X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_config.c;h=bfc0325e00d9406c59c51cc2d7fd9a23c8682310;hb=f7c8f0b14cf19804106860a5689cf1f37df20669;hp=596a0410623774f68f68e1c3bf3a239c369141d8;hpb=c417ab1de2a083b5fcff2e081e4feb2a65887903;p=fw%2Faltos diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c index 596a0410..bfc0325e 100644 --- a/src/kernel/ao_config.c +++ b/src/kernel/ao_config.c @@ -39,6 +39,10 @@ uint8_t ao_config_mutex; uint8_t ao_force_freq; #endif +#ifndef HAS_CONFIG_SAVE +#define HAS_CONFIG_SAVE HAS_EEPROM +#endif + #ifndef AO_CONFIG_DEFAULT_APRS_INTERVAL #define AO_CONFIG_DEFAULT_APRS_INTERVAL 0 #endif @@ -50,7 +54,7 @@ uint8_t ao_force_freq; #define AO_CONFIG_DEFAULT_IGNITE_MODE AO_IGNITE_MODE_DUAL #define AO_CONFIG_DEFAULT_PAD_ORIENTATION AO_PAD_ORIENTATION_ANTENNA_UP #define AO_CONFIG_DEFAULT_PYRO_TIME AO_MS_TO_TICKS(50) -#if HAS_EEPROM +#if HAS_CONFIG_SAVE #ifndef USE_INTERNAL_FLASH #error Please define USE_INTERNAL_FLASH #endif @@ -75,14 +79,14 @@ uint8_t ao_force_freq; #define AO_CONFIG_DEFAULT_APRS_SSID (ao_serial_number % 10) #define AO_CONFIG_DEFAULT_RADIO_RATE AO_RADIO_RATE_38400 -#if HAS_EEPROM +#if HAS_CONFIG_SAVE static void _ao_config_put(void) { ao_config_setup(); ao_config_erase(); ao_config_write(0, &ao_config, sizeof (ao_config)); -#if HAS_FLIGHT +#if HAS_FLIGHT && HAS_LOG ao_log_write_erase(0); #endif ao_config_flush(); @@ -120,7 +124,7 @@ _ao_config_get(void) if (ao_config_loaded) return; -#if HAS_EEPROM +#if HAS_CONFIG_SAVE /* Yes, I know ao_storage_read calls ao_storage_setup, * but ao_storage_setup *also* sets ao_storage_config, which we * need before calling ao_storage_read here @@ -134,8 +138,8 @@ _ao_config_get(void) /* Version 0 stuff */ ao_config.main_deploy = AO_CONFIG_DEFAULT_MAIN_DEPLOY; - ao_xmemset(&ao_config.callsign, '\0', sizeof (ao_config.callsign)); - ao_xmemcpy(&ao_config.callsign, AO_CONFIG_DEFAULT_CALLSIGN, + 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._legacy_radio_channel = 0; } @@ -167,7 +171,7 @@ _ao_config_get(void) if (minor < 8) ao_config.radio_enable = AO_RADIO_ENABLE_CORE; if (minor < 9) - ao_xmemset(&ao_config.aes_key, '\0', AO_AES_LEN); + memset(&ao_config.aes_key, '\0', AO_AES_LEN); if (minor < 10) ao_config.frequency = 434550 + ao_config._legacy_radio_channel * 100; if (minor < 11) @@ -186,7 +190,7 @@ _ao_config_get(void) if (minor < 14) ao_config.radio_amp = AO_CONFIG_DEFAULT_RADIO_AMP; #endif -#if HAS_GYRO +#if HAS_IMU if (minor < 15) { ao_config.accel_zero_along = 0; ao_config.accel_zero_across = 0; @@ -234,6 +238,10 @@ _ao_config_get(void) ao_config.pad_box = 1; if (minor < 23) ao_config.pad_idle = 120; +#endif +#if HAS_APRS + if (minor < 24) + ao_config.aprs_offset = 0; #endif ao_config.minor = AO_CONFIG_MINOR; ao_config_dirty = 1; @@ -246,7 +254,7 @@ _ao_config_get(void) #if HAS_RADIO_RATE ao_config.radio_rate = AO_CONFIG_DEFAULT_RADIO_RATE; #endif - ao_xmemcpy(&ao_config.callsign, AO_CONFIG_DEFAULT_CALLSIGN, + memcpy(&ao_config.callsign, AO_CONFIG_DEFAULT_CALLSIGN, sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1); } #endif @@ -276,19 +284,21 @@ ao_config_get(void) ao_mutex_put(&ao_config_mutex); } -void +#if HAS_RADIO + +static void ao_config_callsign_show(void) { printf ("Callsign: \"%s\"\n", ao_config.callsign); } -void +static