show(last_telem_state, last_state, last_from_receiver, last_receiver);
} else
ft.hide(this);
- ft.commitAllowingStateLoss();
+ try {
+ ft.commitAllowingStateLoss();
+ } catch (IllegalStateException ie) {
+ }
}
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
+ AltosDebug.init(this);
+ AltosDebug.debug("+++ ON CREATE +++");
+
+ // Initialise preferences
+ AltosDroidPreferences.init(this);
+
// Setup the window
requestWindowFeature(Window.FEATURE_INDETERMINATE_PROGRESS);
setContentView(R.layout.setup);
if (worked)
new_config = new AltosConfigData(link);
} finally {
+ int plus = config_data.accel_cal_plus(config_data.pad_orientation);
+ int minus = config_data.accel_cal_minus(config_data.pad_orientation);
System.out.printf("Restore orientation %d +g %d -g %d\n",
config_data.pad_orientation,
- config_data.accel_cal_plus,
- config_data.accel_cal_minus);
- if (config_data.pad_orientation != AltosLib.MISSING && config_data.pad_orientation != 0)
+ plus, minus);
+ if (config_data.pad_orientation != AltosLib.MISSING)
link.printf("c o %d\n", config_data.pad_orientation);
- if (config_data.accel_cal_plus != AltosLib.MISSING && config_data.accel_cal_minus != AltosLib.MISSING)
- link.printf("c a %d %d\n",
- config_data.accel_cal_plus, config_data.accel_cal_minus);
+ if (plus != AltosLib.MISSING && minus != AltosLib.MISSING)
+ link.printf("c a %d %d\n", plus, minus);
+ link.flush_output();
stop_link();
}
if (new_config != null) {
- System.out.printf("*** +1g %d -1g %d\n",
- new_config.accel_cal_plus,
- new_config.accel_cal_minus);
- listener.cal_done(this, new_config.accel_cal_plus, new_config.accel_cal_minus);
+ int plus = new_config.accel_cal_plus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP);
+ int minus = new_config.accel_cal_minus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP);
+ System.out.printf("*** +1g %d -1g %d\n", plus, minus);
+ listener.cal_done(this, plus, minus);
if (!wait_signal())
throw new InterruptedException("aborted");
} else
set_flight_params(config_data.apogee_delay / ticks_per_sec, config_data.apogee_lockout / ticks_per_sec);
set_pad_orientation(config_data.pad_orientation);
set_product(config_data.product);
- set_accel_plus_minus(config_data.accel_cal_plus, config_data.accel_cal_minus);
+ set_accel_plus_minus(config_data.accel_cal_plus(config_data.pad_orientation), config_data.accel_cal_minus(config_data.pad_orientation));
set_accel_zero(config_data.accel_zero_along, config_data.accel_zero_across, config_data.accel_zero_through);
set_ms5607(config_data.ms5607);
try {
import java.text.*;
import java.util.concurrent.*;
+/* Don't change the field names in this structure; they're part of all .eeprom files */
public class AltosConfigData {
/* Version information */
/* HAS_ACCEL */
public int accel_cal_plus, accel_cal_minus;
+ private int accel_cal_plus_cooked, accel_cal_minus_cooked;
+ private boolean accel_cal_adjusted;
public int pad_orientation;
/* HAS_LOG */
}
}
+ public int invert_accel_value(int value) {
+ if (value == AltosLib.MISSING)
+ return AltosLib.MISSING;
+
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_FULL:
+ return 0x7fff - value;
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+ case AltosLib.AO_LOG_FORMAT_TELEMETRUM:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
+ return 4095 - value;
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
public boolean has_monitor_battery() {
if (product.startsWith("TeleBT"))
return true;
radio_setting = AltosLib.MISSING;
telemetry_rate = AltosLib.MISSING;
+ accel_cal_plus_cooked = AltosLib.MISSING;
+ accel_cal_minus_cooked = AltosLib.MISSING;
accel_cal_plus = AltosLib.MISSING;
accel_cal_minus = AltosLib.MISSING;
pad_orientation = AltosLib.MISSING;
+ accel_cal_adjusted = false;
flight_log_max = AltosLib.MISSING;
log_fixed = AltosLib.MISSING;
accel_zero_through = AltosLib.MISSING;
}
+ /* Return + accel calibration relative to a specific pad orientation */
+ public int accel_cal_plus(int pad_orientation) {
+ adjust_accel_cal();
+ switch (pad_orientation) {
+ case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
+ return accel_cal_plus_cooked;
+ case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
+ return invert_accel_value(accel_cal_minus_cooked);
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ /* Return - accel calibration relative to a specific pad orientation */
+ public int accel_cal_minus(int pad_orientation) {
+ adjust_accel_cal();
+ switch (pad_orientation) {
+ case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
+ return accel_cal_minus_cooked;
+ case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
+ return invert_accel_value(accel_cal_plus_cooked);
+ default:
+ return AltosLib.MISSING;
+ }
+ }
+
+ /* Once we have all of the values from the config data, compute the
+ * accel cal values relative to Antenna Up orientation.
+ */
+ private void adjust_accel_cal() {
+ if (!accel_cal_adjusted &&
+ pad_orientation != AltosLib.MISSING &&
+ accel_cal_plus != AltosLib.MISSING &&
+ accel_cal_minus != AltosLib.MISSING &&
+ log_format != AltosLib.AO_LOG_FORMAT_UNKNOWN)
+ {
+ switch (pad_orientation) {
+ case AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP:
+ accel_cal_plus_cooked = accel_cal_plus;
+ accel_cal_minus_cooked = accel_cal_minus;
+ accel_cal_adjusted = true;
+ break;
+ case AltosLib.AO_PAD_ORIENTATION_ANTENNA_DOWN:
+ accel_cal_plus_cooked = invert_accel_value(accel_cal_minus);
+ accel_cal_minus_cooked = invert_accel_value(accel_cal_plus);
+ accel_cal_adjusted = true;
+ break;
+ default:
+ break;
+ }
+ }
+ }
+
public void parse_line(String line) {
/* Version replies */
if (bits.length >= 6) {
accel_cal_plus = Integer.parseInt(bits[3]);
accel_cal_minus = Integer.parseInt(bits[5]);
+ accel_cal_adjusted = false;
}
}
} catch (Exception e) {}
}
}
} catch (Exception e) {}
+
+ /* Fix accel cal as soon as all of the necessary values appear */
+ adjust_accel_cal();
}
public AltosConfigData() {
if (pad_orientation != AltosLib.MISSING)
pad_orientation = source.pad_orientation();
- if (accel_cal_plus != AltosLib.MISSING)
- accel_cal_plus = source.accel_cal_plus();
+ if (accel_cal_plus_cooked != AltosLib.MISSING)
+ accel_cal_plus_cooked = source.accel_cal_plus();
- if (accel_cal_minus != AltosLib.MISSING)
- accel_cal_minus = source.accel_cal_minus();
+ if (accel_cal_minus_cooked != AltosLib.MISSING)
+ accel_cal_minus_cooked = source.accel_cal_minus();
/* HAS_LOG */
if (flight_log_max != AltosLib.MISSING)
dest.set_flight_log_max(flight_log_max);
dest.set_ignite_mode(ignite_mode);
dest.set_pad_orientation(pad_orientation);
- dest.set_accel_cal(accel_cal_plus, accel_cal_minus);
+ dest.set_accel_cal(accel_cal_plus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP),
+ accel_cal_minus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP));
dest.set_callsign(callsign);
if (npyro != AltosLib.MISSING)
dest.set_pyros(pyros);
link.printf("c e %d\n", radio_enable);
/* HAS_ACCEL */
+ /* set orientation first so that we know how to set the accel cal */
if (pad_orientation != AltosLib.MISSING)
link.printf("c o %d\n", pad_orientation);
- if (accel_cal_plus != AltosLib.MISSING && accel_cal_minus != AltosLib.MISSING)
- link.printf("c a %d %d\n", accel_cal_plus, accel_cal_minus);
+ int plus = accel_cal_plus(pad_orientation);
+ int minus = accel_cal_minus(pad_orientation);
+ if (plus != AltosLib.MISSING && minus != AltosLib.MISSING)
+ link.printf("c a %d %d\n", plus, minus);
/* HAS_LOG */
if (flight_log_max != 0)
public AltosRomconfig romconfig() throws InterruptedException {
try {
- byte[] bytes = read_memory(0xa0, 10);
- AltosHexfile hexfile = new AltosHexfile (bytes, 0xa0);
+ byte[] bytes = read_memory(0x00, 0x200);
+ AltosHexfile hexfile = new AltosHexfile (bytes, 0x00);
return new AltosRomconfig(hexfile);
} catch (IOException ie) {
}
public AltosTimeSeries height_series;
+ public double max_height = AltosLib.MISSING;
+
+ public void set_min_pressure(double pa) {
+ double ground_altitude = cal_data().ground_altitude;
+ if (ground_altitude != AltosLib.MISSING)
+ max_height = AltosConvert.pressure_to_altitude(pa) -
+ ground_altitude;
+ }
+
public static final String height_name = "Height";
public void set_pressure(double pa) {
}
}
- max_height = AltosLib.MISSING;
- if (series.height_series != null)
+ max_height = series.max_height;
+ if (max_height == AltosLib.MISSING && series.height_series != null)
max_height = series.height_series.max().value;
max_gps_height = AltosLib.MISSING;
if (series.gps_height != null) {
if (usb_descriptors == null)
return -1;
- /* Walk the descriptors looking for the device */
- a = usb_descriptors.address;
- while (get_u8(a+1) != AO_USB_DESC_DEVICE) {
- int delta = get_u8(a);
- a += delta;
- if (delta == 0 || a >= max_address)
- return -1;
+ try {
+ /* Walk the descriptors looking for the device */
+ a = usb_descriptors.address;
+ while (get_u8(a+1) != AO_USB_DESC_DEVICE) {
+ int delta = get_u8(a);
+ a += delta;
+ if (delta == 0 || a >= max_address)
+ return -1;
+ }
+ return a;
+ } catch (ArrayIndexOutOfBoundsException ae) {
+ return -1;
}
- return a;
}
public AltosUsbId find_usb_id() {
import java.io.*;
public class AltosIMU implements Cloneable {
- public int accel_x;
- public int accel_y;
- public int accel_z;
+ public int accel_x = AltosLib.MISSING;
+ public int accel_y = AltosLib.MISSING;
+ public int accel_z = AltosLib.MISSING;
- public int gyro_x;
- public int gyro_y;
- public int gyro_z;
+ public int gyro_x = AltosLib.MISSING;
+ public int gyro_y = AltosLib.MISSING;
+ public int gyro_z = AltosLib.MISSING;
+
+ public int mag_x = AltosLib.MISSING;
+ public int mag_y = AltosLib.MISSING;
+ public int mag_z = AltosLib.MISSING;
public static final double counts_per_g = 2048.0;
gyro_y = Integer.parseInt(items[6]);
gyro_z = Integer.parseInt(items[7]);
}
+ if (items.length >= 12) {
+ mag_x = Integer.parseInt(items[9]);
+ mag_y = Integer.parseInt(items[10]);
+ mag_z = Integer.parseInt(items[11]);
+ }
return true;
}
n.gyro_x = gyro_x;
n.gyro_y = gyro_y;
n.gyro_z = gyro_z;
+
+ n.mag_x = mag_x;
+ n.mag_y = mag_y;
+ n.mag_z = mag_z;
+
return n;
}
listener.set_accel_ground(imu.accel_y,
imu.accel_x,
imu.accel_z);
+ if (imu.mag_x != AltosLib.MISSING) {
+ listener.set_mag(cal_data.mag_along(imu.mag_y),
+ cal_data.mag_across(imu.mag_x),
+ cal_data.mag_through(imu.mag_z));
+ }
}
} catch (TimeoutException te) {
}
gyro_x = AltosLib.MISSING;
gyro_y = AltosLib.MISSING;
gyro_z = AltosLib.MISSING;
+
+ mag_x = AltosLib.MISSING;
+ mag_y = AltosLib.MISSING;
+ mag_z = AltosLib.MISSING;
}
public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
AltosIdler.idle_ms5607,
AltosIdler.idle_sensor_metrum),
- new AltosIdler("TeleMega",
+ new AltosIdler("TeleMega-v0",
AltosIdler.idle_gps,
AltosIdler.idle_mma655x,
AltosIdler.idle_ms5607,
AltosIdler.idle_imu, AltosIdler.idle_mag,
AltosIdler.idle_sensor_mega),
+ new AltosIdler("TeleMega-v1",
+ AltosIdler.idle_gps,
+ AltosIdler.idle_mma655x,
+ AltosIdler.idle_ms5607,
+ AltosIdler.idle_imu, AltosIdler.idle_mag,
+ AltosIdler.idle_sensor_mega),
+ new AltosIdler("TeleMega-v2",
+ AltosIdler.idle_gps,
+ AltosIdler.idle_mma655x,
+ AltosIdler.idle_ms5607,
+ AltosIdler.idle_imu, AltosIdler.idle_mag,
+ AltosIdler.idle_sensor_mega),
+ new AltosIdler("TeleMega-v3",
+ AltosIdler.idle_gps,
+ AltosIdler.idle_mma655x,
+ AltosIdler.idle_ms5607,
+ AltosIdler.idle_imu,
+ AltosIdler.idle_sensor_mega),
new AltosIdler("EasyMega",
AltosIdler.idle_mma655x,
AltosIdler.idle_ms5607,
public static final int AO_GPS_NUM_SAT_SHIFT = 0;
public static final int AO_GPS_NUM_SAT_MASK = 0xf;
+ public static final int AO_PAD_ORIENTATION_ANTENNA_UP = 0;
+ public static final int AO_PAD_ORIENTATION_ANTENNA_DOWN = 1;
+
public static final int AO_LOG_FORMAT_UNKNOWN = 0;
public static final int AO_LOG_FORMAT_FULL = 1;
public static final int AO_LOG_FORMAT_TINY = 2;
public void flush_input() throws InterruptedException {
- if (remote)
- flush_input(500);
- else
+ if (remote) {
+ int timeout = 500;
+ switch (telemetry_rate) {
+ case AltosLib.ao_telemetry_rate_38400:
+ default:
+ timeout = 500;
+ break;
+ case AltosLib.ao_telemetry_rate_9600:
+ timeout = 1000;
+ break;
+ case AltosLib.ao_telemetry_rate_2400:
+ timeout = 2000;
+ break;
+ }
+ flush_input(timeout);
+ } else
flush_input(100);
}
public static final int pyro_accel_greater = 0x00000002;
public static final String pyro_accel_less_string = "a<";
public static final String pyro_accel_greater_string = "a>";
- public static final String pyro_accel_less_name = "Acceleration less than";
- public static final String pyro_accel_greater_name = "Acceleration greater than";
+ public static final String pyro_accel_less_name = "Vertical acceleration less than";
+ public static final String pyro_accel_greater_name = "Vertical acceleration greater than";
public static final double pyro_accel_scale = 16.0;
public static final int pyro_speed_less = 0x00000004;
public static final int pyro_speed_greater = 0x00000008;
public static final String pyro_speed_less_string = "s<";
public static final String pyro_speed_greater_string = "s>";
- public static final String pyro_speed_less_name = "Speed less than";
- public static final String pyro_speed_greater_name = "Speed greater than";
+ public static final String pyro_speed_less_name = "Ascent rate less than";
+ public static final String pyro_speed_greater_name = "Ascent rate greater than";
public static final double pyro_speed_scale = 16.0;
public static final int pyro_height_less = 0x00000010;
public static final int pyro_height_greater = 0x00000020;
public static final String pyro_height_less_string = "h<";
public static final String pyro_height_greater_string = "h>";
- public static final String pyro_height_less_name = "Height less than";
- public static final String pyro_height_greater_name = "Height greater than";
+ public static final String pyro_height_less_name = "Height above pad less than";
+ public static final String pyro_height_greater_name = "Height above pad greater than";
public static final double pyro_height_scale = 1.0;
public static final int pyro_orient_less = 0x00000040;
public static final int pyro_time_greater = 0x00000200;
public static final String pyro_time_less_string = "t<";
public static final String pyro_time_greater_string = "t>";
- public static final String pyro_time_less_name = "Time since boost less than (s)";
- public static final String pyro_time_greater_name = "Time since boost greater than (s)";
+ public static final String pyro_time_less_name = "Time since launch less than (s)";
+ public static final String pyro_time_greater_name = "Time since launch greater than (s)";
public static final double pyro_time_scale = 100.0;
public static final int pyro_ascending = 0x00000400;
public static final String pyro_state_greater_or_equal_name = "Flight state after";
public static final double pyro_state_scale = 1.0;
+ public static final int pyro_deprecate = pyro_ascending | pyro_descending;
+
public static final int pyro_all = 0x0000ffff;
+ public static final int pyro_all_useful = pyro_all ^ pyro_deprecate;
public static final int pyro_no_value = (pyro_ascending |
pyro_descending);
System.out.printf("no symbol %s\n", name);
throw new AltosNoSymbol(name);
}
- if (hexfile.address <= symbol.address && symbol.address + len < hexfile.max_address) {
+ if (hexfile.address <= symbol.address && symbol.address + len <= hexfile.max_address) {
System.out.printf("%s: %x\n", name, symbol.address);
return symbol.address;
}
- System.out.printf("invalid symbol addr %x range is %x - %x\n",
- symbol.address, hexfile.address, hexfile.max_address);
+ System.out.printf("invalid symbol addr %x len %d range is %x - %x\n",
+ symbol.address, len, hexfile.address, hexfile.max_address);
throw new AltosNoSymbol(name);
}
apogee_lockout_value.setEditable(true);
apogee_lockout_value.addItemListener(this);
pane.add(apogee_lockout_value, c);
- apogee_lockout_value.setToolTipText("Time after boost while apogee detection is locked out");
+ apogee_lockout_value.setToolTipText("Time after launch while apogee detection is locked out");
row++;
/* Frequency */
public void set(AltosPyro pyro) {
int row = 0;
+ if ((pyro.flags & AltosPyro.pyro_deprecate) != 0) {
+ JOptionPane.showMessageDialog(owner,
+ String.format("Pyro settings “Ascending” and “Descending” are deprecated.\n" +
+ "Clearing %s configuration.", AltosLib.igniter_name(pyro.channel)),
+ "Deprecated Pyro Settings",
+ JOptionPane.ERROR_MESSAGE);
+ pyro.flags = 0;
+ owner.set_dirty();
+ }
for (int flag = 1; flag < AltosPyro.pyro_all; flag <<= 1) {
- if ((AltosPyro.pyro_all & flag) != 0) {
+ if ((AltosPyro.pyro_all_useful & flag) != 0) {
items[row].set((pyro.flags & flag) != 0,
pyro.get_value(flag));
row++;
int row = 0;
for (int flag = 1; flag < AltosPyro.pyro_all; flag <<= 1) {
- if ((AltosPyro.pyro_all & flag) != 0) {
+ if ((AltosPyro.pyro_all_useful & flag) != 0) {
if (items[row].enabled()) {
try {
p.flags |= flag;
public void units_changed(boolean imperial_units) {
int row = 0;
for (int flag = 1; flag < AltosPyro.pyro_all; flag <<= 1) {
- if ((AltosPyro.pyro_all & flag) != 0) {
+ if ((AltosPyro.pyro_all_useful & flag) != 0) {
items[row].units_changed(imperial_units);
row++;
}
int nrow = 0;
for (int flag = 1; flag < AltosPyro.pyro_all; flag <<= 1)
- if ((flag & AltosPyro.pyro_all) != 0)
+ if ((flag & AltosPyro.pyro_all_useful) != 0)
nrow++;
items = new PyroItem[nrow];
y++;
for (int flag = 1; flag < AltosPyro.pyro_all; flag <<= 1)
- if ((flag & AltosPyro.pyro_all) != 0) {
+ if ((flag & AltosPyro.pyro_all_useful) != 0) {
items[row] = new PyroItem(ui, flag, x, y + row);
row++;
}
columns[c].units_changed(imperial_units);
int r = 0;
for (int flag = 1; flag <= AltosPyro.pyro_all; flag <<= 1) {
- String n = AltosPyro.pyro_to_name(flag);
- if (n != null) {
- labels[r].setText(n);
- r++;
+ if ((flag & AltosPyro.pyro_all_useful) != 0) {
+ String n = AltosPyro.pyro_to_name(flag);
+ if (n != null) {
+ labels[r].setText(n);
+ r++;
+ }
}
}
}
int nrow = 0;
for (int flag = 1; flag < AltosPyro.pyro_all; flag <<= 1)
- if ((flag & AltosPyro.pyro_all) != 0)
+ if ((flag & AltosPyro.pyro_all_useful) != 0)
nrow++;
labels = new JLabel[nrow];
for (int flag = 1; flag <= AltosPyro.pyro_all; flag <<= 1) {
String n;
- n = AltosPyro.pyro_to_name(flag);
- if (n != null) {
- c = new GridBagConstraints();
- c.gridx = 0; c.gridy = row;
- c.gridwidth = 1;
- c.fill = GridBagConstraints.NONE;
- c.anchor = GridBagConstraints.LINE_START;
- c.insets = il;
- JLabel label = new JLabel(n);
- pane.add(label, c);
- labels[row-1] = label;
- row++;
+ if ((flag & AltosPyro.pyro_all_useful) != 0) {
+ n = AltosPyro.pyro_to_name(flag);
+ if (n != null) {
+ c = new GridBagConstraints();
+ c.gridx = 0; c.gridy = row;
+ c.gridwidth = 1;
+ c.fill = GridBagConstraints.NONE;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = il;
+ JLabel label = new JLabel(n);
+ pane.add(label, c);
+ labels[row-1] = label;
+ row++;
+ }
}
}
"teleballoon",
"telebt-v1",
"teledongle-v0",
- "telefire",
+ "telefire-v0",
"telemetrum-v0",
"telemetrum-v1",
- "telemini",
+ "telemini-v1",
"telenano",
"teleshield",
"teleterra"
"TeleBalloon",
"TeleBT-v1",
"TeleDongle-v0",
+ "TeleFire-v0",
"TeleFire",
"TeleMetrum-v0",
"TeleMetrum-v1",
- "TeleMini",
+ "TeleMini-v1",
"TeleNano",
"TeleShield",
"TeleTerra"
#!/bin/sh
-if [ -x /usr/bin/dfu-util ]; then
- DFU_UTIL=/usr/bin/dfu-util
+if [ -x `which dfu-util` ]; then
+ DFU_UTIL=`which dfu-util`
else
echo "Can't find dfu-util! Aborting."
exit 1
#$USBLOAD --serial=1 $ALTOS_FILE || exit 1
-sleep 1
+sleep 3
./test-chaoskey
FLASH_FILE=$REPO/loaders/telegps-v2.0-altos-flash-*.bin
ALTOS_FILE=$REPO/telegps-v2.0-*.elf
-$DFU_UTIL -a 0 -s 0x08000000:leave -D $FLASH_FILE
+$DFU_UTIL -v -v -R -a 0 -s 0x08000000:leave -D $FLASH_FILE
-sleep 2
+sleep 3
$USBLOAD --serial=$SERIAL $ALTOS_FILE || exit 1
--- /dev/null
+#!/bin/sh
+
+if [ -x /usr/bin/ao-flash-stm ]; then
+ FLASH_STM=/usr/bin/ao-flash-stm
+else
+ echo "Can't find ao-flash-stm! Aborting."
+ exit 1
+fi
+
+if [ -x /usr/bin/ao-usbload ]; then
+ USBLOAD=/usr/bin/ao-usbload
+else
+ echo "Can't find ao-usbload! Aborting."
+ exit 1
+fi
+
+VERSION=2.0
+REPO=~/altusmetrumllc/Binaries
+PRODUCT=TeleLCO
+
+echo "$PRODUCT v$VERSION Turn-On and Calibration Program"
+echo "Copyright 2018 by Bdale Garbee. Released under GPL v3"
+echo
+echo "Expectations:"
+echo "\t$PRODUCT v$VERSION powered from USB"
+echo "\t\twith ST-Link-V2 cabled to debug header"
+echo "\t\twith coax from UHF to frequency counter"
+echo
+
+case $# in
+ 1)
+ SERIAL="$1"
+ echo "$PRODUCT-$VERSION serial number: $SERIAL"
+ ;;
+ 0)
+ echo -n "$PRODUCT-$VERSION serial number: "
+ read SERIAL
+ ;;
+ *)
+ echo "Usage: $0 <serial-number>" 1>&2
+ exit 1;
+ ;;
+esac
+
+echo $FLASH_STM
+
+$FLASH_STM $REPO/loaders/telelco-v$VERSION*.elf
+
+sleep 3
+
+$USBLOAD --serial=$SERIAL --force $REPO/telelco-v$VERSION*.elf || exit 1
+
+sleep 5
+
+dev=`ao-list | awk '/'"$PRODUCT-v$VERSION"'/ { print $3; exit(0); }'`
+
+case "$dev" in
+/dev/tty*)
+ echo "$PRODUCT"' found on $dev'
+ ;;
+*)
+ echo 'No '"$PRODUCT-v$VERSION"' found'
+ exit 1
+ ;;
+esac
+
+echo 'E 0' > $dev
+
+SERIAL=$SERIAL ./cal-freq $dev
+
+echo 'E 1' > $dev
+
+echo "$PRODUCT-v$VERSION" serial "$serial" is ready to ship
+echo "\007"
+
+exit $?
$FLASH_STM $REPO/loaders/telemega-v$VERSION*.elf
-sleep 5
+sleep 3
$USBLOAD --serial=$SERIAL --force $REPO/telemega-v$VERSION*.elf || exit 1
$FLASH_STM ~/altusmetrumllc/Binaries/loaders/telemetrum-v$VERSION-*.elf || exit 1
-sleep 2
+sleep 3
$USBLOAD --serial=$SERIAL ~/altusmetrumllc/Binaries/telemetrum-v$VERSION-*.elf || exit 1
#FLASH_FILE=../src/telemini-v3.0/flash-loader/telemini-v$VERSION-altos-flash-*.bin
#ALTOS_FILE=../src/telemini-v3.0/telemini-v$VERSION-*.elf
-$DFU_UTIL -a 0 -s 0x08000000:leave -D $FLASH_FILE || exit 1
+if lsusb -d 0483:df11 | grep -q STM; then
+ $DFU_UTIL -a 0 -s 0x08000000:leave -D $FLASH_FILE || exit 1
-sleep 2
+ sleep 2
+fi
$USBLOAD --serial=$SERIAL $ALTOS_FILE || exit 1
.TP
\-r | --raw
Read raw data from the noise source. This is the default.
+.TP
+\-f | --flash
+Read the contents of flash memory on the device. This loops through
+flash memory, so you can read the contents more than once, but there's
+no way to reset the pointer back to the start other than making sure
+you read the whole contents.
.SH USAGE
.I ao-chaosread
reads noise data.
#define COOKED_ENDPOINT 0x85
#define RAW_ENDPOINT 0x86
+#define FLASH_ENDPOINT 0x87
int
chaoskey_read(struct chaoskey *ck, int endpoint, void *buffer, int len)
{ .name = "bytes", .has_arg = 0, .val = 'b' },
{ .name = "cooked", .has_arg = 0, .val = 'c' },
{ .name = "raw", .has_arg = 0, .val = 'r' },
+ { .name = "flash", .has_arg = 0, .val = 'f' },
{ 0, 0, 0, 0},
};
static void usage(char *program)
{
- fprintf(stderr, "usage: %s [--serial=<serial>] [--length=<length>[kMG]] [--infinite] [--bytes] [--cooked] [--raw]\n", program);
+ fprintf(stderr, "usage: %s [--serial=<serial>] [--length=<length>[kMG]] [--infinite] [--bytes] [--cooked] [--raw] [--flash]\n", program);
exit(1);
}
int bytes = 0;
int endpoint = RAW_ENDPOINT;
- while ((c = getopt_long(argc, argv, "s:l:ibcr", options, NULL)) != -1) {
+ while ((c = getopt_long(argc, argv, "s:l:ibcrf", options, NULL)) != -1) {
switch (c) {
case 's':
serial = optarg;
case 'r':
endpoint = RAW_ENDPOINT;
break;
+ case 'f':
+ endpoint = FLASH_ENDPOINT;
+ break;
default:
usage(argv[0]);
break;
int any_valid;
int invalid;
char serial_line[8192];
+ unsigned storage_size;
+ int blocks;
while ((c = getopt_long(argc, argv, "T:D:C:R", options, NULL)) != -1) {
switch (c) {
cc_usb_close(cc);
exit(1);
}
- printf ("Serial number: %d\n", serial_number);
+ cc_usb_printf(cc, "f\n");
+ storage_size = 0;
+ for (;;) {
+ cc_usb_getline(cc, line, sizeof(line));
+ if (sscanf(line, "Storage size: %u", &storage_size) == 1)
+ break;
+ }
+ printf ("Serial number: %d Storage size: %u\n", serial_number, storage_size);
+ if (storage_size)
+ blocks = storage_size / 256;
+ else
+ blocks = 511;
done = 0;
column = 0;
- for (block = 0; !done && block < 511; block++) {
+ for (block = 0; !done && block < blocks; block++) {
cc_usb_printf(cc, "e %x\n", block);
if (column == 64) {
putchar('\n');
dnl Process this file with autoconf to create configure.
AC_PREREQ(2.57)
-AC_INIT([altos], 1.8.5)
+AC_INIT([altos], 1.8.6)
ANDROID_VERSION=17
AC_CONFIG_SRCDIR([src/kernel/ao.h])
AM_INIT_AUTOMAKE([foreign dist-bzip2])
AM_MAINTAINER_MODE
-RELEASE_DATE=2018-03-17
+RELEASE_DATE=2018-06-17
AC_SUBST(RELEASE_DATE)
VERSION_DASH=`echo $VERSION | sed 's/\./-/g'`
#
RELNOTES_INC=\
+ release-notes-1.8.6.inc \
release-notes-1.8.5.inc \
release-notes-1.8.4.inc \
release-notes-1.8.3.inc \
Creating documentation for a new release of AltOS
+* Make sure that doc/altusmetrum-docinfo.xml has the right copyright
+ year, and add release to the revision history at the front (release
+ notes will be pulled in by release-notes.inc)
+
* Write release notes in release-notes-${version}.inc. Add to
Makefile
</legalnotice>
<revhistory>
<?dbhtml filename="altusmetrum-revhistory.html"?>
+ <revision>
+ <revnumber>1.8.6</revnumber>
+ <date>6 Aug 2018</date>
+ <revremark>
+ Various pyro channel configuration updates.
+ </revremark>
+ </revision>
+ <revision>
+ <revnumber>1.8.5</revnumber>
+ <date>18 Mar 2018</date>
+ <revremark>
+ Minor ground station software updates.
+ </revremark>
+ </revision>
<revision>
<revnumber>1.8.4</revnumber>
<date>20 Dec 2017</date>
==== Apogee Lockout
- Apogee lockout is the number of seconds after boost
+ Apogee lockout is the number of seconds after launch
where the flight computer will not fire the apogee
charge, even if the rocket appears to be at
apogee. This is often called 'Mach Delay', as it is
pressure increase, and so this setting should be left
at the default value of zero to disable it.
+ [WARNING]
+ Firmware versions older than 1.8.6 have a
+ bug which resets the time since launch to zero each
+ time a motor starts burning. Update firmware to get
+ the correct behavior.
+
endif::altusmetrum[]
ifdef::radio[]
[appendix]
== Release Notes
+ :leveloffset: 2
+ include::release-notes-1.8.6.raw[]
+
+ <<<<
:leveloffset: 2
include::release-notes-1.8.5.raw[]
we also hope to empower you to take as active a role in our collective
future as you wish!
+ Our goal is to include in this document all of the information required
+ to successfully configure and use Altus Metrum products. But
+ documentation is a lot like software in that it can contain "bugs",
+ and can probably always be improved! If you have questions that
+ aren't answered in this manual, or just need a little help figuring
+ things out, we strongly suggest joining the Altus Metrum user email
+ list, which you can do by visiting
+ https://lists.gag.com/mailman/listinfo/altusmetrum. There's a lot
+ of useful information in the mailing list archives!
+
The first device created for our community was TeleMetrum, a dual
deploy altimeter with fully integrated GPS and radio telemetry
as standard features, and a “companion interface” that will
Before heading out to a new launch site, you can use
this to load satellite images in case you don't have
- internet connectivity at the site.
+ internet connectivity at the site. Try not to wait
+ until the last minute, though, particularly if you're
+ heading to a major launch. If too many people are
+ all trying to download map data at once, Google may
+ limit access until the next day.
There's a drop-down menu of launch sites we know
about; if your favorites aren't there, please let us
-Acceleration:: Select a value, and then choose
-whether acceleration should be above or below
-that value. Acceleration is positive upwards,
-so accelerating towards the ground would
-produce negative numbers. Acceleration during
-descent is noisy and inaccurate, so be careful
-when using it during these phases of the
-flight.
-
-Vertical speed:: Select a value, and then
-choose whether vertical speed should be above
-or below that value. Speed is positive
-upwards, so moving towards the ground would
-produce negative numbers. Speed during descent
-is a bit noisy and so be careful when using it
+Vertical Acceleration:: Select a value, and then choose whether
+acceleration away from the ground should be above or below that
+value. Acceleration is positive upwards, so accelerating towards the
+ground would produce negative numbers. Acceleration during descent is
+noisy and inaccurate, so be careful when using it during these phases
+of the flight.
+
+Ascent rate:: Select a value, and then choose whether ascent rate
+should be above or below that value. Ascent rate is positive upwards,
+so moving towards the ground would produce negative numbers. Ascent
+rate during descent is a bit noisy and so be careful when using it
during these phases of the flight.
-Height:: Select a value, and then choose
-whether the height above the launch pad should
-be above or below that value.
+Height above pad:: Select a value, and then choose whether the height
+above the launch pad should be above or below that value.
-Orientation:: TeleMega and EasyMega contain a
-3-axis gyroscope and accelerometer which is
-used to measure the current angle. Note that
-this angle is not the change in angle from the
-launch pad, but rather absolute relative to
-gravity; the 3-axis accelerometer is used to
-compute the angle of the rocket on the launch
-pad and initialize the system.
+Orientation:: TeleMega and EasyMega contain a 3-axis gyroscope and
+accelerometer which is used to compute the orientation of the
+rocket. A record of orientations over the last 0.64 seconds is kept
+and the largest value within this period is compared with the
+specified value. Note that the tilt angle is not the change in angle
+from the launch pad, but rather absolute relative to gravity—the
+3-axis accelerometer is used to compute the angle of the rocket on the
+launch pad and initialize the system.
[NOTE]
====
of less than that value.
====
-Flight Time:: Time since boost was detected. Select a value and choose
-whether to activate the pyro channel before or after that amount of
-time.
+Flight Time:: Time since launch. Select a value and choose whether to
+activate the pyro channel before or after that amount of time.
-Ascending:: A simple test saying whether the rocket is going up or
-not. This is exactly equivalent to testing whether the speed is > 0.
+[WARNING]
+Firmware versions older than 1.8.6 have a bug which resets the time
+since launch to zero each time a motor starts burning. Update firmware
+to get the correct behavior.
-Descending:: A simple test saying whether the rocket is going down or
-not. This is exactly equivalent to testing whether the speed is < 0.
+Ascending:: A deprecated configuration value which was the same as
+setting Ascent rate > 0. Existing configurations using this will be
+cleared and must be reconfigured by the user.
+
+Descending:: A deprecated configuration value which was the same as
+setting Ascent rate < 0. Existing configurations using this will be
+cleared and must be reconfigured by the user.
After Motor:: The flight software counts each time the rocket starts
accelerating and then decelerating (presumably due to a motor or
motors burning). Use this value for multi-staged or multi-airstart
-launches.
