*/
#include "ao.h"
+#include "ao_log.h"
+#include <ao_config.h>
+#if HAS_FLIGHT
+#include <ao_sample.h>
+#include <ao_data.h>
+#endif
__xdata struct ao_config ao_config;
__pdata uint8_t ao_config_loaded;
__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
}
#endif
-static void
+#if HAS_RADIO
+void
ao_config_set_radio(void)
{
ao_config.radio_setting = ao_freq_to_set(ao_config.frequency, ao_config.radio_cal);
}
+#endif /* HAS_RADIO */
static void
_ao_config_get(void)
{
+ uint8_t minor;
+
if (ao_config_loaded)
return;
#if HAS_EEPROM
- ao_storage_setup();
- ao_storage_read(ao_storage_config, &ao_config, sizeof (ao_config));
+ /* Yes, I know ao_storage_read calls ao_storage_setup,
+ * but ao_storage_setup *also* sets ao_storage_config, which we
+ * need before calling ao_storage_read here
+ */
+ 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;
/* Version 0 stuff */
ao_config.main_deploy = AO_CONFIG_DEFAULT_MAIN_DEPLOY;
- ao_config.radio_channel = AO_CONFIG_DEFAULT_RADIO_CHANNEL;
ao_xmemset(&ao_config.callsign, '\0', sizeof (ao_config.callsign));
ao_xmemcpy(&ao_config.callsign, CODE_TO_XDATA(AO_CONFIG_DEFAULT_CALLSIGN),
sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
- ao_config_dirty = 1;
+ ao_config._legacy_radio_channel = 0;
}
- if (ao_config.minor < AO_CONFIG_MINOR) {
+ minor = ao_config.minor;
+ if (minor != AO_CONFIG_MINOR) {
/* Fixups for minor version 1 */
- if (ao_config.minor < 1)
+ if (minor < 1)
ao_config.apogee_delay = AO_CONFIG_DEFAULT_APOGEE_DELAY;
/* Fixups for minor version 2 */
- if (ao_config.minor < 2) {
+ if (minor < 2) {
ao_config.accel_plus_g = 0;
ao_config.accel_minus_g = 0;
}
/* Fixups for minor version 3 */
- if (ao_config.minor < 3)
+#if HAS_RADIO
+ if (minor < 3)
ao_config.radio_cal = ao_radio_cal;
+#endif
/* Fixups for minor version 4 */
- if (ao_config.minor < 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 (ao_config.minor < 5)
+ if (minor < 5)
ao_config.ignite_mode = AO_CONFIG_DEFAULT_IGNITE_MODE;
- if (ao_config.minor < 6)
+ if (minor < 6)
ao_config.pad_orientation = AO_CONFIG_DEFAULT_PAD_ORIENTATION;
- if (ao_config.minor < 8)
- ao_config.radio_enable = TRUE;
- if (ao_config.minor < 9)
- memset(&ao_config.aes_key, 0, AO_AES_LEN);
- if (ao_config.minor < 10) {
- ao_config.frequency = 434550;
-#if HAS_RADIO_CHANNELS
- ao_xmemset(&ao_config.radio_channels, '\0', sizeof (ao_config.radio_channels));
- ao_xmemcpy(&ao_config.radio_channels[0].name[0],
- CODE_TO_XDATA("Channel 0"), sizeof("Channel 0"));
- ao_config.radio_channels[0].kHz = 434550;
-#endif
+ if (minor < 8)
+ ao_config.radio_enable = AO_RADIO_ENABLE_CORE;
+ if (minor < 9)
+ ao_xmemset(&ao_config.aes_key, '\0', AO_AES_LEN);
+ if (minor < 10)
+ ao_config.frequency = 434550 + ao_config._legacy_radio_channel * 100;
+ if (minor < 11)
+ ao_config.apogee_lockout = 0;
+#if AO_PYRO_NUM
+ if (minor < 12)
+ memset(&ao_config.pyro, '\0', sizeof (ao_config.pyro));
+#endif
+ if (minor < 13)
+ 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;
+ #endif
+#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;
}
+#if HAS_RADIO
+#if HAS_FORCE_FREQ
+ if (ao_force_freq) {
+ ao_config.frequency = 434550;
+ ao_config.radio_cal = ao_radio_cal;
+ ao_xmemcpy(&ao_config.callsign, CODE_TO_XDATA(AO_CONFIG_DEFAULT_CALLSIGN),
+ sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
+ }
+#endif
ao_config_set_radio();
+#endif
ao_config_loaded = 1;
}
-static void
+void
_ao_config_edit_start(void)
{
ao_mutex_get(&ao_config_mutex);
_ao_config_get();
}
-static void
+void
_ao_config_edit_finish(void)
{
ao_config_dirty = 1;
_ao_config_edit_finish();
}
-void
-ao_config_radio_channel_show(void) __reentrant
-{
- printf("Radio channel: %d\n",
- ao_config.radio_channel);
