--- /dev/null
+/*
+ * Copyright © 2017 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+
+/* 16MHz High speed external crystal */
+#define AO_HSE 16000000
+
+/* PLLVCO = 96MHz (so that USB will work) */
+#define AO_PLLMUL 6
+#define AO_RCC_CFGR_PLLMUL (STM_RCC_CFGR_PLLMUL_6)
+
+/* SYSCLK = 32MHz (no need to go faster than CPU) */
+#define AO_PLLDIV 3
+#define AO_RCC_CFGR_PLLDIV (STM_RCC_CFGR_PLLDIV_3)
+
+/* HCLK = 32MHz (CPU clock) */
+#define AO_AHB_PRESCALER 1
+#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1
+
+/* Run APB1 at 16MHz (HCLK/2) */
+#define AO_APB1_PRESCALER 2
+#define AO_RCC_CFGR_PPRE1_DIV STM_RCC_CFGR_PPRE2_DIV_2
+
+/* Run APB2 at 16MHz (HCLK/2) */
+#define AO_APB2_PRESCALER 2
+#define AO_RCC_CFGR_PPRE2_DIV STM_RCC_CFGR_PPRE2_DIV_2
+
+#define HAS_SERIAL_1 0
+#define USE_SERIAL_1_STDIN 0
+#define SERIAL_1_PB6_PB7 0
+#define SERIAL_1_PA9_PA10 0
+
+#define HAS_SERIAL_2 1
+#define USE_SERIAL_2_STDIN 0
+#define SERIAL_2_PA2_PA3 1
+#define SERIAL_2_PD5_PD6 0
+#define USE_SERIAL_2_FLOW 0
+#define USE_SERIAL_2_SW_FLOW 0
+
+#define HAS_SERIAL_3 0
+#define USE_SERIAL_3_STDIN 0
+#define SERIAL_3_PB10_PB11 0
+#define SERIAL_3_PC10_PC11 0
+#define SERIAL_3_PD8_PD9 0
+
+#define ao_gps_getchar ao_serial2_getchar
+#define ao_gps_putchar ao_serial2_putchar
+#define ao_gps_set_speed ao_serial2_set_speed
+#define ao_gps_fifo (ao_stm_usart2.rx_fifo)
+
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX (1024 * 1024)
+#define AO_CONFIG_DEFAULT_ACCEL_PLUS_G -20
+#define AO_CONFIG_DEFAULT_ACCEL_MINUS_G 20
+#define AO_CONFIG_MAX_SIZE 1024
+#define LOG_ERASE_MARK 0x55
+#define LOG_MAX_ERASE 128
+#define AO_LOG_FORMAT AO_LOG_FORMAT_TELEMEGA_6
+#define AO_LOG_NORMALIZED 1
+
+#define HAS_EEPROM 1
+#define USE_INTERNAL_FLASH 0
+#define USE_EEPROM_CONFIG 1
+#define USE_STORAGE_CONFIG 0
+#define HAS_USB 1
+#define HAS_BEEP 1
+#define BEEPER_TIMER 3
+#define BEEPER_CHANNEL 2
+#define BEEPER_PORT (&stm_gpioe)
+#define BEEPER_PIN 4
+#define HAS_BATTERY_REPORT 1
+#define HAS_RADIO 1
+#define HAS_TELEMETRY 1
+#define HAS_APRS 1
+#define HAS_COMPANION 1
+
+#define HAS_SPI_1 1
+#define SPI_1_PA5_PA6_PA7 1 /* Barometer */
+#define SPI_1_PB3_PB4_PB5 1 /* Accelerometer */
+#define SPI_1_PE13_PE14_PE15 1 /* MPU6000 */
+#define SPI_1_OSPEEDR STM_OSPEEDR_10MHz
+
+//#define MMC5983_I2C 1
+
+#define HAS_SPI_2 1
+#define SPI_2_PB13_PB14_PB15 1 /* Flash, Companion */
+#ifndef MMC5983_I2C
+#define SPI_2_PD1_PD3_PD4 1 /* MMC5983 */
+#endif
+#define SPI_2_OSPEEDR STM_OSPEEDR_10MHz
+
+#define HAS_I2C_1 0
+#define I2C_1_PB8_PB9 0
+
+#define HAS_I2C_2 0
+#define I2C_2_PB10_PB11 0
+
+#define PACKET_HAS_SLAVE 1
+#define PACKET_HAS_MASTER 0