+launches. As of version 1.8.6 firmware, this checks to make sure at
+least this many motors have burned. Before version 1.8.6, this checked
+to make sure that exactly this many motors had burned.
-Delay:: This value doesn't perform any checks, instead it inserts a
-delay between the time when the other parameters become true and when
-the pyro channel is activated.
+Delay:: Once the other parameters all become true, a timer is
+started for the specified amount of time. While the timer is running,
+the other parameters are checked repeatedly and if any of them become
+false, then the pyro channel is disabled and will not fire. If the
+timer expires and all of the other parameters have remained true for
+the entire time, then the pyro channel is fired.
Flight State:: The flight software tracks the flight
through a sequence of states:
* Boost. The motor has lit and the rocket is
- accelerating upwards.
+ accelerating upwards. Ascent rate will be greater than zero.
+ Vertical acceleration will be greater than zero.
* Fast. The motor has burned out and the
rocket is decelerating, but it is going
- faster than 200m/s.
+ faster than 200m/s. Ascent rate will be greater than zero. Vertical
+ acceleration will be less than zero.
* Coast. The rocket is still moving upwards
- and decelerating, but the speed is less
- than 200m/s.
+ and decelerating, but the Ascent rate is less
+ than 200m/s. Ascent rate will greater than zero. Vertical
+ acceleration will be less than zero.
* Drogue. The rocket has reached apogee and
is heading back down, but is above the
- configured Main altitude.
+ configured Main altitude. Ascent rate will be less than zero during
+ this state. Vertical acceleration will be negative until the rocket
+ reaches a terminal descent rate, at which point Vertical
+ acceleration will be zero. Both Ascent rate and Vertical
+ acceleration are very noisy in this state, so be careful when
+ trying to use them to control pyro channels.
* Main. The rocket is still descending, and
- is below the Main altitude
+ is below the Main altitude. Ascent rate will be less than zero
+ during this state. Vertical acceleration may be briefly less than
+ zero as the rocket slows from drogue descent to main descent, but
+ it will settle down to a zero value once the rocket has reached the
+ terminal velocity under the main chute. Ascent rate and Vertical
+ acceleration should be much less noisy once the main chute has
+ deployed.
* Landed. The rocket is no longer moving.
--- /dev/null
+= Release Notes for Version 1.8.6
+:toc!:
+:doctype: article
+
+ Version 1.8.6
+
+ == AltOS
+
+ * Use maximum of 64 previous tilt values in pyro tilt tests
+
+ * Eliminate 100m height requirement for coast detection
+
+ * Change After Motor pyro check to be >= instead of ==
+
+ * Change Time since Boost to be Time since launch.
+
+ == AltosUI, TeleGPS
+
+ * Clarify pyro test phrasing
+
+ * Remove ascending/descending from pyro config UI
+
+ * Fix accel calibration in Antenna Down mode
+
+ * Add mag sensor reporting for TeleMega v3 idle monitoring.
+
+ * Fix radio parameter saving at 2400 bps telmetry rate.
+
+ == MicroPeak
+
+ * Report altimeter-recorded maximum height value
+
+
[appendix]
== Release Notes
+ :leveloffset: 2
+ include::release-notes-1.8.6.raw[]
+
+ <<<<
:leveloffset: 2
include::release-notes-1.8.5.raw[]
[appendix]
== Release Notes
+ :leveloffset: 2
+ include::release-notes-1.8.6.raw[]
+
+ <<<<
:leveloffset: 2
include::release-notes-1.8.5.raw[]
flight_series.set_time(cal_data.time());
flight_series.set_state(AltosLib.ao_flight_landed);
+ flight_series.set_min_pressure(min_pressure);
+
flight_series.finish();
flight_stats = new AltosFlightStats(flight_series);
telerepeat-v1.0
ARMM3DIRS=\
+ fox1ihu fox1ihu/flash-loader \
easymega-v1.0 easymega-v1.0/flash-loader \
telemega-v0.1 telemega-v0.1/flash-loader \
telemega-v1.0 telemega-v1.0/flash-loader \
telegps-v1.0 telegps-v1.0/flash-loader \
telegps-v2.0 telegps-v2.0/flash-loader \
telelco-v0.2 telelco-v0.2/flash-loader \
+ telelco-v0.2-cc1200 telelco-v0.2-cc1200/flash-loader \
telelco-v0.3 telelco-v0.3/flash-loader \
+ telelco-v2.0 telelco-v2.0/flash-loader \
teledongle-v3.0 teledongle-v3.0/flash-loader \
teleballoon-v2.0 \
telebt-v3.0 telebt-v3.0/flash-loader \
telebt-v4.0 telebt-v4.0/flash-loader \
telelcotwo-v0.1 telelcotwo-v0.1/flash-loader \
telefiretwo-v0.1 telefiretwo-v0.1/flash-loader \
+ telefireeight-v1.0 telefireeight-v1.0/flash-loader
ARMM0DIRS=\
easymini-v1.0 easymini-v1.0/flash-loader \
ao_task.h \
ao_adc_fast.h \
ao_power.h \
+ ao_flash_readout.h \
ao_crc.h \
stm32f0.h
ao_boot_chain.c \
ao_usb_stm.c \
ao_trng_send.c \
+ ao_flash_readout.c \
ao_task.c \
ao_power.c \
ao_gpio.c \
distclean: clean
clean:
- rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx
+ rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx *.bin
rm -f ao_product.h
rm -f *.cab
#include <ao_adc_fast.h>
#include <ao_crc.h>
#include <ao_trng_send.h>
+#include <ao_flash_readout.h>
void main(void)
{
ao_dma_init();
ao_adc_init();
ao_crc_init();
+ ao_flash_readout_init();
ao_usb_init();
#define AO_USB_HAS_OUT 0
#define AO_USB_HAS_IN 1
#define AO_USB_HAS_IN2 1
+#define AO_USB_HAS_IN3 1
#define AO_USB_HAS_INT 0
#define AO_USB_SELF_POWER 0
#define AO_USB_DEVICE_ID_SERIAL 1
#define IS_FLASH_LOADER 0
+#define AO_FLASH_READOUT 1
+#define ao_flash_readout_putchar(c) ao_usb_putchar3(c)
+
/* ADC */
#define AO_ADC_PIN0_PORT (&stm_gpioa)
#endif
#if AO_BUTTON_COUNT > 4
case 4: return ao_button_value(4);
+#endif
+#if AO_BUTTON_COUNT > 5
+ case 5: return ao_button_value(5);
+#endif
+#if AO_BUTTON_COUNT > 6
+ case 6: return ao_button_value(6);
+#endif
+#if AO_BUTTON_COUNT > 7
+ case 7: return ao_button_value(7);
+#endif
+#if AO_BUTTON_COUNT > 8
+ case 8: return ao_button_value(8);
+#endif
+#if AO_BUTTON_COUNT > 9
+ case 9: return ao_button_value(9);
+#endif
+#if AO_BUTTON_COUNT > 10
+ case 10: return ao_button_value(10);
+#endif
+#if AO_BUTTON_COUNT > 11
+ case 11: return ao_button_value(11);
+#endif
+#if AO_BUTTON_COUNT > 12
+ case 12: return ao_button_value(12);
+#endif
+#if AO_BUTTON_COUNT > 13
+ case 13: return ao_button_value(13);
+#endif
+#if AO_BUTTON_COUNT > 14
+ case 14: return ao_button_value(14);
+#endif
+#if AO_BUTTON_COUNT > 15
+ case 15: return ao_button_value(15);
#endif
}
return 0;
#if AO_BUTTON_COUNT > 4
init(4);
#endif
+#if AO_BUTTON_COUNT > 5
+ init(5);
+#endif
+#if AO_BUTTON_COUNT > 6
+ init(6);
+#endif
+#if AO_BUTTON_COUNT > 7
+ init(7);
+#endif
+#if AO_BUTTON_COUNT > 8
+ init(8);
+#endif
+#if AO_BUTTON_COUNT > 9
+ init(9);
+#endif
+#if AO_BUTTON_COUNT > 10
+ init(10);
+#endif
+#if AO_BUTTON_COUNT > 11
+ init(11);
+#endif
+#if AO_BUTTON_COUNT > 12
+ init(12);
+#endif
+#if AO_BUTTON_COUNT > 13
+ init(13);
+#endif
+#if AO_BUTTON_COUNT > 14
+ init(14);
+#endif
+#if AO_BUTTON_COUNT > 15
+ init(15);
+#endif
+#if AO_BUTTON_COUNT > 16
+ #error too many buttons
+#endif
}
static void
ao_radio_aprs(void)
{
+#if PACKET_HAS_SLAVE
ao_packet_slave_stop();
+#endif
ao_aprs_send();
}
#endif
#include <ao_quadrature.h>
#include <ao_lco_func.h>
#include <ao_radio_cmac.h>
-
-#define DEBUG 1
-
-#if DEBUG
-static uint8_t ao_lco_debug;
-#define PRINTD(...) do { if (!ao_lco_debug) break; printf ("\r%5u %s: ", ao_tick_count, __func__); printf(__VA_ARGS__); flush(); } while(0)
-#else
-#define PRINTD(...)
+#if HAS_ADC_SINGLE
+#include <ao_adc_single.h>
#endif
#define AO_LCO_PAD_DIGIT 0
#define AO_LCO_DRAG_RACE_START_TIME AO_SEC_TO_TICKS(5)
#define AO_LCO_DRAG_RACE_STOP_TIME AO_SEC_TO_TICKS(2)
-#define AO_LCO_VALID_LAST 1
-#define AO_LCO_VALID_EVER 2
-
-static uint8_t ao_lco_min_box, ao_lco_max_box;
-static uint8_t ao_lco_selected[AO_PAD_MAX_BOXES];
-static uint8_t ao_lco_valid[AO_PAD_MAX_BOXES];
-static uint8_t ao_lco_channels[AO_PAD_MAX_BOXES];
-static uint16_t ao_lco_tick_offset[AO_PAD_MAX_BOXES];
+#define AO_LCO_BOX_DRAG 0x1000
/* UI values */
-static uint8_t ao_lco_armed;
-static uint8_t ao_lco_firing;
static uint16_t ao_lco_fire_tick;
static uint8_t ao_lco_fire_down;
-static uint8_t ao_lco_drag_race;
-static uint8_t ao_lco_pad;
-static int16_t ao_lco_box;
-
-#define AO_LCO_BOX_DRAG 0x1000
-
-static struct ao_pad_query ao_pad_query;
static uint8_t ao_lco_display_mutex;
-static void
-ao_lco_set_pad(uint8_t pad)
+void
+ao_lco_show_pad(uint8_t pad)
{
ao_mutex_get(&ao_lco_display_mutex);
ao_seven_segment_set(AO_LCO_PAD_DIGIT, pad | (ao_lco_drag_race << 4));
(0 << 5) | \
(0 << 6))
-static void
-ao_lco_set_box(uint16_t box)
+void
+ao_lco_show_box(uint16_t box)
{
ao_mutex_get(&ao_lco_display_mutex);
if (box == AO_LCO_BOX_DRAG) {
}
static void
-ao_lco_set_voltage(uint16_t decivolts)
+ao_lco_show_voltage(uint16_t decivolts)
{
uint8_t tens, ones, tenths;
ao_mutex_put(&ao_lco_display_mutex);
}
-static void
-ao_lco_set_display(void)
+void
+ao_lco_show(void)
{
- if (ao_lco_pad == 0 && ao_lco_box != AO_LCO_BOX_DRAG) {
- ao_lco_set_voltage(ao_pad_query.battery);
+ if (ao_lco_pad == AO_LCO_PAD_VOLTAGE && ao_lco_box != AO_LCO_BOX_DRAG) {
+ ao_lco_show_voltage(ao_pad_query.battery);
} else {
if (ao_lco_box == AO_LCO_BOX_DRAG)
- ao_lco_set_pad(ao_lco_drag_race);
+ ao_lco_show_pad(ao_lco_drag_race);
else
- ao_lco_set_pad(ao_lco_pad);
- ao_lco_set_box(ao_lco_box);
+ ao_lco_show_pad(ao_lco_pad);
+ ao_lco_show_box(ao_lco_box);
}
}
-#define MASK_SIZE(n) (((n) + 7) >> 3)
-#define MASK_ID(n) ((n) >> 3)
-#define MASK_SHIFT(n) ((n) & 7)
-
-static uint8_t ao_lco_box_mask[MASK_SIZE(AO_PAD_MAX_BOXES)];
-
-static uint8_t
+uint8_t
ao_lco_box_present(uint16_t box)
{
if (box == AO_LCO_BOX_DRAG)
if (box >= AO_PAD_MAX_BOXES)
return 0;
- return (ao_lco_box_mask[MASK_ID(box)] >> MASK_SHIFT(box)) & 1;
-}
-
-static uint8_t
-ao_lco_pad_present(uint8_t box, uint8_t pad)
-{
- /* voltage measurement is always valid */
- if (pad == 0)
- return 1;
- if (!ao_lco_channels[box])
- return 0;
- if (pad > AO_PAD_MAX_CHANNELS)
- return 0;
- return (ao_lco_channels[box] >> (pad - 1)) & 1;
-}
-
-static uint8_t
-ao_lco_pad_first(uint8_t box)
-{
- uint8_t pad;
-
- for (pad = 1; pad <= AO_PAD_MAX_CHANNELS; pad++)
- if (ao_lco_pad_present(box, pad))
- return pad;
- return 0;
+ return (ao_lco_box_mask[AO_LCO_MASK_ID(box)] >> AO_LCO_MASK_SHIFT(box)) & 1;
}
static struct ao_task ao_lco_drag_task;
static uint8_t ao_lco_drag_active;
-static uint8_t ao_lco_drag_beep_count;
-static uint8_t ao_lco_drag_beep_on;
-static uint16_t ao_lco_drag_beep_time;
-static uint16_t ao_lco_drag_warn_time;
-
-#define AO_LCO_DRAG_BEEP_TIME AO_MS_TO_TICKS(50)
-#define AO_LCO_DRAG_WARN_TIME AO_SEC_TO_TICKS(5)
-
-static void
-ao_lco_drag_beep_start(void)
-{
- ao_beep(AO_BEEP_HIGH);
- PRINTD("beep start\n");
- ao_lco_drag_beep_on = 1;
- ao_lco_drag_beep_time = ao_time() + AO_LCO_DRAG_BEEP_TIME;
-}
-
-static void
-ao_lco_drag_beep_stop(void)
-{
- ao_beep(0);
- PRINTD("beep stop\n");
- ao_lco_drag_beep_on = 0;
- if (ao_lco_drag_beep_count) {
- --ao_lco_drag_beep_count;
- if (ao_lco_drag_beep_count)
- ao_lco_drag_beep_time = ao_time() + AO_LCO_DRAG_BEEP_TIME;
- }
-}
-
-static void
-ao_lco_drag_beep(uint8_t beeps)
-{
- PRINTD("beep %d\n", beeps);
- if (!ao_lco_drag_beep_count)
- ao_lco_drag_beep_start();
- ao_lco_drag_beep_count += beeps;
-}
-
-static uint16_t
-ao_lco_drag_beep_check(uint16_t now, uint16_t delay)
-{
- PRINTD("beep check count %d delta %d\n",
- ao_lco_drag_beep_count,
- (int16_t) (now - ao_lco_drag_beep_time));
- if (ao_lco_drag_beep_count) {
- if ((int16_t) (now - ao_lco_drag_beep_time) >= 0) {
- if (ao_lco_drag_beep_on)
- ao_lco_drag_beep_stop();
- else
- ao_lco_drag_beep_start();
- }
- }
-
- if (ao_lco_drag_beep_count) {
- if (delay > AO_LCO_DRAG_BEEP_TIME)
- delay = AO_LCO_DRAG_BEEP_TIME;
- }
- return delay;
-}
-
-static void
-ao_lco_drag_enable(void)
-{
- PRINTD("Drag enable\n");
- ao_lco_drag_race = 1;
- memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
- ao_lco_drag_beep(5);
- ao_lco_set_display();
- ao_lco_fire_down = 0;
-}
-
-static void
-ao_lco_drag_disable(void)
-{
- PRINTD("Drag disable\n");
- ao_lco_drag_race = 0;
- memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
- ao_lco_drag_beep(2);
- ao_lco_set_display();
- ao_lco_fire_down = 0;
-}
static uint16_t
ao_lco_drag_button_check(uint16_t now, uint16_t delay)
*/
if (ao_lco_fire_down) {
if (ao_lco_drag_race) {
- if ((int16_t) (now - ao_lco_fire_tick) >= AO_LCO_DRAG_RACE_STOP_TIME)
+ if ((int16_t) (now - ao_lco_fire_tick) >= AO_LCO_DRAG_RACE_STOP_TIME) {
ao_lco_drag_disable();
+ ao_lco_fire_down = 0;
+ }
else
button_delay = ao_lco_fire_tick + AO_LCO_DRAG_RACE_STOP_TIME - now;
} else {
- if ((int16_t) (now - ao_lco_fire_tick) >= AO_LCO_DRAG_RACE_START_TIME)
+ if ((int16_t) (now - ao_lco_fire_tick) >= AO_LCO_DRAG_RACE_START_TIME) {
ao_lco_drag_enable();
+ ao_lco_fire_down = 0;
+ }
else
button_delay = ao_lco_fire_tick + AO_LCO_DRAG_RACE_START_TIME - now;
}
return delay;
}
-static uint16_t
-ao_lco_drag_warn_check(uint16_t now, uint16_t delay)
-{
- uint16_t warn_delay = ~0;
-
- if (ao_lco_drag_race) {
- if ((int16_t) (now - ao_lco_drag_warn_time) >= 0) {
- ao_lco_drag_beep(1);
- ao_lco_drag_warn_time = now + AO_LCO_DRAG_WARN_TIME;
- }
- warn_delay = ao_lco_drag_warn_time - now;
- }
- if (delay > warn_delay)
- delay = warn_delay;
- return delay;
-}
-
static void
ao_lco_drag_monitor(void)
{
uint16_t delay = ~0;
uint16_t now;
+ ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
for (;;) {
- PRINTD("Drag monitor active %d delay %d\n", ao_lco_drag_active, delay);
+ PRINTD("Drag monitor count %d active %d delay %d\n",
+ ao_lco_drag_beep_count, ao_lco_drag_active, delay);
if (delay == (uint16_t) ~0)
- ao_sleep(&ao_lco_drag_active);
+ ao_sleep(&ao_lco_drag_beep_count);
else
- ao_sleep_for(&ao_lco_drag_active, delay);
+ ao_sleep_for(&ao_lco_drag_beep_count, delay);
delay = ~0;
if (!ao_lco_drag_active)
}
}
+static void
+ao_lco_step_box(int8_t dir)
+{
+ int16_t new_box = ao_lco_box;
+ do {
+ if (new_box == AO_LCO_BOX_DRAG) {
+ if (dir < 0)
+ new_box = ao_lco_max_box;
+ else
+ new_box = ao_lco_min_box;
+ } else {
+ new_box += dir;
+ if (new_box > ao_lco_max_box)
+ new_box = AO_LCO_BOX_DRAG;
+ else if (new_box < ao_lco_min_box)
+ new_box = AO_LCO_BOX_DRAG;
+ }
+ if (new_box == ao_lco_box)
+ break;
+ } while (!ao_lco_box_present(new_box));
+ ao_lco_set_box(new_box);
+}
+
static void
ao_lco_input(void)
{
static struct ao_event event;
- int8_t dir, new_pad;
- int16_t new_box;
- ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
for (;;) {
ao_event_get(&event);
PRINTD("event type %d unit %d value %d\n",
case AO_EVENT_QUADRATURE:
switch (event.unit) {
case AO_QUADRATURE_PAD:
- if (!ao_lco_armed) {
- dir = (int8_t) event.value;
- new_pad = ao_lco_pad;
- do {
- new_pad += dir;
- if (new_pad > AO_PAD_MAX_CHANNELS)
- new_pad = 0;
- if (new_pad < 0)
- new_pad = AO_PAD_MAX_CHANNELS;
- if (new_pad == ao_lco_pad)
- break;
- } while (!ao_lco_pad_present(ao_lco_box, new_pad));
- if (new_pad != ao_lco_pad) {
- ao_lco_pad = new_pad;
- ao_lco_set_display();
- }
- }
+ if (!ao_lco_armed)
+ ao_lco_step_pad((int8_t) event.value);
break;
case AO_QUADRATURE_BOX:
- if (!ao_lco_armed) {
- dir = (int8_t) event.value;
- new_box = ao_lco_box;
- do {
- if (new_box == AO_LCO_BOX_DRAG) {
- if (dir < 0)
- new_box = ao_lco_max_box;
- else
- new_box = ao_lco_min_box;
- } else {
- new_box += dir;
- if (new_box > ao_lco_max_box)
- new_box = AO_LCO_BOX_DRAG;
- else if (new_box < ao_lco_min_box)
- new_box = AO_LCO_BOX_DRAG;
- }
- if (new_box == ao_lco_box)
- break;
- } while (!ao_lco_box_present(new_box));
- if (ao_lco_box != new_box) {
- ao_lco_box = new_box;
- ao_lco_pad = 1;
- if (ao_lco_box != AO_LCO_BOX_DRAG)
- ao_lco_channels[ao_lco_box] = 0;
- ao_lco_set_display();
- }
- }
+ if (!ao_lco_armed)
+ ao_lco_step_box((int8_t) event.value);
break;
}
break;
case AO_EVENT_BUTTON:
switch (event.unit) {
case AO_BUTTON_ARM:
- ao_lco_armed = event.value;
- PRINTD("Armed %d\n", ao_lco_armed);
- if (ao_lco_armed) {
- if (ao_lco_drag_race) {
- uint8_t box;
-
- for (box = ao_lco_min_box; box <= ao_lco_max_box; box++) {
- if (ao_lco_selected[box]) {
- ao_wakeup(&ao_lco_armed);
- break;
- }
- }
- } else {
- memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
- if (ao_lco_pad != 0 && ao_lco_box != AO_LCO_BOX_DRAG)
- ao_lco_selected[ao_lco_box] = (1 << (ao_lco_pad - 1));
- else
- ao_lco_armed = 0;
- }
- }
- ao_wakeup(&ao_lco_armed);
+ ao_lco_set_armed(event.value);
break;
case AO_BUTTON_FIRE:
if (ao_lco_armed) {
ao_lco_fire_down = 0;
- ao_lco_firing = event.value;
- PRINTD("Firing %d\n", ao_lco_firing);
- ao_wakeup(&ao_lco_armed);
+ ao_lco_set_firing(event.value);
} else {
if (event.value) {
if (ao_lco_box == AO_LCO_BOX_DRAG) {
ao_lco_fire_down = 1;
ao_lco_fire_tick = ao_time();
ao_lco_drag_active = 1;
+ ao_wakeup(&ao_lco_drag_beep_count);
+ } else {
+ ao_lco_toggle_drag();
}
- if (ao_lco_drag_race) {
- if (ao_lco_pad != 0 && ao_lco_box != AO_LCO_BOX_DRAG) {
- ao_lco_selected[ao_lco_box] ^= (1 << (ao_lco_pad - 1));
- PRINTD("Toggle box %d pad %d (pads now %x) to drag race\n",
- ao_lco_pad, ao_lco_box, ao_lco_selected[ao_lco_box]);
- ao_lco_drag_beep(ao_lco_pad);
- }
- }
- ao_wakeup(&ao_lco_drag_active);
} else {
ao_lco_fire_down = 0;
if (ao_lco_drag_active)
- ao_wakeup(&ao_lco_drag_active);
+ ao_wakeup(&ao_lco_drag_beep_count);
}
}
break;
}
}
-static AO_LED_TYPE continuity_led[AO_LED_CONTINUITY_NUM] = {
-#ifdef AO_LED_CONTINUITY_0
- AO_LED_CONTINUITY_0,
-#endif
-#ifdef AO_LED_CONTINUITY_1
- AO_LED_CONTINUITY_1,
-#endif
-#ifdef AO_LED_CONTINUITY_2
- AO_LED_CONTINUITY_2,
-#endif
-#ifdef AO_LED_CONTINUITY_3
- AO_LED_CONTINUITY_3,
-#endif
-#ifdef AO_LED_CONTINUITY_4
- AO_LED_CONTINUITY_4,
-#endif
-#ifdef AO_LED_CONTINUITY_5
- AO_LED_CONTINUITY_5,
-#endif
-#ifdef AO_LED_CONTINUITY_6
- AO_LED_CONTINUITY_6,
-#endif
-#ifdef AO_LED_CONTINUITY_7
- AO_LED_CONTINUITY_7,
-#endif
-};
-
-static uint8_t
-ao_lco_get_channels(uint8_t box, struct ao_pad_query *query)
-{
- int8_t r;
-
- r = ao_lco_query(box, query, &ao_lco_tick_offset[box]);
- if (r == AO_RADIO_CMAC_OK) {
- ao_lco_channels[box] = query->channels;
- ao_lco_valid[box] = AO_LCO_VALID_LAST | AO_LCO_VALID_EVER;
- } else
- ao_lco_valid[box] &= ~AO_LCO_VALID_LAST;
- PRINTD("ao_lco_get_channels(%d) rssi %d valid %d ret %d offset %d\n", box, ao_radio_cmac_rssi, ao_lco_valid[box], r, ao_lco_tick_offset[box]);
- ao_wakeup(&ao_pad_query);
- return ao_lco_valid[box];
-}
-
-static void
-ao_lco_update(void)
-{
- if (ao_lco_box != AO_LCO_BOX_DRAG) {
- uint8_t previous_valid = ao_lco_valid[ao_lco_box];
-
- if (ao_lco_get_channels(ao_lco_box, &ao_pad_query) & AO_LCO_VALID_LAST) {
- if (!(previous_valid & AO_LCO_VALID_EVER)) {
- if (ao_lco_pad != 0)
- ao_lco_pad = ao_lco_pad_first(ao_lco_box);
- ao_lco_set_display();
- }
- if (ao_lco_pad == 0)
- ao_lco_set_display();
- }
- }
-}
-
-static void
-ao_lco_box_reset_present(void)
-{
- ao_lco_min_box = 0xff;
- ao_lco_max_box = 0x00;
- memset(ao_lco_box_mask, 0, sizeof (ao_lco_box_mask));
-}
-
-static void
-ao_lco_box_set_present(uint8_t box)
-{
- if (box < ao_lco_min_box)
- ao_lco_min_box = box;
- if (box > ao_lco_max_box)
- ao_lco_max_box = box;
- if (box >= AO_PAD_MAX_BOXES)
- return;
- ao_lco_box_mask[MASK_ID(box)] |= 1 << MASK_SHIFT(box);
-}
-
+/*
+ * Light up everything for a second at power on to let the user
+ * visually inspect the system for correct operation
+ */
static void
-ao_lco_search(void)
+ao_lco_display_test()
{
- int8_t r;
- int8_t try;
- uint8_t box;
- uint8_t boxes = 0;
-
- ao_lco_box_reset_present();
- ao_lco_set_pad(0);
- for (box = 0; box < AO_PAD_MAX_BOXES; box++) {
- if ((box % 10) == 0)
- ao_lco_set_box(box);
- for (try = 0; try < 3; try++) {
- ao_lco_tick_offset[box] = 0;
- r = ao_lco_query(box, &ao_pad_query, &ao_lco_tick_offset[box]);
- PRINTD("box %d result %d offset %d\n", box, r, ao_lco_tick_offset[box]);
- if (r == AO_RADIO_CMAC_OK) {
- ++boxes;
- ao_lco_box_set_present(box);
- ao_lco_set_pad(boxes % 10);
- ao_delay(AO_MS_TO_TICKS(30));
- break;
- }
- }
- }
- if (ao_lco_min_box <= ao_lco_max_box)
- ao_lco_box = ao_lco_min_box;
- else
- ao_lco_min_box = ao_lco_max_box = ao_lco_box = 0;
- memset(ao_lco_valid, 0, sizeof (ao_lco_valid));
- memset(ao_lco_channels, 0, sizeof (ao_lco_channels));
- ao_lco_pad = 1;
- ao_lco_set_display();
+ ao_mutex_get(&ao_lco_display_mutex);
+ ao_seven_segment_set(AO_LCO_PAD_DIGIT, 8 | 0x10);
+ ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, 8 | 0x10);
+ ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, 8 | 0x10);
+ ao_mutex_put(&ao_lco_display_mutex);
+ ao_led_on(LEDS_AVAILABLE);
+ ao_delay(AO_MS_TO_TICKS(1000));
+ ao_led_off(LEDS_AVAILABLE);
}
+#if HAS_ADC_SINGLE
static void
-ao_lco_igniter_status(void)
+ao_lco_batt_voltage(void)
{
- uint8_t c;
- uint8_t t = 0;
-
- for (;;) {
- ao_sleep(&ao_pad_query);
- PRINTD("RSSI %d VALID %d\n", ao_radio_cmac_rssi, ao_lco_box == AO_LCO_BOX_DRAG ? -1 : ao_lco_valid[ao_lco_box]);
- if (ao_lco_box == AO_LCO_BOX_DRAG) {
- ao_led_off(AO_LED_RED|AO_LED_GREEN|AO_LED_AMBER);
- for (c = 0; c < AO_LED_CONTINUITY_NUM; c++)
- ao_led_off(continuity_led[c]);
- } else {
- if (!(ao_lco_valid[ao_lco_box] & AO_LCO_VALID_LAST)) {
- ao_led_on(AO_LED_RED);
- ao_led_off(AO_LED_GREEN|AO_LED_AMBER);
- continue;
- }
- if (ao_radio_cmac_rssi < -90) {
- ao_led_on(AO_LED_AMBER);
- ao_led_off(AO_LED_RED|AO_LED_GREEN);
- } else {
- ao_led_on(AO_LED_GREEN);
- ao_led_off(AO_LED_RED|AO_LED_AMBER);
- }
- if (ao_pad_query.arm_status)
- ao_led_on(AO_LED_REMOTE_ARM);
- else
- ao_led_off(AO_LED_REMOTE_ARM);
-
- for (c = 0; c < AO_LED_CONTINUITY_NUM; c++) {
- uint8_t status;
+ struct ao_adc packet;
+ int16_t decivolt;
- if (ao_lco_drag_race) {
- if (ao_lco_selected[ao_lco_box] & (1 << c) && t)
- ao_led_on(continuity_led[c]);
- else
- ao_led_off(continuity_led[c]);
- } else {
- if (ao_pad_query.channels & (1 << c))
- status = ao_pad_query.igniter_status[c];
- else
- status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
- if (status == AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN)
- ao_led_on(continuity_led[c]);
- else
- ao_led_off(continuity_led[c]);
- }
- }
- t = 1-t;
- }
- }
-}
-
-static void
-ao_lco_arm_warn(void)
-{
- for (;;) {
- while (!ao_lco_armed)
- ao_sleep(&ao_lco_armed);
- ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
- ao_delay(AO_MS_TO_TICKS(200));
- }
+ ao_adc_single_get(&packet);
+ decivolt = ao_battery_decivolt(packet.v_batt);
+ ao_lco_show_voltage(decivolt);
+ ao_delay(AO_MS_TO_TICKS(1000));
}
+#endif
static struct ao_task ao_lco_input_task;
static struct ao_task ao_lco_monitor_task;
static struct ao_task ao_lco_igniter_status_task;
static void
-ao_lco_monitor(void)
+ao_lco_main(void)
{
- uint16_t delay;
- uint8_t box;
-
+ ao_lco_display_test();
+#if HAS_ADC_SINGLE
+ ao_lco_batt_voltage();
+#endif
ao_lco_search();
ao_add_task(&ao_lco_input_task, ao_lco_input, "lco input");
ao_add_task(&ao_lco_arm_warn_task, ao_lco_arm_warn, "lco arm warn");
ao_add_task(&ao_lco_igniter_status_task, ao_lco_igniter_status, "lco igniter status");
ao_add_task(&ao_lco_drag_task, ao_lco_drag_monitor, "drag race");
- for (;;) {
- PRINTD("monitor armed %d firing %d\n",
- ao_lco_armed, ao_lco_firing);
-
- if (ao_lco_armed && ao_lco_firing) {
- ao_lco_ignite(AO_PAD_FIRE);
- } else {
- ao_lco_update();
- if (ao_lco_armed) {
- for (box = ao_lco_min_box; box <= ao_lco_max_box; box++) {
- if (ao_lco_selected[box]) {
- PRINTD("Arming box %d pads %x\n",
- box, ao_lco_selected[box]);
- if (ao_lco_valid[box] & AO_LCO_VALID_EVER) {
- ao_lco_arm(box, ao_lco_selected[box], ao_lco_tick_offset[box]);
- ao_delay(AO_MS_TO_TICKS(10));
- }
- }
- }
- }
- }
- if (ao_lco_armed && ao_lco_firing)
- delay = AO_MS_TO_TICKS(100);
- else
- delay = AO_SEC_TO_TICKS(1);
- ao_sleep_for(&ao_lco_armed, delay);
- }
+ ao_lco_monitor();
}
#if DEBUG
void
ao_lco_init(void)
{
- ao_add_task(&ao_lco_monitor_task, ao_lco_monitor, "lco monitor");
+ ao_add_task(&ao_lco_monitor_task, ao_lco_main, "lco monitor");
#if DEBUG
ao_cmd_register(&ao_lco_cmds[0]);
#endif
#ifndef _AO_LCO_H_
#define _AO_LCO_H_
+#include <ao_lco_func.h>
+
+#ifndef AO_LCO_DRAG
+#define AO_LCO_DRAG 1
+#endif
+
+#define DEBUG 1
+
+#if DEBUG
+extern uint8_t ao_lco_debug;
+#define PRINTD(...) do { if (!ao_lco_debug) break; printf ("\r%5u %s: ", ao_tick_count, __func__); printf(__VA_ARGS__); flush(); } while(0)
+#else
+#define PRINTD(...)
