2 * Copyright © 2009 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
20 #include <ao_config.h>
22 #include <ao_sample.h>
29 #include <ao_tracker.h>
32 __xdata struct ao_config ao_config;
33 __pdata uint8_t ao_config_loaded;
34 __pdata uint8_t ao_config_dirty;
35 __xdata uint8_t ao_config_mutex;
37 #ifndef AO_CONFIG_DEFAULT_APRS_INTERVAL
38 #define AO_CONFIG_DEFAULT_APRS_INTERVAL 0
40 #define AO_CONFIG_DEFAULT_MAIN_DEPLOY 250
41 #define AO_CONFIG_DEFAULT_RADIO_CHANNEL 0
42 #define AO_CONFIG_DEFAULT_CALLSIGN "N0CALL"
43 #define AO_CONFIG_DEFAULT_ACCEL_ZERO_G 16000
44 #define AO_CONFIG_DEFAULT_APOGEE_DELAY 0
45 #define AO_CONFIG_DEFAULT_IGNITE_MODE AO_IGNITE_MODE_DUAL
46 #define AO_CONFIG_DEFAULT_PAD_ORIENTATION AO_PAD_ORIENTATION_ANTENNA_UP
47 #define AO_CONFIG_DEFAULT_PYRO_TIME AO_MS_TO_TICKS(50)
49 #ifndef USE_INTERNAL_FLASH
50 #error Please define USE_INTERNAL_FLASH
53 #ifndef AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX
54 #if USE_INTERNAL_FLASH
55 #define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX ao_storage_config
57 #define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX ((uint32_t) 192 * (uint32_t) 1024)
60 #ifndef AO_CONFIG_DEFAULT_RADIO_POWER
61 #define AO_CONFIG_DEFAULT_RADIO_POWER 0x60
63 #define AO_CONFIG_DEFAULT_RADIO_AMP 0
64 #define AO_CONFIG_DEFAULT_APRS_SSID (ao_serial_number % 10)
65 #define AO_CONFIG_DEFAULT_RADIO_RATE AO_RADIO_RATE_38400
73 ao_config_write(0, &ao_config, sizeof (ao_config));
75 ao_log_write_erase(0);
83 ao_mutex_get(&ao_config_mutex);
85 ao_mutex_put(&ao_config_mutex);
91 ao_config_set_radio(void)
93 ao_config.radio_setting = ao_freq_to_set(ao_config.frequency, ao_config.radio_cal);
95 #endif /* HAS_RADIO */
102 if (ao_config_loaded)
105 /* Yes, I know ao_storage_read calls ao_storage_setup,
106 * but ao_storage_setup *also* sets ao_storage_config, which we
107 * need before calling ao_storage_read here
110 ao_config_read(0, &ao_config, sizeof (ao_config));
112 if (ao_config.major != AO_CONFIG_MAJOR) {
113 ao_config.major = AO_CONFIG_MAJOR;
116 /* Version 0 stuff */
117 ao_config.main_deploy = AO_CONFIG_DEFAULT_MAIN_DEPLOY;
118 ao_xmemset(&ao_config.callsign, '\0', sizeof (ao_config.callsign));
119 ao_xmemcpy(&ao_config.callsign, CODE_TO_XDATA(AO_CONFIG_DEFAULT_CALLSIGN),
120 sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
121 ao_config._legacy_radio_channel = 0;
123 minor = ao_config.minor;
124 if (minor != AO_CONFIG_MINOR) {
125 /* Fixups for minor version 1 */
127 ao_config.apogee_delay = AO_CONFIG_DEFAULT_APOGEE_DELAY;
128 /* Fixups for minor version 2 */
130 ao_config.accel_plus_g = 0;
131 ao_config.accel_minus_g = 0;
133 /* Fixups for minor version 3 */
136 ao_config.radio_cal = ao_radio_cal;
138 /* Fixups for minor version 4 */
141 ao_config.flight_log_max = AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX;
143 /* Fixupes for minor version 5 */
145 ao_config.ignite_mode = AO_CONFIG_DEFAULT_IGNITE_MODE;
147 ao_config.pad_orientation = AO_CONFIG_DEFAULT_PAD_ORIENTATION;
