altos: Fixes for GCC 10 (-fno-common is default)

[fw/altos] / src / micropeak-v2.0 / ao_micro.c

diff --git a/src/micropeak-v2.0/ao_micro.c b/src/micropeak-v2.0/ao_micro.c
index 26daa5209936b6941c7ab980548bfa58bed9547e..efab12c315dd5f1cbbd9bfa8e605fc02d3c454bf 100644 (file)
--- a/src/micropeak-v2.0/ao_micro.c
+++ b/src/micropeak-v2.0/ao_micro.c
@@ -20,9 +20,11 @@
 #include <ao_exti.h>
 #include <ao_micropeak.h>
 #include <ao_adc_stm32l0.h>
+#include <ao_report_micro.h>
+#include <ao_log_micro.h>
 
-
-uint32_t pa;
+alt_t          ground_alt, max_alt;
+alt_t          ao_max_height;
 
 static void
 ao_msi_init(void)
@@ -41,54 +43,181 @@ ao_msi_init(void)
        stm_pwr.cr = cr;
 }
 
+void
+ao_pa_get(void)
+{
+       static struct ao_ms5607_value   value;
+
+       ao_ms5607_sample(&ao_ms5607_current);
+       ao_ms5607_convert(&ao_ms5607_current, &value);
+       pa = value.pres;
+}
+
+static void
+ao_compute_height(void)
+{
+       ground_alt = ao_pa_to_altitude(pa_ground);
+       max_alt = ao_pa_to_altitude(pa_min);
+       ao_max_height = max_alt - ground_alt;
+}
+
+static void
+ao_pips(void)
+{
+       uint8_t i;
+       for (i = 0; i < 5; i++) {
+               ao_led_on(AO_LED_REPORT);
+               ao_delay(AO_MS_TO_TICKS(80));
+               ao_led_off(AO_LED_REPORT);
+               ao_delay(AO_MS_TO_TICKS(80));
+       }
+       ao_delay(AO_MS_TO_TICKS(200));
+}
+
+static void
+power_down(void)
+{
+       ao_timer_stop();
+       for(;;) {
+               /*
+                * Table 40, entering standby mode
+                *
+                * SLEEPDEEP = 1 in M0 SCR
+                * PDDS = 1
+                * WUF = 0
+                */
+               stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_SYSCFGEN);
+               stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_PWREN);
+               stm_scb.scr |= ((1 << STM_SCB_SCR_SLEEPDEEP) |
+                               (1 << STM_SCB_SCR_SLEEPONEXIT));
+               stm_pwr.cr |= (1 << STM_PWR_CR_PDDS);
+               stm_pwr.csr &= ~(1 << STM_PWR_CSR_WUF);
+               ao_arch_wait_interrupt();
+       }
+}
+
+static bool log_stdout;
+
+static void
+log_micro_dump(void)
+{
+       int i;
+       if (!log_stdout) {
+               ao_led_off(AO_LED_REPORT);
+               ao_lpuart1_enable();
+       }
+       ao_log_micro_dump();
+       for (i = 0; i < 4; i++)
+               ao_async_byte(stm_device_id.lot_num_0_3[i]);
+       for (i = 0; i < 3; i++)
+               ao_async_byte(stm_device_id.lot_num_4_6[i]);
+       ao_async_byte('-');
+       ao_log_hex(stm_device_id.waf_num);
+       ao_async_byte('-');
+       for (i = 0; i < 4; i++)
+               ao_log_hex(stm_device_id.unique_id[i]);
+       ao_log_newline();
+       if (!log_stdout)
+               ao_lpuart1_disable();
+}
+
+static void
+log_erase(void)
+{
+       uint32_t        pos;
+
+       for (pos = 0; pos < ao_storage_total; pos += STM_FLASH_PAGE_SIZE)
+       {
+               if (!ao_storage_device_is_erased(pos))
+                       ao_storage_device_erase(pos);
+       }
+}
+
+static void
+flight_mode(void)
+{
+       /* Give the person a second to get their finger out of the way */
+       ao_delay(AO_MS_TO_TICKS(1000));
+
+       ao_log_micro_restore();
+       ao_compute_height();
+       ao_report_altitude();
+       ao_pips();
+       log_micro_dump();
+#if BOOST_DELAY        
+       ao_delay(BOOST_DELAY);
+#endif
+       log_erase();
+       ao_microflight();
+       ao_log_micro_save();
+       ao_compute_height();
+       ao_report_altitude();
+       power_down();
+}
+
+void ao_async_byte(char c)
+{
+       if (log_stdout)
+               putchar(c);
+       else
+               ao_lpuart1_putchar(c);
+}
+
 static void
-list_flights(void)
+log_micro_dump_uart(void)
 {
-       printf("flight %d start %x end %x\n",
-              1, 0 >> 8, ao_storage_total >> 8);
+       log_stdout = true;
+       log_micro_dump();
+       log_stdout = false;
+}
+
+static void
+log_erase_cmd(void)
+{
+       ao_cmd_white();
+       if (!ao_match_word("DoIt"))
+               return;
+       log_erase();
 }
 
 const struct ao_cmds ao_micro_cmds[] = {
-       { list_flights, "l\0List flights" },
+       { log_micro_dump_uart, "l\0Dump log" },
+       { flight_mode, "F\0Flight mode" },
+       { power_down, "S\0Standby" },
+       { log_erase_cmd, "z <key>\0Erase. <key> is doit with D&I" },
        {}
 };
 
-void
-ao_pa_get(void)
+static void
+cmd_mode(void)
 {
-       static struct ao_ms5607_value   value;
-
-       ao_ms5607_sample(&ao_ms5607_current);
-       ao_ms5607_convert(&ao_ms5607_current, &value);
-       pa = value.pres;
+       ao_serial_init();
+       ao_cmd_init();
+       ao_cmd_register(ao_micro_cmds);
+       ao_cmd();
 }
 
 int
 main(void)
 {
        ao_msi_init();
-
        ao_led_init();
-       ao_led_on(AO_LED_ORANGE);
-
        ao_timer_init();
        ao_spi_init();
        ao_ms5607_init();
        ao_ms5607_setup();
-       ao_storage_init();
 
+       /* Check the power supply voltage; it'll be 3.3V if
+        * the I/O board is connected
+        */
        uint16_t vref = ao_adc_read_vref();
 
        uint32_t vdda = 3 * stm_vrefint_cal.vrefint_cal * 1000 / vref;
-       ao_led_off(AO_LED_ORANGE);
 
        /* Power supply > 3.25V means we're on USB power */
        if (vdda > 3250) {
-               ao_serial_init();
-               ao_cmd_init();
-               ao_cmd_register(ao_micro_cmds);
-               ao_cmd();
+               cmd_mode();
        } else {
-               ao_microflight();
+               flight_mode();
        }
 }