+#endif
+
+#if AO_LCO_DRAG
+extern uint8_t ao_lco_drag_race; /* TRUE when drag race mode enabled */
+#endif
+
+extern uint8_t ao_lco_pad; /* Currently selected pad */
+extern int16_t ao_lco_box; /* Currently selected box */
+
+extern uint8_t ao_lco_armed; /* armed mode active */
+extern uint8_t ao_lco_firing; /* fire button pressed */
+
+extern struct ao_pad_query ao_pad_query; /* Last received QUERY from pad */
+
+#define AO_LCO_PAD_VOLTAGE 0 /* Pad number to show box voltage */
+
+extern uint8_t ao_lco_min_box, ao_lco_max_box;
+
+#define AO_LCO_MASK_SIZE(n) (((n) + 7) >> 3)
+#define AO_LCO_MASK_ID(n) ((n) >> 3)
+#define AO_LCO_MASK_SHIFT(n) ((n) & 7)
+
+extern uint8_t ao_lco_box_mask[AO_LCO_MASK_SIZE(AO_PAD_MAX_BOXES)];
+
+/*
+ * Shared functions
+ */
+
+void
+ao_lco_igniter_status(void);
+
+void
+ao_lco_update(void);
+
+uint8_t
+ao_lco_pad_present(uint8_t box, uint8_t pad);
+
+uint8_t
+ao_lco_pad_first(uint8_t box);
+
+void
+ao_lco_set_pad(uint8_t new_pad);
+
+void
+ao_lco_step_pad(int8_t dir);
+
+void
+ao_lco_set_box(uint16_t new_box);
+
+void
+ao_lco_set_armed(uint8_t armed);
+
+void
+ao_lco_set_firing(uint8_t firing);
+
+void
+ao_lco_toggle_drag(void);
+
+void
+ao_lco_search(void);
+
+void
+ao_lco_monitor(void);
+
+extern uint8_t ao_lco_drag_beep_count;
+
+/* enable drag race mode */
+void
+ao_lco_drag_enable(void);
+
+/* disable drag race mode */
+void
+ao_lco_drag_disable(void);
+
+/* Handle drag beeps, return new delay */
+uint16_t
+ao_lco_drag_beep_check(uint16_t now, uint16_t delay);
+
+/* Check if it's time to beep during drag race. Return new delay */
+uint16_t
+ao_lco_drag_warn_check(uint16_t now, uint16_t delay);
+
+/* Request 'beeps' additional drag race beeps */
+void
+ao_lco_drag_add_beeps(uint8_t beeps);
+
+/* task function for beeping while arm is active */
+void
+ao_lco_arm_warn(void);
+
+/*
+ * Provided by the hw-specific driver code
+ */
+
+void
+ao_lco_show_pad(uint8_t pad);
+
+void
+ao_lco_show_box(uint16_t box);
+
+void
+ao_lco_show(void);
+
void
ao_lco_init(void);
+uint8_t
+ao_lco_box_present(uint16_t box);
+
#endif /* _AO_LCO_H_ */
--- /dev/null
+/*
+ * Copyright © 2018 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ */
+
+#include <ao.h>
+#include <ao_lco.h>
+#include <ao_radio_cmac.h>
+
+uint8_t ao_lco_debug;
+
+uint8_t ao_lco_pad;
+int16_t ao_lco_box;
+
+uint8_t ao_lco_armed; /* arm active */
+uint8_t ao_lco_firing; /* fire active */
+
+uint8_t ao_lco_min_box, ao_lco_max_box;
+
+#if AO_LCO_DRAG
+uint8_t ao_lco_drag_race;
+#endif
+
+struct ao_pad_query ao_pad_query; /* latest query response */
+
+static uint8_t ao_lco_channels[AO_PAD_MAX_BOXES]; /* pad channels available on each box */
+static uint16_t ao_lco_tick_offset[AO_PAD_MAX_BOXES]; /* offset from local to remote tick count */
+static uint8_t ao_lco_selected[AO_PAD_MAX_BOXES]; /* pads selected to fire */
+
+#define AO_LCO_VALID_LAST 1
+#define AO_LCO_VALID_EVER 2
+
+static uint8_t ao_lco_valid[AO_PAD_MAX_BOXES]; /* AO_LCO_VALID bits per box */
+
+static const AO_LED_TYPE continuity_led[AO_LED_CONTINUITY_NUM] = {
+#ifdef AO_LED_CONTINUITY_0
+ AO_LED_CONTINUITY_0,
+#endif
+#ifdef AO_LED_CONTINUITY_1
+ AO_LED_CONTINUITY_1,
+#endif
+#ifdef AO_LED_CONTINUITY_2
+ AO_LED_CONTINUITY_2,
+#endif
+#ifdef AO_LED_CONTINUITY_3
+ AO_LED_CONTINUITY_3,
+#endif
+#ifdef AO_LED_CONTINUITY_4
+ AO_LED_CONTINUITY_4,
+#endif
+#ifdef AO_LED_CONTINUITY_5
+ AO_LED_CONTINUITY_5,
+#endif
+#ifdef AO_LED_CONTINUITY_6
+ AO_LED_CONTINUITY_6,
+#endif
+#ifdef AO_LED_CONTINUITY_7
+ AO_LED_CONTINUITY_7,
+#endif
+};
+
+/* Set LEDs to match remote box status */
+void
+ao_lco_igniter_status(void)
+{
+ uint8_t c;
+ uint8_t t = 0;
+
+ for (;;) {
+#if AO_LCO_DRAG
+ if (ao_lco_drag_race)
+ ao_sleep_for(&ao_pad_query, AO_MS_TO_TICKS(50));
+ else
+#endif
+ ao_sleep(&ao_pad_query);
+ PRINTD("RSSI %d VALID %d\n", ao_radio_cmac_rssi, ao_lco_valid[ao_lco_box]);
+ if (!(ao_lco_valid[ao_lco_box] & AO_LCO_VALID_LAST)) {
+ ao_led_on(AO_LED_RED);
+ ao_led_off(AO_LED_GREEN|AO_LED_AMBER);
+ continue;
+ }
+ if (ao_radio_cmac_rssi < -90) {
+ ao_led_on(AO_LED_AMBER);
+ ao_led_off(AO_LED_RED|AO_LED_GREEN);
+ } else {
+ ao_led_on(AO_LED_GREEN);
+ ao_led_off(AO_LED_RED|AO_LED_AMBER);
+ }
+ if (ao_pad_query.arm_status)
+ ao_led_on(AO_LED_REMOTE_ARM);
+ else
+ ao_led_off(AO_LED_REMOTE_ARM);
+
+ for (c = 0; c < AO_LED_CONTINUITY_NUM; c++) {
+ uint8_t status;
+
+ if (ao_pad_query.channels & (1 << c))
+ status = ao_pad_query.igniter_status[c];
+ else
+ status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
+
+#if AO_LCO_DRAG
+ if (ao_lco_drag_race && (ao_lco_selected[ao_lco_box] & (1 << c))) {
+ uint8_t on = 0;
+ if (status == AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN) {
+ if (t)
+ on = 1;
+ } else {
+ if (t == 1)
+ on = 1;
+ }
+ if (on)
+ ao_led_on(continuity_led[c]);
+ else
+ ao_led_off(continuity_led[c]);
+ } else
+#endif
+ {
+ if (status == AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN)
+ ao_led_on(continuity_led[c]);
+ else
+ ao_led_off(continuity_led[c]);
+ }
+ }
+ t = (t + 1) & 3;
+ }
+}
+
+uint8_t
+ao_lco_pad_present(uint8_t box, uint8_t pad)
+{
+ /* voltage measurement is always valid */
+ if (pad == AO_LCO_PAD_VOLTAGE)
+ return 1;
+ if (!ao_lco_channels[box])
+ return 0;
+ if (pad > AO_PAD_MAX_CHANNELS)
+ return 0;
+ return (ao_lco_channels[box] >> (pad - 1)) & 1;
+}
+
+uint8_t
+ao_lco_pad_first(uint8_t box)
+{
+ uint8_t pad;
+
+ for (pad = 1; pad <= AO_PAD_MAX_CHANNELS; pad++)
+ if (ao_lco_pad_present(box, pad))
+ return pad;
+ return 0;
+}
+
+static uint8_t
+ao_lco_get_channels(uint8_t box, struct ao_pad_query *query)
+{
+ int8_t r;
+
+ r = ao_lco_query(box, query, &ao_lco_tick_offset[box]);
+ if (r == AO_RADIO_CMAC_OK) {
+ ao_lco_channels[box] = query->channels;
+ ao_lco_valid[box] = AO_LCO_VALID_LAST | AO_LCO_VALID_EVER;
+ } else
+ ao_lco_valid[box] &= ~AO_LCO_VALID_LAST;
+ PRINTD("ao_lco_get_channels(%d) rssi %d valid %d ret %d offset %d\n", box, ao_radio_cmac_rssi, ao_lco_valid[box], r, ao_lco_tick_offset[box]);
+ ao_wakeup(&ao_pad_query);
+ return ao_lco_valid[box];
+}
+
+void
+ao_lco_update(void)
+{
+ uint8_t previous_valid = ao_lco_valid[ao_lco_box];
+
+ if (ao_lco_get_channels(ao_lco_box, &ao_pad_query) & AO_LCO_VALID_LAST) {
+ if (!(previous_valid & AO_LCO_VALID_EVER)) {
+ if (ao_lco_pad != AO_LCO_PAD_VOLTAGE)
+ ao_lco_set_pad(ao_lco_pad_first(ao_lco_box));
+ }
+ if (ao_lco_pad == AO_LCO_PAD_VOLTAGE)
+ ao_lco_show();
+ }
+}
+
+uint8_t ao_lco_box_mask[AO_LCO_MASK_SIZE(AO_PAD_MAX_BOXES)];
+
+static void
+ao_lco_box_reset_present(void)
+{
+ ao_lco_min_box = 0xff;
+ ao_lco_max_box = 0x00;
+ memset(ao_lco_box_mask, 0, sizeof (ao_lco_box_mask));
+}
+
+static void
+ao_lco_box_set_present(uint8_t box)
+{
+ if (box < ao_lco_min_box)
+ ao_lco_min_box = box;
+ if (box > ao_lco_max_box)
+ ao_lco_max_box = box;
+ if (box >= AO_PAD_MAX_BOXES)
+ return;
+ ao_lco_box_mask[AO_LCO_MASK_ID(box)] |= 1 << AO_LCO_MASK_SHIFT(box);
+}
+
+void
+ao_lco_set_pad(uint8_t new_pad)
+{
+ ao_lco_pad = new_pad;
+ ao_lco_show();
+}
+
+void
+ao_lco_set_box(uint16_t new_box)
+{
+ ao_lco_box = new_box;
+ if (ao_lco_box < AO_PAD_MAX_BOXES)
+ ao_lco_channels[ao_lco_box] = 0;
+ ao_lco_pad = 1;
+ ao_lco_show();
+}
+
+void
+ao_lco_step_pad(int8_t dir)
+{
+ int8_t new_pad;
+
+ new_pad = ao_lco_pad;
+ do {
+ new_pad += dir;
+ if (new_pad > AO_PAD_MAX_CHANNELS)
+ new_pad = AO_LCO_PAD_VOLTAGE;
+ if (new_pad < 0)
+ new_pad = AO_PAD_MAX_CHANNELS;
+ if (new_pad == ao_lco_pad)
+ break;
+ } while (!ao_lco_pad_present(ao_lco_box, new_pad));
+ ao_lco_set_pad(new_pad);
+}
+
+void
+ao_lco_set_armed(uint8_t armed)
+{
+ ao_lco_armed = armed;
+ PRINTD("Armed %d\n", ao_lco_armed);
+ if (ao_lco_armed) {
+#if AO_LCO_DRAG
+ if (ao_lco_drag_race) {
+ uint8_t box;
+
+ for (box = ao_lco_min_box; box <= ao_lco_max_box; box++)
+ if (ao_lco_selected[box])
+ break;
+ if (box > ao_lco_max_box)
+ ao_lco_armed = 0;
+ } else
+#endif
+ {
+ memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
+ if (ao_lco_pad != 0)
+ ao_lco_selected[ao_lco_box] = (1 << (ao_lco_pad - 1));
+ else
+ ao_lco_armed = 0;
+ }
+ }
+ ao_wakeup(&ao_lco_armed);
+}
+
+void
+ao_lco_set_firing(uint8_t firing)
+{
+ ao_lco_firing = firing;
+ PRINTD("Firing %d\n", ao_lco_firing);
+ ao_wakeup(&ao_lco_armed);
+}
+
+void
+ao_lco_search(void)
+{
+ int8_t r;
+ int8_t try;
+ uint8_t box;
+ uint8_t boxes = 0;
+
+ ao_lco_box_reset_present();
+ ao_lco_show_box(0);
+ ao_lco_show_pad(0);
+ for (box = 0; box < AO_PAD_MAX_BOXES; box++) {
+ if ((box % 10) == 0)
+ ao_lco_show_box(box);
+ for (try = 0; try < 3; try++) {
+ ao_lco_tick_offset[box] = 0;
+ r = ao_lco_query(box, &ao_pad_query, &ao_lco_tick_offset[box]);
+ PRINTD("box %d result %d offset %d\n", box, r, ao_lco_tick_offset[box]);
+ if (r == AO_RADIO_CMAC_OK) {
+ ++boxes;
+ ao_lco_box_set_present(box);
+ ao_lco_show_pad(boxes % 10);
+ ao_delay(AO_MS_TO_TICKS(30));
+ break;
+ }
+ }
+ }
+ if (ao_lco_min_box <= ao_lco_max_box)
+ ao_lco_box = ao_lco_min_box;
+ else
+ ao_lco_min_box = ao_lco_max_box = ao_lco_box = 0;
+ memset(ao_lco_valid, 0, sizeof (ao_lco_valid));
+ memset(ao_lco_channels, 0, sizeof (ao_lco_channels));
+ ao_lco_set_box(ao_lco_min_box);
+}
+
+void
+ao_lco_monitor(void)
+{
+ uint16_t delay;
+ uint8_t box;
+
+ for (;;) {
+ PRINTD("monitor armed %d firing %d\n",
+ ao_lco_armed, ao_lco_firing);
+
+ if (ao_lco_armed && ao_lco_firing) {
+ ao_lco_ignite(AO_PAD_FIRE);
+ } else {
+ ao_lco_update();
+ if (ao_lco_armed) {
+ for (box = ao_lco_min_box; box <= ao_lco_max_box; box++) {
+ if (ao_lco_selected[box]) {
+ PRINTD("Arming box %d pads %x\n",
+ box, ao_lco_selected[box]);
+ if (ao_lco_valid[box] & AO_LCO_VALID_EVER) {
+ ao_lco_arm(box, ao_lco_selected[box], ao_lco_tick_offset[box]);
+ ao_delay(AO_MS_TO_TICKS(10));
+ }
+ }
+ }
+ }
+ }
+ if (ao_lco_armed && ao_lco_firing)
+ delay = AO_MS_TO_TICKS(100);
+ else
+ delay = AO_SEC_TO_TICKS(1);
+ ao_sleep_for(&ao_lco_armed, delay);
+ }
+}
+
+#if AO_LCO_DRAG
+
+uint8_t ao_lco_drag_beep_count;
+static uint8_t ao_lco_drag_beep_on;
+static uint16_t ao_lco_drag_beep_time;
+static uint16_t ao_lco_drag_warn_time;
+
+#define AO_LCO_DRAG_BEEP_TIME AO_MS_TO_TICKS(50)
+#define AO_LCO_DRAG_WARN_TIME AO_SEC_TO_TICKS(5)
+
+/* Request 'beeps' additional drag race beeps */
+void
+ao_lco_drag_add_beeps(uint8_t beeps)
+{
+ PRINTD("beep %d\n", beeps);
+ if (ao_lco_drag_beep_count == 0)
+ ao_lco_drag_beep_time = ao_time();
+ ao_lco_drag_beep_count += beeps;
+ ao_wakeup(&ao_lco_drag_beep_count);
+}
+
+/* Toggle current pad in drag set */
+void
+ao_lco_toggle_drag(void)
+{
+ if (ao_lco_drag_race && ao_lco_pad != AO_LCO_PAD_VOLTAGE) {
+ ao_lco_selected[ao_lco_box] ^= (1 << (ao_lco_pad - 1));
+ PRINTD("Toggle box %d pad %d (pads now %x) to drag race\n",
+ ao_lco_pad, ao_lco_box, ao_lco_selected[ao_lco_box]);
+ ao_lco_drag_add_beeps(ao_lco_pad);
+ }
+}
+
+/* Check whether it's time to change the beeper status, then either
+ * turn it on or off as necessary and bump the remaining beep counts
+ */
+
+uint16_t
+ao_lco_drag_beep_check(uint16_t now, uint16_t delay)
+{
+ PRINTD("beep check count %d delta %d\n",
+ ao_lco_drag_beep_count,
+ (int16_t) (now - ao_lco_drag_beep_time));
+ if (ao_lco_drag_beep_count) {
+ if ((int16_t) (now - ao_lco_drag_beep_time) >= 0) {
+ if (ao_lco_drag_beep_on) {
+ ao_beep(0);
+ PRINTD("beep stop\n");
+ ao_lco_drag_beep_on = 0;
+ if (ao_lco_drag_beep_count) {
+ --ao_lco_drag_beep_count;
+ if (ao_lco_drag_beep_count)
+ ao_lco_drag_beep_time = now + AO_LCO_DRAG_BEEP_TIME;
+ }
+ } else {
+ ao_beep(AO_BEEP_HIGH);
+ PRINTD("beep start\n");
+ ao_lco_drag_beep_on = 1;
+ ao_lco_drag_beep_time = now + AO_LCO_DRAG_BEEP_TIME;
+ }
+ }
+ }
+
+ if (ao_lco_drag_beep_count) {
+ uint16_t beep_delay = 0;
+
+ if (ao_lco_drag_beep_time > now)
+ beep_delay = ao_lco_drag_beep_time - now;
+
+ if (delay > beep_delay)
+ delay = beep_delay;
+ }
+ return delay;
+}
+
+void
+ao_lco_drag_enable(void)
+{
+ if (!ao_lco_drag_race) {
+ PRINTD("Drag enable\n");
+ ao_lco_drag_race = 1;
+ memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
+#ifdef AO_LED_DRAG
+ ao_led_on(AO_LED_DRAG);
+#endif
+ ao_lco_drag_add_beeps(5);
+ ao_lco_show();
+ }
+}
+
+void
+ao_lco_drag_disable(void)
+{
+ if (ao_lco_drag_race) {
+ PRINTD("Drag disable\n");
+ ao_lco_drag_race = 0;
+#ifdef AO_LED_DRAG
+ ao_led_off(AO_LED_DRAG);
+#endif
+ memset(ao_lco_selected, 0, sizeof (ao_lco_selected));
+ ao_lco_drag_add_beeps(2);
+ ao_lco_show();
+ }
+}
+
+/* add a beep if it's time to warn the user that drag race mode is
+ * active
+ */
+
+uint16_t
+ao_lco_drag_warn_check(uint16_t now, uint16_t delay)
+{
+ if (ao_lco_drag_race) {
+ uint16_t warn_delay;
+
+ if ((int16_t) (now - ao_lco_drag_warn_time) >= 0) {
+ ao_lco_drag_add_beeps(1);
+ ao_lco_drag_warn_time = now + AO_LCO_DRAG_WARN_TIME;
+ }
+ warn_delay = ao_lco_drag_warn_time - now;
+ if (delay > warn_delay)
+ delay = warn_delay;
+ }
+ return delay;
+}
+#endif /* AO_LCO_DRAG */
+
+/* task function for beeping while arm is active */
+void
+ao_lco_arm_warn(void)
+{
+ for (;;) {
+ while (!ao_lco_armed) {
+#ifdef AO_LED_FIRE
+ ao_led_off(AO_LED_FIRE);
+#endif
+ ao_sleep(&ao_lco_armed);
+ }
+#ifdef AO_LED_FIRE
+ ao_led_on(AO_LED_FIRE);
+#endif
+ ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
+ ao_delay(AO_MS_TO_TICKS(200));
+ }
+}
#include <ao_lco_func.h>
#include <ao_radio_cmac.h>
+#ifndef HAS_STATIC_TEST
+#define HAS_STATIC_TEST 1
+#endif
+
static __pdata uint16_t lco_box;
static __pdata uint8_t lco_channels;
static __pdata uint16_t tick_offset;
}
}
+#if HAS_STATIC_TEST
static void
lco_static_cmd(void) __reentrant
{
ao_delay(AO_MS_TO_TICKS(100));
}
}
+#endif
static void
lco_arm_cmd(void) __reentrant
}
+#if HAS_STATIC_TEST
static void
lco_endstatic_cmd(void) __reentrant
{
lco_ignite(AO_PAD_ENDSTATIC);
}
+#endif
static __code struct ao_cmds ao_lco_cmds[] = {
{ lco_report_cmd, "l <box> <channel>\0Get remote status" },
{ lco_fire_cmd, "F <box> <channel> <secs>\0Fire remote igniters" },
- { lco_fire_cmd, "F <box> <channel> <secs>\0Fire remote igniters" },
+#if HAS_STATIC_TEST
{ lco_static_cmd, "S <box> <channel> <secs>\0Initiate static test" },
{ lco_endstatic_cmd, "D\0End static test (and download someday)" },
+#endif
{ lco_arm_cmd, "a <box> <channel>\0Arm remote igniter" },
{ lco_ignite_cmd, "i <box> <channel>\0Pulse remote igniter" },
{ 0, NULL },
#include <ao_lco_func.h>
#include <ao_radio_cmac.h>
-#define DEBUG 1
-
-#if DEBUG
-static uint8_t ao_lco_debug;
-#define DEBUG_EVENT 1
-#define DEBUG_STATUS 2
-#define PRINTD(l, ...) do { if (!(ao_lco_debug & l)) break; printf ("\r%5u %s: ", ao_tick_count, __func__); printf(__VA_ARGS__); flush(); } while(0)
-#else
-#define PRINTD(l,...)
-#endif
-
-#define AO_LCO_VALID_LAST 1
-#define AO_LCO_VALID_EVER 2
-
static uint8_t ao_lco_suspended;
-static uint8_t ao_lco_valid;
-static uint8_t ao_lco_channels;
-static uint16_t ao_lco_tick_offset;
-
-/* UI values */
-static uint8_t ao_lco_armed;
-static uint8_t ao_lco_firing;
-static uint8_t ao_lco_box;
-
-static struct ao_pad_query ao_pad_query;
-
-/* TeleFireTwo boxes have a single pad */
-#define ao_lco_pad 0
-
-static void
-ao_lco_set_box(int box)
-{
- ao_lco_box = ao_config.pad_box + box;
- ao_lco_valid = 0;
- ao_lco_armed = 0;
- ao_wakeup(&ao_lco_armed);
-}
-
-static void
-ao_lco_set_armed(int armed)
-{
- uint8_t bit = (1 << ao_lco_pad);
-
- if (armed) {
- ao_lco_armed = bit;
- } else {
- ao_lco_armed = 0;
- }
- PRINTD(DEBUG_EVENT, "pad %d bit 0x%x armed %d ao_lco_armed 0x%x\n",
- ao_lco_pad, bit, armed, ao_lco_armed);
- ao_wakeup(&ao_lco_armed);
-}
static void
ao_lco_suspend(void)
{
if (!ao_lco_suspended) {
- PRINTD(DEBUG_EVENT, "suspend\n");
+ PRINTD("suspend\n");
ao_lco_suspended = 1;
ao_lco_armed = 0;
ao_wakeup(&ao_pad_query);
}
}
+void
+ao_lco_show_pad(uint8_t pad)
+{
+ (void) pad;
+}
+
+void
+ao_lco_show_box(uint16_t box)
+{
+ (void) box;
+}
+
+void
+ao_lco_show(void)
+{
+}
+
static void
ao_lco_input(void)
{
ao_event_get(&event);
}
ao_lco_wakeup();
- PRINTD(DEBUG_EVENT, "event type %d unit %d value %d\n",
+ PRINTD("event type %d unit %d value %d\n",
event.type, event.unit, event.value);
switch (event.type) {
case AO_EVENT_BUTTON:
switch (event.unit) {
case AO_BUTTON_BOX:
ao_lco_set_box(event.value);
+ ao_lco_set_armed(0);
break;
case AO_BUTTON_ARM:
ao_lco_set_armed(event.value);
break;
case AO_BUTTON_FIRE:
- if (ao_lco_armed) {
- ao_lco_firing = event.value;
- PRINTD(DEBUG_EVENT, "Firing %d\n", ao_lco_firing);
- ao_wakeup(&ao_lco_armed);
- }
+ if (ao_lco_armed)
+ ao_lco_set_firing(event.value);
break;
}
break;
}
}
-static AO_LED_TYPE continuity_led[AO_LED_CONTINUITY_NUM] = {
-#ifdef AO_LED_CONTINUITY_0
- AO_LED_CONTINUITY_0,
-#endif
-#ifdef AO_LED_CONTINUITY_1
- AO_LED_CONTINUITY_1,
-#endif
-#ifdef AO_LED_CONTINUITY_2
- AO_LED_CONTINUITY_2,
-#endif
-#ifdef AO_LED_CONTINUITY_3
- AO_LED_CONTINUITY_3,
-#endif
-#ifdef AO_LED_CONTINUITY_4
- AO_LED_CONTINUITY_4,
-#endif
-#ifdef AO_LED_CONTINUITY_5
- AO_LED_CONTINUITY_5,
-#endif
-#ifdef AO_LED_CONTINUITY_6
- AO_LED_CONTINUITY_6,
-#endif
-#ifdef AO_LED_CONTINUITY_7
- AO_LED_CONTINUITY_7,
-#endif
-};
-
-static uint8_t
-ao_lco_get_channels(void)
-{
- int8_t r;
-
- r = ao_lco_query(ao_lco_box, &ao_pad_query, &ao_lco_tick_offset);
- if (r == AO_RADIO_CMAC_OK) {
- ao_lco_channels = ao_pad_query.channels;
- ao_lco_valid = AO_LCO_VALID_LAST | AO_LCO_VALID_EVER;
- } else
- ao_lco_valid &= ~AO_LCO_VALID_LAST;
- PRINTD(DEBUG_STATUS, "ao_lco_get_channels() rssi %d valid %d ret %d offset %d\n", ao_radio_cmac_rssi, ao_lco_valid, r, ao_lco_tick_offset);
- ao_wakeup(&ao_pad_query);
- return ao_lco_valid;
-}
-
-static void
-ao_lco_igniter_status(void)
-{
- uint8_t c;
- uint8_t t = 0;
-
- for (;;) {
- uint8_t all_status;
- ao_sleep(&ao_pad_query);
- while (ao_lco_suspended) {
- ao_led_off(AO_LED_GREEN|AO_LED_AMBER|AO_LED_RED|AO_LED_REMOTE_ARM);
- for (c = 0; c < AO_LED_CONTINUITY_NUM; c++)
- ao_led_off(continuity_led[c]);
- ao_sleep(&ao_lco_suspended);
- }
- PRINTD(DEBUG_STATUS, "RSSI %d VALID %d channels %d arm_status %d\n",
- ao_radio_cmac_rssi, ao_lco_valid,
- ao_lco_channels, ao_pad_query.arm_status);
- if (!(ao_lco_valid & AO_LCO_VALID_LAST)) {
- ao_led_on(AO_LED_RED);
- ao_led_off(AO_LED_GREEN|AO_LED_AMBER);
- memset(&ao_pad_query, '\0', sizeof (ao_pad_query));
- } else if (ao_radio_cmac_rssi < -90) {
- ao_led_on(AO_LED_AMBER);
- ao_led_off(AO_LED_RED|AO_LED_GREEN);
- } else {
- ao_led_on(AO_LED_GREEN);
- ao_led_off(AO_LED_RED|AO_LED_AMBER);
- }
- if (ao_pad_query.arm_status)
- ao_led_on(AO_LED_REMOTE_ARM);
- else
- ao_led_off(AO_LED_REMOTE_ARM);
-
- all_status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
- for (c = 0; c < 8; c++) {
- if (ao_pad_query.channels & (1 << c)) {
- uint8_t status = ao_pad_query.igniter_status[c];
- if (status > all_status)
- all_status = status;
- PRINTD(DEBUG_STATUS, "\tchannel %d status %d\n", c, status);
- }
- }
- for (c = 0; c < AO_LED_CONTINUITY_NUM; c++) {
- uint8_t on = 0;
- if (c == (ao_lco_box - ao_config.pad_box) % AO_LED_CONTINUITY_NUM) {
- switch (all_status) {
- case AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN:
- on = 1;
- break;
- case AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED:
- case AO_PAD_IGNITER_STATUS_UNKNOWN:
- on = t & 1;
- }
- }
- if (on)
- ao_led_on(continuity_led[c]);
- else
- ao_led_off(continuity_led[c]);
- }
- t = 1-t;
- }
-}
-
-static void
-ao_lco_arm_warn(void)
-{
- int i;
- for (;;) {
- while (ao_lco_suspended)
- ao_sleep(&ao_lco_suspended);
- while (!ao_lco_armed)
- ao_sleep(&ao_lco_armed);
- for (i = 0; i < ao_lco_armed; i++) {
- ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(100));
- ao_delay(AO_MS_TO_TICKS(100));
- }
- ao_delay(AO_MS_TO_TICKS(300));
- }
-}
-
static struct ao_task ao_lco_input_task;
static struct ao_task ao_lco_monitor_task;
static struct ao_task ao_lco_arm_warn_task;
static struct ao_task ao_lco_igniter_status_task;
static void
-ao_lco_monitor(void)
+ao_lco_main(void)
{
- uint16_t delay;
-
ao_config_get();
ao_lco_set_box(ao_button_get(AO_BUTTON_BOX));
ao_add_task(&ao_lco_input_task, ao_lco_input, "lco input");
ao_led_on(~0);
ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
ao_led_off(~0);
- for (;;) {
- while (ao_lco_suspended)
- ao_sleep(&ao_lco_suspended);
-
- PRINTD(DEBUG_STATUS, "monitor armed %d firing %d\n",
- ao_lco_armed, ao_lco_firing);
-
- if (ao_lco_armed && ao_lco_firing) {
- ao_lco_ignite(AO_PAD_FIRE);
- } else {
- ao_lco_get_channels();
- if (ao_lco_armed) {
- PRINTD(DEBUG_STATUS, "Arming pads %x\n",
- ao_lco_armed);
- if (ao_lco_valid & AO_LCO_VALID_EVER) {
- ao_lco_arm(ao_lco_box, ao_lco_armed, ao_lco_tick_offset);
- ao_delay(AO_MS_TO_TICKS(10));
- }
- }
- }
- if (ao_lco_armed && ao_lco_firing)
- delay = AO_MS_TO_TICKS(100);
- else {
- delay = AO_SEC_TO_TICKS(1);
- }
- ao_sleep_for(&ao_lco_armed, delay);
- }
+ ao_lco_monitor();
}
#if DEBUG
void
ao_lco_init(void)
{
- ao_add_task(&ao_lco_monitor_task, ao_lco_monitor, "lco monitor");
+ ao_add_task(&ao_lco_monitor_task, ao_lco_main, "lco monitor");
#if DEBUG
ao_cmd_register(&ao_lco_cmds[0]);
#endif
*/
#include <ao.h>
+#include <ao_exti.h>
#include <ao_pad.h>
#include <ao_74hc165.h>
#include <ao_radio_cmac.h>
#endif
}
+#ifdef AO_PAD_PORT_0
+#define pins_pad(pad) (*((AO_PAD_ ## pad ## _PORT) == AO_PAD_PORT_0 ? (&pins0) : (&pins1)))
+#else
+#define pins_pad(pad) pins0
+#define AO_PAD_PORT_0 AO_PAD_PORT
+#endif
+
static void
ao_pad_run(void)
{
- AO_PORT_TYPE pins;
+ AO_PORT_TYPE pins0;
+#ifdef AO_PAD_PORT_1
+ AO_PORT_TYPE pins1;
+#endif
for (;;) {
while (!ao_pad_ignite)
/*
* Actually set the pad bits
*/
- pins = 0;
+ pins0 = 0;
+#ifdef AO_PAD_PORT_1
+ pins1 = 0;
+#endif
#if AO_PAD_NUM > 0
if (ao_pad_ignite & (1 << 0))
- pins |= (1 << AO_PAD_PIN_0);
+ pins_pad(0) |= (1 << AO_PAD_PIN_0);
#endif
#if AO_PAD_NUM > 1
if (ao_pad_ignite & (1 << 1))
- pins |= (1 << AO_PAD_PIN_1);
+ pins_pad(1) |= (1 << AO_PAD_PIN_1);
#endif
#if AO_PAD_NUM > 2
if (ao_pad_ignite & (1 << 2))
- pins |= (1 << AO_PAD_PIN_2);
+ pins_pad(2) |= (1 << AO_PAD_PIN_2);
#endif
#if AO_PAD_NUM > 3
if (ao_pad_ignite & (1 << 3))
- pins |= (1 << AO_PAD_PIN_3);
+ pins_pad(3) |= (1 << AO_PAD_PIN_3);
+#endif
+#if AO_PAD_NUM > 4
+ if (ao_pad_ignite & (1 << 4))
+ pins_pad(4) |= (1 << AO_PAD_PIN_4);
+#endif
+#if AO_PAD_NUM > 5
+ if (ao_pad_ignite & (1 << 5))
+ pins_pad(5) |= (1 << AO_PAD_PIN_5);
+#endif
+#if AO_PAD_NUM > 6
+ if (ao_pad_ignite & (1 << 6))
+ pins_pad(6) |= (1 << AO_PAD_PIN_6);
+#endif
+#if AO_PAD_NUM > 7
+ if (ao_pad_ignite & (1 << 7))
+ pins_pad(7) |= (1 << AO_PAD_PIN_7);
+#endif
+#ifdef AO_PAD_PORT_1
+ PRINTD("ignite pins 0x%x 0x%x\n", pins0, pins1);
+ ao_gpio_set_bits(AO_PAD_PORT_0, pins0);
+ ao_gpio_set_bits(AO_PAD_PORT_1, pins1);
+#else
+ PRINTD("ignite pins 0x%x\n", pins0);
+ ao_gpio_set_bits(AO_PAD_PORT_0, pins0);
#endif
- PRINTD("ignite pins 0x%x\n", pins);
- ao_gpio_set_bits(AO_PAD_PORT, pins);
while (ao_pad_ignite) {
ao_pad_ignite = 0;
ao_delay(AO_PAD_FIRE_TIME);
}
- ao_gpio_clr_bits(AO_PAD_PORT, pins);
- PRINTD("turn off pins 0x%x\n", pins);
+#ifdef AO_PAD_PORT_1
+ ao_gpio_clr_bits(AO_PAD_PORT_0, pins0);
+ ao_gpio_clr_bits(AO_PAD_PORT_1, pins1);
+ PRINTD("turn off pins 0x%x 0x%x\n", pins0, pins1);
+#else
+ ao_gpio_set_bits(AO_PAD_PORT_0, pins0);
+ PRINTD("turn off pins 0x%x\n", pins0);
+#endif
}
}
#define AO_PAD_ARM_SIREN_INTERVAL 200
-#ifndef AO_PYRO_R_PYRO_SENSE
-#define AO_PYRO_R_PYRO_SENSE 100
-#define AO_PYRO_R_SENSE_GND 27
-#define AO_FIRE_R_POWER_FET 100
-#define AO_FIRE_R_FET_SENSE 100
-#define AO_FIRE_R_SENSE_GND 27
-#endif
+/* Resistor values needed for various voltage test ratios:
+ *
+ * Net names involved:
+ *
+ * V_BATT Battery power, after the initial power switch
+ * V_PYRO Pyro power, after the pyro power switch (and initial power switch)
+ * PYRO_SENSE ADC input to sense V_PYRO voltage
+ * BATT_SENSE ADC input to sense V_BATT voltage
+ * IGNITER FET output to pad (the other pad lead hooks to V_PYRO)
+ * IGNITER_SENSE ADC input to sense igniter voltage
+ *
+ * AO_PAD_R_V_BATT_BATT_SENSE Resistor from battery rail to battery sense input
+ * AO_PAD_R_BATT_SENSE_GND Resistor from battery sense input to ground
+ *
+ * AO_PAD_R_V_BATT_V_PYRO Resistor from battery rail to pyro rail
+ * AO_PAD_R_V_PYRO_PYRO_SENSE Resistor from pyro rail to pyro sense input
+ * AO_PAD_R_PYRO_SENSE_GND Resistor from pyro sense input to ground
+ *
+ * AO_PAD_R_V_PYRO_IGNITER Optional resistors from pyro rail to FET igniter output
