X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao_config.c;h=a30ec64a5e8a9d0c1c4c8ea59d7766e363ae5ea2;hp=1a500c797bbf677eea781b32b1c35353cca3a952;hb=9c53ad6f8222878a26efecebd3bb1d1fe054a4b6;hpb=1931e028bebc3cd8df9392e30eb0e888d0799768 diff --git a/src/core/ao_config.c b/src/core/ao_config.c index 1a500c79..a30ec64a 100644 --- a/src/core/ao_config.c +++ b/src/core/ao_config.c @@ -17,7 +17,7 @@ #include "ao.h" #include "ao_log.h" -#include +#include #if HAS_FLIGHT #include #include @@ -28,6 +28,9 @@ __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" @@ -47,20 +50,22 @@ __xdata uint8_t ao_config_mutex; #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 @@ -92,8 +97,8 @@ _ao_config_get(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; @@ -122,8 +127,10 @@ _ao_config_get(void) 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; @@ -142,7 +149,7 @@ _ao_config_get(void) 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; @@ -150,6 +157,19 @@ _ao_config_get(void) #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; @@ -270,17 +290,34 @@ ao_config_accel_calibrate_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_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(); @@ -294,10 +331,20 @@ ao_config_accel_calibrate_auto(char *orientation) __reentrant 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; } @@ -305,12 +352,28 @@ void 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(); @@ -326,6 +389,11 @@ ao_config_accel_calibrate_set(void) __reentrant _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 */ @@ -399,7 +467,7 @@ 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) @@ -408,8 +476,8 @@ ao_config_log_set(void) __reentrant 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; @@ -589,7 +657,7 @@ static void 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 @@ -648,7 +716,7 @@ __code struct ao_config_var ao_config_vars[] = { 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 }, @@ -700,7 +768,7 @@ ao_config_show(void) __reentrant #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);