+ ao_sleep(&tx_data);
+ }
+
+ if (ao_packet_enable)
+ tx_data[ao_packet_tx_used++] = c;
+}
+
+char
+ao_packet_pollchar(void) __critical
+{
+ if (!ao_packet_enable)
+ return AO_READ_AGAIN;
+
+ if (ao_packet_rx_used == ao_packet_rx_len)
+ return AO_READ_AGAIN;
+
+ return rx_data[ao_packet_rx_used++];
+}
--- /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 char
+ao_packet_getchar(void) __critical
+{
+ char c;
+ while ((c = ao_packet_pollchar()) == AO_READ_AGAIN) {
+ if (!ao_packet_enable)
+ break;
+ if (ao_packet_master_sleeping)
+ ao_wakeup(&ao_packet_master_sleeping);
+ flush();
+ ao_sleep(&ao_stdin_ready);
+ }
+ return c;
+}
+
+static void
+ao_packet_echo(void) __reentrant
+{
+ char c;
+ while (ao_packet_enable) {
+ c = ao_packet_getchar();
+ if (c != AO_READ_AGAIN)
+ putchar(c);
+ }
+ ao_exit();
+}
+
+static __xdata struct ao_task ao_packet_echo_task;
+static __xdata uint16_t ao_packet_master_delay;
+static __xdata uint16_t ao_packet_master_time;
+
+#define AO_PACKET_MASTER_DELAY_SHORT AO_MS_TO_TICKS(100)
+#define AO_PACKET_MASTER_DELAY_LONG AO_MS_TO_TICKS(1000)
+#define AO_PACKET_MASTER_DELAY_TIMEOUT AO_MS_TO_TICKS(2000)
+
+static void
+ao_packet_master_busy(void)
+{
+ ao_packet_master_delay = AO_PACKET_MASTER_DELAY_SHORT;
+ ao_packet_master_time = ao_time();
+}
+
+static void
+ao_packet_master_check_busy(void)
+{
+ int16_t idle;
+ if (ao_packet_master_delay != AO_PACKET_MASTER_DELAY_SHORT)
+ return;
+ idle = (int16_t) (ao_time() - ao_packet_master_time);
+
+ if (idle > AO_PACKET_MASTER_DELAY_TIMEOUT)
+ ao_packet_master_delay = AO_PACKET_MASTER_DELAY_LONG;
+}
+
+void
+ao_packet_master(void)
+{
+ ao_config_get();
+ ao_tx_packet.addr = ao_serial_number;
+ ao_tx_packet.len = AO_PACKET_SYN;
+ ao_packet_master_time = ao_time();
+ ao_packet_master_delay = AO_PACKET_MASTER_DELAY_SHORT;
+ while (ao_packet_enable) {
+ memcpy(ao_tx_packet.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
+ ao_packet_send();
+ if (ao_tx_packet.len)
+ ao_packet_master_busy();
+ ao_packet_master_check_busy();
+ ao_alarm(ao_packet_master_delay);
+ if (ao_packet_recv()) {
+ /* if we can transmit data, do so */
+ if (ao_packet_tx_used && ao_tx_packet.len == 0)
+ continue;
+ if (ao_rx_packet.packet.len)
+ ao_packet_master_busy();
+ ao_packet_master_sleeping = 1;
+ ao_alarm(ao_packet_master_delay);
+ ao_sleep(&ao_packet_master_sleeping);
+ ao_packet_master_sleeping = 0;
+ }
+ }
+ ao_exit();
+}
+
+static void
+ao_packet_forward(void) __reentrant
+{
+ char c;
+ ao_packet_enable = 1;
+ ao_cmd_white();
+
+ flush();
+ ao_set_monitor(0);
+ ao_add_task(&ao_packet_task, ao_packet_master, "master");
+ ao_add_task(&ao_packet_echo_task, ao_packet_echo, "echo");
+ while ((c = getchar()) != '~') {
+ if (c == '\r') c = '\n';
+ ao_packet_putchar(c);
+ }
+
+ /* Wait for a second if there is any pending data */
+ for (c = 0; (ao_packet_tx_used || ao_tx_packet.len) && c < 10; c++)
+ ao_delay(AO_MS_TO_TICKS(100));
+ ao_packet_enable = 0;
+ while (ao_packet_echo_task.wchan || ao_packet_task.wchan) {
+ ao_radio_recv_abort();
+ ao_wakeup(&ao_stdin_ready);
+ ao_delay(AO_MS_TO_TICKS(10));
+ }
+}
+
+
+
+__code struct ao_cmds ao_packet_master_cmds[] = {
+ { ao_packet_forward, "p\0Remote packet link." },
+ { 0, NULL },
+};
+
+void
+ao_packet_master_init(void)
+{
+ ao_cmd_register(&ao_packet_master_cmds[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"
+
+void
+ao_packet_slave(void)
+{
+ ao_tx_packet.addr = ao_serial_number;
+ ao_tx_packet.len = AO_PACKET_SYN;
+ while (ao_packet_enable) {
+ if (ao_packet_recv()) {
+ memcpy(&ao_tx_packet.callsign, &ao_rx_packet.packet.callsign, AO_MAX_CALLSIGN);
+#if HAS_FLIGHT
+ ao_flight_force_idle = TRUE;
+#endif
+ ao_packet_send();
+ }
+ }
+ ao_exit();
+}
+
+void
+ao_packet_slave_start(void)
+{
+ ao_packet_enable = 1;
+ ao_add_task(&ao_packet_task, ao_packet_slave, "slave");
+}
+
+void
+ao_packet_slave_stop(void)
+{
+ if (ao_packet_enable) {
+ ao_packet_enable = 0;
+ while (ao_packet_task.wchan) {
+ ao_radio_recv_abort();
+ ao_delay(AO_MS_TO_TICKS(10));
+ }
+ }
+}
+
+void
+ao_packet_slave_init(uint8_t enable)
+{
+ ao_add_stdio(ao_packet_pollchar,
+ ao_packet_putchar,
+ NULL);
+ if (enable)
+ ao_packet_slave_start();
+}
--- /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"
+
+#if !HAS_BEEP
+#define ao_beep(x)
+#endif
+#if !LEDS_AVAILABLE
+#define ao_led_on(x)
+#define ao_led_off(x)
+#endif
+
+static void
+ao_panic_delay(uint8_t n)
+{
+ uint8_t i = 0, j = 0;
+
+ while (n--)
+ while (--j)
+ while (--i)
+ asm_nop;
+}
+
+void
+ao_panic(uint8_t reason)
+{
+ uint8_t n;
+
+ __critical for (;;) {
+ ao_panic_delay(20);
+ for (n = 0; n < 5; n++) {
+ ao_led_on(AO_LED_RED);
+ ao_beep(AO_BEEP_HIGH);
+ ao_panic_delay(1);
+ ao_led_off(AO_LED_RED);
+ ao_beep(AO_BEEP_LOW);
+ ao_panic_delay(1);
+ }
+ ao_beep(AO_BEEP_OFF);
+ ao_panic_delay(2);
+#ifndef AVR
+#pragma disable_warning 126
+#endif
+ for (n = 0; n < reason; n++) {
+ ao_led_on(AO_LED_RED);
+ ao_beep(AO_BEEP_MID);
+ ao_panic_delay(10);
+ ao_led_off(AO_LED_RED);
+ ao_beep(AO_BEEP_OFF);
+ ao_panic_delay(10);
+ }
+ }
+}
--- /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.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+#if defined(TELEMETRUM_V_1_0)
+ #define HAS_FLIGHT 1
+ #define HAS_USB 1
+ #define HAS_BEEP 1
+ #define HAS_GPS 1
+ #define HAS_SERIAL_1 1
+ #define HAS_ADC 1
+ #define USE_SERIAL_STDIN 0
+ #define HAS_EEPROM 1
+ #define USE_INTERNAL_FLASH 0
+ #define HAS_DBG 1
+ #define DBG_ON_P1 1
+ #define DBG_ON_P0 0
+ #define IGNITE_ON_P2 1
+ #define IGNITE_ON_P0 0
+ #define PACKET_HAS_MASTER 0
+ #define PACKET_HAS_SLAVE 1
+
+ #define AO_LED_RED 1
+ #define LEDS_AVAILABLE (AO_LED_RED)
+ #define HAS_EXTERNAL_TEMP 0
+ #define HAS_ACCEL_REF 0
+ #define HAS_ACCEL 1
+ #define HAS_IGNITE 1
+#endif
+
+#if defined(TELEMETRUM_V_1_1)
+ #define HAS_FLIGHT 1
+ #define HAS_USB 1
+ #define HAS_BEEP 1
+ #define HAS_GPS 1
+ #define HAS_SERIAL_1 1
+ #define USE_SERIAL_STDIN 0
+ #define HAS_ADC 1
+ #define HAS_EEPROM 1
+ #define USE_INTERNAL_FLASH 0
+ #define HAS_DBG 1
+ #define DBG_ON_P1 1
+ #define DBG_ON_P0 0
+ #define IGNITE_ON_P2 1
+ #define IGNITE_ON_P0 0
+ #define PACKET_HAS_MASTER 0
+ #define PACKET_HAS_SLAVE 1
+
+ #define AO_LED_RED 1
+ #define LEDS_AVAILABLE (AO_LED_RED)
+ #define HAS_EXTERNAL_TEMP 0
+ #define HAS_ACCEL_REF 1
+ #define SPI_CS_ON_P1 1
+ #define SPI_CS_ON_P0 0
+ #define M25_CS_MASK 0x02 /* CS0 is P1_1 */
+ #define M25_MAX_CHIPS 1
+ #define HAS_ACCEL 1
+ #define HAS_IGNITE 1
+#endif
+
+#if defined(TELEDONGLE_V_0_2)
+ #define HAS_FLIGHT 0
+ #define HAS_USB 1
+ #define HAS_BEEP 0
+ #define HAS_SERIAL_1 0
+ #define USE_SERIAL_STDIN 0
+ #define HAS_ADC 0
+ #define HAS_DBG 1
+ #define HAS_EEPROM 0
+ #define DBG_ON_P1 1
+ #define DBG_ON_P0 0
+ #define IGNITE_ON_P2 0
+ #define IGNITE_ON_P0 0
+ #define PACKET_HAS_MASTER 1
+ #define PACKET_HAS_SLAVE 0
+ #define AO_LED_RED 1
+ #define AO_LED_GREEN 2
+ #define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN)
+ #define SPI_CS_ON_P1 1
+ #define SPI_CS_ON_P0 0
+ #define HAS_IGNITE 0
+#endif
+
+#if defined(TELEMINI_V_0_1)
+ #define HAS_FLIGHT 1
+ #define HAS_USB 0
+ #define HAS_BEEP 0
+ #define HAS_GPS 0
+ #define HAS_SERIAL_1 0
+ #define USE_SERIAL_STDIN 0
+ #define HAS_ADC 1
+ #define HAS_EEPROM 1
+ #define USE_INTERNAL_FLASH 1
+ #define HAS_DBG 0
+ #define IGNITE_ON_P2 0
+ #define IGNITE_ON_P0 1
+ #define PACKET_HAS_MASTER 0
+ #define PACKET_HAS_SLAVE 1
+ #define USE_FAST_ASCENT_LOG 1
+
+ #define AO_LED_GREEN 1
+ #define AO_LED_RED 2
+ #define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN)
+ #define HAS_EXTERNAL_TEMP 0
+ #define HAS_ACCEL 0
+ #define HAS_IGNITE 1
+#endif
+
+#if defined(TELENANO_V_0_1)
+ #define HAS_FLIGHT 1
+ #define HAS_USB 0
+ #define HAS_BEEP 0
+ #define HAS_GPS 0
+ #define HAS_SERIAL_1 0
+ #define USE_SERIAL_STDIN 0
+ #define HAS_ADC 1
+ #define HAS_EEPROM 1
+ #define USE_INTERNAL_FLASH 1
+ #define HAS_DBG 0
+ #define IGNITE_ON_P2 0
+ #define IGNITE_ON_P0 1
+ #define PACKET_HAS_MASTER 0
+ #define PACKET_HAS_SLAVE 1
+
+ #define AO_LED_GREEN 1
+ #define AO_LED_RED 2
+ #define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN)
+ #define HAS_EXTERNAL_TEMP 0
+ #define HAS_ACCEL 0
+ #define HAS_IGNITE 0
+#endif
+
+#if defined(TELEMETRUM_V_0_1)
+ #define HAS_FLIGHT 1
+ #define HAS_USB 1
+ #define HAS_BEEP 1
+ #define HAS_GPS 1
+ #define HAS_SERIAL_1 1
+ #define USE_SERIAL_STDIN 0
+ #define HAS_ADC 1
+ #define HAS_DBG 0
+ #define HAS_EEPROM 1
+ #define USE_INTERNAL_FLASH 0
+ #define DBG_ON_P1 0
+ #define DBG_ON_P0 1
+ #define IGNITE_ON_P2 1
+ #define IGNITE_ON_P0 0
+ #define PACKET_HAS_MASTER 0
+ #define PACKET_HAS_SLAVE 1
+ #define AO_LED_RED 2
+ #define AO_LED_GREEN 1
+ #define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN)
+ #define HAS_EXTERNAL_TEMP 1
+ #define HAS_ACCEL_REF 0
+ #define SPI_CS_ON_P1 1
+ #define SPI_CS_ON_P0 0
+ #define HAS_ACCEL 1
+ #define HAS_IGNITE 1
+#endif
+
+#if defined(TELEDONGLE_V_0_1)
+ #define HAS_FLIGHT 0
+ #define HAS_USB 1
+ #define HAS_BEEP 0
+ #define HAS_SERIAL_1 0
+ #define USE_SERIAL_STDIN 0
+ #define HAS_ADC 0
+ #define HAS_DBG 0
+ #define HAS_EEPROM 0
+ #define DBG_ON_P1 0
+ #define DBG_ON_P0 1
+ #define IGNITE_ON_P2 0
+ #define IGNITE_ON_P0 0
+ #define PACKET_HAS_MASTER 1
+ #define PACKET_HAS_SLAVE 0
+ #define AO_LED_RED 2
+ #define AO_LED_GREEN 1
+ #define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN)
+ #define SPI_CS_ON_P1 0
+ #define SPI_CS_ON_P0 1
+ #define HAS_IGNITE 0
+#endif
+
+#if defined(TIDONGLE)
+ #define HAS_FLIGHT 0
+ #define HAS_USB 1
+ #define HAS_BEEP 0
+ #define HAS_SERIAL_1 0
+ #define USE_SERIAL_STDIN 0
+ #define HAS_ADC 0
+ #define HAS_DBG 1
+ #define HAS_EEPROM 0
+ #define DBG_ON_P1 0
+ #define DBG_ON_P0 1
+ #define IGNITE_ON_P2 0
+ #define IGNITE_ON_P0 0
+ #define PACKET_HAS_MASTER 1
+ #define PACKET_HAS_SLAVE 0
+ #define AO_LED_RED 2
+ #define LEDS_AVAILABLE (AO_LED_RED)
+ #define SPI_CS_ON_P1 0
+ #define SPI_CS_ON_P0 1
+ #define HAS_IGNITE 0
+#endif
+
+#if defined(TELEBT_V_0_0)
+ #define HAS_FLIGHT 0
+ #define HAS_USB 1
+ #define HAS_BEEP 0
+ #define HAS_SERIAL_1 1
+ #define USE_SERIAL_STDIN 1
+ #define HAS_ADC 0
+ #define HAS_DBG 1
+ #define HAS_EEPROM 0
+ #define HAS_BTM 1
+ #define DBG_ON_P1 0
+ #define DBG_ON_P0 1
+ #define IGNITE_ON_P2 0
+ #define IGNITE_ON_P0 0
+ #define PACKET_HAS_MASTER 1
+ #define PACKET_HAS_SLAVE 0
+ #define AO_LED_RED 2
+ #define AO_LED_GREEN 1
+ #define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN)
+ #define SPI_CS_ON_P1 1
+ #define SPI_CS_ON_P0 0
+ #define HAS_IGNITE 0
+#endif
+
+#ifdef AVR_DEMO
+ #define AO_LED_RED (1<<7)
+ #define LEDS_AVAILABLE (AO_LED_RED)
+ #define USE_SERIAL_STDIN 1
+ #define HAS_USB 0
+ #define PACKET_HAS_SLAVE 0
+ #define HAS_SERIAL_1 1
+#endif
+
+#ifndef AVR
+
+#if DBG_ON_P1
+
+ #define DBG_CLOCK (1 << 4) /* mi0 */
+ #define DBG_DATA (1 << 5) /* mo0 */
+ #define DBG_RESET_N (1 << 3) /* c0 */
+
+ #define DBG_CLOCK_PIN (P1_4)
+ #define DBG_DATA_PIN (P1_5)
+ #define DBG_RESET_N_PIN (P1_3)
+
+ #define DBG_PORT_NUM 1
+ #define DBG_PORT P1
+ #define DBG_PORT_SEL P1SEL
+ #define DBG_PORT_INP P1INP
+ #define DBG_PORT_DIR P1DIR
+
+#endif /* DBG_ON_P1 */
+
+#if DBG_ON_P0
+
+ #define DBG_CLOCK (1 << 3)
+ #define DBG_DATA (1 << 4)
+ #define DBG_RESET_N (1 << 5)
+
+ #define DBG_CLOCK_PIN (P0_3)
+ #define DBG_DATA_PIN (P0_4)
+ #define DBG_RESET_N_PIN (P0_5)
+
+ #define DBG_PORT_NUM 0
+ #define DBG_PORT P0
+ #define DBG_PORT_SEL P0SEL
+ #define DBG_PORT_INP P0INP
+ #define DBG_PORT_DIR P0DIR
+
+#endif /* DBG_ON_P0 */
+
+#if SPI_CS_ON_P1
+ #define SPI_CS_PORT P1
+ #define SPI_CS_SEL P1SEL
+ #define SPI_CS_DIR P1DIR
+#endif
+
+#if SPI_CS_ON_P0
+ #define SPI_CS_PORT P0
+ #define SPI_CS_SEL P0SEL
+ #define SPI_CS_DIR P0DIR
+#endif
+
+#ifndef IGNITE_ON_P2
+#error Please define IGNITE_ON_P2
+#endif
+
+#ifndef IGNITE_ON_P0
+#error Please define IGNITE_ON_P0
+#endif
+
+#ifndef HAS_SERIAL_1
+#error Please define HAS_SERIAL_1
+#endif
+
+#ifndef USE_SERIAL_STDIN
+#error Please define USE_SERIAL_STDIN
+#endif
+
+#ifndef HAS_ADC
+#error Please define HAS_ADC
+#endif
+
+#ifndef HAS_EEPROM
+#error Please define HAS_EEPROM
+#endif
+
+#if HAS_EEPROM
+#ifndef USE_INTERNAL_FLASH
+#error Please define USE_INTERNAL_FLASH
+#endif
+#endif
+
+#ifndef HAS_DBG
+#error Please define HAS_DBG
+#endif
+
+#ifndef HAS_IGNITE
+#error Please define HAS_IGNITE
+#endif
+
+#ifndef PACKET_HAS_MASTER
+#error Please define PACKET_HAS_MASTER
+#endif
+
+#ifndef PACKET_HAS_SLAVE
+#error Please define PACKET_HAS_SLAVE
+#endif
+
+#ifndef HAS_USB
+#error Please define HAS_USB
+#endif
+
+#ifndef HAS_BEEP
+#error Please define HAS_BEEP
+#endif
+
+#endif
+
+#endif /* _AO_PINS_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 PRODUCT_DEFS
+
+/* Defines which mark this particular AltOS product */
+
+const char ao_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
+#include "ao_usb.h"
+/* USB descriptors in one giant block of bytes */
+__code __at(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 */
+ 0x32, /* bMaxPower */
+
+ /* 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,
+ CS_INTERFACE,
+ 0x00, /* bDescriptor SubType Header */
+ LE_WORD(0x0110), /* CDC version 1.1 */
+
+ /* Call management functional descriptor */
+ 0x05,
+ CS_INTERFACE,
+ 0x01, /* bDescriptor SubType Call Management */
+ 0x01, /* bmCapabilities = device handles call management */
+ 0x01, /* bDataInterface call management interface number */
+
+ /* ACM functional descriptor */
+ 0x04,
+ 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,
+ 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 */
+ 0x0A, /* 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 © 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"
+
+/* Values from SmartRF® Studio for:
+ *
+ * Deviation: 20.507812 kHz
+ * Datarate: 38.360596 kBaud
+ * Modulation: GFSK
+ * RF Freq: 434.549927 MHz
+ * Channel: 99.975586 kHz
+ * Channel: 0
+ * RX filter: 93.75 kHz
+ */
+
+/*
+ * For IF freq of 140.62kHz, the IF value is:
+ *
+ * 140.62e3 / (24e6 / 2**10) = 6
+ */
+
+#define IF_FREQ_CONTROL 6
+
+/*
+ * For channel bandwidth of 93.75 kHz, the CHANBW_E and CHANBW_M values are
+ *
+ * BW = 24e6 / (8 * (4 + M) * 2 ** E)
+ *
+ * So, M = 0 and E = 3
+ */
+
+#define CHANBW_M 0
+#define CHANBW_E 3
+
+/*
+ * For a symbol rate of 38360kBaud, the DRATE_E and DRATE_M values are:
+ *
+ * R = (256 + M) * 2** E * 24e6 / 2**28
+ *
+ * So M is 163 and E is 10
+ */
+
+#define DRATE_E 10
+#define DRATE_M 163
+
+/*
+ * For a channel deviation of 20.5kHz, the DEVIATION_E and DEVIATION_M values are:
+ *
+ * F = 24e6/2**17 * (8 + DEVIATION_M) * 2**DEVIATION_E
+ *
+ * So M is 6 and E is 3
+ */
+
+#define DEVIATION_M 6
+#define DEVIATION_E 3
+
+/*
+ * For our RDF beacon, set the symbol rate to 2kBaud (for a 1kHz tone),
+ * so the DRATE_E and DRATE_M values are:
+ *
+ * M is 94 and E is 6
+ *
+ * To make the tone last for 200ms, we need 2000 * .2 = 400 bits or 50 bytes
+ */
+
+#define RDF_DRATE_E 6
+#define RDF_DRATE_M 94
+#define RDF_PACKET_LEN 50
+
+/*
+ * RDF deviation should match the normal NFM value of 5kHz
+ *
+ * M is 6 and E is 1
+ *
+ */
+
+#define RDF_DEVIATION_M 6
+#define RDF_DEVIATION_E 1
+
+/* This are from the table for 433MHz */
+
+#define RF_POWER_M30_DBM 0x12
+#define RF_POWER_M20_DBM 0x0e
+#define RF_POWER_M15_DBM 0x1d
+#define RF_POWER_M10_DBM 0x34
+#define RF_POWER_M5_DBM 0x2c
+#define RF_POWER_0_DBM 0x60
+#define RF_POWER_5_DBM 0x84
+#define RF_POWER_7_DBM 0xc8
+#define RF_POWER_10_DBM 0xc0
+
+#define RF_POWER RF_POWER_10_DBM
+
+static __code uint8_t radio_setup[] = {
+ RF_PA_TABLE7_OFF, RF_POWER,
+ RF_PA_TABLE6_OFF, RF_POWER,
+ RF_PA_TABLE5_OFF, RF_POWER,
+ RF_PA_TABLE4_OFF, RF_POWER,
+ RF_PA_TABLE3_OFF, RF_POWER,
+ RF_PA_TABLE2_OFF, RF_POWER,
+ RF_PA_TABLE1_OFF, RF_POWER,
+ RF_PA_TABLE0_OFF, RF_POWER,
+
+ RF_FSCTRL1_OFF, (IF_FREQ_CONTROL << RF_FSCTRL1_FREQ_IF_SHIFT),
+ RF_FSCTRL0_OFF, (0 << RF_FSCTRL0_FREQOFF_SHIFT),
+
+ RF_MDMCFG4_OFF, ((CHANBW_E << RF_MDMCFG4_CHANBW_E_SHIFT) |
+ (CHANBW_M << RF_MDMCFG4_CHANBW_M_SHIFT) |
+ (DRATE_E << RF_MDMCFG4_DRATE_E_SHIFT)),
+ RF_MDMCFG3_OFF, (DRATE_M << RF_MDMCFG3_DRATE_M_SHIFT),
+ RF_MDMCFG2_OFF, (RF_MDMCFG2_DEM_DCFILT_OFF |
+ RF_MDMCFG2_MOD_FORMAT_GFSK |
+ RF_MDMCFG2_SYNC_MODE_15_16_THRES),
+ RF_MDMCFG1_OFF, (RF_MDMCFG1_FEC_EN |
+ RF_MDMCFG1_NUM_PREAMBLE_4 |
+ (2 << RF_MDMCFG1_CHANSPC_E_SHIFT)),
+ RF_MDMCFG0_OFF, (17 << RF_MDMCFG0_CHANSPC_M_SHIFT),
+
+ RF_CHANNR_OFF, 0,
+
+ RF_DEVIATN_OFF, ((DEVIATION_E << RF_DEVIATN_DEVIATION_E_SHIFT) |
+ (DEVIATION_M << RF_DEVIATN_DEVIATION_M_SHIFT)),
+
+ /* SmartRF says set LODIV_BUF_CURRENT_TX to 0
+ * And, we're not using power ramping, so use PA_POWER 0
+ */
+ RF_FREND0_OFF, ((1 << RF_FREND0_LODIV_BUF_CURRENT_TX_SHIFT) |
+ (0 << RF_FREND0_PA_POWER_SHIFT)),
+
+ RF_FREND1_OFF, ((1 << RF_FREND1_LNA_CURRENT_SHIFT) |
+ (1 << RF_FREND1_LNA2MIX_CURRENT_SHIFT) |
+ (1 << RF_FREND1_LODIV_BUF_CURRENT_RX_SHIFT) |
+ (2 << RF_FREND1_MIX_CURRENT_SHIFT)),
+
+ RF_FSCAL3_OFF, 0xE9,
+ RF_FSCAL2_OFF, 0x0A,
+ RF_FSCAL1_OFF, 0x00,
+ RF_FSCAL0_OFF, 0x1F,
+
+ RF_TEST2_OFF, 0x88,
+ RF_TEST1_OFF, 0x31,
+ RF_TEST0_OFF, 0x09,
+
+ /* default sync values */
+ RF_SYNC1_OFF, 0xD3,
+ RF_SYNC0_OFF, 0x91,
+
+ /* max packet length */
+ RF_PKTLEN_OFF, sizeof (struct ao_telemetry),
+
+ RF_PKTCTRL1_OFF, ((1 << PKTCTRL1_PQT_SHIFT)|
+ PKTCTRL1_APPEND_STATUS|
+ PKTCTRL1_ADR_CHK_NONE),
+ RF_PKTCTRL0_OFF, (RF_PKTCTRL0_WHITE_DATA|
+ RF_PKTCTRL0_PKT_FORMAT_NORMAL|
+ RF_PKTCTRL0_CRC_EN|
+ RF_PKTCTRL0_LENGTH_CONFIG_FIXED),
+ RF_ADDR_OFF, 0x00,
+ RF_MCSM2_OFF, (RF_MCSM2_RX_TIME_END_OF_PACKET),
+ RF_MCSM1_OFF, (RF_MCSM1_CCA_MODE_RSSI_BELOW_UNLESS_RECEIVING|
+ RF_MCSM1_RXOFF_MODE_IDLE|
+ RF_MCSM1_TXOFF_MODE_IDLE),
+ RF_MCSM0_OFF, (RF_MCSM0_FS_AUTOCAL_FROM_IDLE|
+ RF_MCSM0_MAGIC_3|
+ RF_MCSM0_CLOSE_IN_RX_0DB),
+ RF_FOCCFG_OFF, (RF_FOCCFG_FOC_PRE_K_3K,
+ RF_FOCCFG_FOC_POST_K_PRE_K,
+ RF_FOCCFG_FOC_LIMIT_BW_OVER_4),
+ RF_BSCFG_OFF, (RF_BSCFG_BS_PRE_K_2K|
+ RF_BSCFG_BS_PRE_KP_3KP|
+ RF_BSCFG_BS_POST_KI_PRE_KI|
+ RF_BSCFG_BS_POST_KP_PRE_KP|
+ RF_BSCFG_BS_LIMIT_0),
+ RF_AGCCTRL2_OFF, 0x43,
+ RF_AGCCTRL1_OFF, 0x40,
+ RF_AGCCTRL0_OFF, 0x91,
+
+ RF_IOCFG2_OFF, 0x00,
+ RF_IOCFG1_OFF, 0x00,
+ RF_IOCFG0_OFF, 0x00,
+};
+
+static __code uint8_t rdf_setup[] = {
+ RF_MDMCFG4_OFF, ((CHANBW_E << RF_MDMCFG4_CHANBW_E_SHIFT) |
+ (CHANBW_M << RF_MDMCFG4_CHANBW_M_SHIFT) |
+ (RDF_DRATE_E << RF_MDMCFG4_DRATE_E_SHIFT)),
+ RF_MDMCFG3_OFF, (RDF_DRATE_M << RF_MDMCFG3_DRATE_M_SHIFT),
+ RF_MDMCFG2_OFF, (RF_MDMCFG2_DEM_DCFILT_OFF |
+ RF_MDMCFG2_MOD_FORMAT_GFSK |
+ RF_MDMCFG2_SYNC_MODE_15_16_THRES),
+ RF_MDMCFG1_OFF, (RF_MDMCFG1_FEC_DIS |
+ RF_MDMCFG1_NUM_PREAMBLE_2 |
+ (2 << RF_MDMCFG1_CHANSPC_E_SHIFT)),
+
+ RF_DEVIATN_OFF, ((RDF_DEVIATION_E << RF_DEVIATN_DEVIATION_E_SHIFT) |
+ (RDF_DEVIATION_M << RF_DEVIATN_DEVIATION_M_SHIFT)),
+
+ /* packet length is set in-line */
+ RF_PKTCTRL1_OFF, ((1 << PKTCTRL1_PQT_SHIFT)|
+ PKTCTRL1_ADR_CHK_NONE),
+ RF_PKTCTRL0_OFF, (RF_PKTCTRL0_PKT_FORMAT_NORMAL|
+ RF_PKTCTRL0_LENGTH_CONFIG_FIXED),
+};
+
+static __code uint8_t fixed_pkt_setup[] = {
+ RF_MDMCFG4_OFF, ((CHANBW_E << RF_MDMCFG4_CHANBW_E_SHIFT) |
+ (CHANBW_M << RF_MDMCFG4_CHANBW_M_SHIFT) |
+ (DRATE_E << RF_MDMCFG4_DRATE_E_SHIFT)),
+ RF_MDMCFG3_OFF, (DRATE_M << RF_MDMCFG3_DRATE_M_SHIFT),
+ RF_MDMCFG2_OFF, (RF_MDMCFG2_DEM_DCFILT_OFF |
+ RF_MDMCFG2_MOD_FORMAT_GFSK |
+ RF_MDMCFG2_SYNC_MODE_15_16_THRES),
+ RF_MDMCFG1_OFF, (RF_MDMCFG1_FEC_EN |
+ RF_MDMCFG1_NUM_PREAMBLE_4 |
+ (2 << RF_MDMCFG1_CHANSPC_E_SHIFT)),
+
+ RF_DEVIATN_OFF, ((DEVIATION_E << RF_DEVIATN_DEVIATION_E_SHIFT) |
+ (DEVIATION_M << RF_DEVIATN_DEVIATION_M_SHIFT)),
+
+ /* max packet length -- now set inline */
+ // RF_PKTLEN_OFF, sizeof (struct ao_telemetry),
+ RF_PKTCTRL1_OFF, ((1 << PKTCTRL1_PQT_SHIFT)|
+ PKTCTRL1_APPEND_STATUS|
+ PKTCTRL1_ADR_CHK_NONE),
+ RF_PKTCTRL0_OFF, (RF_PKTCTRL0_WHITE_DATA|
+ RF_PKTCTRL0_PKT_FORMAT_NORMAL|
+ RF_PKTCTRL0_CRC_EN|
+ RF_PKTCTRL0_LENGTH_CONFIG_FIXED),
+};
+
+__xdata uint8_t ao_radio_dma;
+__xdata uint8_t ao_radio_dma_done;
+__xdata uint8_t ao_radio_done;
+__xdata uint8_t ao_radio_abort;
+__xdata uint8_t ao_radio_mutex;
+
+void
+ao_radio_general_isr(void) __interrupt 16
+{
+ S1CON &= ~0x03;
+ if (RFIF & RFIF_IM_TIMEOUT) {
+ ao_radio_recv_abort();
+ RFIF &= ~ RFIF_IM_TIMEOUT;
+ } else if (RFIF & RFIF_IM_DONE) {
+ ao_radio_done = 1;
+ ao_wakeup(&ao_radio_done);
+ RFIF &= ~RFIF_IM_DONE;
+ }
+}
+
+void
+ao_radio_set_packet(void)
+{
+ uint8_t i;
+ for (i = 0; i < sizeof (fixed_pkt_setup); i += 2)
+ RF[fixed_pkt_setup[i]] = fixed_pkt_setup[i+1];
+}
+
+void
+ao_radio_idle(void)
+{
+ if (RF_MARCSTATE != RF_MARCSTATE_IDLE)
+ {
+ do {
+ RFST = RFST_SIDLE;
+ ao_yield();
+ } while (RF_MARCSTATE != RF_MARCSTATE_IDLE);
+ }
+}
+
+void
+ao_radio_get(uint8_t len)
+{
+ ao_config_get();
+ ao_mutex_get(&ao_radio_mutex);
+ ao_radio_idle();
+ RF_CHANNR = ao_config.radio_channel;
+ RF_FREQ2 = (uint8_t) (ao_config.radio_cal >> 16);
+ RF_FREQ1 = (uint8_t) (ao_config.radio_cal >> 8);
+ RF_FREQ0 = (uint8_t) (ao_config.radio_cal);
+ RF_PKTLEN = len;
+}
+
+
+void
+ao_radio_send(__xdata void *packet, uint8_t size) __reentrant
+{
+ ao_radio_get(size);
+ ao_radio_done = 0;
+ ao_dma_set_transfer(ao_radio_dma,
+ packet,
+ &RFDXADDR,
+ size,
+ DMA_CFG0_WORDSIZE_8 |
+ DMA_CFG0_TMODE_SINGLE |
+ DMA_CFG0_TRIGGER_RADIO,
+ DMA_CFG1_SRCINC_1 |
+ DMA_CFG1_DESTINC_0 |
+ DMA_CFG1_PRIORITY_HIGH);
+ ao_dma_start(ao_radio_dma);
+ RFST = RFST_STX;
+ __critical while (!ao_radio_done)
+ ao_sleep(&ao_radio_done);
+ ao_radio_put();
+}
+
+uint8_t
+ao_radio_recv(__xdata void *packet, uint8_t size) __reentrant
+{
+ ao_radio_abort = 0;
+ ao_radio_get(size - 2);
+ ao_dma_set_transfer(ao_radio_dma,
+ &RFDXADDR,
+ packet,
+ size,
+ DMA_CFG0_WORDSIZE_8 |
+ DMA_CFG0_TMODE_SINGLE |
+ DMA_CFG0_TRIGGER_RADIO,
+ DMA_CFG1_SRCINC_0 |
+ DMA_CFG1_DESTINC_1 |
+ DMA_CFG1_PRIORITY_HIGH);
+ ao_dma_start(ao_radio_dma);
+ RFST = RFST_SRX;
+
+ /* Wait for DMA to be done, for the radio receive process to
+ * get aborted or for a receive timeout to fire
+ */
+ __critical while (!ao_radio_dma_done && !ao_radio_abort)
+ if (ao_sleep(&ao_radio_dma_done))
+ break;
+
+ /* If recv was aborted, clean up by stopping the DMA engine
+ * and idling the radio
+ */
+ if (!ao_radio_dma_done) {
+ ao_dma_abort(ao_radio_dma);
+ ao_radio_idle();
+ }
+ ao_radio_put();
+ return ao_radio_dma_done;
+}
+
+/*
+ * Wake up a task waiting to receive a radio packet
+ * and tell them to abort the transfer
+ */
+
+void
+ao_radio_recv_abort(void)
+{
+ ao_radio_abort = 1;
+ ao_wakeup(&ao_radio_dma_done);
+}
+
+__xdata ao_radio_rdf_value = 0x55;
+
+void
+ao_radio_rdf(int ms)
+{
+ uint8_t i;
+ uint8_t pkt_len;
+
+ /*
+ * 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
+ */
+ if (ms > (255 * 4))
+ ms = 255 * 4;
+ pkt_len = ms >> 2;
+
+ ao_radio_abort = 0;
+ ao_radio_get(pkt_len);
+ ao_radio_done = 0;
+ for (i = 0; i < sizeof (rdf_setup); i += 2)
+ RF[rdf_setup[i]] = rdf_setup[i+1];
+
+ ao_dma_set_transfer(ao_radio_dma,
+ &ao_radio_rdf_value,
+ &RFDXADDR,
+ pkt_len,
+ DMA_CFG0_WORDSIZE_8 |
+ DMA_CFG0_TMODE_SINGLE |
+ DMA_CFG0_TRIGGER_RADIO,
+ DMA_CFG1_SRCINC_0 |
+ DMA_CFG1_DESTINC_0 |
+ DMA_CFG1_PRIORITY_HIGH);
+ ao_dma_start(ao_radio_dma);
+ RFST = RFST_STX;
+ __critical while (!ao_radio_done && !ao_radio_abort)
+ ao_sleep(&ao_radio_done);
+ if (!ao_radio_done) {
+ ao_dma_abort(ao_radio_dma);
+ ao_radio_idle();
+ }
+ ao_radio_set_packet();
+ ao_radio_put();
+}
+
+void
+ao_radio_rdf_abort(void)
+{
+ ao_radio_abort = 1;
+ ao_wakeup(&ao_radio_done);
+}
+
+
+/* Output carrier */
+void
+ao_radio_test(void)
+{
+ uint8_t mode = 2;
+ static __xdata radio_on;
+ ao_cmd_white();
+ if (ao_cmd_lex_c != '\n') {
+ ao_cmd_decimal();
+ mode = (uint8_t) ao_cmd_lex_u32;
+ }
+ mode++;
+ if ((mode & 2) && !radio_on) {
+ ao_set_monitor(0);
+ ao_packet_slave_stop();
+ ao_radio_get(0xff);
+ RFST = RFST_STX;
+ radio_on = 1;
+ }
+ if (mode == 3) {
+ printf ("Hit a character to stop..."); flush();
+ getchar();
+ putchar('\n');
+ }
+ if ((mode & 1) && radio_on) {
+ ao_radio_idle();
+ ao_radio_put();
+ radio_on = 0;
+ }
+}
+
+__code struct ao_cmds ao_radio_cmds[] = {
+ { ao_radio_test, "C <1 start, 0 stop, none both>\0Radio carrier test" },
+ { 0, NULL },
+};
+
+void
+ao_radio_init(void)
+{
+ uint8_t i;
+ for (i = 0; i < sizeof (radio_setup); i += 2)
+ RF[radio_setup[i]] = radio_setup[i+1];
+ ao_radio_set_packet();
+ ao_radio_dma_done = 1;
+ ao_radio_dma = ao_dma_alloc(&ao_radio_dma_done);
+ RFIF = 0;
+ RFIM = RFIM_IM_TIMEOUT|RFIM_IM_DONE;
+ IEN2 |= IEN2_RFIE;
+ ao_cmd_register(&ao_radio_cmds[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"
+
+/* Use the watchdog timer to force a complete reboot
+ */
+void
+ao_reboot(void)
+{
+ WDCTL = WDCTL_EN | WDCTL_MODE_WATCHDOG | WDCTL_INT_32768;
+ ao_delay(AO_SEC_TO_TICKS(2));
+ ao_panic(AO_PANIC_REBOOT);
+}
--- /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"
+
+#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 __xdata 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)
+{
+ __xdata int16_t agl = ao_max_height;
+ __xdata uint8_t digits[10];
+ __xdata uint8_t ndigits, i;
+
+ if (agl < 0)
+ agl = 0;
+ ndigits = 0;
+ do {
+ digits[ndigits++] = agl % 10;
+ agl /= 10;
+ } while (agl);
+
+ for (;;) {
+ ao_report_beep();
+ i = ndigits;
+ do
+ ao_report_digit(digits[--i]);
+ while (i != 0);
+ pause(AO_SEC_TO_TICKS(5));
+ }
+}
+
+#if HAS_IGNITE
+static uint8_t
+ao_report_igniter_ready(enum ao_igniter igniter)
+{
+ return ao_igniter_status(igniter) == ao_igniter_ready ? 1 : 0;
+}
+
+static void
+ao_report_continuity(void) __reentrant
+{
+ uint8_t c = (ao_report_igniter_ready(ao_igniter_drogue) |
+ (ao_report_igniter_ready(ao_igniter_main) << 1));
+ 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 (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));
+ }
+ }
+ c = 50;
+ while (c-- && ao_flight_state == ao_flight_pad)
+ pause(AO_MS_TO_TICKS(100));
+}
+#endif
+
+void
+ao_report(void)
+{
+ ao_report_state = ao_flight_state;
+ for(;;) {
+ if (ao_flight_state == ao_flight_landed)
+ ao_report_altitude();
+ ao_report_beep();
+#if HAS_IGNITE
+ if (ao_flight_state == ao_flight_idle)
+ ao_report_continuity();
+ while (ao_flight_state == ao_flight_pad)
+ ao_report_continuity();
+#endif
+ __critical {
+ 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 © 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 "ao.h"
+
+#ifdef AVR
+__code struct ao_romconfig ao_romconfig __attribute__ ((section("romconfig")))
+#else
+__code __at (0x00a0) struct ao_romconfig ao_romconfig
+#endif
+= {
+ .version = AO_ROMCONFIG_VERSION,
+ .check = ~AO_ROMCONFIG_VERSION,
+ .serial_number = 0,
+ /*
+ * For 434.550MHz, the frequency value is:
+ *
+ * 434.550e6 / (24e6 / 2**16) = 1186611.2
+ *
+ * This value is stored in a const variable so that
+ * ao-load can change it during programming for
+ * devices that have no eeprom for config data.
+ */
+ .radio_cal = 1186611
+};
--- /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 volatile uint16_t ao_rssi_time;
+static __xdata volatile uint16_t ao_rssi_delay;
+static __xdata 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"
+#endif
+
+/*
+ * Current sensor values
+ */
+
+__pdata uint16_t ao_sample_tick; /* time of last data */
+__pdata int16_t ao_sample_pres;
+__pdata int16_t ao_sample_alt;
+__pdata int16_t ao_sample_height;
+#if HAS_ACCEL
+__pdata int16_t ao_sample_accel;
+#endif
+
+__data uint8_t ao_sample_adc;
+
+/*
+ * Sensor calibration values
+ */
+
+__xdata int16_t ao_ground_pres; /* startup pressure */
+__xdata int16_t ao_ground_height; /* MSL of ao_ground_pres */
+
+#if HAS_ACCEL
+__xdata int16_t ao_ground_accel; /* startup acceleration */
+__xdata int16_t ao_accel_2g; /* factory accel calibration */
+__xdata int32_t ao_accel_scale; /* sensor to m/s² conversion */
+#endif
+
+static __xdata uint8_t ao_preflight; /* in preflight mode */
+
+static __xdata uint16_t nsamples;
+__xdata int32_t ao_sample_pres_sum;
+#if HAS_ACCEL
+__xdata int32_t ao_sample_accel_sum;
+#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) {
+#if HAS_ACCEL
+ ao_sample_accel_sum += ao_sample_accel;
+#endif
+ ao_sample_pres_sum += ao_sample_pres;
+ ++nsamples;
+ } else {
+ ao_config_get();
+#if HAS_ACCEL
+ ao_ground_accel = ao_sample_accel_sum >> 9;
+ 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_ground_pres = ao_sample_pres_sum >> 9;
+ ao_ground_height = ao_pres_to_altitude(ao_ground_pres);
+ ao_preflight = FALSE;
+ }
+}
+
+uint8_t
+ao_sample(void)
+{
+ ao_wakeup(DATA_TO_XDATA(&ao_sample_adc));
+ ao_sleep(DATA_TO_XDATA(&ao_adc_head));
+ while (ao_sample_adc != ao_adc_head) {
+ __xdata struct ao_adc *ao_adc;
+
+ /* Capture a sample */
+ ao_adc = &ao_adc_ring[ao_sample_adc];
+ ao_sample_tick = ao_adc->tick;
+ ao_sample_pres = ao_adc->pres;
+ ao_sample_alt = ao_pres_to_altitude(ao_sample_pres);
+ ao_sample_height = ao_sample_alt - ao_ground_height;
+#if HAS_ACCEL
+ ao_sample_accel = ao_adc->accel;
+#if HAS_ACCEL_REF
+ /*
+ * 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
+ * = ------------ * ------------
+ * 32737 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.
