ao_config.minor = AO_CONFIG_MINOR;
ao_config.main_deploy = AO_CONFIG_DEFAULT_MAIN_DEPLOY;
ao_config.radio_channel = AO_CONFIG_DEFAULT_RADIO_CHANNEL;
- ao_config.accel_zero_g = AO_CONFIG_DEFAULT_ACCEL_ZERO_G;
+ ao_config.accel_plus_g = 0;
+ ao_config.accel_minus_g = 0;
memset(&ao_config.callsign, '\0', sizeof (ao_config.callsign));
memcpy(&ao_config.callsign, AO_CONFIG_DEFAULT_CALLSIGN,
sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
ao_config_dirty = 1;
}
if (ao_config.minor < AO_CONFIG_MINOR) {
- /* Fixups for major version 1 */
+ /* Fixups for mior version 1 */
if (ao_config.minor < 1)
ao_config.apogee_delay = AO_CONFIG_DEFAULT_APOGEE_DELAY;
+ /* Fixupes for minor version 2 */
+ if (ao_config.minor < 2) {
+ ao_config.accel_plus_g = 0;
+ ao_config.accel_minus_g = 0;
+ }
ao_config.minor = AO_CONFIG_MINOR;
ao_config_dirty = 1;
}
}
void
-ao_config_accel_zero_g_show(void) __reentrant
+ao_config_accel_calibrate_show(void) __reentrant
{
- printf("Accel zero g point: %d\n",
- ao_config.accel_zero_g);
+ printf("Accel cal +1g: %d -1g: %d\n",
+ ao_config.accel_plus_g, ao_config.accel_minus_g);
}
-#define ZERO_G_SAMPLES 1000
+#define ACCEL_CALIBRATE_SAMPLES 1024
+#define ACCEL_CALIBRATE_SHIFT 10
static int16_t
-ao_config_accel_zero_g_auto(void) __reentrant
+ao_config_accel_calibrate_auto(char *orientation) __reentrant
{
uint16_t i;
int32_t accel_total;
uint8_t cal_adc_ring;
- puts("Calibrating accelerometer..."); flush();
- i = ZERO_G_SAMPLES;
+ printf("Orient %s and press a key...", orientation);
+ flush();
+ (void) getchar();
+ puts("\r\n"); flush();
+ puts("Calibrating..."); flush();
+ i = ACCEL_CALIBRATE_SAMPLES;
accel_total = 0;
cal_adc_ring = ao_adc_head;
while (i) {
i--;
}
}
- return (int16_t) (accel_total / ZERO_G_SAMPLES);
+ return accel_total >> ACCEL_CALIBRATE_SHIFT;
}
+
void
-ao_config_accel_zero_g_set(void) __reentrant
+ao_config_accel_calibrate_set(void) __reentrant
{
+ int16_t up, down;
ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
- if (ao_cmd_lex_i == 0)
- ao_cmd_lex_i = ao_config_accel_zero_g_auto();
+ if (ao_cmd_lex_i == 0) {
+ up = ao_config_accel_calibrate_auto("antenna up");
+ down = ao_config_accel_calibrate_auto("antenna down");
+ } else {
+ up = ao_cmd_lex_i;
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ down = ao_cmd_lex_i;
+ }
+ if (up >= down) {
+ printf("Invalid accel calibration: antenna up (%d) should be less than antenna down (%d)\n",
+ up, down);
+ return;
+ }
ao_mutex_get(&ao_config_mutex);
_ao_config_get();
- ao_config.accel_zero_g = ao_cmd_lex_i;
+ ao_config.accel_plus_g = up;
+ ao_config.accel_minus_g = down;
ao_config_dirty = 1;
ao_mutex_put(&ao_config_mutex);
- ao_config_accel_zero_g_show();
+ ao_config_accel_calibrate_show();
}
void
__code struct ao_config_var ao_config_vars[] = {
{ 'm', ao_config_main_deploy_set, ao_config_main_deploy_show,
"m <meters> Set height above launch for main deploy (in meters)" },
- { 'a', ao_config_accel_zero_g_set, ao_config_accel_zero_g_show,
- "a <value> Set accelerometer zero g point (0 for auto)" },
+ { 'a', ao_config_accel_calibrate_set, ao_config_accel_calibrate_show,
+ "a <+g> <-g> Set accelerometer calibration (0 for auto)" },
{ 'r', ao_config_radio_channel_set, ao_config_radio_channel_show,
"r <channel> Set radio channel (freq = 434.550 + channel * .1)" },
{ 'c', ao_config_callsign_set, ao_config_callsign_show,