-}
-
-void
-ao_config_radio_channel_set(void) __reentrant
-{
- ao_cmd_decimal();
- if (ao_cmd_status != ao_cmd_success)
- return;
- _ao_config_edit_start();
- ao_config.radio_channel = ao_cmd_lex_i;
- _ao_config_edit_finish();
- ao_radio_recv_abort();
-}
+#if HAS_RADIO
void
ao_config_frequency_show(void) __reentrant
ao_config.frequency = ao_cmd_lex_u32;
ao_config_set_radio();
_ao_config_edit_finish();
+#if HAS_RADIO_RECV
ao_radio_recv_abort();
+#endif
}
+#endif
-#if HAS_ADC
+#if HAS_FLIGHT
void
ao_config_main_deploy_show(void) __reentrant
{
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_adc_ring;
+ 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();
puts("Calibrating..."); flush();
i = ACCEL_CALIBRATE_SAMPLES;
accel_total = 0;
- cal_adc_ring = ao_sample_adc;
+ cal_data_ring = ao_sample_data;
while (i) {
- ao_sleep(DATA_TO_XDATA(&ao_sample_adc));
- while (i && cal_adc_ring != ao_sample_adc) {
- accel_total += (int32_t) ao_adc_ring[cal_adc_ring].accel;
- cal_adc_ring = ao_adc_ring_next(cal_adc_ring);
+ 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_edit_finish();
}
-#endif /* HAS_ADC */
+void
+ao_config_apogee_lockout_show(void) __reentrant
+{
+ printf ("Apogee lockout: %d seconds\n",
+ ao_config.apogee_lockout);
+}
+void
+ao_config_apogee_lockout_set(void) __reentrant
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ _ao_config_edit_start();
+ ao_config.apogee_lockout = ao_cmd_lex_i;
+ _ao_config_edit_finish();
+}
+
+#endif /* HAS_FLIGHT */
+
+#if HAS_RADIO
void
ao_config_radio_cal_show(void) __reentrant
{
ao_config_set_radio();
_ao_config_edit_finish();
}
+#endif
#if HAS_LOG
void
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;
}
#endif
+#if HAS_RADIO
void
ao_config_radio_enable_show(void) __reentrant
{
ao_config.radio_enable = ao_cmd_lex_i;
_ao_config_edit_finish();
}
+#endif /* HAS_RADIO */
#if HAS_AES
+
+__xdata uint8_t ao_config_aes_seq = 1;
+
void
ao_config_key_show(void) __reentrant
{
break;
ao_config.aes_key[i] = ao_cmd_lex_i;
}
+ ++ao_config_aes_seq;
_ao_config_edit_finish();
}
#endif
-#if HAS_RADIO_CHANNELS
+#if HAS_APRS
+
void
-ao_config_radio_config_show(void) __reentrant
+ao_config_aprs_show(void)
{
- uint8_t i;
- for (i = 0; i < AO_NUM_CHANNELS; i++)
- if (ao_config.radio_channels[i].name[0]) {
- printf("%2d %-16.16s %ld\n",
- i,
- ao_config.radio_channels[i].name,
- ao_config.radio_channels[i].kHz);
- }
+ printf ("APRS interval: %d\n", ao_config.aprs_interval);
}
void
-ao_config_radio_config_set(void) __reentrant
+ao_config_aprs_set(void)
{
- __xdata struct ao_radio_channel * ch;
- uint8_t i;
ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
- if ((uint8_t) ao_cmd_lex_i >= AO_NUM_CHANNELS) {
- ao_cmd_status = ao_cmd_syntax_error;
+ _ao_config_edit_start();
+ ao_config.aprs_interval = ao_cmd_lex_i;
+ _ao_config_edit_finish();
+}
+
+#endif /* HAS_APRS */
+
+#if HAS_RADIO_AMP
+
+void
+ao_config_radio_amp_show(void)
+{
+ printf ("Radio amp setting: %d\n", ao_config.radio_amp);
+}
+
+void
+ao_config_radio_amp_set(void)
+{
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
return;
- }
- ch = &ao_config.radio_channels[(uint8_t) ao_cmd_lex_i];
_ao_config_edit_start();
- ao_cmd_white();
- i = 0;
- while (ao_cmd_lex_c != '/' && ao_cmd_lex_c != '\n' && i < AO_CHANNEL_NAME_LEN) {
- ch->name[i++] = ao_cmd_lex_c;
- ao_cmd_lex();
- }
- if (i < AO_CHANNEL_NAME_LEN) {
- ch->name[i] = '\0';
- ao_cmd_lex();
- }
+ ao_config.radio_amp = ao_cmd_lex_i;
+ _ao_config_edit_finish();
+}
+
+#endif
+
+#if HAS_RADIO_POWER
+
+void
+ao_config_radio_power_show(void)
+{
+ printf ("Radio power setting: %d\n", ao_config.radio_power);
+}
+
+void
+ao_config_radio_power_set(void)
+{
ao_cmd_decimal();
- ch->kHz = ao_cmd_lex_u32;