149 ao_config.radio_enable = AO_RADIO_ENABLE_CORE;
151 ao_xmemset(&ao_config.aes_key, '\0', AO_AES_LEN);
153 ao_config.frequency = 434550 + ao_config._legacy_radio_channel * 100;
155 ao_config.apogee_lockout = 0;
158 memset(&ao_config.pyro, '\0', sizeof (ao_config.pyro));
161 ao_config.aprs_interval = AO_CONFIG_DEFAULT_APRS_INTERVAL;
164 ao_config.radio_power = AO_CONFIG_DEFAULT_RADIO_POWER;
168 ao_config.radio_amp = AO_CONFIG_DEFAULT_RADIO_AMP;
172 ao_config.accel_zero_along = 0;
173 ao_config.accel_zero_across = 0;
174 ao_config.accel_zero_through = 0;
176 /* Reset the main accel offsets to force
179 ao_config.accel_plus_g = 0;
180 ao_config.accel_minus_g = 0;
185 ao_config.mid_beep = AO_BEEP_MID_DEFAULT;
189 ao_config.tracker_motion = AO_TRACKER_MOTION_DEFAULT;
190 ao_config.tracker_interval = AO_TRACKER_INTERVAL_DEFAULT;
195 ao_config.pyro_time = AO_CONFIG_DEFAULT_PYRO_TIME;
199 ao_config.aprs_ssid = AO_CONFIG_DEFAULT_APRS_SSID;
203 ao_config.radio_rate = AO_CONFIG_DEFAULT_RADIO_RATE;
205 ao_config.minor = AO_CONFIG_MINOR;
211 ao_config.frequency = 434550;
212 ao_config.radio_cal = ao_radio_cal;
213 ao_xmemcpy(&ao_config.callsign, CODE_TO_XDATA(AO_CONFIG_DEFAULT_CALLSIGN),
214 sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
217 ao_config_set_radio();
219 ao_config_loaded = 1;
223 _ao_config_edit_start(void)
225 ao_mutex_get(&ao_config_mutex);
230 _ao_config_edit_finish(void)
233 ao_mutex_put(&ao_config_mutex);
239 _ao_config_edit_start();
240 ao_mutex_put(&ao_config_mutex);
244 ao_config_callsign_show(void)
246 printf ("Callsign: \"%s\"\n", ao_config.callsign);
250 ao_config_callsign_set(void) __reentrant
253 static __xdata char callsign[AO_MAX_CALLSIGN + 1];
255 ao_xmemset(callsign, '\0', sizeof callsign);
258 while (ao_cmd_lex_c != '\n') {
259 if (c < AO_MAX_CALLSIGN)
260 callsign[c++] = ao_cmd_lex_c;
262 ao_cmd_status = ao_cmd_lex_error;
265 if (ao_cmd_status != ao_cmd_success)
267 _ao_config_edit_start();
268 ao_xmemcpy(&ao_config.callsign, &callsign,
269 AO_MAX_CALLSIGN + 1);
270 _ao_config_edit_finish();
276 ao_config_frequency_show(void) __reentrant
278 printf("Frequency: %ld\n",
279 ao_config.frequency);
283 ao_config_frequency_set(void) __reentrant
286 if (ao_cmd_status != ao_cmd_success)
288 _ao_config_edit_start();
289 ao_config.frequency = ao_cmd_lex_u32;
290 ao_config_set_radio();
291 _ao_config_edit_finish();
293 ao_radio_recv_abort();
302 ao_config_main_deploy_show(void) __reentrant
304 printf("Main deploy: %d meters\n",
305 ao_config.main_deploy);
309 ao_config_main_deploy_set(void) __reentrant
312 if (ao_cmd_status != ao_cmd_success)
314 _ao_config_edit_start();
315 ao_config.main_deploy = ao_cmd_lex_i;
316 _ao_config_edit_finish();
321 ao_config_accel_calibrate_show(void) __reentrant
323 printf("Accel cal +1g: %d -1g: %d\n",
324 ao_config.accel_plus_g, ao_config.accel_minus_g);
326 printf ("IMU cal along %d across %d through %d\n",
327 ao_config.accel_zero_along,