void ao_config_callsign_set(void) { uint8_t c; static char callsign[AO_MAX_CALLSIGN + 1]; - ao_xmemset(callsign, '\0', sizeof callsign); + memset(callsign, '\0', sizeof callsign); ao_cmd_white(); c = 0; while (ao_cmd_lex_c != '\n') { @@ -301,21 +311,19 @@ ao_config_callsign_set(void) if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); - ao_xmemcpy(&ao_config.callsign, &callsign, + memcpy(&ao_config.callsign, &callsign, AO_MAX_CALLSIGN + 1); _ao_config_edit_finish(); } -#if HAS_RADIO - -void +static void ao_config_frequency_show(void) { printf("Frequency: %ld\n", ao_config.frequency); } -void +static void ao_config_frequency_set(void) { uint32_t r = ao_cmd_decimal(); @@ -359,14 +367,16 @@ ao_config_send_frequency_set(void) #if HAS_FLIGHT -void +#if HAS_BARO + +static void ao_config_main_deploy_show(void) { printf("Main deploy: %d meters\n", ao_config.main_deploy); } -void +static void ao_config_main_deploy_set(void) { uint32_t r = ao_cmd_decimal(); @@ -377,13 +387,15 @@ ao_config_main_deploy_set(void) _ao_config_edit_finish(); } +#endif + #if HAS_ACCEL -void +static void ao_config_accel_calibrate_show(void) { printf("Accel cal +1g: %d -1g: %d\n", ao_config.accel_plus_g, ao_config.accel_minus_g); -#if HAS_GYRO +#if HAS_IMU printf ("IMU cal along %d across %d through %d\n", ao_config.accel_zero_along, ao_config.accel_zero_across, @@ -394,7 +406,7 @@ ao_config_accel_calibrate_show(void) #define ACCEL_CALIBRATE_SAMPLES 1024 #define ACCEL_CALIBRATE_SHIFT 10 -#if HAS_GYRO +#if HAS_IMU static int16_t accel_cal_along; static int16_t accel_cal_across; static int16_t accel_cal_through; @@ -406,7 +418,7 @@ ao_config_accel_calibrate_auto(char *orientation) uint16_t i; int32_t accel_total; uint8_t cal_data_ring; -#if HAS_GYRO +#if HAS_IMU int32_t accel_along_total = 0; int32_t accel_across_total = 0; int32_t accel_through_total = 0; @@ -424,7 +436,7 @@ ao_config_accel_calibrate_auto(char *orientation) ao_sleep(&ao_sample_data); while (i && cal_data_ring != ao_sample_data) { accel_total += (int32_t) ao_data_accel(&ao_data_ring[cal_data_ring]); -#if HAS_GYRO +#if HAS_IMU accel_along_total += (int32_t) ao_data_along(&ao_data_ring[cal_data_ring]); accel_across_total += (int32_t) ao_data_across(&ao_data_ring[cal_data_ring]); accel_through_total += (int32_t) ao_data_through(&ao_data_ring[cal_data_ring]); @@ -433,7 +445,7 @@ ao_config_accel_calibrate_auto(char *orientation) i--; } } -#if HAS_GYRO +#if HAS_IMU accel_cal_along = accel_along_total >> ACCEL_CALIBRATE_SHIFT; accel_cal_across = accel_across_total >> ACCEL_CALIBRATE_SHIFT; accel_cal_through = accel_through_total >> ACCEL_CALIBRATE_SHIFT; @@ -441,39 +453,35 @@ ao_config_accel_calibrate_auto(char *orientation) return accel_total >> ACCEL_CALIBRATE_SHIFT; } -void +static void ao_config_accel_calibrate_set(void) { int16_t up, down; - uint16_t r; -#if HAS_GYRO + bool auto_cal; +#if HAS_IMU int16_t accel_along_up = 0, accel_along_down = 0; int16_t accel_across_up = 0, accel_across_down = 0; int16_t accel_through_up = 0, accel_through_down = 0; #endif - r = ao_cmd_decimal(); + up = ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; - if (r == 0) { + down = ao_cmd_decimal(); + auto_cal = (up == 0 && ao_cmd_status != ao_cmd_success); + if (auto_cal) { up = ao_config_accel_calibrate_auto("up"); -#if