+ * AO_PAD_R_IGNITER_IGNITER_SENSE Resistors from FET igniter output to igniter sense ADC inputs
+ * AO_PAD_R_IGNITER_SENSE_GND Resistors from igniter sense ADC inputs to ground
+ */
+
+int16_t
+ao_pad_decivolt(int16_t adc, int16_t r_plus, int16_t r_minus)
+{
+ int32_t mul = (int32_t) AO_ADC_REFERENCE_DV * (r_plus + r_minus);
+ int32_t div = (int32_t) AO_ADC_MAX * r_minus;
+ return ((int32_t) adc * mul + mul/2) / div;
+}
static void
ao_pad_monitor(void)
{
uint8_t c;
uint8_t sample;
- __pdata uint8_t prev = 0, cur = 0;
+ __pdata AO_LED_TYPE prev = 0, cur = 0;
__pdata uint8_t beeping = 0;
__xdata volatile struct ao_data *packet;
__pdata uint16_t arm_beep_time = 0;
sample = ao_data_head;
+ ao_led_set(LEDS_AVAILABLE);
+ ao_delay(AO_MS_TO_TICKS(1000));
+ ao_led_set(0);
for (;;) {
__pdata int16_t pyro;
+
ao_arch_critical(
while (sample == ao_data_head)
ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
packet = &ao_data_ring[sample];
sample = ao_data_ring_next(sample);
- pyro = packet->adc.pyro;
-
-#define VOLTS_TO_PYRO(x) ((int16_t) ((x) * ((1.0 * AO_PYRO_R_SENSE_GND) / \
- (1.0 * (AO_PYRO_R_SENSE_GND + AO_PYRO_R_PYRO_SENSE)) / 3.3 * AO_ADC_MAX)))
-
+ /* Reply battery voltage */
+ query.battery = ao_pad_decivolt(packet->adc.batt, AO_PAD_R_V_BATT_BATT_SENSE, AO_PAD_R_BATT_SENSE_GND);
-#define VOLTS_TO_FIRE(x) ((int16_t) ((x) * ((1.0 * AO_FIRE_R_SENSE_GND) / \
- (1.0 * (AO_FIRE_R_SENSE_GND + AO_FIRE_R_FET_SENSE)) / 3.3 * AO_ADC_MAX)))
+ /* Current pyro voltage */
+ pyro = ao_pad_decivolt(packet->adc.pyro,
+ AO_PAD_R_V_PYRO_PYRO_SENSE,
+ AO_PAD_R_PYRO_SENSE_GND);
- /* convert ADC value to voltage in tenths, then add .2 for the diode drop */
- query.battery = (packet->adc.batt + 96) / 192 + 2;
cur = 0;
- if (pyro > VOLTS_TO_PYRO(10)) {
+ if (pyro > query.battery * 7 / 8) {
query.arm_status = AO_PAD_ARM_STATUS_ARMED;
cur |= AO_LED_ARMED;
-#if AO_FIRE_R_POWER_FET
- } else if (pyro > VOLTS_TO_PYRO(5)) {
- if ((ao_time() % 100) < 50)
- cur |= AO_LED_ARMED;
- query.arm_status = AO_PAD_ARM_STATUS_UNKNOWN;
- arm_beep_time = 0;
-#endif
} else {
query.arm_status = AO_PAD_ARM_STATUS_DISARMED;
arm_beep_time = 0;
cur |= AO_LED_GREEN;
for (c = 0; c < AO_PAD_NUM; c++) {
- int16_t sense = packet->adc.sense[c];
+ int16_t sense = ao_pad_decivolt(packet->adc.sense[c],
+ AO_PAD_R_IGNITER_IGNITER_SENSE,
+ AO_PAD_R_IGNITER_SENSE_GND);
uint8_t status = AO_PAD_IGNITER_STATUS_UNKNOWN;
/*
- * pyro is run through a divider, so pyro = v_pyro * 27 / 127 ~= v_pyro / 20
- * v_pyro = pyro * 127 / 27
+ * Here's the resistor stack on each
+ * igniter channel. Note that
+ * AO_PAD_R_V_PYRO_IGNITER is optional
*
- * v_pyro \
- * 100k igniter
- * output /
- * 100k \
- * sense relay
- * 27k /
- * gnd ---
+ * v_pyro \
+ * AO_PAD_R_V_PYRO_IGNITER igniter
+ * output /
+ * AO_PAD_R_IGNITER_IGNITER_SENSE \
+ * sense relay
+ * AO_PAD_R_IGNITER_SENSE_GND /
+ * gnd ---
*
- * v_pyro \
- * 200k igniter
- * output /
- * 200k \
- * sense relay
- * 22k /
- * gnd ---
- *
- * If the relay is closed, then sense will be 0
- * If no igniter is present, then sense will be v_pyro * 27k/227k = pyro * 127 / 227 ~= pyro/2
- * If igniter is present, then sense will be v_pyro * 27k/127k ~= v_pyro / 20 = pyro
*/
-#if AO_FIRE_R_POWER_FET
+#ifdef AO_PAD_R_V_PYRO_IGNITER
if (sense <= pyro / 8) {
+ /* close to zero → relay is closed */
status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_CLOSED;
if ((ao_time() % 100) < 50)
cur |= AO_LED_CONTINUITY(c);
- } else
- if (pyro / 8 * 3 <= sense && sense <= pyro / 8 * 5)
- status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
- else if (pyro / 8 * 7 <= sense) {
- status = AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN;
- cur |= AO_LED_CONTINUITY(c);
- }
-#else
- if (sense >= pyro / 8 * 5) {
- status = AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN;
- cur |= AO_LED_CONTINUITY(c);
- } else {
- status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
}
+ else
#endif
+ {
+ if (sense >= (pyro * 7) / 8) {
+
+ /* sense close to pyro voltage; igniter is good
+ */
+ status = AO_PAD_IGNITER_STATUS_GOOD_IGNITER_RELAY_OPEN;
+ cur |= AO_LED_CONTINUITY(c);
+ } else {
+
+ /* relay not shorted (if we can tell),
+ * and igniter not obviously present
+ */
+ status = AO_PAD_IGNITER_STATUS_NO_IGNITER_RELAY_OPEN;
+ }
+ }
query.igniter_status[c] = status;
}
if (cur != prev) {
}
#endif
+#ifdef AO_PAD_SELECTOR_PORT
+static int ao_pad_read_box(void) {
+ AO_PORT_TYPE value = ao_gpio_get_all(AO_PAD_SELECTOR_PORT);
+ unsigned pin;
+ int select = 1;
+
+ for (pin = 0; pin < sizeof (AO_PORT_TYPE) * 8; pin++) {
+ if (AO_PAD_SELECTOR_PINS & (1 << pin)) {
+ if ((value & (1 << pin)) == 0)
+ return select;
+ select++;
+ }
+ }
+ return ao_config.pad_box;
+}
+#else
+
#if HAS_FIXED_PAD_BOX
#define ao_pad_read_box() ao_config.pad_box
#endif
#define ao_pad_read_box() PAD_BOX
#endif
+#endif
+
static void
ao_pad(void)
{
int8_t ret;
ao_pad_box = 0;
- ao_led_set(0);
for (;;) {
FLUSHD();
while (ao_pad_disabled)
{ 0, NULL }
};
+#ifndef AO_PAD_PORT_1
+#define AO_PAD_0_PORT AO_PAD_PORT
+#define AO_PAD_1_PORT AO_PAD_PORT
+#define AO_PAD_2_PORT AO_PAD_PORT
+#define AO_PAD_3_PORT AO_PAD_PORT
+#define AO_PAD_4_PORT AO_PAD_PORT
+#define AO_PAD_5_PORT AO_PAD_PORT
+#define AO_PAD_6_PORT AO_PAD_PORT
+#define AO_PAD_7_PORT AO_PAD_PORT
+#endif
+
void
ao_pad_init(void)
{
+#ifdef AO_PAD_SELECTOR_PORT
+ unsigned pin;
+
+ for (pin = 0; pin < sizeof (AO_PORT_TYPE) * 8; pin++) {
+ if (AO_PAD_SELECTOR_PINS & (1 << pin))
+ ao_enable_input(AO_PAD_SELECTOR_PORT, pin, AO_EXTI_MODE_PULL_UP);
+ }
+#endif
#if AO_PAD_NUM > 0
- ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_0, AO_PAD_0, 0);
+ ao_enable_output(AO_PAD_0_PORT, AO_PAD_PIN_0, AO_PAD_0, 0);
#endif
#if AO_PAD_NUM > 1
- ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_1, AO_PAD_1, 0);
+ ao_enable_output(AO_PAD_1_PORT, AO_PAD_PIN_1, AO_PAD_1, 0);
#endif
#if AO_PAD_NUM > 2
- ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_2, AO_PAD_2, 0);
+ ao_enable_output(AO_PAD_2_PORT, AO_PAD_PIN_2, AO_PAD_2, 0);
#endif
#if AO_PAD_NUM > 3
- ao_enable_output(AO_PAD_PORT, AO_PAD_PIN_3, AO_PAD_3, 0);
+ ao_enable_output(AO_PAD_3_PORT, AO_PAD_PIN_3, AO_PAD_3, 0);
+#endif
+#if AO_PAD_NUM > 4
+ ao_enable_output(AO_PAD_4_PORT, AO_PAD_PIN_4, AO_PAD_4, 0);
+#endif
+#if AO_PAD_NUM > 5
+ ao_enable_output(AO_PAD_5_PORT, AO_PAD_PIN_5, AO_PAD_5, 0);
+#endif
+#if AO_PAD_NUM > 5
+ ao_enable_output(AO_PAD_6_PORT, AO_PAD_PIN_6, AO_PAD_6, 0);
+#endif
+#if AO_PAD_NUM > 7
+ ao_enable_output(AO_PAD_7_PORT, AO_PAD_PIN_7, AO_PAD_7, 0);
#endif
#ifdef AO_STROBE
ao_enable_output(AO_STROBE_PORT, AO_STROBE_PIN, AO_STROBE, 0);
#include <ao_event.h>
__xdata int32_t ao_quadrature_count[AO_QUADRATURE_COUNT];
+#ifndef AO_QUADRATURE_SINGLE_CODE
+static int8_t ao_quadrature_step[AO_QUADRATURE_COUNT];
+#endif
+
static uint8_t ao_quadrature_state[AO_QUADRATURE_COUNT];
struct ao_debounce {
#define pinb(q) AO_QUADRATURE_ ## q ## _B ## _PIN
#define isr(q) ao_quadrature_isr_ ## q
-#define DEBOUNCE 10
+#ifndef AO_QUADRATURE_DEBOUNCE
+#error must define AO_QUADRATURE_DEBOUNCE
+#endif
static uint8_t
ao_debounce(uint8_t cur, struct ao_debounce *debounce)
{
- if (cur == debounce->state)
- debounce->count = 0;
- else {
- if (++debounce->count == DEBOUNCE) {
- debounce->state = cur;
- debounce->count = 0;
- }
+#if AO_QUADRATURE_DEBOUNCE > 0
+ if (debounce->count > 0) {
+ debounce->count--;
+ } else if (cur != debounce->state) {
+ debounce->state = cur;
+ debounce->count = AO_QUADRATURE_DEBOUNCE;
}
return debounce->state;
+#else
+ (void) debounce;
+ return cur;
+#endif
}
static uint16_t
#define _ao_quadrature_get(q) ao_quadrature_read(port(q), bita(q), bitb(q), ao_debounce_state[q])
static void
-_ao_quadrature_queue(uint8_t q, int8_t step)
+_ao_quadrature_step(uint8_t q, int8_t step)
{
+#ifndef AO_QUADRATURE_SINGLE_CODE
+ ao_quadrature_step[q] += step;
+ if (ao_quadrature_state[q] != 0)
+ return;
+ if (ao_quadrature_step[q] >= 4) {
+ ao_quadrature_step[q] = 0;
+ step = 1;
+ } else if (ao_quadrature_step[q] <= -4) {
+ ao_quadrature_step[q] = 0;
+ step = -1;
+ } else
+ return;
+#endif
ao_quadrature_count[q] += step;
#if AO_EVENT
ao_event_put_isr(AO_EVENT_QUADRATURE, q, step);
ao_wakeup(&ao_quadrature_count[q]);
}
+static const struct {
+ uint8_t prev, next;
+} ao_quadrature_steps[4] = {
+ [0] { .prev = 2, .next = 1 },
+ [1] { .prev = 0, .next = 3 },
+ [3] { .prev = 1, .next = 2 },
+ [2] { .prev = 3, .next = 0 },
+};
+
static void
-_ao_quadrature_set(uint8_t q, uint8_t new) {
- uint8_t old = ao_quadrature_state[q];
-
- if (old != new && new == 0) {
- if (old & 2)
- _ao_quadrature_queue(q, 1);
- else if (old & 1)
- _ao_quadrature_queue(q, -1);
- }
+_ao_quadrature_set(uint8_t q, uint8_t new)
+{
+ uint8_t old;
+
+ ao_arch_block_interrupts();
+ old = ao_quadrature_state[q];
ao_quadrature_state[q] = new;
+ ao_arch_release_interrupts();
+
+ if (new == ao_quadrature_steps[old].next)
+ _ao_quadrature_step(q, 1);
+ else if (new == ao_quadrature_steps[old].prev)
+ _ao_quadrature_step(q, -1);
}
static void
#endif
}
+static void
+_ao_quadrature_start_one(uint8_t q, uint8_t new)
+{
+ ao_arch_block_interrupts();
+ ao_quadrature_state[q] = new;
+ ao_arch_release_interrupts();
+}
+
int32_t
ao_quadrature_poll(uint8_t q)
{
uint8_t q;
int32_t c;
uint8_t s;
+#ifndef AO_QUADRATURE_SINGLE_CODE
+ int8_t t = 0;
+#endif
ao_cmd_decimal();
q = ao_cmd_lex_i;
- if (q >= AO_QUADRATURE_COUNT) {
+ if (q >= AO_QUADRATURE_COUNT)
ao_cmd_status = ao_cmd_syntax_error;
+ if (ao_cmd_status != ao_cmd_success)
return;
- }
c = -10000;
s = 0;
while (ao_quadrature_count[q] != 10) {
if (ao_quadrature_count[q] != c ||
- ao_quadrature_state[q] != s) {
+#ifndef AO_QUADRATURE_SINGLE_CODE
+ ao_quadrature_step[q] != t ||
+#endif
+ ao_quadrature_state[q] != s)
+ {
c = ao_quadrature_count[q];
s = ao_quadrature_state[q];
+#ifndef AO_QUADRATURE_SINGLE_CODE
+ t = ao_quadrature_step[q];
+ printf("step %3d ", t);
+#endif
printf ("count %3d state %2x\n", c, s);
flush();
}
{ 0, NULL }
};
-#define init(q) do { \
- ao_enable_input(port(q), bita(q), 0); \
- ao_enable_input(port(q), bitb(q), 0); \
+#define init(q) do { \
+ ao_enable_input(port(q), bita(q), 0); \
+ ao_enable_input(port(q), bitb(q), 0); \
+ _ao_quadrature_start_one(q, _ao_quadrature_get(q)); \
} while (0)
void
--- /dev/null
+ao_product.h
+fox1ihu-*.elf
--- /dev/null
+#
+# AltOS build
+#
+#
+
+include ../stm/Makefile.defs
+
+INC = \
+ ao.h \
+ ao_arch.h \
+ ao_arch_funcs.h \
+ ao_pins.h \
+ ao_product.h \
+ ao_watchdog.h \
+ ao_storage.h \
+ ao_task.h \
+ stm32l.h \
+ ao_sdcard.h \
+ ao_bufio.h \
+ ao_fat.h \
+ Makefile
+
+#PROFILE=ao_profile.c
+#PROFILE_DEF=-DAO_PROFILE=1
+
+#SAMPLE_PROFILE=ao_sample_profile.c \
+# ao_sample_profile_timer.c
+#SAMPLE_PROFILE_DEF=-DHAS_SAMPLE_PROFILE=1
+
+#STACK_GUARD=ao_mpu_stm.c
+#STACK_GUARD_DEF=-DHAS_STACK_GUARD=1
+
+ALTOS_SRC = \
+ ao_boot_chain.c \
+ ao_interrupt.c \
+ ao_product.c \
+ ao_romconfig.c \
+ ao_cmd.c \
+ ao_task.c \
+ ao_led.c \
+ ao_stdio.c \
+ ao_panic.c \
+ ao_timer.c \
+ ao_mutex.c \
+ ao_dma_stm.c \
+ ao_spi_stm.c \
+ ao_usb_stm.c \
+ ao_exti_stm.c \
+ ao_adc_stm.c \
+ ao_data.c \
+ ao_storage.c \
+ ao_mr25.c \
+ ao_sdcard.c \
+ ao_bufio.c \
+ ao_fat.c \
+ ao_watchdog.c
+
+PRODUCT=Fox1IHU-v2
+PRODUCT_DEF=-DFOX
+IDPRODUCT=0x0024
+
+CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF) -Os -g
+
+PROGNAME=fox1ihu-v0.1
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SRC=$(ALTOS_SRC) ao_fox1ihu.c
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG) $(HEX)
+
+$(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 $(PROGNAME)-*.elf
+ 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.
+ */
+
+#include <ao.h>
+#include <ao_exti.h>
+#include <ao_watchdog.h>
+#include <ao_storage.h>
+#include <ao_fat.h>
+
+int
+main(void)
+{
+ ao_clock_init();
+
+#if HAS_STACK_GUARD
+ ao_mpu_init();
+#endif
+
+ ao_task_init();
+ ao_led_init(LEDS_AVAILABLE);
+ ao_led_on(AO_LED_RED|AO_LED_GREEN|AO_LED_RED_2|AO_LED_GREEN_2);
+ ao_timer_init();
+
+ ao_spi_init();
+ ao_dma_init();
+ ao_exti_init();
+
+ ao_adc_init();
+
+ ao_cmd_init();
+
+ ao_usb_init();
+
+ ao_storage_init();
+
+ ao_watchdog_init();
+
+ ao_fat_init();
+
+ ao_start_scheduler();
+ return 0;
+}
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+#define HAS_TASK_QUEUE 1
+
+/* 8MHz High speed external crystal */
+#define AO_HSE 8000000
+
+/* PLLVCO = 96MHz (so that USB will work) */
+#define AO_PLLMUL 12
+#define AO_RCC_CFGR_PLLMUL (STM_RCC_CFGR_PLLMUL_12)
+
+/* SYSCLK = 32MHz (no need to go faster than CPU) */
+#define AO_PLLDIV 3
+#define AO_RCC_CFGR_PLLDIV (STM_RCC_CFGR_PLLDIV_3)
+
+/* HCLK = 32MHz (CPU clock) */
+#define AO_AHB_PRESCALER 1
+#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1
+
+/* Run APB1 at 16MHz (HCLK/2) */
+#define AO_APB1_PRESCALER 2
+#define AO_RCC_CFGR_PPRE1_DIV STM_RCC_CFGR_PPRE2_DIV_2
+
+/* Run APB2 at 16MHz (HCLK/2) */
+#define AO_APB2_PRESCALER 2
+#define AO_RCC_CFGR_PPRE2_DIV STM_RCC_CFGR_PPRE2_DIV_2
+
+#define HAS_SERIAL_1 1
+#define USE_SERIAL_1_STDIN 0
+#define SERIAL_1_PB6_PB7 0
+#define SERIAL_1_PA9_PA10 1
+
+#define HAS_SERIAL_2 0
+#define USE_SERIAL_2_STDIN 0
+#define SERIAL_2_PA2_PA3 0
+#define SERIAL_2_PD5_PD6 0
+
+#define HAS_SERIAL_3 0
+#define USE_SERIAL_3_STDIN 0
+#define SERIAL_3_PB10_PB11 0
+#define SERIAL_3_PC10_PC11 1
+#define SERIAL_3_PD8_PD9 0
+
+#define HAS_EEPROM 0
+#define USE_INTERNAL_FLASH 0
+#define HAS_USB 1
+#define HAS_BEEP 0
+#define HAS_RADIO 0
+#define HAS_TELEMETRY 0
+
+#define HAS_SPI_1 1
+#define SPI_1_PA5_PA6_PA7 0
+#define SPI_1_PB3_PB4_PB5 0
+#define SPI_1_PE13_PE14_PE15 1 /* */
+#define SPI_1_OSPEEDR STM_OSPEEDR_10MHz
+
+#define HAS_SPI_2 1
+#define SPI_2_PB13_PB14_PB15 1 /* */
+#define SPI_2_PD1_PD3_PD4 0
+#define SPI_2_OSPEEDR STM_OSPEEDR_10MHz
+#define HAS_STORAGE_DEBUG 1
+
+#define SPI_2_PORT (&stm_gpiob)
+#define SPI_2_SCK_PIN 13
+#define SPI_2_MISO_PIN 14
+#define SPI_2_MOSI_PIN 15
+
+#define HAS_I2C_1 1
+#define I2C_1_PB6_PB7 1
+#define I2C_1_PB8_PB9 0
+
+#define HAS_I2C_2 1
+#define I2C_2_PB10_PB11 1
+
+#define PACKET_HAS_SLAVE 0
+#define PACKET_HAS_MASTER 0
+
+#define LOW_LEVEL_DEBUG 0
+
+#define LED_PORT_0_ENABLE STM_RCC_AHBENR_GPIOCEN
+#define LED_PORT_0 (&stm_gpioc)
+#define LED_PORT_0_MASK (0xff)
+#define LED_PORT_0_SHIFT 0
+#define LED_PIN_RED 6
+#define LED_PIN_GREEN 7
+#define LED_PIN_RED_2 8
+#define LED_PIN_GREEN_2 9
+#define AO_LED_RED (1 << LED_PIN_RED)
+#define AO_LED_GREEN (1 << LED_PIN_GREEN)
+#define AO_LED_RED_2 (1 << LED_PIN_RED_2)
+#define AO_LED_GREEN_2 (1 << LED_PIN_GREEN_2)
+
+#define LEDS_AVAILABLE (AO_LED_RED | AO_LED_GREEN | AO_LED_RED_2 | AO_LED_GREEN_2)
+
+#define HAS_GPS 0
+#define HAS_FLIGHT 0
+#define HAS_ADC 1
+#define HAS_ADC_TEMP 1
+#define HAS_LOG 0
+
+/*
+ * ADC
+ */
+#define AO_DATA_RING 32
+
+struct ao_adc {
+ int16_t tx_pa_current; /* 0 ADC_IN0 */
+ int16_t tx_temp; /* 1 ADC_IN1 */
+ int16_t exp4_temp; /* 2 ADC_IN2 */
+ int16_t rx_temp; /* 3 ADC_IN3 */
+ int16_t tx_analog_1; /* 4 ADC_IN4 */
+ int16_t sense_batt; /* 5 ADC_IN5 */
+ int16_t rx_analog_1; /* 6 ADC_IN6 */
+ int16_t rx_rssi; /* 7 ADC_IN8 */
+ int16_t rx_cd; /* 8 ADC_IN9 */
+ int16_t ant_sense_1; /* 9 ADC_IN10 */
+ int16_t ant_sense_2; /* 10 ADC_IN11 */
+ int16_t gyro_x_1; /* 11 ADC_IN12 */
+ int16_t gyro_z_1; /* 12 ADC_IN13 */
+ int16_t gyro_vref_1; /* 13 ADC_IN24 */
+ int16_t gyro_x_2; /* 14 ADC_IN14 */
+ int16_t gyro_z_2; /* 15 ADC_IN15 */
+ int16_t gyro_vref_2; /* 16 ADC_IN25 */
+};
+
+#define AO_ADC_TX_PA_CURRENT 0
+#define AO_ADC_TX_PA_CURRENT_PORT (&stm_gpioa)
+#define AO_ADC_TX_PA_CURRENT_PIN 0
+
+#define AO_ADC_TX_TEMP 1
+#define AO_ADC_TX_TEMP_PORT (&stm_gpioa)
+#define AO_ADC_TX_TEMP_PIN 1
+
+#define AO_ADC_EXP4_TEMP 2
+#define AO_ADC_EXP4_TEMP_PORT (&stm_gpioa)
+#define AO_ADC_EXP4_TEMP_PIN 2
+
+#define AO_ADC_RX_TEMP 3
+#define AO_ADC_RX_TEMP_PORT (&stm_gpioa)
+#define AO_ADC_RX_TEMP_PIN 3
+
+#define AO_ADC_TX_ANALOG_1 4
+#define AO_ADC_TX_ANALOG_1_PORT (&stm_gpioa)
+#define AO_ADC_TX_ANALOG_1_PIN 4
+
+#define AO_ADC_SENSE_BATT 5
+#define AO_ADC_SENSE_BATT_PORT (&stm_gpioa)
+#define AO_ADC_SENSE_BATT_PIN 5
+
+#define AO_ADC_RX_ANALOG_1 6
+#define AO_ADC_RX_ANALOG_1_PORT (&stm_gpioa)
+#define AO_ADC_RX_ANALOG_1_PIN 6
+
+#define AO_ADC_RX_RSSI 8
+#define AO_ADC_RX_RSSI_PORT (&stm_gpiob)
+#define AO_ADC_RX_RSSI_PIN 0
+
+#define AO_ADC_RX_CD 9
+#define AO_ADC_RX_CD_PORT (&stm_gpiob)
+#define AO_ADC_RX_CD_PIN 1
+
+#define AO_ADC_ANT_SENSE_1 10
+#define AO_ADC_ANT_SENSE_1_PORT (&stm_gpioc)
+#define AO_ADC_ANT_SENSE_1_PIN 0
+
+#define AO_ADC_ANT_SENSE_2 11
+#define AO_ADC_ANT_SENSE_2_PORT (&stm_gpioc)
+#define AO_ADC_ANT_SENSE_2_PIN 1
+
+#define AO_ADC_GYRO_X_1 12
+#define AO_ADC_GYRO_X_1_PORT (&stm_gpioc)
+#define AO_ADC_GYRO_X_1_PIN 2
+
+#define AO_ADC_GYRO_Z_1 13
+#define AO_ADC_GYRO_Z_1_PORT (&stm_gpioc)
+#define AO_ADC_GYRO_Z_1_PIN 3
+
+#define AO_ADC_GYRO_VREF_1 24
+#define AO_ADC_GYRO_VREF_1_PORT (&stm_gpioe)
+#define AO_ADC_GYRO_VREF_1_PIN 9
+
+#define AO_ADC_GYRO_X_2 14
+#define AO_ADC_GYRO_X_2_PORT (&stm_gpioc)
+#define AO_ADC_GYRO_X_2_PIN 4
+
+#define AO_ADC_GYRO_Z_2 15
+#define AO_ADC_GYRO_Z_2_PORT (&stm_gpioc)
+#define AO_ADC_GYRO_Z_2_PIN 5
+
+#define AO_ADC_GYRO_VREF_2 25
+#define AO_ADC_GYRO_VREF_2_PORT (&stm_gpioe)
+#define AO_ADC_GYRO_VREF_2_PIN 10
+
+#define AO_ADC_TEMP 16
+
+#define AO_ADC_RCC_AHBENR ((1 << STM_RCC_AHBENR_GPIOAEN) | \
+ (1 << STM_RCC_AHBENR_GPIOBEN) | \
+ (1 << STM_RCC_AHBENR_GPIOCEN) | \
+ (1 << STM_RCC_AHBENR_GPIOEEN))
+
+#define AO_NUM_ADC_PIN (17)
+
+#define AO_ADC_PIN0_PORT AO_ADC_TX_PA_CURRENT_PORT
+#define AO_ADC_PIN0_PIN AO_ADC_TX_PA_CURRENT_PIN
+#define AO_ADC_PIN1_PORT AO_ADC_TX_TEMP_PORT
+#define AO_ADC_PIN1_PIN AO_ADC_TX_TEMP_PIN
+#define AO_ADC_PIN2_PORT AO_ADC_EXP4_TEMP_PORT
+#define AO_ADC_PIN2_PIN AO_ADC_EXP4_TEMP_PIN
+#define AO_ADC_PIN3_PORT AO_ADC_RX_TEMP_PORT
+#define AO_ADC_PIN3_PIN AO_ADC_RX_TEMP_PIN
+#define AO_ADC_PIN4_PORT AO_ADC_TX_ANALOG_1_PORT
+#define AO_ADC_PIN4_PIN AO_ADC_TX_ANALOG_1_PIN
+#define AO_ADC_PIN5_PORT AO_ADC_SENSE_BATT_PORT
+#define AO_ADC_PIN5_PIN AO_ADC_SENSE_BATT_PIN
+#define AO_ADC_PIN6_PORT AO_ADC_RX_ANALOG_1_PORT
+#define AO_ADC_PIN6_PIN AO_ADC_RX_ANALOG_1_PIN
+#define AO_ADC_PIN7_PORT AO_ADC_RX_RSSI_PORT
+#define AO_ADC_PIN7_PIN AO_ADC_RX_RSSI_PIN
+#define AO_ADC_PIN8_PORT AO_ADC_RX_CD_PORT
+#define AO_ADC_PIN8_PIN AO_ADC_RX_CD_PIN
+#define AO_ADC_PIN9_PORT AO_ADC_ANT_SENSE_1_PORT
+#define AO_ADC_PIN9_PIN AO_ADC_ANT_SENSE_1_PIN
+#define AO_ADC_PIN10_PORT AO_ADC_ANT_SENSE_2_PORT
+#define AO_ADC_PIN10_PIN AO_ADC_ANT_SENSE_2_PIN
+#define AO_ADC_PIN11_PORT AO_ADC_GYRO_X_1_PORT
+#define AO_ADC_PIN11_PIN AO_ADC_GYRO_X_1_PIN
+#define AO_ADC_PIN12_PORT AO_ADC_GYRO_Z_1_PORT
+#define AO_ADC_PIN12_PIN AO_ADC_GYRO_Z_1_PIN
+#define AO_ADC_PIN13_PORT AO_ADC_GYRO_VREF_1_PORT
+#define AO_ADC_PIN13_PIN AO_ADC_GYRO_VREF_1_PIN
+#define AO_ADC_PIN14_PORT AO_ADC_GYRO_X_2_PORT
+#define AO_ADC_PIN14_PIN AO_ADC_GYRO_X_2_PIN
+#define AO_ADC_PIN15_PORT AO_ADC_GYRO_Z_2_PORT
+#define AO_ADC_PIN15_PIN AO_ADC_GYRO_Z_2_PIN
+#define AO_ADC_PIN16_PORT AO_ADC_GYRO_VREF_2_PORT
+#define AO_ADC_PIN16_PIN AO_ADC_GYRO_VREF_2_PIN
+
+#define AO_NUM_ADC (AO_NUM_ADC_PIN + 1) /* Add internal temp sensor */
+
+#define AO_ADC_SQ1 AO_ADC_TX_PA_CURRENT
+#define AO_ADC_SQ1_NAME "tx_pa_current"
+#define AO_ADC_SQ2 AO_ADC_TX_TEMP
+#define AO_ADC_SQ2_NAME "tx_temp"
+#define AO_ADC_SQ3 AO_ADC_EXP4_TEMP
+#define AO_ADC_SQ3_NAME "expr_temp"
+#define AO_ADC_SQ4 AO_ADC_RX_TEMP
+#define AO_ADC_SQ4_NAME "rx_temp"
+#define AO_ADC_SQ5 AO_ADC_TX_ANALOG_1
+#define AO_ADC_SQ5_NAME "tx_analog_1"
+#define AO_ADC_SQ6 AO_ADC_SENSE_BATT
+#define AO_ADC_SQ6_NAME "sense_batt"
+#define AO_ADC_SQ7 AO_ADC_RX_ANALOG_1
+#define AO_ADC_SQ7_NAME "rx_analog_1"
+#define AO_ADC_SQ8 AO_ADC_RX_RSSI
+#define AO_ADC_SQ8_NAME "rx_rssi"
+#define AO_ADC_SQ9 AO_ADC_RX_CD
+#define AO_ADC_SQ9_NAME "rx_cd"
+#define AO_ADC_SQ10 AO_ADC_ANT_SENSE_1
+#define AO_ADC_SQ10_NAME "ant_sense_1"
+#define AO_ADC_SQ11 AO_ADC_ANT_SENSE_2
+#define AO_ADC_SQ11_NAME "ant_sense_2"
+#define AO_ADC_SQ12 AO_ADC_GYRO_X_1
+#define AO_ADC_SQ12_NAME "gyro_x_1"
+#define AO_ADC_SQ13 AO_ADC_GYRO_Z_1
+#define AO_ADC_SQ13_NAME "gyro_z_1"
+#define AO_ADC_SQ14 AO_ADC_GYRO_VREF_1
+#define AO_ADC_SQ14_NAME "gyro_vref_1"
+#define AO_ADC_SQ15 AO_ADC_GYRO_X_2
+#define AO_ADC_SQ15_NAME "gyro_x_2"
+#define AO_ADC_SQ16 AO_ADC_GYRO_Z_2
+#define AO_ADC_SQ16_NAME "gyro_z_2"
+#define AO_ADC_SQ17 AO_ADC_GYRO_VREF_2
+#define AO_ADC_SQ17_NAME "gyro_vref_2"
+#define AO_ADC_SQ18 AO_ADC_TEMP
+#define AO_ADC_SQ18_NAME "temp"
+
+/* Watchdog timer */
+
+#define AO_WATCHDOG_INTERVAL AO_MS_TO_TICKS(40)
+#define AO_WATCHDOG_PORT (&stm_gpiod)
+#define AO_WATCHDOG_BIT 3
+
+/* MRAM device */
+
+#define AO_MR25_SPI_CS_PORT (&stm_gpiod)
+#define AO_MR25_SPI_CS_PIN 0
+#define AO_MR25_SPI_BUS AO_SPI_2_PB13_PB14_PB15
+
+/* SD card */
+
+#define AO_SDCARD_SPI_CS_PORT (&stm_gpiod)
+#define AO_SDCARD_SPI_CS_PIN 1
+#define AO_SDCARD_SPI_BUS AO_SPI_2_PB13_PB14_PB15
+#define AO_SDCARD_SPI_PORT (&stm_gpiob)
+#define AO_SDCARD_SPI_SCK_PIN 13
+#define AO_SDCARD_SPI_MISO_PIN 14
+#define AO_SDCARD_SPI_MOSI_PIN 15
+
+#endif /* _AO_PINS_H_ */
--- /dev/null
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=fox1ihu
+include $(TOPDIR)/stm/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_
+
+/* External crystal at 8MHz */
+#define AO_HSE 8000000
+
+#define AO_WATCHDOG_PORT (&stm_gpiod)
+#define AO_WATCHDOG_PORT_BIT (1 << STM_RCC_AHBENR_GPIODEN)
+#define AO_WATCHDOG_BIT 3
+#define AO_WATCHDOG_VALUE 0
+
+#define AO_RADIO_CONTROL_PORT (&stm_gpioe)
+#define AO_RADIO_CONTROL_PORT_BIT (1 << STM_RCC_AHBENR_GPIOEEN)
+#define AO_RADIO_CONTROL_BIT 12
+#define AO_RADIO_CONTROL_VALUE 1
+
+#define AO_FLASH_LOADER_INIT do { \
+ stm_rcc.ahbenr |= AO_WATCHDOG_PORT_BIT | AO_RADIO_CONTROL_PORT_BIT; \
+ \
+ stm_gpio_set(AO_WATCHDOG_PORT, AO_WATCHDOG_BIT, AO_WATCHDOG_VALUE); \
+ stm_moder_set(AO_WATCHDOG_PORT, AO_WATCHDOG_BIT, STM_MODER_OUTPUT); \
+ \
+ stm_gpio_set(AO_RADIO_CONTROL_PORT, AO_RADIO_CONTROL_BIT, AO_RADIO_CONTROL_VALUE); \
+ stm_moder_set(AO_RADIO_CONTROL_PORT, AO_RADIO_CONTROL_BIT, STM_MODER_OUTPUT); \
+ } while (0)
+
+#define AO_TIMER_HOOK do { \
+ AO_WATCHDOG_PORT->odr ^= (1 << AO_WATCHDOG_BIT); \
+ } while (0)
+
+#define HAS_TICK 1
+#include <ao_flash_stm_pins.h>
+
+/* Attached signal, PB8 */
+
+#define AO_BOOT_PIN 1
+#define AO_BOOT_APPLICATION_GPIO stm_gpiob
+#define AO_BOOT_APPLICATION_PIN 8
+#define AO_BOOT_APPLICATION_VALUE 0
+#define AO_BOOT_APPLICATION_MODE 0
+
+#endif /* _AO_PINS_H_ */
--- /dev/null
+/*
+ * Copyright © 2018 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ */
+
+#include <ao.h>
+#include <ao_usb.h>
+#include <ao_flash_readout.h>
+
+#ifndef AO_FLASH_READOUT_BASE
+#define AO_FLASH_READOUT_BASE AO_BOOT_LOADER_BASE
+#define AO_FLASH_READOUT_BOUND AO_BOOT_APPLICATION_BOUND
+#endif
+
+static void
+ao_flash_readout(void)
+{
+ uint8_t *base = (uint8_t *) AO_FLASH_READOUT_BASE;
+ uint8_t *bound = (uint8_t *) AO_FLASH_READOUT_BOUND;
+ uint8_t *p = base;
+
+ for (;;) {
+ ao_arch_block_interrupts();
+ while (!ao_usb_running) {
+ p = base;
+ ao_sleep(&ao_usb_running);
+ }
+ ao_arch_release_interrupts();
+ ao_flash_readout_putchar(*p++);
+ if (p == bound)
+ p = base;
+ }
+}
+
+static struct ao_task ao_flash_readout_task;
+
+void
+ao_flash_readout_init(void)
+{
+ ao_add_task(&ao_flash_readout_task, ao_flash_readout, "flash_readout");
+}
--- /dev/null
+/*
+ * Copyright © 2018 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ */
+
+#ifndef _AO_FLASH_READOUT_H_
+#define _AO_FLASH_READOUT_H_
+
+void ao_flash_readout_init(void);
+
+#endif /* _AO_FLASH_READOUT_H_ */
/* Main flight thread. */
__pdata enum ao_flight_state ao_flight_state; /* current flight state */
-__pdata uint16_t ao_boost_tick; /* time of launch detect */
+__pdata uint16_t ao_boost_tick; /* time of most recent boost detect */
+__pdata uint16_t ao_launch_tick; /* time of first boost detect */
__pdata uint16_t ao_motor_number; /* number of motors burned so far */
#if HAS_SENSOR_ERRORS
)
{
ao_flight_state = ao_flight_boost;
- ao_boost_tick = ao_sample_tick;
+ ao_launch_tick = ao_boost_tick = ao_sample_tick;
/* start logging data */
ao_log_start();
* 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)) ||
+ if ((ao_accel < AO_MSS_TO_ACCEL(-2.5)) ||
(int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
{
#if HAS_ACCEL
* number of seconds.