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ _ao_config_edit_start();
+ ao_config.radio_power = ao_cmd_lex_i;
_ao_config_edit_finish();
}
+
#endif
struct ao_config_var {
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_ADC
- { "m <meters>\0Main deploy (in meters)",
+#if HAS_FLIGHT
+ { "m <meters>\0Main deploy (m)",
ao_config_main_deploy_set, ao_config_main_deploy_show, },
- { "d <delay>\0Apogee delay (in seconds)",
+ { "d <delay>\0Apogee delay (s)",
ao_config_apogee_delay_set, ao_config_apogee_delay_show },
-#endif /* HAS_ADC */
- { "r <channel>\0Radio channel (freq = 434.550 + chan * .1)",
- ao_config_radio_channel_set, ao_config_radio_channel_show },
+ { "L <seconds>\0Apogee detect lockout (s)",
+ ao_config_apogee_lockout_set, ao_config_apogee_lockout_show, },
+#endif /* HAS_FLIGHT */
+#if HAS_RADIO
{ "F <freq>\0Frequency (kHz)",
ao_config_frequency_set, ao_config_frequency_show },
{ "c <call>\0Callsign (8 char max)",
ao_config_callsign_set, ao_config_callsign_show },
{ "e <0 disable, 1 enable>\0Enable telemetry and RDF",
ao_config_radio_enable_set, ao_config_radio_enable_show },
+ { "f <cal>\0Radio calib (cal = rf/(xtal/2^16))",
+ ao_config_radio_cal_set, ao_config_radio_cal_show },
+#if HAS_RADIO_POWER
+ { "p <setting>\0Radio power setting (0-255)",
+ ao_config_radio_power_set, ao_config_radio_power_show },
+#endif
+#if HAS_RADIO_AMP
+ { "d <setting>\0Radio amplifier setting (0-3)",
+ ao_config_radio_amp_set, ao_config_radio_amp_show },
+#endif
+#endif /* HAS_RADIO */
#if HAS_ACCEL
{ "a <+g> <-g>\0Accel calib (0 for auto)",
ao_config_accel_calibrate_set,ao_config_accel_calibrate_show },
+ { "o <0 antenna up, 1 antenna down>\0Set pad orientation",
+ ao_config_pad_orientation_set,ao_config_pad_orientation_show },
#endif /* HAS_ACCEL */
- { "f <cal>\0Radio calib (cal = rf/(xtal/2^16))",
- ao_config_radio_cal_set, ao_config_radio_cal_show },
#if HAS_LOG
- { "l <size>\0Flight log size in kB",
+ { "l <size>\0Flight log size (kB)",
ao_config_log_set, ao_config_log_show },
#endif
#if HAS_IGNITE
{ "i <0 dual, 1 apogee, 2 main>\0Set igniter mode",
ao_config_ignite_mode_set, ao_config_ignite_mode_show },
#endif
-#if HAS_ACCEL
- { "o <0 antenna up, 1 antenna down>\0Set pad orientation",
- ao_config_pad_orientation_set,ao_config_pad_orientation_show },
-#endif
#if HAS_AES
{ "k <32 hex digits>\0Set AES encryption key",
ao_config_key_set, ao_config_key_show },
#endif
-#if HAS_RADIO_CHANNELS
- { "C <n> <name>/<freq> <radio>\0Set radio chan config",
- ao_config_radio_config_set,ao_config_radio_config_show },
+#if AO_PYRO_NUM
+ { "P <n,?>\0Configure pyro channels",
+ ao_pyro_set, ao_pyro_show },
+#endif
+#if HAS_APRS
+ { "A <secs>\0APRS packet interval (0 disable)",
+ ao_config_aprs_set, ao_config_aprs_show },
#endif
{ "s\0Show",
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 },
{
char c;
uint8_t cmd;
- void (*__xdata func)(void) __reentrant;
ao_cmd_white();
c = ao_cmd_lex_c;
ao_cmd_lex();
- func = 0;
for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++)
if (ao_config_vars[cmd].str[0] == c) {
(*ao_config_vars[cmd].set)();
ao_config_show(void) __reentrant
{
uint8_t cmd;
+ ao_config_get();
printf("Config version: %d.%d\n",
ao_config.major, ao_config.minor);
for (cmd = 0; ao_config_vars[cmd].str != NULL; cmd++)
if (ao_config_vars[cmd].show)
(*ao_config_vars[cmd].show)();
+#if HAS_MS5607
+ ao_ms5607_info();
+#endif
}
#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);
#endif
__code struct ao_cmds ao_config_cmds[] = {
- { ao_config_set, "c <var> <value>\0Set config variable (? for help, s to show)" },
+ { ao_config_set, "c <var> <value>\0Set config (? for help, s to show)" },
{ 0, NULL },
};
projects / fw / altos / blobdiff