telemega-v1.0 telemega-v1.0/flash-loader \
telemetrum-v2.0 telemetrum-v2.0/flash-loader \
megadongle-v0.1 megadongle-v0.1/flash-loader \
- telegps-v0.3 telegps-v0.3/flash-loader \
+ telegps-v1.0 telegps-v1.0/flash-loader \
telelco-v0.2 telelco-v0.2/flash-loader \
telescience-v0.2 telescience-v0.2/flash-loader \
teleballoon-v2.0
#define ao_radio_spi_recv(d,l) ao_spi_recv((d), (l), AO_CC115L_SPI_BUS)
#define ao_radio_duplex(o,i,l) ao_spi_duplex((o), (i), (l), AO_CC115L_SPI_BUS)
+#if CC115L_DEBUG
struct ao_cc115l_reg {
uint16_t addr;
char *name;
};
-#if CC115L_TRACE
+static const struct ao_cc115l_reg ao_cc115l_reg[] = {
+ { .addr = CC115L_IOCFG2, .name = "IOCFG2" },
+ { .addr = CC115L_IOCFG1, .name = "IOCFG1" },
+ { .addr = CC115L_IOCFG0, .name = "IOCFG0" },
+ { .addr = CC115L_FIFOTHR, .name = "FIFOTHR" },
+ { .addr = CC115L_SYNC1, .name = "SYNC1" },
+ { .addr = CC115L_SYNC0, .name = "SYNC0" },
+ { .addr = CC115L_PKTLEN, .name = "PKTLEN" },
+ { .addr = CC115L_PKTCTRL0, .name = "PKTCTRL0" },
+ { .addr = CC115L_CHANNR, .name = "CHANNR" },
+ { .addr = CC115L_FSCTRL0, .name = "FSCTRL0" },
+ { .addr = CC115L_FREQ2, .name = "FREQ2" },
+ { .addr = CC115L_FREQ1, .name = "FREQ1" },
+ { .addr = CC115L_FREQ0, .name = "FREQ0" },
+ { .addr = CC115L_MDMCFG4, .name = "MDMCFG4" },
+ { .addr = CC115L_MDMCFG3, .name = "MDMCFG3" },
+ { .addr = CC115L_MDMCFG2, .name = "MDMCFG2" },
+ { .addr = CC115L_MDMCFG1, .name = "MDMCFG1" },
+ { .addr = CC115L_MDMCFG0, .name = "MDMCFG0" },
+ { .addr = CC115L_DEVIATN, .name = "DEVIATN" },
+ { .addr = CC115L_MCSM1, .name = "MCSM1" },
+ { .addr = CC115L_MCSM0, .name = "MCSM0" },
+ { .addr = CC115L_RESERVED_0X20, .name = "RESERVED_0X20" },
+ { .addr = CC115L_FREND0, .name = "FREND0" },
+ { .addr = CC115L_FSCAL3, .name = "FSCAL3" },
+ { .addr = CC115L_FSCAL2, .name = "FSCAL2" },
+ { .addr = CC115L_FSCAL1, .name = "FSCAL1" },
+ { .addr = CC115L_FSCAL0, .name = "FSCAL0" },
+ { .addr = CC115L_RESERVED_0X29, .name = "RESERVED_0X29" },
+ { .addr = CC115L_RESERVED_0X2A, .name = "RESERVED_0X2A" },
+ { .addr = CC115L_RESERVED_0X2B, .name = "RESERVED_0X2B" },
+ { .addr = CC115L_TEST2, .name = "TEST2" },
+ { .addr = CC115L_TEST1, .name = "TEST1" },
+ { .addr = CC115L_TEST0, .name = "TEST0" },
+ { .addr = CC115L_PARTNUM, .name = "PARTNUM" },
+ { .addr = CC115L_VERSION, .name = "VERSION" },
+ { .addr = CC115L_MARCSTATE, .name = "MARCSTATE" },
+ { .addr = CC115L_PKTSTATUS, .name = "PKTSTATUS" },
+ { .addr = CC115L_TXBYTES, .name = "TXBYTES" },
+ { .addr = CC115L_PA, .name = "PA" },
+};
-static const struct ao_cc115l_reg ao_cc115l_reg[];