*/
if (ao_config.apogee_lockout) {
- if ((int16_t) (ao_sample_tick - ao_boost_tick) <
+ if ((int16_t) (ao_sample_tick - ao_launch_tick) <
AO_SEC_TO_TICKS(ao_config.apogee_lockout))
break;
}
#if HAS_ACCEL
else {
check_re_boost:
- ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
+ ao_coast_avg_accel = ao_coast_avg_accel + ((ao_accel - ao_coast_avg_accel) >> 5);
if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
ao_boost_tick = ao_sample_tick;
ao_flight_state = ao_flight_boost;
extern __pdata enum ao_flight_state ao_flight_state;
extern __pdata uint16_t ao_boost_tick;
+extern __pdata uint16_t ao_launch_tick;
extern __pdata uint16_t ao_motor_number;
#if HAS_IMU || HAS_MMA655X
__xdata ao_v_t ao_avg_height;
__pdata ao_v_t ao_error_h;
-#if !HAS_ACCEL
+#if !HAS_ACCEL || AO_FLIGHT_TEST
+#define AO_ERROR_H_SQ_AVG 1
+#endif
+
+#if AO_ERROR_H_SQ_AVG
__pdata ao_v_t ao_error_h_sq_avg;
#endif
static void
ao_kalman_err_height(void)
{
-#if !HAS_ACCEL
+#if AO_ERROR_H_SQ_AVG
ao_v_t e;
#endif
ao_v_t height_distrust;
ao_error_h = ao_sample_height - (ao_v_t) (ao_k_height >> 16);
-#if !HAS_ACCEL
+#if AO_ERROR_H_SQ_AVG
e = ao_error_h;
if (e < 0)
e = -e;
#define HEADER_LEN 9
#define CONTROL_CLASS_LEN 35
-#define DATA_LEN (9 + 7 * AO_USB_HAS_OUT + 7 * AO_USB_HAS_IN + 7 * AO_USB_HAS_IN2)
+#define DATA_LEN (9 + 7 * AO_USB_HAS_OUT + 7 * AO_USB_HAS_IN + 7 * AO_USB_HAS_IN2 + 7 * AO_USB_HAS_IN3)
#define TOTAL_LENGTH (HEADER_LEN + AO_USB_HAS_INT * CONTROL_CLASS_LEN + DATA_LEN)
#define NUM_INTERFACES (AO_USB_HAS_INT + 1)
AO_USB_DESC_INTERFACE,
AO_USB_HAS_INT, /* bInterfaceNumber */
0x00, /* bAlternateSetting */
- AO_USB_HAS_OUT + AO_USB_HAS_IN + AO_USB_HAS_IN2, /* bNumEndPoints */
+ AO_USB_HAS_OUT + AO_USB_HAS_IN + AO_USB_HAS_IN2 + AO_USB_HAS_IN3, /* bNumEndPoints */
AO_USB_INTERFACE_CLASS_DATA, /* bInterfaceClass = data */
0x00, /* bInterfaceSubClass */
0x00, /* bInterfaceProtocol */
0x00, /* bInterval */
#endif
+#if AO_USB_HAS_IN3
+ /* Data EP in 3 */
+ 0x07,
+ AO_USB_DESC_ENDPOINT,
+ AO_USB_IN3_EP|0x80, /* bEndpointAddress */
+ 0x02, /* bmAttributes = bulk */
+ LE_WORD(AO_USB_IN_SIZE),/* wMaxPacketSize */
+ 0x00, /* bInterval */
+#endif
+
/* String descriptors */
0x04,
AO_USB_DESC_STRING,
#define DBG(...)
#endif
+static angle_t
+ao_sample_max_orient(void)
+{
+ uint8_t i;
+ angle_t max = ao_sample_orients[0];
+
+ for (i = 1; i < AO_NUM_ORIENT; i++) {
+ angle_t a = ao_sample_orients[i];
+ if (a > max)
+ max = a;
+ }
+ return max;
+}
/*
* Given a pyro structure, figure out
* if the current flight state satisfies all
ao_pyro_ready(struct ao_pyro *pyro)
{
enum ao_pyro_flag flag, flags;
+#if HAS_GYRO
+ angle_t max_orient;
+#endif
flags = pyro->flags;
while (flags != ao_pyro_none) {
#if HAS_GYRO
case ao_pyro_orient_less:
- if (ao_sample_orient <= pyro->orient_less)
+ max_orient = ao_sample_max_orient();
+ if (max_orient <= pyro->orient_less)
continue;
- DBG("orient %d > %d\n", ao_sample_orient, pyro->orient_less);
+ DBG("orient %d > %d\n", max_orient, pyro->orient_less);
break;
case ao_pyro_orient_greater:
- if (ao_sample_orient >= pyro->orient_greater)
+ max_orient = ao_sample_max_orient();
+ if (max_orient >= pyro->orient_greater)
continue;
- DBG("orient %d < %d\n", ao_sample_orient, pyro->orient_greater);
+ DBG("orient %d < %d\n", max_orient, pyro->orient_greater);
break;
#endif
case ao_pyro_time_less:
- if ((int16_t) (ao_time() - ao_boost_tick) <= pyro->time_less)
+ if ((int16_t) (ao_time() - ao_launch_tick) <= pyro->time_less)
continue;
- DBG("time %d > %d\n", (int16_t)(ao_time() - ao_boost_tick), pyro->time_less);
+ DBG("time %d > %d\n", (int16_t)(ao_time() - ao_launch_tick), pyro->time_less);
break;
case ao_pyro_time_greater:
- if ((int16_t) (ao_time() - ao_boost_tick) >= pyro->time_greater)
+ if ((int16_t) (ao_time() - ao_launch_tick) >= pyro->time_greater)
continue;
- DBG("time %d < %d\n", (int16_t)(ao_time() - ao_boost_tick), pyro->time_greater);
+ DBG("time %d < %d\n", (int16_t)(ao_time() - ao_launch_tick), pyro->time_greater);
break;
case ao_pyro_ascending:
break;
case ao_pyro_after_motor:
- if (ao_motor_number == pyro->motor)
+ if (ao_motor_number >= pyro->motor)
continue;
DBG("motor %d != %d\n", ao_motor_number, pyro->motor);
break;
__pdata gyro_t ao_sample_pitch;
__pdata gyro_t ao_sample_yaw;
__pdata angle_t ao_sample_orient;
+__pdata angle_t ao_sample_orients[AO_NUM_ORIENT];
+__pdata uint8_t ao_sample_orient_pos;
#endif
__data uint8_t ao_sample_data;
++nsamples;
}
+#if HAS_GYRO
+static void
+ao_sample_set_all_orients(void)
+{
+ int i;
+ for (i = 0; i < AO_NUM_ORIENT; i++)
+ ao_sample_orients[i] = ao_sample_orient;
+ ao_sample_orient_pos = 0;
+}
+
+static void
+ao_sample_set_one_orient(void)
+{
+ ao_sample_orients[ao_sample_orient_pos] = ao_sample_orient;
+ ao_sample_orient_pos = (ao_sample_orient_pos + 1) % AO_NUM_ORIENT;
+}
+
+static void
+ao_sample_compute_orient(void)
+{
+ /* Compute pitch angle from vertical by taking the pad
+ * orientation vector and rotating it by the current total
+ * rotation value. That will be a unit vector pointing along
+ * the airframe axis. The Z value will be the cosine of the
+ * change in the angle from vertical since boost.
+ *
+ * rot = ao_rotation * vertical * ao_rotation°
+ * rot = ao_rotation * (0,0,0,1) * ao_rotation°
+ * = ((a.z, a.y, -a.x, a.r) * (a.r, -a.x, -a.y, -a.z)) .z
+ *
+ * = (-a.z * -a.z) + (a.y * -a.y) - (-a.x * -a.x) + (a.r * a.r)
+ * = a.z² - a.y² - a.x² + a.r²
+ *
+ * rot = ao_rotation * (0, 0, 0, -1) * ao_rotation°
+ * = ((-a.z, -a.y, a.x, -a.r) * (a.r, -a.x, -a.y, -a.z)) .z
+ *
+ * = (a.z * -a.z) + (-a.y * -a.y) - (a.x * -a.x) + (-a.r * a.r)
+ * = -a.z² + a.y² + a.x² - a.r²
+ */
+
+ float rotz;
+ rotz = ao_rotation.z * ao_rotation.z - ao_rotation.y * ao_rotation.y - ao_rotation.x * ao_rotation.x + ao_rotation.r * ao_rotation.r;
+
+ ao_sample_orient = acosf(rotz) * (float) (180.0/M_PI);
+}
+#endif /* HAS_GYRO */
+
static void
ao_sample_preflight_set(void)
{
ao_sample_pitch_sum = 0;
ao_sample_yaw_sum = 0;
ao_sample_roll_sum = 0;
- ao_sample_orient = 0;
+ ao_sample_set_all_orients();
struct ao_quaternion orient;
if (ao_orient_test)
printf("\n\treset\n");
#endif
+
+ ao_sample_compute_orient();
+ ao_sample_set_all_orients();
#endif
nsamples = 0;
}
/* And normalize to make sure it remains a unit vector */
ao_quaternion_normalize(&ao_rotation, &ao_rotation);
- /* Compute pitch angle from vertical by taking the pad
- * orientation vector and rotating it by the current total
- * rotation value. That will be a unit vector pointing along
- * the airframe axis. The Z value will be the cosine of the
- * change in the angle from vertical since boost.
- *
- * rot = ao_rotation * vertical * ao_rotation°
- * rot = ao_rotation * (0,0,0,1) * ao_rotation°
- * = ((a.z, a.y, -a.x, a.r) * (a.r, -a.x, -a.y, -a.z)) .z
- *
- * = (-a.z * -a.z) + (a.y * -a.y) - (-a.x * -a.x) + (a.r * a.r)
- * = a.z² - a.y² - a.x² + a.r²
- *
- * rot = ao_rotation * (0, 0, 0, -1) * ao_rotation°
- * = ((-a.z, -a.y, a.x, -a.r) * (a.r, -a.x, -a.y, -a.z)) .z
- *
- * = (a.z * -a.z) + (-a.y * -a.y) - (a.x * -a.x) + (-a.r * a.r)
- * = -a.z² + a.y² + a.x² - a.r²
- */
-
- float rotz;
- rotz = ao_rotation.z * ao_rotation.z - ao_rotation.y * ao_rotation.y - ao_rotation.x * ao_rotation.x + ao_rotation.r * ao_rotation.r;
-
- ao_sample_orient = acosf(rotz) * (float) (180.0/M_PI);
-
#if HAS_FLIGHT_DEBUG
if (ao_orient_test) {
printf ("rot %d %d %d orient %d \r",
ao_sample_orient);
}
#endif
-
+ ao_sample_compute_orient();
+ ao_sample_set_one_orient();
}
#endif
ao_sample_yaw = 0;
ao_sample_roll = 0;
ao_sample_orient = 0;
+ ao_sample_set_all_orients();
#endif
ao_sample_data = ao_data_head;
ao_preflight = TRUE;
extern __pdata gyro_t ao_sample_roll;
extern __pdata gyro_t ao_sample_pitch;
extern __pdata gyro_t ao_sample_yaw;
+#define AO_NUM_ORIENT 64
extern __pdata angle_t ao_sample_orient;
+extern __pdata angle_t ao_sample_orients[AO_NUM_ORIENT];
+extern __pdata uint8_t ao_sample_orient_pos;
#endif
void ao_sample_init(void);
void
ao_usb_flush(void);
+#if AO_USB_HAS_IN2
+void
+ao_usb_flush2(void);
+
+void
+ao_usb_putchar2(char c);
+#endif
+
+#if AO_USB_HAS_IN3
+void
+ao_usb_flush3(void);
+
+void
+ao_usb_putchar3(char c);
+#endif
/* Enable the USB controller */
+
void
ao_usb_enable(void);
#define AO_USB_OUT_EP 4
#define AO_USB_IN_EP 5
#define AO_USB_IN2_EP 6
+#define AO_USB_IN3_EP 7
#endif
#ifndef AO_USB_HAS_OUT
#define AO_USB_HAS_IN2 0
#endif
+#ifndef AO_USB_HAS_IN3
+#define AO_USB_HAS_IN3 0
+#endif
+
/*
* USB bulk packets can only come in 8, 16, 32 and 64
* byte sizes, so we'll use 64 for everything
--- /dev/null
+ao_product.h
+mpusb-v3.0-*
--- /dev/null
+#
+# AltOS build
+#
+#
+
+include ../stmf0/Makefile.defs
+
+INC = \
+ ao.h \
+ ao_arch.h \
+ ao_arch_funcs.h \
+ ao_boot.h \
+ ao_pins.h \
+ ao_product.h \
+ ao_task.h \
+ ao_whiten.h \
+ stm32f0.h \
+ Makefile
+
+ALTOS_SRC = \
+ ao_boot_chain.c \
+ ao_interrupt.c \
+ ao_product.c \
+ ao_romconfig.c \
+ ao_cmd.c \
+ ao_dma_stm.c \
+ ao_task.c \
+ ao_stdio.c \
+ ao_panic.c \
+ ao_timer.c \
+ ao_mutex.c \
+ ao_usb_stm.c \
+ ao_power.c \
+ ao_gpio.c \
+ ao_serial_stm.c
+
+PRODUCT=MicroPeakUSB-v3.0
+PRODUCT_DEF=-DMPUSB
+IDPRODUCT=0x002b
+
+CFLAGS = $(PRODUCT_DEF) $(STMF0_CFLAGS) -Os -g
+
+PROGNAME=mpusb-v3.0
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SRC=$(ALTOS_SRC) ao_mpusb.c
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG) $(HEX)
+
+$(PROG): Makefile $(OBJ) altos.ld
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS)
+
+ao_product.h: ao-make-product.5c ../Version
+ $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+$(OBJ): $(INC)
+
+distclean: clean
+
+clean:
+ rm -f *.o $(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.
+ */
+
+#include <ao.h>
+#include <ao_serial.h>
+
+static struct ao_task ao_report_task;
+
+static void
+ao_report(void)
+{
+ int c;
+ ao_up_set_speed(AO_SERIAL_SPEED_9600);
+ for (;;) {
+ ao_arch_block_interrupts();
+ c = _ao_up_pollchar();
+ ao_arch_release_interrupts();
+ if (c == AO_READ_AGAIN) {
+ flush();
+ c = ao_up_getchar();
+ }
+ putchar(c);
+ }
+}
+
+int
+main(void)
+{
+ ao_clock_init();
+
+ ao_task_init();
+
+ ao_timer_init();
+
+ ao_serial_init();
+
+ ao_dma_init();
+
+ ao_cmd_init();
+
+ ao_usb_init();
+
+ ao_add_task(&ao_report_task, ao_report, "report");
+
+ ao_start_scheduler();
+ return 0;
+}
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+/* Using TeleMetrum v1.9 board */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+#define HAS_TASK_QUEUE 1
+
+#define IS_FLASH_LOADER 0
+
+#define AO_POWER_MANAGEMENT 1
+
+/* 48MHz clock based on USB */
+#define AO_HSI48 1
+
+/* HCLK = 48MHz */
+#define AO_AHB_PRESCALER 1
+#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1
+
+/* APB = 48MHz */
+#define AO_APB_PRESCALER 1
+#define AO_RCC_CFGR_PPRE_DIV STM_RCC_CFGR_PPRE_DIV_1
+
+#define HAS_EEPROM 0
+#define USE_INTERNAL_FLASH 0
+#define USE_STORAGE_CONFIG 0
+#define USE_EEPROM_CONFIG 0
+
+#define HAS_BEEP 0
+
+#define HAS_USB 1
+#define AO_USB_DIRECTIO 0
+#define AO_PA11_PA12_RMP 1
+
+#define HAS_SPI_0 0
+
+#define LOW_LEVEL_DEBUG 0
+
+#define HAS_SERIAL_2 1
+#define USE_SERIAL_2_STDIN 0
+#define SERIAL_2_PA2_PA3 1
+#define SERIAL_2_SWAP 0
+#define USE_SERIAL_2_FLOW 0
+#define USE_SERIAL_2_SW_FLOW 0
+
+#define ao_up_getchar ao_serial2_getchar
+#define ao_up_putchar ao_serial2_putchar
+#define _ao_up_pollchar _ao_serial2_pollchar
+#define ao_up_set_speed ao_serial2_set_speed
+
+#endif /* _AO_PINS_H_ */
--- /dev/null
+ao_product.h
+mpusb*
--- /dev/null
+#
+# AltOS flash loader build
+#
+
+TOPDIR=../..
+HARDWARE=mpusb-v3.0
+include $(TOPDIR)/stmf0/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_stm_pins.h>
+
+/* Debug port PA15 (pin 23) */
+
+#define AO_BOOT_PIN 1
+#define AO_BOOT_APPLICATION_GPIO (stm_gpioa)
+#define AO_BOOT_APPLICATION_PIN 15
+#define AO_BOOT_APPLICATION_VALUE 1
+#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_UP
+
+#define AO_USB_DIRECTIO 0
+#define AO_PA11_PA12_RMP 1
+
+#endif /* _AO_PINS_H_ */
#define HAS_USB 1
#define USE_USB_STDIO 0
+#define HAS_USB_DISABLE 0
#define HAS_BEEP 0
#define HAS_TASK 0
#define HAS_ECHO 0
ao_lcd_stm.c \
ao_lcd_font.c \
ao_mutex.c \
+ ao_storage.c \
+ ao_m25.c \
ao_dma_stm.c \
ao_spi_stm.c \
ao_adc_stm.c \
ao_cmd_init();
// ao_lcd_stm_init();
// ao_lcd_font_init();
-// ao_spi_init();
+ ao_spi_init();
// ao_i2c_init();
// ao_exti_init();
// ao_quadrature_init();
// ao_button_init();
+ ao_storage_init();
// ao_timer_set_adc_interval(100);
#define SERIAL_3_PC10_PC11 0
#define SERIAL_3_PD8_PD9 1
-#define HAS_SPI_1 1
+#define HAS_SPI_1 0
#define SPI_1_PB3_PB4_PB5 1
#define SPI_1_OSPEEDR STM_OSPEEDR_10MHz
-#define HAS_SPI_2 0
+#define HAS_SPI_2 1
+#define SPI_2_PB13_PB14_PB15 1 /* Flash, Companion, Radio */
+#define SPI_2_PD1_PD3_PD4 0
+#define SPI_2_OSPEEDR STM_OSPEEDR_10MHz
#define HAS_USB 1
#define HAS_BEEP 0
#define AO_TICK_TYPE uint32_t
#define AO_TICK_SIGNED int32_t
+#define M25_MAX_CHIPS 1
+#define AO_M25_SPI_CS_PORT (&stm_gpiob)
+#define AO_M25_SPI_CS_MASK (1 << 12)
+#define AO_M25_SPI_BUS AO_SPI_2_PB13_PB14_PB15
+
+#define AO_LOG_FORMAT AO_LOG_FORMAT_TELEMEGA
+
#endif /* _AO_PINS_H_ */
--- /dev/null
+/*
+ * Copyright © 2018 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ */
+
+#ifndef _AO_ADC_SINGLE_H_
+#define _AO_ADC_SINGLE_H_
+
+void
+ao_adc_single_get(struct ao_adc *packet);
+
+void
+ao_adc_single_init(void);
+
+#endif /* _AO_ADC_SINGLE_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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_data.h>
+
+static uint8_t ao_adc_ready;
+
+#define AO_ADC_CR2_VAL ((0 << STM_ADC_CR2_SWSTART) | \
+ (STM_ADC_CR2_EXTEN_DISABLE << STM_ADC_CR2_EXTEN) | \
+ (0 << STM_ADC_CR2_EXTSEL) | \
+ (0 << STM_ADC_CR2_JWSTART) | \
+ (STM_ADC_CR2_JEXTEN_DISABLE << STM_ADC_CR2_JEXTEN) | \
+ (0 << STM_ADC_CR2_JEXTSEL) | \
+ (0 << STM_ADC_CR2_ALIGN) | \
+ (0 << STM_ADC_CR2_EOCS) | \
+ (1 << STM_ADC_CR2_DDS) | \
+ (1 << STM_ADC_CR2_DMA) | \
+ (STM_ADC_CR2_DELS_UNTIL_READ << STM_ADC_CR2_DELS) | \
+ (0 << STM_ADC_CR2_CONT) | \
+ (1 << STM_ADC_CR2_ADON))
+
+/*
+ * Callback from DMA ISR
+ *
+ * Shut down DMA engine, signal anyone waiting
+ */
+static void ao_adc_done(int index)
+{
+ (void) index;
+ ao_dma_done_transfer(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1));
+ ao_adc_ready = 1;
+ ao_wakeup((void *) &ao_adc_ready);
+}
+
+/*
+ * Start the ADC sequence using the DMA engine
+ */
+static void
+ao_adc_poll(struct ao_adc *packet)
+{
+ ao_adc_ready = 0;
+ stm_adc.sr = 0;
+ ao_dma_set_transfer(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1),
+ &stm_adc.dr,
+ (void *) packet,
+ AO_NUM_ADC,
+ (0 << STM_DMA_CCR_MEM2MEM) |
+ (STM_DMA_CCR_PL_HIGH << STM_DMA_CCR_PL) |
+ (STM_DMA_CCR_MSIZE_16 << STM_DMA_CCR_MSIZE) |
+ (STM_DMA_CCR_PSIZE_16 << STM_DMA_CCR_PSIZE) |
+ (1 << STM_DMA_CCR_MINC) |
+ (0 << STM_DMA_CCR_PINC) |
+ (0 << STM_DMA_CCR_CIRC) |
+ (STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR));
+ ao_dma_set_isr(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1), ao_adc_done);
+ ao_dma_start(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1));
+
+ stm_adc.cr2 = AO_ADC_CR2_VAL | (1 << STM_ADC_CR2_SWSTART);
+}
+
+/*
+ * Fetch a copy of the most recent ADC data
+ */
+void
+ao_adc_single_get(struct ao_adc *packet)
+{
+ ao_adc_poll(packet);
+ ao_arch_block_interrupts();
+ while (!ao_adc_ready)
+ ao_sleep(&ao_adc_ready);
+ ao_arch_release_interrupts();
+}
+
+static void
+ao_adc_dump(void)
+{
+ struct ao_adc packet;
+ ao_adc_single_get(&packet);
+ AO_ADC_DUMP(&packet);
+}
+
+__code struct ao_cmds ao_adc_cmds[] = {
+ { ao_adc_dump, "a\0Display current ADC values" },
+ { 0, NULL },
+};
+
+void
+ao_adc_single_init(void)
+{
+#ifdef AO_ADC_PIN0_PORT
+ stm_rcc.ahbenr |= AO_ADC_RCC_AHBENR;
+#endif
+
+#ifdef AO_ADC_PIN0_PORT
+ stm_moder_set(AO_ADC_PIN0_PORT, AO_ADC_PIN0_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN1_PORT
+ stm_moder_set(AO_ADC_PIN1_PORT, AO_ADC_PIN1_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN2_PORT
+ stm_moder_set(AO_ADC_PIN2_PORT, AO_ADC_PIN2_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN3_PORT
+ stm_moder_set(AO_ADC_PIN3_PORT, AO_ADC_PIN3_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN4_PORT
+ stm_moder_set(AO_ADC_PIN4_PORT, AO_ADC_PIN4_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN5_PORT
+ stm_moder_set(AO_ADC_PIN5_PORT, AO_ADC_PIN5_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN6_PORT
+ stm_moder_set(AO_ADC_PIN6_PORT, AO_ADC_PIN6_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN7_PORT
+ stm_moder_set(AO_ADC_PIN7_PORT, AO_ADC_PIN7_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN8_PORT
+ stm_moder_set(AO_ADC_PIN8_PORT, AO_ADC_PIN8_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN9_PORT
+ stm_moder_set(AO_ADC_PIN9_PORT, AO_ADC_PIN9_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN10_PORT
+ stm_moder_set(AO_ADC_PIN10_PORT, AO_ADC_PIN10_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN11_PORT
+ stm_moder_set(AO_ADC_PIN11_PORT, AO_ADC_PIN11_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN12_PORT
+ stm_moder_set(AO_ADC_PIN12_PORT, AO_ADC_PIN12_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN13_PORT
+ stm_moder_set(AO_ADC_PIN13_PORT, AO_ADC_PIN13_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN14_PORT
+ stm_moder_set(AO_ADC_PIN14_PORT, AO_ADC_PIN14_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN15_PORT
+ stm_moder_set(AO_ADC_PIN15_PORT, AO_ADC_PIN15_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN16_PORT
+ stm_moder_set(AO_ADC_PIN16_PORT, AO_ADC_PIN16_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN17_PORT
+ stm_moder_set(AO_ADC_PIN17_PORT, AO_ADC_PIN17_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN18_PORT
+ stm_moder_set(AO_ADC_PIN18_PORT, AO_ADC_PIN18_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN19_PORT
+ stm_moder_set(AO_ADC_PIN19_PORT, AO_ADC_PIN19_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN20_PORT
+ stm_moder_set(AO_ADC_PIN20_PORT, AO_ADC_PIN20_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN21_PORT
+ stm_moder_set(AO_ADC_PIN21_PORT, AO_ADC_PIN21_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN22_PORT
+ stm_moder_set(AO_ADC_PIN22_PORT, AO_ADC_PIN22_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN23_PORT
+ stm_moder_set(AO_ADC_PIN23_PORT, AO_ADC_PIN23_PIN, STM_MODER_ANALOG);
+#endif
+#ifdef AO_ADC_PIN24_PORT
+ #error "Too many ADC ports"
+#endif
+
+ stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_ADC1EN);
+
+ /* Turn off ADC during configuration */
+ stm_adc.cr2 = 0;
+
+ stm_adc.cr1 = ((0 << STM_ADC_CR1_OVRIE ) |
+ (STM_ADC_CR1_RES_12 << STM_ADC_CR1_RES ) |
+ (0 << STM_ADC_CR1_AWDEN ) |
+ (0 << STM_ADC_CR1_JAWDEN ) |
+ (0 << STM_ADC_CR1_PDI ) |
+ (0 << STM_ADC_CR1_PDD ) |
+ (0 << STM_ADC_CR1_DISCNUM ) |
+ (0 << STM_ADC_CR1_JDISCEN ) |
+ (0 << STM_ADC_CR1_DISCEN ) |
+ (0 << STM_ADC_CR1_JAUTO ) |
+ (0 << STM_ADC_CR1_AWDSGL ) |
+ (1 << STM_ADC_CR1_SCAN ) |
+ (0 << STM_ADC_CR1_JEOCIE ) |
+ (0 << STM_ADC_CR1_AWDIE ) |
+ (0 << STM_ADC_CR1_EOCIE ) |
+ (0 << STM_ADC_CR1_AWDCH ));
+
+ /* 384 cycle sample time for everyone */
+ stm_adc.smpr1 = 0x3ffff;
+ stm_adc.smpr2 = 0x3fffffff;
+ stm_adc.smpr3 = 0x3fffffff;
+
+ stm_adc.sqr1 = ((AO_NUM_ADC - 1) << 20);
+ stm_adc.sqr2 = 0;
+ stm_adc.sqr3 = 0;
+ stm_adc.sqr4 = 0;
+ stm_adc.sqr5 = 0;
+#if AO_NUM_ADC > 0
+ stm_adc.sqr5 |= (AO_ADC_SQ1 << 0);
+#endif
+#if AO_NUM_ADC > 1
+ stm_adc.sqr5 |= (AO_ADC_SQ2 << 5);
+#endif
+#if AO_NUM_ADC > 2
+ stm_adc.sqr5 |= (AO_ADC_SQ3 << 10);
+#endif
+#if AO_NUM_ADC > 3
+ stm_adc.sqr5 |= (AO_ADC_SQ4 << 15);
+#endif
+#if AO_NUM_ADC > 4
+ stm_adc.sqr5 |= (AO_ADC_SQ5 << 20);
+#endif
+#if AO_NUM_ADC > 5
+ stm_adc.sqr5 |= (AO_ADC_SQ6 << 25);
+#endif
+#if AO_NUM_ADC > 6
+ stm_adc.sqr4 |= (AO_ADC_SQ7 << 0);
+#endif
+#if AO_NUM_ADC > 7
+ stm_adc.sqr4 |= (AO_ADC_SQ8 << 5);
+#endif
+#if AO_NUM_ADC > 8
+ stm_adc.sqr4 |= (AO_ADC_SQ9 << 10);
+#endif
+#if AO_NUM_ADC > 9
+ stm_adc.sqr4 |= (AO_ADC_SQ10 << 15);
+#endif
+#if AO_NUM_ADC > 10
+ stm_adc.sqr4 |= (AO_ADC_SQ11 << 20);
+#endif
+#if AO_NUM_ADC > 11
+ stm_adc.sqr4 |= (AO_ADC_SQ12 << 25);
+#endif
+#if AO_NUM_ADC > 12
+ stm_adc.sqr3 |= (AO_ADC_SQ13 << 0);
+#endif
+#if AO_NUM_ADC > 13
+ stm_adc.sqr3 |= (AO_ADC_SQ14 << 5);
+#endif
+#if AO_NUM_ADC > 14
+ stm_adc.sqr3 |= (AO_ADC_SQ15 << 10);
+#endif
+#if AO_NUM_ADC > 15
+ stm_adc.sqr3 |= (AO_ADC_SQ16 << 15);
+#endif
+#if AO_NUM_ADC > 16
+ stm_adc.sqr3 |= (AO_ADC_SQ17 << 20);
+#endif
+#if AO_NUM_ADC > 17
+ stm_adc.sqr3 |= (AO_ADC_SQ18 << 25);
+#endif
+#if AO_NUM_ADC > 18
+#error "need to finish stm_adc.sqr settings"
+#endif
+
+ /* Turn ADC on */
+ stm_adc.cr2 = AO_ADC_CR2_VAL;
+
+ /* Wait for ADC to be ready */
+ while (!(stm_adc.sr & (1 << STM_ADC_SR_ADONS)))
+ ;
+
+#ifndef HAS_ADC_TEMP
+#error Please define HAS_ADC_TEMP
+#endif
+#if HAS_ADC_TEMP
+ stm_adc.ccr = ((1 << STM_ADC_CCR_TSVREFE));
+#else
+ stm_adc.ccr = 0;
+#endif
+ /* Clear any stale status bits */
+ stm_adc.sr = 0;
+
+ ao_dma_alloc(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1));
+
+ ao_cmd_register(&ao_adc_cmds[0]);
+}
#define AO_STACK_SIZE 512
#endif
-#define AO_LED_TYPE uint16_t
-
#ifndef AO_TICK_TYPE
#define AO_TICK_TYPE uint16_t
#define AO_TICK_SIGNED int16_t
#define AO_BOOT_LOADER_BASE ((uint32_t *) 0x08000000)
#define HAS_BOOT_LOADER 1
+#ifndef AO_LED_TYPE
+#define AO_LED_TYPE uint16_t
+#endif
+
#endif /* _AO_ARCH_H_ */
#include "ao.h"
-__pdata uint16_t ao_led_enable;
+#if LED_PER_LED
+static const struct {
+ struct stm_gpio *port;
+ uint16_t pin;
+} ao_leds[] = {
+#ifdef LED_0_PORT
+ [0] { LED_0_PORT, LED_0_PIN },
+#endif
+#ifdef LED_1_PORT
+ [1] { LED_1_PORT, LED_1_PIN },
+#endif
+#ifdef LED_2_PORT
+ [2] { LED_2_PORT, LED_2_PIN },
+#endif
+#ifdef LED_3_PORT
+ [3] { LED_3_PORT, LED_3_PIN },
+#endif
+#ifdef LED_4_PORT
+ [4] { LED_4_PORT, LED_4_PIN },
+#endif
+#ifdef LED_5_PORT
+ [5] { LED_5_PORT, LED_5_PIN },
+#endif
+#ifdef LED_6_PORT
+ [6] { LED_6_PORT, LED_6_PIN },
+#endif
+#ifdef LED_7_PORT
+ [7] { LED_7_PORT, LED_7_PIN },
+#endif
+#ifdef LED_8_PORT
+ [8] { LED_8_PORT, LED_8_PIN },
+#endif
+#ifdef LED_9_PORT
+ [9] { LED_9_PORT, LED_9_PIN },
+#endif
+#ifdef LED_10_PORT
+ [10] { LED_10_PORT, LED_10_PIN },
+#endif
+#ifdef LED_11_PORT
+ [11] { LED_11_PORT, LED_11_PIN },
+#endif
+#ifdef LED_12_PORT
+ [12] { LED_12_PORT, LED_12_PIN },
+#endif
+#ifdef LED_13_PORT
+ [13] { LED_13_PORT, LED_13_PIN },
+#endif
+#ifdef LED_14_PORT
+ [14] { LED_14_PORT, LED_14_PIN },
+#endif
+#ifdef LED_15_PORT
+ [15] { LED_15_PORT, LED_15_PIN },
+#endif
+};
+#define N_LED (sizeof (ao_leds)/sizeof(ao_leds[0]))
+#endif
+static AO_LED_TYPE ao_led_enable;
void
-ao_led_on(uint16_t colors)
+ao_led_on(AO_LED_TYPE colors)
{
+#ifdef LED_PER_LED
+ AO_LED_TYPE i;
+ for (i = 0; i < N_LED; i++)
+ if (colors & (1 << i))
+ ao_gpio_set(ao_leds[i].port, ao_leds[i].pin, foo, 1);
+#else
#ifdef LED_PORT
LED_PORT->bsrr = (colors & ao_led_enable);
#else
LED_PORT_1->bsrr = ((colors & ao_led_enable) & LED_PORT_1_MASK) << LED_PORT_1_SHIFT;
#endif
#endif
+#endif
}
void
-ao_led_off(uint16_t colors)
+ao_led_off(AO_LED_TYPE colors)
{
+#ifdef LED_PER_LED
+ AO_LED_TYPE i;
+ for (i = 0; i < N_LED; i++)
+ if (colors & (1 << i))
+ ao_gpio_set(ao_leds[i].port, ao_leds[i].pin, foo, 0);
+#else
#ifdef LED_PORT
LED_PORT->bsrr = (uint32_t) (colors & ao_led_enable) << 16;
#else
LED_PORT_1->bsrr = ((uint32_t) (colors & ao_led_enable) & LED_PORT_1_MASK) << (LED_PORT_1_SHIFT + 16);
#endif
#endif
+#endif
}
void
-ao_led_set(uint16_t colors)
+ao_led_set(AO_LED_TYPE colors)
{
- uint16_t on = colors & ao_led_enable;
- uint16_t off = ~colors & ao_led_enable;
+ AO_LED_TYPE on = colors & ao_led_enable;
+ AO_LED_TYPE off = ~colors & ao_led_enable;
ao_led_off(off);
ao_led_on(on);
}
void
-ao_led_toggle(uint16_t colors)
+ao_led_toggle(AO_LED_TYPE colors)
{
+#ifdef LED_PER_LED
+ AO_LED_TYPE i;
+ for (i = 0; i < N_LED; i++)
+ if (colors & (1 << i))
+ ao_gpio_set(ao_leds[i].port, ao_leds[i].pin, foo, ~ao_gpio_get(ao_leds[i].port, ao_leds[i].pin, foo));
+#else
#ifdef LED_PORT
LED_PORT->odr ^= (colors & ao_led_enable);
#else
LED_PORT_1->odr ^= ((colors & ao_led_enable) & LED_PORT_1_MASK) << LED_PORT_1_SHIFT;
#endif
#endif
+#endif
}
void
-ao_led_for(uint16_t colors, uint16_t ticks) __reentrant
+ao_led_for(AO_LED_TYPE colors, AO_LED_TYPE ticks) __reentrant
{
ao_led_on(colors);
ao_delay(ticks);
} while (0)
void
-ao_led_init(uint16_t enable)
+ao_led_init(AO_LED_TYPE enable)
{
- int bit;
+ AO_LED_TYPE bit;
ao_led_enable = enable;
+#if LED_PER_LED
+ for (bit = 0; bit < N_LED; bit++)
+ ao_enable_output(ao_leds[bit].port, ao_leds[bit].pin, foo, 0);
+#else
#ifdef LED_PORT
stm_rcc.ahbenr |= (1 << LED_PORT_ENABLE);
LED_PORT->odr &= ~enable;
stm_rcc.ahbenr |= (1 << LED_PORT_1_ENABLE);
LED_PORT_1->odr &= ~((enable & ao_led_enable) & LED_PORT_1_MASK) << LED_PORT_1_SHIFT;
#endif
+#ifdef LED_PORT_2
+ stm_rcc.ahbenr |= (1 << LED_PORT_1_ENABLE);
+ LED_PORT_1->odr &= ~((enable & ao_led_enable) & LED_PORT_1_MASK) << LED_PORT_1_SHIFT;
+#endif
#endif
for (bit = 0; bit < 16; bit++) {
if (enable & (1 << bit)) {
if (LED_PORT_1_MASK & (1 << bit))
init_led_pin(LED_PORT_1, bit + LED_PORT_1_SHIFT);
#endif
+#ifdef LED_PORT_2
+ if (LED_PORT_2_MASK & (1 << bit))
+ init_led_pin(LED_PORT_2, bit + LED_PORT_2_SHIFT);
+#endif
#endif
}
}
+#endif
}
#ifndef AO_RADIO_CAL_DEFAULT
#define AO_RADIO_CAL_DEFAULT 0x01020304
#endif
+#if HAS_RADIO
AO_ROMCONFIG_SYMBOL (0) uint32_t ao_radio_cal = AO_RADIO_CAL_DEFAULT;
-
+#endif
#define STM_RCC_CFGR_PLLSRC_TARGET_CLOCK (0 << STM_RCC_CFGR_PLLSRC)
#endif
-#if !AO_HSE || HAS_ADC
+#if !AO_HSE || HAS_ADC || HAS_ADC_SINGLE
/* Enable HSI RC clock 16MHz */
stm_rcc.cr |= (1 << STM_RCC_CR_HSION);
while (!(stm_rcc.cr & (1 << STM_RCC_CR_HSIRDY)))
}
static void
-ao_usb_write(const uint8_t *src, uint32_t *base, uint16_t offset, uint16_t bytes)
+ao_usb_write(const uint8_t *src, uint32_t *base, uint16_t bytes)
{
+ uint16_t offset = 0;
if (!bytes)
return;
- if (offset & 1) {
- debug_data (" %02x", src[0]);
- ao_usb_write_byte(*src++, base, offset++);
- bytes--;
- }
while (bytes >= 2) {
debug_data (" %02x %02x", src[0], src[1]);
ao_usb_write_short((src[1] << 8) | src[0], base, offset);
ao_usb_ep0_in_len -= this_len;
debug_data ("Flush EP0 len %d:", this_len);
- ao_usb_write(ao_usb_ep0_in_data, ao_usb_ep0_tx_buffer, 0, this_len);
+ ao_usb_write(ao_usb_ep0_in_data, ao_usb_ep0_tx_buffer, this_len);
debug_data ("\n");
ao_usb_ep0_in_data += this_len;
ao_usb_in_pending = 1;
if (ao_usb_tx_count != AO_USB_IN_SIZE)
ao_usb_in_flushed = 1;
- ao_usb_write(ao_usb_tx_buffer, ao_usb_in_tx_buffer, 0, ao_usb_tx_count);
+ ao_usb_write(ao_usb_tx_buffer, ao_usb_in_tx_buffer, ao_usb_tx_count);
ao_usb_bdt[AO_USB_IN_EPR].single.count_tx = ao_usb_tx_count;
ao_usb_tx_count = 0;
_ao_usb_set_stat_tx(AO_USB_IN_EPR, STM_USB_EPR_STAT_TX_VALID);
return c;
}
+#ifndef HAS_USB_DISABLE
+#define HAS_USB_DISABLE 1
+#endif
+
+#if HAS_USB_DISABLE
void
ao_usb_disable(void)
{
stm_rcc.apb1enr &= ~(1 << STM_RCC_APB1ENR_USBEN);
ao_arch_release_interrupts();
}
+#endif
void
ao_usb_enable(void)
extern struct stm_adc stm_adc;
+#define STM_ADC_SQ_TEMP 16
+#define STM_ADC_SQ_V_REF 17
+
#define STM_ADC_SR_JCNR 9
#define STM_ADC_SR_RCNR 8
#define STM_ADC_SR_ADONS 6
#define ao_spi_get_bit(reg,bit,pin,bus,speed) ao_spi_get_mask(reg,(1<<bit),bus,speed)
#define ao_spi_put_bit(reg,bit,pin,bus) ao_spi_put_mask(reg,(1<<bit),bus)
+#if AO_POWER_MANAGEMENT
extern struct ao_power ao_power_gpioa;
extern struct ao_power ao_power_gpiob;
extern struct ao_power ao_power_gpioc;
extern struct ao_power ao_power_gpiof;
+#endif
static inline void ao_enable_port(struct stm_gpio *port)
{
#ifdef AO_FLASH_LOADER_INIT
AO_FLASH_LOADER_INIT;
-#endif
+#endif
ao_flash_task();
return 0;
}
void start(void)
{
-#ifdef AO_BOOT_CHAIN
+#if AO_BOOT_CHAIN
if (ao_boot_check_chain()) {
-#ifdef AO_BOOT_PIN
+#if AO_BOOT_PIN
ao_boot_check_pin();
#endif
}
#endif
-#if RELOCATE_INTERRUPT
/* Turn on syscfg */
stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_SYSCFGCOMPEN);
+#if RELOCATE_INTERRUPT
memcpy(&__interrupt_start__, &__interrupt_rom__, &__interrupt_end__ - &__interrupt_start__);
stm_syscfg.cfgr1 = (stm_syscfg.cfgr1 & ~(STM_SYSCFG_CFGR1_MEM_MODE_MASK << STM_SYSCFG_CFGR1_MEM_MODE)) |
(STM_SYSCFG_CFGR1_MEM_MODE_SRAM << STM_SYSCFG_CFGR1_MEM_MODE);
+#else
+ /* Switch to Main Flash mode (DFU loader leaves us in System mode) */
+ stm_syscfg.cfgr1 = (stm_syscfg.cfgr1 & ~(STM_SYSCFG_CFGR1_MEM_MODE_MASK << STM_SYSCFG_CFGR1_MEM_MODE)) |
+ (STM_SYSCFG_CFGR1_MEM_MODE_MAIN_FLASH << STM_SYSCFG_CFGR1_MEM_MODE);
#endif
memcpy(&__data_start__, &__text_end__, &__data_end__ - &__data_start__);
memset(&__bss_start__, '\0', &__bss_end__ - &__bss_start__);
static uint8_t ao_usb_tx2_count;
#endif
+#if AO_USB_HAS_IN3
+static uint16_t ao_usb_in_tx3_offset;
+static uint8_t ao_usb_in_tx3_which;
+static uint8_t ao_usb_tx3_count;
+#endif
+
/*
* End point register indices
*/
#define AO_USB_OUT_EPR 2
#define AO_USB_IN_EPR 3
#define AO_USB_IN2_EPR 4
+#define AO_USB_IN3_EPR 5
/* Marks when we don't need to send an IN packet.