+
+#define LOW_LEVEL_DEBUG 0
+
+#define LED_PORT_ENABLE STM_RCC_AHBENR_GPIOCEN
+#define LED_PORT (&stm_gpioc)
+#define LED_PIN_RED 8
+#define LED_PIN_GREEN 9
+#define AO_LED_RED (1 << LED_PIN_RED)
+#define AO_LED_GREEN (1 << LED_PIN_GREEN)
+
+#define LEDS_AVAILABLE (AO_LED_RED | AO_LED_GREEN)
+
+#define HAS_GPS 1
+#define HAS_FLIGHT 1
+#define HAS_ADC 1
+#define HAS_ADC_TEMP 1
+#define HAS_LOG 1
+
+/*
+ * Igniter
+ */
+
+#define HAS_IGNITE 1
+#define HAS_IGNITE_REPORT 1
+
+#define AO_SENSE_PYRO(p,n) ((p)->adc.sense[n])
+#define AO_SENSE_DROGUE(p) ((p)->adc.sense[4])
+#define AO_SENSE_MAIN(p) ((p)->adc.sense[5])
+#define AO_IGNITER_CLOSED 400
+#define AO_IGNITER_OPEN 60
+
+/* Pyro A */
+#define AO_PYRO_PORT_0 (&stm_gpiod)
+#define AO_PYRO_PIN_0 6
+
+/* Pyro B */
+#define AO_PYRO_PORT_1 (&stm_gpiod)
+#define AO_PYRO_PIN_1 7
+
+/* Pyro C */
+#define AO_PYRO_PORT_2 (&stm_gpioe)
+#define AO_PYRO_PIN_2 3
+
+/* Pyro D */
+#define AO_PYRO_PORT_3 (&stm_gpioe)
+#define AO_PYRO_PIN_3 2
+
+/* Drogue */
+#define AO_IGNITER_DROGUE_PORT (&stm_gpioe)
+#define AO_IGNITER_DROGUE_PIN 6
+
+/* Main */
+#define AO_IGNITER_MAIN_PORT (&stm_gpioe)
+#define AO_IGNITER_MAIN_PIN 5
+
+/* Number of general purpose pyro channels available */
+#define AO_PYRO_NUM 4
+
+/*
+ * ADC
+ */
+#define AO_DATA_RING 32
+#define AO_ADC_NUM_SENSE 6
+
+struct ao_adc {
+ int16_t sense[AO_ADC_NUM_SENSE];
+ int16_t v_batt;
+ int16_t v_pbatt;
+ int16_t temp;
+};
+
+#define AO_ADC_DUMP(p) \
+ printf("tick: %5lu A: %5d B: %5d C: %5d D: %5d drogue: %5d main: %5d batt: %5d pbatt: %5d temp: %5d\n", \
+ (p)->tick, \
+ (p)->adc.sense[0], (p)->adc.sense[1], (p)->adc.sense[2], \
+ (p)->adc.sense[3], (p)->adc.sense[4], (p)->adc.sense[5], \
+ (p)->adc.v_batt, (p)->adc.v_pbatt, (p)->adc.temp)
+
+#define AO_ADC_SENSE_A 0
+#define AO_ADC_SENSE_A_PORT (&stm_gpioa)
+#define AO_ADC_SENSE_A_PIN 0
+
+#define AO_ADC_SENSE_B 1
+#define AO_ADC_SENSE_B_PORT (&stm_gpioa)
+#define AO_ADC_SENSE_B_PIN 1
+
+#define AO_ADC_SENSE_C 24
+#define AO_ADC_SENSE_C_PORT (&stm_gpioe)
+#define AO_ADC_SENSE_C_PIN 9
+
+#define AO_ADC_SENSE_D 25
+#define AO_ADC_SENSE_D_PORT (&stm_gpioe)
+#define AO_ADC_SENSE_D_PIN 10
+
+#define AO_ADC_SENSE_DROGUE 4
+#define AO_ADC_SENSE_DROGUE_PORT (&stm_gpioa)
+#define AO_ADC_SENSE_DROGUE_PIN 4
+
+#define AO_ADC_SENSE_MAIN 22
+#define AO_ADC_SENSE_MAIN_PORT (&stm_gpioe)
+#define AO_ADC_SENSE_MAIN_PIN 7
+
+#define AO_ADC_V_BATT 8
+#define AO_ADC_V_BATT_PORT (&stm_gpiob)
+#define AO_ADC_V_BATT_PIN 0
+
+#define AO_ADC_V_PBATT 9
+#define AO_ADC_V_PBATT_PORT (&stm_gpiob)
+#define AO_ADC_V_PBATT_PIN 1
+
+#define AO_ADC_TEMP 16
+
