X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_config.c;h=f7c79e7da0cdbff4cdc9b1b49130eecc5b560ad1;hb=HEAD;hp=e4fc73c99059aadac5c7e9360f702a43770fb7d6;hpb=9416e5d71dc57df6612f62451433a34bf669b2cc;p=fw%2Faltos diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c index e4fc73c9..565ac61e 100644 --- a/src/kernel/ao_config.c +++ b/src/kernel/ao_config.c @@ -54,6 +54,8 @@ 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) +#define AO_CONFIG_DEFAULT_RADIO_10MW 0 +#define AO_CONFIG_DEFAULT_REPORT_FEET 0 #if HAS_CONFIG_SAVE #ifndef USE_INTERNAL_FLASH #error Please define USE_INTERNAL_FLASH @@ -76,7 +78,7 @@ uint8_t ao_force_freq; #define AO_CONFIG_DEFAULT_RADIO_POWER 0x60 #endif #define AO_CONFIG_DEFAULT_RADIO_AMP 0 -#define AO_CONFIG_DEFAULT_APRS_SSID (ao_serial_number % 10) +#define AO_CONFIG_DEFAULT_APRS_SSID ((uint8_t) (ao_serial_number % 10)) #define AO_CONFIG_DEFAULT_RADIO_RATE AO_RADIO_RATE_38400 #if HAS_CONFIG_SAVE @@ -145,6 +147,9 @@ _ao_config_get(void) } minor = ao_config.minor; if (minor != AO_CONFIG_MINOR) { +#if AO_PYRO_NUM + ao_pyro_update_version(); +#endif /* Fixups for minor version 1 */ if (minor < 1) ao_config.apogee_delay = AO_CONFIG_DEFAULT_APOGEE_DELAY; @@ -173,7 +178,7 @@ _ao_config_get(void) if (minor < 9) memset(&ao_config.aes_key, '\0', AO_AES_LEN); if (minor < 10) - ao_config.frequency = 434550 + ao_config._legacy_radio_channel * 100; + ao_config.frequency = 434550U + ao_config._legacy_radio_channel * 100U; if (minor < 11) ao_config.apogee_lockout = 0; #if AO_PYRO_NUM @@ -185,12 +190,12 @@ _ao_config_get(void) #if HAS_RADIO_POWER if (minor < 14) ao_config.radio_power = AO_CONFIG_DEFAULT_RADIO_POWER; - #endif +#endif #if HAS_RADIO_AMP 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; @@ -203,7 +208,7 @@ _ao_config_get(void) ao_config.accel_minus_g = 0; } #endif -#if HAS_BEEP_CONFIG +#if HAS_BEEP if (minor < 16) ao_config.mid_beep = AO_BEEP_MID_DEFAULT; #endif @@ -243,6 +248,12 @@ _ao_config_get(void) if (minor < 24) ao_config.aprs_offset = 0; #endif +#if HAS_RADIO_10MW + if (minor < 25) + ao_config.radio_10mw = AO_CONFIG_DEFAULT_RADIO_10MW; +#endif + if (minor < 26) + ao_config.report_feet = AO_CONFIG_DEFAULT_REPORT_FEET; ao_config.minor = AO_CONFIG_MINOR; ao_config_dirty = 1; } @@ -367,6 +378,8 @@ ao_config_send_frequency_set(void) #if HAS_FLIGHT +#if HAS_BARO + static void ao_config_main_deploy_show(void) { @@ -381,17 +394,19 @@ ao_config_main_deploy_set(void) if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); - ao_config.main_deploy = r; + ao_config.main_deploy = (uint16_t) r; _ao_config_edit_finish(); } +#endif + #if HAS_ACCEL 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, @@ -402,7 +417,7 @@ 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; @@ -414,7 +429,7 @@ 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; @@ -432,7 +447,7 @@ 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]); @@ -441,47 +456,44 @@ ao_config_accel_calibrate_auto(char *orientation) i--; } } -#if HAS_GYRO - 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; +#if HAS_IMU + accel_cal_along = (int16_t) (accel_along_total >> ACCEL_CALIBRATE_SHIFT); + accel_cal_across = (int16_t) (accel_across_total >> ACCEL_CALIBRATE_SHIFT); + accel_cal_through = (int16_t) (accel_through_total >> ACCEL_CALIBRATE_SHIFT); #endif - return accel_total >> ACCEL_CALIBRATE_SHIFT; + return (int16_t) (accel_total >> ACCEL_CALIBRATE_SHIFT); } 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 = (int16_t) ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; - if (r == 0) { + down = (int16_t) ao_cmd_decimal(); + auto_cal = (up == 0 && ao_cmd_status != ao_cmd_success); + 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", @@ -491,17 +503,32 @@ 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) { - 