-static const char *cc115l_state_name[];
+#define AO_NUM_CC115L_REG (sizeof ao_cc115l_reg / sizeof ao_cc115l_reg[0])
+
+static const char *cc115l_state_name[8] = {
+ [CC115L_STATUS_STATE_IDLE] = "IDLE",
+ [CC115L_STATUS_STATE_TX] = "TX",
+ [CC115L_STATUS_STATE_FSTXON] = "FSTXON",
+ [CC115L_STATUS_STATE_CALIBRATE] = "CALIBRATE",
+ [CC115L_STATUS_STATE_SETTLING] = "SETTLING",
+ [CC115L_STATUS_STATE_TX_FIFO_UNDERFLOW] = "TX_FIFO_UNDERFLOW",
+};
+#endif
+
+#if CC115L_TRACE
enum ao_cc115l_trace_type {
+ trace_empty,
trace_strobe,
trace_read,
trace_write,
trace_line,
};
+static const char trace_type_letter[] = "ESRWDL";
+
struct ao_cc115l_trace {
enum ao_cc115l_trace_type type;
+ int16_t time;
int16_t addr;
int16_t value;
const char *comment;
};
-#define NUM_TRACE 256
+#define NUM_TRACE 128
static struct ao_cc115l_trace trace[NUM_TRACE];
static int trace_i;
static void trace_add(enum ao_cc115l_trace_type type, int16_t addr, int16_t value, const char *comment)
{
+ unsigned int i;
if (trace_disable)
return;
switch (type) {
case trace_read:
case trace_write:
- comment = ao_cc115l_reg[addr].name;
+ comment = "UNKNOWN";
+ for (i = 0; i < AO_NUM_CC115L_REG; i++)
+ if (ao_cc115l_reg[i].addr == addr) {
+ comment = ao_cc115l_reg[i].name;
+ break;
+ }
break;
case trace_strobe:
comment = cc115l_state_name[(value >> 4) & 0x7];
default:
break;
}
+ if (comment == NULL)
+ comment = "no comment";
+ trace[trace_i].time = ao_time();
trace[trace_i].type = type;
trace[trace_i].addr = addr;
trace[trace_i].value = value;
if (++trace_i == NUM_TRACE)
trace_i = 0;
}
+
+static void
+trace_dump(void)
+{
+ int i, j;
+
+ for (j = 0; j < NUM_TRACE; j++) {
+ i = j + trace_i;
+ if (i >= NUM_TRACE)
+ i -= NUM_TRACE;
+ if (trace[i].type != trace_empty) {
+ printf ("%3d %5d %c addr %04x value %04x comment %s\n",
+ j,
+ trace[i].time,
+ trace_type_letter[trace[i].type],
+ trace[i].addr,
+ trace[i].value,
+ trace[i].comment);
+ flush();
+ }
+ }
+}
+
#else
#define trace_add(t,a,v,c)
#endif
ao_radio_select();
ao_radio_spi_send(data, 2);
ao_radio_deselect();
+#if CC115L_TRACE
+ (void) ao_radio_reg_read(addr);
+#endif
}
#if UNUSED
ao_wakeup(&ao_radio_wake);
}
-#define POWER_STEP 0x08
+static uint8_t ao_cc115l_power_on[] = { 0x03, 0x17, 0x50, 0xc5, 0xc0 };
static void
ao_radio_stx(void)
{
uint8_t power;
+#if HAS_RADIO_POWER
ao_radio_pa_on();
+#endif
ao_radio_reg_write(CC115L_PA, 0);
ao_radio_strobe(CC115L_STX);
+#if HAS_RADIO_POWER
for (power = POWER_STEP; power < ao_config.radio_power; power += POWER_STEP)
ao_radio_reg_write(CC115L_PA, power);
ao_radio_reg_write(CC115L_PA, ao_config.radio_power);
+#else