+ */
+ ao_sample_accel = (uint16_t) ((((uint32_t) ao_sample_accel << 16) / (ao_accel_ref[ao_sample_adc] << 1))) >> 1;
+ ao_adc->accel = ao_sample_accel;
+#endif
+#endif
+
+ if (ao_preflight)
+ ao_sample_preflight();
+ else
+ ao_kalman();
+ ao_sample_adc = ao_adc_ring_next(ao_sample_adc);
+ }
+ return !ao_preflight;
+}
+
+void
+ao_sample_init(void)
+{
+ nsamples = 0;
+ ao_sample_pres_sum = 0;
+ ao_sample_pres = 0;
+#if HAS_ACCEL
+ ao_sample_accel_sum = 0;
+ ao_sample_accel = 0;
+#endif
+ ao_sample_adc = ao_adc_head;
+ ao_preflight = TRUE;
+}
--- /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"
+
+volatile __xdata struct ao_fifo ao_usart1_rx_fifo;
+volatile __xdata struct ao_fifo ao_usart1_tx_fifo;
+
+void
+ao_serial_rx1_isr(void) __interrupt 3
+{
+ if (!ao_fifo_full(ao_usart1_rx_fifo))
+ ao_fifo_insert(ao_usart1_rx_fifo, U1DBUF);
+ ao_wakeup(&ao_usart1_rx_fifo);
+#if USE_SERIAL_STDIN
+ ao_wakeup(&ao_stdin_ready);
+#endif
+}
+
+static __xdata uint8_t ao_serial_tx1_started;
+
+static void
+ao_serial_tx1_start(void)
+{
+ if (!ao_fifo_empty(ao_usart1_tx_fifo) &&
+ !ao_serial_tx1_started)
+ {
+ ao_serial_tx1_started = 1;
+ ao_fifo_remove(ao_usart1_tx_fifo, U1DBUF);
+ }
+}
+
+void
+ao_serial_tx1_isr(void) __interrupt 14
+{
+ UTX1IF = 0;
+ ao_serial_tx1_started = 0;
+ ao_serial_tx1_start();
+ ao_wakeup(&ao_usart1_tx_fifo);
+}
+
+char
+ao_serial_getchar(void) __critical
+{
+ char c;
+ while (ao_fifo_empty(ao_usart1_rx_fifo))
+ ao_sleep(&ao_usart1_rx_fifo);
+ ao_fifo_remove(ao_usart1_rx_fifo, c);
+ return c;
+}
+
+#if USE_SERIAL_STDIN
+char
+ao_serial_pollchar(void) __critical
+{
+ char c;
+ if (ao_fifo_empty(ao_usart1_rx_fifo))
+ return AO_READ_AGAIN;
+ ao_fifo_remove(ao_usart1_rx_fifo,c);
+ return c;
+}
+#endif
+
+void
+ao_serial_putchar(char c) __critical
+{
+ while (ao_fifo_full(ao_usart1_tx_fifo))
+ ao_sleep(&ao_usart1_tx_fifo);
+ ao_fifo_insert(ao_usart1_tx_fifo, c);
+ ao_serial_tx1_start();
+}
+
+void
+ao_serial_drain(void) __critical
+{
+ while (!ao_fifo_empty(ao_usart1_tx_fifo))
+ ao_sleep(&ao_usart1_tx_fifo);
+}
+
+static const struct {
+ uint8_t baud;
+ uint8_t gcr;
+} ao_serial_speeds[] = {
+ /* [AO_SERIAL_SPEED_4800] = */ {
+ /* .baud = */ 163,
+ /* .gcr = */ (7 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB
+ },
+ /* [AO_SERIAL_SPEED_9600] = */ {
+ /* .baud = */ 163,
+ /* .gcr = */ (8 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB
+ },
+ /* [AO_SERIAL_SPEED_19200] = */ {
+ /* .baud = */ 163,
+ /* .gcr = */ (9 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB
+ },
+ /* [AO_SERIAL_SPEED_57600] = */ {
+ /* .baud = */ 59,
+ /* .gcr = */ (11 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB
+ },
+};
+
+void
+ao_serial_set_speed(uint8_t speed)
+{
+ ao_serial_drain();
+ if (speed > AO_SERIAL_SPEED_57600)
+ return;
+ U1UCR |= UxUCR_FLUSH;
+ U1BAUD = ao_serial_speeds[speed].baud;
+ U1GCR = ao_serial_speeds[speed].gcr;
+}
+
+void
+ao_serial_init(void)
+{
+ /* Set up the USART pin assignment */
+ PERCFG = (PERCFG & ~PERCFG_U1CFG_ALT_MASK) | PERCFG_U1CFG_ALT_2;
+
+ P2SEL = (P2SEL & ~(P2SEL_PRI3P1_MASK | P2SEL_PRI2P1_MASK)) |
+ (P2SEL_PRI3P1_USART1 | P2SEL_PRI2P1_USART1);
+
+ /* Make the USART pins be controlled by the USART */
+ P1SEL |= (1 << 6) | (1 << 7);
+
+ /* UART mode with receiver enabled */
+ U1CSR = (UxCSR_MODE_UART | UxCSR_RE);
+
+ /* Pick a 4800 baud rate */
+ ao_serial_set_speed(AO_SERIAL_SPEED_4800);
+
+ /* Reasonable serial parameters */
+ U1UCR = (UxUCR_FLUSH |
+ UxUCR_FLOW_DISABLE |
+ UxUCR_D9_EVEN_PARITY |
+ UxUCR_BIT9_8_BITS |
+ UxUCR_PARITY_DISABLE |
+ UxUCR_SPB_1_STOP_BIT |
+ UxUCR_STOP_HIGH |
+ UxUCR_START_LOW);
+
+ IEN0 |= IEN0_URX1IE;
+ IEN2 |= IEN2_UTX1IE;
+}
--- /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"
+
+__xdata struct ao_fifo ao_usart1_rx_fifo;
+__xdata struct ao_fifo ao_usart1_tx_fifo;
+
+ISR(USART1_RX_vect)
+{
+ if (!ao_fifo_full(ao_usart1_rx_fifo))
+ ao_fifo_insert(ao_usart1_rx_fifo, UDR1);
+ ao_led_toggle(AO_LED_RED);
+ ao_wakeup(&ao_usart1_rx_fifo);
+#if USE_SERIAL_STDIN
+ ao_wakeup(&ao_stdin_ready);
+#endif
+}
+
+static __xdata uint8_t ao_serial_tx1_started;
+
+static void
+ao_serial_tx1_start(void)
+{
+ if (!ao_fifo_empty(ao_usart1_tx_fifo) &&
+ !ao_serial_tx1_started)
+ {
+ ao_serial_tx1_started = 1;
+ ao_fifo_remove(ao_usart1_tx_fifo, UDR1);
+ }
+}
+
+ISR(USART1_UDRE_vect)
+{
+ ao_serial_tx1_started = 0;
+ ao_serial_tx1_start();
+ ao_wakeup(&ao_usart1_tx_fifo);
+}
+
+char
+ao_serial_getchar(void) __critical
+{
+ char c;
+ cli();
+ while (ao_fifo_empty(ao_usart1_rx_fifo))
+ ao_sleep(&ao_usart1_rx_fifo);
+ ao_fifo_remove(ao_usart1_rx_fifo, c);
+ sei();
+ return c;
+}
+
+#if USE_SERIAL_STDIN
+char
+ao_serial_pollchar(void) __critical
+{
+ char c;
+ cli();
+ if (ao_fifo_empty(ao_usart1_rx_fifo)) {
+ sei();
+ return AO_READ_AGAIN;
+ }
+ ao_fifo_remove(ao_usart1_rx_fifo,c);
+ sei();
+ return c;
+}
+#endif
+
+void
+ao_serial_putchar(char c) __critical
+{
+ cli();
+ while (ao_fifo_full(ao_usart1_tx_fifo))
+ ao_sleep(&ao_usart1_tx_fifo);
+ ao_fifo_insert(ao_usart1_tx_fifo, c);
+ ao_serial_tx1_start();
+ sei();
+}
+
+void
+ao_serial_drain(void) __critical
+{
+ cli();
+ while (!ao_fifo_empty(ao_usart1_tx_fifo))
+ ao_sleep(&ao_usart1_tx_fifo);
+ sei();
+}
+
+static const struct {
+ uint16_t ubrr;
+} ao_serial_speeds[] = {
+ /* [AO_SERIAL_SPEED_4800] = */ {
+ F_CPU / (16UL * 4800UL) - 1
+ },
+ /* [AO_SERIAL_SPEED_9600] = */ {
+ F_CPU / (16UL * 9600UL) - 1
+ },
+ /* [AO_SERIAL_SPEED_19200] = */ {
+ F_CPU / (16UL * 19200UL) - 1
+ },
+ /* [AO_SERIAL_SPEED_57600] = */ {
+ F_CPU / (16UL * 57600UL) - 1
+ },
+};
+
+void
+ao_serial_set_speed(uint8_t speed)
+{
+ ao_serial_drain();
+ if (speed > AO_SERIAL_SPEED_57600)
+ return;
+ UBRR1L = ao_serial_speeds[speed].ubrr;
+ UBRR1H = ao_serial_speeds[speed].ubrr >> 8;
+}
+
+void
+ao_serial_init(void)
+{
+ /* Ensure the uart is powered up */
+
+ PRR1 &= ~(1 << PRUSART1);
+
+ /* Pick a 9600 baud rate */
+ ao_serial_set_speed(AO_SERIAL_SPEED_9600);
+
+ UCSR1A = 0;
+ UCSR1C = ((0 << UMSEL10) | /* Asynchronous mode */
+ (0 << UPM10) | /* No parity */
+ (0 << USBS1) | /* 1 stop bit */
+ (3 << UCSZ10) | /* 8 bit characters */
+ (0 << UCPOL1)); /* MBZ for async mode */
+ UCSR1B = ((1 << RXEN1) | /* Enable receiver */
+ (1 << TXEN1) | /* Enable transmitter */
+ (1 << RXCIE1) | /* Enable receive interrupts */
+ (1 << UDRIE1)); /* Enable transmit empty interrupts */
+#if USE_SERIAL_STDIN
+ int8_t i;
+ i = ao_add_stdio(ao_serial_pollchar,
+ ao_serial_putchar,
+ NULL);
+ printf("Register serial stdio as %d\n", i);
+#endif
+}
--- /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 "ao.h"
+
+__xdata uint8_t ao_spi_mutex;
+__xdata uint8_t ao_spi_dma_in_done;
+__xdata uint8_t ao_spi_dma_out_done;
+
+uint8_t ao_spi_dma_out_id;
+uint8_t ao_spi_dma_in_id;
+
+static __xdata uint8_t ao_spi_const = 0xff;
+
+/* Send bytes over SPI.
+ *
+ * This sets up two DMA engines, one writing the data and another reading
+ * bytes coming back. We use the bytes coming back to tell when the transfer
+ * is complete, as the transmit register is double buffered and hence signals
+ * completion one byte before the transfer is actually complete
+ */
+void
+ao_spi_send(void __xdata *block, uint16_t len) __reentrant
+{
+ ao_mutex_get(&ao_spi_mutex);
+ ao_dma_set_transfer(ao_spi_dma_in_id,
+ &U0DBUFXADDR,
+ &ao_spi_const,
+ len,
+ DMA_CFG0_WORDSIZE_8 |
+ DMA_CFG0_TMODE_SINGLE |
+ DMA_CFG0_TRIGGER_URX0,
+ DMA_CFG1_SRCINC_0 |
+ DMA_CFG1_DESTINC_0 |
+ DMA_CFG1_PRIORITY_NORMAL);
+
+ ao_dma_set_transfer(ao_spi_dma_out_id,
+ block,
+ &U0DBUFXADDR,
+ len,
+ DMA_CFG0_WORDSIZE_8 |
+ DMA_CFG0_TMODE_SINGLE |
+ DMA_CFG0_TRIGGER_UTX0,
+ DMA_CFG1_SRCINC_1 |
+ DMA_CFG1_DESTINC_0 |
+ DMA_CFG1_PRIORITY_NORMAL);
+
+ ao_dma_start(ao_spi_dma_in_id);
+ ao_dma_start(ao_spi_dma_out_id);
+ ao_dma_trigger(ao_spi_dma_out_id);
+ __critical while (!ao_spi_dma_in_done)
+ ao_sleep(&ao_spi_dma_in_done);
+ ao_mutex_put(&ao_spi_mutex);
+}
+
+/* Receive bytes over SPI.
+ *
+ * This sets up tow DMA engines, one reading the data and another
+ * writing constant values to the SPI transmitter as that is what
+ * clocks the data coming in.
+ */
+void
+ao_spi_recv(void __xdata *block, uint16_t len) __reentrant
+{
+ ao_mutex_get(&ao_spi_mutex);
+ ao_dma_set_transfer(ao_spi_dma_in_id,
+ &U0DBUFXADDR,
+ block,
+ len,
+ DMA_CFG0_WORDSIZE_8 |
+ DMA_CFG0_TMODE_SINGLE |
+ DMA_CFG0_TRIGGER_URX0,
+ DMA_CFG1_SRCINC_0 |
+ DMA_CFG1_DESTINC_1 |
+ DMA_CFG1_PRIORITY_NORMAL);
+
+ ao_dma_set_transfer(ao_spi_dma_out_id,
+ &ao_spi_const,
+ &U0DBUFXADDR,
+ len,
+ DMA_CFG0_WORDSIZE_8 |
+ DMA_CFG0_TMODE_SINGLE |
+ DMA_CFG0_TRIGGER_UTX0,
+ DMA_CFG1_SRCINC_0 |
+ DMA_CFG1_DESTINC_0 |
+ DMA_CFG1_PRIORITY_NORMAL);
+
+ ao_dma_start(ao_spi_dma_in_id);
+ ao_dma_start(ao_spi_dma_out_id);
+ ao_dma_trigger(ao_spi_dma_out_id);
+ __critical while (!ao_spi_dma_in_done)
+ ao_sleep(&ao_spi_dma_in_done);
+ ao_mutex_put(&ao_spi_mutex);
+}
+
+/*
+ * Initialize USART0 for SPI using config alt 2
+ *
+ * MO P1_5
+ * MI P1_4
+ * CLK P1_3
+ *
+ * Chip select is the responsibility of the caller
+ */
+
+void
+ao_spi_init(void)
+{
+ /* Set up the USART pin assignment */
+ PERCFG = (PERCFG & ~PERCFG_U0CFG_ALT_MASK) | PERCFG_U0CFG_ALT_2;
+
+ /* Ensure that USART0 takes precidence over USART1 for pins that
+ * they share
+ */
+ P2SEL = (P2SEL & ~P2SEL_PRI3P1_MASK) | P2SEL_PRI3P1_USART0;
+
+ /* Make the SPI pins be controlled by the USART peripheral */
+ P1SEL |= ((1 << 5) | (1 << 4) | (1 << 3));
+
+ /* Set up OUT DMA */
+ ao_spi_dma_out_id = ao_dma_alloc(&ao_spi_dma_out_done);
+
+ /* Set up IN DMA */
+ ao_spi_dma_in_id = ao_dma_alloc(&ao_spi_dma_in_done);
+
+ /* Set up the USART.
+ *
+ * SPI master mode
+ */
+ U0CSR = (UxCSR_MODE_SPI | UxCSR_RE | UxCSR_MASTER);
+
+ /* Set the baud rate and signal parameters
+ *
+ * The cc1111 is limited to a 24/8 MHz SPI clock.
+ * Every peripheral I've ever seen goes faster than that,
+ * so set the clock to 3MHz (BAUD_E 17, BAUD_M 0)
+ */
+ U0BAUD = 0;
+ U0GCR = (UxGCR_CPOL_NEGATIVE |
+ UxGCR_CPHA_FIRST_EDGE |
+ UxGCR_ORDER_MSB |
+ (17 << UxGCR_BAUD_E_SHIFT));
+}
--- /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"
+
+#ifdef AVR
+#undef putchar
+#undef getchar
+#define putchar(c) ao_putchar(c)
+#define getchar() ao_getchar()
+#endif
+
+/*
+ * Basic I/O functions to support SDCC stdio package
+ */
+
+#define AO_NUM_STDIOS (HAS_USB + PACKET_HAS_SLAVE + USE_SERIAL_STDIN)
+
+__xdata struct ao_stdio ao_stdios[AO_NUM_STDIOS];
+__data int8_t ao_cur_stdio;
+__data int8_t ao_num_stdios;
+
+void
+putchar(char c)
+{
+ 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
+ao_getchar(void) __reentrant __critical
+{
+ char c;
+ int8_t stdio = ao_cur_stdio;
+
+ for (;;) {
+ c = ao_stdios[stdio].pollchar();
+ if (c != AO_READ_AGAIN)
+ break;
+ if (++stdio == ao_num_stdios)
+ stdio = 0;
+ if (stdio == ao_cur_stdio)
+ ao_sleep(&ao_stdin_ready);
+ }
+ ao_cur_stdio = stdio;
+ return c;
+}
+
+uint8_t
+ao_echo(void)
+{
+ return ao_stdios[ao_cur_stdio].echo;
+}
+
+int8_t
+ao_add_stdio(char (*pollchar)(void),
+ void (*putchar)(char),
+ void (*flush)(void)) __reentrant
+{
+ if (ao_num_stdios == AO_NUM_STDIOS)
+ ao_panic(AO_PANIC_STDIO);
+ 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;
+ return ao_num_stdios++;
+}
+
+#ifdef AVR
+int
+stdio_put(char c, FILE *stream)
+{
+ if (ao_cur_task && ao_num_stdios)
+ putchar(c);
+ else
+ {
+ if (c == '\n')
+ stdio_put('\r', stream);
+ loop_until_bit_is_set(UCSR1A, UDRE1);
+ UDR1 = c;
+ }
+
+ return 0;
+}
+
+int
+stdio_get(FILE *stream)
+{
+ return (int) getchar() & 0xff;
+}
+
+static FILE mystdout = FDEV_SETUP_STREAM(stdio_put, NULL, _FDEV_SETUP_WRITE);
+
+static FILE mystdin = FDEV_SETUP_STREAM(NULL, stdio_get, _FDEV_SETUP_READ);
+
+void
+ao_stdio_init(void)
+{
+ stdout = &mystdout;
+ stdin = &mystdin;
+ printf("%d stdios registered\n", ao_num_stdios);
+}
+#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"
+
+uint8_t
+ao_storage_read(uint32_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(uint32_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 0
+
+/* 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_config; pos += ao_storage_block)
+ ao_storage_erase(pos);
+}
+
+void
+ao_storage_info(void) __reentrant
+{
+ printf("Storage size: %ld\n", ao_storage_total);
+ printf("Storage erase unit: %ld\n", ao_storage_block);
+ ao_storage_device_info();
+}
+
+__code struct ao_cmds ao_storage_cmds[] = {
+ { ao_storage_info, "f\0Show storage info" },
+ { ao_storage_dump, "e <block>\0Dump a block of flash data" },
+#ifdef HAS_STORAGE_DBG
+ { ao_storage_store, "w <block> <start> <len> <data> ...\0Write data to flash" },
+#endif
+ { ao_storage_zap, "z <block>\0Erase flash containing <block>" },
+ { ao_storage_zapall,"Z <key>\0Erase all logs. <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 © 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"
+
+#define AO_NO_TASK_INDEX 0xff
+
+__xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
+__data uint8_t ao_num_tasks;
+__data uint8_t ao_cur_task_index;
+__xdata struct ao_task *__data ao_cur_task;
+
+#ifdef AVR
+
+#define PUSH8(stack, val) (*((stack)--) = (val))
+
+static void
+ao_init_stack(__xdata struct ao_task *task, void (*start)(void))
+{
+ uint8_t *stack = task->stack + AO_STACK_SIZE - 1;
+ uint16_t a = (uint16_t) start;
+ int i;
+
+ /* Return address */
+ PUSH8(stack, a);
+ PUSH8(stack, (a >> 8));
+
+ /* Clear register values */
+ i = 32;
+ while (i--)
+ PUSH8(stack, 0);
+
+ /* SREG with interrupts enabled */
+ PUSH8(stack, 0x80);
+ task->stack_count = stack - task->stack;
+}
+#else
+static void
+ao_init_stack(__xdata struct ao_task *task, void (*start)(void))
+{
+ uint8_t __xdata *stack = task->stack;
+ /*
+ * Construct a stack frame so that it will 'return'
+ * to the start of the task
+ */
+
+ *stack++ = ((uint16_t) start);
+ *stack++ = ((uint16_t) start) >> 8;
+
+ /* and the stuff saved by ao_switch */
+ *stack++ = 0; /* acc */
+ *stack++ = 0x80; /* IE */
+ *stack++ = 0; /* DPL */
+ *stack++ = 0; /* DPH */
+ *stack++ = 0; /* B */
+ *stack++ = 0; /* R2 */
+ *stack++ = 0; /* R3 */
+ *stack++ = 0; /* R4 */
+ *stack++ = 0; /* R5 */
+ *stack++ = 0; /* R6 */
+ *stack++ = 0; /* R7 */
+ *stack++ = 0; /* R0 */
+ *stack++ = 0; /* R1 */
+ *stack++ = 0; /* PSW */
+ *stack++ = 0; /* BP */
+ task->stack_count = stack - task->stack;
+}
+#endif
+
+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;
+ }
+ ao_tasks[ao_num_tasks++] = task;
+ task->task_id = task_id;
+ task->name = name;
+ task->wchan = NULL;
+ ao_init_stack(task, start);
+}
+
+/* Task switching function. This must not use any stack variables */
+void
+ao_yield(void) __naked
+{
+#ifdef AVR
+ asm("push r31" "\n\t" "push r30");
+ asm("push r29" "\n\t" "push r28" "\n\t" "push r27" "\n\t" "push r26" "\n\t" "push r25");
+ asm("push r24" "\n\t" "push r23" "\n\t" "push r22" "\n\t" "push r21" "\n\t" "push r20");
+ asm("push r19" "\n\t" "push r18" "\n\t" "push r17" "\n\t" "push r16" "\n\t" "push r15");
+ asm("push r14" "\n\t" "push r13" "\n\t" "push r12" "\n\t" "push r11" "\n\t" "push r10");
+ asm("push r9" "\n\t" "push r8" "\n\t" "push r7" "\n\t" "push r6" "\n\t" "push r5");
+ asm("push r4" "\n\t" "push r3" "\n\t" "push r2" "\n\t" "push r1" "\n\t" "push r0");
