telelaunch-v0.1 tidongle test \
teleterra-v0.2 teleshield-v0.1 \
telefire-v0.1 \
- spiradio-v0.1
+ spiradio-v0.1 \
+ teleballoon-v1.2
endif
ifneq ($(shell which avr-gcc),)
uint8_t __xdata *a;
sequence = (ADCCON2 & ADCCON2_SCH_MASK) >> ADCCON2_SCH_SHIFT;
-#if TELEMETRUM_V_0_1 || TELEMETRUM_V_0_2 || TELEMETRUM_V_1_0 || TELEMETRUM_V_1_1 || TELEMETRUM_V_1_2 || TELELAUNCH_V_0_1
+#if TELEMETRUM_V_0_1 || TELEMETRUM_V_0_2 || TELEMETRUM_V_1_0 || TELEMETRUM_V_1_1 || TELEMETRUM_V_1_2 || TELELAUNCH_V_0_1 || TELEBALLOON_V_1_1 || TELEBALLOON_V_1_2
/* TeleMetrum readings */
#if HAS_ACCEL_REF
if (sequence == 2) {
#define AO_SEND_MEGA 1
#endif
-#if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1) || defined(TELEBALLOON_V_1_1) || defined(TELEMETRUM_V_1_2)
+#if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1) || defined(TELEBALLOON_V_1_1) || defined(TELEMETRUM_V_1_2) || defined(TELEBALLOON_V_1_2)
#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMETRUM
#endif
--- /dev/null
+teleballoon-*
+ao_product.h
--- /dev/null
+#
+# TeleBalloon build file
+#
+# The various telemetrum versions differ only
+# in which flash and GPS drivers are included,
+# so the per-board makefiles simply define
+# TM_VER, TM_DEF, TM_INC and TM_SRC and include
+# this file
+
+TELEBALLOON_VER=1.2
+TELEBALLOON_DEF=1_2
+
+TELEBALLOON_INC =
+
+TELEBALLOON_SRC = \
+ ao_companion.c \
+ ao_gps_skytraq.c \
+ ao_m25.c
+
+vpath %.c ..:../core:../cc1111:../drivers:../product:.
+vpath %.h ..:../core:../cc1111:../drivers:../product:.
+vpath ao-make-product.5c ../util
+
+ifndef VERSION
+include ../Version
+endif
+
+INC = \
+ ao.h \
+ ao_pins.h \
+ cc1111.h \
+ altitude.h \
+ ao_kalman.h \
+ ao_product.h \
+ $(TELEBALLOON_INC)
+
+CORE_SRC = \
+ ao_cmd.c \
+ ao_config.c \
+ ao_convert.c \
+ ao_gps_report.c \
+ ao_mutex.c \
+ ao_panic.c \
+ ao_stdio.c \
+ ao_storage.c \
+ ao_task.c \
+ ao_balloon.c \
+ ao_sample.c \
+ ao_kalman.c \
+ ao_log.c \
+ ao_log_big.c \
+ ao_report.c \
+ ao_freq.c \
+ ao_telemetry.c
+
+CC1111_SRC = \
+ ao_adc.c \
+ ao_beep.c \
+ ao_dbg.c \
+ ao_dma.c \
+ ao_led.c \
+ ao_packet.c \
+ ao_packet_slave.c \
+ ao_radio.c \
+ ao_romconfig.c \
+ ao_serial.c \
+ ao_string.c \
+ ao_spi.c \
+ ao_timer.c \
+ ao_usb.c \
+ _bp.c
+
+DRIVER_SRC = \
+ $(TELEBALLOON_SRC)
+
+PRODUCT_SRC = \
+ ao_teleballoon.c
+
+SRC = \
+ $(CORE_SRC) \
+ $(CC1111_SRC) \
+ $(DRIVER_SRC) \
+ $(PRODUCT_SRC)
+
+PROGNAME = teleballoon-v$(TELEBALLOON_VER)
+PROG = $(PROGNAME)-$(VERSION).ihx
+PRODUCT=TeleBalloon-v$(TELEBALLOON_VER)
+PRODUCT_DEF=-DTELEBALLOON_V_$(TELEBALLOON_DEF)
+IDPRODUCT=0x000b
+
+include ../cc1111/Makefile.cc1111
+
+NICKLE=nickle
+CHECK_STACK=sh ../util/check-stack
+
+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): $(REL) Makefile
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(REL) && cp $(PROG) $(PMAP) ..