HAS_GYRO +#if HAS_IMU accel_along_up = accel_cal_along; accel_across_up = accel_cal_across; accel_through_up = accel_cal_through; #endif down = ao_config_accel_calibrate_auto("down"); -#if HAS_GYRO +#if HAS_IMU accel_along_down = accel_cal_along; accel_across_down = accel_cal_across; accel_through_down = accel_cal_through; #endif - } else { - up = r; - r = ao_cmd_decimal(); - if (ao_cmd_status != ao_cmd_success) - return; - down = r; } if (up >= down) { printf("Invalid accel: up (%d) down (%d)\n", @@ -483,25 +491,40 @@ ao_config_accel_calibrate_set(void) _ao_config_edit_start(); ao_config.accel_plus_g = up; ao_config.accel_minus_g = down; -#if HAS_GYRO - if (r == 0) { +#if HAS_IMU + if (auto_cal) { ao_config.accel_zero_along = (accel_along_up + accel_along_down) / 2; ao_config.accel_zero_across = (accel_across_up + accel_across_down) / 2; ao_config.accel_zero_through = (accel_through_up + accel_through_down) / 2; + } else { + int16_t v; + + v = ao_cmd_decimal(); + if (ao_cmd_status == ao_cmd_success) { + ao_config.accel_zero_along = v; + v = ao_cmd_decimal(); + if (ao_cmd_status == ao_cmd_success) { + ao_config.accel_zero_across = v; + v = ao_cmd_decimal(); + if (ao_cmd_status == ao_cmd_success) + ao_config.accel_zero_through = v; + } + } } #endif _ao_config_edit_finish(); } #endif /* HAS_ACCEL */ -void +#if HAS_BARO +static void ao_config_apogee_delay_show(void) { printf("Apogee delay: %d seconds\n", ao_config.apogee_delay); } -void +static void ao_config_apogee_delay_set(void) { uint32_t r = ao_cmd_decimal(); @@ -512,14 +535,14 @@ ao_config_apogee_delay_set(void) _ao_config_edit_finish(); } -void +static void ao_config_apogee_lockout_show(void) { printf ("Apogee lockout: %d seconds\n", ao_config.apogee_lockout); } -void +static void ao_config_apogee_lockout_set(void) { uint16_t r = ao_cmd_decimal(); @@ -529,17 +552,18 @@ ao_config_apogee_lockout_set(void) ao_config.apogee_lockout = r; _ao_config_edit_finish(); } +#endif #endif /* HAS_FLIGHT */ #if HAS_RADIO -void +static void ao_config_radio_cal_show(void) { printf("Radio cal: %ld\n", ao_config.radio_cal); } -void +static void ao_config_radio_cal_set(void) { uint32_t r = ao_cmd_decimal(); @@ -558,13 +582,13 @@ ao_config_radio_cal_set(void) #error Please define HAS_TELEMETRY #endif -void +static void ao_config_radio_rate_show(void) { printf("Telemetry rate: %d\n", ao_config.radio_rate); } -void +static void ao_config_radio_rate_set(void) { uint16_t r = ao_cmd_decimal(); @@ -588,7 +612,7 @@ ao_config_radio_rate_set(void) #if HAS_LOG -void +static void ao_config_log_show(void) { printf("Max flight log: %d kB\n", (int16_t) (ao_config.flight_log_max >> 10)); @@ -597,7 +621,7 @@ ao_config_log_show(void) #endif } -#if FLIGHT_LOG_APPEND +#if FLIGHT_LOG_APPEND && HAS_CONFIG_SAVE void ao_config_log_fix_append(void) { @@ -611,42 +635,42 @@ ao_config_log_fix_append(void) } #endif -void +static void ao_config_log_set(void) { #if FLIGHT_LOG_APPEND - printf("Flight log fixed size %d kB\n", ao_storage_log_max >> 10); + printf("Flight log fixed size %u kB\n", (unsigned) (ao_storage_log_max >> 10)); #else - uint16_t block = (uint16_t) (ao_storage_block >> 10); - uint16_t log_max = (uint16_t) (ao_storage_log_max >> 10); uint32_t r; r = ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; - if (ao_log_present()) - printf("Storage must be empty before changing log size\n"); - else if (block > 1024 && (r & (block - 1))) - printf("Flight log size must be multiple of %d kB\n", block); - else if (r > log_max) - printf("Flight log max %d kB\n", log_max); - else { - _ao_config_edit_start(); - ao_config.flight_log_max = r << 10; - _ao_config_edit_finish(); + r = r << 10; + if (ao_log_present()) { + if (r != ao_config.flight_log_max) + printf("Storage must be empty before changing log size\n"); + return; + } + if (r > ao_storage_log_max) { + printf("Flight log max %u kB\n", (unsigned) (ao_storage_log_max >> 10)); + return; } + _ao_config_edit_start(); + ao_config.flight_log_max = r & ~(ao_storage_block - 1); + _ao_config_edit_finish(); #endif } #endif /* HAS_LOG */ #if HAS_IGNITE -void +static void ao_config_ignite_mode_show(void) { printf("Ignite mode: %d\n", ao_config.ignite_mode); } -void +static void ao_config_ignite_mode_set(void) { uint16_t r = ao_cmd_decimal(); @@ -659,17 +683,13 @@ ao_config_ignite_mode_set(void) #endif #if HAS_ACCEL -void +static void ao_config_pad_orientation_show(void) { printf("Pad orientation: %d\n", ao_config.pad_orientation); } -#ifndef AO_ACCEL_INVERT -#define AO_ACCEL_INVERT 0x7fff -#endif - -void +static void ao_config_pad_orientation_set(void) { uint16_t r = ao_cmd_decimal() & 1; @@ -677,10 +697,10 @@ ao_config_pad_orientation_set(void) return; _ao_config_edit_start(); if (ao_config.pad_orientation != r) { - int16_t t; + accel_t t; t = ao_config.accel_plus_g; - ao_config.accel_plus_g = AO_ACCEL_INVERT - ao_config.accel_minus_g; - ao_config.accel_minus_g = AO_ACCEL_INVERT - t; + ao_config.accel_plus_g = ao_data_accel_invert(ao_config.accel_minus_g); + ao_config.accel_minus_g = ao_data_accel_invert(t); } ao_config.pad_orientation = r; _ao_config_edit_finish(); @@ -688,13 +708,13 @@ ao_config_pad_orientation_set(void) #endif #if HAS_RADIO -void +static void ao_config_radio_enable_show(void) { printf("Radio enable: %d\n", ao_config.radio_enable); } -void +static void ao_config_radio_enable_set(void) { uint16_t r = ao_cmd_decimal(); @@ -713,7 +733,7 @@ ao_config_radio_enable_set(void) uint8_t ao_config_aes_seq = 1; -void +static void ao_config_key_show(void) { uint8_t i; @@ -723,7 +743,7 @@ ao_config_key_show(void) printf("\n"); } -void +static void ao_config_key_set(void) { uint8_t i; @@ -742,13 +762,13 @@ ao_config_key_set(void) #if HAS_APRS -void +static void ao_config_aprs_show(void) { printf ("APRS interval: %d\n", ao_config.aprs_interval); } -void +static void ao_config_aprs_set(void) { uint16_t r = ao_cmd_decimal(); @@ -760,6 +780,24 @@ ao_config_aprs_set(void) ao_telemetry_reset_interval(); } +static void +ao_config_aprs_offset_show(void) +{ + printf ("APRS offset: %d\n", ao_config.aprs_offset); +} + +static void +ao_config_aprs_offset_set(void) +{ + uint16_t r = ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + _ao_config_edit_start(); + ao_config.aprs_offset = r; + _ao_config_edit_finish(); + ao_telemetry_reset_interval(); +} + #endif /* HAS_APRS */ #if HAS_RADIO_AMP @@ -805,13 +843,13 @@ ao_config_radio_power_set(void) #endif #if HAS_BEEP_CONFIG -void +static void ao_config_beep_show(void) { printf ("Beeper setting: %d\n", ao_config.mid_beep); } -void +static void