+ for (power = 0; power < sizeof (ao_cc115l_power_on); power++)
+ ao_radio_reg_write(CC115L_PA, ao_cc115l_power_on[power]);
+#endif
}
static void
}
#if CC115L_DEBUG
-static const char *cc115l_state_name[] = {
- [CC115L_STATUS_STATE_IDLE] = "IDLE",
- [CC115L_STATUS_STATE_TX] = "TX",
- [CC115L_STATUS_STATE_FSTXON] = "FSTXON",
- [CC115L_STATUS_STATE_CALIBRATE] = "CALIBRATE",
- [CC115L_STATUS_STATE_SETTLING] = "SETTLING",
- [CC115L_STATUS_STATE_TX_FIFO_UNDERFLOW] = "TX_FIFO_UNDERFLOW",
-};
-
-static const struct ao_cc115l_reg ao_cc115l_reg[] = {
- { .addr = CC115L_IOCFG2, .name = "IOCFG2" },
- { .addr = CC115L_IOCFG1, .name = "IOCFG1" },
- { .addr = CC115L_IOCFG0, .name = "IOCFG0" },
- { .addr = CC115L_FIFOTHR, .name = "FIFOTHR" },
- { .addr = CC115L_SYNC1, .name = "SYNC1" },
- { .addr = CC115L_SYNC0, .name = "SYNC0" },
- { .addr = CC115L_PKTLEN, .name = "PKTLEN" },
- { .addr = CC115L_PKTCTRL0, .name = "PKTCTRL0" },
- { .addr = CC115L_CHANNR, .name = "CHANNR" },
- { .addr = CC115L_FSCTRL0, .name = "FSCTRL0" },
- { .addr = CC115L_FREQ2, .name = "FREQ2" },
- { .addr = CC115L_FREQ1, .name = "FREQ1" },
- { .addr = CC115L_FREQ0, .name = "FREQ0" },
- { .addr = CC115L_MDMCFG4, .name = "MDMCFG4" },
- { .addr = CC115L_MDMCFG3, .name = "MDMCFG3" },
- { .addr = CC115L_MDMCFG2, .name = "MDMCFG2" },
- { .addr = CC115L_MDMCFG1, .name = "MDMCFG1" },
- { .addr = CC115L_MDMCFG0, .name = "MDMCFG0" },
- { .addr = CC115L_DEVIATN, .name = "DEVIATN" },
- { .addr = CC115L_MCSM1, .name = "MCSM1" },
- { .addr = CC115L_MCSM0, .name = "MCSM0" },
- { .addr = CC115L_RESERVED_0X20, .name = "RESERVED_0X20" },
- { .addr = CC115L_FREND0, .name = "FREND0" },
- { .addr = CC115L_FSCAL3, .name = "FSCAL3" },
- { .addr = CC115L_FSCAL2, .name = "FSCAL2" },
- { .addr = CC115L_FSCAL1, .name = "FSCAL1" },
- { .addr = CC115L_FSCAL0, .name = "FSCAL0" },
- { .addr = CC115L_RESERVED_0X29, .name = "RESERVED_0X29" },
- { .addr = CC115L_RESERVED_0X2A, .name = "RESERVED_0X2A" },
- { .addr = CC115L_RESERVED_0X2B, .name = "RESERVED_0X2B" },
- { .addr = CC115L_TEST2, .name = "TEST2" },
- { .addr = CC115L_TEST1, .name = "TEST1" },
- { .addr = CC115L_TEST0, .name = "TEST0" },
- { .addr = CC115L_PARTNUM, .name = "PARTNUM" },
- { .addr = CC115L_VERSION, .name = "VERSION" },
- { .addr = CC115L_MARCSTATE, .name = "MARCSTATE" },
- { .addr = CC115L_PKTSTATUS, .name = "PKTSTATUS" },
- { .addr = CC115L_TXBYTES, .name = "TXBYTES" },
- { .addr = CC115L_PA, .name = "PA" },
-};
-
-#define AO_NUM_CC115L_REG (sizeof ao_cc115l_reg / sizeof ao_cc115l_reg[0])
-
static void ao_radio_show(void) {
uint8_t status = ao_radio_status();