328 ao_config.accel_zero_across,
329 ao_config.accel_zero_through);
333 #define ACCEL_CALIBRATE_SAMPLES 1024
334 #define ACCEL_CALIBRATE_SHIFT 10
337 static int16_t accel_cal_along;
338 static int16_t accel_cal_across;
339 static int16_t accel_cal_through;
343 ao_config_accel_calibrate_auto(char *orientation) __reentrant
347 uint8_t cal_data_ring;
349 int32_t accel_along_total = 0;
350 int32_t accel_across_total = 0;
351 int32_t accel_through_total = 0;
354 printf("Orient antenna %s and press a key...", orientation);
357 puts("\r\n"); flush();
358 puts("Calibrating..."); flush();
359 i = ACCEL_CALIBRATE_SAMPLES;
361 cal_data_ring = ao_sample_data;
363 ao_sleep(DATA_TO_XDATA(&ao_sample_data));
364 while (i && cal_data_ring != ao_sample_data) {
365 accel_total += (int32_t) ao_data_accel(&ao_data_ring[cal_data_ring]);
367 accel_along_total += (int32_t) ao_data_along(&ao_data_ring[cal_data_ring]);
368 accel_across_total += (int32_t) ao_data_across(&ao_data_ring[cal_data_ring]);
369 accel_through_total += (int32_t) ao_data_through(&ao_data_ring[cal_data_ring]);
371 cal_data_ring = ao_data_ring_next(cal_data_ring);
376 accel_cal_along = accel_along_total >> ACCEL_CALIBRATE_SHIFT;
377 accel_cal_across = accel_across_total >> ACCEL_CALIBRATE_SHIFT;
378 accel_cal_through = accel_through_total >> ACCEL_CALIBRATE_SHIFT;
380 return accel_total >> ACCEL_CALIBRATE_SHIFT;
384 ao_config_accel_calibrate_set(void) __reentrant
388 int16_t accel_along_up = 0, accel_along_down = 0;
389 int16_t accel_across_up = 0, accel_across_down = 0;
390 int16_t accel_through_up = 0, accel_through_down = 0;
394 if (ao_cmd_status != ao_cmd_success)
396 if (ao_cmd_lex_i == 0) {
397 up = ao_config_accel_calibrate_auto("up");
399 accel_along_up = accel_cal_along;
400 accel_across_up = accel_cal_across;
401 accel_through_up = accel_cal_through;
403 down = ao_config_accel_calibrate_auto("down");
405 accel_along_down = accel_cal_along;
406 accel_across_down = accel_cal_across;
407 accel_through_down = accel_cal_through;
412 if (ao_cmd_status != ao_cmd_success)
417 printf("Invalid accel: up (%d) down (%d)\n",
421 _ao_config_edit_start();
422 ao_config.accel_plus_g = up;
423 ao_config.accel_minus_g = down;
425 if (ao_cmd_lex_i == 0) {
426 ao_config.accel_zero_along = (accel_along_up + accel_along_down) / 2;
427 ao_config.accel_zero_across = (accel_across_up + accel_across_down) / 2;
428 ao_config.accel_zero_through = (accel_through_up + accel_through_down) / 2;
431 _ao_config_edit_finish();
433 #endif /* HAS_ACCEL */
436 ao_config_apogee_delay_show(void) __reentrant
438 printf("Apogee delay: %d seconds\n",
439 ao_config.apogee_delay);
443 ao_config_apogee_delay_set(void) __reentrant
446 if (ao_cmd_status != ao_cmd_success)
448 _ao_config_edit_start();
449 ao_config.apogee_delay = ao_cmd_lex_i;
450 _ao_config_edit_finish();
454 ao_config_apogee_lockout_show(void) __reentrant
456 printf ("Apogee lockout: %d seconds\n",
457 ao_config.apogee_lockout);
461 ao_config_apogee_lockout_set(void) __reentrant
