#include "ao.h"
#include "ao_log.h"
-#include <ao_storage.h>
+#include <ao_config.h>
#if HAS_FLIGHT
#include <ao_sample.h>
#include <ao_data.h>
__pdata uint8_t ao_config_dirty;
__xdata uint8_t ao_config_mutex;
+#ifndef AO_CONFIG_DEFAULT_APRS_INTERVAL
+#define AO_CONFIG_DEFAULT_APRS_INTERVAL 0
+#endif
#define AO_CONFIG_DEFAULT_MAIN_DEPLOY 250
#define AO_CONFIG_DEFAULT_RADIO_CHANNEL 0
#define AO_CONFIG_DEFAULT_CALLSIGN "N0CALL"
#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX ((uint32_t) 192 * (uint32_t) 1024)
#endif
#endif
+#ifndef AO_CONFIG_DEFAULT_RADIO_POWER
#define AO_CONFIG_DEFAULT_RADIO_POWER 0x60
+#endif
#define AO_CONFIG_DEFAULT_RADIO_AMP 0
#if HAS_EEPROM
static void
_ao_config_put(void)
{
- ao_storage_setup();
- ao_storage_erase(ao_storage_config);
- ao_storage_write(ao_storage_config, &ao_config, sizeof (ao_config));
+ ao_config_setup();
+ ao_config_erase();
+ ao_config_write(0, &ao_config, sizeof (ao_config));
#if HAS_FLIGHT
ao_log_write_erase(0);
#endif
- ao_storage_flush();
+ ao_config_flush();
}
void
* but ao_storage_setup *also* sets ao_storage_config, which we
* need before calling ao_storage_read here
*/
- ao_storage_setup();
- ao_storage_read(ao_storage_config, &ao_config, sizeof (ao_config));
+ ao_config_setup();
+ ao_config_read(0, &ao_config, sizeof (ao_config));
#endif
if (ao_config.major != AO_CONFIG_MAJOR) {
ao_config.major = AO_CONFIG_MAJOR;
ao_config.radio_cal = ao_radio_cal;
#endif
/* Fixups for minor version 4 */
+#if HAS_FLIGHT
if (minor < 4)
ao_config.flight_log_max = AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX;
+#endif
/* Fixupes for minor version 5 */
if (minor < 5)
ao_config.ignite_mode = AO_CONFIG_DEFAULT_IGNITE_MODE;
memset(&ao_config.pyro, '\0', sizeof (ao_config.pyro));
#endif
if (minor < 13)
- ao_config.aprs_interval = 0;
+ ao_config.aprs_interval = AO_CONFIG_DEFAULT_APRS_INTERVAL;
#if HAS_RADIO_POWER
if (minor < 14)
ao_config.radio_power = AO_CONFIG_DEFAULT_RADIO_POWER;
#if HAS_RADIO_AMP
if (minor < 14)
ao_config.radio_amp = AO_CONFIG_DEFAULT_RADIO_AMP;
+#endif
+#if HAS_GYRO
+ if (minor < 15) {
+ ao_config.accel_zero_along = 0;
+ ao_config.accel_zero_across = 0;
+ ao_config.accel_zero_through = 0;
+
+ /* Reset the main accel offsets to force
+ * re-calibration
+ */
+ ao_config.accel_plus_g = 0;
+ ao_config.accel_minus_g = 0;
+ }
#endif
ao_config.minor = AO_CONFIG_MINOR;
ao_config_dirty = 1;
{
printf("Accel cal +1g: %d -1g: %d\n",
ao_config.accel_plus_g, ao_config.accel_minus_g);
+#if HAS_GYRO
+ printf ("IMU cal along %d across %d through %d\n",
+ ao_config.accel_zero_along,
+ ao_config.accel_zero_across,
+ ao_config.accel_zero_through);
+#endif
}
#define ACCEL_CALIBRATE_SAMPLES 1024
#define ACCEL_CALIBRATE_SHIFT 10
+#if HAS_GYRO
+static int16_t accel_cal_along;
+static int16_t accel_cal_across;
+static int16_t accel_cal_through;
+#endif
+
static int16_t
ao_config_accel_calibrate_auto(char *orientation) __reentrant
{
uint16_t i;
int32_t accel_total;
uint8_t cal_data_ring;
+#if HAS_GYRO
+ int32_t accel_along_total = 0;
+ int32_t accel_across_total = 0;
+ int32_t accel_through_total = 0;
+#endif
printf("Orient antenna %s and press a key...", orientation);
flush();
ao_sleep(DATA_TO_XDATA(&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
+ 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]);
+#endif
cal_data_ring = ao_data_ring_next(cal_data_ring);
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;
+#endif
return accel_total >> ACCEL_CALIBRATE_SHIFT;
}
ao_config_accel_calibrate_set(void) __reentrant
{
int16_t up, down;
+#if HAS_GYRO
+ int16_t accel_along_up, accel_along_down;
+ int16_t accel_across_up, accel_across_down;
+ int16_t accel_through_up, accel_through_down;
+#endif
+
ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
if (ao_cmd_lex_i == 0) {
up = ao_config_accel_calibrate_auto("up");
+#if HAS_GYRO
+ 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
+ accel_along_down = accel_cal_along;
+ accel_across_down = accel_cal_across;
+ accel_through_down = accel_cal_through;
+#endif
} else {
up = ao_cmd_lex_i;
ao_cmd_decimal();
_ao_config_edit_start();
ao_config.accel_plus_g = up;
ao_config.accel_minus_g = down;
+#if HAS_GYRO
+ 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;
+#endif
_ao_config_edit_finish();
}
#endif /* HAS_ACCEL */
ao_config_log_set(void) __reentrant
{
uint16_t block = (uint16_t) (ao_storage_block >> 10);
- uint16_t config = (uint16_t) (ao_storage_config >> 10);
+ uint16_t log_max = (uint16_t) (ao_storage_log_max >> 10);
ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
printf("Storage must be empty before changing log size\n");
else if (block > 1024 && (ao_cmd_lex_i & (block - 1)))
printf("Flight log size must be multiple of %d kB\n", block);
- else if (ao_cmd_lex_i > config)
- printf("Flight log max %d kB\n", config);
+ else if (ao_cmd_lex_i > log_max)
+ printf("Flight log max %d kB\n", log_max);
else {
_ao_config_edit_start();
ao_config.flight_log_max = (uint32_t) ao_cmd_lex_i << 10;
ao_config_show(void) __reentrant;
static void
-ao_config_write(void) __reentrant;
+ao_config_save(void) __reentrant;
__code struct ao_config_var ao_config_vars[] = {
#if HAS_FLIGHT
ao_config_show, 0 },
#if HAS_EEPROM
{ "w\0Write to eeprom",
- ao_config_write, 0 },
+ ao_config_save, 0 },
#endif
{ "?\0Help",
ao_config_help, 0 },
#if HAS_EEPROM
static void
-ao_config_write(void) __reentrant
+ao_config_save(void) __reentrant
{
uint8_t saved = 0;
ao_mutex_get(&ao_config_mutex);
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