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; +#if HAS_IMU + if (auto_cal) { + ao_config.accel_zero_along = (int16_t) ((accel_along_up + accel_along_down) / 2); + ao_config.accel_zero_across = (int16_t) ((accel_across_up + accel_across_down) / 2); + ao_config.accel_zero_through = (int16_t) ((accel_through_up + accel_through_down) / 2); + } else { + int16_t v; + + v = (int16_t) ao_cmd_decimal(); + if (ao_cmd_status == ao_cmd_success) { + ao_config.accel_zero_along = v; + v = (int16_t) ao_cmd_decimal(); + if (ao_cmd_status == ao_cmd_success) { + ao_config.accel_zero_across = v; + v = (int16_t) ao_cmd_decimal(); + if (ao_cmd_status == ao_cmd_success) + ao_config.accel_zero_through = v; + } + } } #endif _ao_config_edit_finish(); } #endif /* HAS_ACCEL */ +#if HAS_BARO static void ao_config_apogee_delay_show(void) { @@ -515,8 +542,12 @@ ao_config_apogee_delay_set(void) uint32_t r = ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; + if (r > 255) { + ao_cmd_status = ao_cmd_lex_error; + return; + } _ao_config_edit_start(); - ao_config.apogee_delay = r; + ao_config.apogee_delay = (uint8_t) r; _ao_config_edit_finish(); } @@ -530,13 +561,18 @@ ao_config_apogee_lockout_show(void) static void ao_config_apogee_lockout_set(void) { - uint16_t r = ao_cmd_decimal(); + uint32_t r = ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; + if (r > 65535) { + ao_cmd_status = ao_cmd_lex_error; + return; + } _ao_config_edit_start(); - ao_config.apogee_lockout = r; + ao_config.apogee_lockout = (uint16_t) r; _ao_config_edit_finish(); } +#endif #endif /* HAS_FLIGHT */ @@ -575,7 +611,7 @@ ao_config_radio_rate_show(void) static void ao_config_radio_rate_set(void) { - uint16_t r = ao_cmd_decimal(); + uint32_t r = ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; if (AO_RADIO_RATE_MAX < r) { @@ -583,7 +619,7 @@ ao_config_radio_rate_set(void) return; } _ao_config_edit_start(); - ao_config.radio_rate = r; + ao_config.radio_rate = (uint8_t) r; _ao_config_edit_finish(); #if HAS_TELEMETRY ao_telemetry_reset_interval(); @@ -623,26 +659,26 @@ 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 */ @@ -657,11 +693,11 @@ ao_config_ignite_mode_show(void) static void ao_config_ignite_mode_set(void) { - uint16_t r = ao_cmd_decimal(); + uint32_t r = ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); - ao_config.ignite_mode = r; + ao_config.ignite_mode = (uint8_t) r; _ao_config_edit_finish(); } #endif @@ -676,7 +712,7 @@ ao_config_pad_orientation_show(void) static void ao_config_pad_orientation_set(void) { - uint16_t r = ao_cmd_decimal() & 1; + uint8_t r = ao_cmd_decimal() & 1; if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); @@ -701,11 +737,11 @@ ao_config_radio_enable_show(void) static void ao_config_radio_enable_set(void) { - uint16_t r = ao_cmd_decimal(); + uint32_t r = ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); - ao_config.radio_enable = r; + ao_config.radio_enable = r != 0; _ao_config_edit_finish(); #if HAS_TELEMETRY && HAS_RADIO_RATE ao_telemetry_reset_interval(); @@ -755,11 +791,11 @@ ao_config_aprs_show(void) static void ao_config_aprs_set(void) { - uint16_t r = ao_cmd_decimal(); + uint32_t r = ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); - ao_config.aprs_interval = r; + ao_config.aprs_interval = (uint16_t) r; _ao_config_edit_finish(); ao_telemetry_reset_interval(); } @@ -773,11 +809,11 @@ ao_config_aprs_offset_show(void) static void ao_config_aprs_offset_set(void) { - uint16_t r = ao_cmd_decimal(); + uint32_t r = ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); - ao_config.aprs_offset = r; + ao_config.aprs_offset = (uint8_t) r; _ao_config_edit_finish(); ao_telemetry_reset_interval(); } @@ -826,7 +862,47 @@ ao_config_radio_power_set(void) #endif -#if HAS_BEEP_CONFIG +#if HAS_RADIO_10MW + +static void +ao_config_radio_10mw_show(void) +{ + printf ("Radio 10mw limit: %d\n", ao_config.radio_10mw); +} + +static void +ao_config_radio_10mw_set(void) +{ + uint32_t r = ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + _ao_config_edit_start(); + ao_config.radio_10mw = !!r; + _ao_config_edit_finish(); +} + +#endif + +#if HAS_BARO +static void +ao_config_report_feet_show(void) +{ + printf ("Report in feet: %d\n", ao_config.report_feet); +} + +static void +ao_config_report_feet_set(void) +{ + uint32_t r = ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + _ao_config_edit_start(); + ao_config.report_feet = !!r; + _ao_config_edit_finish(); +} +#endif + +#if HAS_BEEP static void ao_config_beep_show(void) { @@ -836,11 +912,11 @@ ao_config_beep_show(void) static void ao_config_beep_set(void) { - uint16_t r = ao_cmd_decimal(); + uint32_t r = ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); - ao_config.mid_beep = r; + ao_config.mid_beep = (uint8_t) r; _ao_config_edit_finish(); } #endif @@ -857,11 +933,12 @@ ao_config_tracker_show(void) static void ao_config_tracker_set(void) { - uint16_t m, i; - m = ao_cmd_decimal(); + uint16_t m; + uint8_t i; + m = (uint16_t) ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; - i = ao_cmd_decimal(); + i = (uint8_t) ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); @@ -884,11 +961,11 @@ ao_config_pyro_time_show(void) static void ao_config_pyro_time_set(void) { - uint16_t r = ao_cmd_decimal(); + uint32_t r = ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); - ao_config.pyro_time = r; + ao_config.pyro_time = (uint16_t) r; _ao_config_edit_finish(); } #endif @@ -904,7 +981,7 @@ ao_config_aprs_ssid_show(void) static void ao_config_aprs_ssid_set(void) { - uint16_t r = ao_cmd_decimal(); + uint32_t r = ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; if (15 < r) { @@ -912,14 +989,14 @@ ao_config_aprs_ssid_set(void) return; } _ao_config_edit_start(); - ao_config.aprs_ssid = r; + ao_config.aprs_ssid = (uint8_t) r; _ao_config_edit_finish(); } static void ao_config_aprs_format_set(void) { - uint16_t r = ao_cmd_decimal(); + uint32_t r = ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); @@ -944,11 +1021,11 @@ ao_config_pad_box_show(void) static void ao_config_pad_box_set(void) { - uint16_t r = ao_cmd_decimal(); + uint32_t r = ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); - ao_config.pad_box = r; + ao_config.pad_box = (uint8_t) r; _ao_config_edit_finish(); } @@ -961,11 +1038,11 @@ ao_config_pad_idle_show(void) static void ao_config_pad_idle_set(void) { - uint16_t r = ao_cmd_decimal(); + uint32_t r = ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; _ao_config_edit_start(); - ao_config.pad_idle = r; + ao_config.pad_idle = (uint8_t) r; _ao_config_edit_finish(); } #endif @@ -988,7 +1065,7 @@ 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)", @@ -1033,7 +1110,7 @@ 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 @@ -1050,7 +1127,7 @@ const struct ao_config_var ao_config_vars[] = { { "A \0APRS packet interval (0 disable)", ao_config_aprs_set, ao_config_aprs_show }, #endif -#if HAS_BEEP_CONFIG +#if HAS_BEEP { "b \0Beeper tone (freq = 1/2 (24e6/32) / beep", ao_config_beep_set, ao_config_beep_show }, #endif @@ -1071,6 +1148,14 @@ const struct ao_config_var ao_config_vars[] = { ao_config_pad_box_set, ao_config_pad_box_show }, { "i \0Set idle timeout (0 disable)", ao_config_pad_idle_set, ao_config_pad_idle_show }, +#endif +#if HAS_RADIO_10MW + { "p <0 no limit, 1 limit>\0Limit radio power to 10mW", + ao_config_radio_10mw_set, ao_config_radio_10mw_show }, +#endif +#if HAS_BARO + { "u <0 meters, 1 feet>\0Units to report height after landing", + ao_config_report_feet_set, ao_config_report_feet_show }, #endif { "s\0Show", ao_config_show, 0 },