+ asm("in r0, __SREG__" "\n\t" "push r0");
+ sei();
+#else
+ /* Save current context */
+ _asm
+ /* Push ACC first, as when restoring the context it must be restored
+ * last (it is used to set the IE register). */
+ push ACC
+ /* Store the IE register then enable interrupts. */
+ push _IEN0
+ setb _EA
+ push DPL
+ push DPH
+ push b
+ push ar2
+ push ar3
+ push ar4
+ push ar5
+ push ar6
+ push ar7
+ push ar0
+ push ar1
+ push PSW
+ _endasm;
+ PSW = 0;
+ _asm
+ push _bp
+ _endasm;
+#endif
+
+ if (ao_cur_task_index == AO_NO_TASK_INDEX)
+ ao_cur_task_index = ao_num_tasks-1;
+ else
+ {
+#ifdef AVR
+ uint8_t sp_l, sp_h;
+ uint8_t *sp;
+ asm("in %0,__SP_L__" : "=&r" (sp_l) );
+ asm("in %0,__SP_H__" : "=&r" (sp_h) );
+ sp = (uint8_t *) ((uint16_t) sp_l | ((uint16_t) sp_h << 8));
+ ao_cur_task->stack_count = sp - ao_cur_task->stack;
+#else
+ uint8_t stack_len;
+ __data uint8_t *stack_ptr;
+ __xdata uint8_t *save_ptr;
+ /* Save the current stack */
+ stack_len = SP - (AO_STACK_START - 1);
+ ao_cur_task->stack_count = stack_len;
+ stack_ptr = (uint8_t __data *) AO_STACK_START;
+ save_ptr = (uint8_t __xdata *) ao_cur_task->stack;
+ do
+ *save_ptr++ = *stack_ptr++;
+ while (--stack_len);
+#endif
+ }
+
+#ifndef AVR
+ /* Empty the stack; might as well let interrupts have the whole thing */
+ SP = AO_STACK_START - 1;
+#endif
+
+ /* Find a task to run. If there isn't any runnable task,
+ * this loop will run forever, which is just fine
+ */
+ {
+ __pdata uint8_t ao_next_task_index = ao_cur_task_index;
+ for (;;) {
+ ++ao_next_task_index;
+ if (ao_next_task_index == ao_num_tasks)
+ ao_next_task_index = 0;
+
+ ao_cur_task = ao_tasks[ao_next_task_index];
+ if (ao_cur_task->wchan == NULL) {
+ ao_cur_task_index = ao_next_task_index;
+ 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) {
+ ao_cur_task_index = ao_next_task_index;
+ break;
+ }
+
+#ifdef AVR
+#else
+ /* Enter lower power mode when there isn't anything to do */
+ if (ao_next_task_index == ao_cur_task_index)
+ PCON = PCON_IDLE;
+#endif
+ }
+ }
+
+#ifdef AVR
+ {
+ uint8_t *sp = (ao_cur_task->stack + ao_cur_task->stack_count);
+ uint8_t sp_l, sp_h;
+ sp_l = (uint16_t) sp;
+ sp_h = ((uint16_t) sp) >> 8;
+ asm("out __SP_H__,%0" : : "r" (sp_h) );
+ asm("out __SP_L__,%0" : : "r" (sp_l) );
+ asm("pop r0" "\n\t"
+ "out __SREG__, r0");
+ asm("pop r0" "\n\t" "pop r1" "\n\t" "pop r2" "\n\t" "pop r3" "\n\t" "pop r4");
+ asm("pop r5" "\n\t" "pop r6" "\n\t" "pop r7" "\n\t" "pop r8" "\n\t" "pop r9");
+ asm("pop r10" "\n\t" "pop r11" "\n\t" "pop r12" "\n\t" "pop r13" "\n\t" "pop r14");
+ asm("pop r15" "\n\t" "pop r16" "\n\t" "pop r17" "\n\t" "pop r18" "\n\t" "pop r19");
+ asm("pop r20" "\n\t" "pop r21" "\n\t" "pop r22" "\n\t" "pop r23" "\n\t" "pop r24");
+ asm("pop r25" "\n\t" "pop r26" "\n\t" "pop r27" "\n\t" "pop r28" "\n\t" "pop r29");
+ asm("pop r30" "\n\t" "pop r31");
+ asm("ret");
+ }
+#else
+ {
+ uint8_t stack_len;
+ __data uint8_t *stack_ptr;
+ __xdata uint8_t *save_ptr;
+
+ /* Restore the old stack */
+ stack_len = ao_cur_task->stack_count;
+ SP = AO_STACK_START - 1 + stack_len;
+
+ stack_ptr = (uint8_t __data *) AO_STACK_START;
+ save_ptr = (uint8_t __xdata *) ao_cur_task->stack;
+ do
+ *stack_ptr++ = *save_ptr++;
+ while (--stack_len);
+ }
+
+ _asm
+ pop _bp
+ pop PSW
+ pop ar1
+ pop ar0
+ pop ar7
+ pop ar6
+ pop ar5
+ pop ar4
+ pop ar3
+ pop ar2
+ pop b
+ pop DPH
+ pop DPL
+ /* The next byte of the stack is the IE register. Only the global
+ enable bit forms part of the task context. Pop off the IE then set
+ the global enable bit to match that of the stored IE register. */
+ pop ACC
+ JB ACC.7,0098$
+ CLR _EA
+ LJMP 0099$
+ 0098$:
+ SETB _EA
+ 0099$:
+ /* Finally pop off the ACC, which was the first register saved. */
+ pop ACC
+ ret
+ _endasm;
+#endif
+}
+
+uint8_t
+ao_sleep(__xdata void *wchan)
+{
+ __critical {
+ ao_cur_task->wchan = wchan;
+ }
+ ao_yield();
+ ao_cur_task->alarm = 0;
+ if (ao_cur_task->wchan) {
+ ao_cur_task->wchan = NULL;
+ return 1;
+ }
+ return 0;
+}
+
+void
+ao_wakeup(__xdata void *wchan)
+{
+ uint8_t i;
+
+ for (i = 0; i < ao_num_tasks; i++)
+ if (ao_tasks[i]->wchan == wchan)
+ ao_tasks[i]->wchan = NULL;
+}
+
+void
+ao_alarm(uint16_t delay)
+{
+ /* 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
+ */
+ if (!(ao_cur_task->alarm = ao_time() + delay + 1))
+ ao_cur_task->alarm = 1;
+}
+
+void
+ao_exit(void) __critical
+{
+ uint8_t i;
+ ao_num_tasks--;
+ for (i = ao_cur_task_index; i < ao_num_tasks; i++)
+ ao_tasks[i] = ao_tasks[i+1];
+ ao_cur_task_index = AO_NO_TASK_INDEX;
+ ao_yield();
+ /* we'll never get back here */
+}
+
+void
+ao_task_info(void)
+{
+ uint8_t i;
+ uint8_t pc_loc;
+ __xdata struct ao_task *task;
+
+ for (i = 0; i < ao_num_tasks; i++) {
+ task = ao_tasks[i];
+ pc_loc = task->stack_count - 17;
+ printf("%12s: wchan %04x pc %04x\n",
+ task->name,
+ (int16_t) task->wchan,
+ (task->stack[pc_loc]) | (task->stack[pc_loc+1] << 8));
+ }
+}
+
+void
+ao_start_scheduler(void)
+{
+ ao_cur_task_index = AO_NO_TASK_INDEX;
+ ao_cur_task = NULL;
+ ao_yield();
+}
--- /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"
+
+void
+main(void)
+{
+ ao_clock_init();
+
+ /* Turn on the LED until the system is stable */
+ ao_led_init(LEDS_AVAILABLE);
+ ao_led_on(AO_LED_RED);
+ ao_timer_init();
+ ao_cmd_init();
+ ao_usb_init();
+ ao_monitor_init(AO_LED_GREEN, TRUE);
+ ao_rssi_init(AO_LED_RED);
+ ao_radio_init();
+ ao_packet_master_init();
+ ao_btm_init();
+#if HAS_DBG
+ ao_dbg_init();
+#endif
+ ao_config_init();
+ ao_start_scheduler();
+}
--- /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
+main(void)
+{
+ ao_clock_init();
+
+ /* Turn on the LED until the system is stable */
+ ao_led_init(LEDS_AVAILABLE);
+ ao_led_on(AO_LED_RED);
+ ao_timer_init();
+ ao_cmd_init();
+ ao_usb_init();
+ ao_monitor_init(AO_LED_GREEN, TRUE);
+ ao_rssi_init(AO_LED_RED);
+ ao_radio_init();
+ ao_packet_master_init();
+#if HAS_DBG
+ ao_dbg_init();
+#endif
+ ao_config_init();
+ ao_start_scheduler();
+}
--- /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 © 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_pins.h"
+
+/* stub so as telemetrum doesn't have monitor mode */
+void
+ao_set_monitor(uint8_t monitoring)
+{
+ (void) monitoring;
+}
+
+void
+main(void)
+{
+ ao_clock_init();
+
+
+ /* Turn on the red LED until the system is stable */
+ ao_led_init(LEDS_AVAILABLE);
+ ao_led_on(AO_LED_RED);
+
+ /* A hack -- look at the SPI clock pin, if it's sitting at
+ * ground, then we force the computer to idle mode instead of
+ * flight mode
+ */
+ if (P1_3 == 0) {
+ ao_flight_force_idle = 1;
+ while (P1_3 == 0)
+ ;
+ }
+ ao_timer_init();
+ ao_adc_init();
+ ao_beep_init();
+ ao_cmd_init();
+ ao_spi_init();
+ ao_storage_init();
+ ao_flight_init();
+ ao_log_init();
+ ao_report_init();
+ ao_usb_init();
+ ao_serial_init();
+ ao_gps_init();
+ ao_gps_report_init();
+ ao_telemetry_init();
+ ao_radio_init();
+ ao_packet_slave_init(TRUE);
+ ao_igniter_init();
+#if HAS_DBG
+ ao_dbg_init();
+#endif
+ ao_config_init();
+ ao_start_scheduler();
+}
--- /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"
+
+__xdata uint16_t ao_telemetry_interval = 0;
+__xdata uint8_t ao_rdf = 0;
+__xdata uint16_t ao_rdf_time;
+
+#define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
+#define AO_RDF_LENGTH_MS 500
+
+void
+ao_telemetry(void)
+{
+ uint16_t time;
+ int16_t delay;
+ static __xdata struct ao_telemetry telemetry;
+
+ ao_config_get();
+ while (!ao_flight_number)
+ ao_sleep(&ao_flight_number);
+ memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
+ telemetry.serial = ao_serial_number;
+ telemetry.flight = ao_log_full() ? 0 : ao_flight_number;
+ telemetry.accel_plus_g = ao_config.accel_plus_g;
+ telemetry.accel_minus_g = ao_config.accel_minus_g;
+ for (;;) {
+ while (ao_telemetry_interval == 0)
+ ao_sleep(&ao_telemetry_interval);
+ time = ao_rdf_time = ao_time();
+ while (ao_telemetry_interval) {
+ telemetry.flight_state = ao_flight_state;
+ telemetry.height = ao_height;
+ telemetry.u.k.speed = ao_speed;
+ telemetry.accel = ao_accel;
+ telemetry.u.k.unused = 0x8000;
+#if HAS_ACCEL
+ telemetry.ground_accel = ao_ground_accel;
+#endif
+ telemetry.ground_pres = ao_ground_pres;
+#if HAS_ADC
+ ao_adc_get(&telemetry.adc);
+#endif
+#if HAS_GPS
+ ao_mutex_get(&ao_gps_mutex);
+ memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
+ memcpy(&telemetry.gps_tracking, &ao_gps_tracking_data, sizeof (struct ao_gps_tracking_data));
+ ao_mutex_put(&ao_gps_mutex);
+#endif
+ ao_radio_send(&telemetry, sizeof (telemetry));
+ if (ao_rdf &&
+ (int16_t) (ao_time() - ao_rdf_time) >= 0)
+ {
+ ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
+ ao_radio_rdf(AO_RDF_LENGTH_MS);
+ }
+ time += ao_telemetry_interval;
+ delay = time - ao_time();
+ if (delay > 0)
+ ao_delay(delay);
+ else
+ time = ao_time();
+ }
+ }
+}
+
+void
+ao_telemetry_set_interval(uint16_t interval)
+{
+ ao_telemetry_interval = interval;
+ ao_wakeup(&ao_telemetry_interval);
+}
+
+void
+ao_rdf_set(uint8_t rdf)
+{
+ ao_rdf = rdf;
+ if (rdf == 0)
+ ao_radio_rdf_abort();
+ else
+ ao_rdf_time = ao_time();
+}
+
+__xdata struct ao_task ao_telemetry_task;
+
+void
+ao_telemetry_init()
+{
+ ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
+}
--- /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"
+
+__xdata uint8_t ao_rdf = 0;
+__xdata uint16_t ao_rdf_time;
+__xdata uint16_t ao_telemetry_tiny_interval = 0;
+
+#define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
+#define AO_RDF_LENGTH_MS 500
+
+void
+ao_telemetry_tiny(void)
+{
+ uint16_t time;
+ int16_t delay;
+ static __xdata struct ao_telemetry_tiny telemetry_tiny;
+
+ ao_config_get();
+ while (!ao_flight_number)
+ ao_sleep(&ao_flight_number);
+ memcpy(telemetry_tiny.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
+ telemetry_tiny.serial = ao_serial_number;
+ telemetry_tiny.flight = ao_log_full() ? 0 : ao_flight_number;
+ for (;;) {
+ while (ao_telemetry_tiny_interval == 0)
+ ao_sleep(&ao_telemetry_tiny_interval);
+ time = ao_rdf_time = ao_time();
+ while (ao_telemetry_tiny_interval) {
+ telemetry_tiny.flight_state = ao_flight_state;
+ telemetry_tiny.height = ao_height;
+ telemetry_tiny.speed = ao_speed;
+ telemetry_tiny.accel = ao_accel;
+ telemetry_tiny.ground_pres = ao_ground_pres;
+ ao_adc_get(&telemetry_tiny.adc);
+ ao_radio_send(&telemetry_tiny, sizeof (telemetry_tiny));
+ if (ao_rdf &&
+ (int16_t) (ao_time() - ao_rdf_time) >= 0)
+ {
+ ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
+ ao_radio_rdf(AO_RDF_LENGTH_MS);
+ }
+ time += ao_telemetry_tiny_interval;
+ delay = time - ao_time();
+ if (delay > 0)
+ ao_delay(delay);
+ else
+ time = ao_time();
+ }
+ }
+}
+
+void
+ao_telemetry_set_interval(uint16_t interval)
+{
+ ao_telemetry_tiny_interval = interval;
+ ao_wakeup(&ao_telemetry_tiny_interval);
+}
+
+void
+ao_rdf_set(uint8_t rdf)
+{
+ ao_rdf = rdf;
+ if (rdf == 0)
+ ao_radio_rdf_abort();
+ else
+ ao_rdf_time = ao_time();
+}
+
+__xdata struct ao_task ao_telemetry_tiny_task;
+
+void
+ao_telemetry_tiny_init()
+{
+ ao_add_task(&ao_telemetry_tiny_task, ao_telemetry_tiny, "telemetry_tiny");
+}
--- /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_pins.h"
+
+/* stub so as telemini doesn't have monitor mode */
+void
+ao_set_monitor(uint8_t monitoring)
+{
+ (void) monitoring;
+}
+
+void
+main(void)
+{
+ ao_clock_init();
+
+
+ /* Turn on the red LED until the system is stable */
+ ao_led_init(LEDS_AVAILABLE);
+ ao_led_on(AO_LED_RED);
+
+ ao_timer_init();
+ ao_adc_init();
+ ao_cmd_init();
+ ao_storage_init();
+ ao_flight_init();
+ ao_log_init();
+ ao_report_init();
+ ao_telemetry_tiny_init();
+ ao_radio_init();
+ ao_packet_slave_init(TRUE);
+ ao_igniter_init();
+ ao_config_init();
+ ao_start_scheduler();
+}
--- /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_pins.h"
+
+/* stub so as telemini doesn't have monitor mode */
+void
+ao_set_monitor(uint8_t monitoring)
+{
+ (void) monitoring;
+}
+
+void
+main(void)
+{
+ ao_clock_init();
+
+
+ /* Turn on the red LED until the system is stable */
+ ao_led_init(LEDS_AVAILABLE);
+ ao_led_on(AO_LED_RED);
+
+ ao_timer_init();
+ ao_adc_init();
+ ao_cmd_init();
+ ao_storage_init();
+ ao_flight_nano_init();
+ ao_log_init();
+ ao_report_init();
+ ao_telemetry_tiny_init();
+ ao_radio_init();
+ ao_packet_slave_init(TRUE);
+ ao_config_init();
+ ao_start_scheduler();
+}
--- /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 AO_NO_ADC_ISR 1
+#include "ao.h"
+
+void
+main(void)
+{
+ ao_clock_init();
+
+ /* Turn on the red LED until the system is stable */
+ ao_led_init(AO_LED_RED|AO_LED_GREEN);
+ ao_led_on(AO_LED_RED);
+ ao_timer_init();
+ ao_beep_init();
+ ao_cmd_init();
+ ao_usb_init();
+ ao_serial_init();
+ ao_monitor_init(AO_LED_GREEN, TRUE);
+ ao_radio_init();
+ ao_config_init();
+ ao_start_scheduler();
+}
--- /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"
+
+struct ao_task __xdata blink_0_task;
+struct ao_task __xdata blink_1_task;
+struct ao_task __xdata wakeup_task;
+struct ao_task __xdata beep_task;
+struct ao_task __xdata echo_task;
+
+void delay(int n) __reentrant
+{
+ uint8_t j = 0;
+ while (--n)
+ while (--j)
+ ao_yield();
+}
+
+static __xdata uint8_t blink_chan;
+
+void
+blink_0(void)
+{
+ uint8_t b = 0;
+ for (;;) {
+ b = 1 - b;
+ if (b)
+ ao_led_on(AO_LED_GREEN);
+ else
+ ao_led_off(AO_LED_GREEN);
+ ao_sleep(&blink_chan);
+ }
+}
+
+void
+blink_1(void)
+{
+ static __xdata struct ao_adc adc;
+
+ for (;;) {
+ ao_sleep(&ao_adc_head);
+ ao_adc_get(&adc);
+ if (adc.accel < 15900)
+ ao_led_on(AO_LED_RED);
+ else
+ ao_led_off(AO_LED_RED);
+ }
+}
+
+void
+wakeup(void)
+{
+ for (;;) {
+ ao_delay(AO_MS_TO_TICKS(100));
+ ao_wakeup(&blink_chan);
+ }
+}
+
+void
+beep(void)
+{
+ static __xdata struct ao_adc adc;
+
+ for (;;) {
+ ao_delay(AO_SEC_TO_TICKS(1));
+ ao_adc_get(&adc);
+ if (adc.temp > 7400)
+ ao_beep_for(AO_BEEP_LOW, AO_MS_TO_TICKS(50));
+ }
+}
+
+void
+echo(void)
+{
+ char c;
+ for (;;) {
+ ao_usb_flush();
+ c = ao_usb_getchar();
+ ao_usb_putchar(c);
+ if (c == '\r')
+ ao_usb_putchar('\n');
+ }
+}
+
+void
+main(void)
+{
+ ao_clock_init();
+
+// ao_add_task(&blink_0_task, blink_0);
+// ao_add_task(&blink_1_task, blink_1);
+// ao_add_task(&wakeup_task, wakeup);
+// ao_add_task(&beep_task, beep);
+ ao_add_task(&echo_task, echo);
+ ao_timer_init();
+ ao_adc_init();
+ ao_beep_init();
+ ao_led_init();
+ ao_usb_init();
+
+ ao_start_scheduler();
+}
--- /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 AO_NO_SERIAL_ISR 1
+#define AO_NO_ADC_ISR 1
+#include "ao.h"
+
+void
+main(void)
+{
+ ao_clock_init();
+
+ /* Turn on the LED until the system is stable */
+ ao_led_init(AO_LED_RED);
+ ao_led_on(AO_LED_RED);
+ ao_timer_init();
+ ao_cmd_init();
+ ao_usb_init();
+ ao_monitor_init(AO_LED_RED, TRUE);
+ ao_rssi_init(AO_LED_RED);
+ ao_radio_init();
+ ao_dbg_init();
+ ao_config_init();
+ /* Bring up the USB link */
+ P1DIR |= 1;
+ P1 |= 1;
+ ao_start_scheduler();
+}
--- /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 volatile __data uint16_t ao_tick_count;
+
+uint16_t ao_time(void) __critical
+{
+ return ao_tick_count;
+}
+
+static __xdata uint8_t ao_forever;
+
+void
+ao_delay(uint16_t ticks)
+{
+ ao_alarm(ticks);
+ ao_sleep(&ao_forever);
+}
+
+#define T1_CLOCK_DIVISOR 8 /* 24e6/8 = 3e6 */
