From 62a911bfed5343c0fe73aeef629cd23b95d3f0db Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sun, 25 May 2025 17:32:30 -0700 Subject: [PATCH] altos: Add telemetrum v4.0 seeed test firmware Signed-off-by: Keith Packard --- src/telemetrum-v4.0-seeed/.gitignore | 2 + src/telemetrum-v4.0-seeed/Makefile | 132 ++++++++ src/telemetrum-v4.0-seeed/ao_pins.h | 283 ++++++++++++++++++ .../ao_telemetrum_seeed.c | 174 +++++++++++ .../flash-loader/Makefile | 8 + .../flash-loader/ao_pins.h | 40 +++ 6 files changed, 639 insertions(+) create mode 100644 src/telemetrum-v4.0-seeed/.gitignore create mode 100644 src/telemetrum-v4.0-seeed/Makefile create mode 100644 src/telemetrum-v4.0-seeed/ao_pins.h create mode 100644 src/telemetrum-v4.0-seeed/ao_telemetrum_seeed.c create mode 100644 src/telemetrum-v4.0-seeed/flash-loader/Makefile create mode 100644 src/telemetrum-v4.0-seeed/flash-loader/ao_pins.h diff --git a/src/telemetrum-v4.0-seeed/.gitignore b/src/telemetrum-v4.0-seeed/.gitignore new file mode 100644 index 00000000..35ce24d4 --- /dev/null +++ b/src/telemetrum-v4.0-seeed/.gitignore @@ -0,0 +1,2 @@ +ao_product.h +telemetrum-*.elf diff --git a/src/telemetrum-v4.0-seeed/Makefile b/src/telemetrum-v4.0-seeed/Makefile new file mode 100644 index 00000000..939c61ea --- /dev/null +++ b/src/telemetrum-v4.0-seeed/Makefile @@ -0,0 +1,132 @@ +# +# AltOS build +# +# + +include ../samd21/Makefile.defs + +INC = \ + ao.h \ + ao_arch.h \ + ao_arch_funcs.h \ + ao_boot.h \ + ao_companion.h \ + ao_data.h \ + ao_sample.h \ + ao_pins.h \ + altitude-pa.h \ + ao_kalman.h \ + ao_product.h \ + ao_ms5607.h \ + ao_adxl375.h \ + ao_cc1200_CC1200.h \ + ao_task.h \ + ao_whiten.h \ + samd21.h \ + Makefile + +# SAMD21G17D + +SAMD21_ROM=128 +SAMD21_RAM=16 + +#PROFILE=ao_profile.c +#PROFILE_DEF=-DAO_PROFILE=1 + +#SAMPLE_PROFILE=ao_sample_profile.c \ +# ao_sample_profile_timer.c +#SAMPLE_PROFILE_DEF=-DHAS_SAMPLE_PROFILE=1 + +#STACK_GUARD=ao_mpu_stm.c +#STACK_GUARD_DEF=-DHAS_STACK_GUARD=1 + +ALTOS_SRC = \ + ao_boot_chain.c \ + ao_interrupt.c \ + ao_product.c \ + ao_romconfig.c \ + ao_cmd.c \ + ao_config.c \ + ao_task.c \ + ao_led.c \ + ao_stdio.c \ + ao_panic.c \ + ao_timer.c \ + ao_mutex.c \ + ao_serial_samd21.c \ + ao_gps_ublox.c \ + ao_gps_show.c \ + ao_gps_report_metrum.c \ + ao_ignite.c \ + ao_freq.c \ + ao_dma_samd21.c \ + ao_spi_samd21.c \ + ao_cc1200.c \ + ao_data.c \ + ao_ms5607.c \ + ao_adxl375.c \ + ao_adc_samd21.c \ + ao_beep_samd21.c \ + ao_storage.c \ + ao_m25.c \ + ao_usb_samd21.c \ + ao_exti_samd21.c \ + ao_report.c \ + ao_convert_pa.c \ + ao_convert_volt.c \ + ao_log.c \ + ao_log_metrum.c \ + ao_sample.c \ + ao_kalman.c \ + ao_flight.c \ + ao_telemetry.c \ + ao_packet_slave.c \ + ao_packet.c \ + ao_companion.c \ + ao_aprs.c \ + $(PROFILE) \ + $(SAMPLE_PROFILE) \ + $(STACK_GUARD) + +PRODUCT=TeleMetrum-v4.0 +PRODUCT_DEF=-DTELEMETRUM_V_4_0 +IDPRODUCT=0x000b + +CFLAGS = $(PRODUCT_DEF) $(SAMD21_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF) + +PROGNAME=telemetrum-v4.0 +PROG=$(PROGNAME)-$(VERSION).elf +HEX=$(PROGNAME)-$(VERSION).ihx +FLASH_PROG=flash-loader/$(PROGNAME)-altos-flash-$(VERSION).elf +BOTH_HEX=$(PROGNAME)-combined-$(VERSION).ihx + +SRC=$(ALTOS_SRC) ao_telemetrum_seeed.c +OBJ=$(SRC:.c=.o) + +all: $(PROG) $(HEX) $(BOTH_HEX) + +$(PROG): Makefile $(OBJ) + $(call quiet,CC) $(LDFLAGS) -o $(PROG) $(OBJ) $(LIBS) + +$(BOTH_HEX): $(PROG) $(FLASH_PROG) + ../../ao-tools/ao-elftohex/ao-elftohex -n --output=$@ $(FLASH_PROG) $(PROG) + +$(FLASH_PROG): FRC + +cd flash-loader && make + +FRC: + +$(OBJ): $(INC) + +load: $(PROG) + stm-load $(PROG) + +distclean: clean + +clean: + rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx $(PROGNAME)-*.map + rm -f ao_product.h + +install: + +uninstall: diff --git a/src/telemetrum-v4.0-seeed/ao_pins.h b/src/telemetrum-v4.0-seeed/ao_pins.h new file mode 100644 index 00000000..164b1e59 --- /dev/null +++ b/src/telemetrum-v4.0-seeed/ao_pins.h @@ -0,0 +1,283 @@ +/* + * Copyright © 2022 Keith Packard + * + * 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_ */ diff --git a/src/telemetrum-v4.0-seeed/ao_telemetrum_seeed.c b/src/telemetrum-v4.0-seeed/ao_telemetrum_seeed.c new file mode 100644 index 00000000..b448edab --- /dev/null +++ b/src/telemetrum-v4.0-seeed/ao_telemetrum_seeed.c @@ -0,0 +1,174 @@ +/* + * Copyright © 2016 Keith Packard + * + * 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 +#include +#include +#include +#include +#include +#include +#include +#if HAS_SAMPLE_PROFILE +#include +#include +#endif +#if HAS_STACK_GUARD +#include +#endif +#include + +#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; +} diff --git a/src/telemetrum-v4.0-seeed/flash-loader/Makefile b/src/telemetrum-v4.0-seeed/flash-loader/Makefile new file mode 100644 index 00000000..5fabbc08 --- /dev/null +++ b/src/telemetrum-v4.0-seeed/flash-loader/Makefile @@ -0,0 +1,8 @@ +# +# AltOS flash loader build +# +# + +TOPDIR=../.. +HARDWARE=telemetrum-v4.0 +include $(TOPDIR)/samd21/Makefile-flash.defs diff --git a/src/telemetrum-v4.0-seeed/flash-loader/ao_pins.h b/src/telemetrum-v4.0-seeed/flash-loader/ao_pins.h new file mode 100644 index 00000000..5653c24c --- /dev/null +++ b/src/telemetrum-v4.0-seeed/flash-loader/ao_pins.h @@ -0,0 +1,40 @@ +/* + * Copyright © 2022 Bdale Garbee + * + * 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_ + +#include + +/* cs_comp_0 (companion port pin 6) to gnd for boot loader mode */ + +#define AO_BOOT_PIN 1 +#define AO_BOOT_APPLICATION_GPIO (samd21_port_a) +#define AO_BOOT_APPLICATION_PIN 13 +#define AO_BOOT_APPLICATION_VALUE 1 +#define AO_BOOT_APPLICATION_MODE AO_MODE_PULL_UP + +/* USB */ +#define HAS_USB 1 + +#define AO_XOSC 1 +#define AO_XOSC_FREQ 16000000 +#define AO_XOSC_DIV 256 +#define AO_XOSC_MUL 768 + +#endif /* _AO_PINS_H_ */ -- 2.47.2