2 * Copyright © 2017 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; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
21 #include <ao_micropeak.h>
22 #include <ao_report_micro.h>
23 #include <ao_log_micro.h>
24 #include <ao_storage.h>
26 static struct ao_ms5607_value value;
28 alt_t ground_alt, max_alt;
34 ao_ms5607_sample(&ao_ms5607_current);
35 ao_ms5607_convert(&ao_ms5607_current, &value);
40 ao_compute_height(void)
42 ground_alt = ao_pa_to_altitude(pa_ground);
43 max_alt = ao_pa_to_altitude(pa_min);
44 ao_max_height = max_alt - ground_alt;
51 for (i = 0; i < 10; i++) {
52 ao_led_toggle(AO_LED_REPORT);
53 ao_delay(AO_MS_TO_TICKS(80));
55 ao_delay(AO_MS_TO_TICKS(200));
59 ao_delay_until(uint16_t target) {
60 int16_t delay = target - ao_time();
62 ao_sleep_for(ao_delay_until, delay);
66 static struct ao_task mp_task;
69 ao_battery_disable(void)
72 if (stm_adc.cr & (1 << STM_ADC_CR_ADEN)) {
73 stm_adc.cr |= (1 << STM_ADC_CR_ADDIS);
74 while (stm_adc.cr & (1 << STM_ADC_CR_ADDIS))
78 /* Turn off everything */
79 stm_adc.cr &= ~((1 << STM_ADC_CR_ADCAL) |
80 (1 << STM_ADC_CR_ADSTP) |
81 (1 << STM_ADC_CR_ADSTART) |
82 (1 << STM_ADC_CR_ADEN));
88 stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_ADCEN);
93 stm_adc.cfgr1 = ((0 << STM_ADC_CFGR1_AWDCH) | /* analog watchdog channel 0 */
94 (0 << STM_ADC_CFGR1_AWDEN) | /* Disable analog watchdog */
95 (0 << STM_ADC_CFGR1_AWDSGL) | /* analog watchdog on all channels */
96 (0 << STM_ADC_CFGR1_DISCEN) | /* Not discontinuous mode. All channels converted with one trigger */
97 (0 << STM_ADC_CFGR1_AUTOOFF) | /* Leave ADC running */
98 (1 << STM_ADC_CFGR1_WAIT) | /* Wait for data to be read before next conversion */
99 (0 << STM_ADC_CFGR1_CONT) | /* only one set of conversions per trigger */
100 (1 << STM_ADC_CFGR1_OVRMOD) | /* overwrite on overrun */
101 (STM_ADC_CFGR1_EXTEN_DISABLE << STM_ADC_CFGR1_EXTEN) | /* SW trigger */
102 (0 << STM_ADC_CFGR1_ALIGN) | /* Align to LSB */
103 (STM_ADC_CFGR1_RES_12 << STM_ADC_CFGR1_RES) | /* 12 bit resolution */
104 (STM_ADC_CFGR1_SCANDIR_UP << STM_ADC_CFGR1_SCANDIR) | /* scan 0 .. n */
105 (STM_ADC_CFGR1_DMACFG_ONESHOT << STM_ADC_CFGR1_DMACFG) | /* one set of conversions then stop */
106 (1 << STM_ADC_CFGR1_DMAEN)); /* enable DMA */
109 stm_adc.cfgr2 = STM_ADC_CFGR2_CKMODE_PCLK_2 << STM_ADC_CFGR2_CKMODE;
111 /* Shortest sample time */
112 stm_adc.smpr = STM_ADC_SMPR_SMP_71_5 << STM_ADC_SMPR_SMP;
115 stm_adc.chselr = 1 << 17;
117 stm_adc.ccr = ((0 << STM_ADC_CCR_VBATEN) |
118 (0 << STM_ADC_CCR_TSEN) |
119 (1 << STM_ADC_CCR_VREFEN));
122 stm_adc.cr |= (1 << STM_ADC_CR_ADCAL);
123 while ((stm_adc.cr & (1 << STM_ADC_CR_ADCAL)) != 0)
127 stm_adc.cr |= (1 << STM_ADC_CR_ADEN);
128 while ((stm_adc.isr & (1 << STM_ADC_ISR_ADRDY)) == 0)