+#define T1_SAMPLE_TIME 30000 /* 3e6/30000 = 100 */
+
+#if HAS_ADC
+volatile __data uint8_t ao_adc_interval = 1;
+volatile __data uint8_t ao_adc_count;
+#endif
+
+#ifdef AVR
+ISR(TIMER1_COMPA_vect)
+#else
+void ao_timer_isr(void) __interrupt(9)
+#endif
+{
+ ++ao_tick_count;
+#if HAS_ADC
+ if (++ao_adc_count == ao_adc_interval) {
+ ao_adc_count = 0;
+ ao_adc_poll();
+ }
+#endif
+}
+
+#if HAS_ADC
+void
+ao_timer_set_adc_interval(uint8_t interval) __critical
+{
+ ao_adc_interval = interval;
+ ao_adc_count = 0;
+}
+#endif
+
+void
+ao_timer_init(void)
+{
+#ifdef AVR
+ TCCR1A = ((0 << WGM11) | /* CTC mode, OCR1A */
+ (0 << WGM10)); /* CTC mode, OCR1A */
+ TCCR1B = ((0 << ICNC1) | /* no input capture noise canceler */
+ (0 << ICES1) | /* input capture on falling edge (don't care) */
+ (0 << WGM13) | /* CTC mode, OCR1A */
+ (1 << WGM12) | /* CTC mode, OCR1A */
+ (3 << CS10)); /* clk/64 from prescaler */
+
+#if TEENSY
+ OCR1A = 2500; /* 16MHz clock */
+#else
+ OCR1A = 1250; /* 8MHz clock */
+#endif
+
+ TIMSK1 = (1 << OCIE1A); /* Interrupt on compare match */
+#else
+ /* NOTE: This uses a timer only present on cc1111 architecture. */
+
+ /* disable timer 1 */
+ T1CTL = 0;
+
+ /* set the sample rate */
+ T1CC0H = T1_SAMPLE_TIME >> 8;
+ T1CC0L = (uint8_t) T1_SAMPLE_TIME;
+
+ T1CCTL0 = T1CCTL_MODE_COMPARE;
+ T1CCTL1 = 0;
+ T1CCTL2 = 0;
+
+ /* clear timer value */
+ T1CNTL = 0;
+
+ /* enable overflow interrupt */
+ OVFIM = 1;
+ /* enable timer 1 interrupt */
+ T1IE = 1;
+
+ /* enable timer 1 in module mode, dividing by 8 */
+ T1CTL = T1CTL_MODE_MODULO | T1CTL_DIV_8;
+#endif
+}
+
+/*
+ * AltOS always cranks the clock to the max frequency
+ */
+void
+ao_clock_init(void)
+{
+#ifdef AVR
+ /* disable RC clock */
+ CLKSEL0 &= ~(1 << RCE);
+
+ /* Disable PLL */
+ PLLCSR &= ~(1 << PLLE);
+
+ /* Enable external clock */
+ CLKSEL0 |= (1 << EXTE);
+
+ /* wait for external clock to be ready */
+ while ((CLKSTA & (1 << EXTON)) == 0)
+ ;
+
+ /* select external clock */
+ CLKSEL0 |= (1 << CLKS);
+
+ /* Disable the clock prescaler */
+ cli();
+ CLKPR = (1 << CLKPCE);
+ CLKPR = 0;
+ sei();
+
+ /* Set up the PLL to use the crystal */
+
+ /* Use primary system clock as PLL source */
+ PLLFRQ = ((0 << PINMUX) | /* Use primary clock */
+ (0 << PLLUSB) | /* No divide by 2 for USB */
+ (0 << PLLTM0) | /* Disable high speed timer */
+ (0x4 << PDIV0)); /* 48MHz PLL clock */
+
+ /* Set the frequency of the crystal */
+#if TEENSY
+ PLLCSR |= (1 << PINDIV); /* For 16MHz crystal on Teensy board */
+#else
+ PLLCSR &= ~(1 << PINDIV); /* For 8MHz crystal on TeleScience board */
+#endif
+
+ /* Enable the PLL */
+ PLLCSR |= (1 << PLLE);
+ while (!(PLLCSR & (1 << PLOCK)))
+ ;
+#else
+ /* Switch system clock to crystal oscilator */
+ CLKCON = (CLKCON & ~CLKCON_OSC_MASK) | (CLKCON_OSC_XTAL);
+
+ while (!(SLEEP & SLEEP_XOSC_STB))
+ ;
+
+ /* Crank up the timer tick and system clock speed */
+ CLKCON = ((CLKCON & ~(CLKCON_TICKSPD_MASK | CLKCON_CLKSPD_MASK)) |
+ (CLKCON_TICKSPD_1 | CLKCON_CLKSPD_1));
+
+ while ((CLKCON & (CLKCON_TICKSPD_MASK|CLKCON_CLKSPD_MASK)) !=
+ (CLKCON_TICKSPD_1 | CLKCON_CLKSPD_1))
+ ;
+#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"
+#include "ao_usb.h"
+
+struct ao_task __xdata ao_usb_task;
+
+static __xdata uint16_t ao_usb_in_bytes;
+static __xdata uint16_t ao_usb_in_bytes_last;
+static __xdata uint16_t ao_usb_out_bytes;
+static __xdata uint8_t ao_usb_iif;
+static __xdata uint8_t ao_usb_running;
+
+static void
+ao_usb_set_interrupts(void)
+{
+ /* IN interrupts on the control an IN endpoints */
+ USBIIE = (1 << AO_USB_CONTROL_EP) | (1 << AO_USB_IN_EP);
+
+ /* OUT interrupts on the OUT endpoint */
+ USBOIE = (1 << AO_USB_OUT_EP);
+
+ /* Only care about reset */
+ USBCIE = USBCIE_RSTIE;
+}
+
+/* This interrupt is shared with port 2,
+ * so when we hook that up, fix this
+ */
+void
+ao_usb_isr(void) __interrupt 6
+{
+ USBIF = 0;
+ IRCON2 &= ~IRCON2_USBIF;
+ ao_usb_iif |= USBIIF;
+ if (ao_usb_iif & 1)
+ ao_wakeup(&ao_usb_task);
+ if (ao_usb_iif & (1 << AO_USB_IN_EP))
+ ao_wakeup(&ao_usb_in_bytes);
+
+ if (USBOIF & (1 << AO_USB_OUT_EP))
+ ao_wakeup(&ao_stdin_ready);
+
+ if (USBCIF & USBCIF_RSTIF)
+ ao_usb_set_interrupts();
+#if HAS_BTM
+ ao_btm_isr();
+#endif
+}
+
+struct ao_usb_setup {
+ uint8_t dir_type_recip;
+ uint8_t request;
+ uint16_t value;
+ uint16_t index;
+ uint16_t length;
+} __xdata ao_usb_setup;
+
+__xdata uint8_t ao_usb_ep0_state;
+uint8_t * __xdata ao_usb_ep0_in_data;
+__xdata uint8_t ao_usb_ep0_in_len;
+__xdata uint8_t ao_usb_ep0_in_buf[2];
+__xdata uint8_t ao_usb_ep0_out_len;
+__xdata uint8_t *__xdata ao_usb_ep0_out_data;
+__xdata uint8_t ao_usb_configuration;
+
+/* Send an IN data packet */
+static void
+ao_usb_ep0_flush(void)
+{
+ __xdata uint8_t this_len;
+ __xdata uint8_t cs0;
+
+ /* If the IN packet hasn't been picked up, just return */
+ USBINDEX = 0;
+ cs0 = USBCS0;
+ if (cs0 & USBCS0_INPKT_RDY)
+ return;
+
+ this_len = ao_usb_ep0_in_len;
+ if (this_len > AO_USB_CONTROL_SIZE)
+ this_len = AO_USB_CONTROL_SIZE;
+ cs0 = USBCS0_INPKT_RDY;
+ if (this_len != AO_USB_CONTROL_SIZE) {
+ cs0 = USBCS0_INPKT_RDY | USBCS0_DATA_END;
+ ao_usb_ep0_state = AO_USB_EP0_IDLE;
+ }
+ ao_usb_ep0_in_len -= this_len;
+ while (this_len--)
+ USBFIFO[0] = *ao_usb_ep0_in_data++;
+ USBINDEX = 0;
+ USBCS0 = cs0;
+}
+
+__xdata static struct ao_usb_line_coding ao_usb_line_coding = {115200, 0, 0, 8};
+
+/* Walk through the list of descriptors and find a match
+ */
+static void
+ao_usb_get_descriptor(uint16_t value)
+{
+ const uint8_t *__xdata descriptor;
+ __xdata uint8_t type = value >> 8;
+ __xdata uint8_t index = value;
+
+ descriptor = ao_usb_descriptors;
+ while (descriptor[0] != 0) {
+ if (descriptor[1] == type && index-- == 0) {
+ if (type == AO_USB_DESC_CONFIGURATION)
+ ao_usb_ep0_in_len = descriptor[2];
+ else
+ ao_usb_ep0_in_len = descriptor[0];
+ ao_usb_ep0_in_data = descriptor;
+ break;
+ }
+ descriptor += descriptor[0];
+ }
+}
+
+/* Read data from the ep0 OUT fifo
+ */
+static void
+ao_usb_ep0_fill(void)
+{
+ __xdata uint8_t len;
+
+ USBINDEX = 0;
+ len = USBCNT0;
+ if (len > ao_usb_ep0_out_len)
+ len = ao_usb_ep0_out_len;
+ ao_usb_ep0_out_len -= len;
+ while (len--)
+ *ao_usb_ep0_out_data++ = USBFIFO[0];
+}
+
+void
+ao_usb_ep0_queue_byte(uint8_t a)
+{
+ ao_usb_ep0_in_buf[ao_usb_ep0_in_len++] = a;
+}
+
+void
+ao_usb_set_address(uint8_t address)
+{
+ ao_usb_running = 1;
+ USBADDR = address | 0x80;
+ while (USBADDR & 0x80)
+ ;
+}
+
+static void
+ao_usb_set_configuration(void)
+{
+ /* Set the IN max packet size, double buffered */
+ USBINDEX = AO_USB_IN_EP;
+ USBMAXI = AO_USB_IN_SIZE >> 3;
+ USBCSIH |= USBCSIH_IN_DBL_BUF;
+
+ /* Set the OUT max packet size, double buffered */
+ USBINDEX = AO_USB_OUT_EP;
+ USBMAXO = AO_USB_OUT_SIZE >> 3;
+ USBCSOH = USBCSOH_OUT_DBL_BUF;
+}
+
+static void
+ao_usb_ep0_setup(void)
+{
+ /* Pull the setup packet out of the fifo */
+ ao_usb_ep0_out_data = (__xdata uint8_t *) &ao_usb_setup;
+ ao_usb_ep0_out_len = 8;
+ ao_usb_ep0_fill();
+ if (ao_usb_ep0_out_len != 0)
+ return;
+
+ /* Figure out how to ACK the setup packet */
+ if (ao_usb_setup.dir_type_recip & AO_USB_DIR_IN) {
+ if (ao_usb_setup.length)
+ ao_usb_ep0_state = AO_USB_EP0_DATA_IN;
+ else
+ ao_usb_ep0_state = AO_USB_EP0_IDLE;
+ } else {
+ if (ao_usb_setup.length)
+ ao_usb_ep0_state = AO_USB_EP0_DATA_OUT;
+ else
+ ao_usb_ep0_state = AO_USB_EP0_IDLE;
+ }
+ USBINDEX = 0;
+ if (ao_usb_ep0_state == AO_USB_EP0_IDLE)
+ USBCS0 = USBCS0_CLR_OUTPKT_RDY | USBCS0_DATA_END;
+ else
+ USBCS0 = USBCS0_CLR_OUTPKT_RDY;
+
+ ao_usb_ep0_in_data = ao_usb_ep0_in_buf;
+ ao_usb_ep0_in_len = 0;
+ switch(ao_usb_setup.dir_type_recip & AO_USB_SETUP_TYPE_MASK) {
+ case AO_USB_TYPE_STANDARD:
+ switch(ao_usb_setup.dir_type_recip & AO_USB_SETUP_RECIP_MASK) {
+ case AO_USB_RECIP_DEVICE:
+ switch(ao_usb_setup.request) {
+ case AO_USB_REQ_GET_STATUS:
+ ao_usb_ep0_queue_byte(0);
+ ao_usb_ep0_queue_byte(0);
+ break;
+ case AO_USB_REQ_SET_ADDRESS:
+ ao_usb_set_address(ao_usb_setup.value);
+ break;
+ case AO_USB_REQ_GET_DESCRIPTOR:
+ ao_usb_get_descriptor(ao_usb_setup.value);
+ break;
+ case AO_USB_REQ_GET_CONFIGURATION:
+ ao_usb_ep0_queue_byte(ao_usb_configuration);
+ break;
+ case AO_USB_REQ_SET_CONFIGURATION:
+ ao_usb_configuration = ao_usb_setup.value;
+ ao_usb_set_configuration();
+ break;
+ }
+ break;
+ case AO_USB_RECIP_INTERFACE:
+ #pragma disable_warning 110
+ switch(ao_usb_setup.request) {
+ case AO_USB_REQ_GET_STATUS:
+ ao_usb_ep0_queue_byte(0);
+ ao_usb_ep0_queue_byte(0);
+ break;
+ case AO_USB_REQ_GET_INTERFACE:
+ ao_usb_ep0_queue_byte(0);
+ break;
+ case AO_USB_REQ_SET_INTERFACE:
+ break;
+ }
+ break;
+ case AO_USB_RECIP_ENDPOINT:
+ switch(ao_usb_setup.request) {
+ case AO_USB_REQ_GET_STATUS:
+ ao_usb_ep0_queue_byte(0);
+ ao_usb_ep0_queue_byte(0);
+ break;
+ }
+ break;
+ }
+ break;
+ case AO_USB_TYPE_CLASS:
+ switch (ao_usb_setup.request) {
+ case SET_LINE_CODING:
+ ao_usb_ep0_out_len = 7;
+ ao_usb_ep0_out_data = (__xdata uint8_t *) &ao_usb_line_coding;
+ break;
+ case GET_LINE_CODING:
+ ao_usb_ep0_in_len = 7;
+ ao_usb_ep0_in_data = (uint8_t *) &ao_usb_line_coding;
+ break;
+ case SET_CONTROL_LINE_STATE:
+ break;
+ }
+ break;
+ }
+ if (ao_usb_ep0_state != AO_USB_EP0_DATA_OUT) {
+ if (ao_usb_setup.length < ao_usb_ep0_in_len)
+ ao_usb_ep0_in_len = ao_usb_setup.length;
+ ao_usb_ep0_flush();
+ }
+}
+
+/* End point 0 receives all of the control messages. */
+static void
+ao_usb_ep0(void)
+{
+ __xdata uint8_t cs0;
+
+ ao_usb_ep0_state = AO_USB_EP0_IDLE;
+ for (;;) {
+ __critical for (;;) {
+ if (ao_usb_iif & 1) {
+ ao_usb_iif &= ~1;
+ break;
+ }
+ ao_sleep(&ao_usb_task);
+ }
+ USBINDEX = 0;
+ cs0 = USBCS0;
+ if (cs0 & USBCS0_SETUP_END) {
+ ao_usb_ep0_state = AO_USB_EP0_IDLE;
+ USBCS0 = USBCS0_CLR_SETUP_END;
+ }
+ if (cs0 & USBCS0_SENT_STALL) {
+ ao_usb_ep0_state = AO_USB_EP0_IDLE;
+ USBCS0 &= ~USBCS0_SENT_STALL;
+ }
+ if (ao_usb_ep0_state == AO_USB_EP0_DATA_IN &&
+ (cs0 & USBCS0_INPKT_RDY) == 0)
+ {
+ ao_usb_ep0_flush();
+ }
+ if (cs0 & USBCS0_OUTPKT_RDY) {
+ switch (ao_usb_ep0_state) {
+ case AO_USB_EP0_IDLE:
+ ao_usb_ep0_setup();
+ break;
+ case AO_USB_EP0_DATA_OUT:
+ ao_usb_ep0_fill();
+ if (ao_usb_ep0_out_len == 0)
+ ao_usb_ep0_state = AO_USB_EP0_IDLE;
+ USBINDEX = 0;
+ if (ao_usb_ep0_state == AO_USB_EP0_IDLE)
+ USBCS0 = USBCS0_CLR_OUTPKT_RDY | USBCS0_DATA_END;
+ else
+ USBCS0 = USBCS0_CLR_OUTPKT_RDY;
+ break;
+ }
+ }
+ }
+}
+
+/* Wait for a free IN buffer */
+static void
+ao_usb_in_wait(void)
+{
+ for (;;) {
+ USBINDEX = AO_USB_IN_EP;
+ if ((USBCSIL & USBCSIL_INPKT_RDY) == 0)
+ break;
+ ao_sleep(&ao_usb_in_bytes);
+ }
+}
+
+/* Send the current IN packet */
+static void
+ao_usb_in_send(void)
+{
+ USBINDEX = AO_USB_IN_EP;
+ USBCSIL |= USBCSIL_INPKT_RDY;
+ ao_usb_in_bytes_last = ao_usb_in_bytes;
+ ao_usb_in_bytes = 0;
+}
+
+void
+ao_usb_flush(void) __critical
+{
+ if (!ao_usb_running)
+ return;
+
+ /* If there are pending bytes, or if the last packet was full,
+ * send another IN packet
+ */
+ if (ao_usb_in_bytes || (ao_usb_in_bytes_last == AO_USB_IN_SIZE)) {
+ ao_usb_in_wait();
+ ao_usb_in_send();
+ }
+}
+
+void
+ao_usb_putchar(char c) __critical __reentrant
+{
+ if (!ao_usb_running)
+ return;
+
+ ao_usb_in_wait();
+
+ /* Queue a byte, sending the packet when full */
+ USBFIFO[AO_USB_IN_EP << 1] = c;
+ if (++ao_usb_in_bytes == AO_USB_IN_SIZE)
+ ao_usb_in_send();
+}
+
+char
+ao_usb_pollchar(void) __critical
+{
+ char c;
+ if (ao_usb_out_bytes == 0) {
+ USBINDEX = AO_USB_OUT_EP;
+ if ((USBCSOL & USBCSOL_OUTPKT_RDY) == 0)
+ return AO_READ_AGAIN;
+ ao_usb_out_bytes = (USBCNTH << 8) | USBCNTL;
+ if (ao_usb_out_bytes == 0) {
+ USBINDEX = AO_USB_OUT_EP;
+ USBCSOL &= ~USBCSOL_OUTPKT_RDY;
+ return AO_READ_AGAIN;
+ }
+ }
+ --ao_usb_out_bytes;
+ c = USBFIFO[AO_USB_OUT_EP << 1];
+ if (ao_usb_out_bytes == 0) {
+ USBINDEX = AO_USB_OUT_EP;
+ USBCSOL &= ~USBCSOL_OUTPKT_RDY;
+ }
+ return c;
+}
+
+char
+ao_usb_getchar(void) __critical
+{
+ char c;
+
+ while ((c = ao_usb_pollchar()) == AO_READ_AGAIN)
+ ao_sleep(&ao_stdin_ready);
+ return c;
+}
+
+void
+ao_usb_enable(void)
+{
+ /* Turn on the USB controller */
+ SLEEP |= SLEEP_USB_EN;
+
+ ao_usb_set_configuration();
+
+ ao_usb_set_interrupts();
+
+ /* enable USB interrupts */
+ IEN2 |= IEN2_USBIE;
+
+ /* Clear any pending interrupts */
+ USBCIF = 0;
+ USBOIF = 0;
+ USBIIF = 0;
+}
+
+void
+ao_usb_disable(void)
+{
+ /* Disable USB interrupts */
+ USBIIE = 0;
+ USBOIE = 0;
+ USBCIE = 0;
+ IEN2 &= ~IEN2_USBIE;
+
+ /* Clear any pending interrupts */
+ USBCIF = 0;
+ USBOIF = 0;
+ USBIIF = 0;
+
+ /* Turn off the USB controller */
+ SLEEP &= ~SLEEP_USB_EN;
+}
+
+void
+ao_usb_init(void)
+{
+ ao_usb_enable();
+
+ ao_add_task(&ao_usb_task, ao_usb_ep0, "usb");
+ ao_add_stdio(ao_usb_pollchar, ao_usb_putchar, ao_usb_flush);
+}
--- /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_USB_H_
+#define _AO_USB_H_
+
+#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_INT_EP 1
+#define AO_USB_OUT_EP 4
+#define AO_USB_IN_EP 5
+#define AO_USB_CONTROL_SIZE 32
+/*
+ * Double buffer IN and OUT EPs, so each
+ * gets half of the available space
+ *
+ * Ah, but 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 LE_WORD(x) ((x)&0xFF),((uint8_t) (((uint16_t) (x))>>8))
+
+/* CDC definitions */
+#define CS_INTERFACE 0x24
+#define CS_ENDPOINT 0x25
+
+#define SET_LINE_CODING 0x20
+#define GET_LINE_CODING 0x21
+#define 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;
+} ;
+
+#endif /* _AO_USB_H_ */
--- /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.
+ */
+
+/* Defines for the Atmel AT45DB161D 16Mbit SPI Bus DataFlash® */
+
+#ifndef _AT45DB161D_H_
+#define _AT45DB161D_H_
+
+/*
+ * We reserve the last block on the device for
+ * configuration space. Writes and reads in this
+ * area return errors.
+ */
+
+
+#define FLASH_READ 0x03
+#define FLASH_WRITE 0x82
+#define FLASH_PAGE_ERASE 0x81
+#define FLASH_READ_STATUS 0xd7
+#define FLASH_SET_CONFIG 0x3d
+
+#define FLASH_SET_512_BYTE_0 0x2a
+#define FLASH_SET_512_BYTE_1 0x80
+#define FLASH_SET_512_BYTE_2 0xa6
+
+#define FLASH_STATUS_RDY (1 << 7)
+#define FLASH_STATUS_COMP (1 << 6)
+#define FLASH_STATUS_PROTECT (1 << 1)
+#define FLASH_STATUS_PAGESIZE_512 (1 << 0)
+
+#endif /* _AT45DB161D_H_ */
--- /dev/null
+#
+# AltOS build
+#
+#
+vpath %.c ..
+vpath %.h ..
+vpath make-altitude ..
+vpath make-kalman ..
+vpath kalman.5c ../kalman
+vpath kalman_filter.5c ../kalman
+vpath load_csv.5c ../kalman
+vpath matrix.5c ../kalman
+vpath ao-make-product.5c ..
+
+MCU=atmega32u4
+DUDECPUTYPE=m32u4
+#PROGRAMMER=stk500v2 -P usb
+PROGRAMMER=usbtiny
+LOADCMD=avrdude
+LOADARG=-p $(DUDECPUTYPE) -c $(PROGRAMMER) -e -U flash:w:
+CC=avr-gcc
+OBJCOPY=avr-objcopy
+
+ifndef VERSION
+include ../Version
+endif
+
+INC = \
+ ao.h \
+ ao_pins.h \
+ altitude.h \
+ ao_kalman.h
+
+#
+# Common AltOS sources
+#
+ALTOS_SRC = \
+ ao_mutex.c \
+ ao_panic.c \
+ ao_serial_avr.c \
+ ao_stdio.c \
+ ao_task.c \
+ ao_timer.c \
+ ao_led.c
+
+PRODUCT=AvrDemo-v0.0
+MCU=atmega32u4
+PRODUCT_DEF=-DAVR_DEMO
+IDPRODUCT=0x000a
+CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -Os -mcall-prologues $(PRODUCT_DEF) -I. -DAVR
+
+NICKLE=nickle
+
+PROG=avr-demo
+
+SRC=$(ALTOS_SRC) ao_demo.c ao_debug_avr.c
+OBJ=$(SRC:.c=.o)
+
+V=0
+# The user has explicitly enabled quiet compilation.