+#define AO_ADC_RCC_AHBENR ((1 << STM_RCC_AHBENR_GPIOAEN) | \
+ (1 << STM_RCC_AHBENR_GPIOEEN) | \
+ (1 << STM_RCC_AHBENR_GPIOBEN))
+
+#define AO_NUM_ADC_PIN (AO_ADC_NUM_SENSE + 2)
+
+#define AO_ADC_PIN0_PORT AO_ADC_SENSE_A_PORT
+#define AO_ADC_PIN0_PIN AO_ADC_SENSE_A_PIN
+#define AO_ADC_PIN1_PORT AO_ADC_SENSE_B_PORT
+#define AO_ADC_PIN1_PIN AO_ADC_SENSE_B_PIN
+#define AO_ADC_PIN2_PORT AO_ADC_SENSE_C_PORT
+#define AO_ADC_PIN2_PIN AO_ADC_SENSE_C_PIN
+#define AO_ADC_PIN3_PORT AO_ADC_SENSE_D_PORT
+#define AO_ADC_PIN3_PIN AO_ADC_SENSE_D_PIN
+#define AO_ADC_PIN4_PORT AO_ADC_SENSE_DROGUE_PORT
+#define AO_ADC_PIN4_PIN AO_ADC_SENSE_DROGUE_PIN
+#define AO_ADC_PIN5_PORT AO_ADC_SENSE_MAIN_PORT
+#define AO_ADC_PIN5_PIN AO_ADC_SENSE_MAIN_PIN
+#define AO_ADC_PIN6_PORT AO_ADC_V_BATT_PORT
+#define AO_ADC_PIN6_PIN AO_ADC_V_BATT_PIN
+#define AO_ADC_PIN7_PORT AO_ADC_V_PBATT_PORT
+#define AO_ADC_PIN7_PIN AO_ADC_V_PBATT_PIN
+
+#define AO_NUM_ADC (AO_ADC_NUM_SENSE + 3)
+
+#define AO_ADC_SQ1 AO_ADC_SENSE_A
+#define AO_ADC_SQ2 AO_ADC_SENSE_B
+#define AO_ADC_SQ3 AO_ADC_SENSE_C
+#define AO_ADC_SQ4 AO_ADC_SENSE_D
+#define AO_ADC_SQ5 AO_ADC_SENSE_DROGUE
+#define AO_ADC_SQ6 AO_ADC_SENSE_MAIN
+#define AO_ADC_SQ7 AO_ADC_V_BATT
+#define AO_ADC_SQ8 AO_ADC_V_PBATT
+#define AO_ADC_SQ9 AO_ADC_TEMP
+
+/*
+ * Voltage divider on ADC battery sampler
+ */
+#define AO_BATTERY_DIV_PLUS 56 /* 5.6k */
+#define AO_BATTERY_DIV_MINUS 100 /* 10k */
+
+/*
+ * Voltage divider on ADC pyro battery sampler
+ */
+#define AO_PYRO_BATTERY_DIV_PLUS 100 /* 100k */
+#define AO_PYRO_BATTERY_DIV_MINUS 12 /* 12k */
+
+/*
+ * Voltage divider on ADC igniter samplers
+ */
+#define AO_IGNITE_DIV_PLUS 100 /* 100k */
+#define AO_IGNITE_DIV_MINUS 12 /* 12k */
+
+/*
+ * ADC reference in decivolts
+ */
+#define AO_ADC_REFERENCE_DV 33
+
+/*
+ * Pressure sensor settings
+ */
+#define HAS_MS5607 1
+#define HAS_MS5611 0
+#define AO_MS5607_PRIVATE_PINS 1
+#define AO_MS5607_CS_PORT (&stm_gpioc)
+#define AO_MS5607_CS_PIN 4
+#define AO_MS5607_CS_MASK (1 << AO_MS5607_CS)
+#define AO_MS5607_MISO_PORT (&stm_gpioa)
+#define AO_MS5607_MISO_PIN 6
+#define AO_MS5607_MISO_MASK (1 << AO_MS5607_MISO)
+#define AO_MS5607_SPI_INDEX AO_SPI_1_PA5_PA6_PA7
+
+/*
+ * SPI Flash memory
+ */
+
+#define M25_MAX_CHIPS 1
+#define AO_M25_SPI_CS_PORT (&stm_gpiod)
+#define AO_M25_SPI_CS_MASK (1 << 10)
+#define AO_M25_SPI_BUS AO_SPI_2_PB13_PB14_PB15
+
+/*
+ * Radio (cc1200)
+ */
+
+/* gets pretty close to 434.550 */
+
+#define AO_RADIO_CAL_DEFAULT 5695733
+
+#define AO_FEC_DEBUG 0
+#define AO_CC1200_SPI_CS_PORT (&stm_gpioc)
+#define AO_CC1200_SPI_CS_PIN 5
+#define AO_CC1200_SPI_BUS AO_SPI_2_PB13_PB14_PB15
+#define AO_CC1200_SPI stm_spi2
+
