--- /dev/null
+#
+# Tiny AltOS build
+#
+#
+vpath % ../attiny:../drivers:../core:..
+vpath ao-make-product.5c ../util
+vpath make-altitude-pa ../util
+
+MCU=attiny85
+DUDECPUTYPE=t85
+#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
+
+ALTOS_SRC = \
+ ao_micropeak.c \
+ ao_spi_attiny.c \
+ ao_led.c \
+ ao_clock.c \
+ ao_ms5607.c \
+ ao_exti.c \
+ ao_convert_pa.c \
+ ao_i2c_attiny.c \
+ ao_at24c.c \
+ ao_report_tiny.c \
+ ao_async.c \
+ ao_notask.c \
+ ao_eeprom_tiny.c \
+ ao_panic.c
+
+INC=\
+ ao.h \
+ ao_pins.h \
+ ao_arch.h \
+ ao_arch_funcs.h \
+ ao_exti.h \
+ ao_ms5607.h \
+ altitude-pa.h
+
+IDPRODUCT=0
+PRODUCT=MicroPeak-v0.1
+PRODUCT_DEF=-DMICROPEAK
+CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../core -I.. -I../drivers
+CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O3 -mcall-prologues -DATTINY
+
+NICKLE=nickle
+
+PROG=micropeak-v0.1
+
+SRC=$(ALTOS_SRC)
+OBJ=$(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) $(PROG).hex
+
+CHECK=sh ../util/check-avr-mem
+
+$(PROG): Makefile $(OBJ)
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ)
+ $(call quiet,CHECK) $(PROG) || ($(RM) -f $(PROG); exit 1)
+
+$(PROG).hex: $(PROG)
+ avr-size $(PROG)
+ $(OBJCOPY) -R .eeprom -O ihex $(PROG) $@
+
+
+load: $(PROG).hex
+ $(LOADCMD) $(LOADARG)$(PROG).hex
+
+ao_product.h: ao-make-product.5c ../Version
+ $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+ao_product.o: ao_product.c ao_product.h
+
+%.o : %.c $(INC)
+ $(call quiet,CC) -c $(CFLAGS) $<
+
+distclean: clean
+
+clean:
+ rm -f *.o $(PROG) $(PROG).hex
+ rm -f ao_product.h
+
+../altitude-pa.h: make-altitude-pa
+ nickle $< > $@
+
+install:
+
+uninstall:
+
+$(OBJ): ao_product.h $(INC)
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_async.h>
+
+#define AO_ASYNC_BAUD 38400l
+#define AO_ASYNC_DELAY (uint8_t) (1000000l / AO_ASYNC_BAUD)
+
+void
+ao_async_byte(uint8_t byte)
+{
+ uint8_t b;
+ uint16_t w;
+
+ /* start bit */
+
+ /* start data stop */
+ w = 0x001 | (byte << 1) | 0x000;
+
+ for (b = 0; b < 10; b++) {
+ ao_led_set((w & 1) << AO_LED_SERIAL);
+ w >>= 1;
+ ao_delay_us(26);
+ }
+}
--- /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_ASYNC_H_
+#define _AO_ASYNC_H_
+
+void
+ao_async_byte(uint8_t byte);
+
+#endif /* _AO_ASYNC_H_ */
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_log_micro.h>
+#include <ao_async.h>
+
+#if HAS_EEPROM
+
+ao_pos_t ao_log_micro_pos;
+
+void
+ao_log_micro_data(uint32_t data)
+{
+ ao_storage_write(ao_log_micro_pos, &data, sizeof (data));
+ ao_log_micro_pos += sizeof (data);
+}
+
+uint32_t ao_log_last_ground;
+uint32_t ao_log_last_done;
+
+uint8_t
+ao_log_micro_scan(void)
+{
+ uint32_t data;
+ ao_pos_t pos;
+
+ ao_storage_read(0, &data, sizeof (data));
+ if ((data & AO_LOG_MICRO_MASK) != AO_LOG_MICRO_GROUND)
+ return 0;
+