* This happens only when the last IN packet is not full,
static uint8_t ao_usb_in2_flushed;
#endif
+#if AO_USB_HAS_IN3
+/* Marks when we have delivered an IN packet to the hardware
+ * and it has not been received yet. ao_sleep on this address
+ * to wait for it to be delivered.
+ */
+static uint8_t ao_usb_in3_pending;
+static uint16_t in3_count;
+static uint8_t ao_usb_in3_flushed;
+#endif
+
/* Marks when an OUT packet has been received by the hardware
* but not pulled to the shadow buffer.
*/
ao_usb_in_tx2_offset = sram_addr;
sram_addr += AO_USB_IN_SIZE * 2;
#endif
+#if AO_USB_HAS_IN3
+ sram_addr += (sram_addr & 1);
+ ao_usb_in_tx3_offset = sram_addr;
+ sram_addr += AO_USB_IN_SIZE * 2;
+#endif
}
static void
ao_usb_in_tx2_which = 0;
#endif
+#if AO_USB_HAS_IN3
+ /* Set up the IN3 end point */
+ stm_usb_bdt[AO_USB_IN3_EPR].double_tx[0].addr = ao_usb_in_tx3_offset;
+ stm_usb_bdt[AO_USB_IN3_EPR].double_tx[0].count = 0;
+ stm_usb_bdt[AO_USB_IN3_EPR].double_tx[1].addr = ao_usb_in_tx3_offset + AO_USB_IN_SIZE;
+ stm_usb_bdt[AO_USB_IN3_EPR].double_tx[1].count = 0;
+
+ ao_usb_init_ep(AO_USB_IN3_EPR,
+ AO_USB_IN3_EP,
+ STM_USB_EPR_EP_TYPE_BULK,
+ STM_USB_EPR_STAT_RX_DISABLED,
+ STM_USB_EPR_STAT_TX_NAK,
+ STM_USB_EPR_EP_KIND_DBL_BUF,
+ 0, 1);
+
+ /* First transmit data goes to buffer 0 */
+ ao_usb_in_tx3_which = 0;
+#endif
+
ao_usb_in_flushed = 0;
ao_usb_in_pending = 0;
ao_wakeup(&ao_usb_in_pending);
ao_wakeup(&ao_usb_in2_pending);
#endif
+#if AO_USB_HAS_IN3
+ ao_usb_in3_flushed = 0;
+ ao_usb_in3_pending = 0;
+ ao_wakeup(&ao_usb_in3_pending);
+#endif
+
ao_usb_out_avail = 0;
ao_usb_configuration = 0;
ao_wakeup(&ao_usb_in2_pending);
}
break;
+#endif
+#if AO_USB_HAS_IN3
+ case AO_USB_IN3_EPR:
+ ++in3_count;
+ _tx_dbg1("TX3 ISR", epr);
+ if (ao_usb_epr_ctr_tx(epr)) {
+ ao_usb_in3_pending = 0;
+ ao_wakeup(&ao_usb_in3_pending);
+ }
+ break;
#endif
case AO_USB_INT_EPR:
#if USB_STATUS
/* Toggle our usage */
ao_usb_in_tx2_which = 1 - ao_usb_in_tx2_which;
+ /* Toggle the SW_BUF flag */
+ _ao_usb_toggle_dtog(AO_USB_IN2_EPR, 1, 0);
+
/* Mark the outgoing buffer as valid */
_ao_usb_set_stat_tx(AO_USB_IN2_EPR, STM_USB_EPR_STAT_TX_VALID);
}
#endif
+#if AO_USB_HAS_IN3
+/* Queue the current IN buffer for transmission */
+static void
+_ao_usb_in3_send(void)
+{
+ _tx_dbg0("in3_send start");
+ debug ("send3 %d\n", ao_usb_tx3_count);
+ while (ao_usb_in3_pending)
+ ao_sleep(&ao_usb_in3_pending);
+ ao_usb_in3_pending = 1;
+ if (ao_usb_tx3_count != AO_USB_IN_SIZE)
+ ao_usb_in3_flushed = 1;
+ stm_usb_bdt[AO_USB_IN3_EPR].double_tx[ao_usb_in_tx3_which].count = ao_usb_tx3_count;
+ ao_usb_tx3_count = 0;
+
+ /* Toggle our usage */
+ ao_usb_in_tx3_which = 1 - ao_usb_in_tx3_which;
+
+ /* Toggle the SW_BUF flag */
+ _ao_usb_toggle_dtog(AO_USB_IN3_EPR, 1, 0);
+
+ /* Mark the outgoing buffer as valid */
+ _ao_usb_set_stat_tx(AO_USB_IN3_EPR, STM_USB_EPR_STAT_TX_VALID);
+
+ _tx_dbg0("in3_send end");
+}
+
+/* Wait for a free IN buffer. Interrupts are blocked */
+static void
+_ao_usb_in3_wait(void)
+{
+ for (;;) {
+ /* Check if the current buffer is writable */
+ if (ao_usb_tx3_count < AO_USB_IN_SIZE)
+ break;
+
+ _tx_dbg0("in3_wait top");
+ /* Wait for an IN buffer to be ready */
+ while (ao_usb_in3_pending)
+ ao_sleep(&ao_usb_in3_pending);
+ _tx_dbg0("in_wait bottom");
+ }
+}
+
+void
+ao_usb_flush3(void)
+{
+ if (!ao_usb_running)
+ return;
+
+ /* Anytime we've sent a character since
+ * the last time we flushed, we'll need
+ * to send a packet -- the only other time
+ * we would send a packet is when that
+ * packet was full, in which case we now
+ * want to send an empty packet
+ */
+ ao_arch_block_interrupts();
+ while (!ao_usb_in3_flushed) {
+ _tx_dbg0("flush3 top");
+ _ao_usb_in3_send();
+ _tx_dbg0("flush3 end");
+ }
+ ao_arch_release_interrupts();
+}
+
+void
+ao_usb_putchar3(char c)
+{
+ if (!ao_usb_running)
+ return;
+
+ ao_arch_block_interrupts();
+ _ao_usb_in3_wait();
+
+ ao_usb_in3_flushed = 0;
+ ao_usb_tx_byte(ao_usb_in_tx3_offset + AO_USB_IN_SIZE * ao_usb_in_tx3_which + ao_usb_tx3_count++, c);
+
+ /* Send the packet when full */
+ if (ao_usb_tx3_count == AO_USB_IN_SIZE) {
+ _tx_dbg0("putchar3 full");
+ _ao_usb_in3_send();
+ _tx_dbg0("putchar3 flushed");
+ }
+ ao_arch_release_interrupts();
+}
+#endif
+
#if AO_USB_HAS_OUT
static void
_ao_usb_out_recv(void)
ao_arch_release_interrupts();
- for (t = 0; t < 1000; t++)
+ for (t = 0; t < 50000; t++)
ao_arch_nop();
/* Enable USB pull-up */
#endif
};
-#define NUM_USB_DBG 128
+#define NUM_USB_DBG 16
-struct ao_usb_dbg dbg[128];
+struct ao_usb_dbg dbg[NUM_USB_DBG];
int dbg_i;
static void _dbg(int line, char *msg, uint32_t value)
asm("mrs %0,primask" : "=&r" (primask));
dbg[dbg_i].primask = primask;
#if TX_DBG
- dbg[dbg_i].in_count = in_count;
- dbg[dbg_i].in_epr = stm_usb.epr[AO_USB_IN_EPR];
- dbg[dbg_i].in_pending = ao_usb_in_pending;
- dbg[dbg_i].tx_count = ao_usb_tx_count;
- dbg[dbg_i].in_flushed = ao_usb_in_flushed;
+ dbg[dbg_i].in_count = in3_count;
+ dbg[dbg_i].in_epr = stm_usb.epr[AO_USB_IN3_EPR].r;
+ dbg[dbg_i].in_pending = ao_usb_in3_pending;
+ dbg[dbg_i].tx_count = ao_usb_tx3_count;
+ dbg[dbg_i].in_flushed = ao_usb_in3_flushed;
#endif
#if RX_DBG
dbg[dbg_i].rx_count = ao_usb_rx_count;
#define AO_STROBE_PIN 1
#define AO_STROBE P1_1
-/* test these values with real igniters */
-#define AO_PAD_RELAY_CLOSED 3524
-#define AO_PAD_NO_IGNITER 16904
-#define AO_PAD_GOOD_IGNITER 22514
+#define AO_ADC_REFERENCE_DV 33
+#define AO_PAD_R_V_BATT_BATT_SENSE 100
+#define AO_PAD_R_BATT_SENSE_GND 27
+
+#define AO_PAD_R_V_BATT_V_PYRO 100
+#define AO_PAD_R_V_PYRO_PYRO_SENSE 100
+#define AO_PAD_R_PYRO_SENSE_GND 27
+
+#define AO_PAD_R_V_PYRO_IGNITER 100
+#define AO_PAD_R_IGNITER_IGNITER_SENSE 100
+#define AO_PAD_R_IGNITER_SENSE_GND 27
#define AO_PAD_ADC_PYRO 4
#define AO_PAD_ADC_BATT 5
#define AO_STROBE P2_4
/* test these values with real igniters */
-#define AO_PAD_RELAY_CLOSED 3524
-#define AO_PAD_NO_IGNITER 16904
-#define AO_PAD_GOOD_IGNITER 22514
-
#define AO_PAD_ADC_PYRO 4
#define AO_PAD_ADC_BATT 5
#define AO_ADC_FIRST_PIN 0
+#define AO_ADC_REFERENCE_DV 33
+#define AO_PAD_R_V_BATT_BATT_SENSE 100
+#define AO_PAD_R_BATT_SENSE_GND 27
+
+#define AO_PAD_R_V_BATT_V_PYRO 100
+#define AO_PAD_R_V_PYRO_PYRO_SENSE 100
+#define AO_PAD_R_PYRO_SENSE_GND 27
+
+#define AO_PAD_R_V_PYRO_IGNITER 100
+#define AO_PAD_R_IGNITER_IGNITER_SENSE 100
+#define AO_PAD_R_IGNITER_SENSE_GND 27
+
+
struct ao_adc {
int16_t sense[AO_PAD_NUM];
int16_t pyro;
--- /dev/null
+telefireeight-*
+ao_product.h
--- /dev/null
+#
+# TeleFire build file
+#
+
+include ../stm/Makefile.defs
+
+INC = \
+ ao.h \
+ ao_pins.h \
+ ao_arch.h \
+ ao_arch_funcs.h \
+ ao_pad.h \
+ ao_product.h \
+ ao_radio_spi.h \
+ ao_radio_cmac.h \
+ ao_cc1200_CC1200.h \
+ ao_cc1200.h \
+ stm32l.h
+#
+# Common AltOS sources
+#
+
+#PROFILE=ao_profile.c
+#PROFILE_DEF=-DAO_PROFILE=1
+
+ALTOS_SRC = \
+ ao_boot_chain.c \
+ ao_interrupt.c \
+ ao_product.c \
+ ao_romconfig.c \
+ ao_cmd.c \
+ ao_adc_stm.c \
+ ao_data.c \
+ ao_config.c \
+ ao_task.c \
+ ao_led.c \
+ ao_stdio.c \
+ ao_panic.c \
+ ao_timer.c \
+ ao_mutex.c \
+ ao_freq.c \
+ ao_dma_stm.c \
+ ao_spi_stm.c \
+ ao_beep_stm.c \
+ ao_eeprom_stm.c \
+ ao_usb_stm.c \
+ ao_exti_stm.c \
+ ao_cc1200.c \
+ ao_radio_cmac.c \
+ ao_aes.c \
+ ao_aes_tables.c \
+ ao_pad.c \
+ ao_radio_cmac_cmd.c
+
+PRODUCT_SRC = \
+ ao_telefireeight.c
+
+PRODUCT=TeleFireEight-v1.0
+PRODUCT_DEF=-DTELEFIREEIGHT_V_1_0
+IDPRODUCT=0x000f
+
+CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) -Os -g
+
+PROGNAME = telefireeight-v1.0
+PROG = $(PROGNAME)-$(VERSION).elf
+HEX = $(PROGNAME)-$(VERSION).ihx
+
+SRC = $(ALTOS_SRC) $(PRODUCT_SRC)
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG) $(HEX)
+
+$(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 $(PROGNAME)-*.elf $(PROGNAME)-*.ihx
+ rm -f ao_product.h
+
+install:
+
+uninstall:
+
--- /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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public 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
+#define HAS_RADIO_RATE 1
+#define HAS_TELEMETRY 0
+#define HAS_FLIGHT 0
+#define HAS_USB 1
+#define HAS_BEEP 0
+#define HAS_GPS 0
+#define HAS_SERIAL_1 0
+#define HAS_ADC 1
+#define HAS_DBG 0
+#define HAS_EEPROM 1
+#define HAS_LOG 0
+#define HAS_PAD 1
+#define USE_INTERNAL_FLASH 1
+#define IGNITE_ON_P0 0
+#define PACKET_HAS_MASTER 0
+#define PACKET_HAS_SLAVE 0
+#define AO_DATA_RING 32
+#define USE_EEPROM_CONFIG 1
+#define USE_STORAGE_CONFIG 0
+#define HAS_AES 1
+
+/* 8MHz High speed external crystal */
+#define AO_HSE 8000000
+
+/* PLLVCO = 96MHz (so that USB will work) */
+#define AO_PLLMUL 12
+#define AO_RCC_CFGR_PLLMUL (STM_RCC_CFGR_PLLMUL_12)
+
+#define AO_CC1200_FOSC 40000000
+
+/* SYSCLK = 32MHz (no need to go faster than CPU) */
+#define AO_PLLDIV 3
+#define AO_RCC_CFGR_PLLDIV (STM_RCC_CFGR_PLLDIV_3)
+
+/* HCLK = 32MHz (CPU clock) */
+#define AO_AHB_PRESCALER 1
+#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1
+
+/* Run APB1 at 16MHz (HCLK/2) */
+#define AO_APB1_PRESCALER 2
+#define AO_RCC_CFGR_PPRE1_DIV STM_RCC_CFGR_PPRE2_DIV_2
+
+/* Run APB2 at 16MHz (HCLK/2) */
+#define AO_APB2_PRESCALER 2
+#define AO_RCC_CFGR_PPRE2_DIV STM_RCC_CFGR_PPRE2_DIV_2
+
+#define HAS_SPI_1 1
+#define SPI_1_PA5_PA6_PA7 0
+#define SPI_1_PB3_PB4_PB5 0
+#define SPI_1_PE13_PE14_PE15 1
+#define SPI_1_GPIO (&stm_gpioe)
+#define SPI_1_SCK 13
+#define SPI_1_MISO 14
+#define SPI_1_MOSI 15
+#define SPI_1_OSPEEDR STM_OSPEEDR_10MHz
+
+#define HAS_SPI_2 0
+#define SPI_2_PB13_PB14_PB15 0
+#define SPI_2_PD1_PD3_PD4 0
+
+#define HAS_I2C_1 0
+
+#define HAS_I2C_2 0
+
+#define PACKET_HAS_SLAVE 0
+#define PACKET_HAS_MASTER 0
+
+#define FAST_TIMER_FREQ 10000 /* .1ms for debouncing */
+
+/*
+ * Radio is a cc1200 connected via SPI
+ */
+
+#define AO_RADIO_CAL_DEFAULT 5695733
+
+#define AO_CC1200_SPI_CS_PORT (&stm_gpioe)
+#define AO_CC1200_SPI_CS_PIN 11
+#define AO_CC1200_SPI_BUS AO_SPI_1_PE13_PE14_PE15
+#define AO_CC1200_SPI stm_spi1
+#define AO_CC1200_SPI_SPEED AO_SPI_SPEED_FAST
+
+#define AO_CC1200_INT_PORT (&stm_gpioe)
+#define AO_CC1200_INT_PIN (12)
+
+#define AO_CC1200_INT_GPIO 2
+#define AO_CC1200_INT_GPIO_IOCFG CC1200_IOCFG2
+
+#define LED_PER_LED 1
+#define LED_TYPE uint16_t
+
+/* Continuity leds 1-8 */
+#define LED_0_PORT (&stm_gpiob)
+#define LED_0_PIN 13
+#define LED_1_PORT (&stm_gpiob)
+#define LED_1_PIN 12
+#define LED_2_PORT (&stm_gpiob)
+#define LED_2_PIN 11
+#define LED_3_PORT (&stm_gpiob)
+#define LED_3_PIN 10
+#define LED_4_PORT (&stm_gpioc)
+#define LED_4_PIN 9
+#define LED_5_PORT (&stm_gpioa)
+#define LED_5_PIN 8
+#define LED_6_PORT (&stm_gpioa)
+#define LED_6_PIN 9
+#define LED_7_PORT (&stm_gpioa)
+#define LED_7_PIN 10
+
+#define LED_PIN_CONTINUITY_0 0
+#define LED_PIN_CONTINUITY_1 1
+#define LED_PIN_CONTINUITY_2 2
+#define LED_PIN_CONTINUITY_3 3
+#define LED_PIN_CONTINUITY_4 4
+#define LED_PIN_CONTINUITY_5 5
+#define LED_PIN_CONTINUITY_6 6
+#define LED_PIN_CONTINUITY_7 7
+
+/* ARM */
+#define LED_8_PORT (&stm_gpioe)
+#define LED_8_PIN 3
+
+#define LED_PIN_ARMED 8
+
+/* RF good/marginal/poor */
+#define LED_9_PORT (&stm_gpioe)
+#define LED_9_PIN 4
+#define LED_10_PORT (&stm_gpioe)
+#define LED_10_PIN 5
+#define LED_11_PORT (&stm_gpioe)
+#define LED_11_PIN 6
+
+#define LED_PIN_GREEN 9
+#define LED_PIN_AMBER 10
+#define LED_PIN_RED 11
+
+#define AO_LED_CONTINUITY(c) (1 << (c))
+#define AO_LED_CONTINUITY_MASK (0xff)
+
+#define AO_LED_ARMED (1 << LED_PIN_ARMED)
+#define AO_LED_GREEN (1 << LED_PIN_GREEN)
+#define AO_LED_AMBER (1 << LED_PIN_AMBER)
+#define AO_LED_RED (1 << LED_PIN_RED)
+
+#define LEDS_AVAILABLE (0xfff)
+
+/* Alarm A */
+#define AO_SIREN
+#define AO_SIREN_PORT (&stm_gpiod)
+#define AO_SIREN_PIN 10
+
+/* Alarm B */
+#define AO_STROBE
+#define AO_STROBE_PORT (&stm_gpiod)
+#define AO_STROBE_PIN 11
+
+/* Pad selector is on PD0-7 */
+
+#define HAS_FIXED_PAD_BOX 1
+#define AO_PAD_SELECTOR_PORT (&stm_gpiod)
+#define AO_PAD_SELECTOR_PINS (0xff)
+
+#define SPI_CONST 0x00
+
+#define AO_PAD_NUM 8
+#define AO_PAD_PORT_0 (&stm_gpiod)
+#define AO_PAD_PORT_1 (&stm_gpiob)
+
+#define AO_PAD_PIN_0 9
+#define AO_PAD_0_PORT (&stm_gpiod)
+#define AO_ADC_SENSE_PAD_0 3
+#define AO_ADC_SENSE_PAD_0_PORT (&stm_gpioa)
+#define AO_ADC_SENSE_PAD_0_PIN 3
+
+#define AO_PAD_PIN_1 8
+#define AO_PAD_1_PORT (&stm_gpiod)
+#define AO_ADC_SENSE_PAD_1 2
+#define AO_ADC_SENSE_PAD_1_PORT (&stm_gpioa)
+#define AO_ADC_SENSE_PAD_1_PIN 2
+
+#define AO_PAD_PIN_2 15
+#define AO_PAD_2_PORT (&stm_gpiob)
+#define AO_ADC_SENSE_PAD_2 1
+#define AO_ADC_SENSE_PAD_2_PORT (&stm_gpioa)
+#define AO_ADC_SENSE_PAD_2_PIN 1
+
+#define AO_PAD_PIN_3 14
+#define AO_PAD_3_PORT (&stm_gpiob)
+#define AO_ADC_SENSE_PAD_3 0
+#define AO_ADC_SENSE_PAD_3_PORT (&stm_gpioa)
+#define AO_ADC_SENSE_PAD_3_PIN 0
+
+#define AO_PAD_PIN_4 12
+#define AO_PAD_4_PORT (&stm_gpiod)
+#define AO_ADC_SENSE_PAD_4 7
+#define AO_ADC_SENSE_PAD_4_PORT (&stm_gpioa)
+#define AO_ADC_SENSE_PAD_4_PIN 7
+
+#define AO_PAD_PIN_5 13
+#define AO_PAD_5_PORT (&stm_gpiod)
+#define AO_ADC_SENSE_PAD_5 6
+#define AO_ADC_SENSE_PAD_5_PORT (&stm_gpioa)
+#define AO_ADC_SENSE_PAD_5_PIN 6
+
+#define AO_PAD_PIN_6 14
+#define AO_PAD_6_PORT (&stm_gpiod)
+#define AO_ADC_SENSE_PAD_6 5
+#define AO_ADC_SENSE_PAD_6_PORT (&stm_gpioa)
+#define AO_ADC_SENSE_PAD_6_PIN 5
+
+#define AO_PAD_PIN_7 15
+#define AO_PAD_7_PORT (&stm_gpiod)
+#define AO_ADC_SENSE_PAD_7 4
+#define AO_ADC_SENSE_PAD_7_PORT (&stm_gpioa)
+#define AO_ADC_SENSE_PAD_7_PIN 4
+
+#define AO_ADC_PYRO 8
+#define AO_ADC_PYRO_PORT (&stm_gpiob)
+#define AO_ADC_PYRO_PIN 0
+
+#define AO_ADC_BATT 15
+#define AO_ADC_BATT_PORT (&stm_gpioc)
+#define AO_ADC_BATT_PIN 5
+
+#define AO_ADC_PIN0_PORT AO_ADC_SENSE_PAD_0_PORT
+#define AO_ADC_PIN0_PIN AO_ADC_SENSE_PAD_0_PIN
+
+#define AO_ADC_PIN1_PORT AO_ADC_SENSE_PAD_1_PORT
+#define AO_ADC_PIN1_PIN AO_ADC_SENSE_PAD_1_PIN
+
+#define AO_ADC_PIN2_PORT AO_ADC_SENSE_PAD_2_PORT
+#define AO_ADC_PIN2_PIN AO_ADC_SENSE_PAD_2_PIN
+
+#define AO_ADC_PIN3_PORT AO_ADC_SENSE_PAD_3_PORT
+#define AO_ADC_PIN3_PIN AO_ADC_SENSE_PAD_3_PIN
+
+#define AO_ADC_PIN4_PORT AO_ADC_SENSE_PAD_4_PORT
+#define AO_ADC_PIN4_PIN AO_ADC_SENSE_PAD_4_PIN
+
+#define AO_ADC_PIN5_PORT AO_ADC_SENSE_PAD_5_PORT
+#define AO_ADC_PIN5_PIN AO_ADC_SENSE_PAD_5_PIN
+
+#define AO_ADC_PIN6_PORT AO_ADC_SENSE_PAD_6_PORT
+#define AO_ADC_PIN6_PIN AO_ADC_SENSE_PAD_6_PIN
+
+#define AO_ADC_PIN7_PORT AO_ADC_SENSE_PAD_7_PORT
+#define AO_ADC_PIN7_PIN AO_ADC_SENSE_PAD_7_PIN
+
+#define AO_ADC_PIN8_PORT AO_ADC_PYRO_PORT
+#define AO_ADC_PIN8_PIN AO_ADC_PYRO_PIN
+
+#define AO_ADC_PIN9_PORT AO_ADC_BATT_PORT
+#define AO_ADC_PIN9_PIN AO_ADC_BATT_PIN
+
+#define AO_PAD_ALL_CHANNELS (0xff)
+
+/* test these values with real igniters */
+#define AO_PAD_RELAY_CLOSED 3524
+#define AO_PAD_NO_IGNITER 16904
+#define AO_PAD_GOOD_IGNITER 22514
+
+#define AO_ADC_FIRST_PIN 0
+
+#define AO_NUM_ADC 10
+
+#define AO_ADC_SQ1 AO_ADC_SENSE_PAD_0
+#define AO_ADC_SQ2 AO_ADC_SENSE_PAD_1
+#define AO_ADC_SQ3 AO_ADC_SENSE_PAD_2
+#define AO_ADC_SQ4 AO_ADC_SENSE_PAD_3
+#define AO_ADC_SQ5 AO_ADC_SENSE_PAD_4
+#define AO_ADC_SQ6 AO_ADC_SENSE_PAD_5
+#define AO_ADC_SQ7 AO_ADC_SENSE_PAD_6
+#define AO_ADC_SQ8 AO_ADC_SENSE_PAD_7
+#define AO_ADC_SQ9 AO_ADC_PYRO
+#define AO_ADC_SQ10 AO_ADC_BATT
+
+#define AO_ADC_REFERENCE_DV 33
+
+#define AO_ADC_RCC_AHBENR ((1 << STM_RCC_AHBENR_GPIOAEN) | \
+ (1 << STM_RCC_AHBENR_GPIOBEN) | \
+ (1 << STM_RCC_AHBENR_GPIOCEN))
+
+
+#define AO_PAD_R_V_BATT_BATT_SENSE 200
+#define AO_PAD_R_BATT_SENSE_GND 22
+
+#define AO_PAD_R_V_BATT_V_PYRO 200
+#define AO_PAD_R_V_PYRO_PYRO_SENSE 200
+#define AO_PAD_R_PYRO_SENSE_GND 22
+
+#undef AO_PAD_R_V_PYRO_IGNITER
+#define AO_PAD_R_IGNITER_IGNITER_SENSE 200
+#define AO_PAD_R_IGNITER_SENSE_GND 22
+
+#define HAS_ADC_TEMP 0
+
+struct ao_adc {
+ int16_t sense[AO_PAD_NUM];
+ int16_t pyro;
+ int16_t batt;
+};
+
+#define AO_ADC_DUMP(p) \
+ printf ("tick: %5u " \
+ "0: %5d 1: %5d 2: %5d 3: %5d " \
+ "4: %5d 5: %5d 6: %5d 7: %5d " \
+ "pyro: %5d batt: %5d\n", \
+ (p)->tick, \
+ (p)->adc.sense[0], \
+ (p)->adc.sense[1], \
+ (p)->adc.sense[2], \
+ (p)->adc.sense[3], \
+ (p)->adc.sense[4], \
+ (p)->adc.sense[5], \
+ (p)->adc.sense[6], \
+ (p)->adc.sense[7], \
+ (p)->adc.pyro, \
+ (p)->adc.batt)
+
+#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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public 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_pad.h>
+#include <ao_exti.h>
+#include <ao_radio_cmac_cmd.h>
+
+void
+main(void)
+{
+ ao_clock_init();
+
+ ao_led_init(LEDS_AVAILABLE);
+
+ ao_task_init();
+
+ ao_timer_init();
+ ao_spi_init();
+ ao_dma_init();
+ ao_exti_init();
+
+ ao_cmd_init();
+
+ ao_adc_init();
+
+ ao_eeprom_init();
+
+ ao_radio_init();
+
+ ao_usb_init();
+
+ ao_config_init();
+
+ ao_pad_init();
+
+// ao_radio_cmac_cmd_init();
+
+ ao_start_scheduler();
+}
--- /dev/null
+*.elf
+*.ihx
--- /dev/null
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=telefireeight-v1.0
+include $(TOPDIR)/stm/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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public 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_
+
+/* External crystal at 8MHz */
+#define AO_HSE 8000000
+
+#include <ao_flash_stm_pins.h>
+
+#define AO_BOOT_PIN 1
+#define AO_BOOT_APPLICATION_GPIO stm_gpioe
+#define AO_BOOT_APPLICATION_PIN 2
+#define AO_BOOT_APPLICATION_VALUE 1
+#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_UP
+
+#endif /* _AO_PINS_H_ */
#define HAS_ADC_TEMP 0
+#define AO_ADC_REFERENCE_DV 33
+
+#define AO_PAD_R_V_BATT_BATT_SENSE 200
+#define AO_PAD_R_BATT_SENSE_GND 22
+
+#define AO_PAD_R_V_BATT_V_PYRO 200
+#define AO_PAD_R_V_PYRO_PYRO_SENSE 200
+#define AO_PAD_R_PYRO_SENSE_GND 22
+
+#undef AO_PAD_R_V_PYRO_IGNITER
+#define AO_PAD_R_IGNITER_IGNITER_SENSE 200
+#define AO_PAD_R_IGNITER_SENSE_GND 22
+
struct ao_adc {
int16_t sense[AO_PAD_NUM];
int16_t pyro;
--- /dev/null
+#
+# AltOS build for TeleLCO
+#
+#
+
+include ../stm/Makefile.defs
+
+INC = \
+ ao.h \
+ ao_arch.h \
+ ao_arch_funcs.h \
+ ao_boot.h \
+ ao_companion.h \
+ ao_data.h \
+ ao_sample.h \
+ ao_pins.h \
+ ao_product.h \
+ ao_seven_segment.h \
+ ao_lco.h \
+ ao_lco_cmd.h \
+ ao_lco_func.h \
+ ao_radio_spi.h \
+ ao_radio_cmac.h \
+ ao_cc1200_CC1200.h \
+ ao_cc1200.h \
+ stm32l.h
+
+#
+# Common AltOS sources
+#
+
+#PROFILE=ao_profile.c
+#PROFILE_DEF=-DAO_PROFILE=1
+
+ALTOS_SRC = \
+ ao_boot_chain.c \
+ ao_interrupt.c \
+ ao_product.c \
+ ao_romconfig.c \
+ ao_cmd.c \
+ ao_config.c \
+ ao_task.c \
+ ao_led.c \
+ ao_stdio.c \
+ ao_panic.c \
+ ao_timer.c \
+ ao_mutex.c \
+ ao_freq.c \
+ ao_dma_stm.c \
+ ao_spi_stm.c \
+ ao_beep_stm.c \
+ ao_eeprom_stm.c \
+ ao_adc_single_stm.c \
+ ao_convert_volt.c \
+ ao_fast_timer.c \
+ ao_lcd_stm.c \
+ ao_usb_stm.c \
+ ao_exti_stm.c \
+ ao_cc1200.c \
+ ao_radio_cmac.c \
+ ao_aes.c \
+ ao_aes_tables.c \
+ ao_fec_tx.c \
+ ao_fec_rx.c \
+ ao_seven_segment.c \
+ ao_quadrature.c \
+ ao_button.c \
+ ao_event.c \
+ ao_lco.c \
+ ao_lco_bits.c \
+ ao_lco_cmd.c \
+ ao_lco_func.c \
+ ao_radio_cmac_cmd.c
+
+PRODUCT=TeleLCO-v0.2
+PRODUCT_DEF=-DTELELCO
+IDPRODUCT=0x0023
+
+CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) -Os -g
+
+PROGNAME=telelco-v0.2
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SRC=$(ALTOS_SRC) ao_telelco.c
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG) $(HEX)
+
+$(PROG): Makefile $(OBJ) altos.ld
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS)
+
+../altitude.h: make-altitude
+ nickle $< > $@
+
+$(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 $(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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public 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_
+
+/* 8MHz High speed external crystal */
+#define AO_HSE 8000000
+
+/* PLLVCO = 96MHz (so that USB will work) */
+#define AO_PLLMUL 12
+#define AO_RCC_CFGR_PLLMUL (STM_RCC_CFGR_PLLMUL_12)
+
+#define AO_CC1200_FOSC 32000000
+
+/* SYSCLK = 32MHz (no need to go faster than CPU) */
+#define AO_PLLDIV 3
+#define AO_RCC_CFGR_PLLDIV (STM_RCC_CFGR_PLLDIV_3)
+
+/* HCLK = 32MHz (CPU clock) */
+#define AO_AHB_PRESCALER 1
+#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1
+
+/* Run APB1 at 16MHz (HCLK/2) */
+#define AO_APB1_PRESCALER 2
+#define AO_RCC_CFGR_PPRE1_DIV STM_RCC_CFGR_PPRE2_DIV_2
+
+/* Run APB2 at 16MHz (HCLK/2) */
+#define AO_APB2_PRESCALER 2
+#define AO_RCC_CFGR_PPRE2_DIV STM_RCC_CFGR_PPRE2_DIV_2
+
+#define HAS_EEPROM 1
+#define USE_INTERNAL_FLASH 1
+#define USE_EEPROM_CONFIG 1
+#define USE_STORAGE_CONFIG 0
+#define HAS_USB 1
+#define HAS_BEEP 1
+#define HAS_RADIO 1
+#define HAS_RADIO_RATE 1
+#define HAS_TELEMETRY 0
+#define HAS_AES 1
+#define HAS_STATIC_TEST 0
+
+
+#define HAS_SPI_1 0
+#define SPI_1_PA5_PA6_PA7 0
+#define SPI_1_PB3_PB4_PB5 0
+#define SPI_1_PE13_PE14_PE15 0
+
+#define HAS_SPI_2 1 /* CC1120 */
+#define SPI_2_PB13_PB14_PB15 0
+#define SPI_2_PD1_PD3_PD4 1
+#define SPI_2_GPIO (&stm_gpiod)