+#define AO_CC1200_INT_PORT (&stm_gpiob)
+#define AO_CC1200_INT_PIN 11
+
+#define AO_CC1200_INT_GPIO 2
+#define AO_CC1200_INT_GPIO_IOCFG CC1200_IOCFG2
+
+#define AO_CC1200_MARC_GPIO 3
+#define AO_CC1200_MARC_GPIO_IOCFG CC1200_IOCFG3
+
+#define HAS_BOOT_RADIO 0
+
+
+/*
+ *
+ * Here are the required sensor signs:
+ *
+ * +along nose up
+ * +across USB down
+ * +through TH down
+ *
+ * With the board aligned to have positive accel for the relevant
+ * axis, looking down from above we have:
+ *
+ * +roll counter clockwise (nose up)
+ * +pitch counter clockwise (USB down)
+ * +yaw counter clockwise (TH down)
+ */
+
+/*
+ * On TMega v6, bmi088 pin 1 (NE corner of chip) is placed towards the
+ * USB and antenna edges of the board. Relative to bmi088 specs, to
+ * get the above values, we need to flip the Y axis, assigning values
+ * as follows:
+ *
+ * +along +X +roll +X
+ * +across -Y +pitch -Y
+ * +through +Z +yaw +Z
+ */
+
+#define HAS_BMI088 1
+#define AO_BMI088_SPI_BUS AO_SPI_1_PE13_PE14_PE15
+#define AO_BMI088_ACC_CS_PORT (&stm_gpioc)
+#define AO_BMI088_ACC_CS_PIN 14
+#define AO_BMI088_GYR_CS_PORT (&stm_gpioc)
+#define AO_BMI088_GYR_CS_PIN 13
+#define HAS_IMU 1
+
+#define ao_bmi088_along(m) ((m)->acc.x)
+#define ao_bmi088_across(m) (-(m)->acc.y)
+#define ao_bmi088_through(m) ((m)->acc.z)
+
+#define ao_bmi088_roll(m) ((m)->gyr.x)
+#define ao_bmi088_pitch(m) (-(m)->gyr.y)
+#define ao_bmi088_yaw(m) ((m)->gyr.z)
+
+#define ao_data_along(packet) ao_bmi088_along(&(packet)->bmi088)
+#define ao_data_across(packet) ao_bmi088_across(&(packet)->bmi088)
+#define ao_data_through(packet) ao_bmi088_through(&(packet)->bmi088)
+
+#define ao_data_roll(packet) ao_bmi088_roll(&(packet)->bmi088)
+#define ao_data_pitch(packet) ao_bmi088_pitch(&(packet)->bmi088)
+#define ao_data_yaw(packet) ao_bmi088_yaw(&(packet)->bmi088)
+
+/*
+ * MMC5983
+ *
+ * pin 1 NE corner of chip
+ *
+ * +along -Y
+ * +across +X
+ * +through -Z
+ */
+
+#define HAS_MMC5983 1
+#define AO_MMC5983_INT_PORT (&stm_gpiod)
+#define AO_MMC5983_INT_PIN 5
+#define AO_MMC5983_SPI_CLK_PORT (&stm_gpiod)
+#define AO_MMC5983_SPI_CLK_PIN 1
+#define AO_MMC5983_SPI_MISO_PORT (&stm_gpiod)
+#define AO_MMC5983_SPI_MISO_PIN 3
+#define AO_MMC5983_SPI_MOSI_PORT (&stm_gpiod)
+#define AO_MMC5983_SPI_MOSI_PIN 4
+#define AO_MMC5983_SPI_INDEX (AO_SPI_2_PD1_PD3_PD4 | AO_SPI_MODE_3)
+#define AO_MMC5983_SPI_CS_PORT (&stm_gpioa)
+#define AO_MMC5983_SPI_CS_PIN 15
+
+#define ao_mmc5983_along(m) (-(m)->y)
+#define ao_mmc5983_across(m) ((m)->x)
+#define ao_mmc5983_through(m) (-(m)->z)
+
+#define ao_data_mag_along(packet) ao_mmc5983_along(&(packet)->mmc5983)
+#define ao_data_mag_across(packet) ao_mmc5983_across(&(packet)->mmc5983)
