#define AO_CONFIG_DEFAULT_IGNITE_MODE AO_IGNITE_MODE_DUAL
#define AO_CONFIG_DEFAULT_PAD_ORIENTATION AO_PAD_ORIENTATION_ANTENNA_UP
#define AO_CONFIG_DEFAULT_PYRO_TIME AO_MS_TO_TICKS(50)
+#define AO_CONFIG_DEFAULT_RADIO_10MW 0
+#define AO_CONFIG_DEFAULT_REPORT_FEET 0
#if HAS_CONFIG_SAVE
#ifndef USE_INTERNAL_FLASH
#error Please define USE_INTERNAL_FLASH
#define AO_CONFIG_DEFAULT_RADIO_POWER 0x60
#endif
#define AO_CONFIG_DEFAULT_RADIO_AMP 0
-#define AO_CONFIG_DEFAULT_APRS_SSID (ao_serial_number % 10)
+#define AO_CONFIG_DEFAULT_APRS_SSID ((uint8_t) (ao_serial_number % 10))
#define AO_CONFIG_DEFAULT_RADIO_RATE AO_RADIO_RATE_38400
#if HAS_CONFIG_SAVE
ao_config_setup();
ao_config_erase();
ao_config_write(0, &ao_config, sizeof (ao_config));
-#if HAS_FLIGHT
+#if HAS_FLIGHT && HAS_LOG
ao_log_write_erase(0);
#endif
ao_config_flush();
/* Version 0 stuff */
ao_config.main_deploy = AO_CONFIG_DEFAULT_MAIN_DEPLOY;
- ao_xmemset(&ao_config.callsign, '\0', sizeof (ao_config.callsign));
- ao_xmemcpy(&ao_config.callsign, AO_CONFIG_DEFAULT_CALLSIGN,
+ memset(&ao_config.callsign, '\0', sizeof (ao_config.callsign));
+ memcpy(&ao_config.callsign, AO_CONFIG_DEFAULT_CALLSIGN,
sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
ao_config._legacy_radio_channel = 0;
}
minor = ao_config.minor;
if (minor != AO_CONFIG_MINOR) {
+#if AO_PYRO_NUM
+ ao_pyro_update_version();
+#endif
/* Fixups for minor version 1 */
if (minor < 1)
ao_config.apogee_delay = AO_CONFIG_DEFAULT_APOGEE_DELAY;
if (minor < 8)
ao_config.radio_enable = AO_RADIO_ENABLE_CORE;
if (minor < 9)
- ao_xmemset(&ao_config.aes_key, '\0', AO_AES_LEN);
+ memset(&ao_config.aes_key, '\0', AO_AES_LEN);
if (minor < 10)
- ao_config.frequency = 434550 + ao_config._legacy_radio_channel * 100;
+ ao_config.frequency = 434550U + ao_config._legacy_radio_channel * 100U;
if (minor < 11)
ao_config.apogee_lockout = 0;
#if AO_PYRO_NUM
#if HAS_RADIO_POWER
if (minor < 14)
ao_config.radio_power = AO_CONFIG_DEFAULT_RADIO_POWER;
- #endif
+#endif
#if HAS_RADIO_AMP
if (minor < 14)
ao_config.radio_amp = AO_CONFIG_DEFAULT_RADIO_AMP;
#endif
-#if HAS_GYRO
+#if HAS_IMU
if (minor < 15) {
ao_config.accel_zero_along = 0;
ao_config.accel_zero_across = 0;
ao_config.accel_minus_g = 0;
}
#endif
-#if HAS_BEEP_CONFIG
+#if HAS_BEEP
if (minor < 16)
ao_config.mid_beep = AO_BEEP_MID_DEFAULT;
#endif
if (minor < 23)
ao_config.pad_idle = 120;
#endif
+#if HAS_APRS
+ if (minor < 24)
+ ao_config.aprs_offset = 0;
+#endif
+#if HAS_RADIO_10MW
+ if (minor < 25)
+ ao_config.radio_10mw = AO_CONFIG_DEFAULT_RADIO_10MW;
+#endif
+ if (minor < 26)
+ ao_config.report_feet = AO_CONFIG_DEFAULT_REPORT_FEET;
ao_config.minor = AO_CONFIG_MINOR;
ao_config_dirty = 1;
}
#if HAS_RADIO_RATE
ao_config.radio_rate = AO_CONFIG_DEFAULT_RADIO_RATE;
#endif
- ao_xmemcpy(&ao_config.callsign, AO_CONFIG_DEFAULT_CALLSIGN,
+ memcpy(&ao_config.callsign, AO_CONFIG_DEFAULT_CALLSIGN,
sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
}
#endif
uint8_t c;
static char callsign[AO_MAX_CALLSIGN + 1];
- ao_xmemset(callsign, '\0', sizeof callsign);
+ memset(callsign, '\0', sizeof callsign);
ao_cmd_white();
c = 0;
while (ao_cmd_lex_c != '\n') {
if (ao_cmd_status != ao_cmd_success)
return;
_ao_config_edit_start();
- ao_xmemcpy(&ao_config.callsign, &callsign,
+ memcpy(&ao_config.callsign, &callsign,
AO_MAX_CALLSIGN + 1);
_ao_config_edit_finish();
}
#if HAS_FLIGHT
+#if HAS_BARO
+
static void
ao_config_main_deploy_show(void)
{
if (ao_cmd_status != ao_cmd_success)
return;
_ao_config_edit_start();
- ao_config.main_deploy = r;
+ ao_config.main_deploy = (uint16_t) r;
_ao_config_edit_finish();
}
+#endif
+