+#define SPI_2_SCK 1
+#define SPI_2_MISO 3
+#define SPI_2_MOSI 4
+#define SPI_2_OSPEEDR STM_OSPEEDR_10MHz
+
+#define HAS_I2C_1 0
+
+#define HAS_I2C_2 0
+
+#define PACKET_HAS_SLAVE 0
+#define PACKET_HAS_MASTER 0
+
+#define FAST_TIMER_FREQ 10000 /* .1ms for debouncing */
+
+/*
+ * Radio is a cc1200 connected via SPI
+ */
+
+#define AO_RADIO_CAL_DEFAULT 5695733
+
+#define AO_FEC_DEBUG 0
+#define AO_CC1200_SPI_CS_PORT (&stm_gpiod)
+#define AO_CC1200_SPI_CS_PIN 0
+#define AO_CC1200_SPI_BUS AO_SPI_2_PD1_PD3_PD4
+#define AO_CC1200_SPI stm_spi2
+#define AO_CC1200_SPI_SPEED AO_SPI_SPEED_FAST
+
+#define AO_CC1200_INT_PORT (&stm_gpioc)
+#define AO_CC1200_INT_PIN (15)
+
+#define AO_CC1200_INT_GPIO 2
+#define AO_CC1200_INT_GPIO_IOCFG CC1200_IOCFG2
+
+#define LOW_LEVEL_DEBUG 0
+
+#define LED_PORT_ENABLE STM_RCC_AHBENR_GPIOCEN
+#define LED_PORT (&stm_gpioc)
+#define LED_PIN_RED 7
+#define LED_PIN_AMBER 8
+#define LED_PIN_GREEN 9
+#define LED_PIN_CONTINUITY_3 10
+#define LED_PIN_CONTINUITY_2 11
+#define LED_PIN_CONTINUITY_1 12
+#define LED_PIN_CONTINUITY_0 13
+#define LED_PIN_REMOTE_ARM 14
+#define AO_LED_RED (1 << LED_PIN_RED)
+#define AO_LED_AMBER (1 << LED_PIN_AMBER)
+#define AO_LED_GREEN (1 << LED_PIN_GREEN)
+#define AO_LED_CONTINUITY_3 (1 << LED_PIN_CONTINUITY_3)
+#define AO_LED_CONTINUITY_2 (1 << LED_PIN_CONTINUITY_2)
+#define AO_LED_CONTINUITY_1 (1 << LED_PIN_CONTINUITY_1)
+#define AO_LED_CONTINUITY_0 (1 << LED_PIN_CONTINUITY_0)
+
+#define AO_LED_CONTINUITY_NUM 4
+
+#define AO_LED_REMOTE_ARM (1 << LED_PIN_REMOTE_ARM)
+
+#define LEDS_AVAILABLE (AO_LED_RED | \
+ AO_LED_AMBER | \
+ AO_LED_GREEN | \
+ AO_LED_CONTINUITY_3 | \
+ AO_LED_CONTINUITY_2 | \
+ AO_LED_CONTINUITY_1 | \
+ AO_LED_CONTINUITY_0 | \
+ AO_LED_REMOTE_ARM)
+
+/* LCD displays */
+
+#define LCD_DEBUG 0
+#define SEVEN_SEGMENT_DEBUG 0
+
+#define AO_LCD_STM_SEG_ENABLED_0 ( \
+ (1 << 0) | /* PA1 */ \
+ (1 << 1) | /* PA2 */ \
+ (1 << 2) | /* PA3 */ \
+ (1 << 3) | /* PA6 */ \
+ (1 << 4) | /* PA7 */ \
+ (1 << 5) | /* PB0 */ \
+ (1 << 6) | /* PB1 */ \
+ (1 << 7) | /* PB3 */ \
+ (1 << 8) | /* PB4 */ \
+ (1 << 9) | /* PB5 */ \
+ (1 << 10) | /* PB10 */ \
+ (1 << 11) | /* PB11 */ \
+ (1 << 12) | /* PB12 */ \
+ (1 << 13) | /* PB13 */ \
+ (1 << 14) | /* PB14 */ \
+ (1 << 15) | /* PB15 */ \
+ (1 << 16) | /* PB8 */ \
+ (1 << 17) | /* PA15 */ \
+ (1 << 18) | /* PC0 */ \
+ (1 << 19) | /* PC1 */ \
+ (1 << 20) | /* PC2 */ \
+ (1 << 21) | /* PC3 */ \
+ (1 << 22) | /* PC4 */ \
+ (1 << 23) | /* PC5 */ \
+ (0 << 24) | /* PC6 */ \
+ (0 << 25) | /* PC7 */ \
+ (0 << 26) | /* PC8 */ \
+ (0 << 27) | /* PC9 */ \
+ (0 << 28) | /* PC10 or PD8 */ \
+ (0 << 29) | /* PC11 or PD9 */ \
+ (0 << 30) | /* PC12 or PD10 */ \
+ (0 << 31)) /* PD2 or PD11 */
+
+#define AO_LCD_STM_SEG_ENABLED_1 ( \
+ (0 << 0) | /* PD12 */ \
+ (0 << 1) | /* PD13 */ \
+ (0 << 2) | /* PD14 */ \
+ (0 << 3) | /* PD15 */ \
+ (0 << 4) | /* PE0 */ \
+ (0 << 5) | /* PE1 */ \
+ (0 << 6) | /* PE2 */ \
+ (0 << 7)) /* PE3 */
+
+#define AO_LCD_STM_COM_ENABLED ( \
+ (1 << 0) | /* PA8 */ \
+ (0 << 1) | /* PA9 */ \
+ (0 << 2) | /* PA10 */ \
+ (0 << 3) | /* PB9 */ \
+ (0 << 4) | /* PC10 */ \
+ (0 << 5) | /* PC11 */ \
+ (0 << 6)) /* PC12 */
+
+#define AO_LCD_28_ON_C 0
+
+#define AO_LCD_DUTY STM_LCD_CR_DUTY_STATIC
+
+#define AO_LCD_PER_DIGIT 1
+
+#define AO_LCD_DIGITS 3
+#define AO_LCD_SEGMENTS 8
+
+#define AO_SEGMENT_MAP { \
+ /* pad segments */ \
+ { 0, 14 }, \
+ { 0, 13 }, \
+ { 0, 15 }, \
+ { 0, 17 }, \
+ { 0, 16 }, \
+ { 0, 8 }, \
+ { 0, 9 }, \
+ { 0, 7 }, \
+ /* box1 segments */ \
+ { 0, 10 }, \
+ { 0, 6 }, \
+ { 0, 11 }, \
+ { 0, 12 }, \
+ { 0, 21 }, \
+ { 0, 19 }, \
+ { 0, 20 }, \
+ { 0, 18 }, \
+ /* box0 segments */ \
+ { 0, 22 }, \
+ { 0, 4 }, \
+ { 0, 23 }, \
+ { 0, 5 }, \
+ { 0, 3 }, \
+ { 0, 1 }, \
+ { 0, 2 }, \
+ { 0, 0 }, \
+}
+
+/*
+ * Use event queue for input devices
+ */
+
+#define AO_EVENT 1
+
+/*
+ * Knobs
+ */
+
+#define AO_QUADRATURE_COUNT 2
+
+#define AO_QUADRATURE_0_PORT &stm_gpioe
+#define AO_QUADRATURE_0_A 3
+#define AO_QUADRATURE_0_B 2
+
+#define AO_QUADRATURE_PAD 0
+
+#define AO_QUADRATURE_1_PORT &stm_gpioe
+#define AO_QUADRATURE_1_A 1
+#define AO_QUADRATURE_1_B 0
+
+#define AO_QUADRATURE_BOX 1
+#define AO_QUADRATURE_DEBOUNCE 10
+
+/*
+ * Buttons
+ */
+
+#define AO_BUTTON_COUNT 2
+#define AO_BUTTON_MODE AO_EXTI_MODE_PULL_UP
+
+#define AO_BUTTON_0_PORT &stm_gpioe
+#define AO_BUTTON_0 4
+
+#define AO_BUTTON_ARM 0
+
+#define AO_BUTTON_1_PORT &stm_gpioe
+#define AO_BUTTON_1 5
+
+#define AO_BUTTON_FIRE 1
+
+/* ADC */
+
+#define HAS_ADC_SINGLE 1
+#define HAS_BATTERY_REPORT 1
+
+struct ao_adc {
+ int16_t v_batt;
+ int16_t temp;
+ int16_t v_ref;
+};
+
+#if HAS_ADC_SINGLE
+#define AO_ADC_DUMP(p) \
+ printf("batt: %5d temp: %5d v_ref: %5d\n", \
+ (p)->v_batt, (p)->temp, (p)->v_ref)
+#endif
+#if HAS_ADC
+#define AO_ADC_DUMP(p) \
+ printf("%5d: batt: %5d temp %5d v_ref %5d\n", \
+ (p)->tick, (p)->adc.v_batt, (p)->adc.temp, (p)->adc.v_ref)
+#endif
+
+#define HAS_ADC_TEMP 1
+
+#define AO_ADC_V_BATT 0
+#define AO_ADC_V_BATT_PORT (&stm_gpioa)
+#define AO_ADC_V_BATT_PIN 0
+
+#define AO_ADC_RCC_AHBENR (1 << STM_RCC_AHBENR_GPIOAEN)
+
+#define AO_ADC_PIN0_PORT AO_ADC_V_BATT_PORT
+#define AO_ADC_PIN0_PIN AO_ADC_V_BATT_PIN
+
+#define AO_ADC_SQ1 AO_ADC_V_BATT
+#define AO_ADC_SQ2 STM_ADC_SQ_TEMP
+#define AO_ADC_SQ3 STM_ADC_SQ_V_REF
+
+#define AO_NUM_ADC 3
+
+/*
+ * Voltage divider on ADC battery sampler
+ */
+#define AO_BATTERY_DIV_PLUS 15 /* 15k */
+#define AO_BATTERY_DIV_MINUS 27 /* 27k */
+
+/*
+ * ADC reference in decivolts
+ */
+#define AO_ADC_REFERENCE_DV 33
+
+#endif /* _AO_PINS_H_ */
--- /dev/null
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public 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_packet.h>
+#include <ao_companion.h>
+#include <ao_profile.h>
+#include <ao_pyro.h>
+#include <ao_aes.h>
+#include <ao_seven_segment.h>
+#include <ao_quadrature.h>
+#include <ao_button.h>
+#include <ao_lco.h>
+#include <ao_lco_cmd.h>
+#include <ao_radio_cmac_cmd.h>
+#include <ao_eeprom.h>
+#if HAS_ADC_SINGLE
+#include <ao_adc_single.h>
+#endif
+#if HAS_ADC
+#include <ao_adc.h>
+#endif
+
+int
+main(void)
+{
+ ao_clock_init();
+ ao_task_init();
+ ao_timer_init();
+ ao_dma_init();
+
+ ao_led_init(LEDS_AVAILABLE);
+ ao_led_on(AO_LED_GREEN);
+
+
+ ao_spi_init();
+ ao_exti_init();
+
+ ao_beep_init();
+ ao_cmd_init();
+
+ ao_lcd_stm_init();
+ ao_seven_segment_init();
+ ao_quadrature_init();
+ ao_button_init();
+
+ ao_adc_single_init();
+
+ ao_eeprom_init();
+
+ ao_radio_init();
+
+ ao_usb_init();
+
+ ao_config_init();
+
+ ao_lco_init();
+ ao_lco_cmd_init();
+// ao_radio_cmac_cmd_init();
+
+ ao_start_scheduler();
+ return 0;
+}
--- /dev/null
+ao_product.h
+telelco*.elf
--- /dev/null
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=telelco-v0.2
+include $(TOPDIR)/stm/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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public 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_
+
+/* External crystal at 8MHz */
+#define AO_HSE 8000000
+
+#include <ao_flash_stm_pins.h>
+
+/* Arm switch. Press at power on to get boot loader */
+
+#define AO_BOOT_PIN 1
+#define AO_BOOT_APPLICATION_GPIO stm_gpioe
+#define AO_BOOT_APPLICATION_PIN 4
+#define AO_BOOT_APPLICATION_VALUE 1
+#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_UP
+
+#endif /* _AO_PINS_H_ */
ao_button.c \
ao_event.c \
ao_lco.c \
+ ao_lco_bits.c \
ao_lco_cmd.c \
ao_lco_func.c \
ao_radio_cmac_cmd.c
#define AO_QUADRATURE_1_B 0
#define AO_QUADRATURE_BOX 1
+#define AO_QUADRATURE_DEBOUNCE 10
/*
* Buttons
ao_button.c \
ao_event.c \
ao_lco.c \
+ ao_lco_bits.c \
ao_lco_cmd.c \
ao_lco_func.c \
ao_radio_cmac_cmd.c
#define HAS_RADIO_RATE 1
#define HAS_TELEMETRY 0
#define HAS_AES 1
+#define HAS_STATIC_TEST 0
+
#define HAS_SPI_1 0
#define SPI_1_PA5_PA6_PA7 0
#define AO_QUADRATURE_1_B 0
#define AO_QUADRATURE_BOX 1
+#define AO_QUADRATURE_DEBOUNCE 10
/*
* Buttons
--- /dev/null
+ao_product.h
+telelco*.elf
--- /dev/null
+#
+# AltOS build for TeleLCO v2.0
+#
+#
+
+include ../stm/Makefile.defs
+
+INC = \
+ ao.h \
+ ao_arch.h \
+ ao_arch_funcs.h \
+ ao_boot.h \
+ ao_companion.h \
+ ao_data.h \
+ ao_sample.h \
+ ao_pins.h \
+ ao_product.h \
+ ao_seven_segment.h \
+ ao_lco.h \
+ ao_lco_cmd.h \
+ ao_lco_func.h \
+ ao_radio_spi.h \
+ ao_radio_cmac.h \
+ ao_cc1200_CC1200.h \
+ ao_cc1200.h \
+ stm32l.h
+
+#
+# Common AltOS sources
+#
+
+#PROFILE=ao_profile.c
+#PROFILE_DEF=-DAO_PROFILE=1
+
+ALTOS_SRC = \
+ ao_boot_chain.c \
+ ao_interrupt.c \
+ ao_product.c \
+ ao_romconfig.c \
+ ao_cmd.c \
+ ao_config.c \
+ ao_task.c \
+ ao_led.c \
+ ao_stdio.c \
+ ao_panic.c \
+ ao_timer.c \
+ ao_mutex.c \
+ ao_freq.c \
+ ao_dma_stm.c \
+ ao_spi_stm.c \
+ ao_beep_stm.c \
+ ao_eeprom_stm.c \
+ ao_adc_single_stm.c \
+ ao_convert_volt.c \
+ ao_fast_timer.c \
+ ao_lcd_stm.c \
+ ao_usb_stm.c \
+ ao_exti_stm.c \
+ ao_cc1200.c \
+ ao_radio_cmac.c \
+ ao_aes.c \
+ ao_aes_tables.c \
+ ao_fec_tx.c \
+ ao_fec_rx.c \
+ ao_seven_segment.c \
+ ao_quadrature.c \
+ ao_button.c \
+ ao_event.c \
+ ao_lco_bits.c \
+ ao_lco_v2.c \
+ ao_lco_cmd.c \
+ ao_lco_func.c \
+ ao_radio_cmac_cmd.c
+
+PRODUCT=TeleLCO-v2.0
+PRODUCT_DEF=-DTELELCO
+IDPRODUCT=0x0023
+
+CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) -Os -g
+
+PROGNAME=telelco-v2.0
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SRC=$(ALTOS_SRC) ao_telelco.c
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG) $(HEX)
+
+$(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 $(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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public 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_lco.h>
+#include <ao_event.h>
+#include <ao_seven_segment.h>
+#include <ao_quadrature.h>
+#include <ao_radio_cmac.h>
+#include <ao_adc_single.h>
+
+#define AO_LCO_PAD_DIGIT 0
+#define AO_LCO_BOX_DIGIT_1 1
+#define AO_LCO_BOX_DIGIT_10 2
+
+#define AO_LCO_DRAG_RACE_START_TIME AO_SEC_TO_TICKS(5)
+#define AO_LCO_DRAG_RACE_STOP_TIME AO_SEC_TO_TICKS(2)
+
+/* UI values */
+static uint8_t ao_lco_select_mode;
+#define AO_LCO_SELECT_PAD 0
+#define AO_LCO_SELECT_BOX 1
+
+static uint8_t ao_lco_display_mutex;
+
+void
+ao_lco_show_pad(uint8_t pad)
+{
+ ao_mutex_get(&ao_lco_display_mutex);
+ ao_seven_segment_set(AO_LCO_PAD_DIGIT, pad | (ao_lco_drag_race << 4));
+ ao_mutex_put(&ao_lco_display_mutex);
+}
+
+#define SEVEN_SEGMENT_d ((0 << 0) | \
+ (0 << 1) | \
+ (1 << 2) | \
+ (1 << 3) | \
+ (1 << 4) | \
+ (1 << 5) | \
+ (1 << 6))
+
+
+#define SEVEN_SEGMENT_r ((0 << 0) | \
+ (0 << 1) | \
+ (0 << 2) | \
+ (1 << 3) | \
+ (1 << 4) | \
+ (0 << 5) | \
+ (0 << 6))
+
+void
+ao_lco_show_box(uint16_t box)
+{
+ ao_mutex_get(&ao_lco_display_mutex);
+ ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, box % 10 | (ao_lco_drag_race << 4));
+ ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, box / 10 | (ao_lco_drag_race << 4));
+ ao_mutex_put(&ao_lco_display_mutex);
+}
+
+static void
+ao_lco_show_voltage(uint16_t decivolts)
+{
+ uint8_t tens, ones, tenths;
+
+ PRINTD("voltage %d\n", decivolts);
+ tenths = decivolts % 10;
+ ones = (decivolts / 10) % 10;
+ tens = (decivolts / 100) % 10;
+ ao_mutex_get(&ao_lco_display_mutex);
+ ao_seven_segment_set(AO_LCO_PAD_DIGIT, tenths);
+ ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, ones | 0x10);
+ ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, tens);
+ ao_mutex_put(&ao_lco_display_mutex);
+}
+
+void
+ao_lco_show(void)
+{
+ if (ao_lco_pad == AO_LCO_PAD_VOLTAGE) {
+ ao_lco_show_voltage(ao_pad_query.battery);
+ } else {
+ ao_lco_show_pad(ao_lco_pad);
+ ao_lco_show_box(ao_lco_box);
+ }
+}
+
+uint8_t
+ao_lco_box_present(uint16_t box)
+{
+ if (box >= AO_PAD_MAX_BOXES)
+ return 0;
+ return (ao_lco_box_mask[AO_LCO_MASK_ID(box)] >> AO_LCO_MASK_SHIFT(box)) & 1;
+}
+
+static void
+ao_lco_set_select(void)
+{
+ if (ao_lco_armed) {
+ ao_led_off(AO_LED_PAD);
+ ao_led_off(AO_LED_BOX);
+ } else {
+ switch (ao_lco_select_mode) {
+ case AO_LCO_SELECT_PAD:
+ ao_led_off(AO_LED_BOX);
+ ao_led_on(AO_LED_PAD);
+ break;
+ case AO_LCO_SELECT_BOX:
+ ao_led_off(AO_LED_PAD);
+ ao_led_on(AO_LED_BOX);
+ break;
+ default:
+ break;
+ }
+ }
+}
+
+static void
+ao_lco_step_box(int8_t dir)
+{
+ int16_t new_box = ao_lco_box;
+
+ do {
+ new_box += dir;
+ if (new_box > ao_lco_max_box)
+ new_box = ao_lco_min_box;
+ else if (new_box < ao_lco_min_box)
+ new_box = ao_lco_max_box;
+ if (new_box == ao_lco_box)
+ break;
+ } while (!ao_lco_box_present(new_box));
+ ao_lco_set_box(new_box);
+}
+
+static struct ao_task ao_lco_drag_task;
+
+static void
+ao_lco_drag_monitor(void)
+{
+ uint16_t delay = ~0;
+ uint16_t now;
+
+ ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200));
+ for (;;) {
+ PRINTD("Drag monitor count %d delay %d\n", ao_lco_drag_beep_count, delay);
+ if (delay == (uint16_t) ~0)
+ ao_sleep(&ao_lco_drag_beep_count);
+ else
+ ao_sleep_for(&ao_lco_drag_beep_count, delay);
+
+ delay = ~0;
+ now = ao_time();
+ delay = ao_lco_drag_warn_check(now, delay);
+ delay = ao_lco_drag_beep_check(now, delay);
+ }
+}
+
+static void
+ao_lco_input(void)
+{
+ static struct ao_event event;
+
+ for (;;) {
+ ao_event_get(&event);
+ PRINTD("event type %d unit %d value %d\n",
+ event.type, event.unit, event.value);
+ switch (event.type) {
+ case AO_EVENT_QUADRATURE:
+ switch (event.unit) {
+ case AO_QUADRATURE_SELECT:
+ if (!ao_lco_armed) {
+ switch (ao_lco_select_mode) {
+ case AO_LCO_SELECT_PAD:
+ ao_lco_step_pad((int8_t) event.value);
+ break;
+ case AO_LCO_SELECT_BOX:
+ ao_lco_step_box((int8_t) event.value);
+ break;
+ default:
+ break;
+ }
+ }
+ break;
+ }
+ break;
+ case AO_EVENT_BUTTON:
+ switch (event.unit) {
+ case AO_BUTTON_ARM:
+ ao_lco_set_armed(event.value);
+ ao_lco_set_select();
+ break;
+ case AO_BUTTON_FIRE:
+ if (ao_lco_armed)
+ ao_lco_set_firing(event.value);
+ break;
+ case AO_BUTTON_DRAG_SELECT:
+ if (event.value)
+ ao_lco_toggle_drag();
+ break;
+ case AO_BUTTON_DRAG_MODE:
+ if (event.value)
+ ao_lco_drag_enable();
+ else
+ ao_lco_drag_disable();
+ break;
+ case AO_BUTTON_ENCODER_SELECT:
+ if (event.value) {
+ if (!ao_lco_armed) {
+ ao_lco_select_mode = 1 - ao_lco_select_mode;
+ ao_lco_set_select();
+ }
+ }
+ break;
+ }
+ break;
+ }
+ }
+}
+
+/*
+ * Light up everything for a second at power on to let the user
+ * visually inspect the system for correct operation
+ */
+static void
+ao_lco_display_test()
+{
+ ao_mutex_get(&ao_lco_display_mutex);
+ ao_seven_segment_set(AO_LCO_PAD_DIGIT, 8 | 0x10);
+ ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, 8 | 0x10);
+ ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, 8 | 0x10);
+ ao_mutex_put(&ao_lco_display_mutex);
+ ao_led_on(LEDS_AVAILABLE);
+ ao_delay(AO_MS_TO_TICKS(1000));
+ ao_led_off(LEDS_AVAILABLE);
+}
+
+static void
+ao_lco_batt_voltage(void)
+{
+ struct ao_adc packet;
+ int16_t decivolt;
+
+ ao_adc_single_get(&packet);
+ decivolt = ao_battery_decivolt(packet.v_batt);
+ ao_lco_show_voltage(decivolt);
+ ao_delay(AO_MS_TO_TICKS(1000));
+}
+
+static struct ao_task ao_lco_input_task;
+static struct ao_task ao_lco_monitor_task;
+static struct ao_task ao_lco_arm_warn_task;
+static struct ao_task ao_lco_igniter_status_task;
+
+static void
+ao_lco_main(void)
+{
+ ao_lco_display_test();
+ ao_lco_batt_voltage();
+ ao_lco_search();
+ ao_add_task(&ao_lco_input_task, ao_lco_input, "lco input");
+ ao_add_task(&ao_lco_arm_warn_task, ao_lco_arm_warn, "lco arm warn");
+ ao_add_task(&ao_lco_igniter_status_task, ao_lco_igniter_status, "lco igniter status");
+ ao_add_task(&ao_lco_drag_task, ao_lco_drag_monitor, "drag race");
+ ao_lco_monitor();
+}
+
+#if DEBUG
+void
+ao_lco_set_debug(void)
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status == ao_cmd_success)
+ ao_lco_debug = ao_cmd_lex_i != 0;
+}
+
+__code struct ao_cmds ao_lco_cmds[] = {
+ { ao_lco_set_debug, "D <0 off, 1 on>\0Debug" },
+ { ao_lco_search, "s\0Search for pad boxes" },
+ { 0, NULL }
+};
+#endif
+
+void
+ao_lco_init(void)
+{
+ ao_add_task(&ao_lco_monitor_task, ao_lco_main, "lco monitor");
+#if DEBUG
+ ao_cmd_register(&ao_lco_cmds[0]);
+#endif
+}
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public 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_
+
+/* 8MHz High speed external crystal */
+#define AO_HSE 8000000
+
+/* PLLVCO = 96MHz (so that USB will work) */
+#define AO_PLLMUL 12
+#define AO_RCC_CFGR_PLLMUL (STM_RCC_CFGR_PLLMUL_12)
+
+#define AO_CC1200_FOSC 40000000
+
+/* SYSCLK = 32MHz (no need to go faster than CPU) */
+#define AO_PLLDIV 3
+#define AO_RCC_CFGR_PLLDIV (STM_RCC_CFGR_PLLDIV_3)
+
+/* HCLK = 32MHz (CPU clock) */
+#define AO_AHB_PRESCALER 1
+#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1
+
+/* Run APB1 at 16MHz (HCLK/2) */
+#define AO_APB1_PRESCALER 2
+#define AO_RCC_CFGR_PPRE1_DIV STM_RCC_CFGR_PPRE2_DIV_2
+
+/* Run APB2 at 16MHz (HCLK/2) */
+#define AO_APB2_PRESCALER 2
+#define AO_RCC_CFGR_PPRE2_DIV STM_RCC_CFGR_PPRE2_DIV_2
+
+#define HAS_EEPROM 1
+#define USE_INTERNAL_FLASH 1
+#define USE_EEPROM_CONFIG 1
+#define USE_STORAGE_CONFIG 0
+#define HAS_USB 1
+#define HAS_BEEP 1
+#define HAS_RADIO 1
+#define HAS_RADIO_RATE 1
+#define HAS_TELEMETRY 0
+#define HAS_AES 1
+#define HAS_STATIC_TEST 0
+
+#define HAS_SPI_1 0
+#define SPI_1_PA5_PA6_PA7 0
+#define SPI_1_PB3_PB4_PB5 0
+#define SPI_1_PE13_PE14_PE15 0
+
+#define HAS_SPI_2 1 /* CC1200 */
+#define SPI_2_PB13_PB14_PB15 0
+#define SPI_2_PD1_PD3_PD4 1
+#define SPI_2_GPIO (&stm_gpiod)
+#define SPI_2_SCK 1
+#define SPI_2_MISO 3
+#define SPI_2_MOSI 4
+#define SPI_2_OSPEEDR STM_OSPEEDR_10MHz
+
+#define HAS_I2C_1 0
+
+#define HAS_I2C_2 0
+
+#define PACKET_HAS_SLAVE 0
+#define PACKET_HAS_MASTER 0
+
+#define FAST_TIMER_FREQ 10000 /* .1ms for debouncing */
+
+/*
+ * Radio is a cc1200 connected via SPI
+ */
+
+#define AO_RADIO_CAL_DEFAULT 5695733
+
+#define AO_CC1200_SPI_CS_PORT (&stm_gpiod)
+#define AO_CC1200_SPI_CS_PIN 0
+#define AO_CC1200_SPI_BUS AO_SPI_2_PD1_PD3_PD4
+#define AO_CC1200_SPI stm_spi2
+#define AO_CC1200_SPI_SPEED AO_SPI_SPEED_FAST
+
+#define AO_CC1200_INT_PORT (&stm_gpiod)
+#define AO_CC1200_INT_PIN (5)
+
+#define AO_CC1200_INT_GPIO 2
+#define AO_CC1200_INT_GPIO_IOCFG CC1200_IOCFG2
+
+#define LOW_LEVEL_DEBUG 0
+
+#define LED_PER_LED 1
+#define LED_TYPE uint16_t
+
+#define LED_ENABLE_BITS ((1 << STM_RCC_AHBENR_GPIOAEN) | \
+ (1 << STM_RCC_AHBENR_GPIOCEN) | \
+ (1 << STM_RCC_AHBENR_GPIODEN) | \
+ (1 << STM_RCC_AHBENR_GPIOEEN))
+
+/* PC7 - PC9, LED 0 - 2 */
+#define LED_0_PORT (&stm_gpioc)
+#define LED_0_PIN 7
+#define LED_1_PORT (&stm_gpioc)
+#define LED_1_PIN 8
+#define LED_2_PORT (&stm_gpioc)
+#define LED_2_PIN 9
+
+/* PD8 - PD10, LED 3 - 5 */
+#define LED_3_PORT (&stm_gpiod)
+#define LED_3_PIN 8
+#define LED_4_PORT (&stm_gpiod)
+#define LED_4_PIN 9
+#define LED_5_PORT (&stm_gpiod)
+#define LED_5_PIN 10
+
+/* PE2 - PE11 (not PE6), LED 6-14 */
+#define LED_6_PORT (&stm_gpioe)
+#define LED_6_PIN 2
+#define LED_7_PORT (&stm_gpioe)
+#define LED_7_PIN 3
+#define LED_8_PORT (&stm_gpioe)
+#define LED_8_PIN 4
+#define LED_9_PORT (&stm_gpioe)
+#define LED_9_PIN 5
+#define LED_10_PORT (&stm_gpioe)
+#define LED_10_PIN 7
+#define LED_11_PORT (&stm_gpioe)
+#define LED_11_PIN 8
+#define LED_12_PORT (&stm_gpioe)
+#define LED_12_PIN 9
+#define LED_13_PORT (&stm_gpioe)
+#define LED_13_PIN 10
+#define LED_14_PORT (&stm_gpioe)
+#define LED_14_PIN 11
+
+/* PA5, LED 15 */
+#define LED_15_PORT (&stm_gpioa)
+#define LED_15_PIN 5
+
+#define LED_PIN_RED 0
+#define LED_PIN_AMBER 1
+#define LED_PIN_GREEN 2
+#define LED_PIN_BOX 3
+#define LED_PIN_PAD 4
+#define LED_PIN_DRAG 5
+#define LED_PIN_CONTINUITY_7 6
+#define LED_PIN_CONTINUITY_6 7
+#define LED_PIN_CONTINUITY_5 8
+#define LED_PIN_CONTINUITY_4 9
+#define LED_PIN_CONTINUITY_3 10
+#define LED_PIN_CONTINUITY_2 11
+#define LED_PIN_CONTINUITY_1 12
+#define LED_PIN_CONTINUITY_0 13
+#define LED_PIN_REMOTE_ARM 14
+#define LED_PIN_FIRE 15
+#define AO_LED_RED (1 << LED_PIN_RED)
+#define AO_LED_AMBER (1 << LED_PIN_AMBER)
+#define AO_LED_GREEN (1 << LED_PIN_GREEN)
+#define AO_LED_BOX (1 << LED_PIN_BOX)
+#define AO_LED_PAD (1 << LED_PIN_PAD)
+#define AO_LED_DRAG (1 << LED_PIN_DRAG)
+#define AO_LED_CONTINUITY_7 (1 << LED_PIN_CONTINUITY_7)
+#define AO_LED_CONTINUITY_6 (1 << LED_PIN_CONTINUITY_6)
+#define AO_LED_CONTINUITY_5 (1 << LED_PIN_CONTINUITY_5)
+#define AO_LED_CONTINUITY_4 (1 << LED_PIN_CONTINUITY_4)
+#define AO_LED_CONTINUITY_3 (1 << LED_PIN_CONTINUITY_3)
+#define AO_LED_CONTINUITY_2 (1 << LED_PIN_CONTINUITY_2)
+#define AO_LED_CONTINUITY_1 (1 << LED_PIN_CONTINUITY_1)
+#define AO_LED_CONTINUITY_0 (1 << LED_PIN_CONTINUITY_0)
+#define AO_LED_CONTINUITY_NUM 8
+#define AO_LED_REMOTE_ARM (1 << LED_PIN_REMOTE_ARM)
+#define AO_LED_FIRE (1 << LED_PIN_FIRE)
+
+#define LEDS_AVAILABLE (AO_LED_RED | \
+ AO_LED_AMBER | \
+ AO_LED_GREEN | \
+ AO_LED_BOX | \
+ AO_LED_PAD | \
+ AO_LED_DRAG | \
+ AO_LED_CONTINUITY_7 | \
+ AO_LED_CONTINUITY_6 | \
+ AO_LED_CONTINUITY_5 | \
+ AO_LED_CONTINUITY_4 | \
+ AO_LED_CONTINUITY_3 | \
+ AO_LED_CONTINUITY_2 | \
