--- /dev/null
+/*
+ * Copyright © 2022 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_
+
+#define AO_XOSC 1
+#define AO_XOSC_FREQ 16000000
+#define AO_XOSC_DIV 256
+#define AO_XOSC_MUL 768
+
+#define AO_AHB_PRESCALER 1
+#define AO_APBA_PRESCALER 1
+
+#define HAS_SERIAL_1 1
+#define USE_SERIAL_1_STDIN 0
+
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX (512 * 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_TELEMETRUM
+
+#define HAS_EEPROM 1
+#define USE_INTERNAL_FLASH 0
+#define USE_EEPROM_CONFIG 0
+#define USE_STORAGE_CONFIG 1
+#define HAS_USB 1
+#define USE_USB_STDIO 1
+#define HAS_BATTERY_REPORT 1
+#define BEEPER_CHANNEL 4
+#define BEEPER_TIMER 3
+#define BEEPER_PORT (&samd21_port_a)
+#define BEEPER_PIN 16
+#define HAS_RADIO 1
+#define HAS_RADIO_10MW 1
+#define HAS_TELEMETRY 1
+#define HAS_APRS 1
+#define HAS_COMPANION 1
+
+#define HAS_SPI_0 1
+#define HAS_SPI_3 1
+#define HAS_SPI_5 1
+
+#define PACKET_HAS_SLAVE 1
+#define PACKET_HAS_MASTER 0
+
+#define LOW_LEVEL_DEBUG 0
+
+#define HAS_LED 1
+#define LED_0_PORT (&samd21_port_b)
+#define LED_0_PIN 10
+#define LED_1_PORT (&samd21_port_b)
+#define LED_1_PIN 11
+#define AO_LED_RED (1 << 0)
+#define AO_LED_GREEN (1 << 1)
+
+#define HAS_GPS 1
+#define HAS_FLIGHT 1
+#define HAS_ADC 1
+#define HAS_ADC_TEMP 1
+#define HAS_LOG 1
+
+/*
+ * Beeper
+ */
+
+#define HAS_BEEP 1
+/* Beep on PA16 function E TCC2.0 */
+
+#define AO_BEEP_TCC (&samd21_tcc2)
+#define AO_BEEP_TCC_APBC_MASK SAMD21_PM_APBCMASK_TCC2
+#define AO_BEEP_PORT (&samd21_port_a)
+#define AO_BEEP_PIN (16)
+#define AO_BEEP_FUNC SAMD21_PORT_PMUX_FUNC_E
+
+/*
+ * Igniter
+ */
+
+#define HAS_IGNITE 1
+#define HAS_IGNITE_REPORT 1
+
+#define AO_SENSE_DROGUE(p) ((p)->adc.sense_a)
+#define AO_SENSE_MAIN(p) ((p)->adc.sense_m)
+#define AO_IGNITER_CLOSED 400
+#define AO_IGNITER_OPEN 60
+
+/* Drogue */
+#define AO_IGNITER_DROGUE_PORT (&samd21_port_a)
+#define AO_IGNITER_DROGUE_PIN 19
+
+/* Main */
+#define AO_IGNITER_MAIN_PORT (&samd21_port_a)
+#define AO_IGNITER_MAIN_PIN 18
+
+/*
+ * ADC
+ */
+#define AO_DATA_RING 32
+#define AO_ADC_NUM_SENSE 2
+
+struct ao_adc {
+ int16_t sense_a;
+ int16_t sense_m;
+ int16_t v_batt;
+ int16_t temp;
+};
+
+#define AO_ADC_DUMP(p) \
+ printf("tick: %5lu drogue: %5d main: %5d batt: %5d\n", \
+ (p)->tick, \
+ (p)->adc.sense_a, (p)->adc.sense_m, \
+ (p)->adc.v_batt);
+
+#define AO_ADC_SENSE_DROGUE 18
+#define AO_ADC_SENSE_DROGUE_PORT (&samd21_port_a)
+#define AO_ADC_SENSE_DROGUE_PIN 10
+
+#define AO_ADC_SENSE_MAIN 19
+#define AO_ADC_SENSE_MAIN_PORT (&samd21_port_a)
+#define AO_ADC_SENSE_MAIN_PIN 11
+
+#define AO_ADC_V_BATT 17
+#define AO_ADC_V_BATT_PORT (&samd21_port_a)
+#define AO_ADC_V_BATT_PIN 9
+
+#define AO_ADC_TEMP SAMD21_ADC_INPUTCTRL_MUXPOS_TEMP
+
+#define AO_NUM_ADC_PIN 3
+
+#define AO_ADC_PIN0_PORT AO_ADC_SENSE_DROGUE_PORT
+#define AO_ADC_PIN0_PIN AO_ADC_SENSE_DROGUE_PIN
+#define AO_ADC_PIN1_PORT AO_ADC_SENSE_MAIN_PORT
+#define AO_ADC_PIN1_PIN AO_ADC_SENSE_MAIN_PIN
+#define AO_ADC_PIN2_PORT AO_ADC_V_BATT_PORT
+#define AO_ADC_PIN2_PIN AO_ADC_V_BATT_PIN
+
+#define AO_NUM_ADC (AO_NUM_ADC_PIN + 1)
+
+#define AO_ADC_SQ0 AO_ADC_SENSE_DROGUE
+#define AO_ADC_SQ1 AO_ADC_SENSE_MAIN
+#define AO_ADC_SQ2 AO_ADC_V_BATT
+#define AO_ADC_SQ3 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 igniter samplers
