Set version to 1.5.9.1

[fw/altos] / src / kernel / ao_config.c

diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c
index 52c0c4f6f02e20a42fc99f4da5fb4788bb32b60c..83a8cd77092e7449509ee75fa7d38907c2c18c46 100644 (file)
--- a/src/kernel/ao_config.c
+++ b/src/kernel/ao_config.c
@@ -50,13 +50,19 @@ __xdata uint8_t ao_config_mutex;
 #error Please define USE_INTERNAL_FLASH
 #endif
 #endif
+
 #ifndef AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX
-#if USE_INTERNAL_FLASH
-#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX       ao_storage_config
-#else
-#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX       ((uint32_t) 192 * (uint32_t) 1024)
-#endif
+# if FLIGHT_LOG_APPEND
+#  define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX     ao_storage_log_max
+# else
+#  if USE_INTERNAL_FLASH
+#   define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX    ao_storage_config
+#  else
+#   define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX    ((uint32_t) 192 * (uint32_t) 1024)
+#  endif
+# endif
 #endif
+
 #ifndef AO_CONFIG_DEFAULT_RADIO_POWER
 #define AO_CONFIG_DEFAULT_RADIO_POWER          0x60
 #endif
@@ -87,10 +93,18 @@ ao_config_put(void)
 #endif
 
 #if HAS_RADIO
+
+#if HAS_RADIO_FORWARD
+__xdata uint32_t       ao_send_radio_setting;
+#endif
+
 void
 ao_config_set_radio(void)
 {
        ao_config.radio_setting = ao_freq_to_set(ao_config.frequency, ao_config.radio_cal);
+#if HAS_RADIO_FORWARD
+       ao_send_radio_setting = ao_freq_to_set(ao_config.send_frequency, ao_config.radio_cal);
+#endif
 }
 #endif /* HAS_RADIO */
 
@@ -201,6 +215,10 @@ _ao_config_get(void)
 #if HAS_RADIO_RATE
                if (minor < 20)
                        ao_config.radio_rate = AO_CONFIG_DEFAULT_RADIO_RATE;
+#endif
+#if HAS_RADIO_FORWARD
+               if (minor < 21)
+                       ao_config.send_frequency = 434550;
 #endif
                ao_config.minor = AO_CONFIG_MINOR;
                ao_config_dirty = 1;
@@ -296,6 +314,31 @@ ao_config_frequency_set(void) __reentrant
 
 #endif
 
+#if HAS_RADIO_FORWARD
+void
+ao_config_send_frequency_show(void) __reentrant
+{
+       printf("Send frequency: %ld\n",
+              ao_config.send_frequency);
+}
+
+void
+ao_config_send_frequency_set(void) __reentrant
+{
+       ao_cmd_decimal();
+       if (ao_cmd_status != ao_cmd_success)
+               return;
+       _ao_config_edit_start();
+       ao_config.send_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_FLIGHT
 
 void
@@ -345,6 +388,7 @@ ao_config_accel_calibrate_auto(char *orientation) __reentrant
        uint16_t        i;
        int32_t         accel_total;
        uint8_t         cal_data_ring;
+       int16_t         min = 32767, max = -32768;
 #if HAS_GYRO
        int32_t         accel_along_total = 0;
        int32_t         accel_across_total = 0;
@@ -362,7 +406,10 @@ ao_config_accel_calibrate_auto(char *orientation) __reentrant
        while (i) {
                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]);
+                       int16_t v = ao_data_accel(&ao_data_ring[cal_data_ring]);
+                       accel_total += (int32_t) v;
+                       if (v < min) min = v;
+                       if (v > max) max = v;
 #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]);
@@ -377,6 +424,7 @@ ao_config_accel_calibrate_auto(char *orientation) __reentrant
        accel_cal_across = accel_across_total >> ACCEL_CALIBRATE_SHIFT;
        accel_cal_through = accel_through_total >> ACCEL_CALIBRATE_SHIFT;
 #endif
+       printf ("total %d min %d max %d\n", accel_total, min, max);
        return accel_total >> ACCEL_CALIBRATE_SHIFT;
 }
 