#if HAS_ACCEL
static void
ao_config_accel_calibrate_show(void)
{
printf("Accel cal +1g: %d -1g: %d\n",
ao_config.accel_plus_g, ao_config.accel_minus_g);
-#if HAS_GYRO
+#if HAS_IMU
printf ("IMU cal along %d across %d through %d\n",
ao_config.accel_zero_along,
ao_config.accel_zero_across,
#define ACCEL_CALIBRATE_SAMPLES 1024
#define ACCEL_CALIBRATE_SHIFT 10
-#if HAS_GYRO
+#if HAS_IMU
static int16_t accel_cal_along;
static int16_t accel_cal_across;
static int16_t accel_cal_through;
uint16_t i;
int32_t accel_total;
uint8_t cal_data_ring;
-#if HAS_GYRO
+#if HAS_IMU
int32_t accel_along_total = 0;
int32_t accel_across_total = 0;
int32_t accel_through_total = 0;
ao_sleep(&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
+#if HAS_IMU
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]);
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;
+#if HAS_IMU
+ accel_cal_along = (int16_t) (accel_along_total >> ACCEL_CALIBRATE_SHIFT);
+ accel_cal_across = (int16_t) (accel_across_total >> ACCEL_CALIBRATE_SHIFT);
+ accel_cal_through = (int16_t) (accel_through_total >> ACCEL_CALIBRATE_SHIFT);
#endif
- return accel_total >> ACCEL_CALIBRATE_SHIFT;
+ return (int16_t) (accel_total >> ACCEL_CALIBRATE_SHIFT);
}
static void
ao_config_accel_calibrate_set(void)
{
int16_t up, down;
- uint16_t r;
-#if HAS_GYRO
+ bool auto_cal;
+#if HAS_IMU
int16_t accel_along_up = 0, accel_along_down = 0;
int16_t accel_across_up = 0, accel_across_down = 0;
int16_t accel_through_up = 0, accel_through_down = 0;
#endif
- r = ao_cmd_decimal();
+ up = (int16_t) ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
- if (r == 0) {
+ down = (int16_t) ao_cmd_decimal();
+ auto_cal = (up == 0 && ao_cmd_status != ao_cmd_success);
+ ao_cmd_status = ao_cmd_success;
+ if (auto_cal) {
up = ao_config_accel_calibrate_auto("up");
-#if HAS_GYRO
+#if HAS_IMU
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
+#if HAS_IMU
accel_along_down = accel_cal_along;
accel_across_down = accel_cal_across;
accel_through_down = accel_cal_through;
#endif
- } else {
- up = r;
- r = ao_cmd_decimal();
- if (ao_cmd_status != ao_cmd_success)
- return;
- down = r;
}
if (up >= down) {
printf("Invalid accel: up (%d) down (%d)\n",
_ao_config_edit_start();
ao_config.accel_plus_g = up;
ao_config.accel_minus_g = down;
-#if HAS_GYRO
- if (r == 0) {
- 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;
+#if HAS_IMU
+ if (auto_cal) {
+ ao_config.accel_zero_along = (int16_t) ((accel_along_up + accel_along_down) / 2);
+ ao_config.accel_zero_across = (int16_t) ((accel_across_up + accel_across_down) / 2);
+ ao_config.accel_zero_through = (int16_t) ((accel_through_up + accel_through_down) / 2);
+ } else {
+ int16_t v;
+
+ v = (int16_t) ao_cmd_decimal();
+ if (ao_cmd_status == ao_cmd_success) {
+ ao_config.accel_zero_along = v;
+ v = (int16_t) ao_cmd_decimal();
+ if (ao_cmd_status == ao_cmd_success) {
+ ao_config.accel_zero_across = v;
+ v = (int16_t) ao_cmd_decimal();
+ if (ao_cmd_status == ao_cmd_success)
+ ao_config.accel_zero_through = v;
+ }
+ }
}
#endif
_ao_config_edit_finish();
}
#endif /* HAS_ACCEL */
+#if HAS_BARO
static void
ao_config_apogee_delay_show(void)
{
uint32_t r = ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
+ if (r > 255) {
+ ao_cmd_status = ao_cmd_lex_error;
+ return;
+ }
_ao_config_edit_start();
- ao_config.apogee_delay = r;
+ ao_config.apogee_delay = (uint8_t) r;
_ao_config_edit_finish();
}
static void
ao_config_apogee_lockout_set(void)
{
- uint16_t r = ao_cmd_decimal();
+ uint32_t r = ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
+ if (r > 65535) {
+ ao_cmd_status = ao_cmd_lex_error;
+ return;