+ ao_log_last_ground = data & ~(AO_LOG_MICRO_MASK);
+ for (pos = 4; pos < ao_storage_total; pos += 4) {
+ ao_storage_read(pos, &data, sizeof (data));
+ if ((data & AO_LOG_MICRO_MASK) == AO_LOG_MICRO_GROUND) {
+ ao_log_last_done = data & ~(AO_LOG_MICRO_MASK);
+ return 1;
+ }
+ }
+ return 0;
+}
+
+void
+ao_log_micro_dump(void)
+{
+ ao_pos_t pos;
+ uint8_t data[4];
+ uint8_t i;
+
+ for (pos = 0; pos < ao_storage_total; pos += 4) {
+ ao_storage_read(pos, data, 4);
+ for (i = 0; i < 4; i++)
+ ao_async_byte(data[i]);
+ if (data[3] == (uint8_t) (AO_LOG_MICRO_GROUND >> 24))
+ break;
+ }
+}
+
+#endif
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_LOG_MICRO_H_
+#define _AO_LOG_MICRO_H_
+
+#define AO_LOG_MICRO_GROUND (0l << 24)
+#define AO_LOG_MICRO_DATA (1l << 24)
+#define AO_LOG_MICRO_DONE (0xaal << 24)
+#define AO_LOG_MICRO_MASK (0xffl << 24)
+
+void
+ao_log_micro_data(uint32_t data);
+
+extern uint32_t ao_log_last_ground;
+extern uint32_t ao_log_last_done;
+
+uint8_t
+ao_log_micro_scan(void);
+
+void
+ao_log_micro_dump(void);
+
+#endif /* _AO_LOG_MICRO_H_ */
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_ms5607.h>
+#include <ao_log_micro.h>
+
+static struct ao_ms5607_sample sample;
+static struct ao_ms5607_value value;
+
+static uint32_t pa;
+static uint32_t pa_sum;
+static uint32_t pa_avg;
+static int32_t pa_diff;
+static uint32_t pa_ground;
+static uint32_t pa_min;
+static uint32_t pa_interval_min, pa_interval_max;
+static alt_t ground_alt, max_alt;
+alt_t ao_max_height;
+
+static void
+ao_pa_get(void)
+{
+ ao_ms5607_sample(&sample);
+ ao_ms5607_convert(&sample, &value);
+ pa = value.pres;
+}
+
+#define FILTER_SHIFT 3
+#define SAMPLE_SLEEP AO_MS_TO_TICKS(96)
+
+/* 16 sample, or about two seconds worth */
+#define GROUND_AVG_SHIFT 4
+#define GROUND_AVG (1 << GROUND_AVG_SHIFT)
+
+static void
+ao_compute_height(void)
+{
+ ground_alt = ao_pa_to_altitude(pa_ground);
+ max_alt = ao_pa_to_altitude(pa_min);
+ ao_max_height = max_alt - ground_alt;
+}
+
+#if !HAS_EEPROM
+void
+ao_save_flight(void)
+{
+ ao_eeprom_write(0, &pa_ground, sizeof (pa_ground));
+ ao_eeprom_write(sizeof (pa_ground), &pa_min, sizeof (pa_min));
+}
+
+void
+ao_restore_flight(void)
+{
+ ao_eeprom_read(0, &pa_ground, sizeof (pa_ground));
+ ao_eeprom_read(sizeof (pa_ground), &pa_min, sizeof (pa_min));
+}
+#endif
+
+int
+main(void)
+{
+ int16_t sample_count;
+ uint16_t time;
+#if HAS_EEPROM
+ uint8_t dump_eeprom = 0;
+#endif
+ ao_led_init(LEDS_AVAILABLE);
+ ao_timer_init();
+
+#if HAS_EEPROM
+
+ /* Set MOSI and CLK as inputs with pull-ups */
+ DDRB &= ~(1 << 0) | (1 << 2);
+ PORTB |= (1 << 0) | (1 << 2);
+
+ /* Check to see if either MOSI or CLK are pulled low by the
+ * user shorting them to ground. If so, dump the eeprom out
+ * via the LED. Wait for the shorting wire to go away before
+ * continuing.