131 /* Clear any stale status bits */
135 stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_SYSCFGCOMPEN);
139 ao_battery_fini(void)
142 ao_battery_disable();
145 stm_rcc.apb2enr &= ~(1 << STM_RCC_APB2ENR_ADCEN);
149 ao_battery_voltage(void)
155 stm_adc.cr |= (1 << STM_ADC_CR_ADSTART);
157 while ((stm_adc.isr & (1 << STM_ADC_ISR_EOC)) == 0)
160 vrefint = stm_adc.dr;
164 return 330 * stm_cal.vrefint_cal / vrefint;
170 ao_storage_erase(0, ao_storage_log_max);
173 uint8_t ao_on_battery;
180 /* Give the person a second to get their finger out of the way */
181 ao_delay(AO_MS_TO_TICKS(1000));
183 ao_log_micro_restore();
185 ao_report_altitude();
192 ao_delay(BOOST_DELAY);
200 ao_report_altitude();
203 ao_sleep(&ao_on_battery);
209 printf("battery: %u\n", ao_battery_voltage());
217 ao_eeprom_read(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
219 return n_samples != 0xffff;
225 if (ao_log_present())
226 printf ("flight %d start %x end %x\n",
228 0, MAX_LOG_OFFSET >> 8);
235 int16_t cmd_flight = 1;
238 if (ao_cmd_lex_c == '-') {
242 cmd_flight *= ao_cmd_decimal();
243 if (ao_cmd_status != ao_cmd_success)
246 /* Look for the flight log matching the requested flight */
247 if (cmd_flight == 1 && ao_log_present()) {
252 printf("No such flight: %d\n", cmd_flight);
255 static struct ao_cmds mp_cmd[] = {
256 { ao_log_list, "l\0List logs" },
257 { ao_log_delete, "d <flight-number>\0Delete flight" },
258 { ao_show_bat, "b\0Show battery voltage" },
267 /* Disable all interrupts */
270 /* Enable prefetch */
271 stm_flash.acr |= (1 << STM_FLASH_ACR_PRFTBE);
273 /* HCLK to 48MHz -> AHB prescaler = /1 */
275 cfgr &= ~(STM_RCC_CFGR_HPRE_MASK << STM_RCC_CFGR_HPRE);
276 cfgr |= (AO_RCC_CFGR_HPRE_DIV << STM_RCC_CFGR_HPRE);
278 while ((stm_rcc.cfgr & (STM_RCC_CFGR_HPRE_MASK << STM_RCC_CFGR_HPRE)) !=
279 (AO_RCC_CFGR_HPRE_DIV << STM_RCC_CFGR_HPRE))
282 /* APB Prescaler = AO_APB_PRESCALER */
284 cfgr &= ~(STM_RCC_CFGR_PPRE_MASK << STM_RCC_CFGR_PPRE);
285 cfgr |= (AO_RCC_CFGR_PPRE_DIV << STM_RCC_CFGR_PPRE);
288 /* Clear reset flags */
289 stm_rcc.csr |= (1 << STM_RCC_CSR_RMVF);
297 for (i = 0; i < 100000; i++)
300 if (ao_battery_voltage() < 320)
303 /* Leave the system running on the HSI if we're on battery */
312 stm_moder_set(&stm_gpioa, 2, STM_MODER_OUTPUT);
322 /* Let FLITF clock turn off in sleep mode */
323 stm_rcc.ahbenr &= ~(1 << STM_RCC_AHBENR_FLITFEN);
325 /* Le SRAM clock turn off in sleep mode */
326 stm_rcc.ahbenr &= ~(1 << STM_RCC_AHBENR_SRAMEN);
329 /* On battery power, run the flight code */
330 ao_add_task(&mp_task, ao_micropeak, "micropeak");
332 /* otherwise, turn on USB and run the command processor */
335 ao_cmd_register(mp_cmd);
338 ao_start_scheduler();