ao_config_beep_set(void) { uint16_t r = ao_cmd_decimal(); @@ -824,7 +862,7 @@ ao_config_beep_set(void) #endif #if HAS_TRACKER -void +static void ao_config_tracker_show(void) { printf ("Tracker setting: %d %d\n", @@ -832,7 +870,7 @@ ao_config_tracker_show(void) ao_config.tracker_interval); } -void +static void ao_config_tracker_set(void) { uint16_t m, i; @@ -853,13 +891,13 @@ ao_config_tracker_set(void) #endif /* HAS_TRACKER */ #if AO_PYRO_NUM -void +static void ao_config_pyro_time_show(void) { printf ("Pyro time: %d\n", ao_config.pyro_time); } -void +static void ao_config_pyro_time_set(void) { uint16_t r = ao_cmd_decimal(); @@ -872,14 +910,14 @@ ao_config_pyro_time_set(void) #endif #if HAS_APRS -void +static void ao_config_aprs_ssid_show(void) { printf ("APRS SSID: %d\n", ao_config.aprs_ssid); } -void +static void ao_config_aprs_ssid_set(void) { uint16_t r = ao_cmd_decimal(); @@ -894,7 +932,7 @@ ao_config_aprs_ssid_set(void) _ao_config_edit_finish(); } -void +static void ao_config_aprs_format_set(void) { uint16_t r = ao_cmd_decimal(); @@ -905,7 +943,7 @@ ao_config_aprs_format_set(void) _ao_config_edit_finish(); } -void +static void ao_config_aprs_format_show(void) { printf ("APRS format: %d\n", ao_config.aprs_format); @@ -913,13 +951,13 @@ ao_config_aprs_format_show(void) #endif /* HAS_APRS */ #if HAS_FIXED_PAD_BOX -void +static void ao_config_pad_box_show(void) { printf ("Pad box: %d\n", ao_config.pad_box); } -void +static void ao_config_pad_box_set(void) { uint16_t r = ao_cmd_decimal(); @@ -930,13 +968,13 @@ ao_config_pad_box_set(void) _ao_config_edit_finish(); } -void +static void ao_config_pad_idle_show(void) { printf ("Idle timeout: %d\n", ao_config.pad_idle); } -void +static void ao_config_pad_idle_set(void) { uint16_t r = ao_cmd_decimal(); @@ -960,13 +998,13 @@ ao_config_help(void); static void ao_config_show(void); -#if HAS_EEPROM +#if HAS_CONFIG_SAVE static void ao_config_save(void); #endif const struct ao_config_var ao_config_vars[] = { -#if HAS_FLIGHT +#if HAS_FLIGHT && HAS_BARO { "m \0Main deploy (m)", ao_config_main_deploy_set, ao_config_main_deploy_show, }, { "d \0Apogee delay (s)", @@ -1011,7 +1049,7 @@ const struct ao_config_var ao_config_vars[] = { ao_config_log_set, ao_config_log_show }, #endif #if HAS_IGNITE - { "i <0 dual, 1 apogee, 2 main>\0Igniter mode", + { "i <0 dual, 1 apogee, 2 main, 3 booster>\0Igniter mode", ao_config_ignite_mode_set, ao_config_ignite_mode_show }, #endif #if HAS_AES @@ -1041,6 +1079,8 @@ const struct ao_config_var ao_config_vars[] = { ao_config_aprs_ssid_set, ao_config_aprs_ssid_show }, { "C <0 compressed, 1 uncompressed>\0APRS format", ao_config_aprs_format_set, ao_config_aprs_format_show }, + { "O \0APRS Offset from top of minute", + ao_config_aprs_offset_set, ao_config_aprs_offset_show }, #endif #if HAS_FIXED_PAD_BOX { "B \0Set pad box (1-99)", @@ -1050,7 +1090,7 @@ const struct ao_config_var ao_config_vars[] = { #endif { "s\0Show", ao_config_show, 0 }, -#if HAS_EEPROM +#if HAS_CONFIG_SAVE { "w\0Write to eeprom", ao_config_save, 0 }, #endif @@ -1059,7 +1099,7 @@ const struct ao_config_var ao_config_vars[] = { { 0, 0, 0 } }; -void +static void ao_config_set(void) { char c; @@ -1102,7 +1142,7 @@ ao_config_show(void) #endif } -#if HAS_EEPROM +#if HAS_CONFIG_SAVE static void ao_config_save(void) {