unsigned int i;
{ ao_radio_show, "R\0Show CC115L status" },
{ ao_radio_beep, "b\0Emit an RDF beacon" },
{ ao_radio_packet, "p\0Send a test packet" },
+#if CC115L_TRACE
+ { trace_dump, "D\0Dump CC115L trace" },
+#endif
#endif
{ 0, NULL }
};
ao_radio_configured = 0;
ao_spi_init_cs (AO_CC115L_SPI_CS_PORT, (1 << AO_CC115L_SPI_CS_PIN));
+ ao_enable_output(0, 23, PIN, 1);
+
#if 0
AO_CC115L_SPI_CS_PORT->bsrr = ((uint32_t) (1 << AO_CC115L_SPI_CS_PIN));
for (i = 0; i < 10000; i++) {
--- /dev/null
+/*
+ * Copyright © 2014 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_distance.h>
+
+static uint32_t
+ao_dist(int32_t a, int32_t b)
+{
+ int32_t d = a - b;
+ if (d < 0)
+ d = -d;
+ return (uint32_t) ((int64_t) d * 111198 / 10000000);
+}
+
+static uint32_t
+ao_lat_dist(int32_t lat_a, int32_t lat_b)
+{
+ return ao_dist(lat_a, lat_b);
+}
+
+static const uint8_t cos_table[] = {
+ 0, /* 0 */
+ 0, /* 1 */
+ 0, /* 2 */
+ 255, /* 3 */
+ 254, /* 4 */
+ 253, /* 5 */
+ 252, /* 6 */
+ 251, /* 7 */
+ 249, /* 8 */
+ 247, /* 9 */
+ 245, /* 10 */
+ 243, /* 11 */
+ 240, /* 12 */
+ 238, /* 13 */
+ 235, /* 14 */
+ 232, /* 15 */
+ 228, /* 16 */
+ 225, /* 17 */
+ 221, /* 18 */
+ 217, /* 19 */
+ 213, /* 20 */
+ 209, /* 21 */
+ 205, /* 22 */
+ 200, /* 23 */
+ 195, /* 24 */
+ 190, /* 25 */
+ 185, /* 26 */
+ 180, /* 27 */
+ 175, /* 28 */
+ 169, /* 29 */
+ 163, /* 30 */
+ 158, /* 31 */
+ 152, /* 32 */
+ 145, /* 33 */
+ 139, /* 34 */
+ 133, /* 35 */
+ 126, /* 36 */
+ 120, /* 37 */
+ 113, /* 38 */
+ 106, /* 39 */
+ 100, /* 40 */
+ 93, /* 41 */
+ 86, /* 42 */
+ 79, /* 43 */
+ 71, /* 44 */
+ 64, /* 45 */
+ 57, /* 46 */
+ 49, /* 47 */
+ 42, /* 48 */
+ 35, /* 49 */
+ 27, /* 50 */
+ 20, /* 51 */
+ 12, /* 52 */
+ 5, /* 53 */
+ 1, /* 54 */
+};
+
+static uint32_t
+ao_lon_dist(int32_t lon_a, int32_t lon_b)
+{
+ uint8_t c = cos_table[lon_a >> 24];
+ uint32_t lon_dist;
+
+ /* check if it's shorter to go the other way around */
+ if (lon_a < lon_b - 1800000000)
+ lon_a += 3600000000;
+ lon_dist = ao_dist(lon_a, lon_b);
+ if (c) {
+ if (lon_dist & 0x7f800000)
+ lon_dist = (lon_dist >> 8) * c;
+ else
+ lon_dist = (lon_dist * (int16_t) c) >> 8;
+ }
+ return lon_dist;
+}
+
+static uint32_t sqr(uint32_t x) { return x * x; }
+
+uint32_t
+ao_distance(int32_t lat_a, int32_t lon_a, int32_t lat_b, int32_t lon_b)
+{
+ uint32_t lat_dist = ao_lat_dist(lat_a, lat_b);
+ uint32_t lon_dist = ao_lon_dist(lon_a, lon_b);
+
+ return ao_sqrt (sqr(lat_dist) + sqr(lon_dist));
+}
--- /dev/null
+/*
+ * Copyright © 2014 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_DISTANCE_H_
+#define _AO_DISTANCE_H_