+#define ao_data_mag_through(packet) ao_mmc5983_through(&(packet)->mmc5983)
+
+/*
+ * ADXL375
+ *
+ * pin 1 NW corner of chip
+ *
+ * +along +X
+ * +across +Y
+ * +through +Z
+ */
+
+#define HAS_ADXL375 1
+#define AO_ADXL375_SPI_INDEX (AO_SPI_1_PB3_PB4_PB5 | AO_SPI_MODE_3)
+#define AO_ADXL375_CS_PORT (&stm_gpioc)
+#define AO_ADXL375_CS_PIN 0
+
+#define AO_ADXL375_AXIS x
+#define AO_ADXL375_INVERT 1
+
+#define NUM_CMDS 16
+
+/*
+ * Companion
+ */
+
+#define AO_COMPANION_CS_PORT (&stm_gpiob)
+#define AO_COMPANION_CS_PIN_0 (6)
+#define AO_COMPANION_CS_PIN AO_COMPANION_CS_PIN_0
+#define AO_COMPANION_CS_PIN_1 (7)
+#define AO_COMPANION_SPI_BUS AO_SPI_2_PB13_PB14_PB15
+
+/*
+ * Monitor
+ */
+
+#define HAS_MONITOR 0
+#define LEGACY_MONITOR 0
+#define HAS_MONITOR_PUT 1
+#define AO_MONITOR_LED 0
+#define HAS_RSSI 0
+
+/*
+ * Profiling Viterbi decoding
+ */
+
+#ifndef AO_PROFILE
+#define AO_PROFILE 0
+#endif
+
+/*
+ * PWM output
+ */
+
+#define NUM_PWM 4
+#define PWM_MAX 20000
+#define AO_PWM_TIMER stm_tim4
+#define AO_PWM_TIMER_ENABLE STM_RCC_APB1ENR_TIM4EN
+#define AO_PWM_TIMER_SCALE 32
+
+#define AO_PWM_0_GPIO (&stm_gpiod)
+#define AO_PWM_0_PIN 12
+
+#define AO_PWM_1_GPIO (&stm_gpiod)
+#define AO_PWM_1_PIN 13
+
+#define AO_PWM_2_GPIO (&stm_gpiod)
+#define AO_PWM_2_PIN 15
+
+#define AO_PWM_3_GPIO (&stm_gpiod)
+#define AO_PWM_3_PIN 14
+
+#endif /* _AO_PINS_H_ */
--- /dev/null
+/*
+ * Copyright © 2021 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_bmi088.h>
+#include <ao_mmc5983.h>
+#include <ao_adxl375.h>
+#include <ao_log.h>
+#include <ao_exti.h>
+#include <ao_packet.h>
+#include <ao_companion.h>
+#include <ao_profile.h>
+#include <ao_eeprom.h>
+#include <ao_i2c_bit.h>
+#if HAS_SAMPLE_PROFILE
+#include <ao_sample_profile.h>
+#endif
+#include <ao_pyro.h>
+#if HAS_STACK_GUARD
+#include <ao_mpu.h>
+#endif
+#include <ao_pwm.h>
+
+#define AO_FAIL_FLASH 1
+#define AO_FAIL_ADC 2
+#define AO_FAIL_GPS 3
+#define AO_FAIL_RADIO 4
+#define AO_FAIL_ACCEL 5
+#define AO_FAIL_BARO 6
+#define AO_FAIL_IMU 7
+#define AO_FAIL_MAG 8
+#define AO_FAIL_RANGE 9
+
+static void
+ao_validate(void)
+{
+ static struct ao_telemetry_location gps_data;
+ static struct ao_telemetry_satellite gps_tracking_data;
+ uint8_t new;
+ uint8_t data;
+ int16_t decivolt;
+ AO_TICK_TYPE gps_start;
+
+ ao_config_get();
+ /* Check the flash part */
+ ao_storage_setup();
+ if (ao_storage_total != 8 * 1024 * 1024)
+ ao_panic(AO_FAIL_FLASH);
+
+ /* Check the battery voltage */
+ data = ao_data_head;
+ do {
+ ao_sleep((void *) &ao_data_head);
+ } while (ao_data_head == data);
+ decivolt = ao_battery_decivolt(ao_data_ring[data].adc.v_batt);