464 if (ao_cmd_status != ao_cmd_success)
466 _ao_config_edit_start();
467 ao_config.apogee_lockout = ao_cmd_lex_i;
468 _ao_config_edit_finish();
471 #endif /* HAS_FLIGHT */
475 ao_config_radio_cal_show(void) __reentrant
477 printf("Radio cal: %ld\n", ao_config.radio_cal);
481 ao_config_radio_cal_set(void) __reentrant
484 if (ao_cmd_status != ao_cmd_success)
486 _ao_config_edit_start();
487 ao_config.radio_cal = ao_cmd_lex_u32;
488 ao_config_set_radio();
489 _ao_config_edit_finish();
495 #ifndef HAS_TELEMETRY
496 #error Please define HAS_TELEMETRY
500 ao_config_radio_rate_show(void) __reentrant
502 printf("Telemetry rate: %d\n", ao_config.radio_rate);
506 ao_config_radio_rate_set(void) __reentrant
509 if (ao_cmd_status != ao_cmd_success)
511 if (AO_RADIO_RATE_MAX < ao_cmd_lex_i) {
512 ao_cmd_status = ao_cmd_lex_error;
515 _ao_config_edit_start();
516 ao_config.radio_rate = ao_cmd_lex_i;
518 ao_telemetry_reset_interval();
520 _ao_config_edit_finish();
526 ao_config_log_show(void) __reentrant
528 printf("Max flight log: %d kB\n", (int16_t) (ao_config.flight_log_max >> 10));
532 ao_config_log_set(void) __reentrant
534 uint16_t block = (uint16_t) (ao_storage_block >> 10);
535 uint16_t log_max = (uint16_t) (ao_storage_log_max >> 10);
538 if (ao_cmd_status != ao_cmd_success)
540 if (ao_log_present())
541 printf("Storage must be empty before changing log size\n");
542 else if (block > 1024 && (ao_cmd_lex_i & (block - 1)))
543 printf("Flight log size must be multiple of %d kB\n", block);
544 else if (ao_cmd_lex_i > log_max)
545 printf("Flight log max %d kB\n", log_max);
547 _ao_config_edit_start();
548 ao_config.flight_log_max = (uint32_t) ao_cmd_lex_i << 10;
549 _ao_config_edit_finish();
556 ao_config_ignite_mode_show(void) __reentrant
558 printf("Ignite mode: %d\n", ao_config.ignite_mode);
562 ao_config_ignite_mode_set(void) __reentrant
565 if (ao_cmd_status != ao_cmd_success)
567 _ao_config_edit_start();
568 ao_config.ignite_mode = ao_cmd_lex_i;
569 _ao_config_edit_finish();
575 ao_config_pad_orientation_show(void) __reentrant
577 printf("Pad orientation: %d\n", ao_config.pad_orientation);
580 #ifndef AO_ACCEL_INVERT
581 #define AO_ACCEL_INVERT 0x7fff
585 ao_config_pad_orientation_set(void) __reentrant
588 if (ao_cmd_status != ao_cmd_success)
590 _ao_config_edit_start();
592 if (ao_config.pad_orientation != ao_cmd_lex_i) {
594 t = ao_config.accel_plus_g;
595 ao_config.accel_plus_g = AO_ACCEL_INVERT - ao_config.accel_minus_g;
596 ao_config.accel_minus_g = AO_ACCEL_INVERT - t;
598 ao_config.pad_orientation = ao_cmd_lex_i;
599 _ao_config_edit_finish();
605 ao_config_radio_enable_show(void) __reentrant
607 printf("Radio enable: %d\n", ao_config.radio_enable);
611 ao_config_radio_enable_set(void) __reentrant
614 if (ao_cmd_status != ao_cmd_success)
616 _ao_config_edit_start();
617 ao_config.radio_enable = ao_cmd_lex_i;
618 _ao_config_edit_finish();
620 #endif /* HAS_RADIO */
624 __xdata uint8_t ao_config_aes_seq = 1;