@@ -492,6 +540,10 @@ ao_config_radio_cal_set(void) __reentrant
 #endif
 
 #if HAS_RADIO_RATE
+#ifndef HAS_TELEMETRY
+#error Please define HAS_TELEMETRY
+#endif
+
 void
 ao_config_radio_rate_show(void) __reentrant
 {
@@ -511,19 +563,46 @@ ao_config_radio_rate_set(void) __reentrant
        _ao_config_edit_start();
        ao_config.radio_rate = ao_cmd_lex_i;
        _ao_config_edit_finish();
+#if HAS_TELEMETRY
+       ao_telemetry_reset_interval();
+#endif
+#if HAS_RADIO_RECV
+       ao_radio_recv_abort();
+#endif
 }
 #endif
 
 #if HAS_LOG
+
 void
 ao_config_log_show(void) __reentrant
 {
        printf("Max flight log: %d kB\n", (int16_t) (ao_config.flight_log_max >> 10));
+#if FLIGHT_LOG_APPEND
+       printf("Log fixed: 1\n");
+#endif
 }
 
+#if FLIGHT_LOG_APPEND
+void
+ao_config_log_fix_append(void)
+{
+       _ao_config_edit_start();
+       ao_config.flight_log_max = ao_storage_log_max;
+       _ao_config_edit_finish();
+       ao_mutex_get(&ao_config_mutex);
+       _ao_config_put();
+       ao_config_dirty = 0;
+       ao_mutex_put(&ao_config_mutex);
+}
+#endif
+
 void
 ao_config_log_set(void) __reentrant
 {
+#if FLIGHT_LOG_APPEND
+       printf("Flight log fixed size %d kB\n", ao_storage_log_max >> 10);
+#else
        uint16_t        block = (uint16_t) (ao_storage_block >> 10);
        uint16_t        log_max = (uint16_t) (ao_storage_log_max >> 10);
 
@@ -541,6 +620,7 @@ ao_config_log_set(void) __reentrant
                ao_config.flight_log_max = (uint32_t) ao_cmd_lex_i << 10;
                _ao_config_edit_finish();
        }
+#endif
 }
 #endif /* HAS_LOG */
 
@@ -609,6 +689,9 @@ ao_config_radio_enable_set(void) __reentrant
        _ao_config_edit_start();
        ao_config.radio_enable = ao_cmd_lex_i;
        _ao_config_edit_finish();
+#if HAS_TELEMETRY && HAS_RADIO_RATE
+       ao_telemetry_reset_interval();
+#endif
 }
 #endif /* HAS_RADIO */
 
@@ -660,6 +743,7 @@ ao_config_aprs_set(void)
        _ao_config_edit_start();
        ao_config.aprs_interval = ao_cmd_lex_i;
        _ao_config_edit_finish();
+       ao_telemetry_reset_interval();
 }
 
 #endif /* HAS_APRS */
@@ -750,6 +834,9 @@ ao_config_tracker_set(void)
        ao_config.tracker_motion = m;
        ao_config.tracker_interval = i;
        _ao_config_edit_finish();
+#if HAS_TELEMETRY
+       ao_telemetry_reset_interval();
+#endif
 }
 #endif /* HAS_TRACKER */
 
@@ -825,6 +912,10 @@ __code struct ao_config_var ao_config_vars[] = {
 #if HAS_RADIO
        { "F <freq>\0Frequency (kHz)",
          ao_config_frequency_set, ao_config_frequency_show },
+#if HAS_RADIO_FORWARD
+       { "R <freq>\0Repeater output frequency (kHz)",
+         ao_config_send_frequency_set, ao_config_send_frequency_show },
+#endif
        { "c <call>\0Callsign (8 char max)",
          ao_config_callsign_set,       ao_config_callsign_show },
        { "e <0 disable, 1 enable>\0Enable telemetry and RDF",