+ifeq ($(V),0)
+quiet = @printf " $1 $2 $@\n"; $($1)
+endif
+# Otherwise, print the full command line.
+quiet ?= $($1)
+
+all: $(PROG)
+
+$(PROG): Makefile $(OBJ)
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ)
+
+$(PROG).hex: $(PROG)
+ avr-size $(PROG)
+ $(OBJCOPY) -R .eeprom -O ihex $(PROG) $@
+
+
+load: $(PROG).hex
+ $(LOADCMD) $(LOADARG)$(PROG).hex
+
+../altitude.h: make-altitude
+ nickle $< > $@
+
+ao_product.h: ao-make-product.5c ../Version
+ $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+ao_product.rel: ao_product.c ao_product.h
+ $(call quiet,CC) -c $(CFLAGS) -D PRODUCT_DEFS='\"ao_product.h\"' -o$@ $<
+
+distclean: clean
+
+clean:
+ rm -f $(OBJ)
+ rm -f ao_product.h
+
+install:
+
+uninstall:
+
+$(OBJ): ao.h
\ No newline at end of file
--- /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 _AVR_H_
+#define _AVR_H_
+
+#include <stdio.h>
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
+#define TEENSY 1
+#if TEENSY
+#define F_CPU 16000000UL // 16 MHz
+#else
+#define F_CPU 8000000UL // 8 MHz
+#endif
+
+#define __pdata
+#define __data
+#define __xdata
+#define __code const
+#define __reentrant
+#define __naked
+#define __critical
+#define __interrupt(n)
+
+#define asm_nop asm("nop");
+
+#endif /* _AVR_H_ */
--- /dev/null
+/*-------------------------------------------------------------------------
+ Register Declarations for the ChipCon CC1111 Processor Range
+
+ Copyright © 2008 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.
+
+ Adapted from the Cygnal C8051F12x config file which is:
+
+ Copyright (C) 2003 - Maarten Brock, sourceforge.brock@dse.nl
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ This library 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
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+-------------------------------------------------------------------------*/
+
+#ifndef _CC1111_H_
+#define _CC1111_H_
+#include <cc1110.h>
+#include <stdint.h>
+
+#define asm_nop _asm nop _endasm
+
+#define __interrupt(n) __interrupt n
+
+sfr __at 0xA8 IEN0; /* Interrupt Enable 0 Register */
+
+sbit __at 0xA8 RFTXRXIE; /* RF TX/RX done interrupt enable */
+sbit __at 0xA9 ADCIE; /* ADC interrupt enable */
+sbit __at 0xAA URX0IE; /* USART0 RX interrupt enable */
+sbit __at 0xAB URX1IE; /* USART1 RX interrupt enable (shared with I2S RX) */
+sbit __at 0xAB I2SRXIE; /* I2S RX interrupt enable (shared with USART1 RX) */
+sbit __at 0xAC ENCIE; /* AES encryption/decryption interrupt enable */
+sbit __at 0xAD STIE; /* Sleep Timer interrupt enable */
+sbit __at 0xAF EA; /* Enable All */
+
+#define IEN0_EA (1 << 7)
+#define IEN0_STIE (1 << 5)
+#define IEN0_ENCIE (1 << 4)
+#define IEN0_URX1IE (1 << 3)
+#define IEN0_I2SRXIE (1 << 3)
+#define IEN0_URX0IE (1 << 2)
+#define IEN0_ADCIE (1 << 1)
+#define IEN0_RFTXRXIE (1 << 0)
+
+sfr __at 0xB8 IEN1; /* Interrupt Enable 1 Register */
+
+#define IEN1_P0IE (1 << 5) /* Port 0 interrupt enable */
+#define IEN1_T4IE (1 << 4) /* Timer 4 interrupt enable */
+#define IEN1_T3IE (1 << 3) /* Timer 3 interrupt enable */
+#define IEN1_T2IE (1 << 2) /* Timer 2 interrupt enable */
+#define IEN1_T1IE (1 << 1) /* Timer 1 interrupt enable */
+#define IEN1_DMAIE (1 << 0) /* DMA transfer interrupt enable */
+
+/* IEN2 */
+sfr __at 0x9A IEN2; /* Interrupt Enable 2 Register */
+
+#define IEN2_WDTIE (1 << 5) /* Watchdog timer interrupt enable */
+#define IEN2_P1IE (1 << 4) /* Port 1 interrupt enable */
+#define IEN2_UTX1IE (1 << 3) /* USART1 TX interrupt enable */
+#define IEN2_I2STXIE (1 << 3) /* I2S TX interrupt enable */
+#define IEN2_UTX0IE (1 << 2) /* USART0 TX interrupt enable */
+#define IEN2_P2IE (1 << 1) /* Port 2 interrupt enable */
+#define IEN2_USBIE (1 << 1) /* USB interrupt enable */
+#define IEN2_RFIE (1 << 0) /* RF general interrupt enable */
+
+/* CLKCON 0xC6 */
+sfr __at 0xC6 CLKCON; /* Clock Control */
+
+#define CLKCON_OSC32K_RC (1 << 7)
+#define CLKCON_OSC32K_XTAL (0 << 7)
+#define CLKCON_OSC32K_MASK (1 << 7)
+#define CLKCON_OSC_RC (1 << 6)
+#define CLKCON_OSC_XTAL (0 << 6)
+#define CLKCON_OSC_MASK (1 << 6)
+#define CLKCON_TICKSPD_MASK (7 << 3)
+# define CLKCON_TICKSPD_1 (0 << 3)
+# define CLKCON_TICKSPD_1_2 (1 << 3)
+# define CLKCON_TICKSPD_1_4 (2 << 3)
+# define CLKCON_TICKSPD_1_8 (3 << 3)
+# define CLKCON_TICKSPD_1_16 (4 << 3)
+# define CLKCON_TICKSPD_1_32 (5 << 3)
+# define CLKCON_TICKSPD_1_64 (6 << 3)
+# define CLKCON_TICKSPD_1_128 (7 << 3)
+
+#define CLKCON_CLKSPD_MASK (7 << 0)
+# define CLKCON_CLKSPD_1 (0 << 0)
+# define CLKCON_CLKSPD_1_2 (1 << 0)
+# define CLKCON_CLKSPD_1_4 (2 << 0)
+# define CLKCON_CLKSPD_1_8 (3 << 0)
+# define CLKCON_CLKSPD_1_16 (4 << 0)
+# define CLKCON_CLKSPD_1_32 (5 << 0)
+# define CLKCON_CLKSPD_1_64 (6 << 0)
+# define CLKCON_CLKSPD_1_128 (7 << 0)
+
+/* SLEEP 0xBE */
+#define SLEEP_USB_EN (1 << 7)
+#define SLEEP_XOSC_STB (1 << 6)
+#define SLEEP_HFRC_STB (1 << 5)
+#define SLEEP_RST_POWER (0 << 3)
+#define SLEEP_RST_EXTERNAL (1 << 3)
+#define SLEEP_RST_WATCHDOG (2 << 3)
+#define SLEEP_RST_MASK (3 << 3)
+#define SLEEP_OSC_PD (1 << 2)
+#define SLEEP_MODE_PM0 (0 << 0)
+#define SLEEP_MODE_PM1 (1 << 0)
+#define SLEEP_MODE_PM2 (2 << 0)
+#define SLEEP_MODE_PM3 (3 << 0)
+#define SLEEP_MODE_MASK (3 << 0)
+
+/* PCON 0x87 */
+sfr __at 0x87 PCON; /* Power Mode Control Register */
+
+#define PCON_IDLE (1 << 0)
+
+/*
+ * TCON
+ */
+sfr __at 0x88 TCON; /* CPU Interrupt Flag 1 */
+
+sbit __at 0x8F URX1IF; /* USART1 RX interrupt flag. Automatically cleared */
+sbit __at 0x8F I2SRXIF; /* I2S RX interrupt flag. Automatically cleared */
+sbit __at 0x8D ADCIF; /* ADC interrupt flag. Automatically cleared */
+sbit __at 0x8B URX0IF; /* USART0 RX interrupt flag. Automatically cleared */
+sbit __at 0x89 RFTXRXIF; /* RF TX/RX complete interrupt flag. Automatically cleared */
+
+#define TCON_URX1IF (1 << 7)
+#define TCON_I2SRXIF (1 << 7)
+#define TCON_ADCIF (1 << 5)
+#define TCON_URX0IF (1 << 3)
+#define TCON_RFTXRXIF (1 << 1)
+
+/*
+ * S0CON
+ */
+sfr __at 0x98 S0CON; /* CPU Interrupt Flag 2 */
+
+sbit __at 0x98 ENCIF_0; /* AES interrupt 0. */
+sbit __at 0x99 ENCIF_1; /* AES interrupt 1. */
+
+#define S0CON_ENCIF_1 (1 << 1)
+#define S0CON_ENCIF_0 (1 << 0)
+
+/*
+ * S1CON
+ */
+sfr __at 0x9B S1CON; /* CPU Interrupt Flag 3 */
+
+#define S1CON_RFIF_1 (1 << 1)
+#define S1CON_RFIF_0 (1 << 0)
+
+/*
+ * IRCON
+ */
+sfr __at 0xC0 IRCON; /* CPU Interrupt Flag 4 */
+
+sbit __at 0xC0 DMAIF; /* DMA complete interrupt flag */
+sbit __at 0xC1 T1IF; /* Timer 1 interrupt flag. Automatically cleared */
+sbit __at 0xC2 T2IF; /* Timer 2 interrupt flag. Automatically cleared */
+sbit __at 0xC3 T3IF; /* Timer 3 interrupt flag. Automatically cleared */
+sbit __at 0xC4 T4IF; /* Timer 4 interrupt flag. Automatically cleared */
+sbit __at 0xC5 P0IF; /* Port0 interrupt flag */
+sbit __at 0xC7 STIF; /* Sleep Timer interrupt flag */
+
+#define IRCON_DMAIF (1 << 0) /* DMA complete interrupt flag */
+#define IRCON_T1IF (1 << 1) /* Timer 1 interrupt flag. Automatically cleared */
+#define IRCON_T2IF (1 << 2) /* Timer 2 interrupt flag. Automatically cleared */
+#define IRCON_T3IF (1 << 3) /* Timer 3 interrupt flag. Automatically cleared */
+#define IRCON_T4IF (1 << 4) /* Timer 4 interrupt flag. Automatically cleared */
+#define IRCON_P0IF (1 << 5) /* Port0 interrupt flag */
+#define IRCON_STIF (1 << 7) /* Sleep Timer interrupt flag */
+
+/*
+ * IRCON2
+ */
+sfr __at 0xE8 IRCON2; /* CPU Interrupt Flag 5 */
+
+sbit __at 0xE8 USBIF; /* USB interrupt flag (shared with Port2) */
+sbit __at 0xE8 P2IF; /* Port2 interrupt flag (shared with USB) */
+sbit __at 0xE9 UTX0IF; /* USART0 TX interrupt flag */
+sbit __at 0xEA UTX1IF; /* USART1 TX interrupt flag (shared with I2S TX) */
+sbit __at 0xEA I2STXIF; /* I2S TX interrupt flag (shared with USART1 TX) */
+sbit __at 0xEB P1IF; /* Port1 interrupt flag */
+sbit __at 0xEC WDTIF; /* Watchdog timer interrupt flag */
+
+#define IRCON2_USBIF (1 << 0) /* USB interrupt flag (shared with Port2) */
+#define IRCON2_P2IF (1 << 0) /* Port2 interrupt flag (shared with USB) */
+#define IRCON2_UTX0IF (1 << 1) /* USART0 TX interrupt flag */
+#define IRCON2_UTX1IF (1 << 2) /* USART1 TX interrupt flag (shared with I2S TX) */
+#define IRCON2_I2STXIF (1 << 2) /* I2S TX interrupt flag (shared with USART1 TX) */
+#define IRCON2_P1IF (1 << 3) /* Port1 interrupt flag */
+#define IRCON2_WDTIF (1 << 4) /* Watchdog timer interrupt flag */
+
+/*
+ * IP1 - Interrupt Priority 1
+ */
+
+/*
+ * Interrupt priority groups:
+ *
+ * IPG0 RFTXRX RF DMA
+ * IPG1 ADC T1 P2INT/USB
+ * IPG2 URX0 T2 UTX0
+ * IPG3 URX1/I2SRX T3 UTX1 / I2STX
+ * IPG4 ENC T4 P1INT
+ * IPG5 ST P0INT WDT
+ *
+ * Priority = (IP1 << 1) | IP0. Higher priority interrupts served first
+ */
+
+sfr __at 0xB9 IP1; /* Interrupt Priority 1 */
+sfr __at 0xA9 IP0; /* Interrupt Priority 0 */
+
+#define IP1_IPG5 (1 << 5)
+#define IP1_IPG4 (1 << 4)
+#define IP1_IPG3 (1 << 3)
+#define IP1_IPG2 (1 << 2)
+#define IP1_IPG1 (1 << 1)
+#define IP1_IPG0 (1 << 0)
+
+#define IP0_IPG5 (1 << 5)
+#define IP0_IPG4 (1 << 4)
+#define IP0_IPG3 (1 << 3)
+#define IP0_IPG2 (1 << 2)
+#define IP0_IPG1 (1 << 1)
+#define IP0_IPG0 (1 << 0)
+
+/*
+ * Timer 1
+ */
+#define T1CTL_MODE_SUSPENDED (0 << 0)
+#define T1CTL_MODE_FREE (1 << 0)
+#define T1CTL_MODE_MODULO (2 << 0)
+#define T1CTL_MODE_UP_DOWN (3 << 0)
+#define T1CTL_MODE_MASK (3 << 0)
+#define T1CTL_DIV_1 (0 << 2)
+#define T1CTL_DIV_8 (1 << 2)
+#define T1CTL_DIV_32 (2 << 2)
+#define T1CTL_DIV_128 (3 << 2)
+#define T1CTL_DIV_MASK (3 << 2)
+#define T1CTL_OVFIF (1 << 4)
+#define T1CTL_CH0IF (1 << 5)
+#define T1CTL_CH1IF (1 << 6)
+#define T1CTL_CH2IF (1 << 7)
+
+#define T1CCTL_NO_CAPTURE (0 << 0)
+#define T1CCTL_CAPTURE_RISING (1 << 0)
+#define T1CCTL_CAPTURE_FALLING (2 << 0)
+#define T1CCTL_CAPTURE_BOTH (3 << 0)
+#define T1CCTL_CAPTURE_MASK (3 << 0)
+
+#define T1CCTL_MODE_CAPTURE (0 << 2)
+#define T1CCTL_MODE_COMPARE (1 << 2)
+
+#define T1CTL_CMP_SET (0 << 3)
+#define T1CTL_CMP_CLEAR (1 << 3)
+#define T1CTL_CMP_TOGGLE (2 << 3)
+#define T1CTL_CMP_SET_CLEAR (3 << 3)
+#define T1CTL_CMP_CLEAR_SET (4 << 3)
+
+#define T1CTL_IM_DISABLED (0 << 6)
+#define T1CTL_IM_ENABLED (1 << 6)
+
+#define T1CTL_CPSEL_NORMAL (0 << 7)
+#define T1CTL_CPSEL_RF (1 << 7)
+
+/*
+ * Timer 3 and Timer 4
+ */
+
+/* Timer count */
+sfr __at 0xCA T3CNT;
+sfr __at 0xEA T4CNT;
+
+/* Timer control */
+
+sfr __at 0xCB T3CTL;
+sfr __at 0xEB T4CTL;
+
+#define TxCTL_DIV_1 (0 << 5)
+#define TxCTL_DIV_2 (1 << 5)
+#define TxCTL_DIV_4 (2 << 5)
+#define TxCTL_DIV_8 (3 << 5)
+#define TxCTL_DIV_16 (4 << 5)
+#define TxCTL_DIV_32 (5 << 5)
+#define TxCTL_DIV_64 (6 << 5)
+#define TxCTL_DIV_128 (7 << 5)
+#define TxCTL_START (1 << 4)
+#define TxCTL_OVFIM (1 << 3)
+#define TxCTL_CLR (1 << 2)
+#define TxCTL_MODE_FREE (0 << 0)
+#define TxCTL_MODE_DOWN (1 << 0)
+#define TxCTL_MODE_MODULO (2 << 0)
+#define TxCTL_MODE_UP_DOWN (3 << 0)
+
+/* Timer 4 channel 0 compare control */
+
+sfr __at 0xCC T3CCTL0;
+sfr __at 0xCE T3CCTL1;
+sfr __at 0xEC T4CCTL0;
+sfr __at 0xEE T4CCTL1;
+
+#define TxCCTLy_IM (1 << 6)
+#define TxCCTLy_CMP_SET (0 << 3)
+#define TxCCTLy_CMP_CLEAR (1 << 3)
+#define TxCCTLy_CMP_TOGGLE (2 << 3)
+#define TxCCTLy_CMP_SET_UP_CLEAR_DOWN (3 << 3)
+#define TxCCTLy_CMP_CLEAR_UP_SET_DOWN (4 << 3)
+#define TxCCTLy_CMP_SET_CLEAR_FF (5 << 3)
+#define TxCCTLy_CMP_CLEAR_SET_00 (6 << 3)
+#define TxCCTLy_CMP_MODE_ENABLE (1 << 2)
+
+/* Timer compare value */
+sfr __at 0xCD T3CC0;
+sfr __at 0xCF T3CC1;
+sfr __at 0xED T4CC0;
+sfr __at 0xEF T4CC1;
+
+/*
+ * Peripheral control
+ */
+
+sfr __at 0xf1 PERCFG;
+#define PERCFG_T1CFG_ALT_1 (0 << 6)
+#define PERCFG_T1CFG_ALT_2 (1 << 6)
+#define PERCFG_T1CFG_ALT_MASK (1 << 6)
+
+#define PERCFG_T3CFG_ALT_1 (0 << 5)
+#define PERCFG_T3CFG_ALT_2 (1 << 5)
+#define PERCFG_T3CFG_ALT_MASK (1 << 5)
+
+#define PERCFG_T4CFG_ALT_1 (0 << 4)
+#define PERCFG_T4CFG_ALT_2 (1 << 4)
+#define PERCFG_T4CFG_ALT_MASK (1 << 4)
+
+#define PERCFG_U1CFG_ALT_1 (0 << 1)
+#define PERCFG_U1CFG_ALT_2 (1 << 1)
+#define PERCFG_U1CFG_ALT_MASK (1 << 1)
+
+#define PERCFG_U0CFG_ALT_1 (0 << 0)
+#define PERCFG_U0CFG_ALT_2 (1 << 0)
+#define PERCFG_U0CFG_ALT_MASK (1 << 0)
+
+/* directly addressed USB registers */
+__xdata __at (0xde00) volatile uint8_t USBADDR;
+__xdata __at (0xde01) volatile uint8_t USBPOW;
+__xdata __at (0xde02) volatile uint8_t USBIIF;
+
+__xdata __at (0xde04) volatile uint8_t USBOIF;
+
+__xdata __at (0xde06) volatile uint8_t USBCIF;
+
+# define USBCIF_SOFIF (1 << 3)
+# define USBCIF_RSTIF (1 << 2)
+# define USBCIF_RESUMEIF (1 << 1)
+# define USBCIF_SUSPENDIF (1 << 0)
+
+__xdata __at (0xde07) volatile uint8_t USBIIE;
+
+__xdata __at (0xde09) volatile uint8_t USBOIE;
+
+__xdata __at (0xde0b) volatile uint8_t USBCIE;
+
+# define USBCIE_SOFIE (1 << 3)
+# define USBCIE_RSTIE (1 << 2)
+# define USBCIE_RESUMEIE (1 << 1)
+# define USBCIE_SUSPENDIE (1 << 0)
+
+__xdata __at (0xde0c) volatile uint8_t USBFRML;
+__xdata __at (0xde0d) volatile uint8_t USBFRMH;
+__xdata __at (0xde0e) volatile uint8_t USBINDEX;
+
+/* indexed USB registers, must set USBINDEX to 0-5 */
+__xdata __at (0xde10) volatile uint8_t USBMAXI;
+__xdata __at (0xde11) volatile uint8_t USBCS0;
+
+# define USBCS0_CLR_SETUP_END (1 << 7)
+# define USBCS0_CLR_OUTPKT_RDY (1 << 6)
+# define USBCS0_SEND_STALL (1 << 5)
+# define USBCS0_SETUP_END (1 << 4)
+# define USBCS0_DATA_END (1 << 3)
+# define USBCS0_SENT_STALL (1 << 2)
+# define USBCS0_INPKT_RDY (1 << 1)