+ */
+ while ((PINB & ((1 << 0) | (1 << 2))) != ((1 << 0) | (1 << 2)))
+ dump_eeprom = 1;
+ PORTB &= ~(1 << 0) | (1 << 2);
+
+ ao_i2c_init();
+#endif
+ ao_restore_flight();
+ ao_compute_height();
+ ao_report_altitude();
+
+ ao_spi_init();
+ ao_ms5607_init();
+ ao_ms5607_setup();
+
+#if HAS_EEPROM
+ ao_storage_init();
+
+ /* Check to see if there's a flight recorded in memory */
+ if (dump_eeprom && ao_log_micro_scan())
+ ao_log_micro_dump();
+#endif
+
+ /* Wait for motion, averaging values to get ground pressure */
+ time = ao_time();
+ ao_pa_get();
+ pa_avg = pa_ground = pa << FILTER_SHIFT;
+ sample_count = 0;
+ for (;;) {
+ time += SAMPLE_SLEEP;
+ ao_delay_until(time);
+ if (sample_count == 0)
+ ao_led_on(AO_LED_BLUE);
+ ao_pa_get();
+ if (sample_count == 0)
+ ao_led_off(AO_LED_BLUE);
+ pa_avg = pa_avg - (pa_avg >> FILTER_SHIFT) + pa;
+ pa_diff = pa_ground - pa_avg;
+ if (pa_diff < 0)
+ pa_diff = -pa_diff;
+
+ /* about 2 meters at sea level, more if you're higher */
+ if (pa_diff > (24 << FILTER_SHIFT))
+ break;
+
+ if (sample_count < GROUND_AVG * 2) {
+ ao_led_off(AO_LED_BLUE);
+ if (sample_count < GROUND_AVG)
+ pa_sum += pa;
+ ++sample_count;
+ } else {
+ pa_ground = pa_sum >> (GROUND_AVG_SHIFT - FILTER_SHIFT);
+ pa_sum = 0;
+ sample_count = 0;
+ }
+ }
+
+ pa_ground >>= FILTER_SHIFT;
+
+#if HAS_EEPROM
+ ao_log_micro_data(AO_LOG_MICRO_GROUND | pa_ground);
+#endif
+
+ /* Now sit around until the pressure is stable again and record the max */
+
+ sample_count = 0;
+ pa_min = pa_avg;
+ pa_interval_min = pa_avg;
+ pa_interval_max = pa_avg;
+ for (;;) {
+ time += SAMPLE_SLEEP;
+ ao_delay_until(time);
+ if ((sample_count & 3) == 0)
+ ao_led_on(AO_LED_BLUE);
+ ao_pa_get();
+ if ((sample_count & 3) == 0)
+ ao_led_off(AO_LED_BLUE);
+#if HAS_EEPROM
+ ao_log_micro_data(AO_LOG_MICRO_DATA | pa);
+#endif
+ pa_avg = pa_avg - (pa_avg >> FILTER_SHIFT) + pa;
+ if (pa_avg < pa_min)
+ pa_min = pa_avg;
+
+ if (sample_count == (GROUND_AVG - 1)) {
+ pa_diff = pa_interval_max - pa_interval_min;
+ /* About 1m at sea level */
+ if (pa_diff < (12 << FILTER_SHIFT))
+ break;
+ sample_count = 0;
+ pa_interval_min = pa_avg;
+ pa_interval_max = pa_avg;
+ } else {
+ if (pa_avg < pa_interval_min)
+ pa_interval_min = pa_avg;
+ if (pa_avg > pa_interval_max)
+ pa_interval_max = pa_avg;
+ ++sample_count;
+ }
+ }
+ pa_min >>= FILTER_SHIFT;
+#if HAS_EEPROM
+ ao_log_micro_data(AO_LOG_MICRO_DONE | pa_min);
+#endif
+ ao_save_flight();
+ ao_compute_height();
+ ao_report_altitude();
+ for (;;) {
+ cli();
+ set_sleep_mode(SLEEP_MODE_PWR_DOWN);
+ sleep_mode();
+ }
+}
--- /dev/null
+static void
+pause(uint8_t j)
+{
+ int64_t i;
+
+ while (j--) {
+ for (i = 0; i < 2000; i++)
+ ao_arch_nop();
+ }
+}
+
+#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))
+
+#define ___ 1
+#define _ 0
+
+static const uint8_t morse[26] = {
+ MORSE2(0,1), /* A */
+ MORSE4(1,0,0,0), /* B */
+ MORSE4(1,0,1,0), /* C */
+ MORSE3(1,0,0), /* D */
+ MORSE1(0), /* E */
+ MORSE4(0,0,1,0), /* F */
+ MORSE3(1,1,0), /* G */
+ MORSE4(0,0,0,0), /* H */
+ MORSE2(0,0), /* I */