627 ao_config_key_show(void) __reentrant
631 for (i = 0; i < AO_AES_LEN; i++)
632 printf ("%02x", ao_config.aes_key[i]);
637 ao_config_key_set(void) __reentrant
641 _ao_config_edit_start();
642 for (i = 0; i < AO_AES_LEN; i++) {
644 if (ao_cmd_status != ao_cmd_success)
646 ao_config.aes_key[i] = ao_cmd_lex_i;
649 _ao_config_edit_finish();
656 ao_config_aprs_show(void)
658 printf ("APRS interval: %d\n", ao_config.aprs_interval);
662 ao_config_aprs_set(void)
665 if (ao_cmd_status != ao_cmd_success)
667 _ao_config_edit_start();
668 ao_config.aprs_interval = ao_cmd_lex_i;
669 _ao_config_edit_finish();
672 #endif /* HAS_APRS */
677 ao_config_radio_amp_show(void)
679 printf ("Radio amp setting: %d\n", ao_config.radio_amp);
683 ao_config_radio_amp_set(void)
686 if (ao_cmd_status != ao_cmd_success)
688 _ao_config_edit_start();
689 ao_config.radio_amp = ao_cmd_lex_i;
690 _ao_config_edit_finish();
698 ao_config_radio_power_show(void)
700 printf ("Radio power setting: %d\n", ao_config.radio_power);
704 ao_config_radio_power_set(void)
707 if (ao_cmd_status != ao_cmd_success)
709 _ao_config_edit_start();
710 ao_config.radio_power = ao_cmd_lex_i;
711 _ao_config_edit_finish();
718 ao_config_beep_show(void)
720 printf ("Beeper setting: %d\n", ao_config.mid_beep);
724 ao_config_beep_set(void)
727 if (ao_cmd_status != ao_cmd_success)
729 _ao_config_edit_start();
730 ao_config.mid_beep = ao_cmd_lex_i;
731 _ao_config_edit_finish();
737 ao_config_tracker_show(void)
739 printf ("Tracker setting: %d %d\n",
740 ao_config.tracker_motion,
741 ao_config.tracker_interval);
745 ao_config_tracker_set(void)
749 if (ao_cmd_status != ao_cmd_success)
753 if (ao_cmd_status != ao_cmd_success)
756 _ao_config_edit_start();
757 ao_config.tracker_motion = m;
758 ao_config.tracker_interval = i;
759 _ao_config_edit_finish();
761 #endif /* HAS_TRACKER */
765 ao_config_pyro_time_show(void)
767 printf ("Pyro time: %d\n", ao_config.pyro_time);
771 ao_config_pyro_time_set(void)
774 if (ao_cmd_status != ao_cmd_success)
776 _ao_config_edit_start();
777 ao_config.pyro_time = ao_cmd_lex_i;
778 _ao_config_edit_finish();
784 ao_config_aprs_ssid_show(void)
786 printf ("APRS SSID: %d\n",
787 ao_config.aprs_ssid);
791 ao_config_aprs_ssid_set(void)
794 if (ao_cmd_status != ao_cmd_success)
796 if (15 < ao_cmd_lex_i) {
797 ao_cmd_status = ao_cmd_lex_error;
800 _ao_config_edit_start();
801 ao_config.aprs_ssid = ao_cmd_lex_i;
802 _ao_config_edit_finish();
804 #endif /* HAS_APRS */
806 struct ao_config_var {
808 void (*set)(void) __reentrant;
809 void (*show)(void) __reentrant;
813 ao_config_help(void) __reentrant;
816 ao_config_show(void) __reentrant;
820 ao_config_save(void) __reentrant;
823 __code struct ao_config_var ao_config_vars[] = {
825 { "m <meters>\0Main deploy (m)",
826 ao_config_main_deploy_set, ao_config_main_deploy_show, },
827 { "d <delay>\0Apogee delay (s)",
828 ao_config_apogee_delay_set, ao_config_apogee_delay_show },
829 { "L <seconds>\0Apogee detect lockout (s)",