+# define USBCS0_OUTPKT_RDY (1 << 0)
+
+__xdata __at (0xde11) volatile uint8_t USBCSIL;
+
+# define USBCSIL_CLR_DATA_TOG (1 << 6)
+# define USBCSIL_SENT_STALL (1 << 5)
+# define USBCSIL_SEND_STALL (1 << 4)
+# define USBCSIL_FLUSH_PACKET (1 << 3)
+# define USBCSIL_UNDERRUN (1 << 2)
+# define USBCSIL_PKT_PRESENT (1 << 1)
+# define USBCSIL_INPKT_RDY (1 << 0)
+
+__xdata __at (0xde12) volatile uint8_t USBCSIH;
+
+# define USBCSIH_AUTOSET (1 << 7)
+# define USBCSIH_ISO (1 << 6)
+# define USBCSIH_FORCE_DATA_TOG (1 << 3)
+# define USBCSIH_IN_DBL_BUF (1 << 0)
+
+__xdata __at (0xde13) volatile uint8_t USBMAXO;
+__xdata __at (0xde14) volatile uint8_t USBCSOL;
+
+# define USBCSOL_CLR_DATA_TOG (1 << 7)
+# define USBCSOL_SENT_STALL (1 << 6)
+# define USBCSOL_SEND_STALL (1 << 5)
+# define USBCSOL_FLUSH_PACKET (1 << 4)
+# define USBCSOL_DATA_ERROR (1 << 3)
+# define USBCSOL_OVERRUN (1 << 2)
+# define USBCSOL_FIFO_FULL (1 << 1)
+# define USBCSOL_OUTPKT_RDY (1 << 0)
+
+__xdata __at (0xde15) volatile uint8_t USBCSOH;
+
+# define USBCSOH_AUTOCLEAR (1 << 7)
+# define USBCSOH_ISO (1 << 6)
+# define USBCSOH_OUT_DBL_BUF (1 << 0)
+
+__xdata __at (0xde16) volatile uint8_t USBCNT0;
+__xdata __at (0xde16) volatile uint8_t USBCNTL;
+__xdata __at (0xde17) volatile uint8_t USBCNTH;
+
+__xdata __at (0xde20) volatile uint8_t USBFIFO[12];
+
+/* ADC Data register, low and high */
+sfr at 0xBA ADCL;
+sfr at 0xBB ADCH;
+__xdata __at (0xDFBA) volatile uint16_t ADCXDATA;
+
+/* ADC Control Register 1 */
+sfr at 0xB4 ADCCON1;
+
+# define ADCCON1_EOC (1 << 7) /* conversion complete */
+# define ADCCON1_ST (1 << 6) /* start conversion */
+
+# define ADCCON1_STSEL_MASK (3 << 4) /* start select */
+# define ADCCON1_STSEL_EXTERNAL (0 << 4) /* P2_0 pin triggers */
+# define ADCCON1_STSEL_FULLSPEED (1 << 4) /* full speed, no waiting */
+# define ADCCON1_STSEL_TIMER1 (2 << 4) /* timer 1 channel 0 */
+# define ADCCON1_STSEL_START (3 << 4) /* set start bit */
+
+# define ADCCON1_RCTRL_MASK (3 << 2) /* random number control */
+# define ADCCON1_RCTRL_COMPLETE (0 << 2) /* operation completed */
+# define ADCCON1_RCTRL_CLOCK_LFSR (1 << 2) /* Clock the LFSR once */
+
+/* ADC Control Register 2 */
+sfr at 0xB5 ADCCON2;
+
+# define ADCCON2_SREF_MASK (3 << 6) /* reference voltage */
+# define ADCCON2_SREF_1_25V (0 << 6) /* internal 1.25V */
+# define ADCCON2_SREF_EXTERNAL (1 << 6) /* external on AIN7 cc1110 */
+# define ADCCON2_SREF_VDD (2 << 6) /* VDD on the AVDD pin */
+# define ADCCON2_SREF_EXTERNAL_DIFF (3 << 6) /* external on AIN6-7 cc1110 */
+
+# define ADCCON2_SDIV_MASK (3 << 4) /* decimation rate */
+# define ADCCON2_SDIV_64 (0 << 4) /* 7 bits */
+# define ADCCON2_SDIV_128 (1 << 4) /* 9 bits */
+# define ADCCON2_SDIV_256 (2 << 4) /* 10 bits */
+# define ADCCON2_SDIV_512 (3 << 4) /* 12 bits */
+
+# define ADCCON2_SCH_MASK (0xf << 0) /* Sequence channel select */
+# define ADCCON2_SCH_SHIFT 0
+# define ADCCON2_SCH_AIN0 (0 << 0)
+# define ADCCON2_SCH_AIN1 (1 << 0)
+# define ADCCON2_SCH_AIN2 (2 << 0)
+# define ADCCON2_SCH_AIN3 (3 << 0)
+# define ADCCON2_SCH_AIN4 (4 << 0)
+# define ADCCON2_SCH_AIN5 (5 << 0)
+# define ADCCON2_SCH_AIN6 (6 << 0)
+# define ADCCON2_SCH_AIN7 (7 << 0)
+# define ADCCON2_SCH_AIN0_AIN1 (8 << 0)
+# define ADCCON2_SCH_AIN2_AIN3 (9 << 0)
+# define ADCCON2_SCH_AIN4_AIN5 (0xa << 0)
+# define ADCCON2_SCH_AIN6_AIN7 (0xb << 0)
+# define ADCCON2_SCH_GND (0xc << 0)
+# define ADCCON2_SCH_VREF (0xd << 0)
+# define ADCCON2_SCH_TEMP (0xe << 0)
+# define ADCCON2_SCH_VDD_3 (0xf << 0)
+
+
+/* ADC Control Register 3 */
+sfr at 0xB6 ADCCON3;
+
+# define ADCCON3_EREF_MASK (3 << 6) /* extra conversion reference */
+# define ADCCON3_EREF_1_25 (0 << 6) /* internal 1.25V */
+# define ADCCON3_EREF_EXTERNAL (1 << 6) /* external AIN7 cc1110 */
+# define ADCCON3_EREF_VDD (2 << 6) /* VDD on the AVDD pin */
+# define ADCCON3_EREF_EXTERNAL_DIFF (3 << 6) /* external AIN6-7 cc1110 */
+# define ADCCON3_EDIV_MASK (3 << 4) /* extral decimation */
+# define ADCCON3_EDIV_64 (0 << 4) /* 7 bits */
+# define ADCCON3_EDIV_128 (1 << 4) /* 9 bits */
+# define ADCCON3_EDIV_256 (2 << 4) /* 10 bits */
+# define ADCCON3_EDIV_512 (3 << 4) /* 12 bits */
+# define ADCCON3_ECH_MASK (0xf << 0) /* Sequence channel select */
+# define ADCCON3_ECH_SHIFT 0
+# define ADCCON3_ECH_AIN0 (0 << 0)
+# define ADCCON3_ECH_AIN1 (1 << 0)
+# define ADCCON3_ECH_AIN2 (2 << 0)
+# define ADCCON3_ECH_AIN3 (3 << 0)
+# define ADCCON3_ECH_AIN4 (4 << 0)
+# define ADCCON3_ECH_AIN5 (5 << 0)
+# define ADCCON3_ECH_AIN6 (6 << 0)
+# define ADCCON3_ECH_AIN7 (7 << 0)
+# define ADCCON3_ECH_AIN0_AIN1 (8 << 0)
+# define ADCCON3_ECH_AIN2_AIN3 (9 << 0)
+# define ADCCON3_ECH_AIN4_AIN5 (0xa << 0)
+# define ADCCON3_ECH_AIN6_AIN7 (0xb << 0)
+# define ADCCON3_ECH_GND (0xc << 0)
+# define ADCCON3_ECH_VREF (0xd << 0)
+# define ADCCON3_ECH_TEMP (0xe << 0)
+# define ADCCON3_ECH_VDD_3 (0xf << 0)
+
+/*
+ * ADC configuration register, this selects which
+ * GPIO pins are to be used as ADC inputs
+ */
+sfr at 0xF2 ADCCFG;
+
+/*
+ * Watchdog timer
+ */
+
+sfr at 0xc9 WDCTL;
+
+#define WDCTL_CLEAR_FIRST (0xa << 4)
+#define WDCTL_CLEAR_SECOND (0x5 << 4)
+#define WDCTL_EN (1 << 3)
+#define WDCTL_MODE_WATCHDOG (0 << 2)
+#define WDCTL_MODE_TIMER (1 << 2)
+#define WDCTL_MODE_MASK (1 << 2)
+#define WDCTL_INT_32768 (0 << 0)
+#define WDCTL_INT_8192 (1 << 0)
+#define WDCTL_INT_512 (2 << 0)
+#define WDCTL_INT_64 (3 << 0)
+
+/*
+ * Pin selectors, these set which pins are
+ * using their peripheral function
+ */
+sfr at 0xF3 P0SEL;
+sfr at 0xF4 P1SEL;
+sfr at 0xF5 P2SEL;
+
+#define P2SEL_PRI3P1_USART0 (0 << 6)
+#define P2SEL_PRI3P1_USART1 (1 << 6)
+#define P2SEL_PRI3P1_MASK (1 << 6)
+#define P2SEL_PRI2P1_USART1 (0 << 5)
+#define P2SEL_PRI2P1_TIMER3 (1 << 5)
+#define P2SEL_PRI2P1_MASK (1 << 5)
+#define P2SEL_PRI1P1_TIMER1 (0 << 4)
+#define P2SEL_PRI1P1_TIMER4 (1 << 4)
+#define P2SEL_PRI1P1_MASK (1 << 4)
+#define P2SEL_PRI0P1_USART0 (0 << 3)
+#define P2SEL_PRI0P1_TIMER1 (1 << 3)
+#define P2SEL_PRI0P1_MASK (1 << 3)
+#define P2SEL_SELP2_4_GPIO (0 << 2)
+#define P2SEL_SELP2_4_PERIPHERAL (1 << 2)
+#define P2SEL_SELP2_4_MASK (1 << 2)
+#define P2SEL_SELP2_3_GPIO (0 << 1)
+#define P2SEL_SELP2_3_PERIPHERAL (1 << 1)
+#define P2SEL_SELP2_3_MASK (1 << 1)
+#define P2SEL_SELP2_0_GPIO (0 << 0)
+#define P2SEL_SELP2_0_PERIPHERAL (1 << 0)
+#define P2SEL_SELP2_0_MASK (1 << 0)
+
+/*
+ * For pins used as GPIOs, these set which are used as outputs
+ */
+sfr at 0xFD P0DIR;
+sfr at 0xFE P1DIR;
+sfr at 0xFF P2DIR;
+
+sfr at 0x8F P0INP;
+
+/* Select between tri-state and pull up/down
+ * for pins P0_0 - P0_7.
+ */
+#define P0INP_MDP0_7_PULL (0 << 7)
+#define P0INP_MDP0_7_TRISTATE (1 << 7)
+#define P0INP_MDP0_6_PULL (0 << 6)
+#define P0INP_MDP0_6_TRISTATE (1 << 6)
+#define P0INP_MDP0_5_PULL (0 << 5)
+#define P0INP_MDP0_5_TRISTATE (1 << 5)
+#define P0INP_MDP0_4_PULL (0 << 4)
+#define P0INP_MDP0_4_TRISTATE (1 << 4)
+#define P0INP_MDP0_3_PULL (0 << 3)
+#define P0INP_MDP0_3_TRISTATE (1 << 3)
+#define P0INP_MDP0_2_PULL (0 << 2)
+#define P0INP_MDP0_2_TRISTATE (1 << 2)
+#define P0INP_MDP0_1_PULL (0 << 1)
+#define P0INP_MDP0_1_TRISTATE (1 << 1)
+#define P0INP_MDP0_0_PULL (0 << 0)
+#define P0INP_MDP0_0_TRISTATE (1 << 0)
+
+sfr at 0xF6 P1INP;
+
+/* Select between tri-state and pull up/down
+ * for pins P1_2 - P1_7. Pins P1_0 and P1_1 are
+ * always tri-stated
+ */
+#define P1INP_MDP1_7_PULL (0 << 7)
+#define P1INP_MDP1_7_TRISTATE (1 << 7)
+#define P1INP_MDP1_6_PULL (0 << 6)
+#define P1INP_MDP1_6_TRISTATE (1 << 6)
+#define P1INP_MDP1_5_PULL (0 << 5)
+#define P1INP_MDP1_5_TRISTATE (1 << 5)
+#define P1INP_MDP1_4_PULL (0 << 4)
+#define P1INP_MDP1_4_TRISTATE (1 << 4)
+#define P1INP_MDP1_3_PULL (0 << 3)
+#define P1INP_MDP1_3_TRISTATE (1 << 3)
+#define P1INP_MDP1_2_PULL (0 << 2)
+#define P1INP_MDP1_2_TRISTATE (1 << 2)
+
+sfr at 0xF7 P2INP;
+/* P2INP has three extra bits which are used to choose
+ * between pull-up and pull-down when they are not tri-stated
+ */
+#define P2INP_PDUP2_PULL_UP (0 << 7)
+#define P2INP_PDUP2_PULL_DOWN (1 << 7)
+#define P2INP_PDUP1_PULL_UP (0 << 6)
+#define P2INP_PDUP1_PULL_DOWN (1 << 6)
+#define P2INP_PDUP0_PULL_UP (0 << 5)
+#define P2INP_PDUP0_PULL_DOWN (1 << 5)
+
+/* For the P2 pins, choose between tri-state and pull up/down
+ * mode
+ */
+#define P2INP_MDP2_4_PULL (0 << 4)
+#define P2INP_MDP2_4_TRISTATE (1 << 4)
+#define P2INP_MDP2_3_PULL (0 << 3)
+#define P2INP_MDP2_3_TRISTATE (1 << 3)
+#define P2INP_MDP2_2_PULL (0 << 2)
+#define P2INP_MDP2_2_TRISTATE (1 << 2)
+#define P2INP_MDP2_1_PULL (0 << 1)
+#define P2INP_MDP2_1_TRISTATE (1 << 1)
+#define P2INP_MDP2_0_PULL (0 << 0)
+#define P2INP_MDP2_0_TRISTATE (1 << 0)
+
+/* GPIO interrupt status flags */
+sfr at 0x89 P0IFG;
+sfr at 0x8A P1IFG;
+sfr at 0x8B P2IFG;
+
+#define P0IFG_USB_RESUME (1 << 7)
+
+sfr at 0x8C PICTL;
+#define PICTL_P2IEN (1 << 5)
+#define PICTL_P0IENH (1 << 4)
+#define PICTL_P0IENL (1 << 3)
+#define PICTL_P2ICON (1 << 2)
+#define PICTL_P1ICON (1 << 1)
+#define PICTL_P0ICON (1 << 0)
+
+/* GPIO pins */
+sfr at 0x80 P0;
+
+sbit at 0x80 P0_0;
+sbit at 0x81 P0_1;
+sbit at 0x82 P0_2;
+sbit at 0x83 P0_3;
+sbit at 0x84 P0_4;
+sbit at 0x85 P0_5;
+sbit at 0x86 P0_6;
+sbit at 0x87 P0_7;
+
+sfr at 0x90 P1;
+
+sbit at 0x90 P1_0;
+sbit at 0x91 P1_1;
+sbit at 0x92 P1_2;
+sbit at 0x93 P1_3;
+sbit at 0x94 P1_4;
+sbit at 0x95 P1_5;
+sbit at 0x96 P1_6;
+sbit at 0x97 P1_7;
+
+sfr at 0xa0 P2;
+
+sbit at 0xa0 P2_0;
+sbit at 0xa1 P2_1;
+sbit at 0xa2 P2_2;
+sbit at 0xa3 P2_3;
+sbit at 0xa4 P2_4;
+
+/* DMA controller */
+struct cc_dma_channel {
+ uint8_t src_high;
+ uint8_t src_low;
+ uint8_t dst_high;
+ uint8_t dst_low;
+ uint8_t len_high;
+ uint8_t len_low;
+ uint8_t cfg0;
+ uint8_t cfg1;
+};
+
+# define DMA_LEN_HIGH_VLEN_MASK (7 << 5)
+# define DMA_LEN_HIGH_VLEN_LEN (0 << 5)
+# define DMA_LEN_HIGH_VLEN_PLUS_1 (1 << 5)
+# define DMA_LEN_HIGH_VLEN (2 << 5)
+# define DMA_LEN_HIGH_VLEN_PLUS_2 (3 << 5)
+# define DMA_LEN_HIGH_VLEN_PLUS_3 (4 << 5)
+# define DMA_LEN_HIGH_MASK (0x1f)
+
+# define DMA_CFG0_WORDSIZE_8 (0 << 7)
+# define DMA_CFG0_WORDSIZE_16 (1 << 7)
+# define DMA_CFG0_TMODE_MASK (3 << 5)
+# define DMA_CFG0_TMODE_SINGLE (0 << 5)
+# define DMA_CFG0_TMODE_BLOCK (1 << 5)
+# define DMA_CFG0_TMODE_REPEATED_SINGLE (2 << 5)
+# define DMA_CFG0_TMODE_REPEATED_BLOCK (3 << 5)
+
+/*
+ * DMA triggers
+ */
+# define DMA_CFG0_TRIGGER_NONE 0
+# define DMA_CFG0_TRIGGER_PREV 1
+# define DMA_CFG0_TRIGGER_T1_CH0 2
+# define DMA_CFG0_TRIGGER_T1_CH1 3
+# define DMA_CFG0_TRIGGER_T1_CH2 4
+# define DMA_CFG0_TRIGGER_T2_OVFL 6
+# define DMA_CFG0_TRIGGER_T3_CH0 7
+# define DMA_CFG0_TRIGGER_T3_CH1 8
+# define DMA_CFG0_TRIGGER_T4_CH0 9
+# define DMA_CFG0_TRIGGER_T4_CH1 10
+# define DMA_CFG0_TRIGGER_IOC_0 12
+# define DMA_CFG0_TRIGGER_IOC_1 13
+# define DMA_CFG0_TRIGGER_URX0 14
+# define DMA_CFG0_TRIGGER_UTX0 15
+# define DMA_CFG0_TRIGGER_URX1 16
+# define DMA_CFG0_TRIGGER_UTX1 17
+# define DMA_CFG0_TRIGGER_FLASH 18
+# define DMA_CFG0_TRIGGER_RADIO 19
+# define DMA_CFG0_TRIGGER_ADC_CHALL 20
+# define DMA_CFG0_TRIGGER_ADC_CH0 21
+# define DMA_CFG0_TRIGGER_ADC_CH1 22
+# define DMA_CFG0_TRIGGER_ADC_CH2 23
+# define DMA_CFG0_TRIGGER_ADC_CH3 24
+# define DMA_CFG0_TRIGGER_ADC_CH4 25
+# define DMA_CFG0_TRIGGER_ADC_CH5 26
+# define DMA_CFG0_TRIGGER_ADC_CH6 27
+# define DMA_CFG0_TRIGGER_I2SRX 27
+# define DMA_CFG0_TRIGGER_ADC_CH7 28
+# define DMA_CFG0_TRIGGER_I2STX 28
+# define DMA_CFG0_TRIGGER_ENC_DW 29
+# define DMA_CFG0_TRIGGER_DNC_UP 30
+
+# define DMA_CFG1_SRCINC_MASK (3 << 6)
+# define DMA_CFG1_SRCINC_0 (0 << 6)
+# define DMA_CFG1_SRCINC_1 (1 << 6)
+# define DMA_CFG1_SRCINC_2 (2 << 6)
+# define DMA_CFG1_SRCINC_MINUS_1 (3 << 6)
+
+# define DMA_CFG1_DESTINC_MASK (3 << 4)
+# define DMA_CFG1_DESTINC_0 (0 << 4)
+# define DMA_CFG1_DESTINC_1 (1 << 4)
+# define DMA_CFG1_DESTINC_2 (2 << 4)
+# define DMA_CFG1_DESTINC_MINUS_1 (3 << 4)
+
+# define DMA_CFG1_IRQMASK (1 << 3)
+# define DMA_CFG1_M8 (1 << 2)
+
+# define DMA_CFG1_PRIORITY_MASK (3 << 0)
+# define DMA_CFG1_PRIORITY_LOW (0 << 0)
+# define DMA_CFG1_PRIORITY_NORMAL (1 << 0)
+# define DMA_CFG1_PRIORITY_HIGH (2 << 0)
+
+/*
+ * DMAARM - DMA Channel Arm
+ */
+
+sfr at 0xD6 DMAARM;
+
+# define DMAARM_ABORT (1 << 7)
+# define DMAARM_DMAARM4 (1 << 4)
+# define DMAARM_DMAARM3 (1 << 3)
+# define DMAARM_DMAARM2 (1 << 2)
+# define DMAARM_DMAARM1 (1 << 1)
+# define DMAARM_DMAARM0 (1 << 0)
+
+/*
+ * DMAREQ - DMA Channel Start Request and Status
+ */
+
+sfr at 0xD7 DMAREQ;
+
+# define DMAREQ_DMAREQ4 (1 << 4)
+# define DMAREQ_DMAREQ3 (1 << 3)
+# define DMAREQ_DMAREQ2 (1 << 2)
+# define DMAREQ_DMAREQ1 (1 << 1)
+# define DMAREQ_DMAREQ0 (1 << 0)
+
+/*
+ * DMA configuration 0 address
+ */
+
+sfr at 0xD5 DMA0CFGH;
+sfr at 0xD4 DMA0CFGL;
+
+/*
+ * DMA configuration 1-4 address
+ */
+
+sfr at 0xD3 DMA1CFGH;
+sfr at 0xD2 DMA1CFGL;
+
+/*
+ * DMAIRQ - DMA Interrupt Flag
+ */
+
+sfr at 0xD1 DMAIRQ;
+
+# define DMAIRQ_DMAIF4 (1 << 4)
+# define DMAIRQ_DMAIF3 (1 << 3)
+# define DMAIRQ_DMAIF2 (1 << 2)
+# define DMAIRQ_DMAIF1 (1 << 1)
+# define DMAIRQ_DMAIF0 (1 << 0)
+
+/*
+ * UART registers
+ */
+
+/* USART config/status registers */
+sfr at 0x86 U0CSR;
+sfr at 0xF8 U1CSR;
+
+# define UxCSR_MODE_UART (1 << 7)
+# define UxCSR_MODE_SPI (0 << 7)
+# define UxCSR_RE (1 << 6)
+# define UxCSR_SLAVE (1 << 5)
+# define UxCSR_MASTER (0 << 5)
+# define UxCSR_FE (1 << 4)
+# define UxCSR_ERR (1 << 3)
