fix typo in comment

[fw/altos] / src / ao_config.c

diff --git a/src/ao_config.c b/src/ao_config.c
index 021fb6f60d8c166fe33fb66bf1d446d4b5f0d299..e82aa0159b2a068c8f7cf1df2ae4d67c6ceab4b5 100644 (file)
--- a/src/ao_config.c
+++ b/src/ao_config.c
@@ -45,7 +45,8 @@ _ao_config_get(void)
                ao_config.minor = AO_CONFIG_MINOR;
                ao_config.main_deploy = AO_CONFIG_DEFAULT_MAIN_DEPLOY;
                ao_config.radio_channel = AO_CONFIG_DEFAULT_RADIO_CHANNEL;
-               ao_config.accel_zero_g = AO_CONFIG_DEFAULT_ACCEL_ZERO_G;
+               ao_config.accel_plus_g = 0;
+               ao_config.accel_minus_g = 0;
                memset(&ao_config.callsign, '\0', sizeof (ao_config.callsign));
                memcpy(&ao_config.callsign, AO_CONFIG_DEFAULT_CALLSIGN,
                       sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
@@ -53,9 +54,14 @@ _ao_config_get(void)
                ao_config_dirty = 1;
        }
        if (ao_config.minor < AO_CONFIG_MINOR) {
-               /* Fixups for major version 1 */
+               /* Fixups for minor version 1 */
                if (ao_config.minor < 1)
                        ao_config.apogee_delay = AO_CONFIG_DEFAULT_APOGEE_DELAY;
+               /* Fixupes for minor version 2 */
+               if (ao_config.minor < 2) {
+                       ao_config.accel_plus_g = 0;
+                       ao_config.accel_minus_g = 0;
+               }
                ao_config.minor = AO_CONFIG_MINOR;
                ao_config_dirty = 1;
        }
@@ -152,23 +158,28 @@ ao_config_main_deploy_set(void) __reentrant
 }
 
 void
-ao_config_accel_zero_g_show(void) __reentrant
+ao_config_accel_calibrate_show(void) __reentrant
 {
-       printf("Accel zero g point: %d\n",
-              ao_config.accel_zero_g);
+       printf("Accel cal +1g: %d -1g: %d\n",
+              ao_config.accel_plus_g, ao_config.accel_minus_g);
 }
 
-#define ZERO_G_SAMPLES 1000
+#define ACCEL_CALIBRATE_SAMPLES        1024
+#define ACCEL_CALIBRATE_SHIFT  10
 
 static int16_t
-ao_config_accel_zero_g_auto(void) __reentrant
+ao_config_accel_calibrate_auto(char *orientation) __reentrant
 {
        uint16_t        i;
        int32_t         accel_total;
        uint8_t         cal_adc_ring;
 
-       puts("Calibrating accelerometer..."); flush();
-       i = ZERO_G_SAMPLES;
+       printf("Orient %s and press a key...", orientation);
+       flush();
+       (void) getchar();
+       puts("\r\n"); flush();
+       puts("Calibrating..."); flush();
+       i = ACCEL_CALIBRATE_SAMPLES;
        accel_total = 0;
        cal_adc_ring = ao_adc_head;
        while (i) {
@@ -179,22 +190,38 @@ ao_config_accel_zero_g_auto(void) __reentrant
                        i--;
                }
        }
-       return (int16_t) (accel_total / ZERO_G_SAMPLES);
+       return accel_total >> ACCEL_CALIBRATE_SHIFT;
 }
+
 void
-ao_config_accel_zero_g_set(void) __reentrant
+ao_config_accel_calibrate_set(void) __reentrant
 {
+       int16_t up, down;
        ao_cmd_decimal();
        if (ao_cmd_status != ao_cmd_success)
                return;
-       if (ao_cmd_lex_i == 0)
-               ao_cmd_lex_i = ao_config_accel_zero_g_auto();
+       if (ao_cmd_lex_i == 0) {
+               up = ao_config_accel_calibrate_auto("antenna up");
+               down = ao_config_accel_calibrate_auto("antenna down");
+       } else {
+               up = ao_cmd_lex_i;
+               ao_cmd_decimal();
+               if (ao_cmd_status != ao_cmd_success)
+                       return;
+               down = ao_cmd_lex_i;
+       }
+       if (up >= down) {
+               printf("Invalid accel calibration: antenna up (%d) should be less than antenna down (%d)\n",
+                      up, down);
+               return;
+       }
        ao_mutex_get(&ao_config_mutex);
        _ao_config_get();
-       ao_config.accel_zero_g = ao_cmd_lex_i;
+       ao_config.accel_plus_g = up;
+       ao_config.accel_minus_g = down;
        ao_config_dirty = 1;
        ao_mutex_put(&ao_config_mutex);
-       ao_config_accel_zero_g_show();
+       ao_config_accel_calibrate_show();
 }
 
 void
@@ -237,8 +264,8 @@ ao_config_write(void) __reentrant;
 __code struct ao_config_var ao_config_vars[] = {
        { 'm',  ao_config_main_deploy_set,      ao_config_main_deploy_show,
                "m <meters>  Set height above launch for main deploy (in meters)" },
-       { 'a',  ao_config_accel_zero_g_set,     ao_config_accel_zero_g_show,
-               "a <value>   Set accelerometer zero g point (0 for auto)" },
+       { 'a',  ao_config_accel_calibrate_set,  ao_config_accel_calibrate_show,
+               "a <+g> <-g> Set accelerometer calibration (0 for auto)" },
        { 'r',  ao_config_radio_channel_set,    ao_config_radio_channel_show,
                "r <channel> Set radio channel (freq = 434.550 + channel * .1)" },
        { 'c',  ao_config_callsign_set,         ao_config_callsign_show,