+#include <stdint.h>
+
+uint32_t
+ao_distance(int32_t lat_a, int32_t lon_a, int32_t lat_b, int32_t lon_b);
+
+#endif /* _AO_DISTANCE_H_ */
return ao_log_current_pos == ao_log_end_pos;
}
-#if HAS_ADC
+#ifndef LOG_ADC
+#define LOG_ADC HAS_ADC
+#endif
+
+#if LOG_ADC
static __xdata struct ao_task ao_log_task;
#endif
#ifndef HAS_ADC
#error Define HAS_ADC for ao_log.c
#endif
-#if HAS_ADC
+#if LOG_ADC
/* Create a task to log events to eeprom */
ao_add_task(&ao_log_task, ao_log, "log");
#endif
return 1;
}
-#if HAS_ADC
+#if HAS_FLIGHT
static __data uint8_t ao_log_data_pos;
/* a hack to make sure that ao_log_megas fill the eeprom block in even units */
log.u.flight.ground_accel_along = ao_ground_accel_along;
log.u.flight.ground_accel_across = ao_ground_accel_across;
log.u.flight.ground_accel_through = ao_ground_accel_through;
+ log.u.flight.ground_roll = ao_ground_roll;
log.u.flight.ground_pitch = ao_ground_pitch;
log.u.flight.ground_yaw = ao_ground_yaw;
- log.u.flight.ground_roll = ao_ground_roll;
#endif
log.u.flight.ground_pres = ao_ground_pres;
log.u.flight.flight = ao_flight_number;
ao_sleep(&ao_log_running);
}
}
-#endif
+#endif /* HAS_FLIGHT */
uint16_t
ao_log_flight(uint8_t slot)
lpc_ssp->cr0 = ((LPC_SSP_CR0_DSS_8 << LPC_SSP_CR0_DSS) |
(LPC_SSP_CR0_FRF_SPI << LPC_SSP_CR0_FRF) |
- (0 << LPC_SSP_CR0_CPOL) |
- (0 << LPC_SSP_CR0_CPHA) |
+ (1 << LPC_SSP_CR0_CPOL) |
+ (1 << LPC_SSP_CR0_CPHA) |
(0 << LPC_SSP_CR0_SCR));
/* Enable the device */
--- /dev/null
+/*
+ * Copyright © 2014 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_flight.h>
+#include <ao_distance.h>
+#include <ao_exti.h>
+
+enum ao_flight_state ao_flight_state;
+
+/* Speeds for the various modes */
+#define AO_TRACKER_NOT_MOVING 100
+
+static uint8_t ao_tracker_force_telem;
+
+#if HAS_USB_CONNECT
+static inline uint8_t
+ao_usb_connected(void)
+{
+ return ao_gpio_get(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, AO_USB_CONNECT) != 0;
+}
+#else
+#define ao_usb_connected() 1
+#endif
+
+static void
+ao_tracker(void)
+{
+ uint16_t telem_rate = AO_SEC_TO_TICKS(1), new_telem_rate;
+ uint8_t gps_rate = 1, new_gps_rate;
+ uint8_t telem_enabled = 1, new_telem_enabled;
+ int32_t start_latitude = 0, start_longitude = 0;
+ int16_t start_altitude = 0;
+ uint32_t ground_distance;
+ int16_t height;
+ uint16_t speed;
+
+ ao_timer_set_adc_interval(100);
+
+ ao_flight_state = ao_flight_startup;
+ for (;;) {
+ ao_sleep(&ao_gps_new);
+
+ new_gps_rate = gps_rate;
+ new_telem_rate = telem_rate;
+
+ new_telem_enabled = ao_tracker_force_telem || !ao_usb_connected();
+
+ ao_mutex_get(&ao_gps_mutex);
+