+ }
_ao_config_edit_start();
- ao_config.apogee_lockout = r;
+ ao_config.apogee_lockout = (uint16_t) r;
_ao_config_edit_finish();
}
+#endif
#endif /* HAS_FLIGHT */
static void
ao_config_radio_rate_set(void)
{
- uint16_t r = ao_cmd_decimal();
+ uint32_t r = ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
if (AO_RADIO_RATE_MAX < r) {
return;
}
_ao_config_edit_start();
- ao_config.radio_rate = r;
+ ao_config.radio_rate = (uint8_t) r;
_ao_config_edit_finish();
#if HAS_TELEMETRY
ao_telemetry_reset_interval();
ao_config_log_set(void)
{
#if FLIGHT_LOG_APPEND
- printf("Flight log fixed size %d kB\n", ao_storage_log_max >> 10);
+ printf("Flight log fixed size %u kB\n", (unsigned) (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);
uint32_t r;
r = ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
- if (ao_log_present())
- printf("Storage must be empty before changing log size\n");
- else if (block > 1024 && (r & (block - 1)))
- printf("Flight log size must be multiple of %d kB\n", block);
- else if (r > log_max)
- printf("Flight log max %d kB\n", log_max);
- else {
- _ao_config_edit_start();
- ao_config.flight_log_max = r << 10;
- _ao_config_edit_finish();
+ r = r << 10;
+ if (ao_log_present()) {
+ if (r != ao_config.flight_log_max)
+ printf("Storage must be empty before changing log size\n");
+ return;
}
+ if (r > ao_storage_log_max) {
+ printf("Flight log max %u kB\n", (unsigned) (ao_storage_log_max >> 10));
+ return;
+ }
+ _ao_config_edit_start();
+ ao_config.flight_log_max = r & ~(ao_storage_block - 1);
+ _ao_config_edit_finish();
#endif
}
#endif /* HAS_LOG */
static void
ao_config_ignite_mode_set(void)
{
- uint16_t r = ao_cmd_decimal();
+ uint32_t r = ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
_ao_config_edit_start();
- ao_config.ignite_mode = r;
+ ao_config.ignite_mode = (uint8_t) r;
_ao_config_edit_finish();
}
#endif
static void
ao_config_pad_orientation_set(void)
{
- uint16_t r = ao_cmd_decimal() & 1;
+ uint8_t r = ao_cmd_decimal() & 1;
if (ao_cmd_status != ao_cmd_success)
return;
_ao_config_edit_start();
static void
ao_config_radio_enable_set(void)
{
- uint16_t r = ao_cmd_decimal();
+ uint32_t r = ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
_ao_config_edit_start();
- ao_config.radio_enable = r;
+ ao_config.radio_enable = r != 0;
_ao_config_edit_finish();
#if HAS_TELEMETRY && HAS_RADIO_RATE
ao_telemetry_reset_interval();
static void
ao_config_aprs_set(void)
{
- uint16_t r = ao_cmd_decimal();
+ uint32_t r = ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ _ao_config_edit_start();
+ ao_config.aprs_interval = (uint16_t) r;
+ _ao_config_edit_finish();
+ ao_telemetry_reset_interval();
+}
+
+static void
+ao_config_aprs_offset_show(void)
+{
+ printf ("APRS offset: %d\n", ao_config.aprs_offset);
+}
+
+static void
+ao_config_aprs_offset_set(void)
+{
+ uint32_t r = ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
_ao_config_edit_start();
- ao_config.aprs_interval = r;
+ ao_config.aprs_offset = (uint8_t) r;
_ao_config_edit_finish();
ao_telemetry_reset_interval();
}
#endif
-#if HAS_BEEP_CONFIG
+#if HAS_RADIO_10MW
+
+static void
+ao_config_radio_10mw_show(void)
+{
+ printf ("Radio 10mw limit: %d\n", ao_config.radio_10mw);
+}
+
+static void
+ao_config_radio_10mw_set(void)
+{
+ uint32_t r = ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ _ao_config_edit_start();
+ ao_config.radio_10mw = !!r;
+ _ao_config_edit_finish();
+}
+
+#endif
+
+#if HAS_BARO
+static void
+ao_config_report_feet_show(void)
+{
+ printf ("Report in feet: %d\n", ao_config.report_feet);
+}
+
+static void
+ao_config_report_feet_set(void)