+ MORSE4(0,1,1,1), /* J */
+ MORSE3(1,0,1), /* K */
+ MORSE4(0,1,0,0), /* L */
+ MORSE2(1,1), /* M */
+ MORSE2(1,1), /* N */
+ MORSE3(1,1,1), /* O */
+ MORSE4(0,1,1,0), /* P */
+ MORSE4(1,1,0,1), /* Q */
+ MORSE3(0,1,0), /* R */
+ MORSE3(0,0,0), /* S */
+ MORSE1(1), /* T */
+ MORSE3(0,0,1), /* U */
+ MORSE4(0,0,0,1), /* V */
+ MORSE3(0,1,1), /* W */
+ MORSE4(1,0,0,1), /* X */
+ MORSE4(1,0,1,1), /* Y */
+ MORSE4(1,1,0,0), /* Z */
+};
+
+static void
+on(void)
+{
+ PORTB |= (1 << 4);
+}
+
+static void
+off(void)
+{
+ PORTB &= ~(1 << 4);
+}
+
+static void
+morse_char (char c)
+{
+ uint8_t r = morse[c - 'a'];
+ uint8_t l = r & 7;
+
+ if (!r)
+ return;
+ while (l--) {
+ on();
+ if (r & 8)
+ pause(3);
+ else
+ pause(1);
+ off();
+ pause(1);
+ r >>= 1;
+ }
+ pause(2);
+}
+
+static void
+morse_string(char *s) {
+ char c;
+
+ while ((c = *s++)) {
+ if (c == ' ')
+ pause(5);
+ else
+ morse_char(c);
+ }
+}
+
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+
+static volatile void *ao_wchan;
+
+uint8_t
+ao_sleep(__xdata void *wchan)
+{
+#if 1
+ ao_wchan = wchan;
+ ao_arch_cpu_idle();
+#else
+ uint8_t sreg;
+
+ ao_wchan = wchan;
+ asm("in %0,__SREG__" : "=&r" (sreg));
+ sei();
+ while (ao_wchan)
+ ao_arch_cpu_idle();
+ asm("out __SREG__,%0" : : "r" (sreg));
+#endif
+ return 0;
+}
+
+void
+ao_wakeup(__xdata void *wchan)
+{
+ ao_wchan = 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.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+#include <avr/pgmspace.h>
+
+#define AO_LED_BLUE (1<<4)
+#define AO_LED_SERIAL 4
+#define AO_LED_PANIC AO_LED_BLUE
+#define LEDS_AVAILABLE (AO_LED_BLUE)
+#define USE_SERIAL_1_STDIN 0
+#define HAS_USB 0
+#define PACKET_HAS_SLAVE 0
+#define HAS_SERIAL_1 0
+#define HAS_TASK 0
+#define HAS_MS5607 1
+#define HAS_MS5611 1
+#define HAS_EEPROM 0
+#define HAS_BEEP 0
+#define AVR_CLOCK 8000000UL
+
+/* SPI */
+#define SPI_PORT PORTB
+#define SPI_PIN PINB
+#define SPI_DIR DDRB
+#define AO_MS5607_CS_PORT PORTB
+#define AO_MS5607_CS_PIN 3
+
+#define AO_MS5607_SPI_INDEX 0
+#define AO_MS5607_MISO_PORT PORTB
+#define AO_MS5607_MISO_PIN 0
+
+/* I2C */
+#define I2C_PORT PORTB
+#define I2C_PIN PINB
+#define I2C_DIR DDRB
+#define I2C_PIN_SCL PINB2
+#define I2C_PIN_SDA PINB0
+
+#define AO_CONST_ATTRIB PROGMEM
+#define FETCH_ALT(o) ((alt_t) pgm_read_dword(&altitude_table[o]))
+
+#define AO_ALT_VALUE(x) ((x) * 10)
+
+#endif /* _AO_PINS_H_ */
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+
+#define mid(time) ao_led_for(AO_LED_BLUE, time)
+#define pause(time) ao_delay(time)
+
+static void
+ao_report_digit(uint8_t digit) __reentrant
+{
+ if (!digit) {
+ mid(AO_MS_TO_TICKS(600));
+ 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));
+}
+
+void
+ao_report_altitude(void)
+{
+ __pdata int16_t agl = ao_max_height;
+ __xdata uint8_t digits[10];
+ __pdata uint8_t ndigits, i;
+
+ if (agl < 0)
+ agl = 0;
+ ndigits = 0;
+ do {
+ digits[ndigits++] = agl % 10;
+ agl /= 10;
+ } while (agl);
+
+ i = ndigits;
+ do
+ ao_report_digit(digits[--i]);
+ while (i != 0);
+}
projects / fw / altos / commitdiff