+ /* Don't change anything if GPS isn't locked */
+ if ((ao_gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
+ (AO_GPS_VALID|AO_GPS_COURSE_VALID))
+ {
+ switch (ao_flight_state) {
+ case ao_flight_startup:
+ /* startup to pad when GPS locks */
+ ao_flight_state = ao_flight_pad;
+ start_latitude = ao_gps_data.longitude;
+ start_longitude = ao_gps_data.latitude;
+ start_altitude = ao_gps_data.altitude;
+ break;
+ case ao_flight_pad:
+#if 0
+ ground_distance = ao_distance(ao_gps_data.latitude,
+ start_latitude,
+ ao_gps_data.longitude,
+ start_longitude);
+#else
+ (void) start_latitude;
+ (void) start_longitude;
+ ground_distance = 0xffff;
+#endif
+ height = ao_gps_data.altitude - start_altitude;
+ if (height < 0)
+ height = -height;
+ if (ground_distance >= ao_config.tracker_start_horiz ||
+ height >= ao_config.tracker_start_vert)
+ {
+ ao_flight_state = ao_flight_drogue;
+ ao_log_start();
+ }
+ break;
+ case ao_flight_drogue:
+
+ /* Modulate data rates based on speed (in cm/s) */
+ if (ao_gps_data.climb_rate < 0)
+ speed = -ao_gps_data.climb_rate;
+ else
+ speed = ao_gps_data.climb_rate;
+ speed += ao_gps_data.ground_speed;
+
+ if (speed < AO_TRACKER_NOT_MOVING) {
+ new_telem_rate = AO_SEC_TO_TICKS(10);
+ new_gps_rate = 10;
+ } else {
+ new_telem_rate = AO_SEC_TO_TICKS(1);
+ new_gps_rate = 1;
+ }
+ break;
+ default:
+ break;
+ }
+ }
+ ao_mutex_put(&ao_gps_mutex);
+
+ if (new_telem_rate != telem_rate || new_telem_enabled != telem_enabled) {
+#if 0
+ if (new_telem_enabled)
+ ao_telemetry_set_interval(new_telem_rate);
+ else
+ ao_telemetry_set_interval(0);
+#endif
+ telem_rate = new_telem_rate;
+ telem_enabled = new_telem_enabled;
+ }
+
+ if (new_gps_rate != gps_rate) {
+#if 0
+ ao_gps_set_rate(new_gps_rate);
+#endif
+ gps_rate = new_gps_rate;
+ }
+ }
+}
+
+static struct ao_task ao_tracker_task;
+
+static void
+ao_tracker_set_telem(void)
+{
+ ao_cmd_hex();
+ if (ao_cmd_status == ao_cmd_success)
+ ao_tracker_force_telem = ao_cmd_lex_i;
+}
+
+static const struct ao_cmds ao_tracker_cmds[] = {
+ { ao_tracker_set_telem, "t <d>\0Set telem on USB" },
+ { 0, NULL },
+};
+
+void
+ao_tracker_init(void)
+{
+#if HAS_USB_CONNECT
+ ao_enable_input(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, 0);
+#endif
+ ao_cmd_register(&ao_tracker_cmds[0]);
+ ao_add_task(&ao_tracker_task, ao_tracker, "tracker");
+}
--- /dev/null
+ao_product.h
+ao_serial_lpc.h
+*.elf
--- /dev/null
+#
+# AltOS build
+#
+#
+
+include ../lpc/Makefile.defs
+
+INC = \
+ ao.h \
+ ao_arch.h \
+ ao_arch_funcs.h \
+ ao_pins.h \
+ ao_product.h \
+ ao_task.h \
+ ao_whiten.h \
+ ao_cc115l.h \
+ ao_fec.h \