+ if (decivolt < 35 || 55 < decivolt)
+ ao_panic(AO_FAIL_ADC);
+
+ /* Check to make sure GPS data is being received */
+ gps_start = ao_time();
+ for (;;) {
+ while ((new = ao_gps_new) == 0)
+ ao_sleep_for(&ao_gps_new, AO_SEC_TO_TICKS(1));
+ ao_mutex_get(&ao_gps_mutex);
+ if (new & AO_GPS_NEW_DATA)
+ memcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
+ if (new & AO_GPS_NEW_TRACKING)
+ memcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
+ ao_gps_new = 0;
+ ao_mutex_put(&ao_gps_mutex);
+
+ if (new & AO_GPS_NEW_DATA) {
+ if (gps_data.flags & AO_GPS_RUNNING)
+ break;
+ }
+ if ((AO_TICK_SIGNED) (ao_time() - gps_start) > (AO_TICK_SIGNED) AO_SEC_TO_TICKS(10))
+ ao_panic(AO_FAIL_GPS);
+ }
+
+ if (!ao_radio_post())
+ ao_panic(AO_FAIL_RADIO);
+
+ ao_sample_init();
+ ao_flight_state = ao_flight_startup;
+ for (;;) {
+
+ /*
+ * Process ADC samples, just looping
+ * until the sensors are calibrated.
+ */
+ if (ao_sample())
+ break;
+ }
+
+ if (ao_sensor_errors & AO_DATA_MS5607)
+ ao_panic(AO_FAIL_BARO);
+ if (ao_sensor_errors & AO_DATA_BMI088)
+ ao_panic(AO_FAIL_IMU);
+ if (ao_sensor_errors & AO_DATA_MMC5983)
+ ao_panic(AO_FAIL_MAG);
+ if (ao_sensor_errors & AO_DATA_ADXL375)
+ ao_panic(AO_FAIL_ACCEL);
+ if (ao_sensor_errors)
+ ao_panic(AO_FAIL_RANGE);
+
+ /* Check ground accel value to make sure it's somewhat valid */
+ if (ao_ground_accel < (accel_t) AO_CONFIG_DEFAULT_ACCEL_PLUS_G - ACCEL_NOSE_UP ||
+ ao_ground_accel > (accel_t) AO_CONFIG_DEFAULT_ACCEL_MINUS_G + ACCEL_NOSE_UP) {
+ ao_panic(AO_FAIL_ACCEL);
+ }
+ if (ao_ground_height < -1000 || ao_ground_height > 7000)
+ ao_panic(AO_FAIL_BARO);
+
+ ao_led_on(LEDS_AVAILABLE);
+ ao_beep_for(AO_BEEP_MID_DEFAULT, AO_MS_TO_TICKS(100));
+
+ ao_exit();
+}
+
+struct ao_task ao_validate_task;
+
+int
+main(void)
+{
+ ao_clock_init();
+
+#if HAS_STACK_GUARD
+ ao_mpu_init();
+#endif
+
+ ao_task_init();
+ ao_serial_init();
+ ao_led_init();
+ ao_led_off(LEDS_AVAILABLE);
+ ao_timer_init();
+
+ ao_spi_init();
+#ifdef MMC5983_I2C
+ ao_i2c_bit_init();
+#endif
+ ao_dma_init();
+ ao_exti_init();
+
+ ao_adc_init();
+#if HAS_BEEP
+ ao_beep_init();
+#endif
+ ao_cmd_init();
+
+ ao_ms5607_init();
+ ao_bmi088_init();
+ ao_mmc5983_init();
+ ao_adxl375_init();
+
+ ao_eeprom_init();
+ ao_storage_init();
+
+ ao_usb_init();
+ ao_gps_init();
+
+ ao_radio_init();
+ ao_igniter_init();
+ ao_pyro_init();
+
+ ao_config_init();
+#if AO_PROFILE
+ ao_profile_init();
+#endif
+#if HAS_SAMPLE_PROFILE
+ ao_sample_profile_init();
+#endif
+
+ ao_pwm_init();
+
+ ao_add_task(&ao_validate_task, ao_validate, "validate");
+
+ ao_start_scheduler();
+ return 0;
+}
projects / fw / altos / commitdiff