+ AO_LED_CONTINUITY_1 | \
+ AO_LED_CONTINUITY_0 | \
+ AO_LED_REMOTE_ARM | \
+ AO_LED_FIRE)
+
+/* LCD displays */
+
+#define LCD_DEBUG 0
+#define SEVEN_SEGMENT_DEBUG 0
+
+#define AO_LCD_STM_SEG_ENABLED_0 ( \
+ (1 << 0) | /* PA1 */ \
+ (1 << 1) | /* PA2 */ \
+ (1 << 2) | /* PA3 */ \
+ (1 << 3) | /* PA6 */ \
+ (1 << 4) | /* PA7 */ \
+ (1 << 5) | /* PB0 */ \
+ (1 << 6) | /* PB1 */ \
+ (1 << 7) | /* PB3 */ \
+ (1 << 8) | /* PB4 */ \
+ (1 << 9) | /* PB5 */ \
+ (1 << 10) | /* PB10 */ \
+ (1 << 11) | /* PB11 */ \
+ (1 << 12) | /* PB12 */ \
+ (1 << 13) | /* PB13 */ \
+ (1 << 14) | /* PB14 */ \
+ (1 << 15) | /* PB15 */ \
+ (1 << 16) | /* PB8 */ \
+ (1 << 17) | /* PA15 */ \
+ (1 << 18) | /* PC0 */ \
+ (1 << 19) | /* PC1 */ \
+ (1 << 20) | /* PC2 */ \
+ (1 << 21) | /* PC3 */ \
+ (1 << 22) | /* PC4 */ \
+ (1 << 23) | /* PC5 */ \
+ (0 << 24) | /* PC6 */ \
+ (0 << 25) | /* PC7 */ \
+ (0 << 26) | /* PC8 */ \
+ (0 << 27) | /* PC9 */ \
+ (0 << 28) | /* PC10 or PD8 */ \
+ (0 << 29) | /* PC11 or PD9 */ \
+ (0 << 30) | /* PC12 or PD10 */ \
+ (0 << 31)) /* PD2 or PD11 */
+
+#define AO_LCD_STM_SEG_ENABLED_1 ( \
+ (0 << 0) | /* PD12 */ \
+ (0 << 1) | /* PD13 */ \
+ (0 << 2) | /* PD14 */ \
+ (0 << 3) | /* PD15 */ \
+ (0 << 4) | /* PE0 */ \
+ (0 << 5) | /* PE1 */ \
+ (0 << 6) | /* PE2 */ \
+ (0 << 7)) /* PE3 */
+
+#define AO_LCD_STM_COM_ENABLED ( \
+ (1 << 0) | /* PA8 */ \
+ (0 << 1) | /* PA9 */ \
+ (0 << 2) | /* PA10 */ \
+ (0 << 3) | /* PB9 */ \
+ (0 << 4) | /* PC10 */ \
+ (0 << 5) | /* PC11 */ \
+ (0 << 6)) /* PC12 */
+
+#define AO_LCD_28_ON_C 0
+
+#define AO_LCD_DUTY STM_LCD_CR_DUTY_STATIC
+
+#define AO_LCD_PER_DIGIT 1
+
+#define AO_LCD_DIGITS 3
+#define AO_LCD_SEGMENTS 8
+
+#define AO_SEGMENT_MAP { \
+ /* pad segments */ \
+ { 0, 14 }, \
+ { 0, 13 }, \
+ { 0, 15 }, \
+ { 0, 17 }, \
+ { 0, 16 }, \
+ { 0, 8 }, \
+ { 0, 9 }, \
+ { 0, 7 }, \
+ /* box1 segments */ \
+ { 0, 10 }, \
+ { 0, 6 }, \
+ { 0, 11 }, \
+ { 0, 12 }, \
+ { 0, 21 }, \
+ { 0, 19 }, \
+ { 0, 20 }, \
+ { 0, 18 }, \
+ /* box0 segments */ \
+ { 0, 22 }, \
+ { 0, 4 }, \
+ { 0, 23 }, \
+ { 0, 5 }, \
+ { 0, 3 }, \
+ { 0, 1 }, \
+ { 0, 2 }, \
+ { 0, 0 }, \
+}
+
+/*
+ * Use event queue for input devices
+ */
+
+#define AO_EVENT 1
+
+/*
+ * Knobs
+ */
+
+#define AO_QUADRATURE_COUNT 1
+#define AO_QUADRATURE_DEBOUNCE 0
+#define AO_QUADRATURE_SINGLE_CODE 1
+
+#define AO_QUADRATURE_0_PORT &stm_gpioe
+#define AO_QUADRATURE_0_A 15
+#define AO_QUADRATURE_0_B 14
+
+#define AO_QUADRATURE_SELECT 0
+
+/*
+ * Buttons
+ */
+
+#define AO_BUTTON_COUNT 9
+#define AO_BUTTON_MODE AO_EXTI_MODE_PULL_UP
+
+#define AO_BUTTON_DRAG_MODE 0
+#define AO_BUTTON_0_PORT &stm_gpioe
+#define AO_BUTTON_0 1
+
+#define AO_BUTTON_DRAG_SELECT 1
+#define AO_BUTTON_1_PORT &stm_gpioe
+#define AO_BUTTON_1 0
+
+#define AO_BUTTON_SPARE1 2
+#define AO_BUTTON_2_PORT &stm_gpiob
+#define AO_BUTTON_2 9
+
+#define AO_BUTTON_SPARE2 3
+#define AO_BUTTON_3_PORT &stm_gpiob
+#define AO_BUTTON_3 7
+
+#define AO_BUTTON_SPARE3 4
+#define AO_BUTTON_4_PORT &stm_gpiob
+#define AO_BUTTON_4 6
+
+#define AO_BUTTON_ARM 5
+#define AO_BUTTON_5_PORT &stm_gpioe
+#define AO_BUTTON_5 12
+
+#define AO_BUTTON_FIRE 6
+#define AO_BUTTON_6_PORT &stm_gpioa
+#define AO_BUTTON_6 4
+
+#define AO_BUTTON_SPARE4 7
+#define AO_BUTTON_7_PORT &stm_gpiod
+#define AO_BUTTON_7 11
+
+#define AO_BUTTON_ENCODER_SELECT 8
+#define AO_BUTTON_8_PORT &stm_gpioe
+#define AO_BUTTON_8 13
+
+/* ADC */
+
+struct ao_adc {
+ int16_t v_batt;
+};
+
+#define AO_ADC_DUMP(p) \
+ printf("batt: %5d\n", (p)->v_batt)
+
+#define HAS_ADC_SINGLE 1
+#define HAS_ADC_TEMP 0
+#define HAS_BATTERY_REPORT 1
+
+#define AO_ADC_V_BATT 0
+#define AO_ADC_V_BATT_PORT (&stm_gpioa)
+#define AO_ADC_V_BATT_PIN 0
+
+#define AO_ADC_RCC_AHBENR (1 << STM_RCC_AHBENR_GPIOAEN)
+
+#define AO_ADC_PIN0_PORT AO_ADC_V_BATT_PORT
+#define AO_ADC_PIN0_PIN AO_ADC_V_BATT_PIN
+
+#define AO_ADC_SQ1 AO_ADC_V_BATT
+
+#define AO_NUM_ADC 1
+
+/*
+ * Voltage divider on ADC battery sampler
+ */
+#define AO_BATTERY_DIV_PLUS 15 /* 15k */
+#define AO_BATTERY_DIV_MINUS 27 /* 27k */
+
+/*
+ * ADC reference in decivolts
+ */
+#define AO_ADC_REFERENCE_DV 33
+
+#endif /* _AO_PINS_H_ */
--- /dev/null
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public 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_packet.h>
+#include <ao_companion.h>
+#include <ao_profile.h>
+#include <ao_pyro.h>
+#include <ao_aes.h>
+#include <ao_seven_segment.h>
+#include <ao_quadrature.h>
+#include <ao_button.h>
+#include <ao_lco.h>
+#include <ao_lco_cmd.h>
+#include <ao_radio_cmac_cmd.h>
+#include <ao_eeprom.h>
+#include <ao_adc_single.h>
+
+int
+main(void)
+{
+ ao_clock_init();
+
+ ao_led_init(LEDS_AVAILABLE);
+ ao_led_on(AO_LED_GREEN);
+ ao_task_init();
+
+ ao_timer_init();
+
+ ao_spi_init();
+ ao_dma_init();
+ ao_exti_init();
+ ao_adc_single_init();
+
+ ao_beep_init();
+ ao_cmd_init();
+
+ ao_lcd_stm_init();
+ ao_seven_segment_init();
+ ao_quadrature_init();
+ ao_button_init();
+
+ ao_eeprom_init();
+
+ ao_radio_init();
+
+ ao_usb_init();
+
+ ao_config_init();
+
+ ao_lco_init();
+ ao_lco_cmd_init();
+// ao_radio_cmac_cmd_init();
+
+ ao_start_scheduler();
+ return 0;
+}
--- /dev/null
+ao_product.h
+telelco*.elf
--- /dev/null
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=telelco-v2.0
+include $(TOPDIR)/stm/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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public 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_
+
+/* External crystal at 8MHz */
+#define AO_HSE 8000000
+
+#include <ao_flash_stm_pins.h>
+
+/* Drag race select button. Press at power on to get boot loader */
+
+#define AO_BOOT_PIN 1
+#define AO_BOOT_APPLICATION_GPIO stm_gpioe
+#define AO_BOOT_APPLICATION_PIN 0
+#define AO_BOOT_APPLICATION_VALUE 1
+#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_UP
+
+#endif /* _AO_PINS_H_ */
ao_button.c \
ao_event.c \
ao_lco_two.c \
+ ao_lco_bits.c \
ao_lco_func.c \
ao_lco_cmd.c \
ao_radio_cmac_cmd.c
AO_LED_CONTINUITY_0 | \
AO_LED_REMOTE_ARM)
+#define AO_LCO_DRAG 0
+
/*
* Use event queue for input devices
*/
#define AO_MS_TO_TICKS(ms) ((ms) / 10)
#define AO_SEC_TO_TICKS(s) ((s) * 100)
-#define AO_FLIGHT_TEST
+#define AO_FLIGHT_TEST 1
int ao_flight_debug;
static struct ao_mpu6000_sample ao_ground_mpu6000;
#endif
-#if HAS_ACCEL
-int ao_error_h_sq_avg;
-#endif
-
void
ao_test_exit(void)
{
ao_data_ring[ao_data_head] = ao_data_static;
if (ao_flight_state != ao_flight_startup) {
#if HAS_ACCEL
- double accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
+ double accel = ((ao_flight_ground_accel - ao_data_accel(&ao_data_static)) * GRAVITY * 2.0) /
(ao_config.accel_minus_g - ao_config.accel_plus_g);
#else
double accel = 0.0;
tick_offset = -ao_data_static.tick;
if ((prev_tick - ao_data_static.tick) > 0x400)
tick_offset += 65536;
- simple_speed += accel * (ao_data_static.tick - prev_tick) / 100.0;
+ if (prev_tick) {
+ int ticks = ao_data_static.tick - prev_tick;
+ if (ticks < 0)
+ ticks += 65536;
+ simple_speed += accel * ticks / 100.0;
+ }
prev_tick = ao_data_static.tick;
time = (double) (ao_data_static.tick + tick_offset) / 100;
#if 1
printf("%7.2f height %8.2f accel %8.3f accel_speed %8.3f "
- "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d"
+ "state %d k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d"
#if TELEMEGA
" angle %5d "
"accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f mag_x %8d mag_y %8d, mag_z %8d mag_angle %4d "
height,
accel,
simple_speed > -100.0 ? simple_speed : -100.0,
- ao_state_names[ao_flight_state],
+ ao_flight_state * 10,
ao_k_height / 65536.0,
ao_k_speed / 65536.0 / 16.0,
ao_k_accel / 65536.0 / 16.0,
+#!/bin/bash
+
+LINEWIDTH=2
+
gnuplot -persist << EOF
+set title "$1"
set ylabel "altitude (m)"
set y2label "velocity (m/s), acceleration(m/s²)"
set xlabel "time (s)"
set xtics border out nomirror
set ytics border out nomirror
set y2tics border out nomirror
-plot "$1" using 1:3 with lines axes x1y1 title "raw height",\
-"$1" using 1:5 with lines axes x1y2 title "raw accel",\
-"$1" using 1:7 with lines axes x1y2 title "accel speed",\
-"$1" using 1:11 with lines axes x1y1 title "height",\
-"$1" using 1:13 with lines axes x1y2 title "speed",\
-"$1" using 1:15 with lines axes x1y2 title "accel",\
-"$1" using 1:19 with lines axes x1y1 title "drogue",\
-"$1" using 1:21 with lines axes x1y1 title "main",\
-"$1" using 1:23 with lines axes x1y1 title "error"
+set style line 1 linewidth $LINEWIDTH
+set style line 2 linewidth $LINEWIDTH
+set style line 3 linewidth $LINEWIDTH
+set style line 4 linewidth $LINEWIDTH
+set style line 5 linewidth $LINEWIDTH
+set style line 6 linewidth $LINEWIDTH
+set style line 7 linewidth $LINEWIDTH dashtype 2
+set style line 8 linewidth $LINEWIDTH dashtype 2
+set style line 9 linewidth $LINEWIDTH dashtype 2
+set style line 10 linewidth $LINEWIDTH dashtype 2
+plot "$1" using 1:3 with lines axes x1y1 title "raw height" ls 1,\
+"$1" using 1:5 with lines axes x1y2 title "raw accel" ls 2,\
+"$1" using 1:7 with lines axes x1y2 title "accel speed" ls 3,\
+"$1" using 1:11 with lines axes x1y1 title "height" ls 4,\
+"$1" using 1:13 with lines axes x1y2 title "speed" ls 5,\
+"$1" using 1:15 with lines axes x1y2 title "accel" ls 6,\
+"$1" using 1:19 with lines axes x1y1 title "drogue" ls 7,\
+"$1" using 1:21 with lines axes x1y1 title "main" ls 8,\
+"$1" using 1:23 with lines axes x1y1 title "error" ls 9,\
+"$1" using 1:9 with lines axes x1y2 title "state" ls 10
EOF
--- /dev/null
+ao_product.h
+tmgps-*.elf
--- /dev/null
+#
+# AltOS build
+#
+#
+
+include ../stm/Makefile.defs
+
+INC = \
+ ao.h \
+ ao_arch.h \
+ ao_arch_funcs.h \
+ ao_boot.h \
+ ao_companion.h \
+ ao_data.h \
+ ao_sample.h \
+ ao_pins.h \
+ ao_kalman.h \
+ ao_product.h \
+ ao_cc1120_CC1120.h \
+ ao_profile.h \
+ ao_task.h \
+ ao_whiten.h \
+ ao_sample_profile.h \
+ ao_mpu.h \
+ stm32l.h \
+ Makefile
+
+#PROFILE=ao_profile.c
+#PROFILE_DEF=-DAO_PROFILE=1
+
+#SAMPLE_PROFILE=ao_sample_profile.c \
+# ao_sample_profile_timer.c
+#SAMPLE_PROFILE_DEF=-DHAS_SAMPLE_PROFILE=1
+
+#STACK_GUARD=ao_mpu_stm.c
+#STACK_GUARD_DEF=-DHAS_STACK_GUARD=1
+
+MATH_SRC=\
+ ef_log.c
+
+ALTOS_SRC = \
+ ao_boot_chain.c \
+ ao_interrupt.c \
+ ao_product.c \
+ ao_romconfig.c \
+ ao_cmd.c \
+ ao_config.c \
+ ao_task.c \
+ ao_led.c \
+ ao_stdio.c \
+ ao_panic.c \
+ ao_timer.c \
+ ao_mutex.c \
+ ao_serial_stm.c \
+ ao_gps_ublox.c \
+ ao_gps_show.c \
+ ao_freq.c \
+ ao_dma_stm.c \
+ ao_spi_stm.c \
+ ao_cc1120.c \
+ ao_fec_tx.c \
+ ao_fec_rx.c \
+ ao_data.c \
+ ao_adc_stm.c \
+ ao_storage.c \
+ ao_m25.c \
+ ao_usb_stm.c \
+ ao_exti_stm.c \
+ ao_eeprom_stm.c \
+ ao_convert_volt.c \
+ ao_log.c \
+ ao_log_gps.c \
+ ao_distance.c \
+ ao_sqrt.c \
+ ao_tracker.c \
+ ao_telemetry.c \
+ ao_aprs.c \
+ $(MATH_SRC) \
+ $(PROFILE) \
+ $(SAMPLE_PROFILE) \
+ $(STACK_GUARD)
+
+PRODUCT=TMGPS-v2.0
+PRODUCT_DEF=-DTMGPS_V_2_0
+IDPRODUCT=0x0025
+
+CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF) -Os -g
+
+PROGNAME=tmgps-v2.0
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SRC=$(ALTOS_SRC) ao_tmgps.c
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG) $(HEX)
+
+$(PROG): Makefile $(OBJ) altos.ld
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS)
+
+../altitude-pa.h: make-altitude-pa
+ nickle $< > $@
+
+$(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 $(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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public 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_TASK_QUEUE 1
+
+/* 8MHz High speed external crystal */
+#define AO_HSE 8000000
+
+/* PLLVCO = 96MHz (so that USB will work) */
+#define AO_PLLMUL 12
+#define AO_RCC_CFGR_PLLMUL (STM_RCC_CFGR_PLLMUL_12)
+
+/* SYSCLK = 32MHz (no need to go faster than CPU) */
+#define AO_PLLDIV 3
+#define AO_RCC_CFGR_PLLDIV (STM_RCC_CFGR_PLLDIV_3)
+
+/* HCLK = 32MHz (CPU clock) */
+#define AO_AHB_PRESCALER 1
+#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1
+
+/* Run APB1 at 16MHz (HCLK/2) */
+#define AO_APB1_PRESCALER 2
+#define AO_RCC_CFGR_PPRE1_DIV STM_RCC_CFGR_PPRE2_DIV_2
+
+/* Run APB2 at 16MHz (HCLK/2) */
+#define AO_APB2_PRESCALER 2
+#define AO_RCC_CFGR_PPRE2_DIV STM_RCC_CFGR_PPRE2_DIV_2
+
+#define HAS_SERIAL_1 0
+#define USE_SERIAL_1_STDIN 0
+#define SERIAL_1_PB6_PB7 0
+#define SERIAL_1_PA9_PA10 1
+
+#define HAS_SERIAL_2 0
+#define USE_SERIAL_2_STDIN 0
+#define SERIAL_2_PA2_PA3 0
+#define SERIAL_2_PD5_PD6 0
+
+#define HAS_SERIAL_3 1
+#define USE_SERIAL_3_STDIN 0
+#define SERIAL_3_PB10_PB11 1
+#define SERIAL_3_PC10_PC11 0
+#define SERIAL_3_PD8_PD9 0
+
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX (512 * 1024)
+#define AO_CONFIG_MAX_SIZE 1024
+#define LOG_ERASE_MARK 0x55
+#define LOG_MAX_ERASE 128
+
+#define HAS_EEPROM 1
+#define USE_INTERNAL_FLASH 0
+#define USE_EEPROM_CONFIG 1
+#define USE_STORAGE_CONFIG 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_COMPANION 0
+
+#define HAS_SPI_1 1
+#define SPI_1_PA5_PA6_PA7 1 /* Barometer */
+#define SPI_1_PB3_PB4_PB5 1 /* Accelerometer */
+#define SPI_1_PE13_PE14_PE15 0
+#define SPI_1_OSPEEDR STM_OSPEEDR_10MHz
+
+#define HAS_SPI_2 1
+#define SPI_2_PB13_PB14_PB15 1 /* Flash, Companion, Radio */
+#define SPI_2_PD1_PD3_PD4 0
+#define SPI_2_OSPEEDR STM_OSPEEDR_10MHz
+
+#define SPI_2_PORT (&stm_gpiob)
+#define SPI_2_SCK_PIN 13
+#define SPI_2_MISO_PIN 14
+#define SPI_2_MOSI_PIN 15
+
+#define HAS_I2C_1 0
+#define I2C_1_PB8_PB9 0
+
+#define HAS_I2C_2 0
+#define I2C_2_PB10_PB11 0
+
+#define PACKET_HAS_SLAVE 0
+#define PACKET_HAS_MASTER 0
+
+#define LOW_LEVEL_DEBUG 0
+
+#define LED_PORT_ENABLE STM_RCC_AHBENR_GPIOCEN
+#define LED_PORT (&stm_gpioc)
+#define LED_PIN_RED 14
+#define LED_PIN_GREEN 15
+#define AO_LED_RED (1 << LED_PIN_RED)
+#define AO_LED_GREEN (1 << LED_PIN_GREEN)
+
+#define AO_LED_PANIC AO_LED_RED
+#define AO_LED_GPS_LOCK AO_LED_GREEN
+
+#define LEDS_AVAILABLE (AO_LED_RED | AO_LED_GREEN)
+
+#define HAS_GPS 1
+#define HAS_FLIGHT 0
+#define HAS_ADC 1
+#define HAS_ADC_TEMP 0
+#define HAS_LOG 1
+#define HAS_TRACKER 1
+#define LOG_ADC 0
+#define AO_LOG_FORMAT AO_LOG_FORMAT_TELEGPS
+
+/*
+ * ADC
+ */
+#define AO_DATA_RING 32
+#define AO_ADC_NUM_SENSE 2
+
+struct ao_adc {
+ int16_t v_batt;
+};
+
+#define AO_ADC_DUMP(p) \
+ printf("tick: %5u batt: %5d\n", \
+ (p)->tick, \
+ (p)->adc.v_batt);
+
+#define AO_ADC_V_BATT 8
+#define AO_ADC_V_BATT_PORT (&stm_gpiob)
+#define AO_ADC_V_BATT_PIN 0
+
+#define AO_ADC_RCC_AHBENR ((1 << STM_RCC_AHBENR_GPIOBEN))
+
+#define AO_NUM_ADC_PIN 1
+
+#define AO_ADC_PIN0_PORT AO_ADC_V_BATT_PORT
+#define AO_ADC_PIN0_PIN AO_ADC_V_BATT_PIN
+
+#define AO_NUM_ADC (AO_NUM_ADC_PIN)
+
+#define AO_ADC_SQ1 AO_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
+
+/*
+ * GPS
+ */
+
+#define AO_SERIAL_SPEED_UBLOX AO_SERIAL_SPEED_9600
+
+#define ao_gps_getchar ao_serial3_getchar
+#define ao_gps_putchar ao_serial3_putchar
+#define ao_gps_set_speed ao_serial3_set_speed
+#define ao_gps_fifo (ao_stm_usart3.rx_fifo)
+
+/*
+ * SPI Flash memory
+ */
+
+#define M25_MAX_CHIPS 1
+#define AO_M25_SPI_CS_PORT (&stm_gpiob)
+#define AO_M25_SPI_CS_MASK (1 << 8)
+#define AO_M25_SPI_BUS AO_SPI_2_PB13_PB14_PB15
+
+/*
+ * Radio (cc1120)
+ */
+
+/* gets pretty close to 434.550 */
+
+#define AO_RADIO_CAL_DEFAULT 0x6ca333
+
+#define AO_FEC_DEBUG 0
+#define AO_CC1120_SPI_CS_PORT (&stm_gpioa)
+#define AO_CC1120_SPI_CS_PIN 2
+#define AO_CC1120_SPI_BUS AO_SPI_2_PB13_PB14_PB15
+#define AO_CC1120_SPI stm_spi2
+
+#define AO_CC1120_INT_PORT (&stm_gpioa)
+#define AO_CC1120_INT_PIN (3)
+#define AO_CC1120_MCU_WAKEUP_PORT (&stm_gpioa)
+#define AO_CC1120_MCU_WAKEUP_PIN (4)
+
+#define AO_CC1120_INT_GPIO 2
+#define AO_CC1120_INT_GPIO_IOCFG CC1120_IOCFG2
+
+#define AO_CC1120_MARC_GPIO 3
+#define AO_CC1120_MARC_GPIO_IOCFG CC1120_IOCFG3
+
+#define HAS_BOOT_RADIO 0
+
+#define NUM_CMDS 16
+
+/*
+ * Monitor
+ */
+
+#define HAS_MONITOR 0
+#define LEGACY_MONITOR 0
+#define HAS_MONITOR_PUT 1
+#define AO_MONITOR_LED 0
+#define HAS_RSSI 0
+
+/*
+ * Profiling Viterbi decoding
+ */
+
+#ifndef AO_PROFILE
+#define AO_PROFILE 0
+#endif
+
+#endif /* _AO_PINS_H_ */
--- /dev/null
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_log.h>
+#include <ao_exti.h>
+#include <ao_tracker.h>
+#include <ao_eeprom.h>
+#include <ao_profile.h>
+#if HAS_SAMPLE_PROFILE
+#include <ao_sample_profile.h>
+#endif
+#if HAS_STACK_GUARD
+#include <ao_mpu.h>
+#endif
+
+int
+main(void)
+{
+ ao_clock_init();
+
+#if HAS_STACK_GUARD
+ ao_mpu_init();
+#endif
+
+ ao_task_init();
+ ao_cmd_init();
+ ao_config_init();
+
+ /* Turn on all of the LEDs to test them */
+ ao_led_init(LEDS_AVAILABLE);
+ ao_led_on(LEDS_AVAILABLE);
+
+ /* Internal systems */
+ ao_timer_init();
+ ao_dma_init();
+ ao_exti_init();
+
+ /* SoC hardware */
+ ao_spi_init();
+ ao_adc_init();
+ ao_serial_init();
+ ao_usb_init();
+ ao_eeprom_init();
+
+ /* External hardware */
+ ao_storage_init();
+ ao_radio_init();
+ ao_gps_init();
+
+ /* Services */
+ ao_log_init();
+ ao_telemetry_init();
+ ao_tracker_init();
+
+#if AO_PROFILE
+ ao_profile_init();
+#endif
+#if HAS_SAMPLE_PROFILE
+ ao_sample_profile_init();
+#endif
+ ao_led_off(LEDS_AVAILABLE);
+
+ ao_start_scheduler();
+ return 0;
+}
--- /dev/null
+ao_product.h
+vidtime-*
--- /dev/null
+#
+# AltOS build
+#
+#
+
+include ../stmf0/Makefile.defs
+
+INC = \
+ ao.h \
+ ao_arch.h \
+ ao_arch_funcs.h \
+ ao_boot.h \
+ ao_pins.h \
+ ao_product.h \
+ ao_task.h \
+ stm32f0.h \
+ Makefile
+
+ALTOS_SRC = \
+ ao_boot_chain.c \
+ ao_interrupt.c \
+ ao_product.c \
+ ao_romconfig.c \
+ ao_cmd.c \
+ ao_dma_stm.c \
+ ao_exti_stm.c \
+ ao_task.c \
+ ao_stdio.c \
+ ao_panic.c \
+ ao_timer.c \
+ ao_mutex.c \
+ ao_usb_stm.c
+
+PRODUCT=VidTime
+PRODUCT_DEF=-DVIDTIME
+IDPRODUCT=0x002b
+
+CFLAGS = $(PRODUCT_DEF) $(STMF0_CFLAGS) -Os -g
+
+PROGNAME=vidtime-v1.0
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SRC=$(ALTOS_SRC) ao_vidtime.c
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG) $(HEX)
+
+$(PROG): Makefile $(OBJ) altos.ld
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS)
+
+ao_product.h: ao-make-product.5c ../Version
+ $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+$(OBJ): $(INC)
+
+distclean: clean
+
+clean:
+ rm -f *.o $(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 HAS_TASK_QUEUE 1
+
+#define IS_FLASH_LOADER 0
+
+#define AO_POWER_MANAGEMENT 0
+
+/* 48MHz clock based on USB */
+#define AO_HSI48 1
+
+/* HCLK = 48MHz */
+#define AO_AHB_PRESCALER 1
+#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1
+
+/* APB = 48MHz */
+#define AO_APB_PRESCALER 1
+#define AO_RCC_CFGR_PPRE_DIV STM_RCC_CFGR_PPRE_DIV_1
+
+#define HAS_EEPROM 0
+#define USE_INTERNAL_FLASH 0
+#define USE_STORAGE_CONFIG 0
+#define USE_EEPROM_CONFIG 0
+
+#define HAS_BEEP 0
+
+#define HAS_USB 1
+#define AO_USB_DIRECTIO 0
+#define AO_PA11_PA12_RMP 1
+
+#define HAS_SPI_0 0
+
+#define AO_SENSOR_PORT (&stm_gpioa)
+#define AO_SENSOR_PIN 3
+
+#define LOW_LEVEL_DEBUG 0
+
+#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>
+#include <ao_exti.h>
+
+static uint8_t sensor_value;
+static uint8_t vidtime_monitor;
+
+static void
+vidtime(void)
+{
+ uint8_t old = 0, got;
+
+ ao_exti_enable(AO_SENSOR_PORT, AO_SENSOR_PIN);
+ for (;;) {
+ while (!vidtime_monitor)
+ ao_sleep(&vidtime_monitor);
+ while ((got = sensor_value) == old)
+ ao_sleep(&sensor_value);
+ printf("%d\n", got);
+ flush();
+ old = got;
+ }
+}
+
+static void
+sensor_interrupt(void)
+{
+ sensor_value = ao_gpio_get(AO_SENSOR_PORT, AO_SENSOR_PIN, foo);
+ ao_wakeup(&sensor_value);
+}
+
+static struct ao_task vidtime_task;
+
+static void
+ao_init_vidtime(void)
+{
+ ao_enable_port(AO_SENSOR_PORT);
+ ao_exti_setup(AO_SENSOR_PORT, AO_SENSOR_PIN,
+ AO_EXTI_MODE_RISING|
+ AO_EXTI_MODE_FALLING|
+ AO_EXTI_MODE_PULL_NONE|
+ AO_EXTI_PRIORITY_MED,
+ sensor_interrupt);
+ ao_add_task(&vidtime_task, vidtime, "vidtime");
+}
+
+static void
+ao_set_vidtime(void)
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status == ao_cmd_success) {
+ vidtime_monitor = ao_cmd_lex_i != 0;
+ ao_wakeup(&vidtime_monitor);
+ }
+}
+
+const struct ao_cmds ao_vidtime_cmds[] = {
+ { ao_set_vidtime, "V <0 off, 1 on>\0Enable/disable timing monitor" },
+ { 0, NULL }
+};
+
+void main(void)
+{
+ ao_clock_init();
+
+ ao_task_init();
+
+ ao_timer_init();
+
+ ao_dma_init();
+
+ ao_init_vidtime();
+
+ ao_usb_init();
+
+ ao_cmd_init();
+
+ ao_cmd_register(&ao_vidtime_cmds[0]);
+
+ ao_start_scheduler();
+}
--- /dev/null
+ao_product.h
+vidtime*
--- /dev/null
+#
+# AltOS flash loader build
+#
+
+TOPDIR=../..
+HARDWARE=vidtime-v1.0
+include $(TOPDIR)/stmf0/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_stm_pins.h>
+
+/* Debug port PA15 (pin 23) */
+
+#define AO_BOOT_PIN 1
+#define AO_BOOT_APPLICATION_GPIO (stm_gpioa)
+#define AO_BOOT_APPLICATION_PIN 15
+#define AO_BOOT_APPLICATION_VALUE 1
+#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_UP
+
+#define AO_USB_DIRECTIO 0
+#define AO_PA11_PA12_RMP 1
+
+#endif /* _AO_PINS_H_ */
projects / fw / altos / commitdiff