+ lpc.h \
+ Makefile
+
+
+ALTOS_SRC = \
+ ao_interrupt.c \
+ ao_boot_chain.c \
+ ao_product.c \
+ ao_romconfig.c \
+ ao_cmd.c \
+ ao_config.c \
+ ao_task.c \
+ ao_stdio.c \
+ ao_panic.c \
+ ao_timer_lpc.c \
+ ao_data.c \
+ ao_convert_volt.c \
+ ao_mutex.c \
+ ao_freq.c \
+ ao_spi_lpc.c \
+ ao_usb_lpc.c \
+ ao_exti_lpc.c \
+ ao_serial_lpc.c \
+ ao_gps_ublox.c \
+ ao_gps_show.c \
+ ao_cc115l.c \
+ ao_fec_tx.c \
+ ao_aprs.c \
+ ao_adc_lpc.c \
+ ao_tracker.c \
+ ao_telemetry.c \
+ ao_storage.c \
+ ao_m25.c \
+ ao_log.c \
+ ao_log_mega.c \
+ ao_gps_report_mega.c \
+ ao_distance.c \
+ ao_sqrt.c \
+ $(SAMPLE_PROFILE)
+
+PRODUCT=TeleGPS-v1.0
+PRODUCT_DEF=-DTELEGPS
+IDPRODUCT=0x0025
+
+CFLAGS = $(PRODUCT_DEF) $(LPC_CFLAGS) $(PROFILE_DEF) -Os -g
+
+PROGNAME=telegps-v1.0
+PROG=$(PROGNAME)-$(VERSION).elf
+
+SRC=$(ALTOS_SRC) ao_telegps.c
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG)
+
+LDFLAGS=-L../lpc -Wl,-Taltos.ld
+
+$(PROG): Makefile $(OBJ) altos.ld
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS)
+
+$(OBJ): $(INC)
+
+ao_product.h: ao-make-product.5c ../Version
+ $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+distclean: clean
+
+clean:
+ rm -f *.o ao_serial_lpc.h $(PROGNAME)-*.elf $(PROGNAME)-*.ihx
+ rm -f ao_product.h
+
+install:
+
+uninstall:
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+#define AO_STACK_SIZE 448
+
+#define IS_FLASH_LOADER 0
+
+/* Crystal on the board */
+#define AO_LPC_CLKIN 12000000
+
+/* Main clock frequency. 48MHz for USB so we don't use the USB PLL */
+#define AO_LPC_CLKOUT 48000000
+
+/* System clock frequency */
+#define AO_LPC_SYSCLK 24000000
+
+#define HAS_SERIAL_0 1
+#define SERIAL_0_18_19 1
+#define USE_SERIAL_0_STDIN 0
+
+#define ao_gps_getchar ao_serial0_getchar
+#define ao_gps_putchar ao_serial0_putchar
+#define ao_gps_set_speed ao_serial0_set_speed
+#define ao_gps_fifo (ao_usart_rx_fifo)
+
+#define HAS_EEPROM 1
+#define USE_INTERNAL_FLASH 0
+#define HAS_USB 1
+#define HAS_BEEP 0
+#define HAS_RADIO 1
+#define HAS_TELEMETRY 1
+#define HAS_RDF 1
+#define HAS_APRS 1
+#define HAS_RADIO_RECV 0
+#define HAS_TRACKER 1
+#define HAS_TASK_QUEUE 0
+
+#define HAS_USB_PULLUP 1
+#define AO_USB_PULLUP_PORT 0
+#define AO_USB_PULLUP_PIN 7
+#define HAS_USB_CONNECT 1
+#define AO_USB_CONNECT_PORT 1
+#define AO_USB_CONNECT_PIN 19
+
+/* Flash part */
+#define HAS_SPI_0 1
+#define SPI_SCK0_P0_6 1
+#define SPI_0_OSPEEDR AO_SPI_OSPEED_12MHz
+
+/* Radio */
+#define HAS_SPI_1 1
+#define SPI_SCK1_P1_15 1
+#define SPI_MISO1_P0_22 1
+#define SPI_MOSI1_P0_21 1
+
+#define HAS_GPS 1
+#define HAS_FLIGHT 0
+#define HAS_LOG 1