+{
+ uint32_t r = ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ _ao_config_edit_start();
+ ao_config.report_feet = !!r;
+ _ao_config_edit_finish();
+}
+#endif
+
+#if HAS_BEEP
static void
ao_config_beep_show(void)
{
static void
ao_config_beep_set(void)
{
- uint16_t r = ao_cmd_decimal();
+ uint32_t r = ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
_ao_config_edit_start();
- ao_config.mid_beep = r;
+ ao_config.mid_beep = (uint8_t) r;
_ao_config_edit_finish();
}
#endif
static void
ao_config_tracker_set(void)
{
- uint16_t m, i;
- m = ao_cmd_decimal();
+ uint16_t m;
+ uint8_t i;
+ m = (uint16_t) ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
- i = ao_cmd_decimal();
+ i = (uint8_t) ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
_ao_config_edit_start();
static void
ao_config_pyro_time_set(void)
{
- uint16_t r = ao_cmd_decimal();
+ uint32_t r = ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
_ao_config_edit_start();
- ao_config.pyro_time = r;
+ ao_config.pyro_time = (uint16_t) r;
_ao_config_edit_finish();
}
#endif
static void
ao_config_aprs_ssid_set(void)
{
- uint16_t r = ao_cmd_decimal();
+ uint32_t r = ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
if (15 < r) {
return;
}
_ao_config_edit_start();
- ao_config.aprs_ssid = r;
+ ao_config.aprs_ssid = (uint8_t) r;
_ao_config_edit_finish();
}
static void
ao_config_aprs_format_set(void)
{
- uint16_t r = ao_cmd_decimal();
+ uint32_t r = ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
_ao_config_edit_start();
static void
ao_config_pad_box_set(void)
{
- uint16_t r = ao_cmd_decimal();
+ uint32_t r = ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
_ao_config_edit_start();
- ao_config.pad_box = r;
+ ao_config.pad_box = (uint8_t) r;
_ao_config_edit_finish();
}
static void
ao_config_pad_idle_set(void)
{
- uint16_t r = ao_cmd_decimal();
+ uint32_t r = ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
_ao_config_edit_start();
- ao_config.pad_idle = r;
+ ao_config.pad_idle = (uint8_t) r;
_ao_config_edit_finish();
}
#endif
#endif
const struct ao_config_var ao_config_vars[] = {
-#if HAS_FLIGHT
+#if HAS_FLIGHT && HAS_BARO
{ "m <meters>\0Main deploy (m)",
ao_config_main_deploy_set, ao_config_main_deploy_show, },
{ "d <delay>\0Apogee delay (s)",
ao_config_log_set, ao_config_log_show },
#endif
#if HAS_IGNITE
- { "i <0 dual, 1 apogee, 2 main>\0Igniter mode",
+ { "i <0 dual, 1 apogee, 2 main, 3 booster>\0Igniter mode",
ao_config_ignite_mode_set, ao_config_ignite_mode_show },
#endif
#if HAS_AES
{ "A <secs>\0APRS packet interval (0 disable)",
ao_config_aprs_set, ao_config_aprs_show },
#endif
-#if HAS_BEEP_CONFIG
+#if HAS_BEEP
{ "b <val>\0Beeper tone (freq = 1/2 (24e6/32) / beep",
ao_config_beep_set, ao_config_beep_show },
#endif
ao_config_aprs_ssid_set, ao_config_aprs_ssid_show },
{ "C <0 compressed, 1 uncompressed>\0APRS format",
ao_config_aprs_format_set, ao_config_aprs_format_show },
+ { "O <aprs-offset>\0APRS Offset from top of minute",
+ ao_config_aprs_offset_set, ao_config_aprs_offset_show },
#endif
#if HAS_FIXED_PAD_BOX
{ "B <box>\0Set pad box (1-99)",
ao_config_pad_box_set, ao_config_pad_box_show },
{ "i <seconds>\0Set idle timeout (0 disable)",
ao_config_pad_idle_set, ao_config_pad_idle_show },
+#endif
+#if HAS_RADIO_10MW
+ { "p <0 no limit, 1 limit>\0Limit radio power to 10mW",
+ ao_config_radio_10mw_set, ao_config_radio_10mw_show },
+#endif
+#if HAS_BARO
+ { "u <0 meters, 1 feet>\0Units to report height after landing",
+ ao_config_report_feet_set, ao_config_report_feet_show },
#endif
{ "s\0Show",
ao_config_show, 0 },
projects / fw / altos / blobdiff