+# define UxCSR_RX_BYTE (1 << 2)
+# define UxCSR_TX_BYTE (1 << 1)
+# define UxCSR_ACTIVE (1 << 0)
+
+/* UART configuration registers */
+sfr at 0xc4 U0UCR;
+sfr at 0xfb U1UCR;
+
+# define UxUCR_FLUSH (1 << 7)
+# define UxUCR_FLOW_DISABLE (0 << 6)
+# define UxUCR_FLOW_ENABLE (1 << 6)
+# define UxUCR_D9_EVEN_PARITY (0 << 5)
+# define UxUCR_D9_ODD_PARITY (1 << 5)
+# define UxUCR_BIT9_8_BITS (0 << 4)
+# define UxUCR_BIT9_9_BITS (1 << 4)
+# define UxUCR_PARITY_DISABLE (0 << 3)
+# define UxUCR_PARITY_ENABLE (1 << 3)
+# define UxUCR_SPB_1_STOP_BIT (0 << 2)
+# define UxUCR_SPB_2_STOP_BITS (1 << 2)
+# define UxUCR_STOP_LOW (0 << 1)
+# define UxUCR_STOP_HIGH (1 << 1)
+# define UxUCR_START_LOW (0 << 0)
+# define UxUCR_START_HIGH (1 << 0)
+
+/* USART General configuration registers (mostly SPI) */
+sfr at 0xc5 U0GCR;
+sfr at 0xfc U1GCR;
+
+# define UxGCR_CPOL_NEGATIVE (0 << 7)
+# define UxGCR_CPOL_POSITIVE (1 << 7)
+# define UxGCR_CPHA_FIRST_EDGE (0 << 6)
+# define UxGCR_CPHA_SECOND_EDGE (1 << 6)
+# define UxGCR_ORDER_LSB (0 << 5)
+# define UxGCR_ORDER_MSB (1 << 5)
+# define UxGCR_BAUD_E_MASK (0x1f)
+# define UxGCR_BAUD_E_SHIFT 0
+
+/* USART data registers */
+sfr at 0xc1 U0DBUF;
+__xdata __at (0xDFC1) volatile uint8_t U0DBUFXADDR;
+sfr at 0xf9 U1DBUF;
+__xdata __at (0xDFF9) volatile uint8_t U1DBUFXADDR;
+
+/* USART baud rate registers, M value */
+sfr at 0xc2 U0BAUD;
+sfr at 0xfa U1BAUD;
+
+/* Flash controller */
+
+sfr at 0xAE FCTL;
+#define FCTL_BUSY (1 << 7)
+#define FCTL_SWBSY (1 << 6)
+#define FCTL_CONTRD_ENABLE (1 << 4)
+#define FCTL_WRITE (1 << 1)
+#define FCTL_ERASE (1 << 0)
+
+/* Flash write data. Write two bytes here */
+sfr at 0xAF FWDATA;
+__xdata __at (0xDFAF) volatile uint8_t FWDATAXADDR;
+
+/* Flash write/erase address */
+sfr at 0xAD FADDRH;
+sfr at 0xAC FADDRL;
+
+/* Flash timing */
+sfr at 0xAB FWT;
+
+/* Radio */
+
+sfr at 0xD9 RFD;
+__xdata at (0xDFD9) volatile uint8_t RFDXADDR;
+
+sfr at 0xE9 RFIF;
+#define RFIF_IM_TXUNF (1 << 7)
+#define RFIF_IM_RXOVF (1 << 6)
+#define RFIF_IM_TIMEOUT (1 << 5)
+#define RFIF_IM_DONE (1 << 4)
+#define RFIF_IM_CS (1 << 3)
+#define RFIF_IM_PQT (1 << 2)
+#define RFIF_IM_CCA (1 << 1)
+#define RFIF_IM_SFD (1 << 0)
+
+sfr at 0x91 RFIM;
+#define RFIM_IM_TXUNF (1 << 7)
+#define RFIM_IM_RXOVF (1 << 6)
+#define RFIM_IM_TIMEOUT (1 << 5)
+#define RFIM_IM_DONE (1 << 4)
+#define RFIM_IM_CS (1 << 3)
+#define RFIM_IM_PQT (1 << 2)
+#define RFIM_IM_CCA (1 << 1)
+#define RFIM_IM_SFD (1 << 0)
+
+sfr at 0xE1 RFST;
+
+#define RFST_SFSTXON 0x00
+#define RFST_SCAL 0x01
+#define RFST_SRX 0x02
+#define RFST_STX 0x03
+#define RFST_SIDLE 0x04
+
+__xdata __at (0xdf00) uint8_t RF[0x3c];
+
+__xdata __at (0xdf2f) uint8_t RF_IOCFG2;
+#define RF_IOCFG2_OFF 0x2f
+
+__xdata __at (0xdf30) uint8_t RF_IOCFG1;
+#define RF_IOCFG1_OFF 0x30
+
+__xdata __at (0xdf31) uint8_t RF_IOCFG0;
+#define RF_IOCFG0_OFF 0x31
+
+__xdata __at (0xdf00) uint8_t RF_SYNC1;
+#define RF_SYNC1_OFF 0x00
+
+__xdata __at (0xdf01) uint8_t RF_SYNC0;
+#define RF_SYNC0_OFF 0x01
+
+__xdata __at (0xdf02) uint8_t RF_PKTLEN;
+#define RF_PKTLEN_OFF 0x02
+
+__xdata __at (0xdf03) uint8_t RF_PKTCTRL1;
+#define RF_PKTCTRL1_OFF 0x03
+#define PKTCTRL1_PQT_MASK (0x7 << 5)
+#define PKTCTRL1_PQT_SHIFT 5
+#define PKTCTRL1_APPEND_STATUS (1 << 2)
+#define PKTCTRL1_ADR_CHK_NONE (0 << 0)
+#define PKTCTRL1_ADR_CHK_NO_BROADCAST (1 << 0)
+#define PKTCTRL1_ADR_CHK_00_BROADCAST (2 << 0)
+#define PKTCTRL1_ADR_CHK_00_FF_BROADCAST (3 << 0)
+
+/* If APPEND_STATUS is used, two bytes will be added to the packet data */
+#define PKT_APPEND_STATUS_0_RSSI_MASK (0xff)
+#define PKT_APPEND_STATUS_0_RSSI_SHIFT 0
+#define PKT_APPEND_STATUS_1_CRC_OK (1 << 7)
+#define PKT_APPEND_STATUS_1_LQI_MASK (0x7f)
+#define PKT_APPEND_STATUS_1_LQI_SHIFT 0
+
+__xdata __at (0xdf04) uint8_t RF_PKTCTRL0;
+#define RF_PKTCTRL0_OFF 0x04
+#define RF_PKTCTRL0_WHITE_DATA (1 << 6)
+#define RF_PKTCTRL0_PKT_FORMAT_NORMAL (0 << 4)
+#define RF_PKTCTRL0_PKT_FORMAT_RANDOM (2 << 4)
+#define RF_PKTCTRL0_CRC_EN (1 << 2)
+#define RF_PKTCTRL0_LENGTH_CONFIG_FIXED (0 << 0)
+#define RF_PKTCTRL0_LENGTH_CONFIG_VARIABLE (1 << 0)
+
+__xdata __at (0xdf05) uint8_t RF_ADDR;
+#define RF_ADDR_OFF 0x05
+
+__xdata __at (0xdf06) uint8_t RF_CHANNR;
+#define RF_CHANNR_OFF 0x06
+
+__xdata __at (0xdf07) uint8_t RF_FSCTRL1;
+#define RF_FSCTRL1_OFF 0x07
+
+#define RF_FSCTRL1_FREQ_IF_SHIFT (0)
+
+__xdata __at (0xdf08) uint8_t RF_FSCTRL0;
+#define RF_FSCTRL0_OFF 0x08
+
+#define RF_FSCTRL0_FREQOFF_SHIFT (0)
+
+__xdata __at (0xdf09) uint8_t RF_FREQ2;
+#define RF_FREQ2_OFF 0x09
+
+__xdata __at (0xdf0a) uint8_t RF_FREQ1;
+#define RF_FREQ1_OFF 0x0a
+
+__xdata __at (0xdf0b) uint8_t RF_FREQ0;
+#define RF_FREQ0_OFF 0x0b
+
+__xdata __at (0xdf0c) uint8_t RF_MDMCFG4;
+#define RF_MDMCFG4_OFF 0x0c
+
+#define RF_MDMCFG4_CHANBW_E_SHIFT 6
+#define RF_MDMCFG4_CHANBW_M_SHIFT 4
+#define RF_MDMCFG4_DRATE_E_SHIFT 0
+
+__xdata __at (0xdf0d) uint8_t RF_MDMCFG3;
+#define RF_MDMCFG3_OFF 0x0d
+
+#define RF_MDMCFG3_DRATE_M_SHIFT 0
+
+__xdata __at (0xdf0e) uint8_t RF_MDMCFG2;
+#define RF_MDMCFG2_OFF 0x0e
+
+#define RF_MDMCFG2_DEM_DCFILT_OFF (1 << 7)
+#define RF_MDMCFG2_DEM_DCFILT_ON (0 << 7)
+
+#define RF_MDMCFG2_MOD_FORMAT_MASK (7 << 4)
+#define RF_MDMCFG2_MOD_FORMAT_2_FSK (0 << 4)
+#define RF_MDMCFG2_MOD_FORMAT_GFSK (1 << 4)
+#define RF_MDMCFG2_MOD_FORMAT_ASK_OOK (3 << 4)
+#define RF_MDMCFG2_MOD_FORMAT_MSK (7 << 4)
+
+#define RF_MDMCFG2_MANCHESTER_EN (1 << 3)
+
+#define RF_MDMCFG2_SYNC_MODE_MASK (0x7 << 0)
+#define RF_MDMCFG2_SYNC_MODE_NONE (0x0 << 0)
+#define RF_MDMCFG2_SYNC_MODE_15_16 (0x1 << 0)
+#define RF_MDMCFG2_SYNC_MODE_16_16 (0x2 << 0)
+#define RF_MDMCFG2_SYNC_MODE_30_32 (0x3 << 0)
+#define RF_MDMCFG2_SYNC_MODE_NONE_THRES (0x4 << 0)
+#define RF_MDMCFG2_SYNC_MODE_15_16_THRES (0x5 << 0)
+#define RF_MDMCFG2_SYNC_MODE_16_16_THRES (0x6 << 0)
+#define RF_MDMCFG2_SYNC_MODE_30_32_THRES (0x7 << 0)
+
+__xdata __at (0xdf0f) uint8_t RF_MDMCFG1;
+#define RF_MDMCFG1_OFF 0x0f
+
+#define RF_MDMCFG1_FEC_EN (1 << 7)
+#define RF_MDMCFG1_FEC_DIS (0 << 7)
+
+#define RF_MDMCFG1_NUM_PREAMBLE_MASK (7 << 4)
+#define RF_MDMCFG1_NUM_PREAMBLE_2 (0 << 4)
+#define RF_MDMCFG1_NUM_PREAMBLE_3 (1 << 4)
+#define RF_MDMCFG1_NUM_PREAMBLE_4 (2 << 4)
+#define RF_MDMCFG1_NUM_PREAMBLE_6 (3 << 4)
+#define RF_MDMCFG1_NUM_PREAMBLE_8 (4 << 4)
+#define RF_MDMCFG1_NUM_PREAMBLE_12 (5 << 4)
+#define RF_MDMCFG1_NUM_PREAMBLE_16 (6 << 4)
+#define RF_MDMCFG1_NUM_PREAMBLE_24 (7 << 4)
+
+#define RF_MDMCFG1_CHANSPC_E_MASK (3 << 0)
+#define RF_MDMCFG1_CHANSPC_E_SHIFT (0)
+
+__xdata __at (0xdf10) uint8_t RF_MDMCFG0;
+#define RF_MDMCFG0_OFF 0x10
+
+#define RF_MDMCFG0_CHANSPC_M_SHIFT (0)
+
+__xdata __at (0xdf11) uint8_t RF_DEVIATN;
+#define RF_DEVIATN_OFF 0x11
+
+#define RF_DEVIATN_DEVIATION_E_SHIFT 4
+#define RF_DEVIATN_DEVIATION_M_SHIFT 0
+
+__xdata __at (0xdf12) uint8_t RF_MCSM2;
+#define RF_MCSM2_OFF 0x12
+#define RF_MCSM2_RX_TIME_RSSI (1 << 4)
+#define RF_MCSM2_RX_TIME_QUAL (1 << 3)
+#define RF_MCSM2_RX_TIME_MASK (0x7)
+#define RF_MCSM2_RX_TIME_SHIFT 0
+#define RF_MCSM2_RX_TIME_END_OF_PACKET (7)
+
+__xdata __at (0xdf13) uint8_t RF_MCSM1;
+#define RF_MCSM1_OFF 0x13
+#define RF_MCSM1_CCA_MODE_ALWAYS (0 << 4)
+#define RF_MCSM1_CCA_MODE_RSSI_BELOW (1 << 4)
+#define RF_MCSM1_CCA_MODE_UNLESS_RECEIVING (2 << 4)
+#define RF_MCSM1_CCA_MODE_RSSI_BELOW_UNLESS_RECEIVING (3 << 4)
+#define RF_MCSM1_RXOFF_MODE_IDLE (0 << 2)
+#define RF_MCSM1_RXOFF_MODE_FSTXON (1 << 2)
+#define RF_MCSM1_RXOFF_MODE_TX (2 << 2)
+#define RF_MCSM1_RXOFF_MODE_RX (3 << 2)
+#define RF_MCSM1_TXOFF_MODE_IDLE (0 << 0)
+#define RF_MCSM1_TXOFF_MODE_FSTXON (1 << 0)
+#define RF_MCSM1_TXOFF_MODE_TX (2 << 0)
+#define RF_MCSM1_TXOFF_MODE_RX (3 << 0)
+
+__xdata __at (0xdf14) uint8_t RF_MCSM0;
+#define RF_MCSM0_OFF 0x14
+#define RF_MCSM0_FS_AUTOCAL_NEVER (0 << 4)
+#define RF_MCSM0_FS_AUTOCAL_FROM_IDLE (1 << 4)
+#define RF_MCSM0_FS_AUTOCAL_TO_IDLE (2 << 4)
+#define RF_MCSM0_FS_AUTOCAL_TO_IDLE_EVERY_4 (3 << 4)
+#define RF_MCSM0_MAGIC_3 (1 << 3)
+#define RF_MCSM0_MAGIC_2 (1 << 2)
+#define RF_MCSM0_CLOSE_IN_RX_0DB (0 << 0)
+#define RF_MCSM0_CLOSE_IN_RX_6DB (1 << 0)
+#define RF_MCSM0_CLOSE_IN_RX_12DB (2 << 0)
+#define RF_MCSM0_CLOSE_IN_RX_18DB (3 << 0)
+
+__xdata __at (0xdf15) uint8_t RF_FOCCFG;
+#define RF_FOCCFG_OFF 0x15
+#define RF_FOCCFG_FOC_BS_CS_GATE (1 << 5)
+#define RF_FOCCFG_FOC_PRE_K_1K (0 << 3)
+#define RF_FOCCFG_FOC_PRE_K_2K (1 << 3)
+#define RF_FOCCFG_FOC_PRE_K_3K (2 << 3)
+#define RF_FOCCFG_FOC_PRE_K_4K (3 << 3)
+#define RF_FOCCFG_FOC_POST_K_PRE_K (0 << 2)
+#define RF_FOCCFG_FOC_POST_K_PRE_K_OVER_2 (1 << 2)
+#define RF_FOCCFG_FOC_LIMIT_0 (0 << 0)
+#define RF_FOCCFG_FOC_LIMIT_BW_OVER_8 (1 << 0)
+#define RF_FOCCFG_FOC_LIMIT_BW_OVER_4 (2 << 0)
+#define RF_FOCCFG_FOC_LIMIT_BW_OVER_2 (3 << 0)
+
+__xdata __at (0xdf16) uint8_t RF_BSCFG;
+#define RF_BSCFG_OFF 0x16
+#define RF_BSCFG_BS_PRE_K_1K (0 << 6)
+#define RF_BSCFG_BS_PRE_K_2K (1 << 6)
+#define RF_BSCFG_BS_PRE_K_3K (2 << 6)
+#define RF_BSCFG_BS_PRE_K_4K (3 << 6)
+#define RF_BSCFG_BS_PRE_KP_1KP (0 << 4)
+#define RF_BSCFG_BS_PRE_KP_2KP (1 << 4)
+#define RF_BSCFG_BS_PRE_KP_3KP (2 << 4)
+#define RF_BSCFG_BS_PRE_KP_4KP (3 << 4)
+#define RF_BSCFG_BS_POST_KI_PRE_KI (0 << 3)
+#define RF_BSCFG_BS_POST_KI_PRE_KI_OVER_2 (1 << 3)
+#define RF_BSCFG_BS_POST_KP_PRE_KP (0 << 2)
+#define RF_BSCFG_BS_POST_KP_PRE_KP_OVER_2 (1 << 2)
+#define RF_BSCFG_BS_LIMIT_0 (0 << 0)
+#define RF_BSCFG_BS_LIMIT_3_125 (1 << 0)
+#define RF_BSCFG_BS_LIMIT_6_25 (2 << 0)
+#define RF_BSCFG_BS_LIMIT_12_5 (3 << 0)
+
+__xdata __at (0xdf17) uint8_t RF_AGCCTRL2;
+#define RF_AGCCTRL2_OFF 0x17
+
+__xdata __at (0xdf18) uint8_t RF_AGCCTRL1;
+#define RF_AGCCTRL1_OFF 0x18
+
+__xdata __at (0xdf19) uint8_t RF_AGCCTRL0;
+#define RF_AGCCTRL0_OFF 0x19
+
+__xdata __at (0xdf1a) uint8_t RF_FREND1;
+#define RF_FREND1_OFF 0x1a
+
+#define RF_FREND1_LNA_CURRENT_SHIFT 6
+#define RF_FREND1_LNA2MIX_CURRENT_SHIFT 4
+#define RF_FREND1_LODIV_BUF_CURRENT_RX_SHIFT 2
+#define RF_FREND1_MIX_CURRENT_SHIFT 0
+
+__xdata __at (0xdf1b) uint8_t RF_FREND0;
+#define RF_FREND0_OFF 0x1b
+
+#define RF_FREND0_LODIV_BUF_CURRENT_TX_MASK (0x3 << 4)
+#define RF_FREND0_LODIV_BUF_CURRENT_TX_SHIFT 4
+#define RF_FREND0_PA_POWER_MASK (0x7)
+#define RF_FREND0_PA_POWER_SHIFT 0
+
+__xdata __at (0xdf1c) uint8_t RF_FSCAL3;
+#define RF_FSCAL3_OFF 0x1c
+
+__xdata __at (0xdf1d) uint8_t RF_FSCAL2;
+#define RF_FSCAL2_OFF 0x1d
+
+__xdata __at (0xdf1e) uint8_t RF_FSCAL1;
+#define RF_FSCAL1_OFF 0x1e
+
+__xdata __at (0xdf1f) uint8_t RF_FSCAL0;
+#define RF_FSCAL0_OFF 0x1f
+
+__xdata __at (0xdf23) uint8_t RF_TEST2;
+#define RF_TEST2_OFF 0x23
+
+#define RF_TEST2_NORMAL_MAGIC 0x88
+#define RF_TEST2_RX_LOW_DATA_RATE_MAGIC 0x81
+
+__xdata __at (0xdf24) uint8_t RF_TEST1;
+#define RF_TEST1_OFF 0x24
+
+#define RF_TEST1_TX_MAGIC 0x31
+#define RF_TEST1_RX_LOW_DATA_RATE_MAGIC 0x35
+
+__xdata __at (0xdf25) uint8_t RF_TEST0;
+#define RF_TEST0_OFF 0x25
+
+#define RF_TEST0_7_2_MASK (0xfc)
+#define RF_TEST0_VCO_SEL_CAL_EN (1 << 1)
+#define RF_TEST0_0_MASK (1)
+
+/* These are undocumented, and must be computed
+ * using the provided tool.
+ */
+__xdata __at (0xdf27) uint8_t RF_PA_TABLE7;
+#define RF_PA_TABLE7_OFF 0x27
+
+__xdata __at (0xdf28) uint8_t RF_PA_TABLE6;
+#define RF_PA_TABLE6_OFF 0x28
+
+__xdata __at (0xdf29) uint8_t RF_PA_TABLE5;
+#define RF_PA_TABLE5_OFF 0x29
+
+__xdata __at (0xdf2a) uint8_t RF_PA_TABLE4;
+#define RF_PA_TABLE4_OFF 0x2a
+
+__xdata __at (0xdf2b) uint8_t RF_PA_TABLE3;
+#define RF_PA_TABLE3_OFF 0x2b
+
+__xdata __at (0xdf2c) uint8_t RF_PA_TABLE2;
+#define RF_PA_TABLE2_OFF 0x2c
+
+__xdata __at (0xdf2d) uint8_t RF_PA_TABLE1;
+#define RF_PA_TABLE1_OFF 0x2d
+
+__xdata __at (0xdf2e) uint8_t RF_PA_TABLE0;
+#define RF_PA_TABLE0_OFF 0x2e
+
+__xdata __at (0xdf36) uint8_t RF_PARTNUM;
+#define RF_PARTNUM_OFF 0x36
+
+__xdata __at (0xdf37) uint8_t RF_VERSION;
+#define RF_VERSION_OFF 0x37
+
+__xdata __at (0xdf38) uint8_t RF_FREQEST;
+#define RF_FREQEST_OFF 0x38
+
+__xdata __at (0xdf39) uint8_t RF_LQI;
+#define RF_LQI_OFF 0x39
+
+#define RF_LQI_CRC_OK (1 << 7)
+#define RF_LQI_LQI_EST_MASK (0x7f)
+
+__xdata __at (0xdf3a) uint8_t RF_RSSI;
+#define RF_RSSI_OFF 0x3a
+
+__xdata __at (0xdf3b) uint8_t RF_MARCSTATE;
+#define RF_MARCSTATE_OFF 0x3b
+
+#define RF_MARCSTATE_MASK 0x1f
+#define RF_MARCSTATE_SLEEP 0x00
+#define RF_MARCSTATE_IDLE 0x01
+#define RF_MARCSTATE_VCOON_MC 0x03
+#define RF_MARCSTATE_REGON_MC 0x04
+#define RF_MARCSTATE_MANCAL 0x05
+#define RF_MARCSTATE_VCOON 0x06
+#define RF_MARCSTATE_REGON 0x07
+#define RF_MARCSTATE_STARTCAL 0x08
+#define RF_MARCSTATE_BWBOOST 0x09
+#define RF_MARCSTATE_FS_LOCK 0x0a
+#define RF_MARCSTATE_IFADCON 0x0b
+#define RF_MARCSTATE_ENDCAL 0x0c
+#define RF_MARCSTATE_RX 0x0d
+#define RF_MARCSTATE_RX_END 0x0e
+#define RF_MARCSTATE_RX_RST 0x0f
+#define RF_MARCSTATE_TXRX_SWITCH 0x10
+#define RF_MARCSTATE_RX_OVERFLOW 0x11
+#define RF_MARCSTATE_FSTXON 0x12
+#define RF_MARCSTATE_TX 0x13
+#define RF_MARCSTATE_TX_END 0x14
+#define RF_MARCSTATE_RXTX_SWITCH 0x15
+#define RF_MARCSTATE_TX_UNDERFLOW 0x16
+
+
+__xdata __at (0xdf3c) uint8_t RF_PKTSTATUS;
+#define RF_PKTSTATUS_OFF 0x3c
+
+#define RF_PKTSTATUS_CRC_OK (1 << 7)
+#define RF_PKTSTATUS_CS (1 << 6)
+#define RF_PKTSTATUS_PQT_REACHED (1 << 5)
+#define RF_PKTSTATUS_CCA (1 << 4)
+#define RF_PKTSTATUS_SFD (1 << 3)
+
+__xdata __at (0xdf3d) uint8_t RF_VCO_VC_DAC;
+#define RF_VCO_VC_DAC_OFF 0x3d
+
+#endif
projects / fw / altos / commitdiff