+
+#define AO_CONFIG_DEFAULT_APRS_INTERVAL 5
+#define AO_CONFIG_DEFAULT_RADIO_POWER 0xc0
+
+/*
+ * GPS
+ */
+
+#define AO_SERIAL_SPEED_UBLOX AO_SERIAL_SPEED_9600
+
+/*
+ * Radio (cc115l)
+ */
+
+/* gets pretty close to 434.550 */
+
+#define AO_RADIO_CAL_DEFAULT 0x10b6a5
+
+#define HAS_RADIO_POWER 0
+#define AO_FEC_DEBUG 0
+#define AO_CC115L_SPI_CS_PORT 0
+#define AO_CC115L_SPI_CS_PIN 3
+#define AO_CC115L_SPI_BUS 0
+
+#define AO_CC115L_FIFO_INT_GPIO_IOCFG CC115L_IOCFG2
+#define AO_CC115L_FIFO_INT_PORT 0
+#define AO_CC115L_FIFO_INT_PIN 20
+
+#define AO_CC115L_DONE_INT_GPIO_IOCFG CC115L_IOCFG0
+#define AO_CC115L_DONE_INT_PORT 0
+#define AO_CC115L_DONE_INT_PIN 2
+
+/*
+ * Flash (M25)
+ */
+#define M25_MAX_CHIPS 1
+#define AO_M25_SPI_CS_PORT 0
+#define AO_M25_SPI_CS_MASK (1 << 23)
+#define AO_M25_SPI_BUS 1
+
+#define PACKET_HAS_SLAVE 0
+
+/*
+ * ADC
+ */
+
+#define HAS_ADC 1
+#define LOG_ADC 0
+
+#define AO_DATA_RING 4
+
+#define AO_ADC_3 1
+
+struct ao_adc {
+ int16_t v_batt;
+};
+
+#define AO_ADC_DUMP(p) \
+ printf("tick: %5u batt: %5d\n", \
+ (p)->tick, \
+ (p)->adc.v_batt)
+
+/*
+ * Voltage divider on ADC battery sampler
+ */
+#define AO_BATTERY_DIV_PLUS 56 /* 5.6k */
+#define AO_BATTERY_DIV_MINUS 100 /* 10k */
+
+/*
+ * ADC reference in decivolts
+ */
+#define AO_ADC_REFERENCE_DV 33
+
+#endif /* _AO_PINS_H_ */
--- /dev/null
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_exti.h>
+#include <ao_tracker.h>
+
+int
+main(void)
+{
+ ao_clock_init();
+
+#if HAS_STACK_GUARD
+ ao_mpu_init();
+#endif
+
+ ao_task_init();
+ ao_timer_init();
+
+ ao_spi_init();
+ ao_exti_init();
+
+ ao_storage_init();
+
+ ao_serial_init();
+
+ ao_cmd_init();
+
+ ao_usb_init();
+ ao_radio_init();
+
+ ao_adc_init();
+
+ ao_gps_init();
+#if HAS_LOG
+ ao_gps_report_mega_init();
+ ao_log_init();
+#endif
+
+ ao_tracker_init();
+
+ ao_telemetry_init();
+ ao_telemetry_set_interval(AO_SEC_TO_TICKS(1));
+
+#if HAS_SAMPLE_PROFILE
+ ao_sample_profile_init();
+#endif
+ ao_config_init();
+
+ ao_start_scheduler();
+ return 0;
+}
--- /dev/null
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=telegps-v1.0
+include $(TOPDIR)/lpc/Makefile-flash.defs
--- /dev/null
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+#include <ao_flash_lpc_pins.h>
+
+#define AO_BOOT_PIN 1
+#define AO_BOOT_APPLICATION_GPIO 0
+#define AO_BOOT_APPLICATION_PIN 19
+#define AO_BOOT_APPLICATION_VALUE 1
+#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_UP
+
+#define HAS_USB_PULLUP 1
+#define AO_USB_PULLUP_PORT 0
+#define AO_USB_PULLUP_PIN 7
+
+#endif /* _AO_PINS_H_ */
projects / fw / altos / commitdiff