830 ao_config_apogee_lockout_set, ao_config_apogee_lockout_show, },
831 #endif /* HAS_FLIGHT */
833 { "F <freq>\0Frequency (kHz)",
834 ao_config_frequency_set, ao_config_frequency_show },
835 { "c <call>\0Callsign (8 char max)",
836 ao_config_callsign_set, ao_config_callsign_show },
837 { "e <0 disable, 1 enable>\0Enable telemetry and RDF",
838 ao_config_radio_enable_set, ao_config_radio_enable_show },
839 { "f <cal>\0Radio calib (cal = rf/(xtal/2^16))",
840 ao_config_radio_cal_set, ao_config_radio_cal_show },
842 { "T <rate>\0Telemetry rate (0=38.4, 1=9.6, 2=2.4)",
843 ao_config_radio_rate_set, ao_config_radio_rate_show },
846 { "p <setting>\0Radio power setting (0-255)",
847 ao_config_radio_power_set, ao_config_radio_power_show },
850 { "d <setting>\0Radio amplifier setting (0-3)",
851 ao_config_radio_amp_set, ao_config_radio_amp_show },
853 #endif /* HAS_RADIO */
855 { "a <+g> <-g>\0Accel calib (0 for auto)",
856 ao_config_accel_calibrate_set,ao_config_accel_calibrate_show },
857 { "o <0 antenna up, 1 antenna down>\0Pad orientation",
858 ao_config_pad_orientation_set,ao_config_pad_orientation_show },
859 #endif /* HAS_ACCEL */
861 { "l <size>\0Flight log size (kB)",
862 ao_config_log_set, ao_config_log_show },
865 { "i <0 dual, 1 apogee, 2 main>\0Igniter mode",
866 ao_config_ignite_mode_set, ao_config_ignite_mode_show },
869 { "k <32 hex digits>\0AES encryption key",
870 ao_config_key_set, ao_config_key_show },
873 { "P <n,?>\0Pyro channels",
874 ao_pyro_set, ao_pyro_show },
875 { "I <ticks>\0Pyro firing time",
876 ao_config_pyro_time_set, ao_config_pyro_time_show },
879 { "A <secs>\0APRS packet interval (0 disable)",
880 ao_config_aprs_set, ao_config_aprs_show },
883 { "b <val>\0Beeper tone (freq = 1/2 (24e6/32) / beep",
884 ao_config_beep_set, ao_config_beep_show },
887 { "t <motion> <interval>\0Tracker configuration",
888 ao_config_tracker_set, ao_config_tracker_show },
891 { "S <ssid>\0Set APRS SSID (0-15)",
892 ao_config_aprs_ssid_set, ao_config_aprs_ssid_show },
897 { "w\0Write to eeprom",
914 for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++)
915 if (ao_config_vars[cmd].str[0] == c) {
916 (*ao_config_vars[cmd].set)();
919 ao_cmd_status = ao_cmd_syntax_error;
923 ao_config_help(void) __reentrant
926 for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++)
928 ao_config_vars[cmd].str,
929 ao_config_vars[cmd].str+1+
930 strlen(ao_config_vars[cmd].str));
934 ao_config_show(void) __reentrant
938 printf("Config version: %d.%d\n",
939 ao_config.major, ao_config.minor);
940 for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++)
941 if (ao_config_vars[cmd].show)
942 (*ao_config_vars[cmd].show)();
950 ao_config_save(void) __reentrant
953 ao_mutex_get(&ao_config_mutex);
954 if (ao_config_dirty) {
959 ao_mutex_put(&ao_config_mutex);
963 puts("Nothing to save");
967 __code struct ao_cmds ao_config_cmds[] = {
968 { ao_config_set, "c <var> <value>\0Set config (? for help, s to show)" },
975 ao_cmd_register(&ao_config_cmds[0]);