X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao_config.c;h=a30ec64a5e8a9d0c1c4c8ea59d7766e363ae5ea2;hp=2d3d2870459715838f3bbdb8fcdd69b269b3d821;hb=9c53ad6f8222878a26efecebd3bb1d1fe054a4b6;hpb=a0a650a2be007b0436bd527d6c18f36eef6fbe2b diff --git a/src/core/ao_config.c b/src/core/ao_config.c index 2d3d2870..a30ec64a 100644 --- a/src/core/ao_config.c +++ b/src/core/ao_config.c @@ -16,12 +16,21 @@ */ #include "ao.h" +#include "ao_log.h" +#include +#if HAS_FLIGHT +#include +#include +#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" @@ -41,18 +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 @@ -64,20 +77,28 @@ ao_config_put(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; @@ -85,62 +106,96 @@ _ao_config_get(void) /* 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 HAS_AES - if (ao_config.minor < 9) + 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 (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 < 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; @@ -184,24 +239,7 @@ ao_config_callsign_set(void) __reentrant _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 @@ -218,13 +256,15 @@ ao_config_frequency_set(void) __reentrant return; _ao_config_edit_start(); ao_config.frequency = ao_cmd_lex_u32; - ao_config.radio_channel = 0; 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 @@ -250,17 +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_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(); @@ -269,15 +326,25 @@ ao_config_accel_calibrate_auto(char *orientation) __reentrant 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; } @@ -285,12 +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(); @@ -306,6 +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 */ @@ -328,8 +416,27 @@ ao_config_apogee_delay_set(void) __reentrant _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 { @@ -347,6 +454,7 @@ ao_config_radio_cal_set(void) __reentrant ao_config_set_radio(); _ao_config_edit_finish(); } +#endif #if HAS_LOG void @@ -359,7 +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) @@ -368,8 +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; @@ -423,6 +531,7 @@ ao_config_pad_orientation_set(void) __reentrant } #endif +#if HAS_RADIO void ao_config_radio_enable_show(void) __reentrant { @@ -439,8 +548,12 @@ ao_config_radio_enable_set(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 { @@ -463,52 +576,72 @@ ao_config_key_set(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 { @@ -524,29 +657,41 @@ 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_ADC +#if HAS_FLIGHT { "m \0Main deploy (m)", ao_config_main_deploy_set, ao_config_main_deploy_show, }, { "d \0Apogee delay (s)", ao_config_apogee_delay_set, ao_config_apogee_delay_show }, -#endif /* HAS_ADC */ - { "r \0Radio channel", - ao_config_radio_channel_set, ao_config_radio_channel_show }, + { "L \0Apogee detect lockout (s)", + ao_config_apogee_lockout_set, ao_config_apogee_lockout_show, }, +#endif /* HAS_FLIGHT */ +#if HAS_RADIO { "F \0Frequency (kHz)", ao_config_frequency_set, ao_config_frequency_show }, { "c \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 \0Radio calib (cal = rf/(xtal/2^16))", + ao_config_radio_cal_set, ao_config_radio_cal_show }, +#if HAS_RADIO_POWER + { "p \0Radio power setting (0-255)", + ao_config_radio_power_set, ao_config_radio_power_show }, +#endif +#if HAS_RADIO_AMP + { "d \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 \0Radio calib (cal = rf/(xtal/2^16))", - ao_config_radio_cal_set, ao_config_radio_cal_show }, #if HAS_LOG { "l \0Flight log size (kB)", ao_config_log_set, ao_config_log_show }, @@ -555,23 +700,23 @@ __code struct ao_config_var ao_config_vars[] = { { "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 / \0Set radio chan config", - ao_config_radio_config_set,ao_config_radio_config_show }, +#if AO_PYRO_NUM + { "P \0Configure pyro channels", + ao_pyro_set, ao_pyro_show }, +#endif +#if HAS_APRS + { "A \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 }, @@ -583,12 +728,10 @@ ao_config_set(void) { 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)(); @@ -618,11 +761,14 @@ ao_config_show(void) __reentrant 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);