+ */
+#define AO_IGNITE_DIV_PLUS 100 /* 100k */
+#define AO_IGNITE_DIV_MINUS 27 /* 27k */
+
+/*
+ * ADC reference in decivolts
+ */
+#define AO_ADC_REFERENCE_DV 33
+
+/*
+ * GPS
+ */
+
+#define AO_SERIAL_SPEED_UBLOX AO_SERIAL_SPEED_9600
+#define AO_UBLOX_VERSION 10
+
+#define HAS_SERIAL_1 1
+#define USE_SERIAL_1_STDIN 0
+#define SERIAL_1_PA00_PA01 1
+
+#define ao_gps_getchar ao_serial1_getchar
+#define ao_gps_putchar ao_serial1_putchar
+#define ao_gps_set_speed ao_serial1_set_speed
+#define ao_gps_fifo (ao_samd21_usart1.rx_fifo)
+
+/*
+ * Pressure sensor settings
+ */
+#define HAS_MS5607 1
+#define HAS_MS5611 0
+#define AO_MS5607_PRIVATE_PINS 0
+#define AO_MS5607_CS_PORT (&samd21_port_a)
+#define AO_MS5607_CS_PIN 21
+#define AO_MS5607_MISO_PORT (&samd21_port_a)
+#define AO_MS5607_MISO_PIN 20
+#define AO_MS5607_SPI_INDEX AO_SPI_3_PA22_PA23_PA20
+
+/*
+ * SPI Flash memory
+ */
+
+#define M25_MAX_CHIPS 1
+#define AO_M25_SPI_CS_PORT (&samd21_port_a)
+#define AO_M25_SPI_CS_MASK (1 << 27)
+#define AO_M25_SPI_BUS AO_SPI_5_PB22_PB23_PB03
+
+
+/*
+ * Radio (cc1200)
+ */
+
+/* gets pretty close to 434.550 */
+
+#define AO_RADIO_CAL_DEFAULT 5695733
+
+#define AO_CC1200_SPI_CS_PORT (&samd21_port_a)
+#define AO_CC1200_SPI_CS_PIN 7
+#define AO_CC1200_SPI_BUS AO_SPI_5_PB22_PB23_PB03
+
+#define AO_CC1200_INT_PORT (&samd21_port_b)
+#define AO_CC1200_INT_PIN (8)
+#define AO_CC1200_MCU_WAKEUP_PORT (&samd21_port_b)
+#define AO_CC1200_MCU_WAKEUP_PIN (9)
+
+#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
+
+#define HAS_HIGHG_ACCEL 1
+
+/* ADXL375 */
+
+#define HAS_ADXL375 1
+#define AO_ADXL375_CS_PORT (&samd21_port_a)
+#define AO_ADXL375_CS_PIN 8
+#define AO_ADXL375_SPI_INDEX (AO_SPI_0_PA04_PA05_PA06 | AO_SPI_MODE_3)
+
+#define AO_ADXL375_AXIS x
+#define AO_ADXL375_INVERT 1
+
+#define NUM_CMDS 16
+
+/*
+ * Companion
+ */
+
+#define AO_COMPANION_CS_PORT (&samd21_port_a)
+#define AO_COMPANION_CS_PIN (13)
+#define AO_COMPANION_SPI_BUS AO_SPI_5_PB22_PB23_PB03
+
+/*
+ * 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
+
+#endif /* _AO_PINS_H_ */
--- /dev/null
+/*
+ * Copyright © 2016 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_ms5607.h>
+#include <ao_adxl375.h>
+#include <ao_log.h>
+#include <ao_exti.h>
+#include <ao_packet.h>
+#include <ao_companion.h>
+#include <ao_eeprom.h>
+#if HAS_SAMPLE_PROFILE
+#include <ao_profile.h>
+#include <ao_sample_profile.h>
+#endif
+#if HAS_STACK_GUARD
+#include <ao_mpu.h>
+#endif
+#include <ao_dma_samd21.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_RANGE 7
+
+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_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(AO_LED_GREEN);
+ 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();
+ ao_dma_init();
+ ao_exti_init();
+
+ ao_adc_init();
+ ao_beep_init();
+ ao_cmd_init();
+
+ ao_ms5607_init();
+ ao_adxl375_init();
+
+ ao_storage_init();
+
+ ao_usb_init();
+ ao_gps_init();
+
+ ao_radio_init();
+ ao_igniter_init();
+
+ ao_config_init();
+#if AO_PROFILE
+ ao_profile_init();
+#endif
+#if HAS_SAMPLE_PROFILE
+ ao_sample_profile_init();
+#endif
+
+ ao_add_task(&ao_validate_task, ao_validate, "validate");
+
+ ao_start_scheduler();
+ return 0;
+}
projects / fw / altos / commitdiff