+ $(call quiet,CHECK_STACK) ../cc1111/ao_arch.h $(PMEM) || rm $@
+
+ao_product.h: ao-make-product.5c ../Version
+ $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+distclean: clean
+
+clean: clean-cc1111
+
+install:
+
+uninstall:
+
--- /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 uint8_t ao_flight_force_idle;
+__pdata uint16_t ao_motor_number;
+
+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;
+
+#if HAS_RADIO && PACKET_HAS_SLAVE
+ /* Turn on packet system in invalid mode on TeleMetrum */
+ ao_packet_slave_start();
+#endif
+ } else
+#endif
+ if (!ao_flight_force_idle
+#if HAS_ACCEL
+ && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
+#endif
+ )
+ {
+ /* Set pad mode - we can fly! */
+ ao_flight_state = ao_flight_drogue;
+#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_BALLOON);
+
+ /* signal successful initialization by turning off the LED */
+ ao_led_off(AO_LED_RED);
+
+ /* start logging data */
+ ao_log_start();
+
+#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));
+
+ } 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_drogue:
+ 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 © 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_
+
+#define HAS_RADIO 1
+
+#if defined(TELEBALLOON_V_1_2)
+
+ #define AO_SENSOR_INTERVAL_ASCENT AO_MS_TO_TICKS(1000)
+ #define AO_SENSOR_INTERVAL_DESCENT AO_MS_TO_TICKS(1000)
+ #define AO_OTHER_INTERVAL AO_MS_TO_TICKS(1000)
+ #define AO_TELEMETRY_INTERVAL_BALLOON AO_MS_TO_TICKS(1000)
+
+ #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 HAS_EEPROM 1
+ #define HAS_LOG 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 HAS_COMPANION 1
+ #define AO_COMPANION_CS_PORT P1
+ #define AO_COMPANION_CS_PIN 2
+ #define AO_COMPANION_CS P1_2
+
+ #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 AO_M25_SPI_CS_MASK 0x02 /* CS0 is P1_1 */
+ #define M25_MAX_CHIPS 1
+ #define HAS_ACCEL 1
+ #define HAS_IGNITE 0
+ #define HAS_MONITOR 0
+#endif
+
+#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 COMPANION_CS_ON_P1
+ #define COMPANION_CS_PORT P1
+ #define COMPANION_CS_SEL P1SEL
+ #define COMPANION_CS_DIR P1DIR
+#endif
+
+#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
+
+#define AO_M25_SPI_CS_PORT SPI_CS_PORT
+
+#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 HAS_ADC
+#error Please define HAS_ADC
+#endif
+
+#ifndef HAS_EEPROM
+#error Please define HAS_EEPROM
+#endif
+
+#ifndef HAS_LOG
+#error Please define HAS_LOG
+#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
+
+#if HAS_IGNITE
+#define HAS_IGNITE_REPORT 1
+#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_MONITOR
+#error Please define HAS_MONITOR
+#endif
+
+#if HAS_MONITOR
+#ifndef HAS_RSSI
+#error Please define HAS_RSSI
+#endif
+#endif
+
+#ifndef HAS_ADC
+#error Please define HAS_ADC
+#endif
+
+#if HAS_ADC
+
+#if HAS_ACCEL
+#ifndef HAS_ACCEL_REF
+#error Please define HAS_ACCEL_REF
+#endif
+#else
+#define HAS_ACCEL_REF 0
+#endif
+
+#endif /* HAS_ADC */
+
+#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_adc {
+ 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_ACCEL_REF
+ uint16_t accel_ref; /* acceleration reference */
+#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 "ao_pins.h"
+
+void
+ao_ignite_set_pins(void)
+{
+ AO_IGNITER_DROGUE = 0;
+ AO_IGNITER_MAIN = 0;
+ AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
+}
+
+void
+main(void)
+{
+ /*
+ * Reduce the transient on the ignite pins at startup by
+ * pulling the pins low as soon as possible at power up
+ */
+ ao_ignite_set_pins();
+
+ 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);
+#if HAS_DBG
+ ao_dbg_init();
+#endif
+#if HAS_COMPANION
+ ao_companion_init();
+#endif
+ ao_config_init();
+ ao_start_scheduler();
+}
projects / fw / altos / commitdiff